JP2007328603A - Warning device for vehicle - Google Patents

Abstract

An object of the present invention is to provide a vehicular warning device capable of giving an appropriate warning to a driver regarding an object around the own vehicle.
Relative situation detection means for detecting a relative situation between the host vehicle and surrounding objects of the host vehicle and sounding means for generating a warning sound are provided, and driving is performed by the sounding means based on the detection result of the relative situation detection means. A vehicle warning device for warning a person, wherein the sounding means emits a warning sound in a mode corresponding to the relative situation detected by the relative situation detecting means.
[Selection] Figure 1

Description

  The present invention relates to a vehicular warning device that warns a driver about surrounding objects of a host vehicle.

2. Description of the Related Art Conventionally, there has been disclosed an invention relating to an apparatus that issues a warning by detecting risk factors such as driver drowsiness and wandering (for example, see Patent Document 1). In this apparatus, a stronger alerting effect is obtained by forming a sound image in a specific area surrounding a person to be warned and giving a warning. It also describes that the position of the risk factor is made known by generating a sound image corresponding to the direction in which the risk factor exists.
JP-A-5-250589

  However, in the above-described conventional apparatus, consideration is not given to issuing a warning in accordance with a risk factor outside the vehicle, such as the approach of an obstacle. Therefore, for example, it cannot be applied to various vehicle control systems that are becoming popular in recent years. In such a vehicle control system, control such as automatically outputting a braking force when a preceding vehicle approaches within a predetermined distance is performed, but as a previous step, a warning is issued to the driver and a brake is performed spontaneously. It is preferable that there is a step for performing an operation or a steering operation.

  In addition, it is supposed that the position of the risk factor can be known by generating a sound image corresponding to the direction of the risk factor, but the human auditory characteristics can accurately recognize the direction in which the sound is generated. Since there are cases where it cannot be performed, another method is desired in order to make the target person recognize the position where the risk factor exists more accurately.

  The present invention has been made to solve such problems, and a main object of the present invention is to provide a vehicular warning device capable of giving an appropriate warning to a driver regarding objects around the host vehicle.

  In order to achieve the above object, a first aspect of the present invention includes a relative situation detecting unit that detects a relative situation between the host vehicle and an object around the host vehicle, and a sounding unit that emits a warning sound. A vehicle warning device that warns a driver with a sound generation means based on a detection result of the detection means, wherein the sound generation means emits a warning sound in a mode according to the relative situation detected by the relative situation detection means. It is a feature.

  According to the first aspect of the present invention, since a warning sound is emitted in a mode according to the relative situation between the own vehicle and the surrounding objects of the own vehicle, an appropriate warning is given to the driver about the surrounding objects of the own vehicle. Can do.

  In the first aspect of the present invention, the sound generation means preferably emits a warning sound by moving the sound image according to the detection result of the relative situation detection means. In this case, the sound generation means is, for example, a means for generating a virtual sound source and generating a warning sound, and a means for moving a sound image by moving the virtual sound source. Here, the “virtual sound source” uses the phase difference of the sound that reaches the left and right ears to make it feel that sound can be heard from that place even though there are no speakers or the like. Such a virtual sound source. Alternatively, the sound generation means is a means that includes a plurality of speakers and moves the sound image by sequentially changing speakers that emit warning sounds.

  In the first aspect of the present invention, the sound generation means preferably emits a warning sound by moving the sound image at a movement speed according to the detection result of the relative situation detection means.

  In the first aspect of the present invention, the relative situation detection means is means capable of detecting the relative position of the surrounding object with respect to the host vehicle, for example, and the sound generation means is the surrounding object detected by the relative situation detection means. The sound image is moved so as to approach the driver from a position corresponding to the relative position.

