JP4882153B2 - Vehicle information output device - Google Patents

Description

[0001]
BACKGROUND OF THE INVENTION
The present invention relates to a vehicle information output device that presents various information around a host vehicle such as the speed of oncoming vehicles and preceding vehicles, road congestion, and the presence of obstacles on the road to a vehicle driver. is there.
[0002]
[Prior art]
For example, such a device is based on a detection signal from a sensor mounted on a vehicle, information from a road traffic information system such as ITS, or information from other vehicles by inter-vehicle communication, and information on the situation around the vehicle to the driver. Is presented.
[0003]
As information presented to the driver by such a device, for example, there is an approaching other vehicle at an unforeseeable intersection where a building or the like is obstructing the driver's view, but such information is already present in the other vehicle. In some cases, the driver feels annoyed because a warning sound is emitted even though the driver recognizes that he is approaching.
[0004]
In order to solve such a problem, for example, the device disclosed in Japanese Patent Application Laid-Open No. 2000-113395 is based on driving information (vehicle speed, gear position, parking brake state, throttle opening, etc.) of the own vehicle. The intention of the driver such as starting is determined, and it is determined whether or not to present information according to this. Thereby, information is presented according to the driving operation of the driver, and the driver is prevented from feeling bothersome.
[0005]
[Problems to be solved by the invention]
However, in the above device, when necessary information is not presented depending on the operation state of the driver, such as information on other vehicles approaching from the driver's blind spot at an intersection or the like, regardless of the operation state of the driver. There is.
[0006]
The present invention pays attention to the above-mentioned problem, and selects information that is estimated to be unrecognized by the driver from the detected information around the vehicle, and presents only the selected information to the driver. An object of the present invention is to make it possible to present necessary information to the driver without making the driver feel bothersome.
[0007]
[Means for Solving the Problems]
  To achieve the above object, the first invention according to claim 1 is directed to road traffic information detection means for detecting road traffic information around the vehicle and an object of the road traffic information, and a driver from the driver's seat of the vehicle. The vehicle surrounding image detecting means for detecting the surrounding image of the own vehicle that can be seen, the driver state detecting means for detecting the driver's condition, and the road traffic information detected by the road traffic information detecting means Road traffic information presenting means to be presented to the driver, judgment information that there is an object of road traffic information detected by the road traffic information detecting means, and self-detected by the vehicle surrounding image detecting means. From the image data around the vehicle, there is a target vehicle that meets the judgment condition based on the road traffic information detected by the road traffic information detection means and is the target of information presentation.A range that may exist is determined, and the possibility of recognition of the target vehicle by the driver is determined based on whether or not the target vehicle is photographed in the set range., The image around the detected vehicleThe target vehicle isThe determination information that the driver exists, the determination information that the driver has already recognized the target vehicle when the target vehicle exists in the visibility region, and the driver state detection Road traffic information presentation restricting means for not presenting information to the driver based on the determination information that the object is in the driver's field of view based on the detection result of the means.
[0009]
  According to a second aspect of the present invention, road traffic information detecting means for detecting road traffic information around the host vehicle and an object of the road traffic information, and host vehicle running state detecting means for detecting the running state of the host vehicle. The vehicle surrounding image detection means for detecting the surrounding image of the vehicle that the driver can see from the driver's seat of the vehicle, and the road traffic information detected by the road traffic information detection means to the driver. Presenting to the driver based on the road traffic information presenting means to be presented and the road traffic information detected by the road traffic information detecting means and the running state of the own vehicle detected by the own vehicle running state detecting means. Select the necessary road traffic information and the object of the road traffic information, from the judgment information that the object exists, and the image data around the vehicle detected by the vehicle surrounding image detection means, Serial road traffic information subject vehicle to be relevant to the subject of the information presented to the judgment condition based on the detected road traffic information by the detection meansA range that may exist is set, and the possibility of recognition of the target vehicle by the driver is determined based on whether or not the target vehicle is captured in the set range.In the image around the known vehicleThe target vehicle isTo the driver based on the determination information that it exists and the determination information that the driver has already recognized the target vehicle by defining the driver's view area and the presence of the target vehicle in the view area. Road traffic information presentation limiting means that does not present information.
[0010]
  According to a third aspect of the present invention, road traffic information detecting means for detecting road traffic information around the own vehicle, own vehicle running state detecting means for detecting the running state of the own vehicle, and a driver seat of the own vehicle. Self-vehicle surrounding image detection means for detecting an image of the surroundings of the own vehicle that can be seen by the driver, driver state detection means for detecting the state of the driver, and road traffic detected by the road traffic information detection means Driving based on the road traffic information presenting means for presenting information to the driver, the road traffic information detected by the road traffic information detecting means and the running state of the own vehicle detected by the own vehicle running state detecting means The road traffic information that needs to be presented to the user and the object of the road traffic information are selected, the judgment information that the object exists, and the surroundings of the vehicle detected by the vehicle surrounding image detection means From the image data, the road traffic information subject vehicle to be applicable to target information presented to determine the conditions based on the sensed road traffic information by the detection meansA range that may exist is determined, and the possibility of recognition of the target vehicle by the driver is determined based on whether or not the target vehicle is photographed in the set range., The image around the detected vehicleThe target vehicle isThe determination information that the driver exists, the determination information that the driver has already recognized the target vehicle when the target vehicle exists in the visibility region, and the driver state detection Road traffic information presentation restricting means for not presenting information to the driver based on the determination information that the object is in the driver's field of view based on the detection result of the means.
[0011]
  Claim4Described4The invention is first to first3In any one of the inventions, the road traffic information detecting means detects road traffic information around the vehicle by receiving a signal from a road traffic information providing facility installed on the road. is there.
