JP2011113413A - Obstacle warning device and obstacle warning method - Google Patents

Obstacle warning device and obstacle warning method Download PDF

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JP2011113413A
JP2011113413A JP2009270698A JP2009270698A JP2011113413A JP 2011113413 A JP2011113413 A JP 2011113413A JP 2009270698 A JP2009270698 A JP 2009270698A JP 2009270698 A JP2009270698 A JP 2009270698A JP 2011113413 A JP2011113413 A JP 2011113413A
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obstacle
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weather
road
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JP5597974B2 (en
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Yuichi Sugiyama
裕一 杉山
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Fujitsu Ltd
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Abstract

<P>PROBLEM TO BE SOLVED: To provide an obstacle warning device for warning a traveling vehicle of an obstacle such as dropped object and a vehicle stopped on a road. <P>SOLUTION: The obstacle warning device is arranged to include an area on a road in a detection range, and notifies an entering vehicle of an obstacle on the road. The obstacle warning device includes: a first detection means detecting the obstacle in the area on the road beyond a predetermined position in the area in a vehicle approaching direction; a second detection means detecting an obstacle on the road in the area on the near side of the predetermined position; a weather detection means detecting weather; and an obstacle information output means outputting the detection result from the first detection means as obstacle information when the weather detection means detects that the weather is in a first condition and outputting the detection results from the first detection means and the second detection means as the obstacle information when weather in a second condition is detected. <P>COPYRIGHT: (C)2011,JPO&INPIT

Description

本発明は、道路上にある落下物や停止車両などの障害物を走行車両に通知する障害物通知装置の技術に関するものである。   The present invention relates to a technology of an obstacle notification device that notifies a traveling vehicle of obstacles such as falling objects and stopped vehicles on a road.

ＩＴ（Information Technology：情報技術）とセンサ技術を用いて、走行する車両のドライバに安全運転を支援することが知られている。これらの技術に基づいて享受できるサービスに、道路のインフラとして道路に設置されてその道路を走行する車両に対して情報提供や警報、操作支援等がある。例えば、現在研究開発が進められているＡＨＳ（Advanced Cruise-Assist Highway Systems：走行支援道路システム）のサービスの一つに前方障害物衝突防止支援が知られている（非特許文献１）。   It is known to assist a driver of a traveling vehicle with safe driving using IT (Information Technology) and sensor technology. Services that can be enjoyed based on these technologies include providing information, warnings, and operation support for vehicles that are installed on the road as road infrastructure and travel on the road. For example, forward obstacle collision prevention support is known as one of the services of AHS (Advanced Cruise-Assist Highway Systems) that is currently being researched and developed (Non-Patent Document 1).

上記の前方障害物衝突防止支援は、例えば図５に示すように道路２０がカーブしており、そのカーブの内側の山等の遮蔽物４０に隠れた道路２１上に停車車両や落下物等の障害物５０がある場合に、走行車両３０に対して前方のカーブの先の道路上に障害物５０があることを通知し、衝突事故の防止を行うものである。より詳細には、走行車両３０のドライバは鎖線の矢印で示されるように遮蔽物４０に隠れた障害物５０を視認できないため、カーブ地点の路側にカーブより先の道路２１を検知領域１１とするレーダーや赤外線カメラを備えた障害物検知装置１０を設置して、道路上の障害物５０の検知を行い、障害物検知装置１０と接続した表示装置１２に障害物情報を表示するものである。   For example, as shown in FIG. 5, the road 20 is curved, and a vehicle or a fallen object is stopped on the road 21 hidden behind a shield 40 such as a mountain inside the curve. When there is an obstacle 50, the traveling vehicle 30 is notified that there is an obstacle 50 on the road ahead of the curve, and a collision accident is prevented. More specifically, since the driver of the traveling vehicle 30 cannot visually recognize the obstacle 50 hidden behind the shield 40 as indicated by the chain line arrow, the road 21 ahead of the curve is set as the detection region 11 on the road side of the curve point. An obstacle detection device 10 equipped with a radar and an infrared camera is installed to detect an obstacle 50 on the road, and obstacle information is displayed on the display device 12 connected to the obstacle detection device 10.

また、停止車両等を検出する技術において天候による環境の変化に対応した検知方法の提案もなされている。その一つとして、レーダーと赤外線カメラからなる車両観測装置を車両に搭載し、外部から天候情報などの環境情報を入力すると入力された環境情報を基にその環境において最も車両検出率の高い車両観測装置を選択し、選択された車両観測装置で車両を検出することが知られている（例えば、特許文献１）。   In addition, in a technique for detecting a stopped vehicle or the like, a detection method corresponding to an environmental change due to weather has been proposed. As one of them, when a vehicle observation device consisting of a radar and an infrared camera is installed in the vehicle and environmental information such as weather information is input from the outside, vehicle observation with the highest vehicle detection rate in that environment is based on the input environmental information It is known to select a device and detect a vehicle with the selected vehicle observation device (for example, Patent Document 1).

