JP2008090748A - Warning apparatus for vehicle - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a warning apparatus for vehicle capable of preventing the occurrence of a minor collision by surely and suitably outputting a warning to a person existing in an area which cannot be easily viewed by a vehicle driver while suppressing the output of unnecessary warnings. <P>SOLUTION: The vehicle warning apparatus 100 is provided with: an object detection means 10 for detecting an object existing in a catching dangerous area; a shape determination means 11 for determining whether a shape of a walker or a shape of a driver driving a mini vehicle, a motorcycle or a motor bicycle is included in the shape of the object detected by the object detection means or not; and an outer vehicle warning output device 6 for outputting a warning to the object when the shape determination means 11 determines that a prescribed shape is included in the shape of the object. Further, the vehicle warning apparatus 100 is provided with an intra-vehicle warning output means 7 for outputting a warning to the driver when the object detection means 10 detects an object in the catching dangerous area. <P>COPYRIGHT: (C)2008,JPO&INPIT

Description

  The present invention relates to a vehicular alarm device, and more particularly to a vehicular alarm device for outputting a warning to a pedestrian existing in an area that is difficult for a vehicle driver to visually recognize to prevent a entanglement accident.

  2. Description of the Related Art Conventionally, a warning device for preventing a contact accident that occurs when a motorcycle driver running in parallel with a vehicle goes straight without noticing the left turn of the vehicle is known (see, for example, Patent Document 1). ).

  This warning device is mounted on a vehicle and has a warning light provided on the left side of the vehicle at a height that can be easily confirmed from a motorcycle that is running in translation, and an operation switch provided in the vehicle for turning on the warning light. And comprising.

The vehicle driver turns on the warning device operation switch together with the direction indicator switch to light the warning light, so that the driver of the motorcycle in translation recognizes that the vehicle is about to turn left, causing a contact accident. Can be prevented in advance.
JP-A-6-24271

  However, since the warning device described in Patent Document 1 starts turning on the warning lamp by the manual operation of the operation switch by the vehicle driver, the motorcycle is located in the blind spot area behind the vehicle that is difficult to visually recognize by the rearview mirror and the door mirror. If present, the vehicle driver may not be aware of the presence of the motorcycle and may fail to turn on the warning light when a warning is required for the motorcycle, or may turn on the warning light when not needed .

  In view of the above-described points, the present invention prevents a contact accident by outputting a warning reliably and in a timely manner to an object existing in a region that is difficult to visually recognize from a driver of the vehicle while preventing an unnecessary warning from being output. An object is to provide an alarm device.

  In order to achieve the above-described object, a vehicle alarm device according to a first aspect of the present invention includes an object detection unit that detects an object that is present in an entrainment risk area, and a predetermined shape as the shape of the object that is detected by the object detection unit. Shape determining means for determining whether or not the object is included, and an out-of-vehicle alarm output means for outputting an alarm to the object when the shape determining means determines that the object shape includes a predetermined shape. It is characterized by that.

  Further, the second invention is a vehicle alarm device according to the first invention, wherein an in-vehicle alarm output for outputting an alarm to a driver when the object detecting means detects an object in the entrainment risk area. Means.

  Further, the vehicle alarm device according to the third aspect of the invention is an object detection means for detecting an object present in the entrapment danger area, and whether or not the object shape detected by the object detection means includes a predetermined shape. A shape determining means for determining; a driving operation detecting means for detecting a predetermined driving operation by the driver; and the shape determining means determines that a predetermined shape is included in the shape of the object, and the driving operation detecting means And a vehicle outside alarm output means for outputting an alarm to the object when a predetermined driving operation is detected.

  A fourth invention is a vehicle alarm device according to the third invention, wherein the predetermined driving operation is a steering operation in a direction in which the entrainment is generated.

