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JP2009251799

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DESCRIPTION JP2009251799
The present invention provides an out-of-vehicle information provision device capable of
providing the driver with optimum vehicle external sound information according to the situation
without putting a burden on the driver. According to an information providing apparatus outside
a vehicle, a sound presentation range which is an input / output range of a sound to be presented
to a driver by a sound presentation range and a sound collection range switching device
according to the current traveling condition of the vehicle. When a sound collection range is
determined by the microphone 11 installed in the host vehicle and collecting sounds outside the
host vehicle, and an object present around the host vehicle is detected by the object detection
sensor 12 installed in the host vehicle, An information presenting unit maps the sound collected
by the microphone 11 and the virtual sound representing an object present in the sound
presentation range and the sound collection range determined by the sound presentation range
and the sound collection range switching device 15 in time space Present the sound information
to the driver through 17. [Selected figure] Figure 1
Outside vehicle information providing apparatus and outside vehicle information providing
method
[0001]
The present invention relates to an out-of-vehicle information provision device and an out-ofvehicle information provision method for providing a driver with information outside the vehicle.
[0002]
04-05-2019
1
In the past, it has been practiced to present the existence of danger by means of sound for the
purpose of informing the driver of the danger occurring outside the vehicle at high speed and
naturally.
For example, as such a technology, there has been proposed one that collects the sound of an
emergency vehicle and makes the driver notice the presence of the emergency vehicle.
[0003]
However, presenting sound information outside the vehicle to the driver in all scenes is not likely
to distract the driver's attention, so it is not preferable to select the sound to be presented. In the
prior art, the driver is provided with information by limiting the sound to be presented to a few
sounds such as the sound of a crossing or the sound of an emergency vehicle, but this is only in a
limited state. There is a problem that only external sounds can be notified by sound, and it is not
possible to accurately notify the driver of the presence of a more urgent overtaking vehicle, for
example.
[0004]
Therefore, the present invention has been proposed in view of the above-mentioned actual
situation, and can provide the driver with optimal vehicle external sound information according
to the situation without putting a burden on the driver. An object of the present invention is to
provide an out-of-vehicle information provision apparatus and an out-of-vehicle information
provision method.
[0005]
In the present invention, a sound presentation range which is an input / output range of sounds
to be presented to the driver according to the current traveling condition of the own vehicle, and
a sound collecting means which is installed in the own vehicle and collects sounds outside the
own vehicle. When the sound collection range according to is determined and an object present
around the host vehicle is detected, the sound collected by the sound collection means and the
object present within the determined sound presentation range and sound collection range are
represented. The above-mentioned subject is solved by mapping a virtual sound to space-time
and presenting a driver with sound information.
[0006]
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2
According to the out-of-vehicle information providing apparatus and the out-of-vehicle
information providing method according to the present invention, all sound information is not
presented to the driver by not presenting unnecessary information according to the traveling
condition of the own vehicle. Therefore, it is possible to provide the optimum vehicle external
sound information according to the situation without reducing the possibility of distracting the
driver and putting a burden on the driver.
[0007]
Hereinafter, the information providing apparatus outside the vehicle as a preferred embodiment
of the present invention will be specifically described.
[0008]
[Configuration of Outside Vehicle Information Providing Device] The outside vehicle information
providing device shown as an embodiment of the present invention collects sounds outside the
own vehicle using microphones and sensors installed outside the own vehicle according to
vehicle conditions such as vehicle speed and the like. , As sound information to the driver.
[0009]
Specifically, as shown in FIG. 1, the information providing apparatus outside the vehicle includes
a microphone 11 for collecting sounds outside the vehicle, an object detection sensor 12 for
detecting an object present around the vehicle, and a vehicle surrounding the vehicle. The
environment detection unit 13 for detecting the environment of the vehicle, the information
determination unit 14 for determining various information related to the host vehicle, the sound
presentation range which is the input / output range of the sound to be presented to the driver
And a timing and position determination unit 16 for determining the timing and position of the
sound to be output, and an information presentation unit 17 for presenting sound information to
the driver.
[0010]
Among these units, at least the microphone 11, the object detection sensor 12, the in-vehicle
device operation signal output unit 13b in the environment detection unit 13, the movement
direction detection unit 14b in the information determination unit 14, and the sound
presentation range And the sound collection range switching device 15, the timing and position
determination unit 16, and the information presentation unit 17 may be provided.
[0011]
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3
The microphone 11 is installed in the host vehicle and collects sounds outside the host vehicle.
As this microphone 11, the thing of the general structure which sound-collects the sound of the
own vehicle exterior and converts it into an electric signal can be used.
However, it is a requirement that two or more microphones be provided as the microphone 11.
The sound information collected by the microphone 11 and converted into an electric signal is
supplied to the sound presentation range and sound collection range switching device 15.
A specific installation example of the microphone 11 will be described later.
[0012]
The object detection sensor 12 is installed in the host vehicle and detects an object present
around the host vehicle.
The object detection sensor 12 can be configured by combining a plurality of sensors such as a
millimeter wave radar, an ultrasonic sensor, etc. for detecting an object located at a long distance
and a near distance.
Further, the object detection sensor 12 may detect an object by a camera outside the vehicle.
Object information detected by the object detection sensor 12 is supplied to the sound
presentation range and sound collection range switching device 15. A specific installation
example of the object detection sensor 12 will be described later.
[0013]
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4
The environment detection unit 13 is based on information such as a vehicle speed pulse and a
steering angle obtained from CAN (Controller Area Network) information built in the host vehicle,
and an image captured by a camera installed in the host vehicle. Detects the environment around
the vehicle. Specifically, the environment detection unit 13 outputs a position information
detection unit 13a for detecting position information of the vehicle used in navigation, and an invehicle device operation signal indicating a vehicle speed pulse, a steering angle, a shift position,
etc. It has an on-vehicle apparatus operation signal output unit 13b, a camera, and an image
output unit 13c that recognizes an image captured by the camera. The environment detection
unit 13 supplies environment information indicating the detected environment to the information
determination unit 14.