[0012]
  Claim5Described5The invention is first to first3In any one of the inventions, the road traffic information detecting means detects road traffic information around the own vehicle by inter-vehicle communication that provides a running state of each vehicle between a plurality of vehicles. is there.
[0013]
  Claim6Described6The invention is first to first3In any one of inventions, the said road traffic information detection means detects the road traffic information around the own vehicle by the radar provided in the own vehicle.
[0014]
  Claim7Described7The invention is first to first6In any one of the inventions, the vehicle surroundings image detection means detects an image of the surroundings of the host vehicle that can be viewed from the driver's seat of the host vehicle by at least one camera. .
[0015]
  Claim8Described8The invention is first to first7In any of the inventions, the road traffic information presenting means presents road traffic information to the driver by at least one of an acoustic output means and an optical display means.
[0016]
  Claim9Described9Invention1Or second3In the present invention, the driver state detection means detects a driver's state by a camera that captures the direction of the driver's face.
[0017]
  Claim10Described10Invention1Or second3In the present invention, the driver state detection means detects a driver's state by a line-of-sight detection device that detects the driver's line of sight.
[0018]
  Claim11Described11Invention2Or second3In the present invention, the vehicle running state detecting means detects at least one of a vehicle speed, a steering angle, and a direction indicator signal of the vehicle.
[0019]
  Claim12Described12The invention is first to first11In any one of the inventions, the road traffic information presentation restricting means is based on the road traffic information detected by the road traffic information detecting means, and the road among the detected images detected by the vehicle surrounding image detecting means. An area in which an object of traffic information may be present is selected, and it is determined whether or not the object is included in the selected area.
[0020]
  Claim13Described13Invention1Or second3In the invention, the road traffic information presentation restricting means determines a driver's view range based on the driver state detected by the driver state detecting means, and the view range is smaller and slower as the vehicle speed of the own vehicle is faster. It is characterized by being made larger.
[0021]
【The invention's effect】
  According to the first invention, from the judgment information that the object of the road traffic information detected by the road traffic information detecting means exists and the image data around the own vehicle detected by the own vehicle surrounding image detecting means, the road The target vehicle that meets the judgment condition based on the road traffic information detected by the traffic information detection means and is the target of information presentation isSet the range that may exist, and determine whether the driver can recognize the target vehicle based on whether or not the target vehicle is shot in the set range., The image around the detected vehicleThe target vehicleInformation indicating that the vehicle is present, information indicating that the driver has already recognized the target vehicle due to the presence of the target vehicle in the visual field and the detection result of the driver state detection means Thus, based on the determination information that the object is in the driver's field of view, it is determined that the driver recognizes the object, and no information regarding the object is presented. In other words, since information presentation is performed only when it is determined that the driver needs information, there is no inconvenience due to frequent information presentation. In addition, since only the information on the situation around the vehicle that is necessary for the driver is presented, there is no confusion caused by the information presented by the object already recognized by the driver. In addition, it can be determined with higher accuracy whether or not the driver recognizes the object, and the driver's feeling of annoyance is further reduced.
[0023]
  According to the second aspect of the present invention, the vehicle traveling state detection means for knowing the traveling state of the vehicle is provided, the road traffic information detected by the road traffic information detection means, and the vehicle detected by the vehicle traveling state detection means. Based on the running state of the vehicle, the road traffic information that needs to be presented to the driver, the object of the road traffic information is selected, the determination information that the object exists, and the vehicle surrounding image detection means From the image data of the surroundings of the vehicle detected by the above, the target vehicle that is subject to the judgment condition based on the road traffic information detected by the road traffic information detection means and that is the target of information presentation isSet the range that may exist, and determine whether the driver can recognize the target vehicle based on whether or not the target vehicle is shot in the set range., The image around the detected vehicleThe target vehicleBased on the determination information that the driver exists, and the determination information that the driver has already recognized the target vehicle because the target vehicle exists in the visibility area by defining the driver's view area. Is determined to be recognized, and information about the object is not presented. Therefore, information necessary for the driver is further narrowed down and presented, and the driver's feeling of annoyance is further reduced.
[0024]
  According to the third invention, the road that needs to be presented to the driver based on the road traffic information detected by the road traffic information detecting means and the running state of the own vehicle detected by the own vehicle running state detecting means. From the traffic information, the object of the road traffic information is selected, the judgment information that the object is present, and the image data around the vehicle detected by the vehicle surrounding image detection means, the road traffic information detection means The target vehicle that meets the criteria based on the road traffic information detected by theSet the range that may exist, and determine whether the driver can recognize the target vehicle based on whether or not the target vehicle is shot in the set range., The image around the detected vehicleThe target vehicleInformation indicating that the vehicle is present, information indicating that the driver has already recognized the target vehicle due to the presence of the target vehicle in the visual field and the detection result of the driver state detection means Based on the determination information that the object is in the driver's field of view, if the object is determined to be in the driver's field of view, information on the object is not presented to the driver. Yes. Therefore, the information necessary for the driver is further narrowed down, and it is possible to determine whether or not the driver recognizes the target object with a higher system, and the driver may feel annoyed further. It will be reduced.
[0025]
  First4According to the invention, the road traffic information detection means detects the road traffic information around the vehicle by a signal from a facility that provides road traffic information such as ITS that is grounded on the road. Road traffic information can be detected.
[0026]
  First5According to the invention, the road traffic information detecting means detects the road traffic information around the own vehicle by inter-vehicle communication that provides the traveling state of each vehicle between a plurality of vehicles. Road traffic information can be obtained even on roads where facilities are not installed.
[0027]
  First6According to the invention, since the road traffic information detecting means detects the road traffic information around the own vehicle by the radar provided in the own vehicle, it is independent without relying on facilities such as ITS and inter-vehicle communication. Thus, road traffic information can be detected.
