JP2006227811A - Driving support apparatus - Google Patents

Driving support apparatus Download PDF

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JP2006227811A
JP2006227811A JP2005039383A JP2005039383A JP2006227811A JP 2006227811 A JP2006227811 A JP 2006227811A JP 2005039383 A JP2005039383 A JP 2005039383A JP 2005039383 A JP2005039383 A JP 2005039383A JP 2006227811 A JP2006227811 A JP 2006227811A
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vehicle
blind spot
warning
moving
driver
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JP4517393B2 (en
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Yutaka Tanaka
豊 田中
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Denso Corp
株式会社デンソー
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Abstract

<P>PROBLEM TO BE SOLVED: To provide a driving support apparatus which can effectively avoid collision to a moving object in a dead angle behind an oncoming vehicle. <P>SOLUTION: The driving support apparatus 100 detects existence of a dead angle area BS produced by the oncoming vehicle TR by photographing with a camera 3 outside of the vehicle, and when the dead angle area BS exists and a driver continues right-turn operation, prompts the driver going slowly by giving a warning of collision risk. <P>COPYRIGHT: (C)2006,JPO&NCIPI

Description

本発明は、交差点での右折において対向車両の死角に隠れた車両や歩行者との衝突事故を防止するための運転支援装置に関する。   The present invention relates to a driving assistance device for preventing a collision accident with a vehicle or a pedestrian hidden in a blind spot of an oncoming vehicle in a right turn at an intersection.
交差点での右折事故防止のため、例えば特許文献1では、対向車両の状態,路面状態を検出して自車両と衝突すると予測できた場合に警報装置により運転者に注意を喚起し、運転者の減速動作が遅れた場合には自動的に自車両を停止させるシステムが提案されている。   In order to prevent a right turn accident at an intersection, for example, in Patent Document 1, when an oncoming vehicle state and a road surface state are detected and a collision with the host vehicle can be predicted, an alarm device alerts the driver and There has been proposed a system that automatically stops the host vehicle when the deceleration operation is delayed.
特許第3174833号公報Japanese Patent No. 3174833 特開2003−81037号公報JP 2003-81037 A
ところで、特許文献1では、道路の形状や対向車の陰に隠れて確認できない対抗直進車に対して対向車の状態を検出する対向車検出手段と、道路面の状況を検出する路面状況検出手段と、道路の線形情報を保有する道路データベース手段を道路側に具備し、路車間通信により自車がそれら情報を吸い上げて衝突を防止しようとしているが、全ての交差点にそれら設備を設置することはコストの面からして実現が容易ではない。   By the way, in Patent Document 1, oncoming vehicle detection means for detecting the state of an oncoming vehicle with respect to a counter-straight vehicle that cannot be confirmed behind the shape of the road or behind the oncoming vehicle, and road surface condition detection means for detecting the state of the road surface And road database means that holds the linear information of the road is provided on the road side, and the own vehicle tries to prevent such collision by absorbing the information by road-to-vehicle communication, but installing these facilities at all intersections is Realization is not easy in terms of cost.
一方、特許文献2では、自車に搭載した移動体検出装置により直進車や歩行者を検出し、その移動予測を行い、自車の進路予測結果と比較し衝突する場合には警告を出す装置の提案がされているが、自車に搭載したCCDカメラや超音波センサ等の移動体検出装置の死角位置にある移動体や、携帯電話等の発信手段を持たない移動体については警告できないという問題がある。   On the other hand, in Patent Document 2, an apparatus for detecting a straight vehicle or a pedestrian by a moving body detection device mounted on the own vehicle, predicting the movement thereof, and issuing a warning in the case of a collision compared with the predicted route result of the own vehicle. However, it is not possible to warn about moving bodies that are in the blind spot of a moving body detection device such as a CCD camera or an ultrasonic sensor mounted on the vehicle or a mobile body that does not have a transmission means such as a mobile phone. There's a problem.
本発明は、上記問題を鑑みて為されたものであり、対向車両の死角に隠れた車両や歩行者との衝突事故を防止でき、且つ道路側の設備が不要な運転支援装置を提供することを目的とする。   The present invention has been made in view of the above problems, and provides a driving support device that can prevent a collision accident with a vehicle or a pedestrian hidden in a blind spot of an oncoming vehicle and does not require roadside equipment. With the goal.
課題を解決するための手段及び発明の効果Means for Solving the Problems and Effects of the Invention
上記課題を解決するため、請求項1の運転支援装置は、対向道路を撮影する撮像手段と、対向車両によって運転者の視界から死角となる対向道路上の死角領域を撮像手段により得られる画像から認識する死角認識手段と、車両の走行情報を取得する走行情報取得手段と、死角領域を認識し、且つ、車両の右折状態を検知した場合に運転者に対し警告を行う警告手段とを備えることを特徴とする。これによると、撮像手段により実際に得られる画像から死角領域を認識し、車両の右折時に警告を行うことにより、死角領域に入り込んでいる他車両等との衝突危険性を有効に回避できる。また、かかる構成によれば道路側の設備が必要とならない。   In order to solve the above-described problem, the driving support apparatus according to claim 1 includes an imaging unit that captures an oncoming road, and an image obtained by the imaging unit on a blind spot area on the oncoming road that is a blind spot from the driver's field of view by an oncoming vehicle. A blind spot recognizing means for recognizing, a travel information obtaining means for obtaining travel information of the vehicle, and a warning means for recognizing a blind spot area and warning the driver when a right turn state of the vehicle is detected. It is characterized by. According to this, by recognizing the blind spot area from the image actually obtained by the imaging means and giving a warning when the vehicle turns right, it is possible to effectively avoid the danger of collision with other vehicles entering the blind spot area. Moreover, according to this structure, the road side installation is not required.
請求項2の運転支援装置では、請求項1に記載の運転支援装置において、死角認識手段は、対向車両の移動状態から死角領域の予測変動領域を算出し、走行情報取得手段は、右折状態にある車両の予測移動経路を算出し、警告手段は、車両の予測移動経路が死角領域の予測変動領域と交錯する場合に警告を行うように構成できる。これによると、車両の予測移動経路が死角領域の予測変動領域と交錯する場合に警告を行うため、より具体的な衝突危険性を運転者に警告できる。   In the driving support apparatus according to claim 2, in the driving support apparatus according to claim 1, the blind spot recognizing unit calculates a predicted variation area of the blind spot area from the moving state of the oncoming vehicle, and the traveling information acquisition unit is in the right turn state. The predicted movement path of a certain vehicle is calculated, and the warning means can be configured to issue a warning when the predicted movement path of the vehicle intersects with the predicted fluctuation area of the blind spot area. According to this, since a warning is issued when the predicted movement path of the vehicle intersects with the predicted fluctuation area of the blind spot area, it is possible to warn the driver of a more specific collision risk.