  The fifth invention is a vehicle alarm device according to the third or fourth invention, wherein the object detecting means detects an object in the entrapment danger area, and the driving operation detecting means is a predetermined operation. The vehicle further includes an in-vehicle alarm output means for outputting an alarm to the driver when a driving operation is detected.

  According to a sixth aspect of the present invention, there is provided the vehicle alarm device according to the fifth aspect of the present invention, wherein the predetermined driving operation is an operation of a direction indicator in a direction in which entrainment occurs.

  A seventh invention is a vehicle alarm device according to any one of the first to sixth inventions, wherein the predetermined shape is a pedestrian shape, a light vehicle, a motorcycle or a motorbike. The shape of the driver who drives the vehicle is included.

  By the means described above, the present invention is for a vehicle that prevents a contact accident by outputting a warning reliably and in a timely manner to an object existing in a region that is difficult to see from the driver of the vehicle while preventing an unnecessary warning from being output. An object is to provide an alarm device.

  Hereinafter, the best mode for carrying out the present invention will be described with reference to the drawings.

  FIG. 1 is a block diagram illustrating a configuration example of a vehicle alarm device according to the present invention. A vehicle alarm device 100 includes a control unit 1, a steering torque sensor 2, a direction indicator 3, an infrared camera 4, a TOF (Timer). Of Flight: flight time measurement) sensor 5, outside alarm output device 6 and in-vehicle alarm output device 7.

  The control unit 1 is a computer including a CPU (Central Processing Unit), a RAM (Random Access Memory), a ROM (Read Only Memory), an NVRAM (Non-Volatile Random Access Memory), and the like. Programs corresponding to the means 11, the alarm output control means 12 and the driving operation detection means 13 are stored in the NVRAM, and these programs are loaded on the RAM and the corresponding processing is executed by the CPU.

  The steering torque sensor 2 is a sensor for detecting steering by the driver. For example, the steering torque sensor 2 detects torsion of a torsion bar using a strain gauge and detects steering by the driver. The vehicle alarm device 100 may detect steering by the driver using a steering angle sensor that detects a steering angle instead of the steering torque sensor 2.

  The direction indicator 3 is a device for instructing the course of the vehicle. For example, the direction indicator 3 is a device that blinks the blinker lamps installed at the four corners of the vehicle body by operating a blinker lever attached near the steering wheel.

  The infrared camera 4 is a thermography for imaging an object around the vehicle. For example, the infrared camera 4 receives far infrared rays having a wavelength of 8 μm to 12 μm emitted from the object, images the temperature distribution of the object surface, and controls the generated image to a control unit. Output to 1. The infrared camera 4 includes an ultrasonic sensor for measuring the distance to the object.

  The image generated by the infrared camera 4 is, for example, red when the surface temperature is high and blue when the surface temperature is low. When the surface temperature is outside the predetermined temperature range, the image is not displayed (black is displayed). You may do it.

  The TOF sensor 5 is a device for detecting the three-dimensional position and shape of an object in the vicinity of the vehicle, and is positioned between the laser light (irradiation light) applied to the object and the reflected light from the object of the laser light. The distance to the object is measured based on the phase difference, an image indicating the three-dimensional position and shape of the object is generated, and the generated image is output to the control unit 1.

  The image generated by the TOF sensor is, for example, colored red as the distance from the vehicle is small and blue as the distance from the vehicle is large. When the distance from the vehicle exceeds a predetermined distance, the image is not displayed (black is displayed. ).

  2A and 2B are diagrams for explaining the arrangement of the infrared camera 4 that captures an image of an object existing in the entrainment risk area R. FIG. 2A is a top view of the vehicle V, and FIG. It is a rear view of the left door mirror LM.

  “Involvement risk area” refers to an area set in advance as having a high possibility of causing a contact accident if a pedestrian or the like is present. An area.

  In addition, the “contact accident” includes an accident that occurs due to an entrainment accident caused by an inner wheel difference of the vehicle V when the vehicle V makes a right or left turn or an inappropriate lane change by the vehicle V that is running.

