JP2013242679A - Obstacle detection device - Google Patents

Obstacle detection device Download PDF

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JP2013242679A
JP2013242679A JP2012115175A JP2012115175A JP2013242679A JP 2013242679 A JP2013242679 A JP 2013242679A JP 2012115175 A JP2012115175 A JP 2012115175A JP 2012115175 A JP2012115175 A JP 2012115175A JP 2013242679 A JP2013242679 A JP 2013242679A
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obstacle
vehicle
obstacle detection
host vehicle
risk
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Naoto Terada
直人 寺田
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Panasonic Corp
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Panasonic Corp
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Abstract

PROBLEM TO BE SOLVED: To accurately notify a driver of a risk due to an obstacle at the rear side of a self vehicle, and to improve safety in an obstacle detection device.SOLUTION: An obstacle detection device includes a detecting direction changing unit 5 for changing the detecting direction of an obstacle detection sensor 3 which detects an obstacle at the rear side of a self vehicle in accordance with a rudder angle of a steering wheel of the self vehicle. Thus, it is possible to set a detection range of the obstacle by the sensor to a desired detection range corresponding to the rudder angle of the steering wheel of the self vehicle, and to accurately notify a driver of a risk due to the obstacle at the rear side of the self vehicle to increase safety. Also, a degree-of-risk determination unit 6 determines the degree of a risk on the basis of not only a distance from the self vehicle to the obstacle measured by a distance measurement unit 2 but also directional indicator information showing which of right and left directional indicators 11 the self vehicle is lighting. Thus, the degree-of-risk determination unit 6 is able to determine the degree of a risk under the consideration of the fact that a driver (self vehicle) is trying to enter the next lane.

Description

本発明は、空間を伝播する信号波を用いて障害物を検知する障害物検知装置に関する。   The present invention relates to an obstacle detection device that detects an obstacle using a signal wave propagating in space.

従来から、超音波、電波、光等の空間を伝播する信号波を用いて障害物を検知する障害物検知装置が知られている。この種の装置において、車両に搭載されて、車両周辺の障害物を検知して、運転手に危険を報知するものがある。   2. Description of the Related Art Conventionally, an obstacle detection device that detects an obstacle using a signal wave that propagates in a space such as an ultrasonic wave, an electric wave, and light is known. Some devices of this type are mounted on a vehicle, detect obstacles around the vehicle, and notify the driver of the danger.

特開２０００−２６７７２９号公報JP 2000-267729 A

けれども、上記従来の車両周辺の障害物を検知して、運転手に危険を報知する障害物検知装置には、以下の問題があった。例えば、図４に示されるように、車両ＣＲ１が道路におけるカーブの部分を走行しているときには、車両ＣＲ１の後側方に配置された障害物検知用のセンサＳ１，Ｓ２を用いて、隣車線の車両ＣＲ２等を検知したい。しかし、上記従来の障害物検知装置では、センサＳ１，Ｓ２による障害物の検知範囲が、（例えばセンサＳ１の場合、破線で示される検知範囲（１）に）固定されているため、望ましい検知範囲（センサＳ１の場合、破線で示される検知範囲（２））とずれることがあった。このため、運転手に危険を報知する必要があるときに報知する（警報を出す）ことができなかったり、走行上問題がない対象物を障害物として誤検知してしまい、不要な警報を出してしまうことがあった。   However, the conventional obstacle detection device that detects obstacles around the vehicle and informs the driver of the danger has the following problems. For example, as shown in FIG. 4, when the vehicle CR1 is traveling on a curve portion on the road, the adjacent lanes are detected using the obstacle detection sensors S1 and S2 arranged on the rear side of the vehicle CR1. Want to detect the vehicle CR2 etc. However, in the above-described conventional obstacle detection device, the obstacle detection range by the sensors S1 and S2 is fixed (for example, in the case of the sensor S1, the detection range (1) indicated by a broken line). (In the case of the sensor S1, the detection range (2) indicated by the broken line) may deviate. For this reason, when it is necessary to notify the driver of the danger, it is impossible to notify (provide an alarm), or an object that does not have a problem in traveling is erroneously detected as an obstacle, and an unnecessary alarm is issued. There was a case.