上記課題を解決するため、請求項3の運転支援装置は、対向道路を撮影する撮像手段と、対向車両によって運転者の視界から死角となる対向道路上の死角領域を撮像手段により得られる画像から認識する死角認識手段と、死角領域に進入する移動体を検知する移動体検知手段と、車両の走行情報を取得する走行情報取得手段と、移動体を検知し、且つ、車両の右折状態を検知した場合に運転者に対し警告を行う警告手段とを備えることを特徴とする。これによると、移動体検知手段により実際に死角領域に進入する移動体を検知し、車両の右折時に警告を行うことにより、死角領域に入り込んでいる移動体(他車両等)との衝突危険性を有効に回避できる。また、かかる構成によれば道路側の設備が必要とならない。   In order to solve the above-described problem, the driving support device according to claim 3 includes an imaging unit that captures an oncoming road, and an image obtained by the imaging unit on a blind spot area on the oncoming road that is a blind spot from the driver's field of view by an oncoming vehicle. A blind spot recognizing means for recognizing, a moving body detecting means for detecting a moving body entering the blind spot area, a travel information acquiring means for acquiring travel information of the vehicle, a mobile body and detecting a right turn state of the vehicle And a warning means for warning the driver. According to this, by detecting a moving body that actually enters the blind spot area by the moving body detection means and giving a warning when the vehicle turns right, there is a risk of collision with a moving body (other vehicle, etc.) entering the blind spot area. Can be effectively avoided. Moreover, according to this structure, the road side installation is not required.
請求項4の運転支援装置では、請求項3に記載の運転支援装置において、移動体検知手段は、移動体の移動状態から該移動体の予測移動経路を算出し、走行情報取得手段は、右折状態にある車両の予測移動経路を算出するとともに、警告手段は、互いの予測移動経路が交錯する場合に警告を行うように構成できる。これによると、車両の予測移動経路と死角領域に進入した移動体の予測移動経路とが交錯する場合に警告を行うため、より具体的な衝突危険性を運転者に警告できる。   In the driving support device according to claim 4, in the driving support device according to claim 3, the moving body detecting means calculates a predicted moving route of the moving body from the moving state of the moving body, and the travel information acquiring means In addition to calculating the predicted travel path of the vehicle in the state, the warning means can be configured to warn when the predicted travel paths cross each other. According to this, since a warning is issued when the predicted movement path of the vehicle and the predicted movement path of the moving body that has entered the blind spot area intersect, it is possible to warn the driver of a more specific collision risk.
請求項5の運転支援装置では、請求項1ないし4のいずれか1項に記載の運転支援装置において、警告手段が警告を行う場合に、それとともに車両を制動する制動制御装置を備えるように構成できる。これによると、上記の警告とともに車両の制動を行うことで、衝突危険性をより有効に回避できる。   The driving support device according to claim 5 is configured to include a braking control device that brakes the vehicle together with the driving support device according to any one of claims 1 to 4 when the warning means issues a warning. it can. According to this, the risk of collision can be more effectively avoided by braking the vehicle together with the above warning.
請求項6の運転支援装置では、請求項1ないし5のいずれか1項に記載の運転支援装置において、運転者の目を撮影する運転者撮像手段と、運転者撮像手段により得られる画像から運転者の視線を検出する視線検出手段とを備え、警告手段は、運転者の視線が死角領域の方向を向いていない場合にのみ警告を行うように構成できる。これによると、運転者の視線が死角領域の方向を向いていない場合にのみ警告を行うため、必要に応じた警告が可能となる。   The driving support device according to claim 6 is the driving support device according to any one of claims 1 to 5, wherein the driver imaging means for photographing the driver's eyes and driving from an image obtained by the driver imaging means. And a warning means can be configured to issue a warning only when the driver's line of sight is not directed toward the blind spot area. According to this, since the warning is performed only when the driver's line of sight is not in the direction of the blind spot area, the warning can be performed as necessary.
(1)第一実施形態
以下、本発明に係る運転支援装置の第一実施形態を、図面を参照しながら説明する。図1は、対向車両TRによって自車両MCの運転者の視界から死角となる対向道路OL上の死角領域BSを表す図である。右折しようとする自車両MCの運転者にとっては、死角領域BSに車両(2輪車や4輪車)や歩行者など(以下、総称して移動体という)が存在していても対向車両TRの陰に隠れて確認することができないことから、右折により移動体に衝突してしまう危険性がある。すなわち、例えば、対向車両TRの前を横切って自車両MCが右折する場合には、死角領域BSに隠れていた移動体が飛び出してきて衝突したり、通過した対向車両TRの後ろを横切って自車両MCが右折する場合には、死角領域BSの後方側に残っていた移動体に衝突したりという事態が生じる。
(1) First Embodiment Hereinafter, a first embodiment of a driving support apparatus according to the present invention will be described with reference to the drawings. FIG. 1 is a diagram illustrating a blind spot area BS on the opposing road OL that is a blind spot from the field of view of the driver of the host vehicle MC by the oncoming vehicle TR. For the driver of the host vehicle MC trying to make a right turn, the oncoming vehicle TR even if a vehicle (two-wheeled vehicle or four-wheeled vehicle) or a pedestrian (hereinafter collectively referred to as a moving body) exists in the blind spot area BS. There is a risk of colliding with a moving object by turning right because it cannot be confirmed behind the screen. That is, for example, when the host vehicle MC makes a right turn across the front of the oncoming vehicle TR, the moving body hidden in the blind spot area BS jumps out and collides, or crosses the back of the oncoming vehicle TR that has passed. When the vehicle MC makes a right turn, a situation occurs in which the vehicle MC collides with a moving object remaining behind the blind spot area BS.
