JP2006039697A - Dangerous area setting device - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a dangerous area setting device which reduces omissions in detecting an object which can collide with its own vehicle. <P>SOLUTION: The dangerous area setting device is provided with; an object position detecting means which detects the position of an object; an object area setting means which always determines a prescribed position based on the position of an object as a reference when the position of the object is detected by the object position detecting means; a target range setting means which always determines a target range for setting a dangerous area to its own vehicle; a duplicated-part detecting means which detects a duplicated part of the target range and the object area; and a dangerous area setting means which always sets a dangerous area based on the duplicated part when the duplicated part is detected by the duplicated-part detecting means. <P>COPYRIGHT: (C)2006,JPO&NCIPI

Description

  The present invention relates to a dangerous area setting device for preventing a collision between a vehicle and an object.

  In order to prevent a collision between a vehicle and an object, for example, a crossing object detection device disclosed in Patent Document 1 is used.

According to the detection device described in Patent Literature 1, an object that goes to the center of the travel path is detected as a crossing person based on the center position of the travel path and the moving direction of the object. Then, the detection device calculates a time until the crosser reaches the travel path and a time when the vehicle finishes passing the travel path from the average moving speed of the crosser, and a time when the own vehicle reaches the same distance point as the crosser. Risk assessment is performed by comparison.
JP 9-226490 A

  However, in the detection device described in Patent Document 1, since the risk of collision is determined based on the passage time calculated from the average moving speed of the crossing person, the sudden movement change of the pedestrian or the like is determined. It cannot follow instantaneously.

  For example, when the bicycle crosses the road, it is determined that there is no risk of collision because the bicycle finishes crossing the road before the host vehicle passes depending on the average moving speed of the bicycle. Therefore, even if the bicycle falls while crossing, it is not determined that there is a risk of collision instantaneously because it is based on the average moving speed up to that point. When a child standing on the left sidewalk suddenly jumps out to the roadway, the risk of collision is determined only after the average moving speed reaches a certain value.

  The present invention has been made in view of such problems, and an object of the present invention is to provide a dangerous area setting device that reduces detection omission of an object that may collide with the host vehicle.

  According to the first aspect of the present invention, there is provided an object position detecting means for detecting the position of an object, and an object that always defines a predetermined area based on the position of the object when the position of the object is detected by the object position detecting means. An area setting means, a target range setting means for always setting a target range for setting a dangerous area for the host vehicle, an overlapping part detecting means for detecting an overlapping part between the target range and the object area, and an overlapping part in the overlapping part detecting means A dangerous area setting device having a dangerous area setting means for always setting a dangerous area based on an overlapped portion when an error is detected.

  In this way, by using an overlapping part with an area having a certain margin with respect to the position of the object within the range targeted by the own vehicle, a dangerous area that takes into account a sudden course change of the object etc. Setting is possible. If there is an overlapping portion for the detected object, it is possible to reduce detection omission of an object that may be dangerous by always setting a dangerous area.

  The target range setting means includes road area detection means for detecting a road area where the host vehicle may travel, and may determine the road area as the target range or set a boundary line. And a predetermined range divided by a boundary line may be defined as the target range. Thereby, the target range for setting the dangerous area can be appropriately determined.

  The invention described in claim 4 is characterized in that the boundary line setting means includes a surrounding environment detection means for detecting the surrounding environment of the host vehicle, and changes a position where the boundary line is set based on the surrounding environment. .

  That is, it is considered that the range to be set as the dangerous area is different depending on the surrounding environment of the road on which the host vehicle is traveling. For example, when there are a plurality of lanes, a boundary line may be set for the lane in which the host vehicle travels, and a boundary line may be set only on the left side of the host vehicle if the road has a median. In this way, the boundary line can be set at an appropriate position by considering the surrounding environment.

  The invention according to claim 5 is characterized in that the dangerous region setting means does not set the dangerous region when the overlapping portion is not detected by the overlapping portion detecting means. Thereby, it is possible to omit setting a useless dangerous area for an object that is not likely to be dangerous.

  According to the sixth aspect of the present invention, the object region setting means includes an object moving speed detecting means for detecting the moving speed of the object, and a movement of the object by multiplying the moving speed detected by the object moving speed detecting means by a predetermined time. An object moving distance estimating means for estimating a distance, and an object region is determined according to the moving distance estimated by the object moving distance estimating means.

  In this way, by using the moving distance of the object, it is possible to appropriately set an area having a certain margin with respect to the position of the object.

  Further, the object moving distance estimating means may estimate the moving distance using a value exceeding the multiplication value when the moving speed of the object is equal to or less than a predetermined value.

  By attaching such conditions to the estimation of the moving distance, even if the moving speed of the object is zero or extremely slow, a range with a certain margin with respect to the position of the object is set as the dangerous area Can do. Therefore, for example, a dangerous area can be set in advance for a pedestrian standing in a roadside zone.