[0028]
  First7According to the invention, the vehicle surrounding image detection means detects the image of the surroundings of the own vehicle that the driver can see from the driver's seat of the own vehicle by at least one camera. An image equivalent to the situation around the host vehicle can be detected.
[0029]
  First8According to the invention, the road traffic information presenting means presents information to the driver by using an acoustic output such as sound and warning sound, or an optical display such as a warning light and display. Can surely grasp road traffic information.
[0030]
  First9According to the invention, since the driver state detection means detects the driver's state by the camera that captures the direction of the driver's face, the driver's view is increased based on the driver's face direction. It becomes possible to recognize with accuracy.
[0031]
  First10According to the invention, since the driver state detection means detects the driver's state by the line-of-sight detection device that detects the driver's line of sight, the driver's field of view can be recognized with higher accuracy. Become.
[0032]
  First11According to the invention, since the vehicle running state detection means detects at least one of the vehicle speed, the steering angle, and the direction indicator signal of the host vehicle, the running state of the host vehicle can be more reliably grasped. Thus, it becomes possible to present appropriate information to the driver accordingly.
[0033]
  First12According to the invention, the road traffic information presentation limiting means is based on the road traffic information detected by the road traffic information detection means, and the object of road traffic information in the detected image detected by the vehicle surrounding image detection means. Since there is a possibility to select an area where the object may exist and determine whether the object is included in the selected area, it is possible to narrow down an area where the object may exist It is possible to determine in a shorter time whether or not an object exists in the detection image by the vehicle surrounding image detection means.
[0034]
  First13According to the invention, the road traffic information presentation restricting means determines the driver's view range based on the driver state detected by the driver state detecting means, and the view range is smaller and slower as the vehicle speed of the own vehicle is faster. Since it is supposed to be made larger, it becomes possible to accurately set the driver's field of view according to the traveling state of the vehicle.
[0035]
DETAILED DESCRIPTION OF THE INVENTION
Hereinafter, preferred embodiments of the present invention will be described with reference to the drawings.
[0036]
FIG. 1 is a diagram schematically showing the configuration of an embodiment of a vehicle information output device according to the present invention. This device 10 includes a vehicle external monitoring camera 11 for monitoring the situation outside the vehicle as seen from the driver's seat, a driver monitoring camera 12 for detecting the driver's face orientation and eye position, and information to the driver. Display 13 for presenting, speaker 14 for giving a warning to the driver by voice, receiver 15 for receiving information from outside such as road traffic information providing equipment grounded on the road such as ITS, steering wheel A steering angle sensor 16 for detecting the steering angle, a vehicle speed sensor 17 for detecting the speed of the vehicle, left and right direction indicator switches 18L and 18R, a brake lamp switch 19, and a controller 20 for controlling the entire apparatus are provided. Here, the vehicle external monitoring camera 11 is set to a position and an angle so that a situation outside the vehicle seen through the windshield can be photographed from the normal position (posture) of the driver.
[0037]
The situation outside the vehicle seen from the driver's seat, that is, the situation outside the vehicle existing in the driver's field of view, is photographed by the vehicle external monitor camera 11 and the image signal is sent to the controller 20. Similarly, the direction of the driver's face and the direction of the line of sight are detected by the driver monitor camera 12, information from the outside such as ITS is received by the receiver 15, and the steering angle of the steering wheel is determined by the steering angle sensor 16. Thus, the vehicle speed is detected by the vehicle speed sensor 17, and all of these data are sent to the controller 20. The signals from the direction indicator switches 18L and 18R and the brake lamp switch 19 when the vehicle turns right and left are also sent to the controller 20.
[0038]
Based on the obtained data, the controller 20 determines the road traffic information around the vehicle, for example, the presence of obstacles such as other vehicles entering the intersection with poor visibility and construction points, etc. Is output to the display 13 and the speaker 14.
[0039]
This device 10 can also be realized by adding a vehicle external monitor camera 11 that is a vehicle surrounding image detection means to the conventional device, so that an increase in manufacturing cost and price of the device itself is suppressed as much as possible. Is possible.
[0040]
FIG. 2 shows an example of the processing procedure of the control program in the apparatus of FIG. 1, in this case, the processing procedure for presenting information about other vehicles approaching the intersection ahead of the host vehicle, specifically the prospect. It is a flowchart which shows the process sequence at the time of a bad intersection and the intersection right turn. The procedure will be described below. This program is executed by interruption every predetermined time under an operating system (not shown).
[0041]
First, in step 101, various data from the various detection means, that is, the vehicle external monitoring camera 11, the receiver 15, and the like are read. Specifically, the steering angle δ from the steering angle sensor 16, the vehicle speed Vc from the vehicle speed sensor 17, each operation signal at the time of turning left and right by the operation of the direction indicator switches 18L and 18R, the signal by the operation of the brake lamp switch 19, Image data of the vehicle external situation from the vehicle external monitor camera 11, the driver's face orientation Df and line-of-sight direction Ed from the driver monitor camera 12, from the receiver 15, for example, from the own vehicle to the front intersection The vehicle speed Vt, the distance Lt to the intersection, the traveling direction Dt, and the travel lane Kt, which are information on the distance Lc and other vehicles approaching the intersection ahead, are read.
[0042]
In the following step 102, a time Tt until another vehicle reaches the intersection is calculated. Here, it is assumed that the presence of another target vehicle is received by the receiver 15. First, using the vehicle speed Vt of other vehicles and the distance Lt to the intersection,
[Expression 1]
Tt = Lt / Vt
Tt is calculated from When there are a plurality of other vehicles, Tt is calculated for each vehicle.
