WO2012098844A1 - 車両方向特定装置、車両方向特定方法、及びそのプログラム - Google Patents
車両方向特定装置、車両方向特定方法、及びそのプログラム Download PDFInfo
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- WO2012098844A1 WO2012098844A1 PCT/JP2012/000178 JP2012000178W WO2012098844A1 WO 2012098844 A1 WO2012098844 A1 WO 2012098844A1 JP 2012000178 W JP2012000178 W JP 2012000178W WO 2012098844 A1 WO2012098844 A1 WO 2012098844A1
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/16—Anti-collision systems
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
- G01S15/02—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems using reflection of acoustic waves
- G01S15/06—Systems determining the position data of a target
- G01S15/42—Simultaneous measurement of distance and other co-ordinates
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S3/00—Direction-finders for determining the direction from which infrasonic, sonic, ultrasonic, or electromagnetic waves, or particle emission, not having a directional significance, are being received
- G01S3/80—Direction-finders for determining the direction from which infrasonic, sonic, ultrasonic, or electromagnetic waves, or particle emission, not having a directional significance, are being received using ultrasonic, sonic or infrasonic waves
- G01S3/802—Systems for determining direction or deviation from predetermined direction
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S3/00—Direction-finders for determining the direction from which infrasonic, sonic, ultrasonic, or electromagnetic waves, or particle emission, not having a directional significance, are being received
- G01S3/80—Direction-finders for determining the direction from which infrasonic, sonic, ultrasonic, or electromagnetic waves, or particle emission, not having a directional significance, are being received using ultrasonic, sonic or infrasonic waves
- G01S3/802—Systems for determining direction or deviation from predetermined direction
- G01S3/808—Systems for determining direction or deviation from predetermined direction using transducers spaced apart and measuring phase or time difference between signals therefrom, i.e. path-difference systems
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/16—Anti-collision systems
- G08G1/167—Driving aids for lane monitoring, lane changing, e.g. blind spot detection
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04R—LOUDSPEAKERS, MICROPHONES, GRAMOPHONE PICK-UPS OR LIKE ACOUSTIC ELECTROMECHANICAL TRANSDUCERS; DEAF-AID SETS; PUBLIC ADDRESS SYSTEMS
- H04R1/00—Details of transducers, loudspeakers or microphones
- H04R1/20—Arrangements for obtaining desired frequency or directional characteristics
- H04R1/32—Arrangements for obtaining desired frequency or directional characteristics for obtaining desired directional characteristic only
- H04R1/40—Arrangements for obtaining desired frequency or directional characteristics for obtaining desired directional characteristic only by combining a number of identical transducers
- H04R1/406—Arrangements for obtaining desired frequency or directional characteristics for obtaining desired directional characteristic only by combining a number of identical transducers microphones
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04R—LOUDSPEAKERS, MICROPHONES, GRAMOPHONE PICK-UPS OR LIKE ACOUSTIC ELECTROMECHANICAL TRANSDUCERS; DEAF-AID SETS; PUBLIC ADDRESS SYSTEMS
- H04R2430/00—Signal processing covered by H04R, not provided for in its groups
- H04R2430/03—Synergistic effects of band splitting and sub-band processing
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04R—LOUDSPEAKERS, MICROPHONES, GRAMOPHONE PICK-UPS OR LIKE ACOUSTIC ELECTROMECHANICAL TRANSDUCERS; DEAF-AID SETS; PUBLIC ADDRESS SYSTEMS
- H04R2430/00—Signal processing covered by H04R, not provided for in its groups
- H04R2430/20—Processing of the output signals of the acoustic transducers of an array for obtaining a desired directivity characteristic
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04R—LOUDSPEAKERS, MICROPHONES, GRAMOPHONE PICK-UPS OR LIKE ACOUSTIC ELECTROMECHANICAL TRANSDUCERS; DEAF-AID SETS; PUBLIC ADDRESS SYSTEMS
- H04R3/00—Circuits for transducers, loudspeakers or microphones
- H04R3/005—Circuits for transducers, loudspeakers or microphones for combining the signals of two or more microphones
Definitions
- the present invention relates to a vehicle direction specifying device for specifying a direction in which a vehicle exists by means of vehicle sound.
- the present invention relates to a vehicle direction identification device that identifies a vehicle direction even under a situation where vehicle sound is reflected at a blind spot.
- Patent Document 1 As a conventional technique, there is a method of specifying a direction in which a vehicle exists from a difference in arrival times of vehicle sounds (see, for example, Patent Document 1).
- Patent Document 1 the configuration of the prior art (Patent Document 1) in vehicle sound detection does not assume a case where sound is reflected by a shield or the like. In an actual environment, the vehicle sound is reflected by a shield or the like, and it is detected that the vehicle is in a direction opposite to the actual direction. Alternatively, it is detected that the vehicle is in both the actual vehicle direction and the opposite direction. This causes driver confusion.
- Patent Document 2 has a method in which a threshold is set by the sound pressure of direct sound and the reflected sound is not used by performing threshold processing. For example, as shown in FIG. 22A, when the sound pressure of the reflected sound is lower than the sound pressure of the direct sound, the reflected sound having a low sound pressure is removed by performing a peak hold process as shown in FIG. 22B. Can do.
- the reflected sound may have a higher sound pressure than the direct sound diffracted and cannot be detected by conventional methods.
- the present invention solves the above-described conventional problems, and in particular, a vehicle direction specifying device that can extract the vehicle sound and specify the direction in which the vehicle exists even in an environment where the vehicle sound is reflected by a shield.
- the purpose is to provide.
- a vehicle direction specifying device is a vehicle direction that specifies a direction of the other vehicle from another vehicle sound that is a vehicle sound of the other vehicle that exists around the host vehicle and is acquired by a plurality of microphones.
- a frequency analysis unit that analyzes the phase of the other vehicle sound for each of a plurality of analysis intervals specified by a predetermined frequency interval and time interval, and an analysis acquired from the frequency analysis unit Based on the result, for each analysis section, a sound source direction specifying unit that specifies a sound source direction representing a direction of a sound source included in the other vehicle sound, and a plurality of states related to the frequency that is the number of the analysis sections for each sound source direction
- a reflection information accumulation unit that accumulates reflection information including one or more reflection patterns including information and an estimated vehicle direction that is a direction of the other vehicle associated with the set of the plurality of state information; and the sound source The frequency obtained from the identification result by the direction specifying unit, and collates the reflective pattern, and a vehicle direction identification unit for identifying the direction of
- the vehicle direction identification device can identify the direction in which the other vehicle exists by so-called majority of the sound source directions calculated for each analysis section. At this time, in order to determine whether or not the acquired other vehicle sound is a reflected sound, it is used that the time transition of the frequency in the sound source direction differs depending on whether or not it is a reflected sound.
- the reflection information storage unit stores a state transition model that represents the time transition of the frequency of the sound source direction due to the reflected sound, and the corresponding estimator directions. Therefore, the vehicle direction identification unit identifies the direction in which the other vehicle exists even in a situation where the vehicle sound is reflected at the shielding blind spot by comparing the acquired other vehicle sound with any state transition model. can do.
- the present invention can be realized not only as a vehicle direction specifying device including such a characteristic processing unit, but also as a vehicle direction specifying method using the characteristic processing unit included in the vehicle direction specifying device as a step. It can also be realized as a program for causing a computer to execute characteristic steps included in the vehicle direction specifying method. Such a program can be distributed via a recording medium such as a CD-ROM (Compact Disc-Read Only Memory) or a communication network such as the Internet.
- a recording medium such as a CD-ROM (Compact Disc-Read Only Memory) or a communication network such as the Internet.
- the direction in which the vehicle exists can be specified by the vehicle sound, and in particular, the vehicle direction can be specified even in a situation where the vehicle sound is reflected at the blind spot.
- FIG. 1 is a block diagram showing a configuration of a vehicle direction specifying system according to Embodiment 1 of the present invention.
- FIG. 2 is a diagram for explaining the vehicle sound.
- FIG. 3 is a diagram for explaining the specification of the direction of the vehicle sound.
- FIG. 4 is a diagram illustrating an example of vehicle sound reflection.
- FIG. 5 is a diagram for explaining the sound source direction in the predetermined analysis section.
- FIG. 6 is a first diagram illustrating an example of a correspondence relationship between the specified direction and the display on the vehicle display unit when the vehicle direction specifying device specifies the direction with the highest frequency as the vehicle location.
- FIG. 7A is a diagram illustrating an example of reflection information stored in the reflection information storage unit according to Embodiment 1 or 2.
- FIG. 7A is a diagram illustrating an example of reflection information stored in the reflection information storage unit according to Embodiment 1 or 2.
- FIG. 7B is a diagram illustrating an example of state transition representing a reflection pattern in the first or second embodiment.
- FIG. 8 is a diagram for explaining reflection determination and vehicle direction identification processing by the vehicle direction identification unit according to the first or second embodiment.
- FIG. 9A is a first diagram illustrating an example of a display mode according to Embodiment 1 or 2.
- FIG. 9B is a second diagram illustrating another example of the display mode according to Embodiment 1 or 2.
- FIG. 9C is a third diagram illustrating yet another example of the display mode according to Embodiment 1 or 2.
- FIG. 9D is a fourth diagram illustrating yet another example of the display mode according to Embodiment 1 or 2.
- FIG. 9A is a first diagram illustrating an example of a display mode according to Embodiment 1 or 2.
- FIG. 9B is a second diagram illustrating another example of the display mode according to Embodiment 1 or 2.
- FIG. 9C is a third diagram illustrating yet another example of the display mode according to Em
- FIG. 10 is a first flowchart showing a flow of processing performed by the vehicle direction specifying device according to the first embodiment.
- FIG. 11 is a second flowchart showing a flow of processing performed by the vehicle direction identification device according to Embodiments 1 and 2.
- FIG. 12 is a second diagram illustrating another example of the correspondence relationship between the specified direction and the display on the vehicle display unit in the first or second embodiment.
- FIG. 13 is a third diagram illustrating yet another example of the correspondence relationship between the identified direction and the display on the vehicle display unit in the first or second embodiment.
- FIG. 14 is a block diagram illustrating a configuration of the vehicle direction specifying system according to the second embodiment.
- FIG. 15 is a diagram illustrating the positional relationship of other vehicles in the second embodiment.
- FIG. 16 is a first diagram illustrating a sound source direction in the second embodiment.
- FIG. 17 is a second diagram illustrating the sound source direction in the second embodiment.
- FIG. 18 is a flowchart showing a flow of processing performed by the vehicle direction identifying device according to Embodiment 2.
- FIG. 19 is a third diagram for explaining the sound source direction in the second embodiment.
- FIG. 20 is a fourth diagram for explaining the sound source direction in the second embodiment.
- FIG. 21 is a block diagram illustrating a hardware configuration of a computer system that implements the vehicle direction identifying device according to the first or second embodiment of the present invention.
- FIG. 22A is a first diagram for explaining the prior art.
- FIG. 22B is a second diagram for explaining the prior art.
