JP2004280453A - Vehicular right turn safety confirming system - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a vehicular right turn safety confirming system assisting safety confirmation work of a driver during a right turn. <P>SOLUTION: A CPU 3 detects a position and speed of an oncoming car based on a picked-up image of a stereo camera 1 processed by an IPU 2, and if the oncoming car can reach an expected right turn locus set in a forward right of one's vehicle within a necessary right turn time of one's vehicle, a warning lamp of a combination meter 4 is lighted and a buzzer is sounded to warn the driver of danger of collision. <P>COPYRIGHT: (C)2005,JPO&NCIPI

Description

[0001]
TECHNICAL FIELD OF THE INVENTION
The present invention relates to a right-turn safety confirmation system for a vehicle that assists a driver in confirming safety when turning right.
[0002]
[Prior art]
This type of technology includes a camera that monitors the oncoming lane on the road side and a radar that detects the speed of objects approaching the intersection, and warns vehicles that are about to turn to the right using wireless communication or speakers. BACKGROUND ART A safety assist system is known (for example, see Patent Document 1).
[0003]
In addition, using a camera, laser radar, etc., predicts the possibility of a collision with a preceding vehicle located ahead of the current lane while traveling, and warns the driver if there is a risk of collision. A device is known (for example, see Patent Document 2).
[0004]
[Patent Document 1]
JP 2000-339589 A [Patent Document 2]
JP 10-69598 A
[Problems to be solved by the invention]
However, in the former of the above-mentioned prior arts, it is very difficult to install the device at all intersections in terms of cost. Further, even if it is installed at all intersections, it cannot be applied to a case where the vehicle enters a parking lot located along an oncoming lane other than the intersection.
[0006]
In the latter case, the oncoming vehicle cannot be recognized when the vehicle turns right at an intersection, that is, when the own vehicle is stopped, because it is a technology for recognizing a preceding vehicle on the own lane during traveling.
[0007]
SUMMARY OF THE INVENTION The present invention has been made in view of the above problems, and an object of the present invention is to provide a vehicle right-turn safety confirmation system that assists a driver's safety confirmation work when making a right turn.
[0008]
[Means for Solving the Problems]
In order to achieve the above object, in the vehicle safety confirmation system according to the first aspect of the present invention, a vehicle speed detecting means for detecting a speed of the own vehicle and a direction indicator detecting means for detecting an operation of the direction indicator And oncoming vehicle state detecting means for detecting the state of the oncoming vehicle existing in the oncoming lane; and when the own vehicle is stopped and the right direction indicator is lit, a collision at the time of turning right based on the state of the oncoming vehicle is possible. Means for determining the possibility of collision, warning means for issuing a warning to the driver, and outputting a command for issuing a warning to the driver when the possibility of collision is determined to the warning means. And a warning control means.
[0009]
According to a second aspect of the present invention, in the vehicle safety confirmation system for a right turn of the first aspect, the oncoming vehicle state detecting means is a means for detecting a position and a vehicle speed of the oncoming vehicle, and An expected right-turn trajectory of the own vehicle is set in the oncoming lane, and the collision possibility determining means calculates a time required for the oncoming vehicle to reach the expected right-turn trajectory based on the position and the vehicle speed of the oncoming vehicle. When it is shorter than the set required right turn time, a means for determining that there is a possibility of collision is provided.
[0010]
According to a third aspect of the present invention, in the vehicle safety confirmation system for a right turn of the first or second aspect, a stereo camera for imaging an oncoming lane is provided, and the oncoming vehicle state detecting means is imaged by the stereo camera. A means for detecting a position and a vehicle speed of an oncoming vehicle based on an image is provided.
[0011]
According to a fourth aspect of the present invention, in the vehicle right-turn safety confirmation system according to any one of the first to third aspects, oncoming vehicle detection is performed to determine whether the state of the oncoming vehicle is difficult to detect. Possibility judging means and collision possibility judgment prohibiting means for outputting a command to the collision possibility judging means to prohibit judgment of the possibility of collision with the oncoming vehicle when it is judged that the state of the oncoming vehicle is difficult to detect. Wherein the warning control means is means for outputting a command to issue a warning to the driver to stop the system to the warning means when a command to prohibit the determination of a possibility of collision with an oncoming vehicle is output. It is characterized by the following.
