JP2017162178A - Determination device, determination method and determination program - Google Patents

Abstract

PROBLEM TO BE SOLVED: To avoid collision between an object which exists in a dead angle and a vehicle.SOLUTION: A determination device 120 comprises: an input part 121 for receiving vehicle position information indicating a position of a vehicle, road information indicating a road in the surroundings of the position of the vehicle, curve mirror position information indicating a position of a curve mirror arranged on the road in the surroundings, and measurement result information including a distance and azimuth of an object measured on the basis of a reflection wave from the object; and a control part 122 for specifying a dead angle area corresponding to the curve mirror of the vehicle, on the basis of the vehicle position information, road information, and curve mirror position information, and for determining whether or not there is a prescribed object in the dead angle area, on the basis of the measurement result information measured by the reflection wave from the object reflected on the curve mirror.SELECTED DRAWING: Figure 1

Description

  The present invention relates to a determination device, a determination method, and a determination program for determining the presence of an object in a blind spot of a moving object.

  In recent years, various driving support technologies have been developed to support a driver of a vehicle. For example, by installing a movable mirror in the front part of the vehicle and moving the movable mirror at an intersection with poor visibility, the object that the driver approaches from the blind spot of the vehicle (for example, pedestrians, motorcycles, automobiles, etc.) ) Can be visually recognized (for example, see Patent Document 1).

JP 2002-362227 A

  However, in the technique of Patent Document 1 described above, there is a possibility that an object existing in a blind spot may collide with the vehicle because the front part of the vehicle in which the movable mirror is installed needs to enter the intersection. There is.

  The objective of this invention is providing the determination apparatus, determination method, and determination program which can avoid the collision with the target object which exists in a blind spot, and a vehicle.

  The determination apparatus according to an aspect of the present invention includes vehicle position information indicating a vehicle position, road information indicating a road around the vehicle position, and a curve indicating a position of a curve mirror installed on the surrounding road. An input unit that receives mirror position information and measurement result information including a distance and a direction of the object measured based on a reflected wave from the object, the vehicle position information, the road information, and the curve mirror position information. Based on the measurement result information measured by the reflected wave from the object reflected on the curve mirror, the blind spot area corresponding to the curve mirror of the vehicle is specified based on a predetermined target And a control unit that determines whether or not an object exists.

  The determination method according to an aspect of the present invention includes vehicle position information indicating a vehicle position, road information indicating a road around the vehicle position, and a curve indicating a position of a curve mirror installed on the surrounding road. Receiving mirror position information and measurement result information including the distance and direction of the object measured based on a reflected wave from the object, based on the vehicle position information, the road information, and the curve mirror position information The blind spot area corresponding to the curve mirror of the vehicle is specified, and the blind spot area is predetermined based on the measurement result information measured by the reflected wave from the object reflected by the curve mirror. And a step of determining whether or not an object exists.

  A determination program according to an aspect of the present invention includes vehicle position information indicating a position of a vehicle, road information indicating a road around the vehicle position, and a curve indicating a position of a curve mirror installed on the surrounding road. Based on the process of receiving mirror position information and measurement result information including the distance and direction of the object measured based on the reflected wave from the object, the vehicle position information, the road information, and the curve mirror position information Based on the processing for identifying the blind spot area corresponding to the curve mirror of the vehicle and the measurement result information measured by the reflected wave from the object reflected by the curve mirror, the blind spot area is predetermined. A process for determining whether or not an object exists is executed by a computer.

  According to the present invention, it is possible to avoid a collision between an object existing in a blind spot and a vehicle.

The block diagram which shows an example of a structure of the driving assistance system and determination apparatus which concern on embodiment of this invention Diagram showing an example of the blind spot area The flowchart which shows an example of the flow of operation | movement of the determination apparatus which concerns on embodiment of this invention The flowchart which shows another example of the flow of operation | movement of the determination apparatus which concerns on embodiment of this invention. The figure which shows the hardware constitutions of the computer which implement | achieves the function of each part by a program

  Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings. However, in the embodiment, components having the same function are denoted by the same reference numerals, and redundant description is omitted.

  First, the configuration of the driving support system 100 and the determination device 120 according to the present embodiment will be described with reference to FIG. FIG. 1 is a block diagram illustrating an example of the configuration of the driving support system 100 and the determination device 120 according to the present embodiment. In the present embodiment, the driving support system 100 will be described as applied to a vehicle.

