JPH06294866A - Path guiding device for vehicle - Google Patents

Abstract

PURPOSE:To provide a path guiding device for accurately reporting the positional relationship between own vehicle and an obstacle to a driver and achieving parking or the passage of a narrow road safely and positively when the vehicle is parked or passes the narrow road, etc. CONSTITUTION:Environmental conditions around own vehicle are detected by a plurality of ultrasonic sensors mounted around the vehicle, the target position of the own vehicle is calculated based on the detection output, and then a sound image is synthesized with loudspeakers provided inside a vehicle room according to the positional relationship for the target position. When a vehicle 7 is inclined to the left in reference to a wall 11 at a parking space, a sound image 12 is moved between the right rear and the left front of a driver 8, thus reporting the direction of the vehicle 7. When the vehicle 7 is positioned at the parking target position properly without being inclined, the sound image 12 is moved in the center forward and backward directions of the driver 8, thus guiding the driver 8 smoothly to the target position without moving one's eyes especially.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a vehicle which recognizes an environmental condition around the vehicle when the vehicle passes through a parking lot or a narrow road and informs the driver of the positional relationship of the vehicle to the vehicle by a sound image. Of the route guidance device.

[0002]

2. Description of the Related Art Conventionally, there is a corner sensor using an ultrasonic sensor, for example, as a device for recognizing an environmental condition around a vehicle. This is an obstacle alarm device that generates an alarm sound when the ultrasonic sensor detects an obstacle and displays the position on the display means. In Japanese Utility Model Laid-Open No. 63-16392, a plurality of sensors are arranged around the vehicle, and the sound pressure level of the acoustic signal generated from the speaker is changed according to the position of the sensor that detects an obstacle. , Which tells the driver the direction in which an obstacle is present is disclosed. Further, as the route guidance device, there is a device provided with a display means such as a display, which informs the driver by detecting the environment around the vehicle and performing map display, arrow display or operation instruction display on the display. is there.

[0003]

However, in such a conventional obstacle detection device, it is possible to know which part of the own vehicle is approaching the obstacle, but when an alarm sounds. However, even if the vehicle is already approaching an obstacle and the sound pressure level is changed to convey the direction of the obstacle, the driver can simply know the direction of the obstacle. Therefore, it is difficult to easily determine how to operate the own vehicle to avoid the obstacle.

Further, in the route guidance device that conveys the situation to the driver by displaying a map on the display or the like, the situation cannot be grasped unless the driver takes his eyes from the outside of the vehicle and directs his line of sight to the display screen. was there. Therefore, the present invention has been made by paying attention to the above-mentioned conventional problems, and the driver does not need to look away from the surroundings and look at the display screen when parking or when traveling on a narrow road. Can always convey the positional relationship between
Driving operation can be done so that the own vehicle can be moved to the optimum position,
Therefore, it is an object of the present invention to provide a route guidance device that can be safely operated while paying attention to the surroundings.

[0005]

In order to achieve the above object, the invention described in claim 1 is, as shown in FIG. 1, an ambient condition detecting means 20 for detecting the ambient condition of a vehicle, and the ambient condition detecting means 20. Sound image data calculating means 21 for calculating the target position of the route based on the output of the situation detecting means 20 and calculating sound image data according to the relationship between the target position and the actual position of the host vehicle;
Including a plurality of speakers arranged at predetermined positions in the vehicle interior,
And a sound output unit 22 that outputs a sound signal from the speaker based on the sound image data, and is configured to indicate the positional relationship of the host vehicle with respect to the target position by the sound image generated by the sound signal. I decided.

[0006] According to a seventh aspect of the invention, the surrounding condition detecting means 20 for detecting the surrounding condition of the own vehicle, the steering angle detecting means 23 for detecting the actual steering angle of the own vehicle, and the surrounding condition detecting means 20. A sound image data calculating means 2 for calculating a target steering angle in the route based on the output of the vehicle and calculating sound image data according to an error between the target steering angle and the actual steering angle of the vehicle.
1'and acoustic output means 22 which includes a plurality of speakers arranged at predetermined positions in the vehicle compartment and outputs an acoustic signal from the speaker based on the sound image data. It is assumed that the sound image generated in (1) shows the relationship between the target steering angle and the actual steering angle of the host vehicle.

