JP2008186416A - Object detector, communication system and inter-vehicle communication apparatus - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To surely identify the type of a detected object in an object detector which detects the object. <P>SOLUTION: An obstacle detection ECU of an inter-vehicle communication apparatus detects an obstracle by operating a stereo-camera and a radar at preset time intervals. Then, a support control ECU judges whether or not a change pattern of a position detection result of an obstacle matches to a type pattern preset for specifying the type of the obstacle based on a detection result by the obstacle detection ECU and when the respective patterns match to each other, judges that the type of the obstacle corresponds to the type pattern. Consequently, since the change pattern of the position detection result is detected, when the type of the obstacle is judged, it is made hard to be influenced by distance to the obstacle, Thus, the type of the obstacle is surely identified irrespective of the distance to the obstacle. <P>COPYRIGHT: (C)2008,JPO&INPIT

Description

  The present invention relates to an object detection device, a communication system, and an inter-vehicle communication device having a function of identifying the type of an object.

Conventionally, various types of detection devices for detecting an object (particularly a pedestrian) are known.
As such a detection device, there is a pedestrian in the captured image depending on whether or not there is an object showing the shape of the pedestrian in the image captured by the stereo camera using a stereo camera and an image processing device. A device for determining whether or not there is known (see, for example, Patent Document 1).

Moreover, what detects a pedestrian's position with a receiver by giving the pedestrian the transmission apparatus which wirelessly transmits self position information is also known (for example, refer patent document 2).
JP 2002-024986 A JP 2004-220143 A

  However, in the apparatus of Patent Document 1, since the object shape in the image is used to identify whether the object is a pedestrian or another object, the distance from the stereo camera to the object is long, and the object in the captured image is small. In some cases, the shape cannot be accurately determined, and it cannot be identified whether the object is a pedestrian or another object.

  Moreover, in the apparatus of the said patent document 2, since the pedestrian is carrying the transmission apparatus, a pedestrian can be detected reliably, without implementing the process which identifies a pedestrian and another object. However, there is a problem that pedestrians and other objects that do not have a transmission device cannot be detected, rather than identified.

  In other words, the devices of the above-mentioned patent documents have a problem in accuracy when detecting a pedestrian or other object and identifying the type of the object. Therefore, in view of such problems, it is an object of the present invention to enable an object detection apparatus that detects an object to reliably identify the type of the detected object.

  In the object detection apparatus according to claim 1, which is configured to achieve the above object, the operation control unit causes the position detection unit to perform position detection processing at a preset time interval. Then, the type determination unit determines whether the change pattern of the position detection result by the position detection unit matches a type pattern set in advance for specifying the type of the object, and the patterns match each other. It is determined that the type of the object corresponds to the type pattern.

  Therefore, according to such an object detection device, since the change pattern of the position detection result is detected, when determining the type of the object, compared to the case where the position detection result at a certain moment is used, It can be made less susceptible to distance effects. Therefore, the type of the object can be reliably identified regardless of the distance to the object.

  By the way, in the object detection apparatus according to claim 1, the position detection means sequentially irradiates the electromagnetic wave having directivity within the detection region and receives the reflected wave as described in claim 2. The position may be detected.

According to such an object detection device, a change in the position of the object can be easily captured as compared with a case where the position of the object is detected by image processing.
Further, in the object detection device according to claim 1 or 2, as described in claim 3, an image pickup unit that picks up an image in the detection region and an extraction unit that extracts an object from an image captured by the image pickup unit. And the type determination means also determines whether or not the shape of the object extracted by the extraction means matches a shape pattern set in advance to specify the type of the object. The type of the object may be determined by combining the determination result as to whether or not the pattern matches the type pattern.

  According to such an object detection apparatus, since the type of the object is determined by using the change pattern of the position detection result and the shape pattern of the object together, only one of the change pattern of the position detection result or the shape pattern of the object is determined. Compared with the case where the type of an object is used to determine, the accuracy of determining the type of object can be improved.

  Further, when the present invention (Claim 3) is combined with the invention of Claim 2, the influence of ambient brightness, weather, etc. can be obtained by using both object detection using electromagnetic waves and object detection using imaging means. Therefore, the detection accuracy of the type of the object can be further improved.

  Furthermore, in the object detection device according to any one of claims 1 to 3, as described in claim 4, the object detection device includes a transmission unit that transmits at least a determination result by the type determination unit to the vehicle. Also good.

  According to such an object detection apparatus, since the determination result by the type determination means is transmitted, the determination result can be shared with the vehicle. When this object detection device is mounted on a vehicle, the determination result can be transmitted to another vehicle different from the vehicle, so that the determination result can be shared with another vehicle.

The transmission unit may transmit not only the determination result by the type determination unit but also the position detection result of the object by the position detection unit.
Moreover, in the object detection device according to any one of claims 1 to 4, as described in claim 5, a lateral width detecting means for detecting the lateral width of the object, and an own lane for repeatedly calculating the own lane probability A probability calculating means, and the type determining means may monitor the own lane probability and the change pattern of the width of the object.

  In addition, as a specific example of the type determination means according to claim 5, as described in claim 6, the decrease rate per unit time of the own lane probability is equal to or higher than a preset decrease threshold, and the object When the rate of change per unit time in the horizontal width of the object is within a preset allowable range, it may be determined that the type of the object is a pedestrian.

