JPH06344839A - Alarm and guide device for vehicle - Google Patents

Abstract

PURPOSE:To recognize the direction and the position of the sound, which is sent from an object approaching from all directions surrounding an own-vehicle besides the side of the vehicle, and to inform the approach information including the direction information to a driver CONSTITUTION:An alarm and guide device for vehicle is provided with a sound collecting means 1 set in a car body and for collecting the sound outside of a vehicle, a direction, distance and relative speed detecting means 2 for detecting the direction, distance and the relative speed of an own-vehicle and an object outside of the vehicle on the basis of the vehicle-outside sound collected by the sound collecting means 2, and a degree of danger judging means 3 for computing the degree of approach of the object outside of the vehicle to the own-vehicle on the basis of a result of the detection obtained by the direction, distance and relative speed detecting means 2 and for judging a degree of danger on the basis of the degree of the approach of the object outside of the vehicle. This device is also provided with a speaker device 8 arranged inside of a cabin and for guiding a driver with the sound, and a control means 4 for controlling the speaker device 8 so as to alarm with the sound, adding the direction information obtained by the direction, distance and relative speed detecting means 2 in the case where a degree of danger judged by the degree of danger judging means 3 exceeds a threshold value.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a vehicle alarm guide device.

[0002]

2. Description of the Related Art In recent years, in order to avoid dangers caused by events that tend to diminish the driver's attention during the operation of automobiles, the safety of detecting dangers around the vehicle and transmitting the dangers to the driver. For the purpose of improvement, there has been proposed a device mounted on a vehicle for warning and guiding a danger around the vehicle.

For example, according to the proposal disclosed in Japanese Utility Model Laid-Open No. 1-13600, when it is difficult to visually confirm safety from the driver's seat, such as when a vehicle enters a wide road from a narrow road, another When a vehicle such as a two-wheeled vehicle is approached by receiving a running sound and an engine sound, the approaching of the vehicle is detected by the sound, and the approach of another vehicle can be easily confirmed without the driver having to drive the vehicle forward. Is able to.

[0004]

However, in the conventional device for warning and warning of such a danger around the vehicle, for example, the device disclosed in Japanese Utility Model Laid-Open No. 1-13600, the side of the vehicle is disclosed. An object such as a vehicle approaching from the direction can be recognized, but an approaching object from the rear cannot be recognized.

For this reason, for example, when a motorcycle approaches from the left rear direction, a driver in a vehicle having excellent sound insulation can confirm the approach of the motorcycle by running sound, engine sound and the like. There is a problem that it is difficult. The present invention was created in view of such a problem, the approaching object from all directions surrounding the vehicle as well as the side of the vehicle, simultaneously recognize the direction of the sound to be emitted and the transmission position, An object of the present invention is to provide a vehicle alarm guide device capable of notifying a driver of approach information including direction information.

[0006]

Therefore, the vehicle alarm guide device according to the first aspect of the present invention is a vehicle sound guide device that is set on a vehicle body and collects sound outside the vehicle, and sound outside the vehicle collected by the sound collecting means. A vehicle-outside object discriminating means for discriminating the type of the vehicle-outside object from the extracted sound and a voice emitted by an arbitrary vehicle-outside object, a transmission direction of the extracted sound, a vehicle-outside object emitting the extracted sound, and the host vehicle. Relative information detecting means for detecting the relative distance and relative speed of the vehicle, and the degree of approach of the object outside the vehicle to the own vehicle based on the relative information obtained by the relative information detecting means, and the degree of danger is calculated from the degree of approach of the object outside the vehicle. And a warning determination based on the relative information obtained by the relative information detection means when the risk determined by the risk determination means exceeds a threshold value. Output control signal And control means, based on the control signal from the control means is characterized in that it is constructed to include a warning guidance means for performing warning guidance.

According to the second aspect of the present invention, the alarm guidance by the alarm guide means is provided by the outside sound of which the sound field is adjusted so that the driver can recognize the approach direction of the outside object. It has a feature. Further, claim 3
In the present invention described, the warning guidance by the warning guidance means is
It is characterized in that it is performed by the extracted sound whose sound field is adjusted so that the driver can recognize the type and approaching direction of the object outside the vehicle.