[0043]
In step 103, the intersection arrival time Tc of the own vehicle is calculated. Here, using the distance Lc from the host vehicle to the intersection and the vehicle speed Vc of the host vehicle,
[Expression 2]
Tc = Lc / Vc
Tc is calculated from Here, the receiver 15 directly reads the distance Lc from the vehicle to the intersection from the receiver 15, but in addition to this, the signal received from the outside is received when passing a certain point from the point to the intersection. If the distance is Ls, the distance Lc from the own vehicle, which changes with the subsequent movement, to the intersection may be calculated according to the following equation.
[Equation 3]
Lc (n) = Lc (n-1) -Vc * Δt
Here, Lc (1) = Ls, Δt is a calculation cycle, and subscript n is a calculation timing.
[0044]
In the next step 104, it is determined whether or not the driver has already recognized another vehicle for which information is to be presented. Here, if it is determined that the driver has already been recognized, the process ends. If it is determined that the driver has not recognized, the process proceeds to step 105. A specific processing procedure for the determination here will be described later.
[0045]
In step 105, an information presentation determination is made as to whether or not information should be presented to the driver according to the situation of other vehicles, which is the situation around the vehicle, and the traveling state of the host vehicle. If it is determined that information should be presented, the process proceeds to step 106, and if it is determined that the information need not be presented, the process ends. A specific processing procedure for the determination here will also be described later.
[0046]
In step 106, it is determined whether or not another vehicle (information presentation target vehicle) that is an information presentation target exists in the driver's field of view. If it is determined that the information presentation target vehicle exists in the driver's field of view, the process ends. If it is determined that the information presentation target vehicle does not exist, the process proceeds to step 107. A specific processing procedure for this determination will also be described later.
[0047]
In the following step 107, the content of information to be presented (information presentation content) is set. Here, the information presentation content according to the running state of the other vehicle obtained in each step described above is set. As the contents to be presented, the presence of other vehicles is displayed on the display 13 (see FIG. 1), and a warning sound is emitted from the speaker 14 (see FIG. 1).
[0048]
In step 108, information is output. Specifically, for example, at an intersection with poor visibility, the display 13 displays from which direction the other vehicle is approaching. If the driver does not perform an operation to stop the vehicle after the display, a warning sound is emitted from the speaker 14. The process is terminated through the above procedure.
[0049]
FIG. 3 is a flowchart showing details of the processing procedure in step 104 of FIG. Next, the procedure will be described. First, in step 201, a flag F_sonzai (i) (i in parentheses is the number of other vehicles) indicating whether or not there is another vehicle in the driver's field of view is ON, that is, in the driver's field of view. Count the time when it is determined that you are doing. In the following step 202, it is determined whether or not the counted time has elapsed by a preset value (time). If the counted time exceeds the set time, the process proceeds to step 203. If the counted time is less than the set time, the process is terminated and the program returns to the program of FIG. In step 203, a flag F_ninsiki (i) indicating that the driver recognizes the other vehicle is turned ON. When this flag is turned on, it is determined that the driver has already recognized the other vehicle, and no information is presented to the driver. After the above processing, the program returns to the program in FIG.
[0050]
FIG. 4 is a flowchart showing an example of a detailed processing procedure in step 105 of FIG. 2, and here shows a processing procedure at an intersection with poor visibility. The procedure will be described below.
[0051]
First, in step 301, information presentation determination is performed based on the traveling state of the vehicle. Specifically, the intersection arrival time Tc of the own vehicle and the distance Lc from the own vehicle to the intersection are within predetermined ranges, that is,
[Expression 4]
0 <Tc <Tc1 where, for example, Tc1 = 1 sec
Lc <Lc1 where, for example, Lc1 = 10 m
The vehicle speed Vc of the vehicle is smaller than a predetermined value, that is, it is determined that the vehicle is in the immediate vicinity of the intersection.
[Equation 5]
Vc <Vc1 where, for example, Vc1 = 15km / h
If it is, it is determined that the driver is driving slowly while asking the situation ahead. In such a case, it is determined that information presentation is necessary, and the first information presentation determination flag F_hyouji1 is set to ON.
[0052]
In the subsequent step 302, information presentation determination is performed based on the running state of the opponent vehicle (other vehicle). Specifically, the intersection arrival time Tt of the opponent vehicle and the vehicle speed Vt of the opponent vehicle are each within a predetermined range, that is,
[Formula 6]
0 <Tt <Tt1 where, for example, Tt1 = 4 sec
Vt> Vt1 where, for example, Vt1 = 5km / h
If it is, it is determined that the opponent vehicle is approaching the intersection ahead and is in a traveling state in which information should be presented to the driver. In such a case, the second information presentation determination flag F_hyouji2 is turned ON.
[0053]
Thereafter, in step 303, information presentation determination is made based on the traveling direction of the host vehicle. Specifically, in the case of an intersection with poor visibility as shown in FIG. 5, when presenting information on a vehicle approaching from the left, the operating state of the direction indicator switch 18 of the own vehicle (see FIG. 1) Judge with. That is, if the driver is operating the left direction indicator to make a left turn, it is determined that no information is required, and on the other hand, the driver is operating right or the direction indicator is not operating. In this case, it is determined that information presentation is necessary, and the third information presentation determination flag F_hyouji3 is set to ON.
[0054]
In this case, considering whether the direction indicator is not operated or when it is delayed, the direction from the steering angle sensor 16 (see FIG. 1) to the left or right is determined. It may be judged. That is, the change amount Δδ of the steering angle δ (where the left-turning direction is positive) from the time when 0 <Tc <Tc1 or Lc <Lc1 is satisfied, and the absolute value thereof is set to the set value Δδ._LIf it becomes larger, ie
[Expression 7]
Δδ│> Δδ_L
If it becomes, it is determined that the intersection is going to be turned, and if Δδ is positive, it is determined to turn left, and if it is negative, it is determined to turn right.
