JPH1090406A - Alarm device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide an alarm device which not only confirms the presence and degree of risk of an obstacle without removing its eye from the advancing direction of a vehicle, but also detects obstacles in the other direction than the advancing direction, can make the driver of the vehicle to take an avoiding action against the obstacles in an early stage by informing the operator of the obstacles, and, as a result, can improve the safety of the vehicle when the vehicle is driven including the time when the driver changes a traffic lane. SOLUTION: A degree-of-risk calculating means 16 calculates the degree of risk of an obstacle by using the distance to the obstacle measured by means of a distance measuring means 12 and the azimuth to the obstacle detected by means of an azimuth detecting means 14. A plurality of audio informing means 10 are separately installed to different positions in the room of a vehicle and outputs sounds. A sound adjusting means 8 adjusts at least the volumes or phases of sounds outputted from the means 10 in accordance with the azimuth detected by means of the detecting means 14 and the degree of risk of the obstacle calculated by means of the calculating means 16.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

TECHNICAL FIELD The present invention relates to an alarm device,
In particular, the present invention relates to an alarm device that does not limit the detection range of an obstacle to the front, and also notifies not only the presence of an obstacle but also the direction of the obstacle.

[0002]

2. Description of the Related Art As a prior art of an alarm device, for example, there is one shown in FIG. 26A (JP-A-6-30822).
1). The alarm device 100 is used by being mounted on a vehicle,
A light emitting unit 101 that emits light forward in the traveling direction of the vehicle, a light receiving unit 102 that receives light reflected by an obstacle, an information processing circuit 103 that calculates a distance from the obstacle, and a part of a pattern display 106 are configured. It has a signal processor 104, a pattern display driver 105, and a pattern display 106 in which a threshold is stored for each LED display element.

FIG. 26B is a front view showing the pattern display 106. The pattern display unit 106 includes an LED display unit 120 that is turned on when an obstacle exists near the front center.
And LED display units 121 and 122 which are turned on when an obstacle is present on the front left and right sides, respectively. Further, the LED display unit 120 displays the green LED 1
20a, 120b, orange LED 120c, 120
d, red LEDs 120e and 120f.

In the LED display section 120, each LED
The display elements are arranged at regular intervals. In addition, each LE
The width of the D display element is the shortest for the green LED 120a,
Green LED 120b, orange LED 120c,
Following the orange LED 120d and the red LED 120e, the red LED 120f is the longest.

When the light receiving unit 102 detects the presence of an obstacle near the front center by the reflected light of the light emitted from the light emitting unit 101, the detection signal is sent to the information processing circuit 103 and the distance to the obstacle is calculated. Is done. The calculation result is sent to the pattern display 106 via the signal processor 104 and the driver 105. In this case, first, the green LED 120
As the “a” lights up and the distance to the obstacle becomes shorter, the green LED 120b and the orange LEDs 120c, 120
d, The red LED 120e is turned on, and when the distance to the obstacle is further reduced, the red LED 120f is turned on.

When an obstacle is detected on the front left side, FIG.
Orange LED 1 of LED display section 121 in 6B
21a and the red LED 121b are turned on. As in the case where an obstacle is detected near the front center, as the distance to the obstacle decreases, the orange LED 121a and the red LED 121b light up. When an obstacle is detected on the front right side, the LED display unit 1 shown in FIG.
22 orange LEDs 121a, red LEDs 121b
However, it is illuminated as in the case where an obstacle is present on the front left side.

[0007]

The above prior art has the following disadvantages. First, whether or not an obstacle is present is represented by whether or not an LED on the pattern display is turned on. In addition, the degree of danger is represented by color-coding LEDs. In any case, the presence of the obstacle and its danger are provided to the driver using visual means. In this case, there is a problem that the driver must keep his / her eyes away from the traveling direction when trying to confirm the presence of the obstacle and the degree of danger on the pattern display.

The range in which the presence of an obstacle is detected is near the front center, the front left side, and the front right side. That is,
It is limited to the front direction of the own vehicle. Therefore, when an obstacle exists in a direction other than the forward direction (for example, when there is a following vehicle or a vehicle that overtakes the own vehicle), the driver cannot be notified of the existence of the obstacle and the direction of its existence. .

Further, the fact that the detection range of the presence of an obstacle is limited in the forward direction of the host vehicle also poses a problem when changing lanes. Lane changes are usually considered one of the most dangerous driving behaviors. When changing lanes, check the safety of the rear right and left rear of the vehicle (right rear when changing lanes to the right, left rear when changing lanes to the left) by door mirrors and visually. Will be. That is, when changing lanes, it is important to detect obstacles on the left and right rear of the vehicle. Therefore, the detection of the presence of an obstacle in front of the vehicle as in the above-described related art is not sufficient as information for safe driving required when changing lanes.

[0010] Therefore, the present invention is to confirm the presence and danger of an obstacle without keeping an eye on the traveling direction, detect obstacles other than the forward direction, and inform the driver of the presence and the direction of the presence. Accordingly, it is an object of the present invention to provide an alarm device that can speed up the avoidance action for an obstacle and consequently improve safety during driving of the vehicle including lane change.

[0011]

According to the present invention, there is provided a voice reporting device comprising: directional information acquiring means for acquiring directional information; a plurality of voice reporting means installed at mutually distant locations to output voice; And a voice adjusting unit that adjusts at least one of a sound volume and a phase of the voice output from the plurality of voice reporting units based on the azimuth information obtained by the information obtaining unit.

According to a second aspect of the present invention, in the voice notification device according to the first aspect, the distance information obtaining means for obtaining the distance information, and the distance information and the direction information obtaining means obtained by the distance information obtaining means. A notice information selecting means for selecting notice information issued according to the azimuth information acquired, wherein the sound adjustment means transmits the notice information selected by the notice information selecting means to the sound. At least one of the sound volume and the phase of the sound output from the voice notifying unit is adjusted based on the azimuth information acquired by the azimuth information acquiring unit at the same time as outputting from the notifying unit.

