JP2002092792A - Existing pedestrian informing device and on-vehicle pedestrian detecting device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To surely inform the existing pedestrians to a driver even when the walker 3 exists near a vehicle 4, by utilizing a signal 5 transmitted from a conventional radar device 2. SOLUTION: A predetermined search signal 5 transmitted from the vehicle 4 is received by a receiving means 6, and its receiving level is detected by a receiving level detecting means 7. An informing signal outputting means 10 transmits an informing signal in the predetermined direction in a case when the receiving level of the search signal is above a predetermined level, and informs the existence of the walker 3 to the vehicle 4. A control means 8 allows the informing signal outputting means 10 to continuously transmit the informing signal for a predetermined time when the receiving level of the search signal 5 becomes less than an undetectable threshold value level from a level more than the predetermined level. Therefore the existence of walker informing device continuous the transmission of the informing signal to inform the driver of the vehicle of the existence of the walker, when the vehicle 4 approaches the walker 3 walking ahead, and the search signal 5 is not received by the existence of walker informing device because of a narrow radiation angle of the radar device 2.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

The present invention relates to a pedestrian presence notification device and a vehicle-mounted pedestrian detection device.

[0002]

2. Description of the Related Art Conventionally, as a pedestrian presence notification device for notifying the presence of a pedestrian on a road, Japanese Patent Laid-Open Publication No.
Japanese Unexamined Patent Publication (Kokai) No. H10-264, pp. 157-334 is known. As shown in FIG. 16, this conventional pedestrian presence notifying apparatus includes a vehicle 101
A headlight sensing device for detecting irradiation light 103 of a headlamp 102 is incorporated in footwear 105 of a pedestrian 104, and the headlamp 1 is
When the illumination light 103 is sensed, the LED light source incorporated in the footwear 105 emits light.
The first driver is to be notified of the presence of the pedestrian 104.

[0003]

In recent years, a radar device attached to the front of a vehicle irradiates light or radio waves while scanning it forward, and obstructs a vehicle or the like present ahead from the reflected waves of the light or radio waves. A preceding obstacle detection device that detects an object and performs an alarm or a warning display has been considered.

Therefore, in the above-mentioned footwear with a light emitting function, instead of sensing the irradiation light of the head lamp, the light source emits an LED light by detecting such a light or a radio wave signal, so that the pedestrian is directed forward by the driver. It is conceivable to notify the existence.

However, in the case of the preceding obstacle detection device, the purpose is to reliably detect an obstacle on the lane in which the host vehicle is traveling. If the irradiation angle of the light or radio wave signal transmitted from the radar device is widened without changing the data amount, the data amount increases accordingly, and a high-performance processing device is required and the cost increases. On the other hand, if the irradiation angle is widened and the scanning interval is widened in order to avoid this, the accuracy of the original preceding obstacle detection decreases. For this reason,
It is not practical to make the irradiation angle of the light or radio wave signal transmitted from the radar device too wide.

Accordingly, the LED light source emits light by detecting a signal of a light or a radio wave transmitted from the radar device of the preceding obstacle detecting device in order to make the footwear with the light emitting function worn by the pedestrian in front sense. Even so, because the irradiation angle of the radar device is not wide as described above, even if the pedestrian is wearing such footwear, in the situation where he is walking just before the vehicle, LED light source does not emit light by the signal of
It was insufficient as a means for early pedestrian detection support.

[0007] The present invention has been made in view of such a technical problem, and utilizes the signal of light or radio waves transmitted by the conventional preceding obstacle detection device, even if an obstacle exists near the vehicle. It is an object of the present invention to provide a pedestrian presence notification device that can surely notify a vehicle driver of its presence.

Another object of the present invention is to provide a vehicle-mounted pedestrian detection device capable of reliably detecting a pedestrian wearing the pedestrian presence notification device and informing the driver of the pedestrian.

[0009]

According to a first aspect of the present invention, there is provided a pedestrian presence notifying apparatus, comprising: a receiving means for receiving a predetermined search signal; and a reception level for detecting a reception level of the search signal received by the receiving means. Detecting means, when the reception level detected by the reception level detection means is equal to or higher than a predetermined level, and when the reception level detected by the reception level detection means is equal to or higher than the predetermined level and lower than a threshold level at which detection is impossible. And a notification signal output means for transmitting a notification signal when the condition is satisfied.

According to a second aspect of the present invention, in the pedestrian presence notification device according to the first aspect, the reception level detecting means sets the predetermined level of the reception level to a first level and a first level smaller than the first level. And the notification signal output means transmits the notification signal when the reception level detected by the reception level detection means falls from the first level or more to less than the threshold level. Is continued for a predetermined time, and when the reception level is lower than the first level and lower than the first level and lower than the threshold level, the transmission of the notification signal is immediately stopped. It is.

A pedestrian presence notification device according to a third aspect of the present invention
Receiving means for receiving a predetermined search signal transmitted while changing the transmission direction; signal reception number counting means for counting the number of the search signals received by the reception means per predetermined time; and signal reception number count A signal is issued when the number of signal receptions counted by the means is equal to or greater than a predetermined value, and when the number of signal receptions counted by the signal reception number counting means falls from the predetermined value or more to less than a threshold value that cannot be detected. And a notification signal output means for transmitting a signal.

According to a fourth aspect of the present invention, in the pedestrian presence notifying device according to the third aspect, the signal reception number counting means sets the predetermined value of the signal reception number to a first predetermined value and the first predetermined value. The notification signal output means is configured to detect the signal reception number counted by the signal reception number counting means from the first predetermined value or more to less than the threshold value. The transmission of the notification signal is continued for a predetermined time when the number of signal receptions falls from a value less than the first predetermined value to a value less than the first predetermined value and less than the second predetermined value. The transmission is immediately stopped.

According to a fifth aspect of the present invention, in the pedestrian presence notification device according to any of the first to fourth aspects, infrared light or radio waves are used for the predetermined search signal, and infrared light or radio waves are used for the notification signal. It is a feature.

According to a sixth aspect of the present invention, in the pedestrian presence notifying device according to any of the first to fourth aspects, the notification signal output means comprises a light emitting means for transmitting an optical signal, and the size or shape of the light emitting portion is determined by a predetermined value. In an imaging device located farther than the distance, the image can be observed with the number of pixels necessary for target recognition, distance detection, and the like.