そこで、第一実施形態の運転支援装置100(図2参照)は、車外カメラ3で撮影することによって対向車両TRによって生じる死角領域BSの有無を検知し、死角領域BSが存在し、且つ、運転者が右折動作を継続する場合に、運転者に対して衝突危険性がある旨の警告を行って徐行を促す。以下、運転支援装置100の構成と作動について詳細な説明を行う。   Therefore, the driving support apparatus 100 (see FIG. 2) of the first embodiment detects the presence or absence of the blind spot area BS caused by the oncoming vehicle TR by taking an image with the camera 3 outside the vehicle, the blind spot area BS exists, and the driving is performed. When the driver continues the right turn operation, the driver is warned that there is a collision risk and prompts the driver to drive slowly. Hereinafter, the configuration and operation of the driving support device 100 will be described in detail.
(1−1)装置構成
運転支援装置100の構成について説明する。図2は、運転支援装置100の電気的ブロック図を示すものである。運転支援装置100は、対向道路OLを撮影する車外カメラ3,ミリ波レーダやレーザレーダ等からなる探知機6,センサ・スイッチ群4,表示装置51,音声出力装置52及びこれらが接続された制御回路10を備えている。
(1-1) Device Configuration A configuration of the driving support device 100 will be described. FIG. 2 shows an electrical block diagram of the driving support device 100. The driving support apparatus 100 includes an on-vehicle camera 3 that captures the oncoming road OL, a detector 6, a sensor / switch group 4, a display device 51, an audio output device 52, and a control to which these are connected. A circuit 10 is provided.
車外カメラ(撮像手段)3は、CCDカメラ等で構成され、撮影した映像をビデオ信号として制御回路10に入力する。また、車外カメラ3は、互いに離れた状態で複数台設置されており(本実施形態では2台)、これらが対向車両TR方向を撮影することによって、運転者から見た実際の死角(死角領域BS)よりも車外カメラ3から見た死角を狭めることができる。また、車外カメラ3が複数台設置されることで、立体視により得られる3次元画像から立体物を対向車両TRとして把握することもできる(視差計算)。なお、車外カメラ3は、対向道路OLのみならず自車両MCが走行する走行道路DLを含めた幅広い範囲FV(図1参照)を撮影している。   The vehicle exterior camera (imaging means) 3 is composed of a CCD camera or the like, and inputs the captured video as a video signal to the control circuit 10. In addition, a plurality of outside cameras 3 are installed in a state of being separated from each other (two in the present embodiment), and when these are photographed in the direction of the oncoming vehicle TR, an actual blind spot (a blind spot area as viewed from the driver). The blind spot as viewed from the outside camera 3 can be narrower than BS). In addition, by installing a plurality of outside cameras 3, it is possible to grasp a three-dimensional object as the oncoming vehicle TR from a three-dimensional image obtained by stereoscopic viewing (parallax calculation). The outside camera 3 captures a wide range FV (see FIG. 1) including not only the oncoming road OL but also the traveling road DL on which the host vehicle MC travels.
探知機6は、ミリ波レーダやレーザレーダ等からなり、ミリ波や赤外線レーザを出射することで対象物から反射してきた電波を受信し、伝搬時間やドップラー効果によって生じる周波数差などを基に、対象物の位置や相対速度を測定するものである。これによって、対向車両TRが存在する場合に、その移動速度や進行方向等の走行情報を得ることができる。   The detector 6 includes a millimeter wave radar, a laser radar, or the like, receives a radio wave reflected from an object by emitting a millimeter wave or an infrared laser, and based on a propagation time or a frequency difference caused by the Doppler effect, It measures the position and relative speed of the object. Thus, when there is an oncoming vehicle TR, travel information such as a moving speed and a traveling direction can be obtained.
センサ・スイッチ群4には、車両の速度を検出する車速センサ41,車輪の操舵角を検出する舵角センサ42,アクセルペダルの踏み込み量を検出するアクセル状態センサ43,車両が回転する速度(ヨーレート)を検出するヨーレートセンサ44,ウインカーの状態を入力する方向表示スイッチ45等が含まれる。これらが本発明の走行情報取得手段の一部として機能し、検出信号が入力されることで、後述する制御回路10は自車両MCの走行情報を取得する。なお、本実施形態では、制御回路10には、これらのセンサ・スイッチ群4から検出信号が直接入力されているが、車内LAN経由で検出信号が入力されるように構成することもできる。   The sensor / switch group 4 includes a vehicle speed sensor 41 for detecting the speed of the vehicle, a steering angle sensor 42 for detecting the steering angle of the wheels, an accelerator state sensor 43 for detecting the depression amount of the accelerator pedal, and a speed at which the vehicle rotates (yaw rate). ) For detecting the turn signal), a direction display switch 45 for inputting the state of the blinker, and the like. These function as a part of the travel information acquisition means of the present invention, and when a detection signal is input, the control circuit 10 described later acquires the travel information of the host vehicle MC. In the present embodiment, the detection signals are directly input to the control circuit 10 from the sensor / switch group 4, but the detection signals may be input via the in-vehicle LAN.
表示装置51は、カラー液晶に代表される表示器により構成されており、音声出力装置52は、アンプやスピーカから構成されており、後述の制御部10からの命令で運転者に対して警告を出力する。すなわち、これらが本発明の警告手段の一部として機能する。   The display device 51 is composed of a display device typified by a color liquid crystal, and the audio output device 52 is composed of an amplifier and a speaker, and warns the driver by a command from the control unit 10 described later. Output. That is, these function as a part of the warning means of the present invention.
制御回路10は、通常のコンピュータとして構成されており、周知のCPU11,ROM12,RAM13,入出力インターフェース(I/O)14及びこれらの構成を接続するバスライン15が備えられている。CPU11は、ROM12及びRAM13に記憶されたプログラム及びデータにより制御を行う。ROM12は、プログラム格納領域12aとデータ記憶領域12bとを有している。プログラム格納領域12aには、対向道路監視プログラム12pが格納されている。この対向道路監視プログラム12pは、RAM13上でワークメモリ13wを作業領域とする形で作動する。他方、データ記憶領域12bには、対向道路監視プログラム12pの動作に必要な種々のデータが格納されている。なお、これらのプログラム及びデータは、外部メモリを設けてそれに記憶させてもよい。以上の構成によって、制御回路10は、CPU11により対向道路監視プログラム12pが起動されると、本発明の死角認識手段,警告手段,走行情報取得手段として機能する。   The control circuit 10 is configured as a normal computer, and includes a known CPU 11, ROM 12, RAM 13, input / output interface (I / O) 14, and a bus line 15 for connecting these configurations. The CPU 11 controls the program and data stored in the ROM 12 and RAM 13. The ROM 12 has a program storage area 12a and a data storage area 12b. The on-coming road monitoring program 12p is stored in the program storage area 12a. This oncoming road monitoring program 12p operates on the RAM 13 in the form of the work memory 13w as a work area. On the other hand, the data storage area 12b stores various data necessary for the operation of the oncoming road monitoring program 12p. These programs and data may be stored in an external memory. With the above configuration, the control circuit 10 functions as blind spot recognition means, warning means, and travel information acquisition means of the present invention when the oncoming road monitoring program 12p is activated by the CPU 11.