[0055]
With the above procedure, it is determined that information presentation is necessary only when the first to third information presentation judgment flags are all ON, the process is terminated, and the program returns to the program of FIG.
[0056]
FIG. 6 is a flowchart showing another example of the detailed processing procedure in step 105 of FIG. 2. Here, the processing procedure when the host vehicle turns right is shown. The procedure will be described below.
[0057]
First, in step 401, information presentation determination is performed based on the traveling state of the vehicle. The specific processing procedure is the same as that in step 301 in the flowchart of FIG. Again, when it is determined that information presentation is necessary, the first information presentation determination flag F_hyouji1 is set to ON.
[0058]
In subsequent step 402, information presentation determination is performed based on the traveling direction of the host vehicle. For example, as shown in FIG. 7, when passing an intersection of two or more lanes and the vehicle does not turn right, the information on the oncoming vehicles approaching from the front (opposite vehicles A and B in the figure) It is determined that the driver does not present information because the driver recognizes the existence of the vehicle. On the other hand, when the own vehicle turns right at the intersection, it is determined that information is presented because information on the oncoming vehicle, particularly oncoming vehicle B in the figure, is necessary.
[0059]
Specifically, the traveling direction of the host vehicle is determined based on the operating state of the direction indicator switch 18 (see FIG. 1). When the driver is operating the right direction indicator to make a right turn, it is determined that information presentation is necessary, and the second information presentation determination flag F_hyouji2 is turned ON.
[0060]
In this case as well, as in step 303 of the program of FIG. 4, the steering angle sensor 16 (FIG. 1) is also taken into consideration when the driver does not operate the direction indicator or when the driver is delayed. It is also possible to determine whether the vehicle turns in the left or right direction based on the signal from the reference).
[0061]
In the next step 403, it is determined whether or not to present information based on the presence or absence of a right turn vehicle in the oncoming lane. Here, the determination is made based on the traveling state of the oncoming vehicle (the partner vehicle) existing in the oncoming lane. Specifically, the intersection arrival time Tt of the opponent vehicle and the vehicle speed Vt of the opponent vehicle are each within a predetermined range, that is,
[Equation 8]
0 <Tt <Tt2 where, for example, Tt2 = 2sec
Vt <Vt2 where, for example, Vt2 = 10km / h
And the driving lane Kt of the partner vehicle is a right turn lane (oncoming vehicle A in FIG. 7), it is necessary to present information that this partner vehicle is waiting for a right turn at the intersection. The third information presentation determination flag F_hyouji3 is turned ON.
[0062]
In the next step 404, it is determined whether or not to present information according to the traveling state of the oncoming vehicle (the partner vehicle). Specifically, the intersection arrival time Tt ′ of the opponent vehicle and the vehicle speed Vt ′ of the opponent vehicle are each within a predetermined range, that is,
[Equation 9]
0 <Tt '<Tt1' where, for example, Tt1 '= 4 sec
Vt '> Vt1' where, for example, Vt1 '= 5km / h
If the driving lane Kt 'of the opponent vehicle is not a right turn lane (oncoming vehicle B in Fig. 7), the opponent vehicle is moving toward the intersection and goes straight or turns left It is determined that information presentation is necessary, and the fourth information presentation judgment flag F_hyouji4 is turned ON.
[0063]
With the above procedure, it is determined that information presentation is necessary only when the first to fourth information presentation judgment flags are all ON, and the processing is terminated and the program returns to the program of FIG. If the third information presentation determination flag F_hyouji3 is OFF and all other information presentation determination flags are ON, there is no right turn vehicle in the oncoming lane, but there is a vehicle entering the intersection. (Only the oncoming vehicle B exists in FIG. 7), and in this case, it is determined that information presentation is necessary.
[0064]
FIG. 8 is a flowchart showing an example of a detailed processing procedure in step 106 of FIG. 2, and here shows a processing procedure at an intersection with poor visibility. The procedure will be described below.
[0065]
First, in step 501, a range in which there is a possibility that an opponent vehicle for which information is to be presented exists. Specifically, depending on the driving condition of the opponent vehicle obtained in the previous step 105 (see FIG. 2), the opponent vehicle can be seen at a position in front of the driver's seat as viewed from the driver's seat. Determine if there is sex. For example, if it is known that the opponent vehicle is approaching from the left side of the intersection (see Fig. 5), the opponent vehicle appears from the left side of the image taken by the vehicle external monitor camera 11 (see Fig. 1), so the above range Is determined as “near the road on the left side of the screen”.
[0066]
In the subsequent step 502, the possibility of recognizing the opponent vehicle for which information is to be presented is determined. Specifically, the image captured by the vehicle external monitor camera 11 is processed, and the partner vehicle is photographed in a range where the partner vehicle may be photographed in the image (the range set in the previous step 501). Judgment possibility is judged by whether it is done. At this time, when the entire range of the photographed image is processed, a considerable amount of time is required. Therefore, the processing is performed within the range set in the previous step 501. In accordance with the determination process here, it is possible to determine that the driver can see the opponent vehicle from the driver's seat of the own vehicle.
[0067]
In the next step 503, it is determined whether or not the opponent vehicle for which information is to be presented exists in the driver's field of view. Specifically, it is determined whether or not the driver recognizes the partner vehicle based on the driver's face orientation Df and line-of-sight direction Ed read by the driver monitor camera 12 (see FIG. 1). . In this case, from the image taken by the driver monitor camera 12, the shape and position of the face, the shape and position of the eyes, the shape and position of the pupil in the normal state of the driver (the state facing directly in front) are determined, Based on this state, the face direction Df is determined from the shape and position of the face and eyes. Further, the line-of-sight direction Ed is estimated from the shape and position of the eyes and pupils.