富士通テン技報、ｖｏｌ．１８ Ｎｏ．１Fujitsu Ten Technical Bulletin, vol. No. 18 1

特開２０００−１１１６４４号公報JP 2000-111644 A

上記した図５に示される障害物衝突防止の方法は、ドライバが視認できない遮蔽物に隠れた道路の状況を事前に知ることで安全走行に多大な効果を奏すると考えられるが、降雨や降雪等の悪天候時の視界の悪い状況に対する考慮がなされていない、という問題がある。図６（ａ）は図５に示したカーブ地点における天候が悪い場合の例を示したものであるが、悪天候によってドライバの視界距離は短くなり、走行車両３０に近い道路２２の領域にある障害物５１を視認できない、あるいは視認が遅れる例を示している。悪天候の場合ではカーブで見えない道路の障害物情報も重要であるが走行車両に近い道路に対する障害物情報も重要である。   The obstacle collision prevention method shown in FIG. 5 is considered to have a great effect on safe driving by knowing in advance the situation of the road hidden behind the obstacle that the driver cannot visually recognize. There is a problem that no consideration is given to the situation with poor visibility during bad weather. FIG. 6A shows an example in the case where the weather at the curve point shown in FIG. 5 is bad. However, the visibility distance of the driver is shortened due to bad weather, and the obstacle in the region of the road 22 near the traveling vehicle 30 is shown. The example which cannot visually recognize the thing 51, or visual recognition is delayed is shown. In the case of bad weather, the obstacle information on the road that cannot be seen on the curve is important, but the obstacle information on the road near the traveling vehicle is also important.

さらに、表示装置１２にカーブ地点より先の道路上の障害物情報が表示されている場合、ドライバはこの表示に注意が払われ、車両に近いカーブ手前の道路上の障害物５１の認識に遅れを取ることもあり得る。このような場合はむしろ障害物通知装置１０が事故を誘発する恐れがある。   Furthermore, when the obstacle information on the road ahead of the curve point is displayed on the display device 12, the driver pays attention to this display and is delayed in recognizing the obstacle 51 on the road before the curve near the vehicle. It is possible to take In such a case, there is a possibility that the obstacle notification device 10 may induce an accident.

同様のことは、同図（ｂ）に示す坂道の場合でもあり得る。障害物検知装置１０は坂の頂より先にある道路２３上の障害物５０に対して走行車両３０に通知するが、坂の頂の手前の道路２４上の障害物５１に対しては支援対象外である。   The same thing can be applied to the slope shown in FIG. The obstacle detection device 10 notifies the traveling vehicle 30 with respect to the obstacle 50 on the road 23 ahead of the top of the hill, but supports the obstacle 51 on the road 24 before the top of the hill. Outside.

本発明はこのような問題を解決するために成されたものであり、従来の見通しの利かない所定位置からの先の道路（例えばカーブより先の道路）の障害物検知に加えて、悪天候の場合にその所定位置から手前の道路（例えばカーブより手前の道路）の障害物に対しても検知を行い走行車両に通知することで、より高い安全走行を可能とする障害物通知装置及び障害物通知方法を提供することを目的とする。   The present invention has been made to solve such a problem, and in addition to the conventional obstacle detection of a road ahead (for example, a road ahead of a curve) from a predetermined position where the line of sight is not good, In this case, an obstacle notification device and an obstacle that enable higher safe driving by detecting an obstacle on a road ahead (for example, a road before a curve) from the predetermined position and notifying the traveling vehicle. The purpose is to provide a notification method.

上記の課題を解決するために本発明の障害物通知装置は、道路上の領域を検知範囲に含むように配置され、その道路上の領域に進入する車両に道路上の障害物を通知する障害物通知装置であり、第１検知手段、第２検知手段、天候検知手段および障害物情報出力手段とで構成する。   In order to solve the above-mentioned problem, the obstacle notification device of the present invention is arranged so as to include an area on the road in the detection range, and an obstacle for notifying a vehicle entering the area on the road of the obstacle on the road This is an object notification device, and is composed of first detection means, second detection means, weather detection means, and obstacle information output means.

第１検知手段は、車両の進入方向にあって、領域内の所定の位置を越える道路上の領域の障害物を検知し、第２検知手段は車両の進入方向にあって所定の位置の手前の道路上の領域の障害物を検知するものである。天候検知手段は、天候の状態を検知する。そして、障害物情報出力手段は、天候検知手段が天候を第１の状態と検知した場合に第１検知手段からの検知結果を障害物情報として出力し、天候を第２の状態と検知した場合に第１検知手段と第２検知手段とからの検知結果を障害物情報として出力するものである。   The first detection means detects an obstacle in the area on the road that is in the vehicle entry direction and exceeds a predetermined position in the area, and the second detection means is in the vehicle entry direction and in front of the predetermined position. It detects obstacles in the area on the road. The weather detection means detects the weather condition. The obstacle information output means outputs the detection result from the first detection means as obstacle information when the weather detection means detects the weather as the first state, and detects the weather as the second state. In addition, the detection results from the first detection means and the second detection means are output as obstacle information.

