WO2013027259A1 - 車両用警告装置 - Google Patents
車両用警告装置 Download PDFInfo
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- WO2013027259A1 WO2013027259A1 PCT/JP2011/068886 JP2011068886W WO2013027259A1 WO 2013027259 A1 WO2013027259 A1 WO 2013027259A1 JP 2011068886 W JP2011068886 W JP 2011068886W WO 2013027259 A1 WO2013027259 A1 WO 2013027259A1
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- warning
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
- B60Q7/00—Arrangement or adaptation of portable emergency signal devices on vehicles
- B60Q7/005—Devices without lamps
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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
- G08G1/166—Anti-collision systems for active traffic, e.g. moving vehicles, pedestrians, bikes
Definitions
- the present invention relates to a vehicular warning device, and more particularly to a vehicular warning device that is suitable for giving a warning to the driver of the presence of an object passing around the vehicle.
- a vehicle warning device that warns a driver of the presence of an object passing around the host vehicle (see, for example, Patent Document 1).
- a collision time time-to-collision
- a collision distance distance-to-collision
- a display corresponding to the detection result is displayed on the display. The Therefore, it is possible to issue a warning notifying the driver of the presence of the object by displaying according to the collision time or the collision distance between the host vehicle and the object.
- the timing for giving the warning is important.
- a warning is given according to the position where the object passes around the host vehicle.
- the importance of is different. Since the importance of the warning decreases as the passing position of the target object is relatively far from the own vehicle, the driver can be made aware of the presence of the target object even if the warning is started at a later timing. On the other hand, the importance of the warning increases as the passing position of the object is relatively close to the host vehicle. Therefore, unless the warning is started at an early timing, it is difficult for the driver to grasp the presence of the object.
- the present invention has been made in view of the above points, and provides a vehicle warning device capable of starting a warning at an optimal timing according to a passing position of an object passing around the host vehicle. With the goal.
- the above object is a vehicle warning device that includes a warning unit that issues a warning notifying the driver of the existence of an object passing around the host vehicle, wherein the warning start timing by the warning unit is determined from the host vehicle.
- a vehicular warning device including timing changing means for changing according to the size of a margin space up to a predicted passing position where an object is predicted to pass around the host vehicle.
- a warning can be started at an optimal timing according to the passing position of an object passing around the host vehicle.
- FIG. 1 shows a configuration diagram of a vehicle warning device 10 according to an embodiment of the present invention.
- the vehicle warning device 10 detects an object (for example, another vehicle) passing through the periphery of the host vehicle (specifically, the rear of the host vehicle), for example, when retreating in a parking lot. This is a system that warns the driver of the presence of the object.
- an object for example, another vehicle
- the host vehicle specifically, the rear of the host vehicle
- the vehicle warning device 10 includes an electronic control unit (hereinafter referred to as an ECU) 12 mainly composed of a computer.
- a target sensor 14 is connected to the ECU 12.
- the target sensor 14 is configured by, for example, a millimeter wave radar, a laser radar, a camera, or the like, and is disposed on the side or center of a bumper at the rear end of the vehicle body, a spoiler, a back door outside handle, or the like.
- the target sensor 14 outputs to the ECU 12 a signal corresponding to the presence / absence of an object existing in a predetermined area behind the host vehicle (particularly the left and right rear sides) and the distance to the object.
- the ECU 12 detects the presence / absence of an object behind the host vehicle based on the output signal of the target sensor 14, and when it determines that the object exists, the distance from the host vehicle to the object or the object's Detect position. And based on the time change of the detection distance or a detection position, the relative speed of the own vehicle and a target object, and the advance prediction locus
- a warning display 16 and a warning buzzer 18 are connected to the ECU 12.
- the warning display 16 is a meter unit that is visible to a vehicle driver provided on an instrument panel in the vehicle compartment, for example, and displays a warning in accordance with a drive command from the ECU 12.
- the warning buzzer 18 is a buzzer alarm provided in the passenger compartment, and performs a buzzer sound according to a drive command from the ECU 12.
