JP2013120574A - On-vehicle pedestrian alarm device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide an on-vehicle pedestrian alarm device capable of properly detecting a pedestrian to warn a driver of the vehicle of information on the pedestrian.SOLUTION: An on-vehicle pedestrian alarm device includes: residual time calculation means 24 for determining a shield existing in front of a rushed-out pedestrian on the basis of information on a visible object detected by visible object detection means 13 and information on the rushed-out pedestrian determined by rushed-out pedestrian determination means 21b to calculate recognition residual time by which the rushed-out pedestrian appears from behind the shield to be a pedestrian who can be recognized; and information providing means 19 for providing information on the recognition residual time calculated by the residual time calculation means 24 for a driver of a vehicle 1.

Description

  The present invention relates to a vehicle pedestrian notification device that notifies a vehicle driver of a pedestrian detected using communication.

  In recent years, techniques for detecting an object using a radar mounted on a vehicle have been developed. Examples of such a technique include Patent Document 1 and Patent Document 2.

  In the technique of Patent Document 1, an object and its lateral movement speed are detected by a laser radar installed in the vehicle, a traveling lane of the vehicle is detected by a camera, and the traveling path of the vehicle is determined based on the detected information. It detects a laterally moving object that has a risk of entering.

  The technique of patent document 2 detects the relative distance and relative speed of the own vehicle and an object with the radar sensor with which the vehicle was equipped. In this technology, the accuracy of the relative distance and relative speed between the vehicle and the object is improved by correcting the relative distance and relative speed detected using a linear filter.

Japanese Patent Application Laid-Open No. 10-1000082 JP 2010-60465 A

  In the techniques of Patent Document 1 and Patent Document 2, since an object is detected by a radar, if there is an obstacle between the vehicle equipped with the radar and the object, radio waves emitted from the radar are blocked. An object cannot be detected. For this reason, it is impossible to detect a shadow object that cannot be visually recognized by the driver of the vehicle.

Therefore, with these technologies, a visible pedestrian who is a visible pedestrian can be detected, but a hidden object approaching the vehicle cannot be detected, and a hidden pedestrian with a probability of jumping out can also be detected. It cannot be detected.
The present invention has been invented in view of such a problem, and is a vehicle pedestrian notification device capable of appropriately detecting a pedestrian and notifying the driver of the vehicle of this pedestrian information. The purpose is to provide.

  (1) In order to achieve the above object, a vehicle pedestrian alarm device according to the present invention includes a visible object detection unit that detects a visible object that is a visible object in front of the vehicle, and a terminal around the vehicle. Information communication means for detecting the terminal holder by communicating with a portable terminal held by the holder, information on the visible object detected by the visible object detection means, and the terminal holder detected by the information communication means Non-visualized pedestrian determination means for determining a non-visible pedestrian who is a pedestrian behind a shielding object from among the terminal holders, and the non-visible pedestrian determination Jumping pedestrian determination means for determining whether or not the non-visible pedestrian determined by the means approaches the vehicle, and determining that the non-visible pedestrian approaches the vehicle when the non-visible pedestrian approaches the vehicle From the information on the visible object detected by the visible object detection means and the information on the jumping pedestrian determined by the jumping pedestrian determination means, the shielding object present in front of the jumping pedestrian And the remaining time calculating means for calculating the remaining visual time, which is the time from when the jumping pedestrian appears from the shadow of the shielding object to become a visible pedestrian, and the remaining time calculating means. It is characterized by comprising information providing means for providing information on the remaining visual recognition time to the driver of the vehicle.

  (2) Further, the jumping pedestrian determination means includes speed information (moving speed and moving direction) of the terminal holder, which is information of the terminal holder, and speed information (moving speed and moving direction) of the vehicle. And determining that the non-viewing pedestrian approaches the vehicle from the acquired information, and the remaining time calculating means includes the speed information of the terminal holder, which is information of the terminal holder, and Calculating the remaining visual time from position information, position information of the vehicle, position information (only direction information may be sufficient) and shape information (including contour or width information) of the identified shielding object. preferable. The speed information of the terminal holder may be calculated from a change in the position information of the terminal holder.

(3) In addition, a risk determination unit that weights the risk of the pedestrian with respect to the vehicle is provided, and the risk determination unit weights the non-viewing pedestrian more on the risk than the visual pedestrian. The risk level is more weighted to the jumping pedestrian than the non-viewing pedestrian that does not fall under the jumping pedestrian, and the information providing means is the residual visual recognition of the jumping pedestrian having the high degree of risk. It is preferable to notify the time with priority.
(4) Moreover, it is preferable that the said information provision means image-displays the positional information on the said jumping pedestrian and the said obstruction | occlusion object, and image-displays the information of the said visual recognition remaining time.

(1) Therefore, in the vehicular pedestrian alarm device according to the present invention, the information providing means causes the jumping pedestrian to appear from the shadow of the shielding object specified from the information on the visible object and the information on the jumping pedestrian. In order to provide the vehicle driver with information on the remaining visual time, which is the time until becoming a visual pedestrian, information on a probable jumping pedestrian that approaches and contacts the vehicle among non-visual pedestrians, It can be appropriately provided to the driver.
(2) The jumping pedestrian determination means reliably detects a jumping pedestrian by determining that a non-viewing pedestrian approaches the vehicle from the speed information of the terminal holder and the speed information of the vehicle. can do.
Further, if the remaining time calculating means calculates the remaining visual time from the speed information and position information of the terminal holder, the position information of the vehicle, and the position information and shape information of the shielding object, the remaining visual time is surely determined. Can be calculated.

  (3) If the information providing means is configured to preferentially notify the remaining visual time of a jumping pedestrian having a high degree of danger, by notifying the driver of the residual visual time according to the degree of risk to the vehicle. The pedestrian can be notified more appropriately to the driver.

  (4) If the information providing means is configured to display the position information of the jumping pedestrian and the shielding object and display the information of the remaining visual time, the driver intuitively Since the remaining visual recognition time can be known, it is possible to appropriately notify the pedestrian to the driver.