天候の良否を検知して、悪天候の場合には従来の所定の位置を超えた道路の障害物情報に加えて所定位置の手前の道路に対する障害物情報を通知するようにしたので、悪天候時の視界の利かない状況においても走行車両はより高い安全走行が可能となる。   In the case of bad weather, in addition to the obstacle information on the road ahead of the predetermined position in the case of bad weather, the obstacle information for the road in front of the predetermined position is notified. Even in a situation where visibility is not good, the traveling vehicle can travel more safely.

本発明の障害物通知装置の構成例（第１の実施例）である。It is a structural example (1st Example) of the obstruction notification apparatus of this invention. 本発明の障害物の検知例（第1の実施例）である。It is an example (1st Example) of the detection of the obstruction of this invention. 本発明の障害物通知装置の動作フロー例（第１の実施例）である。It is an operation | movement flow example (1st Example) of the obstruction notification apparatus of this invention. 本発明の障害物通知装置の構成例（第２の実施例）である。It is a structural example (2nd Example) of the obstruction notification apparatus of this invention. 従来の障害物の検知例（その１）である。It is the example 1 of the conventional obstacle detection. 従来の障害物の検知例（その２）である。It is the example 2 of the conventional obstacle detection.

本発明の障害物通知装置を図１〜図４を用いて説明する。
（第１の実施例）
まず、本発明の検査装置の構成例を図１を用いて説明する。障害物通知装置１００は、入出力制御部や天候検知等の処理部に対し制御を行う制御部１１０、天候検知用や障害物検知用のレーダーに対し制御情報や検知データの入出力制御を行う入出力制御部１２０、走行車両のドライバに障害物情報を表示する表示装置１６０、天候検知用のレーダーからの検知データを解析し天候の良否を検知する天候検知部１７０、障害物検知用のレーダーからの検知データを解析して障害物の有無を検知する障害物検知部１８０および表示装置１６０に障害物情報を送る通知部１９０とから構成する。 The obstacle notification device of the present invention will be described with reference to FIGS.
(First embodiment)
First, a configuration example of the inspection apparatus of the present invention will be described with reference to FIG. The obstacle notification device 100 performs input / output control of control information and detection data to a control unit 110 that controls an input / output control unit and a processing unit such as weather detection, and a radar for weather detection and obstacle detection. Input / output control unit 120, display device 160 that displays obstacle information to a driver of a traveling vehicle, weather detection unit 170 that analyzes detection data from a weather detection radar and detects whether the weather is good, or radar for obstacle detection It comprises an obstacle detection unit 180 that analyzes the detection data from and detects the presence or absence of an obstacle, and a notification unit 190 that sends obstacle information to the display device 160.

次にこれらの構成要素について、より詳細に説明する。   Next, these components will be described in more detail.

レーダー送受信部１３１は送受信アンテナ１３２と接続して天候検知レーダー１３０を構成し、上方の空間に向けられて電波を発射し降雨や降雪等からの反射波を受信する。レーダー送受信部１４１は送受信アンテナ１４２と接続して障害物検知レーダーＡ１４０を構成し、走行する車両の見通しの利かない道路の領域（例えば、カーブの先の道路）を検知領域として障害物の検知を行う。レーダー送受信部１５１は送受信アンテナ１５２と接続して障害物検知レーダーＢ１５０を構成し、前述の走行する車両の見通しの利かない道路の領域の手前（例えば、カーブの手前の道路）を検知領域として障害物の検知を行う。天候検知レーダー１３０と障害物検知レーダーＡ１４０は常時作動しているが、障害物検知レーダーＢ１５０は天候検知部１７０の天候不良との検知結果に基づいて電源を投入し作動する。   The radar transmission / reception unit 131 is connected to the transmission / reception antenna 132 to constitute the weather detection radar 130, emits a radio wave directed toward the upper space, and receives a reflected wave from rain or snowfall. The radar transmission / reception unit 141 is connected to the transmission / reception antenna 142 to form an obstacle detection radar A140, and detects an obstacle using a road area (for example, a road ahead of a curve) where the traveling vehicle cannot be seen as a detection area. Do. The radar transmission / reception unit 151 is connected to the transmission / reception antenna 152 to form an obstacle detection radar B150. The radar transmission / reception unit 151 is configured to detect an obstacle in front of a road area where the above-mentioned traveling vehicle is not visible (for example, a road before a curve). Detect objects. The weather detection radar 130 and the obstacle detection radar A140 are always operating, but the obstacle detection radar B150 is operated by turning on the power based on the detection result of the weather detection unit 170 as bad weather.