[0012]
According to a fifth aspect of the present invention, in the vehicle safety confirmation system for a right turn according to any one of the first to fourth aspects, an obstacle detecting means for detecting an obstacle stopping in an oncoming lane is provided, The above-mentioned oncoming vehicle detection availability determination means is characterized in that when an obstacle is detected in the oncoming lane, it is determined that it is difficult to detect the state of the oncoming vehicle.
[0013]
According to a sixth aspect of the present invention, in the vehicle safety confirmation system for a right turn according to any one of the first to fifth aspects, a white line detecting means for detecting a white line between the own lane and the oncoming lane. And a curvature detecting means for detecting the curvature of the detected white line, and it is difficult to detect the state of the oncoming vehicle when the curvature of the white line is larger than a predetermined curvature. It is characterized in that it is a means for judging.
[0014]
According to a seventh aspect of the present invention, in the vehicle safety confirmation system for a right turn of the vehicle according to any one of the first to sixth aspects, the collision possibility determination means detects a plurality of oncoming vehicles in an oncoming lane. When it is determined that the vehicle has a collision possibility with the oncoming vehicle closest to the own vehicle.
[0015]
According to an eighth aspect of the present invention, in the vehicle safety confirmation system for a right turn of the vehicle according to any one of the first to sixth aspects, the collision possibility determination means detects a plurality of oncoming vehicles in an oncoming lane. In this case, a means is provided for judging the possibility of collision with an oncoming vehicle that arrives at the expected right-turn locus of the own vehicle earliest.
[0016]
【The invention's effect】
According to the first aspect of the present invention, when the vehicle stops in a state where the right turn signal is turned on, for example, when the vehicle stops at a right turn stop line at an intersection, it is detected by the collision possibility determination means. The possibility of a collision at the time of a right turn is determined based on the state of the oncoming vehicle. At this time, if it is determined that there is a possibility of collision, a warning is given to the driver by the warning means.
[0017]
Therefore, the presence or absence of the warning can be provided as a material for determining the possibility of the driver's contact, so that the driver's safety confirmation work at the time of turning right can be assisted to improve the safety.
[0018]
According to the second aspect of the present invention, the position and the speed of the oncoming vehicle are detected, and the time required for the oncoming vehicle to reach the predicted right-turn trajectory of the own vehicle is calculated. Subsequently, the arrival time is compared with a preset required right turn time, and a warning is issued to the driver if the arrival time is shorter than the required right turn time. Therefore, it is possible to accurately determine the timing at which a safe right turn is possible, and the reliability of the warning is increased.
[0019]
According to the third aspect of the present invention, by using the image captured by the stereo camera, the position and the speed of the oncoming vehicle can be detected using one oncoming vehicle state detecting unit, and the number of oncoming vehicle state detecting units can be reduced. Cost can be reduced.
[0020]
According to the fourth aspect of the invention, when the oncoming vehicle detection availability determination means determines that the state of the oncoming vehicle is difficult to detect, the collision possibility determination is stopped, and a warning of the system stop is given to the driver by the warning means. Be emitted.
[0021]
In other words, if the state (information) of the oncoming vehicle is unclear and the state of the oncoming vehicle cannot be accurately determined, the driver is informed of this and the possibility of collision is stopped, so that the oncoming vehicle state detecting means can detect the oncoming vehicle. When the vehicle cannot be caught, it is possible to prevent the possibility of collision from erroneously determining the presence of an oncoming vehicle.
[0022]
In addition, it is possible to reduce the excessive dependence on the driver's warning and to encourage a positive safety check operation, so that the safety when making a right turn is further improved.