  The danger area setting means comprises object position determination means for determining whether or not the position of the object is within the target range, and according to the determination result in the object position determination means, the dangerous area setting means It is characterized by changing the size.

  That is, when the object is located within the target range, the danger region is provided wider than when the object is located outside the target range. Thus, it can show that it is more dangerous according to the size of the dangerous area. For example, when a boundary line is set at the boundary between a roadway and a sidewalk, it is necessary to pay more attention to the latter between pedestrians traveling on the sidewalk and pedestrians traveling on the roadway. It is done. Accordingly, by changing the size of the dangerous area from the positional relationship between the target range and the object, it is possible to set the dangerous area in consideration of the degree of danger.

  The dangerous area setting means includes an object moving direction detecting means for detecting the moving direction of the object, and the size of the dangerous area may be changed according to the moving direction of the object, or the moving speed of the object is detected. An object moving speed detecting means for changing the size of the dangerous area according to the moving speed of the object, or changing the size of the dangerous area according to the distance from the position of the object to the overlapping portion. May be. Further, the dangerous area setting means may set an overlapping portion as a dangerous area.

  For example, when an object is located outside the target range, the possibility of entering the target range varies depending on the moving direction of the object, the moving speed, and the distance to the target range. That is, when the moving direction of the object is the direction of the target range, and the moving speed of the object is fast or the object is close to the target range, the possibility of entering is high. Therefore, an appropriate dangerous area can be set by considering these factors. In addition, since the overlapping portion is a region that takes into consideration the moving speed of the object and the distance to the target range, the same effect can be obtained.

  According to the thirteenth aspect of the present invention, when the position of the first object and the position of the second object are detected by the object position detecting means, the danger area of the first object and the danger area of the second object are overlapped. If it is determined by the dangerous area overlap determining means and the dangerous area overlap determining means that the overlapping is determined, a new dangerous area is set using the dangerous area size of the first object and the dangerous area size of the second object. And a dangerous area resetting means. Thereby, it can be identified that a plurality of objects exist together.

  According to a fourteenth aspect of the present invention, there is provided: a host vehicle position detection unit that detects a position of the host vehicle; and a risk level setting unit that sets a risk level for the dangerous area based on the position of the object and the position of the host vehicle. It is characterized by providing.

  Thus, by setting the degree of danger according to the positional relationship between the host vehicle and the object, it is possible to present not only the position and size of each dangerous area, but also the degree of danger.

  The risk level setting means may include object movement direction detection means for detecting the movement direction of the object, and the degree of danger may be changed according to the movement direction of the object.

  That is, if the object continues to move in the same direction, it can be said that the risk of the object moving toward the point where the host vehicle travels is higher. In this way, by setting the degree of danger according to the moving direction of the object, the accuracy of setting the degree of danger can be increased.

  In addition, when the position of the first object and the position of the second object are detected by the object position detection unit, a risk region overlap determination unit that determines overlap between the danger region of the first object and the danger region of the second object And a risk level resetting unit that newly sets a risk level using the risk level of the risk area of the first object and the risk level of the risk area of the second object when it is determined by the risk area overlap determination means And means.

  As described above, when the dangerous areas overlap, by setting the degree of danger high, it is possible to indicate that the object exists in a mass and the degree of danger is high.

  The invention described in claim 17 is characterized by comprising alarm means for outputting an alarm to the driver of the host vehicle based on the dangerous area. Thereby, it is possible to notify the driver of the own vehicle of the presence of a dangerous object. The warning means may output a warning corresponding to the degree of danger. Thereby, it is possible to notify the driver of the host vehicle not only the presence of a dangerous object but also the degree of danger.

  The invention described in claim 19 is characterized by comprising travel control means for controlling the travel of the host vehicle based on the dangerous area. This makes it possible to control traveling so as to avoid a collision between the host vehicle and an object.

  The invention according to claim 20 is characterized by comprising notifying means for notifying an object of danger based on the dangerous area. Thereby, danger can be notified not only to the driver of the host vehicle but also to the object.

  A dangerous area setting device according to an embodiment of the present invention will be described with reference to the drawings. In addition, this invention is not limited by the following Example, All the aspects which embody the idea of this invention are included.

[Example 1]
FIG. 1 is a configuration diagram of a pedestrian terminal device 100 used in the present embodiment. The pedestrian terminal device 100 is widely used in addition to pedestrians, such as people on wheelchairs and bicycles, and includes a GPS (global positioning system) 111, a gyro sensor 112, a speed sensor 113, an external connector 121, information It comprises a processing device 131, a memory 132, and a wireless device 141.

  The GPS 111 receives a GPS signal transmitted from a GPS satellite (not shown) and performs positioning. The gyro sensor 111 detects the moving direction from the rotational displacement of the pedestrian, and the speed sensor 113 detects the moving speed of the pedestrian. The information processing device 131 calculates the position of the pedestrian based on the input signals from the GPS 111, the gyro sensor 112, and the speed sensor 113 and stores it in the memory 132.

