JP2008009941A - Alarm device for vehicle and alarm method for vehicle - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To notify at least either a mobile body or an approaching vehicle of the presence of one's own vehicle. <P>SOLUTION: When a main switch 18 is ON, a CPU 35 turns ON a switch 19, acquires images from visible light cameras 11-1 to 11-4 and infrared cameras 12-1 to 12-4, respectively, sets a dead zone, discriminates a pedestrian and discriminates approach of a vehicle. The CPU 35 turns on switches 20-22 when presence of a pedestrian in the dead zone and approach of a vehicle is determined. A hazard controller 15 flashes hazard lamps 14-1 to 14-4 and projectors 13-1 and 13-2 to project an image and a stop line image composed of a stop line image, a pedestrian crossing, and "STOP" on road surfaces in the front of the pedestrian and in the front of the approaching vehicle, respectively. <P>COPYRIGHT: (C)2008,JPO&INPIT

Description

  The present invention relates to a vehicle notification device and a vehicle notification method.

  Conventionally, there is a vehicle notification device that notifies a pedestrian or the like of the approach of a vehicle. As such a conventional system, there is an alarm device mounted on an electric vehicle with extremely low traveling sound or the like (see, for example, Patent Document 1). This alarm device has a light intensity detector and a sound generator. When the electric vehicle approaches a pedestrian, the light intensity detector detects the ambient light intensity and drives the sound generator based on the output of the light intensity detector. I am letting.

  By driving the sound generator in this way, this alarm device outputs an approaching sound with an appropriate volume depending on whether it is daytime or nighttime, whether it is a busy or quiet area, or the surrounding environment, The approach of the electric vehicle is notified to the pedestrian.

  There is also a vehicular lighting system including an infrared camera and a warning light (see, for example, Patent Document 2). In this vehicle lighting system, when there is a pedestrian in an area that is not illuminated by the headlamp, the infrared camera detects the heat of the pedestrian and turns on the warning light with visible light toward this area. The pedestrians are illuminated with visible light.

  Further, in this vehicle lighting system, a filter that blocks the light of the warning light is arranged on the windshield so that the light of the warning light is turned on so as not to be noticed by the driver. Thereby, even if a pedestrian is erroneously detected by the heat of the road surface and the warning light is turned on, the driver's attention is not distracted. In this manner, this vehicle illumination system accurately notifies the pedestrian of the approach of the vehicle.

  There is also a vehicle obstacle detection device including an infrared stereo camera and a visible light stereo camera (see, for example, Patent Document 3). In this vehicle obstacle detection device, a pedestrian is detected as an obstacle with an infrared stereo camera, and a white line displayed on a road is detected with a visible light stereo camera.

And this obstacle detection apparatus for vehicles performs visible illumination with respect to a pedestrian by switching the irradiation direction of a headlamp, when a pedestrian exists in a predetermined area | region from a white line. This vehicle obstacle detection device thus ensures the safety of pedestrians during night driving.
Japanese Patent Laid-Open No. 7-205753 (2nd page, FIG. 1) Japanese Patent Laying-Open No. 2005-47390 (page 3, FIG. 1) JP 2000-318513 A (page 3, FIG. 1)

  However, in Patent Documents 1 to 3, notification is performed only from the relationship between the host vehicle and the pedestrian, and the situation of other vehicles is not grasped.

  The present invention has been made in view of such a conventional problem, and when a moving body that moves in the surrounding area of the host vehicle exists in the blind spot area of the approaching vehicle, the moving body and the approaching vehicle are It is an object of the present invention to provide a vehicle notification device and a vehicle notification method capable of determining at least one of the presence of the vehicle.

