JP2020135521A - Moving body detection system of vehicle and moving body detection method of vehicle - Google Patents

Abstract

To provide a moving body detection system of a vehicle and a moving body detection method of a vehicle which are capable of accurately detecting a moving body running in parallel with the vehicle in a region lateral to a driver's seat of the vehicle.SOLUTION: A moving body detection system of a vehicle is comprised of: a moving body detection device 3 which is arranged at an upper end of a vehicle 1 and detects position information of moving bodies A and B in a panoramic manner; and a control device 4 for predicting movement of the moving bodies A and B based on position information of the moving bodies A and B detected by the moving body detection device 3.SELECTED DRAWING: Figure 1

Description

The present disclosure relates to a vehicle moving body detection system and a vehicle moving body detection method.

An automobile safety system has been proposed having a function of displaying the distance between a vehicle and an obstacle on a controller display by computer graphics in a state in which the passenger can clearly recognize it (see, for example, Patent Document 1).

Japanese Unexamined Patent Publication No. 2005-297863

However, with the prior art as exemplified in Patent Document 1 above, it has been difficult to accurately detect a moving body running in parallel with the vehicle in a region lateral to the driver's seat of the vehicle.

An object of the present disclosure is to provide a moving body detection system for a vehicle and a moving body detecting method for a vehicle that can accurately detect a moving body running in parallel with the vehicle in a region lateral to the driver's seat of the vehicle. It is in.

The vehicle moving body detection system of the aspect of the present invention for achieving the above object is a vehicle moving body detection system that detects a moving body running in parallel with the vehicle in a region lateral to the driver's seat of the vehicle. In the moving body detection device, which is arranged at the upper end of the vehicle and detects the position information of the moving body from a bird's-eye view, and the moving body based on the position information of the moving body detected by the moving body detecting device. It is configured with a control device that predicts the movement of the vehicle.

In addition, the method for detecting a moving body of a vehicle according to an aspect of the present invention for achieving the above object is a moving body of a vehicle that detects a moving body running in parallel with the vehicle in a region lateral to the driver's seat of the vehicle. In the detection method, a first step of detecting the position information of the moving body from a bird's-eye view by a moving body detecting device arranged at the upper end of the vehicle, and a position of the moving body detected by the first step. The method is characterized by including a second step of predicting the movement of the moving body based on the information.

According to the present disclosure, it is possible to accurately detect a moving body running in parallel with the vehicle in a region lateral to the driver's seat of the vehicle.

It is a top view which illustrates the moving body detection system of the vehicle of this disclosure. It is a front view which looked at the moving body detection system of FIG. 1 from the Y1 direction. It is a top view which illustrates the detection area of each device which constitutes a moving body detection device. (A) illustrates the detection area of the camera, and (b) illustrates the detection area of the rider. It is a figure which illustrated the moving body detection method of the vehicle of this disclosure in the form of a control flow.

Hereinafter, the vehicle moving body detection system and the vehicle moving body detection method of the embodiment of the present disclosure will be described with reference to the drawings. The moving body detection system 2 provided in the vehicle 1 is a system for detecting moving bodies A and B running in parallel with the vehicle 1 in a region lateral to the driver's seat 1a of the vehicle 1. In the present embodiment, the vehicle width direction of the vehicle 1 is defined as the X direction, the vehicle length direction is defined as the Y direction, and the vehicle height direction is defined as the Z direction. Further, although the vehicle 1 of the present embodiment is a large bus, it may be a truck or the like. The moving body detection device 3 described later may be set at least at a height (2 m or more) that allows a bird's-eye view of the pedestrian.

Further, in the present embodiment, the driver's seat 1a is arranged on the front right side of the vehicle 1 in a plan view of the vehicle 1, and runs in parallel on the left side of the vehicle 1 (the side opposite to the side on which the driver's seat 1a is arranged). The moving bodies A and B are detected by the moving body detection system 2, but the present invention is not limited to this configuration. For example, the driver's seat 1a may be arranged on the front left side of the vehicle 1, and the moving bodies A and B running in parallel on the right side of the vehicle 1 may be detected by the moving body detection system 2. Not only is the driver's seat 1a located on one side in the vehicle width direction as described above, but the driver's seat 1a is arranged in the front center of the vehicle 1 and is a moving body running in parallel on one side of the vehicle 1. A and B may be detected by the moving body detection system 2. The “one-sided” means the left side when the road on which the vehicle 1 travels is a left-handed road, and the right side when the road on which the vehicle 1 travels is a right-handed road.