According to a third aspect of the present invention, there is provided an alarm device for a vehicle, comprising: a distance measuring means for measuring a distance to an obstacle existing around the vehicle; an azimuth detecting means for detecting an azimuth where the obstacle exists; and the distance measuring means. Danger calculating means for calculating a danger using the distance to the obstacle measured by the azimuth and the azimuth where the obstacle detected by the azimuth detecting means is provided, and is installed at a position separated from each other in the vehicle cabin. A plurality of voice reporting means for outputting voice, at least one of a volume and a phase of a voice output from the voice reporting means in accordance with the azimuth detected by the azimuth detecting means and the risk calculated by the risk calculating means. Voice adjusting means for adjusting one of them.

According to a fourth aspect of the present invention, there is provided a vehicle alarm device comprising: a plurality of display means installed on the vehicle; a distance measuring means for measuring a distance to an obstacle existing around the vehicle; Azimuth detecting means for detecting, risk calculating means for calculating a risk using the distance to the obstacle measured by the distance measuring means and the azimuth where the obstacle detected by the azimuth detecting means exists, the risk Display content control means for controlling the display content displayed by the display means in accordance with the degree of risk calculated by the calculation means; the display means for displaying the display content controlled by the display content control means; Display selection means for selecting according to the azimuth detected by the method.

According to a fifth aspect of the present invention, in the vehicle alarm device according to the fourth aspect, the display unit includes a rear display unit installed near a rear confirmation mirror of the vehicle. When an obstacle is present behind, the display content controlled by the display content control means is displayed.

According to a sixth aspect of the present invention, in the vehicle alarm device according to the fourth aspect, a plurality of voice notification means and the direction detection means are installed in the vehicle interior of the vehicle at positions separated from each other. Voice adjusting means for adjusting at least one of a sound volume and a phase of a voice output from the voice reporting means in accordance with the detected direction and the risk calculated by the risk calculating means. .

According to a seventh aspect of the present invention, in the vehicle alarm device according to the sixth aspect, the display means includes a rear display means installed near a rear confirmation mirror of the vehicle. When an obstacle is present behind, the display content controlled by the display content control means is displayed.

The vehicle alarm device according to claim 8 is the vehicle alarm device according to any one of claims 3 to 7,
The risk calculating means changes a calculation standard of the risk calculating method according to a direction indicated by a direction indicator of a vehicle.

The "azimuth information" indicates in which direction an obstacle or an object is located with respect to the user, the host vehicle, or an object set at the center. The angle θ ₁ shown in FIG.

The "distance information" indicates the distance between the user, the host vehicle or the center and the obstacle or target, and corresponds to the distance L shown in FIG. 10 in the embodiment. .

[0021] Further, "attention information" refers to a user or a driver's attention according to the relative positional relationship between the user, the host vehicle, or an object set at the center and an obstacle or an object. This is information for prompting, and in the embodiment,
The information shown in FIG.

[0022]

According to the first aspect of the present invention, the direction information obtaining means obtains direction information. A plurality of voice notification means are installed at positions separated from each other and output voice. The sound adjusting means adjusts at least one of a sound volume and a phase of sounds output from the plurality of sound reporting means based on the direction information acquired by the direction information acquiring means.

Therefore, the voice can be heard from the azimuth corresponding to the obtained azimuth information.

In the voice alarm device according to the second aspect, the distance information obtaining means obtains the distance information. The attention information selection means selects attention information issued according to the distance information and the direction information. The voice adjustment means outputs the attention information selected by the attention information selection means from the voice notification means, and at the same time, outputs at least the volume or phase of the voice output from the voice notification means based on the direction information acquired by the direction information acquisition means. Adjust either one.

Therefore, since the caution information is output as voice from the direction corresponding to the obtained direction information, the user can be notified with a sense of reality. Further, since the attention information is issued according to the azimuth information and the distance information, the user can determine the situation where the user is placed.

In the vehicle alarm device according to the third aspect, the distance measuring means measures a distance to an obstacle existing around the vehicle. The azimuth detecting means detects the azimuth where the obstacle exists. The risk calculating means calculates the risk using the distance to the obstacle measured by the distance measuring means and the azimuth at which the obstacle is detected by the azimuth detecting means. A plurality of voice notification means are provided in the cabin of the vehicle,
It is installed at a position away from each other. The sound adjusting means adjusts at least one of a sound volume and a phase of the sound output from the sound reporting means according to the azimuth detected by the azimuth detecting means and the risk calculated by the risk calculating means.

Therefore, since the sound is output from the direction in which the obstacle is present at a volume corresponding to the degree of danger, the driver can recognize the existence of the obstacle and the degree of danger without looking away from the traveling direction. Can be. That is, the present alarm device can provide an environment in which the driver can safely recognize the presence of the obstacle and the degree of danger thereof.

In the vehicle alarm device according to the fourth aspect, a plurality of display means are provided on the vehicle. The display content control means controls the display content displayed by the display means according to the risk calculated by the risk calculation means. The display selection means selects display means for displaying the display content controlled by the display content control means in accordance with the azimuth detected by the azimuth detection means.

Therefore, since the direction and the danger of the obstacle are simultaneously displayed, the driver can easily recognize the direction and the danger of the obstacle visually.
That is, the present alarm device can provide the driver with an environment in which the presence of an obstacle and the degree of danger thereof can be visually recognized at a time.

In the vehicle alarm device according to the fifth aspect, the display means includes a rear display means installed near a rear view mirror of the vehicle, and when an obstacle is present behind, the display contents. The display content controlled by the control means is displayed.

Therefore, when there is an obstacle other than in front of the vehicle, the presence of the obstacle and the degree of danger thereof are displayed near the rear view mirror, so that the driver does not need to look away from the traveling direction so much. Can be recognized. That is,
The alarm device can provide an environment in which a driver can safely confirm an obstacle behind.

In the vehicle alarm device according to the sixth aspect, a plurality of display means are provided on the vehicle. The display content control means controls the display content displayed by the display means according to the risk calculated by the risk calculation means. The display selection means selects display means for displaying the display content controlled by the display content control means in accordance with the azimuth detected by the azimuth detection means. The sound adjusting means adjusts at least one of a sound volume and a phase of the sound output from the sound notifying means in accordance with the direction detected by the direction detecting means and the risk calculated by the risk calculating means.

Therefore, the direction in which the obstacle is present and the degree of danger are transmitted to the driver so as to appeal to both the sight and the auditory sense, so that the driver can avoid the presence of the obstacle and its danger without looking away from the traveling direction. The degree can be recognized by voice, and at the same time, the presence of the obstacle and the degree of danger can be visually confirmed by visually confirming the display means. In other words, the present alarm device can provide an environment in which the driver can safely confirm the presence of an obstacle and its danger level, and at the same time, provide different types of visual and audible confirmation methods, It is possible to provide an environment in which the user can select a desired confirmation method.

