JP2009217495A - Hazard warning device - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To avoid moving objects around from colliding with each other with a simple configuration. <P>SOLUTION: A moving object detection part 18 detects the position, speed and moving direction of each of a plurality of moving objects existing around one's own vehicle based on a video image of an infrared camera 12 and a reflection pattern of a millimeter wave radar 14. A collision hazard decision part 22 extracts two sets of the moving objects which may collide with each other based on the position, speed and moving direction of each of the plurality of moving objects detected by a moving object detection part 18. Then, a headlight 24, a road surface drawing device 26 or a hazard lamp 28 are controlled by a light projection control part 30 so that the rays of light are projected to one of the two moving objects extracted by the collision hazard decision part 22, which is at least more vulnerable or running at a lower speed in the colliding direction. <P>COPYRIGHT: (C)2009,JPO&INPIT

Description

  The present invention relates to a danger notification device, and more particularly, to a danger notification device for notifying a danger so as to avoid a collision of surrounding moving bodies.

  2. Description of the Related Art Conventionally, a driver future situation prediction apparatus that can predict the possibility of encountering an unexpected situation according to driving conditions is known (Patent Document 1). In this driver future situation prediction device, when the driving environment, the moving body information, and the driving state of the host vehicle match predetermined driving conditions based on the driving information detected by the driving information detecting means, The degree of unexpected encounter of the driver in the driving conditions is determined, and the determination result is transmitted to the driver, the manager, or a third party.

In addition, there is known a driving support device that predicts in advance a deviation from normal driving of surrounding vehicles and prevents an accident in advance (Patent Document 2). In this driving support device, information on surrounding vehicles is acquired by the camera, radar, and communication processing unit, and it is predicted that the surrounding vehicles deviate from normal running, and an accident that occurs due to deviation from normal running is identified, In addition to determining workarounds, it presents warnings and workarounds using monitors and speakers.
Japanese Patent No. 393001 JP 2005-115484 A

  However, in the techniques described in Patent Documents 1 and 2 described above, only the case where the host vehicle is in danger is determined and notified, so the danger to surrounding moving objects cannot be notified. There is a problem that it is impossible to avoid the collision of moving objects. Further, when notifying other vehicles of danger, since the notification is performed by inter-vehicle communication, there is a problem that both the transmitting side and the receiving side must have a configuration for performing inter-vehicle communication. is there.

  The present invention has been made to solve the above-described problems, and an object of the present invention is to provide a danger notification device that can avoid collision of surrounding mobile bodies with a simple configuration.

  In order to achieve the above object, a danger notification device according to a first aspect of the present invention is a detection for detecting the position and moving direction of each of a plurality of moving bodies existing around a host vehicle provided with a projector that projects light. And a collision extracting means for extracting a set of two moving bodies that may collide with each other based on the position and moving direction of each of the plurality of moving bodies detected by the detecting means, and the collision A projector that controls the projector so that light is projected to at least the side of the weak traffic of the two moving bodies extracted by the extracting means, or to the moving body having a lower speed in the collision direction of the two moving bodies. And control means.

  According to the danger notification device according to the first aspect of the present invention, the detecting means detects the position and moving direction of each of the plurality of moving bodies existing around the host vehicle provided with the projector that projects light. Based on the position and moving direction of each of the plurality of moving bodies detected by the detecting means, a set of two moving bodies that may collide with each other is extracted by the collision extracting means.

  Then, light is projected by the projector control means to at least the traffic weak person side of the two moving bodies extracted by the collision extracting means, or at least the moving body having a lower speed in the collision direction of the two moving bodies. Control the projector.

  In this way, by projecting light to at least the traffic weak person side of the set of two moving bodies that may collide with each other or the moving body with the lower speed in the collision direction, the surroundings can be easily configured. It is possible to avoid that the moving bodies collide with each other.

  The detecting means according to the first invention detects the position and moving direction of each of the plurality of moving bodies, recognizes the type or size of each detected moving body, and the projector control means is based on the detecting means. Based on the recognition result of the type or size of the moving body, the projector can be controlled so that light is projected onto at least the traffic weak side of the two moving bodies extracted by the collision extraction means.

  The detecting means according to the first invention detects the position and moving direction of each of the plurality of moving bodies and detects the speed of each of the detected moving bodies, and the projector control means Based on the speed detection result, the projector can be controlled so that light is projected to a moving body having a lower speed in at least the collision direction of the two moving bodies extracted by the collision extraction means.

  The danger notification device according to the first aspect of the present invention further includes stationary object detection means for detecting the position of at least one stationary object existing in the vicinity of the host vehicle, and the collision extraction means is for detecting the moving object detected by the detection means. Based on each position and moving direction and the position of the stationary object detected by the stationary object detecting means, it is possible to extract a set of two moving bodies that may collide with each other. This makes it possible to extract a set of two moving objects that may collide with each other due to the presence of a stationary object.

  The detecting means according to the first invention detects the position, moving direction, and moving speed of each moving body, and the collision extracting means is the position, moving direction, each of the plurality of moving bodies detected by the detecting means, And a collision determining means for determining a risk of collision with each other of each of the two moving bodies of the plurality of moving bodies based on the moving speed, and based on the risk determined by the collision determining means Thus, it is possible to extract a set of two moving objects that may collide with each other. As a result, it is possible to extract a set of two moving objects having a high risk of collision with each other.

  According to a first aspect of the present invention, there is provided the collision extracting means, wherein the moving directions intersect with each other based on the positions and moving directions of the plurality of moving bodies detected by the detecting means, and the distance is 2 or less. A set of two mobiles can be extracted as a set of two mobiles that can collide with each other. As a result, a set of two moving bodies that intersect each other and that are close to each other can be extracted as a set of two moving bodies that may collide with each other.

  The projector according to the first invention is a plurality of types of projectors, and the projector control means selects at least one of the plurality of types of projectors based on at least the position on the traffic weak side of the extracted two moving bodies. You can select and control the selected projector. Accordingly, it is possible to select an appropriate projector based on at least the position on the weak traffic side of the extracted two moving bodies and to project light to the weak traffic side.

  The above-mentioned multiple types of projectors can project light in the direction of the road surface so as to display a headlamp capable of controlling the direction of light projection, a flashing lamp, and predetermined danger information on the road surface. At least one of the road surface projectors may be included.

  According to a second aspect of the present invention, there is provided a danger notification device comprising: a detecting means for continuously detecting the position of a moving body present in the vicinity of the host vehicle provided with a projector for projecting light; and the detection means continuously detecting the position. An abnormality determining means for determining whether or not the moving body is in an abnormal moving state based on the position of the moving body; and when the abnormal determining means determines that the moving body is not in the abnormal moving state, the movement And a projector control means for controlling the projector so that light is projected onto the body.