Further, in the present invention as set forth in claim 4, the warning guidance by the warning guiding means is based on the extracted sound in which the sound field is adjusted so that the driver can recognize the type and approaching direction of the object outside the vehicle. It is characterized by being performed by a synthetic sound. Further, in the present invention according to claim 5, the warning guidance by the warning guidance means is performed by voice guidance in a language selected so as to recognize the type and approaching direction of the object outside the vehicle to the driver. There is.

[0009]

In the vehicle alarm guide device according to the first aspect of the present invention, when the vehicle outside sound is collected by the sound collecting means, the vehicle outside object discriminating means selects any outside vehicle from the collected outside sound. The voice emitted by the object is extracted, and the type of the object outside the vehicle is determined based on the extracted sound. Then, the relative information detecting means detects the transmitting direction of the extracted sound, the relative distance and the relative speed between the vehicle outside the vehicle emitting the extraction and the own vehicle.
Then, the risk determining means calculates the degree of approach of the object outside the vehicle to the own vehicle based on the relative information obtained by the relative information detecting means, and determines the risk from the degree of approach of the object outside the vehicle. When the risk level determined by the risk level determination unit exceeds the required threshold value, the alarm guidance unit provides the alarm guidance based on the relative information obtained by the relative information detection unit.

Further, the warning guidance by the warning guiding means is
The sound outside the vehicle can be used to adjust the sound field so that the driver can recognize the approaching direction of the object outside the vehicle (claim 2). Further, the warning guidance by the warning guiding means can be provided by the extracted sound whose sound field is adjusted so that the driver can recognize the type and approaching direction of the object outside the vehicle (claim 3).

Further, the warning guidance by the warning guiding means is
This can be performed by a synthesized sound based on the extracted sound whose sound field is adjusted so that the driver can recognize the type and approaching direction of the object outside the vehicle (claim 4). Further, the warning guidance by the warning guiding means can be provided by voice guidance in a language selected so as to recognize the type and approaching direction of the object outside the vehicle to the driver (claim 5).

[0012]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of the present invention will be described below with reference to the drawings. First, the vehicle alarm guide device of the present invention is mounted on a vehicle 101 as shown in FIG. 2 so that it is emitted not only to the side of the vehicle but also to approaching objects from all directions surrounding the vehicle. It is possible to simultaneously recognize the direction and transmission position of sound and notify the driver of approach information including direction information.

FIG. 1 is a block diagram showing the structure of the vehicle alarm guide apparatus according to this embodiment. In FIG. 1, reference numeral 1 is a sound collecting means, and the sound collecting means 1 is mounted on the vehicle body. The external sound can be collected by being set, and is composed of, for example, four microphones 1a to 1b arranged at a position shown in the vehicle 101 shown in FIG. The vehicle exterior sound information from the sound collecting means 1 is output to the relative information detecting means 2 and the vehicle exterior object determining means 5 which will be described later.

Reference numeral 5 denotes an outside-vehicle object discriminating means. The outside-vehicle object discriminating means 5 extracts a voice generated by an arbitrary outside-vehicle object from the outside-vehicle sound collected by the sound collecting means 1.
3 and a learned neural network 5-1 for discriminating the type of the object outside the vehicle from the sound extracted by the voice extraction means 5-3. Specifically, the type of the vehicle exterior object can be discriminated by inputting the voice uttered by an arbitrary vehicle exterior object extracted from the vehicle exterior sound to the learned neural network 5-1. Here, as shown in FIG. 4, the neural network 5-1 divides the type into a motorcycle, a truck, a passenger car, an emergency vehicle, and a trailer according to the sound from the outside sound.

The neural network 5-1
As a learning method of, for example, an algorithm based on a back propagation learning method as described later is used.
Reference numeral 2 is a relative information detecting means, and this relative information detecting means 2
Is for detecting the transmission direction of the extracted sound from the voice extraction means 5-3, and the relative distance and relative speed between the vehicle outside the vehicle emitting the extracted sound and the host vehicle.