- a vehicle direction specifying device is a vehicle direction that specifies a direction of the other vehicle from another vehicle sound that is a vehicle sound of the other vehicle that exists around the host vehicle and is acquired by a plurality of microphones.
- a frequency analysis unit that analyzes the phase of the other vehicle sound for each of a plurality of analysis intervals specified by a predetermined frequency interval and time interval, and an analysis acquired from the frequency analysis unit Based on the result, for each analysis section, a sound source direction specifying unit that specifies a sound source direction representing a direction of a sound source included in the other vehicle sound, and a plurality of states related to the frequency that is the number of the analysis sections for each sound source direction
- a reflection information accumulation unit that accumulates reflection information including one or more reflection patterns including information and an estimated vehicle direction that is a direction of the other vehicle associated with the set of the plurality of state information; and the sound source The frequency obtained from the identification result by the direction specifying unit, and collates the reflective pattern, and a vehicle direction identification unit for identifying the direction of
- the vehicle direction identification device can identify the direction in which the other vehicle exists by so-called majority of the sound source directions calculated for each analysis section. At this time, in order to determine whether or not the acquired other vehicle sound is a reflected sound, it is used that the time transition of the frequency in the sound source direction differs depending on whether or not it is a reflected sound.
- the reflection information storage unit stores a state transition model that represents the time transition of the frequency of the sound source direction due to the reflected sound, and the corresponding estimator directions. Therefore, the vehicle direction identification unit identifies the direction in which the other vehicle exists even in a situation where the vehicle sound is reflected at the shielding blind spot by comparing the acquired other vehicle sound with any state transition model. can do.
- the reflection pattern relates to the first state information related to the frequency in the first state, and the frequency in the second state after a predetermined time has elapsed from the first state.
- Second state information, and the estimated vehicle direction associated with a set of the first state information and the second state information, and the first state information includes a range of the sound source direction. 1st direction information and 2nd direction information to show, 1st frequency information which shows the range of the frequency matched with the 1st direction information, and it matched with the 2nd direction information , Second frequency information indicating the frequency range, and the second state information includes third direction information and fourth direction information indicating the range of the sound source direction, and the third direction information.
- the condition indicated as the state information is satisfied and the plurality of sound source directions in the second state satisfy the condition indicated as the second state information, the other vehicle sound is determined as a reflected sound
- the estimated vehicle direction associated with the set of the first state information and the second state information may be specified as the direction of the other vehicle.
- the vehicle direction identification unit determines that the other vehicle sound is a reflected sound when the acquired other vehicle sound is received by the state transition model included in the reflection pattern, and the received reflection pattern.
- the direction of the other vehicle can be specified from both directions of the estimator included in.
- the vehicle direction specifying unit calculates the frequency for the plurality of sound source directions included in the other vehicle sound acquired in the first state which is a first time, and the frequency Among them, (A) the sum of the frequencies of the sound source directions included in the range indicated by the first direction information is included in the range indicated by the first frequency information, and (B) the second direction.
- the predetermined time after the elapse of the first time The frequency is calculated again for the plurality of sound source directions included in the other vehicle sound acquired in the second state that is the second time until the time elapses, and among the calculated frequencies, (C) Included in the range indicated by the third direction information The sum of the frequencies in the source direction is included in the range indicated by the third frequency information, and (D) the sum of the frequencies in the sound source direction included in the range indicated by the fourth direction information is 4 is included in the range indicated by the frequency information 4, the other vehicle sound is determined to be a reflected sound, and the estimation associated with the set of the first state information and the second state information is performed.
- the vehicle direction may be specified as the direction of the other vehicle.
- the reflection information may include the reflection pattern that differs for each frequency.
- the representative value of the frequency range indicated by the first frequency information included in the reflection pattern, and the representative value of the frequency range indicated by the second frequency information the higher the frequency, You may determine so that it may become larger.
- the vehicle direction specifying unit can more appropriately determine the reflected sound by changing the size of the frequency information according to the frequency. It becomes possible.
- the reflection information is (A) the absolute difference between the representative values of the frequency ranges indicated by the two frequency information included in one of the first state information and the second state information.
- the absolute value of the difference between the representative values of the respective frequency ranges indicated by the two frequency information included in the other state information is smaller than the first difference determined in advance. You may have a reflection pattern larger than the 2nd difference defined beforehand so that it may become larger than 1 difference.
- the vehicle direction specifying unit can determine the reflected sound and specify the vehicle direction.
- the reflection information includes (A) an absolute value of a difference between a representative value in a frequency range indicated by the first frequency information and a representative value in a frequency range indicated by the second frequency information. And (B) the absolute value of the difference between the representative value of the frequency range indicated by the third frequency information and the representative value of the frequency range indicated by the fourth frequency information is: If the difference is greater than the second difference, the direction corresponding to the direction information associated with the frequency information having the larger representative value of the third frequency information and the fourth frequency information. May be included as the estimated vehicle direction.
- the reflection information includes (A) an absolute value of a difference between a representative value in a frequency range indicated by the first frequency information and a representative value in a frequency range indicated by the second frequency information. And (B) the absolute value of the difference between the representative value of the frequency range indicated by the third frequency information and the representative value of the frequency range indicated by the fourth frequency information is: If the difference is smaller than the first difference, the direction corresponding to the direction information associated with the frequency information having the smaller representative value of the first frequency information and the second frequency information. May be included as the estimated vehicle direction.
- the vehicle direction specifying device further includes a vehicle frequency specifying unit that specifies a reference frequency band of the other vehicle sound, and the frequency analyzing unit is configured to Analyzing the phase and amplitude of the other vehicle sound, the vehicle frequency specifying unit, all of the frequencies corresponding to the analysis section having the Nth largest amplitude among the plurality of analysis sections corresponding to each of the plurality of time sections A representative value in the time interval is defined as an Nth reference frequency, a frequency band having a predetermined width around the Nth reference frequency is identified as an Nth reference frequency band, and the vehicle direction
- the specifying unit specifies the direction of the other vehicle by comparing a plurality of sound source directions corresponding to the analysis section included in the Nth reference frequency band with the reflection information.
- the vehicle direction specifying unit cannot determine whether the sound is a reflected sound or not when the directions for each vehicle sound are treated as the same distribution. .
- the vehicle direction specifying unit can determine whether it is a reflected sound, The vehicle direction can be specified.
- the vehicle direction identification unit gives a greater weight to the analysis section as the sound source directions corresponding to the adjacent analysis sections are more similar, and as the number of weighted analysis sections for each sound source direction, The frequency may be calculated.
- the sound source direction specifying unit determines whether the amplitude of the other vehicle sound is less than a sound pressure threshold that is a sound pressure threshold for each analysis section, and if the amplitude is less than the sound pressure threshold, The vehicle direction is not specified for the analysis section, and the sound pressure threshold value may be a larger value as the frequency corresponding to the analysis section is higher.
- the vehicle direction specifying unit assigns a larger weight to the analysis section as the sound source directions corresponding to adjacent analysis sections are more similar to each other.
- the frequency is calculated as the number of weighted analysis intervals.
- Embodiment 1 A vehicle direction specifying device according to Embodiment 1 will be described.
- FIG. 1 shows a configuration of a vehicle direction specifying system including a vehicle direction specifying device according to Embodiment 1 of the present invention.
- the vehicle direction specifying system 120 includes a vehicle direction specifying device 110, a display information storage unit 107, a display control unit 108, and a vehicle display unit 109.
- the vehicle direction identification device 110 is a device that detects a direction in which another vehicle exists from vehicle sounds of other vehicles existing around the own vehicle acquired by a plurality of microphones. 102, a frequency analysis unit 103, a sound source direction specifying unit 104, a reflection information storage unit 105, and a vehicle direction specifying unit 106.
- Other vehicle sound detection microphones 101 and 102 detect other vehicle sounds emitted from other vehicles, such as engine sounds, motor sounds, and traveling sounds of other vehicles.
- noise such as wind noise is also detected at the same time. Therefore, the other vehicle sound detection microphones 101 and 102 generate a mixed sound of vehicle sound and noise. Detect.
- Other vehicle sound detection microphones 101 and 102 are installed, for example, on the left and right bumpers of the vehicle, respectively.
- the other vehicle sound detection microphones 101 and 102 may be installed in other places where vehicle sound can be detected, such as in a side mirror, ceiling, or hood.
- the frequency analysis unit 103 detects the other vehicle sound in order to analyze the phase of the other vehicle sound for each of the plurality of analysis intervals specified by each of the plurality of predetermined frequency intervals and each of the plurality of time intervals.
- the frequency of sound information acquired by the microphones 101 and 102 is analyzed.
- the frequency analysis unit 103 performs a Fourier transform process on the sound information to obtain a frequency signal, an amplitude, a phase, and the like of the sound.
- the frequency analysis unit 103 may use frequency processing by another frequency conversion method such as fast Fourier transform, discrete cosine transform, or wavelet transform instead of the Fourier transform processing.
- the frequency analysis unit 103 may analyze the amplitude of the other vehicle sound.
- the sound source direction specifying unit 104 is a processing unit that specifies a sound source direction that represents the direction of the sound source included in the ambient sound for each analysis section based on the analysis result acquired from the frequency analysis unit.
- the sound source direction specifying unit 104 sets a threshold value for amplitude, and has an amplitude equal to or greater than the threshold value among ambient sounds. It is good also as extracting only a sound as a vehicle sound used as the object which pinpoints a sound source direction.
- the sound source direction specifying unit 104 may remove noise from ambient sounds using a spectral subtraction method or the like, and use the remaining portion as vehicle sound that is a target for specifying the sound source direction.
- FIG. 2 shows a spectrogram showing a result of frequency analysis of an actual vehicle engine sound detected by a microphone.
- the vertical axis represents frequency and the horizontal axis represents time.
- the color density indicates the magnitude of the power of the frequency signal, and the dark color portion indicates the high power portion.
- Vehicle sound is sound that is generated when the engine and muffler vibrate periodically. Therefore, it can be seen that it has a specific frequency component, like a sine wave or the like.
- the sound source direction specifying unit 104 sets a threshold value for the amplitude, and, of the sounds detected by the other vehicle sound detection microphones 101 and 102, only the sound having the amplitude equal to or greater than the threshold value is the target for specifying the sound source direction. It is good also as extracting as another vehicle sound.
- the sound source direction specifying unit 104 may remove noise from the ambient sound using a spectral subtraction method or the like, and use the remaining portion as other vehicle sound that is a target for specifying the sound source direction.
- FIG. 3 illustrates a method in which the sound source direction specifying unit 104 specifies the sound source direction for each analysis section.
- other vehicle sound detection microphones 101 and 102 are installed in the bumper of the host vehicle. When the vehicle sound reaches the microphone, there is a difference in the sound arrival time depending on the direction in which the other vehicle exists with respect to the traveling direction of the host vehicle.