  The driving support system 100 includes a detection device 110, a storage device 111, a measurement device 112, a determination device 120, and a vehicle control device 130. Further, the determination device 120 includes an input unit 121 and a control unit 122.

  The detection device 110 is a device that is mounted inside or outside the vehicle and detects the position of the vehicle (the vehicle on which the driving support system 100 is mounted). The position here includes information indicating the posture (tilt, elevation angle, direction) of the vehicle in addition to the three-dimensional position. Examples of the detection device 110 include a camera or a GPS (Global Positioning System) device. Since the detection technique in the detection apparatus 110 is a well-known technique, the detailed description is abbreviate | omitted.

  The detection device 110 outputs vehicle position information indicating the detected vehicle position to the input unit 121 of the determination device 120.

  The storage device 111 is a device that is mounted inside or outside the vehicle compartment and stores, for example, three-dimensional map information. This map information includes, for example, road information related to roads and curve mirror information related to curve mirrors installed on roads and the like. The curve mirror information includes curve mirror position information indicating the position of the curve mirror and curve mirror attribute information indicating the attributes of the curve mirror (for example, the shape of the mirror surface, the curvature, the direction in which the mirror surface faces).

  The storage device 111 outputs road information and curve mirror information to the input unit 121 of the determination device 120. The storage device 111 receives vehicle position information from the detection device 110, road information related to a road around the vehicle position, and curve mirror information related to a curve mirror installed on a road around the vehicle position. You may output to the input part 121 of the determination apparatus 120. FIG.

  Although FIG. 1 illustrates that the storage device 111 is provided in the driving support system 100, the storage device 111 may be provided outside the driving support system 100 (for example, outside the vehicle). When the storage device 111 is provided outside the vehicle, for example, the driving support system 100 performs wireless communication with the storage device 111 to receive road information and curve mirror information, and receives the received information to the input unit 121. It may be output.

  The measuring device 112 is mounted inside or outside the vehicle interior, emits electromagnetic waves (for example, laser light or millimeter waves), and reflects the distance to the object and the object based on the electromagnetic waves reflected by the object (hereinafter referred to as reflected waves). It is a device (sensor) that measures the orientation of the. Examples of the measuring device 112 include laser radar and millimeter wave radar. Since the detection technique in the measurement device 112 is a known technique, a detailed description thereof is omitted.

  In the present embodiment, for example, the measuring device 112 emits electromagnetic waves toward the curve mirror. Thereby, the electromagnetic wave reflected by the curve mirror is irradiated onto the object. The reflected wave reflected by the object is input to the measuring device 112 by reflection by a curve mirror.

  The measurement device 112 outputs measurement result information indicating the measured distance to the object and the orientation of the object to the input unit 121 of the determination device 120. In the present embodiment, it is assumed that a plurality of pieces of measurement result information are output from the measurement device 112 to the input unit 121.

  Input unit 121 receives vehicle position information from detection device 110 and outputs the vehicle position information to control unit 122.

  The input unit 121 receives road information and curve mirror information from the storage device 111 and outputs the road information and curve mirror information to the control unit 122.

  The input unit 121 also receives measurement result information from the measurement device 112 and outputs the measurement result information to the control unit 122.

  The control unit 122 receives vehicle position information, road information, curve mirror information (curve mirror position information, curve mirror attribute information), and a plurality of measurement result information from the input unit 121. The control unit 122 first has a curve mirror in a predetermined range (for example, a range ahead of the vehicle) based on the vehicle position based on the vehicle position information, road information, and curve mirror position information. It is determined whether or not. This predetermined range is set in advance.

  When the curve mirror exists within the predetermined range, the control unit 122 calculates the three-dimensional position of the curve mirror with reference to the position of the vehicle.

  Next, the control unit 122 identifies the blind spot area based on the calculated three-dimensional position and curve mirror attribute information (for example, the direction in which the mirror surface is facing).

  Here, an example of the blind spot area specified by the control unit 122 will be described with reference to FIG. FIG. 2 is a view of the vicinity of the intersection viewed from directly above. However, the pedestrian is shown as seen from the side for convenience of explanation.

  In FIG. 2, V represents a vehicle, M represents a curved mirror, and P represents a pedestrian (an example of an object). The driving support system 100 shown in FIG. 1 is mounted on the vehicle V. Further, it is assumed that the vehicle V and the pedestrian P are moving toward the intersection.

