JP2005332297A - Driver's intention reporting device - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a driver's intention reporting device which surely informs, from a running vehicle, a pedestrian that the driver of the vehicle intends to give preference to the passage of the pedestrian (crossing) over the passage of the vehicle. <P>SOLUTION: The driver's intention reporting device 100 detects a driver's behavior by a driver's behavior determination part 110 in response to detecting a pedestrian by a pedestrian detection part 300 and determines driver's intention to the pedestrian on the basis of the driver's behavior acquired by the driver's behavior determination part 110, and the device 100 displays guidance display prompting the pedestrian to cross a road, on a display part 500 in the case that it is determined that the driver intends of give preference to crossing of the pedestrian over the passage of the vehicle. <P>COPYRIGHT: (C)2006,JPO&NCIPI

Description

  The present invention relates to a driver's will notification device that transmits a driver's intention to a pedestrian, and more particularly, the passage (crossing) by a pedestrian from a traveling vehicle to a pedestrian is more than the passage of a vehicle. Provided is a driver will notification device capable of reliably transmitting a priority will. Here, in the description of the following specification, the “will to prioritize the passage (crossing) by the pedestrian over the passage (running) of the pedestrian” by the driver of the vehicle 10 is simply referred to as “previous passage approval will”.

  Conventionally, when a pedestrian or bicycle is about to cross a pedestrian crossing while driving a vehicle, the driver is encouraged to cross the pedestrian or bicycle by handing a signal from the driver or flashing the headlight. (Indication of intention of “Please go ahead”) is being done (indication of consent to advance traffic by pedestrians by drivers). However, there is a problem that even if the driver signals the pedestrian to cross, the willingness to prioritize the passage (crossing) by the pedestrian over the traffic of the own vehicle is not transmitted. For this reason, the pedestrian crosses after confirming that the vehicle has stopped completely in front of the pedestrian crossing.

  In addition, for example, a pedestrian walking on the road shoulder or a traveling bicycle may suddenly jump out of the road shoulder onto the road on which the vehicle is traveling. For this reason, in the past, measures have been taken to notify the approach of the vehicle, for example, by sounding a horn for a pedestrian or bicycle, but a good communication between the driver of the vehicle and the pedestrian or bicycle. There is a problem that it is not possible to plan for communication.

  From the above, conventionally, a technique related to a notification device for notifying a pedestrian or another vehicle of a driver's intention has been disclosed. And as a prior art of this kind, for example, in Patent Document 1, a display device that displays a signal for passing traffic to the rear part of a vehicle rearview mirror is disposed, and a pedestrian who tries to cross the front of the host vehicle Technology for confirming will with pedestrians and drivers of other vehicles by a sign ("Indicate first") that accepts traffic to other vehicles (opposite vehicles) that are about to turn right Is described.

  Further, in Patent Document 2, a display device for displaying a signal for passing traffic to a vehicle following the host vehicle is provided by providing an information display device for an automobile in the vehicle, and lighting is turned on in conjunction with a driving operation. By doing so, a technique for confirming will with pedestrians and drivers of other vehicles is described. Japanese Patent Application Laid-Open No. H10-228688 describes a technique for transmitting the will of drivers to each other by attaching a voice horn device that generates human language to a vehicle.

Japanese Patent Laid-Open No. 8-198013 JP-A-10-166938 Japanese Patent Laid-Open No. 2003-2114

  However, the conventional driver will notification device described above has the following problems. That is, as described above, according to the prior art, a sign or voice horn device that prioritizes the passage of pedestrians is attached to the vehicle by a display device, so that the vehicle will communicate with the pedestrian. However, since the signal in this case is a unilateral notification to the pedestrian from the vehicle side, there is no meaning as a notification if the pedestrian does not notice the presence or signal of this vehicle. In addition, for example, if a pedestrian in the vicinity of a pedestrian crossing gives a signal that encourages the driver to prioritize traffic, but the pedestrian does not have the intention to cross the pedestrian crossing, a meaningless signal There is a possibility of becoming.

  For this reason, for example, in order to make a pedestrian aware of the presence or signal of a vehicle, the horn is first sounded to the pedestrian, thereby driving the signal or voice horn device when the pedestrian turns around to the vehicle. It is conceivable to perform an operation for this purpose and perform a signal or a voice horn. However, for this purpose, a dedicated operation for the driver to notice the pedestrian is necessary, which causes a problem that the operability is very poor. In addition, it is conceivable that a signal is always displayed without a driver's operation, but a signal may be given even when there is no pedestrian, which is useless.

  In addition, as described above, even if measures are taken to prevent pedestrians walking on the shoulder from jumping out by horns, the pedestrians may not be aware of the presence or warning of the vehicle, as described above. This warning is not always transmitted to pedestrians. Therefore, in practice, when a pedestrian or a bicycle is on the road shoulder, the vehicle travels away from the road shoulder so that no accident occurs even if a pedestrian jumps out of the road shoulder. However, in this case, the running vehicle itself jumps out to the oncoming lane, which may cause an accident such as contact with another vehicle running on the opposite lane. As described above, conventionally, there is no means for accurately estimating a pedestrian's movement and a means for giving priority to the pedestrian's willingness by a driver who drives the vehicle. There is a problem that communication between each other cannot be achieved.

  The present invention has been made to solve the above-described problems in the prior art, and has the intention to prioritize the passage (crossing) by a pedestrian over the passage of a vehicle from a running vehicle to a pedestrian. It is an object of the present invention to provide a driver's intention notification device that can be transmitted with good operability and reliability.

  In order to solve the above-described problems and achieve the object, the invention according to claim 1 is a driver will notification that transmits a driver's intention to the pedestrian between the vehicle traveling on the road and the pedestrian. The driver intention notification device includes a pedestrian detection unit that detects the presence of the pedestrian, and a driver behavior detection unit that acquires the behavior of the driver based on a driving operation state of the driver with respect to the vehicle. And a driver behavior determining means for determining the behavior of the driver acquired by the driver behavior detecting means, and a driver for the pedestrian based on the behavior of the driver determined by the driver behavior determining means. And a display means for displaying display guidance according to the driver's will determined by the driver's will determination means.