- the ECU 12 is also connected with a state detection sensor 20 for detecting the state of the host vehicle including the shift position of the vehicle transmission that can be operated by the vehicle driver and the vehicle speed.
- the state detection sensor 20 outputs a signal corresponding to the state of the host vehicle to the ECU 12.
- the ECU 12 detects the state of the host vehicle based on the output signal of the state detection sensor 20.
- FIG. 2 shows a flowchart of an example of a control routine executed by the ECU 12 in the vehicle warning device 10 of this embodiment.
- FIG. 3 shows the figure which represented typically the relationship between the own vehicle and the target object of a warning in a present Example.
- the ECU 12 when the ECU 12 detects that the shift position is in the reverse position based on the output signal of the state detection sensor 20 (when affirmative determination is made in step 100), the ECU 12 issues a warning by the warning display 16 and the warning buzzer 18. It becomes a warning possible state (warning state) that can be performed.
- the ECU 12 validates the output signal of the target sensor 14 in such a warning enabled state, and uses the target sensor 14 to detect an object (detection target; DT) around the subject vehicle (SV). (Object detection processing).
- the ECU 12 first detects the presence or absence of the object DT passing behind the host vehicle based on the output signal of the target sensor 14 (step 102), and detects the presence of the object DT. (When affirmative determination is made in step 104), the position of the object DT is detected, and the distance and direction from the host vehicle SV to the object DT are detected (step 106). Then, once the presence of the object DT is detected, the object DT is monitored, the time change of the detection position or the detection distance is measured, and the speed Vt of the object DT and the own vehicle SV are measured. On the other hand, a progress prediction trajectory Q that is predicted to advance the object DT is detected (step 108).
- the speed Vt of the target object DT may be an absolute speed of the target object DT, but may be a relative speed between the target object DT and the host vehicle SV. Further, the progress prediction trajectory Q is detected as continuing the same progress state until the host vehicle SV is detected or detected and continuing the same progress state until the object DT is detected or detected. It should be.
- the ECU 12 stores in advance an area (hereinafter referred to as a setting area CB (crossing box)) that spreads on the road surface around the own vehicle with reference to the own vehicle SV.
- a setting area CB crossing box
- the setting area CB is formed in a rectangular shape and extends in the vehicle width direction at a position away from the rear end of the host vehicle by a predetermined distance L1 (for example, 6 m).
- One side one side extending in the vehicle width direction at a predetermined distance L2 (for example, 3 m) ahead of the host vehicle from the rear end of the host vehicle, and two sides extending in parallel to the side surface of the host vehicle (note that these two sides
- L2 for example, 3 m
- the distance W in the y direction that is away from the vehicle width direction may be the same as the vehicle width of the host vehicle SV, or slightly larger (for example, 10 cm) than the vehicle width of the host vehicle SV. As well as).
- the ECU 12 After detecting the presence of the target object DT as described above, the ECU 12 specifies the positional relationship between the predicted travel path Q of the target object DT and the set area CB, and the predicted travel path Q of the target object DT is A position (crossing position; that is, a predicted passing position where the object DT is predicted to pass around the host vehicle) M is specified that intersects the setting area CB.
- a position (crossing position; that is, a predicted passing position where the object DT is predicted to pass around the host vehicle) M is specified that intersects the setting area CB.
- the intersection position M is specified, the distance from the rear end of the host vehicle to the intersection position M (specifically, the intersection of the line in the vehicle width direction passing through the rear end of the host vehicle and the side constituting the setting area CB)
- the distance CD in the x direction on the side from N to the intersection position M; the intersection distance) CD is detected (step 110).
- the intersection distance CD has a positive value on the rear side of the host vehicle
- the ECU 12 also stores in advance information indicating a timing (warning start timing) T for starting a warning to the host vehicle driver when there is an object DT passing behind the host vehicle.
- This warning start timing T is based on the time when the object DT approaches the host vehicle SV (for example, the time when the object DT reaches the intersection position M) as a reference, and the warning display 16 And a time for starting the warning by the warning buzzer 18, and is set so as to change according to the speed Vt of the object DT and the intersection distance CD.
