JP4517393B2 - Driving assistance device - Google Patents

Description

  The present invention relates to a driving assistance device for preventing a collision accident with a vehicle or a pedestrian hidden in a blind spot of an oncoming vehicle in a right turn at an intersection.

  In order to prevent a right turn accident at an intersection, for example, in Patent Document 1, when an oncoming vehicle state and a road surface state are detected and a collision with the host vehicle can be predicted, an alarm device alerts the driver and There has been proposed a system that automatically stops the host vehicle when the deceleration operation is delayed.

Japanese Patent No. 3174833 JP 2003-81037 A

  By the way, in Patent Document 1, oncoming vehicle detection means for detecting the state of an oncoming vehicle with respect to a counter-straight vehicle that cannot be confirmed behind the shape of the road or behind the oncoming vehicle, and road surface condition detection means for detecting the state of the road surface And road database means that holds the linear information of the road is provided on the road side, and the own vehicle tries to prevent such collision by absorbing the information by road-to-vehicle communication, but installing these facilities at all intersections is Realization is not easy in terms of cost.

  On the other hand, in Patent Document 2, an apparatus for detecting a straight vehicle or a pedestrian by a moving body detection device mounted on the own vehicle, predicting the movement thereof, and issuing a warning in the case of a collision compared with the predicted route result of the own vehicle. However, it is not possible to warn about moving bodies that are in the blind spot of a moving body detection device such as a CCD camera or an ultrasonic sensor mounted on the vehicle or a mobile body that does not have a transmission means such as a mobile phone. There's a problem.

  The present invention has been made in view of the above problems, and provides a driving support device that can prevent a collision accident with a vehicle or a pedestrian hidden in a blind spot of an oncoming vehicle and does not require roadside equipment. With the goal.

Means for Solving the Problems and Effects of the Invention

In order to solve the above-described problem, a first aspect of the present invention is a driving support device that includes only a vehicle-mounted device, and has an imaging unit that captures an oncoming road, and an opposing vehicle that becomes a blind spot from the driver's view by the oncoming vehicle. a blind spot recognition means for recognizing an image obtained by the imaging means blind spot on a road, the travel information acquisition unit that acquires travel information of the vehicle to recognize the blind area, and, detects the right turn condition of the vehicle And a warning means for warning the driver. According to this, it recognizes the blind area from the actually obtained by the image pickup means, by a warning when the right turn of the vehicle can effectively avoid collision risk with another vehicle or the like which has entered the blind area. Moreover, according to this structure, the road side installation is not required.

In this case, the travel information acquisition means calculates a predicted travel route after a predetermined time of the host vehicle that has started a right turn, and the blind spot recognition means moves the travel area after a predetermined time of the blind spot area that moves with the movement of the oncoming vehicle. estimating a, it calculates the moving regions the estimated as a prediction variation region of the blind area, warning means may be configured to perform a warning when the predicted movement route of the vehicle is crossing the predicted variation region of the blind area. According to this, the prediction movement path of the vehicle for a warning when interlaced with the predicted variation region of the blind area, can alert a more specific collision probability the driver.

To solve the above problems, the opposing second is the present invention, a driving support device consists only of vehicle and equipment, comprising imaging means for photographing a face road, the dead angle from the view of the driver by the oncoming vehicle A blind spot recognition means for recognizing a blind spot area on the road from an image obtained by the imaging means, a mobile object detection means for detecting a mobile object entering the blind spot area, a travel information acquisition means for acquiring travel information of the host vehicle, detecting the moving object, and characterized in that it comprises a warning means for performing warning to the driver when it detects the right turn condition of the vehicle. According to this, actually it detects a moving object entering the blind spot region by the moving body detection unit, by a warning when the right turn of the vehicle, dangerous collision with the moving body has entered the blind area (another vehicle, etc.) Sex can be effectively avoided. Moreover, according to this structure, the road side installation is not required.

In this case, the travel information acquisition means calculates a predicted movement path after a predetermined time of the host vehicle that has started the right turn, and the moving body detection means calculates the predicted movement path after the predetermined time of the moving body from the moving state of the moving body. The warning means can be configured to issue a warning when the predicted movement path of the host vehicle intersects with the predicted movement path of the moving body . According to this, since a warning when the predicted moving path of the moving body that has entered the predicted movement route and the blind spot region of the vehicle is interlaced, it can alert a more specific collision probability the driver.

