JP2001283389A - Obstacle detection device for vehicle - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a highly reliable obstacle detection device for a vehicle. SOLUTION: A position detection part 12 obtains the position information of an obstacle on the basis of outputs from ultrasonic sensors 4FL, 4FR, 4RL, 4RR arranged close to four corners of a vehicle 1 and stores the obtained information in a storage part. A contact prediction part 15 is provided with a 1st judgment means for judging the existence of contact probability between the vehicle 1 and the obstacle on the basis of the current detection position of the obstacle detected by the detection part 12 and the progress locus of the vehicle 1 predicted by a progress locus prediction part 14 and a 2nd judgment means for judging the existence of contact probability between the vehicle 1 and the obstacle on the basis of the history of detection results detected by the detection part 12 up to the current time.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an obstacle detecting device for a vehicle which detects an obstacle around a vehicle and informs a driver of the possibility of contact with the obstacle.

[0002]

2. Description of the Related Art Conventionally, as a vehicle obstacle detecting device of this kind, a relative position (distance and angle) of an obstacle with respect to a vehicle detected by an obstacle position detecting means and a vehicle calculated by a traveling trajectory calculating means are known. It has been proposed that the presence or absence of contact between the vehicle and an obstacle is determined based on the planned traveling trajectory of the vehicle, and the determination result is reported to a driver of the vehicle by a reporting unit (for example, And Japanese Patent Application No. 11-295960). In addition, the presence or absence of the possibility of contact between the vehicle and the obstacle is determined based on the history of the detection result by the obstacle position detection unit, and the determination result is notified to the driver of the vehicle by the notification unit. (For example, Japanese Patent Application No. 10-365421).

[0003]

By the way, in the former vehicle obstacle detection device, as shown in FIG. 25, a large obstacle B such as a wall exists on the planned traveling locus of the vehicle 1. However, even though the vehicle 1 may contact the obstacle B, it may be determined that there is no possibility of contact.

Further, the above-mentioned obstacle detecting device for a vehicle uses the history of the obstacle B detected in the detection area A of the ultrasonic sensor 4FL (the obstacle B in the example of FIG. 26) as shown in FIG. Are detected in the order of position a → position b → position c)) and the position of the ultrasonic sensor 4FL and the vehicle (not shown). Since the determination as to whether or not there is a possibility of contact with the object B is performed, the time required to determine whether or not there is the possibility of contact may become longer, and the notification to the driver may be delayed. The ultrasonic sensor 4FL constitutes a part of the obstacle position detecting means.

In the latter vehicle obstacle detection device,
Every time an obstacle is detected by the obstacle position detecting means, it is necessary to store the detection result (distance and angle between the vehicle and the obstacle) in the storage unit, which requires a large-capacity storage unit and increases costs. There was a defect that would. Also,
Since the obstacle position detecting means needs to detect the distance and the angle to the obstacle, there is a problem that the configuration of the obstacle position detecting means becomes complicated and the cost increases.

SUMMARY OF THE INVENTION The present invention has been made in view of the above circumstances, and a main object of the present invention is to provide a highly reliable obstacle detecting device for a vehicle. It is in. It is another object of the present invention to provide a low-cost obstacle detecting device for a vehicle.

[0007]

According to the first aspect of the present invention, there is provided a traveling trajectory predicting means for predicting a traveling trajectory of a vehicle, an obstacle position detecting means mounted on the vehicle and detecting a relative position of the obstacle with respect to the vehicle, A contact judging means for judging the possibility of contact between the obstacle and the vehicle by using at least one of the output of the traveling trajectory estimating means and the output of the obstacle position detecting means; Notification means for notifying the driver of the vehicle, wherein the contact determination means uses the detection result at the present time by the obstacle position detection means and the traveling trajectory of the vehicle predicted by the traveling trajectory prediction means. And a second determining means for determining the possibility of the contact by using the past detection result by the obstacle position detecting means. Obstacle It is possible to improve the reliability of the determination of the presence or absence of possibility of contact between. That is, by using the first determining means, it is possible to quickly determine whether or not there is a possibility of contact between the vehicle and the obstacle. Regardless, it is possible to prevent the determination that there is no possibility of contact, so that the determination of the possibility of contact can be speeded up as necessary and the accuracy of the determination result of the possibility of contact can be increased. It becomes possible to increase safety reliability.

According to a second aspect of the present invention, in the first aspect of the invention, the contact judging means gives priority to the first judging means over the second judging means, and determines that there is no possibility of contact by the first judging means. After the determination, the presence / absence of the possibility of contact is determined by the second determination means. Therefore, the presence / absence of the possibility of contact is first determined by the first determination means to determine the presence / absence of the possibility of contact at a high speed. If the first determining means determines that there is no possibility of contact, the second determining means determines whether or not there is possibility of contact. Therefore, there is no possibility of contact despite the possibility of contact. Can be prevented from being determined.

According to a third aspect of the present invention, in the first aspect of the invention, the obstacle position detecting means includes a normal detection area having a relatively small distance from the vehicle and a preliminary detection having a larger distance from the vehicle than the normal detection area. The second determination is to determine the presence or absence of the possibility of contact using the detection result in the preliminary detection area by the obstacle position detection means, and the first determination means is to detect the obstacle position. Since the presence or absence of the possibility of contact is determined by using the detection result in the normal detection area by the means, the determination of the possibility of contact can be accelerated as necessary and the determination of the possibility of contact can be made. Accuracy can be improved, and safety reliability can be improved.

According to a fourth aspect of the present invention, in the second or third aspect of the present invention, the contact determining means makes contact based on the current distance between the vehicle and the obstacle detected by the obstacle position detecting means. Since the third determining means for determining the possibility is provided, it is possible to accurately determine whether or not there is a possibility of contact with an obstacle located at a short distance from the vehicle.

According to a fifth aspect of the present invention, in the second aspect of the present invention, the contact judging means notifies the driver of the vehicle of an alarm until the second judging means judges that there is no possibility of contact. Therefore, the driver can be warned until the contact determination means determines that there is no possibility of contact.

According to a sixth aspect of the present invention, in the second or fifth aspect of the present invention, when the contact determining means determines that there is a possibility of contact by the first determining means, the contact is possible by the first determining means. When the possibility of contact is judged by the second judging means after judging that there is no sex, and when it is judged that there is no possibility of contact by the second judging means after judging that there is no possibility of contact by the first judging means. Since different alarms are notified by the notification means in each of the three stages, it is possible to notify the driver of the vehicle of an appropriate alarm.

According to a seventh aspect of the present invention, there is provided an obstacle position detecting means mounted on a vehicle for detecting a relative position of the obstacle with respect to the vehicle, a storage means for storing a past detection result by the obstacle position detecting means, Vehicle speed detecting means for detecting a speed;
A contact judging means for judging the possibility of contact between the vehicle and an obstacle using a past detection result stored in the storage means when the speed detected by the vehicle speed detecting means changes, and a judgment result of the contact judging means And a notifying means for notifying the driver of the vehicle that the number of detections by the obstacle position detection means stored in the storage means can be reduced, and the capacity of the storage means can be reduced. Since the size can be reduced, the cost can be reduced.

