JP5652690B2 - Driving assistance device - Google Patents

Description

  The present invention relates to a driving support device that supports driving to avoid a collision between a vehicle body and an obstacle.

  Japanese Patent Laying-Open No. 2005-145301 describes a driving support device for a vehicle. A vehicle driving support device includes a distance measuring sensor that measures a distance to an obstacle, a display that displays a distance to the obstacle to the driver when the distance measuring sensor detects the obstacle, and a distance measuring device. A buzzer that emits a loud buzzer sound to the driver as the distance to the obstacle decreases as the sensor detects the obstacle.

  Japanese Unexamined Patent Application Publication No. 2007-336466 describes a vehicle peripheral information presentation device. The vehicle peripheral information presentation device includes a peripheral effective visual field range setting unit that sets the driver's effective visual field range around the host vehicle as a peripheral effective visual field range, a peripheral image capturing unit that captures an image around the host vehicle, and a peripheral effective An area conversion unit that converts coordinates of the peripheral effective visual field range set by the visual field range setting unit into an image space captured by the peripheral image imaging unit, and a peripheral effective visual field range setting among the image ranges captured by the peripheral image imaging unit Image information after changing the image quality of the image range corresponding to the peripheral effective visual field range set by the means (by reducing the resolution, changing the color tone, reducing the brightness, or applying the shading process) Is provided in the passenger compartment of the host vehicle, and a display unit that presents image information output from the image quality conversion means to the driver.

JP 2005-145301 A JP 2007-336466 A

  In the vehicle driving support apparatus disclosed in Japanese Patent Application Laid-Open No. 2005-145301, for example, there are two obstacles that are approximately the same distance from the vehicle and have different heights around the vehicle, and one of the obstacles having a low height. Is included in the area where the blind spot of the vehicle from the driver seated in the driver's seat and the other obstacle is visible to the driver seated in the driver's seat, one obstacle measures the distance When detected by the sensor, the distance from the vehicle to one of the obstacles is notified to the driver by the display on the display or the buzzer sound.

  However, since the driver sitting in the driver's seat can see only the other obstacle, he / she does not notice the presence of one obstacle, and does not avoid the obstacle and avoids the vehicle body and one obstacle. There is a risk of contact.

  Further, in the vehicle peripheral information presentation device disclosed in Japanese Patent Application Laid-Open No. 2007-336466, the range other than the peripheral effective visual field range of the image range captured by the peripheral image capturing unit is a range that is a blind spot of the vehicle from the driver. The image quality is displayed on the display unit with a clearer image quality than the effective visual field range subjected to the change processing. However, the driver must visually check the display unit and determine whether or not there is an obstacle in the image information displayed on the display unit in a range where the image quality is not changed. For this reason, even if an obstacle present in the blind spot of the vehicle is displayed on the display unit from the driver, the vehicle body and the obstacle may be brought into contact without noticing the obstacle.

  The present invention has been made in view of the above circumstances, and an object of the present invention is to provide a driving support device capable of reliably avoiding contact between an obstacle present in a blind spot region and a vehicle body.

In order to achieve the above object, the driving support apparatus of the present invention includes obstacle detection means, blind spot area setting means, obstacle position determination means, and notification means .

  The obstacle detection means detects an obstacle in a predetermined range around the vehicle. The blind spot area setting means sets, as a blind spot area, an area that is a blind spot of the vehicle for a driver seated in a driver's seat of the vehicle within a predetermined range.

The blind spot area setting means sets, as the blind spot area, a second area that is larger than the first area that becomes the blind spot of the vehicle from the height of the line of sight of the standard-type driver seated in the driver's seat. The area excluding the blind spot area in the predetermined range is an area that is visible to the driver seated on the driver's seat (hereinafter referred to as a visible area).

  Obstacles included in the blind spot area in a predetermined range are divided into two states depending on the difference in appearance from the driver seated in the driver's seat. One of them is a state in which the driver who is completely included in the blind spot area and cannot be seen at all in the driver's seat, and the other is partially included in both the blind spot area and the viewable area, respectively. The seated driver is partially visible. In addition, obstacles other than the above two states among the obstacles in a predetermined range are not included in the blind spot area but are completely included in the viewable area so that the driver who is seated in the driver's seat can see the whole. is there.

The obstacle position determination means determines whether the obstacle detected by the obstacle detection means is partially, completely, or not included in the blind spot area set by the blind spot area setting means.