  According to such an object detection device, when a change pattern peculiar to a pedestrian is detected, it is determined that the type of the object is a pedestrian, so that the pedestrian can be detected with high accuracy. Moreover, it is possible to reliably detect a pedestrian that is a small object with respect to the vehicle.

  Next, in the communication system according to claim 7 configured to achieve the above object, the transmission device includes all of the configuration of the object detection device according to claim 1, and the reception device receives from the transmission device. In accordance with the determination result, there is provided an informing means for informing the driver of the vehicle on which the receiving device is mounted.

Therefore, according to such a communication system, since the transmission device includes all of the configuration of the object detection device according to the first aspect, the same effect as that of the first aspect can be obtained.
In addition, according to the communication system of the present invention, since the receiving device notifies the danger according to the determination result received from the transmitting device, the vehicle running on the receiving device is hindered in the position where it becomes a blind spot. Even if there is a coming object, the type of the object can be identified and the presence of the object can be notified to the driver of this vehicle. Therefore, an accident in which the vehicle collides with an object can be prevented.

  By the way, in the communication system according to claim 7, as described in claim 8, the receiving device determines whether or not the driver of the vehicle has a room for visually recognizing the display device provided in the vehicle. A margin determining unit is provided, and the notifying unit is configured to display the notification contents on the display device only when it is determined by the margin determining unit that the driver has a margin for visually recognizing the display device.

  According to such a communication system, since the notification using the display device is performed only when it is determined that the driver has a room for visually recognizing the display device, the driver without a room tends to visually recognize the display device. Therefore, it is possible to prevent erroneous driving operation.

  In addition, when it is determined by the margin determination means that the driver has no room to visually recognize the display device, the notification means does not use the display device, but notifies the five senses other than vision (for example, sound using a speaker). For example, a notification of vibrating the seat and the handle, a notification of winding up the seat belt, etc.).

  Further, in the present invention, the margin determining means images, for example, whether or not a numerical value (speed, steering angle, etc.) indicating the traveling state of the vehicle is equal to or greater than a predetermined traveling threshold value. The camera (imaging means) detects the driver's movements, eyelid movements, eyeball movements, etc., and allows the driver to visually recognize the display device by processing whether or not these movements are equal to or greater than a preset number of times. What is necessary is just to determine whether there exists.

  By the way, in the communication system according to claim 7 or claim 8, the driver of the right turn vehicle needs to confirm many matters such as the behavior of the oncoming vehicle and the presence or absence of a pedestrian in a short time. Leakage is likely to occur. For this reason, an accident tends to occur when the vehicle turns right.

  Therefore, as in the communication system according to the ninth aspect, the receiving device includes a right turn detecting unit that detects that the vehicle is about to turn right, and the notifying unit indicates that the vehicle is about to turn right using the right turn detecting unit. It may be configured to operate when detected.

According to such a communication system, since the notification is performed when the vehicle turns right, it is possible to effectively prevent an accident when the vehicle turns right.
Furthermore, in the communication system according to any one of claims 7 to 9, as described in claim 10, the receiving device performs a visual act of visually recognizing an object detected by the position detection means. The visual detection means includes a visual detection means for detecting whether or not the visual detection is performed, and when the visual detection means determines that the driver has performed the visual recognition action, the visual detection means does not perform the visual recognition action by the driver. The notification level indicating the degree of danger may be set lower than the case where it is determined that the event has occurred.

  According to such a communication system, the notification level is changed according to whether or not the driver has performed the visual recognition action. Therefore, if the driver does not perform the visual recognition action, more alerting is urged. it can. In addition, when the driver performs a visual recognition action, the notification level is relatively lowered, so that it is possible to prevent the driver from feeling troublesome by performing excessive notification.

Next, in order to achieve the said objective, the vehicle-to-vehicle communication apparatus of Claim 11 is equipped with the structure of the transmitter which concerns on Claim 7, and the structure of a receiver.
Therefore, the same effects as those of the first and seventh aspects can be obtained.

Embodiments according to the present invention will be described below with reference to the drawings.
First, an outline of the present embodiment will be described with reference to FIG. FIG. 1 is an explanatory diagram showing an outline of driving assistance realized in the present embodiment.

  As shown in FIG. 1, the oncoming straight vehicle (transmitting vehicle) detects an object such as a pedestrian located in the vicinity of the intersection, and transmits information on the object to a right turn vehicle that is about to turn right at the intersection. Then, in the right turn vehicle (receiving vehicle), the object information is received and the object information is displayed on the display device 21.

  Here, in the present embodiment, the type of the object is determined. For example, when the object is a pedestrian, a mark indicating the pedestrian is displayed on the display device 21. That is, in the present embodiment, the right turn vehicle receives information on obstacles such as pedestrians from other vehicles such as an oncoming straight vehicle, and assists the driver of the right turn vehicle receiving this information with a warning or the like. By trying to avoid accidents when the vehicle makes a right turn.

  A more detailed embodiment will be described with reference to FIG. FIG. 2 is a block diagram showing a schematic configuration of a vehicle-to-vehicle communication system 1 (a communication system referred to in the present invention) to which the present invention is applied.