[0007]

According to the first aspect of the present invention, the sound image data calculating means calculates the target position of the route based on the output of the ambient condition detecting means, and calculates the sound image data according to the relationship between the target position and the actual position of the host vehicle. Since the sound image is generated by the speaker using this sound image data, the driver can know the positional relationship of the own vehicle with respect to the target position from the sound image, and can perform the driving operation so as to match the own vehicle to the target position.

According to a seventh aspect of the present invention, a steering angle detecting means for detecting the actual steering angle of the host vehicle is further provided, and the steering angle detecting means is provided according to the error between the target steering angle based on the output of the surrounding condition detecting means and the actual steering angle of the host vehicle. Since the sound image data is calculated, the driver is smoothly guided to the target position by operating so that the difference between the target steering angle and the actual steering angle is eliminated.

[0009]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of the route guiding device of the present invention will be described below with reference to the drawings. FIG. 2 is a block diagram showing the configuration of an embodiment in which the present invention is applied to parking guidance. Reference numerals 1a to 1h in FIG. 2 denote a plurality of ultrasonic sensors for detecting objects around the vehicle. These ultrasonic sensors 11
As shown in FIG. 3, a to 11h are arranged at predetermined positions on both left and right sides of the vehicle 2 with predetermined intervals. This figure is a plan view showing a state of being mounted on a vehicle, and four ultrasonic sensors 1a to 1d, 1 are provided on the left and right sides of the vehicle 2, respectively.
The case where e to 1h are provided is shown.

The ultrasonic sensors 1a to 1h detect the environmental conditions around the vehicle 2. Each ultrasonic sensor 1
The detection outputs of a to 1h are input to the control device 3. The control device 3 is mounted on a predetermined portion of the vehicle 2 and controls the sound pressure level and phase of the acoustic signals output from the speakers 4 and 5 based on the detection outputs of the ultrasonic sensors 1a to 1h. The signal is output to the amplifier 6.

The control device 3 includes ultrasonic sensors 1a-1h.
Based on the signal from, the processing circuit that calculates the position to present the sound image, the memory for storing the filter coefficient for correcting the sound field and the filter coefficient for presenting the sound field, and the sound image presentation It has a built-in computing device (not shown) for computing signals.

The amplifier 6 is also mounted at a predetermined position of the vehicle 2, and amplifies the control signal output from the control device 3 and outputs the amplified control signal to the speakers 4 and 5. Speed
As shown in FIG. 3, the cabs 4 and 5 are installed on both sides of the headrest 9 of the seat of the driver 8 in the vehicle compartment 7 of the vehicle 2. Reference numeral 10 is a switch for operating the system, which is connected to the control device 3.

FIG. 4 is a flow chart showing a processing procedure mainly in the control device 3 in the above-mentioned configuration. When parking, the driver 8 turns on the switch 10 of the system to start the process. First, at step 202, the left and right ultrasonic sensors 1a to 1d, 1 of the vehicle 2 are
From the outputs of e to 1h, the control device 3 measures the distances DLi and DRi between the left and right obstacles of the vehicle 2. This step 202 constitutes the ambient condition detecting means of the invention.

In the next step 203, the target parking position in the parking space is determined based on the intervals DLi, DRi obtained from the outputs of the ultrasonic sensors 1a-1d, 1e-1h, and the left and right of the vehicle. The relationship with the obstacle is calculated. That is, the ultrasonic sensor 1 on the left side of the vehicle 2
Let DL be the minimum value of the outputs LD1, LD2, LD3, LD4 of a to 1d, and the ultrasonic sensors 1e to 1h on the right side of the vehicle 2.
Output DR1, DR2, DR3, DR4 minimum value DR
The distance to the left and right obstacles is calculated as.

If the parking target position of the own vehicle is the center from the left and right obstacles, the left and right spacing is (DL + DR).
Therefore, if DL> DR, the error between the own vehicle and the parking target position is calculated as (DL-DR). Further, when the vehicle 2 is positioned in an oblique direction with respect to the wall 11 (hereinafter, referred to as “inclined”), the ultrasonic sensors 1a to 1d and 1e to 1h are respectively provided.
The inclination between the parking target position and the host vehicle is calculated from the measured distance.

