JPS6338056A - Accident preventing device for automobile - Google Patents

Abstract

PURPOSE:To improve safety at the time of changing courses by judging possibility of contact between an object and a car based on distance to the object as measured by means to photograph sides of the car and its advancement course as calculated based on detection signal of its steering angle. CONSTITUTION:Sides of a car are photographed by cameras 1, 2 on the right and left while it is running, and the distance to an object within the sight of each camera is calculated by a microcomputer 6 based on the image data. Then change of the position and course of the car is computed based on outputs from a steering angle sensor 3 and a car speed sensor 5, and the position, course and speed of the object are determined based on the computation result and change of the position of the object, so change of the position of the object is estimated. Also the course of the car is estimated based on outputs from the steering angle sensor 3 and the car speed sensor 5, and possibility of collision between the car and the object is judged based on the estimation and the estimated value of change of the position of the object. An alarm 7 is actuated based on the judgement result.

Description

[Detailed Description of the Invention] [Field of Industrial Application] The present invention relates to an automobile safety device, and in particular, an automobile accident prevention device suitable for ensuring safety when turning left at an intersection or changing course on a highway. Regarding.

[Conventional technology]

In the past, for example, "Survey Research Report on Knowledge Vehicle Systems" (Mechanical Systems Promotion Association, March 1961)
As shown in 2003, published in May, there is a vehicle equipped with an ultrasonic distance measuring device i at the rear of the vehicle to measure the distance between the vehicle and an object behind it. This device can notify you of contact with other objects when the car is backing up, so it is effectively used when storing the car in a garage.

[Problem that the invention seeks to solve]

Since the above-mentioned conventional technology can only detect objects within a narrow range, a plurality of ultrasonic devices are required to detect the position of an object within a wide range. Alternatively, there is a problem that not only the apparatus but also the signal processing method is complicated, such as the need to rotate the ultrasonic device to scan the surrounding area. Therefore, it has been difficult to monitor the sides of the vehicle and use it to ensure safety while driving.

The purpose of the present invention is to monitor the sides of a car with a simple device,
The object of the present invention is to provide a device that can ensure safety by preventing contact between the vehicle and other objects when the vehicle changes course.

[Means for solving problems]

In order to achieve the above object, the present invention includes a photographing means 81 for photographing the side of a car as shown in FIG. 8, and a distance to an object is detected from an image photographed by this photographing means 81. It includes a distance detecting means 82 and a course calculating means 83 that calculates the traveling direction of the automobile from a steering angle control signal from the steering angle controlling means of the automobile, and calculates the position and speed of an object from the distance detecting means and the vehicle speed sensor of the vehicle. This result and the result of the route calculation means are used to determine whether a contact between the vehicle and an object will occur.

[Effect]

Since the present invention is configured as described above, it is possible to automatically determine the possibility of contact using the position, traveling direction, and speed of the vehicle and the object. It is possible to avoid collisions with other vehicles or objects caused by changing course.

[Examples] Examples of the present invention will be described below. FIG. 1 is an overall configuration diagram showing one embodiment. In this Figure 1,
1 and 2 are right-side cameras installed on the right side and pressure side of the front of the car, as shown in Figure 2.

The left camera takes pictures of the right side and left side of the car, respectively, as shown in the figure. As shown in FIG. 3, numeral 3 is an operating angle sensor for detecting the operating angle caused by steering operation, and 4 is an A/D converter, which converts analog signals from the components 1 to 3 described above into digital signals. Reference numeral 5 denotes a vehicle speed sensor that generates a vehicle speed pulse having a frequency corresponding to the traveling speed of the vehicle.

6 is a microcomputer that executes digital arithmetic processing using software according to a predetermined control program, and executes the arithmetic processing described below based on the signals from each of the above-mentioned components 1 to 5. It generates a warning command to notify the driver of the possibility. Reference numeral 7 denotes an alarm which, in response to an alarm command from the micro combinator 6, generates an alarm in the vehicle interior for a certain period of time to indicate that there is a risk of contact with an object.

The operation of the above configuration will be explained.

Now, in an automobile equipped with each of the components shown in FIG. 1, at the start of operation, the microcomputer performs various initial settings and then repeatedly executes the arithmetic processing shown in FIGS. 4 to 6.

