JP5022272B2 - Driving support device - Google Patents

Description

  The present invention relates to a driving support device.

Conventionally, for example, a vehicle that calculates a blind spot area of a parallel running vehicle based on the size of a parallel running vehicle that travels in a lane adjacent to the lane on which the host vehicle travels, and outputs an alarm when the host vehicle is in the blind spot area Alarm devices are known (for example, see Patent Document 1).
Japanese Patent Publication No. 7-100427

By the way, according to the vehicular alarm device according to the prior art, it is necessary to store a blind spot area corresponding to the size of the parallel running vehicle in advance, and a blind spot appropriate and accurate for each vehicle type of the parallel running vehicle. There arises a problem that the storage capacity required to store the area becomes enormous. Moreover, since the installation state of the mirror for visually recognizing the rear side of each vehicle changes according to the driver's preference, it is excessive between the blind spot area preset for each vehicle type and the actual blind spot area. The present invention has been made in view of the above circumstances, and provides a travel support device capable of appropriately and accurately detecting a blind spot area of another vehicle and appropriately supporting the traveling of the host vehicle. The purpose is to do.

  In order to solve the above-described problems and achieve the object, the driving support apparatus according to the first aspect of the present invention is an image pickup unit that picks up an image of another vehicle existing outside the host vehicle (for example, the mirror in the embodiment). Part camera 25), driver detection means for detecting a driver of another vehicle from an image of the other vehicle obtained by imaging by the imaging means (for example, head detection part 32 in the embodiment), and the driver And a blind spot area detecting means (for example, a blind spot area detecting unit 33 in the embodiment) for detecting a blind spot area of the other vehicle based on a detection result by the detecting means.

Further , the driver detection means detects a driver of another vehicle from a mirror image of the other vehicle mirror (for example, a side mirror in the embodiment) in the image, and the blind spot area detection means The position of the host vehicle when the driver of the other vehicle is detected from the mirror image of the mirror of the other vehicle in the image by the driver detection means is set as a position outside the blind spot area.

Furthermore, the driving assistance apparatus according to the second aspect of the present invention is configured such that when the own vehicle is present in the blind spot area detected by the blind spot area detecting means, the own vehicle is present in the blind spot area. Informing means (for example, vehicle control part 38 and alarm device 17 in an embodiment) which notifies a crew member is provided.

Furthermore, the driving assistance apparatus according to the third aspect of the present invention provides a blind spot leaving operation for the own vehicle to leave the blind spot area when the own vehicle exists in the blind spot area detected by the blind spot area detecting means. Or the control means (For example, the vehicle control part 38 in embodiment) which controls execution of the assistance operation | movement which assists the blind spot leaving operation by the driver | operator of the own vehicle is provided.

Furthermore, the driving support apparatus according to the fourth aspect of the present invention includes a lighting detection unit (for example, a direction indicator lamp detection unit 35 in the embodiment) that detects a lighting state of a direction indicator lamp of the other vehicle, and the lighting. When the lighting of the direction indicator lamp is detected by the detecting means and the own vehicle is present in the blind spot area, the blind spot leaving operation for leaving the own vehicle from the blind spot area or the dead angle leaving by the driver of the own vehicle is provided. 2nd control means (for example, vehicle control part 38 in an embodiment) which controls execution of support operation which supports operation.

Furthermore, the driving support apparatus according to the fifth aspect of the present invention includes communication means (for example, the communication apparatus 41 in the embodiment) that notifies the other vehicle by communication that the own vehicle exists in the blind spot area. .

  According to the driving support apparatus according to the first aspect of the present invention, since the driver of the other vehicle is detected from the image of the other vehicle obtained by the imaging of the imaging unit and the blind spot area of the other vehicle is detected, The blind spot area of the driver can be detected appropriately and accurately.

Further , when the driver of the other vehicle is detected from the mirror image of the mirror provided in the other vehicle, it can be determined that the driver of the other vehicle can visually recognize the host vehicle through the mirror. The blind spot area of the vehicle can be set appropriately.

Furthermore, according to the driving assistance apparatus which concerns on the 2nd aspect of this invention, the own vehicle is alert | reported appropriately to the passenger | crew of the own vehicle that the own vehicle exists in a blind spot area in the state which exists in the blind spot area of another vehicle. be able to.