  According to the danger notification device according to the second aspect of the present invention, the detection means continuously detects the position of the moving body existing around the host vehicle provided with the projector that projects light. Based on the position of the moving body continuously detected by the detecting means, the abnormality determining means determines whether or not the moving body is in an abnormal moving state.

  Then, when the projector control unit determines that the abnormal movement state is caused by the abnormality determination unit, the projector is controlled so that light is projected onto the moving body.

  In this manner, by projecting light onto a moving body that is in an abnormal moving state, it is possible to notify the danger to the moving body that is in an abnormal moving state with a simple configuration.

  The danger notification device further includes a host vehicle state detection unit that detects at least one of a posture state and a motion state of the host vehicle, and the projector control unit detects the posture state and the motion state detected by the host vehicle state detection unit. The projector can be controlled based on at least one. Accordingly, light can be appropriately projected from the projector according to the posture state or motion state of the host vehicle.

  As described above, according to the danger notification device of the present invention, light is projected to at least the traffic weaker side of the set of two mobile bodies that may collide with each other or the mobile body with the lower speed in the collision direction. By illuminating, an effect is obtained that it is possible to prevent the surrounding moving bodies from colliding with each other with a simple configuration.

  According to the danger notification device of the present invention, by projecting light onto a moving body that is in an abnormal moving state, it is possible to notify the danger to the moving body that is in an abnormal moving state with a simple configuration. An effect is obtained.

  Hereinafter, preferred embodiments of the present invention will be described with reference to the drawings. In the present embodiment, a case where the present invention is applied to a danger notification device mounted on a vehicle will be described.

  As shown in FIG. 1, the danger notification device 10 according to the first embodiment is configured with a camera that receives near-infrared light mounted on the host vehicle, and captures an image in front of the host vehicle. The vehicle includes a near-infrared camera 12, a millimeter wave radar 14 mounted on the host vehicle and having a detection range in the rear side, a speed sensor, a steering angle sensor, a pitch angle sensor, and the like mounted on the host vehicle. A vehicle state detector 16 that detects the motion state and posture state of the vehicle, a headlamp 24 that projects light in front of the vehicle and controls light distribution, and projects light in the road surface direction. A road surface drawing device 26 as a road surface projector capable of displaying alerting information by drawing light on the road surface, a hazard light 28 as a lighting device capable of flashing, and the near-infrared camera 12 And images taken by the millimeter wave radar 14, Based on information from the vehicle state detection unit 16, at least one of the headlamp 24, the road surface drawing device 26, and the hazard lamp 28 is controlled so as to notify the danger to a moving body that may collide. And a computer 17 that performs processing.

  The computer 17 includes a CPU, a RAM, and a ROM that stores a program for executing a danger notification processing routine to be described later, and is functionally configured as follows. The computer 17 detects a moving body existing around the host vehicle based on the image captured by the near-infrared camera 12, information from the millimeter wave radar 14, and information from the host vehicle state detection unit 16. The moving body detection unit 18 that detects the position, speed, and moving direction of the moving body, the image captured by the near-infrared camera 12, information from the millimeter wave radar 14, and map information of the navigation system (not shown). Based on the stationary object detection unit 20 that detects the position of a stationary object existing around the host vehicle, the detected position, speed, and moving direction of the moving object, and the detected stationary object position, A collision risk determination unit 22 as a collision extraction unit that determines whether or not the mobile bodies may collide with each other and extracts a set of mobile bodies that may collide with each other; A move Projection control that selects at least one of the headlamp 24, the road surface drawing device 26, and the hazard lamp 28 on the basis of the position of the pair, and projects light to alert the surrounding vehicles and pedestrians. Part 30.

  As shown in FIG. 2, the near-infrared camera 12 includes a near-infrared projector 12 </ b> A, and captures an image in front of the near-infrared projector 12 </ b> A.

  The road surface drawing device 26 is composed of a plurality of LEDs. As shown in FIG. 2, the road surface drawing device 26 projects light in the direction of the road surface, and turns on or off the plurality of LEDs to give an arbitrary pattern or character (for example, “pedestrian attention” )) Can be drawn. The road surface drawing device 26 is provided with, for example, a mirror for deflecting the direction of the light to be projected, and the area on the road surface on which the alert information is drawn is controlled by controlling the deflection angle of the mirror. be able to. Further, the road surface drawing device 26 is configured to be able to control the posture of the road surface drawing device 26. In addition, you may comprise so that the direction of the road surface drawing apparatus 26 itself can be controlled.

  The headlamp 24 is provided with, for example, a mirror for deflecting the direction of the light to be projected, and the direction of the light to be projected can be controlled by controlling the deflection angle of the mirror. The headlamp 24 is configured to be able to control the posture of the headlamp 24. In addition, you may comprise so that direction of the headlamp 24 itself can be controlled.

  The moving object detection unit 18 is a moving object that exists in the vicinity of the host vehicle through mechanical recognition processing based on the image captured by the near infrared camera 12 and the reflection pattern obtained from the millimeter wave radar 14. A pedestrian or a surrounding vehicle is detected, and a position (relative position) and a moving direction of the pedestrian or the surrounding vehicle are detected. For example, a moving body is detected from a captured image using pattern recognition technology (for example, class classification by SVM), and the type (size of pedestrian, vehicle, bicycle, etc.) and size of the moving body are recognized, and The position (relative position) of the pedestrian and the vehicle is detected with reference to the state of the vehicle by the GPS and the gyro sensor mounted on the vehicle. Furthermore, the movement direction of a pedestrian or a surrounding vehicle is detected by having the SVM learn patterns of different movement directions. Further, the state of the vehicle approaching from the rear (relative position), speed (relative speed), moving direction, etc. is detected from the reflection pattern of the millimeter wave radar 14.

  The stationary object detection unit 20 detects a stationary object present in the vicinity of the host vehicle based on an image captured by the near-infrared camera 12, information from the millimeter wave radar 14, and map information of a navigation system (not shown). Detect and detect the position of this stationary object. For example, a stationary object is detected from a captured image using pattern recognition technology (for example, class classification by SVM), and the position of the stationary object is referred to by referring to the state of the own vehicle by a GPS and a gyro sensor mounted on the own vehicle. (Relative position) is detected. Further, the position (relative position) of a stationary object existing behind is detected from the reflection pattern of the millimeter wave radar 14.

