JPH07294641A - Obstacle monitoring device for vehicle - Google Patents

Abstract

PURPOSE:To accurately give an alarm to a vehicle driver by accurately measuring the distance from the vehicle to an obstacle. CONSTITUTION:The device is provided with an obstacle detection sensor 3, a step motor 11 for rotating the obstacle detection sensor 3 in the horizontal direction, and an alarm part 7 for outputting a display part 6 for displaying specific information and an alarm. Further, the device is provided with a controller 14 for calculating the shortest distance from a vehicle to the obstacle based on the distance from the obstacle detection sensor 3 to the obstacle and the rotary angle of the step motor 11 when the obstacle is located in vehicle width and calculates the distance from the obstacle detection sensor 3 to the obstacle and the shortest distance from the vehicle to the obstacle based on the rotary angle and the vehicle width dimension of the step motor 11 when the obstacle is located outside the vehicle width, and operates the display part 6 and the alarm part 7 when the calculated shortest distance is equal to or less than the set distance.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an obstacle monitoring device for a vehicle, and more particularly, to an accurate warning for a vehicle driver by accurately measuring a distance between the vehicle and the obstacle. The present invention relates to a suitable vehicle obstacle monitoring device.

[0002]

2. Description of the Related Art Conventionally, when measuring a distance from a vehicle to an obstacle outside the vehicle, as described in, for example, JP-A-3-57738, each corner portion and rear bumper of a vehicle front / rear bumper is disclosed. Ultrasonic waves are emitted to the outside of the vehicle from the ultrasonic sensors installed between the two corners of the vehicle, and the distance from the ultrasonic sensor to the obstacle is measured based on the reflected ultrasonic waves from the obstacle, and the measurement distance is set. There is a method of issuing an alarm when the distance is less than or equal to the distance. In the case of this method, the vehicle is equipped with a large number of ultrasonic sensors, which increases the cost and complicates signal processing related to the detection signals of the large number of ultrasonic sensors. On the other hand, for example, Japanese Patent Laid-Open No. 4-1
As described in Japanese Patent No. 45389, etc., the distance from the ultrasonic sensor to the obstacle is measured and measured by rotating one ultrasonic sensor mounted on a vehicle bumper or the like in the vehicle width direction with a motor or the like. A method of issuing an alarm when the distance becomes equal to or less than a set distance has been proposed.

FIG. 13 shows an example of a conventional obstacle distance measurement using the latter method described above. One ultrasonic sensor 52 mounted in the central portion of a rear bumper 51 of a vehicle 50 is driven by a step motor (not shown). By rotating the ultrasonic sensor 52 in the width direction, the ultrasonic sensor 52 scans in a range H ′ in the vehicle width direction. Further, FIG. 14 shows a conventional obstacle alarm process, in which the ultrasonic sensor 52 is driven by driving a step motor.
Is scanned in the vehicle rear width direction (step SB1), and the shortest distance Ka (or distance Kb) from the ultrasonic sensor 52 to the obstacle Sa (or obstacle Sb) behind the vehicle is measured (step SB2) and measured. When the shortest distance Ka (or the distance Kb) is smaller than the warning distance (distance corresponding to the threshold value) (step SB3), the alarm device is activated (step SB) to notify the driver.

[0004]

However, in the prior art shown in FIGS. 13 and 14, the vehicle is equipped with only one ultrasonic sensor 52. The shortest distance Ka (K (K) from the ultrasonic sensor 52 to the obstacle Sa (Sb) depending on the firing direction of
b) is an obstacle Sa (S
There is a case where the distance is substantially different from the shortest distance La (Lb) up to b) (in other words, the distance measured by the ultrasonic sensor 52 is far from the actual distance).

From the above, for example, although there is a margin in the actual distance from the vehicle to the obstacle, the alarm device is activated early, or conversely there is no margin in the actual distance from the vehicle to the obstacle. However, since the alarm is activated late, for example, when a driver who is unfamiliar with driving moves the vehicle backward in an alley with a narrow width, the corner of the rear bumper of the vehicle is behind a fence or a building behind the vehicle. However, there is a problem that a driver unfamiliar with driving cannot accurately grasp this even though the vehicle is approaching, etc., and therefore the vehicle cannot be smoothly moved backward. Further, there is a problem that the vehicle cannot be smoothly moved forward even when the vehicle is traveling forward when the driving visibility in front of the vehicle or on the side of the vehicle is deteriorated due to generation of fog or the like.

[0006]

It is an object of the present invention to improve the inconvenience of the above-mentioned conventional example, and in particular, to achieve an accurate warning to a vehicle driver by accurately measuring the distance from the vehicle to an obstacle. It is an object of the present invention to provide an obstacle monitoring device for use.