Further, in the present embodiment, the moving bodies detected by the moving body detecting device 3 described later are two people, a pedestrian A closest to the vehicle 1 and a pedestrian B closest to the pedestrian crossing 11, but the number of detected people is two. It may be one person or a plurality of people of three or more people without being limited to. In addition, not only pedestrians but also bicycle operators and the like are included in the moving body.

As shown in FIGS. 1 and 2, the mobile body detection system 2 is a system including a mobile body detection device 3, a control device 4, and an alarm device 5. The moving body detection device 3 is a device that is arranged at the upper end of the vehicle 1 and detects the position information of the moving bodies A and B from a bird's-eye view. The moving body detection device 3 may be arranged on the roof panel constituting the upper end portion of the vehicle 1, or may be arranged so as to be embedded inside the roof panel. In this embodiment, the moving body detection device 3 is arranged on the roof panel. The arrangement position of the moving body detection device 3 is not particularly limited in the vehicle length direction. As for the arrangement position of the moving body detection device 3, it is preferable that the vehicle 1 is arranged on the left side of the center of the vehicle 1 in the vehicle width direction in a plan view with respect to the vehicle width direction. The detection region of the moving body detection device 3 is formed by extending the end portion of the moving body A and B on the side in which the moving bodies A and B are running in parallel in the vehicle width direction of the vehicle 1 in the vehicle length direction in a plan view of the vehicle 1. It is set in the area R set toward the side in which the moving bodies A and B are running in parallel from the first line L1. This area R is an area extending from the left end portion of the vehicle 1 toward the side (sidewalk side) where the moving bodies A and B are running in parallel. The detection region of the moving body detection device 3 is arranged so as to include at least the regions R1 and R2 described later. When the vehicle 1 is a truck composed of a cab and a loading platform, the moving body detection device 3 may be arranged at the upper end of the cab, or the upper end of the torii located at the front end of the loading platform may be provided.

The moving body detection device 3 is a device composed of one or a combination of two or more of the camera 3a, the rider 3b, and the millimeter wave radar. An example of the detection range of the moving body detection device 3 is those shown in FIGS. 3 (a) and 3 (b) (Ra, Rb), but the detection range is widened from the line segment to draw a continuous curve. It may be set. The millimeter-wave radar of the present embodiment is not a long-distance millimeter-wave radar used for detecting an inter-vehicle distance or the like, but a short-range or medium-range millimeter-wave radar.

The detection area of the moving body detection device 3 is configured by combining each detection area of these devices. In the present embodiment, the moving body detection device 3 is arranged at one position in the vehicle 1 in a plan view, at the left end of the vehicle 1 in the vehicle width direction, and in the center in the vehicle length direction. A plurality of devices 3 may be arranged at different positions. Further, a plurality of devices of the same type may be arranged, for example, two cameras 3a may be arranged.

Further, when any of the devices is installed at the arrangement position shown in FIG. 1, the moving body A in the vicinity of the left end portion of the vehicle 1 (the region defined by the lines L1, L2, L3 and the guardrail 9 in FIG. 1). It is a device that can detect from a bird's-eye view.

As shown in FIG. 1, the detection region of the moving body detection device 3 in the present embodiment is characterized in that the vehicle 1 is viewed in a plan view and includes at least a rectangular region R1. This rectangular area R1 is an area set based on an area that is assumed to be difficult for the driver of the vehicle 1 to see from the driver's seat 1a. More specifically, the rectangular region R1 is divided by the first line L1, the second line L2, the third line L3, and the fourth line L4 in width D × length (the same length as the vehicle length of the vehicle 1). It is the region of L. The second line L2 is a line formed by extending the front end portion of the vehicle 1 in the vehicle width direction. The third line L3 is a line formed by extending the rear end portion of the vehicle 1 in the vehicle width direction. The fourth line L4 is separated from the first line L1 by a preset distance D on the side where the moving bodies A and B are running in parallel, and extends parallel to the first line L1. It is a line that is formed. The width (set distance) D is set based on the area where the driver has poor visibility, and is preferably about 5 m.