[0068]
For example, when the other vehicle approaching from the right side is captured by the vehicle external monitor camera 11 as shown in FIG. 9, the driver's view area is defined by the driver's face direction Df and the line-of-sight direction Ed. Then, it is determined whether or not an opponent vehicle exists in this area. Here, the visual field of the driver is defined by Df ± ΔE or Ed ± ΔE, and ΔE is a value indicating the visual field of the driver. As shown in FIG. 10, ΔE is set so that ΔE decreases as Vc increases, so as to change according to the vehicle speed Vc of the host vehicle. In the case of FIG. 9, since the driver is facing the left side, it is determined that there is no opponent vehicle in the field of view.
[0069]
If the driver once recognizes the partner vehicle and then moves his / her line of sight in a direction other than the direction in which the partner vehicle exists, there is a case where information about the recognized partner vehicle is not presented. In order to avoid such a situation, if it is determined that the driver has recognized the existence of the partner vehicle, the presence determination flag F_sonzai is turned ON. When the presence recognition flag F_sonzai is ON, it is determined that the driver recognizes the partner vehicle in step 104 of the program in FIG. After finishing the above processing, the processing is returned to the program of FIG.
[0070]
FIG. 11 is a flowchart showing another example of the detailed processing procedure in step 106 of FIG. 2, and shows the processing procedure at the time of a right turn at an intersection. The procedure will be described below.
[0071]
First, in step 601, a range in which there is a possibility that an opponent vehicle for which information is to be presented exists is set. Specifically, depending on the driving condition of the opponent vehicle obtained in the previous step 105 (see FIG. 2), the opponent vehicle can be seen at a position in front of the driver's seat as viewed from the driver's seat. Determine if there is sex. For example, if the third information presentation determination flag F_hyouji3 is ON in step 105, the vehicle is about to turn right as shown in FIG. 7, and another vehicle from the back of the right turn vehicle (opposite vehicle A) in the opposite lane The vehicle (oncoming vehicle B) is already recognized as approaching. At this time, in the image taken by the vehicle external monitor camera 11, the oncoming vehicle B is seen from behind the oncoming vehicle A and from the left side of the screen. Since it appears, it is determined that the opponent vehicle exists “near the road on the left side of the screen”. When F_hyouji3 is OFF, there is no oncoming vehicle that turns right, so it is determined that the opponent vehicle is simply “on the oncoming lane”.
[0072]
In the subsequent step 602, it is determined whether or not the partner vehicle that is the target of information presentation can be recognized. Specifically, the image captured by the vehicle external monitor camera 11 is processed, and the partner vehicle is photographed in a range where the partner vehicle may be photographed in the image (the range set in the previous step 601). Judgment possibility is judged by whether it is done. Note that the processing here is the same as step 502 of the program in FIG. 8 described above, and a detailed description thereof will be omitted.
[0073]
In the next step 603, it is determined whether or not the partner vehicle for which information is to be presented exists in the driver's field of view. Also here, the same processing as in step 503 of the program of FIG. 8 described above is performed. Therefore, detailed description is omitted.
[0074]
Here, as shown in FIG. 12, when another oncoming vehicle (oncoming vehicle B) appears behind the oncoming vehicle (oncoming vehicle A) that turns right, that is, the oncoming vehicle B enters the blind spot area of the oncoming vehicle A. If the vehicle external monitoring camera 11 cannot capture the oncoming vehicle B, the oncoming vehicle B exists in the field of view regardless of the driver's field of view defined by the driver's face direction Df and the line of sight direction Ed. Judge not to. On the other hand, when there is no oncoming vehicle A, that is, when there is no right turn vehicle, the driver's face direction Df and the line-of-sight direction Ed obtained from the driver monitor camera 12 are defined, It is determined whether there is an opponent vehicle in the area.
[0075]
In step 603, if it is determined that the driver has recognized the presence of the opponent vehicle, the presence determination flag F_sonzai is turned ON. When the presence recognition flag F_sonzai is ON, it is determined that the driver recognizes the partner vehicle in step 104 of the program in FIG. After finishing the above processing, the processing is returned to the program of FIG.
[0076]
FIG. 13 shows another example of the processing procedure of the control program in the apparatus of FIG. 1, in this case, information on changes in the front road condition, such as the presence of road signs, sharp curves, and construction points in front of the vehicle. It is a flowchart which shows the process sequence for showing.
The procedure will be described below.
[0077]
First, in step 701, as in step 101 of the program in FIG. 2, various data from the vehicle external monitor camera 11 and the like are read. In the next step 702, the arrival time to an information presentation object of the own vehicle, that is, a road sign, a sharp curve, a place where some change in road conditions such as a construction place is calculated. A specific calculation method is the same as that in step 103 of the program in FIG.
[0078]
In the next step 703, it is determined whether or not the driver has already recognized another vehicle for which information is to be presented. The processing procedure here is also the same as that of step 104 of the program in FIG.
[0079]
In step 704, information presentation determination is made as to whether or not information should be presented to the driver according to the situation of other vehicles, which is the situation around the vehicle, and the traveling state of the host vehicle. If it is determined that information should be presented, the process proceeds to step 705. If it is determined that information need not be presented, the process ends. A specific processing procedure for the determination here will be described later.
[0080]
In step 705, it is determined whether or not another vehicle (information presentation target vehicle) that is an information presentation target exists in the driver's field of view. If it is determined that the information presentation target vehicle is present in the driver's field of view, the process ends. If it is determined that the information presentation target vehicle does not exist, the process proceeds to step 706. A specific processing procedure for this determination will also be described later.