It is a lineblock diagram showing the pedestrian alarm device for vehicles concerning one embodiment of the present invention. It is a figure which illustrates the pedestrian who approaches the vehicle concerning one embodiment of the present invention. It is a figure explaining the danger level of the pedestrian with respect to a vehicle in the pedestrian alert device for vehicles concerning one embodiment of the present invention, (a) shows the case where a vehicle and a pedestrian contact, (b) A case where the vehicle passes through the lane after the pedestrian crosses the lane is shown, and (c) shows a case where the pedestrian crosses the lane through which the vehicle has passed. It is a figure explaining calculation of the visual recognition residual time in the pedestrian alerting device for vehicles concerning one embodiment of the present invention. It is a figure which illustrates alerting | reporting of the pedestrian in the pedestrian alerting device for vehicles concerning one Embodiment of this invention. It is a flowchart which shows the detection of the pedestrian in the pedestrian alert device for vehicles concerning one Embodiment of this invention. It is a flowchart which shows the alerting | reporting of the danger level of the pedestrian with respect to the vehicle in the pedestrian alerting device for vehicles concerning one Embodiment of this invention. It is a flowchart which shows the alerting | reporting of the visual recognition remaining time of the pedestrian with respect to the vehicle in the pedestrian alerting device for vehicles concerning one Embodiment of this invention. It is a figure explaining calculation of the other visual recognition remaining time in the pedestrian alerting device for vehicles of the present invention.

Hereinafter, embodiments of the present invention will be described with reference to the drawings.
<One Embodiment>
[Constitution]
First, the structure of the pedestrian alert device for vehicles concerning one Embodiment is demonstrated. The vehicle according to the present embodiment is a so-called large or medium-sized automobile such as a truck or a bus.

  As shown in FIG. 1, a vehicle 1 includes a GPS (vehicle position detection means) 11, a vehicle speed sensor 12, a visible object detection unit (visible object detection means) 13, and an inter-pedestrian communication device (connected to an antenna 14 a ( (Information communication means) 14, steering angle sensor 16, HMI (Human Machine Interface, information providing means) 19, and these components 11, 12, 13, 14, 16, 19 are connected to A pedestrian detection ECU 20 having a risk level determination unit (risk level determination unit) 22, a visible moving body determination unit 23, and a remaining time calculation unit 24 is provided.

The GPS 11 detects the position of the vehicle 1. The GPS 11 detects the latitude / longitude information of the vehicle 1 as position information of the vehicle 1 via a GPS antenna (not shown). The latitude / longitude information can be supplemented by so-called autonomous navigation in which the vehicle speed and steering angle information is accumulated to estimate the direction of the vehicle 1 and can be handled as the position information of the vehicle 1.
The position information of the vehicle 1 detected by the GPS 11 is transmitted to the pedestrian detection ECU 20.

The vehicle speed sensor 12 detects the vehicle speed of the vehicle 1. As the vehicle speed sensor 12, for example, a wheel speed sensor that detects the rotational speed of each driven wheel can be applied. In the case of this wheel speed sensor, the average speed of the detected rotational speed of each driven wheel is calculated. Thus, the vehicle speed can be detected.
The vehicle speed information of the vehicle 1 detected by the vehicle speed sensor 12 is transmitted to the pedestrian detection ECU 20.
The steering angle sensor 16 detects the steering angle (steering angle) of the vehicle 1. Information on the steering angle detected by the steering angle sensor 16 is transmitted to the pedestrian detection ECU 20.

The visible object detection unit 13 detects a visible object (visible object) in front of the vehicle 1 and detects the position of the object. As the visible object detection unit 13, a camera, a radar sensor, or the like can be used.
The visible object determination unit 23 includes a moving body determination unit 23a and a shape determination unit 23b. The moving body determination unit 23a determines whether or not the visible object is a moving object (visible moving body) from the detection information by the visible object detection unit 13.

  When a camera is used as the visible object detection unit 13, each object is identified from the shape of the object in the image captured by the camera, and the object is positioned with respect to the vehicle 1 based on the position of the identified object in the image. Based on the movement of the vehicle 1 such as the vehicle speed detected by the vehicle speed sensor 12 and the steering angle detected by the steering angle sensor 16 based on the movement of the object in the image detected by the camera. , Whether the object is a stationary object or a moving object can be specified.

For example, it is possible to determine whether or not an object is moving by using a so-called optical flow in which moving images are analyzed by comparing consecutive images taken by a camera.
Further, during the straight movement of the vehicle 1, the stationary object flows from the center of the image captured by the camera (or the vanishing point) to the outside of the image at a speed corresponding to the vehicle speed of the vehicle 1, so that the object is a stationary object. It is possible to specify that the object is a moving object.

Alternatively, the object is moving using the change in the size of the object in the image captured by the camera and the movement information of the vehicle 1 such as the vehicle speed detected by the vehicle speed sensor 12 and the steering angle detected by the steering angle sensor 16. It can also be determined whether or not.
The determination of the visible moving body by the moving body determination unit 23a can be performed in this way.

  When a radar sensor is used as the visible object detection unit 13, the radar sensor can detect the relative distance between the object and the vehicle 1 and the relative direction in which the object is positioned with respect to the vehicle 1. From these relative distance and relative direction, The relative position of the object relative to the host vehicle can be detected, and the relative position information and the movement information of the vehicle 1 such as the vehicle speed detected by the vehicle speed sensor 12 and the steering angle detected by the steering angle sensor 16 are used. It can be determined whether or not is moving.

For example, during the movement of the vehicle 1, the movement of the vehicle 1 can be specified from the vehicle speed and the steering angle of the vehicle 1, and the stationary object moves relative to the vehicle 1 with characteristics opposite to the movement of the vehicle 1. Therefore, it is possible to specify that the object is a stationary object, and it is possible to specify an object that cannot be identified as a stationary object as a moving object.
Further, a radar sensor and a camera may be used in combination as the visible object detection unit 13. In this case, for example, a small change in the shape of the object is recognized as the same object, the position of this object is continuously detected, the relative speed is detected, and whether or not the object is moving Can be determined.
The determination of the visible moving body by the moving body determination unit 23a can be performed in this way.
In the present apparatus, the stationary object is excluded from the visible object detected by the visible object detection unit 13 by the determination of the visible moving object by the moving object determining unit 23a, and processing is performed by specifying only the visible moving object.