  According to the first aspect of the present invention, there is provided a driver will notifying device for transmitting a driver's will to the pedestrian between the vehicle traveling on the road and the pedestrian, the driver will notifying device. Is detected by the pedestrian detection means for detecting the presence of the pedestrian, the driver behavior detection means for acquiring the behavior of the driver based on the driving operation state of the driver with respect to the vehicle, and the driver behavior detection means. Driver determination means for determining the driver's will with respect to the pedestrian based on the behavior of the driver, and display means capable of displaying the willingness to prioritize the traffic by the pedestrian over the traffic of the vehicle. .

  Further, the invention according to claim 2 is the invention according to claim 1, wherein the driver will notification device includes notification determination means for determining whether or not display guidance can be notified by the display means for the pedestrian, The notification determination means displays the display guidance by the display means based on the detection of the pedestrian by the pedestrian detection means and the will of the driver determined by the driver will determination means. To do.

  According to the second aspect of the present invention, the driver will notification device includes notification determination means for determining whether or not display guidance can be notified by the display means for the pedestrian, and the notification determination means includes the pedestrian. Based on the detection of the pedestrian by the detection means and the will of the driver determined by the driver will determination means, the display guidance is displayed by the display means.

  According to a third aspect of the present invention, in the invention according to the first or second aspect, the display means includes a passage by a pedestrian according to the will of the driver determined by the driver will determination means. Guidance that prioritizes vehicle traffic is displayed.

  According to the third aspect of the present invention, the display means is provided with guidance that prioritizes traffic by a pedestrian over traffic of the vehicle according to the driver's will determined by the driver's will determination means. indicate.

  According to a fourth aspect of the present invention, in the invention according to the first, second, or third aspect, the display means includes a pedestrian according to the driver's will determined by the driver's will determination means. One of the guidance that prioritizes the passage of the vehicle over the passage of the vehicle and the guidance that prioritizes the passage of the vehicle over the passage of the pedestrian is displayed.

  According to the fourth aspect of the present invention, the display means is a guidance that gives priority to the passage by the pedestrian over the passage of the vehicle in accordance with the will of the driver determined by the driver will determination means. Any one of the guidances giving priority to the traffic by the vehicle over the traffic of the pedestrian is displayed.

  According to a fifth aspect of the present invention, in the invention according to any one of the first to fourth aspects, the driver behavior detecting unit includes a gaze determining unit that determines a gaze position of the driver, a vehicle A traveling speed determining means for determining a traveling speed, a brake operation determining means for determining a brake operation by the driver, and a handle operation determining means for determining a steering operation by the driver are provided.

  According to the fifth aspect of the present invention, the driver behavior detecting means includes a line-of-sight determining means for determining the line-of-sight position of the driver, a traveling speed determining means for determining the traveling speed of the vehicle, and a brake by the driver. Brake operation determining means for determining operation, and handle operation determining means for determining handle operation by the driver.

  The invention described in claim 6 is a driver will notification device including a driver will notification device that transmits a driver's intention to a pedestrian, wherein the driver will notification device Pedestrian detection means for detecting presence, pedestrian behavior determination means for determining the behavior of the pedestrian, driver behavior detection means for acquiring the driver's behavior, and acquired by the driver behavior detection means Driver behavior determining means for determining the behavior of the driver, and driver will determining means for determining the driver's will with respect to the pedestrian based on the behavior of the driver determined by the driver behavior determining means; Display means for displaying display guidance corresponding to the driver's will determined by the driver's will determination means.

  According to the sixth aspect of the present invention, there is provided a driver will notifying device including a driver will notifying device for transmitting a driver's will to a pedestrian, wherein the driver will notifying device is the pedestrian. Acquired by the pedestrian detection means for detecting the presence of the vehicle, the pedestrian behavior determination means for determining the behavior of the pedestrian, the driver behavior detection means for acquiring the behavior of the driver, and the driver behavior detection means. Driver behavior determining means for determining the behavior of the driver, driver will determining means for determining the driver's will with respect to the pedestrian based on the driver's behavior determined by the driver behavior determining means; Display means for displaying display guidance according to the driver's will determined by the driver's will determination means.

  Further, the invention according to claim 7 is the invention according to claim 6, wherein the driver's will notification device includes notification determination means for determining whether or not display guidance can be notified by the display means for the pedestrian, The notification determination means is based on the detection of the pedestrian by the pedestrian detection means, the behavior of the pedestrian determined by the pedestrian behavior determination means, and the will of the driver determined by the driver will determination means. Then, display guidance is displayed by the display means.

  According to the seventh aspect of the present invention, the driver will notification device includes notification determination means for determining whether or not display guidance can be notified by the display means for the pedestrian, and the notification determination means includes the pedestrian. Display guidance by the display means based on the detection of the pedestrian by the detection means, the behavior of the pedestrian determined by the pedestrian behavior determination means, and the will of the driver determined by the driver will determination means Is displayed.

  The invention according to claim 8 is the invention according to claim 6 or 7, wherein the pedestrian behavior determining means determines a pedestrian position determining means for determining the position of the pedestrian and a pedestrian's line of sight. And a line-of-sight position determining means.

  According to the eighth aspect of the present invention, the pedestrian behavior determining unit includes a pedestrian position determining unit that determines the position of the pedestrian and a line-of-sight position determining unit that determines the line of sight of the pedestrian.

  The invention according to claim 9 is the invention according to claim 7 or 8, wherein the driver's intention notification device is a pedestrian based on a line-of-sight position determined by a line-of-sight position determining unit of the pedestrian behavior determining unit. When it is determined that the vehicle recognizes the road to be traveled, display guidance is displayed by the display means according to the driver's will by the driver will determination means.

  According to the ninth aspect of the present invention, the driver will notifying device recognizes that the pedestrian recognizes the passage target road based on the line-of-sight position by the line-of-sight position determining unit of the pedestrian behavior determining unit. When the determination is made, display guidance is displayed by the display means in accordance with the driver's will by the driver will determination means.

  Further, in the invention described in claim 10, in the invention described in claim 7 or 8, in the driver willing device, the position of the pedestrian is subject to passage by the pedestrian position determining means of the pedestrian behavior determining means. When it is determined that the position is not distant from the position, display guidance is displayed by the display unit according to the driver's will by the driver's will determination unit.

