JPH10315888A - Alarm device for over-situated obstacle of vehiclecar - Google Patents

Abstract

PROBLEM TO BE SOLVED: To protect an antenna effectively in case it involves a risk of contacting with an over-situated obstacle by sensing in advance the data about the height of a passage, parking area, etc., to which a vehicle is going to advance. SOLUTION: An over-situated obstacle alarming device judges whether the obstacle alarm control is to be executed in accordance with the vehicle speed, and an antenna 1a is accommodated in case it involves likelihood to contact or collide with any obstacle situated over, and for a set period of time, the device performs the antenna alarm control to emit an alarm with an alarm lamp 11, and also emits a certain alarm from a buzzer 12 in case the roof of the car concerned has a risk to contact or collide with the over-obstacle (roof alarm control). A contact/collision preventive control part 25 can also be actuated from a manual accommodate switch 10, and if it 10 is On, the antenna 1a is accommodated and the antenna alarm control is disengaged specifically.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an upper obstacle warning device for a vehicle for preventing an upwardly slidable vehicle portion such as an antenna from contacting or colliding with an upper obstacle.

[0002]

2. Description of the Related Art In recent years, in order to improve the safety of vehicles,
2. Description of the Related Art A comprehensive driving assistance system (ADA; Active Drive Assist system) has been developed that actively supports the driving operation of a driver. This ADA system estimates various possibilities such as a collision with a preceding vehicle, a contact with an obstacle, a lane departure, and the like from the traveling environment information of the vehicle and a traveling state of the own vehicle, and is predicted to be unable to maintain safety. In this case, notification and other control are performed to the driver.

As a device for obtaining the traveling environment information of the vehicle, a laser radar device and the like have been conventionally known, but recently, an image of a landscape or an object in front of the vehicle captured by a plurality of cameras mounted on the vehicle. It has become possible to process information to three-dimensionally recognize roads and traffic environments with sufficient accuracy and time for practical use.

A parking space is determined as having a function of judging whether or not to enter a narrow road, which is one of the functions of the ADA system, and a function of preventing contact with an obstacle. There is a vehicle that performs a simple parking assist control to reduce the burden on the driver during parking.

In order to accurately determine a parking space in this parking assist control device, for example, a technique as disclosed in Japanese Patent Application Laid-Open No. 6-274796 has been proposed. This technology converts the image data obtained by the CCD camera at the rear of the vehicle body into distance data, detects the corner of the parked vehicle, and further calculates the parking entrance straight line calculated using the distance data and the detected corner point. And calculating a straight line or the like approximating the side of the parked vehicle to determine a parking space to be guided.

However, simply approximating the side surface of a parked vehicle with a straight line or the like having no unevenness distribution in the height direction, for example, when parking the vehicle in a covered parking space or the like, depending on the height of the roof, the parking space may be required. It may not be possible, and it is necessary to provide a device that can effectively cope with such situations.

As a technique for preventing contact with obstacles in the height direction, for example, Japanese Unexamined Utility Model Publication No. 2-54760 discloses a non-contact type distance measuring means mounted on the upper front end of a vehicle. Calculates the height of the upper obstacle from the ground by detecting the distance to the vehicle, compares the calculated value with the maximum height data of the vehicle previously input, and sets the calculated value to a predetermined value for the input data. By alerting when the value is smaller than the value,
The figure shows that even when a load higher than a truck cab at the front of the vehicle is loaded, contact with an obstacle above the vehicle is prevented.

[0008]

However, in the prior art of the above-mentioned alarm device for an upper obstacle, an upper obstacle having a height at which the distance measuring means can enter is premised, and an upper obstacle above the distance measuring means itself is required. It is not possible to determine whether entry by an obstacle is possible.

[0009] Most vehicles have a vehicle portion that can be sunk upward such as an antenna for radio reception, and a passage, parking space, or the like having a height enough to enter if the antenna is stored. There are many. If the antenna is erroneously entered into such a passage or a parking space with the antenna extended, the antenna may be damaged.

For this reason, in the prior art of the above-mentioned alarm device for an upper obstacle, if the height up to which the antenna is extended is input as the maximum height data of the vehicle in advance, it is possible to prevent the antenna from being damaged. The possibility of the obstacle contact in the height direction is also frequently detected, and even if the antenna can be entered with a sufficient margin if the antenna is originally stored, an alarm is issued and a sufficient function cannot be achieved.