  In the first aspect of the present invention, for example, the relative situation detection means is means capable of detecting the relative speed between the host vehicle and the surrounding object, and the sound generation means is the relative speed detected by the relative situation detection means. It is a means for moving the sound image at a moving speed according to. In this way, the driver can grasp the relative speed between the surrounding object and the host vehicle from the moving speed of the sound image of the warning sound, and can act according to the relative speed. In this case, more preferably, the relative situation detection unit is a unit capable of detecting the relative approach speed between the host vehicle and the surrounding object, and the sound generation unit moves according to the relative approach speed detected by the relative situation detection unit. It is a means for moving the sound image at a speed. In this way, the driver can grasp the speed at which the surrounding object approaches the own vehicle from the moving speed of the sound image of the warning sound, and can act according to the relative approach speed.

  In the first aspect of the present invention, for example, the relative situation detection means is means capable of detecting the distance between the host vehicle and a surrounding object, and the sound generation means corresponds to the distance detected by the relative situation detection means. It is a means for moving the sound image at a high speed.

  In the first aspect of the present invention, for example, the relative situation detection means is means capable of detecting the relative speed between the host vehicle and the surrounding object, and the sound generation means is the relative speed detected by the relative situation detection means. It is a means for emitting a warning sound at a volume corresponding to.

  In the first aspect of the present invention, for example, the relative situation detection means is means capable of detecting the distance between the host vehicle and a surrounding object, and the sound generation means corresponds to the distance detected by the relative situation detection means. It is a means to emit a warning sound at a high volume.

  Further, the first aspect of the present invention preferably includes a dangerous state determination unit that determines whether or not the host vehicle is in a dangerous state based on a detection result of the relative situation detection unit, and the sound generation unit includes When the state determining means determines that the host vehicle is in a dangerous state, it is a means for emitting a warning sound. In this case, the dangerous state determination unit is a unit that determines that the host vehicle is in a dangerous state when the host vehicle and a surrounding object are approaching, for example.

  According to a second aspect of the present invention, there is provided an attribute detection unit that detects an attribute of a surrounding object of the host vehicle and a sound generation unit that emits a warning sound. A warning device for a vehicle that performs a warning, wherein the sound generation means emits a warning sound by moving the sound image so as to approach the driver in a manner corresponding to the attribute detected by the attribute detection means It is.

  In the first or second aspect of the present invention, the sound generation means is preferably means for emitting a warning sound imitating a sound generated when the vehicle is braked. In this way, the driver can intuitively feel a crisis, and thus can respond quickly.

  ADVANTAGE OF THE INVENTION According to this invention, the warning device for vehicles which can perform a suitable warning to a driver | operator regarding the surrounding object of the own vehicle can be provided.

  Hereinafter, the best mode for carrying out the present invention will be described with reference to the accompanying drawings.

  Hereinafter, an embodiment of a vehicle warning device according to the present invention will be described with reference to FIGS. FIG. 1 is a diagram showing an example of the overall configuration of a vehicle warning device 1 according to an embodiment of the present invention. The vehicle warning device 1 has, as main components, radar devices 10A, 10B, and 10C, camera sensors 20A, 20B, and 20C, a speaker unit 30, and a warning device electronic control unit (hereinafter referred to as a warning device ECU). 40). Communication between devices in the vehicle in the following description is performed using an appropriate communication protocol such as CAN (Controller Area Network).

  The radar devices 10A, 10B, and 10C are, for example, millimeter wave radar devices, and the distances between the surrounding objects of the host vehicle using the time until the reflected wave of the millimeter wave returns, the angle of the reflected wave, and the frequency change. Detect azimuth and relative speed. Information about the peripheral object thus detected is transmitted to the warning device ECU 40 at predetermined time intervals, for example. Moreover, it is not limited to a millimeter wave radar device, and may be a laser radar or an infrared radar. The radar device 10A is disposed, for example, on the back of the front grille and has a detection range that is substantially in front of the vehicle. The radar device 10B is disposed, for example, around the right door mirror and has a detection range that is substantially on the right side of the vehicle. Is arranged around the left door mirror, for example, and the detection range is substantially left of the vehicle. FIG. 2 shows an example of these detection ranges.