  In FIG. 2, the curve mirror M is installed on the right front side of the vehicle V and upward with respect to the road surface (an example of a three-dimensional position). Further, the mirror surface of the curve mirror M has a flat plate shape (an example of the attribute of the curve mirror M), and faces the direction of the road where the pedestrian P is present (an example of the attribute of the curve mirror M). In this case, the control unit 122 identifies the blind spot area A (hatched portion in the figure). Note that the blind spot area A is projected on the curve mirror M and can be said to be an area where the passenger of the vehicle V can visually recognize.

  The example of the blind spot area specified by the control unit 122 has been described above. Hereinafter, the description returns to the control unit 122.

  After identifying the blind spot area as described above, the control unit 122 is measured based on the reflected wave (see the broken line in FIG. 2) through the curve mirror among the plurality of pieces of measurement result information received from the input unit 121. Measurement result information indicating the result is extracted. The reason for performing the extraction here is that the plurality of measurement result information includes measurement result information indicating a result measured based on the reflected wave not passing through the curve mirror.

  Next, based on the extracted measurement result information, the control unit 122 determines whether or not a predetermined object (for example, a pedestrian, a bicycle, a two-wheeled vehicle, an automobile, etc.) exists in the blind spot area. For example, in the case of FIG. 2, since the pedestrian P exists in the blind spot area A, the control unit 122 determines that the target object exists in the blind spot area.

  When it is determined that the target object exists in the blind spot area, the control unit 122 calculates the position of the target object. Furthermore, the control unit 122 may calculate the moving direction of the object based on the calculated position of the object.

  In addition, when it is determined that the object is present in the blind spot area, the control unit 122 determines the type of the object (for example, a pedestrian, a bicycle, a two-wheeled vehicle, an automobile, etc.) based on a known technique such as pattern matching of reflected waves. May be.

  Next, the control unit 122 outputs determination result information indicating the determination result to the vehicle control device 130. For example, when it is determined that there is no target in the blind spot area, the control unit 122 outputs determination result information indicating that there is no target in the blind spot area to the vehicle control device 130. On the other hand, for example, when it is determined that there is an object in the blind spot area, the control unit 122 outputs determination result information indicating that the object exists in the blind spot area to the vehicle control device 130. The determination result information may include at least one of information indicating the position of the object, information indicating the moving direction of the object, and information indicating the type of the object.

  The vehicle control device 130 is a device that controls equipment used in the vehicle. Examples of the device used in the vehicle include a traveling device or a display device.

  Here, a case where the vehicle control device 130 controls the traveling device will be described.

  For example, when the determination result information indicates that there is no object in the blind spot area, the vehicle control device 130 outputs a control signal indicating that the vehicle is allowed to travel to the traveling device. The traveling device controls the vehicle so as to permit traveling based on the control signal. Thus, for example, in the case of FIG. 2, the vehicle can enter the intersection.

  On the other hand, for example, when the determination result information indicates that there is an object in the blind spot area, the vehicle control device 130 outputs a control signal for prohibiting the traveling of the vehicle to the traveling device. The traveling device controls the vehicle so as to prohibit traveling based on the control signal. Thus, for example, in the case of FIG. 2, the vehicle cannot enter the intersection.

  Next, the case where the vehicle control device 130 controls the display device will be described.

  For example, when the determination result information indicates that there is no object in the blind spot area, the vehicle control device 130 outputs a control signal instructing generation of an image indicating that to the display device. Based on the control signal, the display device generates an image indicating that no object is present in the blind spot area, and outputs the image to a predetermined display medium. Thereby, in the case of FIG. 2, for example, the vehicle occupant can know that the vehicle can enter the intersection.

  On the other hand, for example, when the determination result information indicates that there is an object in the blind spot area, the vehicle control device 130 outputs a control signal instructing generation of an image indicating that to the display device. Based on the control signal, the display device generates an image indicating that the target object is present in the blind spot area, and outputs the image to a predetermined display medium. Thereby, in the case of FIG. 2, for example, the vehicle occupant can know that the vehicle cannot enter the intersection.

  In the description of the control of the display device, the output of the image is given as an example. However, the present invention is not limited to this, and means (for example, outputting sound, Vibration etc.) may be used.

  Further, the above-described operation of the determination device 120 is effective both when automatic operation is performed and when manual operation (manual operation) is performed.

  The configuration of the driving support system 100 and the determination device 120 has been described above.

  Next, the determination process in the determination apparatus 120 will be described with reference to FIG. FIG. 3 is a flowchart showing the flow of determination processing in the determination device 120. This flow is repeatedly performed while the vehicle is running, for example.