[0007]

According to the present invention of claim 1, an obstacle is detected which emits an ultrasonic wave in a moving direction of a vehicle and detects an ultrasonic wave reflected and returned from an obstacle outside the vehicle. At least one sensor is mounted on the vehicle, a sensor driving unit that changes the ultrasonic wave emitting direction of the obstacle detection sensor, and a display unit that displays predetermined information based on the output of the obstacle detection sensor, A control means for controlling the operation of the sensor driving means and the display means, wherein the control means establishes the relationship between the vehicle and the obstacle based on the time from the ultrasonic wave emission time of the obstacle detection sensor to the ultrasonic wave detection time. A relative position determination function for determining a relative positional relationship and the vehicle based on the distance from the obstacle detection sensor to the obstacle and the ultrasonic wave emission direction of the obstacle detection sensor when the obstacle is located within the vehicle width. The distance from the obstacle detection sensor to the obstacle, the ultrasonic emission direction of the obstacle detection sensor, and the vehicle width dimension are calculated when the obstacle is located outside the vehicle width. A distance calculation function for calculating the shortest distance from the vehicle to the obstacle based on the relative position between the vehicle and the obstacle by controlling the operation of the display means when the calculated shortest distance is less than or equal to a set distance. And a display control function for displaying. This aims to achieve the above-mentioned object.

According to a second aspect of the present invention, in the vehicle obstacle monitoring device according to the first aspect, at least one obstacle detection sensor is provided at each of a front portion and a rear portion of the vehicle. I am collecting. This aims to achieve the above-mentioned object.

According to the third aspect of the present invention, an obstacle detection sensor for emitting ultrasonic waves to the outside of the vehicle and detecting ultrasonic waves reflected back from an obstacle outside the vehicle is provided on the left and right sides of the vehicle. At least one sensor drive unit is provided on each side of the obstacle detection sensor to change the ultrasonic wave emission direction of the obstacle detection sensor, display unit for displaying predetermined information based on the output of the obstacle detection sensor, and the sensor drive unit. Means and a control means for controlling the operation of the display means, the control means comprising:
A relative position determination function for determining the relative positional relationship between the vehicle and the obstacle based on the time from the ultrasonic wave emission time of the obstacle detection sensor to the ultrasonic wave detection time, and when the obstacle is located within the entire vehicle length Calculating the shortest distance from the vehicle to the obstacle based on the distance from the obstacle detection sensor to the obstacle and the ultrasonic wave emitting direction of the obstacle detection sensor,
When the obstacle is located outside the entire length of the vehicle, the shortest distance from the vehicle to the obstacle is determined based on the distance from the obstacle detection sensor to the obstacle, the ultrasonic emission direction of the obstacle detection sensor, and the overall length of the vehicle. A distance calculation function for calculating and a display control function for controlling the operation of the display means to display the relative position of the vehicle and the obstacle when the calculated shortest distance is less than or equal to a set distance are provided. The composition is adopted. This aims to achieve the above-mentioned object.

According to the present invention of claim 4, in the vehicle,
Equipped with alarm means for outputting a predetermined alarm based on the output of the obstacle detection sensor, the control means further controls the operation of the alarm means when the calculated shortest distance is equal to or shorter than a set distance. Then, a configuration is adopted in which an alarm control function for outputting an alarm is provided.

[0011]

According to the first aspect of the present invention, when the control means controls the operation of the sensor driving means to change the ultrasonic wave emitting direction of the obstacle detecting sensor, the obstacle detecting sensor detects the moving direction of the vehicle. Ultrasonic waves are emitted toward and the ultrasonic waves reflected and returned from the obstacle due to the existence of the obstacle in the vehicle moving direction are detected. Thereby, the control means determines the relative positional relationship between the vehicle and the obstacle based on the time from the ultrasonic wave emission time of the obstacle detection sensor to the ultrasonic wave detection time.
Next, when the obstacle is located within the vehicle width, the control means determines the distance from the vehicle to the obstacle based on the distance from the obstacle detection sensor to the obstacle and the ultrasonic wave emission direction of the obstacle detection sensor. Calculate the shortest distance. On the other hand, when the obstacle is located outside the width of the vehicle, the control means detects the obstacle from the vehicle based on the distance from the obstacle detection sensor to the obstacle, the ultrasonic emission direction of the obstacle detection sensor, and the vehicle width dimension. Calculate the shortest distance to an object. Then, the control means actuates the display means to display the relative position between the vehicle and the obstacle when the calculated shortest distance becomes equal to or less than the set distance.

