WO2014083607A1

WO2014083607A1 - Vehicle speed information generation device, acoustic device and method for generating vehicle speed information

Info

Publication number: WO2014083607A1
Application number: PCT/JP2012/080585
Authority: WO
Inventors: 田中　純一
Original assignee: パイオニア株式会社
Priority date: 2012-11-27
Filing date: 2012-11-27
Publication date: 2014-06-05

Abstract

If a vehicle speed information generation unit (730A) of the present invention receives a detected speed for each interval of a first time period, said unit determines whether there has been a variation in the detected speed at intervals of a second time period which is shorter than the first time period. If there is a variation in the detected speed, the vehicle speed information generation unit (730A) generates estimated speed information such that the estimated speed after a prescribed time period has elapsed, said time period being from the time of the variation for at least the second time period and no longer than the first time period, varies at a variation rate (α₁) which is the value of the detected speed after the variation. Subsequently, the vehicle speed information generation unit (730A) generates the estimated speed information such that until the first time period elapses, the estimated speed varies at a variation rate (α₂) determined on the basis of the amount the detected speed varies before and after a variation. Furthermore, the vehicle speed information generation unit (730A) generates the estimated speed information such that if the detected speed thereafter does not vary from the post-variation detected speed, the estimated speed varies at a variation rate (α₃) which varies more moderately than the variation rate (α₂).

Description

Vehicle speed information generation device, acoustic device, and vehicle speed information generation method

The present invention relates to a vehicle speed information generation device, an acoustic device, a vehicle speed information generation method, a vehicle speed information generation program, and a recording medium on which the vehicle speed information generation program is recorded.

Conventionally, information on vehicle speed (hereinafter also referred to as “vehicle speed information”) based on a vehicle speed signal (pulse signal) output from a vehicle speed sensor mounted on the vehicle is acquired, and the acquired vehicle speed information is used. Various processes are performed. As one of the technologies using such vehicle speed information, a technology has been proposed that outputs notification sounds such as simulated engine sounds corresponding to vehicle running conditions, which are measures against the quietness of electric vehicles and hybrid vehicles. (Refer to Patent Document 1: hereinafter referred to as “conventional example”).

In this conventional technique, the vehicle speed (hereinafter also referred to as “detected speed”) is calculated based on the vehicle speed signal output from the vehicle speed sensor. Then, control for increasing the sound pressure of the notification sound as the detection speed increases, control for decreasing the sound pressure of the notification sound, or control for making the sound pressure of the notification sound substantially constant regardless of the detection speed. To do.

JP 2012-121518 A

In the conventional technology described above, the detection speed is calculated based on a vehicle speed signal (pulse signal) output in proportion to the number of rotations of the axle of the vehicle. Here, the generation frequency of the vehicle speed signal output from the vehicle speed sensor decreases as the actual vehicle speed decreases. And if the generation | occurrence | production frequency of the vehicle speed signal output from a vehicle speed sensor reduces, the followability to the actual vehicle speed of the detected speed acquired for every predetermined time interval will deteriorate.

As described above, in the conventional technique, at the time of low speed of the vehicle, the output control of the notification sound is performed based on the detected speed that is not good in following the actual vehicle speed (hereinafter also referred to as “actual vehicle speed”). Yes. Therefore, in the conventional technique, when the vehicle is traveling at a low speed, the discontinuity of the output level of the notification sound changes conspicuously in response to the change in the actual vehicle speed, and the pedestrian or the like May give a sense of incongruity.

For this reason, when outputting a notification sound (hereinafter also referred to as “warning sound”) using vehicle speed information based on the vehicle speed signal output from the vehicle speed sensor, it is possible to follow the actual vehicle speed even at a low vehicle speed. A technique capable of estimating a good speed and outputting a warning sound based on the estimated speed is desired. Meeting this requirement is one of the problems to be solved by the present invention.

The present invention has been made in view of the above circumstances, and based on a vehicle speed signal output from a vehicle speed sensor, new vehicle speed information generation capable of generating vehicle speed information with improved followability to the actual vehicle speed. An object is to provide a device and a vehicle speed information generation method. Another object of the present invention is to provide a new acoustic device capable of suppressing the generation of output sound that gives the listener a sense of incongruity on the basis of the generated vehicle speed information. To do.

According to a first aspect of the present invention, a speed acquisition unit that acquires a detection speed detected at every first time interval based on a vehicle speed signal reflecting the vehicle speed; and a detection speed acquired by the speed acquisition unit When there is a change, the estimated speed of the vehicle at intervals of a second time shorter than the first time based on the estimated speed at the time of the change and the detected speed after the change. A vehicle speed information generation unit for generating the information of the vehicle speed information generation unit.

According to a second aspect of the present invention, the vehicle speed information generation device according to any one of claims 1 to 9; and a vehicle speed information acquisition unit that acquires information on the estimated speed generated by the vehicle speed information generation device. And a signal generation unit that generates a sound signal output to at least one of the inside and the outside of the vehicle based on the estimated speed information acquired by the vehicle speed information acquisition unit. It is an acoustic device.

According to a third aspect of the present invention, there is provided a vehicle speed information generation method used in a vehicle speed information generation device that generates information on an estimated speed of a vehicle, the first time interval based on a vehicle speed signal reflecting the vehicle speed. A speed acquisition step of acquiring a detected speed detected for each time; and when there is a change in the detection speed acquired in the speed acquisition step, an estimated speed at the time of the change and after the change A vehicle speed information generating step of generating information on the estimated speed of the vehicle at intervals of a second time shorter than the first time based on a detected speed. .

According to a fourth aspect of the present invention, there is provided a vehicle speed information generation program that causes a computer included in a vehicle speed information generation apparatus that generates information on an estimated vehicle speed to execute the vehicle speed information generation method of the present invention. is there.

From a fifth aspect, the present invention is characterized in that the vehicle speed information generation program of the present invention is recorded in a readable manner by a computer included in a vehicle speed information generation device that generates information on the estimated speed of the vehicle. It is a recording medium.

It is a block diagram for demonstrating the structure of the audio equipment which concerns on 1st Embodiment of this invention. It is a block diagram for demonstrating the structure of the audio equipment which concerns on 2nd Embodiment of this invention. It is a block diagram for demonstrating the structure of the terminal device which concerns on 3rd Embodiment of this invention, and a management apparatus. It is a block diagram for demonstrating schematically the structure of the audio equipment based on 1st Example of this invention. 6 is a flowchart for explaining a process of generating “estimated speed” information in the acoustic device of FIG. 4. It is FIG. (1) for demonstrating the production | generation process of the information of "estimation information" by 1st Example. It is FIG. (2) for demonstrating the production | generation process of the information of "estimation information" by 1st Example. It is FIG. (3) for demonstrating the production | generation process of the information of "estimation information" by 1st Example. 6 is a flowchart for explaining update processing of the change rate α _{3 in} FIG. 5. It is a block diagram for demonstrating schematically the structure of the audio equipment which concerns on 2nd Example of this invention. FIG. 11 is a flowchart for explaining a process of generating “estimated speed” information in the acoustic device of FIG. 10. It is FIG. (1) for demonstrating the production | generation process of the information of "estimation information" by 2nd Example. It is FIG. (2) for demonstrating the production | generation process of the information of "estimation information" by 2nd Example. FIG. 12 is a flowchart for explaining update rate β ₂ update processing in FIG. 11; FIG.

100A, 100B ...

Acoustic device

111A, 111B ... Estimated speed calculation unit (part of speed acquisition unit, vehicle speed information generation unit)
112 ... Sound signal generation unit (vehicle speed information acquisition unit, signal generation unit)
130 ... Driving information acquisition unit (part of speed acquisition unit)
700A, 700B ...

Acoustic device

710A, 710B ... Vehicle speed information generation device 720 ...

Speed acquisition unit

730A, 730B ... Vehicle speed information generation unit 780 ... Vehicle speed information acquisition unit 790 ... Signal generation unit

Hereinafter, embodiments of the present invention will be described with reference to the accompanying drawings. In the following description and drawings, the same or equivalent elements are denoted by the same reference numerals, and redundant description is omitted.

[First Embodiment]
First, a first embodiment of the present invention will be described with reference to FIG.