The driving assistance device may include a braking control unit that brakes the vehicle when the obstacle position determination unit determines that the obstacle is included in the blind spot area (partially included or completely included) . For example, the braking control unit may force the brake to operate when it is determined that the obstacle is included in the blind spot area. In such a configuration, even when the driver does not notice an obstacle in the blind spot area or when it takes time to notice the obstacle, it is possible to reliably avoid contact between the vehicle body and the obstacle.

When it is determined that the obstacle is partially included in the blind spot area, the notification means notifies the driver of positional information of the obstacle with respect to the blind spot area according to the first aspect, and the obstacle is completely included in the blind spot area. If it is determined that the vehicle is to be driven, the position information of the obstacle is notified to the driver in a second mode different from the first mode.

  The notification means may be a speaker for notification by voice, a lamp for notification by light, or the like.

  In the above configuration, when it is determined that an obstacle is included in the blind spot area, information indicating that the blind spot area includes an obstacle is notified. Can recognize the presence of an obstacle that is at least partially included in the blind spot area, and avoid contact between the obstacle and the vehicle body within a predetermined range.

  In addition, information indicating that an obstacle is included in the blind spot area is notified in a state where there are no obstacles partially included in both the blind spot area and the visible area in the driver's field of view. Then, the driver can determine that only the obstacle completely included in the blind spot area exists. In this case, for example, the driver avoids contact between the obstacle and the vehicle body within a predetermined range by traveling after confirming the obstacle by getting off, changing the course, or stopping the vehicle. be able to.

  The obstacle position determining means determines whether the obstacle is partially included in the blind spot area or completely included in the blind spot area within a predetermined range, and the notifying means determines that the obstacle is a blind spot. Information indicating that an obstacle is included in the blind spot area is different in a case where it is determined that the area is partially included in the area and in a case where it is determined that the obstacle is completely included in the blind spot area. You may notify a driver.

  In the above configuration, the obstacle is completely included in the blind spot area when it is determined that the obstacle is partially included in the blind spot area according to the way the driver sitting on the driver's seat sees the obstacle. The notification means notifies the driver in a different manner from the case where it is determined that the vehicle is determined. As a result, when the vehicle is notified in a mode in which it is determined that the obstacle is partially included in the blind spot area, the driver has an obstacle that is partially visible to the driver seated in the driver's seat. I can recognize that. In this case, the driver confirms the presence of partially visible obstacles and avoids obstacles that are partially and entirely visible so that the vehicle travels by moving the vehicle within a predetermined range. Can be avoided. In addition, when notified in a manner when it is determined that the obstacle is completely included in the blind spot area, the driver recognizes that there is an obstacle that is completely invisible to the driver seated in the driver's seat. Can do.

  The obstacle detection means may individually detect a plurality of obstacles within a predetermined range, and the obstacle position determination means may detect individual obstacles when the obstacle detection means detects a plurality of obstacles. And the notification means determines that at least one of the plurality of obstacles is completely included in the blind spot area, and the plurality of obstacles. When it is determined that at least one other obstacle is partially included in the blind spot area, the driver is in a different mode when the obstacle is determined to be completely included in the blind spot area. You may notify.

  In the above configuration, there are obstacles that are completely included in the blind spot area and obstacles that are partially included in the blind spot area, and are partially included in the driver's field of view both in the blind spot area and in the visible area. Even if there is an obstacle present, if information indicating that an obstacle is included in the blind spot area is notified, the driver must always have an obstacle completely included in the blind spot area. Can be recognized.

  The obstacle position determination means determines whether or not the obstacle is completely included in the blind spot area within a predetermined range, and the notification means determines that the obstacle is completely included in the blind spot area. Only the driver may be notified of information indicating that an obstacle is included in the blind spot area.

  In the above configuration, when information indicating that an obstacle is included in the blind spot area is notified, the driver can recognize that there is an obstacle that is completely included in the blind spot area.

  The obstacle position determination means may determine whether or not the obstacle is completely included in the viewable area. When it is determined that the obstacle is completely included in the visible area, the notification means May notify the driver of information indicating that the obstacle is completely included in the visible region. Thus, the driver can surely recognize the obstacle included in the predetermined range, and accurately determine whether the obstacle to be notified is included in the blind spot area or completely included in the viewable area. Can be recognized.

  ADVANTAGE OF THE INVENTION According to this invention, the contact with the obstruction which exists in the area | region used as a blind spot and a vehicle body can be avoided reliably.

  Hereinafter, embodiments of the present invention will be described with reference to FIGS.

