JPH0458179A - Obstacle detecting device - Google Patents
Obstacle detecting deviceInfo
- Publication number
- JPH0458179A JPH0458179A JP2169284A JP16928490A JPH0458179A JP H0458179 A JPH0458179 A JP H0458179A JP 2169284 A JP2169284 A JP 2169284A JP 16928490 A JP16928490 A JP 16928490A JP H0458179 A JPH0458179 A JP H0458179A
- Authority
- JP
- Japan
- Prior art keywords
- vehicle
- obstacle
- detection means
- alarm
- obstacle detection
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000001514 detection method Methods 0.000 claims description 68
- 230000003213 activating effect Effects 0.000 claims description 2
- 230000000007 visual effect Effects 0.000 abstract 1
- 238000013459 approach Methods 0.000 description 2
- 230000007423 decrease Effects 0.000 description 2
- 230000003247 decreasing effect Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
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- Radar Systems Or Details Thereof (AREA)
- Auxiliary Drives, Propulsion Controls, And Safety Devices (AREA)
Abstract
Description
【発明の詳細な説明】
〔産業上の利用分野〕
本発明は、車両の走行時に障害物の有無を検出する障害
物検出装置に関するものである。DETAILED DESCRIPTION OF THE INVENTION [Field of Industrial Application] The present invention relates to an obstacle detection device that detects the presence or absence of an obstacle when a vehicle is traveling.
従来、例えば実開昭６１−８０４７１号公報に示される
ように、超音波発信器から車体の後方に超音波を照射上
、その反射波を受信器によって受信するまでの時間を検
出し、この検出時間に応じて車両の後方に位置する障害
物までの距離を測定することにより、車両の後退時に車
両が障害物に接近し過ぎるのを防止する超音波式距離検
出手段が知られている。Conventionally, as shown in Japanese Utility Model Application Publication No. 61-80471, for example, the time required for emitting ultrasonic waves from an ultrasonic transmitter to the rear of the vehicle body and receiving the reflected waves by a receiver is detected. 2. Description of the Related Art Ultrasonic distance detection means are known that prevent a vehicle from getting too close to an obstacle when the vehicle is reversing by measuring the distance to the obstacle located behind the vehicle depending on time.
また、上記超音波式距離検出手段を車両の側辺部後端等
に設置して車両の斜め後方に超音波を照射し、その反射
波を検出することによって車両がコーナ部に差し掛かっ
た際に、後方視界の死角部に障害物が存在しているか否
かを確認し、旋回時に危険を予知するように構成して車
両の安全性を向上させることが考えられている。In addition, the ultrasonic distance detection means is installed at the rear end of the side of the vehicle, emits ultrasonic waves diagonally to the rear of the vehicle, and detects the reflected waves to detect when the vehicle approaches a corner. It has been considered to improve the safety of a vehicle by checking whether there are obstacles in the blind spot in the rear view and predicting danger when turning.
上記のように車両の斜め後方に位置する障害物を検出す
る上記検出手段を設けた場合には、車両の旋回時に危険
を予知することができるという利点を有する反面、車両
の直進時に上記検出手段が対向車や、歩行者等を検出す
ると頻繁に警報が発せられるため、警報に対する注目度
が薄れ、却って運転者の注意力が低下するという問題が
ある。When the above-mentioned detection means for detecting an obstacle located diagonally behind the vehicle is provided as described above, there is an advantage that danger can be predicted when the vehicle is turning. When a vehicle detects an oncoming vehicle, a pedestrian, etc., a warning is issued frequently, which causes a problem in that the attention to the warning decreases, and the driver's attentiveness actually decreases.
本発明は、上記問題点を解決するためになされたもので
あり、車両がコーナ部に差し掛かった場合等に、後方視
界の死角部に位置する障害物を適正に検出することがで
きるとともに、直進時等の不必要な時に警報が発せられ
るのを防止できる障害物検出装置を提供することを目的
としている。The present invention has been made in order to solve the above-mentioned problems, and it is possible to appropriately detect obstacles located in the blind spot of the rear view when the vehicle approaches a corner, and also to prevent the vehicle from driving straight. An object of the present invention is to provide an obstacle detection device that can prevent an alarm from being issued at unnecessary times such as at certain times of the day.