SUMMARY OF THE INVENTION The present invention has been made in view of the above circumstances, and detects height data of a passage, a parking space, and the like, into which a vehicle enters, and detects a portion of the vehicle, such as an antenna, which can freely protrude upward and obstruct an upper obstacle. When there is a risk of contact with an object, the vehicle portion that can be protruded and retracted can be effectively protected, and an upper obstacle to the vehicle can be accurately detected and a highly reliable and practical upper obstacle for a vehicle can be obtained. It is intended to provide an alarm device.

[0012]

According to a first aspect of the present invention, there is provided a vehicle upper obstacle warning device for detecting a traveling state of a host vehicle.
A traveling environment detecting means for detecting a road shape and a three-dimensional object in the traveling direction of the own vehicle by three-dimensional data; Determining means for determining the possibility of contact / collision between an obstacle above the own vehicle and each part of the own vehicle; A contact / collision prevention control means for performing at least a retractable portion protection control for storing the self-vehicle portion capable of retracting and retracting when there is a possibility of contact or collision with an object.

In the vehicle upper obstacle warning device according to the first aspect of the invention, the traveling state detecting means detects the traveling state of the own vehicle, and the traveling environment detecting means detects the road shape and the three-dimensional object in the traveling direction of the own vehicle. Detect with three-dimensional data. The determining means determines whether contact or collision between an obstacle above the host vehicle and each part of the host vehicle existing in an area in which the host vehicle travels is based on the driving state of the host vehicle and the driving environment of the host vehicle. The possibility is determined. The contact / collision prevention control means includes a control unit that, when there is a possibility that the vehicle part and the upper obstacle that can freely protrude upward by the determination means may collide with the upper obstacle, at least the self-propelled vehicle that can freely protrude and retract. Retractable portion protection control for storing the vehicle portion is performed.

According to a second aspect of the present invention, there is provided an upper obstacle warning device for a vehicle, wherein the contact / collision prevention control means comprises:
In the event that there is a possibility of collision or collision between the host vehicle portion that can be protruded upward and the upper obstacle, at least the self-vehicle portion that can be protruded and retracted and a warning to be generated are stored. The control is performed, and a warning of a buzzer or a warning light is used to make the driver recognize that there is a possibility of collision or collision between the vehicle portion, which can be retracted upward, and the upper obstacle.

Further, according to a third aspect of the present invention, there is provided an upper obstacle warning device for a vehicle according to the second aspect, wherein the warning by the contact / collision prevention control means is set in advance. The alarm is issued for a set period of time to prevent the alarm from functioning for a long time.

According to a fourth aspect of the present invention, there is provided an upper obstacle warning device for a vehicle according to the second or third aspect, wherein the contact / collision prevention control means comprises It is equipped with a control selection unit that stores the self-vehicle part that can be protruded and retracted and that cancels the generation of the alarm in a predetermined manner. It can be controlled according to the driver's will. The free movement of the vehicle portion is prevented.

According to a fifth aspect of the present invention, there is provided an upper obstacle warning device for a vehicle according to any one of the first, second, third and fourth aspects.
The contact / collision prevention control means performs the protruding / retracted portion protection control according to a vehicle speed which is one of the traveling states of the host vehicle, and can generally travel at a high speed with few upper obstacles. Do not perform control at a place or the like.

According to a sixth aspect of the present invention, there is provided an upper obstacle warning device for a vehicle according to the present invention, wherein the contact / collision prevention control means performs the protection control of the protruding / retracted portion and the upper part of the own vehicle and the upper part. A predetermined alarm is issued when there is a possibility of collision or collision with an obstacle. Possibilities are also effectively prevented.

[0019]

Embodiments of the present invention will be described below with reference to the drawings. 1 to 10 relate to an embodiment of the present invention. FIG. 1 is a functional block diagram of a vehicle upper obstacle warning device, FIG. 2 is a schematic configuration diagram of a vehicle upper obstacle warning device, and FIG. Flowchart of object alarm control, FIG.
Is a flowchart of an upper obstacle warning execution determination routine,
5 is a flowchart of an antenna obstacle alarm release routine, FIG. 6 is a flowchart of an antenna storage control routine, FIG. 7 is a flowchart of a roof alarm control routine,
8 is an explanatory diagram of an obstacle detection range from behind the vehicle, FIG. 9 is an explanatory diagram of an obstacle detection range when traveling straight ahead, and FIG. 10 is an explanatory diagram of an obstacle detection range when turning.