- FIG. 4 is a diagram showing a map of the warning start timing T that changes in accordance with the speed Vt of the object DT and the crossing distance CD used in the vehicle warning device 10 of the present embodiment.
- the warning start timing T is faster as the speed Vt of the object DT is smaller and is slower as the speed Vt is larger, and is earlier and shorter as the intersection distance CD is shorter. It is set to be slower.
- the warning start timing T is the first time T1 when the intersection distance CD is equal to or less than the first distance CD1.
- the second time T2 is set.
- the third time T3 is set.
- the intersection distance CD becomes equal to the first distance CD1 at the second time T2.
- the second speed Vt2 is higher than the first speed Vt1 (for example, 3 m / s), and is set to 7 m / s, for example.
- the second distance CD2 is longer than the first distance CD1 (for example, +3 m) and is set to +4.5 m, for example.
- the ECU 12 When the ECU 12 detects the speed Vt and the crossing distance CD of the object DT as described above, the ECU 12 then refers to the stored information on the warning start timing T and then stores the speed Vt and the crossing distance CD of the object DT. Based on the above, the warning start timing T at which the warning by the warning display 16 and the warning buzzer 18 is to be started for the host vehicle driver due to the object DT whose presence has been detected this time is selected (step 112). .
- a warning display by the warning display 16 and a buzzer by the warning buzzer 18 are performed for the driver of the vehicle. For this reason, the host vehicle driver performs warning display by the warning display 16 and warning of the buzzer by the warning buzzer 18 at the warning start timing T when the host vehicle is moving backward, so that the object DT is displayed on the host vehicle SV. It is possible to know that there is an object DT that approaches, that is, passes around the host vehicle.
- a vehicle driver needs to pay attention to an object such as another vehicle passing through the main line when trying to retreat his / her own vehicle from the parking position and join the main line.
- a warning is given to the driver of the host vehicle that the target object approaches the host vehicle and passes near the host vehicle.
- driving safety it is effective in terms of driving safety to warn the driver of the vehicle at an early timing before passing nearby, but it is effective for driving safety, but an excessively early timing at which the driver of the vehicle can take avoidance action
- a warning is given to the driver in the vehicle, a warning may occur even when the vehicle driver is planning to take an evasive action in the near future. It can be annoying and uncomfortable.
- the timing of warning to the driver is too late, it is difficult for the driver to grasp in advance that the object passes near the host vehicle.
- the importance of the warning differs depending on the position where the subject passes around the subject vehicle. Since the importance of the warning decreases as the passing position of the target object is relatively far from the own vehicle, the driver can be made aware of the presence of the target object even if the warning is started at a later timing. On the other hand, the importance of the warning increases as the passing position of the object is relatively close to the host vehicle. Therefore, unless the warning is started at an early timing, it is difficult for the driver to grasp the presence of the object.
- the warning start timing is uniformly selected regardless of the speed of the object, the distance from the own vehicle to the position where the warning is started can vary greatly, and the speed of the object is low. Since the speed increase margin is so large, when the speed increase occurs, it becomes easy for the object to pass through the vicinity of the host vehicle significantly earlier than the expected timing.
- the vehicle warning device 10 of the present embodiment when there is an object DT that passes through the periphery of the host vehicle when the host vehicle is moving backward, the vehicle warning device 10 is directed to the host vehicle driver at the timing before the passage.
- the warning display by the warning display 16 and the buzzer sounding by the warning buzzer 18 can be started.
- the warning start timing by the warning display and the buzzer sounding can be changed according to the speed Vt of the object DT and the intersection distance CD.
- the warning start timing can be delayed as the crossing distance CD becomes shorter and as the crossing distance CD becomes longer. For this reason, the presence of an object passing through the vicinity of the host vehicle can be reliably ascertained before passing without causing the driver of the host vehicle to feel uncomfortable with the warning. Therefore, according to the vehicle warning device 10 of the present embodiment, the warning is started at the optimum timing according to the passing position (specifically, the predicted passing position M) of the object DT passing around the host vehicle. Accordingly, when the host vehicle is moving backward, the driver of the host vehicle is encouraged to avoid a collision with an object (for example, a brake operation), thereby improving the driving safety when the host vehicle is moving backward.
