JP3956251B2 - Obstacle detection device for vehicle and arrangement method of transducer for obstacle detection - Google Patents

Description

[0001]
BACKGROUND OF THE INVENTION
The present invention relates to an obstacle detection device for a vehicle and an arrangement method of an obstacle detection transducer that detect the presence and position of an obstacle around an object such as a vehicle using, for example, ultrasonic waves.
[0002]
[Prior art]
In recent years, some automobiles, which are representative vehicles, have obstacles in order to prevent them from coming into contact with surrounding obstacles when entering the car garage or parallel parking. And an obstacle detection device capable of detecting the position. In such an obstacle detection device, generally, a transducer using ultrasonic waves is used as means for detecting the presence or absence and position of an obstacle.
[0003]
Also, for example, in JP-A-8-301029, three detection ranges are formed by overlapping the detection ranges formed by two ultrasonic sensors (transducers), thereby improving the resolution when detecting an obstacle. A technique has been proposed.
[0004]
[Problems to be solved by the invention]
However, in the conventional example using the above two ultrasonic sensors, for example, when the vehicle must be operated in a narrow area such as parallel parking, the position of the detected obstacle is notified to the driver by display. In this case, it cannot be said that the driver can easily realize a man-machine interface in which the relative positional relationship between the obstacle and the vehicle can be easily recognized.
[0005]
Therefore, an object of the present invention is to provide a vehicle obstacle detection device and an obstacle detection transducer arrangement method for detecting a positional relationship between an obstacle and a vehicle so that a user can easily perceive it.
[0006]
[Means for Solving the Problems]
In order to achieve the above object, an obstacle detection device for a vehicle according to the present invention is characterized by the following configuration.
[0007]
  That is, claim 1Inventions related toProvides at least two transducers around the vehicle, and the detection areas of these transducers form two non-overlapping areas and one overlapping area sandwiched between the two non-overlapping areas. An obstacle detection device for a vehicle comprising detection means for detecting the presence and position of an obstacle present,When the corner of the vehicle has a substantially right angle,The two transducers have two boundary lines between the non-overlapping area and the overlapping area.AlongOn the extension of the line and the front and / or rear end of the vehicleAlongIt is characterized by being disposed close to the corner of the vehicle at a predetermined opening angle so as to be positioned on an extension line of the line.
  In the invention according to claim 2, at least two transducers are provided around the vehicle, and two non-overlapping regions and one overlapping region sandwiched between the two non-overlapping regions are provided by the detection regions of these transducers. An obstacle detection device for a vehicle comprising detection means for forming and detecting the presence and position of an obstacle present in those areas, wherein the two transducers have a rounded corner. The two boundary lines between the non-overlapping region and the overlapping region are in the vicinity of the vehicle side inner side, on the extension line of the line parallel to the vehicle side, and the vehicle front end and / or rear end inner side The vehicle is disposed close to the corner of the vehicle at a predetermined opening angle so as to be positioned on the extended line of the line parallel to the front end and / or rear end of the vehicle. .
  Thereby, the positional relationship between the obstacle and the vehicle is detected so that the user can easily perceive it.
[0009]
  In the above apparatus, the information processing apparatus may further include notification means for notifying a detection result by the detection means.3),
Preferably, the notifying means is a display means, and an arrangement of display patterns by the display means is set in accordance with the two boundary lines.4).
Thus, the positional relationship between the obstacle and the vehicle is detected so that the user can easily perceive it, and the detection result is notified in accordance with the sense of the vehicle body of the user.
[0010]
  At this time, the display means may notify the distance detected by the detection means by at least a display pattern representing the distance.5).
[0011]
  Further, for example, the transducer may employ an ultrasonic type (claims).6).
[0012]
  Claims7The two transducers arranged close to the corners of the vehicle each have a transmission mechanism and a reception mechanism,
The detection means may transmit the transmission timings of the transmission mechanisms while shifting them. Thereby, the resolution of the detection result is improved by a small number of transducers.
[0013]
Or in order to achieve said objective, the arrangement | positioning method of the transducer based on this invention is characterized by the following structures.
[0014]
  That is, the claimInvention concerning 8Provides at least two transducers around the vehicle, and the detection areas of these transducers form two non-overlapping areas and one overlapping area sandwiched between the two non-overlapping areas. A transducer placement method for detecting the presence and position of an obstacle present,When the corner of the vehicle has a substantially right angle,Two boundary lines between the non-overlapping area and the overlapping area are the sides of the vehicle.Of the line alongOn the extension line and the front and / or rear end of the vehicleAlongThe two transducers are arranged close to a corner of the vehicle at a predetermined opening angle so as to be positioned on an extension line of the line.
