JPH09301122A - Car entanglement alarm device - Google Patents

Abstract

(57) [Abstract] [PROBLEMS] To save a space, have durability, and give an alarm only when necessary, and contribute to reduction of accidents involving a left turn. SOLUTION: A distance measuring means 2 for measuring a distance to an object and an alarm means 3 for issuing an alarm based on an output of the distance measuring means 2 are provided, and presence or absence of an obstacle on the left rear side of the vehicle. In the in-vehicle entanglement warning device for warning, the distance measuring means 2 is installed in the side mirror 4 of the own vehicle, and the measuring direction of the distance measuring means 2 is set to the opposite direction of the traveling direction of the vehicle. 3 has an alarm output function for each distance that issues an alarm based on the distance information to the obstacle when the obstacle is detected by the distance measuring means 2.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an on-vehicle entanglement alarm device, and more particularly to an on-vehicle entanglement alarm device for monitoring the rear side of a vehicle.

[0002]

2. Description of the Related Art Generally, a driver needs to pay attention to the rear side (especially, the left rear side) by turning the rear view mirror, the side mirror, and actually facing the rear when turning left.

However, since blind spots exist even with various types of mirrors, and due to the difference in the inner ring of an automobile,
The accident involving the left turn is not gone now.

For this reason, conventionally, there is an apparatus for recognizing the traveling environment by installing a sensor on the side of the vehicle. For example, in Japanese Patent Laid-Open No. 63-038056, a simple device is used to monitor the side of a vehicle and prevent the contact of other objects and the vehicle with the course change of the vehicle. An automobile accident prevention device that determines the possibility of contact based on the steering angle control signal and the distance to an obstacle is published.

[0005]

However, in the technique disclosed in Japanese Patent Laid-Open No. 63-038056, the cameras for image pickup are installed on the right side and the left side of the front part of the automobile, so that the cameras are exposed to wind and rain. However, there is a problem in durability in practical use.

If a structure for protecting the camera is added, the size of the apparatus becomes large, and further, the body design,
It will also affect the design.

Further, in this conventional example, since the contact possibility is calculated after the actual steering of the right / left turn is performed, it is possible to catch the obstacle and give an alarm before making the right / left turn. There was an inconvenience that it could not be done.

[0008]

It is an object of the present invention to improve the inconvenience of the prior art example, and particularly to reduce the accident involving a vehicle left turn when an alarm is issued only when it is space-saving, durable and necessary. It is an object of the present invention to provide an in-vehicle entanglement alarm device that can contribute to the above.

[0009]

Therefore, in the present invention, a distance measuring means for measuring a distance to an object and an alarming means for issuing an alarm based on the output of the distance measuring means are provided. In an in-vehicle entanglement alarm device that warns of the presence or absence of an obstacle on the side, the distance measuring means is installed inside the side mirror of the vehicle, and the measuring direction of the distance measuring means is set in the direction opposite to the traveling direction of the vehicle. However, the alarm means has a distance-based alarm output function for issuing an alarm based on the distance information to the obstacle when the obstacle is detected by the distance measuring means. This aims to achieve the above-mentioned object.

According to the present invention, since the distance measuring means is installed in the side mirror, the distance measuring means is not directly exposed to the wind and rain, and the alarm means gives an alarm based on the distance to the obstacle behind the vehicle. Therefore, the presence of an obstacle is warned before the vehicle turns (turns left, turns right, or changes the direction of travel).

[0011]

Embodiments of the present invention will be described below with reference to the drawings.

FIG. 1 is a block diagram showing the structure of an on-vehicle entanglement warning device according to the present invention. Taking the case of a right-hand drive as an example, the vehicle-mounted entanglement alarm device can
A distance measuring means 2 for measuring the distance to the vehicle, and an alarm means 3 for issuing an alarm based on the output of the distance measuring means 2 to warn the presence or absence of an obstacle 20 on the left rear side of the vehicle 1. Is. In particular, the presence / absence of an obstacle in a blind area that is not reflected in the side mirror 4 of the vehicle is detected. Moreover, in this embodiment, the distance measuring means 2 is installed in the side mirror 4 on the left side of the vehicle, and the measuring direction A of the distance measuring means 2 is set to the opposite direction of the traveling direction of the vehicle.