Moreover , when a warning means gives a warning, it can comprise so that the braking control apparatus which brakes the own vehicle with it may be provided. According to this, the risk of collision can be more effectively avoided by braking the host vehicle together with the above warning.

The driver imaging means for photographing the driver's eyes and the line-of-sight detection means for detecting the driver's line of sight from the image obtained by the driver imaging means, and the warning means includes a driver's line of sight in the blind spot region. You may comprise so that a warning may be performed only when it is not facing the direction. According to this, since the warning is performed only when the driver's line of sight is not in the direction of the blind spot area, the warning can be performed as necessary.

(1) First Embodiment Hereinafter, a first embodiment of a driving support apparatus according to the present invention will be described with reference to the drawings. FIG. 1 is a diagram illustrating a blind spot area BS on the opposing road OL that is a blind spot from the field of view of the driver of the host vehicle MC by the oncoming vehicle TR. For the driver of the host vehicle MC trying to make a right turn, the oncoming vehicle TR even if a vehicle (two-wheeled vehicle or four-wheeled vehicle) or a pedestrian (hereinafter collectively referred to as a moving body) exists in the blind spot area BS. There is a risk of colliding with a moving object by turning right because it cannot be confirmed behind the screen. That is, for example, when the host vehicle MC makes a right turn across the front of the oncoming vehicle TR, the moving body hidden in the blind spot area BS pops out and collides, or crosses the back of the oncoming vehicle TR that has passed. When the vehicle MC makes a right turn, a situation occurs in which the vehicle MC collides with a moving object remaining behind the blind spot area BS.

  Therefore, the driving support apparatus 100 (see FIG. 2) of the first embodiment detects the presence or absence of the blind spot area BS caused by the oncoming vehicle TR by taking an image with the camera 3 outside the vehicle, the blind spot area BS exists, and the driving is performed. When the driver continues the right turn operation, the driver is warned that there is a collision risk and prompts the driver to drive slowly. Hereinafter, the configuration and operation of the driving support device 100 will be described in detail.

(1-1) Device Configuration A configuration of the driving support device 100 will be described. FIG. 2 shows an electrical block diagram of the driving support device 100. The driving support apparatus 100 includes an on-vehicle camera 3 that captures the oncoming road OL, a detector 6, a sensor / switch group 4, a display device 51, an audio output device 52, and a control to which these are connected. A circuit 10 is provided.

  The vehicle exterior camera (imaging means) 3 is composed of a CCD camera or the like, and inputs the captured video as a video signal to the control circuit 10. In addition, a plurality of outside cameras 3 are installed in a state of being separated from each other (two in the present embodiment), and when these are photographed in the direction of the oncoming vehicle TR, an actual blind spot (a blind spot area as viewed from the driver). The blind spot as viewed from the outside camera 3 can be narrower than BS). In addition, by installing a plurality of outside cameras 3, it is possible to grasp a three-dimensional object as the oncoming vehicle TR from a three-dimensional image obtained by stereoscopic viewing (parallax calculation). The outside camera 3 captures a wide range FV (see FIG. 1) including not only the oncoming road OL but also the traveling road DL on which the host vehicle MC travels.

  The detector 6 includes a millimeter wave radar, a laser radar, or the like, receives a radio wave reflected from an object by emitting a millimeter wave or an infrared laser, and based on a propagation time or a frequency difference caused by the Doppler effect, It measures the position and relative speed of the object. Thus, when there is an oncoming vehicle TR, travel information such as a moving speed and a traveling direction can be obtained.

  The sensor / switch group 4 includes a vehicle speed sensor 41 for detecting the speed of the vehicle, a steering angle sensor 42 for detecting the steering angle of the wheels, an accelerator state sensor 43 for detecting the depression amount of the accelerator pedal, and a speed at which the vehicle rotates (yaw rate). ) For detecting the turn signal), a direction display switch 45 for inputting the state of the blinker, and the like. These function as a part of the travel information acquisition means of the present invention, and when a detection signal is input, the control circuit 10 described later acquires the travel information of the host vehicle MC. In the present embodiment, the detection signals are directly input to the control circuit 10 from the sensor / switch group 4, but the detection signals may be input via the in-vehicle LAN.

