阅读说明：本技术 车辆用警报系统 (vehicle alarm system ) 是由 葭原敏树 平井浩司 花田充基 林和史 加贺美光二 野村启道 丸冈和也 冈本悠希 吉田 于 2019-05-15 设计创作，主要内容包括：提供一种能够向进入路口的车辆的驾驶者适当地发出警报的车辆用警报系统。车辆用警报系统(1)具备警报线设定部(51),其设定向车辆(2)的前方延伸的右警报线(61)及左警报线(62)。在车辆(2)直行的情况下,警报线设定部(51)将右警报线(61)及左警报线(62)的长度设定为(L1)。在车辆(2)要在路口(83)进行右转弯或左转弯而进入第1车道(81)或第2车道(82)的情况下,警报线设定部(51)使右警报线(61)或者左警报线(62)的长度与L1不同。(Provided is a vehicle alarm system capable of appropriately giving an alarm to a driver of a vehicle entering an intersection. A vehicle alarm system (1) is provided with an alarm line setting unit (51) that sets a right alarm line (61) and a left alarm line (62) that extend forward of a vehicle (2). When the vehicle (2) is traveling straight, the alarm line setting unit (51) sets the lengths of the right alarm line (61) and the left alarm line (62) to (L1). When a vehicle (2) enters a1 st lane (81) or a2 nd lane (82) by turning right or left at an intersection (83), an alarm line setting unit (51) causes the length of a right alarm line (61) or a left alarm line (62) to be different from L1.)

1. A vehicle alarm system is provided with:

An alarm line setting unit that sets an alarm line extending forward from the vehicle;

An object detection unit that detects an object existing on a side of the vehicle;

A collision determination unit that determines whether or not the object intersects the alarm line within a predetermined time;

An alarm device control unit that activates an alarm device when the collision determination unit determines that the object intersects the alarm line within the predetermined time; and

A right/left turn determination unit for determining whether the vehicle is going to turn right or left at the intersection,

When the vehicle enters an intersection, a lane near the vehicle among a plurality of lanes intersecting with a lane on which the vehicle is traveling at the intersection is defined as a1 st lane, and a lane far from the vehicle and facing the 1 st lane is defined as a2 nd lane,

The alarm line setting unit sets the length of the alarm line to a1 st length when the vehicle is traveling straight,

The warning line setting unit may set the length of the warning line to be different from the 1 st length when the vehicle enters the 1 st lane or the 2 nd lane in order to make a right turn or a left turn at an intersection.

2. The warning system for a vehicle as claimed in claim 1,

The warning line setting unit sets the length of the warning line to a2 nd length shorter than the 1 st length when the vehicle enters the 1 st lane to turn right or left at an intersection.

3. The warning system for a vehicle as claimed in claim 2,

The alarm line setting unit sets, as the alarm line, a right alarm line corresponding to an object existing on the right side and a left alarm line set separately from the right alarm line and corresponding to an object existing on the left side,

The warning line setting unit sets the length of the right warning line to the 2 nd length when the vehicle enters the 1 st lane by turning right at an intersection,

the warning line setting unit sets the length of the left warning line to the 2 nd length when the vehicle enters the 1 st lane by turning left at an intersection.

4. The warning system for a vehicle as claimed in claim 3,

The warning line setting unit sets the length of the left warning line to the 1 st length or the 3 rd length longer than the 1 st length when the vehicle enters the 1 st lane at a right turn at an intersection,

The warning line setting unit sets the length of the right warning line to the 1 st length or the 3 rd length when the vehicle enters the 1 st lane by turning left at an intersection.

5. The warning system for a vehicle as claimed in claim 1,

The warning line setting unit sets the length of the warning line to a 4 th length that is longer than the 1 st length when the vehicle enters the 2 nd lane to turn right or left at an intersection.

6. The warning system for a vehicle according to any one of claims 1 to 5,

The left/right turn determination unit determines whether the vehicle is to turn right or left at the intersection based on at least one of the turn signal switch and the steering angle.

Technical Field

The present invention relates to a vehicle alarm system, and more particularly to a vehicle alarm system that issues an alarm when an object approaches.

Background

Systems are proposed for issuing an alarm when an object is in proximity. For example, patent literature 1 proposes a system for determining the possibility of collision between an object and a vehicle based on the distance between the object and the vehicle present on the side of the vehicle and the relative speed of the object. In the case where it is determined that an object is likely to collide with the vehicle, the system issues a warning to the driver of the vehicle. Further, patent document 1 discloses that the vehicle gives an alarm when the vehicle intends to turn right or left at an intersection or the like.

Patent document 1: japanese patent laid-open No. 2012-160103

Here, a case is considered in which a vehicle traveling in a predetermined lane makes a right turn or a left turn at an intersection and enters a lane intersecting the predetermined lane. In the following description, when a vehicle enters an intersection, one of a plurality of lanes intersecting with a lane on which the vehicle is traveling at the intersection and closer to the vehicle is referred to as a "1 st lane", and one of lanes opposite to the 1 st lane and farther from the vehicle is referred to as a "2 nd lane". For example, in an environment where traffic regulations stipulate that a vehicle travels in a left lane as in the case of japanese traffic, a lane into which the vehicle turns left at an intersection corresponds to the "1 st lane", and a lane into which the vehicle turns right at an intersection corresponds to the "2 nd lane".