(1−2)装置作動
次に、運転支援装置100の作動について、図3及び4を参照して説明する。ここで、図3は運転支援装置100のCPU11が実行する対向道路監視プログラム12pの処理をフローチャートとして示すものであり、図4は同処理を機能ブロック図として示すものである。
(1-2) Device Operation Next, the operation of the driving support device 100 will be described with reference to FIGS. Here, FIG. 3 shows the process of the oncoming road monitoring program 12p executed by the CPU 11 of the driving support apparatus 100 as a flowchart, and FIG. 4 shows the process as a functional block diagram.
まず、対向道路監視プログラム12pが起動すると、CPU11は、車外カメラ3から入力される画像データの処理を行う(ステップS1,死角認識部91)。具体的には、車外カメラ3は主に対向道路OLの状態を撮影しており、対向車両TRの存在や対向道路OLの道幅によって死角領域BSの有無を認識している。対向車両TRの存在及びその走行状態は、周囲との相対速度によって把握することができる。なお、上記のように車外カメラ3が複数台設けられている場合には、画像データ合成部を設け、複数台の車外カメラ3により得られるそれぞれの画像を合成した画像から死角領域BSを認識することで、データ量を削減でき、処理時間の短縮が図れる。   First, when the oncoming road monitoring program 12p is activated, the CPU 11 processes image data input from the outside camera 3 (step S1, blind spot recognition unit 91). Specifically, the outside camera 3 mainly captures the state of the oncoming road OL, and recognizes the presence or absence of the blind spot area BS based on the presence of the oncoming vehicle TR and the width of the oncoming road OL. The existence of the oncoming vehicle TR and its running state can be grasped by the relative speed with the surroundings. When a plurality of outside cameras 3 are provided as described above, an image data composition unit is provided to recognize the blind spot area BS from an image obtained by combining the images obtained by the plurality of outside cameras 3. As a result, the amount of data can be reduced and the processing time can be shortened.
死角領域BSの存在が実際に問題となるのは自車両MCが右折する場合であるので、CPU11は、画像データの処理を行いつつ(ステップS1)、自車両MCの右折状態の開始を検知するまで待機する(ステップS2,走行情報取得部92)。ここで、右折状態の開始は、センサ・スイッチ群4からの信号入力によって検知する。例えば、右方向ウインカーの点灯開始が方向指示スイッチ45から入力された場合に、それを右折状態の開始として検知する。また、自車両が右方向に進行し始めたことが舵角センサ42やヨーレートセンサ44から入力された場合に、それを右折状態の開始として検知することもできる。なお、センサ・スイッチ群4以外でも、例えば、車外カメラ3が対向道路OLとともに自車両MCが走行する走行道路DLの状態も撮影している場合に、走行道路DLにおける右折表示(道路上や信号の右矢印等)を画像データから認識することで、それを右折状態の開始として検知することもできる。   Since the presence of the blind spot area BS actually becomes a problem when the host vehicle MC turns right, the CPU 11 detects the start of the right turn state of the host vehicle MC while processing the image data (step S1). (Step S2, travel information acquisition unit 92). Here, the start of the right turn state is detected by a signal input from the sensor / switch group 4. For example, when the start of lighting of the right turn signal is input from the direction indicating switch 45, it is detected as the start of the right turn state. Further, when it is input from the steering angle sensor 42 or the yaw rate sensor 44 that the host vehicle has started to proceed in the right direction, it can be detected as the start of the right turn state. In addition to the sensor switch group 4, for example, when the camera 3 outside the vehicle also captures the state of the traveling road DL along which the host vehicle MC travels together with the oncoming road OL, a right turn display (on the road or signal) Can be detected as the start of the right turn state.
自車両MCの右折状態の開始を検知すると(ステップS2:Yes)、CPU11は、続いて自車両MCの予測移動経路を算出する(ステップS3,走行情報取得部92)。予測移動経路は、センサ41〜44から得られる自車両MCの速度,舵角,ヨーレート,アクセルの踏み込み量等の走行情報に基づいて算出される。   When the start of the right turn state of the host vehicle MC is detected (step S2: Yes), the CPU 11 subsequently calculates the predicted travel route of the host vehicle MC (step S3, travel information acquisition unit 92). The predicted movement route is calculated based on travel information such as the speed of the host vehicle MC, the steering angle, the yaw rate, and the accelerator depression amount obtained from the sensors 41 to 44.
一方、車外カメラ3からの画像データの処理によって対向車両TRの存在が把握されている場合には(ステップS4:Yes)、CPU11は、死角領域BSの予測変動領域を算出する(ステップS5,死角認識部91)。予測変動領域は、画像処理によって得られる対向車両TRの移動速度や進行方向に基づき、現時点から一定時間が経過するまでの間で死角領域BSとなる範囲として定めることができる。また、死角領域BSに潜む移動体が対向車両TRに対して相対的に移動する場合も加味して、当該範囲を更に前後に一定量広げた範囲を予測変動領域とすることもできる。なお、対向車両TRの移動速度や進行方向については、探知機6を用いて得ることもできる。   On the other hand, when the presence of the oncoming vehicle TR is grasped by the processing of the image data from the outside camera 3 (step S4: Yes), the CPU 11 calculates the predicted variation area of the blind spot area BS (step S5, blind spot). Recognition unit 91). The predicted variation area can be determined as a range that becomes the blind spot area BS until a predetermined time elapses from the current time based on the moving speed and the traveling direction of the oncoming vehicle TR obtained by image processing. In addition, in consideration of a case where a moving body that is hidden in the blind spot area BS moves relative to the oncoming vehicle TR, a range in which the range is further expanded by a certain amount can be set as the predicted variation area. The moving speed and the traveling direction of the oncoming vehicle TR can also be obtained using the detector 6.