請求項１の発明は、車両の斜め後方部に位置する障害物
を検出する障害物検出手段と、ウィンカ−の作動状態を
判別してウィンカ−が作動していることが確認された場
合に上記障害物検出手段を作動させる判別手段と、上記
障害物検出手段によって障害物が検出された場合に警報
を発する警報部とを設けたものである。The invention according to claim 1 includes: an obstacle detection means for detecting an obstacle located diagonally rearward of a vehicle; The apparatus is provided with a discrimination means for activating the obstacle detection means, and an alarm section for issuing an alarm when an obstacle is detected by the obstacle detection means.
請求項２の発明は、車両の走行状態を検出する走行状態
検出手段と、この走行状態検出手段の出力信号に応じて
障害物検出手段の検出範囲を調節する調節手段とを設け
たものである。The invention according to claim 2 is provided with a running state detection means for detecting the running state of the vehicle, and an adjustment means for adjusting the detection range of the obstacle detection means in accordance with an output signal of the running state detection means. .
上記請求項１記載の発明によれば、判別手段においてウ
ィンカ−が作動状態にあると判別され、車両が交差点に
おいて進路を変更し、あるいは追い越し時に車線を変更
しようとしている状態であることが確認された場合等に
、障害物検出手段による障害物の検出制御が実行される
ことになる。According to the invention as set forth in claim 1, the determination means determines that the turn signal is in an operating state, and it is confirmed that the vehicle is changing course at an intersection or changing lanes when overtaking. In such cases, the obstacle detection control by the obstacle detection means is executed.
上記請求項２記載の発明によれば、車両の走行速度もし
くは旋回半径等の車両の走行状態に応じて障害物の検出
範囲を調節することにより、自軍と接触する可能性の高
い領域に位置する障害物の存在を確実に検出して運転者
の注意を適正に喚起することができる。According to the invention set forth in claim 2 above, by adjusting the detection range of obstacles according to the running conditions of the vehicle such as the running speed of the vehicle or the turning radius, obstacles are located in areas where there is a high possibility of contact with own forces. It is possible to reliably detect the presence of an obstacle and appropriately call the driver's attention.
第１図は、本発明に係る障害物検出装置の実施例を示し
ている。この障害物検出装置は、第２図および第３図に
示すように、車体のりャフエンダ部に設置された左右一
対の第１センサ１と、リャバンパの左右両側辺部に設置
された第２センサ２および第３センサ３とを備えている
。この各センサ１〜３は、送信側フェーズドアレイアン
テナ部４と、受信側フェーズドアレイアンテナ部５とに
よって構成された電波レーダからなっている。そして上
記第１センサ１は、車両の側方部から斜め後方部に位置
する領域Ａを検出範囲とし、第２センサ２は、上記領域
Ａの斜め後方部に位置する領域Ｂを検出範囲とし、第３
センサ３は、上記領域Ｂの後方領域Ｃを検出範囲として
いる。FIG. 1 shows an embodiment of an obstacle detection device according to the present invention. As shown in FIGS. 2 and 3, this obstacle detection device includes a pair of left and right first sensors 1 installed on the rear bumper of the vehicle body, and a second sensor 2 installed on both left and right sides of the rear bumper. and a third sensor 3. Each of the sensors 1 to 3 is a radio radar constituted by a transmitting side phased array antenna section 4 and a receiving side phased array antenna section 5. The first sensor 1 has an area A located diagonally rearward from the side of the vehicle as a detection range, and the second sensor 2 has an area B located diagonally rearward of the area A as a detection range, Third
The sensor 3 has an area C behind the area B as its detection range.
上記各センサ１〜３の検出信号が障害物検出手段６に入
力され、この障害物検出手段６おいて自転車もしくは歩
行者等の存在が検出された場合に、警報信号を警報部７
に出力するようになっている。The detection signals of the sensors 1 to 3 are input to the obstacle detection means 6, and when the presence of a bicycle or pedestrian is detected by the obstacle detection means 6, an alarm signal is sent to the alarm section 7.
