JP2007233430A - Driving support method and driving support device - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a driving support method and a driving support device, capable of letting a driver concentrate on driving by outputting accurate information which never troubles the driver in traveling while detecting a lateral obstacle by use of an imaging means. <P>SOLUTION: When a vehicle advances into an intersection, a CPU 2 activates a side camera CA, and an image processor 10 determines whether the other vehicle parked or stopped near the intersection is located in a dead angle-generating position or not by image recognition by use of side image data G1 taken by the side camera CA. The CPU 2 controls a voice processor 14, when the processor 10 determines that the parked or stopped other vehicle is in the dead angle-generating position, and warns the driver that the other vehicle parked or stopped near the intersection is in the dead angle-generating position through a loudspeaker 15. <P>COPYRIGHT: (C)2007,JPO&INPIT

Description

  The present invention relates to a driving support method and a driving support device.

Conventionally, various driving support devices for supporting smooth driving operation at a blind corner, for example, at an intersection, have been proposed (for example, Patent Document 1). The driving support device of Patent Document 1 includes an imaging camera that images the side of the vehicle at both front corners of the vehicle. For example, when entering an intersection, a side obstacle is detected by the imaging camera. At times, the driver was warned (notified).
JP-A-11-306499

  However, in the driving support apparatus, all objects on the road reflected in the image captured by the camera are determined as obstacles, and the driver is warned. That is, when passing through an intersection, the driver is warned even if a stationary object that does not affect traveling is present on the road. Therefore, even when the warning is unnecessary, the warning is given, and thus the driving operation with unnecessary tension is frequently forced, which is very troublesome.

  The present invention has been made in view of the above-described problems, and its purpose is to provide an accurate operation that does not bother the driver when traveling while detecting side obstacles using the imaging means. An object of the present invention is to provide a driving support method and a driving support device that can output information and concentrate on driving.

The invention according to claim 1 includes an imaging unit that captures a lateral image of the front end side or the rear end side of the host vehicle, and detects an obstacle based on image data of the side image captured by the imaging unit. A driving support method for outputting information on the obstacle, which recognizes a stationary object on a road on the front end side or the rear end side of the host vehicle based on the image data, and recognizes the image recognized stationary object. The position of the stationary object is determined to determine whether the position of the stationary object is a position that generates a blind spot or a position that does not generate a blind spot, and when the stationary object is a position that generates a blind spot, the stationary object Added information to generate blind spots.
The invention of claim 2 is an image pickup means for picking up a side image of the front end side or the rear end side of the host vehicle,
Stationary object recognition that obtains a stationary object at the front end side or the rear end side of the host vehicle by image recognition based on image data of a side image captured by the imaging unit and an activation unit that activates the imaging unit. And a position calculating means for determining the position of the stationary object obtained by the stationary object recognizing means, and a determination for determining whether the position of the stationary object is a position that generates a blind spot or a position that does not generate a blind spot And an information output control means for outputting from the output means information indicating that the stationary object generates a blind spot when the position of the stationary object is at a position that generates a blind spot.

  According to a third aspect of the present invention, in the driving support device according to the second aspect, the activation means detects a vehicle speed of the host vehicle based on a detection signal from a vehicle speed sensor, and the vehicle speed is less than a predetermined vehicle speed. When this happens, the imaging means is activated.

  According to a fourth aspect of the present invention, in the driving support device according to the second or third aspect, the activation means detects the approach of the own vehicle to the intersection based on the own vehicle position and the road map information, and the own vehicle When the vehicle enters the intersection, the imaging means is activated.

  According to the first aspect of the present invention, even if there is a stationary object, no information is output if the stationary object is in a position that does not generate a blind spot. Accordingly, accurate information that does not bother the driver can be output and concentrated on driving.

  According to the second aspect of the present invention, even if there is a stationary object, no information is output if the stationary object is in a position that does not generate a blind spot. Accordingly, accurate information that does not bother the driver can be output and concentrated on driving.

  According to the third aspect of the present invention, the imaging means can be activated when the host vehicle falls below a predetermined vehicle speed using an existing vehicle speed sensor without providing a special detection device. Therefore, the imaging means can be activated only when necessary.