  The collision risk determination unit 22 collides with each other about pedestrians and surrounding vehicles based on the detected position and moving direction of the pedestrian or surrounding vehicle and the detected position of the stationary object, as will be described below. It is determined whether or not there is a possibility that the pair may collide with each other, and a pair that may collide with each other is extracted as an extraction object.

  First, it is determined whether or not there is a possibility that two moving objects collide with each other by orthogonal determination of the moving direction as described below. Two are arbitrarily selected from the mobile bodies detected from the periphery of the own vehicle by the mobile body detection part 18, and the distance between mobile bodies is calculated from the relative position of two mobile bodies.

Then, it is determined that a set of moving objects that satisfy the following three conditions may collide with each other, and is extracted as an “extracted object candidate pair”.
Condition 1: The distance between moving bodies is sufficiently small (for example, less than 30 m).
Condition 2: One of the two moving objects is a traffic weak person (for example, a pedestrian or a bicycle).
Condition 3: The moving directions of the two moving bodies are almost orthogonal.

  After performing the above calculation of the distance between the moving bodies and extraction of the extracted object candidate pairs for each of the moving body sets obtained from all the moving bodies detected by the moving body detecting unit 18, the “extracted object” Among the “candidate pairs”, the pair having the shortest distance between the moving objects is extracted as an “extracted object” that may collide with each other. However, when it is determined that the detected stationary object exists between the “extracted object candidate pair” based on the position of the “extracted object candidate pair” and the position of the detected stationary object, Since it is determined that a stationary object forms a blind spot area and there is a high possibility of collision, a pair in which a stationary object exists between moving objects is preferentially collided. ".

  By determining whether the moving direction is orthogonal, it is possible to determine whether or not a jumping pedestrian or a pair of a bicycle and a vehicle may collide.

  For example, when there is a pedestrian crossing the traveling path of the host vehicle in front of the host vehicle and the translation vehicle approaches from the rear of the host vehicle, the pair of the pedestrian and the translation vehicle is set. Are determined to collide with each other.

  Further, it is determined whether or not there is a possibility that the two moving bodies collide with each other by the collision determination by TTC as described below. Two of the moving bodies detected from the periphery of the host vehicle by the moving body detecting unit 18 are arbitrarily selected.

Then, based on the moving direction, relative position, and relative speed of the pair of moving objects, TTC (Time to Collision) is calculated as the degree of danger assuming that the relative speed does not change. Then, it is determined that there is a possibility of colliding each other with a set of moving objects that satisfy the following conditions, and extracted as “extracted object candidate pairs”.
Condition: TTC is within a certain time (for example, within 5 seconds) (a collision occurs within a certain time).

  After the extraction of the extracted object candidate pair is performed on all the detected mobile object pairs, the “extracted object candidate pair” having the smallest TTC may collide with the “extracted” Extracted as “object”. However, when it is determined that the detected stationary object exists between the “extracted object candidate pair” based on the position of the “extracted object candidate pair” and the position of the detected stationary object, Since it is determined that a stationary object forms a blind spot area and there is a high possibility of a collision, a pair in which a stationary object exists between moving objects may collide preferentially with each other. Extracted as “extracted object”.

  As will be described below, the light projection control unit 30 is based on the host vehicle state detected by the host vehicle state detection unit 16 and the extracted object extracted by the collision risk determination unit 22. At least one of the drawing device 26 and the hazard lamp 28 is selected as a target for light projection control.

  First, on / off of the parking brake is detected based on a PKB signal output from a parking brake sensor (not shown) of the vehicle state detection unit 16, and a vehicle speed pulse, a gyro sensor, or Based on the output from the GPS, the vehicle speed of the host vehicle is detected. Further, the vehicle behavior is detected based on the combination of the on / off detection result of the parking brake and the vehicle speed of the vehicle. For example, when the parking brake is on and the vehicle speed is almost zero, it is detected that the vehicle action is “parking”, the parking brake is off, and the vehicle speed is almost zero. In some cases, the vehicle action is detected as “stop”. Further, when the parking brake is off and the vehicle speed is greater than 0, it is detected that the host vehicle action is “running”.

  Further, the moving body detection unit 18 recognizes a pedestrian, a bicycle, a vehicle, and the like as the type of the moving body based on the captured image or the inter-vehicle communication. Further, as the state of the moving body, the relative position, the relative speed, and the moving direction of the moving body are acquired based on the stereo image captured by the near-infrared camera 12 or the reflection pattern of the millimeter wave radar 14. Note that the type of the moving body may be recognized based on vehicle-to-vehicle communication.

As shown in FIG. 3A, when the following three conditions are satisfied, the hazard lamp 28 is selected as a light projection control target, as shown in FIG. 3B.
Condition 1: The vehicle action is “parking” or “stop”.
Condition 2: Using the relative position of the extracted object, it is determined that there is one extracted object at each of the front and rear.
Condition 3: The relative position of the forward moving body or the backward moving body is sufficiently close (for example, the depth component of the relative position is 1 m or less).

  When the hazard lamp 28 is selected as a light projection control target, the light projection control unit 30 controls the hazard lamp 28 to blink, and the surroundings pay attention to the own vehicle. , It is possible to prompt the discovery of a moving object that may have a collision.

  For example, if there is a pedestrian crossing the traveling path of the host vehicle in the vicinity of the front of the host vehicle and the translation vehicle approaches from the rear of the host vehicle, the pedestrian is too close to the host vehicle, Since the road surface cannot be drawn for the pedestrian, the hazard lights 28 are blinked to alert the vehicle behind.

As shown in FIG. 4A, when the following two conditions are satisfied, as shown in FIG. 4B, the headlamp 24 is selected as a light projection control target, and the extracted object Select one target to distribute the light.
Condition 1: Based on the relative position of the extracted object, it is determined that the extracted object is present in the light distribution possible area of the headlamp 24 obtained in advance (the corresponding one or two moving objects are light-distributed). Called a possible mobile).
Condition 2: Based on the type, size, and speed of a light-distributable moving body, the light-distributable moving body is a moving body on the weak traffic side (for example, a pedestrian who is weak on traffic with respect to the vehicle). Or a light-distributable moving body is a moving body with a lower velocity in the collision direction out of two moving bodies that may collide with each other. Called light candidate moving body).

  And based on the relative position of a light distribution candidate moving body, one light distribution candidate moving body nearest to the own vehicle is extracted as a light distribution target moving body.

  When the headlamp 24 is selected as a light projecting control target, the light projecting control unit 30 causes the light to be distributed to a light distribution target moving object that is a moving object having a lower speed in the collision direction or the extracted traffic weak person side. The headlamp 24 is controlled so as to be projected, and the surrounding vehicles are encouraged to find a moving body that may collide, and actions to avoid a collision with a traffic weak or other vehicles are The vehicle can be prompted.