It is designed to output to .
また、上記障害物検出手段６は、ウィンカ−８の作動状
態を判別する判別手段９においてウィンカ−８が作動状
態にあることが確認された場合に作動し、かつ車両の走
行速度を検出する車速センサ等からなる走行状態検出手
段１０の出力信号に応じて作動する調節手段１１により
検出範囲が調節されるように構成されている。The obstacle detecting means 6 operates when the determining means 9 for determining the operational state of the turn signal 8 confirms that the turn signal 8 is in the operational state, and detects the vehicle speed. The detection range is adjusted by an adjusting means 11 that operates in response to an output signal from a driving state detecting means 10 consisting of a sensor or the like.
すなわち障害物検出手段６は、上記走行状態検出手段１
０において車両が例えば４０ｋｍ／ｈ未膚の低速走行状
態にあることが確認された場合に、第３センサ３の作動
を停止させ、第１．第２センサ１，２の検出信号に応じ
て領域Ａ、Ｈに位置する障害物を検出し、車両が４０ｋ
ｍ／ｈ以上の高速走行状態に在ることが確認された場合
に、第１〜３センサ１〜３の検出信号に応じて領域Ａ−
Ｃに位置する障害物を検出するように構成されている。That is, the obstacle detection means 6 is the same as the above-mentioned running state detection means 1.
0, if it is confirmed that the vehicle is running at a low speed of, for example, 40 km/h, the operation of the third sensor 3 is stopped and the operation of the first sensor 3 is stopped. Obstacles located in areas A and H are detected according to the detection signals of the second sensors 1 and 2, and the vehicle travels 40 km.
When it is confirmed that the vehicle is traveling at a high speed of m/h or higher, the area A-
It is configured to detect an obstacle located at C.
上記障害物検出装置の制御動作を第４図に示すフローチ
ャートに基づいて説明する。制御動作がスタートすると
、まずステップｓ１において、ウィンカ−８が作動状態
にあるか否かを判定し、このステップＳ１でウィンカ−
８が作動状態にあることが確認された場合には、ステッ
プｓ２において、車速が４０ｋｍ／ｈ未滴の低速走行状
態にある否かを判定する。この判定の結果、車両が低速
走行状態にあることが確認された場合には、ステツブＳ
３において、障害物検出手段６の検出領域をＡ、Ｂとす
る。また、上記ステップＳ２における判定の結果、車両
が高速走行状態にあることが確認された場合には、ステ
ップＳ４において、障害物検出手段６の検ａ領域をＡ、
Ｂ、Ｃとする。The control operation of the obstacle detection device will be explained based on the flowchart shown in FIG. When the control operation starts, first in step s1 it is determined whether or not the turn signal 8 is in an operating state, and in step S1 the turn signal 8 is activated.
8 is confirmed to be in the operating state, it is determined in step s2 whether or not the vehicle is running at a low speed of 40 km/h. As a result of this judgment, if it is confirmed that the vehicle is running at low speed, the step S
3, the detection areas of the obstacle detection means 6 are designated as A and B. Further, as a result of the determination in step S2, if it is confirmed that the vehicle is in a high-speed running state, in step S4, the detection area a of the obstacle detection means 6 is set to A,
Let them be B and C.
そしてステップＳ５において、障害物検出手段６により
自転車または歩行者等の存在が検出されたか否かを判定
し、障害物の存在が確認された場合には、ステップＳ６
において、警報音を発生させる制御信号、つまり警報信
号を警報部７に出力する。Then, in step S5, it is determined whether the presence of a bicycle or a pedestrian is detected by the obstacle detection means 6, and if the presence of an obstacle is confirmed, step S6
At this point, a control signal for generating an alarm sound, that is, an alarm signal, is output to the alarm section 7.