  The display device 51 is composed of a display device typified by a color liquid crystal, and the audio output device 52 is composed of an amplifier and a speaker, and warns the driver by a command from the control unit 10 described later. Output. That is, these function as a part of the warning means of the present invention.

  The control circuit 10 is configured as a normal computer, and includes a known CPU 11, ROM 12, RAM 13, input / output interface (I / O) 14, and a bus line 15 for connecting these configurations. The CPU 11 controls the program and data stored in the ROM 12 and RAM 13. The ROM 12 has a program storage area 12a and a data storage area 12b. The on-coming road monitoring program 12p is stored in the program storage area 12a. This oncoming road monitoring program 12p operates on the RAM 13 in the form of the work memory 13w as a work area. On the other hand, the data storage area 12b stores various data necessary for the operation of the oncoming road monitoring program 12p. These programs and data may be stored in an external memory. With the above configuration, the control circuit 10 functions as blind spot recognition means, warning means, and travel information acquisition means of the present invention when the oncoming road monitoring program 12p is activated by the CPU 11.

(1-2) Device Operation Next, the operation of the driving support device 100 will be described with reference to FIGS. Here, FIG. 3 shows the process of the oncoming road monitoring program 12p executed by the CPU 11 of the driving support apparatus 100 as a flowchart, and FIG. 4 shows the process as a functional block diagram.

  First, when the oncoming road monitoring program 12p is activated, the CPU 11 processes image data input from the outside camera 3 (step S1, blind spot recognition unit 91). Specifically, the outside camera 3 mainly captures the state of the oncoming road OL, and recognizes the presence or absence of the blind spot area BS based on the presence of the oncoming vehicle TR and the width of the oncoming road OL. The existence of the oncoming vehicle TR and its running state can be grasped by the relative speed with the surroundings. When a plurality of outside cameras 3 are provided as described above, an image data composition unit is provided to recognize the blind spot area BS from an image obtained by combining the images obtained by the plurality of outside cameras 3. As a result, the amount of data can be reduced and the processing time can be shortened.

  Since the presence of the blind spot area BS actually becomes a problem when the host vehicle MC turns right, the CPU 11 detects the start of the right turn state of the host vehicle MC while processing the image data (step S1). (Step S2, travel information acquisition unit 92). Here, the start of the right turn state is detected by a signal input from the sensor / switch group 4. For example, when the start of lighting of the right turn signal is input from the direction indicating switch 45, it is detected as the start of the right turn state. Further, when it is input from the steering angle sensor 42 or the yaw rate sensor 44 that the host vehicle has started to proceed in the right direction, it can be detected as the start of the right turn state. In addition to the sensor switch group 4, for example, when the camera 3 outside the vehicle also captures the state of the traveling road DL along which the host vehicle MC travels together with the oncoming road OL, a right turn display (on the road or signal) Can be detected as the start of the right turn state.

  When the start of the right turn state of the host vehicle MC is detected (step S2: Yes), the CPU 11 subsequently calculates the predicted travel route of the host vehicle MC (step S3, travel information acquisition unit 92). The predicted movement route is calculated based on travel information such as the speed of the host vehicle MC, the steering angle, the yaw rate, and the accelerator depression amount obtained from the sensors 41 to 44.

  On the other hand, when the presence of the oncoming vehicle TR is grasped by the processing of the image data from the outside camera 3 (step S4: Yes), the CPU 11 calculates the predicted variation area of the blind spot area BS (step S5, blind spot). Recognition unit 91). The predicted variation area can be determined as a range that becomes the blind spot area BS until a predetermined time elapses from the current time based on the moving speed and the traveling direction of the oncoming vehicle TR obtained by image processing. In addition, in consideration of a case where a moving body that is hidden in the blind spot area BS moves relative to the oncoming vehicle TR, a range in which the range is further expanded by a certain amount can be set as the predicted variation area. The moving speed and the traveling direction of the oncoming vehicle TR can also be obtained using the detector 6.