Further, the side mirror 4 is composed of a half mirror, and the distance measuring means 2 is provided with a CCD sensor for receiving the light transmitted through the half mirror of the side mirror.

The alarm means 3 is the distance measuring means 2 described above.
When the obstacle 20 is detected by the obstacle 20
A warning is issued based on the distance information up to (distance-based warning output function 3A). By the distance-based alarm output function 3A, even if an obstacle is measured, if the distance is such that there is no possibility of being caught, an alarm can be issued. The alarm means 3 emits an alarm sound from, for example, a speaker.

Further, the warning means 3 is provided with a winker signal detecting means 8 for detecting a left winker signal of the own vehicle.
The warning means 3 issues a warning by the turn signal signal detection means 8 only when the left turn signal is operating (turning (left turn) warning function 3B). This warning function for turning left 3B does not give any warning even if a motorcycle or the like is driving in a blind spot during normal straight traveling, and when there is an obstacle in the blind spot when the left blinker is turned on to turn left. Since the alarm can be issued, the alarm can be issued at a very accurate timing as the entanglement prevention alarm. In particular, since an alarm is issued before steering the steering wheel for turning left, it is possible to prevent the driver from being caught in the vehicle and reduce the burden on the driver.

This alarm is terminated when the obstacle is no longer detected because it has passed, or when the driver interrupts the left turn (direction change, etc.) and turns off the turn signal. Further, in the case of the left steering wheel, the distance measuring means 2 is installed in the side mirror on the right side of the vehicle,
Alarm generation is controlled based on the right blinker signal.

Further, as shown in FIG.
A risk determination means 7 for determining the risk of a left turn based on the position of the obstacle measured by the distance measuring means 2 is additionally provided. Then, the alarm unit selects a plurality of types of alarms according to the risk level output from the risk level determination unit 7 (alarm selection function). With this alarm selection function, it is possible to perform processing such as selecting the loudness of the alarm sound according to the degree of danger.

The risk determining means 7 determines the size of the obstacle and
The risk is calculated based on the distance to the obstacle. For example, when the obstacle is detected, the risk is set to 1, and when the obstacle is in the blind spot, that is, when there is the obstacle in the room mirror, the side mirror, or the area that cannot be seen with the eyes, the risk is set to 2. If there is an obstacle at a distance where it may be caught if you turn left, the risk level is set to 3.

In the case of a vehicle such as a truck having a long overall length and a large inner ring difference, if the obstacle is detected in a region where the possibility of being caught due to the inner ring difference, the risk may be determined to be higher. Further, the distance measurement may be periodically performed to track the object to calculate the relative speed, and the risk may be increased when the object is approaching.

To determine whether or not an obstacle is in the blind spot area,
The determination may be made based on the relationship between the installation position of the sensor and the total length of the vehicle 1, or by allowing the distance measuring device to always image the own vehicle and the relationship with the imaged own vehicle.

When the risk determining means 7 is additionally provided, the alarm means 3 selects the type of alarm according to the risk and changes the alarm sound or volume, for example.

This will be described in detail.

This embodiment is an ASV (advanced safety vehicle).
It is related to the plan and aims to increase the added value of the car.
A sensor (distance measuring means) 2 that outputs the distance built in backward. Taking the case of a right-hand drive as an example, the distance sensor 2 recognizes the environment on the left rear side, which is likely to be a blind spot for the driver when making a left turn. From this result, an alarm is issued when an obstacle is recognized and the driver is alerted. It is a stimulus. The determination that it is a left turn is, for example, that the left blinker is operating.

FIG. 2 is a block diagram showing the structure of the control system. As shown in FIG. 2, the vehicle-mounted entanglement warning device 10
Is a blinker signal detecting means 8 for detecting a blinker signal.
A distance measuring means 2 for measuring a distance to an obstacle behind and behind the host vehicle, a risk determining means 7 for determining a risk based on distance information output from the distance measuring means 2, and each means. And an alarm generating means 3 for issuing an alarm according to the output of the. In the configuration shown in FIG. 2, the alarm generation control is performed in three ways depending on the type of the vehicle.