  According to the invention of claim 4, when the own vehicle enters the intersection, the imaging means can be activated. Therefore, the imaging means can be activated only when necessary.

DESCRIPTION OF EMBODIMENTS Hereinafter, an embodiment in which a driving support device of the present invention is embodied will be described with reference to FIGS. FIG. 1 is a block diagram illustrating a configuration of a driving support apparatus mounted on an automobile (vehicle).
The driving support apparatus 1 shown in FIG. 1 has various driving assistances such as a starting means for performing main control, a CPU 2 as information output control means, a RAM 3 for temporarily storing calculation results of the CPU 2, a route guidance program, a blind corner assistance program, and the like. A ROM 4 for storing the program is provided.

  The CPU 2 is connected to the GPS receiver 5 provided in the driving support device 1 and calculates absolute coordinates based on the position detection signal input from the GPS receiver 5. Further, the CPU 2 inputs the vehicle speed pulse signal and the direction detection signal from the vehicle speed sensor 6a and the gyro 6b provided in the host vehicle C (see FIG. 4) via the vehicle side input I / F unit 6 to autonomously The relative coordinates from the reference position are calculated by navigation. Then, the vehicle position is specified together with the absolute coordinates based on the GPS receiver 5. The XY coordinate system for vehicles is a coordinate system (road surface coordinates) for indicating the position of the host vehicle C on the road surface. The CPU 2 updates and stores the road surface coordinate value of the vehicle position at that time in a predetermined storage area of the RAM 3. Further, the CPU 2 inputs a steering angle signal from a steering sensor 6c provided in the host vehicle C via the vehicle side input I / F unit 6, and calculates a steering angle at that time.

  The driving support apparatus 1 includes a geographic data storage unit 7 in which route data 8 and map data 9 are stored as road map information. The route data 8 is data for each region that divides the whole country into areas, and as shown in FIG. 2, has a header 8a, node data 8b, link data 8c, link cost 8d, and coordinate data 8e. . The header 8 a has data for managing each route data 8. The node data 8b includes identification data of each node indicating a T-shaped intersection as a blind corner, a cross intersection, a road end point, and the like, identification data of adjacent nodes, and the like. The link data 8c constitutes a link string, and includes link records indicating connection nodes, data indicating traffic restrictions, and the like. The link cost 8d is a data group composed of a link ID, a link length, an average travel time, and the like given to each link record. The coordinate data 8e indicates the absolute coordinates of each node.

On the other hand, the map data 9 is stored for each area obtained by dividing the map of the whole country, and is divided for each layer from a wide area map to a narrow area map. As shown in FIG. 3, each map data 9 includes a header 9
a, road data 9b, and background data 9c. The header 9a indicates the hierarchy, area, etc. of the map data 9, and is management purpose data. The road data 9b is data indicating the shape and type of the road, and includes road attribute data 9d, link shape data 9e, and connection data 9f. The road attribute data 9d includes a road name, a road direction, a road width, and the number of lanes. The connection data 9f is data representing the connection state between each link and each node.

  The link shape data 9e has coordinate data 9g and shape interpolation data 9h. Coordinate data 9g indicates the coordinates of links and nodes. The shape interpolation data 9h is data related to a shape interpolation point set in the middle of the link and set to indicate the curve shape of the road, and is data such as the coordinates of the shape interpolation point and the direction of the link. The background data 9c is drawing data for drawing roads, urban areas, rivers, and the like.

  The CPU 2 is connected to the display 11 that is a touch panel via the image processor 10. The display 11 receives data indicating the destination via the external input / output I / F unit 13 by an input operation of the operation switch 12 provided at a position adjacent to the display 11. When this destination data is received, the CPU 2 uses the route data 8 to search for a recommended route that connects the destination and the current vehicle position.

  Further, a blind corner support setting switch 12a is provided at a position adjacent to the display 11. By operating this support setting switch 12a, the CPU 2 enters the “blind corner support mode”. In this embodiment, the “blind corner support mode” is the presence or absence of other vehicles parked and stopped when entering the intersection, and whether or not the other vehicles parked and parked are obstacles that generate blind spots. This mode recognizes images and outputs the results.