In a road for two-way traffic (i.e., a road on which a center separation belt or the like is not provided), or the like, even if the vehicles are traveling safely, the distance between the vehicles existing on the adjacent lanes may become small. In particular, when a vehicle makes a right or left turn at an intersection to enter the 1 st lane, the vehicle may temporarily approach another vehicle present on the 2 nd lane. This approach is inevitable due to the configuration of the intersection and does not necessarily increase the likelihood of other vehicles colliding with the vehicle. Further, the driver's attention is likely to be directed toward the traveling direction of the vehicle, so that the driver is highly likely to recognize another vehicle present on the 2 nd lane. In this case, too, the system described in patent document 1 may give an alarm due to the approach of another vehicle, which may cause the driver to feel annoyed.

Further, when the vehicle makes a right or left turn at the intersection and enters the 2 nd lane, the driver's attention tends to be directed in the traveling direction, and does not tend to be directed in the opposite direction. Therefore, in this case, an alarm related to another vehicle approaching from the opposite direction is necessary.

In this way, when the vehicle makes a right turn or a left turn at the intersection, it is required to appropriately issue an alarm according to the traveling state.

Disclosure of Invention

The present invention has been made to solve the problem, and an object thereof is to provide a vehicle warning system capable of appropriately issuing a warning to a driver of a vehicle entering an intersection.

In order to solve the above problem, the present invention provides a vehicle alarm system including: an alarm line setting unit that sets an alarm line extending forward from the vehicle; an object detection unit that detects an object present on a side of the vehicle; a collision determination unit that determines whether or not an object intersects an alarm line within a predetermined time; an alarm device control unit that activates the alarm device when the collision determination unit determines that the object intersects the alarm line within the predetermined time; and a right-left turn determination unit that determines whether the vehicle is going to turn right or left at the intersection, wherein when the vehicle enters the intersection, a lane that is closer to the vehicle among a plurality of lanes that intersect with a lane on which the vehicle is traveling at the intersection is defined as a1 st lane, and a lane that is opposite to the 1 st lane and is farther from the vehicle is defined as a2 nd lane, and wherein the warning line setting unit sets the length of the warning line to the 1 st length when the vehicle is traveling straight, and the warning line setting unit sets the length of the warning line to be different from the 1 st length when the vehicle is going to turn right or left at the intersection and enters the 1 st lane or the 2 nd lane.

According to this configuration, when the object crosses the alarm line within the predetermined time, it is considered that the object may collide with the vehicle, and the alarm can be issued. The warning line setting unit sets the length of the warning line to be different between a case where the vehicle travels straight and a case where the vehicle enters the 1 st lane or the 2 nd lane in order to turn right or left at the intersection. Thus, the warning line can be set according to various traveling states of the vehicle, and the determination can be performed based on the warning line. As a result, it is possible to prevent the warning from being issued even if the possibility of the collision of the object with the vehicle is low, or the warning from being issued and the attention from being called by an object approaching from a direction in which the driver is less likely to notice.

In the present invention, it is preferable that the warning line setting unit sets the length of the warning line to a2 nd length shorter than the 1 st length when the vehicle enters the 1 st lane in order to make a right or left turn at an intersection.

according to this configuration, when the vehicle enters the 1 st lane to turn right or left at the intersection, the warning line is set shorter than when the vehicle is traveling straight. As a result, when the vehicle enters the 1 st lane, even if an object existing on the 2 nd lane temporarily approaches the vehicle, it is possible to prevent an unnecessary alarm from being issued due to the approach.

In the present invention, it is preferable that the warning line setting unit sets, as the warning lines, a right warning line corresponding to an object existing on the right side and a left warning line set separately from the right warning line and corresponding to an object existing on the left side, and that the warning line setting unit sets the length of the right warning line to the 2 nd length when the vehicle is going to turn right at the intersection and enter the 1 st lane, and sets the length of the left warning line to the 2 nd length when the vehicle is going to turn left at the intersection and enter the 1 st lane.

According to this configuration, the possibility of collision of an object existing on the right and left sides with the vehicle can be individually determined based on the right warning line and the left warning line, respectively. This can improve the accuracy of determination.

Further, when the vehicle is about to turn right at the intersection and enter the 1 st lane (when the vehicle is specified by traffic regulations to travel in the right lane as in the case of chinese traffic), the alarm line setting unit sets the length of the right alarm line to the 2 nd length. Further, when the vehicle is about to turn left at the intersection and enter the 1 st lane (when the vehicle is traveling in the left lane as specified by traffic regulations as in the case of japanese traffic), the alarm line setting unit sets the length of the left alarm line to the 2 nd length. Thus, even if an object existing in the 2 nd lane temporarily approaches the vehicle when the vehicle enters the 1 st lane, it is possible to suppress an unnecessary alarm from being issued due to the approach.

That is, according to this configuration, both improvement of the determination accuracy and suppression of an unnecessary alarm can be achieved.

In the present invention, it is preferable that the warning line setting unit sets the length of the left warning line to the 1 st length or the 3 rd length longer than the 1 st length when the vehicle is to turn right at the intersection to enter the 1 st lane, and sets the length of the right warning line to the 1 st length or the 3 rd length when the vehicle is to turn left at the intersection to enter the 1 st lane.

according to this configuration, the accuracy of the determination regarding the object existing on the opposite side of the traveling direction of the vehicle can be improved. That is, according to this configuration, when the vehicle enters the 1 st lane, it is possible to reliably issue a warning about an object that is difficult for the driver to notice while suppressing the issue of an unnecessary warning due to the approach of an object existing on the 2 nd lane.

In the present invention, it is preferable that the warning line setting unit sets the length of the warning line to the 4 th length longer than the 1 st length when the vehicle enters the 2 nd lane to make a right or left turn at the intersection.

according to this configuration, the accuracy of the determination regarding the object existing on the opposite side of the traveling direction of the vehicle can be improved. That is, according to this configuration, when the vehicle enters the 2 nd lane, it is possible to reliably issue a warning about an object that is difficult for the driver to notice.