これに対して、特許文献１に示される障害物検知装置は、車両の進行方向における障害物検知範囲を、車両の（ハンドルの）舵角方向に偏らせることにより、車両の旋回方向側にある障害物の検知を早めに行うことができる上に、この旋回方向と反対方向側にある障害物を不必要に検知してしまうことを防ぐことができる。より具体的に言うと、この障害物検知装置は、車両の旋回方向側に配された超音波センサの障害物検知範囲を最大にし、他の超音波センサの各障害物検知範囲を、車両の旋回方向側から遠いセンサ程、小さくする方法や、車両前部の中央部に設けられた１つの超音波センサを首振り機構により舵角方向（旋回方向）に向けることにより、車両の進行方向における障害物検知範囲を偏らせることができる。この障害物検知装置によれば、車両の進行方向における障害物検知範囲を偏らせることにより、車両の進行方向における障害物の誤検知を減らすことはできるが、上記の車両の後側方における障害物についての誤検知の問題や、危険を報知する必要があるときに報知することができないという問題を解消することはできない。   On the other hand, the obstacle detection device shown in Patent Document 1 is located on the vehicle turning direction side by biasing the obstacle detection range in the vehicle traveling direction toward the steering angle direction of the vehicle (the handle). Obstacles can be detected early, and it is possible to prevent unnecessary detection of obstacles on the side opposite to the turning direction. More specifically, this obstacle detection device maximizes the obstacle detection range of the ultrasonic sensor disposed on the turning direction side of the vehicle, and sets the obstacle detection range of other ultrasonic sensors to the vehicle's obstacle detection range. A method of reducing the sensor farther from the turning direction side, or by directing one ultrasonic sensor provided at the center of the front part of the vehicle in the steering angle direction (turning direction) by the swing mechanism, in the traveling direction of the vehicle The obstacle detection range can be biased. According to this obstacle detection device, it is possible to reduce the false detection of obstacles in the traveling direction of the vehicle by biasing the obstacle detection range in the traveling direction of the vehicle. It is not possible to solve the problem of false detection of an object or the problem that it is not possible to notify when a danger needs to be notified.

本発明は、上記課題を解決するものであり、自車両の後側方の障害物による危険を正確に報知して、安全性を高めることが可能な障害物検知装置を提供することを目的とする。   An object of the present invention is to solve the above-described problem, and to provide an obstacle detection device capable of accurately informing a danger caused by an obstacle on the rear side of the host vehicle and improving safety. To do.

上記課題を解決するために、本発明の障害物検知装置は、障害物を検知する障害物検知装置において、空間を伝播する信号波を用いて自車両の後側方における障害物を検知するセンサを有し、このセンサからの出力に基づいて、前記自車両から前記障害物までの距離を計測する距離計測手段と、前記自車両のハンドルの舵角に応じて、前記センサの検知方向を変更する検知方向変更手段と、前記距離計測手段により計測された距離と、前記自車両が左右いずれの方向のウインカを点灯させているかを示すウインカ情報を含む車両情報とに基づいて、危険度を判定する危険度判定手段と、前記危険度判定手段による判定結果に基づいて、前記自車両の運転手に危険を知らせるための報知手段とを備えることを特徴とする。   In order to solve the above-described problems, an obstacle detection device according to the present invention is an obstacle detection device that detects an obstacle, and detects an obstacle on the rear side of the host vehicle using a signal wave propagating in space. Based on the output from the sensor, the distance measuring means for measuring the distance from the host vehicle to the obstacle, and the detection direction of the sensor is changed according to the steering angle of the steering wheel of the host vehicle. The degree of risk is determined based on detection direction changing means that performs the measurement, distance measured by the distance measuring means, and vehicle information including turn signal information indicating whether the vehicle is turning on the turn signal in the left or right direction. And a notification means for notifying the driver of the host vehicle of the danger based on the determination result by the risk determination means.