  The wireless device 141 transmits and receives data by wireless communication, and transmits data to other wireless devices based on an instruction from the information processing device 131. When the wireless device 141 receives data transmitted from another wireless device, the information processing device 131 analyzes the received data.

  The external connector 121 is an interface with an external device 122 connected as necessary, such as a mobile phone or a personal computer.

  FIG. 2 is a configuration diagram of a dangerous area setting device (hereinafter referred to as a vehicle terminal device) 200 according to the present invention. The vehicle terminal device 200 includes a GPS 211, a gyro sensor 212, a vehicle speed sensor 213, an external connector 221, an information processing device 231, a memory 232, a wireless device 241, a navigation system 251, a display device 261, and a speaker 271.

  The GPS 211 receives a GPS signal transmitted from a GPS satellite (not shown) and performs positioning. The gyro sensor 212 detects the moving direction from the rotational displacement of the vehicle, and the vehicle speed sensor 213 detects the speed of the host vehicle. The information processing device 231 calculates the position of the host vehicle based on the input signals from the GPS 211, the gyro sensor 212, and the vehicle speed sensor 213, and stores it in the memory 232.

  The wireless device 241 transmits and receives data by wireless communication. When the wireless device 241 transmits position inquiry data to the pedestrian terminal device 100 according to an instruction from the information processing device 231, the wireless device 141 of the pedestrian terminal device 100 receives the data. And the radio | wireless apparatus 141 of the terminal device 100 for pedestrians transmits the data containing the pedestrian's own positional information. The wireless device 241 receives this data, and the information processing device 231 calculates the current position of the pedestrian.

  The navigation system 251 has a database 252 in which information related to maps is accumulated. The navigation system 251 searches for and sets a route from the position of the host vehicle to the destination according to an instruction from the information processing device 231.

  The external connector 221 is an interface with an external device 222 such as a mobile phone or a personal computer. The external device 222 is connected as necessary, for example, when information cannot be acquired from the database 252.

  The display device 261 and the speaker 271 provide a map, route guidance to a destination, and a partner position such as a vehicle or a pedestrian. Further, when an object having a risk of collision exists around the host vehicle, the display device 261 displays the position of the object and a dangerous area, and the speaker 271 emits a warning sound. Then, the information processing device 231 sends a signal to the vehicle control device 233 connected via the in-vehicle LAN as necessary. The vehicle control device 233 controls the traveling of the vehicle so as to avoid a collision based on the received signal.

  FIG. 3 shows a message frame of response data 300 transmitted by the wireless device 141 of the pedestrian terminal device 100. The first bit range 301 indicates a type, and for example, identification such as a pedestrian, a bicycle, or a car is possible. The second bit range 302 indicates position information and includes information such as latitude and longitude. The third bit range 203 indicates the position positioning time, and describes the time when the position information is measured. The fourth bit range 204 indicates the moving direction and indicates the direction in which the pedestrian is moving. The fifth bit range 205 indicates the moving speed and indicates the moving speed of the pedestrian. The response data 300 may include personal identification information and text in addition to these.

  The communication method in the wireless devices 141 and 241 is, for example, an ad hoc mode in a wireless LAN. This is because the real-time property for the acquisition of the position information is higher when the access point is not passed.

  FIG. 4 is an example of a situation where the dangerous area setting device according to the present invention is used. The own vehicle 11 and the other vehicle 12 are traveling toward the intersection, and the pedestrians 21 to 27 are moving near the intersection. The host vehicle 11 is traveling in the left lane of the center line 33 in the road 30 having the width W1 from the left end 31 to the right end 32. Here, the host vehicle 11 and the other vehicle 12 each include a vehicle terminal device 200, and the pedestrians 21 to 27 each have a pedestrian terminal device 100.

  FIG. 5 is a diagram illustrating a main flowchart according to the present embodiment. This processing is repeatedly performed at predetermined timings in the information processing apparatus 231 from the ignition switch ON to OFF.

  In step S <b> 1001, the wireless device 241 transmits data for requesting a position information response to the surroundings of the host vehicle 11. For example, when the wireless device 241 transmits this data to the pedestrian 21, the wireless device 141 of the pedestrian 21 receives the data, and the information processing device 131 analyzes the data. Then, the wireless device 141 of the pedestrian 21 transmits response data 300 to the host vehicle 11. When it is determined negative in S1002, the wireless device 241 waits for response data 300 transmitted from the pedestrian 21. If it is determined affirmative in S1002, that is, if the wireless device 241 receives the response data 300 from the pedestrian 21, the process proceeds to S1003. Note that the position information and moving speed of the pedestrian 21 may be detected using a camera (not shown) or a laser radar (not shown).

