JP2004310489A - Attention exciting device for vehicle - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To excite driver's attention to a traveling object present at the rear side of a vehicle without making a driver voluntarily acquire information. <P>SOLUTION: An imaging camera 2 for the rear side video of the vehicle picks up the rear side video of the vehicle, and then inputs data on the picked up rear side video of the vehicle to a video processing section 3 for detecting the traveling object. The video processing section 3 for detecting the traveling object calculates the distance between the vehicle and the traveling object by referring to the location of the traveling object in the rear side video, and then inputs a calculation result to an alarm intensity control section 4. The alarm intensity control section 4 gradually changes the intensity of an alarm display in accordance with the calculated distance. Thus, a driver grasps the distance between the vehicle and the traveling object in accordance with a change in alarm intensity and pays attention to the traveling object present at the rear side of the vehicle. <P>COPYRIGHT: (C)2005,JPO&NCIPI

Description

[0001]
TECHNICAL FIELD OF THE INVENTION
The present invention relates to a vehicular alerting device that alerts a driver to a moving object existing on the rear side of a vehicle.
[0002]
[Prior art]
2. Description of the Related Art Conventionally, a vehicle warning device that displays a rear side image including a rear blind area on a monitor device in a vehicle in order to draw a driver's attention to a moving body existing behind the vehicle. Is provided in the vehicle.
[0003]
[Problems to be solved by the invention]
However, the conventional vehicle alert device cannot alert the driver to the moving object unless the driver independently looks at the rear side image displayed on the monitor device.
[0004]
The present invention has been made to solve the above-described problems, and an object of the present invention is to provide a driver's attention to a moving body located on the rear side of a vehicle without causing the driver to independently acquire information. It is an object of the present invention to provide a vehicle alert device that can be alerted.
[0005]
[Means for Solving the Problems]
In order to solve the above-described problems, the features of the vehicle alert device according to the present invention include: an imaging unit that captures an image of the rear side of the vehicle; a display unit that displays an image captured by the imaging unit; A notification unit that displays a notification to alert the user to the moving object that is behind the vehicle, a detection unit that detects the presence or absence of the moving object, and determines the necessity of the notification display based on the detection result of the detection unit. And a control unit that changes the notification intensity of the notification unit in a stepwise manner according to the determination result.
[0006]
【The invention's effect】
According to the vehicle alerting device of the present invention, the control unit changes the notification intensity in a stepwise manner according to the necessity of the notification, so that the driver does not need to voluntarily acquire the information. , The presence or absence of a moving body can be grasped, and attention can be paid to the moving body.
[0007]
BEST MODE FOR CARRYING OUT THE INVENTION
Hereinafter, the configuration and operation of the vehicle alert device according to the first and second embodiments of the present invention will be described in detail with reference to the drawings.
[0008]
[First Embodiment]
(Structure of vehicle alert system)
First, a configuration of a vehicle alert device 1 according to a first embodiment of the present invention will be described with reference to FIG.
[0009]
As shown in FIG. 1, a vehicle alerting device 1 according to a first embodiment of the present invention includes a vehicle rear side image capturing camera 2, a moving object detecting image processing unit 3, a notification intensity control unit 4, A notification display unit 5 and a video display unit 6 are provided as main components.
[0010]
As shown in FIG. 2, the vehicle rear side image capturing camera 2 is attached to the left and right portions of the front end of the vehicle 10 and captures a rear side image including a blind spot area 11 on the rear side of the vehicle 10. . Then, the vehicle rear side video imaging camera 2 inputs data of the captured rear side video to the moving body detection video processing unit 3 and the video display unit 6.
[0011]
The moving body detection video processing unit 3 detects the presence or absence of a moving body and the distance between the moving body and the vehicle by analyzing the rear side video captured by the vehicle rear side video camera 2. Then, the moving object detection video processing unit 3 inputs the detection result to the notification intensity control unit 6. The details of a method for detecting the presence or absence of a moving body and the distance between the moving body and the vehicle will be described later.