この障害物検知装置において、前記自車両のイグニッションスイッチがオンのときに、障害物を検知することが好ましい。   In this obstacle detection device, it is preferable that an obstacle is detected when the ignition switch of the host vehicle is on.

本発明の障害物検知装置によれば、自車両の後側方における障害物を検知するセンサの検知方向を、自車両のハンドルの舵角に応じて変更することができるので、このセンサによる障害物の検知範囲を、自車両のハンドルの舵角に応じた、望ましい検知範囲にすることが可能になる。これにより、例えば、車両が道路におけるカーブの部分を走行しているときに、上記のセンサを用いて、隣の車線における車両等の障害物を検知することができる。従って、自車両の後側方の障害物による危険を正確に報知して、安全性を高めることが可能になる。   According to the obstacle detection device of the present invention, the detection direction of the sensor for detecting the obstacle on the rear side of the host vehicle can be changed according to the steering angle of the handle of the host vehicle. The object detection range can be set to a desirable detection range corresponding to the steering angle of the steering wheel of the host vehicle. Thereby, for example, when the vehicle is traveling on a curve portion on the road, it is possible to detect an obstacle such as a vehicle in the adjacent lane using the above sensor. Therefore, it is possible to accurately notify the danger caused by the obstacle on the rear side of the host vehicle, thereby improving safety.

また、本発明の障害物検知装置によれば、自車両から障害物までの距離に加えて、自車両が左右いずれの方向のウインカを点灯させているかを示すウインカ情報に基づいて、危険度を判定するようにしたので、運転手（自車両）が隣の車線に入ろうとしていることを考慮して、危険度を判定することができる。これにより、自車両の後側方の障害物による危険をより正確に報知して、安全性をより高めることが可能になる。   Further, according to the obstacle detection device of the present invention, in addition to the distance from the own vehicle to the obstacle, the risk is calculated based on the turn signal information indicating which direction the turn signal is turned on by the own vehicle. Since the determination is made, it is possible to determine the degree of risk in consideration of the driver (own vehicle) trying to enter the adjacent lane. As a result, it is possible to more accurately notify the danger due to the obstacle on the rear side of the host vehicle, thereby further improving safety.

本発明の一実施形態に係る障害物検知装置の電気的ブロック構成図。The electrical block block diagram of the obstruction detection apparatus which concerns on one Embodiment of this invention. 同障害物検知装置における検知方向変更部の機能の説明図。Explanatory drawing of the function of the detection direction change part in the obstacle detection apparatus. 同障害物検知装置における障害物検知処理のフローチャート。The flowchart of the obstruction detection process in the obstruction detection apparatus. 従来の障害物検知装置における、望ましい検知範囲と実際の検知範囲とのずれの問題の説明図。Explanatory drawing of the problem of the shift | offset | difference of a desirable detection range and an actual detection range in the conventional obstacle detection apparatus.