According to a seventh aspect of the present invention, in the pedestrian presence notification device according to any of the first to sixth aspects, the signal transmitted by the notification signal output means changes in a signal to be turned on / off or a signal strength in accordance with a predetermined code. The notification signal is received by the receiving means and decoded to recognize the presence of the pedestrian.

According to an eighth aspect of the present invention, there is provided an on-vehicle pedestrian detection device for receiving a notification signal output from the pedestrian presence notification device according to any one of the first to seventh aspects and performing pedestrian notification.

[0017]

According to the pedestrian presence notification device of the first aspect of the present invention, a predetermined search signal transmitted from the vehicle is received by the receiving means, and the received level is detected by the received level detecting means. The notification signal output means notifies the vehicle of the presence of a pedestrian by transmitting a notification signal in a predetermined direction when the reception level of the search signal is equal to or higher than a predetermined level, and the reception level of the search signal is equal to or higher than the predetermined level. When it becomes less than the threshold level at which detection becomes impossible, a notification signal is transmitted to notify the vehicle of the presence of a pedestrian.

Thus, when a vehicle approaches a pedestrian walking forward, a pedestrian presence notification device worn by the pedestrian is provided by a predetermined search signal transmitted from a preceding obstacle detection device mounted on the vehicle. Once reacting and starting to send an alert signal, once the vehicle approaches the pedestrian, even if it is not received by the pedestrian presence alert device because the irradiation angle of the search signal of the preceding obstacle detection device is not wide, The pedestrian presence notification device transmits a notification signal, and the driver of the vehicle transmits a notification signal transmitted from the pedestrian presence notification device worn by the pedestrian approaching the side in front of the own vehicle. Thus, the pedestrian presence notification device can be used as a pedestrian protection device particularly at night.

When a pedestrian is walking at a distant point in front of the vehicle, a search signal received by the receiving means of the pedestrian presence notification device in response to a search signal transmitted from a preceding obstacle detection device mounted on the vehicle. Is relatively low, while the reception level for the same search signal is relatively high when the pedestrian is walking at a mid-to-near near point in front of the vehicle.
Therefore, if the pedestrian presence annunciator of a pedestrian who is walking at a distant point ahead stops receiving an exploration signal thereafter, the pedestrian has deviated from the road to a side road, so there is no need to be careful. On the other hand, if the pedestrian presence notification device of the pedestrian who is walking at a short distance stops receiving the search signal thereafter, the search signal from the preceding obstacle detection device at the normal irradiation angle can be determined. It is highly possible that you are approaching just before you can not receive.

Therefore, in the pedestrian presence notification device according to the second aspect of the present invention, the pedestrian is walking at a distant point in front of the vehicle,
Therefore, when the reception level of the pedestrian presence notification device with respect to the search signal transmitted from the preceding obstacle detection device of the vehicle is relatively low, that is, between the first level and the second level smaller than the first level. Then, if the reception level of the search signal falls below the threshold value, the transmission of the notification signal is immediately stopped, and the transmission of the notification signal is not continued even when the pedestrian deviates to the side road. To do.

On the other hand, a pedestrian is walking at a mid-to-near short distance point in front of the vehicle. Therefore, the reception level of the pedestrian presence notification device for the search signal transmitted from the preceding obstacle detection device of the vehicle is low. If it is relatively high, that is, if it is equal to or higher than the first level, the driver of the vehicle can immediately transmit the notification signal even if the reception level of the search signal becomes equal to or lower than the threshold value. The presence of the pedestrian can be reliably notified by the notification signal from the pedestrian approaching to the side, and the pedestrian presence notification device can be used as a pedestrian protection device especially at night.

In the pedestrian presence notifying device according to the third aspect of the present invention, a predetermined search signal transmitted from the vehicle while changing the transmission direction is received by the receiving means, and the number of received signals is counted by the signal receiving number counting means. . The notification signal output means notifies the vehicle of the presence of a pedestrian by transmitting a notification signal in a predetermined direction when the number of signal receptions of the search signal is equal to or more than a predetermined value. A notification signal is transmitted to notify the vehicle of the presence of a pedestrian when the value becomes less than the threshold value at which detection becomes impossible from the value that exceeds the value.

Thus, when the vehicle approaches a pedestrian walking forward, the preceding obstacle detection device mounted on the vehicle is wearing the pedestrian according to a predetermined search signal transmitted while changing the transmission direction. Once the pedestrian presence alerting device reacts and starts sending out an alert signal, the vehicle then approaches the pedestrian, and the pedestrian alerting device receives it because the irradiation angle of the search signal of the preceding obstacle detection device is not wide. Even if the pedestrian presence notification device sends a notification signal, the driver of the vehicle can use the pedestrian presence notification device that the person wears the pedestrian who approaches the side just before the vehicle. The presence of the pedestrian can be reliably notified by the transmitted notification signal, and the pedestrian presence notification device can be used particularly as a pedestrian protection device at night.

In the pedestrian presence notifying device according to a fourth aspect of the present invention, the number of signal receptions for the search signal transmitted from the preceding obstacle detection device while changing the transmission direction is determined by the signal reception number counting means. The count is discriminated into a value and a second predetermined value smaller than the count, and when the number of received signals of the search signal falls from the first predetermined value or more to less than the threshold, the transmission of the notification signal by the notification signal output means is performed. When the number of signal receptions continues for a predetermined time and falls from a value less than the first predetermined value to a value less than the threshold value from the second predetermined value or more, the transmission of the notification signal by the notification signal output means is immediately stopped.

As a result, the pedestrian is walking at a distant point in front of the vehicle, so that the number of signals received by the pedestrian presence notification device with respect to the search signal transmitted from the preceding obstacle detection device of the vehicle is relatively small. In the case, that is, between the first predetermined value and a second predetermined value smaller than the first predetermined value, if the number of signal reception for the search signal becomes less than or equal to the threshold after that, immediately stop transmitting the notification signal, Even if a pedestrian has deviated to a side road, the information signal is not continuously transmitted.

On the other hand, a pedestrian is walking at a mid-to-near short distance point in front of the vehicle, so that the number of signals received by the pedestrian presence notification device with respect to the search signal transmitted from the preceding obstacle detection device of the vehicle is relatively large. In other words, if the signal is equal to or more than the first predetermined value, the notification signal is continuously transmitted even if the number of signals received for the search signal becomes equal to or less than the threshold value. The presence of the pedestrian can be reliably notified by the notification signal from the pedestrian approaching the pedestrian, and the pedestrian presence notification device can be used as a pedestrian protection device particularly at night.