[0012]
The notification intensity control unit 4 determines the necessity of calling the driver's attention to the moving object based on the detection result of the moving object detection video processing unit 3. Then, based on the determination result, the notification intensity control unit 4 changes parameters such as the brightness, the presentation time, and the presentation interval of the notification performed by the notification display unit 5 in order to draw the driver's attention.
[0013]
In this embodiment, the notification intensity control unit 4 changes the notification luminance, the presentation time, and the presentation interval stepwise according to the table shown in FIG. That is, when the distance between the vehicle and the moving body is large (100 m or more), the notification intensity control unit 4 controls the notification display unit 5 so as not to perform the notification, and the distance between the vehicle and the moving body is reduced. In the case of the middle level (50 m or more and less than 100 m), the notification display unit 5 is controlled so as to notify at a small luminance, a short time (about 0.5 msec), and a long time interval (about 3 seconds).
[0014]
In addition, when the distance between the vehicle and the moving object is small (5 m or more and less than 50 m), the notification intensity control unit 4 notifies at the medium luminance, the medium time (about 5 msec), and the medium time interval (about 2 seconds). When the distance between the vehicle and the moving object is extremely small (less than 5 m), the notification display unit 5 is controlled in such a manner that the brightness is high, the time is long (about 50 msec), and the short time interval (about 1 second). The notification display unit 5 is controlled to notify.
[0015]
In addition, when the distance between the vehicle and the moving body is medium, when the notification is performed at a small luminance, a short time, and a long time interval, the notification intensity is low. May not be. However, the notification intensity control unit 4 increases the notification intensity to a size noticeable by all the drivers in a stepwise manner as the distance between the vehicle and the moving body becomes shorter. 1 can surely draw the driver's attention to the moving body existing on the rear side.
[0016]
The notification display unit 5 is configured by a light-emitting body provided around the video display unit 6 or a head-up display (HUD) device capable of displaying information within the field of view of the driver, and has a notification intensity. In accordance with the control of the control unit 4, a notification for calling the driver's attention to the moving body existing on the rear side is performed. In addition, when the notification display unit 5 is configured by a head-up display, the notification display unit 5 can also perform display notification for displaying a warning direction.
[0017]
The video display unit 6 is configured by a display output device such as a liquid crystal display device, and is installed within the field of view of the driver as shown in FIG. Then, as shown in FIG. 4, the video display section 6 displays and outputs data of the rear side video captured by the vehicle rear side video camera 2. 4A to 4D show positions (a) to (d) shown in FIG. 2 (position (a)... Distance (minimal), position (b)... Distance (small), and position ( c) ... distance (medium), position (d) ... distance (large)) shows a rear side image when the moving body 12 is present.
[0018]
(Operation of vehicle alert system)
Next, with reference to the flowchart shown in FIG. 5, the operation inside the above-mentioned vehicle alerting device 1 when performing a notification for alerting the driver to the moving body existing on the rear side of the vehicle. explain in detail.
[0019]
The flowchart shown in FIG. 5 is started when the ignition of the vehicle is turned on, and the alerting process proceeds to the process of step S1. The alerting process described below is repeatedly executed until the ignition is turned off.
[0020]
In the process of step S1, the vehicle rear side video imaging camera 2 captures a rear side video of the vehicle and inputs data of the captured rear side video to the moving object detection video processing unit 3 and the video display unit 6. I do. Then, the video display unit 6 displays and outputs data of the rear side video of the vehicle. Thus, the process of step S1 is completed, and the alerting process proceeds to a process of step S2.
[0021]
In the processing of step S2, the moving object detection video processing unit 3 determines whether or not data of the immediately preceding rear video (for example, one frame before) is stored. Then, as a result of the determination, when the data of the immediately preceding rear side image is not stored, the moving object detection image processing unit 3 returns the alert process from the process of step S2 to the process of step S1. On the other hand, when the data of the immediately preceding rear side image is stored, the moving object detection image processing unit 3 advances the alerting process from the process of step S2 to the process of step S3.