  As shown in FIG. 2B, the infrared camera 4 is arranged at the base portion of the left door mirror LM, and is arranged so that the imaging range of the infrared camera 4 includes the entrapment danger area R. Further, the TOF sensor 5 is arranged at the base portion of the left door mirror LM instead of the infrared camera 4 or in addition to the infrared camera 4, and is arranged so that the detection range of the TOF sensor 5 includes the entrapment danger region R. Is done.

  Referring to FIG. 1 again, the vehicle outside alarm output device 6 is for a pedestrian outside the vehicle, a driver driving a light vehicle, a motorcycle or a motorbike, etc. (hereinafter referred to as “pedestrian etc.”). For example, a sound output device such as a speaker, loudspeaker, horn, or buzzer, or a light output device such as an HID (High Intensity Discharge) lamp or LED (Light Emitting Diode) lamp. .

  The out-of-vehicle alarm output device 6 outputs a voice message such as “turn left” or “careful about entrainment” so that pedestrians can easily understand the meaning of the alarm to be output, or display these messages as characters with LEDs. You may let them.

  The in-vehicle warning output device 7 is a device for outputting a warning to the driver in the vehicle, and like the out-of-vehicle warning output device 6, it may be an audio output device or a light output device. It may be a vibration output device that alerts the driver by vibrating.

  Next, various units included in the control unit 1 will be described.

  The object detection means 10 is a means for detecting an object around the vehicle. For example, the object detection means 10 detects an object present in the entrainment risk area R based on the output of the ultrasonic sensor or the TOF sensor 5 provided in the infrared camera 4. To do.

  The shape determination unit 11 is a unit for determining the shape of the object. For example, when an object is detected within the entrainment risk area R by the object detection unit 10, the generated image generated by the infrared camera 4 or the TOF sensor 5 is generated. The object shape is extracted by performing image processing such as binarization processing, edge detection processing, filter processing, and the like, and the extracted object shape is collated with a registered shape pattern registered in the ROM of the control unit 1 in advance. Thus, it is determined whether or not the registered shape pattern is included in the generated image.

  Here, a relationship between an image of a pedestrian or the like (image recognized by the naked eye) captured by a normal camera, an image generated by the infrared camera 4 or the TOF sensor 5, and a registered shape pattern will be described.

  FIG. 3 is an image (corresponding to an image visually recognized with the naked eye) that is visually recognized when an entrainment risk area is imaged with a normal camera. FIG. 3 (A) is an image of a pedestrian, and FIG. B) is an image of a driver driving a motorcycle, and FIG. 3C is an image of a driver driving a bicycle.

  4 shows an image generated by the infrared camera 4 that images each subject shown in FIG. 3, and FIG. 5 shows an image generated by the TOF sensor 5 that detects each subject shown in FIG.

  As shown in FIG. 4, the image generated by the infrared camera 4 omits the background and distant objects and has a surface temperature within a predetermined temperature range as compared with an image visually recognized by the naked eye (see FIG. 3). Only an object can be selectively displayed (extracted).

  Further, as shown in FIG. 5, the image generated by the TOF sensor 5 is compared with an image visually recognized by the naked eye (see FIG. 3), omitting the background and distant objects, and having a predetermined distance from V. Only objects within the distance range can be selectively displayed (extracted).

  The “registered shape pattern” is obtained by previously registering an image pattern corresponding to a generated image of the infrared camera 4 as shown in FIG. 4 or a generated image of the TOF sensor 5 as shown in FIG. 5 in the ROM of the control unit 1. The shape of a pedestrian (see FIG. 4A or FIG. 5A), a driver driving a motorcycle (see FIG. 4B or FIG. 5B), or a driver driving a bicycle (See FIG. 4C or FIG. 5C).

  In addition to the typical patterns such as pedestrians as shown in FIG. 4 or 5, the “registered shape pattern” includes a pedestrian wearing an umbrella, a pedestrian pushing a stroller, or a child (normal pedestrian). The shape pattern may be smaller than the registered shape pattern.