In the present invention, it is preferable that the left-right turn determination unit determines whether the vehicle is going to turn right or left at the intersection based on at least one of the turn signal switch and the steering angle.

According to this configuration, it is possible to determine whether the vehicle is going to turn right or left at the intersection with a simple configuration.

The invention has the following effects:

According to the present invention, it is possible to provide a vehicle warning system capable of appropriately giving a warning to a driver of a vehicle entering an intersection.

drawings

Fig. 1 is a block diagram showing a vehicle alarm system according to embodiment 1.

Fig. 2 is an explanatory diagram of collision determination of the vehicle alarm system of fig. 1.

Fig. 3 is an explanatory diagram of collision determination at an intersection.

Fig. 4 is an explanatory diagram of collision determination at an intersection.

fig. 5 is an explanatory diagram of collision determination at an intersection.

Fig. 6 is a flowchart showing a process executed by the ECU of fig. 1.

Fig. 7 is a flowchart showing a process executed by the ECU of fig. 1.

Fig. 8 is an explanatory diagram of collision determination performed by the vehicle alarm system according to embodiment 2.

Fig. 9 is an explanatory diagram of collision determination at an intersection.

Description of symbols:

1. 10 a warning system for a vehicle (warning system); 2, vehicles; 41 speaker (alarm device); 42 display (alarm device); 51 an alarm line setting unit; 52 an object detection unit; 53 collision determination section; 54 an alarm device control unit; 56 a left/right turn determination unit; 61 right alarm line (alarm line); 62 left alarm line (alarm line); 63 a central alarm line (alarm line); 81 lane 1; 82 lane 2; 83 crossing

Detailed Description

The embodiments are described below with reference to the drawings. For convenience of explanation, the same components are denoted by the same reference numerals in the drawings, and redundant explanation is omitted.

[ embodiment 1 ]

First, the configuration of a vehicle alarm system 1 (hereinafter referred to as "alarm system 1") according to embodiment 1 will be described with reference to fig. 1. Fig. 1 is a block diagram showing an alarm system 1.

the warning system 1 is mounted on a vehicle, and is a system for alerting a driver of the vehicle to a warning. In the present specification, a vehicle equipped with the alarm system 1 is referred to as a "vehicle 2". The warning system for a vehicle according to the present invention is not limited to 4-wheel vehicles, and may be mounted on a traveling body such as 2-wheel vehicles.

In the present specification, the direction in which the vehicle 2 moves forward is referred to as "front", and the direction in which the vehicle moves backward is referred to as "rear". The left direction when the vehicle 2 is heading in the forward direction is referred to as "left", and the right direction is referred to as "right".

the alarm system 1 includes: a side radar 31, an exterior camera 32, a navigation device 33, a turn signal switch 34, and a steering wheel sensor 35. The alarm system 1 includes: a speaker 41, a display 42, a turn signal lamp 43, and an ECU (Electronic control unit) 5.

The side radar 31 is used for detecting an object existing outside the vehicle 2, detecting the speed of the object, and detecting the distance from an alarm line to the object, which will be described later. Examples of the detectable object include another vehicle, a road fixed structure, a pedestrian, and the like. The "other vehicle" includes not only 4-wheel vehicles but also traveling bodies such as 2-wheel vehicles and bicycles. As will be described later, the side radar 31 performs the above detection with respect to an object existing in a detection area provided on the side of the vehicle 2. The side radar 31 is, for example, a millimeter-wave radar (having a frequency of 76GHz to 77GHz), and includes antennas corresponding to the right and left sides of the vehicle 2. The antenna may be a transmitting/receiving antenna, or may be composed of a transmitting antenna and a receiving antenna separately. The side radar 31 transmits a side stationary wave to a side of the vehicle 2 with respect to the antenna, and receives a reflected wave reflected by an object. The side radar 31 transmits a signal corresponding to the received reflected wave to the ECU 5.

The vehicle exterior camera 32 captures an image of a range including the detection area of the side radar 31, and acquires image information. The exterior camera 32 is, for example, an image sensor, and is provided in an interior mirror, not shown, of the vehicle 2. The vehicle exterior camera 32 transmits a signal corresponding to the acquired image information to the ECU 5.

The navigation device 33 provides predetermined information to the passenger of the vehicle 2. The navigation device 33 stores map information or acquires map information by communicating with a server outside the vehicle 2. The map information includes information on roads, intersections, traffic lights, buildings, and the like. The navigation device 33 includes a sensor for detecting the position of the vehicle 2, such as a gps (global Positioning system) or an autonomous Positioning sensor. The navigation device 33 determines the position of the vehicle 2 on the map, provides information on the position to the passenger by sound or display, and sends a signal corresponding to the information to the ECU 5.

The winker switch 34 receives a selective operation of a winker dial (not shown) by the driver (i.e., an operation of selecting at least 1 of the winkers 43 (see fig. 2) provided on the right and left sides of the vehicle 2). The turn lamp switch 34 sends a signal corresponding to on/off of the turn lamp 43 to the ECU 5.

The steering wheel sensor 35 detects a steering direction and a steering angle of a steering wheel of the vehicle 2. The steering wheel sensor 35 has, for example, an encoder, and counts the number of slits that rotate together with the steering wheel. The steering wheel sensor 35 transmits a signal corresponding to the detected steering direction and steering angle to the ECU 5.

The speaker 41 and the display 42 are examples of the alarm device of the present invention. The speaker 41 operates based on the received control signal, and issues an alarm by outputting a warning sound or voice. The display 42 is, for example, a liquid crystal panel, operates based on a received control signal, and gives an alarm by displaying a picture, a character, or the like.