According to another aspect of the present invention, there is provided an obstacle position detecting means mounted on a vehicle for detecting a relative position of the obstacle with respect to the vehicle, a storing means for storing a past detection result by the obstacle position detecting means, and a storing means. Contact determining means for determining whether there is a possibility of contact between the obstacle and the vehicle based on the previous detection result and the current detection result stored in the vehicle, and informing the driver of the vehicle of the determination result of the contact determining means And a notifying means for performing the detection.The detection result by the obstacle position detecting means stored in the storage means can be reduced, and the capacity of the storage means can be reduced. Cost can be reduced.

According to a ninth aspect of the present invention, in the eighth aspect of the present invention, the presence or absence of the possibility of contact is determined when the current detection result by the obstacle position detecting means has changed at least a predetermined distance from the immediately preceding detection result. Therefore, it is possible to eliminate unnecessary determination of the possibility of contact when both the vehicle and the obstacle are stopped.

According to a tenth aspect of the present invention, in the invention of the eighth aspect, when the current detection result by the obstacle position detecting means changes by at least a predetermined distance or a predetermined angle from the immediately preceding detection result, the possibility of contact is determined. Since the presence / absence determination is made, it is possible to eliminate unnecessary determination of the possibility of contact in a state where both the vehicle and the obstacle are stopped, for example.

An eleventh aspect of the present invention is an obstacle detection position detecting means mounted on a vehicle for detecting a distance between the vehicle and an obstacle,
Storage means for storing a result of the past detection by the obstacle position detection means, approach speed calculation means for calculating the approach speed of the obstacle to the vehicle, and past distance information and approach speed calculation means stored in the storage means A contact judging unit for judging the possibility of contact between the obstacle and the vehicle by using the calculated approach speed; and a notifying unit for notifying the driver of the vehicle of the judgment result of the contact judging unit. It is not necessary to detect both the distance and the angle from the vehicle to the obstacle as in the related art, and only the distance needs to be detected. It can be made simpler and cost can be reduced.

According to a twelfth aspect of the present invention, in accordance with the eleventh aspect of the present invention, there is provided a vehicle speed detecting means for detecting a speed of the vehicle, wherein the approach speed calculating means calculates the approach speed using the detected speed of the vehicle speed detecting means. It is characterized by doing.

According to a thirteenth aspect, in the eleventh aspect, the contact determining means has an internal clock, and the approach speed detecting means calculates an approach speed using the internal clock of the contact determining means. It is characterized by doing.

According to a fourteenth aspect of the present invention, there is provided a traveling trajectory predicting means for predicting a traveling trajectory of a vehicle, an obstacle position detecting means mounted on the vehicle and detecting a relative position of the obstacle with respect to the vehicle,
Virtual obstacle setting means for obtaining a straight line passing through the obstacle and orthogonal to a straight line connecting the detection position of the obstacle position detection means and the representative position of the obstacle position detection means, and a traveling trajectory predicted by the traveling trajectory prediction means A contact judging means for judging the possibility of contact between the vehicle and the obstacle based on the presence or absence of an intersection with a straight line obtained by the virtual obstacle setting means, and notifying the driver of the vehicle of the judgment result of the contact judging means. It is characterized by having a notifying means, and even if the obstacle is a large obstacle such as a wall, it can accurately judge the possibility of contact with the obstacle, and the reliability is improved. Can be increased.

[0021]

(Embodiment 1) An obstacle detecting device for a vehicle according to the present embodiment comprises four ultrasonic sensors 4FR and 4FR arranged near four corners of a vehicle 1 as shown in FIG.
4FL, 4RR, 4RL, a steering angle sensor 3 for detecting the rotation angle of the steering wheel 111 of the vehicle 1, and a position of a shift lever (not shown) of the vehicle 1 (that is, the vehicle 1).
A shift position sensor 2 for detecting information such as a traveling direction of the vehicle, a stop state, etc.), a buzzer 5 for performing appropriate notification by sound to the driver of the vehicle 1, and an appropriate notification by display to the driver of the vehicle 1. A display 6 for performing the operation and a control unit 10 connected thereto are provided. 2, the left side of the vehicle 1 indicated by a broken line in FIG. 2 is the front, and the right side is the rear. The ultrasonic sensor 4FL is mounted on the front left corner of the vehicle 1, and the ultrasonic sensor 4FR is mounted on the right front of the vehicle 1. The ultrasonic sensor 4RL is mounted on a corner of the vehicle 1, and the ultrasonic sensor 4RR is mounted on a right rear corner of the vehicle 1.

Here, as shown in FIG. 1, the control unit 10 controls the ultrasonic sensors 4FR, 4FL, 4RR, 4RL.
A signal transmission / reception unit 11 for transmitting / receiving signals to / from, a position detection unit 12 for calculating a relative position of an obstacle based on a signal received by the signal transmission / reception unit 11, and position information detected by the position detection unit 12. Based on the stored storage unit 13 and the output of the shift position sensor 2 and the output of the steering angle sensor 3, the traveling locus of the vehicle 1 (here, the traveling locus indicates the position of the shift lever and the rotation angle of the handle 111). A traveling trajectory prediction unit 14 for predicting the traveling trajectory of the vehicle 1 when it is assumed that the vehicle 1 has proceeded while maintaining it; and at least one of an output of the position detection unit 12 and an output of the traveling trajectory prediction unit 14. And a buzzer driving unit 16 that drives the buzzer 5 based on the output of the contact prediction unit 15.
And a display drive unit 17 that drives the display 6 based on the output of the contact prediction unit 15. Note that the signal transmission from the display drive unit 17 to the display 6 is performed in the vehicle LA.
N, etc., or RS232
Serial transmission such as C or parallel transmission may be performed. Further, if the display 6 has a built-in buzzer so that the display 6 is displayed by the output of the display drive unit 17 and the buzzer sounds, it is not necessary to separately provide the buzzer 5.
Further, as shown in FIG. 3, the signal transmitting and receiving unit 11 includes an ultrasonic sensor 4FL → an ultrasonic sensor 4RR → an ultrasonic sensor 4F.
Signals are transmitted and received in time series in the order of R → ultrasonic sensor 4RL → ultrasonic sensor 4FL → ultrasonic sensor 4RR →.

Hereinafter, four ultrasonic sensors 4F will be described for the sake of explanation.
If there is no particular need to distinguish R, 4FL, 4RR, 4RL, any of the ultrasonic sensors 4FR, 4FL, 4R
R and 4RL are also referred to as ultrasonic sensors 4. The ultrasonic sensor 4 is attached to a bumper or the like of the vehicle 1 to monitor the periphery of the vehicle 1. Therefore, in order to reliably detect an obstacle existing around the vehicle 1, the directivity of the ultrasonic sensor 4 is set to broad in the lateral direction along the road surface,
The directivity is set sharp in the vertical direction so as not to detect the road surface.

The positional relationship between the ultrasonic sensor 4 and the obstacle B is expressed using the parameters shown in FIG. That is, H is a plane on which the ultrasonic sensor 4 is installed,
This is an opening surface on which an opening for transmitting / receiving an ultrasonic wave is formed in the ultrasonic sensor 4. V is a normal line of the ultrasonic sensor 4, passes through a substantially center O of an opening for transmitting / receiving ultrasonic waves in the ultrasonic sensor 4, and forms a vertical bisector of the ultrasonic sensor 4 described later. L is the obstacle B from the approximate center O of the opening
Is the angle between the straight line connecting the ultrasonic sensor 4 and the obstacle B and the normal V.