In FIG. 2, reference numeral 1 denotes a vehicle such as an automobile (own vehicle). The own vehicle 1 has a function of preventing contact and collision with an upper obstacle as one function, and is used for driving a driver. The vehicle driving support device (upper obstacle warning device for vehicle) 2 that supports the vehicle is installed. Hereinafter, in the embodiment of the present invention, only the function of the vehicle driving support device 2 for preventing contact and collision with an upper obstacle, that is, a vehicle upper obstacle warning device, will be described. The description of the part is omitted.

The vehicle upper obstacle warning device 2 has a pair of (left and right) CCD cameras 3 using a solid-state image pickup device such as a charge-coupled device (CCD) as a stereo optical system. Each of the CCD cameras 3 is mounted at a certain interval in front of the ceiling in the vehicle compartment, and is configured to stereoscopically image an object outside the vehicle from different viewpoints. A video signal of the traveling direction of the vehicle 1 captured by the set of CCD cameras 3 is input to the control device 4. In the embodiment of the present invention, it is preferable to arrange the CCD cameras 3 vertically or diagonally because the left and right arrangements that are completely parallel to the road surface may be inferior in recognition of those parallel to the road surface.

The upper obstacle warning device 2 for a vehicle includes a vehicle speed sensor 5 for detecting the speed of the host vehicle 1 and a steering wheel angle sensor 6 for detecting a steering wheel angle as running state detecting means.
Are input to the control device 4. The control device 4 transmits the above information (the video signal from the CCD camera 3, the signal from the vehicle speed sensor 5 and the signal from the steering wheel angle sensor 6). ), The road shape and the three-dimensional object in the traveling direction of the host vehicle can be detected by three-dimensional coordinate data.

Reference numeral 7 denotes a control unit of a radio mounted on the vehicle, and a signal of a radio switch 8 input to the radio control unit 7 is also output to the control device 4. I have.

A mute signal is input to the radio control unit 7 from the control device 4, and the volume is reduced and the mute is turned off by a mute ON signal from the control device 4.
The volume is restored by a signal.

Further, as shown in FIG. 1, the radio control unit 7 is connected to ground (GND) when the power of the radio is turned on, and is turned off.
And has an antenna drive signal terminal which is opened (OPEN).

The vehicle 1 is equipped with an auto-antenna device, and has an antenna 1a as a self-vehicle part that can be retracted.
Is automatically extended and retracted by the antenna driving unit 9.

In FIG. 1, the antenna driving section 9 supplies a power supply for driving the motor separately. When a terminal for a driving signal (not shown) is grounded, the antenna 1a
Is extended and stored when released.

The antenna driving section 9 is adapted to switch connection and disconnection to a signal from the radio according to a signal from the control device 4, and a signal from the control device 4 is transmitted from the radio. The forced storage of the antenna 1a is performed with a higher priority than the above signal.

Further, the above-mentioned vehicle upper obstacle warning device 2
Is provided with a manual storage switch 10 as a control selection unit that can be freely turned on and off by a driver, and a signal is input to the control device 4.

Reference numeral 11 denotes a warning lamp for giving a warning when the antenna 1a is forcibly stored by a signal from the control device 4, and reference numeral 12 denotes a buzzer for generating a warning sound for giving a warning of a roof collision of the vehicle. And so on.

The control unit 4 contacts the upper obstacle based on the video signal from the CCD camera 3, the signals from the vehicle speed sensor 5, the steering wheel angle sensor 6, the signals from the radio switch 8, and the manual storage switch 10. Calculations are performed to prevent collisions, and signals are output to the radio control unit 7, the antenna driving unit 9, the warning light 11, and the buzzer 12 as necessary.

The control device 4 is formed of a microcomputer and its peripheral circuits. As shown in FIG. 1, a distance image generation unit 21, a road shape / obstacle recognition unit 22, a three-dimensional coordinate generation unit 23, a determination unit 24, contact / collision prevention control unit 2
5. It mainly comprises an alarm control unit 26.

The distance image generation unit 21 converts a pair of stereo images of the environment in the approach direction of the vehicle captured by the CCD camera 3 into a whole image by the principle of triangulation from the corresponding positional deviation. It is configured to perform a process of obtaining information on the distance to be crossed, generate a distance image representing a three-dimensional distance distribution, and output the generated distance image to the road shape / obstacle recognition unit 22.