  In the invention according to claim 9, at least two transducers are provided around the vehicle, and two non-overlapping areas and one overlapping area sandwiched between the two non-overlapping areas are provided by the detection areas of the transducers. A transducer placement method for detecting the presence and position of obstacles existing in these areas, and when the corner of the vehicle is rounded, the non-overlapping area and the overlapping area The two boundary lines are in the vicinity of the vehicle side inner side, on the extension line of the line parallel to the vehicle side, and in the vicinity of the vehicle front end and / or rear end inner side, the vehicle front end and The two transducers are arranged close to the corner of the vehicle at a predetermined opening angle so as to be positioned on an extension line of a line parallel to the rear end.
Thereby, the positional relationship between the obstacle and the vehicle is detected so that the user can easily perceive it.
[0016]
DETAILED DESCRIPTION OF THE INVENTION
DESCRIPTION OF EMBODIMENTS Hereinafter, an obstacle detection device according to the present invention will be described in detail with reference to the drawings as an embodiment in which the obstacle detection device is applied to an automobile which is a typical vehicle.
[0017]
[First Embodiment]
<Hardware>
First, the hardware configuration of the obstacle detection apparatus in the present embodiment will be described.
[0018]
FIG. 1 is a block diagram showing the configuration of an obstacle detection apparatus as a first embodiment of the present invention.
[0019]
In the figure, reference numeral 1 denotes a detection unit that performs transmission and reception of ultrasonic waves (hereinafter referred to as transmission for convenience). The detection unit 1 is provided with two transducers Tr1 and Tr2. Each transducer is provided with a transmission module that transmits a predetermined ultrasonic wave and a reception module that receives an external ultrasonic wave. ing. The obstacle detection apparatus according to the present embodiment includes four detection units 1 as shown in FIG.
[0020]
Reference numeral 8 denotes a multiplexer circuit that switches input / output signals between the four detection units 1 and the controller 2. A filter / amplifier circuit 9 amplifies the detection signal output from the multiplexer circuit 8, applies a predetermined filter to the amplified signal, and amplifies the signal output from the controller 1. A comparator 10 compares the signal output from the filter / amplifier circuit 9 with a predetermined reference voltage.
[0021]
Reference numeral 3 denotes a vehicle speed sensor that detects the vehicle speed of the automobile. A shift position sensor 4 detects a shift (shift) position of the automobile. A steering angle sensor 5 detects the steering angle of the front wheels of the automobile. Reference numeral 6 denotes a display for notifying the driver of the result detected by the obstacle detection device using an image. Reference numeral 7 denotes a buzzer (including a chime) that notifies the driver of the result detected by the obstacle detection device using an alarm sound (note that it may be an audio output device).
[0022]
The controller 2 includes a CPU 21, a RAM 22, a ROM 23, an input / output interface (not shown) that interfaces output signals from the vehicle speed sensor 3 and the like and input signals to the display unit 6. While using the RAM 22 as a temporary storage area and work area for various data, the CPU 21 operates the obstacle detection apparatus according to the present embodiment in accordance with an obstacle detection / determination processing program, which will be described later, stored in the ROM 23 in advance. The control is performed as described later.
[0023]
Next, the configuration of the detection unit 1 will be described with reference to FIGS. The detection unit 1 has a shape as shown in the front view of FIG. 3, the top view of FIG. 4, and the rear view of FIG. As shown in the figure, Tr1 and Tr2 are adjacently arranged with an opening angle of 70 degrees as an example. The arrangement angle of Tr1 and Tr2 is determined by the angle of coverage of ultrasonic waves transmitted by individual transducers (about 120 degrees in the present embodiment), the setting method of overlapping areas of transmission / reception areas of two transducers to be described later, and the like. However, it is not limited to 70 degrees. As shown in FIG. 6, the detection unit 1 having such a shape is provided at four corners of the automobile 11, and each detection unit 1 forms a transmission / reception area 12 around the corner of the automobile 11.
[0024]
FIG. 2 is a diagram illustrating a transmission / reception area formed by the transducer in the detection unit according to the first embodiment of the present invention. In the figure, for convenience of explanation, Tr1 and Tr2 are expressed adjacently in parallel. The actual transmission / reception area 12 has, for example, a shape as shown in FIG.
[0025]
Tr1 is a reception effective area indicated by a thin solid line in the figure, in which Tr1 itself can receive a part of a reflected wave (hereinafter simply referred to as a reflected wave for convenience) outputted from Tr1. In addition to the reflected wave, a transmission effective region indicated by a thin broken line in FIG. Similarly, Tr2 has a reception effective area indicated by a thick solid line in the figure and a transmission effective area indicated by a thick broken line in the figure. Tr1 and Tr2 have different transmission timings as will be described later.
[0026]
Since Tr1 and Tr2 having such transmission and reception effective areas are arranged adjacent to each other in the detection unit 1 as shown in FIGS. 3 to 5, these areas are divided into five areas (area 1). To form area 5). Here, these five areas will be described.
[0027]
Area 1: When Tr1 transmits an ultrasonic wave, the reflected wave of the ultrasonic wave can be received only by Tr1, and when Tr2 transmits an ultrasonic wave, Tr1 returns the reflected wave of the ultrasonic wave. It is an area that cannot be received.