  In S1003, the information processing device 231 calculates the position of the host vehicle based on input signals from the GPS 211, the gyro sensor 212, and the vehicle speed sensor 213. In S1004, the information processing apparatus 231 acquires map data from the navigation system 251, detects the road 30 on which the host vehicle 11 may travel, and sets it as a target range for setting a dangerous area. The road 30 may be detected by analyzing an image taken by a camera (not shown). In step S1005, the information processing apparatus 231 sets a dangerous area. This process will be described later.

  If it is determined affirmative in S1006, that is, if the processing from S1001 to S1005 is completed for the surrounding pedestrians 21 to 27 and other vehicles 12, the process proceeds to S1007. On the other hand, if it is determined negative in S1006, that is, if the processing has not been completed for all, the process returns to S1001.

  In S1007, the display device 261 and the speaker 271 give a warning to the driver that there is a risk of collision. The display device 261 such as a display displays a dangerous area for the other vehicle 12 and the pedestrians 21 to 27. The dangerous area may be displayed on the map data acquired from the navigation system 251 together with the position of each object. The speaker 271 generates a warning sound or a sound. Accordingly, the driver can know the existence of the other vehicle 12 and the pedestrians 21 to 27 and the danger of collision. Then, the driver can take measures for avoiding collisions such as deceleration and steering.

  FIG. 6 shows an example of the display of the dangerous area in the host vehicle 11. Polygons 41 to 46 are dangerous areas for other vehicles 12 and pedestrians 21 to 26.

  Next, the dangerous area setting process (S1005) will be described with reference to the flowchart of FIG. 7 and FIG.

  As shown in FIG. 8, the pedestrian 21 is crossing from the left end 31 to the right end 32 of the road 30, and an arrow 61 indicates the moving direction.

  In S1101, the information processing device 231 determines a circle 51 centered on the point p1 corresponding to the position of the pedestrian 21 as a region for the object. Since the dangerous area setting process (S1005) is repeated at a predetermined timing, as described in claim 1, when an object is detected, an area for the object is always determined. The radius r1 of the circle 51 is an estimated value of the movement distance of the pedestrian 21 in the minute time dt. The moving distance is a value obtained by multiplying the moving speed 305 of the received response data 300 by the minute time dt. The minute time dt is, for example, 2 seconds, and when the pedestrian 21 is moving at a speed of 1.2 [m] per second, the radius r1 is 2.4 [m].

  Here, if the pedestrian 21 has stopped or hardly moved, the radius r1 becomes zero or a minimum value, and a range for preparing for a sudden movement cannot be secured sufficiently. Therefore, for example, even when the pedestrian 21 is moving at a speed of 0.5 [m] or less per second, the information processing apparatus 231 secures 1 [m] as the estimated value of the moving distance, that is, the radius r1.

  In step S1102, the information processing apparatus 231 determines whether or not there is an overlapping portion between the target range 30 and the object region 51. If it is determined affirmative in S1102, the process proceeds to S1103. If it is determined negative, the process is terminated without setting a dangerous area.

  In S1103, the information processing apparatus 231 determines the front-rear direction of the dangerous area. The front-rear direction means a direction indicating the front and rear of the host vehicle 11. The length Lv1 in the front-rear direction is a length having a margin for the estimated value r1 of the movement distance from the position centered on the point p1. As described above, when the radius r1 is 2.4 [m], the length Lv1 in the front-rear direction is 4.8 [m].

  In S1104, the information processing apparatus 231 determines the left and right direction of the dangerous area. The left-right direction means a direction indicating the width of the host vehicle 11. The length Lh1 in the left-right direction is, for example, the width W1 of the road 30.

  In S1105, the information processing apparatus sets a rectangular area having lengths in the front-rear direction and the left-right direction determined in S1103 and S1104 as a dangerous area 41 as shown in FIG. Since the dangerous area setting process (S1005) is repeated at a predetermined timing, as described in claim 1, when there is an overlapping portion, the dangerous area is always set. The shape of the dangerous area 41 may be other than a rectangle such as a circle.

  By setting the dangerous area 41 as described above, even if the pedestrian 21 suddenly moves backward toward the left end 31, the information processing apparatus 231 includes the destination in the dangerous area 41 in advance. be able to. Moreover, even if the pedestrian 21 is stopped, a certain danger area can be set. Therefore, the information processing apparatus 231 can include the moving destination in the dangerous area 41 in advance even when the jumping out from the stopped state occurs.

  Further, when the target range 30 and the object region 51 do not overlap, it is possible to omit the setting of the dangerous region 41 because there is no risk of collision with the host vehicle.

  In the present embodiment, the alarm is performed, but the dangerous area 41 may be set. It is also possible for the information processing device 231 to notify the vehicle control device 233 of the dangerous area, and for the vehicle control device 233 to perform control such as deceleration and turning. Thereby, even when the driver does not take measures, the vehicle control device 233 can control the traveling of the host vehicle 11 so as to avoid a collision with the pedestrian 21.