In the pedestrian presence notifying device according to the fifth and sixth aspects of the present invention, the notifying signal output means transmits an optical signal as a notifying signal, and the size or shape of the light-emitting portion is larger than a predetermined distance. , It is possible to automatically detect the presence of a pedestrian by using an image pickup device mounted on the vehicle, enabling the driver to walk. Can support the reliable discovery of the elderly.

According to a seventh aspect of the present invention, in the pedestrian presence notifying device according to any of the first to sixth aspects, the signal transmitted by the notification signal output means changes in a signal to be turned on / off or a signal strength in accordance with a predetermined code. The presence of the pedestrian can be reliably detected by receiving and decoding the notification signal and determining whether there is a pedestrian by decoding the reception signal. Therefore, it is possible to assist the driver of the vehicle to reliably detect the pedestrian.

The pedestrian detection device for vehicles according to the invention of claim 8 receives the notification signal output from the pedestrian presence notification device of any one of claims 1 to 7, and performs pedestrian notification. The pedestrian wearing the pedestrian presence notification device can be automatically detected on the vehicle side and notified to the driver.

[0030]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Embodiments of the present invention will be described below in detail with reference to the drawings. FIG. 1 shows a use example of a pedestrian presence notification device 1 and a radar device 2 according to the first embodiment of the present invention,
FIG. 2 shows their functional configuration.

The pedestrian presence notification device 1 is to be carried by the pedestrian 3. The radar device 2 is mounted on the front of the vehicle 4 to automatically detect other vehicles and other obstacles traveling in front of the vehicle and notify the driver of the other obstacles.

The pedestrian presence notification device 1 receives a search signal 5 of light or radio waves transmitted from the on-vehicle radar device 2, and detects a reception signal level for the search signal 5 received by the reception unit 6. Reception signal level detection circuit 7,
A processing logic unit 8 that determines the presence or absence of an approaching vehicle based on the output from the reception signal level detection circuit 7 and outputs a light emission command when necessary, and emits light such as an LED in response to the light emission command of the processing logic unit 8. Light emitting unit 1 for emitting element 9
0, and a battery 11 for supplying power to each circuit.

The illustrated radar device 2 is a conventionally known laser radar device using an infrared laser or a radio wave radar device using electromagnetic waves. The first embodiment is characterized by the pedestrian presence notification device 1, and does not particularly ask about the radar system of the radar device 2. Conventionally, the distance detection method of a general radar device includes a pulse method in which a predetermined short-time pulse signal is transmitted and a reflection time of the pulse signal is observed to detect the distance, or a frequency modulation using a triangular wave. The FW-CW method of transmitting a continuous wave, and observing the frequency of the reflected signal to detect the distance. In addition, as a method of detecting the direction of a reflected target by a general radar device, a beam scan method of detecting a direction from a beam number at which a transmission signal is transmitted while changing a transmission direction of a transmission signal in a horizontal direction, and a reflected signal is obtained, There is a monopulse system in which a plurality of fixed beams having different directions are transmitted from the beginning, and a target direction is detected based on a difference in reception intensity of a reflected signal from each direction. Hereinafter, for the sake of simplicity, the description will be made on the assumption that the vehicle 4 is equipped with the beam scan type laser radar device 2.

The beam scanning type radar apparatus 2 changes the sending direction of the laser beam 12 emitting the laser beam LB as the search signal 5 and the laser beam LB emitted by the laser beam 12 forward. A laser emitting unit 14 having a sending direction operating unit 13 for sending while
The light receiving unit 16 receives the reflected signal 15 from the target, outputs a received signal according to the reflected signal level, and performs laser emission control and transmission direction control on the laser emitting unit 14,
Also, based on the light receiving signal of the light receiving unit 16, determination of the presence or absence of the target,
Processing logic unit 17 for detecting the direction and distance of the target
It is composed of

The radar device 2 emits the pulsed light LB of the infrared laser forward as the search signal 5 and receives the reflected light 15 from the target in front of the target. Is calculated. The formula for calculating the distance D is as follows.

[0036]

D = c · Δt / 2 (where c is the speed of light) The radar device 2 measures the distance while shifting the irradiation angle of the pulse light LB in the horizontal direction. For example, infrared light having a pulse width of 20 nsec is irradiated forward at an interval of 100 μsec while shifting the irradiation angle by 0.02 degrees in the horizontal direction. And the total beam scanning angle is about 12
Degree.

Such specifications are based on the following reasons. FIG.
As shown in (1), the laser radar device 2 assumes that a preceding obstacle on the same lane is about 100 m ahead as a range in which it is necessary to detect the preceding vehicle 20 traveling on a highway. Also, as the reflection target, it is assumed that the reflex reflector 21 is installed at the tail of the preceding vehicle that reflects light in the direction in which the light is incident.

Therefore, in the general laser radar device 2, when the surface of the target other than the reflex reflector 21 of the preceding vehicle 20 is irradiated with the laser beam LB, the absorption or scattering on the surface is large. Therefore, the intensity of the reflected light is weak, and the distance can be measured only about 30 m. Therefore, the known radar device 2 is not suitable for use as a device for directly irradiating a laser beam LB to a pedestrian in front and detecting the presence of the pedestrian based on its reflected light, It is not used for any other purpose.

However, in the case of the first embodiment of the present invention, the pedestrian presence notification device 1 having the above-described configuration is provided to the pedestrian 3.
By causing the pedestrian presence notification device 1 to respond to the laser light emitted from the above-described known laser radar device 2 by transmitting the pedestrian presence notification signal,
At night, the driver can visually recognize the pedestrian in front of the pedestrian to protect the pedestrian.

The operation of the pedestrian presence notification device 1 will be described with reference to FIG.
This will be described with reference to FIG. The receiver 6 detects the search signal 5 transmitted at a fixed interval from the radar device 2 of the vehicle 4 and outputs a signal corresponding to the received signal strength to the received signal level detection circuit 7. The reception signal level detection circuit 7 detects the signal level Lx of the reception signal and outputs the signal level Lx to the processing logic unit 8.

The processing logic section 8 receives the received signal level Lx
Is determined to be equal to or higher than a predetermined signal level Lth set in advance. If the signal level is equal to or higher than the predetermined level Lth, a light emission command is given to the light emitting unit 10, and the light emitting unit 10 causes the light emitting element 9 to emit light and the presence of a pedestrian. Is notified to the driver of the vehicle 4.