- the installation interval between the other vehicle sound detection microphones 101 and 102 is d (m). Further, it is assumed that the sound source is detected from the direction ⁇ (radian) with respect to the traveling direction of the host vehicle. Further, an arrival time difference, which is a difference between times when the same vehicle sound arrives at the other vehicle sound detection microphones 101 and 102, is assumed to be ⁇ t (s), and a sound speed is assumed to be c (m / s). At this time, the direction ⁇ (radian) can be obtained by the following Equation 1.
- the sound source direction specifying unit 104 corresponds to the arrival time difference between the same sounds included in the ambient sounds detected by the other vehicle sound detection microphone 101 and the other vehicle sound detection microphone 102 for each analysis section. Get the phase difference. Thereafter, the direction of the sound source can be specified by applying the obtained phase difference value to Equation 1 above.
- FIG. 4 shows an example of vehicle sound reflection.
- the vehicle direction specifying device 110 determines that the other vehicle is actually present on the left side when viewed from the own vehicle even though the other vehicle exists on the right side when viewed from the own vehicle. .
- the vehicle direction identification device 110 erroneously identifies the vehicle direction of the other vehicle.
- vehicle detection technology is important in situations where visibility is poor due to obstacles such as walls at intersections.
- vehicle direction identification device 110 notifies the user that the vehicle direction is the reverse direction, it may cause misunderstanding.
- FIG. 5 illustrates the sound source direction in the predetermined analysis section. More specifically, FIG. 5A shows the result of the sound source direction specifying unit 104 specifying the sound source direction for each analysis section.
- FIG. 5 shows the analysis section in which the direction of sound is specified with black fill or diagonal lines, with the vertical axis representing frequency and the horizontal axis representing time.
- the section to be analyzed has a frequency of 5 Hz and a time of 60 ms, and the direction in which the sound source exists in each section is calculated.
- the frequency and time shown in (a) of FIG. 5 are determined for each of a plurality of predetermined frequency intervals and for a plurality of predetermined time intervals as shown in the enlarged view of the region 720. It is divided into. A plurality of analysis intervals are defined as combinations of these frequency intervals and time intervals.
- the filled analysis section shown in FIG. 5A indicates the analysis section in which the sound direction is specified by the sound source direction specifying unit 104.
- the sound source direction of the analysis section 1071 is specified as 60 degrees to the right with respect to the host vehicle (here, the front of the host vehicle is 0 degree, the right from the front is plus, and the left from the front is minus).
- the sound source direction of the analysis section 1072 is specified as 60 degrees to the left with respect to the own vehicle.
- the analysis section in which the sound source direction is specified on the right side with respect to the own vehicle is shown in black, and the analysis section in which the sound source direction is specified on the left side with respect to the own vehicle. They are distinguished by being shown with diagonal lines.
- the direction is calculated for each analysis section filled in this way.
- a value obtained by summing the number of corresponding analysis sections for each sound source direction is referred to as a frequency.
- the frequency distribution for each sound source direction is called a frequency distribution.
- FIG. 5B shows the frequency distribution of the sound source direction included in the other vehicle sound detected by the other vehicle sound detection microphones 101 and 102 between 0 ms and 400 ms.
- the horizontal axis is the direction
- the vertical axis is the frequency.
- the frequency around 60 degrees to the left is the highest, while the frequency around 60 degrees to the right also exists.
- the other vehicle exists on the right side.
- the reflected sound reaches the other vehicle sound detection microphones 101 and 102 from the left side of the own vehicle, and the sound source direction on the left side The frequency is high.
- the vehicle direction identification device 110 identifies the direction with the highest frequency as the position of the vehicle, the actual situation is as shown in FIG. Although the vehicle exists on the right side of the host vehicle, the position of the other vehicle is specified as 60 degrees to the left. As a result, the user may be confused. Further, if the threshold value is lowered, it is specified that there are a plurality of vehicles on both the left and right sides, which also causes confusion for the user.
- FIG. 5 shows the frequency distribution of the sound source direction contained in the other vehicle sound detected by the other vehicle sound detection microphones 101 and 102 between 400 ms and 800 ms.
- FIG. 6 shows a situation where time has elapsed from the situation shown in FIG. 5B and the vehicle has further moved. As shown in FIG. 5C, the frequency around 50 degrees to the right is the highest, while the frequency around 50 degrees to the left also exists. Under an actual environment, a transition as shown in FIG. 5B to FIG. 5C occurs. At first, the frequency of the direction opposite to the direction where the other vehicle actually exists increases due to the influence of the reflected sound, but when the other vehicle approaches the own vehicle, the influence of the reflected sound gradually decreases. Moreover, it shows that the frequency of the sound source direction on the right side where the other vehicle actually exists increases as the sound that directly reaches the host vehicle from the other vehicle or the sound that reaches due to diffraction increases.
- FIG. 5 shows the frequency distribution of the sound source direction contained in the other vehicle sound detected by the other vehicle sound detection microphones 101 and 102 between 800 ms and 1200 ms. This is a situation in which time has further passed from the situation shown in FIG. 5D and the vehicle has further moved. In the case of FIG. 5D, the frequency around 30 degrees to the right where the vehicle exists is the highest, while the influence of the reflected sound is almost eliminated.
- FIG. 5 shows the frequency distribution of the sound source direction contained in the other vehicle sound detected by the other vehicle sound detection microphones 101 and 102 between 1200 ms and 1600 ms. This is a situation in which time has further passed from the situation shown in FIG. 5D and the vehicle has further moved. In the case of FIG. 5 (e), the frequency near 0 degrees front where the other vehicle exists is the highest, while the influence of the reflected sound is almost eliminated.
- FIG. 6 shows an example of the correspondence relationship between the specified direction and the display on the vehicle display unit when the vehicle direction specifying device 110 specifies the direction with the highest frequency as the vehicle location.
- the vehicle display unit is, for example, a liquid crystal display.
- 6 (a) shows the result of the sound source direction specifying unit 104 specifying the sound source direction for each analysis section, as in FIG. 5 (a).
- 6B to 6E show frequency distributions in which the frequency of the sound source direction specified in each time of every 400 ms is shown as a histogram, similar to FIGS. 5B to 5E. That is, (b) in FIG. 6 is from 0 ms to 400 ms, (c) in FIG. 6 is from 400 ms to 800 ms, (d) in FIG. 6 is from 800 ms to 1200 ms, (e) in FIG. 6 is from 1200 ms to 1600 ms, The frequency distribution in each period of the frequency specified from the other vehicle sound detected by the other vehicle sound detection microphones 101 and 102 in each period is shown.
- FIG. 6 shows the image which displays the direction of the other vehicle specified between 0 second and 400 ms on the vehicle display part 109.
- FIG. 6 shows the image which displays on the vehicle display part 109 the direction of the other vehicle specified between 400 ms and 800 ms. Similarly, since there are frequency peaks at 60 degrees to the left and 60 degrees to the right as the sound source direction, it is displayed that there are other vehicles on the left and right.
- FIG. 6 shows the image which displays the direction of the other vehicle specified between 800 ms and 1200 ms on the vehicle display part 109. Since there is a frequency mountain at 30 degrees to the right as the direction of the sound source, when it is displayed that there is a vehicle at the frequency mountain position, the left other vehicle suddenly disappears and only the right other vehicle is displayed. .
- FIG. 6 shows the image which displays on the vehicle display part 109 the direction of the other vehicle specified between 1200 ms and 1600 ms. Since there is a mountain with a frequency of 0 degrees in front as the direction of the sound source, it is displayed that there is a vehicle in front. The other vehicle present on the left disappears, and a display indicating that the other vehicle detected on the right is passing the front while moving is displayed.
- the vehicle direction identification device 110 uses the reflection information accumulated in the reflection information accumulation unit 105 to identify the vehicle direction in consideration of the influence of reflected sound in the vehicle direction identification unit 106. Further, the vehicle direction identification system 120 according to the present embodiment supports safer traveling by notifying the user based on the identification result by the vehicle direction identification device 110. This will be described below with reference to the drawings.
- FIG. 7A shows an example of the reflection information stored in the reflection information storage unit 105.
- the reflection information accumulation unit 105 accumulates reflection information having one or more reflection patterns.
- the reflection information is information regarding the state transition of the frequency distribution of the specified sound source direction when the vehicle sound reflected by a shield or the like arrives when the vehicle direction is specified by the vehicle sound in a real environment.
- (Reflection pattern) is a general term.
- the reflection pattern includes a plurality of state information regarding the frequency and an estimated vehicle direction that is a direction of another vehicle associated with the set of the plurality of state information.
- the reflection pattern includes the first state information relating to the frequency in the first state and the second state relating to the frequency in the second state in which a predetermined time has elapsed from the first state.
- the information includes information and an estimated vehicle direction that is a direction of another vehicle associated with the set of the first state information and the second state information.
- FIG. 7A shows reflection information including four reflection patterns.
- the reflection pattern in the present embodiment has a state transition of a frequency distribution as, for example, a two-state automaton transition model.
- Each state (for example, the first state and the second state) includes information on the frequency band used for calculating the frequency, the range of the target sound source direction, and the frequency range (or variance). Transition between the states is performed at predetermined time intervals.
- the first state information includes the first direction information and the second direction information indicating the range of the sound source direction, the first frequency information indicating the frequency range associated with the first direction information, and And second frequency information indicating a frequency range associated with the second direction information.
- the second state information includes the third direction information and the fourth direction information indicating the range of the sound source direction, and the third frequency information indicating the frequency range associated with the third direction information. And fourth frequency information indicating a frequency range associated with the fourth direction information.
- the reflection information may include a different reflection pattern for each frequency.
- the reflection pattern included in the reflection information in the present embodiment has the following tendency.
- each of the reflection patterns 1 to 4 includes (A) a representative value (average value, each of the frequency ranges indicated by the two frequency information included in one state information of the first state information and the second state information. (Means any statistic such as median, quartile, etc. The same applies hereinafter.)
- the absolute value of the difference is smaller than the first difference determined in advance, and (B) the other state information
- the absolute value of the difference between the representative values of the respective frequency ranges indicated by the two frequency information included in is larger than the second difference determined in advance so as to be larger than the first difference.
- the frequency of reflected sound and direct sound includes direct sound and diffracted sound; the same shall apply hereinafter. From the state where the number is the same, the state where the frequency of the direct sound exceeds the frequency of the reflected sound by approaching the vicinity of the front of the host vehicle again leads to a state where the frequency of the reflected sound and the direct sound is almost the same again. This is the tendency of the reflection pattern.
- the reflection patterns 3 and 4 have (A) the absolute value of the difference between the representative value in the frequency range indicated by the first frequency information and the representative value in the frequency range indicated by the second frequency information. And (B) the absolute value of the difference between the representative value of the frequency range indicated by the third frequency information and the representative value of the frequency range indicated by the fourth frequency information is the second value.
- the difference is larger than the difference, the direction corresponding to the direction information associated with the frequency information having the larger representative value of the third frequency information and the fourth frequency information is included as the estimated vehicle direction. .
- the reflection patterns 3 and 4 show a case where another vehicle existing on the right or left of the host vehicle moves (approaches) in the front direction. This is a state in which the frequency of the reflected sound and the direct sound is almost the same. To the state where the frequency of the direct sound exceeds the frequency of the reflected sound. Further, the direction of the vehicle is considered to be a direction in which direct sound reaches. Therefore, the reflection patterns 3 and 4 have the above tendency.