  In the present embodiment, the display device 261 and the like warn the driver, but the wireless device 241 may warn the pedestrian terminal device 100. For example, the wireless device 241 includes the azimuth of the host vehicle 11 viewed from the pedestrian 21 in the transmission data, and transmits to the pedestrian terminal device 100 that there is a risk of collision. When the wireless device 141 receives this data, the pedestrian 21 can also know the danger of collision and the direction of the host vehicle 11. Thereby, it is possible to avoid a collision even when the pedestrian 21 moves.

[Example 2]
In the present embodiment, a process for setting a dangerous area different from the above-described embodiment will be described. The same components as those in the previous embodiment are designated by the same reference numerals and the description thereof is omitted.

  FIG. 9 is a diagram illustrating a main flowchart according to the present embodiment. In step S <b> 1001, the wireless device 241 transmits data for requesting a position information response to the surroundings of the host vehicle 11. If it is determined negative in S1002, the wireless device 241 waits for the response data 300 to arrive. If it is determined affirmative in S1002, that is, if the wireless device 241 receives the response data 300, the process proceeds to S1003. After acquiring the position of the host vehicle in S1003, a boundary line setting process for specifying the target range is performed in S2001.

  FIG. 10 is a flowchart of the boundary line setting process (S2001). In S2101, the information processing apparatus 231 acquires map data for the position of the host vehicle acquired from the navigation system 251 in S1003. Here, in addition to the road map, the number of lanes, width, presence / absence of a median, and the like are acquired. In S2102, the information processing apparatus 231 acquires the speed of the host vehicle detected by the vehicle speed sensor 213, and maps the current position of the host vehicle on the map data in S2103. Thereby, the information processing device 231 can grasp which lane the host vehicle is traveling. The number of lanes and the like may be detected using a camera (not shown) or a laser radar (not shown).

  In step S2104, the information processing apparatus 231 determines whether it is necessary to set a left boundary line. When you are driving in the middle lane of a road with multiple lanes or when you are not monitoring as if you are driving in the leftmost lane on a highway, set the left boundary line and Setting of dangerous area can be omitted. Thereby, the processing load in the dangerous area setting device can be reduced.

  If it is determined affirmative in S2104, that is, if it is determined that the setting of the left boundary line is necessary, the information processing apparatus 231 sets the left boundary line in S2105. The left boundary line may be a white line indicating a roadside zone, may be a position of X [m] to the left with respect to the traveling lane and the position of the host vehicle, or may be the left end 31 of the road 30. Further, it may be changed according to the speed of the host vehicle 11 or may be curved according to the shape of the road 30. On the other hand, if it is determined negative in S2104, that is, if it is determined that the left boundary line is unnecessary, the process proceeds to S2106.

  In step S2106, the information processing device 231 determines whether the right boundary line needs to be set. When the necessity of monitoring is low, such as when driving in the leftmost lane of a road with multiple lanes, the setting of the right boundary line and the setting of the danger area on the right side of the host vehicle can be omitted. On the other hand, if it is determined negative in S2106, that is, if it is determined that the right boundary line is not necessary, the boundary line setting process ends.

  If NO is determined in S2107, that is, if there is no median strip, the information processing apparatus 231 sets the rightmost white line including the opposite lane as the right boundary line in S2108. On the other hand, if it is determined affirmative in S2107, that is, if there is a median strip, in S2109, the information processing apparatus 231 sets the median strip as the right boundary line.

  When both the right boundary line and the left boundary line are set, the information processing apparatus 231 sets a region sandwiched between both boundary lines as a target range. When only one of the boundary lines is set, the range from the boundary line to an arbitrary point such as the center of the host vehicle may be set as the target range.

  As shown in FIG. 4, the road 30 is one lane on one side and is divided by the center line 33. Accordingly, since there is no central separation band, the left boundary line 34 and the right boundary line 35 shown in FIG. 12 are set to the left and right white lines that delimit the roadside band. In addition, the position of the boundary line may be determined according to the distance from the own vehicle 11 to the roadside belt, the sidewalk, or the road shoulder.

  Next, the dangerous area setting process (S2002) will be described with reference to the flowchart of FIG. 11 and FIGS.

  As shown in FIG. 12, the pedestrian 22 is located outside the target range 36 divided by the left boundary line 34 and the right boundary line 35, and is moving in the direction of the arrow 62. On the other hand, as shown in FIG. 13, the pedestrian 26 is located inside the target range 36 and is moving in the direction of the arrow 66.

  In step S1101, the information processing apparatus 231 determines an object area in the same manner as in the above-described embodiment. The point p2 corresponds to the position of the pedestrian 22, and the radius r2 of the circle 52 is an estimated value of the movement distance of the pedestrian 22 in the minute time dt. Similarly, the point p6 corresponds to the position of the pedestrian 26, and the radius r6 of the circle 56 is an estimated value of the movement distance of the pedestrian 26 in the minute time dt.