[0014]
The information determination unit 14 is composed of, for example, an arithmetic device such as
a CPU (Central Processing Unit), and based on the contents of the environment information
detected by the environment detection unit 13, the own vehicle such as the moving direction
(traveling direction) Determine the various information relevant to Specifically, based on the
position information detected by the position information detection unit 13a in the environment
detection unit 13, the information determination unit 14 determines a parking place where the
host vehicle can be parked; Based on the in-vehicle device operation signal supplied from the invehicle device operation signal output unit 13 b in the detection unit 13, the movement direction
detection unit 14 b detects the movement direction of the own vehicle and the image output unit
13 c in the environment detection unit 13 And a moving object detection unit 14c that detects an
object moving relative to the subject vehicle, which is present around the subject vehicle, based
on the video information. Such information determination unit 14 supplies the determined
various information to the sound presentation range and sound collection range switching device
15.
[0015]
The sound presentation range and sound collection range switching device 15 selects a sound
presentation range that is an input / output range of sound to be presented to the driver based
on the contents of various information determined by the information determination unit 14 and
a sound collection range by the microphone 11. And switch the operation of the system to the
determined range. The sound presentation range and sound collection range switching device 15
supplies a switching signal indicating the switching content to the timing and position
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5
determination unit 16.
[0016]
The timing and position determination unit 16 determines the timing of the sound to be output
to the driver based on the sound presentation range and the switching signal supplied from the
sound collection range switching device 15, the sound output direction and distance, etc.
Determine the position. The timing and position determination unit 16 supplies the information
presentation unit 17 with determination information indicating the determined content.
[0017]
As described later, the information presentation unit 17 is configured of a three-dimensional
sound source system such as a trans-aural system, for example, and the sound collected by the
microphone 11 and the sound determined by the sound presentation range and the sound
collection range switching device 15 A virtual sound representing an object present in a
presentation range and a sound collection range is created and synthesized, and sound
information is output using an amplifier and a speaker. The amplifier and the speaker may be
general ones. Specifically, the information presentation unit 17 generates a virtual sound source
generation unit 17a that generates a virtual sound based on the determination information
supplied from the timing and position determination unit 16, and the virtual sound generated by
the virtual sound source generation unit 17a. And a sound gain control unit 17b for adjusting the
gain of the sound collected by the microphone 11, and a sound information presentation unit
17c for presenting the sound adjusted by the mixing gain control unit 17b to the driver. Such an
information presentation unit 17 creates a sound so as to be an appropriate sound field
environment according to the vehicle state, and presents the created sound to the driver. A
specific installation example of the information presentation unit 17 will be described later.
[0018]
[Relationship Between Microphone Arrangement and Sound Collection Range] In such an
external information providing apparatus, the sound collection range can be controlled according
to the arrangement position, direction, gain, and type of the microphone 11. .
[0019]
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6
First, when using a plurality of directional microphones and a direction conversion device as the
microphone 11, change the sound collection range by directing the plurality of directional
microphones in a direction desired to be collected using the direction conversion device. Can.
As a direction change device, a general mechanism such as a servo motor may be used to change
the direction. In order to specifically explain this, as shown in FIG. 2A, for example, the case
where four microphones 11a, 11b, 11c, and 11d are installed in the front, rear, left, and right
directions of the vehicle 100 will be considered.
[0020]
At this time, in the external information providing apparatus, when it is desired to collect sounds
in a range in all directions, as shown in FIG. 2A, the direction of the microphone 11a is directed
to the right front and the direction of the microphone 11b is left. The sound in the range of all
directions can be collected by directing the direction of the microphone 11c to the rear right and
the direction of the microphone 11d to the rear left facing forward, and the microphones 11a,
11b, 11c, 11d The sound collection range can be adjusted by adjusting the gain.
[0021]
In addition, in the external information providing apparatus, when it is desired to collect sound in
the rear range, as shown in FIG. 2B, the direction of the microphone 11a is directed to the rear
right and the direction of the microphone 11b is on the left rear. By directing the direction of the
microphone 11c to the rear right and the direction of the microphone 11d to the rear left, it is
possible to emphasize and collect sound in the rear range, and the microphones 11a, 11b, 11c,
11d The sound collection range can be adjusted by adjusting the gain.
[0022]
Furthermore, in the information providing apparatus outside the vehicle, when it is desired to
collect sounds in directions other than the front left at the time of left turn, as shown in FIG. 2C,
the microphone 11a is directed to the front right and the microphone 11c is Is directed to the
right rear and the direction of the microphone 11 d is directed to the left rear, while sound is not
collected for the microphone 11 b, so that sounds in directions other than the left front can be
collected. , 11d, the sound collection range can be adjusted.
[0023]
Furthermore, in the outside information providing apparatus, when it is desired to collect sounds
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7
in directions other than left front and right rear at the time of lane change to the left lane, etc., as
shown in FIG. By directing the direction to the right front, the direction of the microphone 11b to
the left rear, the direction of the microphone 11c to the right front, and the direction of the
microphone 11d to the left rear, sounds in directions other than left front and right rear are
Sound can be collected, and the sound collection range can be adjusted by adjusting the gains of
the microphones 11a, 11b, 11c, and 11d.
[0024]
Moreover, as the microphone 11, a directional microphone and a nondirectional microphone can
be used in combination.
In order to specifically explain this, for example, as shown in FIG. 3A, one directional microphone
11e is installed in front of the vehicle 100, and one nondirectional microphone 11f is installed in
the rear. Think about the case.
[0025]
At this time, in the information providing apparatus outside the vehicle, when it is desired to
collect sound in directions other than left front at the time of left turn, as shown in FIG. 3A, the
direction of the directional microphone 11e is directed to the right. By turning the direction of
the nondirectional microphone 11f backward, it is possible to collect sound in directions other
than the left front, and adjusting the gain of the directional microphone 11e adjusts the sound
collection range. be able to.
[0026]
In addition, in the outside information providing apparatus, when it is desired to collect sounds in
all directions and left front at the time of lane change to the right lane, etc., the direction of the
directional microphone 11e is set as shown in FIG. The sound in all directions and the left front
can be collected by turning the direction of the nondirectional microphone 11f backward toward
the left front, and the sound collection of the directional microphone 11e is performed by
adjusting its gain. The range can be adjusted.