レーダー送受信部１３１〜１５１は、それぞれ図示しない送信部と受信部からなり、送信部はミリ波の発生や増幅、送信を行い、受信部は反射波の受信、増幅等を行う。   Each of the radar transmission / reception units 131 to 151 includes a transmission unit and a reception unit (not shown). The transmission unit generates, amplifies and transmits millimeter waves, and the reception unit receives and amplifies reflected waves.

天候検知部１７０は、天候検知レーダー１３０からのデータに基づいてクラッタ量を求め、求めたクラッタ量が予め決められた基準値を越えるかどうかで、天候良か天候不良かを判定する。クラッタ量は、上空に電波を発射し、その反射波の平均の強度値（レベル値）とする。基準値は、降雨や降雪、霧、煙、砂塵など各種の気象条件でクラッタ量を計測し、その時の視界距離との関係から定められる。   The weather detection unit 170 obtains a clutter amount based on the data from the weather detection radar 130, and determines whether the weather is good or bad depending on whether the obtained clutter amount exceeds a predetermined reference value. The clutter amount is an average intensity value (level value) of the reflected wave emitted from the radio wave. The reference value is determined from the relationship with the viewing distance at the time when the amount of clutter is measured under various weather conditions such as rainfall, snowfall, fog, smoke, and dust.

障害物検知部１８０は、障害物検知レーダーＡ１４０および障害物検知レーダーＢ１５０からの検知データを解析し、検知領域に障害物があるかないか、障害物があるとすれば障害物通知装置１００からの距離を求める。この障害物の検知の方法は、従来から行われている公知技術を用いる。   The obstacle detection unit 180 analyzes the detection data from the obstacle detection radar A140 and the obstacle detection radar B150, and if there is an obstacle in the detection area, or if there is an obstacle, the obstacle notification device 100 Find the distance. This obstacle detection method uses a conventionally known technique.

通知部１９０は、障害物検知部１８０の検知結果に基づいて障害物情報を作成し、表示装置１６０にその障害物情報を送信する。障害物が検知された場合は、例えば「○○ｍ先に落下物。注意！」と言った障害物情報を表示する。この場合の○○ｍは、走行車両のドライバの立場に立って表示装置１６０の設置位置から障害物の位置までの距離である。従って、通知部１９０は障害物検知レーダーＡ１４０または障害物検知レーダーＢ１５０からの検知データの解析により求めた障害物通知装置１００から障害物までの位置を基に表示装置１６０から障害物までの距離を求めた数値になる。   The notification unit 190 creates obstacle information based on the detection result of the obstacle detection unit 180 and transmits the obstacle information to the display device 160. When an obstacle is detected, for example, the obstacle information such as “falling object ahead of OOm. Attention!” Is displayed. In this case, OOm is the distance from the installation position of the display device 160 to the position of the obstacle from the standpoint of the driver of the traveling vehicle. Therefore, the notification unit 190 determines the distance from the display device 160 to the obstacle based on the position from the obstacle notification device 100 to the obstacle obtained by analyzing the detection data from the obstacle detection radar A140 or the obstacle detection radar B150. The calculated value.

表示装置１６０は、障害物通知装置１００の設置位置から走行車両が向かって来る方向に対して所定の距離（例えば３００ｍ）離れた位置の路側に設置される。表示装置１６０と障害物通知装置１００との接続はここではケーブルを用いて接続している。   The display device 160 is installed on the road side at a position away from the installation position of the obstacle notification device 100 by a predetermined distance (for example, 300 m) with respect to the direction in which the traveling vehicle comes. Here, the display device 160 and the obstacle notification device 100 are connected using a cable.

次に、上記の障害物通知装置１００による天候不良時の障害物検知例を説明する。図２（ａ）は、カーブする道路のカーブ地点の路側に図１で説明した障害物通知装置１００を設置した例を示し、図６（ａ）に合わせて描いている（図６（ａ）と同一の構成要素には同じ符号を付けている）。障害物通知装置１００の天候検知レーダー１３０の送受信アンテナ１３２による検知領域１３３は上方の空間であり、障害物検知レーダーＡ１４０の送受信アンテナ１４２による検知領域１４３は走行車両の走行方向にあるカーブ地点を超えた道路２１（走行車両３０のドライバが遮蔽物４０により遮蔽される道路）の領域であり、障害物検知レーダーＢ１５０の送受信アンテナ１５２による検知領域１５３はカーブの手前の道路２２の領域である。   Next, an example of obstacle detection at the time of bad weather by the obstacle notification device 100 will be described. FIG. 2A shows an example in which the obstacle notification device 100 described in FIG. 1 is installed on the road side of a curve point of a curved road, and is drawn in accordance with FIG. 6A (FIG. 6A). The same components are denoted by the same reference numerals). The detection area 133 by the transmission / reception antenna 132 of the weather detection radar 130 of the obstacle notification device 100 is an upper space, and the detection area 143 of the obstacle detection radar A140 by the transmission / reception antenna 142 exceeds a curve point in the traveling direction of the traveling vehicle. The detection area 153 by the transmission / reception antenna 152 of the obstacle detection radar B150 is an area of the road 22 before the curve.

