JP5573788B2 - Driving support device - Google Patents

Description

  The present invention relates to a driving support device that supports driving of an automobile.

2. Description of the Related Art Conventionally, a driving support device that executes various controls for improving driving safety of a vehicle is known.
Generally, a periphery monitoring device represented by a radar device is included as a component of the driving support device. This periphery monitoring device irradiates a search wave (for example, a laser beam or a radio wave in the millimeter wave band) over a predetermined area centered on a predetermined reference axis, and receives a reflected wave of the search wave Detect objects such as preceding vehicles, pedestrians and obstacles. The detection result of the periphery monitoring device is used by the driving support device for, for example, driving control for keeping the distance between the vehicle and the preceding vehicle constant, notification control for notifying the positions of pedestrians and obstacles, and the like.

  In order to ensure the reliability of the travel control and the notification control, it is important that the periphery monitoring device is operating normally. When an abnormality occurs in the monitoring device, it is necessary to eliminate the abnormality. The abnormality that occurs in the periphery monitoring device includes a severe abnormality that makes it impossible to output a radar wave, and a minor abnormality such as an axis shift that causes the irradiation range of the radar wave to be inconsistent with a predetermined region.

  In particular, in a general periphery monitoring device, when an axis shift occurs, unlike the case where a serious abnormality occurs, the detection of an object is continued, so it is confirmed that an abnormality has occurred. Cannot be recognized, or the system self-diagnosis does not give an abnormality warning, and the abnormality cannot be resolved.

In view of this, a driving assistance device that determines and reports an axial shift of the periphery monitoring device has been proposed (see, for example, Patent Document 1).
The driving support device described in Patent Document 1 includes an acceleration sensor that detects acceleration (deceleration) applied to the host vehicle, a notification device that notifies information, and a periphery monitoring device based on a detection result of the acceleration sensor. And a control device that controls the notification device so as to determine and notify the shaft misalignment.

  In the control device of the driving support device described in Patent Document 1, a collision between the host vehicle and an object is estimated based on the deceleration detected by the acceleration sensor, and the periphery monitoring device is used for the magnitude of the deceleration. The amount of shaft misalignment of the periphery monitoring device mounted on the host vehicle is estimated according to an axis misalignment map in which the deceleration and the amount of shaft misalignment are linearly associated in advance so that the amount of shaft misalignment is proportional. Then, in the control device, if the estimated amount of shaft misalignment is equal to or greater than a predetermined value, the amount of shaft misalignment is reported from the notification device.

Patent No. 4013825

  However, the amount of axis deviation estimated by the driving assistance device described in Patent Document 1 is uniquely determined according to the magnitude of the deceleration detected by the acceleration sensor according to the axis deviation map prepared in advance. Depending on the form of collision between the host vehicle and the object, there is a possibility that the amount of axial deviation that actually occurs when the host vehicle and the object collide does not match. For example, when the axis deviation map is prepared assuming a collision between the front of the host vehicle and an object, if the side of the host vehicle collides with an object, the amount of axis deviation actually generated is The amount may be smaller than specified in the deviation map.

  As described above, if there is a difference between the amount of the axis deviation estimated by the driving assistance device and the amount of the axis deviation actually generated, the driving assistance device described in Patent Document 1 actually has an axis deviation. In spite of this, there is a problem that the vehicle occupant cannot recognize the possibility that the notification is not made and the shaft is displaced.

  That is, in the conventional driving support device, even if there is a possibility that an abnormality has occurred in the surroundings monitoring device, the possibility that the abnormality has occurred is not notified, and the vehicle occupant has the possibility that an abnormality has occurred. There was a problem that it could not be recognized.

  Then, an object of this invention is to provide the driving assistance apparatus which alert | reports the possibility that abnormality has arisen in the periphery monitoring apparatus.

  In the driving support apparatus of the present invention made to achieve the above object, the signal acquisition means is at least one acceleration sensor capable of detecting the direction of acceleration applied to the host vehicle, and the magnitude of acceleration applied to the host vehicle. An output signal from at least one acceleration sensor that outputs a signal in accordance with is acquired.

  Then, based on the output signal acquired by the signal acquisition means, when the collision estimation means estimates at least a collision part representing the part of the host vehicle to which an external force acts, the collating means automatically determines the estimated collision part. It collates with the arrangement | positioning reference | standard data prescribed | regulated previously as data showing the sensor position which is the area | region on the own vehicle where the periphery monitoring apparatus arrange | positioned on the outer periphery of a vehicle is located.