<Configuration>
FIG. 1 shows a schematic configuration of an acoustic device 700A according to the first embodiment. The acoustic device 700A is disposed in an electric vehicle CR (hereinafter referred to as “vehicle CR”) that uses electric energy as all of the driving energy.

In the first embodiment, the vehicle CR is equipped with a sound output unit 910, a vehicle speed detection unit 920, and an ECU (Electrical Control Unit) 930.

The sound output unit 910 includes a speaker SP that outputs an external output sound toward the outside of the vehicle CR in accordance with an external output sound signal sent from the acoustic device 700A. In 1st Embodiment, the speaker SP which comprises the sound output part 910 is arrange | positioned in the front part of vehicle CR. An external output sound is output from the speaker SP toward the front of the vehicle CR.

The vehicle speed detector 920 outputs a vehicle speed signal (pulse signal) in proportion to the rotational speed of the axle in the vehicle CR. The vehicle speed signal output from the vehicle speed detection unit 920 is sent to the ECU 930.

The ECU 930 collects detection results from various sensors that detect the state of the vehicle CR. The ECU 930 controls and manages the traveling of the vehicle CR while sequentially deriving various parameter values useful for controlling the traveling of the vehicle CR based on the collected detection results.

In the first embodiment, the detection result collected by the ECU 930 includes a vehicle speed signal output from the vehicle speed detection unit 920. The ECU 930 detects the “detected speed” at intervals of the first time t ₁ based on the vehicle speed signal reflecting the vehicle speed output from the vehicle speed detector 920. Then, ECU 930 sends the detected detection speed to acoustic device 700A via an in-vehicle communication network that operates according to a communication protocol such as CAN (Controller Area Network).

<< Configuration of Acoustic Device 700A >>
Next, the configuration of the acoustic apparatus 700A will be described. The acoustic device 700A includes a vehicle speed information generation device 710A, a storage unit 770, a vehicle speed information acquisition unit 780, and a signal generation unit 790.

The storage unit 770 has a nonvolatile storage area. The storage unit 770 can be accessed by the signal generation unit 790. In the nonvolatile storage area of the storage unit 770, sound source information related to the external output sound is stored. The sound source information is composed of a plurality of sound data. The plurality of sound data is time-series data, and a sound waveform is formed by arranging these sound data in time sequence.

Here, the “external output sound” is a sound that can notify the pedestrian or the like of the presence of the vehicle CR. For example, “external output sound” includes pseudo engine sound, sine waveform sound, and the like.

The vehicle speed information generation device 710A described above receives the “detected speed” sent from the ECU 930. Then, the vehicle speed information generation device 710A generates information on the “estimated speed” of the vehicle CR based on the detected speed. The vehicle speed information generation device 710A having such a function includes a speed acquisition unit 720 and a vehicle speed information generation unit 730A.

The speed acquisition unit 720 receives from the ECU 930 “detected speeds” sequentially detected at intervals of the first time t ₁ . Then, the speed acquisition unit 720 acquires the “detection speed” and sends the acquired “detection speed” to the vehicle speed information generation unit 730A.

Additional vehicle speed information generating unit 730A, for each first time t _1, receives the "detection rate" sent from the speed acquisition unit 720. Then, when there is a change in the “detection speed”, the vehicle speed information generation unit 730A determines the first based on the “estimated speed” at the time of the change and the “detection speed” after the change. Information on the “estimated speed” of the vehicle CR is generated at intervals of the second time t ₂ shorter than the time t ₁ . Subsequently, the vehicle speed information generation unit 730A sends the generated estimated speed information to the vehicle speed information acquisition unit 780. Here, the “second time t ₂ ” is determined in advance based on experiments, simulations, experiences, and the like from the viewpoint of suppressing discontinuity of the output sound change, and is an integer (2 or more) of the first time t _1. It is 1 of.

Details of the “estimated vehicle speed” information generation process by the vehicle speed information generation unit 730A will be described later.

The vehicle speed information acquisition unit 780 described above receives information on the “estimated vehicle speed” generated by the vehicle speed information generation device 710A (more specifically, the vehicle speed information generation unit 730A). Then, the vehicle speed information acquisition unit 780 acquires information on the “estimated vehicle speed”. Information on the “estimated speed” acquired by the vehicle speed information acquisition unit 780 is sent to the signal generation unit 790.

The signal generation unit 790 receives the “estimated speed” information sent from the vehicle speed information acquisition unit 780. Then, the signal generation unit 790 generates an external output sound signal based on the sound source information in the storage unit 770 and the “estimated speed” information. Subsequently, the signal generation unit 790 supplies the generated external output sound signal to the sound output unit 910.

<Operation>
The operation of the acoustic device 700A configured as described above will be described mainly focusing on the generation processing of the “estimated speed” information of the vehicle CR by the vehicle speed information generation device 710A.

<<"Estimatedspeed" information generation process >>
In the vehicle speed information generation device 710A, the speed acquisition unit 720 acquires the “detected speed” output from the ECU 930 at intervals of the first time t ₁ . Then, each time the “detection speed” is acquired, the speed acquisition unit 720 sends the “detection speed” to the vehicle speed information generation unit 730A.

Then, the vehicle speed information generation unit 730A is, when receiving the "detection rate" sent from the speed obtaining section 720 for each first hour t ₁ interval, for each short second hour t ₂ interval than the first time t ₁ Then, a process of generating information on the “estimated speed” of the vehicle CR is executed.

In the first embodiment, when generating the “estimated speed” information of the vehicle CR, the vehicle speed information generating unit 730A determines whether or not the acquired “detected speed” has changed. Then, when the “detection speed” is changed, the vehicle speed information generation unit 730A is not less than the second time t _{2 and not} more than the first time t ₁ since the change of the “detection speed”. Information of “estimated speed” is generated so that the estimated speed after the elapse of a predetermined time t _R changes at “change rate α ₁ ” that is the value of the detected speed after the change. Here, the “predetermined time t _R ” is determined in advance based on experiments, simulations, experiences, and the like from the viewpoint of improving the followability of the estimated speed to the actual vehicle speed.

Subsequently, the vehicle speed information generation unit 730A determines that the first time t ₁ has elapsed after a predetermined time t _R has elapsed since the change in the “detection speed” and after the change in the “detection speed”. until the rate of change alpha ₁ in the same changing direction (i.e., the change rate alpha ₁ the same sign) is and changes gently than the change rate alpha _1, the change in the "detection rate" before and after the change Information of “estimated speed” is generated so that the estimated speed changes at “change rate α ₂ ” determined based on the quantity.

Further, the vehicle speed information generation unit 730 A passes the first time t ₁ after the change in the “detection speed”, and the new “detection speed” acquired thereafter changes the change in the detection speed first. If not changed from the detected speed of after the change rate alpha ₂ in the same changing direction (i.e., the change rate of alpha ₂ same sign), and and changes gently than the change rate alpha ₂ "change Information of “estimated speed” is generated so that the estimated speed changes at the rate “α ₃ ”.

Thereafter, when the acquired new “detection speed” has not changed from the detection speed after the change in the detection speed previously, the vehicle speed information generation unit 730A has passed the first time t _1. Each time, the rate of change α ₃ is sequentially decreased in the same direction of change to generate “estimated speed” information.

The information on the “estimated speed” of the vehicle CR generated in this way is sent to the vehicle speed information acquisition unit 780 at intervals of the second time t ₂ .

《External output sound signal generation processing》
The vehicle speed information acquisition unit 780 receives the “estimated speed” information generated by the vehicle speed information generation device 710A (more specifically, the vehicle speed information generation unit 730A) at intervals of the second time t _2. Information on “speed” is sent to the signal generator 790. Upon receiving the “estimated speed” information, the signal generation unit 790 sequentially reads sound data included in the sound source information in the storage unit 770.

Then, the signal generation unit 790 outputs the read sound data sequentially and internally in a predetermined cycle, and outputs the higher the “estimated speed” based on the “estimated speed” information. The volume of the external output sound is adjusted in a manner of increasing the volume. As a result, an external output sound signal is generated. The external output sound signal generated in this way is supplied to the sound output unit 910.

The sound output unit 910 that has received the external output sound signal outputs an external output sound according to the external output sound signal toward the outside of the vehicle CR. As a result, an external output sound adapted to the change in the “estimated speed” is output from the sound output unit 910.