In the present embodiment, the shape of the visible object is determined by the shape determining unit 23 b of the visible object determining unit 23 from the detection information by the visible object detecting unit 13. As the shape of the visible object, the outline of the visible object and the width of the object are used.
For example, when a camera is used as the visible object detection unit 13, the contour of an object in an image captured by the camera is extracted, and the extracted contour is detected as the shape of the object. In this case, the contour or width as the shape of the object is detected as the viewing angle of the camera image. It is also possible to detect that the object is a pedestrian or the like by calculating the degree of coincidence with the template shape stored in advance as the shape of the pedestrian or the like from the detected shape of the object.

When a radar sensor is used as the visible object detection unit 13, a set of detection points having the same relative speed or distance detected by the radar sensor is extracted, and the irradiation angle of the radar sensor corresponding to the extracted detection points. The width of the object is detected as Thereby, the width of the object can be detected. Furthermore, if the width of the object detected by the radar sensor is accumulated in the vertical direction, the contour of the object can be detected. In this case, it is also possible to detect that the object is a pedestrian or the like from the shape of the object by calculating the degree of coincidence with the template shape stored in advance as the shape of the pedestrian or the like. Alternatively, it may be possible to detect that the object is a pedestrian or the like based on only the width of the object or based on the width of the object and the movement (position change) of the object.
Determination of the shape of the object by the shape determination unit 23b can be performed in this way.

  The visible object detection unit 13 uses reflected light reflected from the object or a reflected wave of radio waves, and when there is an obstacle between the vehicle 1 and the object, the reflected light or reflected wave is blocked. Therefore, no object is detected. That is, the visible object detection unit 13 does not detect an object (non-visible object) that cannot be visually recognized by the driver of the vehicle 1. Therefore, the information of the visible moving object determined by the moving object determining unit 23a does not include an object that cannot be visually recognized (non-visible object).

The inter-pedal communication device 14 communicates with a portable terminal held by a terminal holder around the vehicle 1. The inter-vehicle communication device 14 detects the presence of the terminal holder if it can communicate with the portable terminal, and detects the position information and speed information (here, the moving speed and the moving direction) of the portable terminal by communicating with the portable terminal. The terminal holder's position information and speed information are acquired by acquiring the combined information as speed information).
This inter-vehicle communication device 14 is connected to an antenna 14a for performing communication, and information on the terminal holder acquired by this communication is transmitted to the pedestrian detection ECU 20.

  Various information is periodically transmitted to the pedestrian detection ECU 20 as described above. The various information referred to here includes the position information of the vehicle 1 detected by the GPS 11, the vehicle speed information of the vehicle 1 detected by the vehicle speed sensor 12, the information of the object detected by the visible object detection unit 13, and the distance between the pedestrians. It includes at least terminal presence detection information, position information, and speed information acquired by the communication device 14.

The pedestrian detection ECU 20 is an electronic control device configured as, for example, an LSI device or an embedded electronic device in which a microprocessor, ROM, RAM, and the like are integrated.
The pedestrian detection ECU 20 includes a comparison detection unit (comparison detection unit) 21, a risk determination unit (risk level determination unit) 22, a visible object determination unit 23, and a remaining time calculation unit (residual time calculation unit) 24. .

The comparison detection unit 21 includes a non-viewing pedestrian determination unit (non-visible pedestrian determination unit) 21a and a jumping pedestrian determination unit (flying pedestrian determination unit) 21b.
The comparison detection unit 21 determines a non-viewing pedestrian by the non-viewing pedestrian determination unit 21a, and a pedestrian (non-viewing pedestrian) that can be visually recognized by the driver and a pedestrian (non-visible) that cannot be viewed by the driver. Discriminating pedestrians) and detecting them. Moreover, the comparison detection part 21 determines a jumping pedestrian by the jumping pedestrian determination part 21b, and discriminate | determines and detects the pedestrian (flying pedestrian) which can jump out among non-visible pedestrians.

  First, detection (also referred to as first detection) performed by the comparative detection unit 21 by discriminating between a visible pedestrian and a non-visible pedestrian will be described. In this detection, the comparison detection unit 21 detects a pedestrian in an invisible shade determined by the non-visual pedestrian determination unit 21a as a non-visual pedestrian.

  In the first detection, the position information of the visible moving object determined by the moving object determination unit 23a is compared with the position information of the terminal holder detected by communication by the inter-pedestrian communication device 14, and both are identified. . This makes it possible to simplify the detection process without using information on a visible stationary object, and to detect a large number of pedestrians in a complicated manner.

  And the visible moving body and terminal holding | maintenance with which position information corresponds are detected as a pedestrian (visual pedestrian) which can be visually recognized. When a plurality of visible moving bodies and terminal holders having the same position information are detected, the visible moving bodies and terminal holders having the same position information are respectively detected as one visual pedestrian.

  The position information in this case is that the position information of the visible moving body is relative position information with respect to the vehicle 1, that is, relative information with respect to the vehicle 1, or information with respect to the relative distance and relative direction with respect to the vehicle 1. In some cases, the position information of the terminal holder is GPS information, that is, earth-based absolute position information. In this case, the position of the terminal holder is determined from the GPS information of the vehicle 1 and the GPS information of the terminal holder. The information is converted into relative position information with respect to the vehicle 1 and compared, or the position information of the visible moving body is converted into the absolute position information of the earth reference by the GPS information of the vehicle 1 and compared with the same parameter. . However, when the position information of the visible moving object is obtained only in the relative direction with respect to the vehicle 1, the position information of the visible moving object is not point information but line information, but from the position information of the terminal holder closest to the vehicle 1 The object is compared with the position information of the visible moving object.