[0027]
As described above, in the information providing apparatus outside the vehicle, the sound
collection range can be controlled according to the arrangement position, the direction, the gain,
04-05-2019
8
and the type of the microphone 11.
[0028]
[Relationship Between Arrangement Condition of Object Detection Sensor and Sound
Presentation Range] In addition, in the information providing apparatus outside the vehicle,
according to the arrangement position and type of the object detection sensor 12, the input /
output range of the sound to be presented to the driver A certain sound presentation range can
be controlled.
[0029]
As described above, the object detection sensor 12 can be configured by combining a plurality of
millimeter wave radars, ultrasonic sensors, and the like.
In the out-of-vehicle information provision device, when using an object detection sensor 12
capable of accurately measuring the distance, the sound presentation range can be strictly
determined.
On the other hand, in the information providing apparatus outside the vehicle, when the object
detection sensor 12 that can accurately measure the distance is not used, for example, the object
detection sensors 12a, 12b, 12c and 12d of the vehicle 100 as shown in FIG. Alternatively, a
plurality of sensors may be provided at a plurality of locations, and the sound presentation range
may be determined based on the direction information of the object detected by each sensor.
At this time, in the information providing apparatus outside the vehicle, it is not necessary to
change the detection range of each sensor.
[0030]
[Specific Example of Information Presentation Unit] The information presentation unit 17 can be
configured as a transaural system as described above.
04-05-2019
9
Specifically, as a transaural system, for example, as shown in FIG. 5, an input signal X1 is applied
to a filter bank including a plurality of filters H (H11, H12, H21, H22, H31, H32, H41, H42). , X2
are added, the outputs of the respective filters are added (mixed), and a plurality of speakers SP
(SP1, SP2, SP3, SP4) are placed at positions C1, C2 near both ears of the operation sitting at the
driver's seat. Sounds can be output as the observation signals Y1 and Y2.
At this time, in this transaural system, the filter H is set so that the observation signals Y1 and Y2
at the positions C1 and C2 near both ears of the operation sitting at the driver's seat become
equivalent to the input signals X1 and X2. adjust.
In other words, in the transaural system, the relationship between the transfer characteristic G
(G11, G14, G21, G24) representing the sound field of the sound output from the speaker SP and
the filter H is HG = unit matrix Then, the filter H may be adjusted.
[0031]
[Operation of Outside Vehicle Information Providing Device] Now, in such a vehicle outside
information providing device, the sound outside the vehicle is provided to the driver according to
a series of procedures as shown in FIG.
[0032]
First, as shown in FIG. 6, when the system is initialized in step S1 as shown in FIG. 6, the driving
mode is set in step S2.
Specifically, the outside information providing apparatus detects the current traveling situation
of the host vehicle by the environment detection unit 13 and the information determination unit
14 as traveling mode setting processing.
In this case, the out-of-vehicle information provision device sets one of the traveling modes
among the parking mode, the city area traveling mode (medium speed traveling mode), the high
speed traveling mode, and the stop mode as the traveling mode. The travel mode setting process
will be described in detail later.
04-05-2019
10
[0033]
Subsequently, the external information providing apparatus performs setting of the operation
mode in step S3. The external information providing device predicts the driver's gaze direction by
detecting information such as the steering angle and the blinker operation, in order to enable
presentation outside the driver's gaze range as sound information. The sound presentation range
is outside the driver's field of vision. Specifically, as the operation mode setting process, the
environment detection unit 13 and the information determination unit 14 determine information
such as the steering angle and the presence or absence of a blinker operation as the operation
mode setting process, and based on the contents of the determined various information. The
sound presentation range and the sound collection range are determined by the sound
presentation range and the sound collection range switching device 15 according to the travel
mode. The operation mode setting process will be described in detail later.
[0034]
Subsequently, in step S4, the out-of-vehicle information provision device determines whether to
start the operation according to the presence or absence of the object detection by the object
detection sensor 12. Specifically, the external information providing apparatus does not output
(show) a sound when the object detection sensor 12 does not detect various objects such as
other vehicles, paving stones, walls, pedestrians, etc. existing around the vehicle. , The process
from step S2 is repeated. On the other hand, when the object detection sensor 12 detects an
object present around the host vehicle, the out-of-vehicle information provision device starts
sound collection by the microphone 11 and presentation of sound information by the
information presentation unit 17.
[0035]
In response to this, the outside-vehicle information providing device maps the virtual sound
information and the sound collected by the microphone 11 in time and space in step S5.
Specifically, the information providing apparatus outside the vehicle presents the sound that can
be collected by the microphone 11 as it is to the driver by outputting it as it is via the
information presenting unit 17 formed of a three-dimensional sound source system such as a
transaural system. On the other hand, the information providing apparatus outside the vehicle is,
for example, a sound of an object detected by the object detection sensor 12 such as a wall, a
paving stone, a pedestrian, etc., an object sound not detected by the microphone 11 The virtual
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11
sound is generated according to the distance, etc., and is presented to the driver by outputting
through the information presentation unit 17 composed of a three-dimensional sound source
system such as a transaural system. The mapping process will be described in detail later.
[0036]
Then, in step S6, the information providing apparatus outside the vehicle fuses the sound
collected by the microphone 11 in the real space with the virtual sound allocated to the object
detected by the object detection sensor 12, and transmits the sound to the driver. Present and
complete a series of processing.
[0037]
The out-of-vehicle information provision device can provide the driver with sounds outside the
vehicle according to such a series of procedures.
[0038]
Next, the travel mode setting process in step S2 will be described in detail.
[0039]
When the out-of-vehicle information provision device shifts to the traveling mode setting process,
as shown in FIG. 7, in step S11, the environment detection unit 13 and the information
determination unit 14 determine whether the current traveling condition of the host vehicle is in
the parking state. Determine if
[0040]
Here, when the environment detection unit 13 and the information determination unit 14
determine that the vehicle is in the parked state, the traveling mode is switched to the parking
mode in step S12, and the traveling mode setting process is ended.