  According to the invention described in claim 10, when the driver will communication device determines that the position of the pedestrian is not a position away from the passage target position by the pedestrian position determination means of the pedestrian behavior determination means. In addition, display guidance is displayed by the display means in accordance with the driver's will by the driver will determination means.

  The invention according to claim 11 is the invention according to any one of claims 6 to 10, wherein the display means includes the driver's intention determined by the driver intention determination means, and the In accordance with the pedestrian behavior determined by the pedestrian behavior determining means, guidance that gives priority to the pedestrian traffic over the vehicle traffic is displayed.

  According to the eleventh aspect of the present invention, the display means includes a driver's intention determined by the driver's intention determination means and a pedestrian's behavior determined by the pedestrian behavior determination means. Correspondingly, guidance that gives priority to traffic by pedestrians over traffic of vehicles is displayed.

  The invention according to claim 12 is the invention according to any one of claims 6 to 10, wherein the driver's intention notification device is arranged so that the gaze position is determined by the gaze position determining means of the pedestrian behavior detecting means. Based on the above, when it is determined that the pedestrian does not recognize the vehicle, the output unit notifies the music different from the alarm sound.

  According to the twelfth aspect of the present invention, the driver will notification device determines that the pedestrian does not recognize the vehicle based on the line-of-sight position by the line-of-sight position determination unit of the pedestrian behavior detection unit. In such a case, music different from the alarm sound is notified by the output means.

  According to the first aspect of the present invention, there is provided a driver will notifying device including a driver will notifying device for transmitting a driver's will to the pedestrian between the vehicle traveling on the road and the pedestrian. The driver will notification device includes a pedestrian detection unit that detects the presence of the pedestrian, a driver behavior detection unit that acquires the behavior of the driver based on a driving operation state of the driver with respect to the vehicle, and the driving Based on the behavior of the driver detected by the driver behavior detection means, a driver will determination means for determining the driver's will with respect to the pedestrian and a willingness to give priority to the traffic by the pedestrian over the traffic of the vehicle It is possible to display the driver's willingness to pass the traffic (crossing) with the display unit only by performing a normal driving operation without performing a dedicated operation for signaling. According to this In addition to facilitating smooth traffic flow, traffic accidents such as contact with pedestrians can be reduced, and good communication between pedestrians and drivers driving vehicles There is an effect that it can be achieved.

  According to the invention described in claim 2, the driver will notification device includes a notification determination unit that determines whether or not display guidance can be notified by the display unit for the pedestrian, and the notification determination unit includes the walking Since the display guidance is displayed by the display means based on the detection of the pedestrian by the driver detection means and the will of the driver determined by the driver will determination means, the guidance display displayed on this display unit Thus, the driver's will can be transmitted to the pedestrian easily and reliably.

  According to the invention described in claim 3, the display means gives guidance that gives priority to the passage by the pedestrian over the passage of the vehicle in accordance with the will of the driver determined by the driver will determination means. Therefore, the driver's will can be easily and reliably transmitted to the pedestrian by the guidance display displayed on the display unit.

  According to a fourth aspect of the present invention, the display means provides guidance that prioritizes traffic by a pedestrian over traffic by the driver according to the driver's will determined by the driver's will determination means. Or any one of the guidance giving priority to the traffic by the vehicle over the traffic of the pedestrian, the guidance display displayed on the display unit makes it easy for the pedestrian to understand the driver's will. The effect that it can transmit reliably is produced.

  According to a fifth aspect of the present invention, the driver behavior detecting means includes a line-of-sight determining means for determining a driver's line-of-sight position, a traveling speed determining means for determining a traveling speed of the vehicle, and a driver. Since the brake operation determining means for determining the brake operation and the handle operation determining means for determining the steering operation by the driver are provided, the behavior by the pedestrian can be reliably and accurately acquired based on the determination by the steering operation determining means. There is an effect that can be.

  According to a sixth aspect of the present invention, there is provided a driver will notifying device comprising a driver will notifying device for transmitting a driver's will to a pedestrian, wherein the driver will notifying device is the walking Acquired by pedestrian detection means for detecting the presence of a driver, pedestrian behavior determination means for determining the behavior of the pedestrian, driver behavior detection means for acquiring the driver's behavior, and the driver behavior detection means Driver behavior determination means for determining the behavior of the driver, and driver will determination means for determining the driver's will with respect to the pedestrian based on the driver's behavior determined by the driver behavior determination means And display means for displaying display guidance according to the driver's will determined by the driver's will determination means, so that the display section reliably informs the willingness to pass the driver's passage (crossing). In This facilitates smooth traffic flow, reduces traffic accidents such as contact with pedestrians, and provides good communication between pedestrians and drivers driving vehicles. There is an effect that it is possible to plan the nuance.

  According to the invention described in claim 7, the driver will notification device includes a notification determination unit that determines whether or not display guidance can be notified by the display unit for the pedestrian, and the notification determination unit includes the walking Based on the detection of the pedestrian by the pedestrian detection means, the behavior of the pedestrian determined by the pedestrian behavior determination means, and the will of the driver determined by the driver will determination means Since the guidance is displayed, it is possible to easily and surely transmit the driver's will to the pedestrian by the guidance display displayed on the display unit.

  According to the invention described in claim 8, the pedestrian behavior determining means includes a pedestrian position determining means for determining the position of the pedestrian and a gaze position determining means for determining the line of sight of the pedestrian. There is an effect that the behavior by the pedestrian can be acquired reliably and accurately.

  According to the invention described in claim 9, the driver will notification device recognizes the road to be walked by the pedestrian based on the line-of-sight position of the line-of-sight position determining unit of the pedestrian behavior determining unit. When the determination is made, the display guidance is displayed by the display means in accordance with the driver's will by the driver will determination means. Therefore, the driver's intention is displayed to the pedestrian by the guidance display displayed on the display unit. On the other hand, the effect that it can transmit easily and reliably is produced.

  According to the invention described in claim 10, the driver will determination device determines that the position of the pedestrian is not a position away from the passage target position by the pedestrian position determination unit of the pedestrian behavior determination unit. In this case, since the display guidance is displayed by the display means according to the driver's will by the driver will determination means, the driver's will is displayed to the pedestrian by the guidance display displayed on the display unit. There exists an effect that it can transmit easily and reliably.