  This is because these people may be less aware of the surrounding situation such as the vehicle V turning to the left than other pedestrians and the like, and the alerting by the alarm device 100 for the vehicle is particularly effective. .

  As described above, the shape determination unit 11 extracts the shape of the object existing in the entrapment danger area, collates the extracted shape of the object with the registered shape pattern registered in advance in the ROM of the control unit 1, and detects the infrared camera. 4 or the image generated by the TOF sensor 5 determines whether or not the registered shape pattern is included.

  Note that the shape determination unit 11 not only determines that the shape that completely matches the registered shape pattern is the registered shape pattern, but also determines that the area (number of pixels) that overlaps the registered shape pattern has a predetermined ratio (for example, 80 %) Is determined as a registered shape pattern.

  Further, the shape determination unit 11 may collate with the object shape in the generated image by enlarging or reducing the registered shape pattern. This is because even the same object changes in size in the generated image according to the distance from the vehicle V. Depending on the moving speed of the object, there is a possibility that the object will contact the vehicle after a predetermined time. This is because it is necessary to detect an object at a position away from the object at an early stage.

  Further, the vehicle alarm device 100 detects an optical flow that is an apparent speed field of the object by the object detection means 10 to calculate the moving direction and speed of the object, and the vehicle V is based on the calculated moving direction and speed. If the possibility of contact with the object is determined and the possibility of contact is high, the shape determination means 11 may collate the registered shape pattern with the shape of the object.

  Also in this case, the registered shape pattern is enlarged or reduced in accordance with the distance between the vehicle and the object, and sequentially matched with the shape of the object in the generated image. This is because not only objects that are already likely to be contacted at the present time but also objects that are likely to be contacted after a few seconds are extracted as warning targets.

  The alarm output control means 12 is a means for controlling the output destination of the alarm according to the situation around the vehicle. For example, when the object detection means 10 detects an object in the entrainment danger area, the alarm output control means 12 An alarm is output, or an alarm is output from the vehicle outside alarm output device 6 when it is determined by the shape determination means 11 that a registered shape pattern is included in the generated image generated by the infrared camera 4 or the TOF sensor 5.

  The reason for switching the alarm output timing and output source is to output a necessary and sufficient alarm to an appropriate target in a timely manner. The alarm output control means 12 detects what an object is in the entrapment danger area. By outputting an alarm early to the deaf driver, it is possible to prevent the vehicle V from contacting the object.

  Further, the alarm output control means 12 outputs an alarm to the pedestrian or the like when it is determined that the object is a pedestrian or the like, so that the object other than the pedestrian or the like (for example, a utility pole or the like) To prevent the vehicle V from coming into contact with the pedestrian, etc., while preventing the useless warning from being output to the outside of the vehicle. Can do.

  The alarm output control means 12 outputs an alarm from both the vehicle outside alarm output device 6 and the vehicle interior alarm output device 7 when the shape determination means 11 determines that the registered shape pattern is included in the generated image. Also good. This is to make the driver alert more reliably.

  The driving operation detection means 13 is a means for detecting that a predetermined driving operation has been performed by the driver of the vehicle V. For example, the driving operation detection means 13 receives an output signal from the steering torque sensor 2 and starts steering by the driver. Or the operation of the direction indicator 3 is detected in response to the output signal of the direction indicator 3.

  The alarm output control unit 12 outputs an alarm from the in-vehicle alarm output device 7 when the driving operation detection unit 13 detects the operation of the direction indicator 3 by the driver, or the driving operation detection unit 13 performs steering by the driver. When detected, an alarm is output from the vehicle outside alarm output device 6.

  As a result, the warning output control means 12 alerts the driver when the driver has operated the direction indicator 3 without noticing a pedestrian or the like in the entrainment danger area, and the driver is inadequate Left turn and lane change can be prevented in advance, and if the driver makes an inappropriate right or left turn or lane change, a warning will be output early to pedestrians etc. to avoid contact accidents it can.