- the passing position specifically, the predicted passing position M
- the warning start timing can be delayed as the speed Vt of the object DT decreases and as the speed Vt increases. Therefore, when the object DT passes behind the host vehicle, the distance from the host vehicle SV to the position where the warning is started can be avoided from greatly changing according to the speed Vt of the object DT. It can be avoided that the object DT passes through the vicinity of the host vehicle significantly earlier than the expected timing. Therefore, according to the vehicle warning device 10 of the present embodiment, the warning can be started at an optimal timing according to the speed of the object DT, thereby improving the traveling safety when the host vehicle is moving backward. Can do.
- the warning display 16 and the warning buzzer 18 are in the “warning means” described in the claims
- the intersection distance CD is in the “margin space” described in the claims
- the ECU 12 Changing the warning start timing T in accordance with the speed Vt of the object DT and the crossing distance CD corresponds to “timing changing means” described in the claims.
- the velocity Vt of the object DT is divided into three stages and the intersection distance CD is divided into three stages as shown in FIG.
- the present invention is not limited to this, and the warning start timing T is changed to two or more steps according to the speed Vt of the object DT, and is changed to two or more steps according to the intersection distance CD.
- it may be changed linearly according to the speed Vt of the object DT, or may be changed linearly according to the intersection distance CD.
- the warning start timing T is changed according to the intersection distance CD and also changed according to the speed Vt of the object DT, but the present invention is limited to this. Instead, it only needs to be changed according to at least the intersection distance CD, and may be changed according to parameters other than the speed Vt of the object DT (for example, the reverse speed of the host vehicle SV).
- the warning start timing T is changed according to the intersection distance CD.
- the intersection distance CD is a negative value
- warning display by the warning display 16 and buzzer sound by the warning buzzer 18 are performed.
- a warning for example, brake braking or the like
- a warning for example, brake braking or the like for prompting the driver to perform an action for avoiding or reducing the collision may be performed.
- both warning display by the warning display 16 and buzzer by the warning buzzer 18 are performed as warnings for notifying the driver of the vehicle of the existence of an object passing behind the host vehicle. However, only one of them may be performed, and further, an action for the driver to avoid or reduce the collision when the possibility of the collision between the host vehicle SV and the target object DT increases more than a predetermined value. It is good also as giving the secondary warning for prompting.
- the secondary warning is, for example, brake braking using a brake device of the host vehicle SV. When a promotion device capable of minutely vibrating the driver's seat or the steering wheel is mounted on the host vehicle SV, the promotion device is activated. That is.
- the setting area CB and the object are used as a margin space as a parameter for changing the warning start timing T.
- the intersection distance CD between the intersection position M with the predicted travel trajectory Q of DT and the intersection N between the line in the vehicle width direction passing through the rear end of the host vehicle and the set area CB is used.
- the present invention is not limited, and as a margin space for changing the warning start timing T without setting the setting area CB, for example, the positional relationship between the predicted travel path Q of the object DT and the host vehicle SV is used.
- the distance between the host vehicle SV and the object DT at the time of closest approach may be an absolute linear distance that is not related to the direction in which the host vehicle SV faces, and the longitudinal component of the host vehicle SV. It may be a straight distance.
- the front-rear direction line passing through the center of the vehicle and the predicted travel path Q of the object DT from the center of the rear end of the host vehicle is good also as using the distance to the crossing position.
- a warning is given when the host vehicle is moving backward.
- the present invention is not limited to this, and the present invention may be applied to one that issues a warning when the host vehicle moves forward.