However, as described above, since the irradiation angle of the laser beam LB as the search signal 5 of the ordinary radar device 2 in the lateral direction is about 12 degrees, the vehicle 4
, The irradiation width of the search signal 5 of the radar device 2 becomes shorter, and the area where the pedestrian presence notification device 1 can detect the search signal 5 becomes narrower. Theoretically, 1 in front of vehicle 4
When the pedestrian 3 is less than 7 m, the width becomes smaller than the normal lane width. Even when the pedestrian 3 carrying the pedestrian presence notification device 1 is walking in the lane, the pedestrian 3 enters the blind spot area and the search signal 5 from the radar device 2 There may be situations where detection is not possible.

In order to avoid this, in the pedestrian presence notification device 1 of the present embodiment, after the reception level of the search signal 5 once exceeds the predetermined level and causes the light emitting section 10 to emit light,
Even if the reception level Lx of the search signal 5 falls below the predetermined level Lth, the processing logic unit 8 causes the light emitting unit 10 to continue the light emitting operation for a predetermined time set in advance.

Thus, in the pedestrian notification device 1 of the first embodiment, if the pedestrian is started to notify the presence of the pedestrian in response to the search signal 5 of the radar device 2 of the vehicle 4, then the vehicle 4 3 and keeps informing the presence of a pedestrian even when entering the blind spot area from the radar device 2, and the notification signal is not interrupted due to entering the blind spot area described above. , The notification signal is continuously transmitted from the vehicle to the very short distance, and the driver of the vehicle 4 can be continuously informed of the presence of the pedestrian 3.

Next, a pedestrian presence notification device according to a second embodiment of the present invention will be described with reference to FIGS. The feature of the second embodiment is that the processing function shown in FIGS. 4 and 5 is added to the processing logic unit 8 in the pedestrian presence notification device 1 of the first embodiment shown in FIGS. Things. Note that other configurations are common to those of the first embodiment, and therefore, will be described below using the same reference numerals.

The processing logic section 8 receives the received signal level L for the search signal 5 detected by the received signal level detection circuit 7.
x is a first predetermined level L set in advance
1, a second predetermined level L2, and a third predetermined level L
3 (L1>L2> L3), and is determined as follows.

If the reception level Lx of the search signal 5 transmitted from the radar device 2 of the vehicle 4 is equal to or higher than the second predetermined level L2, a light emission command is output to the light emitting unit 10 (step S0).
5 to S20, and steps S05, S10, S40).

After that, the reception level L of the search signal 5
x is continuously compared with the first predetermined level L1 and the second predetermined level L2 which is smaller than the first predetermined level L1.
When x becomes lower than the third predetermined level L3 from the state equal to or higher than the first predetermined level L1, the light emission command to the light emitting unit 10 is continued for a predetermined time (steps S45 to S60).

However, when the reception level Lx falls from the second predetermined level L2 or higher and lower than the first predetermined level L1 to lower than the third predetermined level L3, the light emission command to the light emitting unit 10 is immediately stopped (step S2
5 to S35).

This is for the following reason. That is, when the pedestrian 3 is walking at a distant point in front of the vehicle 4, the receiver 6 of the pedestrian presence notification device 1 receives the search signal 5 transmitted from the radar device 2 mounted on the vehicle 4. The reception level Lx of the search signal 5 is relatively low, while the reception level Lx for the same search signal is relatively high when the pedestrian 3 is walking at a middle-to-near distance point in front of the vehicle 4. Therefore, the pedestrian 3 walking at the far distance point ahead
If the pedestrian presence notification device 1 does not receive the exploration signal 5 after that, the pedestrian 3 has deviated from the road to the side road, so there is no need to be careful. When the pedestrian presence notification device 1 of the pedestrian 3 stops receiving the search signal 5 thereafter, the pedestrian 3 approaches a very short distance in a blind spot area of the search signal 5 from the radar device 2 at the normal irradiation angle. It is assumed that there is an actual situation.

Therefore, in the pedestrian presence notifying device 1 of the second embodiment, as shown in FIG. 5A, the pedestrian 3 is walking at a distant point in front of the vehicle. The signal reception level Lx of the pedestrian presence notification device 1 with respect to the search signal 5 transmitted from the radar device 2 is relatively low, and the first
If the received level Lx of the search signal falls below the third predetermined level L3, the light emission is performed by the light emitting section 10 if the predetermined level L1 is between the predetermined level L1 and the second predetermined level L2. The pedestrian is stopped immediately so that the pedestrian does not emit light continuously to notify the presence of the pedestrian even when the pedestrian has deviated to a side road.

On the other hand, as shown in FIG.
Is walking at a mid-to-near short distance point in front of the vehicle 4, the signal reception level Lx of the pedestrian presence notification device 1 with respect to the search signal transmitted from the radar device 2 of the vehicle 4 is relatively high, and the first predetermined If the level is equal to or higher than the level L1, the light emission is continued even if the reception level Lx of the search signal subsequently becomes lower than the third predetermined level L3, thereby approaching the driver of the vehicle to the side immediately in front of the own vehicle. The presence of the pedestrian 3 can be reliably notified by a light emission signal from the device 1.

Thus, the pedestrian presence notification device can be effectively used as a pedestrian protection device especially at night.

Next, a third embodiment of the present invention will be described with reference to FIG. The pedestrian presence notification device 1A used in the third embodiment is characterized in that the radar method is a pulse method, and the azimuth detecting means sends an optical signal as a notification signal in response to the beam scanning type radar device 2A. I do.

First, the radar device 2A uses the processing logic unit 17A to output a pulse signal for each predetermined short time to the search signal 5A.
As A, there are provided a laser emitting section 14A for transmitting while changing the transmission direction in the lateral direction, and a light receiving section 16A for receiving reflected light 15A from the target. The processing logic unit 17A controls the transmission timing and the transmission direction of the above-described search signal 5A, determines the direction of the target from the transmission direction number of the laser search signal 5A when receiving the reflected light 15A, and determines the direction of the search signal 5A.
It determines the distance to the target from the difference in transmission / reception timing between A and the reflected signal 15A and outputs obstacle information.