As a result of this collation, if the collision site matches the sensor position, the notification control means causes the notification device to output abnormality information indicating that there is a possibility that an abnormality has occurred in the periphery monitoring device.
According to such a driving support device, it is possible to notify that there is a possibility that an abnormality has occurred in the periphery monitoring device, and it is possible to make a passenger or the like of the host vehicle recognize it.

  As a result, it is possible to cause an occupant or the like of the own vehicle to execute processing necessary to eliminate the abnormality that has occurred in the periphery monitoring device, and to suppress the state in which the abnormality has occurred in the periphery monitoring device.

  In the driving support device of the present invention, the signal acquisition unit acquires each output signal from the plurality of acceleration sensors, and the collision estimation unit estimates the collision site based on the output signals from the plurality of acceleration sensors. (Claim 2).

According to such a driving support device, it is possible to estimate a collision site based on output signals from a plurality of acceleration sensors.
In the travel support device of the present invention, the collision estimation means may estimate the magnitude of the external force acting on the host vehicle. In this case, the notification control means may change the notification mode of the abnormality information according to the magnitude of the external force estimated by the collision estimation means (claim 3).

According to such a driving support device, it is possible to recognize the magnitude of the external force, and thus the high possibility that an abnormality has occurred in the periphery monitoring device.
In addition, the notification control means in the driving support apparatus of the present invention outputs, as the notification mode change, abnormality information indicating that the possibility that an abnormality has occurred in the periphery monitoring device increases as the magnitude of the external force increases. It may be executed (claim 4).

According to such a driving support device, it is possible to more reliably recognize the possibility that an abnormality has occurred in the periphery monitoring device.
Furthermore, the notification control means in the driving assistance device of the present invention may change the abnormality information stepwise according to the magnitude of the external force as the change of the notification mode (claim 5).

  According to such a travel support device, it is possible to change the notification mode by preparing some abnormality information according to the magnitude of the external force, and change the notification mode according to the magnitude of the external force. It can be easily realized.

  In the present invention, the notification device controlled by the notification control means may be a display device that displays information or a display lamp that displays information. In this case, the notification control means may execute changing the display form on the display device or the indicator lamp as the change of the notification mode (claim 6).

  According to such a driving support device, the abnormality information can be notified by displaying the abnormality information on the display device or the indicator lamp so that the occupant of the own vehicle can visually recognize the abnormality information. It is possible to more reliably recognize that an abnormality has occurred.

  In the present invention, the notification device may be a sound output device that rings and outputs an alarm sound or sound. In this case, the notification control means may execute changing the ringing mode of the sound output device as the notification mode change (Claim 7).

  According to such a driving support device, the abnormality information can be notified by an alarm sound or voice so that the occupant of the own vehicle can recognize the abnormality information, and the occupant of the own vehicle has an abnormality in the periphery monitoring device. Can be recognized more reliably.

  Further, in the driving support device of the present invention, each time the storage control means estimates by the collision estimation means, the estimation result by the collision estimation means may be stored in a storage unit that stores information (claim). 8).

  According to such a driving support device, a history of external force applied to the host vehicle, that is, a history of collision of the host vehicle can be stored in the storage unit. And according to the driving assistance apparatus of this invention, such a log | history can be utilized as information which proves the accident log | history of the own vehicle.

  In the present invention, the periphery monitoring device may be a camera that captures an image, or, based on the result of receiving the exploration wave irradiated to the specified range, the distance to the object that reflected the exploration wave, and It may be a device that detects at least the direction in which the object is present (claim 9).

  When the periphery monitoring device is a device such as the latter, the periphery monitoring device generally has a reference axis for irradiating an exploration wave (hereinafter referred to as a detection reference axis) and a reference axis defined for an automobile (hereinafter referred to as a detection reference axis). , It is attached to the automobile so as to coincide with the reference installation axis. Therefore, according to such a driving support device, it is possible to notify the possibility that the detection reference axis and the reference installation axis are inconsistent, that is, the possibility that the axis deviation has occurred. Can be recognized. As a result, an occupant or the like of the host vehicle can execute a process necessary for eliminating the axis deviation.