- vehicle warning device 12 electronic control unit (ECU) 14 target sensor 16 warning display 18 warning buzzer SV own vehicle DT target object Vt speed of target object DT Q progress prediction trajectory of target object DT CB setting area based on own vehicle SV CD crossing distance M crossing position (predicted passing position) )
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Abstract
Description
ECU12は、ターゲットセンサ14の出力信号に基づいて、自車両後方の対象物の有無を検出すると共に、その対象物が存在すると判定したときは自車両からその対象物までの距離又はその対象物の位置を検出する。そして、その検出距離又は検出位置の時間変化に基づいて、自車両と対象物との相対速度、及び、自車両に対する対象物の進行予測軌跡を検出する。
12 電子制御ユニット(ECU)
14 ターゲットセンサ
16 警告表示ディスプレイ
18 警告ブザー
SV 自車両
DT 対象物
Vt 対象物DTの速度
Q 対象物DTの進行予測軌跡
CB 自車両SVを基準にした設定領域
CD 交差距離
M 交差位置(通過予測位置)
Claims (8)
- 運転者に対して自車両周辺を通過する対象物の存在を知らせる警告を行う警告手段を備える車両用警告装置であって、
前記警告手段による警告開始タイミングを、自車両から前記対象物が自車両周辺で通過すると予測される通過予測位置までの余裕スペースの大きさに応じて変更するタイミング変更手段を備えることを特徴とする車両用警告装置。 - 前記タイミング変更手段は、前記警告開始タイミングを、前記余裕スペースが小さいほど早めかつ前記余裕スペースが大きいほど遅らすことを特徴とする請求項1記載の車両用警告装置。
- 前記タイミング変更手段は、前記余裕スペースの大きさと、自車両と前記対象物との相対関係と、に応じて前記警告開始タイミングを変更することを特徴とする請求項1又は2記載の車両用警告装置。
- 前記相対関係は、自車両と前記対象物との相対速度又は前記対象物の速度であることを特徴とする請求項3記載の車両用警告装置。
- 前記タイミング変更手段は、前記警告開始タイミングを、前記相対速度又は前記速度が小さいほど早めかつ前記相対速度又は前記速度が大きいほど遅らすことを特徴とする請求項4記載の車両用警告装置。
- 前記タイミング変更手段は、前記警告開始タイミングの変更として、前記対象物が前記通過予測位置に達する前において前記警告手段により前記警告を開始する時間を変更することを特徴とする請求項1乃至5の何れか一項記載の車両用警告装置。
- 前記通過予測位置は、自車両の進行予測軌跡と前記対象物の進行予測軌跡との交差位置であり、
前記余裕スペースは、自車両から前記交差位置までの距離であることを特徴とする請求項1乃至6の何れか一項記載の車両用警告装置。 - 前記警告手段は、自車両の後退時に前記警告を行うことを特徴とする請求項1乃至7の何れか一項記載の車両用警告装置。
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PCT/JP2011/068886 WO2013027259A1 (ja) | 2011-08-22 | 2011-08-22 | 車両用警告装置 |
EP11871345.2A EP2750117B1 (en) | 2011-08-22 | 2011-08-22 | Vehicle-use alert device |
US14/128,042 US9493114B2 (en) | 2011-08-22 | 2011-08-22 | Warning device for vehicle |
JP2013529799A JP5811178B2 (ja) | 2011-08-22 | 2011-08-22 | 車両用警告装置 |
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EP (1) | EP2750117B1 (ja) |
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JP2022012355A (ja) * | 2020-07-01 | 2022-01-17 | トヨタ自動車株式会社 | 音声出力制御システム |
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JP2022012355A (ja) * | 2020-07-01 | 2022-01-17 | トヨタ自動車株式会社 | 音声出力制御システム |
JP7264122B2 (ja) | 2020-07-01 | 2023-04-25 | トヨタ自動車株式会社 | 音声出力制御システム |
Also Published As
Publication number | Publication date |
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EP2750117A4 (en) | 2015-04-08 |
JPWO2013027259A1 (ja) | 2015-03-05 |
JP5811178B2 (ja) | 2015-11-11 |
EP2750117B1 (en) | 2016-03-16 |
US20140121938A1 (en) | 2014-05-01 |
EP2750117A1 (en) | 2014-07-02 |
US9493114B2 (en) | 2016-11-15 |
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