The pedestrian presence notifying device 1A responsive to the radar device 2A receives a search pulse signal 5A and outputs a pulse signal.
The search signal 5 received by the receiver 6A during 00 msec.
A received pulse number counting circuit 7A for counting the number of pulses of A, a pulse number count value Cx output from the received pulse number counting circuit 7A is compared with a predetermined threshold value Cth,
A processing logic unit 8A that outputs a light emission command when the count value Cx is equal to or greater than the threshold value Cth, a light emitting unit 10A that receives a light emission command from the processing logic unit 8A and emits an optical signal as a notification signal, and a power supply. The battery 11A is provided.

The pedestrian presence notification device 1A according to the third embodiment also basically includes a search signal 5A of the radar device 2A.
Sends an optical signal as a pedestrian presence notification signal in response to
It serves to inform the driver of the vehicle 4.

That is, in the situation shown in FIG. 1, the receiving unit 6A detects a pulse signal at a predetermined time interval of the search signal 5A at a constant interval transmitted from the radar device 2A of the vehicle 4. In the case of this embodiment, the number of received signal beams other than the received signal level as in the first embodiment is used as a guide for determining the distance to the radar device 2A in the pedestrian presence notification device 1A. is there. When the distance between the radar device 2A and the pedestrian presence notification device 1A is short, the area of the receiving unit 6A of the pedestrian presence notification device 1A cannot be ignored, and the number of pulses of the search signal 5A incident from the radar device 2A increases. . From this, the radar device 2A 1
By observing the number of pulses received by the receiving section 6A within the time corresponding to the scan, it is possible to determine whether the vehicle 4 behind is approaching the vicinity of the pedestrian 3 in the same manner as the received signal level.

Therefore, the reception pulse number counting circuit 7A
However, the pulse signal Cx received and output by the receiving unit 6A is counted at predetermined time intervals, and the pulse number Cx is counted at predetermined time intervals and output to the processing logic unit 8A.

In the processing logic unit 8A, the number of received pulses C
It is determined whether or not x is equal to or greater than a predetermined value Cth. If the value x is equal to or greater than the predetermined value Cth, a light emission command is given to the light emitting unit 10A. The presence of a pedestrian is notified by a signal.

In the case of the third embodiment, the first
Similarly to the embodiment, as the vehicle 4 approaches the pedestrian 3, the irradiation width of the search signal 5A of the radar device 2A becomes shorter, and the area in which the pedestrian presence notification device 1A can detect the search signal 5A also becomes narrower. Therefore, once the number of received pulses Cx of the search signal 5A exceeds the predetermined value Cth and causes the light emitting unit 10A to emit light, even if the number of received pulses Cx of the search signal 5A becomes less than the predetermined value Cth, the processing logic unit 8A Is the light emitting unit 1
The light emission operation is continued for a predetermined time preset for 0A.

Thus, similarly to the pedestrian notification device of the first embodiment, the pedestrian presence notification device 1A of the third embodiment walks in response to the search signal 5A of the radar device 2A of the vehicle 4. Once the pedestrian is started to be notified, the vehicle 4 approaches the pedestrian 3 and continues to notify the pedestrian of the pedestrian even when entering the blind spot area from the radar device 2A. It is possible to continuously transmit the notification signal to a short distance to keep the driver of the vehicle 4 informed of the presence of the pedestrian 3.

Next, a fourth embodiment of the present invention will be described with reference to FIGS. The pedestrian presence notification device of the fourth embodiment is different from the pedestrian presence notification device 1A of the third embodiment shown in FIG. 6 in that the processing functions shown in FIGS. 7 and 8 are added to the processing logic unit 8A. It was done. Since other configurations are common to those of the third embodiment, the following description will be made using the same reference numerals.

The processing logic section 8A converts the pulse count value Cx of the received pulse count circuit 7A into a first predetermined value C1, a second predetermined value C2,
Then, it is compared with a third predetermined value C3 (C1>C2> C3), and the determination is made as follows.

The received pulse number count value Cx of the search pulse signal 5A transmitted from the radar device 2A of the vehicle 4 is equal to the second
If the value is equal to or more than the predetermined value C2, a light emission command is output to the light emitting unit 10A (steps S05A to S20A, or steps S05A, S10A, and S40A).

Thereafter, the received pulse number count value Cx of the search signal 5A is continuously compared with the first predetermined value C1 and the second predetermined value C2 which is smaller than the first predetermined value C1. When the state becomes equal to or less than the first predetermined value C1 and becomes smaller than the third predetermined value C3, the light emitting unit 10
The light emission instruction for A is continued for a predetermined time (step S4).
5A to S60A).

However, the received pulse number count value C
When x becomes equal to or more than the second predetermined value C2 and becomes lower than the third predetermined value C3 from the level lower than the first predetermined value C1, the light emission command to the light emitting unit 10A is immediately stopped (step S).
25A-S35A). The reason is the same as described in the second embodiment.

As a result, in the pedestrian presence notification device 1A of the fourth embodiment, as shown in FIG. 8A, the pedestrian 3 is walking at a distant point in front of the vehicle. The received pulse number count value Cx of the pedestrian presence notification device 1A with respect to the search signal 5A transmitted from the radar device 2A is relatively low, and the first predetermined value C1 and the second predetermined value C
2, if the count value Cx of the number of received pulses of the search signal becomes less than the third predetermined value C3, the light emitting unit 1
The light emission by 0A is immediately stopped, and the light emission is not continued to continuously notify the presence of the pedestrian even when the pedestrian has deviated to the side road.

On the other hand, as shown in FIG.
Is walking at a mid-to-near short distance point in front of the vehicle 4, and therefore, the count value C of the number of pulses received by the pedestrian presence notification device 1 A in response to the search signal transmitted from the radar device 2 A of the vehicle 4
If x is relatively high and is equal to or greater than the first predetermined value C1, light emission is continued even when the received pulse number count value Cx of the search signal becomes less than the third predetermined value C3.
The presence of the pedestrian 3 approaching to the side immediately in front of the own vehicle is surely notified to the driver of the vehicle by a light emission signal from the device 1A.

Thus, the pedestrian presence notification device can be effectively used particularly as a pedestrian protection device at night.

Next, a fifth embodiment of the present invention will be described with reference to FIGS. The pedestrian presence notification device 1B according to the fifth embodiment has a light emitting unit 1 in particular.
0B is configured as shown in FIG.
Is equipped with a pedestrian detection device 25 separately from the radar device 2 employed in the first embodiment.
To output a pedestrian detection signal to a vehicle control device (not shown), and, for example, turn on an alarm lamp and output an alarm sound on the vehicle control device side, or display and announce a pedestrian warning on a display. And so on.