  The camera sensors 20A, 20B, and 20C are each composed of, for example, a combination of a CCD camera, a CMOS camera, and the like and an image analysis device, and perform binarization processing, feature point extraction processing, pattern matching processing, and the like on the captured image of the camera. Thus, the position (approximate azimuth and distance) of the surrounding object and its attributes (which are different from large vehicles, medium / small vehicles, two-wheeled vehicles, and pedestrians) are detected. Information about the peripheral object thus detected is transmitted to the warning device ECU 40 at predetermined time intervals, for example. The camera sensor 20A is disposed, for example, in the upper part of the front windshield, and the detection range is substantially in front of the vehicle. The camera sensor 20B is disposed, for example, in the vicinity of the right door mirror, and is in the detection range approximately to the right of the vehicle. 20C is disposed around the left door mirror, for example, and has a detection range substantially left of the vehicle (illustrated in FIG. 2 as with the radar device). Further, the image analysis device of each camera sensor may be integrated into a single device, or may be further integrated into the warning device ECU 40.

  The speaker unit 30 is, for example, a speaker group shared with an in-vehicle audio system, and as shown in FIG. 3, a power amplifier 31, a center speaker 32 disposed in the center of the upper surface of the instrument panel, and a rear seat A woofer 33 disposed in the rear center, a right tweeter 34a and a left tweeter 34b disposed on the left and right ends of the upper surface of the instrument panel, and a right front speaker 35a disposed near the base of the left and right front doors, respectively. A left front speaker 35b and a right rear speaker 36a and a left rear speaker 36b disposed near the bases of the left and right rear doors are provided. The speaker unit 30 outputs a warning sound in accordance with an instruction from the warning device ECU 40 in addition to (or temporarily replaces) a sound related to music reproduction or the like that is an original function of the in-vehicle audio system.

  The warning device ECU 40 is a computer unit in which, for example, a CPU, a ROM, a RAM, and the like are connected to each other via a bus (not shown), and includes a communication port, a timer, a counter, and the like. The warning device ECU 40 transmits an instruction signal so as to output a warning sound from the speaker unit 30 when a predetermined condition is satisfied. At this time, the warning device ECU 40 sets the position of the virtual sound source based on the information about the peripheral object input from each radar device or camera sensor, and outputs the warning sound according to the set position of the virtual sound source. To give instructions. As a result, the driver feels as if a warning sound is being output from the virtual sound source.

  The predetermined condition for outputting the warning sound is not particularly limited and may be determined in any way. For example, (1) the center of the vehicle within the detection range of each radar device or camera sensor (for example, the center of gravity) It is possible to determine that a surrounding object exists in an area within a predetermined distance from the position (hereinafter referred to as a position or the like) (hereinafter referred to as a warning area), and (2) the surrounding object is approaching the host vehicle.

  Then, the position of the virtual sound source is set by mapping the relative position of the surrounding object with respect to the center of the host vehicle to the warning sound output area centered on the driver. FIG. 4 is a diagram showing how the mapping is performed. In the figure, the positions of the peripheral object and the virtual sound source are represented by polar coordinates composed of a distance component and an angle component. Since various methods are already known for the control when the warning sound is actually output from the speaker unit 30 after the position of the virtual sound source is set, a detailed description is omitted. A head-related transfer function (HRTF) calculated in advance based on the shape of the head and ears and a room transfer function (Room Transfer Function; RTF) are synthesized, and the frequency characteristics matched to the position of the virtual sound source are synthesized. Instruct each speaker to output the signal to the eardrum. Thus, it is considered that the driver can grasp the direction and distance of the peripheral object to some extent by setting the position of the virtual sound source at a position corresponding to the relative position of the peripheral object.