Furthermore, according to the driving assistance apparatus which concerns on the 3rd aspect of this invention, in the state which the own vehicle exists in the blind spot area | region of another vehicle, the blind spot leaving operation for the own vehicle to detach | leave from a blind spot area | region, or the driver | operator of the own vehicle By controlling the execution of the support operation that supports the blind spot leaving operation by the vehicle, it is possible to appropriately leave the blind spot area that is easily overlooked by the driver of the other vehicle.

Furthermore, according to the driving assistance apparatus which concerns on the 4th aspect of this invention, when the other vehicle turns right or when the lighting of the direction indicator lamp of the other vehicle is detected in the state where the own vehicle exists in the blind spot area of the other vehicle. It is possible to determine that there is a possibility of turning left, and by controlling the execution of the blind spot leaving operation for the own vehicle to leave the blind spot area or the assisting operation for supporting the blind spot leaving operation by the driver of the own vehicle, The occurrence of contact between the vehicle and the host vehicle can be prevented in advance.

Furthermore, according to the driving assistance apparatus which concerns on the 5th aspect of this invention, by notifying other vehicles that the own vehicle exists in a blind spot area in the state which own vehicle exists in the blind spot area of other vehicles, It is possible to appropriately notify other vehicles that the host vehicle is present at a position where it is difficult for the vehicle occupant to view.

Hereinafter, a driving support device according to an embodiment of the present invention will be described with reference to the accompanying drawings.
For example, as shown in FIG. 1, the travel support device 10 according to the present embodiment is applied to a vehicle that transmits driving force of an internal combustion engine (E) to driving wheels (not shown) of the vehicle via a transmission (T / M). It is equipped with an external sensor 11, a vehicle state sensor 12, a processing device 13, a throttle actuator 14, a brake actuator 15, a steering actuator 16, and an alarm device 17.

  The external sensor 11 includes, for example, a beam scan type radar 21 and a radar control unit 22 using electromagnetic waves such as laser light and millimeter waves, a front camera 23 and a mirror unit camera 25 capable of imaging in, for example, a visible light region and an infrared region, The image processing units 24 and 26 are provided.

  For example, the radar control unit 22 divides the detection target area set in front of the traveling direction of the host vehicle into a plurality of areas in the angular direction, and transmits each electromagnetic wave transmission signal so as to scan each area. A reflection signal generated by reflection of each transmission signal by an object outside the host vehicle is received, and the reflection signal and the transmission signal are mixed to generate a beat signal, which is output to the processing device 13.

  Further, for example, the image processing unit 24 performs, for example, filtering or second processing on an image of the outside world ahead in the traveling direction of the host vehicle obtained by capturing with the front camera 23 capable of capturing the detection target area in the traveling direction ahead of the host vehicle. Predetermined image processing such as digitization processing is performed to generate image data composed of pixels of a two-dimensional array, and output to the processing device 13.

Further, for example, the image processing unit 26 is obtained by photographing a side mirror provided in another vehicle (parallel vehicle) that travels in a parallel lane adjacent to the traveling lane of the host vehicle with a mirror unit camera 25 that can capture the side mirror. Predetermined image processing such as filtering and binarization processing is performed on the image of the predetermined detection target region to generate image data composed of pixels of a two-dimensional array and output the image data to the processing device 13.
In addition, the mirror part camera 25 is arrange | positioned at the front-back direction rear part of the own vehicle (C), for example, as shown to FIG. 2 (a)-(c) and FIG. 3 (a)-(c), and the own vehicle (C The detection target area set in a direction inclined by a predetermined angle in the left-right direction with respect to the front in the front-rear direction can be photographed.

  The vehicle state sensor 12 is, for example, a vehicle speed sensor that detects the speed (vehicle speed) of the host vehicle, an acceleration sensor that detects acceleration acting on the vehicle body, and a gyro that detects the posture and traveling direction of the vehicle body. Positioning signals such as sensors, yaw rate sensors that detect the yaw rate (rotational angular velocity around the vertical axis of the vehicle's center of gravity), and GPS (Global Positioning System) signals that measure the position of the vehicle using, for example, an artificial satellite And a sensor for detecting a driving operation by the driver (for example, an accelerator pedal depression amount, a brake pedal depression amount, a steering wheel steering angle, etc.).