As shown in FIG. 5A, when the following two conditions are satisfied, as shown in FIG. 5B, the road surface drawing device 26 is selected as a light projection control target, and the extracted object Select one target for road surface drawing.
Condition 1: Based on the relative position of the extracted object, it is determined that the extracted object is present in the road surface drawable region of the road surface drawing device 26 obtained in advance (the corresponding one or two moving objects are drawn on the road surface). Called a possible mobile).
Condition 2: Based on the type, size, and speed of a mobile object capable of drawing a road surface, the mobile object capable of drawing a road surface is a mobile object on the weak traffic side (for example, a pedestrian who is weak on traffic with respect to a vehicle). Or a light-distributable moving body is a moving body having a lower velocity in the collision direction out of two moving bodies that may collide with each other. Called a drawing candidate moving object).

  Then, based on the relative position of the road surface drawing candidate moving body, one road surface drawing candidate moving body closest to the host vehicle is extracted as a road surface drawing target moving body.

  When the road surface drawing device 26 is selected as a light projecting control target, the presence of a road surface rendering target mobile object that is a mobile object having a lower speed of the traffic weaker side or the collision direction component extracted by the light projecting control unit 30 The road surface drawing device 26 is controlled so as to draw a warning display or the like that informs the surroundings of the vehicle on the road surface. Or the action for avoiding the collision with another vehicle can be urged to the surrounding vehicle.

  Further, when the headlamp 24 or the road surface drawing device 26 is selected as a light projection control target, the light projection control unit 30 is based on the posture state of the host vehicle detected by the host vehicle state detection unit 16. Posture control of the headlamp 24 or the road surface drawing device 26 is performed, and light is projected from the headlamp 24 or the road surface drawing device 26 in a state where the posture control is performed. For example, as shown in FIGS. 6B and 6C, when the posture of the host vehicle is not parallel to the road surface, the position (FIG. 6) to be irradiated or drawn using the posture state (pitch angle) of the host vehicle. The posture of the headlamp 24 or the road surface drawing device 26 is controlled so that irradiation or drawing can be performed (see the target irradiation (drawing) region in (A)).

Here, the principle of the process of determining a moving object to be a light distribution target moving body or a road surface drawing target moving body will be described. First, the degree of damage when a collision occurs is defined by the kinetic energy expressed by the following equation.
E = 1 / 2mv ²
Since it is difficult to change the mass before the collision, the damage at the time of the collision can be reduced by reducing the relative velocity of the collision direction component at the time of the collision. Therefore, in the present embodiment, attention is given by illuminating the moving object on the weak traffic side as the smaller mass or the moving object on the lower speed in the collision direction, and the moving object or collision that is not on the weak traffic side. It encourages the moving body with the faster direction speed to decelerate and expands the chances of collision avoidance and mitigating damage during collision.

  When the headlamp 24 or the road surface drawing device 26 is selected as a light projection control target, the light projection control unit 30 performs the determination of the following three determination conditions and moves that may collide with each other. From the body pair, the moving object on the weak traffic side or the moving object with the lower speed in the collision direction, which becomes the light distribution target moving object or the road surface drawing target moving object, is determined.

Determination condition 1: Based on the type of the moving body recognized by the pattern recognition process for the measurement results of the image sensor, millimeter wave, and laser, the moving body on the weak traffic side is determined according to the following determination criteria.
Judgment criteria: Large vehicles (not less vulnerable than any type)> Ordinary car>Minicar>Motorcycle>Bicycle>Pedestrian> Stationary object (is more vulnerable than any type)

  Judgment condition 2: Since the higher speed has a larger speed margin, the moving body having the lower collision direction component speed is determined based on the detected speed of the moving body.

  Judgment condition 3: Assuming an equal density, a moving body having a smaller size generally has a smaller mass and is relatively on the side of a weak traffic person. Therefore, the size is determined based on the size of the recognized moving body. The moving body with the smaller is determined as the weak traffic side.

  If the determinations 1 to 3 described above are performed in series, and the moving object on the weak traffic side cannot be determined by the determination of the determination condition 1, the determination of the determination condition 2 is performed. If it is not possible to determine a moving body having a lower collision direction component speed in the determination of the determination condition 2, the determination of the determination condition 3 is performed to determine the moving object on the weak traffic side. In addition, when the moving body having a smaller size cannot be determined in the determination of the determination condition 3, the one close to the own vehicle is selected from those included in the irradiable area or the drawable area of the own vehicle, On the weak traffic side.

  For example, when the pair of mobile bodies with a possibility of collision is a pedestrian and a normal car, the determination of the determination condition 1 determines that the pedestrian is a mobile body on the weak traffic side. Even if the type of the moving body cannot be recognized and the weak trafficking side cannot be determined by the determination of the determination condition 1, since the speed of the pedestrian is generally lower, the determination condition is based on the detected speed of the moving body. According to the determination of 2, the moving body having the lower speed of the collision direction component is determined. Even when it is impossible to recognize the type of the moving object and to detect the speed, since the size of the pedestrian is generally smaller, the size of the pedestrian is small according to the determination of the determination condition 3 based on the size of the recognized moving object. The moving body on the other side is determined as the moving body on the weak traffic side.

  Further, when the pair of moving bodies with a possibility of collision is a large vehicle and a normal vehicle, the determination of the determination condition 1 determines that the normal vehicle is a moving body on the weak traffic side. Even if the type of the moving body cannot be recognized and the weak trafficking side cannot be determined by the determination of the determination condition 1, the speed of the collision direction component is low by the determination of the determination condition 2 based on the detected speed of the moving body. The moving body that is the direction is determined. Even when it is impossible to recognize the type of the moving object and to detect the speed, the size of the ordinary car is generally smaller, so that the size of the moving object is small by the determination of the determination condition 3 based on the size of the recognized moving object. The moving body on the other side is determined as the moving body on the weak traffic side.

  In addition, when the pair of mobile bodies with a possibility of collision is a normal car and a normal car, the weak traffic side cannot be determined by the determination of the determination condition 1, and therefore, based on the speed of the detected mobile body. Based on the determination of determination condition 2, the moving body having the lower velocity of the collision direction component is determined. Even when the type of the moving body and the speed cannot be detected, the moving body having the smaller size is determined as the moving body on the weak traffic side by the determination of the determination condition 3 based on the size of the recognized moving body. decide.