  However, even when output from each speaker is performed according to the position of the virtual sound source in this way, human hearing is not absolutely reliable, and there is an individual difference in the head related transfer function (HRTF). Thus, since an error is likely to occur in the setting of the frequency characteristic, the driver cannot always accurately grasp the direction and distance of the surrounding object. Therefore, in this embodiment, the position of the virtual sound source is moved so as to approach the driver (head) from the initially set position at a speed based on information about peripheral objects input from each radar device or camera sensor. At the same time, the sound volume is gradually increased from the initial sound volume set based on the above information to obtain the alerting effect and the sound approach.

Specifically, for example, with respect to surrounding objects in proximity that has entered the warning area shown in FIG. 4, first, giving an initial value S ₀ of the moving speed of the position of the virtual sound source, the relative speed with respect to the vehicle A first coefficient that tends to increase as the distance increases and decreases as the distance to the host vehicle increases, and increases or decreases according to the attributes of the surrounding objects (for example, large when the surrounding objects are large vehicles) The moving speed S is obtained by multiplying S ₀ by the second coefficient (which becomes a value). Similarly, the initial value V ₀ of the volume of the warning sound is given, and a third coefficient (common to the first coefficient described above) that tends to increase as the relative speed increases and decrease as the distance increases. The volume V is obtained by multiplying V ₀ by a fourth coefficient (which may be the same as the second coefficient described above) that increases or decreases according to the attributes of the surrounding objects. Then, a warning sound is emitted so that the driver approaches the driver at the moving speed S starting from the position where the virtual sound source is initially set, and the volume gradually increases from the volume V. The virtual sound source is stopped when it is sufficiently close to the driver so that the position of the virtual sound source does not move past the driver and to the rear of the driver.

  By such control, the driver can grasp the direction and distance of the surrounding objects more accurately. The warning sound output as a result of the above control is emitted from a virtual sound source that approaches the user from a direction corresponding to the direction of the surrounding object, and the sense of position of such a moving virtual sound source is a stationary virtual sound source. This is because it is transmitted more strongly than the position of the sound source. Further, the closeness can be emphasized by gradually increasing the volume. FIG. 5 is a diagram illustrating a state in which the virtual sound source of the warning sound approaches the driver according to the peripheral object approaching the host vehicle.

  Further, in the present embodiment, a sound imitating a brake skid sound ("keep" sound) is output as a warning sound, thereby strongly informing the driver of the necessity to perform the brake operation.

  As a result, the position and relative speed of the peripheral object (in this example, the approaching peripheral object is compared to a stationary virtual sound source that is set according to the position of the peripheral object and that outputs a warning sound of a constant volume. Since a warning sound is output with respect to (which may be referred to as a relative approach speed), it can be transmitted more accurately. In other words, the driver performs the brake operation and the steering operation in a reflective manner after more accurately grasping the direction, distance, and relative speed (relative approach speed) of the surrounding objects from the movement manner of the position of the virtual sound source of the warning sound. To avoid danger.

  As mentioned above, although the best mode for carrying out the present invention has been described using one embodiment, the present invention is not limited to such one embodiment, and within the scope not departing from the gist of the present invention, Various modifications and substitutions can be made to the above-described embodiment (hereinafter referred to as modifications).

  First, as for the method of deriving the moving speed and volume of the position of the virtual sound source of the warning sound, there is no particular limitation as long as the alerting effect of the warning sound changes depending on the approaching degree of the surrounding object. It may be derived by a technique.