  According to the eleventh aspect of the present invention, the display means includes a driver's intention determined by the driver will determination means and a pedestrian behavior determined by the pedestrian behavior determination means. Depending on the situation, guidance that prioritizes traffic by pedestrians over vehicle traffic is displayed, so that the driver's will can be easily and reliably transmitted to the pedestrians by the guidance display displayed on this display unit. There is an effect that can be.

  Further, according to the invention described in claim 12, the driver will notifying device confirms that the pedestrian does not recognize the vehicle based on the line-of-sight position by the line-of-sight position determining unit of the pedestrian behavior determining unit. When the determination is made, the output means notifies the music different from the warning sound, so that the pedestrian can easily recognize the presence of the vehicle, and thus the driver's passage (crossing) by the display unit. There is an effect that it is possible to surely inform the will of giving up.

  Exemplary embodiments of a driver will notification device according to the present invention will be described below in detail with reference to the accompanying drawings. In the first embodiment shown below, the configuration and functions of the driver will notification device 100 constituting the driver will notification device according to the present invention will be described in detail, and then the pedestrian by the driver will notification device 100 will be described. The will notification method for will be explained. In addition, this invention is not limited by each Example 1-3 shown below.

(Outline and features of driver will notification device)
First, the configuration and characteristics of the driver will notification device 100 according to the first embodiment will be described with reference to FIGS. 1 and 2. FIG. 1 is a functional block diagram illustrating the overall configuration of the driver will notification device 100 according to the first embodiment.

  Moreover, FIG. 2 is explanatory drawing which shows the positional relationship of the pedestrian A and the vehicle 10 to which the driver | operator will notification apparatus 100 which concerns on the present Example 1 is applied, In the following description, in the road which has a pedestrian crossing. Assuming that the pedestrian A who is traveling toward the direction a and the pedestrian A walking on the shoulder crosses the pedestrian crossing (crosses), the vehicle 10 is temporarily stopped in front of the pedestrian crossing. To explain. In addition, as will be described later, FIG. 2 shows a pedestrian A, but the object for notifying the notification that the vehicle 10 gives priority to the passage (crossing) over the own vehicle is a bicycle or a motorcycle other than the pedestrian ( Motorcycles) are also included.

  Here, the features of the driver will notification device according to the present invention will be schematically described. The driver will notification device 100 is configured such that the driver driving the vehicle 10 gives a pedestrian a pedestrian crossing, for example. When a willingness to pass traffic such as crossing (approving the other party's traffic or crossing) is detected, the display unit 500 provided on the vehicle 10 indicates the willingness to consent to the preceding traffic (displaying “Please come first” etc.) It is characterized by displaying.

  In addition, when it is determined that the pedestrian does not recognize the presence of the vehicle 10, the driver will notification device 100 temporarily notifies the pedestrian that the vehicle 10 is present. At this time (when the pedestrian turns around in the direction of the vehicle 10), the driver's will is transmitted by the guidance display on the display unit 500 ("Please go ahead"). That is, unlike the conventional system in which the vehicle 10 is unilaterally notified by this, the pedestrian can easily recognize the presence of the vehicle, and the driving for driving the running vehicle. It is possible to effectively and surely transmit the will to give up traffic to the pedestrian from the person.

  In addition, the driver will notification device 100 determines a pedestrian's behavior in advance by the pedestrian behavior determination unit 600, and the pedestrian is allowed to pass through the road (crosswalk) based on the determination result by the pedestrian behavior determination unit 600. Only when it is determined that there is a willingness to pass, the display unit 500 displays the willingness to consent to the preceding passing (a display such as “Please come first”). In other words, this makes it possible to effectively and reliably transmit the willingness to give up traffic to the pedestrian from the driver driving the vehicle while traveling, and to achieve communication between the pedestrian and the driver. it can.

(Configuration and function of driver will notification device 100)
Hereinafter, with reference to FIG. 1, the structure of the driver | operator will notification apparatus which concerns on Example 1 is demonstrated. That is, as shown in FIG. 1, the driver will notification device 100 includes a driver behavior determination unit 110, a gaze detection sensor 111, a vehicle speed sensor 112, a brake pressure sensor 113, a handle operation unit 114, and a driver. A determination unit 200, a main control unit 400, a pedestrian detection unit 300, an image processing unit 340, a pedestrian presence / absence determination unit 350, a display control unit 450, a display unit 500, and a speaker 550 are provided. Yes.

  The line-of-sight detection sensor 111 is composed of a CCD camera or the like provided inside the vehicle 10 and acquires the driver's line-of-sight direction and line-of-sight position, for example, detects the direction of bending and recognizes the driving operation. It has a function to do. The vehicle speed sensor 112 and the brake pressure sensor 113 have a function of acquiring the traveling speed and the brake pressure of the vehicle 10, respectively. The handle operation unit 114 has a function of acquiring the direction (operation angle) of the handle by the driver. Information acquired (detected) by the line-of-sight detection sensor 111, the vehicle speed sensor 112, the brake pressure sensor 113, and the handle operation unit 114 is notified to the driver behavior determination unit 110. The line-of-sight detection sensor 111 is also used for detecting the driver's sleep.

  In addition, the driver behavior determination unit 110 is based on the operation by the driver acquired (detected) from each sensor (line-of-sight detection sensor 111, vehicle speed sensor 112, brake pressure sensor 113, handle operation unit 114). Is provided with a line-of-sight determination unit 120, a traveling speed determination unit 125, a brake operation determination unit 130, and a steering wheel operation determination unit 135.

  The line-of-sight determination unit 120 has a function of determining the direction / position of the driver's line of sight based on information detected by the line-of-sight detection sensor 111. The traveling speed determination unit 125 has a function of determining the traveling speed of the vehicle 10 based on the traveling speed of the vehicle 10 acquired by the vehicle speed sensor 112.

  The brake operation determination unit 130 has a function of determining the operation state of the brake by the driver based on the sensor information detected by the brake pressure sensor 113. The steering wheel operation determination unit 135 has a function of determining a driving direction change intention by the driver based on the steering operation by the driver of the vehicle 10 detected by the steering operation unit 114.