On the other hand, when it is determined that the environment detection unit 13 and the
information determination unit 14 are not in the parking state, in step S13, it is determined
whether the current traveling condition of the host vehicle is medium speed traveling.
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12
[0041]
When the environment detection unit 13 and the information determination unit 14 determine
that the vehicle is traveling at medium speed, the traveling mode is switched to the city area
traveling mode in step S14, and the traveling mode setting process is ended.
On the other hand, when the environment detection unit 13 and the information determination
unit 14 determine that the vehicle is not traveling at medium speed, in step S15, it is determined
whether the current traveling condition of the host vehicle is high speed traveling.
[0042]
When the environment detection unit 13 and the information determination unit 14 determine
that the vehicle is traveling at high speed, the traveling mode is switched to the high-speed
traveling mode at step S16, and the traveling mode setting process is ended.
On the other hand, when the environment detection unit 13 and the information determination
unit 14 determine that the vehicle is not traveling at high speed, the traveling mode is switched
to the stop mode at step S17, and the traveling mode setting process is ended.
[0043]
The out-of-vehicle information provision device can set the traveling mode in accordance with
such a series of procedures.
[0044]
Next, the operation mode setting process in step S3 in FIG. 6 will be described in detail.
[0045]
The out-of-vehicle information provision device sets a sound presentation range and a sound
collection range according to the traveling mode when shifting to the operation mode setting
process.
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13
At this time, as described above, the information providing apparatus outside the vehicle enables
sound information to be presented outside the range of the driver's line of sight, so that the
sound presentation range is added in consideration of information such as the steering angle and
the blinker operation. And set the sound collection range.
[0046]
Specifically, as shown in FIG. 8, the outside information providing apparatus detects the steering
angle by the environment detection unit 13 and the information determination unit 14 in step
S21, and based on the steering angle, the sound presentation range and The sound collection
range switching device 15 sets a sound presentation range on a plane perpendicular to the
moving direction of the vehicle.
[0047]
Subsequently, in step S22, the outside information providing apparatus determines the presence
or absence of the blinker operation by the environment detection unit 13 and the information
determination unit 14.
Here, when there is a blinker movement, there is a high possibility that the vehicle moves to
either the left or right, and the driver is likely to pay attention to the movement direction.
Therefore, when there is a winker operation, the outside information providing apparatus sets
the planned traveling direction of the vehicle based on the direction of the winker by the
environment detection unit 13 and the information determination unit 14 in step S23. The sound
presentation range is set to a direction other than the planned traveling direction.
[0048]
Subsequently, the out-of-vehicle information provision device determines the sound presentation
range according to the steering angle and the presence or absence of the blinker operation by
the sound presentation range and the sound collection range switching device 15 in step S24.
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14
Specifically, when there is no blinker operation, the sound presentation range and sound
collection range switching device 15 sets the sound presentation range set based on the steering
angle in step S21. Further, when the sound presentation range and sound collection range
switching device 15 performs the blinker operation, the sound presentation range set based on
the steering angle in step S21 is directed to the blinker direction in step S23. The sound
presentation range is set in consideration of the sound presentation range set based on that.
[0049]
Then, in step S25, the information providing apparatus outside the vehicle causes the sound
presentation range and sound collection range switching device 15 to first perform FIGS. 2 (A) to
2 (D), 3 (A) and 3 (B), And as shown in FIG. 4, the sound collection range by the microphone 11 is
determined based on the sound presentation range determined in step S24, and the operation
mode setting is ended. In addition, although it is desirable that the sound collection range and the
sound presentation range coincide, in principle, when there is a restriction such as the
arrangement requirement of the microphone 11, they may not necessarily coincide.
[0050]
The out-of-vehicle information provision device can determine the sound presentation range and
the sound collection range according to such a series of procedures.
[0051]
Next, the conditional branch processing in step S4 in FIG. 6 will be described in detail.
[0052]
The out-of-vehicle information provision device determines whether to start the operation
according to the presence or absence of the object detection by the object detection sensor 12.
Here, if virtual sound is assigned to an object unnecessary for driving information and presented
as an alarm sound, there is a possibility that the driver's driving behavior may be adversely
affected.
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15
Therefore, the external information providing apparatus performs conditional branch processing
so as not to add a virtual sound to the list to which an unnecessary object is assigned after the
object detection.
[0053]
Specifically, as shown in FIG. 9, the information providing apparatus outside the vehicle detects
an object present around the host vehicle by the object detection sensor 12 in step S31. That is,
the information providing apparatus outside the vehicle measures and calculates the direction
and the distance of the object from the viewpoint of the driver using a millimeter wave radar, an
ultrasonic sensor or the like.
[0054]
When the external information providing apparatus detects an object, in step S32, the
environment detection unit 13 and the information determination unit 14 detect the object that
is within the sound presentation range determined in step S3 in FIG. It is determined whether the
[0055]
Here, if the external information providing apparatus is not an object present in the sound
presentation range, while repeating the processing from step S31, if it is an object existing in the
sound presentation area, the process is performed in step S33. The environment detection unit
13 and the information determination unit 14 determine whether the object is an object that
moves relative to the host vehicle. If the object is not a moving object, the process from step S31
is repeated. If the object is a moving object, the process proceeds to step S34.
The process of step S33 is effective when the outside information providing apparatus is applied
to a so-called parking assist system or the like. That is, in the parking assist system, no sound is
assigned to an object such as a wall displayed on the display device, and a sound is presented
only when a moving object is detected, thereby presenting the danger to the driver against the
moving object. It can be made to recognize more strongly. Therefore, in the information
providing apparatus outside the vehicle, the process of step S33 is not necessarily required.
04-05-2019
16
[0056]
Then, in step S34, the external information providing apparatus adds the direction and distance
of the object to which the virtual sound is to be assigned to the list, and ends the conditional
branch processing.
[0057]
The out-of-vehicle information provision device can detect an appropriate object to present a
sound according to such a series of procedures, and determine whether or not to start the
operation.
[0058]
Next, the mapping process in step S5 in FIG. 6 will be described in detail.
[0059]
The out-of-vehicle information provision device assigns virtual sounds based on the information
on the direction and distance of an object viewed from the driver.