[0034] In the vehicle alarm device according to the seventh aspect, the display means includes a rear display means installed near a rear confirmation mirror of the vehicle, and when an obstacle is present behind, a display content control. The display content controlled by the means is displayed.

Therefore, when there is an obstacle other than in front of the vehicle, the presence of the obstacle and its danger are displayed near the rear-viewing mirror, so that the driver can keep the presence of the obstacle without turning his / her eyes away from the traveling direction. Can be recognized. That is,
The alarm device can provide an environment in which a driver can safely confirm an obstacle behind.

In the vehicular alarm device according to the eighth aspect, the risk calculating means changes the calculation reference of the risk calculating method according to the direction indicated by the direction indicator of the vehicle. Therefore, when attempting to change lanes, which is one of the most dangerous situations, the driver performs visual observation with a door mirror or a rearview mirror, but at that time, by a display means installed near the door mirror and the rearview mirror, It is possible to know the existence of dangerous obstacles and the degree of danger. Therefore, the driver can know the degree of danger when changing lanes. That is, the present alarm device can provide an environment in which the driver can safely change lanes.

[0037]

BEST MODE FOR CARRYING OUT THE INVENTION

First Embodiment 1. First Embodiment Description of Functional Block Diagram FIG. 1 is a functional block diagram of a first embodiment of the alarm device according to the present invention. The alarm device includes a distance information acquiring unit 2, an azimuth information acquiring unit 4, a caution information selecting unit 6, a voice adjusting unit 8, and a voice reporting unit 10.

The distance information obtaining means 2 obtains distance information. The direction information obtaining means 4 obtains direction information. Attention information selection means 6 selects attention information issued according to the distance information acquired by distance information acquisition means 2 and the azimuth information acquired by azimuth information acquisition means 4. The voice adjusting means 8
The attention information selected by the attention information selection means is output from the voice notification means, and at least one of the sound volume and the phase of the voice output from the voice notification means is adjusted based on the direction information acquired by the direction information acquisition means. I do. A plurality of voice reporting means 10 are installed at positions separated from each other and output voice.

As a result, the caution information is output as a voice from the azimuth corresponding to the obtained azimuth information, so that the user can be notified with a sense of reality. In addition, since the attention information is issued according to the direction information and the distance information,
The user can judge his / her situation.

2. Overall Configuration of Alarm Device FIG. 2 shows a hardware configuration when each function of FIG. 1 is realized using a CPU. The communication control circuit 20 as the distance information obtaining means 2 and the azimuth information obtaining means 4
42, a memory 44, and an HDD 46. Further, speakers 31, 32, 33, and 34 as the voice notification means 10 are provided.
To the CPU 42 and the memory 4 via the speaker I / O 36.
4. Connect to HDD 46.

The communication control circuit 20 acquires information on the distance and the direction. The CPU 42 receives the information on the distance and the direction from the communication control circuit 20, and selects the attention information. In addition, the sound volume or the phase of the sound output from each speaker is calculated from the information on the direction. Then, the result is output to each of the speakers 31, 32, 33, and. The HDD 46 stores a program relating to the processing performed by the CPU 42 and cautionary information selected by the CPU 42.

The communication control circuit 20 is connected to a sound field forming device, a sensor for detecting distance and direction (implemented in the second and subsequent embodiments), and the like, and acquires information on distance and direction. The caution information will be described below.

3. Flowchart The arithmetic processing performed by the CPU 42 will be described with reference to FIG. C
The PU 42 acquires information on the distance and the direction from the communication control circuit 20 (S3). The gain of each speaker amplifier is adjusted based on the azimuth captured in step S3, so that sound can be heard from the direction where the obstacle exists (S7). The sound source is turned on (S9).

Next, a voice is generated based on the distance and azimuth taken in step S3. First, the azimuth is recognized (S13-1 to S13-8). HD in advance
Among the audio data (see FIG. 4) stored in a part of D, an audio data corresponding to the recognized orientation is output (S15).
-1 to S15-8).

Similarly, the distance is recognized. For distance,
Recognition is performed at intervals of 5 meters (S17-1 to S17
17-21). The audio data corresponding to the recognized distance is output from the audio data stored in advance in a part of the HDD (S19-1 to S19-21).

Next, voice data for making the voice expression more understandable to the user is called from the HDD and output (S23).

4. Attention information selection method The most appropriate attention information is selected depending on the distance to the object and the direction in which it exists. For example, it is assumed that the communication control circuit 20 has acquired the information that the distance to the object = 52 meters and the direction in which the object is located = left front.
In this case, as a result of the arithmetic processing by the CPU 42, a sound that “an object exists at a point 50 meters away from the front left” is played from the speaker so that the user can hear it from the front left. The adjustment of the sound output from the speaker will be described later.

The attention information includes {right danger},
From simple things like ま で forward danger ゛ to more complex and abundant information to the user such as ゛ the object in the direction of ゛ and △△ meters し た as described above. A pattern is prepared, and the user selects the pattern.

5. Audio Adjustment Method There are, for example, the following two methods for adjusting the audio output from the speaker by the CPU 42. One is to adjust the volume, and the other is to adjust the phase of the output audio.

5-1. Method by adjusting the volume From the communication control circuit 20, the direction in which the object is present = forward,
Suppose you have the information In this case, the sound volume output from the speakers 31 and 32 shown in FIG. 2 is controlled so that the sound can be heard from directly in front. Specifically, the volume output from the speaker 31 and the volume output from the speaker 32 are the same. At this time, no sound is output from the speakers 33 and 34. As described above, when the volume output from each speaker is adjusted, the user feels that sound is heard from the front center.

When the information that the direction in which the object is present = the front right is obtained, the volume output from the speaker 32 is adjusted to be relatively higher than the volume output from the speaker 31. Thus, the user feels that the sound is heard from the front slightly to the right.

When the object is present behind or on the side, the volume output from each speaker is controlled in the same manner so that the user can hear the sound from the direction in which the object exists.