For example, the moving speed of the position of the virtual sound source of the warning sound and the volume of the warning sound are set according to the relative speed, the distance, and the attribute, but the moving speed is set according to the relative speed and the volume is set to the distance and It may be set according to the attribute. Specifically, the moving speed is determined by multiplying the initial value S ₀ of the moving speed of the position of the virtual sound source by a coefficient of a tendency to increase as the relative speed increases, and the distance to the initial value V ₀ of the volume of the warning sound The volume may be determined by multiplying by a coefficient that has a tendency to decrease according to the increase and increase / decrease according to the attribute. Similarly, the moving speed may be set according to the relative speed and the distance, and the volume may be set according to the attribute. In this case, the moving speed determined by multiplying the coefficient tends to decrease with an increase in distance with increased according to the increase of the relative velocity to the initial value S ₀ of the moving speed of the position of the virtual sound source, the warning sound volume it may be intended to determine the volume multiplied by a factor which increases or decreases according to the initial value V ₀ which is the attribute.

  Further, although the embodiment does not mention the degree of increase in the volume of the warning sound, the degree of increase in the volume may be made variable based on the relative speed or distance of the surrounding objects.

  In addition, the virtual sound source position is moved and the sound volume is increased to obtain a caution effect and a feeling of sound proximity, but only the position of the virtual sound source may be changed while the sound volume is constant. . On the contrary, it is possible to obtain a sense of approach only by increasing the volume without changing the position of the virtual sound source.

  In addition, as an example of the method of moving the sound image of the warning sound, the movement of the position of the virtual sound source has been illustrated. However, the present invention is not limited to this, and a sufficient number of speakers are provided, and speakers that output sound are far from the driver. The sound image of the warning sound may be moved (approached) by sequentially changing the sound from the position close to the driver.

The initial value V ₀ of the volume of the warning sound may be set according to the attributes of the surrounding objects.

  Further, the position of the virtual sound source of the warning sound is not limited to the one close to the driver as in the embodiment, and reciprocal movement or the like may be performed.

  In addition, the camera sensor is not provided, and the attributes of the surrounding objects may be estimated from the magnitude of the reflected wave detected by the radar device, and the attributes of the surrounding objects are not considered at all. It does n’t matter.

  Further, a radar device or a camera sensor may be provided at the rear of the vehicle, and the rear of the vehicle may be set as the detection range and the control target, or conversely, only the front of the vehicle may be set as the detection range and the control target. Absent. In the latter case, only the distance to the host vehicle may be detected as the relative position of the surrounding object (the polar coordinate angle components θ and θ ′ in FIG. 4 are not considered) to simplify the control.

  In addition, it may be omitted that a peripheral object is approaching under a predetermined condition in which a warning sound is output.

  Further, a sound imitating a brake skid sound may not be output as a warning sound, and another type of warning sound may be generated.

  Further, the specific mode of the speaker unit 30 is not limited to sharing with the vehicle-mounted audio system, and a dedicated speaker group may be provided. The instructions for the speaker unit 30 may also be given via a control computer or the like of the in-vehicle audio system, not directly from the warning device ECU 40.

  INDUSTRIAL APPLICABILITY The present invention can be used for an apparatus that warns a driver about at least an object around a vehicle. The appearance, weight, size, running performance, etc. of the vehicle to be mounted are not limited.

It is a figure showing an example of the whole composition of warning device 1 for vehicles concerning one example of the present invention. It is a figure which shows an example of the detection range of each radar apparatus or a camera sensor. 2 is a diagram illustrating an example of a configuration of a speaker unit 30. FIG. It is a figure which shows a mode that the relative position of a peripheral object is mapped on the area | region for warning sound output. It is a figure which shows a mode that the virtual sound source of a warning sound approaches a driver | operator according to the peripheral object approaching the own vehicle.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Vehicle warning device 10A, 10B, 10C Radar apparatus 20 Camera sensor 30 Speaker unit 31 Power amplifier 32 Center speaker 33 Woofer 34a Right tweeter 34b Left tweeter 35a Right front speaker 35b Left front speaker 36a Right rear speaker 36b Left rear speaker 40 Electronic control unit for warning device

Claims (15)