次に、CPU11は、自車両MCの予測移動経路と死角領域BSの予測変動領域とが交錯するか否かを判定する(ステップS6,警告部93)。すなわち、自車両MCがn秒後に到達するであろう位置が、現時点からn秒経過までの間に死角領域BSとなる範囲に含まれるか否かを判定する。   Next, the CPU 11 determines whether or not the predicted movement path of the host vehicle MC and the predicted fluctuation area of the blind spot area BS intersect (step S6, warning section 93). That is, it is determined whether or not the position where the host vehicle MC will reach after n seconds is included in the range that becomes the blind spot area BS from the present time until the elapse of n seconds.
そして、自車両MCの予測移動経路と死角領域BSの予測変動領域とが交錯すると判定された場合は(ステップS6:Yes)、CPU11は、表示装置51及び音声出力装置52に出力を行い、運転者に対して追突事故が起こる可能性がある旨の警告を行う(ステップS8,警告部93)。この際、運転者が先に危険性を察知して自車両MCを停止させた場合など、自車両MCが停止状態の場合には、運転者に煩わしさを与えないように、警告を行わないようにすることができる(ステップS7)。なお、自車両MCの予測移動経路と死角領域BSの予測変動領域とが交錯する場合に限らず、対向車両TRによって死角領域BSが生じている場合には常に警告を行わせるように構成することもできる。   If it is determined that the predicted travel route of the host vehicle MC and the predicted variation area of the blind spot area BS intersect (step S6: Yes), the CPU 11 outputs to the display device 51 and the audio output device 52 to drive A warning that a rear-end collision may occur is given to the person (step S8, warning section 93). At this time, if the vehicle MC is in a stopped state, such as when the driver senses the danger first and stops the vehicle MC, no warning is given so as not to bother the driver. (Step S7). In addition, not only when the predicted movement path | route of the own vehicle MC and the prediction fluctuation | variation area | region of the blind spot area | region BS cross, but when the blind spot area | region BS has arisen by oncoming vehicle TR, it shall comprise so that a warning may be always performed. You can also.
(2)第二実施形態
以下、本発明に係る運転支援装置の第二実施形態を、図面を参照しながら説明する。なお、上記第一実施形態と重複する箇所については、同番号を付して説明を省略する。第二実施形態の運転支援装置200(図6参照)は、図5に示すように死角領域BSに追越車両などの移動体OTが入り込んだことを検知した場合に、当該移動体OTの動きを予測して、運転者に対して衝突危険性がある旨の警告を行って徐行を促す。さらには、当該警告によっても、運転者が減速あるいは停止操作を行わずに右折動作を継続した場合には、自車両MCの走行動作を制限する。以下、運転支援装置200の構成と作動について詳細な説明を行う。
(2) Second Embodiment Hereinafter, a second embodiment of the driving support apparatus according to the present invention will be described with reference to the drawings. In addition, about the location which overlaps with said 1st embodiment, the same number is attached | subjected and description is abbreviate | omitted. When the driving support apparatus 200 (see FIG. 6) of the second embodiment detects that a moving body OT such as an overtaking vehicle has entered the blind spot area BS as shown in FIG. 5, the movement of the moving body OT is detected. Is predicted and the driver is warned that there is a danger of a collision to encourage slowing down. Furthermore, even if the warning continues, the driving operation of the host vehicle MC is restricted when the driver continues the right turn operation without performing a deceleration or stop operation. Hereinafter, the configuration and operation of the driving support device 200 will be described in detail.
(2−1)装置構成
運転支援装置200の構成について説明する。図6は、運転支援装置200の電気的ブロック図を示すものである。運転支援装置200は、基本的構成が上記第一実施形態の運転支援装置100と同様であり、それに更に制動制御装置7を備える構成となっている。制動制御装置7は、車両の走行動作を制御する制御系のECU(Electronic Control Unit)として構成でき、エンジンに関する各種制御を行うエンジンECUやブレーキに関する各種制御を行うブレーキECUが含まれる。なお、制動制御装置7は、車内LANを介して接続されていてもよい。
(2-1) Device Configuration A configuration of the driving support device 200 will be described. FIG. 6 shows an electrical block diagram of the driving support device 200. The driving support device 200 has a basic configuration similar to that of the driving support device 100 of the first embodiment, and further includes a braking control device 7. The brake control device 7 can be configured as an ECU (Electronic Control Unit) of a control system that controls the traveling operation of the vehicle, and includes an engine ECU that performs various controls related to the engine and a brake ECU that performs various controls related to the brake. Note that the braking control device 7 may be connected via an in-vehicle LAN.
また、制御回路10’は、プログラム格納領域12aに対向道路監視プログラム12p’を格納しており、CPU11により対向道路監視プログラム12p’が起動されると、上記第一実施形態の運転支援装置100と同様に本発明の死角認識手段,警告手段,走行情報取得手段として機能するとともに、本発明の移動体検知手段としても機能する。   Further, the control circuit 10 ′ stores the oncoming road monitoring program 12p ′ in the program storage area 12a, and when the oncoming road monitoring program 12p ′ is activated by the CPU 11, the driving support device 100 of the first embodiment and Similarly, it functions as a blind spot recognition means, warning means, and travel information acquisition means of the present invention, and also functions as a moving body detection means of the present invention.
(2−2)装置作動
次に、運転支援装置200の作動について、図7及び8を参照して説明する。ここで、図7は運転支援装置200のCPU11が実行する対向道路監視プログラム12p’の処理をフローチャートとして示すものであり、図8は同処理を機能ブロック図として示すものである。
(2-2) Device Operation Next, the operation of the driving support device 200 will be described with reference to FIGS. Here, FIG. 7 shows a process of the oncoming road monitoring program 12p ′ executed by the CPU 11 of the driving support apparatus 200 as a flowchart, and FIG. 8 shows the process as a functional block diagram.
CPU11は、車外カメラ3からの画像データの処理によって対向車両TRの存在が把握されている場合に(ステップS4:Yes)、対向車両TRによって生じている死角領域BSに入り込む移動体OTがあるか否かを監視する(ステップS11,移動体検知部94)。死角領域BSに入り込む移動体OTとは、例えば、死角領域BSを通過して対向車両TRを追越そうとする車両(死角領域BSの後方より入り込む)や、それとは逆に対向車両TRに追越されそうな車両(死角領域BSの前方より入り込む)等である。   When the presence of the oncoming vehicle TR is known by the processing of the image data from the outside camera 3 (step S4: Yes), the CPU 11 has a moving body OT that enters the blind spot area BS generated by the oncoming vehicle TR. Whether or not is monitored (step S11, moving body detection unit 94). The moving body OT entering the blind spot area BS is, for example, a vehicle that passes through the blind spot area BS and tries to pass the oncoming vehicle TR (enters from behind the blind spot area BS), and conversely, it is added to the oncoming vehicle TR. Vehicles that are likely to pass (enter from the front of the blind spot area BS).