  The processing device 13 includes, for example, a parallel vehicle position detection unit 31, a head detection unit 32, a blind spot area detection unit 33, a blind spot area intrusion determination unit 34, a direction indicator lamp detection unit 35, and a possibility determination unit 36. And a detachment operation detection unit 37 and a vehicle control unit 38.

The parallel vehicle position detection unit 31 is based on, for example, a beat signal output from the radar control unit 22 of the external sensor 11 and a distance to a moving body on the parallel lane adjacent to the traveling lane of the own vehicle (for example, for the own vehicle). Relative distance) and orientation (angle) are detected.
And the parallel running vehicle position detection part 31 is a parallel running vehicle which parallels the parallel running lane adjacent to the running lane of the own vehicle based on the image data output from each image processing parts 24 and 26 of the external sensor 11, for example. Is detected.

  The head detection unit 32 can photograph, for example, image data output from the image processing unit 26 of the external sensor 11, that is, a side mirror included in a parallel running vehicle that travels in a parallel lane adjacent to the traveling lane of the host vehicle. The head of the driver of the parallel running vehicle is detected from the mirror image of the side mirror of the parallel running vehicle based on the image data obtained by photographing with the mirror unit camera 25.

  If the head of the parallel vehicle driver is detected from the mirror image of the side mirror of the parallel running vehicle by the head detection unit 32, the blind spot area detection unit 33 detects that the own vehicle is aligned by the driver of the parallel running vehicle. It is determined that the vehicle is present at a position that can be seen through the side mirror of the traveling vehicle (that is, outside the blind spot area). If the vehicle is not detected by the driver of the parallel vehicle, it is determined that the vehicle is not visible through the side mirror of the parallel vehicle (that is, the blind spot area). Detect the blind spot area.

The blind spot area intrusion determination unit 34 is detected by the position of the parallel vehicle that travels in the parallel lane adjacent to the traveling lane of the host vehicle detected by the parallel vehicle position detection unit 31 and the blind spot region detection unit 33. Based on the blind spot area of the driver of the parallel running vehicle, it is determined whether or not the host vehicle has entered the blind spot area.
For example, as shown in FIGS. 2A to 2C, when the own vehicle C having a relatively fast speed Va passes the parallel running vehicle Db from the rear with respect to the parallel running vehicle Db having the speed Vb. In addition, as shown in FIG. 2 (a), the blind spot area intrusion determining unit 34 causes the mirror camera 25 of the host vehicle C to pass the head DH of the driver of the parallel running vehicle over the side mirror SM of the parallel running vehicle Db. When it exists in the imageable area A that can be imaged, it is determined that the host vehicle C exists outside the blind spot area.
Then, as shown in FIG. 2 (b), the blind spot area intrusion determination unit 34 is configured such that the mirror camera 25 of the host vehicle C passes through the side mirror SM of the parallel vehicle Db and the head DH of the driver of the parallel vehicle Db. And the driver of the parallel vehicle Db cannot directly see the host vehicle C (for example, the front end of the host vehicle C is the parallel vehicle Db. For example, when the vehicle C is present behind the side mirror SM in the front-rear direction, it is determined that the host vehicle C exists in the blind spot area.
Then, as shown in FIG. 2C, the blind spot area intrusion determination unit 34 is configured so that the driver of the parallel running vehicle Db can directly view the host vehicle C (for example, the front end of the host vehicle C). Is present on the front side in the front-rear direction with respect to the side mirror SM of the parallel running vehicle Db), it is determined that the host vehicle C exists outside the blind spot area.