道路２１と道路２２にはそれぞれ障害物５０と障害物５１とがあり、走行車両３０のドライバは遮蔽物４０によって障害物５０は視認不可能である。また、障害物５１は天候不良のため視認し難い状態にある。上記の状態において、障害物検知レーダーＡ１４０は道路２１の検知領域１４３に対し障害物の検知を行っており、天候検知レーダー１３０は上空の検知領域１３３に対し降雨や降雪等の検知を行っている。   The road 21 and the road 22 have an obstacle 50 and an obstacle 51, respectively. The driver of the traveling vehicle 30 cannot visually recognize the obstacle 50 by the shield 40. Further, the obstacle 51 is in a state that is difficult to view due to bad weather. In the above state, the obstacle detection radar A 140 detects an obstacle in the detection area 143 of the road 21, and the weather detection radar 130 detects rain, snow, etc. in the detection area 133 in the sky. .

障害物通知装置１００の天候検知部１７０が天候検知レーダー１３０からの検知データを基に天候不良と判定したとき、制御部１１０は入出力制御部１２０を介して障害物検知レーダーＢ１５０に制御情報を送って障害物検知レーダーＢ１５０の電源投入を行う。この後、障害物検知レーダーＢ１５０は道路２２の検知領域１５３の障害物の検知を行う。   When the weather detection unit 170 of the obstacle notification device 100 determines that the weather is bad based on the detection data from the weather detection radar 130, the control unit 110 sends control information to the obstacle detection radar B 150 via the input / output control unit 120. Send the power to the obstacle detection radar B150. Thereafter, the obstacle detection radar B150 detects an obstacle in the detection region 153 of the road 22.

障害物検知部１８０が障害物検知レーダーＡ１４０および障害物検知レーダーＢ１５０からの検知データを解析して障害物５０と障害物５１とを検知すると、通知部１９０はそれに対応した障害物情報を作成して表示装置１６０に送信する。表示装置１６０には例えば「○○ｍ先と、××ｍ先に障害物。注意！」と言った障害物情報を表示する。   When the obstacle detection unit 180 detects the obstacle 50 and the obstacle 51 by analyzing the detection data from the obstacle detection radar A140 and the obstacle detection radar B150, the notification unit 190 creates obstacle information corresponding to the obstacles. To the display device 160. For example, the display device 160 displays obstacle information such as “Om ahead and xx m ahead. Obstacle!”.

図２（ｂ）は、坂の頂に障害物通知装置１００を設置した例を示したものである。これも、従来の技術として説明した図６（ｂ）に合わせて描いている。障害物検知レーダーＡ１４０が走行車両３０の走行方向に対し坂の頂を超えた道路を検知領域１４３として障害物５０を検知し、障害物検知レーダーＢ１５０が坂の頂の手前の道路を検知領域１５３として障害物５１を検知する。障害物検知後は同図（ａ）と同様に表示装置１６０に障害物情報を表示する。   FIG. 2B shows an example in which the obstacle notification device 100 is installed on the top of a slope. This is also drawn in accordance with FIG. 6 (b) described as the prior art. The obstacle detection radar A140 detects the obstacle 50 as a detection area 143 in the road that exceeds the top of the slope with respect to the traveling direction of the traveling vehicle 30, and the obstacle detection radar B150 detects the road before the top of the slope in the detection area 153. The obstacle 51 is detected as follows. After the obstacle detection, the obstacle information is displayed on the display device 160 as in FIG.

図２（ａ）および（ｂ）とも、天候検知部１７０が天候を良と判定した場合は、障害物検知レーダーＢ１５０は省電力化のため電源を切断としている。   In both FIGS. 2A and 2B, when the weather detection unit 170 determines that the weather is good, the obstacle detection radar B150 is turned off to save power.

次に、障害物通知装置１００の動作フローを図３を用いて説明する。動作フローにおける障害物通知装置１００は図２（ａ）に示すカーブ地点の路側に設置されているものとする。   Next, the operation flow of the obstacle notification device 100 will be described with reference to FIG. The obstacle notification device 100 in the operation flow is assumed to be installed on the road side of the curve point shown in FIG.

まず、障害物検知レーダーＡ１４０を作動させて、走行車両から見てカーブを超えた道路の検知領域１４３に電波を発射して障害物を検知する（ステップＳ１：以降単にＳ１と記述する）。   First, the obstacle detection radar A140 is activated, and an obstacle is detected by emitting radio waves to a road detection region 143 that exceeds the curve as viewed from the traveling vehicle (hereinafter simply described as S1).

続いて、天候検知レーダー１３０を作動させて、障害物通知装置１００の上空に向けて電波を発射し、その反射波の検知データを取得してクラッタ量を求める（Ｓ２）。   Subsequently, the weather detection radar 130 is operated to emit a radio wave toward the obstacle notification device 100, and the detection data of the reflected wave is acquired to obtain the amount of clutter (S2).