  FIG. 1 is a block diagram illustrating a driving support apparatus according to the present embodiment, FIG. 2 is a schematic diagram illustrating a vehicle including the driving support apparatus of FIG. 1, and FIG. 3 is detected by the driving support apparatus of FIG. 4 is a side view showing an example of obstacles within a predetermined range, and FIG. 4 is a schematic view showing a state in which a driver who is sitting on the driver's seat in FIG. FIG. 3 is a flowchart showing a driving support process executed by the driving support device of FIG. 1.

  As shown in FIGS. 1 and 2, the driving support device 1 according to the present embodiment includes an object position sensor 10, a controller 20, and a speaker 30, and is provided in the vehicle 2. The controller 20 includes a blind spot area setting unit 21, an obstacle specifying unit 24, an obstacle position determination unit 25, a voice storage unit 27, a notification control unit 28, and a braking control unit 29, and executes driving support processing. The object position sensor 10 and the obstacle specifying unit 24 constitute obstacle detection means, the blind spot area setting part 21 constitutes blind spot area setting means, the obstacle position determination part 25 constitutes obstacle position determination means, The notification unit 26 (the voice storage unit 27, the notification control unit 28, and the speaker 30) constitutes a notification unit.

  In the present embodiment, the object position sensor 10 is a millimeter wave radar, and is provided on each of the left and right sides of the rear part of the vehicle body of the vehicle 2 and detects information specifying three-dimensional coordinates. In this embodiment, the object position sensor 1 is a distance and elevation angle from the position where the object position sensor 10 of an object existing in a predetermined range 40 around the vehicle 2 is provided as information for specifying three-dimensional coordinates. And an azimuth angle with respect to the front-rear direction are detected, and a signal including the detected information is output. In this embodiment, the object position sensor 10 is a millimeter wave radar. However, the object position sensor 10 is not limited thereto, and may be an ultrasonic radar or an infrared laser radar as long as it can detect information specifying three-dimensional coordinates. Alternatively, a sensor such as a camera may be used. In the present embodiment, two millimeter wave radars are provided as the object position sensor 10, but the present invention is not limited to this, and one sensor may be provided, or three or more sensors may be provided. Further, a plurality of types of sensors as described above may be provided in combination.

  The predetermined range 40 detected by the object position sensor 10 includes a region 41 (hereinafter referred to as a blind spot region) that is a blind spot of the vehicle 2 for a driver seated in the driver's seat, and a region that can be visually recognized by the driver seated in the driver's seat ( In the present embodiment, the space is a space on the road surface behind the vehicle 2 that is the traveling direction when the vehicle 2 is moving backward. The predetermined range 40 is a space behind the vehicle 2 in the present embodiment, but is not limited thereto. Specifically, it may be a range including a space on the road surface in front of the vehicle 2 which is a traveling direction when the vehicle 2 moves forward, or a range including a space on the side of the vehicle 2. It may be a space.

  The controller 20 executes the driving support process when the shift lever (not shown) is set to R (back) by the driver.

  The blind spot area setting unit 21 sets the predetermined range 40 detected by the object position sensor 10 to the blind spot area 41 and the visible area 42 other than the blind spot area 41. In the present embodiment, the blind spot area setting unit 21 includes a blind spot area storage unit 22 and a blind spot area reading unit 23. The blind spot area storage unit 22 stores in advance the three-dimensional coordinates of the boundary surface 43 with the viewable area 42 in the blind spot area 41 in the predetermined range 40. The blind spot area reading unit 23 sets the predetermined range 40 as the blind spot area 41 and the visually recognizable area 42 by reading the three-dimensional coordinates of the boundary surface 43 stored in the blind spot area storage unit 22 at the start of execution of the driving support process. To do. Specifically, the distance in the front-rear direction of the vehicle 2 and the center of the vehicle 2 with respect to the boundary point with the viewable region 42 in the blind spot region 41 in the line-of-sight height of an average sized adult male seated in the driver's seat A plurality of distances in the left-right direction and a height from a horizontal road surface are measured in advance by experiments and calculations, and the three-dimensional coordinates in the predetermined range 40 of the boundary surface 43 including the plurality of boundary points are the blind spot area storage unit 21, based on the stored coordinates of the boundary surface 43, the three-dimensional coordinates of the predetermined range 40 are the three-dimensional coordinates of the blind spot area 41, and the three-dimensional coordinates of the viewable area 42 excluding the blind spot area 41. And set to The boundary surface 43 is an end surface of the blind spot area 41. In the present embodiment, the blind spot area 41 is an area that becomes a blind spot of the vehicle 2 for the driver seated in the driver's seat, and is an area that cannot be visually recognized by the driver even if the mirror provided in the vehicle 2 is used. In the present embodiment, the blind spot area setting unit 21 stores only the blind spot area 41 set based on the line-of-sight height of the adult male having an average body shape. A configuration may be adopted in which a plurality of blind spot areas 41 set in height are stored in advance, and the driver selects the setting of the blind spot area 41 according to his / her height at the start of driving. In addition, the blind spot area setting unit 21 is not configured to simply store the blind spot area 41, for example, to detect the position of the driver's eyeball and set the blind spot area 41 based on the detected position of the eyeball. Also good. Specifically, in a state where the driver is seated in the driver's seat, based on the position of the driver's eyeball based on the position of the seat, the angle of the mirror, and the like, based on the determined position of the eyeball, The configuration may also include a setting unit that sets the blind spot area 41 of the driver seated in the driver's seat.