According to the second aspect of the present invention, when an obstacle in the forward direction of the vehicle is detected by the obstacle detection sensor mounted on the front portion of the vehicle, ultrasonic waves are emitted from the obstacle detection sensor in the forward direction of the vehicle. The ultrasonic waves which are emitted and reflected from the obstacle and returned due to the presence of the obstacle in the forward direction of the vehicle are detected. Thereby, the control means, based on the time from the ultrasonic emission time of the obstacle detection sensor to the ultrasonic detection time,
The relative positional relationship between the vehicle and the obstacle is determined. On the other hand, when an obstacle detection sensor installed at the rear of the vehicle detects an obstacle in the backward direction of the vehicle, ultrasonic waves are emitted from the obstacle detection sensor toward the backward direction of the vehicle to detect the presence of the obstacle in the backward direction of the vehicle. Accompanying this, the ultrasonic waves reflected from the obstacle and returned are detected. Next, when the obstacle existing in the vehicle forward direction or the vehicle backward direction is located within the vehicle width, the control means determines the distance from the obstacle detection sensor to the obstacle and the ultrasonic wave emission direction of the obstacle detection sensor. Based on and, the shortest distance from the vehicle to the obstacle is calculated. On the other hand, the control means, when the obstacle existing in the vehicle forward direction or the vehicle backward direction is located outside the vehicle width, the distance from the obstacle detection sensor to the obstacle, the ultrasonic wave emission direction of the obstacle detection sensor. Also, the shortest distance from the vehicle to the obstacle is calculated based on the vehicle width dimension. Then, the control means actuates the display means to display the relative position between the vehicle and the obstacle when the calculated shortest distance becomes equal to or less than the set distance.

According to the present invention of claim 3, the control means comprises:
When the operation of the sensor driving means is controlled to change the ultrasonic wave emission direction of the obstacle detection sensor, the obstacle detection sensors on the left and right sides of the vehicle respectively emit ultrasonic waves toward both sides of the vehicle, and the vehicle side The ultrasonic waves reflected and returned from the obstacle due to the presence of the obstacle on the other side are detected. Thereby, the control means determines the relative positional relationship between the vehicle and the obstacle based on the time from the ultrasonic wave emission time of the obstacle detection sensor to the ultrasonic wave detection time. Then, the control means, when the obstacle existing on the side of the vehicle is located within the entire length of the vehicle, based on the distance from the obstacle detection sensor to the obstacle and the ultrasonic wave emission direction of the obstacle detection sensor, Calculate the shortest distance from the vehicle to the obstacle. On the other hand, when the obstacle existing on the side of the vehicle is located outside the entire length of the vehicle, the control means controls the distance from the obstacle detection sensor to the obstacle, the ultrasonic wave emission direction of the obstacle detection sensor and the vehicle width dimension. Based on, the shortest distance from the vehicle to the obstacle is calculated. Then, the control means actuates the display means to display the relative position between the vehicle and the obstacle when the calculated shortest distance becomes equal to or less than the set distance.

According to the present invention of claim 4, the control means comprises:
When the ultrasonic wave emitting direction of the obstacle detecting sensor is changed by controlling the operation of the sensor driving means, the obstacle detecting sensor emits ultrasonic waves in the moving direction of the vehicle and the existence of the obstacle in the moving direction of the vehicle. The ultrasonic waves reflected by the obstacle and returned are detected. Thereby, the control means determines the relative positional relationship between the vehicle and the obstacle based on the time from the ultrasonic wave emission time of the obstacle detection sensor to the ultrasonic wave detection time. Next, when the obstacle is located within the vehicle width, the control means determines the distance from the vehicle to the obstacle based on the distance from the obstacle detection sensor to the obstacle and the ultrasonic wave emission direction of the obstacle detection sensor. Calculate the shortest distance. On the other hand, when the obstacle is located outside the width of the vehicle, the control means detects the obstacle from the vehicle based on the distance from the obstacle detection sensor to the obstacle, the ultrasonic emission direction of the obstacle detection sensor, and the vehicle width dimension. Calculate the shortest distance to an object. Then, the control means activates the alarm means to output an alarm when the calculated shortest distance becomes equal to or less than the set distance.

[0015]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS The first to third embodiments to which the vehicle obstacle monitoring device of the present invention is applied will be described below with reference to the drawings.

(1) First embodiment. In the first embodiment, the distance between an obstacle behind the vehicle and the vehicle is measured, and when the distance reaches an "alarm distance" (described later), an alarm is given to the vehicle driver. It is a thing.

First, the structure of the main part of the vehicle equipped with the vehicle obstacle monitoring device according to the first embodiment will be described with reference to FIGS. 2 to 5. The rear bumper 2 of the vehicle 1 is of ultrasonic type. The obstacle detection sensor 3 is provided, and a step motor 4 for rotating the obstacle detection sensor 3 in the width direction of the rear portion of the vehicle is also provided. Further, on the instrument panel 5 of the vehicle 1, the display unit 6 for displaying the positions of the vehicle 1 and the obstacle, and the shortest distance from the vehicle 1 to the obstacle is the "warning distance" (distance corresponding to the threshold value). It is equipped with an alarm unit 7 (see FIG. 5) which is, for example, a buzzer and operates when the following occurs.