  First, the input unit 121 receives vehicle position information from the detection device 110, receives road information and curve mirror information (curve mirror position information, curve mirror attribute information) from the storage device 111, and receives a plurality of measurement result information from the measurement device 112. Is received (step S101). Then, the input unit 121 outputs the information to the control unit 122.

  Next, based on the vehicle position information, road information, and curve mirror position information received from the input unit 121, the control unit 122 determines whether or not the curve mirror exists within a predetermined range based on the vehicle position. Determination is made (step S102).

  If the curve mirror does not exist within the predetermined range (step S102: NO), the flow ends.

  When the curve mirror is within the predetermined range (step S102: YES), the control unit 122 performs the three-dimensional curve mirror based on the vehicle position based on the vehicle position information, the road information, and the curve mirror position information. The target position is calculated (step S103).

  Next, the control unit 122 identifies a blind spot area based on the three-dimensional position and the curve mirror attribute information (step S104).

  Next, the control part 122 extracts the measurement result information which shows the result measured based on the reflected wave through a curve mirror among several measurement result information (step S105).

  Next, the control unit 122 determines whether or not a predetermined object exists in the blind spot area based on the extracted measurement result information (step S106).

  When it is determined that there is no object in the blind spot area (step S106: NO), the control unit 122 outputs determination result information indicating that there is no object in the blind spot area to the vehicle control device 130 (step S108). .

  When it determines with a target object existing in a blind spot area (step S106: YES), the control part 122 calculates the position of the target object (step S107). Furthermore, the control unit 122 may calculate the moving direction of the object based on the calculated position of the object. Moreover, the control part 122 may determine the kind of target object which exists in a blind spot area | region.

  Next, the control unit 122 outputs determination result information indicating that there is no object in the blind spot area to the vehicle control device 130 (step S108). The determination result information may include information such as the position of the object, the moving direction of the object, and the type of the object.

  Note that in the flow shown in FIG. 3, the processing of step S102 and step S107 may be omitted. In that case, the flow shown in FIG.

  The determination process in the determination device 120 has been described above.

  According to the embodiment of the present invention, a blind spot area corresponding to a curve mirror of a vehicle is identified, and a predetermined target exists in the blind spot area based on measurement result information measured by a reflected wave through the curve mirror. It is determined whether or not to do. Thereby, before the vehicle enters the intersection, for example, the presence / absence of the object in the blind spot area of the intersection can be determined, so that the collision between the object existing in the blind spot area and the vehicle can be avoided. For example, in the case of manual driving, the above determination allows the vehicle occupant to recognize an object existing in the blind spot area more quickly, thereby contributing to improvement of safe driving. Further, for example, in the case of automatic driving, the above-described determination can solve the problem that the vehicle cannot enter the intersection because the presence or absence of an object in the blind spot area is not known.

  In addition, this invention is not limited to the said embodiment, A various deformation | transformation is possible. Hereinafter, each modification will be described.

(Modification 1)
In the embodiment, road information and curve mirror information are included in the map information, and road information and curve mirror information are output from the storage device 111 storing the map information to the input unit 121 of the determination device 120. However, the present invention is not limited to this. For example, a recognition device (not shown) may recognize a road and a curve mirror using Deep Learning or the like, and output road information and curve mirror information as a recognition result to the input unit 121 of the determination device 120.

(Modification 2)
In the embodiment, the measurement device 112 outputs a plurality of measurement result information based on a plurality of reflected waves from different directions to the determination device 120, and the control unit 122 outputs one measurement result from the plurality of measurement result information. Although the case of extracting information has been described as an example, the present invention is not limited to this.

  For example, the control unit 122 identifies a curve mirror based on vehicle position information, road information, and curve mirror position information, and outputs an electromagnetic wave (for example, laser light or millimeter wave) intensively to the curve mirror. The measuring device 112 may be controlled. By this control, the measurement device 112 performs measurement based only on the reflected wave via the curve mirror, and outputs measurement result information indicating the result to the input unit 121 of the determination device 120. And the control part 122 determines whether a target object exists in a blind spot area | region based on the measurement result information.

  According to this modification, the input unit 121 does not need to receive a plurality of pieces of measurement result information, and the control unit 122 does not need to extract one piece of measurement result information from the plurality of pieces of measurement result information. Therefore, the speed of the determination process shown in FIG. 3 or FIG. 4 can be improved.