  The obstacle identifying unit 24 reads from the object position sensor 10 a signal including information on the distance from the position where the object position sensor 10 is provided, the elevation angle, and the azimuth angle based on the front-rear direction in the driving support process. The read information is converted into three-dimensional coordinates of a predetermined range 40 of the distance in the front-rear direction of the vehicle 2, the distance in the left-right direction from the center of the vehicle 2, and the height from the horizontal road surface. Next, the obstacle specifying unit 24 determines whether or not there is an obstacle in the predetermined range 40. If it is determined that an obstacle is present, the obstacle in the front-rear direction of the vehicle 2 and the vehicle are determined. 2 Specify the three-dimensional coordinates of the distance from the center in the left-right direction and the height from the horizontal road surface. In the present embodiment, an object having a height of 10 cm or more is determined as an obstacle. In the present embodiment, when there are a plurality of obstacles in the predetermined range 40, the obstacle specifying unit 24 specifies the coordinates of the plurality of obstacles individually. Specifically, obstacles that are separated in the horizontal direction or the vertical direction are detected as different obstacles.

  The obstacle position determination unit 25 determines whether or not an obstacle is included in the blind spot area 41 in the predetermined range 40 detected by the object position sensor 10 in the driving support process. Specifically, it is determined whether or not the coordinates of each obstacle specified by the obstacle specifying unit 24 are included in the coordinates of the blind spot area 41 set by the blind spot area setting unit 21.

  Here, the obstacle included in the blind spot area 41 in the predetermined range 40 is divided into two states depending on a difference in appearance from the driver seated on the driver's seat. One of them is a state where the driver who is completely included in the blind spot area 41 and seated in the driver's seat cannot be seen at all, as indicated by 50 in FIG. 2, and the other is as shown by 51 in FIG. The blind spot area 41 and the visually recognizable area are partially included, and the driver sitting on the driver's seat is partially visible. In this embodiment, the obstacle position determination unit 25 distinguishes between obstacles included in the blind spot area 41 and obstacles completely included in the blind spot area 41 and obstacles partially included in the blind spot area 41. Both are determined as obstacles included in the blind spot area 41. Of the obstacles in the predetermined range 40, the obstacles other than the above two states are not included in the blind spot area 41 but are completely included in the viewable area 42 so that the driver who is seated in the driver's seat can visually recognize the whole. It is a state.

  In the present embodiment, when the obstacle position determination unit 25 determines that the blind spot area 41 includes an obstacle in the predetermined range 40, the obstacle included in the blind spot area 41 is further completely included in the blind spot area 41. Or the blind spot area 41 is partially included in both the blind spot area 41 and the visible area 42, and at least one obstacle included in the blind spot area 41 is completely contained in the blind spot area 41. It is determined whether or not. That is, it is determined whether or not at least one of the coordinates of each obstacle determined to be included in the blind spot area 41 is completely included in the coordinates of the blind spot area 41. Based on this determination, the obstacle position determination unit 25 determines that at least one obstacle is completely included in the blind spot area 41, or the obstacle is included in the blind spot area 41 but completely included in the blind spot area 41. It is determined that there are no obstacles to be detected. In this way, in the present invention, the blind spot area 41 is not detected in the blind spot area 41 alone, but the position of the obstacle is determined in the predetermined range 40 including the blind spot area 41 and the visible area 42. Therefore, it is possible to accurately determine the presence of an obstacle partially included in the blind spot and the presence of an obstacle completely included in the blind spot area 41.