  Further, when the CPU 2 inputs ON from an ignition switch 6d provided in the host vehicle C via the vehicle side input I / F unit 6, the CPU 2 controls the image processor 10 to control the host vehicle position of the host vehicle C. The surrounding map data 9 is read out. Then, the CPU 2 outputs a map screen 30 (road guidance image P2) based on the map data 9 to the display 11 via the image processor 10. At this time, the image processor 10 superimposes and displays an index 31 indicating the position of the vehicle on a road in the map (guide route R to the destination selected by searching) on the map screen 30.

  The CPU 2 is connected to a sound processor 14 provided in the driving support apparatus 1, and the sound processor 14 is connected to a speaker 15 that constitutes output means. The voice processor 14 constituting the output means drives the speaker 15 under the control of the CPU 2 and performs voice guidance for route guidance at any time. In addition, the voice processor 14 provides voice guidance indicating that the “blind corner support mode” is being executed in the “blind corner support mode”, and “notice the blind spot of a parked vehicle when entering the intersection”. Please give a warning as information to call attention.

  The CPU 2 is connected to an image data input unit 16 provided in the driving support apparatus 1, and a side camera CA as an imaging unit is connected to the image data input unit 16. The CPU 2 activates the side camera CA at a predetermined timing via the image data input unit 16 in the “blind corner support mode”. The side camera CA includes an optical mechanism including a wide-angle lens, a mirror, and the like, and a CCD image pickup device (none of which is shown).

  As shown in FIGS. 4 (a) and 4 (b), the side camera CA is mounted at the center of the grille at the front end of the host vehicle C, and has an optical axis directed from the front end of the host vehicle C to the left and right directions. Then, the left imaging area Z1 extending to the left of the front end and the right imaging area Z2 extending to the right of the front end are imaged.

  When the CPU 2 controls the image data input unit 16 to acquire the image data of the side image P1 of the left imaging area Z1 and the right imaging area Z2 captured by the side camera CA as the side image data G1, the image processor 10 Are temporarily stored in a VRAM (not shown).

The image processor 10 as a stationary object recognizing unit, a position calculating unit, and a determining unit corrects the side image data G1 temporarily stored in the VRAM, and based on the corrected side image data G1, as shown in FIG. The side image P1 can be displayed on the display 11 provided in the driver's seat.
In addition to displaying the side image P1 on the display 11, the image processor 10 as a stationary object (obstacle) on the road R2 intersecting the currently traveling road R1 at the intersection 100 based on the side image P1. Whether there is another vehicle Cx parked or stopped is recognized as an image.

  Whether the other vehicle Cx is present in the side image P1 is determined by detecting the horizontal edge and the vertical edge of the image displayed in the side image P1, and determining whether the image is a vehicle based on the detection of the horizontal edge and the vertical edge. Judge whether. When it is determined that the other vehicle Cx is reflected, the image processor 10 determines whether the other vehicle Cx is parked or stopped. In this embodiment, it is determined whether the other vehicle Cx is parked or stopped by determining the other vehicle Cx based on the side image P1 acquired after a time, the position of the other vehicle Cx, A difference from the previously determined position of the other vehicle Cx is obtained, and based on the difference, it is determined whether the other vehicle Cx is parked or stopped.

When the image processor 10 determines that there is another vehicle Cx parked and stopped, the other vehicle Cx as the stationary object is another obstacle as a position in the vicinity of the intersection and generating a blind spot. It is determined whether the vehicle Cx. To determine whether or not the vehicle is in the vicinity position, the distance (separation distance) from the intersection 100 is calculated. In the present embodiment, the image processor 10 recognizes a stop line, a pedestrian crossing, a traffic light, or a corner of an intersection drawn on the road of the intersection 100 by using the side image data G1, and determines the starting position of the intersection 100. At the same time, the size of the other vehicle Cx is obtained by image recognition, and the distance (separation distance) from the intersection is calculated from the size of the other vehicle Cx with respect to the starting position. Then, the image processor 10 determines that the calculated separation distance is in the vicinity of the intersection 100 if it is within a predetermined reference distance Dk. When the predetermined reference distance Dk is entered into the intersection, other vehicles Cx parked and stopped are blind spots and other vehicles entering the intersection from behind the parked other vehicles Cx It is a distance that cannot be predicted, and is a value obtained in advance through tests, experiments, and the like.
Further, when there is another vehicle Cx parked in the vicinity of the intersection 100, the image processor 10 further includes a lane (road) that extends further away from the other vehicle Cx parked. An image is recognized whether it can be seen from the intersection 100, that is, whether there is a lane (road) that can be seen. More specifically, image recognition of the lane extending from the intersection 100 to the further beyond the other vehicle Cx is performed on the image-recognized other vehicle Cx. In the present embodiment, the image processor 10 recognizes the image of the traveling lane drawn on the road R2 and the guard rail provided along the road using the side image data G1, and determines whether there is a lane (road). judge.