  The alarm output control means 12 may output an alarm from the outside alarm output device 6 and the in-vehicle alarm output device 7 when the driving operation detection means 13 detects steering by the driver. This is to make the driver alert more reliably.

  Next, a flow of processing in which the vehicle alarm device 100 outputs an alarm inside or outside the vehicle will be described. FIG. 6 is a flowchart showing a flow of processing in which the vehicle alarm device 100 outputs an alarm inside or outside the vehicle.

  First, the vehicle warning device 100 monitors the driver's operation of the direction indicator 3 by the driving operation detection means 13 (step S1).

  When the operation of the direction indicator 3 by the driver is not detected (NO in step S1), the vehicle alarm device 100 continues to monitor the driving operation until the driver operates the direction indicator 3.

  When the operation of the direction indicator 3 by the driver is detected (YES in step S1), the vehicle alarm device 100 is based on the output of the ultrasonic sensor or the TOF sensor 5 attached to the infrared camera 4 by the object detection means 10. It is determined whether or not an object exists in the entrainment risk area (step S2).

  If it is determined that no object is present in the entrainment risk area (NO in step S2), the vehicle alarm device 100 determines that there is a low possibility of a contact accident, and either the vehicle outside alarm output device 6 or the vehicle interior alarm output device 7 Then, the process is terminated without outputting an alarm, and the driving operation desired by the driver (for example, steering for a right or left turn) is continued.

  When it is determined that an object is present in the entrainment risk area (YES in step S2), the vehicle alarm device 100 causes the alarm output control means 12 to notify the driver of the vehicle V from the in-vehicle alarm output device 7 as “involvement caution”. (Step S3) to notify the driver that there is an object in the entrapment danger area and may cause an entrainment accident, so as to interrupt the driver from changing lanes and turning left and right. To.

  Thereafter, the vehicle alarm device 100 monitors the steering operation by the driver by the driving operation detection means 13 (step S4).

  When the steering operation by the driver is not detected (NO in step S4), the vehicle alarm device 100 continues to monitor the driving operation until the driver operates the steering.

  When the steering operation by the driver is detected (YES in step S4), the vehicle alarm device 100 cannot interrupt the forced lane change or right / left turn by the driver even by the alarm output from the in-vehicle alarm output device 7. Then, it is determined whether or not a registered shape pattern exists in the generated image generated by the infrared camera 4 or the TOF sensor 5 by the shape determining means 11 (step S5).

  The vehicle alarm device 100 may determine whether or not a registered shape pattern exists in the generated image without detecting the driver's steering operation. This is because when a pedestrian or the like is present in the entrainment risk area, an alarm for the pedestrian or the like is executed at an early stage to prevent an accident involving the pedestrian or the like.

  If it is determined that the registered shape pattern does not exist in the generated image (NO in step S5), the vehicle alarm device 100 outputs an alarm from the outside alarm output device 6 on the assumption that a contact accident is unlikely. The process is finished without.

  In this case, the vehicle alarm device 100 may continuously output an alarm from the in-vehicle alarm output device 7. This is because there is no change in the presence of an object in the entrapment danger area, and this is to make the driver's attention more reliable.

  On the other hand, if it is determined that the registered shape pattern is present in the generated image (YES in step S5), the vehicle alarm device 100 determines that a contact accident is likely to occur and the vehicle outside alarm output device 6 detects an object outside the vehicle ( A pedestrian's attention message is output to the pedestrian and the like (step S6), and the pedestrian's attention is alerted to prevent a contact accident.

  As described above, the vehicle alarm device 100 according to the present invention determines whether or not a registered shape pattern is included in a generated image generated by the infrared camera 4 or the TOF sensor 5. Since an alarm is output from the alarm output device 6, while preventing an unnecessary alarm (for example, an alarm output to a power pole, etc.) from being output, it is timely and appropriate for a pedestrian who needs attention. An alarm can be output reliably, and a contact accident can be prevented beforehand.