以下、本発明を具体化した実施形態による障害物検知装置について、図面を参照して説明する。図１は、本実施形態による障害物検知装置の電気的ブロック構成を示す。障害物検知装置１は、自車両から後側方の障害物までの距離を計測する距離計測部２（距離計測手段）を備えている。距離計測部２は、超音波、電波、光等の空間を伝播する信号波を用いて自車両の後側方における障害物を検知する障害物検知センサ３と、マイコン等から構成されている。障害物検知センサ３は、超音波、電波、光等の信号波を送信すると共に、送信した信号波の障害物（検知対象物）からの反射波を受信して受波信号を出力する。距離計測部２は、障害物検知センサ３からの出力（正確に言うと、障害物検知センサ３による送波から受波までの時間に相当するカウンタ値）に基づいて、自車両から後側方の障害物までの距離を計測（算出）する。なお、図１中の障害物検知センサ３は、図２中の障害物検知センサ３ａ，３ｂの総称である。   Hereinafter, an obstacle detection device according to an embodiment of the present invention will be described with reference to the drawings. FIG. 1 shows an electrical block configuration of the obstacle detection apparatus according to the present embodiment. The obstacle detection device 1 includes a distance measurement unit 2 (distance measurement means) that measures the distance from the host vehicle to a rear side obstacle. The distance measuring unit 2 includes an obstacle detection sensor 3 that detects an obstacle on the rear side of the host vehicle using a signal wave that propagates in a space such as an ultrasonic wave, an electric wave, and light, and a microcomputer. The obstacle detection sensor 3 transmits a signal wave such as an ultrasonic wave, a radio wave, and light, receives a reflected wave from the obstacle (detection target) of the transmitted signal wave, and outputs a received signal. The distance measuring unit 2 is connected to the rear side of the vehicle based on the output from the obstacle detection sensor 3 (more precisely, a counter value corresponding to the time from transmission to reception by the obstacle detection sensor 3). Measure (calculate) the distance to the obstacle. The obstacle detection sensor 3 in FIG. 1 is a generic name for the obstacle detection sensors 3a and 3b in FIG.

また、障害物検知装置１は、ステアリングの操作量を検出することによりハンドルの舵角を検出するステアリングセンサ４と、ステアリングセンサ４で検出されたハンドルの舵角に応じて、障害物検知センサ３の検知方向を変更（変化）させる検知方向変更部５（検知方向変更手段）とを備えている。検知方向変更部５は、モータ等の駆動手段と搖動機構とを有している。   The obstacle detection device 1 detects a steering angle of the steering wheel by detecting the steering operation amount, and the obstacle detection sensor 3 according to the steering angle of the steering wheel detected by the steering sensor 4. The detection direction changing unit 5 (detection direction changing means) for changing (changing) the detection direction is provided. The detection direction changing unit 5 includes driving means such as a motor and a peristaltic mechanism.

次に、図２を参照して、上記の検知方向変更部５を設けた理由について説明する。図２に示されるように、自車両ＣＲ１が道路におけるカーブの部分を走行しているときには、自車両ＣＲ１の右後側方に配置された障害物検知センサ３ａを用いて、隣車線の車両ＣＲ２を検知したい。本障害物検知装置１によれば、上記の検知方向変更部５を設けたことにより、図２に示されるような場合に、左右の後側方に配置された障害物検知センサ３ａ，３ｂの検知方向（検知範囲）が、ハンドルの舵角に連動して変化する。具体的に言うと、図に示されるように、道路が右方向にカーブしており、運転手によりハンドルが右方向に切られたら、右後側方に配された障害物検知センサ３ａの検知方向が、それに合わせて、矢印Ｄの方向（自車両ＣＲ１の右斜め上方向）に変化する（障害物検知センサ３ａの検知範囲が、（１）から（２）に移る）。逆に、道路が左方向にカーブしており、運転手によりハンドルが左方向に切られたら、左後側方に配された障害物検知センサ３ｂの検知方向が、それに合わせて、自車両ＣＲ１の左斜め上方向に変化する。これにより、障害物検知センサ３ａ，３ｂを用いて、運転手にとって望ましい（隣車線の車両を検知可能な）検知範囲（に存在する障害物）を検知することができる。   Next, the reason why the detection direction changing unit 5 is provided will be described with reference to FIG. As shown in FIG. 2, when the host vehicle CR1 is traveling on a curve portion on the road, the vehicle CR2 in the adjacent lane is used by using the obstacle detection sensor 3a disposed on the right rear side of the host vehicle CR1. I want to detect. According to the obstacle detection device 1, by providing the detection direction changing unit 5 described above, the obstacle detection sensors 3a and 3b arranged on the left and right rear sides in the case shown in FIG. The detection direction (detection range) changes in conjunction with the steering angle of the steering wheel. Specifically, as shown in the figure, when the road is curved rightward and the steering wheel is turned rightward by the driver, detection by the obstacle detection sensor 3a arranged on the right rear side. The direction changes accordingly to the direction of arrow D (upwardly to the right of the host vehicle CR1) (the detection range of the obstacle detection sensor 3a moves from (1) to (2)). Conversely, when the road is curved leftward and the steering wheel is turned leftward by the driver, the detection direction of the obstacle detection sensor 3b arranged on the left rear side is adjusted accordingly, and the host vehicle CR1 It changes in the upper left direction. As a result, the obstacle detection sensor 3a, 3b can be used to detect a detection range that is desirable for the driver (that can detect a vehicle in the adjacent lane).