  The peripheral monitoring device that detects an object based on the result of receiving and receiving the exploration wave mentioned here includes at least a laser radar or a millimeter wave radar that uses laser light or a millimeter wave band radio wave as the exploration wave. In addition to this, the periphery monitoring device that detects an object based on the result of receiving and receiving the exploration wave includes a sonar that uses sound waves (including ultrasonic waves) as the exploration wave.

The periphery monitoring device may be fixed to the back surface of a license plate installed in front of the automobile.
In general, the license plate is the most protruding part in the outer periphery of the automobile, and therefore, collision with an object is likely to occur.

Therefore, when the periphery monitoring device is fixed to the back surface of the license plate, it is important to determine and notify the possibility that an abnormality has occurred for the periphery monitoring device.
According to the driving support apparatus of the present invention, there is a possibility that abnormality has occurred in the periphery monitoring device by preparing in advance the arrangement reference data including the sensor position corresponding to the periphery monitoring device fixed to the back surface of the license plate. Can be notified, and the passenger of the own vehicle can be recognized. As a result, it is possible to cause the passenger of the host vehicle to execute processing necessary for eliminating the abnormality at an early stage.

  In the present invention, the notification device may be at least one of a display device that displays information, a display lamp that displays information, and a sound output device that rings and outputs an alarm sound or sound ( Claim 11).

  If abnormality information is notified using such a notification device, it is possible to reliably recognize that there is a possibility that an abnormality has occurred in the periphery monitoring device by a passenger of the own vehicle.

It is a figure which shows the motor vehicle carrying the driving assistance device to which this invention was applied. It is a figure which shows the installation aspect of the radar apparatus which is one of the periphery monitoring apparatuses. It is a block diagram which shows schematic structure of a driving assistance device. It is a flowchart which shows the process sequence of an abnormality alerting | reporting process. It is the figure which illustrated the alerting | reporting aspect of abnormality information. It is a figure which shows the modification of a driving assistance device. It is a figure which shows the modification of the alerting | reporting aspect of abnormality information.

Embodiments of the present invention will be described below with reference to the drawings.
FIG. 1 is a diagram showing an automobile equipped with a driving support apparatus to which the present invention is applied. Hereinafter, the automobile AM on which the driving support device 5 is mounted is also referred to as the own vehicle AM.

The driving support device 5 is a device that determines the possibility that an abnormality has occurred in the periphery monitoring device mounted on the host vehicle AM based on an external force acting on the host vehicle AM, and notifies the determination result.
<About the perimeter monitoring device>
The periphery monitoring device that is a target for determining the possibility of abnormality by the driving support device 5 is a device that is installed on the outer periphery of the host vehicle AM and detects the situation around the host vehicle AM. A radar device 11, an ultrasonic sonar 12, and an image photographing device 13 are included.

  Among these, the ultrasonic sonar 12 detects an object such as a preceding vehicle, a pedestrian, or an obstacle by irradiating an ultrasonic wave as a search wave over a predetermined region and receiving a reflected wave of the search wave. In the present embodiment, the ultrasonic sonar 12 is installed on the right rear side or the left rear side of the host vehicle AM, and irradiates the ultrasonic wave with the right rear region or the left rear region of the host vehicle AM as a predetermined region.

  The image capturing device 13 is a camera that captures an image. In the present embodiment, the image capturing device 13 is installed behind the host vehicle AM (for example, in the center in the vehicle width direction) and functions as a so-called rear view camera. In addition, the image capturing device 13 in the present embodiment is installed on each of the left and right side mirrors of the host vehicle AM.

  The laser radar device 11 irradiates laser light as a search wave over a specified angle range centered on a predetermined reference axis, and receives reflected light of the search wave, thereby leading vehicles, pedestrians, and obstacles. An object such as an object is detected.

  As shown in FIG. 2, the laser radar device 11 is attached to the back surface of a license plate 7 provided in front of the host vehicle AM so that both the left and right regions with respect to the traveling direction of the host vehicle AM are within a specified angle range. It has been. Specifically, the laser radar device 11 is attached to a bumper in front of the host vehicle AM using a fastening element (for example, a screw or a bolt) inserted through the screw holes 8 and 9 together with the license plate 7.