[0022]
In the process of step S3, the moving object detection video processing unit 3 detects the optical flow by comparing the data of the immediately preceding rear side video with the data of the rear side video captured this time. The “optical flow” means a velocity vector at each point in the video, and is detected by comparing each point in two videos by a method such as a block matching method or a gradient method. Thus, the process of step S3 is completed, and the alerting process proceeds to a process of step S4.
[0023]
In the process of step S4, the moving object detection video processing unit 3 determines whether or not a moving object having a speed equal to or higher than a predetermined approaching relative speed exists on the rear side of the vehicle based on the detection result of the optical flow. Determine. If the result of the determination is that there is no moving object, the moving object detection video processing unit 3 returns the alert processing from the processing in step S4 to the processing in step S1. On the other hand, when there is a moving object, the moving object detection video processing unit 3 advances the alerting process from the process in step S4 to the process in step S5.
[0024]
In the process of step S5, the moving object detection video processing unit 3 determines the number of moving objects having a speed equal to or higher than a predetermined approach relative speed based on the detection result of the optical flow. If the number of moving objects is singular as a result of the determination, the moving object detection video processing unit 3 advances the alerting process from the process in step S5 to the process in step S7. On the other hand, when there are a plurality of moving objects, the moving object detection video processing unit 3 performs processing of step S6 to select the moving object having the speed equal to or higher than the predetermined approach relative speed as the closest to the vehicle. Is selected as a future process target, and the alerting process proceeds from the process of step S6 to the process of step S7.
[0025]
In the process of step S7, the moving body detection video processing unit 3 calculates the distance between the vehicle and the moving body with reference to the position of the moving body in the rear side image, and reports the calculation result to the notification intensity control unit. Enter 4 Thereby, the process of step S7 is completed, and the alerting process proceeds from the process of step S7 to the process of step S8.
[0026]
In the process of step S8, the notification intensity control unit 4 determines whether the distance from the vehicle to the moving object corresponds to one of the large, medium, and smaller sizes in the table shown in FIG. Then, when the distance from the vehicle to the moving body is large, the notification intensity control unit 4 determines that there is no need for notification, and performs the alert process from the process of step S8 to the process of step S1 without performing notification. Return to On the other hand, if the distance from the vehicle to the moving body is smaller than the middle, the notification intensity control unit 4 determines that the notification is necessary, and proceeds the alerting process from the process of step S8 to the process of step S9. .
[0027]
In the processing of step S9, the notification intensity control unit 4 determines whether the distance from the vehicle to the moving object corresponds to the minimum, small, or medium in the table shown in FIG. Then, according to the determination result, the notification intensity control unit 4 proceeds with the alerting process to the processes corresponding to the respective distances (the processes of step S10, step S11, and step S12 in the order of minimal, small, and middle).
[0028]
In the process of step S10, the notification intensity control unit 4 controls the notification display unit 5 so as to perform notification at high luminance, for a long time (about 50 msec), and at short time intervals (about 1 second). Thereby, the process of step S11 is completed, and the alerting process returns from the process of step S10 to the process of step S1.
[0029]
In the process of step S11, the notification intensity control unit 4 controls the notification display unit 5 so as to provide notification at medium luminance, medium time (about 5 msec), and medium time interval (about 2 seconds). Thereby, the process of step S11 is completed, and the alerting process returns from the process of step S11 to the process of step S1.
[0030]
In the process of step S12, the notification intensity control unit 4 controls the notification display unit 5 so as to perform notification at low brightness, short time (about 0.5 ms), and long time interval (about 3 seconds). Thereby, the process of step S12 is completed, and the alerting process returns from the process of step S12 to the process of step S1.
[0031]
[Second embodiment]
(Structure of vehicle alert system)
Next, a configuration of a vehicle alert device 21 according to a second embodiment of the present invention will be described with reference to FIG.
[0032]
As shown in FIG. 6, a vehicle warning device 21 according to a second embodiment of the present invention includes a vehicle rear side video imaging camera 22, a moving object detection sensor 23, a notification intensity control unit 24, a notification display. A unit 25 and a video display unit 26 are provided as main components. Note that the configurations of the notification display unit 25 and the video display unit 26 are the same as the configurations of the notification display unit 5 and the video display unit 6 shown in FIG.