移動体OTの検知は、探知機6によって行うことができる(本発明の移動体検知手段として機能)。また、車外カメラ3からの画像データを処理することによっても検知できる。具体的には、CPU11は、探知機6から時々刻々と入力される検出信号から移動速度の異なる物体を分離抽出することで対向車両TR及び移動体OTを把握し、移動体OTが対向車両TRの陰に隠れて反射電波が受信できなくなった場合に死角領域BSへ入り込んだと判定する。さらに、移動体OTが死角領域BSに入り込む前の速度及び方向を基に、移動体OTが死角領域BSを通過する速度を推定し、予測移動経路を算出する(ステップS12,移動体検知部94)。なお、死角領域BSに入り込んだ移動体OTの速度が変化する場合も加味して、当該予測移動経路は一定の幅を持たせたものとすることができる。   Detection of the moving object OT can be performed by the detector 6 (functioning as a moving object detecting means of the present invention). It can also be detected by processing image data from the outside camera 3. Specifically, the CPU 11 grasps the oncoming vehicle TR and the moving body OT by separating and extracting objects having different moving speeds from the detection signal input from the detector 6 every moment, and the moving body OT is detected by the oncoming vehicle TR. It is determined that the vehicle has entered the blind spot area BS when the reflected radio wave can no longer be received behind the shadow. Further, based on the speed and direction before the moving body OT enters the blind spot area BS, the speed at which the moving body OT passes through the blind spot area BS is estimated, and a predicted moving path is calculated (step S12, the moving body detecting unit 94). ). In addition, in consideration of the case where the speed of the moving body OT entering the blind spot area BS changes, the predicted movement path can be assumed to have a certain width.
そして、CPU11は、自車両MCの予測移動経路と移動体OTの予測移動経路とが交錯するか否かを判定する(ステップS13,警告部93)。すなわち、自車両MCがn秒後に到達するであろう位置と移動体OTがn秒後に到達するであろう位置とが重複するか否かを判定する。その後、CPU11は、警告の出力を行うとともに(ステップS8)、警告を行っても運転者が自車両MCの減速または停止を行わない場合に(ステップS14:No)、制動制御装置7に対し出力を行い、自車両MCの制動を行う(ステップS15,警告部93)。なお、自車両MCの予測移動経路と移動体OTの予測移動経路とが交錯する場合に限らず、死角領域BSに移動体OTが入り込んだ場合には常に警告及び制動を行わせるように構成することもできる。   Then, the CPU 11 determines whether or not the predicted movement path of the host vehicle MC and the predicted movement path of the moving body OT intersect (step S13, warning unit 93). That is, it is determined whether or not the position where the host vehicle MC will reach after n seconds overlaps with the position where the mobile unit OT will reach after n seconds. Thereafter, the CPU 11 outputs a warning (step S8) and outputs to the braking control device 7 when the driver does not decelerate or stop the host vehicle MC even if the warning is given (step S14: No). To brake the host vehicle MC (step S15, warning section 93). Note that the present invention is not limited to the case where the predicted movement path of the host vehicle MC and the predicted movement path of the moving body OT cross each other, but is configured to always perform warning and braking when the moving body OT enters the blind spot area BS. You can also.
自車両MCの制動については、具体的には、制動制御装置7(制御系ECU)は制御部10’から走行動作の制限命令を受けると、例えば、ブレーキECUが自動的にブレーキをかけることで車両を停止又は減速させるように作動したり、またはエンジンECUがアクセルペダルの操作入力を受けてもエンジンへの燃料供給を停止させることで車両の発進又は加速を行わないように作動すること等によって行われる。   Specifically, regarding the braking of the host vehicle MC, when the braking control device 7 (control system ECU) receives a restriction command for the traveling operation from the control unit 10 ′, for example, the brake ECU automatically applies the brake. By operating to stop or decelerate the vehicle, or by operating the vehicle so that the vehicle does not start or accelerate by stopping the fuel supply to the engine even if the engine ECU receives an accelerator pedal operation input Done.
(3)第三実施形態
以下、本発明に係る運転支援装置の第三実施形態を、図面を参照しながら説明する。なお、上記第一実施形態と重複する箇所については、同番号を付して説明を省略する。運転支援装置300(図10参照)は、図9に示すように車内に視線カメラ8を設けることにより、運転者の視線が死角領域BSの方向を向いていない場合にのみ上記した警告を行うように構成されている。なお、図9ではダッシュボード上やAピラー上部付近に視線カメラ8を配置した例を示したが、バックミラーを透過性ミラーとしてバックミラー裏内に設置したり、ステアリングに設置する構成でもよい。
(3) Third Embodiment Hereinafter, a third embodiment of the driving support apparatus according to the present invention will be described with reference to the drawings. In addition, about the location which overlaps with said 1st embodiment, the same number is attached | subjected and description is abbreviate | omitted. The driving support device 300 (see FIG. 10) provides the above-described warning only when the driver's line of sight is not directed to the blind spot area BS by providing the line-of-sight camera 8 in the vehicle as shown in FIG. It is configured. Although FIG. 9 shows an example in which the line-of-sight camera 8 is disposed on the dashboard or in the vicinity of the upper part of the A pillar, a configuration may be employed in which the rearview mirror is installed as a transmissive mirror inside the rearview mirror or installed on the steering wheel.
(3−1)装置構成
運転支援装置300の構成について説明する。図10は、運転支援装置300の電気的ブロック図を示すものである。運転支援装置300は、基本的構成が上記第一実施形態の運転支援装置100と同様であり、それに更に視線カメラ8(運転者撮像手段)を備える構成となっている。視線カメラ8は、3次元画像を得るべく複数台のCCDカメラで構成され、撮影した映像をビデオ信号として制御回路10”に入力する。
(3-1) Device Configuration A configuration of the driving support device 300 will be described. FIG. 10 shows an electrical block diagram of the driving support device 300. The driving support device 300 has a basic configuration similar to that of the driving support device 100 of the first embodiment, and further includes a line-of-sight camera 8 (driver imaging means). The line-of-sight camera 8 is composed of a plurality of CCD cameras in order to obtain a three-dimensional image, and inputs the photographed video as a video signal to the control circuit 10 ″.