Similarly, for example, as shown in FIGS. 3A to 3C, the host vehicle C having a relatively slow speed Va with respect to the parallel vehicle Db having the speed Vb is overtaken by the parallel vehicle Db from the rear. When passing each other, the blind spot area intrusion determination unit 34, as shown in FIG. 3A, allows the driver of the parallel running vehicle Db to directly view the host vehicle C (for example, In the case where the front end of the host vehicle C exists on the front side in the front-rear direction with respect to the side mirror SM of the parallel running vehicle Db), it is determined that the host vehicle C exists outside the blind spot area.
Then, as shown in FIG. 3 (b), the blind spot area intrusion determining unit 34 is configured such that the mirror camera 25 of the host vehicle C passes through the side mirror SM of the parallel vehicle Db and the head DH of the driver of the parallel vehicle Db. And the driver of the parallel vehicle Db cannot directly see the host vehicle C (for example, the front end of the host vehicle C is the parallel vehicle Db. For example, when the vehicle C is present behind the side mirror SM in the front-rear direction, it is determined that the host vehicle C exists in the blind spot area.
Then, as shown in FIG. 3C, the blind spot area intrusion determination unit 34 is configured such that the mirror camera 25 of the host vehicle C passes through the side mirror SM of the parallel vehicle Db and the head DH of the driver of the parallel vehicle Db. If the vehicle C exists within the imageable area A, the vehicle C is determined to be outside the blind spot area.

  For example, the direction indicator lamp detection unit 35 is based on the image data output from each of the image processing units 24 and 26 of the external sensor 11, and is a predetermined parallel vehicle that runs parallel to the parallel lane adjacent to the traveling lane of the host vehicle. In a region of interest (for example, a front portion and a rear portion in the traveling direction), it is determined that the direction indicator lamp of the parallel running vehicle is turned on when there is a local region whose luminance or the like changes at a predetermined cycle.

  The possibility determination unit 36 determines whether or not the parallel vehicle may turn right or left or change lanes based on the lighting state of the direction indicator light of the parallel vehicle detected by the direction indicator detection unit 35, for example. judge.

  The separation operation detection unit 37 is, for example, a predetermined driving operation performed by the driver of the own vehicle for a parallel vehicle, that is, an operation for leaving the blind spot area of the driver of the parallel vehicle (for example, an accelerator pedal). , Depressing operation of the brake pedal, depressing operation of the brake pedal, steering wheel steering, etc.).

The vehicle control unit 38 instructs the warning device 17 to notify the occupant of the host vehicle that the host vehicle has entered the blind spot region of the driver of the parallel running vehicle according to the determination result of the blind spot region intrusion determining unit 34. Output a control signal.
Further, the vehicle control unit 38 is configured when the direction indicator lamp detection unit 35 detects lighting of the direction indicator lamp of the parallel running vehicle in a state where the host vehicle has entered the blind spot area of the parallel running vehicle or the parallel running vehicle. When it is detected from the position of the parallel vehicle detected by the position detector 31 that the parallel vehicle has started to change lanes, the vehicle travels away from the blind spot area of the driver of the parallel vehicle. Control signals for controlling the state (for example, control signals for controlling the shifting operation of the transmission (T / M), control signals for controlling the driving force of the internal combustion engine (E) by the throttle actuator 14 and deceleration by the brake actuator 15) Control signals and control signals for controlling the turning by the steering actuator 16), and support operation for leaving the blind spot area or leaving the blind spot area. As work to control the acceleration and deceleration of the vehicle, and a steering.

The alarm device 17 includes, for example, a tactile transmission device, a visual transmission device, and an auditory transmission device.
The tactile transmission device is, for example, a seat belt device, a steering control device, or the like, and generates a predetermined tension on the seat belt, for example, in response to a control signal input from the vehicle control unit 38 so that the passenger of the host vehicle can sense the tactile force. By applying a visually perceptible tightening force or by generating vibration (steering vibration) that can be perceived tactilely by the driver of the host vehicle on the steering wheel, for example. The occupant is made aware that the vehicle has entered the area, that the parallel vehicle may turn right or left or change lanes, and that there is a possibility of contact with the object.
The visual transmission device is, for example, a display device or the like, for example, by displaying predetermined alarm information on the display device or blinking a predetermined alarm light in accordance with a control signal input from the vehicle control unit 38. That the vehicle has entered the blind spot area of the driver of the parallel vehicle, that the parallel vehicle may turn right or left or change lanes, and that there is a possibility of contact with an object. Let the crew recognize that there is.
The auditory transmission device is, for example, a speaker or the like, and outputs a predetermined warning sound or voice according to a control signal input from the vehicle control unit 38, so that the vehicle is a blind spot of the driver of the parallel running vehicle. The occupant is made aware that the vehicle has entered the area, that the parallel vehicle may turn right or left or change lanes, and that there is a possibility of contact with the object.