As described above, in the first embodiment, the detection speed detected at intervals of the first time t ₁ based on the vehicle speed signal output from the vehicle speed detection unit 920 is the speed acquisition unit of the vehicle speed information generation device 710A. 720 acquires and sends to the vehicle speed information generation unit 730A. Speed information generating unit 730A receives the "detection rate" for each first hour t ₁ interval, whether there has been a change in the "detection rate" in the first hour t ₁ shorter second time interval of t ₂ than Determine. Then, if there is a change in the “detection speed”, the vehicle speed information generation unit 730A has a predetermined time t _R that is not less than the second time t _{2 and not} more than the first time t _{1 since} the change. Information of “estimated speed” is generated so that the estimated speed after the lapse changes at “change rate α ₁ ” that is the value of the detected speed after the change. Subsequently, the vehicle speed information generation unit 730A causes the estimated speed to change at a “change rate α ₂ ” determined based on the change amount of the “detection speed” before and after the change until the first time t ₁ elapses. “Estimated speed” information is generated. Here, the change rate alpha ₂ is the change rate alpha ₁ in the same direction of change, and is determined so as to change slowly than the rate of change alpha _1.

In addition, when the subsequent “detection speed” has not changed from the detected speed after the change, the vehicle speed information generation unit 730A determines the estimated speed at the “change rate α ₃ ” that changes more slowly than the change rate α _2. Information of “estimated speed” is generated so that changes. Thereafter, when the newly acquired “detected speed” has not changed from the detected speed after the change, the vehicle speed information generation unit 730A changes the change rate α ₃ every time the first time t ₁ elapses. Are sequentially decreased in the same change direction to generate information of “estimated speed”.

The information on the “estimated speed” of the vehicle CR generated in this way is sent to the signal generation unit 790 via the vehicle speed information acquisition unit 780 at intervals of the second time t ₂ . Then, the signal generation unit 790 generates an external output sound signal that increases the output volume as the “estimated speed” increases based on the information of the “estimated speed”. The sound output unit 910 outputs an external output sound according to the external output sound signal thus generated toward the outside of the vehicle CR.

For this reason, even when the vehicle CR is at a low speed, it is possible to calculate an estimated speed with good followability to the actual vehicle speed. Then, when outputting the warning sound, it is possible to follow the change in the actual vehicle speed and output the warning sound whose output volume changes so that the discontinuity is not conspicuous corresponding to the change in the actual vehicle speed.

Therefore, according to the first embodiment of the present invention, vehicle speed information with improved followability to the actual vehicle speed can be generated based on the vehicle speed signal output from the vehicle speed sensor. Moreover, according to 1st Embodiment of this invention, generation | occurrence | production of the output sound which gives an uncomfortable feeling on a listener with respect to a listener based on the produced | generated vehicle speed information can be suppressed.

[Second Embodiment]
Next, a second embodiment of the present invention will be described with reference to FIG.

<Configuration>
FIG. 2 shows a schematic configuration of an acoustic device 700B according to the second embodiment. As shown in FIG. 2, the acoustic device 700B is different from the acoustic device 700A of the first embodiment described above in that a vehicle speed information generation device 710B is provided instead of the vehicle speed information generation device 710A.

The vehicle speed information generation device 710B is different from the vehicle speed information generation device 710A of the first embodiment described above in that a vehicle speed information generation unit 730B is provided instead of the vehicle speed information generation unit 730A. Hereinafter, this difference will be mainly described.

The vehicle speed information generation unit 730B receives the “detected speed” sent from the speed acquisition unit 720 every first time t ₁ , similarly to the vehicle speed information generation unit 730A described above. Then, when there is a change in the “detection speed”, the vehicle speed information generation unit 730B described above based on the “estimated speed” at the time of the change and the “detection speed” after the change. Information on the “estimated speed” of the vehicle CR is generated at intervals of the second time t _{2 using} an algorithm different from that of the vehicle speed information generation unit 730A. Details of the generation processing of the “estimated vehicle speed” information by the vehicle speed information generation unit 730B will be described later.

<Operation>
The operation of the acoustic device 700B configured as described above will be described mainly focusing on the generation processing of the “estimated speed” information of the vehicle CR by the vehicle speed information generation device 710B.

<<"Estimatedspeed" information generation process >>
In the vehicle speed information generation device 710B, the speed acquisition unit 720 acquires the “detected speed” output from the ECU 930 at intervals of the first time t ₁ . Then, every time the “detection speed” is acquired, the speed acquisition unit 720 sends the “detection speed” to the vehicle speed information generation unit 730B.

When the vehicle speed information generation device 710B receives the “detection speed” sent from the speed acquisition unit 720 every first time t ₁ , the vehicle speed information generation device 710B receives the vehicle at every second time t ₂ shorter than the first time t _1. A process of generating information on the “estimated speed” of the CR is executed.

In the second embodiment, when generating the “estimated speed” information of the vehicle CR, the vehicle speed information generating unit 730B determines whether or not the acquired “detected speed” has changed. When the “detected speed” changes, the vehicle speed information generation unit 730B changes from the current estimated speed until the first time t ₁ elapses from when the “detected speed” changes. So that the estimated speed changes at a “change rate β ₁ ” determined based on the current “estimated speed” and the “detected speed” after the change. Information of “estimated speed” is generated.

Further, the vehicle speed information generating unit 730B is passed first hour t ₁ from when there is a change in the "detection rate", then a new "detection rate", which is obtained is a change in the previously detected speed If not changed from the detected speed of after the rate of change beta ₁ in the same changing direction (i.e., the rate of change beta ₁ the same sign) is and changes gently than the rate of change beta ₁ "changes Information of “estimated speed” is generated so that the estimated speed changes at the rate “β ₂ ”.

Thereafter, when the acquired new “detection speed” has not changed from the detection speed after the change in the detection speed, the vehicle speed information generation unit 730B has passed the first time t _1. each time you, the rate of change beta ₂ same changing direction (i.e., the same sign as the rate of change beta ₂₎ sequentially reduced in, generates information "estimated speed". Then, when there is no change in the detection speed over a period of the predetermined time t _L longer than the first time t ₁ since the change in the “detection speed”, the vehicle speed information generation unit 730B sets the change rate β ₂ . Generate information on “estimated speed” to be zero.

《External output sound signal generation processing》
When the vehicle speed information acquisition unit 780 receives the “estimated speed” information generated by the vehicle speed information generation device 710B at intervals of the second time t ₂ , the “speed information acquisition unit 780” Information on the “estimated speed” is sent to the signal generator 790.

When the signal generation unit 790 receives the “estimated speed” information sent from the vehicle speed information acquisition unit 780, the sound data included in the sound source information in the storage unit 770 is the same as in the first embodiment described above. Are read sequentially. Then, the signal generation unit 790 generates an external output sound signal that has been subjected to volume adjustment based on the “estimated speed” information. The external output sound signal generated in this way is supplied to the sound output unit 910.

The sound output unit 910 that has received the external output sound signal outputs an external output sound in accordance with the external output sound signal toward the outside of the vehicle CR, as in the case of the first embodiment described above. As a result, an external output sound adapted to the change in the “estimated speed” is output from the sound output unit 910.

As described above, in the second embodiment, the detection speed detected at intervals of the first time t ₁ based on the vehicle speed signal output from the vehicle speed detection unit 920 is the speed acquisition unit of the vehicle speed information generation device 710B. 720 acquires and sends to the vehicle speed information generation part 730B. Speed information generating unit 730B receives the "detection rate" for each first hour t ₁ interval, whether there has been a change in the "detection rate" in the first hour t ₁ shorter second time interval of t ₂ than Determine. Then, if there is a change in the “detection speed”, the vehicle speed information generation unit 730B will change the “estimated speed” at the current time and the “detection after the change until the first time t ₁ has elapsed since the change. Information of “estimated speed” is generated so that the estimated speed changes at “change rate β ₁ ” determined based on “speed”.