The turn signal lamp 43 is a direction indicator (see fig. 2) provided on the right and left sides of the vehicle 2. The turn signal lamp 43 operates based on the received control signal, and alerts that the vehicle 2 is about to change the traveling direction by blinking of light.

The ECU5 is a control device that controls the apparatus by transmitting and receiving signals. A part or the whole of the ECU5 is constituted by an analog circuit or as a digital processor. The ECU5 has: an alarm line setting unit 51, an object detection unit 52, a collision determination unit 53, an alarm device control unit 54, a turn signal lamp control unit 55, and a left/right turn determination unit 56.

In addition, fig. 1 shows the respective functions of the ECU5 as functional blocks. However, the software module incorporated in the analog circuit or digital processor of the ECU5 is not necessarily divided as shown in fig. 1. That is, each of the functional blocks shown in fig. 1 may be further divided, or a single functional block may have functions of a plurality of functional blocks. The internal configuration of the ECU5 may be appropriately changed by those skilled in the art as long as the processing described later can be executed.

The alarm line setting unit 51 sets an alarm line. The alarm line is a virtual line arranged in the vicinity of the vehicle 2 and is used for collision determination by the collision determination unit 53. Details of the alarm line are left to be described later.

The object detection unit 52 detects the moving direction of an object existing outside the vehicle 2, the distance from the alarm line to the object, and the relative speed of the object with respect to the alarm line. Specifically, the object detection unit 52 performs a predetermined operation based on the signal received from the side radar 31, and performs detection based on the operation result.

The collision determination section 53 performs collision determination. In the collision determination, it is determined whether or not an object existing outside the vehicle 2 crosses the alarm line within a predetermined time period. Details of the collision determination are left to be described later.

The alarm device control unit 54 transmits a control signal to the speaker 41 or the display 42 based on the result of the collision determination by the collision determination unit 53. Specifically, when the collision determination unit 53 determines that there is a possibility of collision between the object and the vehicle 2, the alarm device control unit 54 transmits control information to operate the speaker 41 or the display 42.

The turn lamp control section 55 transmits a control signal to the turn lamp 43 based on the signal received from the turn lamp switch 34. Specifically, the turn signal control unit 55 transmits a control signal to at least 1 of the turn signals 43 provided on the right and left sides of the vehicle 2 based on the signal received from the turn signal switch 34, and operates the turn signal 43.

The left-right turn determination unit 56 determines whether the vehicle 2 is going to turn right or left at the intersection. Specifically, the left-right turn determination unit 56 determines whether the vehicle 2 is located near the intersection based on the signal received from the vehicle exterior camera 32 or the navigation device 33. Further, the left-right turn determination unit 56 determines whether the vehicle 2 is going to turn right or left based on the signal received from the turn lamp switch 34 or the steering wheel sensor 35. The "intersection" is not limited to an intersection, but includes a t-intersection, a roundabout intersection, and the like.

Next, collision determination of the alarm system 1 will be described with reference to fig. 2. Fig. 2 is an explanatory diagram of collision determination of the alarm system 1.

When the vehicle 2 is stopped or traveling at a relatively low speed (for example, 10km/h or less), the warning line setting unit 51 (see fig. 1) of the ECU5 sets the right warning line 61 and the left warning line 62 as shown in fig. 2. The right alarm line 61 and the left alarm line 62 are invisible imaginary lines. The right alarm line 61 is set at a position separated by a predetermined distance (for example, 1m or less) to the right from the right end of the vehicle 2, and the left alarm line 62 is set at a position separated by a predetermined distance (for example, 1m or less) to the left from the left end of the vehicle 2. That is, the distance between the right alarm line 61 and the left alarm line 62 is larger than the width of the vehicle 2.

The right alarm line 61 and the left alarm line 62 extend forward of the vehicle 2 with the base line BL as a base end. The reference line BL is a virtual line that is set back from the front end of the vehicle 2 by a predetermined distance (for example, 2 m). The right alarm line 61 and the left alarm line 62 extend in a straight line along the front-rear direction of the vehicle 2 and are substantially parallel to each other.

The object detector 52 (see fig. 1) of the ECU5 sets a detection area a11 to the right of the right alarm line 61 and a detection area a21 to the left of the left alarm line 62. The detection area a11 extends a prescribed distance to the right from the right alarm line 61, and is set in a range of approximately 135 ° with respect to the right alarm line 61. The detection area a21 extends a prescribed distance to the left from the left alarm line 62, and is set within a range of approximately 135 ° with respect to the left alarm line 62. The object detection unit 52 detects objects present in the detection areas a11, a21 based on signals received from the side radar 31.

Here, description will be given of collision determination for another vehicle 91 that is present in the detection area a11 and that approaches the vehicle 2 while moving, when a virtual line L ₉₁ along the moving direction of the other vehicle 91 intersects the right alarm line 61, the collision determination unit 53 (see fig. 1) of the ECU5 calculates the time to collision margin of the other vehicle 91 with respect to the right alarm line 61 based on the information detected by the object detection unit 52, TTC (time to collision). generally, when the distance between the objects is defined as L ₀, and the relative speed is defined as V ₀, TTC is expressed by the following expression f1, the relative speed V ₀ of the object is positive in the direction in which the object approaches the alarm line, and expression f1 is derived from the motion equation under the condition that the object performs constant-speed motion.

[ number 1 ]

The collision determination unit 53 determines whether or not the other vehicle 91 crosses the right alarm line 61 within a predetermined time period determined in advance based on the calculated TTC. Specifically, when the TTC is equal to or less than a predetermined threshold value (for example, 2 seconds), the collision determination unit 53 determines that the other vehicle 91 will intersect the right alarm line 61 within a predetermined time (for example, within 2 seconds). In this case, there is a possibility that the other vehicle 91 collides with the vehicle 2.