On the other hand, a terminal holder who does not match any of the position information of the visible moving body is detected as a pedestrian (non-visible pedestrian) who is in the shadow of being invisible. When a plurality of visible moving bodies and terminal holders whose position information does not match are detected, the terminal holders are detected as non-viewing pedestrians among the visible moving bodies and terminal holders whose position information do not match.
That is, the comparison detection unit 21 detects a terminal holder corresponding to the visible moving body as a visible pedestrian, and determines a terminal holder not corresponding to the visible moving body as a non-visible pedestrian by the non-visible pedestrian determination unit 21a. To detect.
Note that a visible moving body that does not match any of the position information of the terminal holder can be detected as a visual pedestrian.

  Next, the detection (second detection) performed by discriminating the jumping pedestrian among the non-visible pedestrians by the comparison detection unit 21 will be described. In this detection, the comparison detection unit 21 detects a pedestrian approaching the vehicle 1 among the invisible pedestrians determined by the jumping pedestrian determination unit 21b as the invisible pedestrian.

  In the second detection, the position information of the vehicle 1 detected by the GSP 11, the vehicle speed information detected by the vehicle speed sensor 12, the steering angle information detected by the steering angle sensor 16, and the inter-vehicle communication device 14 are acquired. The terminal holder approaching the vehicle 1 (approaching terminal holder) is detected based on the position information and speed information of the terminal holder.

  Then, the approaching terminal holder is compared with the invisible pedestrian detected by the first detection, and the approaching terminal holder and the invisible pedestrian having the same position information can jump out from the shadow (the jumping pedestrian ) To detect. When a plurality of approaching terminal holders and non-viewing pedestrians having the same position information are detected, the approaching terminal holder and non-viewing pedestrians having the same position information are respectively detected as one jumping pedestrian.

That is, the comparison detection unit 21 detects and detects a non-viewing pedestrian corresponding to the approaching terminal holder as a jumping pedestrian by the jumping pedestrian determination unit 21b.
Note that a non-visible pedestrian that does not match any of the position information of the approaching terminal holder can be detected as a non-visually distant pedestrian who is in the shadow and moves away from the vehicle 1.

  The comparison detection unit 21 compares the position information of the approaching terminal holder and the position information of the visual pedestrian detected by the first detection as a detection different from the first and second detections described above, and The approaching terminal holder and the viewing pedestrian that match can be detected as the viewing approaching pedestrian, and the approaching terminal holder and the viewing pedestrian whose position information does not match can be detected as the viewing distance pedestrian. In these detections, when a plurality of approaching terminal holders and viewing pedestrians are detected, the approaching terminal holder and the viewing pedestrian having the same position information are detected as one viewing approaching pedestrian, respectively, An approaching terminal holder and a visually recognized pedestrian whose information does not match can be detected as one visually distant pedestrian.

  The risk determination unit 22 weights the risk of the pedestrian with respect to the vehicle 1. Specifically, the risk determination unit 22 sets and sets the risk for each detected pedestrian regardless of the pedestrian type, such as a visible pedestrian, a non-visual pedestrian, or a jumping pedestrian. The risk is weighted according to the pedestrian type.

First, risk level setting by the risk level determination unit 22 will be described with reference to FIGS. 2 and 3.
FIG. 2 illustrates a vehicle 1 that travels from the bottom to the top in the figure and a pedestrian 2 that crosses the road on which the vehicle 1 travels (in this case, obliquely crossing).
The vehicle 1 travels at a vehicle speed v ₁ , and the hatched portion above the vehicle 1 in FIG. 2 indicates a region (travel region) in which the vehicle 1 travels after time T ₀ shown in FIG.

The vehicle 1 passes the point P ₁ at the time T ₁₁ (= L ₁ / v ₁ ) traveled by the distance L ₁ , and the point at the time T ₁₂ (= L ₂ / v ₁ ) traveled by the distance L _2. passing through the P _2.
The pedestrian 2 moves at a speed v ₁ toward the upper left in the figure around a one-dot chain line intersecting with the pedestrian 2 in FIG.
Pedestrian 2 passes through the point P ₁ at a distance d ₁ by the time you move _{T 21 (= d 1 / v} 2), also at a distance d ₂ only when moved _{T 22 (= d 2 / v} 2) passing through the point P _2.

In FIG. 3, the time T ₁ of the vehicle 1 is taken on the vertical axis, the time points T ₁₁ and T ₁₂ are present on the axis, the time T ₂ of the pedestrian ₂ is taken on the horizontal axis, and the time T ₂ is on the axis. It is assumed that time points T ₂₁ and T ₂₂ exist. Since the actual event e occurs on the line indicated by time T ₁ = time T ₂ , it can be determined whether or not the vehicle 1 and the pedestrian 2 are in contact with each other on this line.

Incidentally, none of FIG 3 (a) ~ (c) , When the pedestrian 2 indicates that passing through the point P ₁ at event e _a1, the pedestrian 2 is continued to move by keeping the moving velocity v ₂ It indicates the point of passing the point P ₂ in the event e _a2. Further, the point at which the vehicle 1 passes the point P ₁ is indicated by an event _eb1 , and if the vehicle 1 continues to travel while maintaining the moving speed v ₁ , the point at which the vehicle 1 passes the point P ₂ is indicated by an event _eb2 .

FIG. 3A illustrates a case where the vehicle 1 and the pedestrian 2 shown in FIG. 2 are in contact with each other. In this case, a region surrounded by the time T ₁₁ and the time T _{12 and the} time T ₂₁ and the time T ₂₂ (hereinafter also referred to as a cross contact region) intersects with a line indicated by time T ₁ = time T ₂ .
That is, the vehicle 1 travels between the points P ₁ and P ₂ while the pedestrian 2 is moving between the points P ₁ and P ₂ . Therefore, FIG. 3A shows a case where the pedestrian 2 comes out of contact with the vehicle 1.

FIG. 3B illustrates a case where the pedestrian 2 crosses the travel area before the vehicle 1 shown in FIG. 2 travels the travel area. In this case, the intersecting contact region and the line indicated by time T ₁ = time T ₂ do not intersect.
That is, after the pedestrian 2 completes the movement between the points P ₁ and P ₂ , the vehicle 1 travels between the points P ₁ and P ₂ .

FIG. 3C illustrates a case where the vehicle 1 passes through the point P ₂ before the pedestrian 2 shown in FIG. 2 crosses the traveling area. In this case, the intersecting contact region and the line indicated by time T ₁ = time T ₂ do not intersect.
That is, the vehicle 1 after passing through the point between the point P ₁ point P _2, the pedestrian 2 traverses a point between the point P ₁ point P _2.