  The vehicle-to-vehicle communication system 1 is configured by a vehicle-to-vehicle communication device 10 (an object detection device, a transmission device, and a reception device in the present invention) that is mounted on each of a plurality of vehicles and capable of wireless communication with each other.

  As shown in FIG. 2, the inter-vehicle communication device 10 includes a radio control device 20, a display device 21, a support control ECU 2 (ECU is an electronic control device) to which a speaker 22 is connected, a steering sensor 31, a yaw rate sensor 32, a parking brake. 33 connected to the brake ECU 3, navigation ECU 4 connected to the GPS antenna 41, gazing point detection ECU 5 connected to the in-vehicle camera 51, engine ECU 6 connected to the vehicle speed sensor 61, stereo camera 71, radar 72 Are connected to the obstacle detection ECU 7 (position detection means, operation control means, and lateral width detection means in the present invention), and a light ECU 8 to which the turn signal 81 is connected.

  Each ECU 2 to 8 is configured as a well-known microcomputer including a CPU, ROM, RAM, and the like, and configured to be communicable with other ECUs 2 to 8 using a predetermined communication protocol such as CAN via a communication line. Yes.

The assistance control ECU 2 executes a driving assistance process, which will be described later, and notifies the driver of the vehicle via the display device 21 and the speaker 22 according to the execution result of this process.
The display device 21 is configured, for example, as an LCD (liquid crystal color display) that displays a map image or the like, or a HUD (head-up display) that displays an image superimposed on the windshield, The map information generated by the navigation ECU 4 is displayed.

Note that the display device 21 and the speaker 22 may be connected to the navigation ECU 4.
The brake ECU 3 controls a brake for braking (not shown) according to detection results by the steering sensor 31 that detects the steering angle and the yaw rate sensor 32 that detects the angular velocity. The brake ECU 3 detects the operating state of the parking brake 33.

  The navigation ECU 4 detects the current location of the host vehicle based on the detection result by the GPS antenna 41, reads map information stored in the HDD (Hard Disk Drive) 9 according to the present location, and stores the current location of the host vehicle in the map information. Generate a map image with And navigation ECU4 displays a map image on the display apparatus 21 via assistance control ECU2 by transmitting map information and the produced | generated map image to assistance control ECU2.

  The gazing point detection ECU 5 receives the video signal from the in-vehicle camera 51 that images the driver's face, and detects the driver's line of sight (position of the gazing point) by performing image processing on the captured image based on the video signal. .

  In addition, since the process which detects a driver | operator's eyes | visual_axis by image-processing a captured image is a known technique (for example, refer Unexamined-Japanese-Patent No. 7-159317 etc.), description here is abbreviate | omitted. Moreover, in order to detect a driver | operator's gaze direction with high precision, you may arrange | position the several in-vehicle camera 51 so that a driver | operator may be imaged from a different angle. Further, the position of the driver's gazing point may be detected by detecting the direction of the driver's face.

  The engine ECU 6 controls the engine (an injection control device (not shown) or the like) according to the detection result by the vehicle speed sensor 61 and transmits the detection result (vehicle speed information) by the vehicle speed sensor 61 to the support control ECU 2 and the navigation ECU 4.

  The obstacle detection ECU 7 detects obstacles in the imaging range by the stereo camera 71 and in the detectable area by the radar 72 using the stereo camera 71 and the radar 72 at every preset time interval (for example, 100 ms). Processing is performed (position detection processing), and obstacle data such as the position and shape of the obstacle is recorded in the internal memory for a predetermined time (for example, 2 seconds). When the obstacle detection ECU 7 detects an obstacle using the stereo camera 71, information on the shape and position of the obstacle is detected from an image captured by the stereo camera 71 by image processing. However, the support control ECU 2 performs the process of identifying the type of the obstacle from the shape of the obstacle.

  The radar 72 is configured to sequentially detect obstacles in the detectable region while sequentially moving the irradiation region of the electromagnetic wave (for example, millimeter wave) having directivity, and the obstacle detection ECU 7 detects the obstacle 72. When detecting the shape and position of the object using the, the detection is carried out by calculating based on the irradiation direction of the electromagnetic wave and the time until the reflected wave is received.

When the obstacle detection ECU 7 receives a request from the support control ECU 2, the obstacle detection ECU 7 transmits obstacle data to the support control ECU 2.
Here, in the vehicle-to-vehicle communication device 10 configured as described above, an obstacle located around the vehicle on which the vehicle-to-vehicle communication device 10 is mounted is detected, and this obstacle information is transmitted to the other vehicle-to-vehicle communication device 10. The process to transmit and the process to perform a warning based on the obstacle information received from the other inter-vehicle communication device 10 are performed.

  First, a process of detecting an obstacle located around the vehicle and transmitting the obstacle information to another inter-vehicle communication device 10 will be described with reference to FIG. FIG. 3A is a flowchart showing an obstacle detection process performed by the support control ECU 2. FIG. 3B is a flowchart showing the type specifying process in the obstacle detection process.