Further, when the subsequent “detection speed” has not changed from the detected speed after the change, the vehicle speed information generation unit 730B determines that the estimated speed is “change rate β ₂ ” that changes more slowly than the change rate β _1. Information of “estimated speed” is generated so that changes. Thereafter, when the newly acquired “detection speed” has not changed from the detection speed after the change, the vehicle speed information generation unit 730B changes the rate of change β ₂ every time the first time t ₁ elapses. Are sequentially decreased in the same change direction to generate information of “estimated speed”. Then, when there is no change in the detection speed over a period of the predetermined time t _L longer than the first time t ₁ since the change in the “detection speed”, the vehicle speed information generation unit 730B sets the change rate β ₂ . Generate information on “estimated speed” to be zero.

Therefore, according to the second embodiment of the present invention, similar to the first embodiment described above, vehicle speed information with improved followability to the actual vehicle speed is generated based on the vehicle speed signal output from the vehicle speed sensor. Can do. Moreover, according to 2nd Embodiment of this invention, generation | occurrence | production of the output sound which gives an uncomfortable feeling on an auditory sense to a listener based on the produced | generated vehicle speed information can be suppressed.

[Third Embodiment]
Next, a third embodiment of the present invention will be described with reference to FIG.

<Configuration>
FIG. 3 shows a schematic configuration of a terminal device 810 and a management device 820 according to the third embodiment. As shown in FIG. 3, the terminal device 810 is disposed in the vehicle CR and is connected to a sound output unit 910, a vehicle speed detection unit 920, and an ECU 930 that are installed in the vehicle CR. In addition, the management device 820 is disposed outside the vehicle CR. The terminal device 810 and the management device 820 can communicate with each other via the network 850.

The management apparatus 820 can communicate with other terminal apparatuses configured in the same manner as the terminal apparatus 810, but only the terminal apparatus 810 is representatively shown in FIG.

<< Configuration of Terminal Device 810 >>
As illustrated in FIG. 3, the terminal device 810 includes a storage unit 770, a vehicle speed information acquisition unit 780, and a signal generation unit 790. In addition, the terminal device 810 includes a speed collection unit 811, a transmission unit 812, and a reception unit 815.

The speed collection unit 811 receives from the ECU 930 “detection speed” detected at intervals of the first time t ₁ . The speed collection unit 811 collects the “detection speed”. The “detection speed” collected by the speed collection unit 811 is sent to the transmission unit 812 as terminal transmission data at intervals of the first time t ₁ .

The above transmission unit 812 receives the terminal transmission data transmitted from the speed collection unit 811. Then, the transmission unit 812 transmits the terminal transmission data to the management device 820 via the network 850.

The receiving unit 815 receives the information on the “estimated speed” sent from the management device 820 via the network 850. Then, the receiving unit 815 sends the “estimated speed” information to the vehicle speed information acquiring unit 780.

<< Configuration of Management Device 820 >>
As illustrated in FIG. 3, the management device 820 includes a vehicle speed information generation device 710 A, a reception unit 821, and a transmission unit 822.

The receiving unit 821 receives terminal transmission data transmitted from the terminal device 810 via the network 850. Then, the receiving unit 821 sends the “detected speed” included in the terminal transmission data to the vehicle speed information generating device 710A.

The transmission unit 822 receives the “estimated speed” information transmitted from the vehicle speed information generation device 710A. Then, the transmission unit 822 transmits the “estimated speed” information to the terminal device 810 via the network 850.

In the configuration of the terminal device 810 and the configuration of the management device 820 as described above, the “detection speed” acquired by the speed collection unit 811 of the terminal device 810 is transmitted via the transmission unit 812, the network 850, and the reception unit 821. It is sent to the vehicle speed information generation device 710A at 820.

Furthermore, the information on the “estimated speed” generated by the vehicle speed information generation device 710A of the management device 820 is sent to the vehicle speed information acquisition unit 780 of the terminal device 810 via the transmission unit 822, the network 850, and the reception unit 815. become.

<Operation>
Description will be made mainly by focusing on the generation processing of “estimated speed” information that is executed in cooperation between the terminal device 810 and the management device 820 configured as described above.

<<"Estimatedspeed" information generation process >>
In the terminal device 810, the speed collection unit 811 collects “detection speed” output from the ECU 930 at intervals of the first time t ₁ . Then, each time the “detection speed” is acquired, the speed collection unit 811 sends the “detection speed” to the vehicle speed information generation device 710A of the management device 820 via the network 850.

The vehicle speed information generation device 710A that has received the “detected speed” generates information on the “estimated speed” of the vehicle CR in the same manner as in the first embodiment described above. Then, the vehicle speed information generation device 710A sends the information on the “estimated speed” of the generated vehicle CR to the vehicle speed information acquisition unit 780 of the terminal device 810 via the network 850.

《External output sound signal generation processing》
Upon receiving the “estimated speed” information, the vehicle speed information acquisition unit 780 generates a signal for the “estimated speed” information at intervals of the second time t _{2 in} the same manner as in the first embodiment described above. Send to part 790.

As described above, in the third embodiment, the speed collection unit 811 of the terminal device 810 detects the detection speed detected at intervals of the first time t ₁ based on the vehicle speed signal output from the vehicle speed detection unit 920. To acquire and transmit to the speed acquisition unit 720 of the management device 820. Then, each time the “detection speed” is acquired, the speed acquisition unit 720 sends the “detection speed” to the vehicle speed information generation unit 730A. When receiving the “detection speed” at every interval of the first time t ₁ , the vehicle speed information generation unit 730A performs the second time t ₂ shorter than the first time t ₁ as in the case of the first embodiment described above. For each interval, a process of generating “estimated speed” information of the vehicle CR is executed. Then, the vehicle speed information generation unit 730 A transmits the generated “estimated speed” information to the vehicle speed information acquisition unit 780 of the terminal device 810.

The vehicle speed information acquisition unit 780 that has received the “estimated speed” information sends the “estimated speed” information to the signal generation unit 790. Then, the signal generation unit 790 generates an external output sound signal that increases the output volume as the “estimated speed” increases based on the information of the “estimated speed”. The sound output unit 910 outputs an external output sound according to the external output sound signal thus generated toward the outside of the vehicle CR.

For this reason, even when the vehicle CR is at a low speed, it is possible to calculate an estimated speed with good followability to the actual vehicle speed. Then, when outputting the warning sound, it is possible to follow the actual change in the vehicle speed and output the warning sound whose output volume changes so that the discontinuity is not conspicuous corresponding to the change in the actual vehicle speed.

Therefore, according to the third embodiment of the present invention, similar to the first embodiment described above, vehicle speed information with improved followability to the actual vehicle speed is generated based on the vehicle speed signal output from the vehicle speed sensor. Can do. Moreover, according to 3rd Embodiment of this invention, generation | occurrence | production of the output sound which gives an uncomfortable feeling on a listener with respect to a listener based on the produced | generated vehicle speed information can be suppressed.

[Modification of Embodiment]
The first to third embodiments described above can be variously modified.

For example, in the first to third embodiments, the output volume is increased as the “estimated speed” is increased. However, the output volume may be decreased as the “estimated speed” is increased. Further, the frequency spectrum distribution in the output sound may be changed according to the change in the estimated speed.

The acoustic device according to the first and second embodiments and the terminal device according to the third embodiment are not provided with a sound output unit. However, when there is no existing sound output unit that can be used, the acoustic device and the terminal are provided. The apparatus may include a sound output unit.

In the first and second embodiments described above, the acoustic device is provided with a storage unit. However, when there is an existing storage unit that stores sound source information, the existing storage unit is used. In addition, the acoustic device may not have a storage unit.

In the first to third embodiments, the signal generator generates a sound signal output to the outside of the vehicle based on the “estimated speed” information generated by the vehicle speed information generator. It was. On the other hand, the signal generation unit may generate a sound signal output to the outside of the vehicle based on the information of the “estimated speed”, or may generate a sound output to the outside of the vehicle. And a sound signal output to the inside of the vehicle may be generated.

In the first to third embodiments, the sound signal is generated based on the information of the “estimated speed” generated by the vehicle speed information generating device. On the other hand, various processes performed during driving of the vehicle such as a navigation process may be performed based on the information of the “estimated speed” generated by the vehicle speed information generation device.

In the third embodiment, the management apparatus generates “estimated speed” information and transmits the “estimated speed” information to the terminal apparatus. On the other hand, after generating the information on “estimated speed”, the management apparatus generates an external output sound signal based on the information on “estimated speed” and transmits the external output sound signal to the terminal device. May be. In this case, the terminal device can receive the external output sound signal transmitted from the management device and supply the external output sound signal to the sound output unit.