Relative situation detection means for detecting the relative situation between the host vehicle and the surrounding objects of the host vehicle, and sound generation means for emitting a warning sound, and based on the detection result of the relative situation detection means, to the driver by the sound generation means A warning device for a vehicle that warns,
The vehicle sound device according to claim 1, wherein the sounding means emits a warning sound in a manner corresponding to the relative situation detected by the relative situation detecting means. The vehicle warning device according to claim 1,
The vehicle sound device according to claim 1, wherein the sounding means generates a warning sound by moving a sound image in accordance with a detection result of the relative situation detecting means. The vehicle warning device according to claim 2,
The vehicle sounding device, wherein the sound generation unit is a unit that generates a virtual sound source and emits a warning sound, and is a unit that moves a sound image by moving the virtual sound source. The vehicle warning device according to claim 2,
The vehicle sounding device is a vehicle warning device that includes a plurality of speakers and moves a sound image by sequentially changing a speaker that emits a warning sound. The vehicle warning device according to any one of claims 2 to 4,
The vehicle sounding device, wherein the sounding means is a means for moving a sound image so as to approach the driver at a moving speed according to a detection result of the relative situation detecting means. The vehicle warning device according to any one of claims 2 to 5,
The relative situation detection means is means capable of detecting a relative position of the surrounding object with respect to the host vehicle,
The vehicle sound device, wherein the sounding means is a means for moving a sound image so as to approach the driver from a position corresponding to the relative position of the surrounding object detected by the relative situation detecting means. The vehicle warning device according to any one of claims 2 to 6,
The relative situation detection means is means capable of detecting a relative speed between the host vehicle and the surrounding object,
The vehicle sounding device, wherein the sounding means is a means for moving the sound image at a moving speed corresponding to the relative speed detected by the relative situation detecting means. The vehicle warning device according to claim 7,
The relative situation detection means is means capable of detecting a relative approach speed between the host vehicle and the surrounding object,
The vehicle sounding device, wherein the sounding means is a means for moving the sound image at a moving speed corresponding to the relative approach speed detected by the relative situation detecting means. The vehicle warning device according to any one of claims 2 to 8,
The relative situation detection means is means capable of detecting the distance between the host vehicle and the surrounding object,
The vehicle sound device, wherein the sound generation means is a means for moving the sound image at a moving speed corresponding to the distance detected by the relative state detection means. The vehicle warning device according to any one of claims 1 to 9,
The relative situation detection means is means capable of detecting a relative speed between the host vehicle and the surrounding object,
The vehicle sounding device, wherein the sounding means is a means for emitting a warning sound at a volume corresponding to the relative speed detected by the relative situation detecting means. The vehicle warning device according to any one of claims 1 to 10,
The relative situation detection means is means capable of detecting the distance between the host vehicle and the surrounding object,
The vehicle sounding device, wherein the sounding means is a means for emitting a warning sound at a volume corresponding to the distance detected by the relative situation detecting means. The vehicle warning device according to any one of claims 1 to 11,
A dangerous state determining means for determining whether or not the host vehicle is in a dangerous state based on a detection result of the relative situation detecting means;
The vehicle sounding device, wherein the sounding unit is a unit that emits a warning sound when the dangerous state determining unit determines that the host vehicle is in a dangerous state. The vehicle warning device according to any one of claims 1 to 12,
The danger state determination unit is a vehicle warning device that determines that the host vehicle is in a dangerous state when the host vehicle and the surrounding object are approaching. A vehicle warning device comprising: attribute detection means for detecting an attribute of a surrounding object of the host vehicle; and sound generation means for generating a warning sound, wherein the sound generation means warns the driver based on a detection result of the attribute detection means. Because
The vehicle sound device according to claim 1, wherein the sound generation means emits a warning sound by moving a sound image so as to approach the driver in a manner corresponding to the attribute detected by the attribute detection means. The vehicle warning device according to any one of claims 1 to 14,
The sound generation means is a vehicle warning device that emits a warning sound imitating a sound generated when the vehicle is braked.

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