In this manner, the warning system 1 determines whether or not an object present on the right side of the vehicle 2 is likely to collide with the vehicle 2, with reference to the right warning line 61. Similarly, the warning system 1 determines whether or not an object present on the left side of the vehicle 2 is likely to collide with the vehicle 2, with reference to the left warning line 62.

when the vehicle 2 is stopped or traveling straight, the warning line setting unit 51 sets the lengths of the right warning line 61 and the left warning line 62 to L1 (for example, 7 m). L1 is an example of the 1 st length of the present invention. The alarm line setting unit 51 may set the lengths of the right alarm line 61 and the left alarm line 62 to values different from L1. Specifically, the alarm line setting unit 51 may set the lengths of the right alarm line 61 and the left alarm line 62 to L2 (e.g., 5m) which is shorter than L1, or may set the lengths to L3 (e.g., 9m) which is longer than L1 (i.e., L2 < L1 < L3). L2 is an example of the 2 nd length of the present invention, and L3 is an example of the 3 rd length and the 4 th length of the present invention.

The collision determination is effected by such changes in the lengths of the right alarm line 61 and the left alarm line 62, for example, a collision determination will be described in which another vehicle 92, 93 is present in the detection area a21 and the another vehicle 92, 93 approaches the left alarm line 62. when the length of the left alarm line 62 is set to L3, both virtual lines L ₉₂, L ₉₃ along the moving direction of the another vehicle 92, 93 intersect the left alarm line 62, and therefore the collision determination unit 53 performs collision determination with the another vehicle 92, 93.

On the other hand, when the length of the left alarm line 62 is set to L1 or L2, the virtual line L ₉₃ along the moving direction of the other vehicle 93 does not intersect the left alarm line 62, and therefore, the collision determination unit 53 does not perform collision determination with respect to the other vehicle 93 but only performs collision determination with respect to the other vehicle 92, that is, the alarm device control unit 54 (see fig. 1) of the ECU5 does not operate the speaker 41 and the display 4 (see fig. 1) when the other vehicle 93 approaches.

The warning system 1 configured as described above functions particularly effectively in an environment where a blind spot is present for the driver of the vehicle 2. Examples of the environment in which the driver has a blind spot include an environment in which a wall is present around the driving lane and an environment in which another vehicle is present around the vehicle 2 while the vehicle is parked. That is, when there is a possibility that an object approaching from a blind spot collides with the vehicle 2, at least one of the speaker 41 and the display 42 issues a warning to make the driver recognize the presence of the object and to prompt driving for avoiding the collision.

next, collision determination at the intersection will be described with reference to fig. 3 to 5. Fig. 3 to 5 are explanatory diagrams of collision determination at the intersection 83. Fig. 3 to 5 show an environment in which the vehicle travels in the left lane as determined by traffic regulations in japan traffic situation.

At intersection 83, lane 80 intersects lanes 81, 82. In the following description, the side closer to the vehicle 2 when the vehicle 2 enters the intersection 83 is referred to as "1 st lane 81", and the side farther from the vehicle 2 and facing the 1 st lane 81 is referred to as "2 nd lane 82".

As shown in fig. 3, when the vehicle 2 traveling straight on the lane 80 approaches the intersection 83 and the speed thereof decreases (for example, 10km/h or less), the warning system 1 sets the right warning line 61 and the left warning line 62. At this time, the lengths of the right alarm line 61 and the left alarm line 62 are set to L1 (see fig. 2).

Here, consider a vehicle 2a of a comparative example that is to turn left at an intersection 83. When the vehicle 2a makes a left turn and enters the 1 st lane 81, the vehicle 2a and another vehicle 94 present in the 2 nd lane 82 may temporarily approach each other. At this time, if the length of the left alarm line 62 is also set to L1, an imaginary line along the moving direction of the other vehicle 94 may intersect the left alarm line 62 as shown in fig. 3.

In the case where this imaginary line intersects the left warning line 62, the warning system 1 calculates the TTC associated with the other vehicle 94. When the TTC is equal to or less than the threshold value, the warning system 1 determines that there is a possibility that the other vehicle 94 crosses the left warning line 62 within a predetermined time, that is, the warning system 1 determines that there is a possibility that the other vehicle 94 collides with the vehicle 2a, and issues a warning to the driver of the vehicle 2 a.

However, the approach of the other vehicle 94 to the vehicle 2a as described above is inevitable in the structure of the intersection 83, and the possibility of collision of the other vehicle 94 with the vehicle 2a does not necessarily increase. Further, the driver's attention is likely to be directed toward the traveling direction of the vehicle 2a, so there is a high possibility that the driver notices another vehicle 94 present on the 2 nd lane 82. If the warning system 1 also issues other vehicle 94-related warnings in this situation, the driver may be irritated. Further, when the vehicle 2a turns left and enters the 1 st lane 81, the driver's attention is less likely to be directed toward another vehicle 95 or the like approaching from the right.

Here, the warning system 1 of embodiment 1 sets the lengths of the right warning line 61 and the left warning line 62 as shown in fig. 4 when the vehicle 2 is about to turn left at the intersection 83 and enters the 1 st lane 81.