Next, at step 204, the presentation position of the sound image is determined according to the error between the own vehicle and the parking target position obtained at step 203. FIG. 5 is a conceptual diagram showing a vehicle surrounding environment and a sound image presentation position. In this figure, if the right side of the vehicle 2 is positive with the driver's position as the origin, the localization position R of the sound image 12 is expressed by the following equation (1). R = A · (DL-DR) / 2 ······ (1) However, A is a preset proportional constant. For example, as shown in (a) of FIG. 5, when the vehicle 2 is too close to the right with respect to the parking space and is close to the wall 11, the sound image 12 is presented on the right side of the driver 8, and conversely. As shown in (b) of FIG. 3, if the vehicle 2 is too close to the left, the sound image 12 is presented to the left of the driver 8.

When the vehicle is tilted, the sound image 12
Should be presented according to the inclination. Therefore,
For example, as shown in (a) and (b) of FIG. 6, when the left front is close to the obstacle, the sound image 12 is presented to the left front of the driver 8, and when the right rear is close to the obstacle, driving is performed. The sound image 12 is localized and presented to the right rear of the person 8.

Next, in step 205, the sound image data corresponding to the sound image position obtained in step 204 is obtained.
The controller Ni is calculated by the controller 3. The sound image data is
For example, the inverse filter coefficients C11, C1r, Cr1, Cr of the transmission characteristics from the speakers 4, 5 to both ears of the driver 8
Filter coefficients IMd1 and IMd that simulate the transfer characteristics from the sound source to both ears of the driver 8 when the sound field is corrected by r and a real sound source is present at the position where the sound image is to be presented.
It is obtained by performing a convolution operation with r on the sound source signal, and thereby a sound image can be synthesized. In this case, if many filter coefficients for simulating an actual sound source are prepared, the position of a sound image that can be presented can be set finely.

From the respective speakers to both ears, the sound source data Ni is used as filter coefficients C11, C1r, Cr1, Crr for correcting the sound field and the filter coefficients IMd1 and IMdr for simulating an actual sound source. Output signal S for controlling the sound pressure level and phase by performing convolution calculation on the path of
i1 and Sir are obtained by the following equations (2) and (3). Si1 = IMd1 * (C11 * Ni + Cr1 * Ni) ... (2) Sir = IMdr * (C1r * Ni + Crr * Ni) ... (3) However, “*” indicates a convolution operation. . Steps 203 to 205 constitute the sound image data calculating means of the invention.

Then, the process proceeds to step 206, and the output signals Si1 and Sir obtained in step 205 are sent to the amplifier 6 so that the synthesized sounds are output from the speakers 4 and 5. Then, the process returns to step 202 and the above flow is repeated. If parking is completed and the switch is turned off, the operation of the system ends at that point. Step 206 constitutes the sound output means of the invention.

As described above, according to this embodiment, the ultrasonic sensors 1a to 1h detect the surroundings of the vehicle 2, and the control device 3 calculates the target position of the vehicle 2 from the detected output signal. Since the sound images are synthesized by driving the speakers 4 and 5 according to the calculated vehicle position error with respect to the target position, the presentation position of the sound image 12 changes every moment according to the change of the position of the own vehicle. However, the driver 8 can be continuously informed of the positional relationship between the own vehicle and the parking target position, and the driver 8 can be guided to the parking target position.

In the above embodiment, the distance between the left and right obstacles is used to determine the parking target position. However, when one of the left and right sides of the vehicle is open, the distance on the open side. No information is available. In such cases,
When the distance to the obstacle on the other side of the vehicle 2 reaches a preset value, the sound image 8 may be synthesized at the center of the driver 8.

Further, in the above embodiment, the sound image is fixedly localized on the side where the vehicle is closest to the wall of the parking space. However, not only this but the sound source is moved to present the sound image. By doing so, it is possible to attract the driver's attention and provide information more effectively. That is, as shown in (a) of FIG. 7, when the vehicle 2 leans to the left with respect to the wall 11, the moving direction of the sound image 12 is from the right rear of the driver 8 to the left front, and then to the right rear again. On the vehicle 2
The sound image 12 is swung in the direction corresponding to the inclination of the.

