WO2014064800A1 - Vehicle approach notification sound generation device - Google Patents
Vehicle approach notification sound generation device Download PDFInfo
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- WO2014064800A1 WO2014064800A1 PCT/JP2012/077606 JP2012077606W WO2014064800A1 WO 2014064800 A1 WO2014064800 A1 WO 2014064800A1 JP 2012077606 W JP2012077606 W JP 2012077606W WO 2014064800 A1 WO2014064800 A1 WO 2014064800A1
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- notification sound
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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
- B60Q5/00—Arrangement or adaptation of acoustic signal devices
- B60Q5/005—Arrangement or adaptation of acoustic signal devices automatically actuated
- B60Q5/008—Arrangement or adaptation of acoustic signal devices automatically actuated for signaling silent vehicles, e.g. for warning that a hybrid or electric vehicle is approaching
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- the present invention relates to a vehicle approach notification sound generating device that generates a vehicle approach notification sound for notifying a pedestrian or the like of the approach of a host vehicle.
- a vehicle approach notification sound generating device that generates a pseudo sound (vehicle approach notification sound) to make a pedestrian or the like recognize the approach of the host vehicle is provided.
- a vehicle approach notification sound generator that controls the output level of a vehicle approach notification sound according to the distance to the end of the road or the sidewalk (see, for example, Patent Document 1).
- control is performed so that the output level of the vehicle approach notification sound increases in proportion to the increase of the distance to the side of the road.
- Patent Document 1 even when the vehicle is traveling on a road having a plurality of lanes, a vehicle approach notification sound is output at an output level corresponding to the distance from the vehicle to the side of the road. Therefore, when the vehicle is not traveling in the outermost lane (the lane closest to the side of the road) of the plurality of lanes, it is necessary to notify the pedestrians etc. existing on the side of the road of the approach of the vehicle. However, since the vehicle approach notification sound is output in spite of the absence, the vehicle approach notification sound becomes a noise. Further, there is a problem that unnecessary energy is consumed by outputting an unnecessary vehicle approach notification sound.
- the present invention has been made to solve these problems, and is a vehicle approach notification sound generator capable of efficiently generating a vehicle approach notification sound for a pedestrian or the like existing on the side of a road.
- the purpose is to provide.
- a vehicle approach notification sound generator includes a first vehicle approach notification unit that outputs a first vehicle approach notification sound that notifies the approach of a vehicle in a first direction; A second vehicle approach notification unit that outputs a second vehicle approach notification sound for notifying the approach of the vehicle in a second direction; a traveling road attribute estimation unit that estimates a road attribute that is an attribute of a road on which the vehicle travels; Based on the road lane estimation unit that estimates the lane in which the vehicle travels, the road attribute estimated by the travel road attribute estimation unit, and the lane estimated by the travel lane estimation unit, the first vehicle approach notification sound and And a control unit that controls the output of the second vehicle approach notification sound.
- the first vehicle approach notification unit that outputs the first vehicle approach notification sound for notifying the approach of the vehicle in the first direction, and the second vehicle approach notification sound for notifying the approach of the vehicle are first output.
- a second vehicle approach notification unit that outputs in the direction of 2 a traveling road attribute estimation unit that estimates a road attribute that is an attribute of a road on which the vehicle travels, a traveling lane estimation unit that estimates a lane on which the vehicle travels,
- a control unit that controls output of the first vehicle approach notification sound and the second vehicle approach notification sound based on the road attribute estimated by the travel road attribute estimation unit and the lane estimated by the travel lane estimation unit; Therefore, it is possible to efficiently generate a vehicle approach notification sound for a pedestrian or the like existing on the side of the road.
- the vehicle approach notification sound is not limited to the engine sound of a conventional gasoline vehicle, but an approach sound of a vehicle such as an alarm sound (artificial sound) or music when a train approaches at home Includes all sounds that can be used to alert you. Further, it is assumed that the vehicle approach notification sound generating device according to the present embodiment is installed in an automobile having a low traveling sound such as an electric vehicle or a hybrid vehicle.
- FIG. 1 is a block diagram showing an example of the configuration of the vehicle approach notification sound generator 1 according to the present embodiment.
- the vehicle approach notification sound generating device 1 includes a vehicle information acquisition unit 2, an out-of-vehicle information acquisition unit 3, a host vehicle position calculation unit 4, a map information storage unit 5, and a travel lane detection unit 6. And an overall control unit 7, a left side vehicle approach notification sound control unit 8, a front vehicle approach notification sound control unit 9, and a right side vehicle approach notification sound control unit 10. Further, the left side vehicle approach notification sound control unit 8 is connected to the outside speaker 11, the front vehicle approach notification sound control unit 9 is connected to the outside speaker 12, and the right side vehicle approach notification sound control unit 10 is connected to the outside speaker 13. Has been.
- the vehicle information acquisition unit 2 acquires various information about the vehicle (hereinafter referred to as vehicle information) such as wheel rotation pulses (vehicle speed pulses) and steering angle of the steering wheel via an in-vehicle LAN (Local Area Network) or the like, These are input to the vehicle position calculation unit 4 or the traveling lane detection unit 6.
- vehicle information such as wheel rotation pulses (vehicle speed pulses) and steering angle of the steering wheel via an in-vehicle LAN (Local Area Network) or the like.
- the vehicle outside information acquisition unit 3 acquires various types of information (hereinafter referred to as vehicle outside information) from the outside of the vehicle, such as vehicle position information by GPS (Global Positioning System) and camera image information around the vehicle.
- vehicle outside information various types of information (hereinafter referred to as vehicle outside information) from the outside of the vehicle, such as vehicle position information by GPS (Global Positioning System) and camera image information around the vehicle.
- GPS Global Positioning System
- the vehicle position calculation unit 4 (vehicle position recognition unit) includes vehicle information input from the vehicle information acquisition unit 2, vehicle information acquired by the vehicle information acquisition unit 3, and map information stored in the map information storage unit 5. Based on the above, the position and orientation of the vehicle (own vehicle) on the map are calculated (recognized).
- the map information storage unit 5 stores at least map information around the host vehicle.
- the map information includes road attributes that are attributes of the road on which the vehicle is traveling and lane information on the road on which the vehicle is traveling.
- the attributes of the road include, for example, an attribute indicating that it is an automobile-only road, an attribute indicating that it is an expressway, an attribute indicating whether there is a sidewalk, an attribute indicating that it is one-way, an attribute that indicates that it is left-handed, and an attribute that indicates that it is right-handed The attribute of a certain thing is included.
- Traveling lane detection unit 6 detects (estimates) a lane (traveling lane) in which the vehicle (own vehicle) travels.
- the overall control unit 7 controls the output of the vehicle approach notification sound based on the road attribute that is the attribute of the road on which the vehicle travels and the lane information on which the vehicle travels. Note that the output control of the vehicle approach notification sound will be described in detail later.
- Each of the left side vehicle approach notification sound control unit 8, the forward vehicle approach notification sound control unit 9, and the right side vehicle approach notification sound control unit 10 generates a vehicle approach notification sound signal based on the control (instruction) of the overall control unit 7.
- the generated vehicle approach notification sound signal is transmitted to the outside speakers 11 to 13.
- the outside speakers 11 to 13 receive vehicle approach notification sound signals from the left side vehicle approach notification sound control unit 8, the forward vehicle approach notification sound control unit 9, and the right side vehicle approach notification sound control unit 10, respectively. It outputs (notifies) outside the vehicle as a notification sound.
- the outside speaker 11 first vehicle approach notification unit
- the outside speaker 13 second vehicle approach notification unit
- the outside speaker 13 is provided so that sound is output toward the right side (second direction) with respect to the traveling direction of the vehicle. It has been.
- the vehicle approach notification sound output from the outside speakers 11 and 13 is referred to as a side vehicle approach notification sound (first vehicle approach notification sound, second vehicle approach notification sound), and is output from the outside speaker 12.
- the vehicle approach notification sound is referred to as a forward vehicle approach notification sound.
- the side vehicle approach notification sound may be output not only in the lateral direction with respect to the traveling direction of the vehicle, but also in the forward direction or the forward direction according to the vehicle speed. .
- FIG. 2 is a flowchart showing an example of the operation of the vehicle approach notification sound generating device 1.
- step S21 the overall control unit 7 determines whether it is necessary to generate a side vehicle approach notification sound.