  Next, the CPU 11 determines whether or not the predicted movement path of the host vehicle MC and the predicted fluctuation area of the blind spot area BS intersect (step S6, warning section 93). That is, it is determined whether or not the position where the host vehicle MC will reach after n seconds is included in the range that becomes the blind spot area BS from the present time until the elapse of n seconds.

  If it is determined that the predicted travel route of the host vehicle MC and the predicted variation area of the blind spot area BS intersect (step S6: Yes), the CPU 11 outputs to the display device 51 and the audio output device 52 to drive A warning that a rear-end collision may occur is given to the person (step S8, warning section 93). At this time, if the vehicle MC is in a stopped state, such as when the driver senses the danger first and stops the vehicle MC, no warning is given so as not to bother the driver. (Step S7). In addition, not only when the predicted movement path | route of the own vehicle MC and the prediction fluctuation | variation area | region of the blind spot area | region BS cross, but when the blind spot area | region BS has arisen by oncoming vehicle TR, it shall comprise so that a warning may be always performed. You can also.

(2) Second Embodiment Hereinafter, a second embodiment of the driving support apparatus according to the present invention will be described with reference to the drawings. In addition, about the location which overlaps with said 1st embodiment, the same number is attached | subjected and description is abbreviate | omitted. When the driving support apparatus 200 (see FIG. 6) of the second embodiment detects that a moving body OT such as an overtaking vehicle has entered the blind spot area BS as shown in FIG. 5, the movement of the moving body OT is detected. Is predicted and the driver is warned that there is a danger of a collision to encourage slowing down. Furthermore, even if the warning continues, the driving operation of the host vehicle MC is restricted when the driver continues the right turn operation without performing a deceleration or stop operation. Hereinafter, the configuration and operation of the driving support device 200 will be described in detail.

(2-1) Device Configuration A configuration of the driving support device 200 will be described. FIG. 6 shows an electrical block diagram of the driving support device 200. The driving support device 200 has a basic configuration similar to that of the driving support device 100 of the first embodiment, and further includes a braking control device 7. The brake control device 7 can be configured as an ECU (Electronic Control Unit) of a control system that controls the traveling operation of the vehicle, and includes an engine ECU that performs various controls related to the engine and a brake ECU that performs various controls related to the brake. Note that the braking control device 7 may be connected via an in-vehicle LAN.

  Further, the control circuit 10 ′ stores the oncoming road monitoring program 12p ′ in the program storage area 12a, and when the oncoming road monitoring program 12p ′ is activated by the CPU 11, the driving support device 100 of the first embodiment and Similarly, it functions as a blind spot recognition means, warning means, and travel information acquisition means of the present invention, and also functions as a moving body detection means of the present invention.

(2-2) Device Operation Next, the operation of the driving support device 200 will be described with reference to FIGS. Here, FIG. 7 shows a process of the oncoming road monitoring program 12p ′ executed by the CPU 11 of the driving support apparatus 200 as a flowchart, and FIG. 8 shows the process as a functional block diagram.

  When the presence of the oncoming vehicle TR is known by the processing of the image data from the outside camera 3 (step S4: Yes), the CPU 11 has a moving body OT that enters the blind spot area BS generated by the oncoming vehicle TR. Whether or not is monitored (step S11, moving body detection unit 94). The moving body OT entering the blind spot area BS is, for example, a vehicle that passes through the blind spot area BS and tries to pass the oncoming vehicle TR (enters from behind the blind spot area BS), and conversely, it is added to the oncoming vehicle TR. Vehicles that are likely to pass (enter from the front of the blind spot area BS).

  Detection of the moving object OT can be performed by the detector 6 (functioning as a moving object detecting means of the present invention). It can also be detected by processing image data from the outside camera 3. Specifically, the CPU 11 grasps the oncoming vehicle TR and the moving body OT by separating and extracting objects having different moving speeds from the detection signal input from the detector 6 every moment, and the moving body OT is detected by the oncoming vehicle TR. It is determined that the vehicle has entered the blind spot area BS when the reflected radio wave can no longer be received behind the shadow. Further, based on the speed and direction before the moving body OT enters the blind spot area BS, the speed at which the moving body OT passes through the blind spot area BS is estimated, and a predicted moving path is calculated (step S12, the moving body detecting unit 94). ). In addition, in consideration of the case where the speed of the moving body OT entering the blind spot area BS changes, the predicted movement path can be assumed to have a certain width.

