JPH07257301A - Obstruction alarm system - Google Patents

Abstract

PURPOSE:To provide an obstruction alarm system having high reliability, which timely generates a proper alarm without alarm error so as to prevent a collision accident. CONSTITUTION:An alarm is timely generated to a danger of collision by processing the road condition obtained by a locator 21 and the information of sensors such as an obstruction sensor 24, a car speed sensor 25, a doze sensor fusion 36, a look-off sensor fusion 37 and a weather sensor fusion 27 or the like with an information processing device 20. Set values of alarm algorithm for obtaining a distance to an obstruction so as to prevent the generation of collision and the alarm condition are changed in response to the information of the sensors, besides the road condition, travelling time zone and continuous operation time or the like.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an obstacle warning system for preventing a vehicle collision.

[0002]

2. Description of the Related Art As a conventional obstacle warning system, for example, there is one disclosed in Japanese Patent Publication No. 60-4011 as shown in FIG. In the figure, reference numeral 1 is a range-finding radar for emitting a microwave or laser light and measuring the time until the emitted wave is received to obtain the distance. Reference numeral 2 denotes an information processing circuit, which determines the degree of danger of collision with an obstacle ahead by using the vehicle speed information from the vehicle speed sensor 3, the steering angle information from the steering angle sensor 4, and the distance information from the distance measuring radar 1. Control the output of. For example, as an alarm condition, an alarm is issued when the distance to an obstacle ahead is a predetermined value or less.

A radar for distance measurement can know not only the distance to an obstacle but also the direction, that is, the position in the left-right direction, by narrowing the emitted beam and sweeping it.
The distance measuring sensor is used in place of the radar, for example, Japanese Patent Laid-Open No. 4-11.
As disclosed in Japanese Patent No. 3212, by performing image processing using a stereo camera, a distance can be obtained by the principle of triangulation and the position of the obstacle can be obtained from the position in the image. As shown in FIG. 5, this device is provided with a pair of left and right or upper and lower optical lenses 11L and 11R, image sensors 12L and 12R, image memories 13L and 13R, and a signal processing device 14, and the signal processing device 14 is provided for one of the pair of images. A plurality of windows are set, a shift amount of each image is calculated in an area corresponding to the windows, and a distance to an object in each window is calculated by the principle of triangulation. When the distance to the object obtained here falls under a predetermined condition, that is, a predetermined distance or less, an alarm is issued.

Further, in the one disclosed in Japanese Unexamined Patent Publication No. 2-16484, as shown in FIG. 6, a map of a road is stored and the current position of the vehicle is detected by a vehicle speed sensor and a compass. Based on the information on the map, such as the radius of the curve before the vehicle enters the curve, the range-finding area of the radar is set according to the curve.

That is, in FIG. 6, 15 and 17 are automobiles,
Reference numerals 16a and 18a are right beams, 16b and 18b are central beams, 16c and 18c are left beams, and 19 is a corner reflector. Car 15 running on a straight line
Is the obstacle detection area by the radar beam, the central beam 16b is a long distance from the car, the left and right beams 16a,
16c is a detection area up to a short distance, and as a whole, the area in which an obstacle is detected is limited to the traveling lane of the own vehicle.
The vehicle 17 is just before entering the curved portion, but in the detection area when traveling straight, the corner reflector 19 installed on the roadside is detected and it is judged that an obstacle is approaching. When the position where the vehicle is traveling is known from the map data, before entering the curve, for example, as shown in the figure, in the right curve, the detection area with the right beam 18a is set to a long distance, and the central beam 18b is Over a medium distance,
The left beam 18c is set to a short distance so that obstacles in the area on the traveling road as a whole are detected. Then, when the distance to the obstacle becomes a predetermined value or less, an alarm is issued.

In the conventional obstacle warning system as described above, the condition for issuing a warning, that is, the distance to the front obstacle is fixed regardless of the type of road such as a road for exclusive use of automobiles or roads in urban areas. It is supposed to be.