  In step S2201, the information processing device 231 determines whether the object is located within the target range. If it is determined negative in S2201, that is, if the object is located outside the target range, the information processing apparatus 231 performs the processing of S2202 to S2203. In step S2202, the information processing apparatus 231 determines the length in the front-rear direction from the overlap between the target range and the object region. In the case of the pedestrian 22 located outside the target range 36, the overlapping line segment is the length Lv2 in the front-rear direction. In S2203, the information processing device 231 sets the left and right direction of the dangerous area based on the moving speed and the distance to the target range. In FIG. 12, the distance to the outer periphery of the circle 52 that is the object region is the length Lh2 in the left-right direction. The length Lh2 in the left-right direction may be increased if the moving speed is fast, shortened if the center p2 is far from the target range 36, or may be increased if the moving direction is toward the inside of the target range.

  On the other hand, if it is determined affirmative in S2201, that is, if the object is located within the target range, the information processing apparatus 231 performs the processing of S2204 to S2205. In step S2204, the information processing apparatus 231 determines the length in the front-rear direction from the diameter of the circle 52. In the case of the pedestrian 26 located within the target range 36, the diameter Lv6 of the circle 56 is the length in the front-rear direction. In step S2205, the information processing device 231 determines the length of the dangerous area in the left-right direction. For example, the information processing apparatus 231 sets the length in the left-right direction to the other boundary line (left boundary line 35) or to the center line 37 of the host vehicle 11. In FIG. 13, the length Lh6 from the right boundary line 35 to the left boundary line 34 is the length in the left-right direction.

  In the present embodiment, the length settings in the front-rear direction and the left-right direction are changed depending on whether the position of the object is inside the target range 36, but only one of the settings may be changed.

  In step S1104, the information processing apparatus 231 sets a rectangular area determined from the front-rear direction and the left-right direction as a dangerous area. The rectangular areas 42 and 26 are dangerous areas for the pedestrians 22 and 26, respectively. In the case of the pedestrian 22, the semicircle 47 divided by the right boundary line 35 in the circle 52 may be used as the dangerous area 42.

  By the same processing as described above, the information processing apparatus 231 can also set dangerous areas for the pedestrians 23 to 25 and the other vehicle 12. However, when the object region does not overlap the target range because the pedestrian 27 is sufficiently far away from the target range, the information processing apparatus 231 does not set the dangerous region.

  In step S2206, the information processing apparatus 231 sets the degree of danger for the dangerous area. The degree of danger is a value weighted with respect to the distance from the position of the object to the line passing through the center of the host vehicle. In the case of the pedestrian 21, the reciprocal of the distance from the position p1 to the center line of the host vehicle 11 is set as the degree of danger. If the pedestrian 21 is 3 [m] away from the center line of the host vehicle 11, the degree of danger is 33. If the pedestrian 26 is 4.5 [m] away from the center line 37 of the host vehicle 11, the degree of danger is 22. As a result, not only the position of the object and the size of the dangerous area but also the degree of danger can be presented to the driver.

  Further, the degree of danger may be a value weighted with reference to the distance from the position of the object to the target area, or may be a value adjusted according to the moving direction. Since the moving direction 61 of the pedestrian 21 is opposite to the own vehicle 11, the information processing device 231 adjusts the degree of danger to a small value. For example, a value obtained by halving the degree of danger, 16.5, is the degree of danger. Conversely, when the pedestrian 21 is moving toward the host vehicle 11, the information processing device 231 adjusts the degree of danger to a large value. Thereby, the accuracy of the degree of danger can be improved.

  The degree of danger does not have to be a single value for the entire danger area. The information processing apparatus 231 can also set the degree of danger individually by dividing the information processing apparatus 231 at regular intervals such as 1 [m] in the left-right direction. Thereby, it is possible to set the degree of danger in detail for the dangerous area.

  In step S <b> 1006, the information processing apparatus 231 determines whether all dangerous area setting processing (S <b> 2002) for surrounding objects has been completed. If it is determined affirmative in S1006, the process proceeds to S2003. On the other hand, if it is determined negative in S1006, the process returns to S1001.

  In step S2003, the information processing apparatus 231 determines whether there are overlapping dangerous areas. When it is determined as affirmative in S2003, that is, when there are overlapping dangerous areas, the information processing apparatus 231 adds the dangerous areas in S2004. On the other hand, if it is determined negative in S2003, that is, if there are no overlapping dangerous areas, the process proceeds to S2005.

  As shown in FIG. 14, the pedestrians 24 and 25 are located close to each other. For each of the pedestrians 24 and 25, dangerous areas 48 and 49 indicated by dotted lines are determined by the dangerous area setting process (S2002) described above.