As shown in FIGS. 5 and 6, the ultrasonic sensor 4 includes a transmitting / receiving ultrasonic sensor 4a as an ultrasonic transmitter / receiver, and an ultrasonic sensor 4b dedicated to receiving waves as an ultrasonic receiver. And a drive circuit (not shown) for driving them, and the positional relationship of the obstacle B is specified by the following method. It should be noted that the transmitting / receiving ultrasonic sensor 4
“a” is disposed closer to the center of the vehicle 1 than the ultrasonic sensor 4b dedicated to receiving waves.

The respective ultrasonic sensors 4a and 4b are arranged on the same plane H at a distance d. Ultrasonic sensor 4
As shown in FIG. 7A, a transmission signal (pulse waveform signal) is applied to a, and an ultrasonic wave is transmitted while the transmission signal is at the H level. Even after the transmission signal becomes L level, a predetermined time is required until the vibration of the ultrasonic transducer constituting the ultrasonic sensor 4a stops, so that a reverberation phenomenon occurs, and the ultrasonic signal continues to be radiated to some extent. (See FIG. 7B).

FIG. 7D shows the reception signal of the ultrasonic sensor 4b, and the left signal (the signal received first in time) of the reception signal is directly the transmission signal of the ultrasonic sensor 4a. In the received waveform, a signal on the right side (a signal received later in time) indicates a reflected wave from the obstacle B. FIG.
The received signal shown in (b) and FIG. 7 (d) shows the envelope of the vibration waveform (approximately 40 kHz) of the ultrasonic vibrator. It is shaped so as to be at the H level in the following cases (see FIGS. 7C and 7E). The ultrasonic sensors 4a and 4b detect falling of the shaped signals a and b from the H level to the L level, so that the received signals are reflected waves. Is to be recognized.

When the ultrasonic wave radiated from the ultrasonic sensor 4a hits a nearby object (obstacle B) and is reflected, FIG.
As shown in FIG. 7B and FIG.
Reflected waves (reflected signals) are observed at a and 4b. Ultrasonic waves move in the air at the speed of sound c (= 340 m / s), so the distance to a nearby object can be calculated by measuring the time from the start of transmission of ultrasonic waves to the reception of reflected waves. become.

The position detection unit 12 provided in the control unit 10 detects the reflected wave of the obstacle B from the transmission start time of the ultrasonic wave radiated from the ultrasonic sensor 4a by the ultrasonic sensors 4a and 4b. Timer means for measuring the elapsed time until reception, and elapsed time t measured by the timer means
a distance calculating means for calculating a distance L to the obstacle B based on a and tb, and a difference Δt between the elapsed times ta and tb (=
angle calculating means for calculating an angle φ between a perpendicular bisector of the line and the direction of arrival of the reflected wave, starting from the midpoint O of the straight line connecting the ultrasonic sensors 4a and 4b based on tb-ta) These means are realized by a microcomputer and a program executed by the microcomputer, and are not shown.

By the way, since the ultrasonic sensors 4a and 4b are arranged at a distance d, the time at which the reflected waves are received by the ultrasonic sensors 4a and 4b depends on the position of each nearby object (obstacle B). Depends on For example, if a nearby object (obstacle B) is located closer to the ultrasonic sensor 4a than the normal line V of the plane H on which the ultrasonic sensors 4a and 4b are arranged, as shown in FIG. The ultrasonic sensor 4a receives the reflected wave first (Δt = tb−ta> 0), and if the ultrasonic sensor 4b is located on the ultrasonic sensor 4b side, as shown in FIG. Receives a reflected wave (Δt <
0). That is, after the ultrasonic wave is transmitted from the ultrasonic sensor 4a, as shown in FIGS.
By measuring the time ta and tb until the reflected waves are received by the a and 4b by the time measuring means, the angle φ between the straight line connecting the ultrasonic sensor 4 and the obstacle B and the normal V is calculated by the angle calculating means. And the distance L from the ultrasonic sensor 4a to the obstacle can be calculated by the distance calculation means as L = tb × c / 2.

As described above, the obstacle position detecting means including the ultrasonic sensor 4 and the position detecting section 12 determines the distance L to the nearby object (the obstacle B) and the angle φ. An obstacle existing around the vehicle 1 is detected from information obtained from all the ultrasonic sensors 4 mounted on the vehicle 1 by the above-described procedure. Here, the ultrasonic sensors 4a,
The transmission signal for 4b is output at a period of, for example, 100 ms, and the distance L and the angle φ calculated by the position detection unit 12 based on the signal from the signal transmission / reception unit 11 are output to the contact prediction unit 15. .

The display 5 has two types of light-emitting diodes (for example, red light-emitting diode and blue light-emitting diode) having different emission colors, and changes the color of the light-emitting diode to be turned on or off depending on the possibility of contact. (For example, the red light emitting diode is turned on when there is a possibility of contact, and the blue light emitting diode is turned on when there is no possibility of contact). As the display 6, for example, a display of a navigation system, a light-emitting diode, an EL (electroluminescence) display, a fluorescent tube, or the like can be used. Here, when a display having a high display resolution such as a display of a car navigation system is used, the external appearance of the vehicle 1 is displayed and the approximate position where the obstacle B exists in the vicinity of the four corners of the vehicle 1 is displayed. You may do so.

The contact prediction unit 15 in this embodiment uses the current position of the obstacle B detected by the position detection unit 12 and the traveling trajectory of the vehicle 1 predicted by the traveling trajectory prediction unit 14. First determining means for determining whether or not there is a possibility of contact between the vehicle 1 and the obstacle B, and determining whether or not there is a possibility of contact between the vehicle 1 and the obstacle B by using a past detection result by the position detecting unit 12. It has a second determining means and a third determining means for determining whether there is a possibility of contact based on whether or not the current distance between the vehicle 1 and the obstacle is 20 cm or less. Here, each determination means is constituted by a microcomputer and a program executed by the microcomputer.
In the present embodiment, the traveling trajectory prediction unit 14 constitutes a traveling trajectory prediction unit, the contact prediction unit 15 constitutes a contact determination unit, and the buzzer 5 and the display 5 constitute a notification unit.
The two ultrasonic sensors 4 and the position detection unit 12 constitute an obstacle position detection unit, and the storage unit 13 constitutes a storage unit.

First, the first judging means of the contact prediction section 15 will be described.

The above-mentioned traveling trajectory predicting section 14 determines, for the ultrasonic sensors 4a and 4b of the ultrasonic sensors 4FL disposed at the front left corner of the vehicle 1 as shown in FIG. The traveling trajectory line F0 on the left side of the vehicle and the steering angle of the handle 111 are 180 ° clockwise (0 ° clockwise).
(5 rotations) when the vehicle 1 advances in a state in which the traveling trajectory line FR1 on the left side of the vehicle 1 and the steering angle of the handle 111 are the maximum clockwise 480 ° (1.3 rotations clockwise). Of the vehicle 1 on the left
2. The steering angle of the steering wheel 111 is 480 °, which is the maximum counterclockwise direction.
(1.3 rotation counterclockwise), and predicts a traveling trajectory line FL1 on the left side of the vehicle 1 when the vehicle advances forward. Here, each traveling locus line F0, FR1, FR
2, FL1 is a straight line obtained by linearly approximating the traveling locus.