  Then, the image processor 10 stores the result of image recognition in the RAM 3 based on the side image data G1 of the side image P1 of the left imaging area Z1 and the right imaging area Z2 captured by the side camera CA.

Then, the CPU 2 determines whether or not the side image P1 is displayed and whether or not there is an audio warning based on the recognition result created by the image processor 10 and stored in the RAM 3.
For example, as shown in FIG. 6A, it is assumed that there is no other vehicle Cx parked at the left and right sides of the road R2 that intersects the currently traveling road R1 at the intersection 100. In this case, the CPU 2 determines that there is no blind spot and can predict other vehicles entering the intersection 100, displays the side image P1, and does not give a voice warning. .

  As shown in FIGS. 6B and 6C, the vehicle is parked on the left side when viewed from the own vehicle C of the road R2 that intersects the currently traveling road R1 at a position separated from the intersection 100 by a predetermined reference distance path Dk or more. Assume that there is another vehicle Cx that is stopped. In this case, the CPU 2 is not in a position where the other vehicle Cx parked or distant at this far place generates a blind spot, that is, enters the intersection 100 from behind the parked other vehicle Cx. It is determined that other vehicles coming can be easily predicted, and the side image P1 is displayed and a warning by voice is not performed.

  As shown in FIG. 6 (d), a predetermined reference distance Dk from the intersection 100 to the lane closer to the left vehicle C as seen from the vehicle C on the road R2 intersecting the currently traveling road R1. It is assumed that there is another vehicle Cx parked within the vehicle, and a lane extending further from the other vehicle Cx cannot be seen from the intersection 100. In this case, the CPU 2 determines that the parked other vehicle Cx is in a position where a blind spot is generated and cannot predict another vehicle entering toward the intersection 100, and the side image P1 Cancel the display and give an audio warning.

  As shown in FIG. 6 (e), a predetermined reference distance Dk from the intersection 100 to a lane far from the host vehicle C on the left side as viewed from the host vehicle C of the road R2 intersecting the currently traveling road R1. It is assumed that there is another vehicle Cx parked within the vehicle, and a lane extending further from the other vehicle Cx can be seen from the intersection 100. In this case, the CPU 2 can predict another vehicle entering the intersection 100, but determines that the other vehicle Cx parked and stopped is at a position where a blind spot is generated and issues a warning by voice. . In other words, the side image P1 is displayed together with the warning although it is difficult to become a blind spot.

Next, the blind corner assistance processing of the driving assistance device 1 of the present embodiment will be described according to the flowchart showing the processing procedure of the driving assistance device 1 shown in FIG.
Now, after turning on the ignition switch 6d, the CPU 2 enters the “blind corner support mode” based on the selection operation of the blind corner support setting switch 12a by the driver, and executes the blind corner support program shown in the flowchart of FIG. .

  First, the CPU 2 obtains the host vehicle position and the vehicle speed of the host vehicle C based on the signals from the GPS receiver 5, the vehicle speed sensor 6a, and the gyro 6b (step S1). In the present embodiment, it is assumed that, along with the blind corner support program, a route guidance program that searches for a plurality of guidance routes to the destination and guides and displays one of the selected guidance routes R is also executed. Accordingly, the CPU 2 displays a road map on the display 11 and a guide route R to the destination. Then, the CPU 2 displays on the display 11 a road guidance image P2 in which an index 31 indicating the own vehicle position is combined based on the calculated own vehicle position.