  Although the preferred embodiments of the present invention have been described in detail above, the present invention is not limited to the above-described embodiments, and various modifications and substitutions can be made to the above-described embodiments without departing from the scope of the present invention. Can be added.

  For example, in the above-described embodiment, when the registered shape pattern of a pedestrian or the like is found in an image showing the inside of the danger area, an alarm is output from the outside alarm output device 6 to the pedestrian or the like. The alarm may not be output from the vehicle outside alarm output device 6 when a pattern is found in an image showing the inside of the danger area.

  FIG. 7 is a view showing a state in which the vehicle V changes lanes and tries to enter the front of the structural vehicle FV. The vehicle alarm device 100 uses the object detection means 10 to cause an object (following vehicle) to enter the dangerous area R. FV) is detected and an alarm is output from the in-vehicle alarm output device 7 to the driver. At the same time, the shape determining means 11 determines that the shape of the object is a registered vehicle shape, and an alarm is output from the out-of-vehicle alarm output device 6. Is not output.

  In addition to finding the registered shape pattern of pedestrians etc. in the generated image, the registered shape pattern of the vehicle is actively found in the generated image and an inappropriate warning (the warning for the following vehicle is transmitted to the driver of the following vehicle) This is to prevent the output from being inappropriate.

It is a block diagram which shows the structural example of the alarm device for vehicles which concerns on this invention. It is a figure for demonstrating arrangement | positioning of the infrared camera which images the object which exists in an entrapment danger area. It is an image example which imaged the entrapment danger area with a normal camera. It is an example of an image generated by an infrared camera. It is an example of an image generated by a TOF sensor. It is a flowchart which shows the flow of the process which the alarm device for vehicles outputs a warning inside or out of a vehicle. It is a figure which shows the state which a vehicle changes lane and tries to approach in front of a structure vehicle.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Control part 2 Steering torque sensor 3 Direction indicator 4 Infrared camera 5 TOF sensor 6 Outside alarm output device 7 In-vehicle alarm output device 10 Object detection means 11 Shape determination means 12 Alarm output control means 13 Driving operation detection means FV Subsequent vehicle LM Left Door mirror R Entrainment danger area V Vehicle

Claims (7)

An object detection means for detecting an object present in the entrapment danger area;
Shape determination means for determining whether or not a predetermined shape is included in the shape of the object detected by the object detection means;
Vehicle outside alarm output means for outputting an alarm to the object when the shape determining means determines that the object shape includes a predetermined shape;
A vehicle alarm device comprising: In-vehicle warning output means for outputting a warning to the driver when the object detecting means detects an object in the entrapment danger area,
The vehicle alarm device according to claim 1, further comprising: An object detection means for detecting an object present in the entrapment danger area;
Shape determination means for determining whether or not a predetermined shape is included in the shape of the object detected by the object detection means;
Driving operation detection means for detecting a predetermined driving operation by the driver;
An out-of-vehicle alarm output means for outputting an alarm to the object when the shape determining means determines that a predetermined shape is included in the shape of the object and the driving operation detecting means detects a predetermined driving operation; ,
A vehicle alarm device comprising: The predetermined driving operation is a steering operation in a direction in which entrainment occurs.
The vehicle alarm device according to claim 3. In-vehicle alarm output means for outputting an alarm to the driver when the object detection means detects an object in the entrainment risk area and the driving operation detection means detects a predetermined driving operation,
The vehicle alarm device according to claim 3, further comprising: The predetermined driving operation is an operation of a direction indicator in a direction in which entrainment occurs.
The vehicle alarm device according to claim 5. The predetermined shape includes the shape of a pedestrian or the shape of a driver driving a light vehicle, a motorcycle or a motorbike.
The vehicular alarm device according to any one of claims 1 to 6.

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