障害物検知装置１は、上記の構成に加えて、自車両の危険度を判定する危険度判定部６（危険度判定手段）と、危険度判定部６による判定結果に基づいて自車両の運転手に危険を知らせるための報知部７（報知手段）とを備えている。危険度判定部６は、距離計測部２により計測された距離と、自車両の車両情報とに基づいて、自車両の危険度を判定する。危険度判定部６が危険度の判定に用いる車両情報には、自車両が左右いずれの方向のウインカ１１を点灯させているかを示すウインカ情報と、車輪速センサ等の車速センサ１２から出力された自車両の速度情報（以下、車速情報と略す）が含まれる。報知部７は、表示装置又は/及びスピーカから構成されている。危険度判定部６は、距離計測部２により計測された距離と、上記の車両情報とに基づいて、運転手に危険を知らせる必要があるか否かを（自車両の危険度を）判定し、知らせる必要がある場合には、報知部７を用いて、運転手に危険を報知する。危険度判定部６、及び上記の距離計測部２における障害物検知センサ３以外の部分（演算制御に関わる部分）は、マイコンで構成されている。   In addition to the above-described configuration, the obstacle detection device 1 operates the host vehicle based on the risk level determination unit 6 (risk level determination unit) that determines the risk level of the host vehicle and the determination result by the risk level determination unit 6. An informing unit 7 (informing means) for notifying the hand of danger is provided. The risk determination unit 6 determines the risk of the host vehicle based on the distance measured by the distance measurement unit 2 and the vehicle information of the host vehicle. The vehicle information used by the risk determination unit 6 for determining the risk is output from the turn signal information indicating whether the host vehicle is turning on the turn signal 11 in the left or right direction and the vehicle speed sensor 12 such as a wheel speed sensor. The speed information of the own vehicle (hereinafter abbreviated as vehicle speed information) is included. The notification unit 7 includes a display device and / or a speaker. Based on the distance measured by the distance measurement unit 2 and the above vehicle information, the risk level determination unit 6 determines whether it is necessary to inform the driver of the risk (the risk level of the host vehicle). When it is necessary to notify, the notification unit 7 is used to notify the driver of the danger. Parts other than the obstacle detection sensor 3 in the risk determination part 6 and the distance measurement part 2 (parts related to calculation control) are constituted by a microcomputer.

障害物検知装置１は、自車両のイグニッションスイッチ１３と連動しており、イグニッションスイッチ１３がオンになると、動作モードに入り、障害物検知を開始する。より詳細に言うと、イグニッションスイッチ１３は、キーを抜き差しするオフ位置、カーオーディオ等のアクセサリ電装機器を通電させるアクセサリ位置、エンジンの点火系に通電を行うオン位置、及びエンジンを始動させるためにスタータに通電を行うエンジンスタート位置を有している。障害物検知装置１は、イグニッションスイッチ１３が、上記のオン位置のとき（オンのとき）、又はスタート位置のときに、障害物を検知する。なお、障害物検知装置１は、イグニッションスイッチ１３が、オン位置のときに限り、障害物を検知するようにしてもよい。障害物検知装置１は、車両が動いていないときは、動作する必要がないため、上記のようにイグニッションスイッチ１３と連動することで、無駄な電力消費を抑えることが可能になる。   The obstacle detection device 1 is interlocked with the ignition switch 13 of the host vehicle. When the ignition switch 13 is turned on, the obstacle detection device 1 enters an operation mode and starts obstacle detection. More specifically, the ignition switch 13 includes an off position for inserting and removing a key, an accessory position for energizing accessory electrical equipment such as a car audio, an on position for energizing the engine ignition system, and a starter for starting the engine. Has an engine start position for energizing. The obstacle detection device 1 detects an obstacle when the ignition switch 13 is in the above-described on position (on) or the start position. The obstacle detection device 1 may detect an obstacle only when the ignition switch 13 is in the on position. Since the obstacle detection device 1 does not need to operate when the vehicle is not moving, it is possible to suppress wasteful power consumption by interlocking with the ignition switch 13 as described above.