On the contrary, as shown in FIG.
Is at the parking target position and is not inclined with respect to the wall 11, the sound image 12 can be moved in the front-back direction of the center of the driver 8. Furthermore, the swinging direction of the sound image in the front-rear direction of the driver can be presented while always moving so as to be parallel to the target parking position. In this case, the driver sets the vehicle in the moving direction of the sound image. By operating the host vehicle so that the directions thereof are parallel to each other, the vehicle can be parked correctly at the parking target position.

Furthermore, as shown in FIG. 8, it is possible to present the sound image 12 toward the driver 8 from the direction of the closest obstacle. By changing the moving speed of the sound image 12, the distance, and the interval at which the sound image is presented according to the approach of the obstacle, the direction and the degree of danger of the obstacle can be transmitted to the driver. For example, when the obstacle is distant, as shown in FIG. 8A, the sound image 1 is slowly and slowly directed toward the driver 8 from the driver 8.
Move 2 On the contrary, when the obstacle is near, as shown in FIG. 8B, if the sound image 12 is moved from the near position toward the driver 8 at a high speed and the cycle is shortened,
The degree of urgency is accurately transmitted.

In the above embodiment, the case where the loudspeakers 4 and 5 are installed on both sides of the headrest 9 of the driver's seat is shown, but the number of loudspeakers may be two or more. The place is not limited to this. Further, in the above embodiment, both the sound pressure level and the phase of the acoustic signal are controlled, but depending on the parking situation of the host vehicle, only the sound pressure levels of the plurality of speakers are controlled to synthesize the sound image. Alternatively, the same effect can be obtained by synthesizing the sound image by controlling only the phase.

In the processing flow of the flow chart shown in FIG. 4 of the embodiment, the control device is activated and the process is started by turning on a switch connected to the control device. In the case where the unit is always operating during vehicle operation in common with other control, a step of monitoring whether or not the switch is turned on is provided before step 202 in the figure, and when the switch is turned on, step 202 is performed. You may make it proceed to subsequent processes. In this case, again, after step 206, a step for checking the switch-on state is also provided, and when the switch is off, this process is terminated, and while it is on, the process returns to step 202 and repeats the above flow. It is said that

Next, FIG. 9 is a block diagram showing the configuration of another embodiment of the present invention. In this embodiment, a steering angle sensor 13 as steering angle detecting means for detecting the steering angle of the host vehicle.
In addition, the camera 14a to
14h and the image processing device 15 are used. Camera 14a
The image signals obtained from 14h to 14h are output to the image processing device 15, and the output signal of the image processing device 15 is output to the control device 3 ′. Steering angle sensor 1
The output signal of 3 is also sent to the control device 3 '.

As described above, in the ambient condition detecting means for performing image processing on the image signals from the cameras 14a to 14h by the image processing device 15, the vehicle surroundings are photographed by the cameras 14a to 14h and the photographed image is taken by the image processing device 15. By processing and recognizing, an object around the vehicle 2 is detected to detect the situation of the own vehicle. Other configurations are similar to those of the embodiment shown in FIG.

The flow of processing in the above configuration is shown in the flowchart of FIG. In this example, the control device 3'is in a standby state, and first, in step 301, it is monitored whether or not the switch is turned on. When the driver 8 turns on the switch 10 of the system in the case of parking, the process proceeds to the next step 302, where the image processing device 15 causes the cameras 14a-1 to 14a-1.
The image obtained by 4h is processed, the surrounding object of the vehicle 2 or the white line of the parking lot is detected, and the parking situation of the own vehicle is detected.

Then, in step 303, a parking target position is calculated from the parking situation, a traveling plan for parking is determined from the calculated target position and the position of the own vehicle, and a steering angle target value θd is calculated. In the next step 304, the output θr of the steering angle sensor 13 indicating the current steering angle and the steering angle target value θd are compared, and the steering angle error θe is calculated. Then go to step 305, step 304
The presentation position of the sound image is determined based on the steering angle error θe obtained in step. In order to localize the sound image to the determined sound image presentation position, the control device 3 ′ calculates the sound image data in step 306.