  3 and 4 show examples of obstacles determined by the obstacle position determination unit 25 in the predetermined range 40 detected by the object position sensor 10. FIG. 3 is a side view of the rear side of the vehicle 2. FIG. 4 is a schematic view of a state in which the driver seated on the driver's seat in FIG. 3 and 4, the obstacle 52 and the obstacle 53 are obstacles that are not visible to the driver because they exist in the blind spot of the vehicle 2, and the obstacle position determination unit 25 is completely in the blind spot area 41. It is determined that it is included. The obstacle 54 and the obstacle 55 are obstacles that can be partially recognized by the driver because they are partially in the blind spot of the vehicle 2, and the obstacle position determination unit 25 visually recognizes the blind spot area 41. It is determined that each of the possible areas 42 is partially included. The obstacle 56 and the obstacle 57 are obstacles that can be visually recognized by the driver, and the obstacle position determination unit 25 exists in the predetermined range 40 and is not included in the blind spot area 41 (viewable area 42). It is completely included in). As described above, the obstacle position determination unit 25 determines whether the obstacle is completely included in the blind spot area 41 or partially included in both the blind spot area 41 and the visible area 42 in the predetermined range 40. judge. That is, as shown in FIG. 4, the obstacle 53, the obstacle 55, and the obstacle 57 that are partially included in the range outside the predetermined range 40 in the vehicle width direction are portions that exist in the predetermined range 40 to be detected. Among them, it is determined whether the whole is included in the blind spot area 41 or partially included in the blind spot area 41.

  When the obstacle position determination unit 25 determines that the blind spot area 41 includes an obstacle, the notification section 26 notifies the driver of information indicating that the blind spot area 41 includes an obstacle. In this embodiment, the notification unit 26 includes a speaker 30, a voice storage unit 27, and a notification control unit 28, and notifies by voice.

  The speaker 30 is provided in the vehicle. In the voice storage unit 27, when it is determined that at least one obstacle is completely included in the blind spot area 41, there is an obstacle that is included in the blind spot area 41 but completely included in the blind spot area 41. A warning sound and an announcement that are reproduced respectively when it is determined not to be stored are stored.

  When it is determined that at least one obstacle is completely included in the blind spot area 41, the notification control unit 28 reads out a sound indicating that the obstacle is completely included in the blind spot area 41 from the voice storage unit 27 and reads the speaker. When the obstacle is included in the blind spot area 41 and it is determined that no obstacle is completely included in the blind spot area 41, the obstacle is partially included in the blind spot area 41. The voice indicating that it is included is read from the voice storage unit 27 and reproduced from the speaker 30 to notify the driver. In this embodiment, in each case, a warning sound is first reproduced, and an announcement is reproduced following the warning sound. As an announcement, contents such as “There are obstacles completely hidden in the blind spot” and “There are obstacles partially hidden in the blind spot” are stored and reproduced. In addition, the form of the audio | voice memorize | stored and alert | reported is not restricted to these, For example, only a warning sound may be sufficient, and the response | compatibility method for avoiding a specific obstacle may be alert | reported by announcement. Further, when it is determined that at least one obstacle is completely included in the blind spot area 41, it is determined that an obstacle is included in the blind spot area 41 but there is no obstacle completely included in the blind spot area 41. Depending on the case, not only the configuration for notifying different sounds, but the same sound is reported at a relatively high volume when it is determined that at least one obstacle is completely included in the blind spot area 41, When it is determined that an obstacle is included in the blind spot area 41 but an obstacle completely included in the blind spot area 41 does not exist, the notification may be made at a relatively low volume. In this way, in this embodiment, since it is notified by voice that an obstacle is included in the blind spot area 41, the driver who is driving while visually confirming the traveling direction is surely recognized of the presence of the obstacle. be able to.

  In the present embodiment, the notification mode of the notification unit 26 does not correspond to the number of obstacles included in the blind spot area 41, but is not limited thereto, and when a plurality of obstacles are included in the blind spot area 41. The driver may be notified of information indicating that a plurality of obstacles are included in the blind spot area 41. For example, the presence of a plurality of obstacles may be notified by specific words, or the number of sounds corresponding to the number of obstacles may be notified.

  Moreover, the alerting | reporting part 26 may change a alerting | reporting aspect according to the distance to an obstruction, when it determines with an obstruction being included in the blind spot area | region 41. FIG. Specifically, the volume may be increased as the distance of the obstacle from the vehicle 2 becomes shorter.

  Moreover, the alerting | reporting part 26 may alert | report by the audio | voice from the direction where an obstruction exists, when it determines with an obstruction being included in the blind spot area | region 41. FIG. Specifically, a plurality of speakers 30 are arranged around the driver's seat, and the notification control unit 28 has an obstacle depending on the selection of one or more speakers 30 to be notified and the setting of the volume to be notified. The sound image is localized in the direction and notified.