[0023]
According to the fifth aspect of the invention, when an obstacle is detected in the oncoming lane, it is determined that the state of the oncoming vehicle is difficult to detect. For example, when the vehicle stops at the right turn stop line at the intersection, the vehicle often stops at the right turn stop line of the opposite lane. At this time, there is a high possibility that a stopped oncoming vehicle becomes an obstacle and an oncoming vehicle entering the intersection from behind cannot be detected. Further, when a vehicle stopped on the right turn stop line of the oncoming lane is regarded as an oncoming vehicle and the state is detected, a warning is continuously issued until the oncoming vehicle turns right.
[0024]
Therefore, if there is an obstacle in the oncoming lane, the system stops and issues a warning, and prompts the driver to confirm safety. If an oncoming vehicle hidden behind the obstacle cannot be detected, a collision is possible. It is possible to prevent the gender judging means from erroneously judging the existence of the oncoming vehicle, and the safety is further improved. Further, it is possible to prevent a meaningless warning from continuing to be issued by erroneously recognizing an obstacle as an oncoming vehicle.
[0025]
In the invention according to claim 6, when the curvature of the white line is larger than a preset curvature, that is, when the curvature of the oncoming lane is large, it is determined that the state of the oncoming vehicle is difficult to detect. For example, when the curvature of a road is large, an oncoming vehicle trying to enter an intersection from a distance cannot be detected.
[0026]
Therefore, if the curvature of the oncoming lane is larger than the preset curvature, the system is stopped and a warning is issued, and the driver is asked to confirm safety. It is possible to prevent the possibility of collision determination from misjudging the existence of the oncoming vehicle, and the safety is further improved. More safety.
[0027]
According to the seventh aspect of the present invention, by judging the possibility of collision with the oncoming vehicle closest to the own vehicle, it is possible to accurately judge when it is safe to make a right turn, and to increase the reliability of the warning.
[0028]
According to the invention described in claim 8, the possibility of collision with the oncoming vehicle that arrives at the expected right turn trajectory of the own vehicle earlier is determined, so that the oncoming vehicle is slower than the oncoming vehicle that is slowing down for right or left turn. It can respond to a straight-ahead vehicle reaching the expected right-turn trajectory of the car, and can accurately determine when it is safe to turn right.
[0029]
BEST MODE FOR CARRYING OUT THE INVENTION
Hereinafter, an embodiment for realizing the vehicle right turn safety confirmation system of the present invention will be described based on a first embodiment and a second embodiment.
[0030]
(First embodiment)
First, the configuration will be described.
FIG. 1 is a block diagram showing the configuration of the right turn safety confirmation system of the first embodiment. In the figure, 1 is a stereo camera, 2 is an image processing unit (IPU), 3 is a control unit (CU), 4 is a combination meter, and 5 is a buzzer.
[0031]
The stereo camera 1 is provided with two CCD cameras horizontally arranged at a site in the vehicle cabin capable of imaging an oncoming lane position in the traveling direction. The pair of left and right images captured by the two CCD cameras are output to the IPU 2 as a stereoscopic image signal.
[0032]
The IPU 2 generates image information having distance data from the stereoscopic image signal of the oncoming lane output from the stereo camera 1 using stereo matching processing technology, performs image processing such as edge extraction on the image information, and performs lane information processing. And object information are extracted (corresponding to white line detection means). The extracted lane information and object information are output to the CU 3 as a lane information signal and an object information signal. The IPU 2 and the stereo camera 1 constitute oncoming vehicle state detecting means.
[0033]
The CU 3 receives a lane information signal and an object information signal from the IPU 2, a vehicle speed signal from a vehicle speed sensor (vehicle speed detecting means) 6, and a switch signal from a direction indicator switch (direction indicator detecting means) 7. The CU 3 executes a right-of-turn collision possibility control based on these signals.
[0034]
When the CU 3 determines that the object is moving by the time-series processing of the object information signal, the CU 3 recognizes this as an oncoming vehicle and calculates the arrival time to the own vehicle based on the position and speed of the oncoming vehicle. Further, the curvature of the lane is calculated from the lane information signal, and the curvature of the opposite lane is estimated.