求めたクラッタ量が予め定めた規定値を超えている場合は天候不良と判定し、障害物検知レーダーＢ１５０の電源投入を行う。障害物検知レーダーＢ１５０はカーブ手前の道路の検知領域１５３に電波を発射し、障害物の検知を行う。障害物検知レーダーＡ１４０と障害物検知レーダーＢ１５０からの検知データを解析して障害物の有無を調べる（Ｓ３−Ｓ５）。   When the obtained amount of clutter exceeds a predetermined value, it is determined that the weather is bad, and the obstacle detection radar B150 is turned on. The obstacle detection radar B150 emits radio waves to the road detection area 153 in front of the curve and detects the obstacle. The detection data from the obstacle detection radar A140 and the obstacle detection radar B150 are analyzed to check whether there is an obstacle (S3-S5).

障害物がある場合は障害物情報を作成し、表示装置１６０に送信する。表示装置１６０では送信されてきた障害物情報を表示する。障害物がない場合は、障害物情報の作成および表示の処理は行わず次のステップに進む（Ｓ６−Ｓ８）。   If there is an obstacle, the obstacle information is created and transmitted to the display device 160. The display device 160 displays the transmitted obstacle information. If there is no obstacle, the process proceeds to the next step without creating and displaying the obstacle information (S6-S8).

時間ｔを初期値「０」とし、「ｔ＝ｔ＋１」と時間ｔが所定時間となるまで時間のカウントアップを行い、時間ｔが所定時間となったときＳ２に戻って再び天候の検知を行う。この時間のカウントは所定時間毎（例えば数分毎）に天候の良否判定を行うようにするものである（Ｓ９−Ｓ１１）。   The time t is set to an initial value “0”, the time is counted up until “t = t + 1” and the time t reaches a predetermined time, and when the time t reaches the predetermined time, the process returns to S2 to detect the weather again. . This time count is performed to determine whether the weather is good or not every predetermined time (for example, every few minutes) (S9-S11).

Ｓ３で、クラッタ量が基準値以下であった場合は天候良と判定し、障害物検知レーダーＢ１５０の電源を切断する。続いて、障害物検知レーダーＡ１４０からの検知データを解析して障害物の有無を調べる。以降はＳ６に進み、前述と同様の処理を行う（Ｓ１２、Ｓ１３）。   In S3, when the amount of clutter is less than the reference value, it is determined that the weather is good, and the power supply of the obstacle detection radar B150 is turned off. Subsequently, the detection data from the obstacle detection radar A140 is analyzed to check whether there is an obstacle. Thereafter, the process proceeds to S6, and the same processing as described above is performed (S12, S13).

上記したフローにより、所定時間毎に天候を判定して天候不良の場合にだけ障害物検知レーダーＡ１４０と障害物検知レーダーＢ１５０とによりカーブ地点の道路の前後の検知領域１４３、１５２の障害物を検知し、障害物情報を走行車両３０に通知できる。また、天候良の場合は障害物検知レーダーＢ１５０の電源を切断して障害物検知レーダーＡ１４０単独でカーブ地点を超えた検知領域１４３の障害物を検知し、走行車両３０に通知する。このため、走行車両３０のドライバは、天候不良時にはカーブの手前の道路の障害物に対しても情報を得ることができるのでより安全な走行を行うことができる。また、カーブを超えた道路のみの障害物情報の表示に気を取られてカーブ手前の障害物に対する注意が疎かになることはなくなる。また、見通しの良い天候の時は、障害物検知レーダーＢ１５０の電源が切断されるので、不要な電力を消費することはない。また、このように天候の判定を自動的に行うようにしたため、特許文献１に示されるように天候の観測情報を人手により入力する必要がない。   According to the above flow, the obstacle is detected in the detection areas 143 and 152 before and after the road at the curve point by the obstacle detection radar A140 and the obstacle detection radar B150 only when the weather is judged every predetermined time and the weather is bad. The obstacle information can be notified to the traveling vehicle 30. When the weather is good, the obstacle detection radar B150 is turned off, and the obstacle detection radar A140 alone detects an obstacle in the detection area 143 that exceeds the curve point, and notifies the traveling vehicle 30 of the detected obstacle. For this reason, since the driver of the traveling vehicle 30 can obtain information on the obstacle on the road before the curve when the weather is bad, the driver can travel more safely. In addition, the display of the obstacle information only on the road beyond the curve is not distracted and attention to the obstacle before the curve is not distracted. Further, when the weather is clear, the obstacle detection radar B150 is powered off, so that unnecessary power is not consumed. In addition, since the weather determination is automatically performed as described above, it is not necessary to manually input weather observation information as disclosed in Patent Document 1.