First, the alarm system 1 sets the length of the left alarm line 62 to L2 (see fig. 2). That is, the left alarm line 62 is set shorter in the alarm system 1 than in the case where the vehicle 2 travels straight. Thus, when the vehicle 2 enters the 1 st lane 81, even if another vehicle 94 present on the 2 nd lane 82 temporarily approaches the vehicle 2, the virtual line along the moving direction of the another vehicle 94 is less likely to intersect the left alarm line 62. As a result, the warning system 1 is less likely to determine that the other vehicle 94 intersects the left warning line 62, and can prevent an unnecessary warning due to the approach of the other vehicle 94.

in the warning system 1, the length of the right warning line 61 is set to L3 (see fig. 2). That is, the alarm system 1 sets the right alarm line 61 longer than in the case where the vehicle 2 travels straight. Thus, when the vehicle 2 enters the 1 st lane 81, the virtual line along the moving direction of the other vehicle 95 easily intersects the right alarm line 61. As a result, the accuracy of collision determination with respect to another vehicle 95 approaching rightward from which the driver is less likely to notice can be improved.

In addition, when the vehicle 2 enters the 2 nd lane 82 at the intersection 83 in order to turn right, the warning system 1 sets the length of the left warning line 62 to L3 (see fig. 2) as shown in fig. 5. That is, the left alarm line 62 is set longer in the alarm system 1 than in the case where the vehicle 2 travels straight. Thus, when the vehicle 2 enters the 2 nd lane 82, the virtual line along the moving direction of the other vehicle 94 easily intersects the left warning line 62. As a result, the accuracy of collision determination with respect to another vehicle 94 approaching from the left side, which is not noticeable to the driver, can be improved.

Next, the processing executed by the ECU5 (see fig. 1) will be described with reference to fig. 6 and 7. Fig. 6 and 7 are flowcharts showing processing executed by the ECU 5. This process is repeatedly executed at a predetermined cycle. For convenience of description, the processing performed by each functional block of the ECU5 will be described as being performed by the ECU 5.

First, the ECU5 determines whether the speed v of the vehicle 2 is within a range of 0km/h or more and 10km/h or less in step S10 shown in fig. 6. The ECU5 detects the speed v of the vehicle 2 based on a signal received from a speed sensor, not shown. If it is determined that the speed v is within the range (S10: YES), the ECU5 proceeds to step S11.

In step S11, the ECU5 sets an alarm line. Referring to fig. 7, the processing when the ECU5 sets the warning line will be described.

The ECU5 determines whether the vehicle 2 is located near the intersection in step S30 shown in fig. 7. The ECU5 makes this determination based on a signal received from the vehicle exterior camera 32 or the navigation device 33 (see fig. 1). If it is determined that the vehicle 2 is located near the intersection (yes at S30), the ECU5 proceeds to step S31.

In step S31, ECU5 determines whether or not blinker switch 34 (see fig. 1) is in an on state. That is, the ECU5 determines whether the turn signal lamp 43 is operating. If it is determined that the winker switch 34 is in the on state (S31: YES), the ECU5 proceeds to step S32.

In step S32, ECU5 determines whether or not the steering angle of the steering wheel of vehicle 2 is 90 ° or more. The ECU5 detects the steering angle of the steering wheel based on a signal received from the steering wheel sensor 35 (see fig. 1). If it is determined that the steering angle is 90 ° or more (yes in S32), ECU5 proceeds to step S33.

in step S33, the ECU5 determines whether the steering wheel of the vehicle 2 is steered to the left. That is, the ECU5 determines whether the vehicle 2 intends to change the traveling direction to the left. The ECU5 detects the steering direction of the steering wheel based on the signal received from the steering wheel sensor 35. When the steering angle of the steering wheel is 90 ° or more (S32: YES) and the steering direction thereof is to the left (S33: YES), it is considered that the vehicle 2 is going to make a left turn. If it is determined that the steering wheel is steered to the left (S33: YES), the ECU5 proceeds to step S34.

in step S34, the ECU5 sets the length of the right alarm line 61 to L3 (see fig. 2 and 4). In step S35 following step S34, the ECU5 sets the length of the left alarm line 62 to L2 (see fig. 2 and 4). In addition, in step S34, the ECU5 may set the length of the right warning line 61 to L1.

On the other hand, in step S33, if it is not determined that the steering wheel of the vehicle 2 is turned leftward (S33: NO, i.e., if the steering wheel is turned rightward), the ECU5 proceeds to step S36. When the steering angle of the steering wheel is 90 ° or more (S32: YES) and the steering direction thereof is the right direction (S33: NO), it is considered that the vehicle 2 is going to make a right turn.

In step S36, the ECU5 sets the length of the right alarm line 61 to L1 (see fig. 2 and 5). In step S37 following step S36, the ECU5 sets the length of the left alarm line 62 to L3 (see fig. 2 and 5).

If it is not determined in step S30 that vehicle 2 is located near the intersection (no in S30), if it is not determined in step S31 that blinker switch 34 is in the on state (no in S31), or if it is not determined in step S32 that the steering angle of the steering wheel of vehicle 2 is 90 ° or more (no in S32), ECU5 proceeds to step S38.

In step S38, the ECU5 sets the length of the right warning line 61 to L1. In step S39 following step S38, the ECU5 sets the length of the left warning line 62 to L1.

referring again to fig. 6, the processing performed by the ECU5 will be described. In step S11, ECU5, which ends the setting of right alarm line 61 and left alarm line 62, proceeds to step S12.

In step S12, the ECU5 determines whether or not there is an object (hereinafter simply referred to as "intersecting object") intersecting the right alarm line 61 or the left alarm line 62 along a virtual line in the moving direction in the detection area a11 or the detection area a21 (see fig. 2). The ECU5 makes this determination based on a signal received from the side radar 31 (see fig. 1). If it is determined that there is an intersecting object (S12: YES), the ECU5 proceeds to step S13.