The mounting state of the obstacle detection sensor 3 will be described in detail. At the lower end of the rear bumper 2 of the vehicle 1 at the center in the longitudinal direction, a mounting member 8 is firmly fixed by bolts (not shown), and A mounting stay 9 is firmly fixed to the mounting member 8 with bolts 10. A step motor 11 is fixed to the mounting stay 9, and an obstacle detection sensor 3 is fixed to a drive shaft 11 a of the step motor 11. The step motor 11 is adapted to rotate at a constant angle based on a drive signal from a controller described later. As a result, the obstacle detection sensor 3 is adapted to rotate in the direction of the arrow in FIG. 3 and 4
Reference numerals 1a and 1b denote wheels.

Next, the configuration of the control system of the vehicular obstacle monitoring apparatus according to the first embodiment will be described with reference to FIG. 1. The vehicular obstacle monitoring apparatus includes a computing unit 12 and a drive control unit 13.
A controller 14 having an obstacle detection sensor 3;
The backward movement detection sensor 15, the step motor 11, the display unit 6, and the alarm unit 7 are provided.

More specifically, the arithmetic unit 12 of the controller 14 outputs a backward signal from the backward detection sensor 15 when the driver switches the shift lever to the backward (reverse) position, as will be described later. , The drive control unit 13 outputs a control signal for driving the step motor 11.
It is designed to output to. The drive control unit 13 outputs a pulse signal to the step motor 11 based on the control signal from the calculation unit 13.

The step motor 11 is adapted to rotate at a constant angle based on the pulse signal. The obstacle detection sensor 3 rotates in the width direction of the rear portion of the vehicle in accordance with the rotation of the step motor 11, emits ultrasonic waves toward an obstacle existing in the rear of the vehicle, and reflects the ultrasonic wave returning from the obstacle. The arithmetic unit 1 of the controller 14 detects a sound wave and outputs a signal corresponding to the time from the ultrasonic wave emission time to the ultrasonic wave detection time.
It is designed to output to 2. The scanning range H of the obstacle detection sensor 3 is the range shown in FIGS. 6 and 7.

Further, the transmission (not shown) mounted on the vehicle 1 is provided with a reverse detection sensor 15 for detecting whether or not the shift lever is switched to the reverse (reverse) position. When the driver 15 detects that the driver has switched the shift lever to the reverse (reverse) position, the reverse signal 15 is output to the calculation unit 12 of the controller 14.

For example, when the positional relationship between the vehicle 1 and the obstacle S behind the vehicle is in the state shown in FIG. 6 or 7, the arithmetic unit 12 of the controller 14 detects the vehicle width of the vehicle 1 by W and detects the obstacle. The distance between the ultrasonic wave emission point of the sensor 3 and the corner portion C of the obstacle S is K, the line connecting the ultrasonic wave emission point of the obstacle detection sensor 3 and the corner portion C of the obstacle S, and the rear bumper 2 Where θ is the angle formed by | K ・ cos θ | and W
It is designed to compare the magnitude relationship with / 2. In other words, it is determined which of the first to third areas the obstacle S belongs to.

The calculation unit 12 of the controller 14 is operated with | K ·
When it is determined that cos θ | is smaller than W / 2 (in the case of FIG. 6), the magnitude relationship between the shortest distance L between the rear bumper 2 of the vehicle 1 and the obstacle S and the above-mentioned “warning distance”. Is calculated and a control signal is output to the drive control unit 13 when the shortest distance L is smaller than the “warning distance”. In this case, the distance L shown in FIG.

[0025]

[Equation 1]

It can be expressed by the following equation (1).

On the other hand, the arithmetic unit 12 of the controller 14 is
When it is determined that | K · cos θ | is larger than W / 2 (in the case of FIG. 7), the shortest distance L between the corner portion of the rear bumper 2 of the vehicle 1 and the obstacle S, and the above-mentioned “alarm” Calculate the magnitude relationship with "distance" and the shortest distance L is "alarm distance"
When it is smaller, the control signal is output to the drive control unit 13. In this case, the square of the distance L shown in FIG.

[0028]

[Equation 2]

It can be expressed by the following equation (2). Therefore, the distance L shown in FIG.

[0030]

[Equation 3]

It can be expressed by the following equation (3). In this case, the right side of the equation (3) is replaced with L'for convenience.