At this time, the list of objects created in step S4 in FIG. 6 is searched, and virtual sounds are
assigned according to the direction information and distance information of the objects.
[0060]
Specifically, as shown in FIG. 10, in step S41, the information providing apparatus outside the
vehicle searches the list by the information presenting unit 17, and determines whether or not a
queue exists in the list.
Here, when it is determined that the queue exists in the list, the information presentation unit 17
extracts the nearest object from the list in step S42.
[0061]
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17
Subsequently, the information presenting unit 17 investigates the input of the microphone 11 in
step S43.
Here, the information presentation unit 17 detects a directional sound from the input of the
microphone 11, and when the input direction of the sound and the position or direction of the
object are the same, the virtual sound may cause confusion in the information presented to the
driver. Is not assigned, and the process proceeds to step S46. The sound input direction to the
microphone 11 may be detected using a signal processing method such as so-called beam
forming. On the other hand, when there is no input from the microphone 11 or when there is an
input from the microphone 11 and the input direction of the sound is not the same as the
position or direction of the object, the information presentation unit 17 performs the process to
step S44. Shift and assign a virtual sound source according to the direction and distance of the
object. At this time, when there are a plurality of objects, the information presentation unit 17
assigns virtual sound sources so as to shift the output timing of the virtual sound source.
[0062]
Then, in step S45, the information presenting unit 17 deletes the object to which the virtual
sound source is assigned from the list, and repeats the processing from step S41.
[0063]
The information presenting unit 17 performs the processes of step S41 to step S45, and if it is
determined in step S41 that no queue exists in the list, the process proceeds to step S46, and the
microphone is displayed. 11 convert the input to the output signal of a stereo sound source
system such as a transaural system.
At this time, when a virtual sound is present, the information presentation unit 17 also converts
the virtual sound into an output signal of the three-dimensional sound source system.
[0064]
Then, in step S47, the information presentation unit 17 adds (mixes) the input sound from the
microphone 11 and the virtual sound, and ends the mapping process.
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[0065]
The out-of-vehicle information provision device can map the virtual sound information and the
sound collected by the microphone 11 in space-time according to such a series of procedures.
In the information providing apparatus outside the vehicle, when the directivity of the input
sound from the microphone 11 is detected in step S43, the input sound from the microphone 11
is used as a virtual sound as it is, and the virtual sound is used as the direction and distance of
the list. It may be arranged at a position according to
[0066]
The out-of-vehicle information provision device can present the driver with sound information in
which the sound actually generated outside the host vehicle and the virtual sound are fused by
performing such mapping processing. For example, as shown in FIG. 11, when parking is to be
performed in a parking lot, people A and B as objects requiring special attention are present in
front of the vehicle in real space, and are required behind the vehicle. Consider a situation where
a wall W as an object of caution exists. In this case, the information providing apparatus outside
the vehicle performs mapping processing so as to arrange the sound sources at the positions of
the human beings A and B as the object requiring caution and the wall surface W. That is, the
information providing apparatus outside the vehicle collects the speech contents X and Y uttered
by the human beings A and B by the microphone 11 and allows the driver to be heard as the
speech contents X 'and Y'. In order to perform binaural reproduction by 17 and to notify the
presence of the wall surface W detected by the object detection sensor 12, the information
presentation unit 17 arranges and outputs a warning sound as a virtual sound source at the
position of the wall surface W.
[0067]
As a result, the outside information providing apparatus can accurately notify the driver that the
persons A and B and the wall surface W are present at their respective positions.
[0068]
04-05-2019
19
In addition, since the sense of distance concerning the sound source localization of human being
is about several meters, it may be difficult to accurately recognize even if it is arranged so that
the sound can be heard in the place of the real object.
In such a case, the driver may not be able to recognize the degree of danger because the
presented information is obscured. Therefore, when mapping sounds in space-time, it is desirable
to compress distance information by specializing in maintaining the sense of direction and
maintaining the sound source localization outside the host vehicle. For example, in the case as
shown in FIG. 11, the out-of-vehicle information provision device, as shown in FIG. 12, indicates
to the driver the utterance contents X and Y uttered by humans A and B as the objects requiring
caution respectively. When binaural reproduction is performed by the information presentation
unit 17 so as to be heard as speech content X ′, Y ′, a virtual sound source that places the
sound source in the vicinity of the microphone 11 and expresses the wall surface W detected by
the object detection sensor 12 The mapping process is performed so as to arrange the sound
source at a position where the distance is compressed to a position closer to the driver than the
position in the real space of these objects, as in the case where
[0069]
Thus, the information providing apparatus outside the vehicle can accurately notify the driver of
the presence and danger of an object.
[0070]
[Specific Example of Sound Presentation Range and Sound Collection Range] Next, a specific
example of the sound presentation range and sound collection range according to the four
traveling modes described above, and the sound presentation range and sound collection when
steering is performed A specific example of the range and a specific example of the sound
presentation range and the sound collection range when there is a blinker operation will be
described respectively.
[0071]
First, when the traveling mode is the parking mode, for example, as shown in FIG. 13, the out-ofvehicle information providing device has concentric characteristics such as radius R2 in the nontraveling direction of the vehicle 100 and travels Regarding the direction, a sound presentation
range and a sound collection range having characteristics obtained by expanding a range such as
radius R1 (> R2) are set.
04-05-2019
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That is, the out-of-vehicle information provision device raises the gain of the microphone 11 that
collects the sound in the traveling direction of the own vehicle 100 compared with the nontraveling direction, and expands the sound presentation range and the sound collection range.
[0072]
Thereby, the information providing apparatus outside the vehicle can reliably present the driver
with sound information including an object present in an area closer to the parking place, such as
the object C, for example.
[0073]
In addition, when the traveling mode is the urban area traveling mode, for example, as shown in
FIG. 14, the information providing apparatus outside the vehicle has an elliptical shape with the
traveling direction of the host vehicle 100 as the long axis, or all of the used. Among the
characteristics in which the characteristics of the microphone 11 are superimposed, the sound
presentation range and the sound collection range have any one of the characteristics that are
wide.