In step S13, the ECU5 calculates the TTC associated with the intersecting object. The ECU5 calculates the distance from the right alarm line 61 or the left alarm line 62 to the crossing object and the velocity (i.e., relative velocity) of the crossing object with respect to the alarm line, based on the signal received from the side radar 31. Further, the ECU5 calculates TTC based on the aforementioned equation f 1. When a plurality of intersecting objects are detected, the ECU5 calculates the TTC for each intersecting object. After the calculation of the TTC is completed, the ECU5 proceeds to step S14.

In step S14, the ECU5 determines whether the TTC calculated in step S13 is 2 seconds or less. If it is determined that the TTC is 2 seconds or less (S14: YES), the ECU5 proceeds to step S15.

In step S15, the ECU5 determines whether the TTC calculated in step S13 is greater than 1 second. When the TTC is more than 1 second, the necessity of an alarm is low. If it is determined that TTC is greater than 1 second (S15: YES), ECU5 proceeds to step S16.

In step S16, ECU5 activates display 42 (see fig. 1). Specifically, the ECU5 sends a control signal to the display 42, and the display 42 displays an indication that an object outside the vehicle 2 is likely to collide with the vehicle 2 based on the control signal. After the alarm is displayed on the display 42, the ECU5 ends the process. That is, since the necessity of warning is low when the TTC is 2 seconds or less (yes in S14) but more than 1 second (yes in S15), the ECU5 does not operate the speaker 41 (see fig. 1) and operates the display 42 to give a warning to the driver of the vehicle 2.

On the other hand, when the TTC is 1 second or less, the necessity of an alarm is high. If it is not determined in step S15 that the TTC calculated in step S13 is greater than 1 second (S15: no), ECU5 proceeds to step S17.

In step S17, the ECU5 determines whether the speed v of the vehicle 2 is 0 km/h. That is, the ECU5 determines whether the vehicle 2 is stopping. When the vehicle 2 is stopped, the necessity of warning is low as compared with the case where the vehicle 2 is running. Therefore, if it is determined that the speed v of the vehicle 2 is 0km/h (S17: YES), the ECU5 proceeds to step S16. As described above, in step S16, ECU5 causes display 42 to display an alarm, and then ends the process. That is, when the TTC is 1 second or less (no in S15) but the vehicle 2 is stopped (yes in S17), the ECU5 operates the display 42 without operating the speaker 41 to give an alarm to the driver of the vehicle 2.

On the other hand, in step S17, if it is not determined that the speed v of the vehicle 2 is 0km/h (S17: NO), that is, if the vehicle 2 is not stopped, the ECU5 proceeds to step S18.

When the vehicle 2 is not stopped, the necessity of warning is high as compared with the case where the vehicle 2 is stopped. In step S18, ECU5 operates display 42 to display an alarm, and in step S19 operates speaker 41 to emit an alarm by a warning sound or voice. That is, if the TTC is 1 second or less (no in S15) and the vehicle 2 is not stopped (no in S17), the ECU5 operates the display 42 and the speaker 41 to more strongly alarm the driver of the vehicle 2.

If it is not determined in step S10 that the speed v of the vehicle 2 is within the predetermined range (no in S10), if it is not determined in step S12 that there is a crossing object (no in S12), or if it is not determined in step S14 that the TTC is 2 seconds or less (no in S14), the ECU5 deactivates both the display 42 and the speaker 41, and ends the process.

[ Effect ]

According to the configuration of embodiment 1, when an object crosses an alarm line within a predetermined time, the object may collide with the vehicle 2, and an alarm can be issued. The warning line setting unit 51 sets the length of the warning line to be different between the case where the vehicle 2 travels straight and the case where the vehicle 2 enters the 1 st lane 81 or the 2 nd lane 82 to make a right or left turn at the intersection 83. Thus, the warning line can be set according to various traveling states of the vehicle 2, and the determination can be performed based on the warning line. As a result, it is possible to prevent the warning from being issued even if the possibility of the collision of the object with the vehicle 2 is low, or the warning from being issued and the attention from being called by an object approaching from a direction in which the driver is less likely to notice.

When the vehicle 2 is about to turn left at the intersection 83 and enter the 1 st lane 81, the warning line setting unit 51 sets the length of the left warning line 62 to L2, which is shorter than L1.

According to this configuration, when the vehicle 2 is about to turn left at the intersection 83 and enter the 1 st lane 81, the left alarm line 62 is set shorter than when the vehicle 2 is going straight. As a result, when the vehicle 2 enters the 1 st lane 81, even if an object existing on the 2 nd lane 82 temporarily approaches the vehicle 2, it is possible to suppress an unnecessary alarm from being issued due to the approach.

As the alarm lines, the alarm line setting unit 51 sets a right alarm line 61 corresponding to an object existing on the right and a left alarm line 62 corresponding to an object existing on the left, which is set separately from the right alarm line 61. When the vehicle 2 makes a right turn at the intersection and enters the 2 nd lane 82, the warning-line setting unit 51 sets the length of the right warning line 61 to L2. Further, when the vehicle 2 attempts to turn left at the intersection 83 and enter the 1 st lane 81, the warning-line setting unit 51 sets the length of the left warning line 62 to L2.

According to this configuration, the possibility of collision of the object existing on the right and left sides with the vehicle 2 can be individually determined based on the right alarm line 61 and the left alarm line 62, respectively. This can improve the accuracy of determination.

Further, when the vehicle 2 attempts to turn right at the intersection 83 and enter the 1 st lane 81 (when the vehicle is specified by traffic regulations to travel in the right lane as in the traffic situation in china), the warning-line setting unit 51 sets the length of the right warning line 61 to L2. In addition, when the vehicle 2 is about to turn left at the intersection 83 and enter the 1 st lane 81 (when the vehicle is traveling in the left lane as specified by traffic regulations in the traffic situation of japan), the alert line setting unit 51 sets the length of the left alert line 62 to L2. Thus, when the vehicle 2 enters the 1 st lane 81, even if an object existing on the 2 nd lane 82 temporarily approaches the vehicle 2, it is possible to suppress an unnecessary alarm from being issued due to the approach.