  Subsequently, the CPU 2 checks whether or not the vehicle speed is equal to or lower than a predetermined reference vehicle speed Vk based on the obtained vehicle speed (step S2). Here, the reference vehicle speed Vk is a vehicle speed when slowly approaching the intersection 100, and in the present embodiment, the reference vehicle speed Vk is 4 km / h. Therefore, when the vehicle speed becomes equal to or lower than the reference vehicle speed Vk, it is determined that the vehicle speed has entered the intersection 100. Therefore, if the vehicle speed exceeds the reference vehicle speed Vk (NO in step S2), the CPU 2 moves to step S12 and checks whether the blind corner support mode is finished.

The CPU 2 determines whether or not the blind corner support mode is ended based on whether or not the ignition switch 6d or the blind corner support setting switch 12a is turned off. If the blind corner support mode does not end (step S12)
NO), the CPU 2 returns to step S1 and calculates a new host vehicle position and vehicle speed. That is, the vehicle travels while updating its own vehicle position and vehicle speed until the vehicle speed becomes the reference vehicle speed Vk or less. Therefore, the CPU 2 provides route guidance to the driver while displaying the road guidance image P2 displaying the indicator 31 indicating the vehicle position along with the guidance route on the display 11.

  Eventually, if it is determined that the vehicle speed of the host vehicle C has become equal to or lower than the reference vehicle speed Vk (YES in step S2), the CPU 2 determines that the vehicle speed has decreased due to entering the intersection 100, and controls the image data input unit 16 Then, the side camera CA is activated, and the image data of the left imaging area Z1 and the right imaging area Z2 is acquired as the side image data G1 (step S3). Further, the CPU 2 controls the image processor 10 to temporarily store the acquired side image data G1 in the VRAM, and replaces the side image P1 based on the side image data G1 on the display 11 instead of the road guide image P2. The display is switched (step S4). Therefore, every time the driver enters the intersection 100, the driver can see images on the left and right sides (side images P1) of the road R2 that intersects the currently traveling road R1 displayed on the display 11.

  Subsequently, the image processor 10 recognizes an image by using the side image data G1 temporarily stored in the VRAM, the presence / absence of another vehicle Cx on the road R2 that intersects the currently traveling road R1, and the vicinity of the intersection 100 Whether it is a position or whether a lane extending further from the other vehicle Cx can be seen is obtained, and the image recognition result is stored in the RAM 3 (step S5).

  Then, the CPU 2 checks whether there is another vehicle Cx in the side image P1 from the image recognition result stored in the RAM 3 (step S6). As shown in FIG. 6A, when there is no other vehicle Cx on the road R2 (NO in step S6), the CPU 2 displays the side image P1 based on the side image data G1 as it is. Continue (step S9) and move to step S12.

  On the other hand, when there is another vehicle Cx on the road R2 (YES in step S6), the CPU 2 determines whether the other vehicle Cx on the road R2 is within a predetermined reference distance Dk (near the intersection 100). A check is made from the image recognition result stored in the RAM 3 (step S7). Then, as shown in FIGS. 6B and 6C, when the other vehicle Cx on the road R2 is at a position exceeding the predetermined reference distance Dk (NO in step S7), the CPU 2 keeps the side as it is. The display of the side image P1 based on the side image data G1 is continued (step S9), and the process proceeds to step S12.

On the other hand, as shown in FIGS. 6D and 6E, when the other vehicle Cx on the road R2 is within a predetermined reference distance Dk (near the intersection 100) (YES in step S7), the CPU 2 It is checked from the image recognition result stored in the RAM 3 whether a lane (road) extending further beyond the vehicle Cx can be seen from the intersection 100 (step S8). Then, as shown in FIG. 6D, when a lane (road) extending further from the other vehicle Cx cannot be seen from the intersection 100 (YES in step S8), the CPU 2 controls the image processor 10 and the audio processor 14. Then, the display of the side image P1 is stopped, and a warning “Please pay attention to the blind spot of the parked vehicle” is notified from the speaker 15 to the driver (step S10), and then the process proceeds to step S12.
On the other hand, as shown in FIG. 6E, when a lane (road) extending further from the other vehicle Cx can be seen from the intersection 100 (NO in step S8), the CPU 2 controls the image processor 10 and the audio processor 14. Then, the side image P1 is continuously displayed, and a warning “Please pay attention to the blind spot of the parked vehicle” is notified from the speaker 15 to the driver (step S11), and then the process proceeds to step S12.