In order to achieve this object, a vehicle alarm device according to a first aspect of the present invention includes:
A monitoring unit that monitors the surrounding area of the vehicle;
Based on the result of monitoring by the monitoring unit, a vehicle approach determining unit that determines the approach of an approaching vehicle that approaches the host vehicle and passes the side of the host vehicle;
Based on the result of monitoring by the monitoring unit, a moving body determination unit that determines a moving body that moves in the surrounding area separately from the approaching vehicle;
A blind spot area setting unit that sets a blind spot area that becomes a blind spot for the approaching vehicle in a surrounding area monitored by the monitoring unit;
A determination unit that determines whether or not the moving object determined by the moving object determination unit exists in the blind spot region set by the blind spot region setting unit;
When the determination unit determines that the moving body exists in the blind spot area, and the vehicle approach determination unit determines the approach of the vehicle, the notification indicating the presence of the moving body and the movement to the approaching vehicle And a notification unit that performs at least one of notifications indicating the approach of the approaching vehicle to the body.

The moving body discriminating unit discriminates a pedestrian as the moving body,
The determination unit determines whether or not a pedestrian determined by the moving object determination unit exists in the blind spot region set by the blind spot region setting unit,
The notifying unit determines that the pedestrian is present in the approaching vehicle when the determining unit determines that the pedestrian is present in the blind spot area and the vehicle approach determining unit determines approach of the approaching vehicle. Or at least one of notification indicating the approach of the approaching vehicle to the pedestrian may be performed.

The moving body determination unit is configured to determine an approaching vehicle that enters and moves into the surrounding area as the moving body,
The determination unit determines whether there is an approaching vehicle determined by the moving object determination unit in the blind spot region set by the blind spot region setting unit,
The notification unit determines that the approaching vehicle is present in the approaching vehicle when the determination unit determines that the approaching vehicle exists in the blind spot area, and the vehicle approach determination unit determines the approaching of the approaching vehicle. Or at least one of the notification indicating the approaching vehicle to the approaching vehicle may be performed.

  The notification unit includes a projection device that projects a character image or a graphic image on a road surface in front of the approaching vehicle, and the determination unit determines that the moving body exists in the blind spot region, When the vehicle approach determination unit determines the approach of the approaching vehicle, the projection device may be controlled to project a character image or a graphic image indicating the presence of the moving body.

  The projection device may project a stop line image on a road surface in front of the approaching vehicle as a graphic image indicating the presence of the moving body.

  The notification unit includes a projection device that projects a character image or a graphic image on the road surface in front of the pedestrian, and the determination unit determines that the pedestrian exists in the blind spot area, When the vehicle approach discriminating unit discriminates the approach of the approaching vehicle, the projection device may be controlled to project a character image or a graphic image indicating the presence of the approaching vehicle onto the road surface in front of the pedestrian. .

The moving body discriminating unit discriminates a pedestrian as the moving body,
The vehicle approach determining unit determines whether the approaching vehicle has stopped or decelerated based on the result of monitoring by the monitoring unit,
The notifying unit projects the pedestrian crossing image as the graphic image onto the road surface in front of the pedestrian when the vehicle approach determining unit determines that the approaching vehicle has stopped or decelerated. You may make it control.

The moving body discriminating unit discriminates a pedestrian as the moving body,
The notification unit determines that the pedestrian is present in the blind spot area, and the determination unit determines that the approaching vehicle approaches the pedestrian when the vehicle approach determination unit determines the approaching vehicle. The projection device may be controlled so as to project a character image or a graphic image for calling attention to the road surface in front of the pedestrian.

  The notification unit includes a projection device that projects a character image or a graphic image on a road surface in front of the approaching vehicle, and the determination unit determines that the approaching vehicle exists in the blind spot area, When the vehicle approach determination unit determines the approach of the approaching vehicle, the projection device may be controlled to project a character image or a graphic image indicating the approach of the approaching vehicle onto the approaching vehicle.

  The projection device may project a character image indicating approach of the approaching vehicle to a driver of the approaching vehicle.

The notification unit includes a transmission unit that transmits data to the approaching vehicle,
When the determination unit determines that the moving object is present in the set blind spot area, the message data indicating that the moving object exists in the blind spot area is supplied to the transmitting unit. Thus, the presence of the moving body may be notified to the approaching vehicle.