上記のようにウィンカ−８が作動状態にあるか否かを判
別手段９において判別するように構成したため、車両が
交差点で進行方向を変化させ、あるいは追い越し時に車
線を変更しようとしている状態等にあるか否かを上記判
別手段９によって確認することができる。そしてウィン
カ−８が作動状態にある場合に、車両の斜め後方に位置
する障害物を障害物検出手段６によって検出するように
構成したため、車両が交差点において左折もしくは右折
する際、または追い越し時に車線変更する際等に、運転
者の視界の死角部に位置する障害物の存在を上記障害物
検出手段６で検出して警報を発し、これによって運転者
の注意を適正に喚起し、車両が上記障害物を巻き込むよ
うにして接触する事故の発生を事前に防止することがで
きる。As described above, since the determining means 9 is configured to determine whether or not the blinker 8 is in the operating state, the vehicle may be in a state where the vehicle is changing its direction of travel at an intersection or changing lanes when passing. It can be confirmed by the determining means 9 whether or not this is the case. Since the obstacle detection means 6 is configured to detect an obstacle located diagonally behind the vehicle when the blinker 8 is in operation, the vehicle changes lanes when turning left or right at an intersection or when passing. When driving, the obstacle detecting means 6 detects the presence of an obstacle located in the blind spot of the driver's field of vision and issues an alarm, thereby appropriately calling the driver's attention and ensuring that the vehicle does not detect the obstacle. It is possible to prevent accidents in which objects come into contact with each other in advance.
また、ウィンカ−８が非作動状態にあり、車両が上記障
害物に接触する虞のない直進状態にあることが確認され
た場合には、障害物検出手段６が非作動状態とされ、上
記各センサ１〜３の検出範囲内に障害物が存在している
場合においても、警報部７において警報音が発せられる
ことがなく、このため警報音に幻惑されて運転者の注意
力が減退するのを防止することができる。Further, when it is confirmed that the blinker 8 is in a non-operating state and the vehicle is traveling straight with no risk of contacting the above-mentioned obstacles, the obstacle detection means 6 is set in a non-operating state, and each of the above-mentioned Even if an obstacle exists within the detection range of the sensors 1 to 3, the alarm section 7 does not emit an alarm sound, which prevents the driver from being dazzled by the alarm sound and reducing his or her attentiveness. can be prevented.
また、上記車速センサ等からなる車両の走行状態検出手
段６によって車両の走行速度を検出し、この走行速度に
応じて障害物検出手段６の検出範囲を調節するように構
成した場合には、車両の走行状態に対応した適正な障害
物の検出制御を実行することができる。すなわち、道路
における車の流れが速く、車両の旋回時等において他車
と接触する可能性の高い車両の高速走行時に、上記障害
物検出手段６の検出範囲を低速走行時に比べて広く設定
し、自軍のかなり後方に位置する障害物の存在を検出し
て警報音を発するように構成することにより、運転者の
注意を適正に喚起して上記障害物に自軍が接触するのを
事前に防止することができる。Furthermore, when the vehicle running state detecting means 6 comprising the vehicle speed sensor or the like is configured to detect the running speed of the vehicle and adjust the detection range of the obstacle detecting means 6 according to this running speed, the vehicle It is possible to perform appropriate obstacle detection control corresponding to the driving state of the vehicle. That is, when the vehicle is traveling at high speed, where the flow of vehicles on the road is fast and there is a high possibility of contact with other vehicles when turning, etc., the detection range of the obstacle detection means 6 is set to be wider than when traveling at low speed, By detecting the presence of an obstacle located far behind the own troops and emitting a warning sound, the driver's attention can be appropriately called to prevent the own troops from coming into contact with the obstacles. be able to.
なお、上記実施例では、車速に応じて障害物検出手段６
の検出範囲を調節するように構成しているが、車両の減
速度もしくは旋回半径等を検出し、その検出結果に応じ
て障害物検出手段６の検出範囲を調節するように構成し
てもよい。In the above embodiment, the obstacle detection means 6 is activated depending on the vehicle speed.