  The laser radar device 11 uses a reference axis (hereinafter referred to as a detection reference axis) when irradiating an exploration wave for the purpose of detecting the azimuth in which the object exists in addition to the distance to the object. It is attached to the automobile AM so that a reference axis defined for the vehicle AM (hereinafter referred to as a reference installation axis) coincides.

Here, the detection reference axis of the laser radar device 11 is an axis that generally represents the center of the detection range for detecting an object of the laser radar device 11, and the reference installation axis defined for the host vehicle AM is generally viewed from the host vehicle. This is the axis representing the center of the range in which the object is to be detected.
<About driving support device>
Here, FIG. 3 is a block diagram showing a schematic configuration of the driving support apparatus.

The travel support device 5 includes an airbag system 10, a navigation system 30, and a notification device 60.
The airbag system 10 is a system for controlling an airbag module including a squib or the like, and is configured around an airbag ECU 20 that is an electronic control unit. The airbag ECU 20 is connected to at least one acceleration sensor (G sensor) 16 that detects acceleration applied to the host vehicle AM.

The airbag ECU 20 includes a microcomputer 21, a storage unit 22, and a communication controller 23.
Among these, the memory | storage part 22 is a rewritable non-volatile memory | storage device, and memorize | stores a processing program and various information. The communication controller 23 communicates with other in-vehicle devices constituting the in-vehicle network via the communication line 65.

The microcomputer 21 executes processing in accordance with a processing program stored in the storage unit 22. When a collision is detected based on the acceleration of the host vehicle AM detected by the acceleration sensor 16, the microcomputer 21 energizes the squib and opens the airbag. Control for deployment and control for outputting the acceleration of the host vehicle AM detected by the acceleration sensor 16 via the communication line 65 are executed.
<Acceleration sensor>
Next, the acceleration sensor 16 is a well-known triaxial acceleration sensor that detects the direction and magnitude of acceleration applied to the host vehicle AM.

  As shown in FIG. 1, the acceleration sensor 16 is disposed at the front right side of the host vehicle AM (for example, the rear of the right front wheel tire house) and the front left side of the host vehicle AM (for example, the left front wheel tire house). And the center right side of the host vehicle AM (for example, inside the B pillar). Further, the acceleration sensor 16 is disposed at the center left side of the host vehicle AM (for example, the inside of the B pillar), the rear right side of the host vehicle AM (for example, the front of the tire house of the right rear wheel), and the position of the host vehicle AM. The rear left side (for example, the front of the tire house of the left rear wheel) and the interior of the airbag ECU 20 are included.

Hereinafter, in this embodiment, when it is necessary to distinguish the acceleration sensor 16 according to the arrangement position, the acceleration sensor 16 arranged on the front right side of the host vehicle AM is referred to as an acceleration sensor 16FR, and the front left side of the host vehicle AM is referred to. The acceleration sensor 16 arranged in the above is called an acceleration sensor 16FL. Furthermore, the acceleration sensor 16 disposed on the center right side of the host vehicle AM is referred to as an acceleration sensor 16MR, and the acceleration sensor 16 disposed on the center left side of the host vehicle AM is referred to as an acceleration sensor 16ML. The acceleration sensor 16 disposed on the rear right side of the host vehicle AM is referred to as an acceleration sensor 16RR, the acceleration sensor 16 disposed on the rear left side of the host vehicle AM is referred to as an acceleration sensor 16RL, and the acceleration sensor 16 disposed inside the airbag ECU 20 is used. Is referred to as an acceleration sensor 16MI.
<About the navigation system>
Here, returning to FIG. 3, the navigation system 30 will be described.

  The navigation system 30 is a well-known system that detects the current position of the host vehicle AM and guides a route to a set destination, and is configured around a navigation ECU 40 that is an electronic control unit. The navigation ECU 40 is connected to a time measuring device 50 that measures time. The timing device 50 may be a GPS receiver that receives from a GPS (Global Positioning System) satellite. If this GPS receiver is the time measuring device 50, the time measured by the atomic clock mounted on the GPS satellite can be acquired.

The navigation ECU 40 includes a microcomputer 41, a storage unit 42, and a communication controller 43.
Among these, the memory | storage part 42 is a rewritable non-volatile memory | storage device, and memorize | stores a processing program and various information. The communication controller 43 communicates with other in-vehicle devices constituting the in-vehicle network via the communication line 65.