  Then, the CPU 11 determines whether or not the predicted movement path of the host vehicle MC and the predicted movement path of the moving body OT intersect (step S13, warning unit 93). That is, it is determined whether or not the position where the host vehicle MC will reach after n seconds overlaps with the position where the mobile unit OT will reach after n seconds. Thereafter, the CPU 11 outputs a warning (step S8) and outputs to the braking control device 7 when the driver does not decelerate or stop the host vehicle MC even if the warning is given (step S14: No). To brake the host vehicle MC (step S15, warning section 93). Note that the present invention is not limited to the case where the predicted movement path of the host vehicle MC and the predicted movement path of the moving body OT cross each other, but is configured to always perform warning and braking when the moving body OT enters the blind spot area BS. You can also.

  Specifically, regarding the braking of the host vehicle MC, when the braking control device 7 (control system ECU) receives a restriction command for the traveling operation from the control unit 10 ′, for example, the brake ECU automatically applies the brake. By operating to stop or decelerate the vehicle, or by operating the vehicle so that the vehicle does not start or accelerate by stopping the fuel supply to the engine even if the engine ECU receives an accelerator pedal operation input Done.

(3) Third Embodiment Hereinafter, a third embodiment of the driving support apparatus according to the present invention will be described with reference to the drawings. In addition, about the location which overlaps with said 1st embodiment, the same number is attached | subjected and description is abbreviate | omitted. The driving support device 300 (see FIG. 10) provides the above-described warning only when the driver's line of sight is not directed to the blind spot area BS by providing the line-of-sight camera 8 in the vehicle as shown in FIG. It is configured. Although FIG. 9 shows an example in which the line-of-sight camera 8 is disposed on the dashboard or in the vicinity of the upper part of the A pillar, a configuration may be employed in which the rearview mirror is installed as a transmissive mirror inside the rearview mirror or installed on the steering wheel.

(3-1) Device Configuration A configuration of the driving support device 300 will be described. FIG. 10 shows an electrical block diagram of the driving support device 300. The driving support device 300 has a basic configuration similar to that of the driving support device 100 of the first embodiment, and further includes a line-of-sight camera 8 (driver imaging means). The line-of-sight camera 8 is composed of a plurality of CCD cameras in order to obtain a three-dimensional image, and inputs the photographed video as a video signal to the control circuit 10 ″.

  Further, the control circuit 10 ″ stores the oncoming road monitoring program 12p ″ in the program storage area 12a, and when the oncoming road monitoring program 12p ″ is activated by the CPU 11, the driving support device 100 of the first embodiment and Similarly, it functions as a blind spot recognition means, warning means, and travel information acquisition means of the present invention, and also functions as a line-of-sight detection means of the present invention.

(3-2) Device Operation Next, the operation of the driving support device 300 will be described with reference to FIGS. Here, FIG. 11 shows the process of the oncoming road monitoring program 12p ″ executed by the CPU 11 of the driving support apparatus 300 as a flowchart, and FIG. 12 shows the process as a functional block diagram.

  When the CPU 11 determines that the predicted movement path of the host vehicle MC and the predicted variation area of the blind spot area BS intersect (step S6: Yes), the CPU 11 detects the driver's line of sight by analyzing the image data obtained from the line-of-sight camera 8. Only when the line of sight does not face the blind spot area BS (step S22: No), a warning is output (step S8, warning unit 93).

  The driver's line of sight first obtains a line-of-sight direction (line-of-sight vector) by analyzing the image data obtained from the line-of-sight camera 8, and sets a starting point based on the driver's eyeball position (or head position) in the line-of-sight direction. It can be obtained by giving. Specifically, the two line-of-sight cameras 8 photograph the vicinity of the driver's face, and the CPU 11 receiving such image data specifies an eyeball region from the face image and stereoscopically views the eyeball shape. Then, the eyeball center coordinates are obtained from the curvature. On the other hand, a black eye (pupil) region is specified from the eyeball region, and a black eye center coordinate is also obtained. Then, the direction from the eyeball center coordinates to the black eye center coordinates is defined as a line-of-sight direction (line-of-sight vector). A straight line extending from the start point to the line of sight with the position coordinates of the eyeball as the start point is the line of sight. Note that the position of the approximate head of the driver sitting in the driver's seat is set in advance as a starting point, and the line of sight can be obtained from this. As described above, the driver's line of sight is specified.