If the width D of the rectangular region R1 is set to about 5 m, the driver's poor visibility region can be supplemented by the moving body detection device 3, but the length in the vehicle width direction when the vehicle 1 turns left. When is set to D1 (≧ D, the length from the left end of the vehicle 1 to the left end of the pedestrian crossing 11), most of the moving objects that may cross the pedestrian crossing are placed in the detection area of the moving object detection device 3. It is preferable because it can be included. This length D1 is, for example, about 10 m.

It is preferable that the detection region of the moving body detection device 3 includes not only the region R1 set based on the region with poor visibility of the driver but also the region R2 on the front left side of the vehicle 1. This area R2 is set based on the area where the vehicle 1 and the moving body may collide with each other when the vehicle 1 turns left. By including this area R2 in the detection area of the moving body detection device 3, it is possible to reduce the risk of the vehicle 1 colliding with the moving body when the vehicle 1 turns left.

Specifically, in the region R2, the vehicle 1 is viewed in a plan view, and the moving bodies A and B run in parallel from the intersection of the first line L1 and the second line L2 (the front left end of the vehicle 1). A triangular region defined by the fifth line L5, the second line L2, and the fourth line L4, which are formed by extending forward by a preset set angle α. Is. The set angle α is set to an angle at which a moving body that starts crossing the pedestrian crossing 11 from the right end side in the vehicle width direction (X direction) can be detected.

For example, by pointing one fisheye camera 3a to the left front corner and the left rear corner of the vehicle 1 and directing these cameras 3a to the outside (the side where the moving bodies A and B are running in parallel). The detection area of the moving body detection device 3 can include the areas R1 and R2. The configuration in which the detection region of the moving body detection device 3 includes the regions R1 and R2 is not limited to the above configuration.

The control device 4 is hardware composed of a CPU that performs various information processing, an internal storage device that can read and write programs and information processing results used for performing the various information processing, and various interfaces. The control device 4 includes a moving body detection device 3, a vehicle speed sensor (vehicle speed acquisition device) 6 that acquires the vehicle speed V of the vehicle 1, and a steering angle sensor (steering angle acquisition device) 7 that acquires the steering angle Sa of the vehicle. , The blinker operation acquisition device 8 for acquiring the operation state of the blinker on the left side of the vehicle 1 (the side on which the moving bodies A and B are running in parallel) is electrically connected. The blinkers have different operating states, on or off. The control device 4 of the present embodiment predicts the movement of the moving bodies A and B based on at least the position information of the moving bodies A and B detected by the moving body detecting device 3, more specifically, the control device. Reference numeral 4 denotes a device for determining whether or not the moving bodies A and B are stopped. In the present embodiment, the steering angle acquisition device 7 is a steering angle sensor, but a yaw rate sensor may also be used.

The control device 4 has a moving body motion determining means 4a, a turning determining means 4b, and a collision predicting means 4c. The moving body motion determining means 4a determines whether or not the moving bodies A and B are stopped based on the position information of the moving bodies A and B detected by the moving body detecting device 3 and the vehicle speed V acquired by the vehicle speed sensor 6. Is a means for determining. For example, the absolute speeds of the moving bodies A and B are calculated from the position information of the moving bodies A and B and the vehicle speed V, and when the absolute speed is zero, it is determined that the moving bodies A and B are stopped. , It is determined that the moving bodies A and B are moving when the absolute velocity is not zero.

In the turning determination means 4b, the vehicle 1 turns left based on the vehicle speed V acquired by the vehicle speed sensor 6, the steering angle Sa acquired by the steering angle sensor 7, and the operating state of the left blinker acquired by the blinker motion acquisition device 8. It is a means for determining whether or not (turning to the left where the moving bodies A and B are running in parallel) is performed. For example, when the vehicle speed V is a preset speed V1 or less, the steering angle Sa is a preset angle Sa1 or more, and the left turn signal is on, the vehicle 1 starts turning left. It is determined that it has been done. The set speed V1 is a speed for determining whether or not the vehicle 1 has entered a low speed state before making a left turn. The set angle Sa1 is an angle for determining whether or not the vehicle 1 is steered to the left turn side.