  The microcomputer 41 executes processing in accordance with the processing program stored in the storage unit 42, and estimates the external force acting on the host vehicle AM from the acceleration detected by the acceleration sensor 16, and an abnormality occurs in the periphery monitoring device. An abnormality notification process for determining and notifying the possibility is performed.

  The storage unit 42 stores arrangement reference data that is referred to when the abnormality notification process is executed. This arrangement reference data is defined in advance for a region (that is, a sensor position) on the own vehicle AM where each of the periphery monitoring devices (that is, the laser radar device 11, the ultrasonic sonar 12, and the image capturing device 13) is located. Each of the periphery monitoring devices is associated with a sensor position.

The notification device 60 includes a display device 61 that displays information, a display lamp 62 that displays information, and a sound output device 63 that outputs sound by ringing.
The display device 61 is a well-known liquid crystal display device, and the indicator lamp 62 is a display device (meter, display device, lamp, etc.) installed on the instrument panel of the host vehicle AM. The sound output device 63 is a device that outputs an alarm sound or a sound as a sound. For example, a known speaker structure may be used.
<About abnormality notification processing>
Next, the abnormality notification process executed by the navigation ECU 40 will be described.

Here, FIG. 4 is a flowchart showing a processing procedure of the abnormality notification processing.
This abnormality notification process is started when the driving support device 5 is activated (in this embodiment, the ignition switch is turned on).

Then, when the abnormality notification process is started, first, the acceleration detected by each of the acceleration sensors 16 is acquired from the airbag ECU 20 (S110).
Subsequently, the external force applied to the host vehicle AM is estimated based on the acceleration from each acceleration sensor 16 acquired in S110 (S120).

  In S120, according to the signal level from each acceleration sensor 16, whether or not an external force is applied to the own vehicle AM (that is, whether or not the own vehicle AM collides with an object), and the own vehicle AM to which the external force is applied. And the magnitude of the external force applied to the host vehicle AM are estimated.

  Whether or not an external force has been applied to the host vehicle AM is determined based on at least one acceleration (for example, an acceleration having the largest value (absolute value)) of the acceleration sensors 16 to which an external force has been applied (that is, This is executed by determining whether or not the acceleration is equal to or greater than a threshold defined as the magnitude of acceleration that can be regarded as not noise.

  In S120 of this embodiment, as a method of estimating the collision site, a method of estimating by vector combining the outputs of the respective acceleration sensors 16 in which accelerations greater than or equal to the threshold are detected may be applied. Further, as a method of estimating the collision site, a method of estimating the collision site based on the phase of the output signal from each acceleration sensor 16 or the magnitude of the output signal may be applied. In the latter case, for example, a well-known method described in Japanese Patent Application Laid-Open No. 2005-170370 or Japanese Patent Application Laid-Open No. 2007-176307 can be used. In the present embodiment, the magnitude of the external force applied to the host vehicle AM may be the largest acceleration among the accelerations from the respective acceleration sensors 16, or may be estimated based on the same concept as vector synthesis. .

  In addition, as a method of estimating the magnitude of the external force applied to the collision site and the host vehicle AM, as a result of collating the acceleration detected by each acceleration sensor 16 with a plurality of correspondences prepared in advance, the correspondence with the highest similarity is obtained. You may estimate what corresponds to a relationship as a magnitude | size of the external force applied to the collision site | part and the own vehicle AM. The correspondence relationship in this case is a correspondence relationship between the collision site, the magnitude of the external force in the collision, and the distribution state of the external force (acceleration) applied to the vehicle body by the collision, and is previously determined for each collision site and the magnitude of the external force. It is prepared. Further, each of the correspondence relationships is obtained in advance by experiment or simulation (for example, CAE).

  Then, the estimation result in S120 is stored in the storage unit 42 of the navigation ECU 40 in association with the current time measured by the timing device 50 (S130). Furthermore, the collision part in the estimation result in S120 is collated with the arrangement reference data stored in the storage unit 42 (S140).

  As a result of collating the collision part with the arrangement reference data in S140, if the arrangement reference data indicates that any one of the peripheral monitoring devices 11, 12, and 13 is arranged in an area matching the collision part. (S150: YES), the process proceeds to S160. On the other hand, if the arrangement reference data indicates that none of the peripheral monitoring devices 11, 12, and 13 are arranged in the region matching the collision site (S150: NO), the process returns to S110.