[0028]
Area 2: When Tr1 transmits an ultrasonic wave, the reflected wave of the ultrasonic wave can be measured by Tr1 and Tr2. When Tr2 transmits an ultrasonic wave, the reflected wave of the ultrasonic wave is Tr1. Is an area that cannot be received.
[0029]
Area 3: When Tr1 transmits an ultrasonic wave, the reflected wave of the ultrasonic wave can be measured by Tr1 and Tr2, and when Tr2 transmits an ultrasonic wave, the reflected wave of the ultrasonic wave is also transmitted. , Tr1 and Tr2 are measurable areas.
[0030]
Area 4: When Tr2 transmits an ultrasonic wave, the reflected wave of the ultrasonic wave can be measured by Tr1 and Tr2. When Tr1 transmits an ultrasonic wave, the reflected wave of the ultrasonic wave is Tr2 Is an area that cannot be received.
[0031]
Area 5: When Tr2 transmits an ultrasonic wave, the reflected wave of the ultrasonic wave can be received only by Tr2, and when Tr1 transmits an ultrasonic wave, the reflected wave of the ultrasonic wave is Tr2 It is an area that cannot be received.
[0032]
Further, the obstacle detection apparatus according to the present embodiment uses, in the five areas described above, an area that is about half of the effective transmission area of Tr1 and Tr2 for the detection of the obstacle, as shown by the hatched portion in FIG. As a result, as shown in a schematic shape in FIG. 8, a fan-shaped transmission / reception area 12 including the areas 1 to 5 is formed around the corner of the automobile 11 (note that the corner on the right side of the front as an example) Only sending and receiving areas are shown).
[0033]
In the present embodiment, the area used for the obstacle detection is, for example, about 0.75 m in front of Tr1 and Tr2 from the viewpoint of detecting an obstacle when performing garage entry or parallel parking. Needless to say, when detecting a distant obstacle, the output of the ultrasonic wave transmitted from the transducer may be increased.
[0034]
<Software>
The obstacle detection / determination process executed by the CPU 21 of the controller 2 according to a program stored in the ROM 23 in advance will be described with reference to FIGS. This obstacle detection / determination process is started when the driver turns on the ignition key switch.
[0035]
FIG. 9 is a flowchart showing obstacle detection / determination processing in the first embodiment of the present invention. In the figure,
Step S1, Step S2: The CPU 21 initializes an internal buffer, a counter and the like to a predetermined state (Step S1), and waits for an interrupt for a predetermined time (Step S2).
[0036]
Steps S3 and S4: The CPU 21 detects the current vehicle speed of the automobile 11 based on the output signal of the vehicle speed sensor 3 (step S3), and determines whether or not the detected vehicle speed is slower than a predetermined vehicle speed (step S3). S4).
[0037]
Step S5: When the determination in step S4 is NO (faster than a predetermined speed), the CPU 21 determines that there is no need to perform obstacle detection / determination processing at this time, and displays the display 6 and the buzzer 7 alarm. Turn off.
[0038]
Step S6, Step S7: If YES in step S4 (slower than the predetermined speed), has the CPU 21 obtained the latest measurement values for all the transducers included in the automobile 11 by the obstacle detection process in step S7? When the determination is NO (step S6) and the determination is NO (from the time when the current vehicle speed becomes slower than the predetermined speed, the latest measurement values are being detected for all transducers), the obstacle detection process described later is performed. (Step S7).
[0039]
Step S8: When the determination in step S6 is YES (detection of the latest measured values for all transducers has been completed from the time when the current vehicle speed is lower than the predetermined speed), the CPU 21 performs an obstacle determination process described later ( Step S8).
In step S7 and step S8 of FIG. 9 described above, the obstacle detection process and the determination process are performed for the detection units 1 of the four corners. For example, the progress of the automobile 11 is determined by the output signal of the shift position sensor 4. The direction is detected, and the steering angle of the automobile 11 is detected by the output signal of the steering angle sensor 5, and only a part of the four corner detection units 1 is processed according to the detected traveling direction and steering angle. Thus, it goes without saying that the measurement time can be shortened, so that the driver can be alerted quickly and the load on the controller 2 can be reduced.
[0040]
FIG. 10 is a flowchart showing the obstacle detection process according to the first embodiment of the present invention, and this process is performed for each detection unit 1. In the figure,
Step S71, Step S72: The CPU 21 transmits an ultrasonic wave from Tr1 (Step S71), and receives the reflected wave of the ultrasonic wave by Tr1 and Tr2 (Step S72). Here, in step S72, the distance measured by receiving the reflected ultrasonic wave transmitted from Tr1 with Tr1 is referred to as “reception distance R11”. Further, the distance measured by receiving the reflected wave of the ultrasonic wave transmitted from Tr1 by Tr2 is referred to as “reception distance R12”. Needless to say, the reflected wave may not be detected at this time.