  The obstacle detection process is, for example, a process that is started when the parking brake 33 of the vehicle is released. As shown in FIG. 3A, first, all the obstacle detection ECU 7 records in the internal memory. The obstacle data is acquired from the obstacle detection ECU 7 (S110). Then, a type specifying process for specifying the type of the obstacle is performed (S120).

  In this type specifying process, a process as shown in FIG. However, in this type specifying process, only the process using obstacle data detected using the radar 72 is shown. Note that processing using obstacle data detected using the stereo camera 71 and image processing will be described later.

  In the type identification processing, first, based on the acquired obstacle data, the relative speed between the own vehicle and the obstacle, the moving direction of the obstacle, the arrival time until the obstacle reaches the intersection, and the obstacle is the own vehicle. The own lane probability indicating the probability of being on the travel lane is calculated (S160: own lane probability calculating means). In this process, the own lane probability and the like are calculated for each of the plurality of acquired obstacle data. The own lane probability is set so as to increase as the obstacle is detected at an angle closer to the front of the own vehicle.

  Then, a change pattern representing how the value calculated in the process of S160 or the value included in the obstacle data changes with the passage of time is detected for each of the above values (S170: type determination means) ). Subsequently, it is determined whether or not the change pattern of each value matches a type pattern set in advance for each type of obstacle (S180: type determination unit).

  If the change pattern of each value matches any of a plurality of type patterns stored in advance in the internal memory of the support control ECU 2 (S180: YES), the type corresponding to the type pattern is specified as the type of obstacle. (S190), and the type specifying process is terminated. If the change pattern of each value does not match any type pattern (S180: NO), the type specifying process is terminated without specifying the type of the obstacle.

  In the process of S180, the determination result based on the image processing result using the stereo camera 71 is also used to specify the type of obstacle. That is, the support control ECU 2 collates the obstacle shape based on the obstacle shape information (obtained by image processing) included in the obstacle data with the shape pattern data stored in the internal memory in advance. Based on the matching rate, it is calculated which type of obstacle is highly likely. For each type of obstacle, shape data representing how the shape in the captured image changes when the obstacle moves is stored in the internal memory, and the shape change in the obstacle in the captured image However, the type of obstacle may be determined based on the degree of coincidence with the shape data.

  As described above, in the process of S180, it is determined which type of obstacle is most likely using both the stereo camera 71 and the obstacle data detected using the radar 72, (For example, whether each type determination result (numerical value representing probability) is multiplied by a predetermined coefficient and the result of adding these is equal to or greater than a predetermined determination threshold value) ) To identify the type of obstacle.

  Here, among the type specifying processes, the processes of S170 and S180 will be described in more detail with reference to FIG. FIG. 4 is a graph showing a change pattern when it is determined that the obstacle is a pedestrian. In particular, the example shown in FIG. 4 shows a change pattern when the transmitting vehicle (opposite straight vehicle) shown in FIG. 1 detects a crossing pedestrian near the intersection.

In FIG. 4 (the same applies to FIG. 6 described later), the vertical axis indicates the magnitude of each value, and the horizontal axis indicates time.
In FIG. 4, the distance L [m] to the intersection, the speed V [m / s] of the host vehicle, the distance D [m] to the obstacle (detected object), and the relative speed Vr [m / s], the lateral width W [m] of the obstacle, the lateral position of the obstacle relative to the host vehicle (+ for the right side, − for the left side) X [m], and the own lane probability P [%] of the obstacle, respectively It is displayed.

  Here, when a crossing pedestrian is detected, the distance L to the intersection and the distance D to the obstacle continuously decrease at substantially the same value, whereas the own lane probability P is It is constant for a while and decreases rapidly when the vehicle approaches a pedestrian. Further, the lateral position X of the obstacle is constant because the pedestrian is walking in the same direction as the own vehicle.

  Further, the speed V and the relative speed Vr of the host vehicle are such that the movement speed of the pedestrian is sufficiently slow with respect to the vehicle and is slight, so that the way of changing these values becomes almost constant. Further, the distance D to the obstacle and the lateral width W of the obstacle periodically and slightly change depending on the pedestrian's movement (movement of the arm or movement of the foot).

  That is, in S170 of the type specifying process, a change in value as shown in FIG. 4 is detected. In S180, by calculating the degree of coincidence between the change pattern and the type pattern in which the change pattern of each value is recorded, It is calculated which type of obstacle is highly likely.

  Specifically, when the own lane probability P decreases, the rate of decrease (the degree of decrease in probability per unit time) is equal to or greater than a preset decrease threshold, and the amount of change in the width W of the obstacle is If it is within the set allowable range and the lateral width W changes periodically, it is determined that the obstacle is a pedestrian.

  Further, in the processing, when a bicycle located near the intersection is detected, the difference between the relative speed Vr to the obstacle and the speed V of the own vehicle is larger than that of the pedestrian, The type is specified by detecting that there is no periodic change in the distance D to the object and the lateral width W of the obstacle.

Furthermore, a vehicle, a motorbike, a fallen object, etc. can also be detected using the same idea. An example of the process for detecting the vehicle will be described later with reference to FIG.
Subsequently, returning to FIG. 3A, it is determined whether or not the vehicle (own vehicle) performing the process is approaching the support intersection (S130). In this process, the navigation ECU 4 requests vehicle position information and map information based on a signal received via the GPS antenna 41, and is set in advance from a support intersection where the current location of the vehicle is to be subjected to driving support. It is determined whether it is within a predetermined distance (for example, about 100 m or a distance that can be communicated by specific low power wireless communication).