  In S160, the notification device 60 notifies the abnormality information indicating that an abnormality may have occurred in any one of the surrounding monitoring devices 11, 12, and 13 due to an external force applied to the host vehicle AM. To do. Specifically, in S160 of the present embodiment, the abnormality information is displayed on the display device 61 to prompt the occupant of the host vehicle AM to confirm whether or not an abnormality has occurred in the periphery monitoring device, and on the indicator lamp 62. indicate. Further, in S160 of the present embodiment, as the abnormality information, an audio warning or warning sound (buzzer sound) for prompting the occupant of the own vehicle AM to confirm whether or not the abnormality has occurred in the periphery monitoring device is output as a sound output device. 63 to output.

  Furthermore, in S160 in the present embodiment, as shown in FIG. 5, the magnitude of the external force (that is, the severity of the collision) estimated in S120 is the content of the abnormal information displayed on the display device 61 and the indicator lamp 62. The larger the value, the more strongly the occupant of the vehicle AM is urged to confirm whether there is an abnormality. In S160 in the present embodiment, as to the content of the abnormality information output from the sound output device 63, as the magnitude of the external force estimated in S120 (that is, the severity of the collision) increases, the confirmation regarding the presence or absence of the abnormality is performed. The content strongly encourages the passengers of the vehicle AM.

  Thus, as a method of changing the degree of prompting the occupant of the own vehicle AM in the abnormal information to be notified according to the magnitude of the external force (that is, the severity of the collision), the classification of the magnitude of the external force applied to the own vehicle AM It is conceivable that abnormality information is prepared for each, and abnormality information corresponding to the magnitude of the external force applied to the host vehicle AM is output from the prepared abnormality information.

Then, it returns to S110 and repeats S110 to S160.
[Effect of the embodiment]
As described above, in the driving support device 5 of the present embodiment, if there is a high possibility that the periphery monitoring device is disposed at the collision site, the abnormality information is notified.

  Therefore, according to the driving assistance device 5, it is possible to make a passenger or the like of the host vehicle AM recognize with high accuracy that there is a possibility that an abnormality has occurred in the periphery monitoring device. As a result, it is possible to cause the occupant of the host vehicle AM to execute processing necessary to eliminate the abnormality that has occurred in the periphery monitoring device, and to suppress the state in which the abnormality has occurred in the periphery monitoring device.

  In particular, in the driving support device 5, the degree of external force, and thus the higher the possibility that an abnormality has occurred in the peripheral monitoring device, the stronger the degree of prompting the passenger of the vehicle AM in the abnormality information to be notified. . In addition, the abnormality information is notified by the driving support device 5 by displaying the abnormality information or outputting the abnormality information with an alarm sound or voice.

As a result, according to the driving support device 5, it is possible to more reliably recognize the possibility that an abnormality has occurred in the periphery monitoring device.
The driving support device 5 prepares some abnormality information in which the degree of prompting the occupant of the own vehicle AM is changed stepwise according to the magnitude of the external force applied to the own vehicle AM. If the abnormality information corresponding to the magnitude of the external force applied to the host vehicle AM is output from the inside, it is possible to easily change the notification mode according to the magnitude of the external force.

  By the way, in the abnormality notification process of the driving assistance device 5, the result of collision estimation is stored in the storage unit 42 in S130. Accordingly, the storage unit 42 of the driving support device 5 stores a history of external forces acting on the host vehicle AM, that is, a history of collision of the host vehicle AM. Such a history can be utilized as information for proving the accident history of the host vehicle AM.

  The laser radar device 11 as the periphery monitoring device is generally attached to the host vehicle AM so that the detection reference axis coincides with the reference installation axis. For this reason, when the arrangement position of the laser radar device 11 matches the collision site, the abnormality information notified by the driving support device 5 may indicate that the detection reference axis does not match the reference installation axis, , It can be regarded as representing the possibility of axis misalignment.