As shown in FIG. 9, the first judging means divides the detection area of the ultrasonic sensor 4 into three of the four traveling trajectory lines F0, FR1, FR2, FL1 as shown in FIG.
1, FR2 divided into four areas A1, A2,
Based on the point where the obstacle B exists in A3 and A4 and the steering angle detected by the steering angle sensor 3, the presence or absence of the possibility of contact between the vehicle 1 and the obstacle is determined based on the criteria shown in Table 1 below. to decide. The area A1 is a region on the left side of the traveling locus line F0 in the detection area of the ultrasonic sensor 4 in FIG. 9, and the area A2 is the traveling locus line F0 and the traveling locus line FR.
1, the area A3 is an area between the traveling trajectory line FR1 and the traveling trajectory line FR2, and the area A3 is a traveling trajectory line F.
This is an area on the right side of R2.

[0037]

[Table 1]

Referring to Table 1, if the position of the obstacle detected by the position detecting section 12 is, for example, in the area A1, the first judging means determines that the steering angle detected by the steering angle sensor 3 is 0 ° to the right. When the steering angle is larger than 0 (when the steering wheel 111 is turned clockwise by an angle larger than 0 °), it is determined that there is no possibility of contact, and the steering angle detected by the steering angle sensor 3 is 0 ° or more to the left (steering When the angle includes 0 °), it is determined that there is a possibility of contact.

The first judging means includes a position detecting section 12
When the position of the obstacle detected by the steering angle sensor 3 is located in the area A2, the steering angle detected by the steering angle sensor 3 is shifted to the right by 180.
If the steering angle is not less than 180 ° (when the steering wheel 111 is turned 180 degrees or more clockwise), it is determined that there is no possibility of contact, and the steering angle detected by the steering angle sensor 3 is less than 180 ° to the right and 0 ° or more to the left. At this time, it is determined that there is a possibility of contact.

The first judging means includes a position detecting section 12
When the position of the obstacle detected by the steering angle sensor 3 is located in the area A3, the steering angle detected by the steering angle sensor 3 is set to the right 480.
If the steering angle is not less than 480 ° and the steering angle detected by the steering angle sensor 3 is less than 480 ° to the left and 0 ° or more to the left, it is determined that there is no possibility of contact. At this time, it is determined that there is a possibility of contact.

The first judging means includes a position detecting section 12
When the position of the obstacle detected by the control is located in the area A4, it is determined that there is a possibility of contact regardless of the steering angle detected by the steering angle sensor 3 (that is, for all the steering angles).

The above description is for the ultrasonic sensor 4FL disposed at the left front corner of the vehicle 1, but the possibility of contact with other ultrasonic sensors 4FR, 4RL, 4RR is similarly determined. Judge.

Next, the above-mentioned second determining means will be described.

In the present embodiment, when there is a change of a predetermined value (for example, a distance of 10 cm or an angle of 10 °) or more from the previous position information of the obstacle B stored in the storage unit 13, The position information is stored in the storage unit 13, and the second determining means determines the subsequent obstacle B based on the two points of the previous position information and the current position information.
And the presence or absence of a contact possibility is determined from the positional relationship between the predicted trajectory and the ultrasonic sensor 4. Therefore,
For example, as shown in FIG. 10, a case where an obstacle B in the detection area A of the ultrasonic sensor 4FL at the front left corner of the vehicle 1 is detected in the order of point a → point b → point c is shown in FIG. , The predicted trajectory of the obstacle B is shifted from the direction toward the vehicle 1 (for example, the obstacle B moves from the right side of the normal V of the ultrasonic sensor 4FL and is shifted from the direction toward the ultrasonic sensor 4). ), It is determined that there is no possibility of contact. If the predicted trajectory of the obstacle B matches the direction toward the vehicle 1 (for example, the direction toward the ultrasonic sensor 4FL) as shown in FIG. I do.

Hereinafter, the operation of the contact prediction unit 15 will be described with reference to FIG.
3 will be described.

The vehicle 1 or an obstacle moves and the obstacle moves to the detection area of the ultrasonic sensor 4 (50 c in the horizontal direction).
m, the position of the obstacle (distance and angle from the ultrasonic sensor 4 to the obstacle) is detected by the position detection unit 12 and input to the contact prediction unit 1 (S).
1). Then, the contact prediction unit 15 first determines whether or not there is a possibility of contact between the vehicle 1 and the obstacle by the first determination unit (static determination unit) (S2). The display of the indicator 6 and the buzzer 5 indicate that there is a possibility.
(S3), and returns to S1. On the other hand, if the first determining unit determines that there is no possibility of contact, it is determined whether the position information stored in the storage unit 13 has changed by a predetermined amount (for example, 10 cm as a distance or 10 ° as an angle) or more. It is determined whether or not there is no change of a predetermined amount or more (S4). If there is no change exceeding a predetermined amount, the fact that there is no possibility of contact is notified by the display of the display 6 and the sound of the buzzer 5 (S5), and the process returns to S1. If there is a change equal to or more than the predetermined amount, the second determining means (dynamic determining means) determines whether there is a possibility of contact (S6). If there is a possibility of contact, it is determined that there is a possibility of contact. A notification is made by the display of the display 6 and the buzzer 5 sounding (S7), and the process returns to S1. On the other hand, if the second determining means determines that there is no possibility of contact, the third determining means (short distance determining means) determines whether the current distance between the vehicle 1 and the obstacle is 20 cm or less. It is determined whether or not there is a possibility of contact (S8). If there is a possibility of contact, the display 6 is notified of the possibility of contact by displaying on the display 6 and sounding the buzzer 5 (S9). Return. Meanwhile, the third
If it is determined by the determination means that there is no possibility of contact, the fact that there is no possibility of contact is notified by the display of the display 6 and the sound of the buzzer 5 (S10), and the process returns to S1.

In the vehicle obstacle detection device according to the present embodiment, the contact prediction unit 15 calculates the current detection result of the position detection unit 12 and the traveling trajectory of the vehicle 1 predicted by the traveling trajectory prediction unit 14. First determining means for determining the possibility of contact between the vehicle 1 and the obstacle using the first determination means; and second determining means for determining the possibility of contact using the past detection result by the position detection unit 12. Therefore, it is possible to increase the reliability of determining whether or not there is a possibility of contact between the vehicle 1 and an obstacle. In other words, the use of the first determining means enables a high-speed determination of the possibility of contact between the vehicle 1 and the obstacle, and the use of the second determining means enables the possibility of contact. Despite this, it is possible to prevent the determination that there is no possibility of contact, so that it is possible to speed up the determination of the possibility of contact and improve the accuracy of the determination result of the possibility of contact. As a result, safety reliability is increased.

The second judging means determines the possibility of contact between the obstacle and the vehicle 1 based on the previous position information (detection result) stored in the storage unit 13 and the current position information (detection result). Is determined, the position information stored in the storage unit 13 can be reduced, the capacity of the storage unit 13 can be reduced, and the cost can be reduced.

Further, when the current position information changes at least a predetermined distance or a predetermined angle from the immediately preceding position information, the presence / absence of the possibility of contact is determined by the second determination means. It is possible to eliminate unnecessary determination of the possibility of contact by the second determination means in a state where both are stopped.