Although the detection range of the obstacle detection means 6 is adjusted, it may be configured to detect the deceleration or turning radius of the vehicle and adjust the detection range of the obstacle detection means 6 according to the detection result. .
また上記実施例では、雨や雪等の環境の影響を受けにく
い電波レーダによって障害物の存在を検出する第１〜３
センサ１〜３を構成したため、上記環境の影響を受けて
障害物検出手段６の検出精度が低下するのを防止するこ
とができるという利点がある。また、上記電波レーダは
、平坦形状のフェーズドアレイアンテナによって構成さ
れているため、車両の空力抵抗およびデザイン性等に影
響を与えることなく、車体の所定位置に安定状態で容易
に設置することできるという利点がある。Furthermore, in the above embodiment, the first to third sensors detect the presence of obstacles using radio radar, which is less affected by the environment such as rain or snow.
Since the sensors 1 to 3 are configured, there is an advantage that it is possible to prevent the detection accuracy of the obstacle detection means 6 from decreasing due to the influence of the environment. In addition, since the radio radar is composed of a flat phased array antenna, it can be easily installed in a stable state at a predetermined position on the vehicle body without affecting the aerodynamic resistance or design of the vehicle. There are advantages.
以上説明したように、本発明は、ウィンカ−の作動状態
を判別してウィンカ−の作動時に車両の斜め後方部に位
置する障害物を検出する障害物検出手段を作動させるよ
うに構成したため、自軍が自転車等の障害物と接触する
可能性のある進路変更時等におけるウィンカ−の作動時
に、上記障害物検出手段によって後方視界の死角部に位
置する障害物を検出して警報を発することにより、運転
者の注意を喚起して車両の安全性を高めることができる
。そして上記障害物に接触する可能性の低い車両の直進
時には、ウィンカ−が非作動状態であるため、これに応
じて上記障害物検出手段の作動を停止させることにより
、不必要な警報が頻繁に発せられるのを防止して運転者
の注意力が低下するのを防ぐことができるという利点が
ある。As explained above, the present invention is configured to operate the obstacle detection means for detecting an obstacle located diagonally rearward of the vehicle when the turn signal is activated by determining the operating state of the turn signal. By detecting an obstacle located in the blind spot of the rear visibility by the obstacle detection means and issuing a warning when the turn signal is activated when changing course, etc., where the vehicle may come into contact with an obstacle such as a bicycle, It is possible to increase the safety of the vehicle by calling the driver's attention. Since the turn signals are inactive when the vehicle is traveling straight, with a low possibility of contacting the obstacles, unnecessary warnings are often generated by stopping the operation of the obstacle detection means accordingly. This has the advantage of being able to prevent the driver's attention from decreasing by preventing the driver's attention from being emitted.
また、車両の走行速度もしくは旋回半径等の車両の走行
状態に応じて上記障害物検出手段の検出範囲を調節する
ように構成した場合には、自車と接触する可能性の高い
範囲に位置する障害物を確実に検出して運転者の注意を
適正に喚起することができる。In addition, if the detection range of the obstacle detection means is configured to be adjusted depending on the vehicle running condition such as the vehicle running speed or turning radius, the obstacle detection means may be located in a range where there is a high possibility of contact with the own vehicle. Obstacles can be detected reliably and the driver's attention can be appropriately called out.