The road shape / obstacle recognition unit 22 recognizes the shape of the road in the approach direction of the vehicle 1 from the distance image from the distance image generation unit 21 and at the same time recognizes the obstacle three-dimensionally. Output to the three-dimensional coordinate generation unit 23.

That is, from the distance images of the individual objects, even if the objects are overlapped, it is possible to easily separate the objects and recognize what they are.
Curbs and the like are extracted. Then, for example, the white line is approximated by a polygonal line, and the area surrounded by the left and right polygonal lines is determined as the own lane,
The curve of the road is detected by the horizontal component of the data of the own lane, and the rise or fall of the road is detected by the vertical component, and the road shape is three-dimensionally detected from the near side to the far side.

Further, only a three-dimensional object that becomes an obstacle is selected from the image data, it is determined whether or not the selected object is an obstacle to the host vehicle 1, and the distance (relative) to the obstacle is determined. The distance, the size, the height, and the position of the left and right ends are detected, and the data of the road shape and the obstacle are output to the three-dimensional coordinate generation unit 23.

The three-dimensional coordinate generation unit 23 includes a vehicle speed from the vehicle speed sensor 5, a steering wheel angle from the steering wheel angle sensor 6, and data on the road shape and obstacle extracted by the road shape / obstacle recognition unit 22. , Relative three-dimensional coordinates are generated based on the position of the host vehicle 1.

The three-dimensional coordinates formed by the three-dimensional coordinate generation unit 23 are obtained by calculating the coordinates of the relative position of the road / obstacle seen from the new host vehicle obtained by the road shape / obstacle recognition unit 22 in the previous time. It is formed by repeatedly adding the coordinates of roads and obstacles calculated up to this point in consideration of the vehicle motion.

That is, the straight traveling / turning of the own vehicle 1 is determined based on the steering wheel angle, and in the case of straight traveling, the vehicle movement amount (for example, calculated by the vehicle speed and the elapsed time) is calculated for all road shapes and obstacles calculated up to the previous time. In the case of a turn, the rotation center and rotation angle of the host vehicle 1 are obtained from the movement amount and the steering wheel angle, and the coordinates of all road shapes and obstacles calculated up to the previous time are calculated. Is rotated with respect to the rotation center. After this processing, all the stored road shapes and
The data of the obstacles that have come out of the storage area and the data in the field of view of the CCD camera 3 are deleted, and the coordinates of the relative position newly calculated in the field of view of the CCD camera 3 are stored in the storage data. To generate three-dimensional coordinates.

The three-dimensional coordinates formed by the three-dimensional coordinate generation unit 23 are output to the determination unit 24. That is, the CCD camera 3, the distance image generation unit 21, the road shape / obstacle recognition unit 22, and the three-dimensional coordinate generation unit 23 constitute a driving environment detection unit.

The judging section 24 serves as judging means, and the vehicle speed from the vehicle speed sensor 5, the steering wheel angle from the steering wheel angle sensor 6, the three-dimensional coordinate generating section 23
Based on the three-dimensional coordinate data indicating the position of the own vehicle 1 and roads / obstacles from the vehicle, it is possible to determine the course of the own vehicle 1 on the three-dimensional coordinates on the basis of the vehicle types of the own vehicle 1. The vehicle 1 existing in the predicted area (predicted course) is obtained and predicted based on the equation of motion of the vehicle previously set in advance.
The possibility of contact / collision between the obstacle above and the respective parts of the host vehicle is determined.

More specifically, when determining an obstacle with respect to the antenna 1a, the antenna area of the host vehicle 1 stored in advance based on the predicted course is moved on the three-dimensional coordinates, and the obstacle is determined. Contact / non-contact is determined. Similarly, when determining an obstacle to the roof of the host vehicle 1, the roof area of the host vehicle 1 stored in advance on the three-dimensional coordinates based on the predicted course is moved to the upper obstacle. Contact / non-contact is determined.

As shown in FIG. 8, the antenna area is
The antenna 1a is preset around the antenna that is higher than the roof of the vehicle 1. The setting range of the area is, for example, a range of a radius of 10 cm around the antenna 1a and a maximum height of the antenna 1a plus about 10 cm.
The roof area is set to be, for example, about +10 cm, which is slightly wider than the roof of the vehicle 1.