(Embodiment 2) The basic configuration of an obstacle detecting device for a vehicle according to the present embodiment is substantially the same as that of Embodiment 1, and the position detecting section 12 includes an ultrasonic sensor 4F as shown in FIG.
Different operations are performed depending on whether there is obstacle position information in the normal detection area AN whose distance from L is relatively small and in the preliminary detection area AF whose distance from the ultrasonic sensor 4FL is larger than the normal detection area AN. When an obstacle is detected in the preliminary detection area AF, the position information is stored in the storage unit 13. When an obstacle is detected in the normal detection area AN, the position information is transmitted to the contact prediction unit 15. The contact predicting unit 15 determines whether or not there is a possibility of contact by the second determining means based on the position information up to that point. If there is no possibility of contact, then the contact is predicted by the first determining means. The feature is that the determination of the possibility is performed. In the present embodiment, an area whose distance from the ultrasonic sensor 4FL is not less than 51 cm and not more than 80 cm is defined as the preliminary detection area AF.
And an area whose distance from the ultrasonic sensor 4 is 50 cm or less is set as the main detection area AN. The same applies to the other ultrasonic sensors 4FR, 4RL, 4RR. Other components are the same as those of the first embodiment, and thus illustration and description are omitted.

The operation will be described below with reference to FIG.

When the vehicle 1 or the obstacle moves and the obstacle is detected by the ultrasonic sensor 4, the relative position of the obstacle is detected by the position detection unit 12 (S21), and the obstacle is moved to the normal detection area AN. It is determined which of the preliminary detection area AF and the preliminary detection area AF has been detected (S22).
(That is, the distance between the ultrasonic sensor 4 and the obstacle is 51 cm.
In the case of (−80 cm), the position information is stored in the storage unit 13 (S23), and the process returns to S21. In the case of the normal detection area AN, the position information stored in the storage unit 13 is sent to the contact prediction unit 15, and the trajectory of the obstacle is predicted by the contact prediction unit 15 (S24). The determination means (dynamic determination means) determines whether there is a possibility of contact (S25). When the second determining unit determines that there is a possibility of contact, the contact prediction unit 15 notifies the display of the possibility of contact by displaying the display 6 and sounding the buzzer 5 (S26), and returns to S21. . On the other hand, if the second determining means determines that there is no possibility of contact,
The first judging means (static judging means) judges whether or not there is a possibility of contact (S27). If there is a possibility of contact, the presence of the possibility of contact is indicated on the display 6 and the buzzer 5 sounds. Inform (S28) and return to S21. If the first determining means determines that there is no possibility of contact,
The third judging means (short distance judging means) judges the possibility of contact based on whether the current distance between the vehicle 1 and the obstacle is 20 cm or less (S29). The display of the indicator 6 and the buzzer 5 indicate that there is a possibility.
(S30), and returns to S21. On the other hand, when it is determined by the third determining means that there is no possibility of contact, the fact that there is no possibility of contact is displayed on the display 6 and the buzzer 5 is notified by sound (S31), and the process returns to S21.

However, in the vehicle obstacle detection device of the present embodiment, when an obstacle enters the normal detection area AN from the preliminary detection area AF, the past time when the obstacle was in the preliminary detection area AF The presence / absence of the possibility of contact is determined by the second determination means using the position information, and thereafter, the possibility of contact is determined by the first determination means using the current position information of the obstacle in the normal detection area AN. The presence / absence of the possibility of contact can be speeded up as necessary, and the accuracy of the result of the determination of the possibility of contact can be increased, thereby increasing the reliability of safety. (Embodiment 3) The basic configuration of the vehicle obstacle detection device of the present embodiment is the same as that of Embodiment 1, and if the first judging means of the contact prediction unit 15 judges that there is no possibility of contact, Contact by the second judgment means Until the determination of the possibility of touching is determined, the display 6 and the buzzer 5 provide a notification that warns the driver of the vehicle 1 of attention. For example, the display 6 is configured by light emitting diodes of three colors of red, blue, and yellow.
When there is no possibility of contact, a blue light emitting diode may be turned on, and when a caution is required, a yellow light emitting diode may be turned on. Here, the display for turning on the red light emitting diode is called a danger display, and the display for turning on the yellow light emitting diode is called a caution display. Further, as the alarm sound by the buzzer 5, the frequency when there is a possibility of contact is 4 kHz, the frequency when there is no possibility of contact is 1 kHz, and the frequency when calling attention is 2.5 kHz which is the middle of the above two frequencies. The frequency may be set to increase as the risk of contact increases. Here, the 4 kHz alarm is called a danger alarm, and
The kHz alert is called a caution alert. Another configuration is the first embodiment.
Since this is substantially the same as that of FIG.

Hereinafter, the operation of the contact prediction unit 15 will be described with reference to FIG.
This will be described with reference to FIG.

The vehicle 1 or an obstacle moves and the obstacle moves to the detection area of the ultrasonic sensor 4 (50 c in the horizontal direction).
m, the position of the obstacle (distance and angle from the ultrasonic sensor 4 to the obstacle) is detected by the position detection unit 12 and input to the contact prediction unit 1 (S4).
1). Then, the contact prediction unit 15 first determines whether or not there is a possibility of contact between the vehicle 1 and the obstacle by the first determination unit (static determination unit) (S42). The danger warning is notified by the display of the display 6 and the sound of the buzzer 5 that there is a possibility (S43), and S41.
Return to On the other hand, when the first determining unit determines that there is no possibility of contact, the display unit 44 starts warning display and the buzzer 5 starts warning warning (S4).
4) It is determined whether or not the position information stored in the storage unit 13 has changed by a predetermined amount (for example, a distance of 10 cm or an angle of 10 °) or more (S45). Returns to S41. If there is a change equal to or more than the predetermined amount, the second judging means (dynamic judging means) judges whether or not there is a possibility of contact (S46). The danger display is performed, and the danger warning is notified to the buzzer 5 (S47).
Return to 41. On the other hand, when the second determining means determines that there is no possibility of contact, the third determining means (short distance determining means) determines that the current distance between the vehicle 1 and the obstacle is 20 or less.
cm or less to determine the possibility of contact (S4
8) If there is a possibility of contact, the display 6 indicates that there is a possibility of contact, and a buzzer notifies an alarm (S49), and the process returns to S41. On the other hand, when it is determined by the third determination means that there is no possibility of contact, the display unit 6 displays a message indicating that there is no possibility of contact and notifies an alarm indicating that there is no possibility of contact (S50). Return.

As can be seen from the above description of the operation, S44
The warning display and the warning are continued until the possibility of contact is determined.

In the vehicle obstacle detection device of the present embodiment, when the first determining means determines that there is a possibility of contact, the first determining means determines that there is no possibility of contact, and then the second determining means determines that there is no possibility of contact. When the possibility of contact is judged by the judging means, different information is given in each of three stages when the first judging means judges that there is no possibility of contact and then the second judging means judges that there is no possibility of contact. So vehicle 1
It is possible to notify an appropriate warning to the driver and alert the driver.