[0007]

In the conventional obstacle warning device, the condition for issuing a warning is simply the distance to the obstacle, which is fixed and does not change depending on the type and shape of the road. It was Therefore, for example, on a motorway or highway, the curve is gentle and the car is high speed, so the warning is made so that there is almost no erroneous warning for the preceding vehicle to the far front of the car. Even if conditions (distance to obstacles) are set, in general urban areas,
Since the curve was tight, it was often the case that a roadside installation was detected and an alarm was issued by mistake. On the other hand, if a warning is issued to a preceding vehicle in a wide area in front of the vehicle and near the area in front of the vehicle, which is suitable for urban areas, on the highway,
There was a problem that the warning was given after the preceding vehicle came too close, and the warning was often given after it became a dangerous state, which was often useless.

Further, since it is difficult to brake when the weather is bad, it is necessary to increase the inter-vehicle distance to the preceding vehicle. Therefore, regardless of the weather, if the inter-vehicle distance to the preceding vehicle is set to a constant condition, the warning is given. I can't give a proper alarm. Also, when driving late at night or driving long distances, the driver's reaction will deteriorate due to tiredness and tiredness. Occurs.

The present invention has been made in order to solve the above problems, and it is truly dangerous to issue an alarm with few errors according to various road conditions, driving conditions, weather, and driving time zones. The purpose is to get a reliable alarm system, which is issued from time to time.

[0010]

[Means for Solving the Problems] Claim 1 according to the present invention
The obstacle warning system is an object detection means for detecting an object on a traveling road and a distance to the object, a vehicle speed detection means for detecting a vehicle speed of a vehicle, a current position detection means for detecting a current position of the vehicle, and a road. Storage means for storing map information having situation information, road condition detecting means for detecting the road condition of the currently running road based on the map information and the current position, obtained from the distance to the object detected by the object detecting means Based on the relative speed with the target object and the vehicle speed detected by the vehicle speed detection means, the warning condition setting means and the road condition detected by the road condition detection means for obtaining the distance to the target object to avoid the collision Changing means for changing the alarm condition based on the alarm condition, and an obstacle judgment for judging whether the object is an obstacle or not based on the alarm condition changed by the changing means and the distance to the object detected by the object detecting means. Means, and in which including an alarm means for issuing an alarm based on the determination result of the obstacle determining unit.

The obstacle warning system according to a second aspect of the present invention changes the warning condition based on the road condition detected by the road condition detector and the weather detected by the weather detector.

An obstacle warning system according to a third aspect of the present invention is provided with a traveling condition detecting means for detecting a traveling condition during traveling based on the vehicle speed detected by the vehicle speed detecting means, and the road condition detecting means detects the traveling condition. The alarm condition is changed based on the road condition and the traveling condition detected by the traveling condition detecting means.

An obstacle warning system according to a fourth aspect of the present invention is provided with an operating condition detecting means for detecting an operating condition of a vehicle, and the road condition detected by the road condition detecting means and the operating condition detected by the operating condition detecting means. The alarm condition is changed based on

An obstacle warning system according to a fifth aspect of the present invention is provided with a driver condition detecting means for detecting a driver condition during traveling, and the road condition detected by the road condition detecting means and the driver condition detecting means. The alarm condition is changed based on the detected driver status.

An obstacle warning system according to a sixth aspect of the present invention is provided with a time zone detecting means for detecting a time zone during traveling, and the road condition detected by the road condition detecting means and the time detected by the time zone detecting means. The alarm condition is changed based on the band.

An obstacle warning system according to a seventh aspect of the present invention is provided with an awakening situation detecting means for detecting an awakening situation of a driver who is running, and the road situation and time zone detecting means are detected by the road situation detecting means. The alarm condition is changed based on the detected time zone and the awakening situation detected by the awakening situation detection.

The obstacle warning system according to claim 8 of the present invention is a road type detecting means for detecting a road type on which the vehicle is currently traveling based on the map information and the current position, and a current traveling based on the map information and the current position. Road attribute detecting means for detecting the inside road attribute is provided, and the alarm condition is changed based on the road type detected by the road type detecting means and the road attribute detected by the road attribute detecting means.

[0018]

The obstacle warning system according to claim 1 of the present invention comprises:
By detecting the road condition during traveling and changing the alarm condition based on the road condition, an appropriate alarm can be issued without excess or deficiency according to the road condition.

An obstacle warning system according to a second aspect of the present invention detects a road condition and a weather condition while the vehicle is running, and changes an alarm condition based on the road condition and the weather condition while the road condition is being detected. Appropriate warnings will be issued depending on the weather.