Reference numeral 3 denotes a risk determining means, which calculates the degree of approach of the object outside the vehicle to the own vehicle based on the relative information obtained by the relative information detecting means 2, and determines the degree of the object outside the vehicle. The degree of approach risk is determined from the degree of approach. The degree of danger according to the degree of approach is divided into, for example, four stages with a desired reference. 10 is a necessary deceleration storage means, and the necessary deceleration storage means 10 is
Data about deceleration (hereinafter referred to as "necessary deceleration") X _G V required to stop within a distance d from a certain velocity V is stored. It should be noted that this required deceleration is the speed V of the host vehicle at the distance d _{0 from the} approaching object.
According to the above, a curve as shown in FIG. 7 is drawn.

Reference numeral 4 denotes a controller as a control means. The controller 4 uses the relative information detected by the relative information detecting means 2, the approach risk determined by the risk determining means 3 and the neural network 5-1. On the basis of the type information of the object outside the vehicle, a control signal indicating that desired warning guidance is to be output is output to the sound source 11. Here, there are four modes of warning guidance, depending on the approach danger level divided into the above-mentioned four stages, that is, in the selected language, in the synthesized sound, in the extracted sound, and in the outside sound.

That is, the sound source 11 receives the control signal from the controller 4, and the voice generating means 11a for performing the alarm guidance by the voice guidance in the predetermined selected language.
And a synthesized sound generating means 11b for performing warning guidance with a synthesized sound including type information and approaching direction information of an object outside the vehicle, and a sound extracted from the sound extracting means 5-3 and a sound collecting means 1 outside the vehicle. The sound is being input.

Reference numeral 6 is a selector, and this selector 6 outputs an alarm guidance signal from a sound source 11 and an audio device 7.
And a voice output signal from the controller 4, and based on a control signal from the controller 4, one or both of them are selected and output depending on whether the warning guidance is given in the selected language or not. is there. That is, when performing warning guidance in the selected language, the signal from the sound source 11 is preferentially output to the speaker device 8 by the switching operation even when the audio output signal from the audio device 7 is being output. On the other hand, in the case of performing other alarm guidance, when the audio output signal from the audio device 7 is being output, the speaker device 8 is also provided.
You can output more.

The speaker device 8 as the alarm guide means is
It is installed in the passenger compartment to guide passengers by sound,
The audio output from the audio device 7 installed in the company can also be output, and it is configured with four speakers 8a to 8d. The vehicle speed sensor 9 detects the vehicle speed of the host vehicle, and the vehicle speed data from the vehicle speed sensor 9 is input to the risk determination unit 3.

In the above configuration, a learning method for the neural network 5-1 to discriminate the type of the vehicle exterior object from the extracted sound will be described below with reference to FIGS. That is, as shown in FIG. 3, for example, the extracted sound information from the voice extraction means 5-3 and the data (teacher data) relating to the type of the source of the extracted sound are input, and these data are stored as data. Collect with device 5-2.

After the extracted sound information from the voice extraction means 5-3 and the data relating to the type of the source of the extracted sound are input to the data storage device 5-2 in this way, the result is shown in FIG. In this way, the neural network 5
Let -1 learn. That is, in FIG. 4, the output of the neural network 5-1 and the sound outside the vehicle are used with the extracted sound information from the voice extraction means 5-3 as the input data, and the data of the source of the extracted sound as the teacher data. The learning is performed so that the logical difference from the transmission source of is 0.

Therefore, the learned neural network 5-1 can easily discriminate and output the type of the object outside the vehicle when the extracted sound is input. Next,
The operation of the vehicle alarm guidance device of the present invention will be described below with reference to the flowcharts of FIGS. FIG. 5 is a flow chart for explaining the outline of the operation of the vehicle alarm guidance device of the present invention. First, in step S1 in FIG. 5, an arbitrary vehicle exterior object emits the vehicle exterior sound collected by the sound collecting means 1. The voice is extracted, and the type of the object outside the vehicle is determined based on the extracted sound.

When it is determined in step S2 that the external sound is an alarm from an emergency vehicle, the process proceeds to step S6, and the controller 4 controls the alarm sound of the emergency vehicle to be included. The alarm guidance is provided by an external sound, an extracted sound of an alarm sound of an emergency vehicle, a synthesized sound of the alarm sounds, or voice guidance in a selected language. With this warning guidance, the driver of the own vehicle can recognize in which direction the emergency vehicle is relative to the own vehicle.