  The driving support device 10 according to the present embodiment has the above-described configuration. Next, the operation of the driving support device 10 will be described.

First, the process which detects a parallel running vehicle is demonstrated below.
For example, in step S01 shown in FIG. 4, an image of a parallel lane is acquired based on the image data output from the external sensor 11.
In step S02, a moving body existing in the parallel lane image is extracted and clustered.
In step S03, it is determined whether or not there is a moving object having a low absolute value of the relative speed with respect to the host vehicle.
If this determination is “NO”, the flow proceeds to return, and the process ends.
On the other hand, if the determination result is “YES”, a moving body having a low absolute value of the relative speed with respect to the host vehicle is set as the target moving body, and the process proceeds to step S04.

In step S04, for example, the relative distance of the target moving body is calculated based on the beat signal output from the radar control unit 22 of the external sensor 11.
In step S05, the size of the target moving body is normalized based on the relative distance of the target moving body.
In step S06, the target moving body is checked against an appropriate vehicle by predetermined pattern matching or the like.
In step S07, it is determined whether the target moving body is a vehicle.
If this determination is “NO”, the flow proceeds to return, and the process ends.
On the other hand, if the determination is “YES”, the flow proceeds to step S08.
In step S08, it is determined that the target moving body is a parallel running vehicle, the process proceeds to return, and the process ends.

Next, processing for detecting the head of the driver of the parallel running vehicle will be described below.
For example, in step S <b> 11 shown in FIG. 5, an image of a parallel running vehicle is acquired based on the image data output from the external sensor 11.
And in step S12, the area | region estimated that a side mirror exists in the image of a parallel running vehicle is set as an attention area.
In step S13, edge extraction is performed on the region of interest by, for example, predetermined filter processing using a Sobel filter or the like.
In step S14, each object is clustered based on the extracted edges.

In step S15, the clustered objects are identified, and the mirror unit including the side mirror is identified.
In step S16, the mirror image is normalized by, for example, projective transformation.
In step S17, it is determined whether or not a predetermined head feature (for example, head, eyes, nose, ears, etc.) exists in the normalized image.
If this determination is “NO”, the flow proceeds to return, and the process ends.
On the other hand, if this determination is “YES”, the flow proceeds to step S18.

In step S18, it is determined whether or not a plurality of (for example, at least two) head features determined to exist exist within a predetermined distance.
If this determination is “NO”, the flow proceeds to return, and the process ends.
On the other hand, if the determination is “YES”, the flow proceeds to step S19.
In step S19, it is determined that the head of the driver of the parallel running vehicle exists as a mirror image of the side mirror in the mirror unit, the process proceeds to return, and the process ends.

Below, the process which detects the lighting state of the direction indicator light of a parallel running vehicle is demonstrated.
For example, in step S21 shown in FIG. 6, an image of a parallel running vehicle is acquired based on the image data output from the external sensor 11.
And in step S22, the area | region including the advancing direction front part of a parallel running vehicle is set as an attention area.
In step S23, it is determined whether or not there is a local region whose luminance or the like changes in a predetermined cycle in the region of interest.
If this determination is “NO”, the flow proceeds to return, and the process ends.
On the other hand, if this determination is “YES”, the flow proceeds to step S24.
And in step S24, it determines with the direction indicator light of a parallel running vehicle lighting, it progresses to a return, and complete | finishes a process.

Hereinafter, the process of leaving the blind spot area will be described.
For example, in step S31 shown in FIG. 7, it is determined whether or not a parallel running vehicle exists.
If this determination is “NO”, the flow proceeds to return, and the process ends.
On the other hand, if this determination is “YES”, the flow proceeds to step S32.
In step S32, an image of the mirror unit is acquired.
In step S33, it is determined whether the head of the driver of the parallel running vehicle exists as a mirror image of the side mirror in the mirror unit.
If this determination is “YES”, the flow proceeds to return, and the process ends.
On the other hand, if this determination is “NO”, the flow proceeds to step S 34.

In step S34, it is determined whether or not the driver of the parallel running vehicle can visually recognize the front end of the host vehicle.
If this determination is “YES”, the flow proceeds to return, and the process ends.
On the other hand, if this determination is “NO”, the flow proceeds to step S35.
And in step S35, it determines with the own vehicle existing in the blind spot area | region of a parallel running vehicle.
In step S36, the warning device 17 notifies the passenger of the own vehicle that the own vehicle has entered the blind spot area of the driver of the parallel running vehicle.