An obstacle warning system according to a third aspect of the present invention detects a road condition during running and a running condition, and changes a warning condition based on the running road condition and the running condition, thereby Appropriate warnings will be issued according to the situation and driving conditions.

The obstacle warning system according to claim 4 of the present invention detects the road condition during running and the operating condition of the vehicle, and changes the alarm condition based on the running road condition and the operating condition of the vehicle. Appropriate warnings will be issued according to road conditions and vehicle operation conditions.

An obstacle warning system according to a fifth aspect of the present invention detects a road condition and a driver condition during traveling, and changes a warning condition based on the road condition and the driver condition during traveling, whereby the driver Appropriate warnings will be issued according to the situation.

An obstacle warning system according to a sixth aspect of the present invention detects a road condition during traveling and a time period during traveling, and changes the alarm condition based on the road condition during traveling and the time period during traveling. As a result, an appropriate alarm can be issued without excess or deficiency depending on the state of drowsiness.

An obstacle warning system according to a seventh aspect of the present invention detects a road condition during driving, an awakening condition of a driver and a time zone during driving, and issues an alarm based on the road condition, the time zone and the awakening condition. By changing the conditions, more appropriate and appropriate alarms can be issued depending on the dozing situation.

The obstacle warning system according to claim 8 of the present invention detects a road type and a road attribute during traveling, and changes an alarm condition based on the road type and the road attribute, so as to respond to the road type and the road attribute. Appropriate alarm is issued without excess or deficiency.

[0026]

【Example】

Example 1. An embodiment of the present invention will be described below with reference to the drawings. FIG. 1 is a diagram illustrating the configuration of an obstacle warning system according to the present invention. In FIG. 1, reference numeral 21 denotes a locator, which includes current position detecting means for detecting the position of the own vehicle, and has a database of maps and data associated with the position of the own vehicle. Positioning is performed by receiving information emitted from an artificial satellite (GPS positioning). Further, the locator 21 includes storage means (not shown), and the following road condition information is stored as a database of map information. The road condition information is road-related information such as road type, road attribute, and road shape. Here, the road type
For example, it is a distinction between highways, motorways without intersections, general roads with few intersections and traffic lights, and urban areas with many intersections. Road attributes are information such as road width, number of lanes, and whether or not two-way traffic. is there. In addition, the shape of a road is a straight road, a curved road, a radius of curvature of a curved road, a position of a side road object such as a guardrail at a curve, an intersection, a shape of the intersection, a lane diagram at the intersection, a long straight road, a long road. Information about downhills, winding mountain roads, etc. Furthermore, the position of the intersection, the position of the signal, the speed limit associated with the lane, and the like are also included in the map information and given. Reference numeral 24 is an obstacle sensor as an object detecting means, which uses a radar or a distance sensor by image processing. The radar may use radio waves or light. The obstacle sensor 24 detects the distance to the obstacle ahead and the relative speed. Reference numeral 25 is a vehicle speed sensor as vehicle speed detecting means.

Next, details of the information processing apparatus 20 will be described with reference to FIG. The information processing device 20 is a road condition detecting means 20.
a, running condition detection means 20e, alarm condition setting means 20
f, a changing unit 20g, and an obstacle determining unit 20h. The road condition detecting means 20a uses map information and a locator 21.
The road condition during traveling is detected based on the current position detected in. The road condition detecting means 20a is the road type detecting means 20.
b, road attribute detecting means 20c, road shape forming means 20d
Have and. The road type detection means 20b detects the type of road on which the vehicle is running. The road attribute detecting means 20c detects a road attribute during traveling. The road shape detecting means 20d detects the shape of the road on which the vehicle is running.

The running condition detecting means 20e is a vehicle speed sensor 25.
The traveling condition such as whether the vehicle is traveling at constant speed or acceleration / deceleration is detected based on the vehicle speed detected at.

The alarm condition setting means 20f targets the own vehicle based on the relative speed to the object obtained from the distance to the object detected by the obstacle sensor 24 and the vehicle speed detected by the vehicle speed sensor 25. The alarm condition is set by obtaining the distance to the object so as not to collide with the object. The details of the alarm condition will be described later.

The changing means 20g changes the alarm condition based on the road condition during traveling. Further, as will be described later in detail, the alarm condition may be changed depending on the road condition during traveling and the traveling condition. Further, the warning condition may be changed according to the road type, the road attribute, the road shape, and the like.