  If the host vehicle is approaching the support intersection (S130: YES), information on the position of the obstacle and the type of the identified obstacle is transmitted as obstacle information to the other inter-vehicle communication device 10 (S140). : Transmission means), it is determined whether or not the driving support is ended (S150). On the other hand, if the host vehicle is not approaching the support intersection (S130: NO), it is immediately determined whether or not to end the driving support (S150).

  Here, in the process of S150, when it is detected that the parking brake 33 of the vehicle is applied, or when a command to end the driving assistance is input via an operation unit (not shown), the driving assistance is performed. Is determined to end.

  When the driving support is to be ended (S150: YES), the obstacle detection process is ended. On the other hand, when the driving assistance is not terminated (S150: NO), the obstacle detection process is repeated from the beginning.

  Next, a process in which each vehicle-to-vehicle communication device 10 issues a warning based on the obstacle information received from the other vehicle-to-vehicle communication device 10 will be described with reference to FIG. FIG. 5 is a flowchart showing a driving support process performed by the support control ECU 2.

  This driving support process is a process that is started when the parking brake 33 of the vehicle is released, for example, similar to the obstacle detection process described above, and is performed in parallel with the obstacle detection process described above. .

  In this driving support process, it is determined whether or not the host vehicle is in a situation in which the driving process should be performed in the processes of S210 to S250 (excluding S230). Specifically, first, whether or not the host vehicle is approaching a support intersection (S210: right turn detection means), whether or not obstacle information is received from another inter-vehicle communication device 10 (S220), right turn signal Is operated (S240: right turn detection means) and whether or not the steering angle is equal to or greater than a certain angle (S250: right turn detection means).

  Here, about the process which determines whether it is approaching the assistance intersection in S210, the process similar to the process of above-mentioned S130 is implemented. Moreover, about the process which determines whether the right turn signal in S240 is operate | moving, it implements by acquiring the operation state of the turn signal 81 (right turn signal) via light ECU8.

  Further, with regard to the process of determining whether or not the steering angle is greater than or equal to a certain angle in S250, the detection result of the steering angle by the steering sensor 31 is acquired via the brake ECU 3, and this acquisition result is set in advance. This is carried out by determining whether or not the steering threshold is exceeded.

  If a negative determination is made in any one of S210, S240, and S250 (NO in any of S210, S240, and S250), the process proceeds to S370 to be described later without performing driving support. If a negative determination is made in the process of S220 (S220: NO), the driver of the host vehicle is notified that the obstacle information has not been detected (S230), and the process proceeds to S370 to be described later.

  As a method for notifying the driver that the obstacle information has not been detected in the process of S230, for example, a message such as “no information” is displayed on the display device 21, or “obstacle” is displayed from the speaker. A message such as “Cannot receive information” may be notified by voice.

  Here, when the process simply proceeds to S370 without performing the notification in S230, the driver reports whether the obstacle information is not detected because the obstacle information is not detected, or the obstacle information is detected but the obstacle is notified. Since it is not necessary, it cannot be determined whether notification is not given. Therefore, by performing the processing of S230, the driver can clearly recognize that the obstacle information has not been detected.

  Further, if an affirmative determination is made in all the processes of S210 to S250 (excluding S230) (YES in all of S210 to S250 (excluding S230)), the type of the obstacle is specified in the processes of S250 and subsequent steps. Then, the presence / absence of assistance and the presence / absence of the driver's margin are determined, and further, driving assistance according to the determination result is performed.

  Specifically, first, the above-described type specifying process (FIG. 3B) is performed to specify the type of obstacle (S255). Here, in the subsequent process (S260), a process for determining whether or not there is a corresponding right turn car is performed, and therefore the process for determining that the obstacle is an opposite right turn car will be specifically described with reference to FIG. . FIG. 6 is a graph showing a change pattern when it is determined that the obstacle is an opposite right turn car. In particular, FIG. 6 shows a change pattern when the host vehicle waits for a right turn and then starts a right turn.

  Here, when the opposite right turn vehicle is detected, the distance L to the intersection and the distance D to the obstacle continuously decrease, whereas the own lane probability P indicates that the vehicle turns right. It changes to a high level until the waiting stop is made, and decreases rapidly when the host vehicle makes a right turn. Further, the lateral position X of the obstacle is on the right side (+) until the right turn is started, but changes to the left side (−) when the right turn is started. In other words, when it is determined that the obstacle is an oncoming right turn car, it is set to determine whether or not the above-described features have been captured.

  Next, the process for determining the presence or absence of support, etc. includes whether there is an oncoming right turn car (S260), whether the host vehicle has stopped temporarily (S270, S320: margin determination means), and whether the driver of the host vehicle is This is done by sequentially determining whether or not a pedestrian crossing has been confirmed (S290, S340: visual detection means).

  When there is an opposite right turn car (S260: YES), if the host vehicle is temporarily stopped (S320: YES) and the driver of the host vehicle has not confirmed the pedestrian crossing (S340: NO) As the necessity is high, after the non-display system information presentation and the display system information presentation are performed (S360: notification means), the process proceeds to S370.