[0041]
Step S73, Step S74: The CPU 21 transmits an ultrasonic wave from Tr2 (Step S73), and receives the reflected wave of the ultrasonic wave by Tr1 and Tr2 (Step S74). Here, in step S74, the distance measured by receiving the reflected wave of the ultrasonic wave transmitted from Tr2 by Tr2 is referred to as “reception distance R22”. Further, a distance measured by receiving the reflected wave of the ultrasonic wave transmitted from Tr2 by Tr1 is referred to as “reception distance R21”. Needless to say, the reflected wave may not be detected at this time.
[0042]
Step S75: The CPU 21 uses the general method to calculate the distance from the vehicle 11 to the obstacle based on the four types of distances R11, 12, 21, and 22 measured in steps S72 and S74. And position. Here, the position is the position where the obstacle is present with reference to the automobile 11.
[0043]
Step S76: The CPU 21 determines a display pattern on the display 6 according to the detection statuses of Step S72 and Step S74, and displays the determined pattern on the display 6.
[0044]
As for the display pattern determination method in step S76, as shown in the table of step S76, the detection status such as “reception distance R11” and the display pattern corresponding to the detection status are registered in advance in the ROM 23 or the like as a lookup table. You just have to. Here, the display pattern combination table shown in step S76 will be described. In step S72 and step S74,
When only “reception distance R11” is detected: Since the obstacle exists in area 1 shown in FIG. 8, the display pattern representing area 1 is turned on.
[0045]
When only “reception distance R11” and “reception distance R12” are detected: As a result of the detection, an obstacle exists in area 2 shown in FIG. Therefore, the display patterns representing the areas 1 and 2 are turned on.
[0046]
When all of “reception distance R11” to “reception distance R22” are detected: As a detection result, an obstacle is present in area 3 shown in FIG. In addition, since an obstacle is also expected to be present, a display pattern representing areas 1 to 5 is turned on.
[0047]
When only “reception distance R22” and “reception distance R21” are detected: As a result of the detection, an obstacle is present in area 4 shown in FIG. Therefore, the display patterns representing the areas 4 and 5 are turned on.
[0048]
When only “reception distance R22” is detected: Since the obstacle exists in area 5 shown in FIG. 8, the display pattern representing area 5 is turned on.
[0049]
Thus, in this embodiment, a plurality of areas are lit simultaneously as the detected obstacle is located at the center of the five areas. This takes into account that other obstacles that cannot be detected (including cases where large obstacles exist across multiple areas) exist in the left and right areas of the area where the detected obstacles exist. Since the entered notification (display) can be made to the driver, the mental burden on the driver for driving operations such as garage entry can be reduced.
[0050]
FIG. 12 is a diagram showing a display screen of the display device according to the first embodiment of the present invention. In the four corners of the display pattern corresponding to the automobile 11, display patterns corresponding to the five areas shown in FIG. Are provided. The CPU 21 lights each display pattern in FIG. 12 according to the detection result of the obstacle detection process.
[0051]
FIG. 11 is a flowchart showing an obstacle determination process in the first embodiment of the present invention. Although this process is also performed for each detection unit 1, as an example, the obstacle determination process for the detection unit 1 on the front right side of the automobile 11 is shown. In the figure,
Step S81: The CPU 21 determines whether or not there is a close distance value of about 10 cm in the distance to the obstacle calculated in step S75. If YES in this determination (there is an obstacle at a close distance), the process proceeds to step S87.
[0052]
Step S82, Step S83: When the determination in step S81 is NO (no obstacle at close range), the CPU 21 detects the current steering angle of the front wheels based on the output signal of the steering angle sensor 5 (step S82). ) Depending on the detected steering angle, the process proceeds from step S84 to any step of step S86 (step S83).
[0053]
Step S84: When the steering angle is “in the vicinity of the maximum right steering angle” in the determination in Step S83, the CPU 21 determines that the obstacles are located in the areas 1 to 3 regardless of whether the obstacles are present in the areas 4 and 5 or not. It is determined whether or not exists. For this determination, the result of the obstacle detection process described above is used. When the determination in step S84 is NO (does not exist), the alarm does not need to be output, so the process returns to step S2, and when YES (exists), the process proceeds to step S87. This is because if the steering angle is “near the maximum right steering angle”, the vehicle 1 does not move forward in the directions of the areas 4 and 5 at the present time.
[0054]
Step S85: When the steering angle is “near the rudder angle 0” in the determination in step S83, the CPU 21 determines that there is an obstacle in the area 1 or 2 regardless of whether the obstacle exists in the areas 3 to 5. Determine if it exists. If the determination in step S85 is NO (does not exist), the alarm does not need to be output, so the process returns to step S2, and if YES (exists), the process proceeds to step S87. This is because if the steering angle is “near the steering angle 0”, the automobile 1 does not move forward in the direction from the area 3 to the area 5 at the present time.