また、制御回路10”は、プログラム格納領域12aに対向道路監視プログラム12p”を格納しており、CPU11により対向道路監視プログラム12p”が起動されると、上記第一実施形態の運転支援装置100と同様に本発明の死角認識手段,警告手段,走行情報取得手段として機能するとともに、本発明の視線検出手段としても機能する。   Further, the control circuit 10 ″ stores the oncoming road monitoring program 12p ″ in the program storage area 12a, and when the oncoming road monitoring program 12p ″ is activated by the CPU 11, the driving support device 100 of the first embodiment and Similarly, it functions as a blind spot recognition means, warning means, and travel information acquisition means of the present invention, and also functions as a line-of-sight detection means of the present invention.
(3−2)装置作動
次に、運転支援装置300の作動について、図11及び12を参照して説明する。ここで、図11は運転支援装置300のCPU11が実行する対向道路監視プログラム12p”の処理をフローチャートとして示すものであり、図12は同処理を機能ブロック図として示すものである。
(3-2) Device Operation Next, the operation of the driving support device 300 will be described with reference to FIGS. Here, FIG. 11 shows the process of the oncoming road monitoring program 12p ″ executed by the CPU 11 of the driving support apparatus 300 as a flowchart, and FIG. 12 shows the process as a functional block diagram.
CPU11は、自車両MCの予測移動経路と死角領域BSの予測変動領域とが交錯すると判定した場合に(ステップS6:Yes)、視線カメラ8から得られる画像データの解析によって運転者の視線を検出し(ステップS21,視線検知部95)、当該視線が死角領域BSの方向を向いていない場合にのみ(ステップS22:No)、警告の出力を行う(ステップS8,警告部93)。   When the CPU 11 determines that the predicted movement path of the host vehicle MC and the predicted variation area of the blind spot area BS intersect (step S6: Yes), the CPU 11 detects the driver's line of sight by analyzing the image data obtained from the line-of-sight camera 8. Only when the line of sight does not face the blind spot area BS (step S22: No), a warning is output (step S8, warning unit 93).
運転者の視線は、視線カメラ8から得られる画像データの解析によって、まず視線方向(視線ベクトル)を得て、当該視線方向に運転者の眼球位置(若しくは頭部位置)を基準とする始点を与えることにより求めることができる。具体的には、2台の視線カメラ8は運転者の顔面付近を撮影しており、かかる画像データの入力を受けたCPU11は、顔面の画像から眼球領域を特定するとともに、眼球形状を立体視してその曲率から眼球中心座標を求める。その一方、眼球領域から黒目(瞳孔)領域を特定して黒目中心座標も求める。そして、眼球中心座標から黒目中心座標へと向かう方向を視線方向(視線ベクトル)として定める。そして、眼球の位置座標を始点として、当該始点から視線方向へ延びる直線が視線となる。なお、運転席に着座する運転者の大凡の頭部の位置を予め始点として設定しておき、これから視線を求めることもできる。以上のようにして、運転者の視線が特定される。   The driver's line of sight first obtains a line-of-sight direction (line-of-sight vector) by analyzing the image data obtained from the line-of-sight camera 8, and sets a starting point based on the driver's eyeball position (or head position) in the line-of-sight direction. It can be obtained by giving. Specifically, the two line-of-sight cameras 8 photograph the vicinity of the driver's face, and the CPU 11 receiving such image data specifies an eyeball region from the face image and stereoscopically views the eyeball shape. Then, the eyeball center coordinates are obtained from the curvature. On the other hand, a black eye (pupil) region is specified from the eyeball region, and a black eye center coordinate is also obtained. Then, the direction from the eyeball center coordinates to the black eye center coordinates is defined as a line-of-sight direction (line-of-sight vector). A straight line extending from the start point to the line of sight with the position coordinates of the eyeball as the start point is the line of sight. Note that the position of the approximate head of the driver sitting in the driver's seat is set in advance as a starting point, and the line of sight can be obtained from this. As described above, the driver's line of sight is specified.
以上、本発明の実施形態について説明したが、本発明はこれらに限定されず、その要旨を逸脱しない範囲で適宜変更して実施し得るものである。例えば、実施例1の運転支援装置100に制動制御装置7を設けて警告とともに自車両MCの制動を行わせたり、実施例2の運転支援装置200に視線カメラ8を設けて運転者の視線が死角領域BSの方向を向いていない場合にのみ警告を行うように構成することができる。   As mentioned above, although embodiment of this invention was described, this invention is not limited to these, In the range which does not deviate from the summary, it can change suitably and can implement. For example, the braking control device 7 is provided in the driving support device 100 according to the first embodiment and the host vehicle MC is braked together with a warning, or the line-of-sight camera 8 is provided in the driving assistance device 200 according to the second embodiment so that the driver's line of sight A warning can be configured only when the direction of the blind spot area BS is not directed.