5-2. Method of Adjusting Phase The localization of sound direction by hearing is realized by the sound pressure difference and the phase difference of the sound reaching both ears. Here, the phase difference means a time difference. When the sound reaches the ear, a slight time difference occurs between the left and right. Taking this difference, humans determine the direction from which the sound was emitted.

FIG. 5A is a diagram for explaining the time difference between the left and right ears. FIG. 5Β shows the speaker I / O in FIG.
FIG. 36 is a diagram illustrating a configuration in which 36 is changed to a speaker I / O 37 for phase adjustment.

In FIG. 5A, it is assumed that sound is transmitted in the direction of arrow 93 from a direction shifted leftward from the front by an angle θ.

This sound is first received by the left ear M ₁ ,
Then, with a tau ₁ time delay is received sound to the right ear M _2.

If the distance between the left and right ears (the distance between M _{1 and} M _{2 in the} figure) is d and the sound velocity is c, τ ₁ = dsin θ / c.

Therefore, a filter coefficient is set such that H ₂ (ω) in FIG. 5 indicates a transfer characteristic (exp (−jωτ ₁ )) representing a delay of τ ₁ and H ₁ (ω) has a transfer characteristic 1. If it is reproduced, a person who is at the same distance from each speaker,
It seems that sound is heard from the direction of the arrow 93 of Α.

From the above, H ₂ (ω) in FIG.
If a filter coefficient is set and reproduced so that (−jωτ ₁ ) and H ₁ (ω) have the transfer characteristic 1, the driver feels that sound is heard from the direction of arrow 93 in FIG.

It is assumed that the user is located at the same distance from each speaker.

[Second Embodiment] 1. Description of Functional Block Diagram FIG. 6 shows a functional block diagram of a second embodiment of the alarm device according to the present invention. The alarm device includes a distance measuring unit 12, an azimuth detecting unit 14, a risk calculating unit 16, a voice adjusting unit 8, and a voice reporting unit 10.

The distance measuring means 12 measures a distance to an obstacle existing around the vehicle. The azimuth detecting means 14
The direction in which the obstacle exists is detected. Risk calculation means 16
Calculates the risk using the distance to the obstacle measured by the distance measuring means 12 and the azimuth where the obstacle is detected by the azimuth detecting means 14.

A plurality of voice reporting means 10 are installed at mutually separated positions in the vehicle compartment and output voice. The voice adjusting unit 8 adjusts at least one of the sound volume and the phase of the voice output from the voice reporting unit 10 according to the azimuth detected by the azimuth detecting unit 14 and the risk calculated by the risk calculating unit 16. .

As a result, sound is output at a volume according to the degree of danger from the direction in which the obstacle exists. Therefore,
The driver can recognize the presence of the obstacle and its danger without looking away from the traveling direction.

2. Overall Configuration of Alarm Device FIG. 7 shows a hardware configuration when each function of FIG. 6 is realized using a CPU. The radar 22 as the distance measuring means 12 and the azimuth detecting means 14 is connected to the CPU 42, the memory 44, the HDD 4 via the distance / azimuth detecting circuit 24.
Connect with 6. Also, the speakers 31, 32, 33, and 34 as the voice notification unit 10 are connected to the CPU 42, the memory 44, and the HDD 46 via the speaker I / O 36.

The CPU 42 receives the information on the inter-vehicle distance from the distance / azimuth detection circuit 24 and calculates the degree of danger. Further, from the information on the degree of danger and the direction from the distance / direction detection circuit 24, the volume or phase of the sound output from each speaker is calculated. Then, the result is output to each of the speakers 31, 32, 33, and. HDD
In 46, a program relating to the processing performed by the CPU 42 is stored.

FIG. 8 is a perspective view of a vehicle equipped with the alarm device of this embodiment. The vehicle is provided with a radar unit 28 that can detect obstacles in front, side and rear directions. A radar unit is also installed at the rear of the vehicle, but is not shown.

Here, the radar 22 used in this embodiment will be described with reference to FIG. LD circuit section 6
Reference numeral 8 drives the laser diode 70 according to the regular intermittent light emission timing created by the CPU 42 to generate a laser. The laser light generated by the laser diode 70 is transmitted to a scanner 72 controlled by the CPU 42.
, Scanning is repeated by repeating the reciprocating motion. That is,
The irradiation angle of the laser light gradually changes at each light emission timing.

Hereinafter, a method of detecting the distance and the direction of the radar 22 will be described. In this embodiment, the interval between the light emission timings is 25 microseconds. One reciprocating scan of the laser beam by the scanner 72, that is, one scan is set to 50 milliseconds. The scanning angle between each light emission is 300 milliradians.

The distance measurement limit of the laser beam is about 100 meters due to noise and the like. Now, it is assumed that the obstacle exists at a distance of 100 meters, which is the distance measurement limit of the laser beam. At this time, the time required for the emitted laser light to be reflected by the obstacle and detected again by the photodiode 76 is about 0.7 microsecond (the speed of light is c (= 3
* 10 ⁸ [m / s]), 100 * 2 / c ≒ 0.
7 [μs]). The time from the occurrence of the first light emission to the occurrence of the next second light emission is 25 microseconds.

Therefore, with reference to the time of the first light emission, the light irradiated by the light emission is reflected by the obstacle and detected by the photodiode 76 first (after a maximum of about 0.7 microseconds). Light emission (after 25 microseconds)
(See FIG. 10). In other words, the direction is regularly repeated in the order of azimuth determination → reflection wave detection → distance determination → next azimuth determination →.

FIG. 10 shows a specific example of obstacle detection. FIG. 10Α shows the positional relationship between the host vehicle and the obstacle.
FIG. 10 represents the timing of light emission and light reception. It is assumed that the n-th emitted light is detected by the photodiode 76 with a delay of t seconds from the emission time as shown in FIG. As shown in FIG. 10Α, the scanning angle between each light emission is 3
00 milliradians, the direction θ in which the obstacle exists
₁ is in the direction of 300 nm radians clockwise from the x axis to the y axis. The distance L is ct / 2 meters, where c is the speed of light.

FIG. 11 shows the locations and number of speakers installed in the vehicle. In the vehicle, a total of four speakers 31, 32, 33, and 34 are respectively installed at four corners in the vehicle.