  Moreover, the alerting | reporting part 26 may alert | report to a driver | operator not only by audio | voice but a lamp | ramp, for example. The lamp is provided, for example, on an instrument panel (not shown) of the vehicle 2. Specifically, a plan view of the vehicle 2 is drawn, a plurality of areas around the vehicle 2 are divided, and LEDs are arranged in each of the areas, and which area of the divided areas is obstructed is notified by turning on the LEDs. The notification unit 26 may execute the notification by the lamp instead of the notification by voice, or may execute it together with the notification by voice.

  The braking control unit 29 causes the vehicle 2 to brake when the obstacle position determination unit 25 determines that the blind spot area 41 includes an obstacle. Specifically, the braking control unit 29 determines that the obstacle is included in the blind spot area 41, and among the obstacles included in the blind spot area 41, the distance of the obstacle closest to the vehicle 2 from the vehicle 2 is predetermined. When the distance is less than or equal to the distance, the brake (not shown) is forcibly activated. Note that the braking control unit 29 is not limited to the operation of the brake, and may forcibly set the steering angle, for example.

  Next, driving assistance processing by notification executed by the controller 20 will be described along the flowchart of FIG.

  This process is executed every predetermined time (for example, every 100 msec) when the shift lever is set to R.

  First, in step S <b> 1, the obstacle identifying unit 24 reads a signal input from the object position sensor 10 and converts the read information into three-dimensional coordinates in a predetermined range 40. Next, in step S2, the obstacle identifying unit 24 determines whether there is an obstacle in the predetermined range 40. If it is determined that there is no obstacle, the present process is terminated, and the obstacle is detected. When it determines with existing, it transfers to step S3 and specifies the three-dimensional coordinate in the predetermined range 40 of the 1 or several obstacle which exists.

  Next, in step S4, the obstacle position determination unit 25 determines the blind spot based on the coordinates of the one or more obstacles specified in step S3 and the coordinates of the blind spot area 41 set in the blind spot area setting unit 21. It is determined whether there is an obstacle included in the area 41, and when it is determined that there is no obstacle included in the blind spot area 41, the present process is terminated, and there is an obstacle included in the blind spot area 41. When it determines, it transfers to step S5.

  Next, in step S5, it is determined whether or not the distance from the vehicle 2 to the obstacle closest to the vehicle 2 among the obstacles included in the blind spot area 41 is equal to or less than the predetermined distance. Shifts to step S6 and the braking control unit 29 forcibly activates the brake.

  If it is determined in step S5 that the distance of the obstacle closest to the vehicle 2 from the vehicle 2 exceeds the predetermined distance, the process proceeds to step S7. In step S7, the obstacle position determination unit 25 determines the obstacles included in the blind spot area 41 based on the coordinates of the obstacle determined to be included in the blind spot area 41 in step S4 and the coordinates of the blind spot area 41. Then, it is determined whether or not at least one obstacle is completely included in the blind spot area 41.

  If it is determined in step S7 that at least one obstacle is completely included in the blind spot area 41, the process proceeds to step S8, and the notification control unit 28 indicates that the obstacle is completely included in the blind spot area 41. Is read from the voice storage unit 27 and reproduced from the speaker 30 to notify the driver, and this process is terminated. If it is determined in step S7 that the obstacle is included in the blind spot area 41 but there is no obstacle completely included in the blind spot area 41, the process proceeds to step S9 and the notification control unit 28 determines that the obstacle is a blind spot. The voice indicating that it is partially included in the area 41 is read from the voice storage unit 27 and reproduced from the speaker 30 to notify the driver, and the process is terminated.

  Next, a modification of the driving support device 1 of the present embodiment is shown. For example, in the configuration in which the obstacle specifying unit 24 specifies the coordinates of a plurality of obstacles, the obstacle position determining unit 25 determines whether only one obstacle that is closest to the vehicle 2 is included in the blind spot area 41. It may be determined. With such a configuration, an obstacle that is closest to the vehicle 2 in the traveling direction of the vehicle 2 and has the highest possibility of collision is partially included in the blind spot area 41 or completely included in the blind spot area 41. May be determined. Further, in this configuration, when it is determined that the obstacle is completely included in the blind spot area 41, the notification control unit 28 transmits a sound indicating that the obstacle is completely included in the blind spot area 41 from the voice storage unit 27. When it is determined that the obstacle is partially included in the blind spot area 41, a sound indicating that the obstacle is partially included in the blind spot area 41 is sounded. The information may be read from the storage unit 27 and reproduced from the speaker 30 to notify the driver. With this configuration, the driver can recognize whether the obstacle with the highest possibility of collision is completely included in the blind spot area 41 or partially included in the blind spot area 41.