次に、図３のフローチャートを参照して、障害物検知装置１による障害物検知処理について説明する。障害物検知装置１は、イグニッションスイッチ１３がオンになると、動作モードに入る。障害物検知装置１は、動作モードに入ると、検知方向変更部５を用いて、ステアリングセンサ４で検出されたハンドルの舵角に応じて、障害物検知センサ３（３ａ及び３ｂ）の検知方向を変更させながら（Ｓ１）、障害物検知センサ３による障害物検知（センシング）を行う（Ｓ２）。この結果、障害物（検知対象物）があった（検知された）場合には（Ｓ３でＹＥＳ）、危険度判定部６は、車速センサ１２から出力された車速情報に基づいて、自車両が走行中であるか否かを判定する（Ｓ４）。そして、危険度判定部６は、自車両が走行中であると判定した場合には（Ｓ４でＹＥＳ）、距離計測部２で計測した、自車両から後側方の障害物までの距離と、上記のウインカ情報と、車速情報とに基づいて、自車両の危険度を判定する（Ｓ５）。   Next, the obstacle detection process by the obstacle detection apparatus 1 will be described with reference to the flowchart of FIG. The obstacle detection device 1 enters an operation mode when the ignition switch 13 is turned on. When the obstacle detection device 1 enters the operation mode, the detection direction of the obstacle detection sensor 3 (3a and 3b) is detected using the detection direction changing unit 5 according to the steering angle of the steering wheel detected by the steering sensor 4. (S1), obstacle detection (sensing) is performed by the obstacle detection sensor 3 (S2). As a result, when there is an obstacle (detection target) (detected) (YES in S3), the risk determination unit 6 determines that the own vehicle is based on the vehicle speed information output from the vehicle speed sensor 12. It is determined whether or not the vehicle is traveling (S4). When the risk determination unit 6 determines that the host vehicle is traveling (YES in S4), the distance from the host vehicle to the rear obstacle is measured by the distance measurement unit 2, and Based on the turn signal information and the vehicle speed information, the risk level of the host vehicle is determined (S5).

上記のように、危険度判定部６が、車速センサ１２から出力された車速情報を考慮して、自車両の危険度を判定するようにした理由は、本障害物検知装置１が、車両走行中の後側方監視を目的とするものであり、自車両が、停止中や、ある一定以下の速度の場合には、運転手に危険を報知する必要はないからである。危険度判定部６が、車速情報を考慮して危険度を判定するようにしたことにより、障害物検知装置１は、自車両の危険をより正確に報知して、安全性を高めることができ、しかも、必要な場合に限り、危険を報知することができるので、運転手にとっての利便性を高めることができる。   As described above, the reason why the risk determination unit 6 determines the risk of the host vehicle in consideration of the vehicle speed information output from the vehicle speed sensor 12 is that the obstacle detection device 1 is configured to run the vehicle. This is for the purpose of monitoring the rear side of the vehicle, and it is not necessary to notify the driver of danger when the vehicle is stopped or at a certain speed or less. Since the risk determination unit 6 determines the risk in consideration of the vehicle speed information, the obstacle detection device 1 can more accurately notify the danger of the host vehicle and improve safety. Moreover, since the danger can be notified only when necessary, the convenience for the driver can be enhanced.