First, the configuration of the pedestrian detection device 25 will be described with reference to FIG. The pedestrian detection device 25 includes an imaging device 26 including one or a plurality of imaging elements (for example, a CCD).
And a recognition logic unit 27 that detects a light emitting operation of the pedestrian presence notification device 1B from the front image obtained by the imaging device 26 and outputs a pedestrian detection signal to the vehicle control device side.

On the other hand, the light emitting unit 1 of the pedestrian presence notifying device 1B
0B, as shown in FIG. 10, the imaging device 26 of the pedestrian detection device 25 of the vehicle 4 has the light emitting unit 10B
Light emitting element 9B such that it is automatically recognizable.
Are arranged. The other components of the pedestrian presence notification device 1B are the same as those of the first embodiment shown in FIGS. 1 and 2.

The number and arrangement of the light-emitting elements 9B of the light-emitting section 10B described above are, for example, the on-vehicle imaging device 26 so as to satisfy the required number of pixels that can be recognized as targets by the imaging device 26 located beyond a predetermined distance. When a plurality of CCDs of about 100,000 pixels are used and the detection range is set within 50 m, the light emitting element 9 in the light emitting unit 10B of the pedestrian presence notification device 1B is used.
The size and arrangement of B is 150 mm as shown in FIG.
It is desirable to set it to about 50 mm.

Thus, according to the fifth embodiment,
When the pedestrian 3 carrying the pedestrian presence notification device 1B exists within a predetermined range that can be recognized by the imaging device 26 in the pedestrian detection device 25 mounted on the vehicle, and the radar device 2 is mounted on the pedestrian presence notification device 1B. When the driver of the vehicle 4 does not notice the light emission of the light emitting unit 10B in a situation where the light emitting element 9B group of the light emitting unit 10B performs the light emitting operation to determine that the vehicle is approaching and to notify the presence of the pedestrian. However, the vehicle-mounted pedestrian detection device 25 can detect the light emission signal 28 of the pedestrian presence notification device 1B and output a signal for pedestrian detection. It is possible to notify or warn of the presence of a driver, and to perform vehicle control such as automatic braking.

Next, a sixth embodiment of the present invention will be described with reference to FIG. The feature of the sixth embodiment is that the pedestrian presence notification device 1 of the first embodiment shown in FIGS. 1 and 2 causes the light emitting element of the light emitting unit 10 to emit light based on a predetermined code. The pedestrian notification signal from the pedestrian presence notification device 1C is detected by receiving and decoding the light emission signal 28C by the pedestrian detection device 25A mounted on the vehicle.

The pedestrian presence notifying device 1C employed in the sixth embodiment is different from the pedestrian presence notifying device 1 of the first embodiment in that the pedestrian presence notifying device 1 receives a light emission command signal from the processing logic unit 8 and generates a code. A code generation unit 31 for generating a signal is additionally provided, and the light emitting unit 10 emits light in a predetermined code pattern according to a code signal output from the code generation unit 31, and outputs the light as a pedestrian notification signal 28C.

The pedestrian detection device 25A mounted on the vehicle has a receiving section 32 for receiving the pedestrian notification signal 28C, a decoding circuit 33 for decoding the coded reception signal 28C, and a signal decoded by the decoding circuit 33 for walking. A processing unit 34 is provided which determines whether or not the signal is a pedestrian notification signal, and outputs a pedestrian detection signal to a vehicle control device (not shown) when the signal is determined to be a pedestrian notification signal. The on-vehicle radar device 2 is the same as that employed in the first embodiment shown in FIGS.

When the pedestrian presence notification device 1C receives the search signal 5 from the radar device 2, the pedestrian presence notification device 1C outputs a light emission command from the processing logic unit 8 by the same processing as in the first embodiment. The light emission command is input to the code generation unit 31, where the light emission output of the light emission unit 10 is modulated on / off or the signal intensity is modulated according to the pedestrian detection code, thereby encoding the light signal of the light emission unit 10, It is sent out as the notification signal 28C.

In the vehicle-mounted pedestrian detection device 25A, the pedestrian notification signal 28C is received by the receiving unit 32, and the received signal is decoded by the decoding circuit 33 and output to the processing unit 34. The processing unit 34 determines whether or not the decoded received signal is a signal for notifying the presence of a pedestrian. If it is determined that the received signal is a signal for notifying the presence of a pedestrian, the processing unit 34 determines the received signal as a pedestrian detection signal. (Not shown).

When the vehicle control device receives this pedestrian detection signal, it notifies the driver of the presence of a pedestrian or warns the driver, as in the case of the fifth embodiment, and further performs automatic braking and the like. Vehicle control can be performed.

Thus, in the pedestrian presence notification device 1C and the pedestrian detection device 25A mounted on the vehicle according to the sixth embodiment,
Even when the driver of the vehicle 4 does not notice the light emission in the situation where the light emitting unit 10 is emitting light, the onboard pedestrian detection device 25A detects the light emission signal 28C of the pedestrian presence notification device 1C and detects the pedestrian. A detection signal can be output, and the vehicle control device side can notify the driver of the presence of a pedestrian or warn the driver in response to the signal, and can further perform vehicle control such as automatic braking. it can.

Next, a seventh embodiment of the present invention will be described with reference to FIG. A feature of the seventh embodiment is that a radio signal is output as a pedestrian notification signal instead of the light emitting unit 10 to the pedestrian presence notification device 1 of the first embodiment. Since the vehicle 4 cannot be visually recognized by the driver of the vehicle 4, a vehicle-mounted pedestrian detection device 25B that receives a radio signal and detects the presence of a pedestrian is installed separately from the radar device 2 on the vehicle 4 side. On the point.

The pedestrian presence notification device 1D employed in the seventh embodiment is different from the pedestrian presence notification device 1 of the first embodiment in that the light emitting unit 10 is replaced with a processing logic unit 8.
And an antenna 42 for outputting the radio signal 43 as a pedestrian notification signal 43 in the air.

On the other hand, the pedestrian detection device 25 B mounted on the vehicle is provided with a radio wave receiving antenna 4 for receiving the pedestrian notification radio signal 43.
4. A receiving unit 4 for amplifying a signal received by the antenna 44
5. A pedestrian determination unit 46 that determines whether or not the received signal is a pedestrian notification signal, and outputs a pedestrian detection signal to a vehicle control device (not shown) when it is determined that the signal is a pedestrian notification signal. It has. In this embodiment, the on-vehicle radar device 2 is the same as that employed in the first embodiment shown in FIGS.