3. Flowchart The arithmetic processing performed by the CPU 42 will be described with reference to FIG.
The CPU 42 captures the inter-vehicle distance to the obstacle and the direction of its existence, which are extracted by the distance / direction detection circuit 24 (S3).
3). The obtained inter-vehicle distance is compared with the reference inter-vehicle distance (S35). If the inter-vehicle distance is longer, the process returns to step S33 as the degree of danger is small (the host vehicle is currently in a safe state). On the other hand, if the inter-vehicle distance is shorter, the degree of danger is high (the vehicle is in a dangerous state at present),
Move to the next step.

The gain of each speaker amplifier is adjusted based on the azimuth fetched in step S33 so that sound can be heard from the direction in which an obstacle exists (S33).
37). The switch of the sound source is turned on, and sound is output from each speaker (S39).

The method for calculating the reference inter-vehicle distance and the degree of danger will be described below. A method for adjusting the gain of the speaker amplifier will also be described later.

4. Risk calculation method A calculation method of the risk performed by the CPU 42 will be described. In the present embodiment, the risk is divided into two stages. If the risk is high, the driver is notified by voice, and if the risk is low, no notification is made. The risk is calculated based on the distance between the position where the obstacle exists and the host vehicle. At this time, the shortest inter-vehicle distance is defined as the shortest distance that can avoid collision with an obstacle in front even if the host vehicle applies a sudden brake. The shortest inter-vehicle distance with some allowance is set as the reference distance. When determining the magnitude of the risk, the reference distance is compared with the current inter-vehicle distance.

As an example, consider a case where an obstacle exists ahead. While traveling on the road, the obstacles in front of
It is generally considered to consider other vehicles. Therefore,
Here, another vehicle traveling ahead of the own vehicle is considered as an obstacle.

FIG. 13 is a diagram for explaining the shortest inter-vehicle distance. The following vehicle Alpha, running at a speed V _a in the direction of arrow 91. Further, it is assumed that the preceding vehicle 走 行 is traveling at the speed _Vb in the direction of arrow 92. In Case 1, it is assumed that the preceding vehicle Β suddenly applies the brake and the brake light is turned on. At this time, the driver of the following vehicle senses the danger and applies the brake.

When the brake is applied, a time from when the danger is recognized to when the action is started and a time when the brake pedal is depressed and the brake actually starts operating are required. The vehicle continues to run during this time.
The travel distance is empty run distance V _a t ₁ (empty run time t ₁ is typically about 1 second). Case 2 shows this situation. On the other hand, the preceding vehicle Β continues to decelerate due to brake braking. The magnitude of the deceleration at this time is α, and the direction is the opposite direction to the traveling direction.

Case 3 is a situation in which the preceding vehicle Β is completely stopped. For the preceding car ブ レ ー キ, _Vb ²
After traveling by / 2α, the vehicle stops. On the other hand, the following vehicle Α is decelerating and has not yet stopped. At this time, the magnitude of the deceleration acting on the following vehicle Α is
As in the case of the preceding vehicle と し, α is set, and the direction is the opposite direction to the traveling direction.

Case 4 is a state in which both vehicles have completely stopped, and a state in which the following vehicle Α has stopped just before the rear-end collision with the preceding vehicle Β. When such a state, the first headway distance L ₁ between the preceding vehicle Α following vehicles Β becomes shortest. Also, the following vehicle Α becomes V
_It moves by _a ² / 2α and stops. From the above, the shortest inter-vehicle distance necessary for following vehicle is not a rear-end collision to the preceding vehicle becomes a headway distance L ₁ in FIG.

From FIG. 13, the shortest inter-vehicle distance L between the two vehicles
_{1, L 1 = V a t 1} + (V a 2 -V b 2) a / 2.alpha.

[0084] The shortest inter-vehicle distance L ₁ calculated in calculates a reference distance L ₂ in view of the warning margin time t _2.

L ₂ = L ₁ + (V _a −V _b ) * t ₂ The reference distance L ₂ is compared with the distance information obtained from the inter-vehicle distance radar.

[0086] When the people of the inter-vehicle distance to the preceding vehicle than the reference distance L ₂ is long, it is determined that the risk is small. When the risk is low,
Does not emit an alarm sound inside the car. In contrast, inter-vehicle distance to the preceding vehicle is at less than the reference distance L _2, it is determined that the risk Univ. At this time, a process of receiving information from the direction detection radar and adjusting the volume or phase of the sound output from the speaker is performed.

5. Audio Adjustment Method It is assumed that the method of adjusting audio output from the speaker by the CPU 42 conforms to the first embodiment. However, some correction is required depending on the positional relationship between each speaker and the driver. That part will be described below.

FIG. 14 is a diagram for explaining a time difference caused by the positional relationship between the speaker and the user.

The driver is not necessarily located at the same distance from the speaker, but is located at either side as shown in FIG. FIG. 14 shows a right-hand drive vehicle.
The driver will be located near the right speaker 32. At this time, the sound output from the speaker 32 is received first, and then the sound output from the speaker 31 is received with a time delay of τ ₂ .

The distance between the right speaker 31 and the driver is l
₁ , if the distance between the left speaker 32 and the driver is l ₂ and the sound speed is c, τ ₂ = (l ₁ −l ₂ ) / c.

Therefore, H ₂ (ω) in FIG. 5Β is set to a transfer coefficient (exp (−jωτ 2)) representing a delay of τ ₂ , and a filter coefficient is set such that H ₁ (ω) has a transfer characteristic 1 for reproduction. Then, the driver can hear each speaker as if they were at the same distance.

As described above, H ₂ (ω) in FIG.
If a filter coefficient is set so that (−jω (τ ₁ + τ ₂ )) and H ₁ (ω) have the transfer characteristic 1, and the reproduction is performed, the driver can hear the sound from the direction of arrow 93 in FIG. felt.

[Third Embodiment] Description of Functional Block Diagram FIG. 15 is a functional block diagram of a third embodiment of the alarm device according to the present invention. The alarm device includes a distance measuring unit 12, an azimuth detecting unit 14, a risk calculating unit 16, a display content controlling unit 52, a display selecting unit 54, and a displaying unit 56.

The display content control means 52 controls the display content displayed by the display means 56 according to the risk calculated by the risk calculation means 16. The display selection means 54 is a display means 5 for displaying the display content controlled by the display content control means 52.
6 is selected according to the azimuth detected by the azimuth detecting means 14. The display means 56 is installed in a plurality of vehicles.