Also, the modification of the first embodiment to the third embodiment can be performed on the second embodiment.

In the first and second embodiments described above, the present invention is applied to an apparatus disposed in an electric vehicle. However, the present invention is disposed in a vehicle (for example, a hybrid vehicle) that uses electric energy as part of driving energy. It goes without saying that the present invention can be applied to such an apparatus. Moreover, although the terminal device in said 3rd Embodiment was arrange | positioned in the electric vehicle, you may make it arrange | position in the vehicle which utilizes an electrical energy as a part of drive energy.

In addition, the vehicle speed information generation device (speed acquisition unit, vehicle speed information generation unit), the vehicle speed information acquisition unit, and the signal generation unit of the acoustic device according to the first and second embodiments described above are connected to a central processing unit (CPU: Central Processing Unit). , Configured as a computer as a calculation unit equipped with a DSP (Digital Signal Processor), etc., and by executing a program prepared in advance on the computer, a part or all of the processing of these elements is executed Also good. This program is recorded on a computer-readable recording medium such as a hard disk, CD-ROM, or DVD, and is loaded from the recording medium and executed by the computer. The program may be acquired in a form recorded on a portable recording medium such as a CD-ROM or DVD, or may be acquired in a form distributed via a network such as the Internet. Also good.

Further, the speed collection unit, the vehicle speed information acquisition unit and the signal generation unit of the terminal device of the third embodiment, and the vehicle speed information generation device (speed acquisition unit, vehicle speed information generation unit) of the management device are connected to the central processing unit ( A part of or all of the processing of these elements is configured as a computer as a calculation unit having a CPU (Central Processing Unit), a DSP (Digital Signal Processing), and the like, and a program prepared in advance is executed on the computer. May be executed. This program is recorded on a computer-readable recording medium such as a hard disk, CD-ROM, or DVD, and is loaded from the recording medium and executed by the computer. The program may be acquired in a form recorded on a portable recording medium such as a CD-ROM or DVD, or may be acquired in a form distributed via a network such as the Internet. Also good.

Hereinafter, embodiments of the present invention will be described with reference to FIGS. In the following description and drawings, the same or equivalent elements are denoted by the same reference numerals, and redundant description is omitted.

[First embodiment]
First, a first embodiment of the present invention will be described with reference mainly to FIGS.

<Configuration>
FIG. 4 shows a schematic configuration of an acoustic device 100A according to the first embodiment. The acoustic device 100A is an aspect of the acoustic device 700A (see FIG. 1) of the first embodiment described above.

The acoustic device 100A is disposed in an electric vehicle CR (hereinafter referred to as “vehicle CR”) that uses electric energy as all of driving energy. In the first embodiment, the vehicle CR is equipped with a sound output unit 210 as the sound output unit 910, a vehicle speed sensor 280 as the vehicle speed detection unit 920, and an ECU 290 as the ECU 930.

The sound output unit 210 includes a speaker SP that outputs an external output sound toward the outside of the vehicle in accordance with an external output sound signal sent from the acoustic device 100A.

The vehicle speed sensor 280 outputs a vehicle speed signal (pulse signal) every time the axle of the vehicle CR rotates by a predetermined angle. The vehicle speed signal thus output from the vehicle speed sensor 280 is sent to the ECU 290 as a vehicle speed detection result.

The ECU 290 controls the traveling of the vehicle CR and collects detection results from various sensors that detect the state of the vehicle CR. In the first embodiment, the detection results collected by the ECU 290 include vehicle speed detection results detected by the vehicle speed sensor 280. The ECU 290 derives a “detected speed” at intervals of the first time t ₁ based on the vehicle speed detection result. Then, ECU 290 sends the derived detection speed to acoustic device 100A through an in-vehicle communication network that operates according to a communication protocol such as CAN.

<< Configuration of Acoustic Device 100A >>
Next, the configuration of the acoustic device 100A will be described. As illustrated in FIG. 4, the acoustic device 100 A includes a control unit 110 A, a storage unit 120, and a travel information acquisition unit 130.

The control unit 110A described above performs overall control of the audio device 100A and performs various processes. The control unit 110A includes a central processing unit (CPU) as a calculation unit and its peripheral circuits. Various functions as the acoustic device 100A are realized by the control unit 110A executing various programs. The configuration of the control unit 110A will be described later.

Note that the program executed by the control unit 110A is recorded on a computer-readable recording medium such as a hard disk, a CD-ROM, or a DVD, and is loaded from the recording medium and executed. The program may be acquired in a form recorded on a portable recording medium such as a CD-ROM or DVD, or may be acquired in a form distributed via a network such as the Internet. Also good.

The storage unit 120 includes a nonvolatile storage device such as a hard disk device, and stores various information data used in the acoustic device 100A. Such information data includes sound source information SSI. The storage unit 120 can be accessed by the control unit 110A. The storage unit 120 plays a role of the storage unit 770 in the first embodiment described above.

The sound source information SSI is composed of a plurality of sound data (sound data # j1, sound data # j2,..., Sound data #jN). A sound signal is generated by repeating the sequential reading of the sound data # j1 to #jN and outputting in order of reading at a predetermined cycle.

The traveling information acquisition unit 130 receives the “detection speed” sent from the ECU 290. Then, the travel information acquisition unit 130 converts the “detected speed” into a signal in a form that can be handled by the control unit 110A and sends the signal to the estimated speed calculation unit 111A of the control unit 110A. The travel information acquisition unit 130 performs a part of the function of the speed acquisition unit 720 in the first embodiment described above.

(Configuration of control unit 110A)
Next, the configuration of the control unit 110A described above will be described. The control unit 110A includes an estimated speed calculation unit 111A and a sound signal generation unit 112.

The estimated speed calculation unit 111A receives the “detected speed” sent from the travel information acquisition unit 130 at intervals of the first time t ₁ . The estimated speed calculation unit 111A performs a part of the function of the speed acquisition unit 720 and the function of the vehicle speed information generation unit 730A in the first embodiment described above, and performs an “estimated speed” for each interval of the second time t _2. Is calculated. Subsequently, the estimated speed calculation unit 111A sends the calculated estimated speed to the sound signal generation unit 112. Details of the processing executed by the estimated speed calculation unit 111A will be described later.

The sound signal generator 112 receives the “estimated vehicle speed” calculated by the estimated speed calculator 111A. Then, the sound signal generation unit 112 sequentially reads the plurality of sound data included in the sound source information SSI and then sequentially outputs the read sound data in a predetermined cycle. Subsequently, the sound signal generation unit 112 performs the volume adjustment process on the internally output signal in such a manner that the output volume is increased as the “estimated speed” increases, and generates an external output sound signal. The external output sound signal generated in this way is sent to the sound output unit 210.

<Operation>
The operation of the acoustic device 100A configured as described above will be described mainly focusing on the generation processing of the “estimated speed” information by the estimated speed calculation unit 111A.

<<"Estimatedspeed" information generation process >>
In the acoustic device 100A, the traveling information acquisition unit 130 receives the “detection speed” sent from the ECU 290 at intervals of the first time t ₁ . Then, the travel information acquisition unit 130 converts the “detected speed” into a signal that can be handled by the control unit 110A, and sends the signal to the estimated speed calculation unit 111A of the control unit 110A at intervals of the first time t ₁ .

Then, the estimated speed calculation unit 111A acquires “detected speed” at every interval of the first time t ₁ , and performs the process of generating the information of “estimated speed” shown in FIG. 5 at every interval of the second time t _2. Execute. Here, the second time t _2, from the viewpoint of discontinuity of the suppression of changes output sound, experiment, simulation, determined in advance based on experience, etc., of the first time t ₁ integer (2 or more) partial 1 It is determined to be. In the first embodiment, the first time t ₁ is 100 [msec], and the second time t ₂ is 10 [msec]. It should be noted that the “estimated speed” information is generated from a point in time when the detected speed acquired at intervals of the first time t ₁ has changed.