In the calculation process shown in FIG. 4, the position of an object on the side of the vehicle is determined using the input from the right camera and the input from the left camera. first,
In step 41, image data from the left camera is input to the arithmetic circuit. Next, in step 42, the distance to the object within the field of view of the camera is calculated. This calculation can be performed using two cameras and the method described in Japanese Patent Application Laid-Open No. 59-237600K. Further, the calculation results are sequentially stored in a storage device connected to the microcomputer. In step 44, the vehicle's position and traveling direction are calculated using inputs from the vehicle's steering angle sensor 3 and vehicle speed sensor S between the time when the previously processed image was input and the time when the currently processed image was input. Seek change. In step 45, the position, traveling direction, and speed of the object within the camera field of view are determined from the result obtained in step 44 and the change in object position obtained in step 42, and the change in the object position is estimated.

The arithmetic processing shown in FIG. 4 is performed on the image data of the right camera.

In the arithmetic processing shown in FIG. 5, the course of the vehicle is estimated using inputs from the steering angle sensor 3 and vehicle speed sensor 5 of the vehicle.

In the calculation processing shown in Figure 6, the results of the calculation processing shown in Figures 4 and 5 are used to determine the possibility of a collision between the vehicle and an object, and if there is a possibility of a collision, a warning command is issued. do. In steps 61 and 62, FIGS.
The result of estimating the position of the object and the car, which is the result of the arithmetic processing shown in the figure, is input.

The determination of the possibility of collision in step 63 will be explained using FIG. 7. Assume that the automobile 71 travels along the estimated course, and is at position 72 after a short time Δ, and at position 73 after 2Δ. On the other hand, suppose that the object 74 continues to advance in the estimated direction and speed, and reaches position 75.2Δ after Δ, and reaches position 76 after Δ. In this case, the car will collide with the object after 2Δ. In step 63 of FIG. 6, all determinations of the possibility of such a collision are made. If there is no possibility of a collision, the process ends; if there is a possibility of a collision,
The microcomputer 6 issues a command in step 65. When a warning command is issued, an alarm 7 generates a warning in the vehicle interior indicating that there is a risk of a collision.

In the above embodiment, a series of processing is performed by one microcomputer, but multiple microcomputers are used to perform the processing shown in FIG. 4 for the input from the left camera, and the processing shown in FIG. The process shown in FIG. 5 for estimating the course of the vehicle, and the process for determining the possibility of collision shown in FIG. 6 can be divided into separate roles.

In addition, although the above-mentioned processes are performed by Notware using a microcomputer, it is possible to perform the same processing using a hard logic configuration using an electronic circuit. For example, safety checks can be automatically performed when a car changes course. Furthermore, since the speed and position of the object and the direction of travel of the vehicle can be taken into account, the possibility of contact can be determined with high accuracy. As described above, according to the present invention, it is possible to avoid collisions with other vehicles or objects due to course changes, which is highly effective in improving safety.

[Brief explanation of the drawing]

FIG. 1 is a configuration diagram showing an embodiment of the present invention, FIG. 2 is an explanatory diagram showing the photographing state by the right camera and the left camera, and FIG.
The figure is a diagram for explaining the steering angle sensor, and Figures 4 to 6 are calculation flowcharts showing the calculation processing of the microcomputer.
FIG. 7 is an explanatory diagram showing the content of calculation processing for collision determination, and FIG. 8 is a configuration diagram showing the configuration of the present invention. 1...Right side camera, 2...Left side camera, 6...-Micro irises 1 Figure Otoshita Z Figure Atsushi 3 Fufu 4 Figure ■ 5 Mouth 6 Figure Kaya 7 Roe 3 Country

Claims (1)

[Claims] 1. Photographing means for photographing the side of the automobile, distance detection means for detecting the distance to an object in the image photographed by the photographing means, and receiving a steering angle control signal from the steering angle control means of the automobile. A vehicle for use in an automobile, comprising: a course calculation means for calculating a traveling direction of the automobile, and a possibility of contact between the object and the vehicle is determined using a signal from the distance detection means and a signal from the course calculation means. Accident prevention device.