また、上記のように、危険度判定部６が、ウインカ情報を考慮して、自車両の危険度を判定するようにした理由は、以下の通りである。すなわち、検知対象物（障害物）があるにも拘らず、自車両が検知対象物（例えば、隣接する車線を走行する他車両）の移動方向線上に向かう場合には、より危険度（緊急度）が増す。従って、ウインカ情報を考慮して危険度を判定することにより、自車両の後側方の障害物による危険度をより正確に判定して、危険度に応じた警報をドライバに報知することができる。これにより、運転手にとっての利便性をより高めることができる。   In addition, as described above, the reason why the risk determination unit 6 determines the risk of the host vehicle in consideration of the turn signal information is as follows. That is, when the subject vehicle is on the moving direction line of the detection object (for example, another vehicle traveling in an adjacent lane) despite the presence of the detection object (obstacle), the degree of danger (emergency level) ) Will increase. Therefore, by determining the degree of danger in consideration of the turn signal information, it is possible to more accurately determine the degree of danger due to the obstacle on the rear side of the host vehicle and to notify the driver of an alarm corresponding to the degree of danger. . Thereby, the convenience for the driver can be further enhanced.

危険度判定部６は、上記Ｓ５の判定の結果、衝突の恐れがあると判定した場合には（Ｓ６でＹＥＳ）、衝突の恐れがあることを運転手に知らせるための警報（１）を、報知部７を用いて報知する（Ｓ７）。一方、衝突の恐れはないが、運転手に注意をさせた方がよいと判定した場合には（Ｓ６でＮＯ）、危険度判定部６は、運転手の注意を喚起するための警報（２）を、報知部７を用いて報知する（Ｓ８）。   If the risk determination unit 6 determines that there is a possibility of a collision as a result of the determination in S5 (YES in S6), an alarm (1) for notifying the driver that there is a possibility of a collision, It alert | reports using the alerting | reporting part 7 (S7). On the other hand, if there is no fear of a collision, but it is determined that the driver should be alerted (NO in S6), the risk determination unit 6 issues an alarm (2 for alerting the driver). ) Using the notification unit 7 (S8).

上記のように、本実施形態の障害物検知装置１によれば、自車両の後側方における障害物を検知する障害物検知センサ３の検知方向を、自車両のハンドルの舵角に応じて変更することができるので、障害物検知センサ３による障害物の検知範囲を、自車両のハンドルの舵角に応じた、望ましい検知範囲にすることが可能になる。これにより、例えば、自車両が道路におけるカーブの部分を走行しているときに、障害物検知センサ３を用いて、隣の車線における他車両等の障害物を検知することができる。従って、自車両の後側方の障害物による危険を正確に報知して、安全性を高めることが可能になる。   As described above, according to the obstacle detection device 1 of the present embodiment, the detection direction of the obstacle detection sensor 3 that detects an obstacle on the rear side of the host vehicle is set according to the steering angle of the handle of the host vehicle. Since it can be changed, the obstacle detection range by the obstacle detection sensor 3 can be set to a desired detection range according to the steering angle of the steering wheel of the host vehicle. Thereby, for example, when the host vehicle is traveling on a curve portion on the road, the obstacle detection sensor 3 can be used to detect an obstacle such as another vehicle in the adjacent lane. Therefore, it is possible to accurately notify the danger caused by the obstacle on the rear side of the host vehicle, thereby improving safety.