Then, in step S3, the relative information detecting means 2 receives the exterior sound information collected by the sound collecting means 1 and detects the relative distance and the relative speed between the source of the relevant exterior sound and the host vehicle. As a mode of detecting this relative information, the sound is extracted by a plurality of microphones 1a to 1b for a transmission source from one direction, and the distance and direction are comprehensively detected by the phase difference, volume difference, etc. of the sound.

The detection of the relative speed differs between the object ahead of the host vehicle and the object behind the host vehicle.
7 and the flow charts shown in FIGS.
When the relative position and the relative speed of the vehicle exterior sound are detected in step S3, the approach risk is determined by the risk determining means 3 in step S4. The determination of this approach risk degree also differs from that of the object in the front-back direction, and therefore will be described in detail with reference to the flowcharts of FIGS. 6 and 7.

If the approach danger level exceeds a predetermined threshold value in step S5, warning guidance is given in step S6. When the warning guidance is completed or when the approach danger level does not exceed the predetermined threshold value, the warning guidance is not performed, and the process returns to the step S1 as described above. Next, by using the flowcharts shown in FIGS. 6 and 7 for explaining the detection modes of the relative speed and the approach risk level with respect to the object in front in the vehicle alarm guidance device of the present invention, the relative speed detection and the approach risk level are used. The determination mode will be described in detail.

First, in FIGS. 6 and 7, step A1
Then, using the extracted sound information from the voice extraction unit 5-3, the object (hereinafter,
Described as an approaching object. ) Reads the distance d ₀ to as the initial value.

Next, in step A2, the distance d _i from the calculated distance d ₀ to the approaching object after Δt seconds is calculated. As the calculation method, as described above, the sound is extracted by the plurality of microphones 1a to 1b for the transmission source from one direction, and the distance and the direction are comprehensively detected by the phase difference, the sound volume difference and the like of the sound. .

Then, in step A3, the above step A
The relative velocity V _R0 is calculated by using d ₀ and d _i calculated in 1, A2. In other words, this relative velocity V _R0 is
It is calculated by the equation (1). V _R0 = (d ₀ −d _i ) / Δt (1) Therefore, the processing from step A1 to step A3 in FIG. 6 corresponds to the processing in step S3 of the flowchart in FIG.

Then, after step A3, step A4
7 to step A15 in FIG. 7, the approach risk level is determined by the risk level determination means 3. This corresponds to the operation from step S4 to step S6 of the flowchart in FIG. That is,
In step A4, it is determined whether or not the approaching object is approaching the host vehicle by using the relative speed V _R0 obtained in step A3. That is, when the relative speed V _R0 to the host vehicle is positive, it is determined that the vehicle is approaching, and the relative speed V _R0 is approaching.
If is negative, it is determined not to be.

If it is determined in step A4 that the approaching object is approaching the host vehicle, step A5
Then, the vehicle speed V _i is detected by the vehicle speed sensor 9. Then, in step A6, the deceleration required to stop from a speed V _i within a distance d _i (hereinafter referred to as "required deceleration".) The X _G V, with reference than the required deceleration storage unit 10 To decide. This required deceleration draws a curve as shown in FIG. 10 at the distance d _{i from} the approaching object.

In step A7, the relative speed V_R0And must
Deceleration required X_GBy using V and deceleration time t
₀To calculate. That is, this deceleration required time t₀Is an expression
Calculated by (2). t₀= V_R0/ X_GV (2) In step A8, when deceleration calculated in step A7 is required
Interval t₀And required deceleration X _GV and vehicle speed V_iWith and
Therefore, the braking distance d_sTo calculate. In other words, this system
Moving distance d_sIs calculated by equation (3).

D _s = V _i · t ₀ − (1/2) · X _G V · t ₀ ² (3) Next, in step A9 in FIG. 7, braking is performed by the required deceleration obtained in step A8. Braking distance d
The magnitude relationship between _s and the distance d _i to the approaching object obtained in step A2 is compared, and this is output to the controller 4 as the approach risk.