In step S37, it is determined whether or not the direction indicator lamp of the parallel running vehicle is lit.
If the determination result is “YES”, the process proceeds to step S38. In this step S38, the traveling state of the host vehicle is controlled so as to leave the blind spot area of the driver of the parallel running vehicle, and the process proceeds to return. The process is terminated.
On the other hand, if this determination is “NO”, the flow proceeds to step S39.
In step S39, it is determined whether or not the parallel running vehicle has started changing lanes.
If this determination is “YES”, the flow proceeds to step S38.
On the other hand, if this determination is “NO”, the flow proceeds to return, and the process ends.

For example, as shown in FIG. 2A, the mirror camera 25 of the host vehicle C is in an imageable area A where the head DH of the driver of the parallel vehicle can be imaged through the side mirror SM of the parallel vehicle Db. If there is a vehicle, the driver of the parallel vehicle Db is likely to confirm the state of the adjacent lane by the side mirror SM when executing the lane change. It can be estimated that the possibility of executing the lane change by overlooking is relatively low.
On the other hand, for example, as shown in FIG. 2B, in the state where the host vehicle C exists in the blind spot area, the possibility that the driver of the parallel running vehicle Db overlooks the host vehicle C and changes the lane is relatively high. It can be estimated to be high. For this reason, when the host vehicle C reaches the blind spot area or when the host vehicle C continues to exist in the blind spot area for a predetermined time, the display device (not shown) of the host vehicle C is displayed. An alarm is output on the screen, or a warning sound or sound alarm is output by a speaker or the like. At this time, when the lighting of the direction indicator lamp of the parallel vehicle Db is further detected, for example, an alarm is output over a period until the own vehicle leaves the blind spot area of the driver of the parallel vehicle, A predetermined safety distance is maintained between the parallel running vehicle Db and the host vehicle C by, for example, automatic deceleration or automatic steering as a support operation for a predetermined departure from the blind spot region or a departure operation from the blind spot region. The parallel vehicle DB is overtaken at a timing before the parallel vehicle Db enters the front of the host vehicle C by deceleration or by automatic acceleration, for example, and the host vehicle C is a parallel vehicle. The driver is disengaged from the blind spot area of the driver of Db.
Further, for example, as shown in FIG. 2C, when the front end of the host vehicle C is present on the front side in the front-rear direction with respect to the side mirror SM of the parallel running vehicle Db, the driver of the parallel running vehicle Db is in the lane. Since the possibility of recognizing the own vehicle by peripheral vision when checking the state of the adjacent lane by the side mirror SM when executing the change, the driver of the parallel running vehicle Db overlooks the own vehicle C and changes the lane. Can be estimated to be relatively low.

As described above, according to the driving support device 10 according to the present embodiment, the driver of the parallel vehicle is detected from the image of the parallel vehicle obtained by the imaging of the external sensor 11, and the blind spot of the driver of the parallel vehicle is detected. Since the area is detected, the blind spot area of the driver of the parallel running vehicle can be detected appropriately and accurately.
Moreover, when the driver of the parallel running vehicle is detected from the mirror image of the side mirror provided in the parallel running vehicle, it is determined that the driver of the parallel running vehicle can visually recognize the host vehicle through the side mirror. And the blind spot area of the driver of the parallel running vehicle can be set appropriately.
Furthermore, it is determined that there is a possibility that the parallel vehicle may turn right or left by detecting the lighting of the direction indicator light of the parallel vehicle in a state where the host vehicle exists in the blind spot area of the driver of the parallel vehicle. If possible, by controlling the execution of the blind spot leaving operation for the own vehicle to leave the blind spot area of the driver of the parallel running vehicle or the support action for supporting the blind spot leaving operation by the driver of the own vehicle, It is possible to prevent the occurrence of contact between the other vehicle and the host vehicle.

  In the above-described embodiment, the mirror unit camera 25 may be a single camera that captures one of the right side and the left side of the host vehicle, or two that captures the right side and the left side of the host vehicle. It may be a camera.