[0055]
Step S86: When the steering angle is “near the left maximum steering angle” in the determination in step S83, the CPU 21 has an obstacle in the area 1 regardless of whether the obstacle is in the areas 2 to 5. Judge whether to do. If the determination in step S85 is NO (does not exist), the alarm does not need to be output, so the process returns to step S2, and if YES (exists), the process proceeds to step S87. This is because if the steering angle is “near the left maximum steering angle”, the automobile 1 does not move forward in the direction from the area 2 to the area 5 at the present time.
[0056]
Step S87: The CPU 21 issues an alarm for notifying that there is an obstacle using the display 6 and / or the buzzer 7, and returns to step S2.
[0057]
Needless to say, the determination elements from step S84 to step S86 differ depending on the position of the target detection unit 1.
[0058]
As described above, according to the present embodiment, Tr1 and Tr2 are arranged in the detection unit 1 as shown in FIG. 4 and the like, and the transmission timings of these two transducers are shifted, so that the area is two transducers. The presence or absence of an obstacle in five areas from 1 to area 5 and the distance to the obstacle can be accurately detected. Thereby, the resolution of the obstacle detection in the obstacle detection device can be improved.
[0059]
[Second Embodiment]
In the present embodiment, the convenience of the driver is improved by enabling the display pattern on the display 6 to determine the distance to the detected obstacle. Since the basic configuration of the obstacle detection apparatus according to the present embodiment is the same as that of the first embodiment, a redundant description will be omitted and characteristic portions will be described.
[0060]
In the following description, the reflected wave R11 means a wave received by Tr1 among the transmitted waves of Tr1 reflected by an obstacle. The reflected wave R12 is a wave received by Tr2 among the transmitted waves of Tr1 reflected by the obstacle. The reflected wave R21 is a wave received by Tr1 among the transmitted waves of Tr2 reflected by the obstacle. The reflected wave R22 is a wave received by Tr2 among the transmitted waves of Tr2 reflected by the obstacle.
[0061]
First, in this embodiment, as shown in FIG. 13, the areas to be displayed are three areas from area A to area C.
[0062]
FIG. 14 is a flowchart showing obstacle detection processing in the second embodiment of the present invention. In the figure,
The processing from step S71 to step S75 is the same as in the first embodiment.
[0063]
Step S701: The CPU 21 determines whether or not the reflected wave R11 has been detected in step S72, and proceeds to step S703 if NO (not detected).
[0064]
Step S702: When the determination in step S701 is YES (detected), the CPU 21 determines that there is an obstacle in the area B, and turns on the display pattern in the area B corresponding to the “reception distance R11”.
[0065]
Step S703: The CPU 21 determines whether or not the reflected wave R22 has been detected in step S74, and proceeds to step S705 if NO (not detected).
[0066]
Step S704: If YES (detected) in the determination in step S703, the CPU 21 determines that there is an obstacle in the area C, and turns on the display pattern in the area C corresponding to the “reception distance R22”.
[0067]
Step S705: The CPU 21 determines whether or not the reflected wave R12 or R21 has been detected in step S72 or step S74, and proceeds to step S2 if NO (not detected).
[0068]
Step S706: When the determination in step S705 is YES (detected), the CPU 21 determines that there is an obstacle in the area A, and displays in the area A corresponding to “reception distance R12” or “reception distance R21”. Turn on the pattern.
[0069]
FIG. 15 is a diagram showing a display screen of the display device according to the second embodiment of the present invention. The four corners of the display pattern corresponding to the automobile 11 are divided into three areas shown in FIG. Each of the display patterns is provided. The CPU 21 lights up each display pattern of FIG. 15 according to the detection result of the obstacle detection process. Here, the three display patterns in each area will be described. For example, a is 0.6 m <(distance between corner and obstacle) ≦ 0.8 m, and b is 0.4 m <(corner and obstacle). The distance between the object) ≦ 0.6 m, and c is the (distance between the corner and the obstacle) ≦ 0.4 m, and these three patterns are set according to the “reception distance Rnn” (n is 1 or 2). Can be displayed.
[0070]
FIGS. 16 and 17 are diagrams illustrating an example of setting five areas according to the second embodiment of the present invention. As an example, the case of the front right side of the automobile 11 is illustrated.
[0071]
In this embodiment, five areas of the transmission / reception area 12 formed by Tr1 and Tr2 are divided into three areas A to C as shown in FIG. . At this time, by adjusting the arrangement angles of the two transducers Tr1 and Tr2 in the detection unit 1 in advance, how to set the area 1 to the area 5 is as shown in FIGS. That is, in the example of FIG. 16, the boundary line between area 1 and area 2 is on the extension of the line along the side of the vehicle of the automobile 11, and the boundary line between area 4 and area 5 is on the vehicle front end of the automobile 11. On the extension of the line along. On the other hand, in the example of FIG. 17, the boundary line between the area 2 and the area 3 is on the extended line along the side of the vehicle of the automobile 11, and the boundary line between the area 3 and the area 4 is at the vehicle front end of the automobile 11. On the extension of the line along.