The obstacle judging means 20h judges whether or not the object is an obstacle based on the alarm condition changed by the changing means 20g and the distance to the object detected by the obstacle sensor 24. Reference numeral 28 denotes an alarm display device as an alarm means, which issues an alarm based on the result of the obstacle determination means 20h determining that the object is an obstacle.

The operation of the obstacle warning system according to the present invention will be described below. First, the locator 21 detects the current position of the own vehicle, and provides the information processing device 20 with information about the current position of the own vehicle and road conditions related to the road on which the vehicle is currently traveling. The road condition detecting means 20a detects the road condition during traveling from the road condition data such as a database of map information.

On the other hand, the obstacle sensor 24 measures the distance and the relative speed of the object in front of the object. This is sometimes called an inter-vehicle distance sensor. This is JP-A-2-
As shown in Japanese Patent No. 16484, the distance measurement area may be on one lane of the traveling lane, but a wider area may be measured. For example, a laser or a beam of a microwave may be scanned to measure the position and distance of the object in front in the width direction of the road. Alternatively, a camera may be used to determine an object in front of a wide range of images and measure the distance.

The relative speed is obtained by differentiating the distance to the front object detected by the obstacle sensor 24 and the distance, and when the speed of the vehicle is obtained from the vehicle speed sensor 25, the alarm is issued at the following timing. Is calculated as follows. First,
Take up the case of depressing the brake while driving at a constant speed. The relative speed to the front object is V _M , the vehicle speed is V _A , the speed of the front object is V _O , the distance to the front object is R,
When the deceleration and alpha, mutual by the timing for issuing an alarm is stepping on the brake driver noticed by an alarm, brake listen from the run air between t _0, to the speed of the vehicle is the speed of the forward object If the distance of is positive, then the following equation holds, assuming that there is no collision. _{V M = V A -V O ......} (1) V M -αt = 0 ...... (2) R = V M t-αt 2/2 + V M t O> 0 ...... (3) ∴ R = V M 2 / (2α) + V _M t _O > 0 (4) Here, t _O is the time until the driver receives an alarm and operates the brake, which is called idle running time. In particular, when the object ahead is stopped, R = V _A ² / (2α) + V _A t _O (5), for example, V _A = 30 m / s, α = 5 m / s ² , t _O = 0.
When 5s, R = 105m. Equations (4) and (5) are alarm algorithms, and R or a value obtained by multiplying R by a predetermined value is an alarm condition as described below. The alarm condition is compared with the distance to the object, and an alarm is issued when the distance to the object becomes small.

When an alarm is issued from a long distance, there are various objects because the distance to the object that issues the alarm is long, and whether the object is stationary or on a guardrail installed on the roadside, If you do not distinguish between signboards, guide signs, and regulatory signs, you will get a false alarm. Therefore, when the road on which the vehicle is running is an expressway or an automobile-only road without intersections, and there are a plurality of lanes and the road width is wide, it is considered that the stopped object is a roadside object or a vehicle stopped due to a traffic jam. further,
Since it is possible to avoid it by operating the steering wheel, the alarm is issued after sufficiently judging whether it is a roadside object or a stopped vehicle. If there are many lanes and the road width is wide, the lane will escape to the other lane, so the timing of the warning will be delayed as much as possible. In the case of two-way traffic or one lane, an early warning will be given. For example, Eq. (5) is used as a warning algorithm for distinguishing an object from an obstacle. If the road width is wide in multiple lanes, the value obtained by multiplying R obtained by Eq. (5) by 0.6 to 1.0 is used as the alarm condition, and the value of Eq. Set the alarm conditions to be used as they are. Of course, at a curve, the position of a roadside object such as a guardrail is known in advance from a database of map information and transmission information from the road such as a sign post described later, so that a roadside object can be determined. Here, regarding a stationary object, whether or not it is a stationary object is calculated as a relative speed from the rate of change in distance, and when the relative speed is close to the speed of the vehicle, it is determined to be a stationary object.

On a general road with an intersection, it is considered that many vehicles are stopped near the intersection and it is necessary to stop. Therefore, if the information of the locator 21 is close to the intersection or the traffic light, Try to use alarm conditions. Also,
Equation (4) is used when the preceding vehicle is running at a nearly constant speed,
This is a warning condition when approaching at a speed faster than that, and this is used on highways.