In the above-described embodiment, the mirror camera 25 is disposed at the rear part in the front-rear direction of the host vehicle. However, the present invention is not limited to this. For example, the modification examples shown in FIGS. As such, it may be arranged in the front-rear direction front of the host vehicle.
In this modified example, the blind spot area detection unit 33 automatically determines whether or not the head of the driver of the parallel running vehicle is detected from the mirror image of the side mirror of the parallel running vehicle by the head detection unit 32. Based on the distance between the arrangement position of the mirror unit camera 25 of the vehicle and the rear end of the host vehicle, the blind spot area of the driver of the parallel running vehicle is detected.

For example, as shown in FIG. 8A, when a driver of a parallel vehicle Db having a speed Vb passes the host vehicle C having a relatively slow speed Va from behind, When it is possible to visually recognize directly (for example, when the front end of the host vehicle C is present on the front side in the front-rear direction with respect to the side mirror SM of the parallel running vehicle Db), the blind spot area detection unit 33 is It determines with the position of the own vehicle C being out of a blind spot area | region.
For example, as shown in FIG. 8 (b), when the driver of the parallel running vehicle Db cannot directly visually recognize the host vehicle C through the side mirror SM, a blind spot is displayed. The area detection unit 33 determines that the position of the host vehicle C is within the blind spot area.
For example, as shown in FIG. 8C, an imageable region in which the mirror camera 25 of the host vehicle C can image the head DH of the driver of the parallel vehicle Db through the side mirror SM of the parallel vehicle Db. Even if the boundary line of the blind spot range cannot be accurately detected from the image data output from the image processing unit 26 of the external sensor 11 due to the existence outside A, the mirror unit of the host vehicle When it is estimated that the driver of the parallel vehicle Db can visually recognize the rear end of the host vehicle C through the side mirror SM based on the distance between the arrangement position of the camera 25 and the rear end of the host vehicle. The blind spot area detection unit 33 determines that the position of the host vehicle C is outside the blind spot area.

  In the above-described embodiment, the blind spot area detection unit 33 is based on the image data obtained by the imaging of the mirror unit camera 25 and is detected by the head detection unit 32 from the mirror image of the side mirror of the parallel running vehicle. According to whether or not the driver's head is detected, the blind spot area of the driver of the parallel running vehicle is detected. However, the present invention is not limited to this. For example, the mirror camera 25 provided in the host vehicle or other Based on the image data obtained by the imaging of the camera, depending on whether the head of the driver of the parallel running vehicle is detected from the mirror image of another mirror or side mirror provided in the parallel running vehicle, The blind spot area of the driver may be detected.

  In the embodiment described above, the parallel running vehicle position detection unit 31 is based on, for example, a beat signal output from the radar control unit 22 of the external sensor 11 and moves in the parallel running lane adjacent to the traveling lane of the host vehicle. However, the present invention is not limited to this, and is adjacent to the traveling lane of the host vehicle based on image data output from the external sensor 11, for example. You may detect the distance (for example, relative distance with respect to the own vehicle) to the moving body of a parallel lane.

In the above-described embodiment, the vehicle control unit 38 of the own vehicle notifies the occupant of the own vehicle by the alarm device 17 that the own vehicle has entered the blind spot area of the parallel running vehicle. For example, as in the modification of the above-described embodiment shown in FIG. 9, the vehicle includes a communication device 41 that can communicate with other vehicles existing in the outside of the own vehicle, for example, by inter-vehicle communication, and the own vehicle is the other vehicle. The other vehicle may be notified by communication that it is in the blind spot area of the driver.
Furthermore, it is communicated with the own vehicle that the other vehicle including the driving support device 10 according to the modification of the embodiment described above exists in the blind spot area of the driver of the own vehicle in the same manner as the own vehicle. In the case of notification, the own vehicle receives the notification by the communication device 41, and according to the reception result, the alarm device 17 informs the occupant of the own vehicle that another vehicle has entered the blind spot area of the own vehicle. Outputs a control signal instructing to notify, a blind spot leaving operation for the own vehicle to leave the blind spot area, a support operation for supporting the driver's own blind spot leaving operation, or a damage when the contact occurs In this way, a control signal for controlling the traveling state of the host vehicle may be output.