If it is determined that the object has stopped, this is recognized as an obstacle.
[0035]
The CU 3 outputs a display command signal to the combination meter 4 and outputs the combination meter to the buzzer 5 according to the result of the collision possibility determination processing. Further, when the CU 3 recognizes an obstacle in the oncoming lane or when the curvature of the oncoming lane is equal to or greater than a predetermined curvature, the CU 3 stops the collision possibility determination process and warns of a function non-operation (Halt). Is output to the combination meter 4.
[0036]
The combination meter 4 is provided on an instrument panel (not shown), and displays and blinks various display lights and warning lights according to a display command signal from the CU 3. The combination meter 4 and the buzzer 5 constitute a warning unit.
[0037]
Next, the operation will be described.
[Right-turn collision judgment control processing]
[0038]
FIG. 2 is a flowchart illustrating the flow of the right-turn collision determination control process executed by the CU 3.
[0039]
In step S1, it is determined from the vehicle speed signal of the vehicle speed sensor 6 whether or not the own vehicle is stopped. If the determination is YES, the process proceeds to step S2, and if the determination is NO, the control ends.
[0040]
In step S2, it is determined from the switch signal of the turn signal switch 7 whether the right turn signal is on. If the determination is YES, the process proceeds to step S3, and if the determination is NO, the control ends.
[0041]
In step S3, it is determined whether there is no obstacle ahead and the visibility is good (corresponding to obstacle detection means). Specifically, the object information signal is subjected to time-series processing, and it is determined whether a stopped object has been recognized. In the case of YES, the process proceeds to step S4, and in the case of NO, the process proceeds to step S8 (corresponding to a collision possibility determination prohibiting unit).
[0042]
In step S4, it is determined whether or not the white line extends substantially linearly in the traveling direction (corresponding to a curvature detecting unit). Specifically, the curvature of the white line is calculated from the white line information signal, and if the curvature is smaller than a predetermined curvature, it is determined that the white line extends linearly. In the case of YES, the process proceeds to step S5, and in the case of NO, the process proceeds to step S8 (corresponding to a collision possibility determination prohibiting unit). Step S3 and step S4 constitute oncoming vehicle detection availability determination means.
[0043]
In step S5, it is determined from the object information signal whether a three-dimensional object exists in the oncoming lane. In the case of YES, the process proceeds to step S6, and in the case of NO, the process proceeds to step S10.
[0044]
In step S6, the speed of the oncoming vehicle is calculated from the time series processing of the object information signal. At this time, when there are a plurality of oncoming vehicles, the speed of the oncoming vehicle closest to the own vehicle is calculated.
[0045]
In step S7, it is determined from the position and speed of the oncoming vehicle whether or not the oncoming vehicle can reach the expected right-turn trajectory set to the front right of the own vehicle within the required right-turn time of the own vehicle (corresponding to collision possibility determining means). ). In the case of YES, the process proceeds to step S9, and in the case of NO, the process proceeds to step S10.
[0046]
The required right turn time of the own vehicle is set in advance to a time expected to be required for a right turn at an intersection, and a margin time of several seconds is added to this time. Alternatively, the time required for a right turn may be set by obtaining road information from a navigation system or the like.
[0047]
In step S8, a display command is output to the combination meter 4 to warn the non-operation (Halt) of the collision possibility determination function, and the present control is terminated (corresponding to a warning control means).
[0048]
In step S9, a display command for warning the danger of collision is output to the combination meter 4 and an alarm output command signal is output to the buzzer 5 to end the present control (corresponding to a warning control means).
[0049]
In step S10, a display command notifying the safety of a right turn is output to the combination meter 4, and the present control ends.
[0050]
[Right-turn collision judgment control action]
(When there is no oncoming vehicle)
When the vehicle 8 stops at the intersection at the right turn stop line with the right turn signal, when there is no obstacle at the intersection, the oncoming lane 9 extends in a straight line, and there is no oncoming vehicle, FIG. In the flowchart of FIG. 7, the flow proceeds to step S1 → step S2 → step S3 → step S4 → step S5 → step S10.