- the reflection patterns 1 and 2 have (A) the absolute value of the difference between the representative value of the frequency range indicated by the first frequency information and the representative value of the frequency range indicated by the second frequency information is the second value. And (B) the absolute value of the difference between the representative value of the frequency range indicated by the third frequency information and the representative value of the frequency range indicated by the fourth frequency information is the first value.
- the difference is smaller than the difference, the direction corresponding to the direction information associated with the frequency information having the smaller representative value of the first frequency information and the second frequency information is included as the estimated vehicle direction. .
- the reflection patterns 1 and 2 show a case where another vehicle existing near the front of the host vehicle moves (moves away) to the left and right blind spots. This is a state in which the frequency of the direct sound is larger than the reflected sound. Therefore, the frequency of the reflected sound and the direct sound corresponds to the transition to the almost same number of states.
- the direction of the vehicle is considered to have moved in the opposite direction across the front of the host vehicle from the direction in which the direct sound arrived in the first state. Therefore, the reflection patterns 1 and 2 have the above tendency.
- the vehicle direction specifying unit 106 satisfies a condition in which a plurality of sound source directions in the first state satisfy the condition indicated as the first state information, and a plurality of sound source directions in the second state indicate as the second state information.
- filling it determines with another vehicle sound being a reflected sound, and specifies the estimated vehicle direction matched with the group of 1st state information and 2nd state information as a direction of another vehicle.
- the vehicle direction specifying unit 106 transitions the internal state of the reflection pattern to the second state. Further, after the transition to the second state, the other vehicle sound acquired by the other vehicle sound detection microphones 101 and 102 for a predetermined time (for example, for the subsequent 400 ms) satisfies the condition indicated by the second state information. To do. In this case, the vehicle direction identification unit 106 determines that the input other vehicle sound has been received by the reflection pattern. As a result, the vehicle direction specifying unit 106 estimates that the estimated vehicle direction included in the reflection pattern that received the other vehicle sound is the direction of the other vehicle.
- a predetermined time for example, 400 ms in FIG. 7A
- the frequency band of other vehicle sound used is 50 Hz to 350 Hz.
- state 2 (also referred to as second state), (A) the frequency band of other vehicle sound used is similarly 50 Hz to 350 Hz, and (B) right 60 ° ( ⁇ 15 °) sound source The frequency is 300 ( ⁇ 150) in the direction range, and (C) the frequency is 300 ( ⁇ 150) in the sound source direction range of 60 degrees ( ⁇ 15 degrees) left. It has second state information.
- the time interval for transition from the first state to the second state is 400 ms.
- the reflection pattern 1 also has estimated vehicle direction information indicating that the vehicle direction is actually left.
- the vehicle direction identification unit 106 calculates the frequency distribution of the direction as shown in FIG.
- the frequency is within 500 ( ⁇ 250) within ( ⁇ 15 degrees), and the frequency is within 100 ( ⁇ 50) within 60 degrees ( ⁇ 15 degrees) on the left. Therefore, the acceptance condition of the first state is satisfied. Therefore, the transition is made to the second state.
- the direction is within 60 degrees ( ⁇ 15 degrees) on the right, the frequency is within 300 ( ⁇ 250), and the frequency within 60 degrees ( ⁇ 15 degrees) on the left is within 300 ( ⁇ 50). . Therefore, the acceptance condition of the second state is satisfied. Therefore, the other vehicle sound is accepted as a sound that satisfies the transition pattern indicating the reflection pattern 1. Therefore, the vehicle direction identification unit 106 determines that this transition is the reflection pattern 1.
- the vehicle direction specifying unit 106 specifies the direction of the other vehicle by comparing the plurality of sound source directions specified by the sound source direction specifying unit 104 with the reflection information.
- the vehicle direction specifying unit 106 calculates the frequency for a plurality of sound source directions included in the other vehicle sound acquired in the first state that is the first time. Next, among the calculated frequencies, (A) the sum of the frequencies of the sound source directions included in the range indicated by the first direction information is included in the range indicated by the first frequency information, and (B ) When the sum of the frequencies of the sound source directions included in the range indicated by the second direction information is included in the range indicated by the second frequency information, it is determined in advance after the first time has elapsed. The frequency is calculated again for a plurality of sound source directions included in the other vehicle sound acquired in the second state, which is the second time until the time elapses.
- the vehicle direction specifying unit 106 includes (C) the sum of the frequencies of the sound source directions included in the range indicated by the third direction information among the frequencies calculated again, in the range indicated by the third frequency information. And (D) the sum of the frequencies of the sound source directions included in the range indicated by the fourth direction information is included in the range indicated by the fourth frequency information, the other vehicle sound is reflected as a reflected sound. Judge that there is. Furthermore, the estimated vehicle direction associated with the set of the first state information and the second state information is specified as the direction of the other vehicle.
- specification part 106 will receive only a direct sound from another vehicle, when the other vehicle sound acquired in the predetermined period does not correspond to any reflection pattern accumulate
- FIG. 8 shows the reflection determination and vehicle direction identification processing by the vehicle direction identification unit 106.
- 8 (a) shows the result of the sound source direction specifying unit 104 specifying the sound source direction for each analysis section, as in FIG. 5 (a).
- 8B to 8E show the frequency of the sound source direction as a histogram for the other vehicle sounds acquired at each time of 400 ms, as in FIGS. 5B to 5E.
- the vehicle direction specifying unit 106 first calculates the sound source direction and frequency for each predetermined time.
- the frequency band used for specifying the vehicle direction is 50 Hz to 350 Hz
- the frequency section of the analysis section is 5 Hz
- the time section of the analysis section is 40 ms.
- 600 sections (pieces) (600 (350 ⁇ 50) / 5 ⁇ 400/40) analysis sections exist in 400 ms.
- FIG. 8B is a histogram showing the frequency of the sound source direction in the other vehicle sound acquired by the other vehicle sound detection microphones 101 and 102 between 0 seconds and 400 ms shown in FIG. 8A.
- the vehicle direction specifying unit 106 refers to the reflection information and determines whether the calculated frequency corresponds to any reflection pattern. For example, in the case of FIG. 8B, it is assumed that the frequency of left 60 degrees ( ⁇ 60 degrees) ( ⁇ 15 degrees) is 500. Further, it is assumed that the frequency of 60 degrees to the right ( ⁇ 15 degrees) is 100. In this case, the reflection information shown in FIG. 7A corresponds to the state 1 of the reflection pattern 2.
- the vehicle direction specifying unit 106 calculates the frequency of the sound source direction in the vehicle sound acquired between 400 ms and 800 ms.
- FIG. 8C is a histogram showing the frequency in the direction from 400 ms to 800 ms.
- the vehicle direction specifying unit 106 refers to the reflection information and determines whether or not the calculated frequency corresponds to the state 2 of the reflection pattern 2. For example, in the case of (c) in FIG. 8, it is assumed that the frequency of left 60 degrees ( ⁇ 60 degrees) (+15 degrees) is 300. Also, assume that the frequency of 60 degrees to the right ( ⁇ 15 degrees) is 300. In this case, the reflection information shown in FIG. In other words, the vehicle direction specifying unit 106 determines that the time transition of the frequency distribution of the other vehicle sound coincides with the transition from the state 1 to the state 2 of the reflection pattern 2.
- the vehicle direction specifying unit 106 can determine that the other vehicle exists on the right side of the host vehicle.
- the display information storage unit 107 stores information related to the display mode used when the display control unit 108 displays the presence of another vehicle on the vehicle display unit 109. That is, the display information accumulation unit 107 accumulates a plurality of display modes for specifying a mode for displaying other vehicles on the vehicle display unit 109.
- FIG. 9A is an example of a display that the display control unit 108 displays on the vehicle display unit 109 when the vehicle direction identification unit 106 determines that there is another vehicle on the right side of the blind spot where reflection occurs.
- the vehicle is shown as a hatched circle behind the right-hand side shield against the host vehicle approaching the intersection.
- a message that prompts the user to pay attention such as “Bad Blind Vehicle Caution”, is displayed.
- FIG. 9B is an example of a display that the display control unit 108 displays on the vehicle display unit 109 when the vehicle direction specifying unit 106 determines that another vehicle exists on the left side of the host vehicle.
- the vehicle is shown as a hatched circle behind the left-hand side shield against the host vehicle approaching the intersection.
- a message that prompts the user to pay attention such as “Bad Blind Vehicle Caution”, is displayed.
- the display control unit 108 This is an example of displaying the position of the vehicle on the vehicle display unit 109.
- the vehicle direction identifying unit 106 determines that the other vehicle sound is not a reflected sound
- the direction in which the other vehicle is present may not be a blind spot, so the display control unit 108 displays the vehicle display unit 109.
- a display mode that does not display a warning message may be used.
- the display control unit 108 causes the vehicle display unit 109 to display the other vehicle in the first display mode when the vehicle direction identification unit 106 determines that (A) the other vehicle sound is a reflected sound, (B) If it is determined that the other vehicle sound is not a reflected sound, the other vehicle may be displayed on the vehicle display unit 109 in a second display mode different from the first display mode. Specifically, the display control unit 108 may change the display mode to be used depending on whether the reflected sound is shown in FIG. 9A or 9B and the case shown in FIG. 9C where there is no reflected sound. As a result, the vehicle direction identification system 120 can display more according to the user's travel.
- the display control unit 108 may use a display mode in which an image of the vehicle is displayed in a specified direction instead of the hatched circle.
- the display control unit 108 performs control to switch and display the display information stored in the display information storage unit 107 according to whether or not the reflected sound is determined by the vehicle direction specifying unit 106. That is, the display control unit 108 can display a different display on the vehicle display unit 109 by changing the display mode depending on whether or not the sound is a reflected sound.
- the vehicle display unit 109 is, for example, a car navigation or mobile communication device screen (liquid crystal screen or the like), and displays the direction of another vehicle specified by the vehicle direction specifying device 110.
- the display control unit 108 selects a display mode (right blind spot mode) for displaying an image indicating a blind spot vehicle in the right direction together with a warning message, and causes the vehicle display unit 109 to display a display screen as shown in FIG. 9A.
- a display mode right blind spot mode
- the display control unit 108 moves to the left along with the warning message.
- a display mode (left blind spot mode) for displaying an image showing a blind spot vehicle is selected, and a display screen as shown in FIG. 9B is displayed on the vehicle display unit 109.
- the display control unit 108 displays an image indicating the other vehicle in the specified direction.
- a display mode (direction display mode) to be performed is selected, and a display screen as shown in FIG. 9C is displayed on the vehicle display unit 109.
- the frequency distribution of other vehicle sounds acquired during the period from 0 ms to 400 ms is set to the first state
- the frequency distribution of other vehicle sounds acquired during the period from 400 ms to 800 ms is set to the second state.
- the vehicle direction identification unit 106 identifies the transition from the first state to the second state as the reflection pattern 2 in the reflection information shown in FIG. 7A.