対向道路上の対向車両によって生まれる死角領域を説明する図The figure explaining the blind spot area born by the oncoming vehicle on the oncoming road 本発明の第一実施形態に係る運転支援装置の電気的ブロック図The electrical block diagram of the driving assistance device which concerns on 1st embodiment of this invention. 本発明の第一実施形態に係る運転支援装置が行う処理を表すフローチャートThe flowchart showing the process which the driving assistance device which concerns on 1st embodiment of this invention performs. 本発明の第一実施形態に係る運転支援装置が行う処理を表す機能ブロック図The functional block diagram showing the process which the driving assistance device which concerns on 1st embodiment of this invention performs 死角領域に移動体が入り込む様子を説明する図A diagram explaining how a moving object enters the blind spot area 本発明の第二実施形態に係る運転支援装置の電気的ブロック図Electrical block diagram of the driving support device according to the second embodiment of the present invention 本発明の第二実施形態に係る運転支援装置が行う処理を表すフローチャートThe flowchart showing the process which the driving assistance device which concerns on 2nd embodiment of this invention performs. 本発明の第二実施形態に係る運転支援装置が行う処理を表す機能ブロック図The functional block diagram showing the process which the driving assistance device which concerns on 2nd embodiment of this invention performs 車両のコックピットに設置された視線カメラ(運転者撮像手段)を表す図The figure showing the line-of-sight camera (driver imaging means) installed in the cockpit of the vehicle 本発明の第三実施形態に係る運転支援装置の電気的ブロック図Electrical block diagram of the driving support device according to the third embodiment of the present invention 本発明の第三実施形態に係る運転支援装置が行う処理を表すフローチャートThe flowchart showing the process which the driving assistance device which concerns on 3rd embodiment of this invention performs. 本発明の第三実施形態に係る運転支援装置が行う処理を表す機能ブロック図The functional block diagram showing the process which the driving assistance device which concerns on 3rd embodiment of this invention performs
符号の説明Explanation of symbols
3 車外カメラ(撮像手段)
4 センサ・スイッチ群(走行情報取得手段)
51 表示装置(警告手段)
52 音声出力装置(警告手段)
6 探知機(移動体検知手段)
7 制動制御装置
8 視線カメラ(運転者撮像手段)
10,10’,10” 制御回路(死角認識手段,走行情報取得手段,警告手段,移動体検知手段,視線検出手段)
100,200,300 運転支援装置
3 Outside camera (imaging means)
4 Sensors and switches (travel information acquisition means)
51 Display device (warning means)
52 Audio output device (warning means)
6 Detector (moving body detection means)
7 Braking control device 8 Gaze camera (driver imaging means)
10, 10 ', 10 "control circuit (dead angle recognition means, travel information acquisition means, warning means, moving object detection means, line of sight detection means)
100, 200, 300 Driving support device

Claims (9)

  1. 対向道路を撮影する撮像手段と、
    対向車両によって運転手の視界から死角となる対向道路上の死角領域を前記撮像手段により得られる画像から認識する死角認識手段と、
    車両の走行情報を取得する走行情報取得手段と、
    前記死角領域を認識し、且つ、車両の右折状態を検知した場合に運転者に対し警告を行う警告手段と、
    を備えることを特徴とする運転支援装置。
    Imaging means for photographing the oncoming road;
    A blind spot recognition means for recognizing a blind spot area on the opposite road that is a blind spot from the driver's field of view by an oncoming vehicle from an image obtained by the imaging means;
    Traveling information acquisition means for acquiring vehicle traveling information;
    Warning means for recognizing the blind spot area and warning the driver when a right turn state of the vehicle is detected;
    A driving support apparatus comprising:
  2. 前記死角認識手段は、前記対向車両の移動状態から前記死角領域の予測変動領域を算出し、前記走行情報取得手段は、右折状態にある車両の予測移動経路を算出し、前記警告手段は、車両の前記予測移動経路が前記死角領域の前記予測変動領域と交錯する場合に前記警告を行う請求項1に記載の運転支援装置。   The blind spot recognizing means calculates a predicted fluctuation area of the blind spot area from the moving state of the oncoming vehicle, the travel information acquiring means calculates a predicted moving path of a vehicle in a right turn state, and the warning means is a vehicle The driving support device according to claim 1, wherein the warning is performed when the predicted movement route of the vehicle intersects with the predicted fluctuation region of the blind spot region.
  3. 対向道路を撮影する撮像手段と、
    対向車両によって運転手の視界から死角となる対向道路上の死角領域を前記撮像手段により得られる画像から認識する死角認識手段と、
    前記死角領域に進入する移動体を検知する移動体検知手段と、
    車両の走行情報を取得する走行情報取得手段と、
    前記移動体を検知し、且つ、車両の右折状態を検知した場合に運転者に対し警告を行う警告手段と、
    を備えることを特徴とする運転支援装置。
    Imaging means for photographing the oncoming road;
    A blind spot recognition means for recognizing a blind spot area on the opposite road that is a blind spot from the driver's field of view by an oncoming vehicle from an image obtained by the imaging means;
    A moving body detecting means for detecting a moving body entering the blind spot area;
    Traveling information acquisition means for acquiring vehicle traveling information;
    Warning means for detecting the moving body and warning the driver when a right turn state of the vehicle is detected;
    A driving support apparatus comprising:
  4. 前記移動体検知手段は、前記移動体の移動状態から該移動体の予測移動経路を算出し、前記走行情報取得手段は、右折状態にある車両の予測移動経路を算出し、前記警告手段は、互いの予測移動経路が交錯する場合に前記警告を行う請求項3に記載の運転支援装置。   The moving body detecting means calculates a predicted moving path of the moving body from the moving state of the moving body, the travel information acquiring means calculates a predicted moving path of a vehicle in a right turn state, and the warning means The driving support device according to claim 3, wherein the warning is given when the predicted movement paths cross each other.
  5. 前記警告手段が前記警告を行う場合に、それとともに車両を制動する制動制御装置を備える請求項1ないし4のいずれか1項に記載の運転支援装置。   The driving support device according to any one of claims 1 to 4, further comprising a braking control device that brakes the vehicle when the warning means performs the warning.
  6. 運転手の目を撮影する運転手撮像手段と、前記運転手撮像手段により得られる画像から運転手の視線を検出する視線検出手段とを備え、
    前記警告手段は、運転手の視線が前記死角領域の方向を向いていない場合にのみ前記警告を行う請求項1ないし5のいずれか1項に記載の運転支援装置。
    Driver imaging means for photographing the driver's eyes, and line-of-sight detection means for detecting the driver's line of sight from an image obtained by the driver imaging means,
    The driving support device according to any one of claims 1 to 5, wherein the warning unit performs the warning only when a driver's line of sight is not directed toward the blind spot area.
  7. 前記警告手段は、車両が停止状態の場合には前記警告を行わない請求項1ないし6のいずれか1項に記載の運転支援装置。   The driving support device according to any one of claims 1 to 6, wherein the warning means does not perform the warning when the vehicle is in a stopped state.
  8. 前記撮像手段は、複数台のカメラからなる請求項1ないし7のいずれか1項に記載の運転支援装置。   The driving support apparatus according to any one of claims 1 to 7, wherein the imaging unit includes a plurality of cameras.
  9. 前記死角認識手段は、前記複数台のカメラにより得られるそれぞれの画像を合成した画像から前記死角領域を認識する請求項8に記載の運転支援装置。   The driving assistance device according to claim 8, wherein the blind spot recognizing unit recognizes the blind spot area from an image obtained by combining the images obtained by the plurality of cameras.
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