  The blind spot area setting unit may determine a position of the moving body based on a result monitored by the monitoring unit, and may set a blind spot area of the approaching vehicle based on the determined position of the moving body. Good.

A vehicle notification method according to a second aspect of the present invention includes:
Monitoring the surrounding area of the vehicle;
Determining an approaching vehicle that approaches the host vehicle and passes sideways based on the monitored result; and
Determining a moving body that moves in the surrounding area separately from the approaching vehicle based on the monitored result;
Setting a blind spot area that is a blind spot for the approaching vehicle in a surrounding area to be monitored;
Determining whether the determined moving object is present in the set blind spot area;
When it is determined that the moving body is present in the blind spot area and the approaching vehicle is determined, a notification indicating the presence of the pedestrian in the approaching vehicle and a notification indicating the approach of the approaching vehicle to the pedestrian are provided. And performing at least one of the steps.

  According to the present invention, when the moving body that moves in the surrounding area of the host vehicle exists in the blind spot area of the approaching vehicle, at least one of the moving body and the approaching vehicle can determine its presence.

Hereinafter, a vehicle alarm device according to an embodiment of the present invention will be described with reference to the drawings.
(Embodiment 1)
FIG. 1 shows the configuration of the vehicle notification device according to the present embodiment.
The vehicle notification device 1 according to the present embodiment is provided in the vehicle 41 shown in FIGS. 2 and 3, and includes visible light cameras 11-1 to 11-4 and infrared cameras 12-1 to 12-. 4, projectors 13-1 and 13-2, hazard lamps 14-1 to 14-4, a hazard controller 15, a transmitter 16, an antenna 16 a, a battery 17, a main switch 18, and a switch 19 to 22 and an ECU (Electronic Control Unit) 23.

  2 shows the vehicle 41 in the case of left side parking or left side parking, and FIG. 3 shows the vehicle 41 in the case of right side parking or right side parking. FIG. 4 shows a side surface of the vehicle 41. Then, it is assumed that the vehicle 43 is stopped behind the vehicle 41 as shown in FIGS.

  The visible light cameras 11-1 to 11-4 and the infrared cameras 12-1 to 12-4 are cameras for monitoring the surrounding area of the vehicle 41 that is stopped.

  As shown in FIGS. 2 and 3, the visible light cameras 11-1 to 11-4 are attached to the roof of the vehicle 41, and respectively photograph the front, rear, left, and right of the vehicle 41 as surrounding areas.

  Each of the visible light cameras 11-1 to 11-4 includes an optical lens and an imaging unit (all not shown). The imaging unit includes, for example, a CCD (Charge Coupled Device), a CMOS (Complementary Metal Oxide Semiconductor) sensor, and the like. When the switch 19 is turned on, the visible light cameras 11-1 to 11-4 operate by being supplied with current from the battery 17, respectively, and perform imaging with visible light.

  In addition, the area | regions 51-53 shown in FIG. 2 show the blind spot area | region which can become a blind spot of the approaching vehicle in the case of left stop or left parking. Among these, the blind spot areas 51 and 53 are areas formed due to the vehicle 41, and the blind spot area 52 is a blind spot area formed by the vehicle 43 parked behind the vehicle 41.

  Further, as shown in FIG. 3, in the case of right-side stop or right-side parking, the blind spot areas 51, 52, and 54 become the blind spot area of the vehicle approaching. Among these, the blind spot areas 51 and 54 are blind spot areas formed due to the vehicle 41, and the blind spot area 52 is a blind spot area formed by the vehicle 43.

  Since each of the visible light cameras 11-1 to 11-4 performs imaging including the blind spot areas 51 to 54, wide-angle cameras are used.

  Note that the visible light camera 11-2 attached to the rear of the vehicle 41 can photograph a road surface behind the vehicle 41 and also photograph a vehicle approaching from the rear of the vehicle 41.

  In the case of left-side stop or left-side parking, the visible light camera 11-3 attached to the left side of the vehicle 41 performs photographing including the road shoulder 55, and the visible light camera 11 attached to the right side of the vehicle 41. -4 is a moving body that moves in the surrounding area of the vehicle 41, so that it can be photographed up to the center line of the road in order to determine whether or not the pedestrian has crossed the lane.