- the reflection pattern 2 is a reflection pattern in which another vehicle exists on the right side. Therefore, the display control unit 108 selects a display mode for displaying that a vehicle is present on the right side of the blind spot as shown in FIG. 9A.
- the sound sources are distributed with high frequency in the direction of 30 degrees to the right. Since another vehicle approaches, the influence of direct sound and diffracted sound increases, and the direction in which the other vehicle actually exists is calculated as a distribution.
- the distribution from 800 ms to 1200 ms does not correspond to any reflection pattern. Therefore, when one direction of the vehicle is specified not by reflection information but by a difference in arrival time of sounds, the display control unit 108 displays other vehicles in the specified direction in the display mode shown in FIG. 9C, for example. The displayed image is displayed on the vehicle display unit 109.
- the display control unit 108 displays an image indicating another vehicle in the specified direction (for example, near the front of the host vehicle) in the direction display mode similar to FIG. 9C. To display.
- the other vehicle sound detection microphones 101 and 102 detect the other vehicle sound (step S101).
- the frequency analysis unit 103 acquires the detected vehicle sound and performs frequency analysis (step S102).
- the sound source direction specifying unit 104 specifies the sound source direction for each of the plurality of analysis sections based on the difference in sound arrival time (step S103).
- the vehicle direction specifying unit 106 refers to the reflection information stored in the reflection information storage unit 105 (step S104). Then, using the information on the sound source direction specified in step S103, the vehicle direction specifying unit 106 determines whether or not the vehicle sound is a reflected sound, and further specifies the direction of the other vehicle (step S105).
- FIG. 11 shows the flow of detailed processing in step S105.
- the vehicle direction specifying unit 106 first calculates the frequency for each sound source direction (step S201). For example, as shown in FIG. 8B, the frequency (and its distribution) for each sound source direction is calculated.
- the vehicle direction specifying unit 106 loops for each reflection pattern included in the reflection information (step S202), and determines whether the distribution of the sound source direction corresponds to the state 1 of the predetermined reflection pattern (step S203). ).
- the vehicle direction specifying unit 106 selects one reflection pattern from the plurality of reflection patterns stored in the reflection information storage unit 105, and performs the following loop processing on this reflection pattern (step S202). .
- the vehicle direction specifying unit 106 determines whether or not the frequency distribution in the sound source direction satisfies the condition indicated as the state 1 in the selected reflection pattern (step S203).
- the vehicle direction identification unit 106 uses the frequency in the other vehicle sound acquired in the next predetermined time (for example, for 400 ms). The distribution is referred to (step S204). Thereafter, the vehicle direction specifying unit 106 determines whether or not the frequency distribution satisfies the condition indicated as the state 2 in the selected reflection pattern (step S205). That is, the vehicle direction specifying unit 106 performs matching between the temporal transition of the frequency distribution and the state transition model shown as the reflection pattern.
- the vehicle direction identification unit 106 determines that the other vehicle sound is a reflection sound of the selected reflection pattern. It is specified that there is (step S207). Further, the estimated vehicle direction included in the selected reflection pattern is specified as the direction of the other vehicle.
- the vehicle direction identification The unit 106 selects another reflection pattern stored in the next reflection information storage unit 105, and performs a similar loop process (step S206).
- state 1 may be looped a predetermined number of times and collated with a reflection pattern that is a state transition model including self-transition that transitions to state 2.
- the display control unit 108 refers to the display mode stored in the display information storage unit 107 (step S106) and selects the display mode (step S107). Finally, the vehicle display unit 109 displays vehicle information using the selected display mode (step S108).
- the vehicle direction identifying device 110 displays a display indicating the presence of another vehicle when the frequency distribution conforms to the state transition model transitioning from state 1 to state 2 included in the reflection pattern. To present. For example, when the frequency distribution of the other vehicle sound corresponds to the state transition model defined as the reflection pattern 2 shown in FIG. 7A, the vehicle direction specifying device 110 has a blind spot vehicle on the right side as shown in FIG. 9A. Display that it exists.
- the vehicle direction identifying device 110 causes a reflection at a blind spot such as an intersection by determining whether or not the two directions match, such as transition from state 1 to state 2.
- matching can be performed with very high accuracy.
- the display method is not limited to this.
- the vehicle direction specifying device 110 may display the vehicle position and the message to the user when the frequency distribution matches the state 1.
- FIG. 12 shows another example of the correspondence between the specified direction and the display on the vehicle display unit.
- FIG. 12 (a) shows the result of analyzing the direction in which the sound source exists for each analysis section, as in FIG. 5 (a).
- (B) of FIG. 12 shows the frequency of the sound source direction included in the other vehicle sound acquired from 0 second to 400 ms as a histogram.
- the frequency of left 60 degrees ( ⁇ 60 degrees) ( ⁇ 15 degrees) is 300.
- the frequency of 60 degrees to the right ( ⁇ 15 degrees) is 300.
- the reflection information shown in FIG. 7A corresponds to the state 1 of the reflection pattern 4 or the state 1 of the reflection pattern 3.
- the vehicle direction specifying unit 106 calculates the frequency of the sound source direction from 400 ms to 800 ms.
- FIG. 12C shows the frequency of the sound source direction from 400 ms to 800 ms as a histogram.
- the vehicle direction specifying unit 106 refers to the reflection information and determines whether the frequency distribution in the sound source direction corresponds to any reflection pattern. For example, in the case of (c) in FIG. 12, it is assumed that the frequency of 60 degrees left (-60 degrees) ( ⁇ 15 degrees) is 100. Further, it is assumed that the frequency of 60 degrees to the right ( ⁇ 15 degrees) is 500.
- the reflection information shown in FIG. 7A corresponds to the state 2 of the reflection pattern 4. In other words, it is determined that the reflection pattern 4 matches the model that transitions from state 1 to state 2.
- the vehicle direction specifying unit 106 can determine that the vehicle is on the right side. Accordingly, as shown in FIG. 12G, the vehicle display unit 109 displays that the vehicle is on the right side.
- the vehicle display unit 109 displays that there is a vehicle in the blind spot. At intersections where the left and right are not visible due to shielding, vehicle noise is detected on the side opposite to the actual vehicle as shown in FIG. Then, by referring to the transition of the frequency of the predetermined time as shown in FIG. 12C, the vehicle direction specifying device 110 can specify the direction in which the actual vehicle exists.
- the vehicle direction specifying device 110 may notify the user when the state 1 is satisfied. This leads to alerting and has the effect of promoting safer driving support.
- the display control unit 108 changes the presence / absence of the display and the manner according to the driver's needs to promote the driver's safe driving support. Is also possible.
- the display control unit 108 may perform display control such as displaying a notification message on the vehicle display unit 109 when it corresponds to reflection information and not displaying anything when it does not correspond to reflection information.
- a sound pressure threshold value may be set, or a microphone may be installed in the vehicle and the display control unit 108 may determine.
- FIG. 13 shows still another example of the correspondence between the specified direction and the display on the vehicle display unit in the same scene as in FIG.
- the vehicle direction specifying unit 106 determines that another vehicle exists on the right side of the host vehicle from the transition of the distribution from 0 second to 400 ms and from 400 ms to 800 ms. It can be determined that the other vehicle sound is reflected by the horizontal shield.
- the vehicle display unit 109 has another vehicle, and the driver shows a display on the right side of the host vehicle.
- the vehicle direction specifying unit 106 has passed the vehicle 30 degrees to the right and 0 degrees to the front. Can be judged.
- the display control unit 108 may display a map and the current position of the host vehicle as shown in (h) and (i) of FIG.
- the display control unit 108 displays the vehicle position on the vehicle display unit 109 in a mode for displaying a map, as shown in FIG.
- the vehicle display unit 109 displays a display indicating the presence of the vehicle as illustrated in (f) and (g) of FIG. In order to perform this, the display mode of the vehicle display unit 109 may be switched.
- Some drivers do not like notifying excessive notifications or notifications for a long time. Therefore, as shown in the present embodiment, it is possible to notify only according to the characteristics of each driver, such as notifying only the approach or presence of the vehicle and returning to the normal map display mode again.
- the frequency of other vehicles may correspond to state 1 of reflection pattern 1 and does not correspond to state 2, or may correspond to state 1 of reflection pattern 2 and may not correspond to state 2.
- the vehicle display unit 109 does not display the presence of the vehicle. This is because some drivers do not like notifying excessive notifications or notifying for a long time, depending on the driver. In this case, only the approach or presence of the vehicle is notified, and the vehicle after passing or the vehicle moving away rather than approaching is not displayed. In this way, notification according to the characteristics of each driver is possible.
- a reflection pattern corresponding to the case of moving away from the vehicle may be provided in the reflection information storage unit 105 and the display of the vehicle display unit 109 may be controlled based on the determination result by the vehicle direction specifying unit 106 .
- state 1 may continue for a while and then transition to state 2 in some cases. That is, the state transitions from state 1 to state 1 and then to state 2. Therefore, as described above, as shown in FIG. 7B, the reflection pattern may include a steady state that repeats a certain state by having a self-transition.
- each reflection pattern has been described as having two states, but the number of states may be three, and the number of states is not limited. Increasing the number of states increases the number of (matching) processes that the vehicle direction identifying device 110 should perform. However, by accumulating the reflection pattern that reflects the actual frequency distribution more accurately in the reflection information accumulation unit 105, the vehicle direction identification device 110 can improve the identification accuracy of the vehicle direction.
- the frequency of the direction included in the reflection pattern is expressed by a number (that is, an absolute expression).
- the reflection model may be expressed as a ratio of the frequency in the direction in which the other vehicle exists and the frequency in the opposite direction.
- the sound pressure of the other vehicle sound to reach may be different.
- the reflection transition patterns may have the same tendency, they can be aggregated by expressing them as a ratio. As a result, the vehicle direction specifying unit 106 may be able to determine reflection more accurately.
- each of the plurality of reflection patterns may have different direction information and frequency information for each frequency band.
- engine sound mainly appears in a low frequency band such as 50 Hz to 350 Hz. This engine sound has a harmonic structure.
- tire sounds appear in a relatively high frequency band such as 700 Hz to 1000 Hz. In general, tire noise appears throughout the frequency. Therefore, the reflection information has a reflection pattern for each frequency band, and by changing the frequency threshold value for each reflection pattern, the vehicle direction specifying unit 106 can specify the direction of the vehicle sound more accurately. Become. Also, the higher the frequency, the greater the influence of reflection. Therefore, weighting may be performed on the assumption that a sound having a higher frequency has a greater influence on changes due to frequency and transition.
- a sound pressure threshold value corresponding to each may be provided. That is, in general, since the tire sound has a higher frequency than the engine sound, the frequency tends to increase. Therefore, a higher sound pressure (that is, amplitude) threshold is set as the frequency is higher, and the sound source direction specifying unit 104 determines whether the amplitude of the other vehicle sound is less than the sound pressure threshold for each analysis section. May be. At this time, if the amplitude is less than the threshold, the sound source direction specifying unit 104 does not specify the vehicle direction for the analysis section, thereby excluding the analysis section from other vehicle sounds for specifying the vehicle direction, etc. Can be considered.