  The driver will determination unit 200 has a function of determining the driver's will for the pedestrian based on the driver's behavior determined by the driver behavior determination unit 110. The pedestrian detection unit 300 has a function of detecting a pedestrian (human body) or a bicycle existing in front of (or around) the vehicle 10, and includes a human body detection sensor 310, a photographing camera 320, and a radar 330. It is configured. As the human body detection sensor 310, a pyroelectric infrared sensor having a wide wavelength range for detecting infrared rays transmitted from a pedestrian (human body) can be employed. The image processing unit 340 has a function of converting analog information (video information) by a human body photographed by the photographing camera 320 into digital information.

  The pedestrian presence / absence determination unit 350 is based on a “pedestrian detection signal” transmitted from any one of the human body detection sensor 310, the photographing camera 320, and the radar 330 constituting the pedestrian detection unit 300. Alternatively, it has a function of determining the presence or absence of a pedestrian (human body) or bicycle in the surroundings.

  The main control unit 400 has a function of controlling the overall components of the driver will notification device 100 in an integrated manner, and includes a notification determination unit 410.

  The display control unit 450 has a function of controlling display on the display unit 500. The display unit 500 has a function of displaying a driver's will by guidance to a pedestrian. In this example, the display unit 500 has a display that gives priority to the passage of pedestrians (for example, “Please cross over first”) or a display that gives priority to the passage of the vehicle 10 (for example, Will be displayed as display guidance. The speaker 550 has a function of notifying the pedestrian of the presence of the vehicle 10 by speaker sound.

(Driver will notification procedure by the driver will notification device 100)
Next, a driver will notification procedure performed by the driver will notification device 100 according to the first embodiment will be described in detail with reference to FIG. FIG. 3 is a flowchart illustrating details of the driver will notification method performed by the driver will notification device 100 according to the first embodiment. Further, this flowchart shows a detailed control procedure performed inside the driver will notification device 100 provided in the vehicle 10 when it is assumed that the driver's will is transmitted to the pedestrian. Here, there are pedestrians (people), bicycles, and other vehicles as transmission targets for transmitting (notifying) the driver's will by the driver notification device 100 provided in the vehicle 10. A description will be given to those who are interested. Further, it is assumed that this processing starts when the position of the vehicle by the navigation device exists near the pedestrian crossing.

  That is, as shown in the flowchart of FIG. 3, first, the presence of a pedestrian A (see FIG. 2) that stops near the pedestrian crossing is detected (ON) by the human body detection sensor 310 (FIG. 1) provided in the vehicle 10. And (step S110 affirmation), in the driver | operator behavior notification apparatus 100 of the vehicle 10, it transfers to a driver | operator's behavior acquisition / determination process (step S115). That is, first, the position of the driver's line of sight is acquired (step S120), and the acquired line of sight position is determined (step S125). Acquisition of the driver's line-of-sight position in step S120 is performed by the line-of-sight detection sensor 111 (FIG. 1), and determination of the line-of-sight position acquired by the line-of-sight detection sensor 111 is performed by the line-of-sight determination unit 120 (FIG. 1). The process in step S125 is a process for determining whether or not the driver recognizes the presence of a pedestrian. Specifically, when it is determined by the determination in the next step S130 that the driver recognizes the pedestrian (Yes in step S130), the display 500 gives priority to the pedestrian's passage over the vehicle 10 (Preceding traffic notification) is performed (step S200). Whether the driver is looking at a pedestrian is determined, for example, as follows. That is, the direction in which the human body is detected is recognized by the human body detection sensor 310, the direction of the driver's line of sight is further recognized by the visual line detection sensor 111, and the human body detection direction is compared with the driver's line of sight. Then, if they roughly match, it is determined that the driver is looking at the pedestrian.

  On the other hand, if it is determined in step S130 that the driver is not looking at the pedestrian, then the steering wheel operation by the driver is acquired (step S135), and the acquired steering wheel operation is determined (step S140). ). Acquisition of the steering wheel operation by the driver in step S135 is performed by the steering wheel operation unit 114 (FIG. 1). Determination of the steering wheel operation position acquired by the steering wheel operation unit 114 is performed by the steering wheel operation determination unit 135 (FIG. 1). To do. The process in step S140 is a process for determining whether the driver recognizes the presence of a pedestrian and operates the steering wheel. Specifically, it is determined whether or not the driver has operated the steering wheel by the determination in the next step S145 to turn the steering wheel to the shoulder side (step S145), and has determined that the steering wheel has been operated to the shoulder side. In that case (Yes at Step S145), a display (priority passage notification) giving priority to the passage of the pedestrian over the vehicle 10 is performed on the display unit 500 (Step S200).

  On the other hand, if it is determined in step S145 that the steering wheel is not operated on the shoulder side (No in step S145), then the traveling speed of the vehicle 10 is acquired (step S150), and the acquired traveling speed is determined. A determination is made (step S155). The travel speed obtained in step S150 is acquired by the vehicle speed sensor 112 (FIG. 1), and the travel speed acquired by the vehicle speed sensor 112 is determined by the travel speed determination unit 125 (FIG. 1). The processing in step S155 is processing for determining the traveling speed of the vehicle 10 by the driver. Specifically, it is determined whether or not there is a reduction in the traveling speed by the driver based on the determination in the next step S160 (step S160), and if it is determined that the traveling speed is decelerated (Yes in step S160). Then, a display (priority passage notification) giving priority to the passage of pedestrians over the vehicle 10 is performed on the display unit 500 (step S200).

  On the other hand, if it is determined in step S160 that the vehicle 10 is not decelerated (No in step S160), then the brake operation of the vehicle 10 is acquired (step S165), and the brake acquired in step S165 is acquired. Operation determination is performed (step S170). The acquisition of the brake operation in step S165 is performed by the brake pressure sensor 113 (FIG. 1), and the determination of the brake pressure acquired by the brake pressure sensor 113 is performed by the brake operation determination unit 130 (FIG. 1). it can. In the determination in step S170, when the driver is intermittently operating the brake, the pedestrian is recognized, and the driver's intention to stop / decelerate the vehicle 10 can be determined. . Specifically, it is determined whether or not there is a brake operation by the driver by the determination in the next step S175 (step S175), and when it is determined that the brake operation is being performed by the determination in step S175. (Yes at step S175), the display unit 500 performs a display (preceding passage notification) giving priority to the passage of the pedestrian over the vehicle 10 (step S200).