  In the configuration in which the obstacle identifying unit 24 identifies the coordinates of a plurality of obstacles, the obstacle position determining unit 25 determines whether or not a predetermined number of obstacles are included in the blind spot area 41 in order of increasing distance from the vehicle 2. It may be determined. By limiting the number of obstacles to be processed, the processing can be speeded up.

  Further, in the configuration in which the obstacle identifying unit 24 identifies the coordinates of a plurality of obstacles, the obstacle position determination unit 25 includes obstacles that are completely included in the blind spot area 41 among obstacles included in the blind spot area 41. An obstacle partially included in the blind spot area 41 may be distinguished from the beginning, and only an obstacle completely included in the blind spot area 41 may be determined as an obstacle included in the blind spot area 41. That is, the obstacle position determination unit 25 may determine only whether the coordinates of the individual obstacles specified by the obstacle specification unit 24 are completely included in the coordinates of the blind spot area 41. Further, in this configuration, the notification unit 26 notifies the driver of information indicating that the blind spot area 41 includes an obstacle only when it is determined that the obstacle is completely included in the blind spot area 41. May be. In such a configuration, when information indicating that an obstacle is included in the blind spot area 41 is notified, the driver can recognize that there is an obstacle that is completely included in the blind spot area 41. .

  The obstacle specifying unit 24 may be configured to simply detect the presence of an obstacle without specifying a plurality of obstacles existing in a predetermined range as different obstacles. The determination unit 25 may be configured to determine whether the obstacle is included in the blind spot area 41. Further, in this configuration, when it is determined that the blind spot area 41 includes an obstacle, the notification control unit 26 notifies the driver of information indicating that the blind spot area 41 includes an obstacle. Also good. Such a configuration eliminates the need for a process for distinguishing a plurality of obstacles, thus simplifying the process and speeding up the process. Furthermore, the obstacle position determination unit 25 determines whether or not the blind spot area 41 completely includes an obstacle, and the notification control unit 28 determines that the blind spot area 41 includes an obstacle completely. The driver may be informed of information indicating that the blind spot area 41 contains an obstacle completely.

  The obstacle position determination unit 25 determines whether the obstacle is completely included in the viewable area 42 in any of the configurations described above, and determines that the obstacle is completely included in the viewable area 42. In this case, the notification unit 26 may be configured to notify the driver of information indicating that the obstacle is completely included in the viewable region 42. With this configuration, the driver can surely recognize the obstacle included in the predetermined range 40, and the obstacle to be notified is included in the blind spot area 41 or completely included in the viewable area 42. Can be recognized accurately.

  In the present embodiment, the braking control unit 29 is provided together with the notification unit 26. However, the configuration is not limited thereto, and the configuration including only the notification unit 26 without including the braking control unit 29 may be used. A configuration including only the braking control unit 29 without the provision may be employed.

  In addition, the boundary area 43 between the blind spot area 41 and the visually recognizable area 42 is set in advance so that the blind spot area 41 is larger than the actual boundary surface 43 (for example, about 5 to 10 cm higher in the height direction toward the visible area 42 side). May be. Thereby, when it determines with at least one part existing in the visually recognizable area | region 42, it can visually recognize from a driver | operator reliably.

  As described above, in the present embodiment, when it is determined that the blind spot area 41 includes an obstacle, information indicating that the blind spot area 41 includes an obstacle is notified, so that the driver With such notification, it is possible to recognize the presence of an obstacle that is at least partially included in the blind spot area 41 in the predetermined range 40 and to avoid contact between the obstacle in the predetermined range 40 and the vehicle body.

  In addition, there is information indicating that the blind spot area 41 includes an obstacle in a state where there are no obstacles partially included in both the blind spot area 41 and the visible area 42 in the driver's field of view. When notified, the driver can determine that only an obstacle completely included in the blind spot area 41 exists. In this case, for example, the driver avoids contact between the obstacle in the predetermined range 40 and the vehicle body by, for example, getting off and confirming the obstacle before traveling, changing the course, or stopping the vehicle. can do. In addition, the image which the camera which imaged the space containing the blind spot area | region 41 and the monitor which displays the image | video which the camera image | photographed to the driver | operator is included, and the obstacle image | photographed when the blind spot area | region 41 contained the obstruction May be displayed on the monitor. As a result, the driver can confirm the obstacle completely included in the blind spot area 41 by visually checking the monitor. Furthermore, the notification unit 26 is configured to announce contents such as “a space including a blind spot is displayed on the monitor” when it is determined that the obstacle is completely included in the blind spot area 41. Also good.