- the sound source direction specifying unit 104 may determine whether the amplitude of the other vehicle sound is less than a sound pressure threshold value that is a sound pressure threshold value for each analysis section. As a result, if the amplitude is less than the sound pressure threshold, the vehicle direction is not specified for the analysis section.
- the sound pressure threshold is preferably set to a larger value as the frequency corresponding to the analysis section is higher.
- the vehicle direction specifying device 110 is specified as the vehicle direction by the appearance of frequency distribution peaks at two locations, the actual vehicle direction and the opposite direction, due to reflection. Therefore, the reflection pattern in which the frequency distribution in the vehicle direction transitions as the vehicle moves may be accumulated as reflection information, and is not limited to that shown in the present embodiment. If it reflects the above technical idea, it naturally belongs to the scope of the invention.
- the user detects whether or not the other vehicle sound is a reflected sound by using the sound detected by the reflection on the side opposite to the actual direction of the other vehicle, and specifies the position of the other vehicle.
- the technology to display the information necessary for.
- a sound detected by reflection on the side opposite to the actual direction of the other vehicle is detected, and it is determined whether the sound is a reflected sound and the position of the other vehicle is specified. .
- FIG. 14 shows a system configuration of a vehicle direction specifying system 120A including the vehicle direction specifying device 110A in the present embodiment.
- symbol is provided about the component similar to FIG. 1, and description is abbreviate
- the frequency analysis unit 103A analyzes the phase and amplitude of the other vehicle sound for each of the plurality of analysis sections.
- the vehicle frequency specifying unit 111 specifies a reference frequency band of a predetermined vehicle sound based on information analyzed for each analysis section which is a predetermined frequency and a predetermined time segment in the sound source direction specifying unit 104.
- the vehicle frequency specifying unit 111 sets the representative value in all time intervals of the frequency corresponding to the analysis interval having the Nth largest amplitude among the plurality of analysis intervals corresponding to each of the plurality of time intervals as the Nth reference.
- a frequency a frequency band having a predetermined width around the Nth reference frequency is specified as the Nth reference frequency band.
- the vehicle direction specifying unit 106A specifies the direction of the other vehicle by comparing the plurality of sound source directions corresponding to the analysis section included in the Nth reference frequency band with the reflection information.
- FIG. 15 shows the positional relationship of the vehicle assumed in the present embodiment.
- the case where there is one other vehicle in the shielding blind spot on the right side has been described as an example.
- the vehicle direction specifying device 110 uses the reflection information to determine whether the vehicle direction specifying unit 106 is a reflected sound and specify the vehicle direction.
- the vehicle direction identification device 110 even when there is no shielding object or the influence of reflection is small, if there are vehicles on both the left and right sides, the vehicle sound is detected from both sides. As a result, the vehicle direction identification device 110 according to the first embodiment may not be able to identify whether the sound is a reflected sound. Therefore, in the vehicle direction identification device 110A according to the present embodiment, the vehicle frequency identification unit 111 identifies a reference frequency band of a predetermined vehicle sound, so that one vehicle sound is reflected and arrives. Or, as shown in FIG. 15, it is distinguished whether the vehicle sound of two vehicles actually present on both sides has reached.
- FIG. 16 shows the direction of the sound source for each predetermined frequency and time. More specifically, FIG. 16A shows the result of the sound source direction specifying unit 104 specifying the sound source direction for each analysis section in the situation where one vehicle is present in the right shielding blind spot as shown in FIG. Indicates.
- the vertical axis is frequency and the horizontal axis is time.
- a black-out section indicates a section whose direction is calculated on the right side.
- a section indicated by a black diagonal line indicates a section whose direction is calculated on the left side by reflection.
- the vehicle sound is a sound generated when the engine vibrates periodically. Therefore, like a sine wave or the like, it has a specific frequency component.
- a vehicle sound having a predetermined sound pressure at 60 Hz is emitted.
- Each of these sounds has a reflected sound that arrives from the left side and a direct sound that arrives from the right side, and both the right and left directions are calculated in the frequency band of 60 Hz.
- the vehicle frequency specifying unit 111 uses the information analyzed for each analysis section (that is, the amplitude and the sound source direction for each analysis section) in the frequency analysis unit 103A and the sound source direction specifying unit 104 to reference other vehicle sounds.
- the frequency band is specified by the following procedure.
- the vehicle frequency specifying unit 111 has the highest sound pressure (that is, the amplitude is the highest among the analysis sections in which the sound source direction is specified (for example, the analysis sections filled with black or diagonal lines in FIG. 16A). Identify the highest frequency as the reference frequency.
- the “frequency with the highest sound pressure (the largest amplitude)” means, for example, a representative value (for example, an average value) in all time intervals of the frequency corresponding to the analysis interval having the maximum amplitude in each time interval. Alternatively, it may be specified as a median value or the like.
- the frequency may be specified.
- N may be, for example, the number of other vehicles to be specified, or may be twice the number of other vehicles in order to deal with the case where a harmonic of other vehicle sounds appears.
- the reference frequency is specified as 60 Hz.
- the vehicle frequency specifying unit 111 specifies the reference frequency band as a range including an allowable range above and below the frequency (for example, plus or minus ( ⁇ 5 Hz)) around the reference frequency 60 Hz.
- the vehicle direction identification unit 106A calculates the frequency distribution in the sound source direction at predetermined time intervals for other vehicle sounds included in the reference frequency band, and determines whether the reflected sound is based on the transition of the frequency distribution. And determining the vehicle direction.
- the reason why the vehicle frequency specifying unit 111 provides an allowable range above and below the reference frequency is that the reference frequency gradually changes depending on the speed, unlike the sound of a musical instrument. By providing an allowable range, it becomes relatively easy to follow even if there is a change in speed.
- (B) of FIG. 16 is a frequency distribution obtained by calculating a distribution of sound source directions included in a reference frequency band specified as a range of 55 Hz to 65 Hz in a time segment between 0 seconds and 400 ms.
- (C) of FIG. 16 is a frequency distribution obtained by calculating a distribution of sound source directions included in a reference frequency band specified as a range of 55 Hz to 65 Hz in a time segment between 400 ms and 800 ms.
- the frequency distribution in the direction of the sound source has changed such that the distribution on the right side becomes larger ((c) in FIG. 16) after the sound sources are distributed on the left and right sides of the own vehicle ((b) in FIG. 16).
- the vehicle direction specifying unit 106A can determine that another vehicle exists on the right side of the host vehicle by comparing the transition of the frequency distribution with the reflection information.
- FIG. 17 illustrates a case in which other vehicles exist on the left and right sides of the own vehicle as shown in FIG. 15 and frequency distribution peaks are detected on both sides by left and right vehicle sounds.
- FIG. 17 shows the result of the sound source direction specifying unit 104 specifying the sound source direction for each analysis section, as in (a) of FIG.
- the vertical axis is frequency and the horizontal axis is time. If the distribution of the sound source direction is calculated as it is, the direction of the sound source is distributed to the left and right of the host vehicle as shown in FIGS. 17 (b) and 17 (c). However, this is not the influence of reflected sound, but is because there are actually other vehicles on the left and right sides of the host vehicle. However, as it is, the vehicle direction identifying device 110 cannot determine whether or not the influence is due to the reflected sound.
- the vehicle frequency specifying unit 111 specifies the reference frequency band of the vehicle sound based on the information analyzed for each analysis section. For example, the frequency with the highest sound pressure and the second highest frequency in the section specified as the vehicle sound (for example, the analysis section filled with black or diagonal lines in FIG. 17A) is specified as the reference frequency. Based on the above, two reference frequency bands are specified. In the case of FIG. 17A, the vehicle frequency identification unit 111 identifies the reference frequency as 60 Hz and 80 Hz, and identifies the reference frequency band 1702 and the reference frequency band 1701 as the reference frequency bands corresponding to them.
- the vehicle direction specifying unit 106A specifies whether or not it is a reflected sound based on the transition of the frequency distribution for the reference frequency band 1701 and the reference frequency band 1702.
- the vehicle direction specifying unit 106A refers to only the reference frequency band 1701 of 80 Hz ( ⁇ 5), only the region painted black, that is, the sound source direction on the right side of the own vehicle is detected. Further, regarding the sound source directions included in the reference frequency band 1701 and the reference frequency band 1702, even if the vehicle direction identification unit 106A refers to the transition of the frequency distribution based on the reflection information, it does not belong to any reflection pattern. Therefore, the vehicle direction specifying unit 106A can determine that two vehicles are actually present on the left and right sides of the own vehicle (that is, any other vehicle sound is a direct sound).
- the vehicle direction specifying unit 106A treats the direction of each other vehicle sound as the same distribution, I cannot judge whether or not.
- the vehicle direction specifying unit 106A can determine whether the sound is a reflected sound or not. Can be specified.
- the vehicle direction specifying unit 106A refers to the frequency distribution and the transition of the frequency distribution with respect to the sound source direction included in one specific reference frequency band that is the vehicle sound of the vehicle. The vehicle direction can be accurately identified.
- FIG. 18 shows a flow of processing performed by the vehicle direction specifying device according to the second embodiment.
- step S101 vehicle sounds are detected by other vehicle sound detection microphones 101 and 102 (step S101).
- step S102 frequency analysis is performed in the frequency analysis unit 103A (step S102).
- the sound source direction specifying unit 104 specifies the sound source direction for each analysis section based on the sound arrival time difference (step S103).
- the vehicle frequency identification unit 111 identifies the vehicle reference frequency band. For example, the frequency with the highest sound pressure is set as the reference frequency, and the allowable range (for example, ⁇ 5 Hz) is specified as the reference frequency band of the vehicle.
- the vehicle direction specifying unit 106A refers to the reflection information stored in the reflection information storage unit 105 (step S104). Then, using the information on the sound source direction specified in step S103 and the reference frequency band specified in step S110, the vehicle direction specifying unit 106A determines whether the sound is a reflected sound for the sound source direction included in the reference frequency band. Then, the vehicle direction is specified (step S105).
- step S105 the detailed processing flow in step S105 will be described with reference to FIG.
- the vehicle direction specifying unit 106A first calculates the frequency for each sound source direction (step S201). For example, as shown in FIG. 8B, the frequency (and its distribution) for each sound source direction is calculated.
- the vehicle direction identification unit 106A loops for each reflection pattern included in the reflection information (step S202), and determines whether or not the distribution of the sound source direction corresponds to the state 1 of the predetermined reflection pattern (step S203). ).
- the vehicle direction specifying unit 106A selects one reflection pattern from the plurality of reflection patterns stored in the reflection information storage unit 105, and performs the following loop processing on this reflection pattern (step S202). .
- the vehicle direction specifying unit 106A determines whether or not the frequency distribution in the sound source direction satisfies the condition indicated as the state 1 in the selected reflection pattern (step S203).