  On the other hand, when it is determined in step S175 that the brake operation by the vehicle 10 is not performed (No in step S175), the display unit 500 displays a “jump out notice” (step S210).

  The processing in step S210 will be specifically described. When the driver detects the pedestrian while the vehicle 10 is traveling, (1) when the pedestrian is not recognized (No in step S130), 2) When the steering wheel is not operated on the shoulder side (No at Step S145), (3) When the traveling speed by the vehicle 10 is not decelerated (No at Step S160), (4) When braking is not performed by the brake operation (No at Step S175) ), The driver of the vehicle 10 can determine that “there is no intention to give up pedestrians”. Therefore, in the first embodiment, as described above, first, the behavior of the driver is determined by the driver behavior determination unit 600, and the driver of the vehicle 10 is determined based on the determination result by the driver behavior determination unit 600. Is determined to “recognize the presence of a pedestrian”, the display unit 500 displays a display guidance indicating that priority is given to the passage of the pedestrian (for example, “Please cross over first”). . On the other hand, when the determination results of (1) to (4) are obtained, priority is given to the passage of the vehicle 10 over the pedestrian, and the display unit 500 indicates that the vehicle passes with priority. By displaying display guidance (for example, the indication “jump danger notice” or “vehicle will pass” indicating that the vehicle 10 will pass first), even for pedestrians who are not willing to cross the pedestrian crossing, It is trying to call attention.

  In the processing procedure according to the flowchart shown in FIG. 3 described above, the processing order for the driver behavior determination process is as follows: (1) determination of the line of sight position, (2) determination of the steering operation, (3) determination of the traveling speed, (4) Although the processing procedure is proceeding as the determination of the brake operation, this processing procedure is not limited to the order of this example, and the priority order can be appropriately set. It is also possible to combine other procedures for determining the behavior expected by the driver.

  As described above, according to the driver will notification device according to the first embodiment of the present invention, when a pedestrian stopped in front of a pedestrian crossing or the like is recognized by the traveling vehicle 10, first, the driver The driver behavior determination unit 110 of the driver will notification device 100 determines the driver's behavior based on the parameters related to the vehicle driving operation (line-of-sight detection sensor 111, vehicle speed sensor 112, brake pressure sensor 113, handle operation unit 114). Based on the behavior of the driver determined by the driver behavior determination unit 110, the driver's will determination unit 200 stops the driver's will (the driver temporarily stops before the pedestrian crossing rather than traveling himself / herself). And whether or not there is a willingness to prompt the pedestrian to cross the pedestrian first), and when the willingness to accept the pedestrian crossing is determined, Display guidance that prompts pedestrians to cross by the display (for example, “Please cross over first”) is displayed, so the driver can perform normal driving operations without performing a dedicated operation for signaling. Only the driver of the vehicle 10 side can effectively and surely transmit the will to give up the passage (crossing) to the pedestrian detected by the pedestrian detection means.

  Next, the detail of Example 2 which concerns on the driver | operator will notification apparatus 100a of this invention is demonstrated. Here, in the first embodiment described above, when the presence of a pedestrian is detected and it is determined that the driver has a willingness to give priority to the pedestrian, the display unit 500 (FIG. 1) Guidance for accepting prior traffic (“Please cross over first”) is displayed, but the pedestrian recognizes the presence of the vehicle 10 even if the driver has accepted prior traffic for the pedestrian. You may not have seen (not seen).

  In this case, the pedestrian cannot see this display even if the display unit 500 displays “Please cross over first”. Therefore, in the second embodiment, paying attention to this point, if it is determined that the pedestrian does not recognize the presence of the vehicle 10, a horn is informed temporarily to inform the pedestrian of the presence of the vehicle 10. At this time (when a pedestrian turns around in the direction of the vehicle 10), the driver's intention is transmitted by a guidance display on the display unit 500 ("Please go ahead").

  In addition, in this case, the notification by the horn employs a relatively comfortable sound source such as music that does not make the pedestrian feel stress unlike the alarm horn output (notified) from the speaker 550 (FIG. 1). There is also a feature.

  Hereinafter, details of the driver will notification device 100 according to the second embodiment will be described with reference to the flowchart of FIG. 4. Here, the difference between the procedure according to this flowchart and the flowchart shown in FIG. 3 is after the process in which the driver has accepted the preceding traffic giving priority to the pedestrian's traffic. The processing procedure for recognizing the existence of the will be described.

  That is, as shown in the flowchart of FIG. 4, when the driver determines that the pedestrian is visually recognized by the determination in step S130 (Yes in step S130), the driver travels on the shoulder side by the determination in step S145. When the position is moved (Yes at Step S145), when it is determined by the determination at Step S160 that the traveling speed of the vehicle 10 is decelerated (Yes at Step S160), it is determined by the determination at Step S175 that there is an operation of the brake operation. In the case (Yes at Step S175), next, the pedestrian's line-of-sight position information is acquired (Step S180). Thereafter, the process proceeds to the determination process of the sight line position of the pedestrian acquired in step S180 (step S185).

  Specifically, it is determined whether the pedestrian is looking at the vehicle 10 (step S190). If it is determined that the pedestrian is not looking at the vehicle 10 (No at step S190), a speaker is determined. Sound notification using 550 is performed (step S195). As described above, the sound notification using the speaker 550 is not relatively stressful for a pedestrian, unlike a warning horn output (notified) from the speaker 550 (FIG. 1). Since it is a comfortable sound source, even if there is a pedestrian who does not recognize the presence of the vehicle 10, it can be turned to the vehicle 10 side by this notification. That is, hereinafter, guidance display is performed by the display unit 500 that transmits the driver's intention to the pedestrian turned around to the vehicle 10 side. Specifically, display (priority passage notification) giving priority to the passage of pedestrians over the vehicle 10 is performed on the display unit 500 (step S200).