[0072]
The setting example of each area shown in FIGS. 16 and 17 has a unique effect. The setting in FIG. 16 is, for example, when the detection unit 1 is the front of the automobile 11, escape from a parking lot or a garage, Alternatively, it is effective for slipping through a narrow crank-shaped alley. If the transducer is set as shown in FIG. 16, this is an area that is likely to be a blind spot for the driver, and from the area 2 where the driver pays the most attention to the obstacle when performing the escape from the parking lot or the garage. This is because the detection resolution of the obstacle detection device in the area 4 can be improved. Moreover, the setting of FIG. 17 is effective when performing parallel parking, for example, when the detection unit 1 is the rear of the automobile 11. If the transducer is set as shown in FIG. 17, this is an area that is likely to be a blind spot for the driver. Areas 1 and 2, and areas 4 and 5 where the driver pays the most attention to contact with obstacles when performing parallel parking. This is because the detection resolution of the obstacle detection device in the region can be improved.
[0073]
It should be noted that the detection unit 1 may be provided with three or more transducers, two of which are selected and used by the CPU 21 and controlled so that both settings in FIGS. 16 and 17 can be used as appropriate. Good.
[0074]
In the present embodiment described above, the position where the obstacle is present is expressed by the display pattern that is lit on the display 6, and among the boundary lines of the five areas formed by the two transducers Tr1 and Tr2. Any two boundary lines are set so as to be on the extension line of the vehicle 11 along the side of the vehicle and on the extension line of the line along the front end (rear end) of the vehicle. Are set similarly as shown in FIG. Thus, the driver can easily and intuitively recognize the positional relationship between the automobile 11 and the obstacle by the display on the display device 6.
[0075]
<Modification of Second Embodiment>
FIG. 18 is a diagram for explaining a setting example of five areas in a modification of the second embodiment of the present invention. FIG. 19 is a diagram for explaining a display pattern setting example in a modification of the second embodiment of the present invention.
[0076]
In the first and second embodiments described above, the four corners of the automobile 11 are substantially perpendicular and the display pattern is set in the same manner, but the corner is rounded as in the automobile 11 ′ shown in FIG. In the case of a shape, any two of the five area boundary lines and the display pattern, as shown in FIG. 18 and FIG. When setting to match the extension of the line parallel to the side of the vehicle and the extension of the line parallel to the front end (rear end) of the vehicle and the inner side of the front end (rear end) The effect is substantially the same as when the angle is substantially a right angle. Moreover, as long as it is in the vicinity of the vehicle side or the front end (rear end) of the automobile, it may be outside rather than inside.
[0077]
That is, in the second embodiment and the modification thereof, any two of the five area boundary lines formed by the two transducers and the display pattern are in the vicinity of the vehicle side of the automobile. The extension of the line parallel to the side of the vehicle and the extension of the line near the front end and / or rear end of the automobile and parallel to the front end and / or rear end of the vehicle. Good.
[0078]
In addition, as the display position of the display 6 in the passenger compartment of the automobile 11, for example, as proposed in Japanese Patent Application No. 9-266483 (not disclosed at the time of filing this application) preceded by the applicant of the present application. Depending on the traveling direction, it may be configured to display appropriately on the instrument panel, the rear of the passenger compartment, the rearview mirror, or the side mirror.
[0079]
[Third Embodiment]
In the present embodiment, as compared with the first and second embodiments, an obstacle existing at a close distance from the corner is further detected, and notification to that effect is made, thereby improving the convenience of the driver. Since the basic configuration of the obstacle detection apparatus according to this embodiment is the same as that of the first and second embodiments, a redundant description will be omitted, and a characteristic part will be described.
[0080]
FIG. 24 is a diagram for explaining a transmission effective area by a general single ultrasonic transducer and an area where an obstacle can be measured by its reflected wave. As shown in the figure, the obstacle measurable area by the transducer 31 does not exist at a position as close as 30 cm from the transducer. This is because when there is an obstacle at a close distance, the reflected wave with respect to the transmission wave of the transducer reaches the transducer in a short time. This is because it is buried in the reverberation wave generated by the residual vibration of the inner vibrator, and the reflected wave cannot be detected by the transducer.
[0081]
Therefore, in this embodiment, as in the first and second embodiments, the distance between the transducer and the obstacle is based on shifting the arrangement of the two transducers Tr1 and Tr2 and the transmission timing from these transducers. Even if the distance to the obstacle cannot be accurately detected because the distance is close, when the reflected wave R12 or R21 is detected, it is determined that there is an obstacle at the close distance of the corner of the automobile 11, Notify that. As shown in FIG. 21, since the distance between the transducer and the obstacle is very close, the transducer on the transmission / reception channel side that has output the transmission wave causes reflection due to the transmission wave reflecting off the obstacle. This is because even if a wave (a part of the reflected wave) cannot be detected, it can be determined that there is an obstacle when a part of the reflected wave can be received by the transducer on the other receiving channel side. .