[0081]
In step 706, the contents to be presented are set, and in step 707, information is output. The processing in each of these steps is also the same as steps 107 to 108 of the program in FIG. The process is terminated through the above procedure.
[0082]
FIG. 14 is a flowchart showing details of the processing procedure in step 704 of FIG. Next, the procedure will be described. Further, as an example in which this processing is necessary, consider a case where the host vehicle approaches the temporary stop position as shown in FIG.
[0083]
First, in step 801, information presentation is determined based on the running state of the vehicle. Here, the determination is made according to the vehicle speed Vc of the own vehicle and the change position of the road condition ahead of which information is to be presented, that is, the distance Lc to the temporary stop position in the example of FIG. Specifically, the vehicle speed Vc and the distance Lc are within predetermined ranges, that is,
[Expression 10]
0 <Tc <Tc3, Lc <Lc3
When it becomes, it judges that the own vehicle is approaching the said change position. Here, Tc3 and Lc3 are functions whose characteristics are shown in FIGS. 16 and 17, respectively. At this time, it is determined that it is necessary to present information to the driver, that is, that the temporary stop position is ahead, and the first information presentation determination flag F_hyouji1 is turned ON.
[0084]
Next, in step 802, it is determined whether or not information is presented based on the driver's intention to stop. Here, the intention to stop is determined by the ON / OFF operation of the brake lamp switch 19 (see FIG. 1). When the brake lamp switch 19 is OFF, it is determined that there is no intention to stop. In this case, it is determined that information presentation is necessary, and the second information presentation determination flag F_hyouji2 is set to ON.
[0085]
As a means for determining the driver's intention to stop, an acceleration sensor (not shown) or a master pressure sensor of a brake hydraulic system may be used in addition to the brake lamp switch 19. Furthermore, the vehicle speed Vc of the own vehicle is a predetermined value, that is,
[Expression 11]
Vc <Vc3 where, for example, Vc3 = 15km / h
In this case, it may be determined that the driver is driving slowly assuming a temporary stop and the second information presentation determination flag F_hyouji2 is not turned ON.
[0086]
According to the above procedure, it is determined that information presentation is necessary only when the first and second information presentation judgment flags are all ON, the process is terminated, and the program returns to the program of FIG.
[0087]
FIG. 18 is a flowchart showing a detailed processing procedure in step 705 of FIG. The procedure will be described below. Here again, as an example in which this processing is required, consider a case where the host vehicle approaches the temporary stop position as shown in FIG.
[0088]
First, in step 801, a range in which an information object may exist is set. The processing here is basically the same as step 501 of the program of FIG. In the example of FIG. 15, the stop sign is an information object, which is likely to be on the roadside or on the road ahead, so an image taken with the vehicle external monitor camera 11 (see FIG. 1) Since a sign appears on the left side or the upper side of the road ahead, the range is determined to be “on the left side of the road or near the upper side”.
[0089]
In the subsequent step 802, it is determined whether or not the information object (here, a stop sign) can be recognized. The processing here is also the same as step 502 of the program in FIG.
[0090]
In the next step 803, it is determined whether or not the information object exists in the driver's field of view. The processing here is also the same as step 503 of the program in FIG.
[0091]
In the example shown in FIG. 15, when the vehicle external monitor camera 11 is capturing a stop sign on the left side of the road ahead, the driver's view area is defined by the driver's face direction Df and the line-of-sight direction Ed. Then, it is determined whether or not a sign is present in this area. In the illustrated example, since the driver does not see the front sign for some reason, it is determined that the object (sign) is not present in the driver's field of view.
[0092]
After the above processing is completed, the processing is returned to the program of FIG.
[Brief description of the drawings]
FIG. 1 is a diagram schematically showing a configuration of an embodiment of a vehicle information output device according to the present invention.
FIG. 2 is a flowchart showing an example of a processing procedure of a control program in the apparatus of FIG.
FIG. 3 is a flowchart showing details of a processing procedure in step 104 of FIG.
FIG. 4 is a flowchart showing an example of a detailed processing procedure in step 105 of FIG.
FIG. 5 is a diagram showing a state where the vehicle has reached an intersection with poor visibility.
6 is a flowchart showing another example of a detailed processing procedure in step 105 of FIG.
FIG. 7 is a diagram showing a state in which the vehicle has reached an intersection.
FIG. 8 is a flowchart showing an example of a detailed processing procedure in step 106 of FIG.
FIG. 9 is a diagram showing the positional relationship between the vehicle and other vehicles and the driver's field of view when the vehicle approaches an intersection with poor visibility.
FIG. 10 is a graph showing the relationship between the vehicle speed of the host vehicle and the driver's field of view.
FIG. 11 is a flowchart showing another example of a detailed processing procedure in Step 106 of FIG. 2;
FIG. 12 is a diagram showing a positional relationship between the vehicle and another vehicle and a driver's field of view when the vehicle approaches an intersection.
13 is a flowchart showing another example of the processing procedure of the control program in the apparatus of FIG.
14 is a flowchart showing details of a processing procedure in step 704 of FIG.
15 is a view showing a state in which the host vehicle approaches a temporary stop position as shown in FIG.
FIG. 16 is a graph showing characteristics of vehicle speed with respect to arrival time to an information object.
FIG. 17 is a graph showing the characteristics of the vehicle speed with respect to the distance to the information object.
FIG. 18 is a flowchart showing a detailed processing procedure in step 705 of FIG.