The drive control unit 13 of the controller 14 displays the image showing the positional relationship between the vehicle 1 and the obstacle S on the display unit 6 by controlling the drive of the display unit 6 based on the control signal from the arithmetic unit 12. (See Figure 5), and if necessary,
By driving and controlling the alarm unit 7 based on the control signal from the arithmetic unit 12, the alarm unit 7 warns that the vehicle 1 approaches the obstacle S. In this case, the alarm operation is performed only when the backward movement detection sensor 15 outputs a backward movement signal.

Next, the flow of the obstacle detection alarm processing in the first embodiment constructed as described above will be described with reference to FIGS. 6 to 8.

When the drive control unit 13 of the controller 14 outputs a pulse signal to the step motor 11 based on the control signal from the arithmetic unit 12, and the drive control is performed so that the step motor 11 rotates at a constant angle (step SA1). ,
The obstacle detection sensor 3, while rotating in the width direction of the rear portion of the vehicle, emits ultrasonic waves toward an obstacle S existing behind the vehicle and detects ultrasonic waves emitted from the obstacle S and returning. , And outputs a signal corresponding to the time from the ultrasonic wave emission time to the ultrasonic wave detection time to the arithmetic unit 12.

As a result, the computing unit 1 of the controller 14
2 calculates the distance from the obstacle detection sensor 3 to the obstacle S (step SA2). Next, the calculation unit 12 of the controller 14 sets the vehicle width of the vehicle 1 to W, and the angle formed by the rear bumper 2 and the line connecting the ultrasonic wave emission point of the obstacle detection sensor 3 and the corner C of the obstacle S. Is θ, then | K · co
The magnitude relationship between sθ | and W / 2 is compared (step SA
3).

The operation unit 12 of the controller 14 is operated with | K
When it is determined that cos θ | is smaller than W / 2, that is, when the obstacle S exists from the first region to the second region as shown in FIG. 6, the rear bumper 2 of the vehicle 1 and the corner portion of the obstacle S. The shortest distance L (= K · sin θ) from C is calculated and set as a distance for comparison with the above-mentioned “warning distance” (step SA4).

On the other hand, the arithmetic unit 12 of the controller 14 is
If it is determined that | K · cos θ | is larger than W / 2,
That is, when the obstacle S exists in the first region as shown in FIG. 7, the shortest distance L (= L ′) between the corner portion of the rear bumper 2 of the vehicle 1 and the corner portion C of the obstacle S is set to The distance is calculated and set as a distance for comparison with the above-mentioned "alarm distance" (step SA5).

Next, the arithmetic unit 12 of the controller 14
The magnitude relationship between the shortest distance L calculated in step SA4 or step SA5 and the above-mentioned “warning distance” is calculated, and when the shortest distance L is smaller than the “warning distance”, a control signal is output to the drive control unit 13. As a result, the drive control unit 13 drives and controls the display unit 6 to display an image showing the positional relationship between the vehicle 1 and the obstacle S on the display unit 6, and the alarm unit 7
Is controlled by the alarm unit 7 to warn that the vehicle 1 approaches the obstacle S (step SA7). The above is the flow of the obstacle detection alarm processing in the first embodiment.

Here, assuming that the positional relationship between the vehicle 1 and the obstacle S is such as shown in FIG. 9 and the vehicle 1 travels straight backward (in the direction of the arrow in the figure) (vehicle width is For example, 1.4 [m]), the calculated distance Lp (shortest distance) from the vehicle to the obstacle obtained by the method of the first embodiment described above and the vehicle-obstacle obtained by the method of the conventional example. The relationship between the calculated distance Lq and the actual distance (shortest distance) from the vehicle to the obstacle is as shown in FIG. Figure 1
In the example of 0, the calculation distance Lp according to the first embodiment is almost equal to the actual distance, but the calculation distance Lq according to the conventional example becomes different from the actual distance as the distance becomes shorter (1 [m] or less). I understand. That is, it has been found that the calculation distance (shortest distance) from the vehicle to the obstacle can be accurately obtained in the first embodiment. This becomes more noticeable as the distance between the vehicle and the obstacle becomes shorter.

As described above, according to the first embodiment,
When the vehicle driver moves the vehicle backward, the distance from the vehicle to the obstacle depends on the area outside the vehicle in which the obstacle exists (in other words, the relative positional relationship of the obstacle with respect to the vehicle). For calculating the shortest distance and displaying the relative position of the vehicle and the obstacle on the display unit 6 and issuing an alarm from the alarm unit 7 when the calculated shortest distance is equal to or less than the above-mentioned “warning distance”, for example, Even when the vehicle is retracted in an alley having a narrow width, the vehicle driver can smoothly retract the vehicle with a margin.

As described above, although there is a margin in the actual distance from the vehicle to the obstacle as in the conventional case, the alarm device is activated early, or conversely, there is no margin in the actual distance from the vehicle to the obstacle. However, because the alarm device is activated late, the vehicle driver cannot accurately grasp the positional relationship between the vehicle and the obstacle, and cannot move the vehicle backward smoothly. Can be resolved.