First, the alarm means 3 uses the distance-based alarm output function 3A to output the distance information 1 output from the distance measuring means 2.
Based on 0a, an alarm is output when the distance to the obstacle is a certain value or less. As a result, when turning left, the alarm can be issued only when there is an obstacle that may be caught. Further, the warning means 3 issues a warning only when the turn signal 3b is detected by the turning warning function 3B. Therefore, the blinker signal 10
When b is detected and the distance to the obstacle is equal to or less than a certain value, an alarm is issued. Therefore, the alarm can be appropriately issued only when necessary.

Further, the warning means 3 selects and outputs a warning by the warning selection function 3C based on the risk information 10c judged by the danger judging means 7. For example, when the degree of risk is high, a loud alarm sounds continuously, while when the degree of risk is low, a small sound is issued. As shown in FIG. 3, each function of the alarm means 3 allows the vehicle to turn left (in the case of a left handle, turn right).
In addition, an alarm is issued when the motorbike 20 or the like exists in the blind spot of the driver.

As the distance measuring means 2, for example, a multistage remote sensor is used. This measures the inter-vehicle distance of an obstacle such as an automobile and outputs the inter-vehicle distance. The multi-stage remote sensor is large enough to be installed on the side mirror 5.

The multi-stage remote sensor for automobiles is a vehicle-mounted compact distance meter developed by Fuji Electric Co., Ltd. and Fuji Film Micro Device Co., Ltd. The multi-stage remote sensor outputs distance, direction, and relative speed data to the vehicle or obstacle in the measurement direction.

This multistage remote sensor is a stereo CC
Dedicated camera using D captures images of vehicles and obstacles, and CC
It is a device that measures the distance by the output from D. The system is roughly divided into a sensor section and a signal processing section. The sensor unit detects light from the object with a pair of CCD sensors and outputs the image of each sensor as a video signal to the signal processing control box. The signal processing unit controls the shutter time of the sensor, digitizes the video signal from the sensor, and calculates the distance to the object in each calculation area.

The principle of distance measurement by this multistage remote sensor is shown in FIG. Luminance information from the two left and right cameras (area sensors) is fetched into the signal processing control box, and the left and right luminance information is compared for each calculation area. For example, in FIG.
It is assumed that the brightness information as shown in (B) is obtained. When these are piled up, it becomes as shown in FIG. The shift amount 2a of the left and right luminance information (image data) is due to the difference between the left and right camera positions and changes depending on the distance to the object. This amount of change is calculated and the distance is converted.

Which part of the image is to be measured,
It must be determined in advance. The size of the calculation area 2A,
Values such as the measurement period are variable. That is, as shown in FIG. 5, the number of monitoring lines 2B, the number of monitoring windows 2C,
Also, the line position is variable. The multi-stage remote sensor measures the distance of the object for each calculation area shown in FIG. Therefore, the distance information is the same as the number of calculation areas 2A. The risk level determination means determines the risk level based on the number and relationship of calculation areas in which the distance is measured.

Next, the operation of the configuration shown in FIG. 2 will be described.

FIG. 6 is a flow chart showing an example of the operation by the distance-based warning output function 3A. First, the multistage remote sensor 2 measures the distance to the obstacle for each calculation area 2A (step S1). Next, each calculation area 2A
Whether or not an alarm is generated is controlled based on the distance information output for each (step S2). A fixed value that is a threshold value for whether or not an alarm is generated for each calculation area 2A may be uniformly set, or may be set for each calculation area 2A depending on whether or not it is a blind spot or the inner ring difference of the own vehicle. The threshold value may be set. Furthermore, an alarm may be issued when approximately equal distances are output from a plurality of adjacent calculation areas 2A. As a result, it is possible to eliminate the influence of erroneous measurement of distance due to noise.