[Explanation of symbols]
10 Vehicle information output device
11 Vehicle external monitor camera
12 Driver monitoring camera
13 display
14 Speaker
15 Receiver
16 Steering angle sensor
17 Vehicle speed sensor
18 Direction indicator switch
19 Brake lamp switch
20 Controller

Claims (13)

Road traffic information detection means for detecting road traffic information around the vehicle and an object of the road traffic information;
Own vehicle surrounding image detection means for detecting an image of the surroundings of the own vehicle that the driver can see from the driver's seat of the own vehicle;
Driver state detection means for detecting the driver's state;
Road traffic information presenting means for presenting to the driver the road traffic information detected by the road traffic information detecting means;
Judgment information that there is an object of road traffic information detected by the road traffic information detection means,
There is a target vehicle that is subject to a judgment condition based on the judgment condition based on the road traffic information detected by the road traffic information detecting means from the image data around the own vehicle detected by the own vehicle surrounding image detecting means. A range that is likely to be detected, and whether or not the target vehicle is recognized by the driver based on whether or not the target vehicle is photographed in the set range, and the detected surrounding image of the own vehicle is displayed. The determination information that the target vehicle exists, the determination information that the driver has already recognized the target vehicle by defining the driver's field of view and the target vehicle exists in the field of view; Road traffic information presentation restricting means that does not present information to the driver based on the determination information that the object is in the driver's field of view based on the detection result of the driver state detecting means;
An information output device for a vehicle comprising: Road traffic information detection means for detecting road traffic information around the vehicle and an object of the road traffic information;
Own vehicle running state detecting means for detecting the running state of the own vehicle;
Own vehicle surrounding image detection means for detecting an image of the surroundings of the own vehicle that the driver can see from the driver's seat of the own vehicle;
Road traffic information presenting means for presenting to the driver the road traffic information detected by the road traffic information detecting means;
Based on the road traffic information detected by the road traffic information detecting means and the running state of the own vehicle detected by the own vehicle running state detecting means, the road traffic information and the road traffic that need to be presented to the driver The road detected by the road traffic information detection means from the information for selecting the information object, the judgment information that the object is present, and the image data around the own vehicle detected by the vehicle surrounding image detection means A range in which there is a possibility that the target vehicle that is subject to the information presentation based on the judgment condition based on the traffic information exists, and the target vehicle by the driver is determined depending on whether or not the target vehicle is photographed in the set range. cognitive possible to determine the, and determination information of the target vehicle in the image around the own vehicle that is tested knowledge exists, the pair defining a viewing area of the driver in the viewing area Based on the determination information of the driver of the subject vehicle is recognized by the vehicle is present, the road traffic information providing limiting means does not perform the information presentation to the driver,
An information output device for a vehicle comprising: Road traffic information detection means for detecting road traffic information around the vehicle;
Own vehicle running state detecting means for detecting the running state of the own vehicle;
Own vehicle surrounding image detection means for detecting an image of the surroundings of the own vehicle that the driver can see from the driver's seat of the own vehicle;
Driver state detection means for detecting the driver's state;
Road traffic information presenting means for presenting to the driver the road traffic information detected by the road traffic information detecting means;
Based on the road traffic information detected by the road traffic information detecting means and the running state of the own vehicle detected by the own vehicle running state detecting means, the road traffic information and the road traffic that need to be presented to the driver The road detected by the road traffic information detection means from the information for selecting the information object, the judgment information that the object is present, and the image data around the own vehicle detected by the vehicle surrounding image detection means A range in which there is a possibility that the target vehicle that is subject to the information presentation based on the judgment condition based on the traffic information exists, and the target vehicle by the driver is determined depending on whether or not the target vehicle is photographed in the set range. cognitive possible to determine the, and determination information of the target vehicle in the image around the detected own vehicle is present, the pair defining a viewing area of the driver in the viewing area The determination information that the driver has recognized the target vehicle due to the presence of the vehicle, and the determination information that the target object is in the driver's field of view based on the detection result of the driver state detection means. Based on the road traffic information presentation restriction means that does not present information to the driver,
An information output device for a vehicle comprising:   The road traffic information detection means detects road traffic information around the vehicle by receiving a signal from a road traffic information providing facility installed on the road. The vehicle information output device according to claim 1.   The road traffic information detecting means detects road traffic information around the host vehicle through inter-vehicle communication that provides a running state of each vehicle among a plurality of vehicles. The vehicle information output device according to claim 1.   The vehicle information output device according to any one of claims 1 to 3, wherein the road traffic information detection means detects road traffic information around the host vehicle by means of a radar provided in the host vehicle.   The vehicle surrounding image detection means detects at least one camera an image of the surroundings of the vehicle that the driver can see from the driver's seat of the vehicle. The vehicle information output device according to claim 1.   8. The road traffic information presenting means presents road traffic information to a driver by at least one of an acoustic output means and an optical display means. Vehicle information output device.   4. The vehicle information output device according to claim 1, wherein the driver state detecting means detects a driver's state with a camera that captures the direction of the driver's face.   4. The vehicle information output device according to claim 1, wherein the driver state detection means detects a driver's state by a line-of-sight detection device that detects the driver's line of sight.   The vehicle information output device according to claim 2 or 3, wherein the vehicle running state detection means detects at least one of a vehicle speed, a steering angle, and a direction indicator signal of the vehicle.   Based on the road traffic information detected by the road traffic information detecting means, the road traffic information presentation restricting means includes an object of the road traffic information in the detected image detected by the vehicle surrounding image detecting means. The vehicle according to any one of claims 1 to 11, wherein an area that may be present is selected, and it is determined whether or not the object is included in the selected area. Information output device.   The road traffic information presentation restricting means determines the driver's view range based on the driver state detected by the driver state detecting means, and increases the view range as the vehicle speed of the host vehicle decreases and increases as the vehicle speed decreases. The vehicle information output device according to claim 1, wherein the vehicle information output device is a vehicle information output device.

Images