- the vehicle approach notification sound generating device 1 when the host vehicle is traveling on a road adjacent to the side of a road where a pedestrian or the like is present, or a lane closest to the side of a plurality of lanes In addition, a side vehicle approach notification sound is generated for the pedestrian or the like.
- a side vehicle approach notification sound is generated for the pedestrian or the like.
- the vehicle is traveling on a road where pedestrians and bicycles cannot pass or roads where traffic is prohibited, such as an automobile-only road, it is not necessary to generate a side vehicle approach notification sound.
- the road on which the host vehicle is traveling can be detected (estimated) by the overall control unit 7 based on the road attributes included in the map information stored in the map information storage unit 5. That is, the overall control unit 7 estimates the road on which the host vehicle is traveling based on the road attribute included in the map information stored in the map information storage unit 5 (traveling road attribute estimation Part).
- the lane information included in the map information stored in the map information storage unit 5 is the lane information included in the map information stored in the map information storage unit 5.
- the vehicle position calculation unit 4 calculates the vehicle position, if the position information acquired from the quasi-zenith satellite via the vehicle outside information acquisition unit 3 is used, the accuracy of the vehicle position is further improved.
- the traveling lane detection unit 6 may detect the traveling lane in consideration of the steering operation information acquired by the vehicle information acquisition unit 2.
- step S22 If it is necessary to generate the side vehicle approach notification sound as a result of the detection as described above, the process proceeds to step S22. On the other hand, when it is not necessary to generate the side vehicle approach notification sound, the process proceeds to step S27.
- step S22 the side vehicle approach notification sound generation mode is turned ON.
- the side vehicle approach notification sound generation mode is a mode for the vehicle approach notification sound generation device 1 to generate a side vehicle approach notification sound. 2 and subsequent processing in step S23. That is, turning on the side vehicle approach notification sound generation mode means that the overall control unit 7 starts the processing after step S23 in FIG.
- step S23 the overall control unit 7 determines the lane information (lane number information) included in the map information stored in the map information storage unit 5 and the lane in which the host vehicle detected by the travel lane detection unit 6 travels.
- the direction in which the side vehicle approach notification sound is generated (whether it is generated from the right side or the left side of the host vehicle) is determined.
- the direction in which the side vehicle approach notification sound is generated is determined based on, for example, FIG.
- one lane on both sides means a road having no center line between the own lane (the lane in which the host vehicle is traveling) and the opposite lane (the lane in which the oncoming vehicle is traveling).
- a narrow alley or a residential area Roads living roads.
- examples of the other include, for example, a one-way multi-lane (one-way road having a plurality of lanes).
- the overall control unit 7 determines that the road is one or more lanes on one side and the own lane is one lane (that is, the own lane is one lane and the opposite lane is one or more lanes). Then, the process proceeds to step S26.
- the road having one or more lanes on one side means a road having one or more lanes in the traveling direction.
- the overall control unit 7 is a road with one or more lanes on one side and the own lane is two or more lanes (that is, the own lane is two or more lanes and the opposite lane is one or more lanes). If it judges, it will transfer to step S25.
- step S ⁇ b> 24 the overall control unit 7 controls the left side vehicle approach notification sound control unit 8 so as to generate a side vehicle approach notification sound from the vehicle exterior speaker 11, and generates a side vehicle approach notification sound from the vehicle exterior speaker 13.
- the right side vehicle approach notification sound control unit 10 is controlled so as to be generated. As a result, a side vehicle approach notification sound is generated from the outside speaker 11 and the outside speaker 13 (see FIG. 3).
- step S25 the overall control unit 7 determines whether or not the host vehicle is traveling in the outermost lane.
- the outermost lane refers to the lane on the side where the pedestrian is present (the sidewalk side if there is a sidewalk) among the plurality of own lanes. If it is determined that the host vehicle is traveling in the outermost lane, the process proceeds to step S26. On the other hand, if it is determined that the host vehicle is not traveling in the outermost lane, the process proceeds to step S27.
- step S ⁇ b> 26 the overall control unit 7 controls the left side vehicle approach notification sound control unit 8 so as to generate the side vehicle approach notification sound from the vehicle exterior speaker 11, or the side vehicle approach notification sound from the vehicle exterior speaker 13.
- the right side vehicle approach notification sound control unit 10 is controlled so as to generate As a result, a side vehicle approach notification sound is generated from the vehicle exterior speaker 11 or the vehicle exterior speaker 13 toward the side where the pedestrian is present (the sidewalk side if there is a sidewalk) (see FIG. 3).
- whether the side vehicle approach notification sound is generated from either the vehicle exterior speaker 11 or the vehicle exterior speaker 13 depends on the traffic rules of the road on which the host vehicle travels.
- step S26 the process proceeds to step S28.
- step S27 the overall control unit 7 turns off the side vehicle approach notification sound generation mode without generating the side vehicle approach notification sound from the vehicle exterior speaker 11 and the vehicle exterior speaker 13 (see FIG. 3). Thereafter, the process proceeds to step S28.
- step S28 the overall control unit 7 determines whether or not the host vehicle has finished traveling. If the host vehicle has finished traveling, the process ends. On the other hand, if the host vehicle has not finished traveling, the process proceeds to step S21.
- 4 and 5 are diagrams illustrating an example of the relationship between the traveling lane of the host vehicle and the side vehicle approach notification sound. 4 and 5, arrows indicate the traveling direction of the vehicle, and the vehicle travels on the left side. Moreover, the several line shown to the side of the vehicle of FIG. 4 typically shows the mode of propagation of the side vehicle approach notification sound generated (output) from the side of the vehicle.
- the generation (output) of the side vehicle approach notification sound is controlled based on the road attribute on which the host vehicle travels and the lane on which the host vehicle travels. Therefore, a vehicle approach notification sound can be efficiently generated for a pedestrian or the like existing on the side of the road without consuming unnecessary energy.
- step S21 of FIG. 2 when the own vehicle is a hybrid vehicle and the engine is running, it is not necessary to generate a side vehicle approach notification sound because the pedestrian or the like can hear the engine sound. You may make it judge.
- the map information stored in the map information storage unit 5 may be acquired from a map server (not shown) connected to the Internet by communication.
- the vehicle approach notification sound generation device 1 may communicate with an information processing terminal such as a smartphone existing in the host vehicle, and acquire map information from the information processing terminal.
- an information processing terminal such as a smartphone existing in the host vehicle
- a surrounding detection unit vehicle status recognition unit
- road attributes may be recognized and acquired by image processing using the surrounding detection unit.
- Information recognized by the periphery detection unit may be acquired by the overall control unit 7 via the vehicle outside information acquisition unit 3.
- you may make it acquire a road attribute from infrastructures, such as a beacon installed outside the own vehicle.
- the overall control unit 7 (traveling road attribute estimation unit) is configured to store map information including road attributes stored in advance in the map information storage unit 5 of the vehicle approach notification sound generator 1 or acquired from the outside, and the vehicle position.
- the road attribute may be estimated based on the vehicle position and orientation information recognized by the calculation unit 4 (own vehicle position recognition unit).
- the lane in which the host vehicle travels is detected (estimated) by the travel lane detection unit 6 (travel lane estimation unit).
- a peripheral detection unit vehicle peripheral status recognition
- a lane in which the host vehicle is traveling may be detected by image processing using the periphery detection unit.
- Information recognized by the periphery detection unit may be acquired by the overall control unit 7 via the vehicle outside information acquisition unit 3. That is, the traveling lane detection unit 6 (traveling lane estimation unit) includes map information including road attributes stored in advance in the map information storage unit 5 of the vehicle approach notification sound generator 1 or acquired from the outside, and the vehicle position. You may make it estimate the lane which the own vehicle drive
- the lane in which the host vehicle travels is detected by the travel lane detector 6, but the present invention is not limited to this. For example, you may make it detect the lane which the own vehicle drive
- step S24 of FIG. 2 when the side vehicle approach notification sound is generated from the left and right of the host vehicle, different side vehicle approach notification sounds may be generated on the left and right.
- the sound quality of the side vehicle approach notification sound generated from the left side may be set to a sound quality that is easier to hear than the sound quality of the side vehicle approach notification sound generated from the right side.
- the volume (sound pressure) may be changed, for example. Specifically, if the vehicle is driving to the left of one lane on both sides, the volume on the left side is increased as well as the volume on the right side. You may make it do. Even when the vehicle travels on a one-way road, the vehicle approach notification sound may be controlled in the same manner as in the case of the one-lane road.
