JPH11120498A - Obstacle alarming device for vehicle - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide useful obstacle information to a driver in a proper form suited to a situation for allowing a driver to safely drive his own vehicle. SOLUTION: This device is provided with an electronic control unit 10 which receives image picked-up signals from obstacle detecting sensors 12 and 11 incorporated in right and left door mirrors 2 and 1, calculates a distance and relative speed between an obstacle detected at right, left, back, and side parts and its own vehicle, makes larger the number of lighting of a lighting segment for displaying a distance in a display 13 at the front part of a driver's seat as the distance is shorter, and makes brighter the luminance of the lighting of the segment or uses a more conspicuous lighting color as the relative speed is made larger according to the calculated results.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention belongs to the technical field of a system for assisting a driver in driving a vehicle safely, and more particularly to providing a driver with information on obstacles around the vehicle. Belongs to the technical field of obstacle warning devices that assist drivers in safe driving.

[0002]

2. Description of the Related Art A driver of a vehicle mainly visually recognizes the surrounding situation from the position of a driver's seat through a windshield or left and right door windows, or through a room mirror or left and right door mirrors. Judgment of the traveling course of the vehicle and speed control are performed to maintain an appropriate inter-vehicle distance between the front and rear vehicles, to smoothly change lanes, or to join on expressways. Therefore, in order for the driver to drive the vehicle safely, it is important to know the state of other vehicles around the vehicle,
Therefore, in addition to the information that the driver recognizes by his / her own vision, a driving assistance system configured to detect an obstacle such as another vehicle existing around the own vehicle using a device and notify the driver of the obstacle is known. I have.

[0003] As this kind of driving support system, for example, Japanese Patent Application Laid-Open No. Hei 5-294250 discloses that a rear vehicle is detected by a laser radar provided on left and right door mirrors.
A technique is disclosed in which a warning buzzer is issued to warn a driver when the host vehicle deviates in the lane direction in which the rear vehicle travels, thereby avoiding contact with the rear vehicle.

[0004]

However, according to the technology disclosed in the above publication, a warning buzzer is always issued uniformly when a rear vehicle is detected on the side where the lane is to be changed. If the margin between the host vehicle and the rear vehicle is different, such as whether the inter-vehicle distance between the host vehicle and the rear vehicle is short or long, whether the rear vehicle is approaching or moving away from the host vehicle, It is difficult to say that the driver has been provided with precise and sufficient information to meet such situations.

[0005] Further, in the technology disclosed in the above publication, only safety between the vehicle and the rear vehicle is ensured. Of course, the situation in front is within the range of the driver's direct visual field, but detection by devices such as whether the vehicle ahead in the lane is slowing down or up when changing lanes. The kind of information that can be obtained more accurately in the car is also useful for the driver.

[0006] Therefore, the present invention more appropriately reports information about not only obstacles behind the own vehicle but also obstacles existing around the entirety of the own vehicle as a system for assisting the driver in safe driving. An object of the present invention is to provide an obstacle alarm device that can perform the operation.

[0007]

In order to solve the above problems, the present invention uses the following means.

First, an invention described in claim 1 of the present application (hereinafter referred to as a “first invention”) is an obstacle alarm device that assists a driver in safe driving, and is provided around a vehicle. Obstacle detection means for detecting an existing obstacle;
An obstacle information providing means for providing a driver with information on the obstacle detected by the detecting means, and a margin for determining a margin between the obstacle detected by the detecting means and the vehicle. A degree determining means is provided, and the obstacle information providing means is configured to change provision of information on the obstacle to the driver in accordance with the margin determined by the margin determining means. It is characterized by the following.

Next, the invention according to claim 2 (hereinafter referred to as “second
Invention ". In the first aspect, the margin determining means determines the margin based on at least one of a distance or a relative speed between the obstacle and the vehicle detected by the obstacle detecting means. It is characterized by having been done.

Further, the invention according to claim 3 (hereinafter referred to as “third
Invention ". In the first aspect, the obstacle information providing means has a margin display section in which at least one of the operating area, the color, and the luminance is variable, and the margin information determined by the margin determining means. , The display unit is configured to change at least one of the operation area, the color, and the luminance that are variable in the display unit.

Further, the invention according to claim 4 (hereinafter, referred to as “fourth invention”) is the same as the first invention,
Obstacle information providing means, a vehicle display unit that represents the image of the vehicle as the vehicle, and a margin display unit that is disposed below the vehicle display unit and in which at least one of the operation area, color, and brightness is variable. And an operating area, color or brightness that is variable in the margin display unit according to the margin between the vehicle and the left rear and right rear obstacles determined by the margin determining means. Characterized by changing at least one of the following.

Further, the invention according to claim 5 (hereinafter referred to as “fifth invention”) is the same as the first invention,
A recommended route determining unit for determining a recommended route of the vehicle is provided, and the obstacle information providing unit is configured to selectively provide information on the obstacle to the driver based on the recommended route determined by the determining unit. It is characterized by having.

On the other hand, the invention according to claim 6 (hereinafter referred to as “
Invention ". In the fourth aspect, the margin determining means is configured to determine the margin based on the distance and the relative speed between the obstacle and the vehicle detected by the obstacle detecting means. The margin display unit in the obstacle information providing means includes a segment row in which a plurality of segments that are individually turned on and off are arranged in a line, and the margin determining means determines a margin based on a distance between the obstacle and the vehicle. The number of segments in the segment row is changed according to the margin between the obstacle and the rear left and right rear of the vehicle determined in accordance with the above, and based on the relative speed between the obstacle and the vehicle. Characterized in that it is configured to change at least one of the color and the brightness of the lit segment in accordance with the margin between the vehicle and the left rear and right rear obstacles determined by the vehicle. To.

Further, the invention according to claim 7 (hereinafter referred to as “7th
Invention ". In the sixth aspect of the present invention, the vehicle display unit in the obstacle information providing means displays the rear view of the vehicle as an image, and similarly, the segment column of the margin display unit in the obstacle information providing means includes The left and right rear obstacles are provided one by one on the left and right, respectively, and the pair of left and right segment rows are arranged so as to be further away from each other in a downward direction from the vehicle display unit. And

According to an eighth aspect of the invention (hereinafter referred to as an "eighth invention"), in the seventh invention, each segment row is provided to be wider from the vehicle display section downward. It is characterized by.

On the other hand, the invention according to claim 9 (hereinafter referred to as “ninth
Invention ". In the first aspect, the steering angle detecting means for detecting the steering angle is provided, and when the margin between the obstacle detected by the obstacle detecting means and the vehicle is small, the side on which the obstacle is located When a steering angle equal to or more than a predetermined value is detected by the detection means, a warning sound issuing means for issuing a warning sound is provided.

According to a tenth aspect of the present invention (hereinafter referred to as a "tenth aspect"), in the ninth aspect, the warning sound emitting means emits a dummy sound of a horn sound of the vehicle. .

According to an eleventh aspect of the present invention (hereinafter referred to as an "eleventh aspect"), in the ninth aspect, the warning sound emitting means emits a warning sound from a direction where an obstacle exists. Features.

By using the above means, each invention of the present application operates as follows.

According to the first aspect of the invention, obstacles existing around the vehicle including not only behind but also in front of the vehicle are detected by the obstacle detecting means, and information on the obstacles is provided to the driver by the providing means. However, in this case, the obstacle information is not uniformly provided to the driver, but the margin between the obstacle and the vehicle is determined by the determining means, and the margin is determined according to the margin. As a result, the provision of the obstacle information to the driver is changed, that is, the manner and form of provision of the obstacle information is changed. As a result, the driver's driving can be supported more efficiently in a precise form that matches the situation.

In this case, according to the second aspect of the invention, the margin is determined based on at least one of the distance between the obstacle and the vehicle or the relative speed. In addition, the precise distance matching the situation such as whether the inter-vehicle distance between the host vehicle and the front and rear vehicles is short or long, and whether the front and rear vehicles are approaching or moving away from the host vehicle. Will provide sufficient information to the driver.

According to the third aspect of the present invention, the obstacle information providing means is further embodied, and the operating area, color or brightness of the display section of the means is changed according to the margin, or these are combined. Since the information is changed according to the margin, effective information provision through the driver's vision is performed.

According to the fourth aspect, in the margin display section disposed below the vehicle display section representing the own vehicle,
Information on obstacles at the left rear and right rear of the vehicle is provided, in which case the operating area, color, brightness or a combination thereof of the margin display unit is determined according to the margin between the obstacle and the obstacle. As a result, the provision of information about obstacles behind and to the rear of the vehicle is effectively performed through the driver's vision.

According to the fifth aspect of the present invention, there is provided a recommended route determining means for determining a recommended route of the vehicle, and information on an obstacle is selectively provided to the driver based on the recommended route determined by the determining means. Since it is provided, for example, when a recommended route to the destination is set in the car navigation system, only the lane change side that is estimated to be executed in the future from the transition route and the current driving lane is obstructed Since the object information is provided, it is possible to avoid unnecessary use of unnecessary obstacle information on the side not expected to change lanes.

On the other hand, according to the sixth aspect, the margin display section in the obstacle information providing means is further embodied, and the number of points in each segment of the segment row constituting the display section is:
It is changed based on the distance between the left rear and right rear obstacles of the vehicle, and the color or brightness of the lit segment is also different between the left rear and right rear obstacles of the vehicle. Since it is determined based on the relative speed,
As a result, the operating area, color or brightness in the margin display unit is changed according to the margin,
Effective information will be provided through the driver's vision.

Further, according to the seventh aspect, the information on the obstacle at the rear left and the obstacle at the rear right of the vehicle are individually displayed by a pair of left and right segment rows, so that each information can be easily recognized by the driver. In addition, a more visually appealing display is realized from the image of the rear view of the vehicle on the vehicle display unit and the arrangement of the pair of left and right segment rows extending below the rear view.

According to the eighth aspect, each of the segment rows is provided to be wider toward the lower side from the vehicle display portion, that is, to be widened toward the end, so that the arrangement form of the pair of left and right segment rows is combined with the arrangement form. As a result, a visually appealing display is realized more effectively.

On the other hand, according to the ninth aspect, when the steering wheel is turned toward the side where the obstacle is located while the margin between the obstacle and the vehicle is small, a warning sound issuance unit issues a warning sound. Since the sound is emitted, the driver's attention is alerted, and troubles such as contact due to excessive lane change are avoided.

[0029] In this case, according to the tenth aspect of the invention, an onomatopoeic sound of the horn of the vehicle is emitted, so that the driver's attention is more effectively called. According to the eleventh aspect, Since the warning sound is emitted from the direction of the obstacle, the driver can accurately recognize the direction of the obstacle.

[0030]

Embodiments of the present invention will be described below with reference to the drawings.

As shown in FIG. 1, in the vehicle according to this embodiment, left and right door mirrors 1 and 2 as obstacle detecting means are provided on left and right door mirrors 1 and 2.
When the detection sensors 11 and 12 detect obstacles such as other vehicles on the left and right sides of the vehicle, information about the obstacles is transmitted to the vehicle. In accordance with the calculation result of the distance and the relative speed between the vehicle and the vehicle, that is, the own vehicle, the head-up display 13 is arranged in front of the driver's seat and is used as a navigation system including a liquid crystal screen or the like or dedicated to the navigation system. An electronic control unit (ECU) 10 for displaying is provided.

Here, the detection sensors 11 and 12 are, as shown in the case of the detection sensor 12 on the right side in FIG. 2, two auto-focus cameras 12 a and 12 b arranged vertically inside the body 2 a of the door mirror 2. The rear surface is imaged on the rear side, and the mirror surface 2b of the door mirror 2 is formed of a half mirror so as not to hinder the imaging.

As shown in FIG. 3, the detection sensor 1 is provided on the display 13 below and on the left and right of a portion where the rear view of the vehicle is displayed as an image of the vehicle.
Segment rows 13 extending vertically one by one corresponding to obstacles on the left rear side and right rear side imaged at 1 and 12
a, 13b are displayed, and the respective segment columns 13a, 13b are displayed.
Represents eight segments S which are individually turned on and off.
1 to S8. In this case, the pair of left and right segment rows 13a and 13b are arranged so as to be closer to each other as the upper part is closer to the rear view display portion of the vehicle, and to be separated from each other as the lower part is lower.
3a and 13b are also formed in such a shape that the width is narrower upward near the rear view display portion of the vehicle, and conversely wider the lower side.

Further, as shown in FIG. 1, the vehicle has a turn signal switch 14 for detecting the operating state of the turn signal 3 indicating whether or not the driver intends to change lanes.
A steering angle sensor 15 for detecting the steering angle of the steering wheel 4 is provided. The electronic control unit 10 changes the display of the obstacle information on the display 13 depending on the operation state of the direction indicator 3. When the steering wheel 4 is operated under predetermined conditions toward the lane in which the object is traveling, the speakers 16 disposed in the front, rear, left and right directions in the cabin
A warning sound is issued from a to 16d.

Next, an example of a specific control operation performed by the electronic control unit 10 will be described with reference to a flowchart shown in FIG.

That is, first, in step S1, an object is detected by fetching image data from the detection sensors 11 and 12, and then in step S2, there is an object which can be an obstacle in the imaged object. It is determined whether or not, that is, whether or not other vehicles traveling on the left rear side or the right rear side of the own vehicle are included, not the reflectors and guardrails along the road, or the street lights, and as a result, If such another vehicle is included, the process proceeds to step S3, where the obstacle, that is, the other vehicle traveling on the left rear side or the right rear side of the own vehicle, and the own vehicle, The distance D is calculated by a three-point survey method or the like based on, for example, a shift in focus between the two autofocus cameras of the detection sensors 11 and 12. These methods of object recognition (extraction of an object) and distance calculation are generally well-known, and are described in, for example,
The technique disclosed in Japanese Patent Application Publication No. 9 can be used.

Next, in step S4, it is determined whether or not the distance D between the other vehicle and the own vehicle is equal to or less than a relatively long predetermined distance of 40 m. Since the vehicle is relatively far away from the vehicle, the process returns to step S1 in the same manner as in the case where it is determined in step S2 that there is no target that can be an obstacle.

On the other hand, the distance D between the other vehicle and the own vehicle is 4
If the distance D is equal to or less than 0 m, it is further determined in step S5 whether or not the distance D is equal to or less than the extremely short predetermined distance of 10 m. In this case, the predetermined distance of 10 m is set as a distance such that another vehicle enters a blind spot. And
If YES here, that is, if another vehicle as the detected obstacle is located very close to the own vehicle and is in a blind spot, information on the obstacle is displayed in the display 13 at step S6. Is set to 3 and the display color is set to red in step S7. In this case, the display luminance on the display 13 is set to increase in the order of luminance 1, 2, and 3, as shown in FIG.

Then, at step S8, a distance display on the display 13 is finally performed. In this case, each segment row 13a, 1
Each of the eight segments S1 to S8 constituting 3b displays an interval of 5 m, and as shown in FIG. 6, from 40 m, one every time another vehicle as an obstacle approaches the own vehicle every 5 m.
If the number of lit segments increases one by one and the other vehicle is within a range of 5 m from the own vehicle, all the segments S1 to S8 are lit as shown in the case of the right rear side in FIG. . Accordingly, as described above, when it is determined in step S5 that another vehicle as an obstacle is approaching the own vehicle within 10 m, the segment D is calculated in step S8 based on the calculation result of the distance D in step S3. Seventh S7 from the bottom of the eight segments S1 to S8
Until the other vehicle is 5m to 10m
), Or all the segments S1 to S8 are lit (when the other vehicle is within 5 m of the own vehicle), and then the segment is lit at the brightest display brightness 3 It will be performed and will be lit in red to draw the most attention. FIG. 3 exemplifies a case where all the segments S1 to S8 are lit in red and with a luminance of 3.

On the other hand, if the determination in step S5 is NO, ie, more specifically, if the other vehicle is within the range of 10 m to 40 m with respect to the own vehicle, step S9
To calculate the relative speed S of the other vehicle as the obstacle with respect to the own vehicle. The calculation of the relative speed S is obtained by the time change of the distance D between the other vehicle and the own vehicle. The method of calculating the relative speed is also generally known, and the technique disclosed in the above publication is also disclosed. Can be used.

Next, in step S10, it is determined whether or not the relative speed S is a positive value, that is, whether or not another vehicle is approaching or moving away from the own vehicle, or whether the distance D has not changed. Here, if the determination is YES, the process proceeds to steps S11 and S12, whereas if the determination is NO, the process proceeds to steps S13 and S14.
6 and S7, the brightness of the display when displaying the information on the obstacle on the display 13 is
Set to 2 if the obstacle is approaching, set to 1 if the obstacle is moving away or the distance D does not change, and further change the display color to yellow if the obstacle is approaching, and set the display color to yellow. Alternatively, if the distance D does not change, the color is set to blue.

Then, in step S8, as described above,
Finally, distance display on the display 13 is performed.
In this case, since the other vehicle is within the range of 10 m to 40 m with respect to the own vehicle, the segment S1 representing the distance D
Depending on the calculation result of the distance D in step S3, the number of lightings of S8 to S8 is one for the segment S1 only (when the other vehicle is within the range of 35 m to 40 m with respect to the own vehicle) or 6 for the segments S1 to S6. (When the other vehicle is within the range of 10 m to 15 m with respect to the own vehicle), and then, based on the calculation result of the relative speed S in the above step S10, the lighting of the segment is performed at the display brightness 2 which is moderately bright. Lights up yellow to alert you (when another vehicle is approaching your vehicle)
Alternatively, the segment is illuminated with the display brightness 1 having the smallest brightness and illuminated in blue (meaning that the other vehicle is away from the own vehicle or the distance D).
If there is no change). FIG. 7 shows a case where obstacles are detected on both left and right rear sides, and the other vehicle on the left rear side is approaching with a distance D from the own vehicle of 15 to 20 m ( The case where the other vehicle on the right rear side is not approaching the distance D between itself and the vehicle at 25 m to 30 m (segment of the right segment line 13b). Until S3, a blue light is emitted at a luminance of 1).

By performing such control, when an obstacle on the left rear side or right rear side is close enough to enter the blind spot of the vehicle, the relative speed of the obstacle to the vehicle is checked. Obstacle information is displayed on the display 13 in a form that draws the driver's attention most,
Driving support information for avoiding troubles such as contact that may occur when the vehicle changes lanes in such a situation is provided.

On the other hand, when an obstacle on the left rear side or the right rear side is not close enough to enter the blind spot of the own vehicle, but is within a range of about 40 m, the relative position of the obstacle to the own vehicle is small. Looking at the speed, if the result indicates that the obstacle is approaching the vehicle, the obstacle information is displayed on the display 13 in a form that alerts the driver, thereby giving sufficient attention to changing lanes. Information is provided to the driver, but if the obstacle is moving away from or at least not approaching the vehicle, the obstacle information is provided in a form that indicates that the driver may change lanes. Provided to

As described above, in the vehicle obstacle warning device according to the present embodiment, when an obstacle is detected by the left and right rear side detection sensors 11 and 12 as the obstacle detection means, the obstacle is detected. Information on the display 13 and provide it to the driver in a uniform manner,
A margin between the obstacle and the own vehicle, that is, a distance and a relative speed between the obstacle and the own vehicle are calculated, and information on the obstacle is changed according to the calculation result.
Is displayed on the display, so that the driver can determine whether the distance between the obstacle and the vehicle is short or long, or whether the obstacle is approaching or moving away from the vehicle. The situation between the object and the vehicle can be grasped more accurately, and the driver's driving can be supported more efficiently in a manner that matches the situation.

In this case, the display 13
, Segments S1 to S8 are arranged in a line, the number of lighting of the segments is changed according to the distance between the obstacle and the own vehicle, and the lighting brightness and color of the segment are different between the obstacle and the own vehicle. The information about the obstacle is effectively provided through the driver's vision because it is changed according to the relative speed between the two.

Further, in this case, since information on obstacles on both left and right rear sides of the vehicle is displayed by individual segment rows 13a or 13b, each obstacle information can be more easily recognized by the driver. A pair of left and right segment rows 13a and 13b are arranged in a divergent manner below the rear view image of the vehicle displaying the own vehicle, and each of the segment rows 13a and 13b is also formed in a flared shape. Therefore, the display on the display 13 further appeals to the driver's vision.

In the above description, the display color and the brightness of the segment are set in pairs. For example, the display color and the brightness of the segment are set according to the relative speed of the obstacle with respect to the own vehicle. May be changed. For example, when an obstacle is approaching the host vehicle, the display color is set to yellow, but the brightness is 3 when the approach is quick, and the brightness is 2 when the approach is medium.
, And if it is slow, the brightness is set to 1.

Next, another example of the specific control operation performed by the electronic control unit 10 will be described with reference to the flowchart shown in FIG. Steps S21 to S24 in this control operation are performed in step S1 in the previous control operation.
Steps S29 to S31 and steps S34 to S39 are the same as steps S5 to S7 and step S9.
Steps S28 to S14 also correspond to step S8, so that the description thereof will be omitted, and only the characteristic portions of this control operation will be described.

That is, in the first control operation, the obstacle information is changed in accordance with the distance, the relative speed, etc., regardless of the operating state of the turn signal 3 indicating whether the driver intends to change lanes. Was to be displayed on the display. From the viewpoint of driver's safe driving support, this is essentially the basic control.However, during the period when the driver does not show intention to change lanes to the side with the obstacle, the obstacle display is displayed. It doesn't have to be so noticeable, and if you always stand out, even if the driver shows his intention to change lanes to the side with the obstacle, the eyes will get used to the obstacle because there is no change There is a possibility that the display will not distract the driver. In addition, the display at the luminance of 3 consumes a large amount of power and has a problem in battery life.

Therefore, in the second control operation, the display of the obstacle information is changed depending on the operating state of the turn signal 3 indicating whether or not the driver intends to change the lane. In particular, the driver has an obstacle. During the period in which the driver does not indicate the intention to change lanes toward the side, the display of the obstacle information is made less noticeable, and when the driver indicates the intention to change lanes toward the side with the obstacle, The main purpose is to make the display of obstacle information stand out.

That is, when it is determined in step S24 that the distance D between the other vehicle and the host vehicle is equal to or less than the relatively long predetermined distance of 40 m, in step S25, there is another vehicle as the object. It is determined whether or not the direction indicator 3 is ON in the direction. If the answer is YES here, that is, if the driver indicates the intention to change lanes toward the side where the obstacle is present, the process proceeds to step S29 and the same as described above. On the other hand, if the determination is NO, that is, if the driver has not indicated the intention to change lanes toward the side where the obstacle is present, the process proceeds to steps S26 and S27, and the brightness setting of the segment is set to the highest brightness. The display brightness is set to 1 which is small and the display color of the segment is set to blue which does not draw much attention of the driver as compared with red and yellow.

Thus, during a period in which the driver does not show an intention to change lanes toward the side with the obstacle, the obstacle information is displayed in the least conspicuous form of blue and luminance 1, and When the intent to change lanes toward the side with the obstacle is indicated, the obstacle information is displayed in a more conspicuous form such as red, luminance 3, yellow, luminance 2, etc. depending on the margin such as the distance and relative speed. Will be displayed.

In the second control operation, after step S31, in step S32, it is determined whether or not a steering operation has been performed toward the side where the obstacle exists. That is, not only does the driver indicate his intention to change lanes toward the side with the obstacle, but also it is determined whether or not the driver is actually changing lanes in that direction. As a result, if YES, an alarm is issued in a direction where the obstacle is located in step S33. The issuance of this alarm is performed via speakers 16a to 16d in the cabin. For example, if there is an obstacle in the blind spot within 10 m on the left rear side of the vehicle and the driver turns the steering wheel to the left, an alarm is issued from the rear left speaker 16 c. Also, as the alarm sound, an imitation sound of the horn sound of the vehicle is issued.

As a result, the driver's attention can be more effectively called out, and the direction of the obstacle can be accurately recognized. Failures will be avoided.

In the above control operation, instead of step S10 or step S35 for determining whether or not the relative speed S is a positive value and the obstacle is approaching the own vehicle,
As shown in step S10a or step S35a in FIG. 9, the display brightness and the display color may be changed depending on whether or not the relative speed S is greater than a predetermined value So.

In this case, the predetermined value So of the relative speed is:
As shown in FIGS. 10 to 12, the vehicle speed is set to be smaller as the vehicle speed is higher, to be larger as the road surface friction coefficient is larger, and to be larger in the daytime than in the nighttime. As a result, the obstacle information is displayed more conspicuously as the own vehicle speed is higher, the road surface friction coefficient is smaller in rainy weather or the like, and the surroundings are darker, and the driver's attention is more strongly alerted. . Whether it is rainy or not can be determined, for example, by the operating state of the wiper, and whether it is nighttime can be determined by, for example, the operating state of the headlights.

Next, another example of the display will be described.

FIG. 13 shows the detection of obstacles all around the vehicle immediately before, the left front side, the right front side, the rear side, the left rear side, and the right rear side. The information is displayed in the corresponding segment columns 13a to 13f in accordance with the calculation result of the margin. Each segment row, and the front three
Each of the entire row and the entire rear three rows is arranged in a shape that tapers upward. As a result, information useful for the driver, such as the distance between the preceding and following vehicles in the same lane, the distance to the preceding vehicle on the lane-changing side, and the relative speed thereof can be additionally obtained.

Incidentally, in order to detect an obstacle over the entire periphery of the vehicle in this way, in addition to the detection sensors 11 and 12 in the above-mentioned door mirror, in addition to immediately before the vehicle, the left front side, the right front side, and the like. A detection sensor that captures an image of the rear side is provided.

In this case, the warning sound is emitted from the speaker 16a in the same direction when the obstacle is on the left front side.
When it is on the right front side, the operation is performed from the speaker 16b in the same direction. Further, when an obstacle is in front of the vehicle and the inter-vehicle distance is short, an alarm sound may be simultaneously emitted from both front speakers 16a and 16b. When the inter-vehicle distance to the immediately following obstacle is short, an alarm sound is issued from both rear speakers 16c and 16d at the same time.

FIG. 14 shows an example of information display on the preceding vehicle. In this case, the rear view image of the vehicle represents the preceding vehicle. Since the image of the preceding vehicle is arranged in the segment row, it is easy to feel that the preceding vehicle is approaching due to a change in the number of lighting of the segments.