In the process of generating the “estimated speed” information, first, in step S11, the estimated speed calculation unit 111A determines whether or not the “detected speed” has changed. If the result of this determination is affirmative (step S11: Y), the process proceeds to step S12. In step S12, the estimated speed calculation unit 111A sets the detected speed before the change as “V _{D, b} ”, the detected speed after the change as “V _{D, a} ”, and the estimated speed at the time of change as “V _P ”. The rate of change α ₁ and the rate of change α ₂ are calculated according to the equations (1) and (2).
α ₁ = (V _{D, a} −V _P ) / t _R (1)
α ₂ = (V _{D, a} −V _{D, b} ) · (C1 / t ₁ ) (2)
Here, the coefficient C1 is a fixed value and takes a value in the range of “0.05” to “1”. Further, the initial value of the estimated speed V _P used in the equation (1) is the value of the detected speed before the change. The coefficient C1 is determined in advance from the viewpoint of reducing the sense of discomfort in the output sound based on experiments, simulations, experiences, and the like. In the first embodiment, the value of the fixed change rate C1 is set to “0.5”.

Subsequently, in step S13, the estimated speed calculation unit 111A sets the timer time TM to “0” and sets the change flag CFL to “1”. When the timer time TM is set to “0” in this way and the time measurement is started, the generation process of the “estimated speed” information is once ended.

If the result of the determination in step S11 described above is negative (step S11: N), the process proceeds to step S14. In step S14, the estimated speed calculation unit 111A determines whether or not the change flag CFL is “1”. If the result of this determination is affirmative (step S14: Y), the process proceeds to step S15.

In step S15, the estimated speed calculation unit 111A determines whether or not the estimated speed has reached the detected speed after the change. If the result of this determination is negative (step S15: N), the process proceeds to step S16.

In step S16, the estimated speed calculation unit 111A calculates the estimated speed V _P (t) by the following equation (3). Then, the “estimated speed” information generation process is temporarily ended.
V _P (T) = V _P (T−t ₂ ) + α ₁ · t ₂ (3)

Examples of “estimated speed” calculated at intervals of the second time t ₂ by the expression (3) are shown in FIGS. 6 (A) and 6 (B). Here, FIG. 6B shows an enlarged view of FIG. The squares (□, ■) are estimated speeds V _P calculated at intervals of the second time t ₂ .

On the other hand, when the result of the determination in step S15 is affirmative (step S15: Y), the process proceeds to step S17. In step S 17, the estimated speed calculation unit 111 A determines whether or not “TM ≧ t ₁ ”. If the result of this determination is negative (step S17: N), the process proceeds to step S18.

In step S18, the estimated speed calculation unit 111A calculates an estimated speed V _P (t) by the following equation (4). Then, the “estimated speed” information generation process is temporarily ended.
V _P (T) = V _P (T−t ₂ ) + α ₂ · t ₂ (4)

Examples of the “estimated speed” calculated at intervals of the second time t ₂ by the equation (4) are shown in FIGS. 7 (A) and 7 (B). Here, FIG. 7 (B) shows an enlarged view of FIG. 7 (A). The squares (□, ■) are estimated speeds V _P calculated at intervals of the second time t ₂ .

On the other hand, when the result of the determination in step S17 is affirmative (step S17: Y), the process proceeds to step S19. In step S19, the estimated speed calculation unit 111A is multiplied by a fixed rate of change C1 in the change rate alpha _2, to calculate the change ratio alpha ₃ that varies slowly than the rate of change alpha _2. Subsequently, in step S20, the estimated speed calculation unit 111A sets the timer time TM to “0” and sets the change flag CFL to “0”. Thereafter, the process proceeds to step S21.

In step S21, the estimated speed calculation unit 111A calculates an estimated speed V _P (t) by the following equation (5). Then, the “estimated speed” information generation process is temporarily ended.
V _P (T) = V _P (T−t ₂ ) + α ₃ · t ₂ (5)

Examples of the “estimated speed” calculated at intervals of the second time t ₂ by the equation (5) are shown in FIGS. 8 (A) and 8 (B). Here, FIG. 8 (B) shows an enlarged view of FIG. 8 (A). The squares (□, ■) are estimated speeds V _P calculated at intervals of the second time t ₂ .

If the result of the determination in step S14 described above is negative (step S14: N), the process proceeds to step S22. In step S22, "updating of the rate of change alpha _3" is performed.

(Change rate α ₃ update process)
Next, the “update rate α ₃ update process” in step S22 described above will be described.

In this “update process of change rate α ₃ ”, as shown in FIG. 9, first, in step S 31, estimated speed calculation unit 111 A determines whether or not “TM ≧ t ₁ ”. If the result of this determination is negative (step S31: N), the process of step S22 ends. Then, the process proceeds to step S21 in FIG.

If the result of the determination in step S31 is affirmative (step S31: Y), the process proceeds to step S32. In step S32, the estimated speed calculation unit 111A is multiplied by a fixed rate of change C1 in the change rate alpha ₃ of the present time, to update the rate of change alpha _3. Thereafter, the process proceeds to step S33.

In step S33, the estimated speed calculation unit 111A sets the timer time TM to “0”. When the timer time TM is set to “0” in this way, the process of step S22 is ended. Then, the process proceeds to step S21 in FIG.

The “estimated speed” calculated as described above is sent to the sound signal generation unit 112 at intervals of the second time t ₂ .

《External output sound signal generation processing》
The sound signal generation unit 112 receives the estimated speed every second time t ₂ and sequentially reads the sound data included in the sound source information SSI in the storage unit 120. Then, the sound signal generation unit 112 performs volume adjustment in such a manner that the output sound volume is increased as the “estimated speed” increases while the read sound data is sequentially output internally in a predetermined cycle. Generate an external output sound signal. Then, the sound signal generation unit 112 supplies the external output sound signal to the sound output unit 210.

As a result, the sound output unit 210 outputs an external output sound that follows the change in the actual vehicle speed and changes the output volume so that the discontinuity is not noticeable in response to the change in the actual vehicle speed. The

As described above, in the first embodiment, the travel information unit 130 acquires the detected speed detected at intervals of the first time t ₁ based on the vehicle speed signal output from the vehicle speed sensor 280, and the estimated speed Send to calculation unit 111A. Estimated velocity calculation unit 111A, upon receiving the "detection rate" for each first hour t ₁ interval, whether there has been a change in the "detection rate" in a short second hour t ₂ interval than the first time t ₁ Determine. Then, when the “detection speed” is changed, the estimated speed calculation unit 111A has a predetermined time t _R that is not less than the second time t _{2 and not} more than the first time t _{1 since} the change. Information of “estimated speed” is generated so that the estimated speed after the lapse changes at “change rate α ₁ ” that is the value of the detected speed after the change. Subsequently, until the first time t ₁ elapses, the estimated speed calculation unit 111A changes the estimated speed at “change rate α ₂ ” determined based on the amount of change in “detected speed” before and after the change. “Estimated speed” information is generated. Here, the change rate alpha ₂ is the change rate alpha ₁ in the same direction of change, and is determined so as to change slowly than the rate of change alpha _1.

Further, when the subsequent “detection speed” has not changed from the detection speed after the change, the estimated speed calculation unit 111A uses the “change rate α ₃ ” that changes more slowly than the change rate α _2. Information of “estimated speed” is generated so that changes. Thereafter, when the newly acquired “detection speed” has not changed from the changed detection speed, the estimated speed calculation unit 111A changes the change rate α ₃ every time the first time t ₁ elapses. Are sequentially decreased in the same change direction to generate information of “estimated speed”.

Then, the sound signal generation unit 112 generates an external output sound signal that increases the output volume as the “estimated speed” increases, based on the information of the “estimated speed”. The sound output unit 210 outputs an external output sound according to the external output sound signal thus generated toward the outside of the vehicle CR.

Therefore, according to the first embodiment, vehicle speed information with improved followability to the actual vehicle speed can be generated based on the vehicle speed signal output from the vehicle speed sensor. Further, according to the first embodiment, it is possible to suppress the generation of output sound that gives the listener a sense of incongruity on the basis of the generated vehicle speed information.

[Second Embodiment]
Next, a second embodiment of the present invention will be described with reference mainly to FIGS.

<Configuration>
FIG. 10 shows a schematic configuration of an acoustic device 100B according to the second embodiment. The acoustic device 100B is an aspect of the acoustic device 700B (see FIG. 2) of the second embodiment described above.