  Further, in this case, when the driver of the own vehicle confirms the pedestrian crossing (S340: YES), it is assumed that the need for assistance is low, and only the non-display system information is presented (S350: notification) Means), the process proceeds to S370.

  Furthermore, when there is an opposite right turn car (S260: YES), if the host vehicle has not stopped (S320: NO), regardless of whether the driver of the host vehicle has confirmed the pedestrian crossing, After the support level is set to “low” and only non-display system information is presented (S330: notification means), the process proceeds to S370.

  On the other hand, when there is no opposite right turn car (S260: NO), the support level is lowered overall as compared with the case where there is a corresponding right turn car. That is, when there is no opposite right turn vehicle (S260: NO), when the own vehicle is temporarily stopped (S270: YES) and the driver of the own vehicle has not confirmed the pedestrian crossing (S290: NO), After only the non-display system information is presented (S310: notification means), the process proceeds to S370.

  In this case, when the driver of the own vehicle confirms the pedestrian crossing (S290: YES), the setting is made without assistance, and the process proceeds to S370 without performing the information presentation (S300).

  Further, when there is no opposite right turn vehicle (S260: NO), and when the host vehicle has not stopped (S270: NO), regardless of whether the driver of the host vehicle has confirmed the pedestrian crossing or not, The setting is made without support, and the process proceeds to S370 without performing the information presentation (S300).

  Here, in the process of S320, the detection result by the vehicle speed sensor 61 is acquired via the engine ECU 6, and the speed at which the detection result can be regarded as almost stopped (for example, the vehicle speed is 5 km / h or less). ).

Further, in the process of S340, a determination result as to whether or not the driver has watched the pedestrian crossing is acquired from the gazing point detection ECU 5, and a determination is made based on the determination result.
Note that the gazing point detection ECU 5 uses the in-vehicle camera 51 in advance to detect whether or not the driver's gazing point has gazed at the pedestrian crossing through which the host vehicle passes when turning right. When receiving a request from the support control ECU 2, a determination result as to whether or not the driver has watched the pedestrian crossing is transmitted.

  In addition, non-display system information presentation may be performed by reporting to the five senses other than vision (for example, notification by sound using a speaker, notification of vibrating a seat or a handle, notification of winding up a seat belt, or the like).

  Furthermore, display system information presentation is a notification that appeals to the driver's vision by causing the display device 21 to display an image including a mark (pedestrian mark, vehicle mark, etc.) indicating the type of the identified obstacle. carry out. Specifically, as shown in FIG. 1, the support control ECU 2 displays the position of the vehicle and the position of the pedestrian on the display device 21 together with a schematic diagram based on the map data.

Subsequently, returning to FIG. 5, in S370, it is determined whether or not the driving assistance is immediately ended (S370).
Here, in the process of S370, as in the process of S150, when it is detected that the parking brake 33 of the vehicle has been applied, or a command to end the driving support is input via an operation unit (not shown). In such a case, it is determined that the driving support is finished.

  When the driving support is to be ended (S370: YES), the obstacle detection process is ended. On the other hand, when the driving support is not terminated (S370: NO), the obstacle detection process is repeated from the beginning.

  In the inter-vehicle communication system 1 described in detail above, the obstacle detection ECU 7 of each inter-vehicle communication device 10 detects an obstacle by operating the stereo camera 71 and the radar 72 at a preset time interval. . Then, based on the detection result by the obstacle detection ECU 7, the support control ECU 2 determines whether or not the change pattern of the obstacle position detection result matches the type pattern set in advance to identify the type of the obstacle. If the patterns match, it is determined that the type of the obstacle is a type corresponding to the type pattern.

  Therefore, according to the inter-vehicle communication apparatus 10 as described above, since the change pattern of the position detection result is detected, it is possible to make it difficult to be affected by the distance to the obstacle when determining the type of the obstacle. Therefore, regardless of the distance to the obstacle, the type of the obstacle can be reliably identified.

  Further, in the inter-vehicle communication device 10, the obstacle detection ECU 7 uses the radar 72 to sequentially irradiate electromagnetic waves having directivity within the detection area, and detects the position of the obstacle by receiving the reflected wave. Has been.

  Therefore, according to the inter-vehicle communication device 10 as described above, a change in the position of the obstacle can be easily captured as compared with a case where the position of the obstacle is detected only by image processing. Therefore, the detection accuracy when detecting an obstacle can be improved.

  In the inter-vehicle communication device 10, the support control ECU 2 also determines whether or not the obstacle extracted from the image captured by the stereo camera 71 matches a shape pattern set in advance to specify the type of the obstacle. Then, the type of the object is determined by combining this determination result and the determination result of whether or not the change pattern matches the type pattern.

  Therefore, according to the inter-vehicle communication device 10 as described above, since the type of the obstacle is determined by using the change pattern of the position detection result and the shape pattern of the obstacle together, the change pattern of the position detection result or the obstacle Compared with the case where the type of the obstacle is determined using only one of the shape patterns, the type determination accuracy can be improved.