  As described above, according to the driver will notification device according to the second embodiment of the present invention, when it is determined that the pedestrian does not recognize the presence of the vehicle 10, the notification by the horn is temporarily performed. At this time (when the pedestrian turns around in the direction of the vehicle 10), the driver's will is indicated by the guidance display on the display unit 500 ("Please go ahead"). Therefore, the presence of the vehicle can be easily recognized by the pedestrian, and the intention to give up the passage (crossing) of the driver by the display unit 500 can be surely notified.

(Configuration and Features of Driver Will Notification Device 100a)
Next, the driver will notification device 100a according to the third embodiment will be described in detail. FIG. 5 is an explanatory diagram illustrating a positional relationship between a pedestrian and a vehicle to which the driver will notification device 100a according to the third embodiment is applied. FIG. 6 is an overall functional block diagram illustrating the configuration of the driver will notification device 100a according to the third embodiment. Here, the difference between the functional block diagram shown in FIG. 6 and the functional block diagram of FIG. 1 according to the first embodiment is characterized by the addition of the pedestrian behavior detection unit 600 to the configuration of the first embodiment. Below, this pedestrian behavior detection part 600 is demonstrated and the detailed description about the same component as FIG. 1 is abbreviate | omitted.

  That is, as shown in FIG. 6, in the driver will notification device 100 a, the pedestrian behavior determination unit 600 includes a pedestrian position determination unit 610 and a line-of-sight position determination unit 620. Among these, the pedestrian position determination unit 610 has a function of determining the position of the pedestrian. Specifically, it has a function of determining a pedestrian crossing that is a pedestrian's passage target and the position of the pedestrian. That is, in FIG. 5, since the pedestrian A faces the pedestrian crossing that is the subject of passage and is located closest to the pedestrian crossing, the pedestrian crossing is more pedestrian than the pedestrian B or pedestrian C. Can be analyzed. The line-of-sight position determination unit 620 has a function of determining the line-of-sight position of a pedestrian. Acquisition of the line-of-sight position of a pedestrian can be performed using the line-of-sight detection sensor 111 provided inside the vehicle 10.

(Driver Will Notifying Procedure by Driver Will Notifying Device of Example 3)
Next, the driver will notification procedure by the driver will notification device 100a described above will be described in detail with reference to FIG. FIG. 7 is a flowchart illustrating details of a driver will notification procedure performed by the driver will notification device 100a according to the third embodiment. Here, in this flowchart, the detailed control procedure performed by the driver | operator will notification apparatus 100a is shown.

  Here, the feature of the third embodiment is that the “process for determining the behavior of the pedestrian” is performed together with the “process for determining the behavior of the driver” shown in the flowchart of FIG. Specifically, even if the driver of the vehicle has a willingness to give priority to the pedestrian's traffic over the pedestrian, the pedestrian may not be willing to pass. . For example, a pedestrian who is stopped in front of a pedestrian crossing may not be all pedestrians willing to cross the pedestrian crossing, but may be near the pedestrian crossing for another purpose, such as waiting for a taxi. Therefore, in the third embodiment, paying attention to this point, first, the behavior of the pedestrian is determined by the pedestrian behavior determination unit 600 (the position of the line of sight and the stop position), and the determination result by the pedestrian behavior determination unit 600 is used. Based on this, when it is determined that the pedestrian is willing not to pass, priority is given to the passage of the vehicle over the pedestrian, and the display unit 500 displays that the vehicle passes preferentially. Guidance is displayed.

  Details of the third embodiment will be described below with reference to the flowchart of FIG. Here, the difference between the flowchart shown in FIG. 3 and the processing procedure according to the flowchart shown in FIG. 7 is that, as described above, the process of determining the behavior of the pedestrian (step S101 to step S107) is added. Therefore, here, the processing procedure by the pedestrian behavior determination process will be mainly described, and a detailed description of the same processing as the processing procedure of FIG. 3 will be omitted.

  That is, as shown in the flowchart of FIG. 7, first, when the presence of a pedestrian who stops in the vicinity of a pedestrian crossing is detected (ON) by the human body detection sensor 310 (FIG. 1) provided in the vehicle 10 (Yes in step S100). Hereinafter, in the driver will notification device 100a, the process proceeds to a pedestrian behavior acquisition / determination process in which the behavior of the pedestrian is acquired / determined (step S101). That is, first, the position of the pedestrian is acquired (step S102), and the position of the pedestrian acquired in step S102 is determined (step S103).

  Specifically, when it is determined in the next step S104 whether or not the pedestrian is away from the pedestrian crossing (step S104) and it is determined that the pedestrian is not away from the pedestrian crossing. (No in step S104), and then the process proceeds to a process of acquiring the line of sight of the pedestrian (step S105), and then the line of sight acquired in step S106 is determined (step S106). In the next step S107, it is determined whether or not the pedestrian's line of sight is facing the pedestrian crossing (step S107), and if it is determined that the pedestrian's line of sight is not facing the pedestrian crossing (No in step S107). ) Hereinafter, similarly to the flowchart of FIG. 3, the processes in steps S115 to S210 are performed. That is, as shown in the above processing procedure, after it is determined in steps S101 to S107 that “the pedestrian has the intention to cross the road to be passed”, the process proceeds to the driver behavior determination in step S115.

  If it is determined in step S104 that the pedestrian is away from the pedestrian crossing (Yes in step S104), and in step S107, it is determined that the pedestrian is not facing the crossing. If this is the case (Yes in step S107), the pedestrian determines that there is no intention to cross the road to be passed, and the display unit 500 displays a display guidance that the vehicle will pass preferentially (for example, the vehicle 10 is first. A display indicating that the vehicle has passed “a pop-out danger notice” or “a vehicle passes” is displayed (step S210).

  In the processing procedure according to the flowchart shown in FIG. 7 described above, the processing order of the pedestrian behavior determination processing is processed as (1) determination of a pedestrian stop position and (2) determination of a pedestrian gaze position. Although the procedure is advanced, the processing procedure is not limited to the order of this example, and the processing priority can be set as appropriate.

  As described above, according to the driver will notification device according to the third embodiment of the present invention, the behavior of the pedestrian is determined by the pedestrian behavior determination unit 600 in advance, and the determination result by the pedestrian behavior determination unit 600 is obtained. Based on this, when it is determined that the pedestrian is not willing to pass the target road (such as a pedestrian crossing), the vehicle is given priority over the pedestrian, and the vehicle is given priority in the display unit 500. Since the display guidance indicating that the vehicle passes is displayed, the communication load can be reduced.