(2) Second embodiment. In the second embodiment, the distance between the obstacle existing on the side of the vehicle and the vehicle is measured, and the vehicle driver is alerted when the distance reaches the above-mentioned "alert distance". It is a thing.

The difference of the second embodiment from the first embodiment is that, as shown in FIG. 11, ultrasonic obstacle detection sensors are provided on the bottom surface of the vehicle 21 on the right side and the bottom surface of the vehicle on the left side. 22 and 23 are provided, and the obstacle detection sensor 2
Since the configuration other than the installation locations of Nos. 2 and 23 is the same as that of the first embodiment, the block diagram and flow chart of the control system are omitted.

For example, the vehicle 21 and the obstacle S on the right side of the vehicle
When the positional relationship with 1 is in the state shown in FIG. 11 (when the obstacle S1 exists from the second region to the third region),
The ultrasonic wave emission point of the obstacle detection sensor 22 on the right side and the obstacle S
The distance from the corner of No. 1 is K ₁ , the obstacle detection sensor 2
If the angle formed by the line connecting the ultrasonic wave emission point 2 of FIG. 2 and the corner of the obstacle S1 and the right side portion of the vehicle body is θ ₁ , the shortest distance L1 between the right side portion of the vehicle body and the obstacle S1 is

[0045]

[Equation 4]

It can be expressed by the following equation (4).

Further, for example, when the positional relationship between the vehicle 21 and the obstacle S2 on the right front of the vehicle is in the state shown in FIG. 11 (when the obstacle S2 exists in the first region), the total length of the vehicle 21 is M. , The distance between the ultrasonic wave emission point of the obstacle detection sensor 22 on the right side and the corner portion of the obstacle S2 is K ₂ , and the line connecting the ultrasonic wave emission point of the obstacle detection sensor 22 and the corner portion of the obstacle S2 If the angle between the right side of the vehicle and the right side of the vehicle is θ ₂ , the shortest distance L2 between the right corner of the front bumper and the obstacle S2 is

[0048]

[Equation 5]

It can be expressed by the following equation (5).

Therefore, as in the first embodiment, the magnitude relationship between the shortest distance L1 or the shortest distance L2 and the above-mentioned "alarm distance" is calculated, and the shortest distance L1 or the shortest distance L2 is calculated.
Is smaller than the "warning distance", the vehicle 21 and the obstacle S
An image showing the positional relationship between the vehicle 1 and S2 is displayed on the display unit 6, and the alarm unit 7 warns that the vehicle 21 has approached the obstacles S1 and S2.

That is, also in the second embodiment, when the shortest distance from the side portion of the vehicle to the obstacle is equal to or less than the above-mentioned "warning distance", the relative position of the vehicle and the obstacle is displayed on the display unit 6. Is displayed and an alarm is issued from the alarm unit 7, even if the vehicle is driven when the driving visibility on the side of the vehicle is deteriorated due to fog or the like, the vehicle driver can smoothly and smoothly. The vehicle can be driven.

(3) Third embodiment. In the third embodiment, the distance between an obstacle existing in front of the vehicle and the vehicle is measured, and when the distance reaches the above-mentioned "warning distance", a warning is given to the vehicle driver. Is.

The third embodiment differs from the first embodiment in that, as shown in FIG. 12, an ultrasonic obstacle detection sensor is provided in the lower part of the longitudinal center of the front bumper of the vehicle 31. Three
2 is equipped, and the configuration other than the installation location of the obstacle detection sensor 32 is the same as that of the first embodiment, and therefore the block diagram and flow chart of the control system are omitted.

For example, the vehicle 31 and the obstacle S on the left front side of the vehicle
When the positional relationship with 3 is in the state shown in FIG. 12 (when the obstacle S3 exists from the first region to the second region),
The distance between the ultrasonic wave emission point of the obstacle detection sensor 32 and the corner portion of the obstacle S3 is K ₃ , and the line connecting the ultrasonic wave emission point of the obstacle detection sensor 32 and the corner portion of the obstacle S3 and the front portion If the angle formed by the bumper is θ ₃ , the front bumper and the obstacle S
The shortest distance L3 between 3 and

[0055]

[Equation 6]

It can be expressed by the following equation (6).

Further, for example, when the positional relationship between the vehicle 31 and the obstacle S4 on the right front side of the vehicle is in the state shown in FIG. 12 (when the obstacle S2 exists in the third region), the vehicle width of the vehicle 31 is changed. W, the distance between the ultrasonic wave emission point of the obstacle detection sensor 32 and the corner portion of the obstacle S4 is K ₄ , and the line connecting the ultrasonic wave emission point of the obstacle detection sensor 32 and the corner portion of the obstacle S4 is When the angle formed by the front bumper is θ ₄ , the shortest distance L4 between the right corner of the front bumper and the obstacle S2 is

[0058]

[Equation 7]

It can be expressed by the following equation (7).