On a general road, there are intersections, right-turn vehicles, left-turn vehicles, etc., and the preceding vehicles often approach the vehicle because they brake. At this time, since the relative speed changes, it can be seen that the preceding vehicle applied the brake. Here, an alarm algorithm and an alarm condition when the vehicle is decelerating are obtained. The deceleration of the preceding vehicle is α _O , the deceleration of the own vehicle is α _A , the speed of the preceding vehicle is V _O (t), the speed of the own vehicle is V _A (t), and the initial speed of the own vehicle is V _A , The initial inter-vehicle distance is R _O , the time until the occurrence change of the relative speed is detected is t _S , and the driver's deceleration is α _A due to the brake operation after t ₀ when the driver receives an alarm. Then, if the inter-vehicle distance after t seconds from the beginning is R (t), V _O (t) = V _O −α _O t (6) V _A (t) = V _A −α _A (t− t _S −t _O ) t ≧ t _S + t _O (7) When t ≦ t _S + t _O , R (t) = R _O − ( _VA t−∫V _O (t) dt) (8) _VA = if _{V O, R (t) =} R O -α O t 2/2 ... (9) t> t S + t O in _{R (t) = R O -∫} (V a (t) -V O (t)) dt (10) If V _A = V _O , then R (t) = R _O − (α _O −α _A ) (t−t _S −t _O ) ² / 2−α _A (t _{S ^{+ t O) 2/2 ...}} (11) if _{α O = α a R (T} ) _{R O -α A (t S +} t O) 2/2 ... (12) In other words, the result in collision unless R (t)> 0. At least _{R> α A (t S +} t O) it is necessary to issue an alarm condition ^2/2 ... (13). For example, α _A =
If 5 m / s ² , t _S = 0.5 s, and t _O = 0.5 s, then R>
It will be 2.5m. Actually, t _S is different depending on the vehicle speed V _A , so the inter-vehicle distance, which is the distance to the object to be alarmed, is V
It will be decided according to _A. Here, the equation (13) is the alarm algorithm, and R or R multiplied by a predetermined value is the alarm condition.

In general roads, right-turn cars often stop to the right. In this case, the stop near the center of the road is regarded as a right-turn vehicle. The road width information is obtained from the road attribute information, and when the road width is sufficient, there is a means to avoid it, so multiply the alarm condition (5) by an appropriate coefficient of 0.6 to 1.0. Set an alarm condition. If the road width is narrow, an alarm will be issued based on the condition of equation (5).

On an urban road with many intersections, the inter-vehicle distance is short, and there are many parking and stopping on the road. Therefore, if an alarm is issued by an algorithm such as when driving at high speed, many errors will occur. Also, it often does not match the feeling of the actual driver. That is, on urban roads, the warning algorithm follows Eq. (13) for steady driving and Eq. (5) if there is a stopped vehicle near the intersection. Here, the steady traveling is detected by the traveling condition detecting means based on the vehicle speed detected by the vehicle speed sensor 24. However, since the traveling speed is also considered to be 60 km / h or less, when the vehicle is going straight, a stop near the center of the road is regarded as a right-turn vehicle and is not subject to the warning, but a stop to the front of the vehicle and slightly to the left. Objects are subject to warning. However, if there are multiple lanes or a wide road, change the setting conditions. That is, when the road width is wide, for example, in the condition of Expression (5),
Multiply an appropriate coefficient from 0.6 to 1.0 to make an alarm condition.

The values of the above-mentioned alarm conditions are stored in the form of a table by the storage means in correspondence with the road condition, the traveling condition such as the constant speed traveling of the vehicle or the acceleration / deceleration traveling, and the like. Select alarm conditions according to road conditions and driving conditions.

In the case of a curve, since the shape information of the road in the database of map information is given from the locator 21, even if the object is in front, it can be determined as a roadside object. If the driver has already released his / her foot from the accelerator pedal or operated the brake or the steering wheel, no warning is given even if the warning condition is satisfied.