That is, according to this configuration, both improvement of the determination accuracy and suppression of an unnecessary alarm can be achieved.

When the vehicle 2 makes a right turn at the intersection 83 and enters the 1 st lane 81, the warning line setting unit 51 sets the length of the left warning line 62 to L1 or L3. Further, when the vehicle 2 is about to turn left at the intersection 83 and enter the 1 st lane 81, the warning line setting unit 51 sets the length of the right warning line 61 to L1 or L3.

With this configuration, the accuracy of the determination regarding the object existing on the opposite side of the traveling direction of the vehicle 2 can be improved. That is, according to this configuration, when the vehicle 2 enters the 1 st lane 81, it is possible to reliably issue a warning about an object that is difficult for the driver to notice while suppressing the issue of an unnecessary warning due to the proximity to the object existing on the 2 nd lane 82.

When the vehicle 2 enters the 2 nd lane 82 to make a right or left turn at the intersection 83, the warning line setting unit 51 sets the length of the warning line to L3, which is longer than L1.

With this configuration, the accuracy of the determination regarding the object existing on the opposite side of the traveling direction of the vehicle 2 can be improved. That is, according to this configuration, when the vehicle 2 enters the 2 nd lane 82, it is possible to reliably issue a warning about an object that is difficult for the driver to notice.

The right-left turn determination unit 56 determines whether the vehicle 2 is going to turn right or left at the intersection 83, based on at least one of the winker switch 34 and the steering angle.

According to this configuration, it is possible to determine that the vehicle 2 is going to make a right turn or a left turn at the intersection with a simple configuration.

[ 2 nd embodiment ]

Next, a vehicle alarm system 10 (hereinafter referred to as "alarm system 10") according to embodiment 2 will be described with reference to fig. 8 and 9. Fig. 8 is an explanatory diagram of determination by the alarm system 10, and fig. 9 is an explanatory diagram of collision determination at an intersection.

The warning system 10 according to embodiment 2 is a system that warns a driver of a vehicle to promote attention, as in embodiment 1. The alarm system 10 is different from the embodiment 1 in setting and determining an alarm line. The same portions as those in embodiment 1 in the configuration and control of the alarm system 10 will be omitted as appropriate.

As shown in fig. 8, the alarm system 10 sets a single central alarm line 63. The center alarm line 63 is set at a substantially center portion of the vehicle 2 in the left-right direction. The center warning line 63 extends linearly in the front-rear direction of the vehicle 2 with the base line BL as a base end.

In the case where the vehicle 2 is stopped or traveling straight, the warning system 10 sets the length of the center warning line 63 to L1 (e.g., 7 m). L1 is an example of the 1 st length of the present invention. In the alarm system 10, the length of the center alarm line 63 may be set to a value different from L1. Specifically, as shown in fig. 8, the alarm system 10 may set the length of the central alarm line 63 to L2 (e.g., 5m) which is shorter than L1, or may set the length to L3 (e.g., 9m) which is longer than L1 (i.e., L2 < L1 < L3). L2 is an example of the 2 nd length of the present invention, and L3 is an example of the 4 th length of the present invention.

The alarm system 10 sets the detection area a12 on the right side of the center alarm line 63 and the detection area a22 on the left side of the center alarm line 63. the alarm system 10 detects an object existing in the detection area a12 or the detection area a 22. when the virtual lines L ₉₆, L ₉₇, L ₉₈ along the moving direction of the other vehicles 96, 97, 98 intersect the center alarm line 63, the object detector 52 acquires information about the other vehicles 96, 97, 98.

As in embodiment 1, the warning system 10 calculates TTCs associated with the other vehicles 96, 97, 98. Further, the warning system 10 determines whether or not the other vehicles 96, 97, 98 cross the center warning line 63 within a predetermined time period based on the calculated TTC. Specifically, when the TTC is equal to or less than a predetermined threshold (for example, 2 seconds), the warning system 10 determines that the other vehicles 96, 97, and 98 cross the center warning line 63 within a predetermined time (for example, within 2 seconds). In this case, the other vehicles 96, 97, 98 may collide with the vehicle 2.

As shown in fig. 9, when the vehicle 2 attempts to turn left at the intersection 83 and enter the 1 st lane 81, the warning system 10 changes the length of the center warning line 63. That is, the warning system 10 sets the center warning line 63 to be shorter than when the vehicle 2 passes straight at the intersection 83, and sets the length thereof to L2 (see fig. 8). Thus, when the vehicle 2 enters the 1 st lane 81, even if another vehicle 94 present on the 2 nd lane 82 and the vehicle 2 temporarily approach each other, the virtual line along the moving direction of the another vehicle 94 is less likely to intersect the left alarm line 62. As a result, the warning system 1 is less likely to determine that the other vehicle 94 intersects the center warning line 63, and can suppress the occurrence of an unnecessary warning due to the approach.

When the vehicle 2 attempts to turn right at the intersection 83 and enter the 2 nd lane 82 (not shown), the warning system 10 sets the length of the center warning line 63 to L3 (see fig. 8). That is, the warning system 10 sets the center warning line 63 to be longer than in the case where the vehicle 2 passes straight at the intersection 83. Thus, when the vehicle 2 enters the 2 nd lane 82, the virtual line along the moving direction of the other vehicle 94 easily intersects the center warning line 63. As a result, the accuracy of the determination regarding the other vehicle 94 approaching from the left side, which is difficult for the driver to notice, can be improved.