Here, when the braking distance d _s is larger than the distance d _i , the braking force cannot be stopped within the distance d _i even if the braking force is generated, and there is a high possibility of collision with the approaching object. In step A10, the sound source 1 from the controller 4
A signal indicating that warning guidance is to be given to 1 is output by voice guidance. The sound source 11 receiving the control signal from the controller 4 selects the signal from the sound generating means 11a and outputs it to the speaker device 8 via the selector 6, so that the type and approaching direction of the object outside the vehicle are selected according to the selected language. It is possible to give a warning guide to make the driver recognize.

[0036] If the braking distance d _s is not the case for the in step A9, in step A11, the braking distance d _s is the distance d _i, for example, the following cases large distances d _i than 0.8 times the distance In step A12, the controller 4 outputs a signal to the sound source 11 to the effect that the alarm guidance is to be provided by the synthesized sound. This is because when the braking force is generated, the required distance becomes closer to d _i due to the braking, and there is a risk of collision with the approaching object.

The sound source 11 receiving the control signal from the controller 4 selects the signal from the synthetic sound generating means 11b and outputs it to the speaker device 8 via the selector 6 to drive the type and approach direction of the object outside the vehicle. Alarm guidance can be provided in a sound field adjusted so as to be recognized by the person. If the braking distance d _s does not correspond to the above case in step A11, in step A12-1, the braking distance d _s is greater than, for example, 0.7 times the distance d _i and is 0.8 times or less. In this case, in step A12-2, the controller 4 outputs a signal to the sound source 11 to the effect that the alarm guidance is provided by the extracted sound. This is because when the braking force is generated, there is a margin in the distance required for the braking as compared with the above case, but there is a possibility of colliding with the approaching object.

As a result, the sound source 11 receiving the control signal from the controller 4 selects the signal from the voice extraction unit 5-3 and outputs it to the speaker device 8 via the selector 6, thereby determining the type of the object outside the vehicle and Warning guidance can be provided in a sound field adjusted so that the driver can recognize the approaching direction.
If braking distance d _s is not the case for the in step A12-1, in step A13, the braking distance d _s
Is larger than the distance d _i , for example, 0.6 times, and 0.
If it is 7 times or less, in step A14, the controller 4
Outputs a signal to the sound source 11 to the effect that the alarm guidance is given by the sound outside the vehicle. This is because when the braking force is generated, the required distance can be secured to some extent by the braking as compared with d _i , but it may be possible to collide with the approaching object.

As a result, the control signal from the controller 4 is sent.
The sound source 11 receiving the signal selects the signal from the sound collecting means 1,
By outputting to the speaker device 8 via the selector 6,
So that the driver can recognize the approaching direction of an object outside the vehicle.
Warning information can be given in the adjusted sound field. However,
In A4, the object to calculate the relative speed is approaching
If it is not determined, step A10, step
A12, step A12-2, step A14 alarm
After the guidance or even while approaching, the braking distance d_s
Is the distance d_iLess than 0.6 times the distance required for braking
If it is possible to secure enough,
Distance d to the approaching object as an initial value measured in A1₀
From the value at the time of initial value measurement previously measured in step A2
Distance d after Δt seconds _iRewrite After that, the process is
After moving to A2, measure the distance to the approaching object again.
Nau.

Next, a mode of measuring the relative speed with respect to the rear of the host vehicle and determining the approach risk will be described. First, in FIG. 7, the measurement of the relative speed from step B1 to step B3 is the same as the above-described measurement mode of the relative speed with respect to the front of the host vehicle in FIG. Therefore, it goes without saying that the process from step B1 to step B3 corresponds to the process of step S3 in the flowchart of FIG.

Then, steps B4 to B15
Through this, the risk determination means 3 determines the approach risk. This corresponds to the operation from step S4 to step S6 of the flowchart in FIG. That is, in step B4, it is determined whether the approaching object is approaching the host vehicle by using the relative speed V _R0 obtained in step B3. That is, it is determined that the vehicle is approaching when the relative speed V _R0 with respect to the host vehicle is negative, and is not so when the relative speed V _R0 is positive.

When it is determined in step B4 that the approaching object is approaching the host vehicle, step B5
Then, the speed V _C of the approaching object is calculated by the equation (4) using the vehicle speed V _{i of the} own vehicle detected by the vehicle speed sensor 9 and the relative speed V _R0 . V _C = V _i −V _R0 (4) Then, in step B 6, the required deceleration X _G V for stopping the approaching object within the distance d _i from the velocity V _{C is referred} to from the required deceleration storage means 10. To decide. This required deceleration draws a curve as shown in FIG.