[0051]
That is, it is determined in Step S3 that there is no object stopped in the oncoming lane 9, and it is determined in Step S4 that the oncoming lane 9 extends linearly. Subsequently, in step S5, it is determined that the oncoming vehicle 10 does not exist in the oncoming lane 9, and in step S10, the indicator of the combination meter 4 is turned on, and the driver is notified of the right turn safety.
[0052]
(If there is an oncoming vehicle)
As shown in FIG. 3, when the vehicle 8 stops at a right turn stop line at an intersection with a right turn signal, and there is no obstacle at the intersection and the oncoming lane 9 extends in a straight line. In the flowchart of 2, the flow proceeds to step S1 → step S2 → step S3 → step S4 → step S5 → step S6 → step S7.
[0053]
That is, it is determined in Step S3 that there is no object stopped in the oncoming lane 9, and it is determined in Step S4 that the oncoming lane 9 extends linearly. Subsequently, it is determined in step S5 that the oncoming vehicle 10 exists in the oncoming lane 9, and the speed of the oncoming vehicle 10 is calculated in step S6.
[0054]
At this time, if it is determined that the oncoming vehicle 10 can reach the own vehicle within the predetermined time, the process proceeds from step S7 to step S9, where the warning light of the combination meter 4 is turned on, the buzzer 5 sounds, and the driver The danger of collision is warned.
[0055]
On the other hand, when it is determined that the oncoming vehicle 10 does not reach the own vehicle within the predetermined time, the process proceeds to step S10, the indicator light of the combination meter 4 is turned on, and the driver is informed of the right turn safety.
[0056]
(When there is an obstacle in the oncoming lane)
As shown in FIG. 4, when the oncoming vehicle 11 is stopped at the right turn stop line, that is, when there is an obstacle in the oncoming lane 9, in the flowchart of FIG. 2, step S1 → step S2 → step S3. → The flow proceeds to step S8.
[0057]
That is, in step S3, it is determined that there is an obstacle (an oncoming vehicle 11 that is stopped) ahead, and in step S8, the warning light of the combination meter 4 is turned on, and the driver is inoperative of the collision possibility determination function (step S8). Halt) is warned.
[0058]
(When the oncoming lane is curved)
As shown in FIG. 5, when the oncoming lane 12 is a curved road with poor visibility, the flow proceeds to step S1, step S2, step S3, step S4, and step S8 in the flowchart of FIG.
[0059]
That is, it is determined in step S4 that the curvature of the oncoming lane 12 is equal to or greater than a predetermined curvature, and in step S8, the warning light of the combination meter 4 is turned on, and the driver is inactivated (Halt) by the collision possibility determination function. ) Is warned.
[0060]
(When there are two oncoming vehicles)
As shown in FIG. 6, when there are two oncoming vehicles 13 and 14 in the oncoming lane 9, similarly to the case where the oncoming vehicle shown in FIG. 3 exists, in the flowchart of FIG. The flow proceeds in the order of S2 → Step S3 → Step S4 → Step S5 → Step S6 → Step S7. In Step S6, the speed of the oncoming vehicle 13 closest to the host vehicle 8 is calculated. Is determined.
[0061]
Next, effects will be described.
In the right turn safety confirmation system of the first embodiment, the following effects can be obtained.
[0062]
(1) If the oncoming vehicle can reach the expected right-turn trajectory set right ahead of the own vehicle within the required right-turn time of the own vehicle from the position and speed of the oncoming vehicle, turn on the warning light of the combination meter 4 In addition, the buzzer 5 sounds and the driver is warned of the danger of collision, so the presence or absence of the warning can be provided as a material for determining the possibility of the driver's contact, and assists the driver's safety confirmation work when making a right turn. Improvement can be achieved.