Therefore, when the vehicle 1 goes straight, the antenna area and the roof area are moved three-dimensionally, as shown in FIG. 9, so that an upper obstacle to the antenna 1a is determined or determined in this area. The upper obstacle to the roof of the host vehicle is determined.

When the vehicle 1 turns, as shown in FIG. 10, the antenna area and the roof area are moved in a circular shape with the movement of the vehicle 1 as shown in FIG. Of an upper obstacle to the vehicle or an upper obstacle to the roof of the host vehicle. Here, the upper obstacle PS shown in FIG.
FIG. 8 shows an example of an obstacle that is determined to be in contact only with the antenna area and is determined to be non-contact only in the roof area, as shown in FIG.

The determination by the determination unit 24 is appropriately performed based on a signal from the contact / collision prevention control unit 25, and the result of the determination is input to the contact / collision prevention control unit 25.

The contact / collision prevention controller 25 controls the vehicle speed from the vehicle speed sensor 5,
N-OFF signal, ON-O of the manual storage switch 10
An FF signal, a signal indicating an alarm state of the alarm control unit 26,
A signal of the determination result in the determination unit 24 is input, and it is determined whether or not to execute the upper obstacle warning control according to each state of these signals. A mute ON-OFF signal for the radio control unit 7, a forced storage-return signal for the antenna 1a for the antenna driving unit 9, and an ON-OFF command for the warning light 11 for the alarm control unit 26. And an ON / OFF command signal for the buzzer 12.

That is, the contact / collision prevention controller 25
Is a contact / collision prevention control means, which determines whether or not to execute the upper obstacle warning control according to the vehicle speed. When there is a possibility that the antenna 1a and the upper obstacle contact or collide with each other, the antenna In addition to the storage of the roof 1a of the host vehicle 1, the control unit 1a stores the retractable portion protection control (antenna alarm control) for generating an alarm by the warning light 11 for a predetermined period of time (for example, 3 to 5 seconds). A predetermined alarm is issued from the buzzer 12 when there is a possibility of contact and collision between the vehicle and the upper obstacle (roof alarm control). The contact / collision prevention control unit 25 is also operated by the manual storage switch 10. When the manual storage switch 10 is ON, the antenna 1a is stored and the antenna alarm control is performed in a predetermined manner. Is to be released.

The alarm control section 26 outputs the alarm state of the alarm control section 26 to the contact / collision prevention control section 25 as described above, while the contact / collision prevention control section 2 outputs the alarm state.
ON-OF for the warning light 11 by the signal from
F output and ON for the buzzer 12
The output is turned off. The alarm control unit 26 and the contact / collision prevention control unit 25 constitute a contact / collision prevention control unit.

Next, the operation of the above-described vehicle upper obstacle warning device will be described with reference to the flowchart of FIG. When the program starts, first, in step (hereinafter abbreviated as "S") 101, the speed of the host vehicle 1 is detected by the vehicle speed sensor 5, and the process proceeds to S102, where a determination routine as to whether or not to execute an upper obstacle warning is performed. Done.

As shown in FIG. 4, the upper obstacle warning execution determination routine executed in S102 first includes S201.
It is determined whether the vehicle speed is greater than 40 km / h or less than 40 km / h.

If the vehicle speed is higher than 40 km / h (vehicle speed> 40 km / h), the process proceeds to S202, where it is determined whether or not the warning light 11 (related to the antenna warning) is OFF.
If 1 is OFF, the process proceeds to S203 and the buzzer 12
It is determined whether or not (related to the roof warning) is OFF. If the buzzer 12 is OFF, the process proceeds to S204, and the upper obstacle warning execution determination flag Fs is cleared (Fs ← 0; it is determined that the upper obstacle warning is not performed). And exit the routine.

If the warning light 11 is ON in S202, or if the buzzer 12 is ON in S203, the process proceeds to S205.

If the vehicle speed is 40 km / h or less (vehicle speed ≦ 40 km / h) in S201, or if the warning light 11 is ON in S202 even if the vehicle speed is greater than 40 km / h, or if the buzzer is sounded in S203 When 12 is ON, the above S
Proceeding to 205, it is determined whether the vehicle 1 is running or stopped.