- the side vehicle approach notification sound is generated only from the outside (on the side of the sidewalk if there is a sidewalk), but this is not restrictive.
- the side vehicle approach notification sound may be generated from the side opposite to the outside by lowering the volume from the outside.
- Vehicle approach notification sound generator 1 Vehicle approach notification sound generator, 2 Vehicle information acquisition unit, 3 Outside vehicle information acquisition unit, 4 Vehicle position calculation unit, 5 Map information storage unit, 6 Driving lane detection unit, 7 Overall control unit, 8 Left side vehicle approach notification Sound control unit, 9 Front vehicle approach notification sound control unit, 10 Right side vehicle approach notification sound control unit, 11-13 Outside speaker.
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Abstract
The purpose of the present invention is to provide a vehicle approach notification sound generation device capable of efficiently generating a vehicle approach notification sound to pedestrians present on the side of the road. This vehicle approach notification sound generation device (1) is provided with a vehicle-external speaker (11) which outputs in a first direction a first vehicle approach notification sound for notifying of the approach of the vehicle, a vehicle-external speaker (13) which outputs in a second direction a second vehicle approach notification sound for notifying of the approach of the vehicle, a travelled road attribute inference unit which infers road attributes, i.e., attributes of the road travelled by the vehicle, a travelled lane detection unit (6) which infers the lane travelled by the vehicle, and a total control unit (7) which, on the basis of the road attributes inferred by the travelled road attribute inference unit and the lane inferred by the travelled lane inference unit, controls output of the first vehicle approach notification sound and second vehicle approach notification sound.
Description
本発明は、自車両の接近を歩行者等に報知するための車両接近報知音を発生する車両接近報知音発生装置に関する。
The present invention relates to a vehicle approach notification sound generating device that generates a vehicle approach notification sound for notifying a pedestrian or the like of the approach of a host vehicle.
従来、電気自動車やハイブリッド車などにおいて、歩行者等に自車両の接近を認識させるために擬似音（車両接近報知音）を発生する車両接近報知音発生装置が備えられており、例えば、車両から道路の端または歩道の端までの距離に応じて車両接近報知音の出力レベルを制御する車両接近報知音発生装置がある（例えば、特許文献１参照）。
2. Description of the Related Art Conventionally, in an electric vehicle, a hybrid vehicle, and the like, a vehicle approach notification sound generating device that generates a pseudo sound (vehicle approach notification sound) to make a pedestrian or the like recognize the approach of the host vehicle is provided. There is a vehicle approach notification sound generator that controls the output level of a vehicle approach notification sound according to the distance to the end of the road or the sidewalk (see, for example, Patent Document 1).
特許文献１では、道路の側方までの距離が長くなるのに比例して車両接近報知音の出力レベルが上昇するように制御している。
In Patent Document 1, control is performed so that the output level of the vehicle approach notification sound increases in proportion to the increase of the distance to the side of the road.
しかし、特許文献１では、車両が複数車線を有する道路を走行中であっても、当該車両から道路の側方までの距離に応じた出力レベルで車両接近報知音を出力している。従って、車両が複数車線のうちの最も外側の車線（道路の側方に最も近い車線）を走行中でない場合は、道路の側方に存在する歩行者等に対して車両の接近を報知する必要がないにも関わらず車両接近報知音を出力するため、当該車両接近報知音が騒音になるという問題があった。また、不必要な車両接近報知音を出力することによって、無駄なエネルギーを消費してしまうという問題があった。
However, in Patent Document 1, even when the vehicle is traveling on a road having a plurality of lanes, a vehicle approach notification sound is output at an output level corresponding to the distance from the vehicle to the side of the road. Therefore, when the vehicle is not traveling in the outermost lane (the lane closest to the side of the road) of the plurality of lanes, it is necessary to notify the pedestrians etc. existing on the side of the road of the approach of the vehicle. However, since the vehicle approach notification sound is output in spite of the absence, the vehicle approach notification sound becomes a noise. Further, there is a problem that unnecessary energy is consumed by outputting an unnecessary vehicle approach notification sound.
本発明は、これらの問題を解決するためになされたものであり、道路の側方に存在する歩行者等に対して効率良く車両接近報知音を発生させることが可能な車両接近報知音発生装置を提供することを目的とする。
The present invention has been made to solve these problems, and is a vehicle approach notification sound generator capable of efficiently generating a vehicle approach notification sound for a pedestrian or the like existing on the side of a road. The purpose is to provide.
上記の課題を解決するために、本発明による車両接近報知音発生装置は、車両の接近を報知する第１の車両接近報知音を第１の方向に出力する第１の車両接近報知部と、車両の接近を報知する第２の車両接近報知音を第２の方向に出力する第２の車両接近報知部と、車両が走行する道路の属性である道路属性を推定する走行道路属性推定部と、車両が走行する車線を推定する走行車線推定部と、走行道路属性推定部にて推定した道路属性と、走行車線推定部にて推定した車線とに基づいて、第１の車両接近報知音および第２の車両接近報知音の出力を制御する制御部とを備える。
In order to solve the above-described problem, a vehicle approach notification sound generator according to the present invention includes a first vehicle approach notification unit that outputs a first vehicle approach notification sound that notifies the approach of a vehicle in a first direction; A second vehicle approach notification unit that outputs a second vehicle approach notification sound for notifying the approach of the vehicle in a second direction; a traveling road attribute estimation unit that estimates a road attribute that is an attribute of a road on which the vehicle travels; Based on the road lane estimation unit that estimates the lane in which the vehicle travels, the road attribute estimated by the travel road attribute estimation unit, and the lane estimated by the travel lane estimation unit, the first vehicle approach notification sound and And a control unit that controls the output of the second vehicle approach notification sound.
本発明によると、車両の接近を報知する第１の車両接近報知音を第１の方向に出力する第１の車両接近報知部と、車両の接近を報知する第２の車両接近報知音を第２の方向に出力する第２の車両接近報知部と、車両が走行する道路の属性である道路属性を推定する走行道路属性推定部と、車両が走行する車線を推定する走行車線推定部と、走行道路属性推定部にて推定した道路属性と、走行車線推定部にて推定した車線とに基づいて、第１の車両接近報知音および第２の車両接近報知音の出力を制御する制御部とを備えるため、道路の側方に存在する歩行者等に対して効率良く車両接近報知音を発生させることが可能となる。
According to the present invention, the first vehicle approach notification unit that outputs the first vehicle approach notification sound for notifying the approach of the vehicle in the first direction, and the second vehicle approach notification sound for notifying the approach of the vehicle are first output. A second vehicle approach notification unit that outputs in the direction of 2, a traveling road attribute estimation unit that estimates a road attribute that is an attribute of a road on which the vehicle travels, a traveling lane estimation unit that estimates a lane on which the vehicle travels, A control unit that controls output of the first vehicle approach notification sound and the second vehicle approach notification sound based on the road attribute estimated by the travel road attribute estimation unit and the lane estimated by the travel lane estimation unit; Therefore, it is possible to efficiently generate a vehicle approach notification sound for a pedestrian or the like existing on the side of the road.
この発明の目的、特徴、態様、および利点は、以下の詳細な説明と添付図面とによって、より明白となる。
The objects, features, aspects, and advantages of the present invention will become more apparent from the following detailed description and the accompanying drawings.
本発明の実施の形態について、図面に基づいて以下に説明する。
Embodiments of the present invention will be described below based on the drawings.
＜実施の形態＞
まず、本発明の実施の形態による車両接近報知音発生装置の構成について説明する。なお、本実施の形態において、車両接近報知音とは、従来型ガソリン車のエンジン音の擬似音に限らず、ホームでの列車接近時の警報音（人工音）、あるいは楽曲など、車両の接近を報知するために用いることができるすべての音を含む。また、本実施の形態による車両接近報知音発生装置は、電気自動車やハイブリッド車といった走行音が小さい自動車に搭載することを想定している。 <Embodiment>
First, the configuration of the vehicle approach notification sound generator according to the embodiment of the present invention will be described. In the present embodiment, the vehicle approach notification sound is not limited to the engine sound of a conventional gasoline vehicle, but an approach sound of a vehicle such as an alarm sound (artificial sound) or music when a train approaches at home Includes all sounds that can be used to alert you. Further, it is assumed that the vehicle approach notification sound generating device according to the present embodiment is installed in an automobile having a low traveling sound such as an electric vehicle or a hybrid vehicle.