Therefore, as in the first embodiment, the magnitude relationship between the shortest distance L3 or the shortest distance L4 and the above-mentioned "alarm distance" is calculated, and the shortest distance L3 or the shortest distance L4 is calculated.
Is smaller than the "warning distance", the vehicle 31 and the obstacle S
An image showing the positional relationship with S3 and S4 is displayed on the display unit 6, and the alarm unit 7 warns that the vehicle 31 has approached the obstacles S3 and S4.

That is, also in the third embodiment, the relative position between the vehicle and the obstacle is displayed on the display unit 6 when the shortest distance from the front bumper of the vehicle to the obstacle is equal to or less than the above-mentioned "warning distance". Is displayed and an alarm is issued from the alarm unit 7, the vehicle driver can smoothly move the vehicle with a margin even when the vehicle is moved forward when the driving visibility in front of the vehicle is deteriorated due to fog or the like. Can move forward.

In the first embodiment, the rear bumper of the vehicle is equipped with one obstacle detection sensor, and in the third embodiment, the front bumper of the vehicle is equipped with one obstacle detection sensor. However, the front bumper and the rear bumper of the vehicle may be equipped with one obstacle detection sensor each. As a result, the vehicle driver has a margin even when the vehicle is moved forward when the driving visibility in front of the vehicle is deteriorated due to the generation of fog or the like, or when the vehicle is retracted in an alley with a narrow width. In this state, the vehicle can be moved forward or backward smoothly.

[0063]

As described above, according to the vehicle obstacle monitoring apparatus of the present invention, at least one obstacle detection sensor for emitting ultrasonic waves in the vehicle moving direction is provided in the vehicle. When the obstacle is located within the vehicle width, the shortest distance from the vehicle to the obstacle is calculated based on the distance from the obstacle detection sensor to the obstacle and the ultrasonic wave emission direction of the obstacle detection sensor. If the vehicle is located outside the vehicle width, the shortest distance from the vehicle to the obstacle is calculated based on the distance from the obstacle detection sensor to the obstacle, the ultrasonic emission direction of the obstacle detection sensor, and the vehicle width dimension. Since the relative position between the vehicle and the obstacle is displayed on the display means when the shortest distance is equal to or less than the set distance, even a driver unfamiliar with driving can smoothly and smoothly drive the vehicle. Effect Unlikely to.

According to the vehicle obstacle monitoring device of the second aspect of the present invention, at least one obstacle detection sensor is provided at each of the front portion and the rear portion of the vehicle. When the vehicle is moving forward when the driving visibility of the vehicle is deteriorating or when the vehicle is retracting in an alley with a narrow width, the driver should drive the vehicle smoothly with a margin. There is an effect that can be.

According to the obstacle monitoring device for a vehicle of the third aspect of the present invention, at least one obstacle detection sensor is provided on each of the left and right sides of the vehicle, and when the obstacle is located within the entire length of the vehicle, the obstacle is detected. Calculate the shortest distance from the vehicle to the obstacle based on the distance from the obstacle detection sensor to the obstacle and the ultrasonic emission direction of the obstacle detection sensor. The shortest distance from the vehicle to the obstacle is calculated based on the distance to the obstacle, the ultrasonic emission direction of the obstacle detection sensor, and the vehicle width dimension, and when the calculated shortest distance is less than or equal to the set distance, the vehicle is displayed on the display means. In order to display the relative position between the vehicle and the obstacle, for example, when the vehicle is traveling on an alley with a narrow width, or when the vehicle is traveling when the driving visibility on the side of the vehicle is deteriorated due to fog or the like, dry Chromatography may be traveling and smoothly vehicle in a state with a margin, an effect that.

According to the obstacle monitoring apparatus for a vehicle of the fourth aspect of the present invention, the vehicle is further equipped with an alarm means for outputting a predetermined alarm based on the output of the obstacle detection sensor, and the calculated minimum distance is set. In order to output an alarm from the alarm means when the distance becomes equal to or less than the distance, the driver, together with the information displayed on the display means, uses the alarm output from the alarm means to more accurately determine the positional relationship between the vehicle and the obstacle. The effect is that it can be judged.

[Brief description of drawings]

FIG. 1 is a block diagram showing a configuration of a control system of a vehicle obstacle monitoring device in a first embodiment to which the present invention is applied.

FIG. 2 is an explanatory diagram showing a configuration of a main part of a vehicle in the first embodiment.

FIG. 3 is an explanatory view showing an attachment state of an obstacle detection sensor and a step motor in the first embodiment.