[0033]
The vehicle rear side video imaging camera 22 has the same configuration as that of the vehicle rear side video imaging camera 2 in the first embodiment, and inputs data of the captured rear side video to the video display unit 26. .
[0034]
The moving body detection sensor 23 is configured by a sensor device such as an ultrasonic sensor or a laser radar sensor, and detects the presence or absence of a moving body and the distance between the moving body and a vehicle. Then, the moving object detection sensor 23 inputs the detection result to the notification intensity control unit 24.
[0035]
The notification intensity control unit 24 determines the degree of necessity to call the driver's attention to the moving object existing on the rear side based on the detection result of the moving object detection sensor 23. Then, based on the determination result, the notification intensity control unit 24 changes the parameters such as the brightness, the presentation time, and the presentation interval of the notification performed by the notification display unit 25 in order to draw the driver's attention in a stepwise manner. Note that the notification intensity control unit 24 changes the notification luminance, the presentation time, and the presentation interval in a stepwise manner according to the table shown in FIG. 3, similarly to the notification intensity control unit 4 of the first embodiment.
[0036]
(Operation of vehicle alert system)
Next, with reference to the flowchart shown in FIG. 7, the operation inside the above-mentioned vehicle alerting device 21 at the time of performing a notification for alerting the driver to the moving body existing on the rear side will be described in detail. I do.
[0037]
The flowchart shown in FIG. 7 is started when the ignition of the vehicle is turned on, and the alerting process proceeds to the process of step S21. The alerting process described below is repeatedly executed until the ignition is turned off.
[0038]
In the process of step S21, the vehicle rear side video imaging camera 22 captures a rear side video of the vehicle, and inputs data of the captured rear side video to the video display unit 26. Then, the video display unit 26 displays and outputs the input data of the rear side video. Accordingly, the process of step S21 is completed, and the alerting process proceeds to a process of step S22.
[0039]
In the process of step S22, the moving body detection sensor 23 determines whether or not there is a moving body having a speed equal to or higher than a predetermined approaching relative speed. Then, as a result of the determination, when there is no moving object having a speed equal to or higher than the predetermined approaching relative speed, the moving object detection sensor 23 returns the alert process from the process in step S22 to the process in step S21. On the other hand, when there is a moving object having a speed equal to or higher than the predetermined approach relative speed, the moving object detection sensor 23 advances the alerting process from the process in step S22 to the process in step S23.
[0040]
In the process of step S23, the moving body detection sensor 23 determines the number of moving bodies having a speed equal to or higher than a predetermined approaching relative speed. When the number of moving objects is singular as a result of the determination, the moving object detection sensor 23 advances the alerting process from the process in step S23 to the process in step S25. On the other hand, if the number of moving objects is plural, the moving object detecting sensor 23 determines the closest moving object to the vehicle among the moving objects having a speed equal to or higher than the predetermined approach relative speed as the process of step S24. Is selected as a future processing target, and the alerting process proceeds from the process of step S24 to the process of step S25.
[0041]
In the process of step S25, the moving body detection sensor 23 calculates the distance from the vehicle to the moving body, and inputs the calculation result to the notification intensity control unit 24. Thus, the process of step S25 is completed, and the alerting process proceeds from the process of step S25 to the process of step S26. Note that the processing after step S26 is the same as the processing after step S8 in the flowchart shown in FIG. 5, and a description thereof will be omitted below.
[0042]
[Effects of Embodiment]
As is apparent from the above description, according to the vehicle alerting device (1, 21) according to the first or second embodiment of the present invention, the notification intensity control unit (4, 14) requires notification. Since the notification intensity is changed stepwise according to the degree, the driver does not need to independently watch the rear side image displayed on the image display unit (6, 16), so that the notification display unit (5, 25). It is possible to grasp the distance between the vehicle and the moving body according to the notification strength of (1) and pay attention to the moving body (effect of claim 1).