Thus, the direction in which the obstacle exists and the degree of danger are simultaneously displayed, so that the driver can easily visually recognize the direction and the degree of danger of the obstacle.

2. Overall Configuration of Alarm Device FIG. 16 shows a hardware configuration when each function of FIG. 15 is realized using a CPU. A light source 61, 62, 63 as a display means 56 is connected to a CPU via a light source I / O 66.
42, a memory 44, and an HDD 46. The configuration other than the light sources 61, 62, 63 and the light source I / O 66 is as follows.
It is the same as the second embodiment.

The CPU 42 receives the information on the inter-vehicle distance from the distance / azimuth detecting circuit 24, calculates the degree of danger,
A display method is selected according to the degree of risk. In addition, a light source to emit light is selected from the information on the direction from the distance / direction detection circuit 24. Then, information on the selected display method and the light source to emit light is written into the light sources 61, 62, 6
3 output to each. The HDD 46 stores a program related to processing performed by the CPU 42.

FIG. 17 shows the installation locations and the number of light sources mounted on a vehicle. The vehicle is provided with a light source 61 on a left door mirror for a left alarm, a light source 62 on a right door mirror for a right alarm, and a light source 63 on a rearview mirror for a rear alarm.

3. Flowchart The arithmetic processing performed by the CPU 42 will be described with reference to FIG.
The CPU 42 determines a display method of the light source according to the degree of risk calculated in step S5 (S45). In step S33, it is determined which light source is to be turned on based on the azimuth taken in, and the light source in the direction in which the obstacle is present is turned on (S47). The light source is turned on to turn on the light source (S49).

The method for selecting the light source and the method for displaying the light source are described below.

4. Risk calculation method The risk calculation method is the same as in the second embodiment. That is, when towards the inter-vehicle distance to the preceding vehicle than the reference distance L ₂ is long, it is determined that the risk is small. Also, the reference distance L
_If the inter-vehicle distance to the preceding vehicle is shorter than ₂ , the risk is determined to be high. A light source display method is selected according to the calculated degree of risk.

Further, based on the information about the direction from the distance / direction detection circuit 24, it is determined which light source is to be turned on. That is, if the direction in which the obstacle exists is the front left side, the light source installed on the left door mirror is turned on. Similarly, the light source installed on the right door mirror is turned on if it is on the front right side, and the light source installed on the rearview mirror is turned on if there is an obstacle behind. Then, the light source is turned on according to the selected display method.

5. Light Source Display Method FIG. 19 is a table showing an example of a light source display method. In pattern 1, the light source is always lit when the risk is low, and blinks when the risk is high. In pattern 2, the light source has a low light emission intensity when the risk is low, and has a high light emission intensity when the risk is high. That is, when the degree of danger increases, the light source lights up brighter.

In Pattern 3, the light source has a small light emitting area when the risk is low, and has a large area when the risk is high. In other words, the greater the degree of danger, the larger the light emitting area. In pattern 4, the light source emits yellow light when the risk is low, and emits red light when the risk is high.

As described above, what is common to all the patterns is that the lighting method is designed to be more noticeable to the driver in situations where the degree of danger increases and more attention is required. This allows the driver to recognize the danger earlier and more reliably.

In the embodiment, one of these patterns is selected.

[Fourth Embodiment] Description of Functional Block Diagram FIG. 20 is a functional block diagram of a fourth embodiment of the alarm device according to the present invention. The alarm device includes a distance measuring unit 12, an azimuth detecting unit 14, a risk calculating unit 16, a voice adjusting unit 8, a voice reporting unit 10, and a display content controlling unit 5.
2, a display selection means 54 and a display means 56 are provided.

The distance measuring means 12 measures the distance to an obstacle existing around the vehicle. The azimuth detecting means 14
The direction in which the obstacle exists is detected. Risk calculation means 16
Calculates the risk using the distance to the obstacle measured by the distance measuring means 12 and the azimuth where the obstacle is detected by the azimuth detecting means.

A plurality of voice reporting means 10 are installed in the vehicle cabin at mutually separated positions and output voice.
The voice adjusting unit 8 adjusts at least one of the sound volume and the phase of the voice output from the voice reporting unit 10 according to the azimuth detected by the azimuth detecting unit 14 and the risk calculated by the risk calculating unit 16. .

The display content control means 52 displays the display means 56 in accordance with the risk calculated by the risk calculation means 16.
Controls what is displayed. The display selection means 54
The display means 56 for displaying the display content controlled by the display content control means 52 is selected according to the azimuth detected by the azimuth detecting means 14. The display means 56 is installed in a plurality of vehicles.

As a result, the direction in which the obstacle is present and the degree of danger are transmitted to the driver so as to appeal both to the sight and to the auditory sense. The danger can be recognized by voice, and at the same time, the presence and the danger of the obstacle can be visually confirmed by visually confirming the display means.

[0112] 2. Overall Configuration of Alarm Device FIG. 21 shows a hardware configuration when each function in FIG. 20 is realized using a CPU. Speakers 31, 32, 33, and 34 as voice notification means 10 are connected to speaker I / Os.
36, the CPU 42, the memory 44, and the HDD 46 are connected. Further, light sources 61 and 62 as display means 56,
63 to the CPU 42 and the memory 4 via the light source I / O 66
4. Connect to HDD 46.

The CPU 42 receives the information on the following distance from the following distance detecting circuit 24 and calculates the degree of danger.
A display method is selected according to the degree of risk. From the information on the risk and the direction from the distance / direction detection circuit 24, the volume or phase of the sound output from each speaker is calculated. Then, the result is output to each of the speakers 31, 32, 33, and 34 via the speaker I / O 36. Further, a light source to be illuminated is selected from information on the danger degree and the azimuth from the distance / azimuth detecting circuit 24, and the light source I /
The light is output to each of the light sources 61, 62, and 63 via O66. Note that the HDD 46 stores a program relating to the processing performed by the CPU 42.

The location of each speaker and light source is
Embodiment 3 and Embodiment 3 are to be followed.

3. Flowchart The flowchart of the present embodiment is obtained by adding the second embodiment and the third embodiment. That is, after the processing of step 5 in FIGS.
7-Step 39 series and Step 45-Step 47
-The series of step 49 will be processed in parallel.

4. Method of calculating the degree of risk The method of calculating the degree of risk, the method of outputting sound from each speaker, and the method of displaying each light source shall conform to the second and third embodiments.