When the pedestrian presence notification device 1D receives the search signal 5 from the radar device 2, the pedestrian presence notification device 1D transmits a notification signal output command from the processing logic unit 8 to the radio wave transmission circuit 41 by the same processing as in the first embodiment. Output to The radio wave transmitting circuit 41 receives the notification signal output, generates and outputs a radio signal having a predetermined waveform, and outputs the signal as a pedestrian notification signal 43 in the air by the radio antenna 42.

In the vehicle-mounted pedestrian detection device 25 B, the pedestrian notification radio signal 43 is received by the antenna 44,
In the pedestrian determination unit 46, it is determined whether or not the signal is a pedestrian notification signal. If it is determined that the signal is a signal for notifying the presence of a pedestrian, the signal is transmitted to a vehicle control device (not shown) as a pedestrian detection signal. Output.

When the vehicle control device receives this pedestrian detection signal, it notifies the driver of the presence of a pedestrian or warns the driver, as in the fifth and sixth embodiments. Vehicle control such as automatic braking can be performed.

Thus, in the pedestrian presence notification device 1D and the pedestrian detection device 25B mounted on the vehicle in the seventh embodiment,
The onboard pedestrian detection device 25B is a pedestrian presence notification device 1D
The vehicle control device side can notify the driver of the presence of a pedestrian or warn the driver in response to the signal, and further perform vehicle control such as automatic braking. Can be.

In the sixth and seventh embodiments, ID code information for identifying a pedestrian can be incorporated in the pedestrian notification signal 28C or 43, and the information is decoded by the pedestrian detection devices 25A and 25B. In this way, not only the detection of the presence of a pedestrian but also the distinction of the pedestrian is possible.

Further, when a radio signal is output from the pedestrian presence notification device 1D as the pedestrian notification signal 43, a radio signal having a strong electric field strength must be output if the pedestrian detection device 25B is to directly receive the radio signal. Battery life may be shortened. Therefore, as shown in FIG. 13, repeaters 51 that relay signals between the pedestrian presence notification device 1D and the pedestrian detection device 25B mounted on the road are provided at appropriate distance intervals along the road as infrastructure. This makes it possible to transmit and receive more complicated information. In addition, 52 is a relay antenna.

Next, an eighth embodiment of the present invention will be described with reference to FIG.
It will be described based on. The pedestrian presence notification device 1E used in the eighth embodiment receives the radio pulse signal as the search signal 5B transmitted from the radio pulse radar device 2B by the radio antenna 760, and is similar to the first embodiment. And a function of emitting light for pedestrian presence notification in response to the reception level of the radio pulse signal 5B. It should be noted that, even in the case where the reception level of the radio signal 5B becomes lower than the threshold value, the light emission is continued for the pedestrian notification as in the first embodiment.

Then, such a pedestrian presence notification device 1E
An in-vehicle radar device 2B that is responsive to the radio wave signal 5 includes an electric wave pulse signal 5 instead of the laser radar device 2 of the first embodiment.
A radio wave type pulse radar device 2B for transmitting B is used.

Radio wave pulse radar device 2B shown in FIG.
In the figure, 61 is a voltage controlled oscillator (VCO) for generating a transmission signal, 62 is an isolator for protecting the VCO 61, 63 and 63 'are circulators for demultiplexing the transmission radio signal 5B, LO signal and reflection signal 15B, and 64 is a transmission A switch for controlling ON / OFF of the operation.
A mixer for frequency-converting B with the LO signal, and a transmission / reception antenna 66 for transmitting / receiving radio waves. Further, 67 is a gate circuit for removing noise immediately after transmission, and 68 is a VCO 61
, A trigger circuit for triggering the transmission operation of the pulse signal, and a motor and a drive unit for changing the transmission azimuth of the radar head unit 71 for transmitting the pulse signal by a predetermined angle in the horizontal direction. Further, reference numeral 72 denotes a signal processing unit.

The operation of the radio pulse radar device 2B as a preceding obstacle detection device is almost the same as that of the first embodiment, and the radio pulse radar device 2B transmits an ultra-short pulse radio wave 5B from the radar device 2B at regular time intervals. When the reflected radio wave 15B is transmitted forward and returned from the target, the distance to the reflected target is calculated based on the time difference between the transmission and reception timings. Further, the radar head 71 is rotated left and right by a motor and a driving unit 70 to perform beam scanning to detect the azimuth of the target. Note that the target direction detection method may be a multi-beam method provided with a plurality of primary radiators.

Therefore, if the pedestrian 3 walking in front of the vehicle 4 equipped with the radar device 2B carries the pedestrian presence notification device 1E, the pedestrian 3 emits light in response to the radio signal 5B. Then, even if the pedestrian 3 enters the blind spot area where the radio signal 5B does not reach due to the vehicle 4 approaching the pedestrian 3, it continues to emit light as a notification signal for a predetermined time and walks to the driver. Can be informed of the existence of the person.

Next, a ninth embodiment of the present invention will be described with reference to FIG.
It will be described based on. The ninth embodiment is characterized by a radar device 2C that is effective for the pedestrian presence notification device 1E, as in the eighth embodiment.

This radar device 2C is a FW-CW radar device, which is a directional coupler 81 and a triangular wave generator 82 for splitting the transmission signal 5C and the LO signal, and other components are shown in FIG. This is common with the eighth embodiment. The radar apparatus 2C is characterized in that it measures the frequency shift amount of the reflected signal 15C from the target and calculates the distance to the target based on the measured amount.

The pedestrian presence notification device 1E used in the eighth embodiment shown in FIG. 14 can respond to such a radar device 2C, and if the transmission signal 5C is received, Even if the reception level becomes lower than the threshold value, the driver continuously emits light for a predetermined period of time, so that the driver can be reliably informed that a pedestrian is present near the vehicle.

In each of the above embodiments, the pedestrian presence notification device simply compares the reception level or the reception pulse count value for the transmission signal of the radar device with one threshold value and compares the reception level or the number of received pulses with the light emitting portion or radio wave transmission device. The same applies to the configuration in which the circuit outputs the pedestrian notification signal, as in the second embodiment and the fourth embodiment.
The reception level or the reception pulse count value is compared with the first comparison value and the second comparison value, and the reception level or the reception pulse count value is less than the third comparison value depending on the magnitude relation between them. In this case, a control can be adopted in which the output of the notification signal is continued for a predetermined time or immediately stopped.