  In this embodiment, the case where the determination of each determination condition is performed in series has been described as an example. However, the present invention is not limited to this, and the determination result is weighted after all determination conditions are determined. The final traffic weak person side or the lower one of the speed of the collision direction component may be determined by taking the majority decision of the judgment result by the above judgment condition to determine the final traffic weak person side or the collision direction component. The one with the lower speed may be determined.

  Next, the operation of the danger notification device 10 according to the first embodiment will be described. In the computer 17, a danger notification processing routine shown in FIG. 7 is executed.

  First, in step 100, the speed, own vehicle behavior, moving direction, and pitch angle of the own vehicle are acquired from the own vehicle state detection unit 16, and the front of the own vehicle is imaged from the near infrared camera 12 in step 102. Get an image. In step 104, the radar reflection pattern is acquired from the millimeter wave radar 14.

  In the next step 106, based on the image acquired in the above step 102 and the reflection pattern acquired in the above step 104, the moving body existing around the host vehicle is detected, and the relative position, relative speed, And the moving direction is detected, and the type of the detected moving body is recognized.

  In step 108, based on the image acquired in step 102, the reflection pattern acquired in step 104, or the map information of the navigation system, a stationary object existing around the host vehicle is detected, and the stationary object is detected. Detect relative position.

  In the next step 110, a set of moving objects is selected from all the moving objects detected in step 106, and in step 112, the orthogonality of the moving direction is determined for the set of moving objects selected in step 110. To extract the extracted object. In step 114, the mobile object selected in step 110 is subjected to orthogonal determination by TTC to extract an extracted object.

  In step 116, it is determined whether or not the processing in steps 112 and 114 has been executed for a set of moving bodies obtained from all detected moving bodies, and step 112 is performed for all sets of moving bodies. , 114 is not executed, the process returns to step 110. On the other hand, if the processes of steps 112 and 114 have been executed for all pairs of mobile objects, the process proceeds to step 124.

  In step 124, it is determined whether or not the extracted object is extracted in the above steps 112 and 114. If the extracted object that may collide with each other is not extracted, in step 126, the normal light projection process is performed. , Control the headlamp 24 to project forward, and return to step 100.

  If it is determined in step 124 that an extracted object having a possibility of collision has been extracted, in step 128, the headlamp 24, the road surface drawing device 26, and the hazard lamp 28 are selected as targets for light projection control. At least one is selected, light projection control is performed, and the process returns to step 100.

  Step 128 is realized by the light projection control processing routine shown in FIG. First, in step 140, it is determined whether or not the extracted object extracted in steps 112 and 114 satisfies a condition for selecting the headlamp 24 as a light projection control target. If the extracted object does not satisfy the condition, the process proceeds to step 144. On the other hand, if the extracted object is satisfied, in step 141, from the extracted object, the traffic weak person side or The moving body having the lower velocity in the collision direction is determined, and the moving object to be distributed is extracted. In step 142, the headlamp 24 is controlled so that light is projected onto the light distribution target moving body.

  Further, in the process of step 142, a target posture calculation process routine shown in FIG. 9 is executed. First, in step 170, the pitch angle of the host vehicle detected by the host vehicle state detection unit 16 is acquired, and in step 172, on the horizontal road surface based on the position detected with respect to the light distribution target moving body, The center position of the target light projection area including the position of the light distribution target moving body is calculated.

  In step 174, the light projected from the headlamp 24 based on the pitch angle acquired in step 170 and the center position of the target light projection area calculated in step 172 is converted into the target light projection. The attitude of the headlamp 24 when it is projected onto the area is calculated.

  In step 176, the posture of the headlamp 24 is controlled so as to be the posture calculated in step 174, and the target posture calculation processing routine is ended.

  Then, in the controlled posture state, light is projected from the headlamp 24 to the light distribution target moving body.

  Further, in step 144 of the light projection control processing routine, it is determined whether or not a condition for selecting the road surface drawing device 26 as a light projection control target is satisfied for the extracted object extracted in steps 112, 114, and 120. To do. If the condition is not satisfied for the extracted object, the process proceeds to step 148. On the other hand, if the condition is satisfied for the extracted object, in step 145, from the extracted object, the traffic weak person side Alternatively, a moving body having a lower speed in the collision direction is determined, and a road surface drawing target moving body is extracted. In step 146, the road surface drawing device 26 is controlled so that light is projected onto the road surface drawing object moving body.

  In step 146, as in step 142, the target posture calculation processing routine is executed, and the light projected from the road surface drawing device 26 is projected onto the target light projection area including the position of the road surface drawing target moving body. The attitude of the road surface drawing device 26 when it is illuminated is calculated. Then, the posture of the road surface drawing device 26 is controlled so that the calculated posture is obtained. In the controlled posture state, light is projected from the road surface drawing device 26 to the road surface drawing target moving body, and attention information is given to the road surface. Is displayed.

  In step 148, in steps 140 and 144, at least one of the conditions for selecting the headlamp 24 as a light projection control target and the conditions for selecting the road surface drawing device 26 as a light projection control target are satisfied. It is determined whether or not it has been done. At least one of a condition for selecting the headlamp 24 as a light projection control target and a condition for selecting the road surface drawing device 26 as a light projection control target is satisfied, and the headlamp 24 moves to the light distribution target moving body. When light is projected, or when light is projected from the road surface drawing device 26 to the road surface drawing target moving body, the light projection control processing routine is terminated.

  If it is determined in step 148 that neither the condition for selecting the headlamp 24 as a light projection control object nor the condition for selecting the road surface drawing device 26 as a light projection control object is satisfied. In step 150, it is determined whether or not the extracted object extracted in steps 112, 114, and 120 satisfies a condition for selecting the hazard lamp 28 as a light projection control target. If the condition is not satisfied for the extracted object, the light projection control routine is terminated. On the other hand, if the condition is satisfied for the extracted object, the light is blinked in step 152. The hazard lamp 28 is controlled and the light projection control processing routine is terminated.

  As described above, by executing the danger notification processing routine, for example, as shown in FIG. 10, while the host vehicle is parked and stopped, a pedestrian existing near the front of the host vehicle is detected, and When a vehicle behind the vehicle is detected, the hazard light 28 flashes to alert the front pedestrian and the rear vehicle, and the rear vehicle is connected with the pedestrian. Encourage actions to avoid collisions. In addition, the headlamp 24 projects light to a pedestrian ahead, and prompts the pedestrian to call attention.