  The information processing apparatus 231 determines a length Lv4 in the front-rear direction from a line segment overlapping the circle 54 and the left boundary line 34 with the point p4 as the center, and the horizontal direction is determined based on the distance between the center p4 and the left boundary line 34. The length Lh4 is determined. The rectangular area 48 having the lengths Lv4 and Lh4 in the front-rear direction and the left-right direction is a dangerous area for the pedestrian 24.

  Similarly, the information processing apparatus 231 determines a length Lv5 in the front-rear direction from a line segment that overlaps the circle 55 around the point p5 and the left boundary line 34, and based on the distance between the center p5 and the left boundary line 34. Thus, the length Lh5 in the left-right direction is determined. The rectangular area 48 having the lengths Lv5 and Lh5 in the front-rear direction and the left-right direction is a dangerous area for the pedestrian 25.

  Here, the dangerous areas 48 and 49 partially overlap. Accordingly, for the overlapping front and rear direction Lv45, the information processing apparatus 231 determines Lh45 by adding the lengths Lh4 and Lh5 in the left and right direction. A polygon 45 represented by a solid line is a dangerous area for the pedestrians 24 and 25. As shown in FIG. 6, when the display device 261 displays the dangerous area 45, it is possible to strongly warn that a plurality of pedestrians are present.

  In addition, when adding the length in the left-right direction, weighting may be performed in consideration of the moving speed, moving direction, distance to the boundary line, and the like. Further, a value obtained by adding the risk levels of the respective risk areas may be set as the risk level of the overlapping part or the entire risk area.

  In step S2005, the display device 261 such as a display or the speaker 271 issues an alarm according to the degree of risk set in step S2206. The display device 261 displays the dangerous area by distinguishing the degree of danger according to color, brightness, blinking, or the like. Further, the speaker 271 changes the type of warning sound or sound or increases the volume according to the degree of danger.

  By setting the dangerous area as described above, it is possible to set the dangerous area according to the position of the pedestrian or vehicle, the moving speed, and the like.

  When the object is located inside the boundary line like the pedestrian 26, even if the pedestrian 26 suddenly moves to the left end 31 by widening the dangerous area 46 in the left-right direction, the information processing apparatus 231 moves in advance. The tip can also be included in the dangerous area 46. Further, since the display device 261 displays the dangerous area 46 on the entire traveling path of the host vehicle, a strong warning can be given to the driver.

  On the other hand, even when the object is located outside the target range like the pedestrian 24, the information processing apparatus 231 sets the dangerous area 48. Therefore, even if the pedestrian 22 suddenly jumps out into the target area, the destination can be included in the dangerous area 48 in advance.

  In addition, the information processing device 231 can improve the estimation accuracy of the dangerous area by determining a range in which the information processing apparatus 231 may enter the target area based on the moving speed, moving direction, and position of the object. .

  Further, the display device 261 and the speaker 271 can change the alarm according to the degree of danger, so that the driver can be informed not only of the position of the dangerous area but also the degree of danger. Similarly, the wireless device 241 can notify the pedestrian terminal device 100 and the information processing device 231 can notify the vehicle control device 233 that there is a danger of collision and the degree of danger.

  In the present embodiment, the description has focused on the setting of a dangerous area for pedestrians, but vehicles, bicycles, and the like are also targeted as in the dangerous area 44 for other vehicles 12. Thereby, danger can be predicted in advance in case the stopped vehicle suddenly starts.

It is a block diagram of the communication terminal for pedestrians. It is a block diagram of the communication terminal for vehicles. It is a figure which shows the message frame of response data. It is a schematic diagram which shows the condition where the dangerous area setting apparatus which concerns on this invention is utilized. FIG. 3 is a diagram illustrating a main flowchart according to the first embodiment. It is a figure which shows an example of a display of a dangerous area. It is a figure which shows the flowchart of the dangerous area setting process which concerns on Example 1. FIG. It is a figure which shows the danger area | region with respect to the pedestrian 21. FIG. FIG. 10 is a diagram illustrating a main flowchart according to a second embodiment. FIG. 10 is a diagram illustrating a flowchart of boundary line setting processing according to a second embodiment. FIG. 10 is a diagram illustrating a flowchart of dangerous area setting processing according to the second embodiment. It is a figure which shows the danger area | region with respect to the pedestrian 22. FIG. It is a figure which shows the danger area | region with respect to the pedestrian 26. FIG. It is a figure which shows the danger area with respect to the pedestrians 24 and 25. FIG.