Note that FIG. 3C shows a pedestrian 2 that makes contact with the traveling vehicle 1 from the lateral direction, so that it does not take into account the length component in the front-rear direction of the vehicle 1. the length by correcting the time period only when T ₁₂ divided by the vehicle speed v _1, may be used those containing a longitudinal length component of the vehicle 1.

The risk determination unit 22 shifts the distance in the vertical axis direction between the intersection contact area and the time T ₁ = the line indicated by the time T ₂ , that is, the time T for contacting the pedestrian 2 when the time T _{1 of the} vehicle 1 is shifted back and forth. _{As a} becomes smaller, the risk level is set higher.
For example, in the example shown in FIG. 3A, the intersecting contact region and the line indicated by time T ₁ = time T ₂ intersect, and the time _Ta is zero. In this case, the risk determination unit 22 sets a high risk.
In the example shown in FIG. 3B, the distance in the vertical axis direction between the intersecting contact region and the line indicated by time T ₁ = time T ₂ is indicated by time _{Ta 1} , and the risk determination unit 22 performs the time T 1. Set the risk level according to the size of _a1 .

Similarly, in the example shown in FIG. 3C, the distance in the vertical axis direction between the intersecting contact region and the line indicated by time T ₁ = time T ₂ is indicated by time _{Ta 2.} The degree of risk corresponding to the magnitude of this time _Ta2 is set.
When a plurality of pedestrians are detected, the risk level determination unit 22 sets a risk level for each detected pedestrian.

Next, the weighting by the risk determination unit 22 of the set risk will be described.
The risk determination unit 22 weights the risk according to the pedestrian type determined by the comparison detection unit 21.
That is, the risk level determination unit 22 weights the risk level more heavily on the non-viewing pedestrian than on the viewing pedestrian. In addition, the risk level determination unit 22 weights the risk level of the jumping pedestrian more than the non-viewing pedestrian that does not correspond to the jumping pedestrian.

Therefore, the risk determination unit 22 sets the risk according to the probability of contact with the vehicle 1 for all detected pedestrians regardless of the pedestrian type, and sets the risk to the pedestrian type. Weight accordingly.
The pedestrian detection ECU 20 instructs the HMI 19 to provide information on the pedestrian risk weighted by the risk determination unit 22.

  The remaining time calculation unit 24 exists in front of the jumping pedestrian from the detection information of the object detected by the visible object detection unit 13 and the information of the jumping pedestrian determined by the jumping pedestrian determination unit 21b. The shielding object is specified, and the time from the appearance of the shielding object to the appearance of the jumping pedestrian and becoming a visual pedestrian is calculated.

First, the identification of the shielding object by the remaining time calculation unit 24 will be described.
In order to identify the shielding object, at least information on a visible object, position information on the vehicle 1 and information on a jumping pedestrian are used.
The information on the visible object is the position information of the object that is determined not to be a visible moving object (stationary object) from the detection information of the object detected by the visible object detection unit 13 by the moving object determination unit 23a. Note that the position information of the stationary object may be line information when only the relative direction with respect to the vehicle 1 is obtained. Of course, point information such as a case where a relative direction and a relative distance to the vehicle can be obtained as the position information of the stationary object may be used.

Further, the position information of the vehicle 1 is the position information of the vehicle detected by the GPS 11. This position information is of course point information.
Further, the information on the jumping pedestrian is the position information of the terminal holder determined as the jumping pedestrian by the jumping pedestrian determination unit 21b among the information acquired by the inter-vehicle communication device 14. This position information is point information detected by GPS or the like.
And the remaining time calculation part 24 detects the visible object (stationary object) located on the line which connects the position of the vehicle 1 and the positional information on a jumping pedestrian, and specifies this object as a shielding object.

  In other words, there is a shield between the jumping pedestrian and the vehicle 1 that makes the jumping pedestrian non-visible. Therefore, the visible stationary object on the line connecting the position of the vehicle 1 and the position of the jumping pedestrian can be specified as a shield that makes the jumping pedestrian non-visible.

Next, calculation of the visual recognition remaining time by the remaining time calculation unit 24 will be described with reference to FIG.
FIG. 4 shows a situation in which a vehicle 1a that travels from the bottom to the top in the figure and a pedestrian 2a is present on the left front side with a stationary object 3a interposed therebetween. In this point T _x, the driver of the vehicle 1a, but stationary 3 can be visually recognized, it is impossible to visually recognize the pedestrian 2a. That is, the stationary object 3a is an object (shielding object) that shields the pedestrian 2a.

Pedestrian 2a moves in a direction transverse to the front of the vehicle 1a in the moving velocity v _2a, a terminal holder, it is determined that the pedestrian protruded by the protruding pedestrian determination unit 21b.
At this time, the remaining time calculation unit 24 of the vehicle 1a acquires the speed information and position information of the jumping pedestrian and specifies the stationary object 3a as a shielding object.
The remaining time calculating unit 24 of the vehicle 1a uses the position information and speed information of the jumping pedestrian, the position information of the vehicle 1a, and the position information and shape information of the stationary object 3a specified as the shielding object, so Calculate time.

Here, the shape information of the shielding object is information such as the width of the shielding object. The information on the width of the shielding object is acquired based on, for example, the viewing angle θ of the camera image corresponding to the size of the contour of the shielding object (indicated by the alternate long and short dash line in FIG. 4) extracted by the shape determination unit 23b. Is done.
The remaining time calculation unit 24 uses the position information and speed information of the jumping pedestrian and the shape information of the shielding object until the jumping pedestrian in the viewing angle θ appears outside the viewing angle θ. Time (remaining visual recognition time) is calculated.

In Figure 4, the pedestrian at the time T _x indicated by the reference numeral 2a is a non-visible state, the time T _Y In the pedestrian after the time T _x indicated by reference numeral 2a 'shows the situation emerging from the shadows of the stationary 3a . In this case, the remaining time calculation unit 24, from the information on the viewing angle θ (information on the size of the shield), the position information and the speed information of the unseen pedestrian in the viewing angle θ, The movement distance and movement speed until the jumping pedestrian appears outside the viewing angle and becomes a visual pedestrian can be obtained, and the visual recognition remaining time can be calculated by dividing this distance by the speed. it can.