  Further, in the case of a right stop or a left stop, the visible light camera 11-4 attached to the right of the vehicle 41 performs photographing including the road shoulder 55, and the visible light camera 11- attached to the left side of the vehicle 41. 4, in order to determine whether or not the pedestrian has crossed the lane, it is possible to photograph up to the center line of the road.

  The infrared cameras 12-1 to 12-4 are cameras for discriminating pedestrians and the like. The infrared cameras 12-1 to 12-4 are attached to the front, rear, left, and right roofs of the vehicle 41 side by side with the visible light cameras 11-1 to 11-4, as shown in FIGS. It is done.

  Each of the infrared cameras 12-1 to 12-4 includes an optical lens and an infrared sensor (both not shown). When the switch 19 is turned on, current is supplied from the battery 17, and the pedestrian is operated. Detects infrared rays emitted from etc. As the infrared sensor provided in the infrared cameras 12-1 to 12-4, for example, a thermopile sensor, a pyroelectric pyro sensor, or the like is used.

  The thermopile sensor is a sensor that converts infrared rays due to the heat of a pedestrian into heat energy using an infrared absorber and outputs a heat detection signal using the Seebeck effect. The pyroelectric sensor is a sensor that outputs a heat detection signal using a phenomenon in which surface charges are generated by heat.

  Each of the infrared cameras 12-1 to 12-4 includes such an infrared sensor and generates an infrared image using infrared rays. As the infrared cameras 12-1 to 12-4, cameras having an angle of view corresponding to the visible light cameras 11-1 to 11-4 are used.

  In addition, the infrared camera 12-4 attached to the right side of the vehicle 41 can shoot up to the center line of the road in order to determine whether or not the pedestrian has crossed the lane, like the visible light camera 11-4. Shall.

  The projector 13-1 notifies that the pedestrian 2 exists in any one of the blind spot areas 51 to 53 by projecting a character image or a graphic image on the road surface in front of the pedestrian 2. is there.

  As shown in FIGS. 2 to 4, the projector 13-1 is attached to the front portion of the vehicle 41, and when the switch 20 is turned on, current is supplied from the battery 17 to operate.

  The projector 13-1 operates to project an image 61 as shown in FIG. The image 61 includes a stop line image 61a, a pedestrian crossing image 61b, and a character image “STOP” 61c. The pedestrian crossing image 61 b functions as a graphic image indicating that the pedestrian 2 is present in any one of the blind spot areas 51 to 53 on the vehicle 42. The stop line image 61a and the character image “STOP” 61c function as a character image and a graphic image for indicating the approach of the vehicle 42 to the pedestrian 2 and alerting the pedestrian 2 to the attention. The projector 13-1 can also project the images 61a to 61c individually on the road surface.

  In the present embodiment, the projector 13-1 projects the image 61 on the road surface in front of the vehicle 41 and in front of the pedestrian 2 in the case of a left stop or left parking, and in the case of a right stop or right parking, Projecting to the left front of the vehicle 41 and the road surface ahead of the pedestrian 2.

  The projector 13-2 projects a graphic image or a character image indicating the presence of the pedestrian 2 on the road surface in front of the vehicle 42, so that the pedestrian 2 is in any of the blind spot areas 51 to 53 on the approaching vehicle 42. It informs that it exists in the area.

  As shown in FIGS. 2 to 4, the projector 13-2 is attached to the rear portion of the vehicle 41, and operates when supplied with current from the battery 17 when the switch 21 is turned on.

  The projector 13-2 operates to project a stop line image 62 as shown in FIG. The stop line image 62 functions as a graphic image indicating that the pedestrian 2 is present in any one of the blind spot areas 51 to 53 on the vehicle 42.

  In the present embodiment, the projector 13-2 projects this stop line image 62 on the road surface in front of the vehicle 42 in the right rear of the vehicle 41 in the case of left stop or left parking. This stop line image 62 is projected on the road surface on the left rear side of the vehicle 41 and in front of the vehicle 42.