(Embodiment 4) The basic configuration of an obstacle detecting device for a vehicle according to the present embodiment is substantially the same as that of Embodiment 1, and a vehicle speed sensor 7 for detecting the speed of the vehicle 1 is provided as shown in FIG. The difference is that the provision of the second determination means of the contact prediction unit 15 starts detecting the movement of the vehicle based on a change in the vehicle speed signal, and the configuration of the control unit 10 is different. As illustrated in FIG. 17, the control unit 10 according to the present embodiment includes a signal transmission / reception unit 11 that transmits / receives a signal to / from the ultrasonic sensor 4 and a position that calculates a position of an obstacle based on a signal received by the signal transmission / reception unit 11. Traveling trajectory prediction unit 1 that predicts the traveling trajectory of vehicle 1 based on detection unit 12 and the output of shift position sensor 4 and the output of steering angle sensor 3
4, a contact prediction unit 15 for predicting a contact of the vehicle 1 with an obstacle using an output of the position detection unit 12 and an output of the traveling trajectory prediction unit 14, and a buzzer 5 based on the output of the contact prediction unit 15. And a display drive unit 17 that drives the display 6 based on the output of the contact prediction unit 15. Note that the same components as those in the first embodiment are denoted by the same reference numerals, and detailed description thereof will be omitted. Further, the position detection unit 12 in the present embodiment is provided with a storage unit (not shown) for storing position information.

Hereinafter, the operation of the contact prediction unit 15 will be described with reference to FIG.
This will be described with reference to FIG.

When the vehicle 1 or an obstacle moves, the obstacle moves to the detection area of the ultrasonic sensor 4 (50 c in the horizontal direction).
m, the position of the obstacle (distance and angle from the ultrasonic sensor 4 to the obstacle) is detected by the position detection unit 12 and input to the contact prediction unit 1 (S5).
1). Then, the contact prediction unit 15 first determines whether or not there is a possibility of contact between the vehicle 1 and the obstacle by the first determination unit (static determination unit) (S52). The possibility is indicated by the display of the display 6 and the sound of the buzzer 5 (S53), and the process returns to S51. On the other hand, if the first determining means determines that there is no possibility of contact, it is determined whether there is a change in the detection speed of the vehicle speed sensor 7 input through the vehicle speed input unit 18 (S5).
4) If there is no change, the fact that there is no possibility of contact is notified by the display on the display 6 and the sound of the buzzer 5 (S5).
5) Return to S51. If there is a change in the vehicle speed, the second determining means (dynamic determining means) determines whether there is a possibility of contact (S56), and if there is a possibility of contact, a display indicates that there is a possibility of contact. 6 and the buzzer 5 sounds (S57), and returns to S51. On the other hand, the second
When it is determined that there is no possibility of contact by the determining means, the third determining means (short distance determining means) determines whether the current distance between the vehicle 1 and the obstacle is 20 cm or less. It is determined whether or not there is a possibility of contact (S58). If there is a possibility of contact, the presence of the possibility of contact is notified by displaying on the display 6 and sounding of the buzzer 5 (S59), and the process returns to S51.
On the other hand, when it is determined by the third determining means that there is no possibility of contact, the fact that there is no possibility of contact is notified by displaying the display 6 and sounding the buzzer 5 (S60), and S51.
Return to

In the vehicle obstacle detecting device according to the present embodiment, when the speed detected by the vehicle speed sensor 7 as the vehicle speed detecting means changes, the presence or absence of a contact possibility is determined from the past position information and the vehicle speed. It is not necessary to store all the detection results of the position detection unit 12, so that the capacity of the storage unit can be reduced and the cost can be reduced. (Embodiment 5) Vehicle obstacle detection according to the present embodiment The basic configuration of the device is substantially the same as that of the fourth embodiment, and the possibility of contact between the vehicle 1 and the obstacle based on the speed of the vehicle 1 and the approach speed of the obstacle using the speed input from the vehicle speed sensor 7. It is characterized in that it is determined whether or not there is any. The illustration and description of the same components as those in the fourth embodiment are omitted. In addition, the ultrasonic sensor 4 used in the present embodiment only needs to be able to detect a distance, and need not be able to detect an angle. Therefore, an inexpensive ultrasonic sensor 4 can be used.

When the speed of the vehicle 1 is constant, the relationship between the distance to the obstacle and the time is as shown in FIG. 21, and when the obstacle and the vehicle are separated at a constant speed ( For example, the relationship of FIG. 19) becomes a in FIG.
When an obstacle and a vehicle approach at a constant speed (for example,
Since the relationship shown in FIG. 20 and FIG. 22 becomes B in the figure, if the approach speed of the obstacle is faster than the vehicle speed, it is determined that there is a possibility of contact. The relationship when the approaching speed is higher than the vehicle speed is as shown in FIG. If the approach speed of the obstacle is lower than the vehicle speed, it is determined that there is no possibility of contact. The relationship when the approach speed is slower than the vehicle speed is as shown in FIG.

However, the vehicle obstacle detecting device of the present embodiment does not need to detect both the distance and the angle from the vehicle 1 to the obstacle as in the related art, and only needs to detect the distance. In addition, the configuration of the ultrasonic sensor 4 can be simplified as compared with the related art, and the cost can be reduced.

When there is no vehicle speed input, the approach speed of an obstacle is calculated using the internal clock of the contact prediction unit 15, and if the approach speed is higher than a predetermined speed, it is determined that there is a possibility of contact. Good.

(Embodiment 6) The basic configuration of an obstacle detecting device for a vehicle according to the present embodiment is substantially the same as that of Embodiment 1, and the judgment criteria for judging the possibility of contact by the first judging means are different. . Note that the same components as those in the first embodiment are denoted by the same reference numerals, and description thereof will be omitted.

In the present embodiment, a criterion for judging the possibility of contact by the first judging means will be described with reference to FIGS. 23 and 24.

In the present embodiment, the first judging means of the contact prediction unit 15 determines whether the ultrasonic sensor 4 and the obstacle detection position pass through the obstacle detection position based on the position information from the position detection unit 12. A flat plate (virtual obstacle) B 'of infinity in a direction perpendicular to a straight line connecting the virtual obstacles, and a virtual obstacle setting means (not shown)
The virtual obstacle B ′ and the predicted traveling trajectory in the predicted traveling direction of the vehicle 1 are compared by comparing the positional relationship between the predicted traveling trajectory C predicted by the traveling trajectory prediction unit 14 and the virtual obstacle B ′. If there is a contact point with C (the virtual obstacle B 'and the predicted traveling trajectory C intersect), it is determined that there is a possibility of contact, and no contact exists (the virtual obstacle B' and the predicted traveling trajectory C). Do not intersect), it is determined that there is no possibility of contact.

In the vehicle obstacle detecting device of the present embodiment, the virtual obstacle setting means for obtaining a straight line that is orthogonal to the straight line connecting the detected position of the obstacle and the ultrasonic sensor 4 and that passes through the obstacle B is provided. The presence / absence of the intersection between the traveling trajectory C predicted by the traveling trajectory prediction unit 14 and the straight line B ′ determined by the virtual obstacle setting means determines whether or not there is a possibility of contact between the vehicle 1 and the obstacle B. Therefore, even if the obstacle B is a large obstacle such as a wall, it is possible to accurately determine whether or not the obstacle B can come into contact, thereby improving reliability.