When the moving body motion determining means 4a determines that the moving bodies A and B are not stopped, and the turning determining means 4b determines that the vehicle 1 makes a turn, the collision predicting means 4c is in the process of turning. This is a means for predicting whether or not the vehicle 1 and the moving bodies A and B collide with each other. For example, the area through which the vehicle 1 passes after turning left is predicted using the minimum turning radius of the vehicle 1 stored in advance in the control device 4, and the moving bodies A and B pass through this area from this prediction time point. The time ta and tb required for the above and the time t required for the vehicle 1 to pass through this region from this prediction time point are calculated. When Δt1 (= | t-ta |) and Δt2 (= | t-tb |), which are the differences between the time t and the time ta and tb, are equal to or less than the preset set time Δtc, when the vehicle 1 turns left. It is predicted that the vehicle 1 and the moving bodies A and B will collide. The area through which the vehicle 1 passes after turning left may be predicted by using GPS (Global Positioning System). Alternatively, map information may be used to make this area the same area as the pedestrian crossing 11 arrangement area.

The alarm device 5 is a device that issues an alarm to the driver's seat 1a of the vehicle 1 or the outside of the vehicle 1 when the collision predicting means 4c predicts that the vehicle 1 and the moving objects A and B will collide. Examples of the device for issuing an alarm to the driver's seat 1a of the vehicle 1 include a speaker and a display panel. Similarly, a speaker and a display panel are exemplified as a device for issuing an alarm to the outside of the vehicle 1, but it is preferable to arrange at least a speaker in order to call attention to the moving bodies A and B.

The control flow based on the moving body detection system 1 of the present embodiment, in other words, the moving body detection method of the vehicle 1 will be described with reference to FIG. The control flow shown in FIG. 4 is a control flow that is periodically performed while the vehicle is running.

When the control flow shown in FIG. 4 starts, in step S10 (first step), the position information of the moving bodies A and B is detected by the moving body detecting device 3, and the vehicle speed V is acquired by the vehicle speed sensor 6. After performing step S10, the process proceeds to step S20. In step S20 (second step), based on the position information of the moving bodies A and B detected in step S10, the moving body motion determining means 4a determines whether or not the moving bodies A and B are stopped. If it is determined that both the moving bodies A and B are stopped (YES), the process proceeds to return and the control flow is terminated. On the other hand, if it is determined that either the moving body A or B is moving (NO), the process proceeds to step S30.

In step S30, the steering angle sensor 7 acquires the steering angle Sa, and the blinker acquisition device 8 acquires the operating state of the left blinker. After performing step S30, the process proceeds to step S40.

In step S40, the turning determination means 4b determines whether or not the vehicle 1 makes a left turn. If it is determined that the vehicle 1 does not make a left turn (NO), the process proceeds to return and the present control flow ends. On the other hand, if it is determined that the vehicle 1 makes a left turn (YES), the process proceeds to step S50.

In step S50, the collision predicting means 4c predicts whether or not the vehicle 1 and the moving bodies A and B determined to be moving in step S20 collide with each other while the vehicle is turning left. When it is predicted that the vehicle 1 and the moving bodies A and B do not collide (NO), the process proceeds to the return and the present control flow is terminated. On the other hand, if it is predicted that the vehicle 1 and the moving bodies A and B will collide (YES), the process proceeds to step S60.

In step S60, the alarm device 5 issues an alarm to the driver's seat 1a of the vehicle 1 or the outside of the vehicle 1. After executing step S60, the process proceeds to return and the present control flow is terminated.

In the moving body detection system 2 of the vehicle of the present embodiment, the moving bodies A and B running in parallel with the vehicle 1 in the area lateral to the driver's seat 1a of the vehicle 1 are detected from a bird's-eye view by the moving body detecting device 3. .. As a result, unlike the case where the moving body detection device 3 is installed on the side surface of the vehicle 1 in the vehicle width direction and the detection area of the device 3 is set to the area parallel to the ground, between the vehicle 1 and the moving body B. The guard rail 9 and the implant 10 and the like arranged do not interfere with the detection of the moving body B by the moving body detecting device 3. Further, the moving body A located near the left end portion of the vehicle 1 can be detected without any trouble. Therefore, the moving bodies A and B can be detected accurately.

Further, when it is predicted that the vehicle 1 and the moving bodies A and B will collide, an alarm device 5 issues an alarm to the driver's seat 1a of the vehicle 1 or the outside of the vehicle 1. As a result, the driver of the vehicle 1 and the moving bodies A and B can quickly select an action for avoiding a collision.