  As mentioned above, although embodiment of this invention was described, this invention is not limited to these, In the range which does not deviate from the summary, it can change suitably and can implement. For example, the braking control device 7 is provided in the driving support device 100 according to the first embodiment and the host vehicle MC is braked together with a warning, or the line-of-sight camera 8 is provided in the driving assistance device 200 according to the second embodiment so that the driver's line of sight is increased. A warning can be configured only when the direction of the blind spot area BS is not directed.

The figure explaining the blind spot area born by the oncoming vehicle on the oncoming road The electrical block diagram of the driving assistance device which concerns on 1st embodiment of this invention. The flowchart showing the process which the driving assistance device which concerns on 1st embodiment of this invention performs. The functional block diagram showing the process which the driving assistance device which concerns on 1st embodiment of this invention performs A diagram explaining how a moving object enters the blind spot area Electrical block diagram of the driving support device according to the second embodiment of the present invention The flowchart showing the process which the driving assistance device which concerns on 2nd embodiment of this invention performs. The functional block diagram showing the process which the driving assistance device which concerns on 2nd embodiment of this invention performs The figure showing the line-of-sight camera (driver imaging means) installed in the cockpit of the vehicle Electrical block diagram of the driving support device according to the third embodiment of the present invention The flowchart showing the process which the driving assistance device which concerns on 3rd embodiment of this invention performs. The functional block diagram showing the process which the driving assistance device which concerns on 3rd embodiment of this invention performs

Explanation of symbols

3 Outside camera (imaging means)
4 Sensors and switches (travel information acquisition means)
51 Display device (warning means)
52 Audio output device (warning means)
6 Detector (moving body detection means)
7 Braking control device 8 Gaze camera (driver imaging means)
10, 10 ', 10 "control circuit (dead angle recognition means, travel information acquisition means, warning means, moving object detection means, line of sight detection means)
100, 200, 300 Driving support device

Claims (6)

A driving support device composed only of onboard equipment,
Imaging means for photographing the oncoming road;
A blind spot recognition means for recognizing an image obtained by the image pickup means blind spot area on the opposite road in a dead angle from the view of the driver by the oncoming vehicle,
Traveling information acquisition means for acquiring traveling information of the host vehicle;
Recognize the blind area, and a warning means for performing warning to the driver when it detects the right turn condition of the vehicle,
A driving support apparatus comprising: The travel information acquisition means calculates a predicted travel route after a predetermined time of the host vehicle that has started a right turn, and the blind spot recognition means is after the predetermined time of the blind spot area that moves as the oncoming vehicle moves. And the warning means calculates the estimated moving area as a predicted fluctuation area of the blind spot area, and the warning means includes the predicted moving path when the predicted moving path of the host vehicle intersects with the predicted changed area of the blind spot area. The driving support device according to claim 1, wherein a warning is given. A driving support device composed only of onboard equipment,
Imaging means for photographing the oncoming road;
A blind spot recognition means for recognizing an image obtained by the image pickup means blind spot area on the opposite road in a dead angle from the view of the driver by the oncoming vehicle,
A moving body detecting means for detecting a moving body entering the blind spot area;
Traveling information acquisition means for acquiring traveling information of the host vehicle;
Detecting the moving object, and a warning means for performing warning to the driver when it detects the right turn condition of the vehicle,
A driving support apparatus comprising: The travel information acquisition means calculates a predicted travel path after a predetermined time of the host vehicle that has started a right turn, and the mobile body detection means predicts the mobile body from the moving state after the predetermined time. The driving support device according to claim 3 , wherein a travel route is calculated, and the warning unit performs the warning when the predicted travel route of the host vehicle intersects with the predicted travel route of the moving body . The driving support device according to any one of claims 1 to 4, further comprising a braking control device that brakes the host vehicle when the warning unit performs the warning. The driving support device according to any one of claims 1 to 5 , wherein the warning unit does not perform the warning when the host vehicle is in a stopped state.

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