  In addition, as shown in FIG. 11, while the host vehicle is traveling, pedestrians and surrounding vehicles existing around the host vehicle are detected, and a stationary object (parked vehicle) is detected between the pedestrian and the surrounding vehicles. If there is a possibility that the detected pedestrian and the surrounding vehicle collide with each other, the headlight 24 projects light to the pedestrian on the traffic weak side and the road surface drawing device 26 causes the traffic weak Light is projected to a pedestrian on the side, and alert information is displayed on the road surface.

  As described above, according to the danger notification device according to the first embodiment, a set of two moving objects that may collide with each other is extracted from the periphery of the host vehicle, and the extracted moving object By projecting light to the traffic weak side or the direction where the speed in the collision direction is low, it is possible to avoid collision of surrounding moving bodies with a simple configuration.

  Moreover, it is possible to extract a set of two moving objects that may collide with each other due to the presence of the stationary object, using the position of the stationary object detected from the periphery of the host vehicle.

  In addition, when a set of moving objects that may collide with each other is detected using sensor information from a sensor provided in the host vehicle, a headlamp, a hazard lamp, etc. Using a projector, it is possible to alert the surrounding driving environment. In addition, not only the driver of the host vehicle but also surrounding drivers and pedestrians, as well as drivers of dangerous surrounding vehicles, can recognize the dangerous object, and can prevent a traffic accident.

  In the above embodiment, when it is determined that a stationary object is located between a set of moving objects based on the position of the stationary object detected from the periphery of the host vehicle, the stationary object is a blind spot. Although the case where the group of moving bodies is extracted as a group of moving bodies that may collide with each other as an example of forming a region has been described, the present invention is not limited to this. For example, if a stationary object is located around a set of moving objects and the stationary object is determined to be a facility that attracts pedestrians or a facility that springs out pedestrians based on map information, etc. You may make it extract the group of the mobile body which exists in the periphery of a thing as a group of the mobile body which may collide mutually.

  Moreover, although the case where the posture of the headlamp and the road surface drawing device is controlled based on the pitch angle of the host vehicle has been described as an example, the present invention is not limited to this, and the motion state of the host vehicle (for example, the speed or The direction of the headlight and the road surface drawing device and the direction in which the light is projected may be controlled based on the movement direction.

  In addition, when the headlamp or the road surface drawing device is controlled so that light is projected to the weak traffic side or the speed in the collision direction of the set of moving bodies that may collide with each other, for example However, the present invention is not limited to this, and the headlamp or the road surface drawing device is controlled so that light is projected to both sets of mobile bodies that may collide with each other. Also good.

  Moreover, although the case where the front of the own vehicle was imaged with the near-infrared camera was demonstrated to the example, you may use the near-infrared camera which images the back and side of the own vehicle. In this case, a vehicle or a pedestrian existing in the rear or side may be detected based on an image captured by a near-infrared camera that captures the rear or side.

  Moreover, although the case where the headlamp which projects light in front of the own vehicle was used was demonstrated to the example, it is not limited to this, The projector which projects light on the back side of the own vehicle is provided. May be. In this case, it is possible to collide with each other by this projector if the traffic weak person side of the moving body that may collide with each other or the one with the lower velocity in the collision direction is extracted from the rear side of the own vehicle. It is only necessary to project light to the traffic weak person side of the movable body or to the lower speed in the collision direction.

  Next, a danger notification device according to the second embodiment will be described. In addition, about the part which becomes the structure similar to 1st Embodiment, the same code | symbol is attached | subjected and description is abbreviate | omitted.

  In the second embodiment, the determination of the wobbling of the moving body existing around the host vehicle is performed, and light is projected to the moving body determined to be staggered as an abnormal moving state. This is different from the first embodiment.

  As shown in FIG. 12, the danger notification device 210 according to the second embodiment includes a near-infrared camera 12, a millimeter wave radar 14, a host vehicle state detection unit 16, a headlamp 24, and road surface drawing. Based on the image taken by the device 26, the hazard lamp 28, the near-infrared camera 12, the information from the millimeter wave radar 14, and the information from the own vehicle state detecting unit 16, the moving object A computer 217 for controlling at least one of the headlamp 24, the road surface drawing device 26, and the hazard lamp 28 is provided so as to notify the danger.

  The computer 217 detects a moving body present in the vicinity of the own vehicle based on an image captured by the near-infrared camera 12, information from the millimeter wave radar 14, and information from the own vehicle state detection unit 16. The mobile body detection unit 218 that continuously detects the position of the mobile body and the time series data of the detected position of the surrounding vehicle for the past several seconds are used to determine whether the surrounding vehicle is staggered, At least one of the headlamp 24, the road surface drawing device 26, and the hazard lamp 28 based on the position of the wobbling risk determination unit 222 as an abnormality determination unit that extracts the wobbling surrounding vehicle and the wobbling surrounding vehicle. And a light projecting control unit 230 that illuminates the surrounding vehicle and alerts the surroundings.

  The stagger risk determination unit 222 determines whether or not the surrounding vehicle is staggered based on the time-series data of the positions of the surrounding vehicles detected in the past few seconds, as described below, and the staggering surrounding vehicle Are extracted as extracted objects.

  First, the left and right direction components of the relative positions for the past several seconds are recorded for all the surrounding vehicles detected from the periphery of the host vehicle. Then, with respect to all the surrounding vehicles detected from the vicinity of the own vehicle, the variance value is calculated as the degree of wobbling using the recorded horizontal component of the relative position for the past several seconds.

  If all the surrounding vehicles detected from the surroundings of the own vehicle have a degree of wander exceeding a predetermined threshold, it is determined that they are wobbling and extracted as an extracted object. In addition, what is necessary is just to design this threshold value beforehand, for example based on the data at the time of normal driving | running | working.

  As will be described below, the light projection control unit 230 is based on the vehicle state detected by the vehicle state detection unit 16 and the extracted object extracted by the wandering risk determination unit 222. At least one of the drawing device 26 and the hazard lamp 28 is selected as a target for light projection control.

First, when the following two conditions are satisfied, the hazard lamp 28 is selected as a light projection control target.
Condition (1): The vehicle action is “parking” or “stop”.
Condition (2): It is determined that the extracted object exists behind using the relative position of the extracted object.

  When the hazard lamp 28 is selected as a light projection control target, the light projection control unit 230 controls the hazard lamp 28 to blink. As a result, the driver of the wobbling vehicle pays attention to the own vehicle, and the driver of the wobbling vehicle is notified of the danger.

Moreover, when the following conditions are satisfied, the headlamp 24 is selected as a light projection control target.
Condition: Based on the relative position of the extracted object, it is determined that the extracted object exists in the light distribution possible area of the headlamp 24 obtained in advance (the corresponding moving body is referred to as a light distribution target moving body). .