At step B7, the relative speed V_R0And must
Deceleration required X_GBy using V and deceleration time t
₀To calculate. That is, this deceleration required time t₀Is an expression
Calculated by (5). t₀= V_R0/ X_GV (5) At step B8, when deceleration calculated at step B7 is required
Interval t₀And required deceleration X _GV and velocity of approaching object V_CFor and
The collision avoidance distance of the approaching object (desired deceleration
(Distance required to brake and avoid collision)
d_CTo calculate. That is, this approaching object collision avoidance distance d
_CIs calculated by equation (6).

D _C = V _C · t ₀ − (1/2) · X _G V · t ₀ ² (6) Here, in step B9, the approaching object collision avoidance distance d _C obtained in step B8 and step B2 The magnitude relationship with the distance d _i to the approaching object obtained in step 3 is compared, and this is output to the controller 4 as the determined approach risk. When the approaching object collision avoidance distance d _c is larger than the distance d _i , in step B10, the danger level determination means 3 outputs a signal to the controller 4 to give warning guidance by voice guidance. Even if the braking force is generated, the distance d _i
This is because it is not possible to stop within that time and there is a high risk of colliding with the approaching object.

Then, the sound source 11 receiving the control signal from the controller 4 selects the signal from the sound generating means 11a and outputs it to the speaker device 8 via the selector 6, so that the object outside the vehicle can be displayed in the selected language. It is possible to provide an alarm guide that makes the driver aware of the type and approaching direction. Step If the approaching object collision avoidable distance d _c is not the case for the in B9, in step B11, the approaching object collision avoidable distance d _c is the distance d _i, for example, 0.8 times the greater the distance d _i than the distance Step B in the following cases
At 12, the controller 4 outputs a signal to the sound source 11 to the effect that the alarm guidance will be given by the synthesized sound. This is because when the braking force is generated, the required distance becomes closer to d _i due to the braking, and there is a risk of collision with the approaching object.

After that, the sound source 11 receiving the control signal from the controller 4 selects the signal from the synthesized sound generating means 11b and outputs it to the speaker device 8 via the selector 6, thereby determining the type and approaching direction of the object outside the vehicle. Warning guidance can be provided in a sound field adjusted so that the driver can be recognized.
When the approaching object collision avoidance distance d _c does not correspond to the above case in step B11, in step B12-1
The approaching object collision avoidance distance d _c is, for example, 0.7 of the distance d _i .
When the distance is larger than the double distance and equal to or shorter than 0.8 times, the controller 4 outputs a signal to the sound source 11 to issue the alarm guidance by the extracted sound in step B12-2. This is because when the braking force is generated, there is a margin in the distance required for the braking as compared with the above case, but there is a possibility of colliding with the approaching object.

As a result, the sound source 11 which has received the control signal from the controller 4 selects the signal from the voice extraction unit 5-3 and outputs it to the speaker device 8 via the selector 6, thereby determining the type of the vehicle exterior object and Warning guidance can be provided in a sound field adjusted so that the driver can recognize the approaching direction.
In step B12-1, the approaching object collision avoidance distance d _c
If is not the case above, in step B13,
The approaching object collision avoidance distance d _c is, for example, 0.6 of the distance d _i .
If the distance is larger than the doubled distance and equal to or smaller than 0.7 times the distance, the controller 4 outputs a signal to the sound source 11 to the sound source 11 by the sound outside the vehicle to provide the alarm guidance in step B14. This is because when the braking force is generated, the required distance can be secured to some extent by the braking as compared with d _i , but it may be possible to collide with the approaching object.

As a result, the control signal from the controller 4 is sent.
The sound source 11 receiving the signal selects the signal from the sound collecting means 1,
By outputting to the speaker device 8 via the selector 6,
So that the driver can recognize the approaching direction of an object outside the vehicle.
Warning information can be given in the adjusted sound field. However,
In B4, the object for relative speed calculation is approaching
If it is determined that it is not, step B10, step
B12, Step B12-2, Step B14
After the guidance or even while approaching, the braking distance d_s
Is the distance d_iLess than 0.6 times the distance required for braking
Is sufficiently secured, in step B15, step
Distance d to the approaching object as an initial value measured in B1₀
From the value at the time of initial value measurement previously measured in step B2
Distance d after Δt seconds _iRewrite After that, the process is
Move to B2 and measure the distance to the approaching object again.
Nau.