  As described above, the driver's will notification device according to the present invention transmits to the pedestrian from the running vehicle the will to give priority to the pedestrian's traffic (crossing) over the vehicle's traffic. The present invention is useful for a notification device, and is particularly suitable for a driver intention notification device that reliably transmits a driver's intention to a pedestrian.

It is a whole functional block diagram which shows the structure of the driver | operator will notification apparatus which concerns on Example 1 of this invention. It is explanatory drawing which shows the positional relationship of the pedestrian and vehicle which apply the driver | operator will notification apparatus which concerns on Example 1 of this invention. 5 is a flowchart illustrating a control procedure by the driver will notification device according to the first embodiment. 7 is a flowchart illustrating a control procedure by a driver will notification device according to a second embodiment. It is explanatory drawing which shows the positional relationship of the pedestrian and vehicle which apply the driver | operator will notification apparatus which concerns on Example 3 of this invention. It is a whole functional block diagram which shows the general | schematic structure of the driver | operator will notification apparatus which concerns on Example 3 of this invention. 12 is a flowchart illustrating a control procedure by a driver will notification device according to a third embodiment.

Explanation of symbols

100, 100a Driver will notification device 110 Driver behavior determination unit 111 Line of sight detection sensor 112 Vehicle speed sensor 113 Brake pressure sensor 114 Handle operation unit 120 Line of sight determination unit 125 Travel speed determination unit 130 Brake operation determination unit 135 Handle operation determination unit 200 Driving Person will determination unit 300 Pedestrian detection unit 310 Human body detection sensor 320 Imaging camera 330 Radar 340 Image processing unit 350 Pedestrian presence determination unit 400 Main control unit 410 Notification determination unit 450 Display control unit 500 Display unit 550 Speaker 600 Pedestrian behavior determination 610 Pedestrian position determination unit 620 Gaze position determination unit

Claims (12)

A driver will notifying device for transmitting a driver's will to a pedestrian between a vehicle traveling on a road and a pedestrian,
The driver will notification device includes:
Pedestrian detection means for detecting the presence of the pedestrian,
A driver behavior detecting means for acquiring the behavior of the driver based on a driving operation state of the driver on the vehicle;
Driver behavior determination means for determining the behavior of the driver acquired by the driver behavior detection means;
Based on the behavior of the driver determined by the driver behavior determination means, driver will determination means for determining the driver's will for the pedestrian,
Display means for displaying display guidance according to the driver's will determined by the driver's will determination means;
A driver will notifying device characterized by comprising:   The driver will notification device includes notification determination means for determining whether or not display guidance can be notified by the display means for the pedestrian, and the notification determination means includes detection of a pedestrian by the pedestrian detection means, and the driver 2. The driver will notification device according to claim 1, wherein the display guidance is displayed by the display unit based on the driver's will determined by the will determination unit.   3. The display means displays guidance that gives priority to traffic by a pedestrian over traffic of a vehicle according to the driver's will determined by the driver's will determination means. The driver will notification device described in 1.   In the display means, depending on the driver's will determined by the driver will determination means, guidance that gives priority to the passage of the pedestrian over the passage of the vehicle, or the passage of the vehicle over the passage of the pedestrian 4. The driver will notification device according to claim 1, wherein any one of the priority guidances is displayed.   The driver behavior detecting means includes a line-of-sight determining means for determining a driver's line-of-sight position, a traveling speed determining means for determining a traveling speed of the vehicle, a brake operation determining means for determining a brake operation by the driver, and a driver The driver will notification device according to any one of claims 1 to 4, further comprising a handle operation determination unit that determines a steering operation by the vehicle. A driver will notifying device comprising a driver will notifying device that communicates the driver's will to the pedestrian between the vehicle traveling on the road and the pedestrian,
The driver will notification device includes:
Pedestrian detection means for detecting the presence of the pedestrian,
Pedestrian behavior determining means for determining the behavior of the pedestrian,
Driver behavior detecting means for acquiring the behavior of the driver, driver behavior determining means for determining the behavior of the driver acquired by the driver behavior detecting means,
Based on the behavior of the driver determined by the driver behavior determination means, driver will determination means for determining the driver's will for the pedestrian,
Display means for displaying display guidance according to the driver's will determined by the driver's will determination means;
A driver will notifying device characterized by comprising:   The driver will notification device includes a notification determination unit that determines whether or not display guidance can be notified by the display unit for the pedestrian, and the notification determination unit includes detection of a pedestrian by the pedestrian detection unit, and the pedestrian 7. The display guidance is displayed by the display means based on the behavior of the pedestrian determined by the behavior determination means and the driver's intention determined by the driver will determination means. The driver will notification device described in 1.   The driving according to claim 6 or 7, wherein the pedestrian behavior determining means includes a pedestrian position determining means for determining the position of the pedestrian and a gaze position determining means for determining the line of sight of the pedestrian. Person will notification device. The driver will notification device includes:
When it is determined that the pedestrian is recognizing the passage target road based on the line-of-sight position by the line-of-sight position determination unit of the pedestrian behavior determination unit, according to the driver's will by the driver will determination unit, 9. The driver will notification device according to claim 7 or 8, wherein display guidance is displayed by a display means. The driver will notification device includes:
When the pedestrian position determining means of the pedestrian behavior determining means determines that the position of the pedestrian is not a position away from the passage target position, according to the driver's will by the driver will determining means, the display means The driver will notification device according to claim 7 or 8, wherein display guidance is displayed.   According to the driver's intention determined by the driver determination unit and the behavior of the pedestrian determined by the pedestrian behavior determination unit, the display unit displays the traffic by the pedestrian from the traffic of the vehicle. The driver will notification device according to any one of claims 6 to 10, wherein a priority guidance is also displayed. The driver will notification device includes:
When it is determined that the pedestrian is not recognizing the vehicle based on the line-of-sight position by the line-of-sight position determining unit of the pedestrian behavior determining unit, the apparatus includes an output unit that notifies music different from the alarm sound. The driver will notification device according to any one of claims 6 to 10.

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