まず、本発明の実施の形態による車両接近報知音発生装置の構成について説明する。なお、本実施の形態において、車両接近報知音とは、従来型ガソリン車のエンジン音の擬似音に限らず、ホームでの列車接近時の警報音（人工音）、あるいは楽曲など、車両の接近を報知するために用いることができるすべての音を含む。また、本実施の形態による車両接近報知音発生装置は、電気自動車やハイブリッド車といった走行音が小さい自動車に搭載することを想定している。 <Embodiment>
First, the configuration of the vehicle approach notification sound generator according to the embodiment of the present invention will be described. In the present embodiment, the vehicle approach notification sound is not limited to the engine sound of a conventional gasoline vehicle, but an approach sound of a vehicle such as an alarm sound (artificial sound) or music when a train approaches at home Includes all sounds that can be used to alert you. Further, it is assumed that the vehicle approach notification sound generating device according to the present embodiment is installed in an automobile having a low traveling sound such as an electric vehicle or a hybrid vehicle.
図１は、本実施の形態による車両接近報知音発生装置１の構成の一例を示すブロック図である。
FIG. 1 is a block diagram showing an example of the configuration of the vehicle approach notification sound generator 1 according to the present embodiment.
図１に示すように、車両接近報知音発生装置１は、車両情報取得部２と、車外情報取得部３と、自車位置算出部４と、地図情報格納部５と、走行車線検知部６と、全体制御部７と、左側方車両接近報知音制御部８と、前方車両接近報知音制御部９と、右側方車両接近報知音制御部１０とを備えている。また、左側方車両接近報知音制御部８は車外スピーカ１１に接続され、前方車両接近報知音制御部９は車外スピーカ１２に接続され、右側方車両接近報知音制御部１０は車外スピーカ１３に接続されている。
As shown in FIG. 1, the vehicle approach notification sound generating device 1 includes a vehicle information acquisition unit 2, an out-of-vehicle information acquisition unit 3, a host vehicle position calculation unit 4, a map information storage unit 5, and a travel lane detection unit 6. And an overall control unit 7, a left side vehicle approach notification sound control unit 8, a front vehicle approach notification sound control unit 9, and a right side vehicle approach notification sound control unit 10. Further, the left side vehicle approach notification sound control unit 8 is connected to the outside speaker 11, the front vehicle approach notification sound control unit 9 is connected to the outside speaker 12, and the right side vehicle approach notification sound control unit 10 is connected to the outside speaker 13. Has been.
車両情報取得部２は、車輪の回転パルス（車速パルス）や、ハンドルの陀角など、車両に関する各種情報（以下、車両情報という）を、車内ＬＡＮ（Local Area Network）等を介して取得し、それらを自車位置算出部４、あるいは走行車線検知部６に入力する。
The vehicle information acquisition unit 2 acquires various information about the vehicle (hereinafter referred to as vehicle information) such as wheel rotation pulses (vehicle speed pulses) and steering angle of the steering wheel via an in-vehicle LAN (Local Area Network) or the like, These are input to the vehicle position calculation unit 4 or the traveling lane detection unit 6.
車外情報取得部３は、ＧＰＳ（Global Positioning System）による車両の位置情報や、車両周辺のカメラ画像の情報など、車両の外部から各種情報（以下、車外情報という）を取得する。
The vehicle outside information acquisition unit 3 acquires various types of information (hereinafter referred to as vehicle outside information) from the outside of the vehicle, such as vehicle position information by GPS (Global Positioning System) and camera image information around the vehicle.
自車位置算出部４（自車位置認識部）は、車両情報取得部２から入力された車両情報、車外情報取得部３が取得した車外情報、および地図情報格納部５に格納された地図情報に基づいて、車両（自車両）の地図上での位置および向きを算出（認識）する。
The vehicle position calculation unit 4 (vehicle position recognition unit) includes vehicle information input from the vehicle information acquisition unit 2, vehicle information acquired by the vehicle information acquisition unit 3, and map information stored in the map information storage unit 5. Based on the above, the position and orientation of the vehicle (own vehicle) on the map are calculated (recognized).
地図情報格納部５は、少なくとも自車両周辺の地図情報を格納している。また、地図情報は、車両が走行する道路の属性である道路属性と、車両が走行する道路の車線情報とを含んでいる。道路の属性には、例えば、自動車専用道路である旨の属性、高速道路である旨の属性、歩道の有無の属性、一方通行である旨の属性、左側通行である旨の属性、右側通行である旨の属性などが含まれる。
The map information storage unit 5 stores at least map information around the host vehicle. The map information includes road attributes that are attributes of the road on which the vehicle is traveling and lane information on the road on which the vehicle is traveling. The attributes of the road include, for example, an attribute indicating that it is an automobile-only road, an attribute indicating that it is an expressway, an attribute indicating whether there is a sidewalk, an attribute indicating that it is one-way, an attribute that indicates that it is left-handed, and an attribute that indicates that it is right-handed The attribute of a certain thing is included.
走行車線検知部６（走行車線推定部）は、車両（自車両）が走行する車線（走行車線）を検知（推定）する。
Traveling lane detection unit 6 (traveling lane estimation unit) detects (estimates) a lane (traveling lane) in which the vehicle (own vehicle) travels.
全体制御部７は、車両が走行する道路の属性である道路属性と、車両が走行する車線情報とに基づいて、車両接近報知音の出力を制御する。なお、車両接近報知音の出力制御については、後に詳細に説明する。
The overall control unit 7 controls the output of the vehicle approach notification sound based on the road attribute that is the attribute of the road on which the vehicle travels and the lane information on which the vehicle travels. Note that the output control of the vehicle approach notification sound will be described in detail later.
左側方車両接近報知音制御部８、前方車両接近報知音制御部９、右側方車両接近報知音制御部１０の各々は、全体制御部７の制御（指示）に基づいて車両接近報知音信号を生成し、生成した車両接近報知音信号を車外スピーカ１１～１３に送信する。
Each of the left side vehicle approach notification sound control unit 8, the forward vehicle approach notification sound control unit 9, and the right side vehicle approach notification sound control unit 10 generates a vehicle approach notification sound signal based on the control (instruction) of the overall control unit 7. The generated vehicle approach notification sound signal is transmitted to the outside speakers 11 to 13.
車外スピーカ１１～１３は、左側方車両接近報知音制御部８、前方車両接近報知音制御部９、右側方車両接近報知音制御部１０の各々からの車両接近報知音信号を受信し、車両接近報知音として車外に出力（報知）する。車外スピーカ１１（第１の車両接近報知部）は車両の進行方向に対して左側方（第１の方向）に向けて音が出力されるように備えられ、車外スピーカ１２は車両の前方に向けて音が出力されるように備えられ、車外スピーカ１３（第２の車両接近報知部）は車両の進行方向に対して右側方（第２の方向）に向けて音が出力されるように備えられている。
The outside speakers 11 to 13 receive vehicle approach notification sound signals from the left side vehicle approach notification sound control unit 8, the forward vehicle approach notification sound control unit 9, and the right side vehicle approach notification sound control unit 10, respectively. It outputs (notifies) outside the vehicle as a notification sound. The outside speaker 11 (first vehicle approach notification unit) is provided so that sound is output toward the left side (first direction) with respect to the traveling direction of the vehicle, and the outside speaker 12 faces the front of the vehicle. The outside speaker 13 (second vehicle approach notification unit) is provided so that sound is output toward the right side (second direction) with respect to the traveling direction of the vehicle. It has been.
なお、以下では、車外スピーカ１１，１３から出力される車両接近報知音を側方車両接近報知音（第１の車両接近報知音、第２の車両接近報知音）といい、車外スピーカ１２から出力される車両接近報知音を前方車両接近報知音という。また、側方車両接近報知音は、車両の進行方向に対して真横方向のみならず、前方寄りの方向や、車両の速度に応じて真横方向から前方寄りの方向に出力するようにしてもよい。
Hereinafter, the vehicle approach notification sound output from the outside speakers 11 and 13 is referred to as a side vehicle approach notification sound (first vehicle approach notification sound, second vehicle approach notification sound), and is output from the outside speaker 12. The vehicle approach notification sound is referred to as a forward vehicle approach notification sound. Further, the side vehicle approach notification sound may be output not only in the lateral direction with respect to the traveling direction of the vehicle, but also in the forward direction or the forward direction according to the vehicle speed. .