  In the above, each modification of this invention was demonstrated. In addition, you may combine each modification arbitrarily.

  The function of each part in the embodiment and each modification may be realized by a program. FIG. 5 shows a hardware configuration example of the computer in that case.

  As shown in FIG. 5, a computer 2100 includes an input device 2101 such as an input button and a touch pad, an output device 2102 such as a display and a speaker, a CPU (Central Processing Unit) 2103, a ROM (Read Only Memory) 2104, and a RAM (Random Access Memory) 2105 is provided. The computer 2100 also reads information from a recording medium such as a hard disk device, a storage device 2106 such as an SSD (Solid State Drive), a DVD-ROM (Digital Versatile Disk Read Only Memory), or a USB (Universal Serial Bus) memory. 2107, a transmission / reception device 2108 that performs communication via a network is provided. Each unit described above is connected by a bus 2109.

  Then, the reading device 2107 reads the program from a recording medium on which a program for realizing the functions of the above-described units is recorded, and stores the program in the storage device 2106. Alternatively, the transmission / reception device 2108 communicates with the server device connected to the network, and causes the storage device 2106 to store a program for realizing the function of each unit downloaded from the server device.

  Then, the CPU 2103 copies the program stored in the storage device 2106 to the RAM 2105, and sequentially reads out and executes the instructions included in the program from the RAM 2105, thereby realizing the functions of the above-described units. Further, when executing the program, the RAM 2105 or the storage device 2106 stores information obtained by various processes described in the embodiment and each modification, and is used as appropriate.

  The determination device, the determination method, and the determination program according to the present invention are useful for all techniques for determining whether or not a mobile object can travel in a predetermined situation.

DESCRIPTION OF SYMBOLS 100 Driving assistance system 110 Detection apparatus 120 Judgment apparatus 121 Input part 122 Control part 130 Vehicle control apparatus 2101 Input apparatus 2102 Output apparatus 2103 CPU
2104 ROM
2105 RAM
2106 Storage device 2107 Reading device 2108 Transmission / reception device 2109 Bus

Claims (6)

Vehicle position information indicating the position of the vehicle, road information indicating the road around the vehicle position, curve mirror position information indicating the position of the curve mirror installed on the surrounding road, and the reflected wave from the object An input unit for receiving measurement result information including the distance and orientation of the object measured based on
Based on the vehicle position information, the road information, and the curve mirror position information, a blind spot area corresponding to the curve mirror of the vehicle is specified and measured by a reflected wave from the object reflected by the curve mirror. A control unit that determines whether or not a predetermined object exists in the blind spot area based on the measurement result information;
A determination apparatus comprising: The controller is
Outputting determination result information indicating a result of the determination to a vehicle control device that controls equipment used in the vehicle;
The determination apparatus according to claim 1. The controller is
Calculating the position of the object existing in the blind spot area, and outputting information on the position of the object to a vehicle control device that controls equipment used in the vehicle;
The determination apparatus according to claim 1 or 2. The controller is
A predetermined sensor is controlled so as to intensively output electromagnetic waves to the curve mirror specified based on the vehicle position information, the road information, and the curve mirror position information;
Based on the measurement result information measured by the reflected wave through the curve mirror, it is determined whether or not a predetermined target exists in the blind spot area,
The determination apparatus according to any one of claims 1 to 3. Vehicle position information indicating the position of the vehicle, road information indicating the road around the vehicle position, curve mirror position information indicating the position of the curve mirror installed on the surrounding road, and the reflected wave from the object Receiving measurement result information including the distance and orientation of the object measured based on
Identifying a blind spot area corresponding to the curve mirror of the vehicle based on the vehicle position information, the road information, and the curve mirror position information;
Determining whether a predetermined target exists in the blind spot area based on the measurement result information measured by the reflected wave from the object reflected by the curve mirror;
A determination method including Vehicle position information indicating the position of the vehicle, road information indicating the road around the vehicle position, curve mirror position information indicating the position of the curve mirror installed on the surrounding road, and the reflected wave from the object A process of receiving measurement result information including the distance and orientation of the object measured based on,
Based on the vehicle position information, the road information, and the curve mirror position information, a process of specifying a blind spot area corresponding to the curve mirror of the vehicle;
A process of determining whether or not a predetermined object exists in the blind spot area based on the measurement result information measured by the reflected wave from the object reflected by the curve mirror;
A judgment program that causes a computer to execute.

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