  Since the obstacle detection using the radar 72 and the obstacle detection using the stereo camera 71 are used in combination, the influence of ambient brightness, weather, and the like can be made less susceptible. Therefore, the detection accuracy of the obstacle type can be further improved.

Furthermore, the inter-vehicle communication device 10 transmits the determination result by the obstacle detection processing and the obstacle position detection result to the other inter-vehicle communication device 10.
Therefore, according to the inter-vehicle communication device 10 as described above, the determination result and the position detection result of the obstacle can be shared with other vehicles.

  In the inter-vehicle communication device 10, the obstacle detection ECU 7 detects the width of the obstacle using the stereo camera 71 and the radar 72, and the support control ECU 2 repeats the own lane probability based on the position of the obstacle. Calculate. Then, in the obstacle detection process, the own lane probability and the width of the obstacle are monitored, the reduction rate per unit time of the own lane probability is equal to or greater than a preset reduction threshold, and the unit in the width of the obstacle When the rate of change per hour is within a preset allowable range, it is determined that the type of obstacle is a pedestrian.

  Therefore, according to the inter-vehicle communication device 10 as described above, when the change pattern peculiar to the pedestrian is detected, it is determined that the type of the obstacle is the pedestrian, so that the pedestrian can be detected with high accuracy. Further, it is possible to reliably detect a pedestrian that is a small obstacle with respect to the vehicle.

In addition, the inter-vehicle communication device 10 notifies the driver of the vehicle on which the inter-vehicle communication device 10 is mounted according to the determination result received from the other inter-vehicle communication device 10.
Therefore, according to the vehicle-to-vehicle communication device 10 as described above, since the danger is notified according to the determination result received from the other vehicle-to-vehicle communication device 10, a blind spot appears from the vehicle on which the vehicle-to-vehicle communication device 10 is mounted. Even if there is an obstacle at the position that hinders driving of the vehicle, the type of the obstacle can be identified and the presence of the obstacle can be notified to the driver of the vehicle. Therefore, an accident in which the vehicle collides with an obstacle can be prevented.

  Further, the support control ECU 2 determines whether or not the driver of the vehicle has a room for visually recognizing the display device 21 provided in the vehicle in the driving support process, and the driver has a room for visually recognizing the display device 21. Only when it is determined that there is a notification, the notification content is displayed on the display device 21. In addition, when it is determined that the driver cannot afford to visually recognize the display device 21, notification that appeals to the five senses other than vision without using the display device 21 (for example, notification by voice using a speaker, seat or handle) To notify the user of vibration of the seat belt and to raise the seat belt).

  Therefore, according to the inter-vehicle communication system 1, since the notification using the display device 21 is performed only when it is determined that the driver has room to visually recognize the display device 21, By trying to visually recognize the display device 21, it is possible to prevent erroneous driving operation.

Further, the assistance control ECU 2 detects that the vehicle is going to turn right in the driving assistance process, and implements driving assistance such as a warning when the vehicle is about to turn right.
Therefore, according to such an inter-vehicle communication system 1, since the notification is performed when the vehicle turns to the right, it is possible to effectively prevent an accident when the vehicle makes a right turn as described above.

  Further, the assist control ECU 2 detects whether or not the driver has performed a visual act of visually recognizing the obstacle detected by the obstacle detection ECU 7, and when it is determined that the driver has performed the visual act, The notification level (support level) indicating the degree of danger is set lower than when it is determined that the driver has not performed the visual recognition act.

  Therefore, according to the inter-vehicle communication system 1 as described above, the notification level is changed depending on whether or not the driver has performed the visual recognition action. Can provoke arousal. In addition, when the driver performs a visual recognition action, the notification level is relatively lowered, so that it is possible to prevent the driver from feeling troublesome by performing excessive notification.

The embodiment of the present invention is not limited to the above-described embodiment, and can take various forms as long as it belongs to the technical scope of the present invention.
For example, in the driving support process in the present embodiment, driving is performed by detecting whether or not the speed of the vehicle is stopped and an operation in which the driver visually recognizes the pedestrian crossing by a camera (imaging unit) that images the driver. It is determined whether or not the person can afford to visually recognize the display device 21. For example, a numerical value indicating the running state of the vehicle, movements of the eyelids and eyeballs, etc. are detected, and these movements are more than a preset number of times. It may be determined whether or not the driver has a room for visually recognizing the display device 21 by processing such as whether or not.

  Further, in the present embodiment, the processing for specifying the type of the obstacle is performed by the device that provides the obstacle information, but may be performed by the device that receives the obstacle information. In this case, the device on the obstacle providing side provides the data (obstacle data) for specifying the type of the obstacle to the other device, and the device on the receiving side performs the process of S225. Thus, the process of specifying the type of obstacle detected by another device may be performed.

  Furthermore, in the present embodiment, the obstacle detection is performed using the image processing using the stereo camera 71 and the radar 72, but the obstacle detection may be performed using only one of them.

  Even if it does in this way, the effect similar to the said embodiment is acquired.

It is explanatory drawing which shows the outline | summary of the driving assistance implement | achieved by this embodiment. It is a block diagram which shows schematic structure of a vehicle-to-vehicle communication system. It is a flowchart which shows an obstruction detection process. It is a graph which shows the change pattern at the time of determining with an obstruction being a pedestrian. It is a flowchart which shows a driving assistance process. It is a graph which shows the change pattern at the time of determining with an obstruction being an opposite right turn vehicle.