[Fifth Embodiment] Description of Functional Block Diagram FIG. 22 is a functional block diagram of a fifth embodiment of the alarm device according to the present invention. The alarm device includes danger degree calculating means 16.

The risk calculating means 16 changes the calculation reference of the risk calculating method according to the direction indicated by the direction indicator of the vehicle.

Thus, when attempting to change lanes, which is one of the most dangerous situations, the driver looks at the vehicle with a door mirror or a rearview mirror. At that time, the driver is placed near the door mirror and the rearview mirror. The presence of the dangerous obstacle and the degree of danger can be known by the display means.

[0120] 2. Overall Configuration of Alarm Device FIG. 23 shows a hardware configuration when each function in FIG. 22 is realized using a CPU. The basic configuration of the alarm device in this embodiment is almost the same as that of the fourth embodiment. However, a function for taking in a signal from the direction indicator into the CPU 42 via the pointing direction detection circuit is added.

3. Flowchart The arithmetic processing performed by the CPU 42 will be described with reference to FIG.
The CPU 42 determines whether the direction indicator is on or off, and if it is on, the direction (S53). The turn signal is
If it is turned on, the calculation standard of the risk is changed (S55). Note that the change of the risk calculation reference will be described in the following risk calculation method.

4. Risk Calculation Method In the present embodiment, when the driver operates the turn signal, the calculation standard of the risk calculation method is changed. Generally, when the lane change is not performed, it is considered that the front and the rear of the lane in which the own vehicle is traveling are important when calculating the degree of danger. However, when trying to change lanes,
Of course, the lane in which the own vehicle is traveling requires attention, but attention must be paid to the lane to be changed (adjacent lane).

FIG. 25 shows a specific example regarding the change of the calculation reference of the risk calculation method. FIG. 25Α shows a case where the own vehicle is traveling straight, and FIG. 25Β shows a case where the own vehicle is about to change lanes.

Referring to FIG. 25 自, the host vehicle 72 is
It goes straight in six directions. R0 is a detection range of the radar mounted on the own vehicle. In this case, the preceding vehicle 7
4 and the following vehicle 78 are the most problematic. That is, information on obstacles existing in the front area R1 and the rear area R2 of the lane in which the host vehicle travels is important even in the detection range R0 of the radar. Therefore, the region R
1, information on R2 is processed with the highest priority.

On the other hand, in FIG.
Is about to change lanes to the right as shown by arrow 98.
In this case, the inter-vehicle distance between the preceding vehicle 74 and the following vehicle 78 is of course important, but the situation of the lane whose lane is to be changed (in this case, the adjacent right lane) is the most important. In the figure, since the vehicle 76 exists in the right region R3 of the own vehicle, it is dangerous to change the lane as indicated by the arrow 98.
As described above, information on obstacles existing in the area R3 of the own vehicle is important. Therefore, the information regarding the region R3 is processed with the highest priority. Then, the region R1
Is processed.

As described above, the range to be noted changes depending on how the vehicle is operated next. Therefore, the operating condition of the direction indicator is sensed, and which part of the information obtained from each radar is weighted according to the indicated direction, and the degree of danger is calculated.

The risk calculation method used in the second embodiment is applied to the case where the lane is to be changed and the case where the lane change is not to be performed. That is, the risk is calculated from the traveling speed of the own vehicle, the traveling speed of the other vehicle (obstacle), the location of the other vehicle (obstacle), the inter-vehicle distance between the own vehicle and the other vehicle (obstacle), and the like.

[Other Embodiments] In the first embodiment, the azimuth is divided into 8 azimuths and the distance is divided into 21 sections. However, the division method is not limited to the illustrated one. That is, both the azimuth and the distance may be set more roughly and more finely.

In the first embodiment, the sound emitted from the speaker is stored in the HDD as sound data. However, the sound may be generated by performing sound synthesis from the acquired information. That is, as long as the acquired information can be clearly transmitted to the user as a voice, the method of generating the voice is not limited to the example.

[0130] In the first embodiment, some cautionary information has been illustrated, but depending on the relationship between the object and the user,
It is not limited to the example as long as it can call the user's attention.

In the first embodiment, the pattern of the caution information is selected by the user, but the alarm device itself may be automatically selected according to the situation.

In the second to fifth embodiments, a laser radar using a laser beam is used as the distance measuring means and the azimuth detecting means. However, a target object such as one using a radio wave is detected, and a target object is detected. It is not limited to the example as long as the distance and the position can be measured.

The radar mounted on the vehicle measures the distance and detects the azimuth by scanning a laser beam. However, the radar is not limited to the illustrated radar as long as it can accurately measure the distance and detect the azimuth.

In the second to fifth embodiments, the risk calculation method takes into account the stopping distance of the preceding vehicle. However, the stopping distance of the preceding vehicle may be set to 0 in order to further enhance safety.

Although the danger level is divided into two levels, the danger level may be set to be infinite without setting a threshold value, and a warning sound may be increased according to the danger level.

Further, the method is not limited to the example as long as it is a method for calculating the degree of danger of the host vehicle with respect to surrounding obstacles.

In the second to fifth embodiments, the vehicle is exemplified as the obstacle. However, the obstacle is not limited to the illustrated one.
Objects that may obstruct the running of the vehicle, such as guardrails and falling objects, are also considered as obstacles.

In the second embodiment, the fourth and fifth embodiments, the speakers are arranged one by one at each of the four corners of the vehicle. However, the arrangement locations are not limited to those specifically illustrated. Also, a dedicated speaker may be produced and used so that the emitted sound reaches the driver more prominently.

In the third to fifth embodiments, one light source is installed on each of the left and right door mirrors and the rearview mirror. However, the number and locations of the light sources are not limited to those illustrated. In other words, the location and the number may be any locations where the driver can safely and reliably check the lighting state of the light source.

In the third to fifth embodiments, several display methods of the light source have been described.
In a situation where more attention is required, the lighting method is not limited to the example as long as it is a lighting method that is more noticeable to the driver.

In the fifth embodiment, two methods, that is, a speaker and a light source, are employed in parallel. However, the present invention may be implemented with only a speaker and only a light source.

Further, in the fifth embodiment, when the own vehicle is traveling straight, the front area and the rear area of the own vehicle are processed with the highest priority. All directions may be equally processed. Further, when the lane change is performed, the information on the lane to be changed is given the highest priority, and the front area is processed next. However, both directions may be processed simultaneously.