In addition, the pedestrian detection ECU 20 instructs the HMI 19 to provide information related to the visual recognition residual time calculated by the residual time calculation unit 24.
The HMI 19 is an interface between the driver and the vehicle equipment, and provides information to the driver of the vehicle 1. As the HMI 19, a monitor, a head-up display, a speaker, or the like can be used.
The HMI 19 notifies the driver of the vehicle 1 of the remaining visual recognition time of the jumping pedestrian when an instruction to provide information regarding the remaining visual recognition time is issued from the pedestrian detection ECU 20.

  For example, when the HMI 19 is instructed to provide information related to the remaining visual recognition time from the pedestrian detection EUC 20, the HMI 19 overlays the flying pedestrian's icon or the like on the stationary object where the flying pedestrian lurks on the monitor that displays the front of the vehicle 1. Display the remaining visual recognition time of each pedestrian. At this time, an object with a short visual recognition remaining time may be displayed with a larger or different color, or an alarm or the like may be sounded with a speaker. In place of or in addition to this monitor, the icon of the jumping pedestrian is displayed on the head-up display in a manner similar to that displayed on the monitor, superimposed on the stationary object that the jumping pedestrian lurks, and The remaining visual recognition time may be displayed. Thereby, it is possible to notify the driver of the jumping pedestrian according to the remaining visual time. In addition, when multiple jumping pedestrians are detected, it is good also as a structure which alert | reports the jumping pedestrian with short visual recognition remaining time preferentially.

  Alternatively, the HMI 19 notifies the driver of the vehicle 1 of the pedestrian according to the degree of danger when an instruction to provide information on the degree of danger of the pedestrian is issued from the pedestrian detection ECU 20. For example, when an information provision instruction related to the weighted risk is given to the HMI 19, the information content is displayed on the monitor, and a warning sound or information content is sounded as a message by a speaker, so that the driver of the vehicle 1 is pedestrian. Inform.

The HMI 19 informs the driver of at least one of the remaining visual recognition time and the pedestrian risk.
For example, when a plurality of jumping pedestrians are detected and only the remaining visual recognition time is notified, the HMI 19 may preferentially notify the remaining visual recognition time of a pedestrian with a high degree of danger.

Hereinafter, the notification of the information concerning the pedestrian to the driver by the HMI 19 will be exemplified using FIG. 5. Here, a case where a monitor is used as the HMI 19 is shown.
FIG. 5 shows an example of a monitor screen that displays a captured image in front of the vehicle 1. This monitor screen shows a parked vehicle on the left front side of the vehicle 1 and a pedestrian (flying pedestrian) 2b moving in the direction approaching the vehicle 1 behind the vehicle.

In this case, since the pedestrian detection ECU 20 identifies the parked vehicle as the shield 3b and detects the presence of the jumping pedestrian 2b on the other side of the parked vehicle, the HMI 19 takes the pedestrian. Information provision instructions are given. Here, an instruction to provide the driver with information on the jumping pedestrian 2b is given.
Therefore, the HMI 19 superimposes the icon of the jumping pedestrian 2b on the parked vehicle that is the specified shield 3b, and displays the remaining visual recognition time (2.2 sec in the figure) on this icon.
Thereby, the driver | operator of the vehicle 1 can detect visually the pedestrian 2b which cannot be visually recognized, and can detect time until this pedestrian 2b becomes visible.

  In this case, the remaining time calculation unit 24 calculates the remaining visual time without including the moving component due to the traveling of the vehicle 1, and the calculation logic is simple. However, the remaining visual time includes an error, but the vehicle 1 There is no problem because the accuracy of the visual recognition remaining time improves as the pedestrian approaches the jumping pedestrian.

  Note that FIG. 5 simply shows the display remaining time on the monitor, but instead of or in addition to this, the degree of danger to the pedestrian may be displayed, The color may be changed for display, or an alarm may be sounded by a speaker.

[Action / Effect]
Since the configuration of the vehicle pedestrian notification device according to the embodiment of the present invention is configured as described above, the vehicle pedestrian notification device discriminates and detects pedestrians as shown in FIG. The flow to be performed is performed periodically.
In step S10, it is determined whether or not a visible moving object has been detected. If a visible moving body is detected, it will transfer to step S20, and if a visible moving body is not detected, it will transfer to step S12.

In step S20, it is determined whether the terminal holder has been detected. If the presence of the terminal holder is detected, the process proceeds to step S30. If the presence of the terminal holder is not detected, the process proceeds to step S22.
In step S22, a visually recognized pedestrian is detected. Then, this control cycle ends (end).
In step S30, the position of the visible moving body is compared with the position of the terminal holder. Then, the process proceeds to step S40.

  In step S40, the position where the position of the visible moving body and the position of the terminal holder match is detected as a visual pedestrian, and the terminal holder who does not match any of the positions of the visible moving body is detected as a non-visible pedestrian. . Then, the process proceeds to step S50.

In step S12, it is determined whether a terminal holder has been detected as in step S20. If the presence of the terminal holder is detected, the process proceeds to step S14, and if the presence of the terminal holder is not detected, this control cycle ends (end).
In step S14, a non-viewing pedestrian is detected. Then, the process proceeds to step S50.

In step S50, it is determined whether the approaching terminal holder has been detected. If the presence of the approaching terminal holder is detected, the process proceeds to step S60, and if the presence of the approaching terminal holder is not detected, this control cycle ends (end).
In step S60, the position of the approaching terminal holder is compared with the position of the non-viewing pedestrian. Then, control goes to a step S70.
In step S70, an object in which the position of the approaching terminal holder matches the position of the non-viewing pedestrian is detected as a jumping pedestrian. Then, this control cycle ends (end).

Moreover, in the vehicle pedestrian notification device, the risk weighting flow for the pedestrian as shown in FIG. 7 is periodically performed using the detected pedestrian type.
In step S100, the danger level of a pedestrian is set. Then, the process proceeds to step S110.