In this embodiment, the position of the vehicle is measured by using the information transmitted from the artificial satellite, but instead of this, the geomagnetism is detected, the azimuth is known, and the yaw rate sensor is used to make a correction. The position of the vehicle may be calculated from

A sign post 41 installed on the road
Then, the position information may be transmitted, this signal may be received by the antenna 23, demodulated by the receiver 22 to obtain the current position on the map, and the position of the vehicle detected by the locator 21 may be corrected. . In addition, at a point where the shape of the road is special, information such as entering a curved downhill is transmitted. The receiver 22 can receive these pieces of information from the sign post 41 to know the shape of the road. Here, the higher the frequency of correction by the sign post 41, the better the positional accuracy. By doing so, information on the radius of curvature of a curved road, the shape of a road such as a long straight road, a long downhill, and a winding mountain road becomes accurate. Of course, information about the shapes of these roads may be received from the sign post 41 on the road immediately before entering those curved roads, downhills, winding mountain roads, tunnels, and the like. Further, from the road, the attributes of the road such as the radius of the curve, the position of roadside objects such as guardrails, the road width, the number of lanes, whether or not the traffic is face-to-face, the weather and the traffic volume may be added. The antenna 23 may transmit and receive not only radio waves but also optical signals.

Example 2. Although the alarm algorithm and the alarm condition when the locator 21, the obstacle sensor 24, and the vehicle speed sensor 25 are used are described in the first embodiment, the alarm including the information of the doze sensor fusion, the inattentive sensor fusion, and the weather sensor fusion is further added. The algorithm will be described. Here, the driver's situation represents the situation of the driver such as the awakening situation of the driver and the situation of looking aside. The driver situation is detected by the driver situation detecting means.
In FIG. 3, reference numeral 36 denotes a sensor fusion which is a drowsiness sensor fusion as an awakening state detection means and determines the drowsiness of the driver. Further, reference numeral 37 is an inattentive sensor fusion for judging the inattentiveness of the driver. These are for determining whether the driver is dozing, looking aside, etc. by combining various sensors. As a method for directly detecting drowsiness or looking aside, a face image is analyzed to predict the drowsiness from the movement of the eyelid, or to detect the looking aside from the direction of the face or eyeball. In addition, it is possible to estimate dozing from the operating state of the steering wheel or accelerator pedal.

The drowsiness detection method based on the steering wheel operation is detected according to the following operation status. That is, when awakening, it reacts finely to the force transmitted from the road surface through the tires and constantly moves the steering wheel finely, but when the person starts to fall asleep, the steering wheel does not move and the road gradually changes due to the inclination of the road. When you get out of the way, you suddenly notice it and then suddenly return it. In addition, regarding the doze detection method from the accelerator pedal operation, the following operation status is detected. That is, when the accelerator pedal becomes weaker and the speed decreases, the driver notices and suddenly depresses. In addition, when you are operating a radio or air conditioner switch, on the phone, or when you pull out the cigarette lighter, you can assume that you are looking aside.

Reference numeral 27 is a weather sensor fusion as weather detecting means, which estimates the weather from the operation of the wiper, the solar radiation sensor, the room temperature, the outside temperature, the humidity and the like. Of course, it is also possible to obtain the weather condition at that point through communication between vehicles.

The driving status represents the driving status such as whether the vehicle is running at a constant speed or acceleration / deceleration, the driving status, the driver status, and the driving status such as the running time zone. The driving status is detected by the driving status detection means. Reference numeral 32 denotes a time zone detecting means for detecting a time zone during traveling, which has a clock and detects a time zone during traveling. Reference numeral 33 is a continuous operation time measuring means as an operation status detecting means for detecting the operation status of the vehicle and detects whether or not the vehicle is operating for a long time.

Next, a method of setting an alarm and an operation will be described. Looking at the fatal accident statistics, there are many accidents, especially between midnight and 05:00. It ’s a highway, a motorway,
There are many accidents that occur frequently on intersections and general roads with few traffic lights and collide with roadside obstacles. This is caused by the driver's drowsiness, or if he notices when he is driving aimlessly, he is too fast and he accidentally operates the steering wheel, resulting in an accident. Even if the driver is not asleep, tiredness can lead to misjudgment and an accident. For the purpose of reducing such accidents, the current time zone is detected by the time zone detecting means 32 based on the information from the clock, and, for example, during the high-speed traveling between 00:00 and 5 o'clock at midnight, (5) The warning is given according to the formula and the free running time t _O is set to be long.