本発明の障害物通知装置１００の設置場所はカーブ地点や坂道に限られるものではなく、見通しが悪い道路であればその道路の路側に障害物通知装置１００を設置することで安全走行の効果を上げることができる。   The installation location of the obstacle notification device 100 of the present invention is not limited to a curve point or a slope, but if the road has a poor view, the obstacle notification device 100 is installed on the road side of the road, thereby providing an effect of safe driving. Can be raised.

なお、図３のフローでＳ２、Ｓ３の処理が天候検知部１７０に、Ｓ５、Ｓ１３の処理が障害物検知部１８０の処理に、Ｓ７、Ｓ８の処理が通知部１９０に相当する。
（第２の実施例）
前述した第１の実施例では、天候検知レーダー１３０、障害物検知レーダーＡ１４０障害物検知レーダーＢ１５０はそれぞれ独立したものであるが、第２の実施例はそれらのレーダーを共用して１台のレーダーとするものである。 In the flow of FIG. 3, the processing of S2 and S3 corresponds to the weather detection unit 170, the processing of S5 and S13 corresponds to the processing of the obstacle detection unit 180, and the processing of S7 and S8 corresponds to the notification unit 190.
(Second embodiment)
In the first embodiment described above, the weather detection radar 130 and the obstacle detection radar A140 and the obstacle detection radar B150 are independent of each other. However, in the second embodiment, these radars are shared and one radar is shared. It is what.

図４は、レーダーを共用とした障害物通知装置２００の構成を示すもので、図１と較べてレーダー送受信部２１１と送受信アンテナ２１２とから構成する共用検知レーダー２１０が異なる。送受信アンテナ２１２は電気的スキャンまたは機械的（メカニカル）スキャンにより、検知領域１３３、１４３、１５３に電波を発射し、その反射波を受信する。それぞれ検知領域に対する検知時間を設定し、サイクリックに検知を行うことで第１の実施例と同様の障害物通知を行うことができる。このようにレーダー部を共用にすることで、障害物通知装置の省電力化および低コスト化が図れる。   FIG. 4 shows a configuration of an obstacle notification device 200 that uses a radar in common, and a shared detection radar 210 configured by a radar transmission / reception unit 211 and a transmission / reception antenna 212 is different from FIG. The transmission / reception antenna 212 emits radio waves to the detection areas 133, 143, and 153 by electrical scanning or mechanical scanning, and receives the reflected waves. Obstacle notification similar to that of the first embodiment can be performed by setting a detection time for each detection area and performing detection cyclically. By sharing the radar unit in this way, it is possible to save power and reduce the cost of the obstacle notification device.

第２の実施例では三つのレーダーを共用する例を示したが、例えば天候検知レーダーは独立させ、障害物検知レーダーＡと障害物検知レーダーＢとを共用させ、合わせて二つのレーダーを搭載するようにしてもよい。また、これとは異なる二つのレーダーを組合せ残りのレーダーを独立させるようにしてもよい。   In the second embodiment, an example is shown in which three radars are shared. For example, the weather detection radar is made independent, the obstacle detection radar A and the obstacle detection radar B are shared, and two radars are mounted in total. You may do it. In addition, two different radars may be combined to make the remaining radars independent.

第１と第２の実施例ではミリ波レーダーを用いたが、マイクロ波レーダーを用いてもよい。   Although the millimeter wave radar is used in the first and second embodiments, a microwave radar may be used.

また、走行車両への障害物情報の通知に表示装置を用いたが、表示装置の代わりに路側にビーコンを設置してビーコンを受信するユニットを備える走行車両に通知するようにしてもよい。   Further, although the display device is used for notifying obstacle information to the traveling vehicle, the traveling vehicle including a unit that receives a beacon by installing a beacon on the roadside instead of the display device may be notified.

１０ （従来の）障害物通知装置
１１ 検知領域
１２ 表示装置
２０〜２４ 道路
３０ 走行車両
４０ 遮蔽物
５０、５１ 障害物
１００ （本発明の）障害物通知装置
１１０ 制御部
１２０ 入出力制御部
１３０ 天候検知レーダー
１３１ レーダー送受信部
１３２ 送受信アンテナ
１３３ 検知領域
１４０ 障害物検知レーダー
１４１ レーダー送受信部
１４２ 送受信アンテナ
１４３ 検知領域
１５０ 障害物検知レーダー
１５１ レーダー送受信部
１５２ 送受信アンテナ
１５３ 検知領域
１６０ 表示装置
１７０ 天候検知部
１８０ 障害物検知部
１９０ 通知部
２００ （本発明の）障害物通知装置
２１０ 共用検知レーダー
２１１ レーダー送受信部
２１２ 送受信アンテナ DESCRIPTION OF SYMBOLS 10 (Conventional) Obstacle Notification Device 11 Detection Area 12 Display Device 20-24 Road 30 Traveling Vehicle 40 Shield 50, 51 Obstacle 100 (Invention) Obstacle Notification Device 110 Control Unit 120 Input / Output Control Unit 130 Weather Detection radar 131 Radar transmission / reception unit 132 Transmission / reception antenna 133 Detection region 140 Obstacle detection radar 141 Radar transmission / reception unit 142 Transmission / reception antenna 143 Detection region 150 Obstacle detection radar 151 Radar transmission / reception unit 152 Transmission / reception antenna 153 Detection region 160 Display device 170 Weather detection unit 180 Obstacle detection unit 190 Notification unit 200 Obstacle notification device (of the present invention) 210 Common detection radar 211 Radar transmission / reception unit 212 Transmit / receive antenna