[0082]
In this embodiment as well, the areas to be displayed are three areas from area A to area C as shown in FIG.
[0083]
FIG. 20 is a flowchart showing an obstacle detection process in the third embodiment of the present invention. In the figure,
The processing from step S71 to step S75 is the same as in the first embodiment.
[0084]
Step S711: The CPU 21 determines whether or not the reflected wave R11 has been detected in step S72.
[0085]
Step S712: When the determination in step S711 is NO (not detected), the CPU 21 determines whether or not the reflected wave R22 has been detected in step S74.
[0086]
Step S713: When the determination in step S712 is NO (not detected), the CPU 21 determines whether the reflected wave R12 or R21 has been detected in step S72 or step S74, and when the determination is NO (not detected), It is determined that there is no obstacle around the detection unit 1, and the process returns to step S2.
[0087]
Step S714: When the determination in step S713 is YES (detected), the CPU 21 determines that there is an obstacle at a close distance in the area A, and turns on the display pattern corresponding to the display area A on the display 6. At the same time, the driver's attention is alerted by, for example, displaying the number 0 representing the close distance, changing other display patterns, display colors, and the like.
[0088]
Step S715: When the determination in step S712 is YES (detected), the CPU 21 determines that an obstacle exists in the area C, and turns on the display pattern in the area C corresponding to the “reception distance R22”.
[0089]
Step S716: If YES (detected) in the determination in step S711, the CPU 21 determines whether or not the reflected wave R22 has been detected in step S74.
[0090]
Step S717: When the determination in step S716 is NO (not detected), the CPU 21 determines that there is an obstacle in the area B, and turns on the display pattern in the area B corresponding to the “reception distance R11”.
[0091]
Step S718: When the determination in step S716 is YES (detected), the CPU 21 determines that there are obstacles in the areas B and C, and the area B corresponding to “reception distance R11” and “reception distance R22”. And the display pattern in C are turned on.
[0092]
Step S719: The CPU 21 determines whether or not the reflected wave R12 or R21 has been detected in step S72 or step S74, and if NO (not detected), there is no obstacle around the detection unit 1. Determine and return to step S2.
[0093]
Step S720: When the determination in step S719 is YES (detected), the CPU 21 determines that an obstacle exists in the area A in addition to the display pattern lit in step S717 or step S718. The display pattern inside the display pattern in area A corresponding to “reception distance R12” or “reception distance R21” is turned on.
[0094]
Thereby, in this embodiment, the substantial measurable area can be greatly expanded as shown in FIG. 22 by the arrangement of the two transducers Tr1 and Tr2 and the obstacle detection processing shown in FIG. Obstacles located at a close distance of 11 corners can also be detected.
[0095]
Further, so-called side lobes generated by the transmission waves of the transducers are adapted to the shape of the corner of the automobile 11 as shown in FIG. 23 by devising the shape of the transducer mounting position in the detection unit 1.
[0096]
As described above, according to the present embodiment, the substantial measurable area can be further expanded, and further, obstacles existing at a close distance from the corner can be detected by effectively using the side lobes. Since the area can be expanded, the convenience of the driver can be improved.
[0097]
【The invention's effect】
As described above, according to the present invention, there is provided a vehicle obstacle detection device and an obstacle detection transducer arrangement method for detecting the positional relationship between an obstacle and a vehicle so that the user can easily perceive it. Provision is realized.
[0098]
[Brief description of the drawings]
FIG. 1 is a block diagram showing a configuration of an obstacle detection apparatus according to a first embodiment of the present invention.
FIG. 2 is a diagram illustrating a transmission / reception area formed by a transducer in the detection unit according to the first embodiment of the present invention.
FIG. 3 is a front view of the detection unit according to the first embodiment of the present invention.
FIG. 4 is a top view of the detection unit according to the first embodiment of the present invention.
FIG. 5 is a rear view of the detection unit according to the first embodiment of the present invention.
FIG. 6 is a diagram showing the position of a detection unit attached to the automobile in the first embodiment of the present invention.
FIG. 7 is a diagram illustrating a transmission / reception area formed by a transducer actually used in the first embodiment of the present invention.
FIG. 8 is a diagram illustrating a detection area formed by two transducers in the first embodiment of the invention.
FIG. 9 is a flowchart showing obstacle detection / determination processing in the first embodiment of the present invention;
FIG. 10 is a flowchart showing obstacle detection processing according to the first embodiment of the present invention.
FIG. 11 is a flowchart illustrating obstacle determination processing according to the first embodiment of the present invention.
FIG. 12 is a diagram showing a display screen of the display device according to the first embodiment of the present invention.
FIG. 13 is a diagram for explaining how to divide display areas according to the second embodiment of the present invention.
FIG. 14 is a flowchart showing an obstacle detection process in the second embodiment of the present invention.
FIG. 15 is a diagram showing a display screen of a display device according to a second embodiment of the present invention.