FIG. 7 is a flow chart showing an operation example by the turning warning function 3B. First, the multi-stage remote sensor 2 measures the distance to an obstacle for each calculation area 2A. On the other hand, the winker signal detecting means 8 detects whether or not the winker signal is input (step S10). When the left blinker is in operation, an alarm is issued according to the distance to the obstacle (step S12). On the other hand, when the obstacle is not measured and the distance to the obstacle is a certain value or more, the alarm is not issued. As shown in FIG. 7, the alarm is issued only while the blinker is operating, so that the alarm is not issued when the vehicle goes straight without making a left turn.

FIG. 8 is a flowchart showing an operation example by the alarm generation selection function 3C. First, it is confirmed whether or not the left blinker is operating (step S21). When the left blinker is in operation, environment recognition of the left rear side is performed (step S22). Further, the degree of risk is determined based on the result of this environment recognition (step S23). Next, an alarm is output according to the determination of the degree of risk (step S24).

As described above, according to the present embodiment, the sensor can compensate the blind spot of the driver's visual field, and further assists the driver in making a decision, thereby assisting the driver in driving, thus reducing the fatigue of the driver. Useful,
It also helps prevent entrainment when turning left.

[0037]

Since the present invention is constructed and functions as described above, according to this, since the distance measuring means is installed in the side mirror, the distance measuring means is not directly exposed to wind and rain, and an alarm is issued. Since the means also warns based on the distance to the obstacle behind the own vehicle, it is possible to warn of the presence of the obstacle before the own vehicle makes a left turn, thus saving space and durability, and It is possible to provide an unprecedented in-vehicle entanglement alarm device that can give an alarm only when necessary and can contribute to a reduction in an accident involving a left turn.

[Brief description of drawings]

FIG. 1 is an explanatory diagram showing a configuration of an embodiment of the present invention.

FIG. 2 is a block diagram showing the configuration of the entanglement warning device shown in FIG.

FIG. 3 is an explanatory diagram showing a usage example of the embodiment shown in FIG.

4A and 4B are explanatory views showing the principle of distance measurement of the distance sensor shown in FIG. 1, FIGS. 4A and 4B are views showing images captured by left and right cameras, and FIG. It is a figure which shows the example which combined the image on either side.

5 is an explanatory diagram showing an example in which a multi-stage remote sensor is adopted as the distance measuring means shown in FIG.

FIG. 6 is a flowchart showing an example of alarm generation processing by the distance-based alarm output function shown in FIG.

7 is a flowchart showing an example of an alarm generation process by the turning alarm function shown in FIG.

8 is a flowchart showing an example of an alarm generation process by the alarm selection function shown in FIG.

[Explanation of symbols]

 1 Vehicle 2 Distance Measuring Means (Distance Sensor) 3 Warning Means 4 Side Mirrors 5 Half Mirrors 6 Winkers 7 Hazard Determining Means 8 Winker Signal Detecting Means 20 Obstacles (eg Bike)

Claims (4)

[Claims] 1. A distance measuring means for measuring a distance to an object, and an alarm means for issuing an alarm based on an output of the distance measuring means are provided to warn the presence / absence of an obstacle behind the vehicle. In the vehicle-mounted entanglement alarm device, the distance measuring means is installed in the side mirror of the own vehicle, and the measuring direction of the distance measuring means is set to a direction opposite to the traveling direction of the vehicle, and the alarm means is An on-vehicle entanglement alarm device, comprising an alarm output function for each distance, which issues an alarm based on the distance information to the obstacle when the obstacle is detected by the distance measuring means. 2. The on-vehicle entanglement alarm device according to claim 1, wherein the distance measuring means includes a CCD sensor for receiving light transmitted through the half mirror of the side mirror. 3. The turning warning function, wherein the warning means is provided with a winker signal detecting means for detecting a winker signal of the own vehicle, and the warning means outputs a warning only when the winker is operated by the winker signal detecting means. The vehicle-mounted entanglement alarm device according to claim 1 or 2, further comprising: 4. The alarm means is provided with a risk determining means for determining the risk of turning based on the position of the obstacle measured by the distance measuring means, and the alarm means is provided for the risk determining means. An in-vehicle entanglement alarm device according to claim 3, further comprising an alarm selection function of selecting a plurality of types of alarms according to the degree of danger output from the vehicle.