Then, in step 307, the sound image data obtained in the previous step 306 is output from the control device 3'to the amplifier 6, and after amplification, the speakers 4 and 5 are driven to output the acoustic signal. Thus, a sound image 12 is obtained. As a result, the driver is guided to perform a driving operation along the planned trajectory 18 so that the difference between the target steering angle 16 and the actual steering angle 17 as shown in FIG. 11 is eliminated, and the vehicle can be parked more smoothly at the target position. .

Thereafter, in step 308, the switch 1
It is checked whether 0 is turned off, and switch 10
Is off, it means that the driver 8 has finished parking, and the series of processes of the system is finished.
When the switch 10 is not turned off, it means that the parking operation is being continued, and the process returns to the step 302 again, and the imaging process of the environment around the own vehicle by the cameras 14a to 14h is continued again.

When the center of the left and right white lines of the parking space is set as the parking target position, the degree of coincidence between the own vehicle and the parking target position is used instead of the steering angle error. When the sound image is presented in the above, and it is deviated from the target parking position, the sound image synthesis position may be changed according to the error. Since the surrounding condition detection means using such image processing can detect the white line of the parking space and the like, the left and right white line detection allows the parking target of the own vehicle even when there is no vehicle or wall on the left and right. There is an effect that the position can be calculated.

Here, the presentation pattern for the vehicle position error and the steering angle error of the sound image 12 is not particularly limited as long as the driver knows the correspondence in advance, and any correspondence may be used. For example, when the own vehicle and the parking target position match, the driver does not hear the sound of the sound image, and only when the sound position deviates from the target position, the sound image is located at a position distant from the driver according to the error. It can be made synthetic.

At this time, the sound of the sound image is further generated at a predetermined time interval, and as the distance between the vehicle and the obstacle decreases, the distance between the vehicle and the obstacle decreases. Will promote even more sensory understanding.
Alternatively, when the vehicle 2 deviates to the right of the parking target position, the sound image 12 may be synthesized to the right of the driver according to the error, and the direction in which the own vehicle deviates may be transmitted. On the contrary, the sound image 12 may be synthesized to the left to notify the driver of the direction of the parking target position. As described above, these can be easily understood without moving the line of sight if the driver is informed of the corresponding relationship in advance. As for the presentation position of the sound image, a plurality of presentation patterns as described above are set, and the pattern of the positional relationship between the presentation position of the sound image and the vehicle can be selected according to the driver's preference. Good.

Further, the parking target position can be set with a preset width or a margin of inclination. For example, when the parking target is set to the center, if the error from the center of the own vehicle position is within the preset range, the driver will hear the same sound image as when the own vehicle is located in the center. Let me hear. Similarly, if the inclination is less than a preset angle, the driver is made to hear the same sound image as when the driver is not inclined. These are effective when the parking target is expanded to a predetermined range area centered on the parking target position.

As described above, in each of the above embodiments according to the present invention,
Although the sound image is synthesized by controlling the sound pressure and phase of the acoustic signal output from each speaker by the control device, the present invention is not limited to this, and as a simpler method, a predetermined method in the vehicle interior 7 is used. It is also possible to present the direction of the sound image and convey the distance by the sound pressure level by disposing a plurality of speakers at the positions and switching the speakers outputting the acoustic signal under the control of the control device. At this time, the sound image presentation position outputs the sound from the speaker closest to the position direction from the driver, but the accuracy of the sound image presentation direction is increased by increasing the number of the speakers.

Further, the surrounding condition detecting means is not limited to the above-mentioned detection of the surrounding condition of the own vehicle by the ultrasonic sensors 1a to 1h and the picked-up image of the surrounding condition by the cameras 14a to 14h, but also a laser radar, a radar. There is no particular limitation as long as it can detect the situation around the vehicle. In addition, the present invention is not limited only to the guidance in the parking of the illustrated embodiment, but is also applied to route guidance when traveling on a road where there are narrow alleys and parked vehicles,
The route that avoids obstacles is transmitted to the driver as a sound image, which contributes to safe driving.

[0040]

As described above, according to the present invention, the surrounding environment of the vehicle and the surrounding situation of the host vehicle are detected by the surrounding condition detecting means, and the acoustic signal controlled according to the output is arranged at a predetermined position in the passenger compartment. By outputting from a plurality of speakers and synthesizing sound images, the route that the vehicle should take is transmitted to the driver by sound, so that parking in a parking space or passage on a narrow road can be performed smoothly. And unlike a system that uses a map-displayed screen to force the driver's line of sight to move to the display screen, you can operate while paying attention to the driving environment of your vehicle, so you can drive safely. Has the effect that is possible.