Therefore, not only the side of the vehicle but also the approaching object from all directions surrounding the vehicle are recognized at the same time as the direction and the transmission position of the sound, and the sound is output from the direction of the source of the outside sound. By outputting a reproduced sound or a pseudo sound or an audio guide sound that makes it easy to identify an object outside the vehicle as if
The driver can be alerted to an object outside the vehicle.

Further, the alarm guidance output from the speaker device 8 can be changed according to the degree of danger of approach, such as warning guidance by language, warning guidance by synthesized sound, warning guidance by extracted sound, and warning guidance by outside sound. There is an advantage that the driver can have a clearer recognition of the object outside the vehicle.

[0051]

As described in detail above, the first aspect of the present invention
According to the vehicle alarm guide device described above, the sound collecting unit that is set on the vehicle body to collect the vehicle exterior sound, and the sound emitted by an arbitrary vehicle exterior object are extracted from the vehicle exterior sound collected by the sound collecting unit. A vehicle outside object discriminating means for discriminating the type of the vehicle exterior object from the extracted sound, and a relative information detecting means for detecting a relative direction and a relative speed between the transmitting direction of the extracted sound, the vehicle exterior object emitting the extracted sound, and the host vehicle. And a risk determination unit that calculates the degree of approach of the object outside the vehicle to the own vehicle based on the relative information obtained by the relative information detection unit, and determines the risk from the degree of approach of the object outside the vehicle, and the risk determination And a control means for outputting a control signal indicating that warning guidance is to be performed based on the relative information obtained by the relative information detecting means when the degree of risk determined by the means exceeds a threshold value. Based on the control signal of In addition, since it is configured to include an alarm guide means for performing alarm guidance, the direction and the transmission position of the sound emitted at the same time with respect to an approaching object not only from the side of the vehicle but also from all directions surrounding the vehicle are simultaneously determined. There is an advantage that the driver can be recognized and approach information including direction information can be notified to the driver.

According to the second aspect of the present invention, the alarm guidance by the alarm guide means is performed by the outside sound of which the sound field is adjusted so that the driver can recognize the approaching direction of the outside object. Therefore, there is an advantage that the driver can be urged to draw a clear attention to an object outside the vehicle. Further, according to the present invention as set forth in claim 3, the warning guidance by the warning guiding means is performed by the extracted sound whose sound field is adjusted so that the driver can recognize the type and approaching direction of the object outside the vehicle. , There is an advantage that the driver can be called for clearer attention to an object outside the vehicle.

According to the present invention as set forth in claim 4, the warning guidance by the warning guiding means is the extracted sound whose sound field is adjusted so that the driver can recognize the type and approaching direction of the object outside the vehicle. Since it is performed by the synthesized sound based on the above, there is an advantage that the driver can be urged to draw an effective and clearer attention to the object outside the vehicle. Further, according to the present invention as set forth in claim 5, the warning guidance by the warning guiding means is performed by voice guidance in a language selected so as to recognize the type and approaching direction of the object outside the vehicle to the driver. More effective and clear attention can be given to the driver.

In the above vehicle alarm guidance device, when the danger level judged by the danger level judging means exceeds a required threshold value, the sound emitted from the speaker device is a voice guidance. The sound has an advantage that the driver can be urged to draw clearer attention to an object outside the vehicle.

[Brief description of drawings]

FIG. 1 is a block diagram showing a configuration of a vehicle alarm guide device as an embodiment of the present invention.

FIG. 2 is a diagram showing a vehicle equipped with a vehicle alarm guide device according to an embodiment of the present invention.

FIG. 3 is a diagram showing a data collection procedure of a neural network.

FIG. 4 is a diagram showing a learning procedure of a neural network.

FIG. 5 is a flowchart for explaining an outline of the operation of the vehicle alarm guide device as one embodiment of the present invention.