次に、本実施の形態による車両接近報知音発生装置１の動作について説明する。なお、ここでは、車両の側方（車外スピーカ１１，１３）から側方車両接近報知音を出力する場合について説明する。
Next, the operation of the vehicle approach notification sound generator 1 according to this embodiment will be described. Here, a case where a side vehicle approach notification sound is output from the side of the vehicle (external speakers 11, 13) will be described.
図２は、車両接近報知音発生装置１の動作の一例を示すフローチャートである。
FIG. 2 is a flowchart showing an example of the operation of the vehicle approach notification sound generating device 1.
ステップＳ２１において、全体制御部７は、側方車両接近報知音を発生させる必要があるか否かを判断する。
In step S21, the overall control unit 7 determines whether it is necessary to generate a side vehicle approach notification sound.
本実施の形態による車両接近報知音発生装置１は、自車両が、歩行者等が存在する道路の側方に隣接した道路、または複数車線のうち側方に最も近い車線を走行中である場合に、当該歩行者等に対して側方車両接近報知音を発生させる。一方、例えば車両が自動車専用道路など、歩行者や自転車が通行不可能な道路または通行が禁止されている道路を走行中である場合は、側方車両接近報知音を発生させる必要がない。従って、側方車両接近報知音を発生させる必要があるか否かを判断するためには、自車両がどのような道路を走行中であるのか、あるいは道路が複数車線であれば自車両がどの車線を走行中であるのかを検知（推定）する必要がある。
In the vehicle approach notification sound generating device 1 according to the present embodiment, when the host vehicle is traveling on a road adjacent to the side of a road where a pedestrian or the like is present, or a lane closest to the side of a plurality of lanes In addition, a side vehicle approach notification sound is generated for the pedestrian or the like. On the other hand, for example, when the vehicle is traveling on a road where pedestrians and bicycles cannot pass or roads where traffic is prohibited, such as an automobile-only road, it is not necessary to generate a side vehicle approach notification sound. Therefore, in order to determine whether or not it is necessary to generate a side vehicle approach notification sound, what road the host vehicle is traveling on, or if the host vehicle is a multi-lane road, It is necessary to detect (estimate) whether the vehicle is traveling in the lane.
自車両がどのような道路を走行中であるかは、地図情報格納部５に格納された地図情報に含まれる道路属性に基づいて全体制御部７にて検知（推定）することができる。すなわち、全体制御部７は、地図情報格納部５に格納された地図情報に含まれる道路属性に基づいて、自車両がどのような道路を走行中であるかを推定する機能（走行道路属性推定部）を有している。
The road on which the host vehicle is traveling can be detected (estimated) by the overall control unit 7 based on the road attributes included in the map information stored in the map information storage unit 5. That is, the overall control unit 7 estimates the road on which the host vehicle is traveling based on the road attribute included in the map information stored in the map information storage unit 5 (traveling road attribute estimation Part).
また、自車両が走行する車線を検知（推定）する方法としては、例えば、走行車線検知部６（走行車線推定部）が、地図情報格納部５に格納された地図情報に含まれる車線情報と、自車位置算出部４にて算出された自車位置情報とに基づいて自車両の走行車線を検知（推定）する方法がある。なお、自車位置算出部４が自車位置を算出する際に、車外情報取得部３を介して準天頂衛星から取得した位置情報を用いれば、自車位置の精度はより向上する。また、走行車線検知部６は、車両情報取得部２が取得したハンドル操作の情報を加味して走行車線を検知するようにしてもよい。
In addition, as a method of detecting (estimating) the lane in which the host vehicle travels, for example, the lane information included in the map information stored in the map information storage unit 5 is the lane information included in the map information stored in the map information storage unit 5. There is a method of detecting (estimating) the traveling lane of the host vehicle based on the host vehicle position information calculated by the host vehicle position calculation unit 4. When the vehicle position calculation unit 4 calculates the vehicle position, if the position information acquired from the quasi-zenith satellite via the vehicle outside information acquisition unit 3 is used, the accuracy of the vehicle position is further improved. The traveling lane detection unit 6 may detect the traveling lane in consideration of the steering operation information acquired by the vehicle information acquisition unit 2.
上記のように検知した結果、側方車両接近報知音を発生させる必要がある場合はステップＳ２２に移行する。一方、側方車両接近報知音を発生させる必要がない場合はステップＳ２７に移行する。
If it is necessary to generate the side vehicle approach notification sound as a result of the detection as described above, the process proceeds to step S22. On the other hand, when it is not necessary to generate the side vehicle approach notification sound, the process proceeds to step S27.
ステップＳ２２において、側方車両接近報知音発生モードをＯＮにする。ここで、側方車両接近報知音発生モードとは、車両接近報知音発生装置１が側方車両接近報知音を発生させるためのモードのことであり、具体的には、全体制御部７が図２のステップＳ２３以降の処理を行うことである。すなわち、側方車両接近報知音発生モードをＯＮにするということは、全体制御部７が図２のステップＳ２３以降の処理を開始することを意味している。
In step S22, the side vehicle approach notification sound generation mode is turned ON. Here, the side vehicle approach notification sound generation mode is a mode for the vehicle approach notification sound generation device 1 to generate a side vehicle approach notification sound. 2 and subsequent processing in step S23. That is, turning on the side vehicle approach notification sound generation mode means that the overall control unit 7 starts the processing after step S23 in FIG.
ステップＳ２３において、全体制御部７は、地図情報格納部５に格納された地図情報に含まれる車線情報（車線数の情報）と、走行車線検知部６にて検知された自車両が走行する車線との関係に基づいて、側方車両接近報知音を発生させる方向（自車両の右側から発生させるのか、あるいは左側から発生させるのか）を決定する。側方車両接近報知音を発生させる方向は、例えば図３に基づいて決定される。
In step S23, the overall control unit 7 determines the lane information (lane number information) included in the map information stored in the map information storage unit 5 and the lane in which the host vehicle detected by the travel lane detection unit 6 travels. The direction in which the side vehicle approach notification sound is generated (whether it is generated from the right side or the left side of the host vehicle) is determined. The direction in which the side vehicle approach notification sound is generated is determined based on, for example, FIG.
全体制御部７が、自車両が走行する道路が両側１車線あるいはその他（車線数等が不明）であると判断すると、ステップＳ２４に移行する。ここで、両側１車線とは、自車線（自車両が走行する車線）と対向車線（対向車両が走行する車線）との間にセンターラインがない道路のことをいい、例えば狭い路地や住宅街の道路（生活道路）などが挙げられる。また、上記のその他とは、例えば自車線が一方通行多車線（一方通行であって複数車線を有する道路）などが挙げられる。
If the overall control unit 7 determines that the road on which the host vehicle is traveling is one lane on both sides or the other (the number of lanes is unknown), the process proceeds to step S24. Here, one lane on both sides means a road having no center line between the own lane (the lane in which the host vehicle is traveling) and the opposite lane (the lane in which the oncoming vehicle is traveling). For example, a narrow alley or a residential area Roads (living roads). In addition, examples of the other include, for example, a one-way multi-lane (one-way road having a plurality of lanes).
また、全体制御部７が、片側１車線以上の道路であって、かつ自車線が１車線である（すなわち、自車線が１車線であって、かつ対向車線が１車線以上である）と判断すると、ステップＳ２６に移行する。ここで、片側１車線以上の道路とは、進行方向の車線が１車線以上存在する道路のことをいう。
Further, the overall control unit 7 determines that the road is one or more lanes on one side and the own lane is one lane (that is, the own lane is one lane and the opposite lane is one or more lanes). Then, the process proceeds to step S26. Here, the road having one or more lanes on one side means a road having one or more lanes in the traveling direction.
また、全体制御部７が、片側１車線以上の道路であって、かつ自車線が２車線以上である（すなわち、自車線が２車線以上であって、かつ対向車線が１車線以上である）と判断すると、ステップＳ２５に移行する。
In addition, the overall control unit 7 is a road with one or more lanes on one side and the own lane is two or more lanes (that is, the own lane is two or more lanes and the opposite lane is one or more lanes). If it judges, it will transfer to step S25.