[Brief description of drawings]

FIG. 1 is a block diagram showing a configuration of the present invention.

FIG. 2 is a block diagram showing a configuration of an exemplary embodiment of the present invention.

FIG. 3 is a diagram showing a vehicle layout in the embodiment.

FIG. 4 is a flowchart showing a flow of operations in the embodiment.
It is

FIG. 5 is an explanatory diagram showing a presentation position relationship of sound images when the vehicle approaches the left and right wall surfaces of the parking space.

FIG. 6 is an explanatory diagram showing a presentation position relationship of sound images when a vehicle approaches the left and right wall surfaces of the parking space while being inclined.

FIG. 7 is an explanatory diagram showing another presentation positional relationship of the sound image according to the direction in the parking space of the vehicle.

FIG. 8 is an explanatory diagram showing a presentation positional relationship of sound images according to a distance from an obstacle of a vehicle.

FIG. 9 is a block diagram showing the configuration of another embodiment of the invention.

FIG. 10 is a flowchart showing the flow of operations in another embodiment.
It is a chart.

FIG. 11 is an operation explanatory view when the vehicle is parked according to another embodiment.

[Explanation of symbols]

 1a-1h Ultrasonic sensor 2 Vehicle 3, 3'Control device 4, 5 Speaker 6 Amplifier 7 Vehicle compartment 8 Driver 9 Headrest 10 Switch 11 Wall 12 Sound image 13 Steering angle sensor 14a-14h Camera 15 Image processing device 16 Target Steering angle 17 Actual steering angle 18 Planed trajectory 20 Surrounding state detection means 21 Sound image data calculation means 22 Sound output means 23 Steering angle detection means

Claims (7)

[Claims] 1. A surrounding condition detecting means for detecting a surrounding condition of the own vehicle, a target position of a route is calculated based on an output of the surrounding condition detecting means, and the target position of the route is calculated according to a relation of the actual position of the own vehicle to the target position. A sound image data calculation means for calculating sound image data, and a sound output means for outputting a sound signal from the speaker based on the sound image data, including a plurality of speakers arranged at a predetermined position in the vehicle interior. A route guidance device for a vehicle, which is configured to indicate a positional relationship of the own vehicle with respect to the target position by using a sound image generated by the acoustic signal. 2. The route guide device for a vehicle according to claim 1, wherein the target position is a parking position in a parking space. 3. The sound image data calculating means calculates the parking position based on each minimum value of the distance between the left and right obstacles in the parking space and the host vehicle, and the sound image is calculated between the parking position and the host vehicle. The route guidance device for a vehicle according to claim 2, wherein the sound image data is calculated so as to change according to an error from the actual position. 4. The sound image data calculation means calculates the inclination of the host vehicle with respect to the parking position, and calculates the sound image data so that the sound image changes according to the inclination. The route guide device for a vehicle according to claim 2. 5. The sound image data calculating means calculates the sound image data so that the sound image is localized at the center position of the driver when the vehicle is located within a predetermined proper range with respect to the target position. Claims 1, 2, 3 characterized in that
Alternatively, the vehicle route guidance device according to item 4. 6. The sound image data calculating means calculates the sound image data so that the driver cannot hear the sound image when the vehicle is located within a predetermined proper range with respect to the target position. The route guidance device for a vehicle according to claim 1, 2, 3, or 4. 7. A surrounding condition detecting means for detecting a surrounding condition of the own vehicle, a steering angle detecting means for detecting an actual steering angle of the own vehicle, and a target steering angle in a route based on an output of the surrounding condition detecting means. And a sound image data calculating means for calculating sound image data according to an error between the target steering angle and the actual steering angle of the host vehicle, and a plurality of speakers arranged at a predetermined position in the vehicle interior. Acoustic output means for outputting an acoustic signal from the speaker based on sound image data, and a sound image generated by the acoustic signal is configured to indicate a relationship between the actual steering angle of the host vehicle and the target steering angle. A route guidance device for a vehicle characterized by the above.