In addition, after arranging the moving body detection device 3 at the upper end of the vehicle 1, another moving body detecting device is further placed on the side surface of the vehicle 1 in the vehicle width direction and at a position lower than the support 9a of the guardrail 9. It is preferable to arrange it. For example, when a signboard higher than the moving body B (the pillar of the signboard is higher than the pillar 9a of the guardrail 9) is placed at the arrangement position of the planting 10 shown in FIG. 1, instead of the planting 10, the upper end of the vehicle 1 is placed. There is a possibility that the arranged moving body detecting device 3 cannot detect the moving body B because it is obstructed by this signboard. In such a case, another moving body detecting device can detect the moving body B through between the columns 9a of the guardrail 9 and between the columns of the signboard 10, so that the moving body can be detected. The accuracy can be improved.

1 Vehicle 1a Driver's seat 2 Vehicle moving object detection system 3 Moving object detecting device 3a Camera 3b Rider 4 Control device 4a Moving object motion determining means 4b Turning determining means 4c Collision prediction means 5 Alarm device 6 Vehicle speed sensor (vehicle speed acquisition device)
7 Steering angle sensor (steering angle acquisition device)
8 Turn signal motion acquisition device 9 Guardrail 10 Implantation 11 Pedestrian crossing A Moving body B Moving body L1 1st line L2 2nd line L3 3rd line L4 4th line L5 5th line R area R1 Rectangular area R2 Triangular area α setting angle

Claims (7)

In a moving body detection system for a vehicle that detects a moving body running in parallel with the vehicle in a region lateral to the driver's seat of the vehicle.
A moving body detection device that is placed at the upper end of the vehicle and detects the position information of the moving body from a bird's-eye view.
A vehicle moving body detection system including a control device that predicts the movement of the moving body based on the position information of the moving body detected by the moving body detecting device. The detection area of the moving body detection device is a plan view of the vehicle.
Set toward the side where the moving body is running in parallel from the first line formed by extending the end on the side where the moving body is running in parallel in the vehicle width direction of the vehicle in the vehicle length direction. The moving body detection system for a vehicle according to claim 1, wherein the vehicle is set in the area to be set. The detection area of the moving body detection device is a plan view of the vehicle.
The first line, the second line formed by extending the front end of the vehicle in the vehicle width direction, and the third line formed by extending the rear end of the vehicle in the vehicle width direction. And the fourth line formed so as to be separated from the first line by a preset distance on the side where the moving body is running in parallel and extending in parallel with the first line. The moving object detection system for a vehicle according to claim 2, wherein the vehicle includes at least a rectangular area partitioned by. The detection area of the moving body detection device is a plan view of the vehicle.
A fifth line formed from the intersection of the first line and the second line on the side where the moving body runs in parallel and extending forward by a preset set angle, and the above. The moving body detection system for a vehicle according to claim 3, further comprising a triangular region defined by the second line and the fourth line. A vehicle speed acquisition device for acquiring the vehicle speed of the vehicle, a steering angle acquisition device for acquiring the steering angle of the vehicle, and a blinker operation acquisition for acquiring the operating state of the blinker on the side where the moving body of the vehicle is running in parallel. Equipped with equipment,
The control device
A moving body operation determining means for determining whether or not the moving body is stopped based on the position information of the moving body detected by the moving body detecting device and the vehicle speed acquired by the vehicle speed acquisition device.
The moving body is running in parallel with the vehicle based on the vehicle speed acquired by the vehicle speed acquisition device, the steering angle acquired by the steering angle acquisition device, and the operating state of the blinker acquired by the blinker motion acquisition device. A turning determination means for determining whether or not to turn to the side,
When the moving body motion determining means determines that the moving body has not stopped and the turning determining means determines that the vehicle makes a turn, the vehicle and the moving body make a turn during the turning. Collision prediction means for predicting whether or not a collision will occur,
The moving body detection system for a vehicle according to any one of claims 1 to 4. The fifth aspect of claim 5, wherein the vehicle is provided with an alarm device that issues an alarm to the driver's seat of the vehicle or the outside of the vehicle when the vehicle is predicted to collide with the moving body by the collision predicting means. Vehicle moving object detection system. In a method for detecting a moving body of a vehicle that detects a moving body running in parallel with the vehicle in a region lateral to the driver's seat of the vehicle.
The first step of detecting the position information of the moving body from a bird's-eye view by the moving body detecting device arranged at the upper end of the vehicle, and
A method for detecting a moving body of a vehicle, which comprises a second step of predicting the movement of the moving body based on the position information of the moving body detected by the first step.

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