The alarm algorithm is changed so that an alarm is issued when a roadside object enters at an abnormally high speed even when the vehicle is on a curve. For example, in normal driving, on a curve, it is easy to detect roadside objects outside the curve,
A curve is detected in advance by the road shape detecting means based on the map information of the locator 21 or the like, and the value of the alarm condition is reduced so that the alarm is not issued when the speed of the vehicle is equal to or lower than the predetermined speed.
When the speed is high, the value of the alarm condition is changed to a large value so as to give an alarm. Further, if the sensor fusion 36 for detecting the arousal level is provided, the alarm can be issued more accurately. For example, when the awakening degree is detected, an alarm is not issued when a roadside object is caught on a curve or the like while awake, but an alarm is issued even on a roadside object on a curve when the vehicle is not awake.

It has also been reported that it is easy to fall asleep on a long straight road where the weather is good and the room temperature is comfortable. Here, the comfortable room temperature is, for example, a case of about 18 ° to 20 ° C. In such a state, information is obtained from the locator and the weather sensor fusion 27, and an alarm is issued early. For example, the free running time t _O of the alarm algorithm formula
Or increase R in the equation (5) of the alarm algorithm to 1.1.
It is possible to make a judgment based on the alarm condition multiplied by the constant of ~ 1.3.

When the continuous operation time is long, the driver's tiredness may cause his or her attention to decrease. Therefore, the continuous operation time measuring means 33 measures the continuous operation time, and when the operation time becomes long, the idle running time t _O of the formula of the alarm algorithm is lengthened to set the alarm condition value R so as to give an alarm early. If the vehicle speed is abnormally high for a roadside object on a curve, an alarm is issued.

When the inattentiveness sensor fusion 37 detects an inattentiveness, an early warning is given as in the case of asleep. That is, the value of t _O in equation (5) is increased. Also, an alarm will be issued for objects on the side of the curve. In addition, since it is difficult to apply the brakes in the case of rain or snow, if information such as rain or snow is obtained by the weather sensor fusion 27, decrease the deceleration rate α in the equations (5) and (13) of the alarm algorithm. Try to give an alarm early. Here, the determination as to whether it is raining or snowing is performed as follows. When it is raining or snowing, it is determined by moving the wiper. Further, since the sensor on the road detects snow, the signal is received from the sign post 41 and obtained. Further, as the sensor of the vehicle-mounted device, the road surface and the road side are imaged, and the image is determined.

As for the free running time t _O , the deceleration α, etc., a table is stored in the storage means corresponding to the driving time, the driver's condition, the weather, the road condition, etc., as in the first embodiment. It is stored in the form of.

Although the first embodiment and the second embodiment are separated here, it goes without saying that they may be combined.

[0055]

As described above, according to the first aspect of the present invention, it is possible to detect the road condition during traveling and change the alarm condition for judging the object detected by the object detecting means as an obstacle. Therefore, an appropriate warning can be generated at an appropriate timing according to road conditions, and an obstacle warning system that is trusted by the driver can be obtained.

According to the second aspect of the present invention, since the alarm condition is changed based on the road condition and the weather while the vehicle is running, an appropriate alarm can be given appropriately according to the road condition and the weather while the vehicle is running. Obtained at the timing.

According to the third aspect of the present invention, since the alarm condition is changed based on the road condition during traveling and the traveling condition, an appropriate alarm can be applied depending on the road condition during traveling and the traveling condition. You can get it at the right time.

According to the fourth aspect of the present invention, the alarm condition is changed based on the road condition during traveling and the operating condition of the vehicle. Therefore, even if the driver is tired during continuous driving, an appropriate alarm can be appropriately provided. It can be obtained at any time.

According to the invention of claim 5, the alarm condition is changed on the basis of the road condition and the driver's condition while the vehicle is traveling. Therefore, an appropriate alarm can be appropriately generated according to the driver's condition during the vehicle traveling. It can be obtained at any time.

According to the invention of claim 6, the alarm condition is changed based on the road condition during traveling and the time zone during traveling, so that an appropriate alarm can be provided accurately even in a sleepy condition of the driver. Obtained at the timing.

According to the invention of claim 7, the alarm condition is changed on the basis of the road condition during traveling, the time zone during traveling and the awakening condition of the driver, so that it is more suitable even in a sleepy condition of the driver. You can get a proper alarm at the right time.

According to the invention of claim 8, the alarm condition is changed on the basis of the road type and the road attribute during traveling. Therefore, an appropriate alarm is applied according to the road type and the road attribute during traveling. You can get it at the right time.