  Further, when it is determined that the obstacle is partially included in the blind spot area 41 in accordance with how the obstacle is viewed from the driver seated in the driver's seat, the obstacle is completely included in the blind spot area 41. The notification unit 26 notifies the driver in a different manner. As a result, when the vehicle is notified in a mode in which it is determined that the obstacle is partially included in the blind spot area 41, the driver has an obstacle that is partially visible to the driver seated in the driver's seat. Can recognize. In this case, the driver confirms the presence of obstacles that are partially visible, avoids obstacles that are partially and entirely visible, and travels the vehicle 2 so that obstacles within a predetermined range 40 Contact with the vehicle body can be avoided. In addition, when notified in a mode in which it is determined that an obstacle is completely included in the blind spot area 41, the driver recognizes that there is an obstacle that is completely invisible to the driver seated in the driver's seat. be able to.

  In addition, there are obstacles that are completely included in the blind spot area 41 and obstacles partially included in the blind spot area 41. In the driver's field of view, both the blind spot area 41 and the viewable area 42 are partially included. Even when the included obstacle is present, if the information indicating that the blind spot area 41 contains an obstacle is notified, the driver can confirm that the obstacle completely included in the blind spot area 41 is present. It can be recognized that it exists.

  Further, when the obstacle included in the blind spot area 41 is equal to or less than the predetermined distance from the vehicle 2, the braking control unit 29 brakes the vehicle 2, so that the driver does not notice the obstacle in the blind spot area 41. Even when it takes time to notice an obstacle, it is possible to reliably avoid contact between the vehicle body and the obstacle.

  As mentioned above, although the embodiment to which the invention made by the present inventor is applied has been described, the present invention is not limited by the discussion and the drawings that form part of the disclosure of the present invention according to this embodiment. That is, it should be added that other embodiments, examples, operation techniques, and the like made by those skilled in the art based on this embodiment are all included in the scope of the present invention.

It is a block block diagram which shows the driving assistance device which concerns on this embodiment. It is the schematic which shows the vehicle provided with the driving assistance apparatus of FIG. FIG. 2 is a side view showing an example of an obstacle in a predetermined range detected by the driving support device of FIG. 1. FIG. 4 is a schematic diagram illustrating a state in which a driver who has sat on the driver's seat visually recognizes the obstacle of FIG. 3 in the direction of arrow IV. It is a flowchart which shows the driving assistance process which the driving assistance apparatus of FIG. 1 performs.

1: Driving support device 2: Vehicle 10: Object position sensor (obstacle detection means)
21: Blind spot area setting unit (blind spot area setting means)
24: Obstacle identification part (obstacle detection means)
25: Obstacle position determination unit (obstacle position determination means)
27: Voice storage unit (notification means)
28: Notification control unit (notification means)
30: Speaker (notification means)

Claims (2)

Obstacle detection means for detecting obstacles in a predetermined range around the vehicle;
A blind spot area setting means for setting, as a blind spot area, an area that is a blind spot of the vehicle for a driver seated in a driver seat of the vehicle in the predetermined range;
Obstacle position determining means for determining whether the obstacle detected by the obstacle detecting means is partially, completely or not included in the blind spot area set by the blind spot area setting means. When,
When it is determined that the obstacle is partially included in the blind spot area, the position information of the obstacle with respect to the blind spot area is notified to the driver according to the first aspect, and the obstacle is included in the blind spot area. A notification means for notifying the driver of the position information of the obstacle according to a second aspect different from the first aspect when it is determined that it is completely included ;
The blind spot area setting means sets, as the blind spot area, a second area that is larger than the first area that becomes the blind spot of the vehicle from the line-of-sight height of a standard body driver seated in the driver's seat. A driving support device. The driving support device according to claim 1,
The obstacle detection means individually detects a plurality of obstacles in the predetermined range,
When the obstacle detection means detects a plurality of obstacles, the obstacle position determination means is partially included or completely included in the blind spot area for each detected obstacle. Determine if it is not completely contained,
When it is determined that at least one obstacle among the plurality of obstacles is completely included in the blind spot area, the notifying means notifies the driver of positional information of the obstacle according to the second aspect. A driving support device characterized by that.

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