When proceeding to step S12, the CPU 2 determines whether or not the blind corner support mode is finished. If the blind corner support mode does not end (NO in step S10), the CPU 2 returns to step S1 and performs the same processing as described above. That is, when the driving assistance device 1 enters the intersection 100, the side image P1 is displayed on the display 11. In addition, when another vehicle Cx (another vehicle Cx at a position where a blind spot is generated) is parked near the intersection 100, the driving support device 1 generates a blind spot when the other vehicle Cx parked is stopped. A warning message is notified by the speaker 15 as being in the position.

According to this embodiment, the following effects can be obtained.
(1) In the present embodiment, when the host vehicle C enters the intersection 100, the vehicle is parked on the road R2 that intersects the currently traveling road R1 in the side image P1 captured by the side camera CA. The other vehicle Cx that was parked and the other vehicle Cx that was parked or stopped were found to be near the intersection 100. When the other vehicle Cx is in the vicinity of the intersection 100, a warning “Please be careful about the blind spot of the parked vehicle” is notified to the driver via the speaker 15.

  Accordingly, when entering the intersection 100, even if there is another vehicle Cx parked on the road R2 that intersects the currently traveling road R1, it is not in the vicinity of the intersection 100 and does not generate a blind spot. In the case of a certain other vehicle Cx, since the warning is not notified to the driver, there is no troublesome warning for the driver.

(2) In this embodiment, when the other vehicle Cx is in the vicinity of the intersection 100 and the lane (road) extending further beyond the other vehicle Cx cannot be seen from the intersection 100, the side image P1 The display was stopped and only the driver was warned. Accordingly, the driver can concentrate on driving assuming another vehicle that may enter the intersection 100 from behind the other vehicle Cx.
(3) In this embodiment, when the other vehicle Cx is in the vicinity of the intersection 100 and a lane (road) extending further beyond the other vehicle Cx can be seen from the intersection 100, the side image P1 is displayed. And the driver was warned. Therefore, the driver can visually recognize another vehicle entering the intersection 100 from behind the other vehicle Cx in the side image P1 while listening to the warning.

In addition, you may change each said embodiment as follows.
In the above embodiment, the approach of the intersection 100 is considered to enter the intersection 100 when the vehicle speed becomes lower than the reference vehicle speed Vk, and the side camera CA is activated. Alternatively, the side camera CA may be activated by detecting an approach to the intersection 100 based on the vehicle position information and the route data 8 and map data 9 stored in the geographic data storage unit 7. In addition, a front camera is separately activated in the host vehicle C, and the front of the host vehicle C is always imaged. And the installation object peculiar to the intersection 100 may be detected from the image captured at that time by image recognition to activate the side camera CA.

Furthermore, a dedicated activation switch for activating the side camera CA is provided in the driver's seat, and the driver operates the side camera CA appropriately to activate the other camera Cx at a position where a blind spot is generated. You may make it recognize.
In the embodiment described above, whether or not the lane (road) extending further from the other vehicle Cx parked and stopped can be seen from the intersection 100 is determined by image recognition using the side image data G1. Whether the road width or the number of lanes is calculated from the road attribute data 9d of the map data 9 and whether the lane (road) extending further from the other vehicle Cx based on the road width or the number of lanes can be seen from the intersection 100. You may make it judge whether.

In the above embodiment, the imaging means is implemented by the side camera CA attached to the center of the grill at the front end of the host vehicle C. You may implement this using the camera which images each side in the left-right corner part of a front bumper. In short, any configuration may be used as long as the camera can capture the left imaging area Z1 extending to the left of the front end and the right imaging area Z2 extending to the right of the front end.

  In the above embodiment, the front intersection 100 is detected when traveling along the guide route R to the destination selected by searching, but there may be cases where the vehicle is traveling without setting the guide route R. Of course, implementation is possible.