Claims (6)

道路上の領域を検知範囲に含むように配置され、前記道路上の領域に進入する車両に前記道路上の障害物を通知する障害物通知装置であって、
前記車両の進入方向にあって、前記領域内の所定の位置を越える前記道路上の領域の障害物を検知する第１検知手段と、
前記車両の進入方向にあって、前記所定の位置の手前の前記道路上の領域の障害物を検知する第２検知手段と、
天候の状態を検知する天候検知手段と、
前記天候検知手段が天候を第１の状態と検知した場合に前記第１検知手段からの検知結果を障害物情報として出力し、天候を第２の状態と検知した場合に前記第１検知手段と前記第２検知手段とからの検知結果を障害物情報として出力する障害物情報出力手段と
を備えることを特徴とする障害物通知装置。 An obstacle notification device that is arranged so as to include an area on a road as a detection range and notifies an obstacle on the road to a vehicle entering the area on the road,
A first detecting means for detecting an obstacle in the area on the road in a direction of entry of the vehicle and exceeding a predetermined position in the area;
Second detection means for detecting an obstacle in an area on the road in the approach direction of the vehicle and before the predetermined position;
Weather detection means for detecting the weather condition;
When the weather detection means detects the weather as the first state, the detection result from the first detection means is output as obstacle information, and when the weather is detected as the second state, the first detection means An obstacle notification device comprising: obstacle information output means for outputting a detection result from the second detection means as obstacle information. 前記第１検知手段と前記第２検知手段、および前記天候検知手段のそれぞれは、レーダーを用いる
ことを特徴とする請求項１に記載の障害物通知装置。 The obstacle notification device according to claim 1, wherein each of the first detection unit, the second detection unit, and the weather detection unit uses a radar. 前記第１検知手段と前記第２検知手段、および前記天候検知手段は同一のレーダーを用い、前記レーダーは電気的スキャンまたは機械的スキャンにより前記第１検知手段と前記第２検知手段、および前記天候検知手段のそれぞれに定められた検知領域と検知時間で検知を行う
ことを特徴とする請求項１に記載の障害物通知装置。 The first detection means, the second detection means, and the weather detection means use the same radar, and the radar detects the first detection means, the second detection means, and the weather by electrical scanning or mechanical scanning. The obstacle notification device according to claim 1, wherein detection is performed using a detection area and a detection time determined for each of the detection means. 前記障害物通知装置は、さらに
前記天候検知手段が天候を第２の状態と検知した場合は前記第２検知手段を作動させ、天候を第１の状態と検知した場合は前記第２検知手段の作動を停止させる制御手段を備える
ことを特徴とする請求項1乃至請求項３のいずれか１項に記載の障害物通知装置。 The obstacle notification device further activates the second detection means when the weather detection means detects the weather as the second state, and activates the second detection means when the weather is detected as the first state. The obstacle notification device according to any one of claims 1 to 3, further comprising control means for stopping the operation. 前記天候検知手段は、計測したクラッタ量が予め定めた基準値を越えるか否かで、天候の状態を検知する
ことを特徴とする請求項１乃至請求項４のいずれか１項に記載の障害物通知装置。 The obstacle according to any one of claims 1 to 4, wherein the weather detection means detects a weather condition based on whether or not the measured amount of clutter exceeds a predetermined reference value. Object notification device. 道路上の領域を検知範囲に含むように配置され、前記道路上の領域に進入する車両に前記道路上の障害物を通知する障害物通知装置の障害物通知方法であって、
前記車両の進入方向にあって前記領域内の所定の位置を越える前記道路上の領域の障害物を検知する第１検知手段による検知結果を出力するとともに、天候検知手段により検知された天候の状態に基づいて、前記車両の進入方向にあって前記所定の位置の手前の前記道路上の領域の障害物を検知する第２検知手段による検知結果を出力するか否かを制御する障害物情報出力手順
を備えることを特徴とする障害物通知方法。 An obstacle notification method of an obstacle notification device that is arranged so as to include an area on a road as a detection range and notifies an obstacle on the road to a vehicle entering the area on the road,
The state of the weather detected by the weather detection means while outputting a detection result by the first detection means for detecting an obstacle in the area on the road in the approach direction of the vehicle and exceeding a predetermined position in the area The obstacle information output for controlling whether or not to output the detection result by the second detection means for detecting the obstacle in the area on the road in the approach direction of the vehicle and before the predetermined position An obstacle notification method comprising: a procedure.
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