[Brief description of the drawings]

FIG. 1 is a functional block diagram showing a first embodiment of an alarm device according to the present invention.

FIG. 2 is a hardware configuration diagram when each function of the alarm device shown in FIG. 1 is realized using a CPU.

FIG. 3 is a flowchart illustrating an operation of a CPU 42 in FIG. 2;

FIG. 4 is a diagram showing audio data stored in a part of an HDD 46 in FIG. 2;

FIG. 5 is a diagram for explaining a phase adjustment method;
FIG. 3 is a diagram for explaining a phase difference (time difference).

FIG. 6 is a functional block diagram showing a second embodiment of the alarm device according to the present invention.

7 is a hardware configuration diagram when each function of the alarm device shown in FIG. 6 is realized using a CPU.

FIG. 8 is a perspective view of the vehicle showing a mounting position of the radar unit of the alarm device shown in FIG. 6;

FIG. 9 is a detailed block diagram of the radar 22 shown in FIG.

FIG. 10 is a diagram for explaining a principle in which a radar 22 detects a distance to an obstacle and a direction of its existence.

11 is a perspective view of the vehicle showing a mounting position of a speaker of the alarm device shown in FIG. 6;

12 is a flowchart illustrating the operation of the CPU 42 in FIG.

FIG. 13 is a diagram for explaining the shortest inter-vehicle distance.

FIG. 14 is a diagram for explaining a phase difference due to a positional relationship between a driver and each speaker.

FIG. 15 is a functional block diagram showing a third embodiment of the alarm device according to the present invention.

FIG. 16 is a block diagram showing the functions of the driving support apparatus shown in FIG.
FIG. 3 is a hardware configuration diagram in the case of being realized by using FIG.

FIG. 17 is a view of a driver's seat of a vehicle showing a mounting position of a light source of the alarm device shown in FIG. 15;

FIG. 18 is a flowchart showing the operation of the CPU 42 in FIG.

FIG. 19 is a table showing light emission patterns according to the degree of risk of a light source.

FIG. 20 is a functional block diagram showing a fourth embodiment of the alarm device according to the present invention.

FIG. 21 is a block diagram showing the functions of the driving support apparatus shown in FIG.
FIG. 3 is a hardware configuration diagram in the case of being realized by using FIG.

FIG. 22 is a functional block diagram showing a fifth embodiment of the alarm device according to the present invention.

FIG. 23 is a block diagram showing the functions of the driving support apparatus shown in FIG.
FIG. 3 is a hardware configuration diagram in the case of being realized by using FIG.

24 is a flowchart showing the operation of the CPU 42 in FIG.

FIG. 25 is a diagram for explaining a calculation standard for calculating the degree of risk, in which Α indicates when the own vehicle is traveling straight, and Β indicates when the own vehicle is about to change lanes.

FIG. 26 is a diagram showing a conventional example of an alarm device, in which Α indicates a block diagram, and Β indicates a display unit.

[Explanation of symbols]

 2 ····· Distance information acquisition means 4 ····· Orientation information acquisition means 6 ····· Attention information selection means 8 ···· Voice adjustment means 10 ····· Voice reporting means 12 ···· Distance measuring means 14 ··· Azimuth detecting means 16 ···· Danger degree calculating means 52 ···· Display content control means 54 ···· Display selecting means 56 ··· .Display means

Claims (8)

[Claims] 1. A plurality of azimuth information acquiring means for acquiring azimuth information, a plurality of voice reporting means which are installed at positions separated from each other and output a voice, and A voice adjusting unit that adjusts at least one of a volume and a phase of the voice output from the voice reporting unit. 2. The voice notification device according to claim 1, wherein the distance information acquiring means acquires distance information, and the distance information acquiring means acquires the distance information acquired by the distance information acquiring means and the direction information acquired by the direction information acquiring means. Attention information selection means for selecting attention information to be issued by the voice notification device, wherein the voice adjustment means outputs the attention information selected by the attention information selection means from the voice notification means, A voice notification device, wherein at least one of a volume and a phase of a voice output from the voice notification unit is adjusted based on the direction information acquired by the direction information acquisition unit. 3. A distance measuring means for measuring a distance to an obstacle existing around the vehicle, an azimuth detecting means for detecting an azimuth where the obstacle exists, a distance to the obstacle measured by the distance measuring means. And a risk calculating means for calculating a risk using a direction in which the obstacle detected by the direction detecting means is present. A plurality of voice messages installed at mutually separated positions in a vehicle cabin and outputting voices Means, sound adjustment means for adjusting at least one of the volume or phase of the sound output from the voice notification means according to the azimuth detected by the azimuth detection means and the risk calculated by the risk calculation means, A vehicle alarm device comprising: 4. A plurality of display means installed on a vehicle; a distance measuring means for measuring a distance to an obstacle existing around the vehicle; an azimuth detecting means for detecting an azimuth where the obstacle exists; A risk calculating means for calculating a risk using the distance to the obstacle measured by the means and a direction in which the obstacle detected by the direction detecting means is present; and a risk calculated by the risk calculating means. Display content control means for controlling the display content displayed by the display means, the display means for displaying the display content controlled by the display content control means, according to the orientation detected by the orientation detection means. An alarm device for a vehicle, comprising: display selection means for selecting. 5. The vehicular alarm device according to claim 4, wherein the display means includes a rear display means installed near a rear confirmation mirror of the vehicle, and wherein the obstacle is located behind the vehicle. And displaying the display content controlled by the display content control means. 6. The vehicular alarm device according to claim 4, wherein a plurality of voice reporting means are installed in the vehicle interior of the vehicle at positions separated from each other, an azimuth detected by the azimuth detecting means, and the risk degree calculation. And a sound adjusting means for adjusting at least one of a sound volume and a phase of the sound outputted from the sound notifying means in accordance with the degree of danger calculated by the means. 7. The vehicular alarm device according to claim 6, wherein the display means includes a rear display means installed near a rear view mirror of the vehicle, and further comprising: And displaying the display content controlled by the display content control means. 8. The vehicular alarm device according to claim 3, wherein the danger calculation means changes a calculation reference of a danger calculation method in accordance with a direction indicated by a direction indicator of the vehicle. An alarm device for a vehicle, comprising: