JPS61162778A - Recognition for surrounding environment of vehicle - Google Patents

Abstract

PURPOSE:To allow an operator to determine the surrounding condition easily, by judging the distance to a surrounding object and relative speed from relative speed information and distance information between the own vehicle and the object to perform a display for the recognition of the object. CONSTITUTION:A signal from a sensor 1 is inputted into a distance information calculating circuit 10, with which the distance is computed between the own vehicle and an object. A signal from the sensor 1 is inputted into a relative speed calculating circuit 12 with which relative speed is computed between the own vehicle and the object. A surrounding environment judging circuit 11 determines, for example, whether a specified distance is maintained between the own vehicle and other vehicles or pedestrians from distance information and relative speed information and when they approaches one another less than a set value, a display is made on a display 19 through display control circuit 19 by outputting a judgment signal.

Description

[Detailed Description of the Invention] (Industrial Application Field) The present invention relates to a method for recognizing the surrounding environment of a vehicle, and more particularly, to a method for recognizing the surrounding environment of a vehicle that can easily recognize surrounding objects. .

(Conventional technology) Conventionally, in *WI4 of four-wheeled automobiles, motorcycles, etc.
While driving or when starting, surrounding objects such as vehicles and pedestrians can be recognized by looking directly or through a rearview mirror.

(Problems to be solved by the invention) By the way, N transposition is difficult to recognize surrounding objects in a short period of time, or when the surrounding conditions are poor, such as when driving at night, on a rainy day, or when it is foggy. Δ, and the object i must be recognized with great care. In addition, it is troublesome to look in front and behind through the rearview mirror, and requires a great deal of willpower to look backwards.

These are factors that impede a comfortable driving environment for the driver. - For this reason, it is possible to easily recognize surrounding objects along with their relative speeds, and also know the approaching speed and distance of the objects, 11! Rolling becomes even more comfortable.

This invention was made in view of these circumstances, and it enables drivers to easily recognize P4W4 objects, including their relative speeds, and to encourage drivers to drive better. The purpose of the present invention is to provide a method for recognizing the surrounding environment of a vehicle.

(Means for Solving the Problems) In order to solve the above-mentioned problems, the present invention obtains relative speed information between own troops and objects from sensors installed in vehicles, and Obtain distance information, determine the distance and relative speed of surrounding objects from this relative speed information and distance information, and when a predetermined relative speed corresponds to a predetermined distance, a display device installed in the vehicle will display the object. It is characterized by displaying a display that allows objects to be recognized.

(Operation) In the present invention, information on the relative speed between the own vehicle and the object is obtained from a sensor provided in a bundle of vehicles, and distance information between the own force and the object is obtained. The distance and relative speed of objects around the vehicle are determined from this relative speed information and distance information. This judgment result.

When an object at a predetermined distance from a vehicle approaches at a predetermined relative speed, a display device provided in the vehicle displays a display that allows the presence of the object to be recognized.

Based on this, drivers can easily grasp the surrounding conditions and know the existence of objects such as other vehicles and pedestrians, as well as their relative proximity to their own troops, making it easier for drivers to A driving environment is provided.

(Example) Hereinafter, an example in which the present invention is applied to a motorcycle will be described in detail based on the accompanying drawings.

FIG. 1 shows a schematic configuration diagram of this invention.1. In the figure, the symbol l is a sensor, which uses a relative speed/distance sensor to obtain signals regarding the relative speed of the own vehicle and objects such as other vehicles and pedestrians, as well as signals regarding the distance between the own troops and the objects. However, the signals may be obtained by separate sensors, or the relative speed may be obtained from the change in distance from the sensors that obtain the signals between the distances.

This sensor 1 is provided at a predetermined position on the vehicle, and includes a front relative speed/distance sensor 2, a right diagonal rear relative speed/distance sensor 3, and so on. Left diagonal rear relative speed/distance sensor 4,
Right side relative speed/distance sensor 5, left side relative speed/distance sensor 6, rear relative speed/distance sensor 7, right diagonal rear relative speed/distance sensor 8, left diagonal rear relative speed/distance sensor 9
It senses in 8 directions.

, signals indicating the distance between the own vehicle and the object obtained by the sensor 1 are respectively input to a distance information calculation circuit IO,
This distance information calculation circuit 10 calculates distance information from these signals, and uses this distance information as a surrounding environment judgment circuit 11.
Output to.

Further, the signals regarding the relative speed between the own vehicle and the object obtained by the sensor 1 are input to the relative speed calculation circuit 12, and the relative speed calculation circuit 12 calculates the relative speed information from the signals. , and outputs this relative speed information to the surrounding environment judgment circuit 11.

Furthermore, the vehicle is equipped with a vehicle speed sensor 13, which detects a pulse signal based on the rotation of the front wheels, for example, and outputs this pulse signal to the own vehicle speed calculation circuit 14. The own vehicle speed calculation circuit 14 calculates the vehicle speed from the pulse signal, and outputs this own vehicle speed information to the surrounding environment judgment circuit 11, as well as to the own vehicle motion detection circuit 15. - Operation signals of the flasher switch 16 and the stop switch 17 are also input to the self-vehicle motion detection circuit 15, and the motion information calculated based on the self-vehicle speed information is output to the surrounding environment judgment circuit 11. do. For example, control based on own vehicle speed information is as follows.

If the speed is below a predetermined speed, no operation information is output even if an operation signal is input.

The surrounding environment judgment circuit 11 judges the surrounding environment from the distance information and relative speed information between the own troops and the object, the own vehicle speed information, and the own vehicle operation information, and displays the judgment signal.Control circuit 1
Output to 8. - Judgment of the surrounding environment in the surrounding environment judgment circuit 11 is performed by knowing the position of the own vehicle and the object and the relative speed of the objects around the distance 1 from distance information and relative speed information.
The absolute speed of the object can be determined from the own vehicle speed information and relative speed information. Then, when the distance between the own vehicle and the object reaches a set value and the relative speed at this time is equal to or greater than a predetermined value, a determination signal is output that causes the driver to recognize the object. The output timing of this judgment signal may be controlled according to the absolute speed of the object. For example, when the absolute speed of the object is equal to or higher than a predetermined value, the output timing is set earlier.

In addition, when the surrounding environment judgment circuit 11 receives movement information from the own force movement detection circuit 15, the movement information stops.
If the signal is based on the operation signal of the PSU 7 chair, the inter-vehicle distance between the vehicle that outputs the 1 judgment signal and the other vehicle behind is set to be long. In addition, the operation information is
If it is based on the operation signal No. 6, the distance to the object in the direction in which the course is to be changed is set to be long so that the judgment signal is output early.

The display control circuit 18 is configured to display one surrounding environment on the display device 19 based on the judgment signal from the surrounding environment judgment circuit 11. The display on the display device 19 includes a display for the driver of the own vehicle, a display for the driver of another vehicle, a pedestrian, and the like.

The display to the driver of the vehicle indicates that the distance to the object is within a predetermined value and that the object is approaching at a predetermined relative speed, or the direction of the object.This display may be based on light or sound. There is. Light displays include those using light sources such as bulbs and light emitting diodes, and those using images such as liquid crystal displays and polar ray tube displays. Sound displays include point sound sources such as buzzers, and sound images with stereo effects.

Displays for drivers of other vehicles and pedestrians include lights and sounds. Light sources include bulbs and strobe discharge tubes, and sound sources include sound devices such as buzzers and speakers.

2 to 11 show more specific configurations of the distance sensor 1 and the display device 19. FIG.

2 to 5 are applied to a motorcycle having a cowling and a box. A front relative speed/distance sensor 2 is installed at the lower center of the front side of a cowling 20 that covers both sides from the front side of the bundle. A right diagonal rear relative speed/distance sensor ff3 and a left diagonal rear relative speed/distance sensor 4 are provided on both sides, respectively. The left and right side boxes 22 and 23 provided on both sides of the wheel 21 are equipped with right side relative speed/distance sensors 5. A left side relative speed/distance sensor 6, a right diagonal rear relative speed/distance sensor 8, and a left diagonal rear relative speed/distance sensor 9 are provided. A rear relative speed distance sensor 7 is provided in a rear box 25 provided behind the seat 24.

A plurality of these sensors l may be provided in each direction, and for example, a radar sensor, a semiconductor laser sensor, an infrared sensor, an ultrasonic sensor, a television camera, etc. are used. There are two types of radar sensors: a separate type with a transmitting part and a receiving part separated, and an integrated type with a transmitting part and a receiving part integrated, and a semiconductor laser sensor has a laser emitting part and a receiving part. Furthermore, the infrared sensor has a light emitting part and a light receiving part, and the ultrasonic sensor has a transmitting part and a receiving part, each of which emits microwaves, laser light, infrared rays, and ultrasonic waves. The light is reflected by objects such as other vehicles and is received by the respective receivers. In addition, when the television camera 26 is used as a rear relative speed/distance sensor as shown by the imaginary line in FIG.
The difference between the two images provides a signal regarding distance and relative velocity. In addition, when only one television camera 261 is used, a signal related to the distance is obtained depending on the focus condition. Although it may be attached to the rear box 25,
It may be integrated into these.

Further, the front relative speed/distance sensor 2 may be attached to the front fork 27 as shown by the phantom line in FIG. 3, or may be attached to a part that moves together with the front fork 27. In this case, the front relative speed・Distance sensor 2
Since the front centerpiece rotates together with the front centerpiece 27, the accuracy of sensing is improved.

These sensors can detect objects in a predetermined range around the vehicle as shown in Figure 5, and the sensing distance is 1, for example, 100 m in front, 10 m on both left and right sides, and 50 m on both sides.
・Although it is set as a percentage of degrees.

It is arbitrarily selected depending on the vehicle type.

In this embodiment, the relative speed/distance sensor l is arranged so as to be able to sense the surroundings of the vehicle, but as shown in FIG. , rear predetermined range C1 front predetermined @l#lA, rear predetermined box W4C1 predetermined range from left and right rear to rear, front predetermined range A, left and right diagonal rear to rear predetermined range D, and front predetermined range A It may be possible to sense only a predetermined range E from the left and right sides to the rear.Furthermore, only the right side or left side of the vehicle may be sensed.

The display device 19 includes a display section 19a for the driver of the own vehicle, and a display section 19b for the driver of another vehicle and pedestrians.

When the display section 19a for the driver is configured using light, the meter panel 29 of the meter 28 provided on the front side of the vehicle body
Or internal combustion Jl! It is provided in the cover 31 that covers the upper part of '1J30, and if the cover 31 is constituted by a fuel tank, it is provided in this fuel tank.

When the display section 19a is configured with a point light source of a bulb 1 For example, as shown in FIG. It can be made variable by emitting or blinking once. When emitting light continuously, for example, the amount of light is kept constant regardless of the approach of the object, or the amount of light is increased. In addition, in the case where the bulb 32 is made variable by destroying it, for example, the amount of light may be kept constant regardless of the approach of the object, and the lighting or extinguishing interval may be kept constant.
Make the interval between lights on or off constant and increase the interval between lights on or off. Alternatively, there are methods such as keeping the lighting interval constant and gradually increasing the amount of light, or keeping the light amount constant and shortening the extinguishing interval.

Further, a large number of light emitting diodes may be arranged to display characters, for example, a message such as ``You are coming too close.'' may be displayed.

When the display m 19 a is provided on the cover 1 For example, the 7th
As shown in Figure (1k), a plurality of valves 32 are provided at a predetermined distance around the display 33 of the vehicle, and when an object approaches,
The bulb 32 in the direction indicating the position is lit. This lighting method may be the same as described above.

In addition, when the display is performed as an image, the display 11IAl 9a shown in FIG. 7(b) is replaced with a liquid crystal display device,
An object 34 approaching from a predetermined distance is displayed on a display 33 of a vehicle using a cathode ray tube display device shown in FIG.

Note that the arrangement positions of these display sections 19a are not limited to those described above, and can be freely selected.

Moreover, when displaying with sound, the buzzer 35 can be used with the display section t9a as a point sound source.

The buzzer 35 is provided on the meter panel 29, for example, as shown in 14615'il, and can emit a sound at a constant frequency continuously or at predetermined intervals. In this case, like the light above, you can change the volume or
The direction of the object and the degree of approach are indicated by changing the interval between occurrences.

Furthermore, as shown in Figures 2 and 3 as a single point sound source,
Speakers 36 placed on the front, rear, left and right sides of the vehicle body can be used, and the speakers 36 can be used to speak H-lobe to indicate the distance and direction of an object, or to change the frequency for non-verbal messages. Alternatively, the front, rear, left, and right speakers 36 may be used to create a stereo effect, and the direction may be indicated by a sound image.

Indications for drivers of other vehicles and pedestrians (!19b uses light and sound □, for example, a bulb or a strobe discharge tube is used as the light indication m1Qb. The bulb is already □
Dry lights 40 can be used to replace the existing rear light 38.39 in front of and behind the 2-strip light 371 that also serves as a tail light, or a new one can be installed at a designated location on the vehicle.

When newly installing the display section 19b, as shown in No. 4yJ, the valve 41! -14M will be provided. Further, a plurality of valves 41 may be provided, and in this case, they are generally provided at the rear of the vehicle.

Regardless of whether an existing bulb 41 is used or a new one is installed, the light intensity is kept constant, the light intensity increases as other vehicles approach, or the blinking interval is shortened. Furthermore, when newly established.

The display 'N19b may be constructed by providing a plurality of valves above the rear fender 42 so as to display characters, and display a message such as "Keep the distance between molds", for example.

Strobe discharge tubes are used for continuous flashing or single flashing.
A rotating lamp is an example other than a strobe discharge tube that emits continuous light.

The sound display unit 19b is composed of a buzzer or a speaker. If the speaker is used, for example, the words may be arbitrarily selected depending on the direction of the other vehicle.
A19b may be provided integrally with the sensor l.

FIG. 8 shows an embodiment applied to a motorcycle without a cowling or box, in which the front relative speed/distance sensor 2 is placed above the headlight 43 J:m, and the rear relative speed m-distance sensor 7 is placed above the taillight 44. It is located in The display section 19a that indicates the approach of the object to the driver of this vehicle is a meter 4 provided at the center of the handlebar.
5. On the other hand, the display g19b for drivers of other vehicles, pedestrians, etc. is the existing headlight 43° 7 lash lamp 48.47. Alternatively, this is an example of using the tail light 44 or the like.

Note that, as shown in FIG. 9, the rear relative speed/distance sensor 7 can be provided on the rear side of the backrest 48 in a vehicle having a backrest 48. Further, as shown in No. 10151ff, a rear fender 42 can be provided in a vehicle with a long rear fender 42.

Further, when side covers 50 are provided below both sides of the seat 49 as shown in FIG. 11, the side relative speed/distance sensor 6 may be provided on the side covers 50.

Next, the operation of this embodiment will be explained.

While the vehicle is running or when starting, other vehicles, pedestrians, etc. in the R-opening of the vehicle are detected by the respective sensors 1.

The signal from this sensor 1 is input to a distance information calculation circuit 1O, which calculates the distance to the object and inputs the obtained distance information to the surrounding environment judgment circuit 11. .

Further, the signal from the sensor l is input to the relative speed calculation circuit 12, which calculates the relative speed between the own vehicle and the object, and the obtained relative speed information is sent to the surrounding environment judgment circuit 11. is input.

On the other hand, the vehicle speed of the own vehicle is determined by inputting a signal from the vehicle speed sensor 13 to the own vehicle speed calculation circuit 14, and calculating the own vehicle speed information obtained by the own vehicle speed calculation circuit 14 with the surrounding environment judgment circuit 11 and the own vehicle operation. Input to the detection circuit 15.

The surrounding environment judgment circuit 11 judges based on the distance information and the relative speed information, for example, whether a predetermined distance is maintained between other vehicles or pedestrians, and determines whether the distance is within a set value. When the object approaches from a set distance at a predetermined relative speed or more, a judgment signal is output and sent to the display unit via the display control circuit 18. 119.

This display differs depending on the display device 19, and when displaying using light, a bulb is lit, blinking once, or an image of the object is displayed, and when displaying using sound, a buzzer or By a sounding device such as a speaker.

Therefore, the driver can easily recognize surrounding objects and their relative speeds, and also know the approaching speed of the objects. It serves as a guide layer for driving the vehicle when visibility is poor, such as during driving, and makes driving even more comfortable.

The display is also made to drivers of other vehicles and pedestrians using light or sound to notify drivers of other vehicles and pedestrians that they are approaching within a predetermined distance from the vehicle.

Then, to change the course, the flasher switch 16
When the driver operates the switch or applies the brake, the stop switch air is activated, and this operation signal is input to the own vehicle motion detection circuit 15. In this self-vehicle motion detection circuit 15, for example, the self-vehicle speed information at the time of operation outputs motion information only when the speed is above a predetermined value, and the surrounding environment judgment circuit 11 sets a long distance between the self-vehicle and the target object. To speed up the display to the driver and the drivers of other vehicles.

(Effects of the Invention) As described above, the present invention obtains relative speed information between the own vehicle and the object from the relative speed/distance sensor, and also obtains distance information between the own vehicle and the object, and combines this relative speed information with the relative speed information. '# The distance and relative speed of surrounding objects are determined from the distance information, and when a predetermined relative speed corresponds to a predetermined distance, a display that recognizes the object is displayed on the display device installed in the vehicle. Because of this, the driver can easily grasp the surrounding situation and know the presence of objects such as other vehicles and pedestrians, as well as their relative proximity to the driver. Provides a better driving environment.

[Brief explanation of the drawing]

Fig. 1 is a schematic configuration diagram of the present invention, Fig. 2 is a plan view of a motorcycle to which the invention is applied, Fig. 3 is a side view thereof, and Fig. 4 is a plan view of a motorcycle to which the invention is applied.
The figure is a rear view, Figure 5 is a diagram showing the sensing range of the sensor,
Figure 6 is a diagram showing the driver's display section of the own vehicle, Figure 7 (&)
, (b) and (C) are diagrams showing other embodiments showing the display section for the driver of the own vehicle, FIG. 8 is a side view of another motorcycle to which this invention is applied, FIG. 9 and 1θ This figure shows another arrangement of the rear relative speed Φ distance sensor, and FIG. 11 shows another arrangement of the side relative speed/distance sensor. l...Sensor lO...Distance information calculation circuit 11...Ambient environment judgment circuit 13...Vehicle speed sensor 14...Vehicle speed calculation circuit 15...Vehicle movement detection circuit 16...Flasher switch 17... Stop switch 18... Display control circuit 19... Display device Fig. 4 Fig. 7 □ (a) □ (b) (c)

Claims (1)

[Claims] Information on the relative speed between the vehicle and the object is obtained from sensors installed in the vehicle, as well as distance information between the vehicle and the object.
The distance and relative speed of surrounding objects are determined from this relative speed information and distance information, and when a predetermined relative speed corresponds to a predetermined distance, a display that recognizes the object is displayed on a display device installed in the vehicle. A method for recognizing the surrounding environment of a vehicle.