If it is determined in step S205 that the vehicle 1 is traveling (when the vehicle speed is ≠ 0), the process proceeds to step S206, in which a timer value that governs the elapsed time of the entire program is set in the traveling time timer value N0. Proceeding to S207, the upper obstacle alarm execution determination flag Fs is set (Fs ← 1; it is determined to execute the upper obstacle alarm), and the routine exits.

If it is determined in S205 that the vehicle 1 is stopped (vehicle speed = 0), the flow advances to S208, and a timer value that governs the elapsed time of the entire program is set in the stop time timer value N. , To S209.

In step S209, a difference (N-N0) between the stop time timer value N and the running time timer value N0 is compared with a preset value (for example, 3 to 5 seconds).
When N0 is less than the above set value (when N−N0 <set value), that is, when the vehicle 1 is stopped immediately, the process proceeds to S207, and the upper obstacle alarm execution determination flag F
s is set and the routine exits.

If N-N0 is equal to or greater than the set value in S209 (if N-N0≥set value), that is, if the vehicle 1 has stopped and the set time has elapsed, the process proceeds to S210. Proceed to execute the antenna alarm control release routine.

In this antenna alarm control release routine, as shown in FIG. 5, the antenna drive is restored in S301 (return to the original control state), and in S302, the contact / collision prevention control unit 25 sends the radio control unit 7 , The mute signal output forcibly is turned off, and the warning light 11 is turned on in S303.
Flip and exit the routine.

After executing the above-described antenna alarm control canceling routine in S210, the process proceeds to S211 and the buzzer 12
Is turned off, and the process proceeds to S204, where the upper obstacle warning execution determination flag Fs is cleared and the routine exits.

In other words, by executing the above-described upper obstacle warning execution determination routine, both the warning light 11 related to the antenna warning and the buzzer 12 related to the roof warning are not activated and the vehicle 1 is traveling at a high speed exceeding 40 km / h. Is stopped and if the set time has elapsed, it is determined not to execute the upper obstacle alarm, and otherwise, it is determined to execute the upper obstacle alarm.

Generally, in a place where the vehicle can run at a high speed exceeding 40 km / h, there is almost no upper obstacle such as a collision between the antenna and the roof. Thus, by limiting the control based on the vehicle speed as described above, the control device can perform efficient control.

Next, after executing the above-described upper obstacle alarm execution determination routine in S102, the process proceeds to S103, where the upper obstacle alarm execution determination flag Fs in the above-described upper obstacle alarm execution determination routine is referred to, and Fs = 1. In this case, that is, in a case where the result of executing the upper obstacle warning is S104.
If Fs = 0, that is, if the result indicates that the upper obstacle warning is not to be executed, the program exits.

When proceeding to S104, the steering wheel angle is detected by the steering wheel angle sensor 6, and the process proceeds to S105, where the three-dimensional coordinate generation unit 23 extracts the vehicle speed, steering wheel angle, and the road shape / obstacle recognition unit 22. Based on the data on the road shape and the obstacle thus obtained, relative three-dimensional coordinates are generated based on the position of the host vehicle 1.

Then, the process proceeds to S106, where the ON / OFF state of the radio switch 8 is determined. If the radio switch 8 is OFF, the process proceeds to S107, where the above-described antenna alarm control release routine is executed, and the process proceeds to S117. On the other hand, if the radio switch 8 is ON, the process proceeds to S108.

In S108, the ON / OFF state of the manual storage switch 10 is determined. If the manual storage switch 10 is OFF, the process proceeds to S109, where the determination unit 24 determines the vehicle speed, the steering wheel angle, and the three-dimensional coordinate generation unit. 23
Based on the data of the three-dimensional coordinates generated in the above, the course of the vehicle 1 which is set in advance in the vehicle specifications of the own vehicle 1 is determined on what kind of path the own vehicle 1 travels on the three-dimensional coordinates. The antenna area of the host vehicle 1 which is obtained and predicted by an equation or the like is moved on the three-dimensional coordinates based on the predicted course, and contact / non-contact with an upper obstacle is determined.

Then, the process proceeds to S110, where it is determined whether an obstacle exists in the antenna area. If an obstacle exists in the antenna area, the procedure proceeds to S111, and the warning light 1
It is determined whether 1 is OFF or ON.
If the answer is N, the process proceeds to S117. If the warning light 11 is OFF, the value of the timer governing the elapsed time of the entire program is set in the warning light lighting start timer value M0 in S112. Then, the antenna storage control routine is executed.