  As shown in FIGS. 2 and 3, the hazard lamps 14-1 to 14-4 are danger warning lamps attached to the right front, left front, rear right, and rear left of the vehicle 41. It is used to notify that the pedestrian 2 is present in any one of the areas 51 to 53.

  The hazard lamps 14-1 to 14-4 are connected to the hazard controller 15. The hazard controller 15 controls blinking of the hazard lamps 14-1 to 14-4. When the switch 22 is turned on, current is supplied from the battery 17 to operate.

  The transmitter 16 is for transmitting the operation instruction signal and message data supplied from the ECU 23 to the approaching vehicle 42. The operation instruction signal is a signal for controlling the approaching vehicle 42 from the vehicle 41 when the pedestrian 2 is present in any one of the blind spot areas 51 to 53.

  The message data is, for example, message data to notify the approaching vehicle 42 such as “There are pedestrians. Please be careful.” And “Thank you for your cooperation.”

  The message “There is a pedestrian. Please be careful.” Is a message for calling attention to the driver of the approaching vehicle 42 when the pedestrian 2 exists in any one of the blind spots 51 to 53. It is. The message “Thank you for your cooperation” is a thank-you message that is notified to the approaching vehicle 42 when the pedestrian 2 crosses the road.

  The transmitter 16 is connected to an antenna 16a for transmitting an operation instruction signal and message data as a radio wave signal. For example, as shown in FIG. 4, the antenna 16 a is attached to the rear of the vehicle 41.

  The battery 17 is a direct current power source for supplying current to each unit. The main switch 18 is for turning on and off the current from the battery 17. For example, the main switch 18 is installed under a handle (not shown) and operated by the driver of the vehicle 41.

  The switch 19 is a switch for turning on and off the visible light cameras 11-1 to 11-4 and the infrared cameras 12-1 to 12-4. The battery 17 and the visible light cameras 11-1 to 11-4, It is connected between the infrared cameras 12-1 to 12-4.

  The switch 20 is a switch for turning on and off the projector 13-1, and is connected between the battery 17 and the projector 13-1. The switch 21 is a switch for turning on and off the projector 13-2, and is connected between the battery 17 and the projector 13-2. The switch 22 is a switch for turning the hazard controller 15 on and off, and is connected between the battery 17 and the hazard controller 15.

  The ECU 23 is an electronic control device for controlling the vehicle notification device 1 as a whole, and includes an image memory 31, an image processing unit 32, a ROM (Read Only Memory) 33, a RAM (Random Access Memory) 34, and a CPU. (Central Processing Unit) 35.

  The image memory 31 is for storing image data. The image memory 31 includes, as image data, data of visible light images obtained by photographing the visible light cameras 11-1 to 11-4 and infrared images generated by the infrared cameras 12-1 to 12-4, respectively. Store the data. The image memory 31 also stores data of an image 61 as shown in FIG. 5 and data of a stop line image 62 as shown in FIG. Here, the image memory 31 individually stores the data of the images 61 a to 61 c in addition to the data of the image 61.

  The image processing unit 32 is for performing image processing on the image 61 and the stop line image 62 of the image data stored in the image memory 31.

  Since the projectors 13-1 and 13-2 are respectively attached to the front and rear of the vehicle 41, if the image 61 and the stop line image 62 are projected as they are, the image 61 and the stop line image 62 are distorted. The unit 32 corrects this image distortion.

  For example, as shown in FIG. 7A, when an image of a rectangle p1 composed of vertices p11 to p14 is projected onto a road surface, a distorted rectangle q1 composed of vertices q11 to q14 is projected onto the road surface.

  In this case, the image processing unit 32 associates the vertex p11 of the rectangle p1 with the vertex q11 of the rectangle q1, the vertex p12 and the vertex q12, the vertex p13 and the vertex q13, and the vertex p14 and the vertex q14 in FIG. A correction for deforming the indicated rectangle q1 into a rectangle q2 composed of vertices q21 to q24 as shown in FIG. 7B is performed. By this deformation, the rectangle p1 shown in FIG. 7A is transformed into the rectangle p2 shown in FIG. 7B.