ステップＳ２４において、全体制御部７は、車外スピーカ１１から側方車両接近報知音を発生させるように左側方車両接近報知音制御部８を制御するとともに、車外スピーカ１３から側方車両接近報知音を発生させるように右側方車両接近報知音制御部１０を制御する。その結果、車外スピーカ１１および車外スピーカ１３から側方車両接近報知音が発生する（図３参照）。ステップＳ２４の処理の後、ステップＳ２８に移行する。
In step S <b> 24, the overall control unit 7 controls the left side vehicle approach notification sound control unit 8 so as to generate a side vehicle approach notification sound from the vehicle exterior speaker 11, and generates a side vehicle approach notification sound from the vehicle exterior speaker 13. The right side vehicle approach notification sound control unit 10 is controlled so as to be generated. As a result, a side vehicle approach notification sound is generated from the outside speaker 11 and the outside speaker 13 (see FIG. 3). After step S24, the process proceeds to step S28.
ステップＳ２５において、全体制御部７は、自車両が最も外側の車線を走行中であるか否かの判断を行う。ここで、最も外側の車線とは、複数の自車線のうち、最も歩行者が存在する側（歩道があれば歩道側）の車線のことをいう。自車両が最も外側の車線を走行中であると判断すると、ステップＳ２６に移行する。一方、自車両が最も外側の車線を走行中でないと判断すると、ステップＳ２７に移行する。
In step S25, the overall control unit 7 determines whether or not the host vehicle is traveling in the outermost lane. Here, the outermost lane refers to the lane on the side where the pedestrian is present (the sidewalk side if there is a sidewalk) among the plurality of own lanes. If it is determined that the host vehicle is traveling in the outermost lane, the process proceeds to step S26. On the other hand, if it is determined that the host vehicle is not traveling in the outermost lane, the process proceeds to step S27.
ステップＳ２６において、全体制御部７は、車外スピーカ１１から側方車両接近報知音を発生させるように左側方車両接近報知音制御部８を制御するか、あるいは車外スピーカ１３から側方車両接近報知音を発生させるように右側方車両接近報知音制御部１０を制御する。その結果、車外スピーカ１１あるいは車外スピーカ１３から歩行者が存在する側（歩道があれば歩道側）に向かって側方車両接近報知音が発生する（図３参照）。ここで、車外スピーカ１１あるいは車外スピーカ１３の何れから側方車両接近報知音が発生するのかは、自車両が走行する道路の交通規則によって異なる。すなわち、自車両が進行方向に対して左側を走行中である場合は、車外スピーカ１１から側方車両接近報知音が発生する。また、自車両が進行方向に対して右側を走行中である場合は、車外スピーカ１３から側方車両接近報知音が発生する。自車両が進行方向に対して左側または右側の何れを走行中であるかは、地図情報格納部５に格納されている地図情報に含まれる道路属性に基づいて判断することができる。ステップＳ２６の処理の後、ステップＳ２８に移行する。
In step S <b> 26, the overall control unit 7 controls the left side vehicle approach notification sound control unit 8 so as to generate the side vehicle approach notification sound from the vehicle exterior speaker 11, or the side vehicle approach notification sound from the vehicle exterior speaker 13. The right side vehicle approach notification sound control unit 10 is controlled so as to generate As a result, a side vehicle approach notification sound is generated from the vehicle exterior speaker 11 or the vehicle exterior speaker 13 toward the side where the pedestrian is present (the sidewalk side if there is a sidewalk) (see FIG. 3). Here, whether the side vehicle approach notification sound is generated from either the vehicle exterior speaker 11 or the vehicle exterior speaker 13 depends on the traffic rules of the road on which the host vehicle travels. That is, when the host vehicle is traveling on the left side with respect to the traveling direction, a side vehicle approach notification sound is generated from the outside speaker 11. Further, when the host vehicle is traveling on the right side with respect to the traveling direction, a side vehicle approach notification sound is generated from the outside speaker 13. Whether the host vehicle is traveling on the left side or the right side with respect to the traveling direction can be determined based on road attributes included in the map information stored in the map information storage unit 5. After step S26, the process proceeds to step S28.
ステップＳ２７において、全体制御部７は、車外スピーカ１１および車外スピーカ１３から側方車両接近報知音を発生させずに（図３参照）、側方車両接近報知音発生モードをＯＦＦにする。その後、ステップＳ２８に移行する。
In step S27, the overall control unit 7 turns off the side vehicle approach notification sound generation mode without generating the side vehicle approach notification sound from the vehicle exterior speaker 11 and the vehicle exterior speaker 13 (see FIG. 3). Thereafter, the process proceeds to step S28.
ステップＳ２８において、全体制御部７は、自車両が走行を終了したか否かを判断する。自車両が走行を終了した場合は、処理を終了する。一方、自車両が走行を終了していない場合は、ステップＳ２１に移行する。
In step S28, the overall control unit 7 determines whether or not the host vehicle has finished traveling. If the host vehicle has finished traveling, the process ends. On the other hand, if the host vehicle has not finished traveling, the process proceeds to step S21.
図４，５は、自車両の走行車線と側方車両接近報知音との関係の一例を示す図である。なお、図４，５において、矢印は車両の進行方向を示しており、車両が左側通行で走行する様子を示している。また、図４の車両の側方に示す複数の線は、車両の側方から発生（出力）した側方車両接近報知音の伝播の様子を模式的に示したものである。
4 and 5 are diagrams illustrating an example of the relationship between the traveling lane of the host vehicle and the side vehicle approach notification sound. 4 and 5, arrows indicate the traveling direction of the vehicle, and the vehicle travels on the left side. Moreover, the several line shown to the side of the vehicle of FIG. 4 typically shows the mode of propagation of the side vehicle approach notification sound generated (output) from the side of the vehicle.
図４に示すように、自車両が最も外側の車線を走行中の場合（図２のステップＳ２５でＹＥＳの場合）、進行方向に対して左側方に側方車両接近報知音を発生する。このとき、進行方向に対して右側方には歩行者等が存在しないため、側方車両接近報知音を発生しない。従って、不要な側方車両接近報知音を発生することがないため、騒音を抑制する効果がある。
As shown in FIG. 4, when the host vehicle is traveling in the outermost lane (YES in step S25 in FIG. 2), a side vehicle approach notification sound is generated on the left side with respect to the traveling direction. At this time, since there are no pedestrians or the like on the right side of the traveling direction, no side vehicle approach notification sound is generated. Therefore, since unnecessary side vehicle approach notification sound is not generated, there is an effect of suppressing noise.
また、図５に示すように、自車両が最も外側の車線を走行中でない場合（図２のステップＳ２５でＮＯの場合）において、左側方および右側方のいずれにも歩行者等が存在しないため、側方車両接近報知音を発生しない。従って、不要な側方車両接近報知音を発生することがないため、騒音を抑制する効果がある。
Further, as shown in FIG. 5, when the host vehicle is not traveling in the outermost lane (NO in step S25 of FIG. 2), there is no pedestrian or the like on either the left side or the right side. The side vehicle approach notification sound is not generated. Therefore, since unnecessary side vehicle approach notification sound is not generated, there is an effect of suppressing noise.
以上のことから、本実施の形態によれば、自車両が走行する道路属性と、自車両が走行する車線とに基づいて側方車両接近報知音の発生（出力）を制御している。従って、無駄なエネルギーを消費することなく、道路の側方に存在する歩行者等に対して効率良く車両接近報知音を発生することができる。
From the above, according to the present embodiment, the generation (output) of the side vehicle approach notification sound is controlled based on the road attribute on which the host vehicle travels and the lane on which the host vehicle travels. Therefore, a vehicle approach notification sound can be efficiently generated for a pedestrian or the like existing on the side of the road without consuming unnecessary energy.
なお、図２のステップＳ２１において、自車両がハイブリッド車であってエンジン走行中である場合は、歩行者等にエンジン音が聞こえているため、側方車両接近報知音を発生させる必要がないと判断するようにしてもよい。
In addition, in step S21 of FIG. 2, when the own vehicle is a hybrid vehicle and the engine is running, it is not necessary to generate a side vehicle approach notification sound because the pedestrian or the like can hear the engine sound. You may make it judge.