FIG. 16 is a diagram illustrating an example of setting five areas in the second embodiment of the present invention.
FIG. 17 is a diagram illustrating an example of setting five areas in the second embodiment of the present invention.
FIG. 18 is a diagram illustrating a setting example of five areas in a modification of the second embodiment of the present invention.
FIG. 19 is a diagram illustrating a display pattern setting example according to a modification of the second embodiment of the present invention.
FIG. 20 is a flowchart showing obstacle detection processing according to the third embodiment of the present invention.
FIG. 21 is a time chart for explaining a method of detecting an obstacle located at a close distance in the third embodiment of the present invention.
FIG. 22 is a diagram showing a transmission effective area by two transducers and an area where an obstacle can be measured by the reflected wave in the third embodiment of the present invention.
FIG. 23 is a diagram showing a transmission / reception area formed along a corner of an automobile using side lobes in the third embodiment of the present invention.
FIG. 24 is a diagram showing a transmission effective area by a general single ultrasonic transducer and an area where an obstacle can be measured by its reflected wave.
[Explanation of symbols]
1: detection unit,
2: Controller,
3: Vehicle speed sensor,
4: Shift position sensor,
5: Rudder angle sensor,
6: Display,
7: Buzzer,
8: Multiplexer circuit,
9: Filter / amplifier circuit,
10: Comparator,
11, 32: car,
12: Transmission / reception area,
21: CPU,
22: RAM,
23: ROM,
Tr1, Tr2, 31: Transducer,

Claims (9)

At least two transducers are provided around the vehicle, and the detection areas of these transducers form two non-overlapping areas and one overlapping area sandwiched between the two non-overlapping areas, and exist in those areas. An obstacle detection device for a vehicle comprising detection means for detecting the presence and position of an obstacle,
When substantially perpendicular shape corners of the vehicle, the two transducers, two boundary line between the non-overlapping region and overlapping region, and an extension of the line along the該車both sides, said vehicle front and An obstacle detection device for a vehicle , wherein the vehicle obstacle detection device is disposed close to a corner of the vehicle at a predetermined opening angle so as to be positioned on an extension line of a line along the rear end. At least two transducers are provided around the vehicle, and the detection areas of these transducers form two non-overlapping areas and one overlapping area sandwiched between the two non-overlapping areas, and exist in those areas. An obstacle detection device for a vehicle comprising detection means for detecting the presence and position of an obstacle,
When the shape of the corner of the vehicle is round, the two transducers, two boundary line between the non-overlapping region and overlapping region, a near of the vehicle both sides inside, on the side of the vehicle A predetermined opening angle is set so as to be located on an extension of a parallel line and on an extension of a line parallel to the front end and / or rear end of the vehicle in the vicinity of the front end and / or rear end of the vehicle. A vehicle obstacle detection device , characterized in that the vehicle obstacle detection device is disposed close to a corner of the vehicle. Furthermore, the vehicle obstacle detecting device according to claim 1 or 2, characterized in that it comprises a notifying means for notifying the detection result by the detecting means. 4. The obstacle detection device for a vehicle according to claim 3, wherein the notification means is a display means, and an arrangement of display patterns by the display means is set in accordance with the two boundary lines. 5. The obstacle detection device for a vehicle according to claim 4 , wherein the display means notifies the distance detected by the detection means by at least a display pattern representing the distance. The transducer vehicle obstacle detecting device according to claim 1 or 2, characterized in that the ultrasonic. The two transducers arranged close to the corners of the vehicle each have a transmission mechanism and a reception mechanism,
The vehicle obstacle detection device according to claim 6 , wherein the detection unit performs transmission by shifting transmission timings of the transmission mechanisms. At least two transducers are provided around the vehicle, and the detection areas of these transducers form two non-overlapping areas and one overlapping area sandwiched between the two non-overlapping areas, and exist in those areas. A transducer placement method for detecting the presence and position of an obstacle,
When the corner of the vehicle has a substantially right-angled shape, two boundary lines between the non-overlapping region and the overlapping region are on an extension line of the line along the side of the vehicle and along the front end and / or the rear end of the vehicle. A method of arranging a transducer , wherein the two transducers are arranged close to a corner of the vehicle at a predetermined opening angle so that the two transducers are positioned on an extension line of the line. At least two transducers are provided around the vehicle, and the detection areas of these transducers form two non-overlapping areas and one overlapping area sandwiched between the two non-overlapping areas, and exist in those areas. A transducer placement method for detecting the presence and position of an obstacle,
When the corner of the vehicle is rounded, two boundary lines between the non-overlapping area and the overlapping area are in the vicinity of the vehicle side inner side, and are on an extension line of a line parallel to the vehicle side. The two transducers with a predetermined opening angle so as to be positioned near the inside of the front end and / or rear end of the vehicle and on an extension of a line parallel to the front end and / or rear end of the vehicle. A method of arranging a transducer, characterized by being arranged close to a corner of the vehicle .

Images