As shown in FIG. 10, the acoustic device 100B is different from the acoustic device 100A of the first embodiment described above in that a control unit 110B is provided instead of the control unit 110A. Hereinafter, this difference will be mainly described.

The control unit 110B includes a central processing unit (CPU) as a calculation unit, a DSP (Digital Signal Processor) and its peripheral circuits, and performs overall control of the audio device 100B. When the control unit 110B executes various programs, various functions as the acoustic device 100B are realized.

The program executed by the control unit 110B is recorded on a computer-readable recording medium such as a hard disk, CD-ROM, or DVD, and is loaded from the recording medium and executed. The program may be acquired in a form recorded on a portable recording medium such as a CD-ROM or DVD, or may be acquired in a form distributed via a network such as the Internet. Also good.

The control unit 110B is different from the control unit 110A of the first embodiment described above in that an estimated speed calculation unit 111B is provided instead of the estimated speed calculation unit 111A.

The estimated speed calculation unit 111B receives the “detected speed” sent from the travel information acquisition unit 130 at intervals of the first time t ₁ , similarly to the estimated speed calculation unit 111A described above. The estimated speed calculation unit 111B performs a part of the function of the speed acquisition unit 720 and the function of the vehicle speed information generation unit 730B in the above-described second embodiment, and performs an “estimated speed” for each interval of the second time t _2. Is calculated. Subsequently, the estimated speed calculation unit 111B sends the calculated estimated speed to the sound signal generation unit 112. Details of the process executed by the estimated speed calculation unit 111B will be described later.

<Operation>
The operation of the acoustic device 100B configured as described above will be described mainly focusing on the generation processing of the “estimated speed” information by the control unit 110B.

<<"Estimatedspeed" information generation process >>
In the acoustic device 100B, as in the case of the first embodiment described above, the travel information acquisition unit 130 receives the “detection speed” sent from the ECU 290 at intervals of the first time t ₁ . Then, the travel information acquisition unit 130 converts the “detected speed” into a signal that can be handled by the control unit 110B, and sends the signal to the estimated speed calculation unit 111B at intervals of the first time t ₁ .

Then, the estimated speed calculation unit 111B acquires the “detected speed” for each interval of the first time t ₁ , and performs the process of generating the “estimated speed” information shown in FIG. 11 for each interval of the second time t _2. Execute. In the second embodiment, the first time t ₁ is 100 [msec], and the second time t ₂ is 10 [msec]. It should be noted that the “estimated speed” information is generated from a point in time when the detected speed acquired at intervals of the first time t ₁ has changed.

In the process of generating the “estimated speed” information, first, in step S41, the estimated speed calculation unit 111B determines whether or not the “detected speed” has changed. If the result of this determination is affirmative (step S41: Y), the process proceeds to step S42. In step S42, the estimated speed calculation unit 111B calculates the rate of change β _{1 according} to the following equation (6), assuming that the detected speed after change is “V _{D, a} ” and the estimated speed at the time of change is “V _P ”. .
β ₁ = (V _{D, a} −V _P ) · (C2 / t ₁ ) (6)
Here, the coefficient C2 is a fixed value and takes a value in the range of “0.05” to “1”. Further, the initial value of the estimated speed V _P used in the equation (6) is the value of the detected speed before the change. The coefficient C2 is determined in advance based on experiments, simulations, experiences, and the like from the viewpoint of reducing the sense of discomfort in the output sound. In the second embodiment, the value of the fixed change rate C2 is set to “0.5”.

Subsequently, in step S43, the estimated speed calculation unit 111B sets the timer time TM1 to “0” and the timer time TM2 to “0”. Further, the estimated speed calculation unit 111B sets the change flag CFL to “1”. Thus, when the timer times TM1 and TM2 are set to “0” and the time measurement is started, the generation processing of the “estimated speed” information is once ended.

If the result of the determination in step S41 described above is negative (step S41: N), the process proceeds to step S44. In step S44, the estimated speed calculation unit 111B determines whether or not the change flag CFL is “1”. If the result of this determination is affirmative (step S44: Y), the process proceeds to step S45.

In step S45, the estimated speed calculation unit 111B determines whether or not “TM1 ≧ t ₁ ”. If the result of this determination is negative (step S45: N), the process proceeds to step S46.

In step S46, the estimated speed calculation unit 111B calculates an estimated speed V _P (t) by the following equation (7). Then, the “estimated speed” information generation process is temporarily ended.
V _P (T) = V _P (T−t ₂ ) + β ₁ · t ₂ (7)

Examples of “estimated speed” calculated for each interval of the second time t ₂ by the equation (7) are shown in FIGS. Here, FIG. 12B shows an enlarged view of FIG. The squares (□, ■) are estimated speeds V _P calculated at intervals of the second time t ₂ .

On the other hand, when the result of the determination in step S45 is affirmative (step S45: Y), the process proceeds to step S47. In the step S47, the estimated velocity calculation unit 111B is multiplied by a fixed rate of change C2 on the change rate beta _1, than the rate of change beta ₁ calculates the rate of change beta ₂ which changes slowly. Subsequently, in step S48, the estimated speed calculation unit 111B sets the timer time TM1 to “0” and sets the change flag CFL to “0”. Thereafter, the process proceeds to step S49.

In step S49, the estimated speed calculation unit 111B calculates an estimated speed V _P (t) by the following equation (8). Then, the “estimated speed” information generation process is temporarily ended.
V _P (T) = V _P (T−t ₂ ) + β ₂ · t ₂ (8)

Examples of the “estimated speed” calculated at intervals of the second time t ₂ by the equation (8) are shown in FIGS. 13 (A) and 13 (B). Here, FIG. 13 (B) shows an enlarged view of FIG. 13 (A). The squares (□, ■) are estimated speeds V _P calculated at intervals of the second time t ₂ .

If the result of the determination in step S44 described above is negative (step S44: N), the process proceeds to step S50. In this step S50, “update process of change rate β ₂ ” is performed.

(Change rate β ₂ update process)
Next, the “change rate β ₂ update process” in step S50 described above will be described.

In this “update process of change rate β ₂ ”, as shown in FIG. 14, first, in step S 61, estimated speed calculation section 111 B determines whether or not “TM ₁ ≧ t ₁ ”. If the result of this determination is negative (step S61: N), the process of step S50 ends. Then, the process proceeds to step S49 in FIG.

If the result of the determination in step S61 is affirmative (step S61: Y), the process proceeds to step S62. In step S62, the estimated speed calculation unit 111B determines whether or not “TM2 ≧ t _L ”. If the result of this determination is negative (step S61: N), the process proceeds to step S63. In step S63, the estimated velocity calculation unit 111B is multiplied by a fixed rate of change C2 on the change rate beta ₂ the current, to update the rate of change beta _2. Thereafter, the process proceeds to step S64.

In step S64, the estimated speed calculation unit 111B sets the timer time TM1 to “0”. When the timer time TM1 is set to “0” in this way, the process of step S50 ends. Then, the process proceeds to step S49 in FIG.

On the other hand, when the result of the determination in step S62 is affirmative (step S62: Y), the process proceeds to step S65. In step S65, the estimated speed calculation unit 111B sets the change rate β ₂ to zero. When the change rate β ₂ is set to zero in this way, the process of step S50 ends. Then, the process proceeds to step S49 in FIG.

《External output sound signal generation processing》
The sound signal generation unit 112 receives the estimated speed at intervals of the second time t ₂ as described above, and is included in the sound source information SSI in the storage unit 120 as in the case of the first embodiment described above. The sound data to be read is read sequentially. Then, the sound signal generation unit 112 performs volume adjustment in such a manner that the output sound volume is increased as the “estimated speed” increases while the read sound data is sequentially output internally in a predetermined cycle. Generate an external output sound signal. Then, the sound signal generation unit 112 supplies the external output sound signal to the sound output unit 210.