FIG. 6 is a flowchart illustrating a mode of detecting a relative speed and determining a degree of approach risk with respect to a front object in the vehicle alarm guide apparatus according to the embodiment of the present invention.

FIG. 7 is a flowchart illustrating a mode of detecting a relative speed and determining a degree of approach risk with respect to a front object in the vehicle alarm guide apparatus according to an embodiment of the present invention.

FIG. 8 is a flowchart illustrating a mode of detecting a relative speed and determining an approach risk with respect to a rear object in the vehicle alarm guidance device according to an embodiment of the present invention.

FIG. 9 is a flowchart illustrating a mode of detecting a relative speed and determining an approach risk with respect to a rear object in the vehicle alarm guidance device according to an embodiment of the present invention.

FIG. 10 is a diagram showing a necessary deceleration in the risk determination means.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Sound collecting means 1a-1d Microphone 2 Relative information detecting means 3 Danger degree judging means 4 Controller 5 Out-of-vehicle object judging means 5-1 Neural network 5-2 Data storage device 5-3 Voice extraction part 6 Selector 7 Audio device 8 Speaker device 8a-8d Speaker 9 Vehicle speed sensor 10 Necessary deceleration storage means 11 Sound source 11a Voice generating means 11b Synthetic sound generating means 101, 102 Vehicle

 ─────────────────────────────────────────────────── ─── Continuation of the front page (72) Inventor Yoshio Kawakami 5-3-8 Shiba, Minato-ku, Tokyo Mitsubishi Motors Corporation (72) Inventor Kazuya Hayafune 5-3-8 Shiba, Minato-ku, Tokyo Mitsubishi Motors Co., Ltd. (72) Inventor Tadao Tanaka 5-3-8 Shiba, Minato-ku, Tokyo Mitsubishi Motors Co., Ltd. (72) Hiroo Yuasa 5-33-8 Shiba, Minato-ku, Tokyo Mitsubishi Motors Kogyo Co., Ltd. (72) Inventor Takahiro Maemura 5-3-8 Shiba, Minato-ku, Tokyo Mitsubishi Motors Co., Ltd. (72) Inventor Tadashi Sugawara 5-33-8 Shiba, Minato-ku, Tokyo Mitsubishi Motors Corporation Co., Ltd. (72) Inventor Yoshinori Yoshiki, 33-58, Shiba 5-chome, Minato-ku, Tokyo Within Mitsubishi Motors Corporation

Claims (5)

[Claims] 1. A sound collecting unit that is set on a vehicle body to collect a vehicle exterior sound, and a sound emitted by an arbitrary vehicle exterior object is extracted from the vehicle exterior sound collected by the sound collecting unit, and the extracted sound is extracted from the extracted sound. A vehicle-outside object discrimination unit that discriminates a type of a vehicle-outside object, a relative information detection unit that detects a transmission direction of the extracted sound, a relative distance and a relative speed between the vehicle-outside object that emits the extracted sound and the host vehicle, and the relative information detection. Risk degree determining means for calculating the degree of approach of the object outside the vehicle to the own vehicle based on the relative information obtained by the means, and determining the degree of risk from the degree of approach of the object outside the vehicle; and the risk determined by the risk degree determining means. Based on the control signal from the control means, the control means outputting a control signal indicating that warning guidance is to be performed based on the relative information obtained by the relative information detecting means when the degree exceeds a threshold value. , Alert information Characterized in that it is configured to include a Nau alarm guiding means, warning guidance system for a vehicle. 2. The alarm guidance by the alarm guidance means is performed by the vehicle exterior sound whose sound field is adjusted so that the driver recognizes the approaching direction of the vehicle exterior object. Vehicle alarm guidance device. 3. The alarm guidance by the alarm guidance means is performed by the extracted sound whose sound field is adjusted so that the driver can recognize the type and approaching direction of the object outside the vehicle. The vehicle alarm guidance device described. 4. The warning guidance by the warning guiding means is performed by a synthesized sound based on the extracted sound whose sound field is adjusted so that the driver can recognize the type and approaching direction of the object outside the vehicle. The vehicle alarm guide device according to claim 1. 5. The alert guidance by the alert guidance means is provided by voice guidance in a language selected so as to recognize the type and approaching direction of the object outside the vehicle to the driver. Vehicle voice guidance alarm device.