地図情報格納部５に格納される地図情報は、通信によってインターネットに接続された地図サーバ（図示せず）から取得するようにしてもよい。また、車両接近報知音発生装置１は、自車両内に存在するスマートフォンなどの情報処理端末と通信を行い、当該情報処理端末から地図情報を取得するようにしてもよい。また、自車両周辺の状況を認識するカメラ等の周辺検出部（車両状況認識部）をさらに備え、当該周辺検出部を用いた画像処理によって道路属性を認識して取得するようにしてもよい。周辺検出部が認識した情報は、車外情報取得部３を介して全体制御部７が取得するようにしてもよい。また、自車両外に設置されたビーコンなどのインフラから道路属性を取得するようにしてもよい。すなわち、全体制御部７（走行道路属性推定部）は、車両接近報知音発生装置１の地図情報格納部５に予め格納されたか、または外部から取得した道路属性を含む地図情報と、自車位置算出部４（自車位置認識部）にて認識された車両の位置および向きの情報とに基づいて道路属性を推定するようにしてもよい。
The map information stored in the map information storage unit 5 may be acquired from a map server (not shown) connected to the Internet by communication. In addition, the vehicle approach notification sound generation device 1 may communicate with an information processing terminal such as a smartphone existing in the host vehicle, and acquire map information from the information processing terminal. Further, a surrounding detection unit (vehicle status recognition unit) such as a camera for recognizing the situation around the host vehicle may be further provided, and road attributes may be recognized and acquired by image processing using the surrounding detection unit. Information recognized by the periphery detection unit may be acquired by the overall control unit 7 via the vehicle outside information acquisition unit 3. Moreover, you may make it acquire a road attribute from infrastructures, such as a beacon installed outside the own vehicle. That is, the overall control unit 7 (traveling road attribute estimation unit) is configured to store map information including road attributes stored in advance in the map information storage unit 5 of the vehicle approach notification sound generator 1 or acquired from the outside, and the vehicle position. The road attribute may be estimated based on the vehicle position and orientation information recognized by the calculation unit 4 (own vehicle position recognition unit).
実施の形態では、自車両が走行する車線を走行車線検知部６（走行車線推定部）が検知（推定）したが、自車両周辺の状況を認識するカメラ等の周辺検出部（車両周辺状況認識部）をさらに備え、当該周辺検出部を用いた画像処理によって自車両が走行する車線を検知するようにしてもよい。周辺検出部が認識した情報は、車外情報取得部３を介して全体制御部７が取得するようにしてもよい。すなわち、走行車線検知部６（走行車線推定部）は、車両接近報知音発生装置１の地図情報格納部５に予め格納されたか、または外部から取得した道路属性を含む地図情報と、自車位置算出部４（自車位置認識部）にて認識された車両の位置および向きの情報とに基づいて自車両が走行する車線を推定するようにしてもよい。
In the embodiment, the lane in which the host vehicle travels is detected (estimated) by the travel lane detection unit 6 (travel lane estimation unit). However, a peripheral detection unit (vehicle peripheral status recognition) that recognizes the situation around the host vehicle. A lane in which the host vehicle is traveling may be detected by image processing using the periphery detection unit. Information recognized by the periphery detection unit may be acquired by the overall control unit 7 via the vehicle outside information acquisition unit 3. That is, the traveling lane detection unit 6 (traveling lane estimation unit) includes map information including road attributes stored in advance in the map information storage unit 5 of the vehicle approach notification sound generator 1 or acquired from the outside, and the vehicle position. You may make it estimate the lane which the own vehicle drive | works based on the position and direction information of the vehicle recognized by the calculation part 4 (own vehicle position recognition part).
実施の形態では、走行車線検知部６にて自車両が走行する車線を検知したが、これに限るものではない。例えば、車外情報取得部３が取得したカメラ画像の情報から自車両が走行する車線を検出するようにしてもよい。
In the embodiment, the lane in which the host vehicle travels is detected by the travel lane detector 6, but the present invention is not limited to this. For example, you may make it detect the lane which the own vehicle drive | works from the information of the camera image which the vehicle exterior information acquisition part 3 acquired.
図２のステップＳ２４において、自車両の左右から側方車両接近報知音を発生させる際に、左右で異なる側方車両接近報知音を発生させるようにしてもよい。例えば、交通規則により左側通行の場合において、一般的に車両は両側１車線の左寄りを走行する。従って、左側から発生させる側方車両接近報知音の音質を、右側から発生させる側方車両接近報知音の音質よりも聴覚上聞き取りやすい音質にすればよい。また、音質に限らず、例えば音量（音圧）を変えるようにしてもよい。具体的には、車両が両側１車線の左寄りを走行する場合は左側の音量を右側の音量も大きくし、車両が両側１車線の右寄りを走行する場合は右側の音量を左側の音量よりも大きくするようにしてもよい。なお、車両が一方通行の道路を走行する場合も、上記の両側１車線の道路の場合と同様に車両接近報知音を制御してもよい。
In step S24 of FIG. 2, when the side vehicle approach notification sound is generated from the left and right of the host vehicle, different side vehicle approach notification sounds may be generated on the left and right. For example, in the case of left-hand traffic according to traffic rules, the vehicle generally travels to the left of one lane on both sides. Therefore, the sound quality of the side vehicle approach notification sound generated from the left side may be set to a sound quality that is easier to hear than the sound quality of the side vehicle approach notification sound generated from the right side. Further, not only the sound quality but also the volume (sound pressure) may be changed, for example. Specifically, if the vehicle is driving to the left of one lane on both sides, the volume on the left side is increased as well as the volume on the right side. You may make it do. Even when the vehicle travels on a one-way road, the vehicle approach notification sound may be controlled in the same manner as in the case of the one-lane road.
図２のステップＳ２６では、外側（歩道があれば歩道側）からのみ側方車両接近報知音を発生させているが、これに限るものではない。例えば、前記外側とは反対側から、外側よりも音量を下げて側方車両接近報知音を発生させてもよい。
In step S26 of FIG. 2, the side vehicle approach notification sound is generated only from the outside (on the side of the sidewalk if there is a sidewalk), but this is not restrictive. For example, the side vehicle approach notification sound may be generated from the side opposite to the outside by lowering the volume from the outside.
なお、本発明は、その発明の範囲内において、実施の形態を適宜、変形、省略することが可能である。
In the present invention, the embodiments can be appropriately modified or omitted within the scope of the invention.
この発明は詳細に説明されたが、上記した説明は、すべての態様において、例示であって、この発明がそれに限定されるものではない。例示されていない無数の変形例が、この発明の範囲から外れることなく想定され得るものと解される。
Although the present invention has been described in detail, the above description is illustrative in all aspects, and the present invention is not limited thereto. It is understood that countless variations that are not illustrated can be envisaged without departing from the scope of the present invention.
１ 車両接近報知音発生装置、２ 車両情報取得部、３ 車外情報取得部、４ 自車位置算出部、５ 地図情報格納部、６ 走行車線検知部、７ 全体制御部、８ 左側方車両接近報知音制御部、９ 前方車両接近報知音制御部、１０ 右側方車両接近報知音制御部、１１～１３ 車外スピーカ。
1 Vehicle approach notification sound generator, 2 Vehicle information acquisition unit, 3 Outside vehicle information acquisition unit, 4 Vehicle position calculation unit, 5 Map information storage unit, 6 Driving lane detection unit, 7 Overall control unit, 8 Left side vehicle approach notification Sound control unit, 9 Front vehicle approach notification sound control unit, 10 Right side vehicle approach notification sound control unit, 11-13 Outside speaker.
Claims (13)
- 車両の接近を報知する第１の車両接近報知音を第１の方向に出力する第１の車両接近報知部と、
前記車両の接近を報知する第２の車両接近報知音を第２の方向に出力する第２の車両接近報知部と、
前記車両が走行する道路の属性である道路属性を推定する走行道路属性推定部と、
前記車両が走行する車線を推定する走行車線推定部と、
前記走行道路属性推定部にて推定した前記道路属性と、前記走行車線推定部にて推定した前記車線とに基づいて、前記第１の車両接近報知音および前記第２の車両接近報知音の出力を制御する制御部と、
を備える、車両接近報知音発生装置。 A first vehicle approach notification unit that outputs a first vehicle approach notification sound for notifying the approach of the vehicle in a first direction;
A second vehicle approach notification unit that outputs a second vehicle approach notification sound for notifying the approach of the vehicle in a second direction;
A traveling road attribute estimation unit that estimates a road attribute that is an attribute of a road on which the vehicle travels;
A traveling lane estimation unit that estimates a lane in which the vehicle travels;
Output of the first vehicle approach notification sound and the second vehicle approach notification sound based on the road attribute estimated by the travel road attribute estimation unit and the lane estimated by the travel lane estimation unit A control unit for controlling
A vehicle approach notification sound generating device. - 前記第１の方向は前記車両の進行方向に対して左側方であり、前記第２の方向は前記車両の進行方向に対して右側方であることを特徴とする、請求項１に記載の車両接近報知音発生装置。 2. The vehicle according to claim 1, wherein the first direction is on the left side with respect to the traveling direction of the vehicle, and the second direction is on the right side with respect to the traveling direction of the vehicle. Approach notification sound generator.