  In the above embodiment, the embodiment is embodied in the intersection 100. However, when entering the T-junction, it may be when entering the road from the vacant land. In short, the side camera CA of the imaging means captures the side image, Any point may be used as long as it is a place where it is desired to know the other vehicle Cx at the position where the blind spot is generated from the captured side image P1.

  In the above embodiment, the left and right side images P1 of the front end of the host vehicle C are acquired, and the other vehicle Cx at the position where the blind spot is generated is image-recognized. This may be performed by acquiring the left and right side images of the rear end of the host vehicle C and recognizing the other vehicle Cx at the position where the blind spot in the side image is generated. In this case, when the host vehicle C is moved backward and exits the road from the intersection 100, T-junction, or vacant land, for example, the other vehicle Cx at the position where the blind spot is generated can be recognized and recognized.

  In the above embodiment, the image recognition is performed using the other vehicle Cx as a stationary object. However, for example, an installation object for road construction other than the vehicle may be recognized as a stationary object.

The block diagram explaining the structure of the driving assistance device of this embodiment. Explanatory drawing for demonstrating the data structure of path | route data. Explanatory drawing for demonstrating the data structure of map data. (A) Top view for explaining the imaging range of the side camera, (b) Front view for explaining the imaging range of the side camera. Explanatory drawing for demonstrating a side image. (A) An explanatory diagram showing an intersection where there is no parked vehicle, (b) an explanatory diagram showing a parked vehicle located far from the intersection, and (c) a parked vehicle located far from the intersection. Explanatory drawing which shows, (d) Explanatory drawing which shows the parked and stopped vehicle in the vicinity of an intersection, (e) Explanatory drawing which shows the parked and stopped vehicle in the vicinity of the wide intersection of a road. The flowchart for demonstrating a blind corner assistance operation | movement.

Explanation of symbols

  DESCRIPTION OF SYMBOLS 1 ... Driving assistance device, 2 ... CPU, 3 ... RAM, 4 ... ROM, 5 ... GPS receiving part, 6 ... Vehicle side input I / F part, 6a ... Vehicle speed sensor, 6b ... Gyro, 6c ... Steering sensor, 6d ... Ignition switch, 7 ... Geographic data storage unit, 10 ... Image processor, 11 ... Display, 12a ... Blind corner support setting switch, 14 ... Audio processor, 15 ... Speaker, 31 ... Indicator, 100 ... Intersection, C ... Own vehicle, Cx ... Other vehicles, CA ... Side camera as imaging means, R ... Guidance route, R1, R2 ... Road, P1 ... Side image, P2 ... Road guidance image, Z1 ... Left side imaging area, Z2 ... Right side imaging area.

Claims (4)

An image pickup means for picking up a side image of the front end side or the rear end side of the own vehicle is detected, an obstacle is detected based on image data of the side image picked up by the image pickup means, and information on the obstacle is obtained. A driving support method for outputting,
Based on the image data, an image of a stationary object on the road on the front end side or the rear end side of the host vehicle is recognized, the position of the image recognized stationary object is obtained, and the position of the stationary object is relative to the host vehicle. Judgment is made whether it is a position that generates a blind spot or a position that does not generate a blind spot, and when a stationary object is in a position that generates a blind spot, information that the stationary object generates a blind spot is output. A characteristic driving support method. Imaging means for capturing a side image of the front end side or the rear end side of the host vehicle;
Starting means for starting the imaging means;
Based on image data of a side image captured by the imaging unit, a stationary object recognition unit that obtains a stationary object on the front end side or the rear end side of the host vehicle by image recognition;
Position calculating means for determining the position of the stationary object determined by the stationary object recognition means;
Determining means for determining whether the position of the stationary object is a position that generates a blind spot or a position that does not generate a blind spot;
An information output control means for outputting from the output means information indicating that the stationary object generates a blind spot when the position of the stationary object is at a position that generates a blind spot. In the driving assistance device according to claim 2,
The activation means detects the vehicle speed of the host vehicle based on a detection signal from a vehicle speed sensor, and activates the imaging means when the vehicle speed falls below a predetermined vehicle speed. . In the driving assistance device according to claim 2 or 3,
The activation means detects the approach of the own vehicle to the intersection based on the own vehicle position and the road map information, and activates the imaging means when the own vehicle enters the intersection. apparatus.

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