[0074]
As a result, the outside information providing apparatus can reliably present the driver with
sound information of the other vehicle 101B traveling in the adjacent lane and the other vehicle
100A traveling in the same lane.
[0075]
Furthermore, when the traveling mode is the high-speed traveling mode, for example, as shown
in FIG. 15, the outside-of-vehicle information provision device has a sound presentation range
and collection having elliptical characteristics with the traveling direction of own vehicle 100 as
the long axis. Sound range.
At this time, according to the vehicle speed detected by the environment detection unit 13, the
outside-vehicle information provision device changes the sizes of the sound presentation range
and the sound collection range in the front-rear direction of the host vehicle, that is, the long axis
direction of the ellipse.
04-05-2019
21
That is, the out-of-vehicle information provision device sets the sound presentation range such
that the movement amount per unit time of the vehicle 100 corresponding to the detected
vehicle speed is in a range where the driver has a sufficient distance to cope with danger. And
determine the sound collection range.
[0076]
Thus, the information providing apparatus outside the vehicle reliably presents the driver with
sound information of the other vehicles 101A and 101B located before and after the own vehicle
that should pay attention when traveling at high speed and the other vehicle 101B traveling in
the adjacent lane. Can.
[0077]
Furthermore, when the traveling mode is the stop mode, for example, as shown in FIG. 16, the
out-of-vehicle information providing device has concentric characteristics or characteristics
obtained by superposing the characteristics of all the used microphones 11. The sound
presentation range and the sound collection range have any one of the characteristics that are
wide.
[0078]
Thus, the outside information providing apparatus can reliably present the driver with sound
information including an object present around the stopped own vehicle 100.
[0079]
In addition, when the steering outside the vehicle outside information provision device is set after
setting the sound presentation range and the sound collection range according to each traveling
mode, for example, as shown in FIG. The sound presentation range and the sound collection
range are changed so as to reduce the sound presentation range and the sound collection range
from the original sound collection range for the region which does not become a blind spot.
[0080]
As a result, whenever the steering angle is changed, the out-of-vehicle information provision
device can reliably present the driver with appropriate sound information according to the
moving direction of the host vehicle 100.
04-05-2019
22
[0081]
Furthermore, when there is a blinker operation after setting the sound presentation range and
the sound collection range according to each traveling mode, the outside information providing
apparatus is, for example, as shown in FIG. The sound presentation range and the sound
collection range have characteristics with an expanded range.
[0082]
Thus, whenever the blinker is operated, the outside information providing apparatus can surely
present the driver with appropriate sound information including the other vehicles 100A, 100B,
100C according to the planned traveling direction of the host vehicle 100. it can.
[0083]
[Operation Example According to Traveling Condition] Next, a specific example of the operation
according to the traveling condition will be described.
[0084]
First, an operation example in front of a curved road as shown in FIG. 19 (a) will be described.
[0085]
In this case, the out-of-vehicle information provision device starts operation of the system when
the navigation system detects the presence of a curved road ahead of the host vehicle 100 in the
traveling direction, and predicts the driver's gaze direction according to the steering angle.
Thereby, as shown in FIG. 19 (b), the sound presentation range and the sound collection range
AR are determined based on the predicted driver's gaze direction as described above with
reference to FIG. Become.
Thus, the outside information providing apparatus can reliably present the driver with
appropriate sound information according to the curve road.
[0086]
04-05-2019
23
Next, an operation example at the time of turning to the right as shown in FIG. 20 will be
described.
[0087]
In this case, as shown in FIG. 20 (a), the out-of-vehicle information provision device starts the
operation of the system when the navigation system detects the presence of the T-junction ahead
of the own vehicle 100 in the traveling direction. The change operation of the sound range AR is
started.
Here, when the outside information providing apparatus operates the blinker on the right side of
the own vehicle 100, as shown in FIG. 20 (b), the direction of the microphone 11 is changed, and
the sound in the left-right direction of the T-junction The sound presentation range and the
sound collection range AR ′ can be selected so as to collect sound.
Thus, the external information providing device can reliably present the driver with appropriate
sound information when the host vehicle 100 reaches a T-junction.
[0088]
Next, an operation example at the time of merging as shown in FIG. 21 will be described.
[0089]
In this case, the out-of-vehicle information provision device starts operation of the system when
the navigation system detects that the traveling lane of the own vehicle is the merging lane to
another lane, and predicts the driver's gaze direction according to the blinker operation. The
traveling direction and the rear range of the own vehicle 100 may be changed to the expanded
sound presentation range and the sound collection range AR.
Thus, the outside information providing apparatus can reliably present the driver with
appropriate sound information when the host vehicle 100 joins the other lane where the other
vehicle 101 is present.
04-05-2019
24
[0090]
Next, an operation example when traveling on a road with a narrow lane width as shown in FIG.
22 will be described.
[0091]
In this case, the out-of-vehicle information provision device starts operation of the system when
the lane width is detected by the navigation system, and warns attention to jumping out, etc. A
wide sound presentation range and a sound collection range AR are used.
As a result, when traveling on a narrow road, the outside information providing apparatus can
reliably present information such as a wall approaching a side surface of the host vehicle 100 to
the driver as appropriate sound information.
[0092]
Next, an operation example at the time of traveling of a road on which a central separation zone
S as shown in FIG. 23 exists will be described.
[0093]
In this case, since it is less necessary for the outside information providing apparatus to pay
attention to the other vehicles present in the opposite lane separated by the central separation
zone S, the range to the left of the own vehicle 100 in which the central separation zone S does
not exist The enlarged sound presentation range and the sound collection range AR are used.
Thereby, the external information providing apparatus reliably presents the driver with
appropriate sound information without presenting information of the other vehicle 101 present
in the oncoming lane when traveling on the road where the central separation zone S exists. can
do.
[0094]
Finally, an operation example in a case where the driver's eye movement frequently occurs will
04-05-2019
25
be described.
[0095]
As shown in FIG. 24, when the on-vehicle information providing device is configured to detect the
driver's gaze direction by the on-vehicle camera C as the environment detection unit 13,
attention in a direction in which the gaze is not directed is sparse. Since it tends to be the case, by
switching between (a) and (b) according to the movement of the sight line, the range is
dynamically changed to the sound presentation range and the sound collection range AR
expanded in the direction where the sight line is not directed.