FIG. 4 is an explanatory view in which a part of the obstacle detection sensor and the step motor in FIG. 3 when viewed from above is omitted.

FIG. 5 is an explanatory diagram showing an installation example of a display unit and an alarm unit in the first embodiment.

FIG. 6 is an explanatory diagram showing a positional relationship between a vehicle and an obstacle in the first embodiment.

FIG. 7 is an explanatory diagram showing a positional relationship between a vehicle and an obstacle in the first embodiment.

FIG. 8 is a flow chart of obstacle detection warning processing in the first embodiment.

FIG. 9 is an explanatory diagram showing a positional relationship between a vehicle traveling straight ahead and an obstacle in the first embodiment.

FIG. 10 is a comparison of the calculated distance from the vehicle to the obstacle obtained by the method of the first embodiment and the calculated distance from the vehicle to the obstacle obtained by the conventional method, and the actual distance from the vehicle to the obstacle. It is explanatory drawing which shows an example.

FIG. 11 is an explanatory diagram showing a positional relationship between a vehicle and an obstacle in the second embodiment.

FIG. 12 is an explanatory diagram showing a positional relationship between a vehicle and an obstacle in the third embodiment.

FIG. 13 is an explanatory diagram showing a positional relationship between a vehicle and an obstacle in a conventional example.

FIG. 14 is a flowchart of obstacle detection alarm processing in a conventional example.

[Explanation of symbols]

 1 Vehicle 3, 22, 23, 32 Obstacle Detection Sensor 6 Display Unit as Display Means 11 Step Motor as Sensor Driving Means 14 Controller as Control Means

Claims (4)

[Claims] 1. The vehicle is equipped with at least one obstacle detection sensor that emits ultrasonic waves in the moving direction of the vehicle and detects ultrasonic waves reflected and returned from an obstacle outside the vehicle, Sensor drive means for changing the ultrasonic wave emission direction of the obstacle detection sensor, display means for displaying predetermined information based on the output of the obstacle detection sensor, and operation of the sensor drive means and the display means are controlled. A relative position determination function for determining a relative positional relationship between the vehicle and an obstacle based on a time from an ultrasonic wave emission time point of the obstacle detection sensor to an ultrasonic wave detection time point, When an obstacle is located within the vehicle width, the shortest distance from the vehicle to the obstacle is calculated based on the distance from the obstacle detection sensor to the obstacle and the ultrasonic emission direction of the obstacle detection sensor. When the obstacle is located outside the vehicle width, the shortest distance from the vehicle to the obstacle is determined based on the distance from the obstacle detection sensor to the obstacle, the ultrasonic emission direction of the obstacle detection sensor, and the vehicle width dimension. A distance calculation function for calculating and a display control function for controlling the operation of the display means to display the relative position of the vehicle and the obstacle when the calculated shortest distance is less than or equal to a set distance are provided. An obstacle monitoring device for a vehicle characterized by the above. 2. The vehicle obstacle monitoring device according to claim 1, wherein at least one obstacle detection sensor is provided at a front portion and a rear portion of the vehicle. Object monitoring device. 3. An obstacle detection sensor for emitting ultrasonic waves to the outside of the vehicle and detecting ultrasonic waves reflected and returned from an obstacle outside the vehicle, at least one obstacle detection sensor on each of the left and right sides of the vehicle. Equipped with a sensor driving means for changing the ultrasonic wave emitting direction of the obstacle detection sensor, a display means for displaying predetermined information based on the output of the obstacle detection sensor, and an operation of the sensor driving means and the display means Relative position determination for determining the relative positional relationship between the vehicle and the obstacle based on the time from the ultrasonic wave emission time of the obstacle detection sensor to the ultrasonic wave detection time. If the function and the obstacle are located within the entire length of the vehicle, the distance from the vehicle to the obstacle is determined based on the distance from the obstacle detection sensor to the obstacle and the ultrasonic emission direction of the obstacle detection sensor. Distance is calculated, and if the obstacle is located outside the vehicle overall length,
A distance calculation function for calculating the shortest distance from the vehicle to the obstacle based on the distance from the obstacle detection sensor to the obstacle, the ultrasonic emission direction of the obstacle detection sensor, and the overall length of the vehicle, and the calculated shortest distance. And a display control function for displaying the relative position of the vehicle and the obstacle by controlling the operation of the display means when the distance becomes equal to or less than the set distance. 4. The vehicle is further equipped with alarm means for outputting a predetermined alarm based on the output of the obstacle detection sensor, and the control means further determines that the calculated shortest distance is less than or equal to a set distance. The vehicle obstacle monitoring device according to claim 1, 2 or 3, further comprising an alarm control function for controlling an operation of the alarm means to output an alarm when the alarm condition occurs.