[0063]
(2) Since the position and the speed of the oncoming vehicle are detected based on the stereoscopic image signal of the oncoming lane output from the stereo camera 1, the position and the speed of the oncoming vehicle can be detected using one oncoming vehicle state detecting means. . The stereo camera 1 can be used for other driver assistance systems (for example, lane departure warning, inter-vehicle distance warning, inter-vehicle distance control cruise control, curve warning / shift down control, etc.) only when turning right. . Therefore, there is no need to separately provide an oncoming vehicle state detecting means, and the cost can be reduced.
[0064]
(3) When there is an obstacle in the oncoming lane or when the oncoming lane is curved, the collision possibility determination function is deactivated and the warning light of the combination meter 4 is turned on to warn the driver. Therefore, when the stereo camera 1 cannot catch an oncoming vehicle due to an obstacle or a curve, it is possible to prevent an erroneous determination that an oncoming vehicle does not exist and a right turn is possible.
[0065]
(4) When a plurality of oncoming vehicles are detected, it is possible to accurately determine when it is safe to make a right turn by determining the possibility of collision with the oncoming vehicle closest to the host vehicle.
[0066]
(Second embodiment)
The second embodiment is different from the first embodiment in that when a plurality of oncoming vehicles are detected, the possibility of collision with the oncoming vehicle that arrives at the expected right-turn trajectory of the vehicle first is determined. That is, in the flowchart of FIG.
[0067]
Next, the operation will be described.
[Right-turn collision judgment control processing]
FIG. 7 is a flowchart showing the flow of the right-turn collision determination control process executed by the CU 3, and only different portions from the flowchart of the first embodiment will be described.
[0068]
In step S11, the speed of the oncoming vehicle is calculated from the time series processing of the object information signal. At this time, when there are a plurality of oncoming vehicles, the speed is calculated for all oncoming vehicles.
[0069]
In step S12, of all the oncoming vehicles, the oncoming vehicle that reaches the expected right-turn trajectory of the own vehicle first is set as the collision target.
[0070]
[Right-turn collision judgment control action]
(When there are two oncoming vehicles)
In FIG. 6, when the oncoming vehicle 13 is decelerating for a right turn, and the oncoming vehicle 14 traveling straight ahead reaches the expected right turn locus of the own vehicle 8 first, in the flowchart of FIG. Step S2 → Step S3 → Step S4 → Step S5 → Step S11 → Step S12 → Step S7. That is, the speeds of the oncoming vehicle 13 and the oncoming vehicle 14 are calculated in step S11, the oncoming vehicle 14 is set as the oncoming vehicle to be collided in step S12, and the possibility of collision with the oncoming vehicle 14 is determined in step S7. You.
[0071]
Next, effects will be described.
The right-turn safety confirmation system of the second embodiment can handle a straight-ahead vehicle that reaches the expected right-turn trajectory of the vehicle earlier than an oncoming vehicle that is slowing down for a right or left turn, and can make a right-turn safely. Time can be accurately determined.
[0072]
(Other embodiments)
As described above, the embodiments of the present invention have been described based on the first embodiment and the second embodiment. However, the specific configuration of the present invention is not limited to each embodiment and deviates from the gist of the invention. Even if there is a design change or the like within a range not to be included, it is included in the present invention.
[0073]
For example, although the lane of the oncoming lane and the oncoming vehicle are recognized by performing edge extraction processing on the captured image of the stereo camera 1, the image processing method is arbitrary.
The warning means may turn on the warning light and the indicator light of the combination meter 4 and sound the buzzer 5 as well as give a warning by sound.
[Brief description of the drawings]
FIG. 1 is a block diagram showing a configuration of a right turn safety confirmation system according to a first embodiment.
FIG. 2 is a flowchart illustrating a flow of a right-turn collision determination control process executed by the CU 3 of the first embodiment.
FIG. 3 is an explanatory diagram showing a case where an oncoming lane is straight and no obstacle exists.
FIG. 4 is an explanatory diagram showing a case where an obstacle exists in an oncoming lane.
FIG. 5 is an explanatory diagram showing a case where the oncoming lane is a curved road.