As a result, the outside information providing apparatus can reliably present appropriate sound
information to the driver even when the driver's eye movement frequently occurs.
[0096]
[Effects of the Embodiment] As described above in detail, the external information providing
device shown as the embodiment of the present invention can be used in the input / output
range of the sound to be presented to the driver according to the current traveling condition of
the host vehicle. When a certain sound presentation range and a sound collection range by the
microphone 11 are determined, and an object present around the host vehicle is detected by the
object detection sensor 12, the sound collected by the microphone 11 and the sound
presentation range A sound presentation range determined by the sound collection range
switching device 15 and a virtual sound representing an object present in the sound collection
range are mapped in space-time, and sound information is presented to the driver via the
information presentation unit 17.
[0097]
As a result, in the information providing apparatus outside the vehicle, all sound information is
not presented to the driver by not presenting unnecessary information according to the traveling
condition of the own vehicle, so the driver's attention is required. It is possible to provide the
optimal vehicle external sound information according to the situation without reducing the
possibility of being diffused and putting a burden on the driver.
[0098]
Further, in the information providing apparatus outside the vehicle, the information presenting
04-05-2019
26
unit 17 determines the sound collected by the microphone 11 and the sound so as to arrange the
sound source at the position of the object detected by the object detection sensor 12 in the real
space. By mapping the virtual sound representing the object present in the sound presentation
range and the sound collection range, it is possible to properly inform the driver that the object is
present at the position in the real space.
[0099]
Furthermore, in this outside vehicle information provision device, the information presentation
unit 17 arranges the sound source at a position where the distance is compressed to a position
closer to the driver than the position of the object detected by the object detection sensor 12 in
real space. The driver accurately notifies the presence and danger of an object by mapping the
sound collected by the microphone 11 and the virtual sound representing the determined sound
presentation range and the object present in the sound collection range. Can.
[0100]
Furthermore, in the information providing apparatus outside the vehicle, the sound presentation
range and sound collection range switching device 15 has a predetermined radius with respect to
the non-traveling direction of the own vehicle when the current traveling condition of the own
vehicle is the parking condition. A sound including an object present in an area closer to the
parking place by having a sound presenting area and a sound collecting area having concentric
characteristics and expanding the characteristics to an area larger than the radius in the traveling
direction Information can be reliably presented to the driver.
[0101]
Further, in this outside-vehicle information provision device, the sound presentation range and
sound collection range switching device 15 is an ellipse whose major axis is the traveling
direction of the own vehicle when the current traveling condition of the own vehicle is a medium
speed traveling condition. The adjacent lane is traveled by setting the sound presentation range
and the sound collection range having any one of the broad characteristics among the
characteristics of the letter shape or the characteristics obtained by superposing the
characteristics of all the sound collection means used. Sound information of another vehicle or
the like can be reliably presented to the driver.
[0102]
Furthermore, in the information providing apparatus outside the vehicle, the sound presentation
range and sound collection range switching device 15 has an elliptical shape whose major axis is
the traveling direction of the own vehicle when the current traveling condition of the own vehicle
04-05-2019
27
is the high speed traveling condition. You should pay attention at the time of high-speed travel by
changing the size of the sound presentation range and the sound collection range in the long axis
direction of the ellipse according to the vehicle speed of the subject vehicle. Sound information of
other vehicles located before and after the own vehicle and other vehicles traveling in the
adjacent lane can be reliably presented to the driver.
[0103]
Furthermore, in the information providing apparatus outside the vehicle, the sound presentation
range and sound collection range switching device 15 may use the concentric characteristic or all
the used collection when the current traveling condition of the vehicle is the stopping condition.
Sound information including an object present around the stopped own vehicle by setting it as a
sound presentation range and a sound collection range having any one of a wide range of
characteristics among the characteristics obtained by superposing the characteristics of the
sound means Can be reliably presented to the driver.
[0104]
Further, in the external information providing device, the sound presentation range and the
sound collection range switching device 15 select the sound presentation range and the sound
collection range based on the driver's gaze direction predicted according to the steering angle
and the presence or absence of the blinker operation. By determining, it is possible to present as
sound information even outside the range of the driver's line of sight.
[0105]
Specifically, in this external information providing apparatus, the sound presentation range and
sound collection range switching device 15 newly adds a region which will be a blind spot
according to the steering of the steering, and the original region for the region which does not
become a blind spot. By determining the sound presentation range and the sound collection
range so as to decrease from the sound presentation range and the sound collection range, the
driver can receive appropriate sound information according to the moving direction of the
vehicle every time the steering angle is changed. It can be reliably presented.
[0106]
Then, in this external information providing apparatus, a method of determining the sound
presentation range and the sound collection range according to such a steering angle is applied,
and the presence of a curved road is detected ahead of the own vehicle in the traveling direction.
The sound presentation range and the sound collection range are determined by the sound
presentation range and the sound collection range switching device 15 based on the driver's gaze
04-05-2019
28
direction predicted according to the steering angle, so that the appropriate sound according to
the curved road is obtained. Information can be reliably presented to the driver.
[0107]
Furthermore, in this external information providing apparatus, when the sound presentation
range and sound collection range switching device 15 has a blinker operation, the sound
presentation range and sound collection having the characteristic in which the range of the
planned traveling direction of the own vehicle is expanded. By setting the range, it is possible to
reliably present the driver with appropriate sound information according to the planned traveling
direction of the host vehicle each time the winker is operated.
[0108]
Then, in this external information providing apparatus, the method of determining the sound
presentation range and the sound collection range according to such blinker operation is applied,
and the presence of a T-junction is detected ahead of the own vehicle in the traveling direction.
The sound presentation range and sound collection range switching device 15 changes the range
to a sound presentation range and a sound collection range having a characteristic in which the
range is expanded so that sounds in the left and right direction of the T-junction can be collected.
Appropriate sound information can be reliably presented to the driver when the vehicle reaches a
T-junction.