[0069]

According to the first aspect of the present invention, there is provided a traveling trajectory predicting means for predicting a traveling trajectory of a vehicle, an obstacle position detecting means mounted on the vehicle and detecting a relative position of the obstacle with respect to the vehicle,
A contact judging means for judging the possibility of contact between the obstacle and the vehicle by using at least one of the output of the traveling trajectory estimating means and the output of the obstacle position detecting means; Notification means for notifying the driver of the vehicle, wherein the contact determination means uses the detection result at the present time by the obstacle position detection means and the traveling trajectory of the vehicle predicted by the traveling trajectory prediction means. And a second judging means for judging the possibility of the above-mentioned contact using the past detection result by the obstacle position detecting means. This has the effect of increasing the reliability of the determination of the possibility. That is, by using the first determining means, it is possible to quickly determine whether or not there is a possibility of contact between the vehicle and the obstacle. Regardless, it is possible to prevent the determination that there is no possibility of contact, so that the determination of the possibility of contact can be speeded up as necessary and the accuracy of the determination result of the possibility of contact can be increased. This makes it possible to increase safety reliability.

According to a second aspect of the present invention, in the first aspect of the invention, the contact judging means gives priority to the first judging means over the second judging means, and determines that there is no possibility of contact by the first judging means. After the determination, the presence / absence of the possibility of contact is determined by the second determination means. Therefore, the presence / absence of the possibility of contact is first determined by the first determination means to determine the presence / absence of the possibility of contact at a high speed. If the first determining means determines that there is no possibility of contact, the second determining means determines whether or not there is possibility of contact. Therefore, there is no possibility of contact despite the possibility of contact. There is an effect that it can be prevented that it is judged.

According to a third aspect of the present invention, in the first aspect of the invention, the obstacle position detecting means includes a normal detection area having a relatively small distance from the vehicle and a preliminary detection having a larger distance from the vehicle than the normal detection area. The second determination is to determine the presence or absence of the possibility of contact using the detection result in the preliminary detection area by the obstacle position detection means, and the first determination means is to detect the obstacle position. Since the presence or absence of the possibility of contact is determined by using the detection result in the normal detection area by the means, the determination of the possibility of contact can be accelerated as necessary and the determination of the possibility of contact can be made. This has the effect of increasing the accuracy of safety and improving safety reliability.

According to a fourth aspect of the present invention, in the second or third aspect of the invention, the contact judging means makes contact based on the current distance between the vehicle and the obstacle detected by the obstacle position detecting means. Since the third determining means for determining whether there is a possibility is provided, there is an effect that it is possible to accurately determine whether there is a possibility of contact with an obstacle located at a short distance and a short distance from the vehicle.

According to a fifth aspect of the present invention, in the second aspect of the present invention, the contact judging means notifies the driver of the vehicle of an alarm until the second judging means judges that there is no possibility of contact. Therefore, there is an effect that the driver can be alerted until the contact determining means determines that there is no possibility of contact.

According to a sixth aspect of the present invention, in the second or fifth aspect of the present invention, when the contact determining means determines that there is a possibility of contact by the first determining means, the first determining means enables the contact. When the possibility of contact is judged by the second judging means after judging that there is no sex, and when it is judged that there is no possibility of contact by the second judging means after judging that there is no possibility of contact by the first judging means. Since different alarms are notified by the notification means in each of the three stages, there is an effect that an appropriate alarm can be notified to the driver of the vehicle.

According to a seventh aspect of the present invention, there is provided an obstacle position detecting means mounted on a vehicle for detecting a relative position of the obstacle with respect to the vehicle, a storage means for storing past detection results by the obstacle position detecting means, Vehicle speed detecting means for detecting a speed;
A contact judging means for judging the possibility of contact between the vehicle and an obstacle using a past detection result stored in the storage means when the speed detected by the vehicle speed detecting means changes, and a judgment result of the contact judging means And a notifying means for notifying the driver of the vehicle of the above, the detection result by the obstacle position detecting means stored in the storing means can be reduced, and the capacity of the storing means can be reduced. Therefore, there is an effect that the cost can be reduced.

According to the present invention, there is provided an obstacle position detecting means mounted on a vehicle for detecting a relative position of the obstacle with respect to the vehicle, a storing means for storing a past detection result by the obstacle position detecting means, and a storing means. Contact determining means for determining whether there is a possibility of contact between the obstacle and the vehicle based on the previous detection result and the current detection result stored in the vehicle, and informing the driver of the vehicle of the determination result of the contact determining means And a notifying unit that performs the detection. The detection result of the obstacle position detecting unit stored in the storage unit can be reduced, and the capacity of the storage unit can be reduced, so that the cost can be reduced. There is an effect that can be.

According to a ninth aspect of the present invention, in the eighth aspect of the present invention, the presence or absence of the possibility of contact is determined when the current detection result by the obstacle position detecting means has changed at least a predetermined distance from the immediately preceding detection result. Therefore, for example, there is an effect that it is possible to eliminate unnecessary determination of the possibility of contact in a state where both the vehicle and the obstacle are stopped.

According to a tenth aspect of the present invention, in the invention of the eighth aspect, the possibility of contact when the current detection result by the obstacle position detecting means has changed by at least a predetermined distance or a predetermined angle from the immediately preceding detection result. Since the presence / absence determination is made, there is an effect that it is possible to eliminate unnecessary determination of the possibility of contact in a state where both the vehicle and the obstacle are stopped, for example.

The invention according to claim 11 is an obstacle detection position detecting means mounted on a vehicle and detecting a distance between the vehicle and an obstacle,
Storage means for storing a result of the past detection by the obstacle position detection means, approach speed calculation means for calculating the approach speed of the obstacle to the vehicle, and past distance information and approach speed calculation means stored in the storage means A contact judging unit for judging the possibility of contact between the obstacle and the vehicle by using the calculated approach speed; and a notifying unit for notifying the driver of the vehicle of the judgment result of the contact judging unit. Since it is not necessary to detect both the distance and the angle from the vehicle to the obstacle as in the related art, it is sufficient to detect only the distance, so that the configuration of the obstacle position detecting means is simpler than in the past. Therefore, there is an effect that cost can be reduced.

According to a fourteenth aspect of the present invention, there is provided a traveling trajectory predicting means for predicting a traveling trajectory of a vehicle, an obstacle position detecting means mounted on the vehicle and detecting a relative position of the obstacle with respect to the vehicle,
Virtual obstacle setting means for obtaining a straight line passing through the obstacle and orthogonal to a straight line connecting the detection position of the obstacle position detection means and the representative position of the obstacle position detection means, and a traveling trajectory predicted by the traveling trajectory prediction means A contact judging means for judging the possibility of contact between the vehicle and the obstacle based on the presence or absence of an intersection with a straight line obtained by the virtual obstacle setting means, and notifying the driver of the vehicle of the judgment result of the contact judging means. Notification means, and even if the obstacle is a large obstacle such as a wall, the presence / absence of the possibility of contact with the obstacle can be accurately determined, and the reliability can be improved. This has the effect.

[Brief description of the drawings]

FIG. 1 is a schematic configuration diagram showing a first embodiment.

FIG. 2 is a schematic configuration diagram of the above.

FIG. 3 is an explanatory diagram of an operation of a main part of the above.

FIG. 4 is an explanatory diagram of an operation of a main part of the above.

FIG. 5 is an explanatory diagram of an operation of a main part of the above.