[Brief description of the drawings]

FIG. 1 is an explanatory diagram showing a relationship between a pedestrian presence notification device and a radar device according to a first embodiment of the present invention.

FIG. 2 is a block diagram illustrating a configuration of a pedestrian presence notification device and a radar device corresponding thereto according to the embodiment.

FIG. 3 is an explanatory diagram showing a target detection function and a pedestrian presence notification function of the radar device according to the embodiment.

FIG. 4 is a flowchart of a pedestrian presence notification process according to a second embodiment of the present invention.

FIG. 5 is a graph showing a correspondence between a pedestrian presence notification operation by the pedestrian presence notification device and a received signal level in the embodiment.

FIG. 6 is a block diagram illustrating a configuration of a pedestrian presence notification device and a radar device corresponding thereto according to a third embodiment of the present invention.

FIG. 7 is a flowchart of a pedestrian presence notification process according to a fourth embodiment of the present invention.

FIG. 8 is a graph showing a correspondence relationship between a pedestrian presence notification operation by the pedestrian presence notification device and the number of received signal pulses in the embodiment.

FIG. 9 is a block diagram showing a configuration and functions of a pedestrian presence notification device, a radar device, and a vehicle-mounted pedestrian detection device corresponding thereto according to a fifth embodiment of the present invention.

FIG. 10 is a front view of a light emitting unit of the pedestrian presence notification device of the embodiment.

FIG. 11 is a block diagram showing a configuration of a pedestrian presence notification device according to a sixth embodiment of the present invention, a radar device corresponding to the device, and a vehicle-mounted pedestrian detection device.

FIG. 12 is a block diagram showing a configuration of a pedestrian presence notification device according to a seventh embodiment of the present invention, a radar device corresponding thereto, and a vehicle-mounted pedestrian detection device.

FIG. 13 is a block diagram showing a configuration of a pedestrian presence notification device according to a modification of the seventh embodiment, a radar device corresponding to the pedestrian presence notification device, a vehicle-mounted pedestrian detection device, and a relay device.

FIG. 14 is a block diagram showing a configuration of a pedestrian presence notification device and a radar device corresponding thereto according to an eighth embodiment of the present invention.

FIG. 15 is a block diagram showing a configuration of a pedestrian presence notification device and a radar device corresponding thereto according to a ninth embodiment of the present invention.

FIG. 16 is an explanatory diagram of a conventional example.

[Explanation of symbols]

 1, 1A to 1E Pedestrian presence notification device 2, 2A to 2C radar device 3 Pedestrian 4 Vehicle 5, 5A to 5C Search signal 6, 6A to 6C Receiving unit 7 Received signal level detection circuit 7A Received pulse number counting circuit 8, 8A processing logic section 9 light emitting element 10, 10A light emitting section 11 battery 12, 12A light emitting section 15, 15A reflection signal 16, 16A receiving section 17, 17A processing logic section 25, 25A, 25B pedestrian detection device

──────────────────────────────────────────────────続 き Continued on the front page (51) Int.Cl. ⁷ Identification symbol FI Theme coat ゛ (Reference) // G01S 7/48 G01S 17/88 A F term (Reference) 5H180 AA01 CC02 CC03 CC12 CC14 LL01 LL06 5J070 AB01 AB19 AD01 AE01 AE09 AG04 AK22 BF02 5J084 AA05 AA10 AB01 AB07 AC02 AD01 AD05 BA03 BA11 BA32 BB02 BB21 CA03 CA23 DA01 EA04 EA22

Claims (8)

[Claims] A receiving means for receiving a predetermined search signal; a reception level detecting means for detecting a reception level of the search signal received by the receiving means; and a receiving level detected by the reception level detecting means. And a notification signal output means for transmitting a notification signal when the reception level detected by the reception level detection means falls below the threshold level at which detection becomes impossible from the predetermined level or higher. Pedestrian presence notification device. 2. The reception level detection means detects a predetermined level of the reception level separately from a first level and a second level smaller than the first level, and the notification signal output means includes: When the reception level detected by the reception level detecting means has fallen from the first level or more to less than the threshold level, the transmission of the notification signal is continued for a predetermined time, and the reception level is at least the second level. The pedestrian presence notification device according to claim 1, wherein the transmission of the notification signal is immediately stopped when the level becomes lower than the threshold level from a level lower than the first level. 3. Receiving means for receiving a predetermined search signal transmitted while changing a transmission direction, signal receiving number counting means for counting the number of receptions of the search signal received by the receiving means per predetermined time, When the signal reception number counted by the signal reception number counting means is equal to or more than a predetermined value, and when the signal reception number counted by the signal reception number counting means is less than the predetermined value and less than a threshold value that cannot be detected. And a notification signal output means for transmitting a notification signal when the pedestrian becomes present. 4. The signal reception number counting means detects a predetermined value of the signal reception number by distinguishing the predetermined value from a first predetermined value and a second predetermined value smaller than the first predetermined value, and The signal output means, when the signal reception number counted by the signal reception number counting means has fallen from the first predetermined value or more to less than the threshold value, causes the notification signal to continue to be transmitted for a predetermined time; The transmission of the notification signal is stopped immediately when the number falls below the threshold from a value less than the first predetermined value with the number being equal to or more than the second predetermined value. Pedestrian presence notification device. 5. The pedestrian presence notification according to claim 1, wherein infrared light or radio waves are used for the predetermined search signal, and infrared light or radio waves are used for the notification signal. apparatus. 6. The notification signal output means comprises a light emitting means for transmitting an optical signal, and the size or shape of the light emitting portion is
The pedestrian presence notification device according to any one of claims 1 to 4, wherein the imaging device located farther than a predetermined distance can be observed with the number of pixels required for target recognition, distance detection, and the like. 7. An information signal transmitted from said information signal output means has a signal which is turned on / off or a signal strength changes in accordance with a predetermined code, and is received by said information signal receiving means, decoded and received for walking. The pedestrian presence notification device according to any one of claims 1 to 6, wherein the pedestrian presence notification device is configured to recognize the presence of a pedestrian. 8. A vehicle-mounted pedestrian detection device that receives a notification signal output from the pedestrian presence notification device according to any one of claims 1 to 7, and performs pedestrian notification.