Therefore, according to the driving assistance apparatus 5, the passenger | crew etc. of the own vehicle can recognize the possibility that the axis deviation occurred, and can perform a process necessary for eliminating the axis deviation.
In particular, the laser radar device 11 of the present embodiment is fixed to the back surface of a license plate 7 provided so as to protrude from the outer periphery of the automobile AM. Since the number plate 7 is the most projecting portion of the outer periphery of the automobile AM, a collision with an object is likely to occur. However, according to the driving support device 5, it is possible to promptly perform the processing necessary for eliminating the abnormality that has occurred in the laser radar device 11 to the passenger of the host vehicle AM or the like.
[Other Embodiments]
As mentioned above, although embodiment of this invention was described, this invention is not limited to the said embodiment, In the range which does not deviate from the summary of this invention, it is possible to implement in various aspects.

  For example, in the above embodiment, the device that executes the abnormality notification process is the navigation ECU 40, but the device that executes the abnormality notification process is not limited to the navigation ECU 40. That is, it may be a body ECU for controlling display devices (meters, indicator lights, etc.) installed on the instrument panel, or may be an airbag ECU 20. In the latter case, as shown in FIG. 6, the driving support device 105 may omit the navigation system 30 from the driving support device 5 shown in the above embodiment. However, in this case, the time counting device 50 and the notification device 60 need to be connected to the airbag ECU 20 of the travel support device 105.

  By the way, the laser radar device 11 in the above embodiment is attached to the back surface of the number plate 7 provided in front of the host vehicle AM so that the regions in both the left and right directions with respect to the traveling direction of the host vehicle AM are within the specified angle range. However, the laser radar device 11 is not limited to this. The laser radar device 11 may be, for example, a laser radar device 11 that detects a preceding vehicle in an adaptive cruise control system that maintains an inter-vehicle distance between the host vehicle AM and the preceding vehicle at a specified distance. In a pre-crash safety system that generates braking force or winds up a seat belt when an object existing on the traveling path of the host vehicle AM cannot be avoided, a laser radar device 11 that detects the object present on the traveling path There may be. These laser radar devices 11 may be mounted in front of the host vehicle AM so as to irradiate laser light along the traveling direction of the host vehicle AM.

  Furthermore, the mounting position of the image capturing device 13 is not limited to the mounting position in the above-described embodiment, and may be, for example, in front of the host vehicle AM. The image capturing device 13 mounted at such a position is so-called. Functions as a front nose view camera.

  Furthermore, in the above-described embodiment, the periphery monitoring device that is a target for determining the possibility of abnormality in the abnormality notification processing is the laser radar device 11, the ultrasonic sonar 12, and the image capturing device 13. However, the peripheral monitoring device is not limited to this, for example, a millimeter wave radar that detects an object based on a result of receiving a reflected wave of the radio wave by irradiating a radio wave in the millimeter wave band as an exploration wave. May be included.

  That is, the periphery monitoring device may be any device as long as it is installed on the outer periphery of the host vehicle AM and detects the situation around the host vehicle AM. Furthermore, the periphery monitoring device to be determined may be a device that detects the state of the host vehicle AM.

  In the above embodiment, the acceleration sensor 16 is disposed at the front right side, the front left side, the center right side, the center left side, the rear right side, the rear left side, and the interior of the airbag ECU 20. The arrangement position is not limited to this, and may be any position as long as the part of the host vehicle AM to which an external force is applied (that is, the collision part) can be specified.

  Furthermore, the acceleration sensor 16 is not limited to a three-axis acceleration sensor, and an acceleration sensor capable of detecting acceleration applied from one direction can be used to identify the direction of acceleration applied to the host vehicle AM. It may be attached to. The acceleration sensor 16 may not be used as the acceleration sensor 16 in the airbag system 10. In this case, it is necessary to provide the driving support device 5 with a dedicated acceleration sensor 16.

  By the way, in S130 of the abnormality notification process in the above embodiment, the result estimated in S120 is stored in the storage unit 42. However, the information stored in S130 is not limited to the estimation result in S120. For example, in addition to the estimation result in S120, the acceleration itself from the acceleration sensor 16 acquired in S110 may be stored in the storage unit 42.

  Furthermore, the notification mode of abnormality information executed in S160 of the abnormality notification process in the above embodiment is not limited to the aspect of the above embodiment. For example, as shown in FIG. 7A, an image representing a collision site in the host vehicle AM is displayed on the display device 61, and then the image displayed on the display device 61 blinks as shown in FIG. 7B. For example, the possibility of abnormality occurring in the periphery monitoring device may be notified.