FIG. 6 is an explanatory diagram of an operation of a main part of the above.

FIG. 7 is an explanatory diagram of an operation of a main part of the above.

FIG. 8 is an explanatory diagram of an operation of a main part of the above.

FIG. 9 is an explanatory diagram of an operation of a main part of the above.

FIG. 10 is an explanatory diagram of an operation of a main part of the above.

FIG. 11 is an explanatory diagram of an operation of a main part of the above.

FIG. 12 is an explanatory diagram of an operation of a main part of the above.

FIG. 13 is an explanatory diagram of the operation of the above.

FIG. 14 is an operation explanatory diagram of the second embodiment.

FIG. 15 is an explanatory diagram of an operation of a main part of the above.

FIG. 16 is an operation explanatory diagram of the third embodiment.

FIG. 17 is a block diagram showing a fourth embodiment.

FIG. 18 is an operation explanatory diagram of the fourth embodiment.

FIG. 19 is an operation explanatory diagram of the fifth embodiment.

FIG. 20 is a diagram illustrating another operation of the above.

FIG. 21 is another operation explanatory view of the above.

FIG. 22 is an actual measurement data diagram of the above.

FIG. 23 is an operation explanatory diagram of the sixth embodiment.

FIG. 24 is another operation explanatory view of the above.

FIG. 25 is an operation explanatory diagram of a conventional example.

FIG. 26 is an operation explanatory view of another conventional example.

[Explanation of symbols]

 2 shift position sensor 3 steering angle sensor 4FR ultrasonic sensor 4FL ultrasonic sensor 4RR ultrasonic sensor 4RL ultrasonic sensor 5 buzzer 6 display 10 control unit 11 signal transmission / reception unit 12 position detection unit 13 storage unit 14 travel trajectory prediction unit 15 contact Prediction unit 16 Buzzer drive unit 17 Display drive unit

 ──────────────────────────────────────────────────続 き Continuing on the front page (72) Inventor Hajime Sasaki 1048 Odakadoma, Kadoma-shi, Osaka F-term in Matsushita Electric Works, Ltd. AD01 AD04 AE10 AF09 BA01 CA01

Claims (14)

[Claims] 1. A traveling trajectory prediction means for predicting a traveling trajectory of a vehicle, an obstacle position detecting means mounted on the vehicle and detecting a relative position of an obstacle with respect to the vehicle, an output of the traveling trajectory prediction means and an obstacle position detection Contact determining means for determining the possibility of contact between the obstacle and the vehicle using at least one of the outputs of the means, and notifying means for notifying the driver of the vehicle of the determination result by the contact determining means. A first judging means for judging the contact possibility by using a current detection result by the obstacle position detecting means and a traveling locus of the vehicle predicted by the traveling locus estimating means;
An obstacle detecting device for a vehicle, comprising: a second determining unit configured to determine the possibility of contact using a past detection result obtained by the obstacle position detecting unit. 2. The contact judging means gives priority to the first judging means over the second judging means. After the first judging means judges that there is no possibility of contact, the second judging means makes contact. The obstacle detecting device for a vehicle according to claim 1, wherein presence or absence of possibility is determined. 3. The obstacle position detecting means has a normal detection area at a relatively small distance from the vehicle and a preliminary detection area at a greater distance from the vehicle than the normal detection area,
In the second determination, the presence or absence of the contact possibility is determined using the detection result in the preliminary detection area by the obstacle position detection means, and the first determination means is determined in the normal detection area by the obstacle position detection means. The obstacle detection device for a vehicle according to claim 1, wherein the presence or absence of the possibility of contact is determined using the detection result of (1). 4. The contact judging means has a third judging means for judging the possibility of contact based on the current distance between the vehicle and the obstacle detected by the obstacle position detecting means. The obstacle detecting device for a vehicle according to claim 2 or 3, wherein: 5. The warning device according to claim 2, wherein the contact judging means causes the notifying means to notify the driver of the vehicle of an alarm until the second judging means judges that there is no possibility of contact. Obstacle detection device for vehicles. 6. The contact judging means, when judging that there is a possibility of contact by the first judging means, judges that there is no possibility of contact by the first judging means and then judges the possibility of contact by the second judging means. When the judgment is made, the first judgment means judges that there is no contact possibility, and then the second judgment means judges that there is no contact possibility. The vehicle obstacle detecting device according to claim 2 or 5, wherein 7. An obstacle position detecting means mounted on the vehicle for detecting a relative position of the obstacle with respect to the vehicle, a storing means for storing past detection results by the obstacle position detecting means, and a vehicle speed for detecting a speed of the vehicle Detecting means; contact determining means for determining whether there is a possibility of contact between the vehicle and an obstacle by using a past detection result stored in the storage means when the speed detected by the vehicle speed detecting means changes; An informing means for informing the driver of the vehicle of the determination result of the means. 8. An obstacle position detecting means mounted on the vehicle for detecting a relative position of the obstacle with respect to the vehicle, a storage means for storing a past detection result by the obstacle position detecting means, and a previous time stored in the storage means. Contact determining means for determining whether there is a possibility of contact between the obstacle and the vehicle based on the detection result and the current detection result, and a notifying means for notifying the driver of the vehicle of the determination result of the contact determining means. An obstacle detection device for a vehicle, comprising: 9. The vehicle according to claim 8, wherein the presence / absence of contact is determined when the current detection result by the obstacle position detection means has changed at least a predetermined distance from the immediately preceding detection result. Obstacle detection device. 10. The system according to claim 8, wherein the presence / absence of the possibility of contact is determined when the result of the current detection by the obstacle position detecting means changes at least a predetermined distance or a predetermined angle from the immediately preceding detection result. An obstacle detection device for a vehicle according to the above. 11. An obstacle detection position detection means mounted on a vehicle for detecting a distance between the vehicle and an obstacle, a storage means for storing past detection results by the obstacle position detection means, Using the approach speed calculating means for calculating the approach speed and the past distance information stored in the storage means and the approach speed calculated by the approach speed calculating means, determine whether there is a possibility of contact between the obstacle and the vehicle. An obstacle detecting device for a vehicle, comprising: a contact determining unit; and a notifying unit that notifies a driver of the vehicle of a determination result of the contact determining unit. 12. The vehicle according to claim 11, further comprising vehicle speed detecting means for detecting a speed of the vehicle, wherein said approach speed calculating means calculates the approach speed using the speed detected by the vehicle speed detecting means. Obstacle detection device. 13. The vehicle according to claim 11, wherein said contact determining means has an internal clock, and said approach speed detecting means calculates an approach speed using an internal clock of said contact determining means. Obstacle detection device. 14. A traveling trajectory predicting means for predicting a traveling trajectory of a vehicle, an obstacle position detecting means mounted on the vehicle for detecting a relative position of the obstacle with respect to the vehicle, a detection position of the obstacle position detecting means and an obstacle. A virtual obstacle setting means for obtaining a straight line passing through the obstacle, which is orthogonal to a straight line connecting the representative position of the position detection means, and a traveling trajectory predicted by the traveling trajectory prediction means and a straight line obtained by the virtual obstacle setting means Contact judging means for judging the possibility of contact between the vehicle and the obstacle according to the presence or absence of intersection, and notifying means for notifying the driver of the vehicle of the judgment result of the contact judging means. Obstacle detection device for vehicles.