In step S110, the risk set according to the type of pedestrian such as a visible pedestrian, a non-visible pedestrian, or a jumping pedestrian is weighted. And it transfers to step S120.
In step S120, a pedestrian is notified according to the weighted risk level. Then, this control cycle ends (end).

Further, in the vehicle pedestrian notification device, the calculation of the remaining visual time and the notification flow thereof as shown in FIG. 8 are periodically performed by the pedestrian detection ECU 20.
In step S200, information on the position of the vehicle 1, the position of the jumping pedestrian, the position and shape of the stationary object is acquired. Then, the process proceeds to step S210.

In step S210, the stationary object between the vehicle 1 and the jumping pedestrian is specified. Then, the process proceeds to step S220.
In step S220, information on the shape of the stationary object and the speed of the jumping pedestrian is acquired. Then, the process proceeds to step S230.

In step S230, the visual recognition remaining time is calculated based on the position and shape of the stationary object specified in step S210 and the position and speed of the jumping pedestrian. Then, the process proceeds to step S240.
In step S240, the driver is notified of the jumping pedestrian according to the remaining visual recognition time. Then, this control cycle ends (end).

Therefore, according to the vehicular pedestrian notification device of the present invention, the HMI 19 appears when the jumping pedestrian appears from the shadow of the shielding object specified from the information of the visible object and the information of the jumping pedestrian. In order to provide the driver of the vehicle 1 with information on the remaining visual time, which is the time until the vehicle becomes, the information on the out-of-view pedestrian who is likely to come into close contact with the vehicle 1 among the non-visible pedestrians Can be provided appropriately.
In addition, the remaining time calculation unit 24 calculates the remaining visual time reliably because the remaining visual time is calculated from the speed information and position information of the terminal holder, the position information of the vehicle 1, and the position information and shape information of the shield. can do.

  The comparison detection unit 21 compares the visible moving object detected by the visible object detection unit 13 with the terminal holder detected by the inter-pedestrian communication device 14, and detects the object corresponding to the visible moving object as a visible pedestrian. Since the terminal holder does not correspond to the visible moving body and is detected by the non-viewing pedestrian determination unit 21a and detected as a non-viewing pedestrian, the visible pedestrian and the non-viewing pedestrian can be determined and detected. it can. Thereby, it is possible to appropriately detect a pedestrian having a high degree of danger with respect to the vehicle 1.

  The comparison detection unit 21 is based on the position information of the vehicle 1 detected by the GPS 11, the vehicle speed information detected by the vehicle speed sensor 12, and the position information and speed information of the terminal holder acquired by the inter-vehicle communication device 14. In order to detect the approaching terminal holder and detect the terminal holder approaching the vehicle among the non-viewing pedestrians as the jumping pedestrian by the jumping pedestrian determination unit 21b, An outgoing pedestrian can be appropriately identified and detected. Thereby, it is possible to more appropriately detect a pedestrian having a high degree of danger with respect to the vehicle 1.

  In addition, the risk determination unit 22 weights the non-viewing pedestrian more heavily than the visual pedestrian, and weights the jumping pedestrian more than the non-visual pedestrian that does not correspond to the jumping pedestrian. Based on the risk level, if the HMI 19 notifies the driver of the vehicle 1 of the pedestrian, the HMI 19 notifies the driver of the pedestrian according to the risk level of the vehicle 1, so that the driver is more appropriately pedestrian. Can be notified.

[Others]
Although the embodiments of the present invention have been described above, the present invention is not limited to the above-described embodiments, and various modifications can be made without departing from the spirit of the present invention.
In the above embodiment, the visible moving object detected by the visible object detecting unit is compared with the terminal holder. However, the present invention is not limited to this, and the visible object including the stationary object detected by the visible object detecting unit is used. And the terminal holder may be compared.

  Further, since the speed information can be calculated from the change in the position information, the inter-pedestrian communication device of the vehicle has only to acquire at least the position information of the mobile terminal. In this case, in the pedestrian detection ECU, for example, the comparison detection unit calculates the speed information of the mobile terminal from the change in the position information, and the comparison detection unit replaces the speed information of the mobile terminal acquired by the inter-vehicle communication device. The speed information of the portable terminal calculated from the change in the position information acquired by the inter-vehicle communication device is used. Also, the speed information of the mobile terminal calculated from the change in the position information can be used as the speed information of the terminal holder for the remaining time calculation by the remaining time calculation unit.

  In the above-described embodiment, the remaining time calculation unit calculates the visual remaining time without including the movement component due to vehicle travel. However, using the arithmetic logic including the movement component due to vehicle travel. Also good. Note that this calculation logic takes into consideration that the range of shadows that can be visually recognized by the driver changes as the vehicle moves.

Hereinafter, the calculation logic of the visual recognition remaining time including the movement component by driving | running | working of a vehicle is demonstrated.
FIG. 9 shows a vehicle 1c traveling at a vehicle speed v _1c from the bottom to the top in the figure, and a pedestrian 2c with a stationary object 3c in front of the left. At this time T _A , the stationary object 3c shields the pedestrian 2c.
Pedestrian 2c moves in a direction transverse to the front of the vehicle 1c at a moving speed v _2c from the left edge of the road, a terminal holder which is determined protruding pedestrians.

Remaining time calculation unit of the vehicle. 1c, at time T _A, and obtains the position and speed information of the vehicle 1c, position and velocity information of the pedestrian 2c, and the position and shape information of the stationary object 3c identified as shield. The position and shape information of the stationary object 3c can be calculated based on information on the corner ends P _1c , P _2c , and P _3c of the stationary object 3c detected by the visible object detection unit.