In recent years, vehicles equipped with a car navigation system have been increasing. In such a navigation system, a recommended route to a destination is set, and the driver is navigated to travel along the recommended route. Therefore, for example, according to the recommended route, it is predicted that the vehicle will turn left at the next intersection, but if the vehicle is traveling in the right lane, the vehicle will change lanes to the left in the near future. It is supposed to do. In such a case, the obstacle information may be provided only on the side of the lane change that is assumed to be executed in the future. Unnecessary obstacle information on the side that is not scheduled to change lanes is not provided wastefully, and as a result, a problem that incorrect information is selected and recognized from a plurality of obstacle information is avoided, and It also leads to a reduction in power consumption.

[0064]

As described above, according to the first invention of the present application,
Obstacles existing around the vehicle including the front as well as the rear of the vehicle are detected by the obstacle detection means, and information on the obstacle is provided to the driver by the provision means. Instead of uniformly providing the object information to the driver, the margin between the obstacle and the vehicle is determined by the determination means, and the provision of the obstacle information to the driver is changed according to the margin. In other words, the way and form of delivery is changed, so that the driver can understand the situation around the vehicle not only behind the vehicle but also in front of the vehicle in a more accurate manner, and the driving of the driver matches the situation It will be supported more efficiently in a precise form.

In this case, according to the second aspect of the invention, the margin is determined based on at least one of the distance between the obstacle and the vehicle or the relative speed. In addition, the precise distance matching the situation such as whether the inter-vehicle distance between the host vehicle and the front and rear vehicles is short or long, and whether the front and rear vehicles are approaching or moving away from the host vehicle. Will provide sufficient information to the driver.

According to the third aspect of the present invention, the obstacle information providing means is further embodied, and the operating area, color, or brightness of the display section of the means is changed according to the margin, or these are combined. Since the information is changed according to the margin, effective information provision through the driver's vision is performed.

According to the fourth aspect, in the margin display section disposed below the vehicle display section representing the own vehicle,
Information on obstacles at the left rear and right rear of the vehicle is provided, in which case the operating area, color, brightness or a combination thereof of the margin display unit is determined according to the margin between the obstacle and the obstacle. As a result, the provision of information about obstacles behind and to the rear of the vehicle is effectively performed through the driver's vision.

Next, according to the fifth aspect of the invention, there is provided a recommended route determining means for determining a recommended route of the vehicle, and information on an obstacle is selectively provided to the driver based on the recommended route determined by the determining means. Since it is provided, for example, when a recommended route to the destination is set in the car navigation system, only the lane change side that is estimated to be executed in the future from the transition route and the current driving lane is obstructed Since the object information is provided, it is possible to avoid unnecessary use of unnecessary obstacle information on the side not expected to change lanes.

On the other hand, according to the sixth aspect, the margin display section in the obstacle information providing means is further embodied, and the number of points in each segment of the segment row constituting the display section is:
It is changed based on the distance between the left rear and right rear obstacles of the vehicle, and the color or brightness of the lit segment is also different between the left rear and right rear obstacles of the vehicle. Since it is determined based on the relative speed,
As a result, the operating area, color or brightness in the margin display unit is changed according to the margin,
Effective information will be provided through the driver's vision.

Further, according to the seventh aspect of the present invention, the information on the obstacle at the rear left and the obstacle at the rear right of the vehicle are individually displayed by a pair of right and left segment rows, so that each information can be easily recognized by the driver. In addition, a more visually appealing display is realized from the image of the rear view of the vehicle on the vehicle display unit and the arrangement of the pair of left and right segment rows extending below the rear view.

According to the eighth aspect of the present invention, each of the segment rows is provided to be wider toward the lower side from the vehicle display unit, that is, to be widened toward the end, so that the arrangement form of the pair of left and right segment rows is combined. As a result, a visually appealing display is realized more effectively.

On the other hand, according to the ninth aspect, when the steering wheel is turned toward the side where the obstacle is located when the margin between the obstacle and the vehicle is small, a warning sound is issued by the warning sound emitting means. Since the sound is emitted, the driver's attention is alerted, and troubles such as contact due to excessive lane change are avoided.

In this case, according to the tenth aspect of the present invention, since a dummy sound of the horn sound of the vehicle is emitted, the driver's attention can be more effectively called. According to the eleventh aspect of the present invention, Since the warning sound is emitted from the direction of the obstacle, the driver can accurately recognize the direction of the obstacle.

[Brief description of the drawings]

FIG. 1 is a control system diagram of an obstacle warning device for a vehicle according to an embodiment of the present invention.

FIG. 2 is an explanatory diagram showing a state in which a detection sensor as an obstacle detection unit is provided inside a door mirror.

FIG. 3 is an explanatory diagram showing an example of a display mode of obstacle information on a display.