In this antenna storage control routine, as shown in FIG. 6, the warning light 11 is turned on in S401, and S4
In step S02, the contact / collision prevention control unit 25 forcibly outputs a mute signal to the radio control unit 7, and in step S403, the antenna 1a is shortened and stored, and the process exits the routine.

After executing the above-described antenna storage control routine in S113, the process proceeds to S117.

On the other hand, the manual storage switch 1
If 0 is ON, or if there is no obstacle in the antenna area in S110, the process proceeds to S114, where it is determined whether the warning light 11 is ON or OFF.
If it is FF, the process proceeds directly to S117. If the warning light is ON, the process proceeds to S115, in which the value of the timer that governs the elapsed time of the entire program is set in the warning light lighting timer value M, and the process proceeds to S116. move on.

At S116, the warning light lighting timer value M
Is compared with a preset value (for example, 3 to 5 seconds), and if M-M0 is less than the set value (M-M0) −M0 <
In the case of the set value), that is, when the warning lamp 11 is turned on immediately, the process proceeds to S117, while the value of M-M0 is equal to or more than the set value (in the case of M-M0 ≧ set value). In other words, if the warning light 11 has been lit for the set time, the process proceeds to S107 to execute the antenna alarm control release routine, and then proceeds to S117.

As described above, the warning by the warning light 11 is performed only during the set time. For example, when the vehicle is stopped with the engine running for a long time in a parking lot with a low ceiling, etc. The warning light 11 is prevented from continuing to light.

Further, by using the manual storage switch 10 for control, the antenna 1a and the upper obstacle frequently enter and exit a place where there is a possibility of contact with the upper obstacle according to the driver's intention. This prevents the storage / restore of 1a from being repeated more frequently than necessary.

Then, the above S107, S111 (when the warning light is ON), S113, S114 (when the warning light is OFF), and S116 (when M−M0 <set value) are used.
At step 117, a roof alarm control routine is executed,
Exit the program.

As shown in FIG. 7, the roof warning control routine first determines the vehicle speed, the steering wheel angle, and the three-dimensional coordinate data generated by the three-dimensional coordinate generator 23 in step S501. What kind of course the host vehicle 1 travels on the three-dimensional coordinates is determined by predicting the motion equation of the vehicle set in advance in the vehicle specifications of the host vehicle 1, and is predicted and stored. The roof area of the host vehicle 1 is moved on the three-dimensional coordinates based on the predicted course, and contact / non-contact with an upper obstacle is determined.

The flow advances to S502 to determine whether or not an obstacle exists in the roof area. If an obstacle exists in the roof area, the flow advances to S503 to determine whether the buzzer 12 is ON or OFF. Is determined, the buzzer 1
If 2 is already on, the routine exits the routine. If the buzzer 12 is off, the process proceeds to S504, where the buzzer 12 is turned on and the routine exits.

On the other hand, if there is no obstacle in the roof area in S502, the flow advances to S505, and the buzzer 1
It is determined whether the buzzer 12 is OFF or ON. If the buzzer 12 is already OFF, the process directly exits the routine. If the buzzer 12 is ON, the process proceeds to S506 and the buzzer 1
Turn off 2 and exit the routine.

As described above, since the roof alarm control is performed in addition to the antenna alarm control, the roof alarm control is effective for the entire upper obstacle, and even when the antenna 1a is stored, the roof alarm control is performed. By performing alarm control, it is possible to prevent contact and collision with an upper obstacle.

As described above, according to the embodiment of the present invention,
When there is a possibility that the protruding antenna and the upper obstacle may come into contact with or collide with each other, the antenna is automatically shortened and retracted, so that damage to the antenna can be effectively prevented. As a result, if the antenna is stored, it can sufficiently cope with a place where the vehicle can travel with plenty of time, and the practicality is extremely high.

When there is a possibility that the protruding antenna and the upper obstacle may come into contact with or collide with each other, a warning light is issued to the driver to urge the driver to pay attention upward. Can be.

Further, since the upper obstacle is detected in three-dimensional coordinates with respect to the approaching direction, the determination is made in advance before the vehicle enters the place where the upper obstacle exists. In addition, the driver can easily respond to the collision and reliably prevent the collision with the upper obstacle.

In the embodiment of the present invention, an example is described in which the case where the vehicle moves forward is controlled. However, when the vehicle moves backward, the traveling direction (rearward) of the vehicle is detected by a CCD camera and similarly. Can control.