- the vehicle direction identification unit 106A uses the frequency in the other vehicle sound acquired in the next predetermined time (for example, for 400 ms). The distribution is referred to (step S204). Thereafter, it is determined whether or not the frequency distribution satisfies the condition indicated as the state 2 in the selected reflection pattern (step S205). That is, the vehicle direction identification unit 106A performs matching between the temporal transition of the frequency distribution and the state transition model shown as the reflection pattern.
- the vehicle direction identification unit 106A determines that the other vehicle sound is the reflected sound of the selected reflection pattern. (Step S207). Further, the estimated vehicle direction included in the selected reflection pattern is specified as the direction of the other vehicle.
- the vehicle direction identification The unit 106A selects another reflection pattern stored in the next reflection information storage unit 105, and performs a similar loop process (step S206).
- the vehicle direction specifying unit 106A is described as collating the transition of the actual frequency distribution with the transition from the state 1 to the state 2 shown as the reflection pattern.
- the display control unit 108 refers to the display mode stored in the display information storage unit 107 (step S106) and selects the display mode (step S107). Finally, the vehicle display unit 109 displays vehicle information using the selected display mode (step S108).
- the vehicle direction identification device 110A calculates the reference frequency of the vehicle using sound pressure (that is, amplitude), and in a reference frequency band including an allowable error above and below the specified reference frequency. The frequency was determined. However, the vehicle frequency specifying unit 111 may obtain the peak of the reference frequency as needed, and calculate the frequency in the frequency section corresponding to the reference frequency while following the reference frequency that changes depending on the speed. By tracking the timbre according to the speed of the other vehicle, the vehicle direction identifying device 110A can focus on only the other vehicle and more clearly distinguish the direct sound and the reflected sound of the vehicle sound. The determination of whether or not it is a sound and the specific accuracy of the vehicle direction are further improved.
- a plurality of reference frequency bands may be specified as a result of having peaks in a plurality of frequency bands corresponding to overtones and half overtones.
- a low frequency band such as around 50 Hz or around 100 Hz often has a constant tone. Therefore, even if the vehicle direction identifying device 110A according to the present embodiment identifies a plurality of reference frequency bands from the timbre of one vehicle sound due to the influence of overtones or the like, accurate reflected sound and The fact that the vehicle direction can be specified will be described below with reference to FIGS. 19 and 20.
- FIG. 19 illustrates the direction of the sound source for each predetermined frequency and time.
- FIG. 19A shows an analysis section in which the sound direction is specified by the sound source direction specifying unit 104 in the situation where one vehicle is present in the right shielding blind spot as shown in FIG.
- the vertical axis represents frequency and the horizontal axis represents time.
- FIG. 19 (a) it can be seen that one other vehicle emits a vehicle sound having a predetermined sound pressure at around 60 Hz and around 120 Hz.
- Each of the vehicle sounds has both a reflected sound that arrives from the left side of the host vehicle and a direct sound that arrives from the right side (that is, the right side and the left side of the host vehicle in both the 60 Hz and 120 Hz frequency bands). Both sound source directions are calculated).
- the vehicle frequency specifying unit 111 specifies the reference frequency band of the vehicle sound based on the information (for example, amplitude) analyzed for each analysis section. For example, a frequency that is higher than a predetermined threshold in the sound pressure of a section specified as vehicle sound (section filled with black or diagonal lines) is set as a reference frequency, and a reference frequency including a certain width around the reference frequency Identify the belt.
- the vehicle direction specifying unit 106A refers to the transition of the frequency distribution in the sound source direction in each frequency band, determines whether the sound is a reflected sound, and specifies the vehicle direction.
- FIG. 20 illustrates a case where there are one vehicle on each side of the host vehicle as shown in FIG. 15 and vehicle sounds are detected on both sides of the host vehicle by the left and right vehicle sounds.
- FIG. 20A shows an analysis section in which the direction of the sound is specified by the sound source direction specifying unit 104, as in FIG. 16A.
- the vertical axis represents frequency and the horizontal axis represents time. If the distribution of the sound source direction is calculated as it is, the direction of the sound source is distributed to the left and right as shown in FIGS. 20 (b) and 20 (c). This is not due to the reflected sound, but because there are actually other vehicles on the left and right sides of the host vehicle. However, as it is, it cannot be determined whether the vehicle sound is a reflected sound.
- the vehicle frequency specifying unit 111 specifies the reference frequency band of the vehicle sound based on the information analyzed for each analysis section.
- a frequency in which the amplitude of a section specified as a vehicle sound (for example, a section filled with black and diagonal lines in FIG. 20A) is larger than a predetermined threshold is set as a reference frequency, and the reference frequency A reference frequency band including a certain width around is specified.
- reference frequency bands centering on 60 Hz, 80 Hz, 120 Hz, and 160 Hz are specified.
- the vehicle direction specifying unit 106A specifies whether or not the sound is a reflected sound based on the transition of the distribution in each reference frequency band.
- the vehicle direction specifying unit 106A refers to only the reference frequency band centered on 60 ( ⁇ 5) Hz or 120 ( ⁇ 5) Hz, only the region filled with black diagonal lines, that is, the left side is detected.
- the vehicle direction specifying unit 106A refers to only the reference frequency band centered on 80 ( ⁇ 5) Hz and 160 ( ⁇ 5) Hz, only the blacked area, that is, the right side is detected.
- the vehicle direction identification unit 106A includes two vehicles. It can be determined that the vehicle actually exists on the left and right sides of the host vehicle.
- the vehicle direction specifying unit 106A separates the frequency distribution for each reference frequency band. This makes it possible to determine whether the sound is a reflected sound.
- the reflection information in the first or second embodiment may include a different reflection pattern for each frequency as described above.
- the representative value of the frequency range indicated by the first frequency information included in the reflection pattern and the representative value of the frequency range indicated by the second frequency information are larger as the corresponding frequency is higher.
- the representative value of the first frequency information is 500
- the representative value of the second frequency information is 300.
- the first frequency information included in the reflection pattern associated with 700 Hz to 950 Hz may be 600 ( ⁇ 250), and the second frequency information may be 400 ( ⁇ 150). That is, in general, the frequency tends to increase as the frequency of the sound increases. Therefore, the reflected sound can be determined more appropriately by changing the size of the frequency information according to the frequency.
- the reference frequency band in the second embodiment may have a width of about 10 kHz with the reference frequency as the center.
- the vehicle direction specifying unit refers to the front and rear of the analysis section in the time axis direction or the top and bottom of the frequency axis direction
- the sound source directions corresponding to adjacent analysis sections are the same or ⁇
- a greater weight may be given to the analysis section as it is more similar.
- the frequency may be calculated as the number of weighted analysis intervals for each sound source direction. Note that that the sound source directions corresponding to the adjacent analysis sections are more similar means, for example, that the difference in the sound source direction from the adjacent analysis sections is smaller.
- the analysis sections identified as the sound source direction +30 degrees are analysis section A, analysis section B, and analysis section C, and the respective weights were 1.2, 1.0, and 1.1.
- the vehicle direction specifying unit can specify the vehicle sound more accurately by giving the weights in this way rather than simply taking the sum of the sections.
- vehicle direction specifying device can achieve the same effects even if other vehicle sound detection microphones 101 and 102 are not provided.
- the ambient sound is acquired with a microphone installed outside the vehicle direction specifying device, and a signal representing the acquired ambient sound is input to the vehicle direction specifying device by wired communication or wireless communication.
- a microphone installed outside the vehicle direction specifying device
- a signal representing the acquired ambient sound is input to the vehicle direction specifying device by wired communication or wireless communication.
- vehicle direction identification device and the vehicle direction identification system described in the first or second embodiment may be realized by a computer.
- FIG. 21 shows a hardware configuration of a computer system that realizes the vehicle direction specifying device 110 and the vehicle direction specifying device 110A, and the vehicle direction specifying system 120 and the vehicle direction specifying system 120A (hereinafter referred to as a vehicle direction specifying device or the like).
- the vehicle direction specifying device or the like includes a computer 34, a keyboard 36 and a mouse 38 for giving instructions to the computer 34, a display 32 for presenting information such as a calculation result of the computer 34, and a program executed by the computer 34 CD-ROM (Compact Disc-Read Only Memory) device 40 and a communication modem (not shown).
- CD-ROM Compact Disc-Read Only Memory
- a program that is a process performed by the vehicle direction identifying device or the like is stored in a CD-ROM 42 that is a computer-readable medium, and is read by the CD-ROM device 40.
- the data is read by the communication modem 52 through a computer network.
- the computer 34 includes a CPU (Central Processing Unit) 44, a ROM (Read Only Memory) 46, a RAM (Random Access Memory) 48, a hard disk 50, a communication modem 52, and a bus 54.
- CPU Central Processing Unit
- ROM Read Only Memory
- RAM Random Access Memory
- the CPU 44 executes the program read via the CD-ROM device 40 or the communication modem 52.
- the ROM 46 stores programs and data necessary for the operation of the computer 34.
- the RAM 48 stores data such as parameters at the time of program execution.
- the hard disk 50 stores programs and data.
- the communication modem 52 communicates with other computers via a computer network.
- the bus 54 connects the CPU 44, the ROM 46, the RAM 48, the hard disk 50, the communication modem 52, the display 32, the keyboard 36, the mouse 38, and the CD-ROM device 40 to each other.
- the system LSI is a super multifunctional LSI manufactured by integrating a plurality of components on a single chip, and specifically, a computer system including a microprocessor, a ROM, a RAM, and the like. .
- a computer program is stored in the RAM.
- the system LSI achieves its functions by the microprocessor operating according to the computer program.
- a part or all of the constituent elements constituting each of the above devices may be constituted by an IC card or a single module that can be attached to and detached from each device.
- the IC card or module is a computer system that includes a microprocessor, ROM, RAM, and the like.
- the IC card or the module may include the super multifunctional LSI described above.
- the IC card or the module achieves its function by the microprocessor operating according to the computer program. This IC card or this module may have tamper resistance.
- the present invention may be the method described above. Further, the present invention may be a computer program that realizes these methods by a computer, or may be a digital signal composed of the computer program.
- the present invention provides a recording medium capable of reading the computer program or the digital signal, such as a flexible disk, a hard disk, a CD-ROM, an MO, a DVD, a DVD-ROM, a DVD-RAM, a BD (Blu-ray Disc). (Registered trademark)), a memory card such as a USB memory or an SD card, or a semiconductor memory. Further, the digital signal may be recorded on these recording media.
- a recording medium capable of reading the computer program or the digital signal, such as a flexible disk, a hard disk, a CD-ROM, an MO, a DVD, a DVD-ROM, a DVD-RAM, a BD (Blu-ray Disc). (Registered trademark)), a memory card such as a USB memory or an SD card, or a semiconductor memory.
- the digital signal may be recorded on these recording media.
- the computer program or the digital signal may be transmitted via an electric communication line, a wireless or wired communication line, a network represented by the Internet, a data broadcast, or the like.
- the present invention may also be a computer system including a microprocessor and a memory, in which the memory stores the computer program, and the microprocessor operates according to the computer program.