- 前記第１の車両接近報知部は、前記車両が進行方向に対して道路の左側を走行中である場合において、前記第１の車両接近報知音を前記第１の方向に出力し、
前記第２の車両接近報知部は、前記車両が進行方向に対して道路の右側を走行中である場合において、前記第２の車両接近報知音を前記第２の方向に出力することを特徴とする、請求項２に記載の車両接近報知音発生装置。 The first vehicle approach notification unit outputs the first vehicle approach notification sound in the first direction when the vehicle is traveling on the left side of the road with respect to the traveling direction.
The second vehicle approach notification unit outputs the second vehicle approach notification sound in the second direction when the vehicle is traveling on the right side of the road with respect to the traveling direction. The vehicle approach notification sound generator according to claim 2. - 前記車両が進行方向に対して道路の左寄りを走行中である場合において、前記第１の車両接近報知部は前記第１の車両接近報知音を前記第１の方向に出力し、かつ前記第２の車両接近報知部は前記第１の車両接近報知音よりも小さい音圧で前記第２の車両接近報知音を前記第２の方向に出力し、
前記車両が進行方向に対して道路の右寄りを走行中である場合において、前記第２の車両接近報知部は前記第２の車両接近報知音を前記第２の方向に出力し、かつ前記第１の車両接近報知部は前記第１の車両接近報知音を前記第１の方向に出力することを特徴とする、請求項２に記載の車両接近報知音発生装置。 When the vehicle is running on the left side of the road with respect to the traveling direction, the first vehicle approach notification unit outputs the first vehicle approach notification sound in the first direction, and the second The vehicle approach notification unit outputs the second vehicle approach notification sound in the second direction with a sound pressure lower than the first vehicle approach notification sound,
When the vehicle is traveling on the right side of the road with respect to the traveling direction, the second vehicle approach notification unit outputs the second vehicle approach notification sound in the second direction, and the first The vehicle approach notification sound generator according to claim 2, wherein the vehicle approach notification unit outputs the first vehicle approach notification sound in the first direction. - 前記車両が、前記道路属性が左側通行である道路を走行中である場合において、前記第１の車両接近報知部は前記第１の車両接近報知音を前記第１の方向に出力し、
前記車両が、前記道路属性が右側通行である道路を走行中である場合において、前記第２の車両接近報知部は前記第２の車両接近報知音を前記第２の方向に出力することを特徴とする、請求項２に記載の車両接近報知音発生装置。 When the vehicle is traveling on a road whose road attribute is left-hand traffic, the first vehicle approach notification unit outputs the first vehicle approach notification sound in the first direction,
When the vehicle is traveling on a road whose road attribute is right-hand traffic, the second vehicle approach notification unit outputs the second vehicle approach notification sound in the second direction. The vehicle approach notification sound generator according to claim 2. - 前記車両が複数車線を有する道路を走行中の場合において、
前記第１の車両接近報知部または前記第２の車両接近報知部は、前記車両が左側通行または右側通行の最も外側の車線を走行しているときにのみ、前記第１の方向または前記第２の方向に前記第１の車両接近報知音または前記第２の車両接近報知音を出力することを特徴とする、請求項２に記載の車両接近報知音発生装置。 When the vehicle is traveling on a road having multiple lanes,
The first vehicle approach notifying unit or the second vehicle approach notifying unit is provided only when the vehicle is traveling in the outermost lane of left-hand traffic or right-hand traffic. The vehicle approach notification sound generating device according to claim 2, wherein the first vehicle approach notification sound or the second vehicle approach notification sound is output in the direction of. - 前記車両が両側一車線の道路を走行中の場合において、
前記第１の車両接近報知部は前記第１の車両接近報知音を出力し、かつ前記第２の車両接近報知部は前記第２の車両接近報知音を出力することを特徴とする、請求項２に記載の車両接近報知音発生装置。 When the vehicle is traveling on a single lane road on both sides,
The first vehicle approach notification unit outputs the first vehicle approach notification sound, and the second vehicle approach notification unit outputs the second vehicle approach notification sound. The vehicle approach notification sound generator according to 2. - 前記車両が、歩行者や自転車が通行禁止または通行不可能な道路を走行中の場合において、
前記制御部は、前記第１の車両接近報知音および前記第２の車両接近報知音を出力しないように制御することを特徴とする、請求項１に記載の車両接近報知音発生装置。 In the case where the vehicle is traveling on a road where pedestrians and bicycles are prohibited or not allowed to pass,
The vehicle approach notification sound generator according to claim 1, wherein the control unit performs control so that the first vehicle approach notification sound and the second vehicle approach notification sound are not output. - 前記制御部は、前記第１の車両接近報知音および前記第２の車両接近報知音の音質または音量を制御することを特徴とする、請求項１に記載の車両接近報知音発生装置。 2. The vehicle approach notification sound generator according to claim 1, wherein the control unit controls sound quality or volume of the first vehicle approach notification sound and the second vehicle approach notification sound.
- 前記車両の位置および向きを認識する自車位置認識部をさらに備え、
前記走行道路属性推定部は、前記車両接近報知音発生装置内に予め格納された、または外部から取得した前記道路属性を含む地図情報と、前記自車位置認識部にて認識された前記車両の位置および向きの情報とに基づいて前記道路属性を推定することを特徴とする、請求項１に記載の車両接近報知音発生装置。 A vehicle position recognition unit for recognizing the position and orientation of the vehicle;
The travel road attribute estimation unit includes map information including the road attribute stored in advance in the vehicle approach notification sound generating device or acquired from the outside, and the vehicle position recognized by the vehicle position recognition unit. The vehicle approach notification sound generating device according to claim 1, wherein the road attribute is estimated based on position and orientation information. - 前記車両の位置および向きを認識する自車位置認識部をさらに備え、
前記走行車線推定部は、前記車両接近報知音発生装置内に予め格納された、または外部から取得した前記道路属性を含む地図情報と、前記自車位置認識部にて認識された前記車両の位置および向きの情報とに基づいて前記走行する車線を推定することを特徴とする、請求項１に記載の車両接近報知音発生装置。 A vehicle position recognition unit for recognizing the position and orientation of the vehicle;
The travel lane estimation unit includes map information including the road attribute stored in advance in the vehicle approach notification sound generator or acquired from the outside, and the position of the vehicle recognized by the vehicle position recognition unit. The vehicle approach notification sound generating device according to claim 1, wherein the traveling lane is estimated on the basis of the direction information and the direction information. - 前記車両の周辺状況を認識する車両状況認識部をさらに備え、
前記走行道路属性推定部は、前記車両状況認識部にて認識された前記周辺状況に基づいて前記道路属性を推定することを特徴とする、請求項１に記載の車両接近報知音発生装置。 A vehicle situation recognition unit for recognizing the surrounding situation of the vehicle;
The vehicle approach notification sound generating apparatus according to claim 1, wherein the traveling road attribute estimation unit estimates the road attribute based on the surrounding situation recognized by the vehicle situation recognition unit. - 前記車両の周辺状況を認識する車両状況認識部をさらに備え、
前記前記走行車線推定部は、前記車両状況認識部にて認識された前記周辺状況に基づいて前記車線を推定することを特徴とする、請求項１に記載の車両接近報知音発生装置。 A vehicle situation recognition unit for recognizing the surrounding situation of the vehicle;
The vehicle approach notification sound generating device according to claim 1, wherein the travel lane estimation unit estimates the lane based on the surrounding situation recognized by the vehicle situation recognition unit.
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- 2012-10-25 WO PCT/JP2012/077606 patent/WO2014064800A1/en active Application Filing
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| CN104736390A (en) | 2015-06-24 |
| JPWO2014064800A1 (en) | 2016-09-05 |
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