  By projecting the rectangle p2 onto the road surface, a rectangle p3 shown in FIG. 7C corresponding to the rectangle p1 in FIG. 7A is projected onto the road surface. This correction is called keystone correction.

  When the image 61 and the stop line image 62 are supplied to the vehicle notification device 1, the image processing unit 32 performs such correction on the corrected image 61 and stop line image 62, and the corrected image 61, The stop line image 62 is stored in the image memory 31.

  In order for the image processing unit 32 to perform such correction, the inclination angle of the optical axes of the projectors 13-1 and 13-2 with respect to the road surface is necessary, and the image memory 31 stores the inclination angle in advance. .

  The inclination angle is constant once the projectors 13-1 and 13-2 are attached to the vehicle 41. Therefore, the image memory 31 stores the inclination angle to detect the inclination angle. Is unnecessary. In addition, the projectors 13-1 and 13-2 may be configured such that the inclination angle is variable.

  The ROM 33 is for storing a program for the CPU 35 to execute processing, message data, and the like. The ROM 33 stores a later-described notification processing program as a program.

  The ROM 33 also stores data such as “There are pedestrians. Please be careful.” And “Thank you for your cooperation.” As the message data. The RAM 34 is a working memory for storing data necessary for processing by the CPU 35.

  The CPU 35 is for controlling the vehicle notification device 1. In this embodiment, when the main switch 18 is turned off, the CPU 35 determines that the vehicle 41 has stopped, reads the notification processing program from the ROM 33, and Run the program.

  First, the CPU 35 turns on the switch 19 to operate the visible light cameras 11-1 to 11-4 and the infrared cameras 12-1 to 12-4.

  In the case of left side parking or left side parking, as shown in FIG. 2, the CPU 35 determines the field angles of the visible light cameras 11-1 to 11-3 and the field angles of the infrared cameras 12-1 to 12-3. The blind spot areas 51 to 53 of the vehicle 42 by the vehicle 41 are set in the areas corresponding to.

  In the case of right-side parking or right-side parking, the CPU 35, as shown in FIG. The blind spot areas 51, 52, and 54 of the vehicle 42 are set in areas corresponding to the respective angles of view of -4. As described above, the CPU 35 sets these blind spots according to the situation of the vehicle 41 and the surrounding environment. In the present embodiment, the case of left side parking or left side parking shown in FIG. 2 will be described as an example.

  CPU35 will acquire the visible light image and infrared image which each image | photographed from the visible light cameras 11-1 to 11-4 and the infrared cameras 12-1 to 12-4, if the blind spot area | regions 51-53 are set.

  CPU35 discriminate | determines the pedestrian 2 based on the infrared image acquired from the infrared cameras 12-1 to 12-4. In order to make this determination, for example, an image of the pedestrian 2 is patterned and stored in the image memory 31 in advance.

  The CPU 35 compares the infrared image acquired from the infrared cameras 12-1 to 12-4 with the image of the patterned pedestrian 2 stored in advance in the image memory 31. It is determined that this infrared image is an infrared image of the pedestrian 2.

  If CPU35 discriminate | determines the pedestrian 2, it will determine whether this pedestrian 2 exists in the set blind spot area | regions 51-53. When at least a part of the identified infrared image of the pedestrian 2 exists in any one of the blind spot areas 51 to 53, the CPU 35 determines that the pedestrian 2 is in any one of the set blind spot areas 51 to 53. It is determined that it exists.

  Moreover, CPU35 discriminate | determines the vehicle 42 which approaches the vehicle 41 and passes the side based on the visible light image of the visible light camera 11-2. In order to discriminate the vehicle 42, for example, the CPU 35 sets a determination area Sp0 behind the vehicle 41 excluding the blind spot area 52 in the visible light image of the visible light camera 11-2 as shown in FIG.