[0043]
Further, according to the vehicle alerting devices (1, 21) according to the first and second embodiments of the present invention, the notification intensity control unit (4, 14) displays a notification according to the necessity of notification. Since the notification intensity of the sections (5, 25) is changed stepwise from a size that is hardly noticed by the driver, the driver can voluntarily pay attention to the moving body (the effect of claim 2).
[0044]
Further, according to the vehicle alerting devices (1, 21) according to the first and second embodiments of the present invention, the notification intensity control unit (4, 14) displays a notification according to the necessity of notification. Since the brightness, the presentation time, and the presentation time interval of the notification display of the section (5, 25) are changed, the driver's attention to the moving body can be attracted by a visual effect (the effect of claim 3).
[0045]
Further, according to the vehicle alerting devices (1, 21) according to the first and second embodiments of the present invention, the moving object detecting video processing unit 3 (moving object detecting sensor 23) is provided on the rear side. The distance between the moving object and the vehicle existing in the vehicle is calculated, and the notification intensity control unit (4, 14) determines the necessity based on the calculated distance, so that accurate notification can be performed ( Effect of Claim 4).
[0046]
Further, according to the vehicular alerting device 1 according to the first embodiment of the present invention, the moving object detection video processing unit 3 detects the moving object existing on the rear side by calculating the optical flow. Therefore, more accurate notification can be performed (the effect of claim 5).
[0047]
In addition, according to the vehicle warning device (1, 21) according to the first or second embodiment of the present invention, the notification display unit (5, 25) performs notification not by sound but by display. This allows the driver to voluntarily pay attention to a moving object existing on the rear side of the vehicle. In addition, it is possible to reduce troublesomeness when the notification is made by sound, and it is possible to perform the notification more reliably.
[Brief description of the drawings]
FIG. 1 is a block diagram showing a configuration of a vehicle warning device according to a first embodiment of the present invention.
FIG. 2 is a schematic view showing a mounting position of a vehicle rear side video imaging camera and a rear side blind spot area.
FIG. 3 is a diagram showing a notification brightness, a presentation time, and a presentation interval according to a distance between a vehicle and a moving object.
FIG. 4 is a diagram showing how a rear side image changes according to a change in a distance between a vehicle and a moving body.
FIG. 5 is a flowchart illustrating a flow of a warning process according to the first embodiment of the present invention.
FIG. 6 is a block diagram showing a configuration of a vehicle warning device according to a second embodiment of the present invention.
FIG. 7 is a flowchart illustrating a flow of an alerting process according to a second embodiment of the present invention.
[Explanation of symbols]
1, 21 vehicle alerting device 2, 22 vehicle rear side image pickup camera 3, 23 moving object detection image processing unit 4, 24 notification intensity control unit 5, 25 notification display unit 6, 26 video display unit

Claims (5)

An imaging unit that captures an image of the rear side of the vehicle,
A display unit that displays an image captured by the imaging unit,
A notification unit that performs notification display for calling attention to a moving body present on the rear side of the vehicle,
A detection unit that detects the presence or absence of the moving body,
A warning unit for a vehicle, comprising: a control unit that determines a necessity of the notification display based on a detection result of the detection unit, and changes a notification intensity of the notification unit in a stepwise manner according to the determination result. The said control part makes the said alerting | reporting part perform information display with a low alerting | reporting intensity | strength from the stage where a necessity is low, and increases alerting | reporting intensity step by step as the necessity increases. The said control part is characterized by the above-mentioned. Warning device for vehicles. The alerting device for a vehicle according to claim 1, wherein the control unit changes at least one of luminance, a presentation time, and a presentation interval of the notification display according to the determination result. The said detection part detects the distance between the said vehicle and the said moving body, and the said control part determines the necessity of alerting | reporting display based on the detected distance, The claim 1 characterized by the above-mentioned. 3. The alerting device for a vehicle according to any one of the items 3. The method according to claim 1, wherein the detection unit calculates an optical flow using the image captured by the imaging unit, and detects whether a moving object is present based on the calculated optical flow. 6. Vehicle alerting device according to any one of the preceding claims.

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