[Brief description of drawings]

FIG. 1 is a configuration diagram showing an obstacle warning system according to an embodiment of the present invention.

FIG. 2 is a detailed configuration diagram of the information processing apparatus of FIG.

FIG. 3 is a configuration diagram showing an obstacle warning system according to another embodiment of the present invention.

FIG. 4 is a configuration diagram showing a conventional inter-vehicle distance warning system.

FIG. 5 is a configuration diagram showing a conventional distance sensor.

FIG. 6 is a configuration diagram showing a conventional improved inter-vehicle distance warning system.

[Explanation of symbols]

 20 information processing device 20a road condition detecting means 20b road type detecting means 20c road attribute detecting means 20e running condition detecting means 20f alarm condition setting means 20g changing means 20h obstacle judging means 21 locator 24 obstacle sensor 25 vehicle speed sensor 27 weather sensor fusion 32 time zone detection means 33 continuous operation time measurement means 36 dozing sensor fusion 37 inattentive sensor fusion

Claims (8)

[Claims] 1. An object detecting means for detecting an object on a traveling road and a distance to the object, a vehicle speed detecting means for detecting a vehicle speed of a vehicle, a current position detecting means for detecting a current position of the vehicle, and a road condition. Storage means for storing map information having information on the road, a road condition detecting means for detecting a road condition of the currently traveling road based on the map information and the current position, and a distance to the object detected by the object detecting means. Based on the relative speed with the obtained object and the vehicle speed detected by the vehicle speed detecting means, the alarm condition setting means for obtaining the distance to the object to avoid collision based on the vehicle speed detecting means and the road condition detecting means Change means for changing the alarm condition based on the detected road condition, obstacles for the object based on the alarm condition changed by the changing means and the distance to the object detected by the object detecting means. An obstacle warning system comprising: obstacle judging means for judging whether or not it is a harmful object; and warning means for giving an alarm based on the judgment result of the obstacle judging means. 2. The weather detecting means for detecting the weather, and the changing means for changing the alarm condition based on the road condition detected by the road condition detecting means and the weather detected by the weather detecting means. Obstacle warning system. 3. A traveling situation detecting means for detecting a traveling situation during traveling based on the vehicle speed detected by the vehicle speed detecting means, and a road situation detected by the road situation detecting means and a traveling situation detected by the traveling situation detecting means. 2. The obstacle warning system according to claim 1, further comprising changing means for changing the alarm condition based on 4. An operation status detecting means for detecting an operation status of a vehicle, and a changing means for changing an alarm condition based on the road status detected by the road status detecting means and the operation status detected by the operation status detecting means. The obstacle warning system according to claim 1, wherein the obstacle warning system is provided. 5. An alarm condition is set based on a driver situation detecting means for detecting a driver situation during traveling, and a road situation detected by the road situation detecting means and a driver situation detected by the driver situation detecting means. Claim 1 provided with the change means to change.
Obstacle warning system described. 6. A time zone detecting means for detecting a traveling time zone, and a changing means for changing an alarm condition based on a road condition detected by the road condition detecting means and a time zone detected by the time detecting means. The obstacle warning system according to claim 1, further comprising: 7. A wakefulness detecting means for detecting the wakefulness of a running driver, a road condition detected by the road condition detecting means and a time zone detected by the time zone detecting means, and the wakefulness detecting means. 7. The obstacle warning system according to claim 6, further comprising changing means for changing an alarm condition based on a wakefulness. 8. An object detecting means for detecting an object on a traveling road and a distance to the object, a vehicle speed detecting means for detecting a vehicle speed of a vehicle, a current position detecting means for detecting a current position of the vehicle, and a road type. And storage means for storing map information having information on road attributes, road type detection means for detecting a road type currently running on the basis of the map information and the current position, based on the map information and the current position Based on the vehicle speed detected by the vehicle speed detection means and the relative speed with respect to the object obtained from the distance to the object detected by the object detection means Based on the road type detected by the road type detection unit and the road attribute detected by the road attribute detection unit. Changing means for changing the alarm condition, an obstacle for judging whether or not the object is an obstacle based on the alarm condition changed by the changing means and the distance to the object detected by the object detecting means An obstacle warning system comprising: a judging means and a warning means for giving a warning based on the judgment result of the obstacle judging means.