また、本発明の障害物検知装置１によれば、自車両から障害物までの距離に加えて、自車両が左右いずれの方向のウインカを点灯させているかを示すウインカ情報に基づいて、危険度を判定するようにしたので、運転手（自車両）が隣の車線に入ろうとしていることを考慮して、危険度を判定することができる。これにより、自車両の後側方の障害物による危険をより正確に報知して、安全性をより高めることが可能になる。   Further, according to the obstacle detection device 1 of the present invention, the degree of risk is based on the blinker information indicating whether the own vehicle is turning on the turn signal in the left or right direction in addition to the distance from the own vehicle to the obstacle. Therefore, the degree of danger can be determined in consideration of the driver (the host vehicle) trying to enter the adjacent lane. As a result, it is possible to more accurately notify the danger due to the obstacle on the rear side of the host vehicle, thereby further improving safety.

なお、本発明は、上記実施形態の構成に限られず、発明の趣旨を変更しない範囲で種々の変形が可能である。例えば、上記実施形態では、危険度判定部が、車速情報を考慮して、自車両の危険度を判定する場合の例を示したが、必ずしも車速情報を考慮する必要はない。また、上記実施形態では、危険度判定部６が、ウインカ情報を用いて、自車両が検知対象物（例えば、隣接する車線を走行する他車両）の移動方向線上に向かうか否かを判定したが、ウインカ情報に加えて、ステアリングセンサで検出されたハンドルの舵角の情報を用いて、自車両が検知対象物の移動方向線上に向かうか否かを判定してもよい。   In addition, this invention is not restricted to the structure of the said embodiment, A various deformation | transformation is possible in the range which does not change the meaning of invention. For example, in the above-described embodiment, an example in which the risk determination unit determines the risk of the host vehicle in consideration of the vehicle speed information is shown, but it is not always necessary to consider the vehicle speed information. Moreover, in the said embodiment, the risk determination part 6 determined whether the own vehicle headed on the moving direction line of a detection target object (for example, the other vehicle which drive | works an adjacent lane) using turn signal information. However, in addition to the turn signal information, information on the steering angle of the steering wheel detected by the steering sensor may be used to determine whether or not the host vehicle is on the moving direction line of the detection target.

１ 障害物検知装置
２ 距離計測部（距離計測手段）
３ 障害物検知センサ（センサ）
５ 検知方向変更部（検知方向変更手段）
６ 危険度判定部（危険度判定手段）
７ 報知部（報知手段） 1 Obstacle detection device 2 Distance measuring unit (distance measuring means)
3 Obstacle detection sensor (sensor)
5 Detection direction change part (Detection direction change means)
6 Risk level judgment unit (Danger level judgment means)
7 Notification part (notification means)

Claims (2)

障害物を検知する障害物検知装置において、
空間を伝播する信号波を用いて自車両の後側方における障害物を検知するセンサを有し、このセンサからの出力に基づいて、前記自車両から前記障害物までの距離を計測する距離計測手段と、
前記自車両のハンドルの舵角に応じて、前記センサの検知方向を変更する検知方向変更手段と、
前記距離計測手段により計測された距離と、前記自車両が左右いずれの方向のウインカを点灯させているかを示すウインカ情報を含む車両情報とに基づいて、危険度を判定する危険度判定手段と、
前記危険度判定手段による判定結果に基づいて、前記自車両の運転手に危険を知らせるための報知手段とを備えることを特徴とする障害物検知装置。 In the obstacle detection device that detects obstacles,
Distance measurement that has a sensor that detects an obstacle on the rear side of the host vehicle using a signal wave propagating in space, and measures the distance from the host vehicle to the obstacle based on the output from the sensor Means,
Detection direction changing means for changing the detection direction of the sensor according to the steering angle of the steering wheel of the host vehicle;
A risk determination means for determining a risk based on the distance measured by the distance measurement means and vehicle information including turn signal information indicating whether the host vehicle is turning on the turn signal in the left or right direction;
An obstacle detection apparatus comprising: an informing means for informing the driver of the host vehicle of the danger based on a determination result by the danger degree determining means. 前記自車両のイグニッションスイッチがオンのときに、障害物を検知することを特徴とする請求項1に記載の障害物検知装置。   2. The obstacle detection device according to claim 1, wherein an obstacle is detected when an ignition switch of the host vehicle is on.
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