- program or the digital signal is recorded on the recording medium and transferred, or the program or the digital signal is transferred via the network or the like and executed by another independent computer system. You may do that.
- the present invention can be applied to a vehicle direction specifying device that specifies the direction in which a vehicle exists based on vehicle sound.
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Abstract
Description
実施の形態1に係る車両方向特定装置について説明する。
実施の形態1では、反射によって、他車両の実際の方向とは反対側に検出される音を利用して他車両音が反射音か否か、及び他車両位置の特定を行うことにより、ユーザに必要な情報を表示する技術について説明を行った。本実施の形態ではさらに、所定の周波数ごとに、反射によって他車両の実際の方向とは反対側に検出される音を検出し、反射音か否かの判定、及び他車両位置の特定を行う。
34 コンピュータ
36 キーボード
38 マウス
40 CD-ROM装置
42 CD-ROM
44 CPU
46 ROM
48 RAM
50 ハードディスク
52 通信モデム
54 バス
101、102 他車両音検知マイク
103、103A 周波数分析部
104 音源方向特定部
105 反射情報蓄積部
106、106A 車両方向特定部
107 表示情報蓄積部
108 表示制御部
109 車両表示部
110、110A 車両方向特定装置
111 車両周波数特定部
120、120A 車両方向特定システム
720 領域
1071、1072 分析区間
1601 周波数帯
1701、1702 基準周波数帯
Claims (16)
- 複数のマイクで取得された、自車両の周辺に存在する他車両の車両音である他車両音から、前記他車両の方向を特定する車両方向特定装置であって、
事前に定められた周波数区間及び時間区間で特定される複数の分析区間の各々について、前記他車両音の位相を分析する周波数分析部と、
前記周波数分析部から取得した分析結果に基づいて、前記分析区間ごとに、前記他車両音に含まれる音源の方向を表す音源方向を特定する音源方向特定部と、
音源方向ごとの前記分析区間の個数である頻度に関する複数の状態情報と、前記複数の状態情報の組に対応付けられた前記他車両の方向である推定車両方向とを含む反射パターンを1以上有する反射情報を蓄積している反射情報蓄積部と、
前記音源方向特定部による特定結果から得られた頻度を、前記反射パターンと照合することで、前記他車両の方向を特定する車両方向特定部とを備える
車両方向特定装置。 - 前記反射パターンは、第1の状態における、前記頻度に関する第1の状態情報と、前記第1の状態から事前に定められた時間が経過した第2の状態における、前記頻度に関する第2の状態情報と、前記第1の状態情報と前記第2の状態情報との組に対応付けられた前記推定車両方向とを含み、
前記第1の状態情報は、前記音源方向の範囲を示す第1の方向情報及び第2の方向情報と、前記第1の方向情報に対応付けられた、前記頻度の範囲を示す第1の頻度情報と、前記第2の方向情報に対応付けられた、前記頻度の範囲を示す第2の頻度情報とを含み、
前記第2の状態情報は、前記音源方向の範囲を示す第3の方向情報及び第4の方向情報と、前記第3の方向情報に対応付けられた、前記頻度の範囲を示す第3の頻度情報と、前記第4の方向情報に対応付けられた、前記頻度の範囲を示す第4の頻度情報とを含み、
前記車両方向特定部は、前記第1の状態における複数の前記音源方向が、前記第1の状態情報として示される条件を満たし、前記第2の状態における複数の前記音源方向が、前記第2の状態情報として示される条件を満たす場合、前記他車両音を反射音であると判定し、前記第1の状態情報及び前記第2の状態情報の組に対応付けられた前記推定車両方向を、前記他車両の方向として特定する
請求項1に記載の車両方向特定装置。 - 前記車両方向特定部は、第1の時間である前記第1の状態において取得された前記他車両音に含まれる前記複数の音源方向について、前記頻度を算出し、前記頻度のうち、(A)前記第1の方向情報で示される範囲に含まれる音源方向の頻度の合計が、前記第1の頻度情報で示される範囲に含まれ、かつ、(B)前記第2の方向情報で示される範囲に含まれる音源方向の頻度の合計が、前記第2の頻度情報で示される範囲に含まれる場合には、前記第1の時間が経過後、前記事前に定められた時間が経過するまでの第2の時間である第2の状態において取得された前記他車両音に含まれる複数の前記音源方向について、再度頻度を算出し、再度算出した前記頻度のうち、(C)前記第3の方向情報で示される範囲に含まれる音源方向の頻度の合計が、前記第3の頻度情報で示される範囲に含まれ、かつ、(D)前記第4の方向情報で示される範囲に含まれる音源方向の頻度の合計が、前記第4の頻度情報で示される範囲に含まれる場合には、前記他車両音を反射音であると判定し、前記第1の状態情報及び前記第2の状態情報の組に対応付けられた前記推定車両方向を、前記他車両の方向として特定する
請求項2に記載の車両方向特定装置。 - 前記反射情報は、周波数ごとに異なる前記反射パターンを含む
請求項1に記載の車両方向特定装置。 - 前記反射パターンに含まれる前記第1の頻度情報が示す頻度の範囲の代表値、及び、前記第2の頻度情報が示す頻度の範囲の代表値は、前記周波数が高いほど、より大きくなるように定められる
請求項4に記載の車両方向特定装置。 - 前記反射情報は、(A)前記第1の状態情報及び前記第2の状態情報のうちの一方の状態情報が含む2つの頻度情報が示す頻度の範囲の各々の代表値の差の絶対値が、事前に定められた第1の差分よりも小さく、かつ、(B)他方の状態情報が含む2つの頻度情報が示す頻度の範囲の各々の代表値の差の絶対値が、前記第1の差分よりも大きくなるように事前に定められた第2の差分よりも大きい、反射パターンを有する
請求項2又は3に記載の車両方向特定装置。 - 前記反射情報は、(A)前記第1の頻度情報が示す頻度の範囲の代表値と、前記第2の頻度情報が示す頻度の範囲の代表値との差の絶対値が、前記第1の差分よりも小さく、かつ、(B)前記第3の頻度情報が示す頻度の範囲の代表値と、前記第4の頻度情報が示す頻度の範囲の代表値との差の絶対値が、前記第2の差分よりも大きい場合には、前記第3の頻度情報と前記第4の頻度情報のうち、代表値がより大きい方の頻度情報に対応付けられている前記方向情報に対応する方向を、前記推定車両方向として含む反射パターンを有する
請求項2又は3に記載の車両方向特定装置。 - 前記反射情報は、(A)前記第1の頻度情報が示す頻度の範囲の代表値と、前記第2の頻度情報が示す頻度の範囲の代表値との差の絶対値が、前記第2の差分よりも大きく、かつ、(B)前記第3の頻度情報が示す頻度の範囲の代表値と、前記第4の頻度情報が示す頻度の範囲の代表値との差の絶対値が、前記第1の差分よりも小さい場合には、前記第1の頻度情報と前記第2の頻度情報のうち、代表値がより小さい方の頻度情報に対応付けられている前記方向情報に対応する方向を、前記推定車両方向として含む反射パターンを有する
請求項2又は3に記載の車両方向特定装置。 - さらに、前記他車両音の基準周波数帯を特定する車両周波数特定部を備え、
前記周波数分析部は、前記複数の分析区間の各々について、前記他車両音の位相及び振幅を分析し、
前記車両周波数特定部は、複数の前記時間区間の各々に対応する前記複数の分析区間のうち振幅がN番目に大きい分析区間に対応する周波数の、全ての前記時間区間における代表値をN番目の基準周波数とし、前記N番目の基準周波数を中心として、事前に定められた幅を有する周波数帯を、N番目の基準周波数帯として特定し、
前記車両方向特定部は、前記N番目の基準周波数帯に含まれる前記分析区間に対応する複数の前記音源方向を、前記反射情報と照合することで、前記他車両の方向を特定する
請求項1に記載の車両方向特定装置。 - 車両方向特定部は、隣接する分析区間に対応する音源方向がより類似するほど、より大きな重みを前記分析区間に付与し、前記音源方向ごとの、重み付けされた前記分析区間の個数として、前記頻度を算出する
請求項1に記載の車両方向特定装置。 - 前記音源方向特定部は、前記分析区間ごとに、他車両音の振幅が音圧の閾値である音圧閾値未満か否かを判定し、前記振幅が前記音圧閾値未満であれば、当該分析区間について前記車両方向を特定せず、
前記音圧閾値は、前記分析区間に対応する周波数が高いほど、より大きな値である
請求項1に記載の車両方向特定装置。 - 請求項1~9のいずれか1項に記載の車両方向特定装置と、
前記車両方向特定装置によって特定された前記他車両の方向を表示する車両表示部と、
前記車両表示部に前記他車両を表示する態様を特定するための複数の表示モードを蓄積する表示情報蓄積手段と、
前記車両方向特定装置が、(A)前記他車両音が反射音であると判定した場合には、前記複数の表示モードのうち第1の表示モードで前記他車両を前記車両表示部に表示させ、(B)前記他車両音が反射音ではないと判定した場合には、前記複数の表示モードのうち第1の表示モードとは異なる第2の表示モードで前記他車両を前記車両表示部に表示させる、表示制御部とを備える
車両方向特定システム。 - 複数のマイクで取得された、自車両の周辺に存在する他車両の車両音である他車両音から、前記他車両の方向を特定する車両方向特定方法であって、
事前に定められた周波数区間及び時間区間で特定される複数の分析区間の各々について、前記他車両音の位相を分析する分析ステップと、
前記分析ステップにおいて取得した分析結果に基づいて、前記分析区間ごとに、前記他車両音に含まれる音源の方向を表す音源方向を特定する音源方向特定ステップと、
前記音源方向特定ステップにおける特定結果から得られた、音源方向ごとの分析区間の個数である頻度を、事前に定められた反射パターンと照合することで、前記他車両の方向を特定する車両方向特定ステップとを含み、
前記反射パターンは、前記頻度に関する複数の状態情報と、前記複数の状態情報の組に対応付けられた前記他車両の方向である推定車両方向とを含む
車両方向特定方法。 - 請求項13に記載の車両方向特定方法をコンピュータに実行させる
プログラム。 - 請求項14に記載のプログラムを記録した
コンピュータ読み取り可能な記録媒体。 - 複数のマイクで取得された、自車両の周辺に存在する他車両の車両音である他車両音から、前記他車両の方向を特定する集積回路であって、
事前に定められた周波数区間及び時間区間で特定される複数の分析区間の各々について、前記他車両音の位相を分析する周波数分析部と、
前記周波数分析部から取得した分析結果に基づいて、前記分析区間ごとに、前記他車両音に含まれる音源の方向を表す音源方向を特定する音源方向特定部と、
音源方向ごとの前記分析区間の個数である頻度に関する複数の状態情報と、前記複数の状態情報の組に対応付けられた前記他車両の方向である推定車両方向とを含む反射パターンを1以上有する反射情報を蓄積している反射情報蓄積部と、
前記音源方向特定部による特定結果から得られた頻度を、前記反射パターンと照合することで、前記他車両の方向を特定する車両方向特定部とを備える
集積回路。
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