第１図は本発明の障害物検出装置の実施例を示すブロッ
ク図、第２図はセンサの設置状態を示す斜視図、第３図
はセンサの検出範囲を示す平面図、第４図は上記障害物
検出装置の制御動作を示すフローチャートである。
６・・・障害物検出手段、７・・・警報部、８・・・ウ
ィンカ−９・・・判別手段、１０・・・走行状態検出手
段、１１・・・調節手段。
特許出願人 マツダ 株式会社代 理 人
弁理士 小谷悦司同 同
長１）正
向 同 伊藤孝夫Fig. 1 is a block diagram showing an embodiment of the obstacle detection device of the present invention, Fig. 2 is a perspective view showing the installation state of the sensor, Fig. 3 is a plan view showing the detection range of the sensor, and Fig. 4 is the above-mentioned It is a flowchart which shows the control operation of an obstacle detection device. 6... Obstacle detection means, 7... Alarm section, 8... Blinker 9... Discrimination means, 10... Running state detection means, 11... Adjustment means. Patent applicant Mazda Co., Ltd. Agent
Patent Attorney Etsushi Kotani
Long 1) Masamukai same Takao Ito
Claims (1)
物検出手段と、ウィンカーの作動状態を判別してウィン
カーが作動していることが確認された場合に上記障害物
検出手段を作動させる判別手段と、上記障害物検出手段
によって障害物が検出された場合に警報を発する警報部
とを設けたことを特徴とする障害物検出装置。 ２、車両の走行状態を検出する走行状態検出手段と、こ
の走行状態検出手段の出力信号に応じて障害物検出手段
の検出範囲を調節する調節手段とを設けたことを特徴と
する請求項１記載の障害物検出装置。[Scope of Claims] 1. Obstacle detection means for detecting an obstacle located diagonally rearward of the vehicle; An obstacle detection device comprising: a discrimination means for activating the object detection means; and an alarm section for issuing an alarm when an obstacle is detected by the obstacle detection means. 2. Claim 1 characterized in that the vehicle is provided with a running state detection means for detecting the running state of the vehicle, and an adjustment means for adjusting the detection range of the obstacle detection means in accordance with an output signal of the running state detection means. Obstacle detection device as described.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2169284A JPH0458179A (en) | 1990-06-26 | 1990-06-26 | Obstacle detecting device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2169284A JPH0458179A (en) | 1990-06-26 | 1990-06-26 | Obstacle detecting device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| JPH0458179A true JPH0458179A (en) | 1992-02-25 |
Family
ID=15883665
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP2169284A Pending JPH0458179A (en) | 1990-06-26 | 1990-06-26 | Obstacle detecting device |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPH0458179A (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH08301029A (en) * | 1995-04-21 | 1996-11-19 | Trw Inc | Rear and side obstruction detection system containing large number of antenna for small vehicle |
| US5656088A (en) * | 1991-08-28 | 1997-08-12 | Dainippon Screen Mfg. Co., Ltd. | Apparatus for dipping substrates in processing fluid |
| US6265968B1 (en) | 1998-02-14 | 2001-07-24 | Daimlerchrysler Ag | Vehicle with object detection device |
| JP2004299649A (en) * | 2003-04-01 | 2004-10-28 | Mitsubishi Electric Corp | Rear side alarm device |
| JP2007017294A (en) * | 2005-07-07 | 2007-01-25 | Nissan Motor Co Ltd | Radar system and its directivity control method |
| WO2007139190A1 (en) | 2006-05-31 | 2007-12-06 | Toray Industries, Inc. | Immunostimulatory oligonucleotide and pharmaceutical application thereof |
-
1990
- 1990-06-26 JP JP2169284A patent/JPH0458179A/en active Pending
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5656088A (en) * | 1991-08-28 | 1997-08-12 | Dainippon Screen Mfg. Co., Ltd. | Apparatus for dipping substrates in processing fluid |
| JPH08301029A (en) * | 1995-04-21 | 1996-11-19 | Trw Inc | Rear and side obstruction detection system containing large number of antenna for small vehicle |
| US6265968B1 (en) | 1998-02-14 | 2001-07-24 | Daimlerchrysler Ag | Vehicle with object detection device |
| JP2004299649A (en) * | 2003-04-01 | 2004-10-28 | Mitsubishi Electric Corp | Rear side alarm device |
| JP2007017294A (en) * | 2005-07-07 | 2007-01-25 | Nissan Motor Co Ltd | Radar system and its directivity control method |
| JP4654803B2 (en) * | 2005-07-07 | 2011-03-23 | 日産自動車株式会社 | Radar device for vehicle periphery monitoring |
| WO2007139190A1 (en) | 2006-05-31 | 2007-12-06 | Toray Industries, Inc. | Immunostimulatory oligonucleotide and pharmaceutical application thereof |
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