Note that the notification executed in S160 of the abnormality notification process does not have to output abnormality information from all the devices 61, 62, 63 that constitute the notification device 60, and the devices 61, 62, 63 that constitute the notification device 60. The abnormality information may be output from at least one of the two.
[Correspondence between Embodiment and Claims]
Finally, the relationship between the description of the above embodiment and the description of the scope of claims will be described.

  S110 in the abnormality notification process of the above embodiment corresponds to the signal acquisition means in the claims, S120 in the abnormality notification process corresponds to the collision estimation means, and S140 in the abnormality notification process corresponds to the collating means. To do. Further, S150 and S160 in the abnormality notification process correspond to the notification control means in the claims, and S130 in the abnormality notification process corresponds to the storage control means.

DESCRIPTION OF SYMBOLS 5,105 ... Driving assistance device 7 ... License plate 8, 9 ... Screw hole 10 ... Airbag system 11 ... Radar apparatus (perimeter monitoring device) 12 ... Ultrasonic sonar (perimeter monitoring device) 13 ... Image photographing device (perimeter monitoring device) 16) Acceleration sensor 20 ... Airbag ECU 21 ... Microcomputer 22 ... Storage unit 23 ... Communication controller 30 ... Navigation system 40 ... Navigation ECU 41 ... Microcomputer 42 ... Storage unit 43 ... Communication controller 50 ... Timing device 60 ... Notification device 61 ... Display device 62 ... Indicator light 63 ... Sound output device AM ... Own vehicle

Claims (11)

Signal acquisition for acquiring an output signal from the at least one acceleration sensor that is capable of detecting a direction of acceleration applied to the host vehicle and outputs a signal corresponding to the magnitude of the acceleration applied to the host vehicle. Means,
Based on the output signal acquired by the signal acquisition means, a collision estimation means for estimating at least a collision portion representing a portion of the host vehicle to which an external force acts;
Collation means for collating the collision site estimated by the collision estimation means with arrangement reference data defined in advance as data representing a sensor position which is an area on the own vehicle where the periphery monitoring device arranged on the outer periphery of the own vehicle is located When,
As a result of collation by the collating means, if the collision part matches the sensor position, the alarm control that outputs from the notification device abnormality information indicating that there is a possibility that the abnormality has occurred in the periphery monitoring device. A driving support apparatus comprising: means. The signal acquisition means includes
Acquire each output signal from multiple acceleration sensors,
The collision estimation means includes
The travel support apparatus according to claim 1, wherein the collision site is estimated based on output signals from the plurality of acceleration sensors. The collision estimation means includes
Estimating the magnitude of the external force acting on the host vehicle,
The notification control means includes
The driving support device according to claim 1 or 2, wherein a notification mode of the abnormality information is changed according to a magnitude of an external force estimated by the collision estimation unit. The notification control means includes
The output of the abnormality information indicating that the possibility that an abnormality has occurred in the periphery monitoring device is higher as the magnitude of the external force is larger is executed as a change in the notification mode. The driving support apparatus according to the description. The notification control means includes
The travel support apparatus according to claim 4, wherein changing the abnormality information stepwise according to the magnitude of the external force is executed as the change of the notification mode. The notification device is a display device that displays information, or an indicator lamp that displays information,
The notification control means includes
The travel support device according to any one of claims 3 to 5, wherein changing the display form on the display device or the indicator lamp is executed as a change in the notification mode. The notification device is a sound output device that sounds and outputs an alarm sound or sound;
The notification control means includes
The driving support device according to any one of claims 3 to 6, wherein changing the sounding mode of the sound output device is executed as the change of the notification mode. The storage control means which memorize | stores the estimation result in this collision estimation means in the memory | storage part which memorize | stores information every time it estimates with the said collision estimation means. The driving support device according to one item. The periphery monitoring device is:
2. The apparatus for detecting at least a distance to an object reflecting the exploration wave and an azimuth in which the object exists based on a result of receiving the exploration wave irradiated to a specified range. The driving support device according to any one of claims 8 to 9. The periphery monitoring device is:
It is being fixed to the back surface of the number plate installed in the front of the motor vehicle. The driving assistance device as described in any one of Claims 1-9 characterized by the above-mentioned. The notification device
It is at least one of the display apparatus which displays information, the indicator lamp which displays information, and the sound output apparatus which rings and outputs an alarm sound or a sound. Any of Claims 1-10 characterized by the above-mentioned. The driving support device according to claim 1.

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