  When the headlamp 24 is selected as a light projection control target, the light projection control unit 230 controls the headlamp 24 so that light is projected onto the extracted light distribution target moving body, and the headlamp 24 is flickering. The danger can be notified to the driver of the vehicle.

Further, when the following conditions are satisfied, the road surface drawing device 26 is selected as a light projection control target.
Condition: Based on the relative position of the extracted object, it is determined that the extracted object is present in a road surface drawable area of the road surface drawing device 26 obtained in advance (the corresponding moving body is referred to as a road surface drawing target moving body). .

  When the road surface drawing device 26 is selected as a light projection control target, the light emission control unit 230 draws attention information or the like that informs the surroundings of the extracted road surface drawing target moving body on the road surface. The road surface drawing device 26 is controlled, and other peripheral vehicles can be urged to find a moving object that is staggered.

  Further, the light projection control unit 230 performs posture control of the headlamp 24 or the road surface drawing device 26 based on the posture state of the host vehicle detected by the host vehicle state detection unit 16.

  Next, a danger notification processing routine according to the second embodiment will be described with reference to FIG. In addition, about the process similar to 1st Embodiment, the same code | symbol is attached | subjected and detailed description is abbreviate | omitted.

  First, in step 100, the speed, own vehicle behavior, moving direction, and pitch angle of the own vehicle are acquired from the own vehicle state detection unit 16, and the front of the own vehicle is imaged from the near infrared camera 12 in step 250. Images are acquired for a predetermined period (for example, for several seconds). In step 252, radar reflection patterns for a predetermined period are acquired from the millimeter wave radar 14.

  In the next step 254, based on the image obtained in step 250 and the reflection pattern obtained in step 252 above, surrounding vehicles existing around the host vehicle are detected, and the relative positions of the surrounding vehicles are determined for a predetermined period. To detect.

  In step 256, one surrounding vehicle is selected from all the surrounding vehicles detected in step 254. In step 258, the stagger determination is performed for the surrounding vehicle selected in step 256, and the extracted object is selected. Extract.

  In the next step 260, it is determined whether or not the process of step 258 has been executed for all detected surrounding vehicles. If the process of step 258 has not been executed for all of the surrounding vehicles, Return to step 256 above. On the other hand, if the process of step 256 has been executed for all the surrounding vehicles, the process proceeds to step 262.

  In step 262, it is determined whether or not the extracted object has been extracted in step 258. If a stray extracted object has not been extracted, in step 126, normal light projection processing is performed and light is projected forward. The headlamp 24 is controlled so as to return to step 100.

  If it is determined in step 262 that a stray extracted object has been extracted, in step 264, at least one of the headlamp 24, the road surface drawing device 26, and the hazard lamp 28 is selected as a target for light projection control. Is selected, light projection control is performed, and the process returns to step 100.

  The step 264 is realized by a light projection control processing routine. In the light projection control routine according to the second embodiment, first, regarding the extracted object extracted in step 258, whether or not the condition for selecting the headlamp 24 as a light projection control target is satisfied. judge. When the condition is satisfied for the extracted extracted object, the light distribution target moving body is extracted from the extracted object, and the headlamp 24 is controlled so that light is projected onto the light distribution target moving body. At this time, similarly to the first embodiment, the target posture calculation processing routine is executed, and the headlamp 24 is arranged so that the light projected from the headlamp 24 is projected to the target projection area. In the controlled posture state, light is projected from the headlamp 24 onto the light distribution target moving body.

  Further, it is determined whether or not a condition for selecting the road surface drawing device 26 as a light projection control target is satisfied for the extracted object extracted in step 258. When the condition is satisfied for the extracted extracted object, the road surface drawing target moving body is extracted from the extracted object, and the road surface drawing device 26 is controlled so that light is projected onto the road surface drawing target moving body. At this time, the target posture calculation processing routine is executed, and the posture of the road surface drawing device 26 is controlled so that the light projected from the road surface drawing device 26 is projected onto the target light projecting region. In this state, light is projected from the road surface drawing device 26 to the road surface drawing target moving body.

  Then, it is determined whether at least one of a condition for selecting the headlamp 24 as a light projection control target and a condition for selecting the road surface drawing device 26 as a light projection control target is satisfied. At least one of a condition for selecting the headlamp 24 as a light projection control target and a condition for selecting the road surface drawing device 26 as a light projection control target is satisfied, and the headlamp 24 moves to the light distribution target moving body. When light is projected, or when light is projected from the road surface drawing device 26 to the road surface drawing target moving body, the light projection control processing routine is terminated. On the other hand, when it is determined that neither the condition for selecting the headlamp 24 as a light projection control object nor the condition for selecting the road surface drawing device 26 as a light projection control object is satisfied, the above step It is determined whether or not the condition for selecting the hazard lamp 28 as a light projection control target is satisfied for the extracted object extracted in 258. When the condition is satisfied for the extracted extracted object, the hazard lamp 28 is controlled to blink so that the light projection control processing routine is completed.

  As described above, by executing the danger notification processing routine, as shown in FIG. 14, if the surrounding vehicle that is fluttering is detected while the host vehicle is traveling, Light is emitted to the vehicle, and light is emitted to surrounding vehicles that are staggered by the road surface drawing device 26 to display information that calls attention to the road surface, so that the presence of vehicles that are straying around is indicated. .

  Further, when the following vehicle is staggered, the hazard light 28 can be blinked to alert the driver of the stray vehicle and to notify the presence of the staggered vehicle.

  As described above, according to the danger notification device according to the second embodiment, it is easy to detect surrounding vehicles that are staggering from the periphery of the host vehicle and project light to the surrounding vehicles that are staggering. With such a configuration, it is possible to notify the driver of the surrounding vehicle that is wobbling. In addition, it is possible to alert the surrounding driving environment.

  In the above-described embodiment, a case has been described in which the surrounding vehicle that is staggered is detected and light is projected to the surrounding vehicle, but a vehicle that is present in the vicinity of the own vehicle is further detected. You may control a projector so that light may be projected also to vehicles other than the fluctuating surrounding vehicle. Further, in order to notify the surrounding vehicles other than the fluctuating surrounding vehicles of the danger, the hazard lights may be controlled to blink. For example, as shown in FIG. 15, when a surrounding vehicle existing behind the adjacent lane is detected, and a forward vehicle detected from the front is flickering, light is projected to the vehicle that is flickering ahead. As described above, the headlight is controlled, the road surface drawing device is controlled so as to perform the road surface drawing, and the light projector is controlled so that light is projected to the surrounding vehicle behind, You can be informed of the presence of dangerous vehicles straying around.