FIG. 6 is an explanatory diagram showing a case where two oncoming vehicles exist in the oncoming lane.
FIG. 7 is a flowchart illustrating a flow of a right-turn collision determination control process executed by the CU 3 according to the second embodiment.
[Explanation of symbols]
1 stereo camera 2 image processing unit (IPU)
3 Control unit (CU)
4 Combination meter 5 Buzzer 6 Vehicle speed sensor 7 Direction indicator switch 8 Own vehicle 9 Oncoming lane 10, 13, 14 Oncoming vehicle 12 Curved road

Claims (8)

Vehicle speed detecting means for detecting the speed of the vehicle;
Direction indicator detecting means for detecting the operation of the direction indicator,
Oncoming vehicle state detecting means for detecting the state of the oncoming vehicle existing in the oncoming lane,
Collision possibility determining means for determining the possibility of collision at the time of right turn based on the state of the oncoming vehicle, when the own vehicle stops and the right direction indicator is turned on,
A warning means for giving a warning to the driver;
When it is determined that there is a possibility of collision, a warning control unit that outputs a command to issue a warning to the driver to the driver that there is a possibility of collision,
A safety confirmation system for a right turn of a vehicle, comprising: The safety confirmation system for a right turn of a vehicle according to claim 1,
The oncoming vehicle state detection means as means for detecting the position and the vehicle speed of the oncoming vehicle,
Set the expected right turn trajectory of your vehicle in the oncoming lane to the right of your vehicle,
The collision possibility determining means calculates a time required for the oncoming vehicle to reach the expected right turn locus based on the position and the vehicle speed of the oncoming vehicle. A right-turn safety confirmation system for a vehicle, characterized in that it is a means for judging presence. The right-turn safety confirmation system for a vehicle according to claim 1 or 2,
Provide a stereo camera that captures the oncoming lane,
The right-turn safety check system for a vehicle, wherein the oncoming vehicle state detecting means detects a position and a speed of the oncoming vehicle based on an image captured by a stereo camera. The safety confirmation system for a right turn of a vehicle according to any one of claims 1 to 3,
Oncoming vehicle detection availability determination means for determining whether the state of the oncoming vehicle is difficult to detect,
When it is determined that the state of the oncoming vehicle is difficult to detect, a collision possibility determination prohibiting unit that outputs a command for prohibiting the determination of the possibility of collision with the oncoming vehicle to the collision possibility determining unit,
The warning control means may be a means for outputting a command for issuing a warning to the driver to stop the system to the warning means when a command for prohibiting determination of a possibility of collision with an oncoming vehicle is output. Safety confirmation system when turning right. The right-turn safety confirmation system for a vehicle according to any one of claims 1 to 4,
An obstacle detecting means for detecting an obstacle stopping in the oncoming lane is provided,
The on-vehicle safety confirmation system for a right turn of a vehicle, wherein the oncoming vehicle detection availability determination means is configured to determine that the state of the oncoming vehicle is difficult to detect when an obstacle is detected in the oncoming lane. The safety confirmation system for a right turn of a vehicle according to any one of claims 1 to 5,
White line detecting means for detecting a white line between the own lane and the oncoming lane,
Curvature detecting means for detecting the curvature of the detected white line,
And
The above-mentioned oncoming vehicle detection availability determination means, when the curvature of the white line is greater than a predetermined curvature, determines that the state of the oncoming vehicle is difficult to detect. . The safety confirmation system for a right turn of a vehicle according to any one of claims 1 to 6,
Wherein the collision possibility determination means is means for determining the possibility of collision with an oncoming vehicle closest to the own vehicle when a plurality of oncoming vehicles are detected in the oncoming lane, and confirming safety when turning right of a vehicle. system. The safety confirmation system for a right turn of a vehicle according to any one of claims 1 to 6,
When a plurality of oncoming vehicles are detected in the oncoming lane, the collision possibility determining means may be a means for determining the possibility of collision with an oncoming vehicle that arrives at the expected right-turn trajectory of the own vehicle first. Safety confirmation system when turning right.

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