Further, the remaining time calculation unit of the vehicle 1c, based on the acquired information, a distance L _3c along the traveling direction of the vehicle 1c between the line-of-sight position of the driver of the vehicle 1c and the corner end P _1c of the stationary object 3c, car 1c pedestrian 2c and angular end P _1c stationary object 3c, the distance L _4c along a direction perpendicular to the traveling direction of the vehicle 1c with P _2c, the driver's line of sight position of the pedestrian 2c and car 1c The distance L _5c along the direction orthogonal to the traveling direction of the vehicle, the distance L _6c along the traveling direction of the vehicle 1c between the corner end P _1c of the stationary object 3c and the pedestrian 2c, and the line-of-sight position of the driver of the vehicle 1c The angle θc at which the straight line connecting the corner end P _1c of the stationary object 3c and the straight line along the traveling direction of the vehicle 1c passing through the corner end P _1c intersect is calculated, and is used for calculating the visual recognition remaining time.

Next, the vehicle 1c ′ and the pedestrian 2c ′ at time T _B after time t from time T _A will be described. If the pedestrian 2c ′ is in a visual recognition state at time T _B after time t _A after time t _A , this time t is the remaining visual recognition time at time T _A.
At time T _B , the vehicle 1c ′ indicated by the two-dot chain line has moved by a distance L _1c (= v ₁ · t), and the pedestrian 2c ′ has moved by a distance L _2c (= v ₂ · t). . At the time point T _B , a distance L _7c along the direction perpendicular to the traveling direction of the vehicle 1c ′ between the pedestrian 2c ′ and a straight line along the traveling direction of the vehicle 1c ′ passing through the corner end P _1c becomes the distance L _7c . L _7c can be represented by the following formula (1).

この角度θcがΔθcだけ変化するため、運転者の視認することができる物陰の範囲が変化する。かかる変化が視認残余時間に影響する。 For this reason, the angle θc changes by Δθc and changes so that the shadow (the area to be shielded) of the stationary object 3c viewed from the driver becomes small. This Δθc can be expressed by the following equation (2).

Since this angle θc changes by Δθc, the range of shadows visible to the driver changes. Such a change affects the remaining visual recognition time.

したがって、式（１）〜（３）より、視認残余時間である時間ｔを算出することができる。 The distance L _7c can be expressed by the following formula (3).

Therefore, the time t which is the visual recognition remaining time can be calculated from the equations (1) to (3).

したがって、式（３）及び（４）より、式（５）を導出することができる。

Ｌ_1c（＝ｖ₁・ｔ）及びＬ_2c（＝ｖ₂・ｔ）はｔの関数であるため、この式（５）に基づいて視認残余時間である時間ｔを算出することもできる。
このようにして、残余時間算出部が、車両の走行による移動成分を含んだ演算ロジックを用いて視認残余時間を算出してもよい。 Alternatively, the angle θc ′ (= θc + Δθc) can be expressed by the following equation (4).

Therefore, equation (5) can be derived from equations (3) and (4).

Since L _1c (= v ₁ · t) and L _2c (= v ₂ · t) are functions of t, the time t which is the visual recognition remaining time can be calculated based on the equation (5).
In this way, the remaining time calculation unit may calculate the visually remaining time using the arithmetic logic including the moving component due to the traveling of the vehicle.

  The vehicle pedestrian detection device and vehicle danger notification device of the present invention can be applied not only to large or medium-sized vehicles such as trucks or buses but also to small vehicles such as passenger cars.

1, 1a, 1c, 1c 'Vehicle 2, 2a, 2a', 2b, 2c, 2c 'Pedestrian 3 Shield 11 GPS
12 Vehicle speed sensor 13 Visible object detector (visible object detection means)
14 Inter-vehicle communication device (information communication means)
14a Antenna 16 Steering angle sensor 19 HMI (information providing means)
20 Pedestrian detection ECU
21 comparison detection part 21a non-visually-identified pedestrian determination part (non-visually-visible pedestrian determination means)
21b Jumping pedestrian determination unit (jumping pedestrian determination means)
22 Risk level judgment unit (risk level judgment means)
23 Visible Object Determination Unit 23a Moving Object Determination Unit 23b Shape Determination Unit 24 Residual Time Calculation Unit (Residual Time Calculation Unit)

Claims (4)

Visible object detection means for detecting a visible object that is a visible object in front of the vehicle;
Information communication means for detecting the terminal holder by communicating with a portable terminal held by the terminal holder in the vicinity of the vehicle;
Based on the information on the visible object detected by the visible object detection means and the information on the terminal holder detected by the information communication means, the terminal holder that does not correspond to the visible object is shaded by a shadow object. A non-visible pedestrian determination means for determining as a non-visual pedestrian who is a pedestrian in
It is determined whether or not the non-visible pedestrian determined by the non-visible pedestrian determination means approaches the vehicle, and when the non-visible pedestrian approaches the vehicle, it is determined to be a jumping pedestrian. Pedestrian determination means,
From the information on the visible object detected by the visible object detection means and the information on the jumping pedestrian determined by the jumping pedestrian determination means, the shielding object existing in front of the jumping pedestrian is determined. Identifying a remaining time calculating means for calculating a remaining visual time that is a time until the jumping pedestrian appears from the shadow of the shielding object and becomes a visible pedestrian;
A pedestrian notification device for a vehicle, comprising: information providing means for providing information of the visual recognition remaining time calculated by the remaining time calculating means to a driver of the vehicle. The jumping pedestrian determination means acquires the terminal holder speed information, which is information of the terminal holder, and the speed information of the vehicle, and the non-viewing pedestrian in the vehicle from the acquired information. Determine that they are approaching,
The remaining time calculating means includes the speed information and position information of the terminal holder, which is information of the terminal holder, the position information of the vehicle, and the position information and shape information of the identified shielding object, The pedestrian notification device for a vehicle according to claim 1, wherein the remaining visual recognition time is calculated. A risk determination means for weighting the risk of the pedestrian to the vehicle;
The risk determination means weights the risk to the non-visual pedestrian more than the visual pedestrian and assigns the risk to the jumping pedestrian rather than the non-visual pedestrian that does not correspond to the jumping pedestrian. Weight the degree greatly,
The vehicle pedestrian notification device according to claim 1, wherein the information providing unit preferentially notifies the remaining visual recognition time of the jumping pedestrian having a high degree of risk. The said information provision means image-displays the information of the said visual recognition remaining time while displaying the positional information on the said jumping pedestrian and the said obstruction | occlusion object as an image. The pedestrian alarm device for vehicles as described in 2.

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