As described above, in the second embodiment, the travel information acquisition unit 130 acquires the detection speed detected at intervals of the first time t ₁ based on the vehicle speed signal output from the vehicle speed sensor 280, and estimates it. This is sent to the speed calculation unit 111B. Estimated velocity calculation unit 111B, upon receiving the "detection rate" for each first hour t ₁ interval, whether there has been a change in the "detection rate" in a short second hour t ₂ interval than the first time t ₁ Determine. Then, if there is a change in the “detection speed”, the estimated speed calculation unit 111B changes the “estimated speed” at the present time and the “detection” after the change until the first time t ₁ elapses after the change. Information of “estimated speed” is generated so that the estimated speed changes at “change rate β ₁ ” determined based on “speed”.

Further, when the subsequent “detection speed” does not change from the detected speed after the change, the estimated speed calculation unit 111B uses the “change rate β ₂ ” that changes more slowly than the change rate β _1. Information of “estimated speed” is generated so that changes. Thereafter, when the newly acquired “detection speed” has not changed from the detection speed after the change, the estimated speed calculation unit 111B changes the rate of change β ₂ every time the first time t ₁ elapses. Are sequentially decreased in the same change direction to generate information of “estimated speed”. Then, when there is no change in the detection speed over a period of the predetermined time t _L longer than the first time t ₁ since the change in the “detection speed”, the estimated speed calculation unit 111B calculates the change rate β ₂ . Generate information on “estimated speed” to be zero.

Therefore, according to the second embodiment, similarly to the first embodiment described above, vehicle speed information with improved followability to the actual vehicle speed can be generated based on the vehicle speed signal output from the vehicle speed sensor. Further, according to the second embodiment, it is possible to suppress the generation of an output sound that gives a sense of discomfort to the listener based on the generated vehicle speed information.

[Modification of Example]
The present invention is not limited to the above-described embodiments, and various modifications can be made.

For example, in the first and second embodiments described above, all the components of the

acoustic devices

100A and 100B are mounted on the vehicle CR, but are mounted on the vehicle CR as in the above-described third embodiment. The server device that can communicate with the terminal device may include the functions of the vehicle speed

information generation devices

710A and 710B that are part of the components of the

acoustic devices

100A and 100B.

In the first and second embodiments described above, the time length of the “second time t ₂ ” is 10 [msec], but the “second time t ₂ ” is an integer (2 or more) of the first time t _1. 1), the time length is not limited to the above.

In the first embodiment, when the change rate α ₃ is calculated and updated, the coefficient C1 is multiplied. In contrast, "0.4" coefficients to be multiplied by the first change ratio alpha ₃ before update when updating the rate of change alpha _3, the change rate after one updated second when updating rate of change alpha ₃ alpha _{Although the} coefficient to be multiplied by ₃ is set to “0.3”, the coefficient to be multiplied by the change rate α ₃ when the change rate α ₃ is updated may be a different value corresponding to the number of updates.

In the second embodiment, the coefficient C2 is multiplied when the change rate β ₂ is calculated and updated. On the other hand, "0.3" the coefficients to be multiplied by the time of the first update of the rate of change β ₂ in the pre-update rate of change β _2, the rate of change after one update for the second time at the time of renewal of the rate of change β ₂ β _The coefficient to be multiplied by ₂ is set to “0.1”, but the coefficient to be multiplied by the change rate β ₂ when the change rate β ₂ is updated may be a different value corresponding to the number of updates.

In the first and second embodiments, the present invention is applied to a device that generates a sound signal output to the outside of the vehicle based on the calculated “estimated speed” information. On the other hand, the present invention may be applied to an apparatus that generates a sound signal output to the outside of the vehicle based on the “estimated speed”, and the sound signal output to the outside of the vehicle and the vehicle You may make it apply this invention to the apparatus which produces | generates the sound signal output inside.

In the first and second embodiments, the present invention is applied to an acoustic device that generates a sound signal based on the calculated “estimated speed” information. On the other hand, the present invention can also be applied to an apparatus that performs various processes such as navigation processing that are performed during driving of a vehicle based on information on “estimated speed”.

In the first and second embodiments, the detection speed is reported from the external ECU 290 to the audio device and the terminal device. On the other hand, when it is difficult to receive vehicle speed information from the outside, the acoustic device and the terminal device may have a sensor or the like for detecting the vehicle speed information.

In the first and second embodiments described above, the present invention is applied to an apparatus disposed in an electric vehicle. However, the present invention is disposed in a vehicle (for example, a hybrid vehicle) that uses electric energy as part of driving energy. It goes without saying that the present invention can be applied to such an apparatus.

Also, the first and second examples described above can be appropriately modified in the same manner as the modifications of the first and second embodiments described above.

Claims

A speed acquisition unit that acquires a detection speed detected at intervals of the first time based on a vehicle speed signal reflecting the vehicle speed;
When there is a change in the detection speed acquired by the speed acquisition unit, a second time shorter than the first time based on the estimated speed at the time of the change and the detection speed after the change A vehicle speed information generating unit that generates information on the estimated speed of the vehicle at intervals of
A vehicle speed information generating device comprising:
The vehicle speed information generation unit detects the estimated speed after the change after the elapse of a predetermined time that is not less than the second time and not more than the first time since the change in the detection speed. The vehicle speed information generating apparatus according to claim 1, wherein the estimated speed information is generated so as to change at a first change rate that is a speed value.
The vehicle speed information generation unit is configured to perform the first operation after the predetermined time has elapsed since the change in the detection speed and until the first time has elapsed since the change in the detection speed. The estimated speed changes at a second change rate that is the same change direction as one change rate and changes more slowly than the first change rate, and is determined based on the change amount of the detected speed before and after the change. The vehicle speed information generating apparatus according to claim 2, wherein the information on the estimated speed is generated.
The vehicle speed information generation unit detects a new detection speed acquired by the speed acquisition unit after the first time has elapsed from when the detection speed has changed, after the detection speed has changed. When there is no change from the speed, the estimated speed is changed so that the estimated speed changes at the third change rate that is the same change direction as the second change rate and changes more slowly than the second change rate. 4. The vehicle speed information generating apparatus according to claim 3, wherein speed information is generated.
The vehicle speed information generation device according to claim 4, wherein the vehicle speed information generation unit sequentially decreases the third change rate in the same change direction every time the first time elapses.
The vehicle speed information generation unit has a direction of change from an estimated speed at a current time to a detected speed after the change from when the detected speed changes until the first time elapses, 2. The information on the estimated speed is generated so that the estimated speed changes at a first rate of change determined based on the estimated speed at the first speed and the detected speed after the change. Vehicle speed information generator.
The vehicle speed information generation unit detects a new detection speed acquired by the speed acquisition unit after the first time has elapsed from when the detection speed has changed, after the detection speed has changed. When there is no change from the speed, the estimated speed is changed so that the estimated speed changes at the second change rate that is in the same change direction as the first change rate and changes more slowly than the first change rate. The vehicle speed information generating apparatus according to claim 6, wherein speed information is generated.
The vehicle speed information generation device according to claim 7, wherein the vehicle speed information generation unit sequentially decreases the second change rate in the same change direction every time the first time elapses.
The vehicle speed information generation unit sets the second change rate to zero when there is no change in the detection speed over a period of a predetermined time longer than the first time from when the detection speed changes. The vehicle speed information generation device according to claim 7 or 8, wherein information on an estimated speed is generated.
A vehicle speed information generating device according to any one of claims 1 to 9;
A vehicle speed information acquisition unit that acquires information of the estimated speed generated by the vehicle speed information generation device;
A signal generation unit that generates a sound signal output to at least one of the inside and the outside of the vehicle based on the estimated speed information acquired by the vehicle speed information acquisition unit;
An acoustic device comprising:
A vehicle speed information generation method used in a vehicle speed information generation device that generates information on an estimated speed of a vehicle,
A speed acquisition step of acquiring a detected speed detected at every first time interval based on a vehicle speed signal reflecting the vehicle speed;
When there is a change in the detection speed acquired in the speed acquisition step, a second time shorter than the first time based on the estimated speed at the time of the change and the detection speed after the change A vehicle speed information generating step for generating information on the estimated speed of the vehicle for each interval;
A vehicle speed information generation method comprising:
A vehicle speed information generation program that causes a computer included in a vehicle speed information generation apparatus that generates information on an estimated vehicle speed to execute the vehicle speed information generation method according to claim 11.
13. A recording medium in which the vehicle speed information generation program according to claim 12 is recorded so as to be readable by a computer included in a vehicle speed information generation device that generates information on an estimated vehicle speed.