Explanation of symbols

  DESCRIPTION OF SYMBOLS 1 ... Inter-vehicle communication system, 2 ... Support control ECU, 3 ... Brake ECU, 4 ... Navigation ECU, 5 ... Gaze point detection ECU, 6 ... Engine ECU, 7 ... Obstacle detection ECU, 8 ... Light ECU, 10 ... Car Inter-vehicle communication device, 20 ... wireless device, 21 ... display device, 22 ... speaker, 31 ... steering sensor, 32 ... yaw rate sensor, 33 ... parking brake, 41 ... GPS antenna, 51 ... in-vehicle camera, 61 ... vehicle speed sensor, 71 ... Stereo camera, 72 ... radar, 81 ... turn signal.

Claims (11)

An object detection apparatus comprising position detection means for performing position detection processing for detecting the position of an object existing in a preset detection area,
Operation control means for performing position detection processing by the position detection means at a preset time interval;
It is determined whether or not the change pattern of the position detection result by the position detection unit matches a type pattern set in advance for specifying the type of the object, and the type of the object when the patterns match A type determination unit that determines that the type of the object is not a type corresponding to the type pattern when the patterns do not match each other,
An object detection apparatus comprising: 2. The object detection device according to claim 1, wherein the position detection unit detects the position of the object by sequentially irradiating an electromagnetic wave having directivity within the detection region and receiving a reflected wave thereof. . Imaging means for imaging the detection area;
Extraction means for extracting an object from an image captured by the imaging means;
With
The type determination means also determines whether or not the shape of the object extracted by the extraction means matches a shape pattern set in advance to specify the type of the object, and the determination result and the change pattern are The object detection apparatus according to claim 1, wherein the type of the object is determined in combination with a determination result as to whether or not the pattern matches the type pattern. The object detection apparatus according to any one of claims 1 to 3, further comprising: a transmission unit that transmits at least a determination result by the type determination unit to a vehicle. The object detection device is mounted on a vehicle,
A width detecting means for detecting a width of the object based on a position detection result by the position detecting means;
Based on the position detection result, own lane probability calculating means for repeatedly calculating the own lane probability representing the probability that the object exists on the traveling lane of the vehicle,
With
5. The object detection device according to claim 1, wherein the type determination unit monitors the own lane probability and a change pattern of a lateral width of the object. The type determination means has a reduction rate per unit time of the own lane probability equal to or greater than a preset reduction threshold value, and a change rate per unit time in the lateral width of the object is within a preset allowable range. The object detection device according to claim 5, wherein in some cases, the object type is determined to be a pedestrian. A communication system for notifying a reception device mounted on a vehicle of a processing result by a transmission device,
The transmitter is
Position detecting means for performing position detection processing for detecting the position of an object existing in a preset detection area;
Operation control means for performing position detection processing by the position detection means at a preset time interval;
It is determined whether or not the change pattern of the position detection result by the position detection unit matches a type pattern set in advance for specifying the type of the object, and the type of the object when the patterns match A type determination unit that determines that the type of the object is not a type corresponding to the type pattern when the patterns do not match each other,
Transmitting means for transmitting at least the determination result by the type determining means to the receiving device;
With
The receiving device is:
Informing means for informing the driver of a vehicle equipped with the receiving device according to the determination result received from the transmitting device,
A communication system comprising: The receiving device is:
Comprising a margin determining means for determining whether or not a driver of a vehicle equipped with the receiving device has a margin for visually recognizing a display device provided in the vehicle;
The said notification means displays the content of notification on the said display apparatus, only when it determines with the said driver | operator having a margin which visually recognizes a display apparatus by the said margin determination means. Communications system. The receiving device is:
A right turn detection means for detecting that the vehicle is about to turn right;
The communication system according to claim 7 or 8, wherein the notification unit is activated when the right turn detection unit detects that the vehicle is about to turn right. The receiving device is:
A visual detection means for detecting whether or not the driver has performed a visual recognition action to visually recognize the object detected by the position detection means;
The notification means is more dangerous when the visual detection means determines that the driver has performed the visual act than when the visual detection means determines that the driver has not performed the visual action. The communication system according to any one of claims 7 to 9, wherein a notification level representing a degree is lowered. A vehicle-to-vehicle communication device that is mounted on a vehicle and communicates with other vehicle-to-vehicle communication devices,
Position detecting means for performing position detection processing for detecting the position of an object existing in a preset detection area;
Operation control means for performing position detection processing by the position detection means at a preset time interval;
It is determined whether or not the change pattern of the position detection result by the position detection unit matches a type pattern set in advance for specifying the type of the object, and the type of the object when the patterns match A type determination unit that determines that the type of the object is not a type corresponding to the type pattern when the patterns do not match each other,
Transmitting means for transmitting at least the determination result by the type determining means to another inter-vehicle communication device;
Informing means for notifying the driver of the vehicle of the danger according to the determination result by the type determining means of the other inter-vehicle communication apparatus received from the other inter-vehicle communication apparatus,
A vehicle-to-vehicle communication device comprising:

Images