Explanation of symbols

11, 12 Vehicle 21, 22, 23, 24, 25, 26, 27 Pedestrian 30 Road 31 Right end 32 Left end 33 Center line 34, 35 Boundary line 36 Target area 37 Center line 41, 42, 43, 44, 45, 46 , 47, 48, 49 Danger area 51, 52, 54, 55, 56 Circle (object area)
61, 62, 66 Moving direction 100 Pedestrian terminal device 200 Vehicle terminal device (dangerous area setting device)
300 Response data 301 First bit range (type)
302 2nd bit range (positional information)
303 3rd bit range (positioning time)
304 4th bit range (movement direction)
305 5th bit range (moving speed)
111, 211 GPS
112, 211 Gyro sensor 113 Speed sensor 213 Vehicle speed sensor 121, 221 External connector 122, 222 External device 131, 231 Information processing device 132, 232 Memory 233 Vehicle control device 141, 241 Wireless device 251 Navigation system 252 Database 261 Display device 271 Speaker

Claims (20)

Object position detecting means for detecting the position of the object;
When the position of the object is detected by the object position detection means,
An object area setting means for always defining a predetermined area based on the position of the object;
Target range setting means for always setting a target range for setting a dangerous area for the own vehicle;
An overlapping part detecting means for detecting an overlapping part between the target range and the object region;
A dangerous area setting device comprising: a dangerous area setting means for always setting the dangerous area based on the overlapping part when the overlapping part is detected by the overlapping part detection means. The target range setting means includes
Road area detection means for detecting a road area where the host vehicle may travel,
The dangerous area setting device according to claim 1, wherein the road area is defined as the target range. The target range setting means includes
A boundary line setting means for setting the boundary line,
The dangerous area setting device according to claim 1, wherein a predetermined range divided by the boundary line is defined as the target range. The boundary line setting means includes:
A surrounding environment detecting means for detecting the surrounding environment of the vehicle,
The danger area setting device according to claim 3, wherein a position where the boundary line is set is changed based on the surrounding environment. The dangerous area setting device according to any one of claims 1 to 4, wherein the dangerous area setting unit does not set the dangerous area when an overlapping part is not detected by the overlapping part detection unit. The object region setting means includes
Object moving speed detecting means for detecting the moving speed of the object;
An object moving distance estimating means for estimating the moving distance of the object by multiplying the moving speed detected by the object moving speed detecting means by a predetermined time;
6. The dangerous area setting device according to claim 1, wherein the object area is determined according to a movement distance estimated by the object movement distance estimation means. The dangerous area setting device according to claim 6, wherein the object moving distance estimating means estimates the moving distance using a value exceeding the multiplication value when the moving speed of the object is a predetermined value or less. . The dangerous area setting means includes:
Object position determination means for determining whether the position of the object is within the target range,
8. The dangerous area setting device according to claim 1, wherein a size of the dangerous area is changed in accordance with a determination result in the object position determination means. The dangerous area setting means includes:
An object moving direction detecting means for detecting the moving direction of the object;
9. The dangerous area setting device according to claim 1, wherein a size of the dangerous area is changed according to a moving direction of the object. The dangerous area setting means includes:
An object moving speed detecting means for detecting the moving speed of the object;
The dangerous area setting device according to claim 1, wherein a size of the dangerous area is changed according to a moving speed of the object. 11. The dangerous area setting device according to claim 1, wherein the dangerous area setting means changes the size of the dangerous area according to a distance from the position of the object to the overlapping portion. The dangerous area setting device according to any one of claims 1 to 11, wherein the dangerous area setting means sets the overlapping portion as the dangerous area. Hazardous area overlap determination for determining an overlap between the dangerous area of the first object and the dangerous area of the second object when the position of the first object and the position of the second object are detected by the object position detecting means Means,
A dangerous area resetting means for newly setting a dangerous area using the dangerous area size of the first object and the dangerous area size of the second object when it is determined by the dangerous area overlap determining means to overlap. The dangerous region setting device according to claim 1, comprising: Own vehicle position detecting means for detecting the position of the own vehicle;
The risk area setting device according to any one of claims 1 to 13, further comprising a risk level setting unit that sets a risk level with respect to the risk area based on the position of the object and the position of the host vehicle. . The risk setting means includes:
An object moving direction detecting means for detecting the moving direction of the object;
The danger area setting device according to claim 14, wherein the degree of danger is changed according to a moving direction of the object. Hazardous area overlap determination for determining an overlap between the dangerous area of the first object and the dangerous area of the second object when the position of the first object and the position of the second object are detected by the object position detecting means Means,
When it is determined by the risk area overlap determination means that the risk area overlaps, a new risk level is set by using the risk level of the risk area of the first object and the risk level of the risk area of the second object. The dangerous area setting device according to claim 14 or 15, further comprising setting means. The dangerous area setting device according to any one of claims 1 to 16, further comprising alarm means for outputting an alarm to a driver of the host vehicle based on the dangerous area. The dangerous area setting device according to claim 17, wherein the warning means outputs a warning corresponding to the degree of danger. The dangerous area setting device according to any one of claims 1 to 18, further comprising travel control means for controlling travel of the host vehicle based on the dangerous area. The danger area setting device according to claim 1, further comprising a notification unit that notifies the object of danger based on the danger area.

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