  Moreover, although the case where the surrounding vehicle which is wobbling was detected was demonstrated to the example, it is not limited to this, The dangerous pedestrian who is wobbling as a moving body which is an abnormal movement state from the circumference | surroundings of the own vehicle And the headlamp and the road surface drawing device may be controlled so that light is projected to a dangerous pedestrian.

It is the schematic which shows the structure of the danger notification apparatus which concerns on the 1st Embodiment of this invention. It is an image figure which shows a mode that the near-infrared camera and the road surface drawing apparatus are provided. (A) It is an image figure which shows a mode in the case of satisfy | filling the conditions for selecting a hazard light, (B) It is an image figure which shows a mode that the hazard light is blinking. (A) It is an image figure which shows a mode in case the conditions for selecting a headlamp are satisfy | filled, (B) It is an image figure which shows a mode that light is projected with respect to a pedestrian with a headlamp. (A) It is an image figure which shows a mode when the conditions for selecting a road surface drawing apparatus are satisfy | filled, and (B) An image figure which shows a mode that light is projected with respect to a pedestrian by the road surface drawing apparatus. (A) The image figure which shows a mode that light is projected on a target irradiation area | region when the attitude | position with respect to the road surface of the own vehicle is parallel, (B) Light is projected when the attitude | position with respect to the road surface of the own vehicle is not parallel. It is an image figure which shows a mode that light is projected when the attitude | position with respect to the road surface of (C) own vehicle is not parallel. It is a flowchart which shows the content of the danger notification process routine in the danger notification apparatus which concerns on the 1st Embodiment of this invention. It is a flowchart which shows the content of the light projection control processing routine in the danger notification apparatus which concerns on the 1st Embodiment of this invention. It is a flowchart which shows the content of the target attitude | position calculation process routine in the danger notification apparatus which concerns on the 1st Embodiment of this invention. It is an image figure which shows a mode that light is projected with respect to a pedestrian with a headlamp while blinking a hazard light. It is an image figure which shows a mode that warning information is displayed on a road surface with a road surface drawing apparatus while light is projected on a pedestrian by a headlamp. It is the schematic which shows the structure of the danger alerting | reporting apparatus which concerns on the 2nd Embodiment of this invention. It is a flowchart which shows the content of the danger notification process routine in the danger notification apparatus which concerns on the 2nd Embodiment of this invention. It is an image figure which shows a mode that warning information is displayed on a road surface with a road surface drawing apparatus while light is projected to the vehicle which is fluttering with a headlamp. It is an image figure which shows a mode that light is projected to the front vehicle which is fluttering with a headlamp, warning information is displayed on a road surface by a road surface drawing apparatus, and light is projected with respect to a surrounding vehicle behind. .

Explanation of symbols

DESCRIPTION OF SYMBOLS 10,210 Hazard notification apparatus 12 Near-infrared camera 14 Millimeter wave radar 16 Own vehicle state detection part 17, 217 Computer 18, 218 Moving body detection part 20 Stationary object detection part 22 Collision risk determination part 24 Headlamp 26 Road surface drawing apparatus 28 Hazard lights 30, 230 Light projection control unit 222 Staggering risk determination unit

Claims (10)

Detecting means for detecting the position and moving direction of each of a plurality of moving bodies existing around the host vehicle provided with a projector for projecting light;
A collision extracting means for extracting a set of two moving bodies that may collide with each other based on the position and moving direction of each of the plurality of moving bodies detected by the detecting means;
The projector is controlled so that light is projected onto at least the traffic weak person side of the two moving bodies extracted by the collision extracting means, or at least the moving body having a lower speed in the collision direction of the two moving bodies. Projector control means for
A danger notification device including: The detecting means detects the position and moving direction of each of the plurality of moving bodies, recognizes the type or size of each of the detected moving bodies,
The projector control means projects light to at least a traffic weak person side of the two moving bodies extracted by the collision extraction means based on the recognition result of the type or size of the moving body by the detecting means. The danger notification device according to claim 1, wherein the projector is controlled at a time. The detecting means detects the position and moving direction of each of the plurality of moving bodies and detects the speed of each of the detected moving bodies,
Based on the detection result of the speed of the moving body by the detecting means, the projector control means projects light onto a moving body having a lower speed in at least the collision direction of the two moving bodies extracted by the collision extracting means. The danger notification device according to claim 1, wherein the projector is controlled so as to be illuminated. A stationary object detecting means for detecting a position of at least one stationary object existing around the host vehicle;
The collision extraction means may collide with each other based on the position and moving direction of each of the moving bodies detected by the detection means and the position of the stationary object detected by the stationary object detection means. The danger notification device according to any one of claims 1 to 3, wherein a set of two moving bodies is extracted. The detecting means detects the position, moving direction, and moving speed of each moving body,
The collision extraction unit is configured to determine each of a set of two moving bodies out of the plurality of moving bodies based on the position, moving direction, and moving speed of each of the plurality of moving bodies detected by the detecting unit. And a collision determining means for determining a risk of collision with each other, and extracting a set of two mobile bodies that may collide with each other based on the risk determined by the collision determining means. The danger notification device according to any one of claims 1 to 4.   The collision extracting means includes two moving bodies whose moving directions intersect with each other and whose distance is equal to or less than a predetermined value based on the position and moving direction of each of the plurality of moving bodies detected by the detecting means. The danger notification device according to any one of claims 1 to 4, wherein the set is extracted as a set of two moving bodies that may collide with each other. The projector is a plurality of types of projectors,
2. The projector control unit selects at least one of the plurality of types of projectors based on at least a position on the weak traffic side of the extracted two moving objects, and controls the selected projector. The danger notification device according to any one of claims 6 to 6.   The plurality of types of projectors are a headlight capable of controlling the light projection direction, a flashing lamp, and a road surface capable of projecting light in the road surface direction so as to display predetermined danger information on the road surface. The danger notification device according to claim 7, comprising at least one of the projectors. Detection means for continuously detecting the position of a moving body existing around the host vehicle equipped with a projector that projects light;
An abnormality determining means for determining whether or not the moving body is in an abnormal moving state based on the position of the moving body continuously detected by the detecting means;
Projector control means for controlling the projector so that light is projected onto the moving body when the abnormality determining means determines that the abnormal moving state is present;
A danger notification device including: A host vehicle state detection unit for detecting at least one of a posture state and a motion state of the host vehicle;
The danger notification according to any one of claims 1 to 9, wherein the projector control unit controls the projector based on at least one of the posture state and the motion state detected by the host vehicle state detection unit. apparatus.

Images