[0109]
Further, in this outside-vehicle information provision device, the sound presentation range and
sound collection range switching device 15 predicts according to the blinker operation when it is
detected that the traveling lane of the own vehicle is a joining lane to another lane. By changing
the planned traveling direction of the host vehicle and the range behind the host vehicle to the
expanded sound presentation range and the sound collection range based on the line-of-sight
direction of the driver, the appropriate sound when the host vehicle joins another lane
Information can be reliably presented to the driver.
[0110]
Furthermore, in this outside-vehicle information provision device, when it is detected that the
sound presentation range and sound collection range switching device 15 is traveling on a road
having a narrow lane width, the sound presentation range and the sound presentation range
wider than the lane width are detected. By setting the sound collection range, it is possible to
reliably present the driver with appropriate sound information when traveling on a narrow road.
04-05-2019
29
[0111]
Furthermore, in this outside-vehicle information provision device, the sound presentation range
and sound collection range switching device 15 detects that the central separation zone is not
present when it is detected that the vehicle is traveling on a road on which the central separation
zone exists. By setting the sound presentation range and the sound collection range in which the
range is expanded to the side of the vehicle, it is possible to reliably present the driver with
appropriate sound information when traveling on a road on which the central separator exists.
[0112]
Further, in this external information providing apparatus, the sound presentation range and
sound collection range switching device 15 expands the range in the direction in which the sight
line is not directed according to the sight movement when the driver's sight movement is
detected. By dynamically changing the sound presentation range and the sound collection range,
proper sound information can be reliably presented to the driver even when the driver's eye
movement frequently occurs.
[0113]
The above embodiment is an example of the present invention.
For this reason, the present invention is not limited to the above-mentioned embodiment, and
even if it is a form other than this embodiment, it is in the design etc. if it is a range which does
not deviate from the technical idea concerning the present invention. Of course, various
modifications are possible.
[0114]
BRIEF DESCRIPTION OF THE DRAWINGS It is a block diagram shown about the structure of the
vehicle exterior information provision apparatus shown as embodiment of this invention.
(A) is a diagram showing the relationship between the arrangement of microphones and the
sound collection range when it is desired to collect sound in all directions, and (B) the
microphone when sound is collected in the rear range FIG. 8C is a diagram showing the
04-05-2019
30
relationship between the arrangement of microphones and the range of sound collection when it
is desired to collect sound in directions other than the front left direction. FIG. 10D is a diagram
showing the relationship between the microphone arrangement state and the sound collection
range when it is desired to collect sound in directions other than left front and right rear.
(A) is a diagram showing the relationship between the microphone arrangement state and the
sound collection range when it is desired to collect sound in directions other than the front left
when a directional microphone and a nondirectional microphone are installed. B) is a diagram
showing the relationship between the microphone arrangement state and the sound collection
range when it is desired to collect sounds in all directions and the left front when the directional
microphone and the nondirectional microphone are installed.
It is a figure shown about the relation between the installation situation of an object detection
sensor, and the sound presentation range.
It is a figure shown about the example of construction of a transoral system.
It is a flowchart which shows a series of procedures at the time of providing the driver ¦ operator
with the sound of the vehicle exterior in the exterior information provision apparatus shown as
embodiment of this invention.
It is a flowchart which shows a series of procedures at the time of performing a driving ¦ running
¦ working mode setting process in the vehicle exterior information provision apparatus shown as
embodiment of this invention.
It is a flowchart which shows a series of procedures at the time of performing an operation mode
setting process in the vehicle exterior information provision apparatus shown as embodiment of
this invention.
FIG. 6 is a flow chart showing a series of procedures when conditional branching processing is
performed in the vehicle exterior information provision device shown as the embodiment of the
present invention. FIG.
04-05-2019
31
It is a flowchart which shows a series of procedures at the time of performing a mapping process
in the vehicle exterior information provision apparatus shown as embodiment of this invention.
It is a figure shown about a specific example which shows a driver the sound information which
made the sound and virtual sound which were actually generated out of the self-vehicles fuse.
It is a figure shown about the specific example which shows the driver the sound information
which compressed distance information.
It is a figure shown about the example of the sound presentation range in the parking mode, and
the sound collection range.
It is a figure shown about the example of the sound presentation range in the city area travel
mode, and the sound collection range.
It is a figure shown about an example of a sound presentation range and a sound collection range
in high-speed run mode.
It is a figure shown about a concrete example of a sound presentation range and a sound
collection range in stop mode.
It is a figure shown about the example of the sound presentation range in case there is steering
of a steering, and the sound collection range.
It is a figure shown about a concrete example of a sound presentation range and a sound
collection range in, when there is blinker operation.
It is a figure shown about the operation example in front of a curve road.
It is a figure shown about the example of operation at the time of right-and-left turn.
04-05-2019
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It is a figure shown about the operation example at the time of confluence.
It is a figure shown about an operation example at the time of a run of a road with a narrow
vehicle width.
It is a figure shown about an operation example at the time of a run of the road where a median
zone exists.
It is a figure shown about an example of operation in, when a driver's eye gaze movement occurs
frequently.
Explanation of sign
[0115]
11, 11a, 11b, 11c, 11d Microphones 11e Directional Microphones 11f Omnidirectional
Microphones 12, 12a, 12b, 12c, 12d Object Detection Sensor 13 Environment Detection Unit 13a
Position Information Detection Unit 13b Vehicle Equipment Operation Signal Output Unit 13c
Image Output Part 14 Information judgment part 14a Parking place judgment part 14b Moving
direction detection part 14c Moving object detection part 15 Sound presentation range and
sound collection range switching device 16 Timing and position determination part 17
Information presentation part 17a Virtual sound source generation part 17b Mixing gain
adjustment part 17c Sound information presentation unit A, B Human AR, AR 'Sound
presentation range and sound collection range C On-vehicle camera C1, C2 Position G, G11, G14,
G21, G24 Transfer characteristic H, H11, H12, H21, H22, H31, H32, H41, H42 filter SP, P1, SP2,
SP3, SP4 Loudspeakers R, R1, R2, R3, R4, R5, R6, R7 Radius S Central division W Wall X, X ', Y, Y'
Speech content X1, X2 Input signal Y1, Y2 observation signal
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