FIG. 4 is a flowchart illustrating an example of a specific control operation performed by an electronic control unit of the obstacle alarm device.

FIG. 5 is a characteristic diagram used in the control.

FIG. 6 is a characteristic diagram used in the control.

FIG. 7 is an explanatory diagram showing an example of a change in display of obstacle information on a display.

FIG. 8 is a flowchart illustrating another example of a specific control operation performed by the electronic control unit of the obstacle alarm device.

FIG. 9 is a flowchart showing only another example of the characteristic portion.

FIG. 10 is a characteristic diagram used in the same control.

FIG. 11 is a characteristic diagram used in the control.

FIG. 12 is a characteristic diagram used in the control.

FIG. 13 is an explanatory diagram showing another example of a display mode of obstacle information on a display.

FIG. 14 is an explanatory diagram showing another example.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 10 Electronic control unit 11, 12 Obstacle detection sensor 13 Display 13a-13f Segment row 16a-16d Speaker S1-S8 segment

Claims (11)

[Claims] 1. An obstacle alarm device for assisting a driver in safe driving, comprising: an obstacle detecting means for detecting an obstacle present around a vehicle; and information about the obstacle detected by the detecting means. And a margin determining means for determining a margin between the obstacle detected by the detecting means and the vehicle, and providing the obstacle information providing means. An obstacle warning device for a vehicle, wherein the means is configured to change provision of information on the obstacle to the driver in accordance with the margin determined by the margin determining means. 2. The margin determining means is configured to determine the margin based on at least one of a distance between the obstacle and the vehicle detected by the obstacle detecting means and a relative speed. The obstacle warning device for a vehicle according to claim 1, wherein: 3. The obstacle information providing means has a margin display section in which at least one of an operation area, a color, and a luminance is variable, and the obstacle information providing means responds to the margin determined by the margin determining means. 2. The obstacle warning device for a vehicle according to claim 1, wherein the display unit is configured to change at least one of an operation area, a color, and a luminance that are variable. 4. An obstacle information providing unit is disposed below the vehicle display unit, which displays an image of the vehicle as a vehicle, and at least one of an operation area, color, and brightness is variable. An operation having a margin display unit, the operation being variable in the margin display unit according to the margin between the vehicle and the left rear and right rear obstacles determined by the margin determination means. The vehicle obstacle warning device according to claim 1, wherein the device is configured to change at least one of an area, a color, and luminance. 5. A recommended route judging means for judging a recommended route of a vehicle is provided, and the obstacle information providing means selectively provides information on an obstacle to a driver based on the recommended route judged by the judging means. The obstacle warning device for a vehicle according to claim 1, wherein the obstacle warning device is configured to: 6. The margin determining means is configured to determine a margin based on a distance and a relative speed between the obstacle and the vehicle detected by the obstacle detecting means, and to determine obstacle information. The margin display unit in the providing means is composed of a segment row in which a plurality of segments that are individually turned on and off are arranged in a line, and is determined by the margin determining means based on the distance between the obstacle and the vehicle. According to the margin between the vehicle and the left rear and right rear obstacles of the vehicle, changing the number of segments in the segment row,
At least one of the color or luminance of the lit segment is determined in accordance with the margin between the vehicle and the left rear and right rear obstacles determined based on the relative speed between the obstacle and the vehicle. The obstacle warning device for a vehicle according to claim 4, wherein the device is configured to be changed. 7. The vehicle display unit in the obstacle information providing means is for displaying a rear view of the vehicle as an image, and similarly, the segment rows of the margin display unit in the obstacle information providing means are left rear and right of the vehicle. The left and right pair of segment rows are provided so as to correspond to a rear obstacle, and the pair of left and right segment rows are arranged so as to be further away from each other in a downward direction from the vehicle display unit. 7. The obstacle warning device for a vehicle according to 6. 8. The obstacle warning device for a vehicle according to claim 7, wherein each of the segment rows is provided to be wider as it goes downward from the vehicle display unit. 9. A steering angle detecting means for detecting a steering angle is provided, and when a margin between the obstacle detected by the obstacle detecting means and the vehicle is small, the steering angle is set to the side where the obstacle is located. 2. The obstacle warning device for a vehicle according to claim 1, further comprising a warning sound issuing unit that emits a warning sound when a steering angle equal to or greater than a predetermined value is detected by the detection unit. 10. The vehicle obstacle warning device according to claim 9, wherein the warning sound issuing means emits a dummy sound of a horn sound of the vehicle. 11. The obstacle warning device for a vehicle according to claim 9, wherein the warning sound issuing unit emits a warning sound from a direction where an obstacle is present.