In order to obtain three-dimensional data, two C
Instead of using a CD camera, two or more CCD cameras may be used, or a combination of a CCD camera and a laser radar may be used.

Further, at the time of the roof alarm control, not only the buzzer may be operated but also the brake device may be operated in a predetermined manner.

In the embodiment of the present invention, the manual storage switch functions for the contact / collision prevention control unit, but outputs a signal for switching directly to the warning light and the antenna driving unit. It may be configured as follows.

[0086]

As described above, according to the present invention, height data of a passage, a parking space, and the like, into which a vehicle enters, is detected beforehand, and a vehicle portion that can freely protrude upward such as an antenna is obstructed. When there is a risk of contact with an object, this protruding and retractable vehicle portion can be effectively protected, and an excellent effect of accurately detecting an upper obstacle to the vehicle and improving reliability and practicality can be obtained. To play.

[Brief description of the drawings]

FIG. 1 is a functional block diagram of an upper obstacle warning device for a vehicle.

FIG. 2 is a schematic configuration diagram of an upper obstacle warning device for a vehicle;

FIG. 3 is a flowchart of an upper obstacle warning control.

FIG. 4 is a flowchart of an upper obstacle warning execution determination routine;

FIG. 5 is a flowchart of an antenna obstacle alarm release routine.

FIG. 6 is a flowchart of an antenna storage control routine.

FIG. 7 is a flowchart of a roof warning control routine.

FIG. 8 is an explanatory diagram of an obstacle detection range from behind the vehicle.

FIG. 9 is an explanatory diagram of an obstacle detection range when traveling straight ahead.

FIG. 10 is an explanatory diagram of an obstacle detection range when turning.

[Explanation of symbols]

DESCRIPTION OF SYMBOLS 1 Own vehicle 1a Antenna (own and retractable own vehicle part) 2 Vehicle upper obstacle warning device 3 CCD camera (driving environment detecting means) 4 Control device 5 Vehicle speed sensor (driving state detecting means) 6 Handle angle sensor (driving state) 7 Radio control unit 8 Radio switch 9 Antenna drive unit 10 Manual retract switch 11 Warning light 12 Buzzer 21 Distance image generation unit (Driving environment detection unit) 22 Road shape / obstacle recognition unit (Driving environment detection unit) 23 Tertiary Original coordinate generation unit (driving environment detection unit) 24 determination unit (judgment unit) 25 contact / collision prevention control unit (contact / collision prevention control unit) 26 alarm control unit (contact / collision prevention control unit)

Claims (6)

[Claims] 1. A traveling state detecting means for detecting a traveling state of a vehicle, a traveling environment detecting means for detecting a road shape and a three-dimensional object in a traveling direction of the vehicle by three-dimensional data, and a traveling state of the vehicle. Determining means for determining the possibility of contact / collision between each part of the host vehicle and an obstacle above the host vehicle existing in an area in which the host vehicle travels based on the running environment of the host vehicle; and A protruding / retracting portion protection control for storing at least the protruding / retractable own vehicle portion in a case where there is a possibility that the own vehicle portion capable of protruding and retracting upward and the upper obstacle may contact or collide with the determination means; And a contact / collision prevention control means for performing the following. 2. The contact / collision prevention control means is configured to at least protrude and retract the self-vehicle when there is a possibility of contact and collision between the upper vehicle and the upper obstacle. 2. The upper obstacle warning device for a vehicle according to claim 1, wherein a retractable portion protection control for storing a vehicle portion and generating an alarm is performed. 3. An upper obstacle warning device for a vehicle according to claim 2, wherein said warning by said contact / collision prevention control means is issued for a predetermined period of time. 4. The contact / collision prevention control means includes a control selection section for storing the protruding / retractable own-vehicle portion and canceling the generation of the alarm in a predetermined manner. Or the upper obstacle warning device for vehicles according to claim 3. 5. The contact / collision prevention control means performs the protruding / retracted portion protection control in accordance with a vehicle speed which is one of the traveling states of the host vehicle. 5. The upper obstacle warning device for a vehicle according to any one of 4. 6. The contact / collision prevention control means performs the protruding / recessed portion protection control and issues a predetermined alarm when there is a possibility of contact / collision between the other upper part of the vehicle and the upper obstacle. 4. The method according to claim 1, wherein
The vehicle upper obstacle warning device according to any one of claims 4 and 5.