  In the above-described embodiment, the possibility determination unit 36 changes the lane to the right or left or changes the lane based on the lighting state of the direction indicator light of the parallel vehicle detected by the direction indicator detection unit 35, for example. Although it is determined whether or not there is a possibility, the present invention is not limited to this. For example, not only the lighting state of the direction indicator lamp but also the running state amount of the host vehicle output from the vehicle state sensor 12 (for example, the current vehicle speed) (E.g., yaw rate) based on the detection result of the vehicle, the distance to the parallel vehicle on the parallel lane adjacent to the vehicle lane detected by the external sensor 11 (for example, Based on the detection results of the relative distance to the host vehicle and the heading (angle), predict the future driving trajectory of the parallel vehicle and determine whether the parallel vehicle may enter the driving trajectory of the host vehicle. Do it .

  In the above-described embodiment, the possibility determination unit 36 changes the lane to the right or left or changes the lane based on the lighting state of the direction indicator light of the parallel vehicle detected by the direction indicator detection unit 35, for example. Although it is determined whether or not there is a possibility, the present invention is not limited to this, and based on not only the lighting state of the direction indicator lamp but also the image data output from the external sensor 11, the traveling lane of the host vehicle and the parallel running vehicle If it is judged whether the tire of the parallel running vehicle exceeds the division line (for example, the white line) that divides the running lane of the vehicle, the parallel running vehicle is judged to have exceeded the division line. It may be determined that the vehicle may enter the traveling lane of the host vehicle.

It is a block diagram of the driving assistance apparatus which concerns on embodiment of this invention. It is a figure which shows the example of the relative position of the own vehicle and parallel running vehicle which concern on embodiment of this invention. It is a figure which shows the example of the relative position of the own vehicle and parallel running vehicle which concern on embodiment of this invention. It is a flowchart which shows operation | movement of the driving assistance apparatus which concerns on embodiment of this invention. It is a flowchart which shows operation | movement of the driving assistance apparatus which concerns on embodiment of this invention. It is a flowchart which shows operation | movement of the driving assistance apparatus which concerns on embodiment of this invention. It is a flowchart which shows operation | movement of the driving assistance apparatus which concerns on embodiment of this invention. It is a figure which shows the example of the relative position of the own vehicle and parallel running vehicle which concern on the modification of embodiment of this invention. It is a block diagram of the driving assistance apparatus which concerns on the modification of embodiment of this invention.

Explanation of symbols

10 Driving support device 17 Alarm device (notification means)
25 Mirror camera (imaging means)
33 Blind spot area detection unit (blind spot area detection means)
38 Vehicle control section (notification means, control means)
41 Communication device (communication means)

Claims (5)

Imaging means for imaging other vehicles existing outside the host vehicle;
Driver detection means for detecting a driver of another vehicle from an image of the other vehicle obtained by imaging of the imaging means;
A blind spot area detecting means for detecting a blind spot area of the other vehicle based on a detection result by the driver detecting means ;
The driver detection means detects a driver of another vehicle from a mirror image of the other vehicle mirror in the image,
The blind spot area detection means sets the position of the host vehicle when the driver detection means detects the driver of the other vehicle from the mirror image of the other vehicle in the image as a position outside the blind spot area. A driving support device characterized by that. And a notifying means for notifying a passenger of the own vehicle that the own vehicle is present in the blind spot area when the own vehicle is present in the blind spot area detected by the blind spot area detecting means. Item 2. The driving support device according to Item 1 . When the host vehicle is present in the blind spot area detected by the blind spot area detection means, the assist operation for supporting the blind spot leaving operation for the host vehicle to leave the blind spot area or the blind spot leaving operation by the driver of the host vehicle. drive assist system according to claim 1 or claim 2, characterized in that it comprises a control means for controlling the execution. Lighting detection means for detecting the lighting state of the direction indicator lamp of the other vehicle;
When the lighting of the turn signal lamp is detected by the lighting detection means and the host vehicle is in the blind spot area, the blind spot leaving operation for the host vehicle to leave the blind spot area or by the driver of the host vehicle drive assist system according to claims 1 to any one of claims 3, characterized in that it comprises a second control means for controlling the execution of assistance operation to support the blind withdrawal operation. The travel support apparatus according to any one of claims 1 to 4 , further comprising communication means for notifying the other vehicle by communication that the host vehicle is present in the blind spot area.

Images