  In FIG. 8, an image 42-1 shows an image of the vehicle 42 approaching the vehicle 41. When the CPU 35 does not detect the image 42-1 in the determination area Sp0, the CPU 35 determines that there is no vehicle 42 approaching the vehicle 41. In this case, the CPU 35 turns off the switches 20-22.

  On the other hand, the CPU 35 determines that there is a vehicle 42 approaching the vehicle 41 when the image 42-1 is detected in the determination region Sp0. In this case, the CPU 35 notifies the vehicle 42 that the pedestrian 2 exists in any one of the blind spot areas 51 to 53 or notifies the pedestrian 2 that the vehicle 42 is approaching.

  The CPU 35 turns on the switches 21 and 22 in order to notify the vehicle 42 that the pedestrian 2 exists in any one of the blind spots 51 to 53 or notify the pedestrian 2 that the vehicle 42 is approaching. Then, the projector 13-2 is controlled to project the stop line image 62, and the hazard controller 15 is operated.

  Further, the CPU 35 reads out message data for calling attention from the ROM 33 in order to notify the approaching vehicle 42 that the pedestrian 2 exists in any one of the blind spot areas 51 to 53, and 16 is supplied.

  Further, the CPU 35 supplies an operation instruction signal for stopping the vehicle 42 to the transmitter 16.

  Next, in order to sufficiently confirm the safety of the pedestrian 2, the CPU 35 performs control to project the image 61 on the road surface after determining that the vehicle 42 has decelerated or stopped.

  In order to determine whether or not the vehicle 42 has been decelerated or stopped, for example, as shown in FIG. 9, the CPU 35 determines the determination region Sp0 as 4 × 4 determination regions SP (0, 0) to Sp ( 3, 3).

  Then, the CPU 35 detects the image 42-1 at a constant cycle. As shown in FIG. 10, with the times t0 to t3 as sampling times, the CPU 35 displays the image 42-1 in the discrimination areas Sp (3, 0) and Sp (2, 1) at times t0 and t1, respectively. Shall be detected.

  The discrimination areas Sp (0,2) to Sp (1,3) are divided into four discrimination areas Sp (0,2), Sp (1,2), Sp (0,3), Sp (1,3). Assuming that the CPU 35 detects the image 42-1 in the discrimination areas Sp (0, 2) to Sp (1, 3) at times t2 and t3.

  When T1 (= t1-t0)> T2 (= t2-t1), the CPU 35 determines that the vehicle 42 has decelerated. Further, when the determination areas Sp (0, 2) to Sp (1, 3) when the image 42-1 is detected at the times t2 and t3 are the same, the CPU 35 determines that the vehicle 42 has stopped at the time t2. judge.

  In this way, the CPU 35 determines whether the vehicle 42 is decelerated or stopped. If it is not determined that the vehicle 42 has decelerated or stopped, the CPU 35 stands by with the switch 20 turned off so that the image 61 is not projected onto the road surface. On the other hand, when it is determined that the vehicle 42 has decelerated or stopped, the CPU 35 turns on the switch 20 and controls the projector 13-1 to project the image 61.

  When the switch 35 is turned on, the CPU 35 determines whether or not the pedestrian 2 has crossed the road. In order to make this determination, the CPU 35 first determines whether or not the pedestrian 2 has moved out of the blind spot areas 51 to 53. When it is determined that the pedestrian 2 has not moved out of the blind spot areas 51 to 53, the CPU 35 waits until it is determined that the pedestrian 2 has moved.

  Since the pedestrian 2 may remain in any one of the blind spot areas 51 to 53, the CPU 35 counts the waiting time, and when a preset time has elapsed, the blind spot areas 51 to 53 are counted. The pedestrian 2 may be guided by voice so as to move from any one of the areas. In this case, the ROM 33 stores preset time data, and the vehicle 41 includes a speaker for outputting sound.

  The CPU 35 may control the projector 13-1 to project a message that guides the pedestrian 2 on the road surface. In this case, the image memory 31 stores in advance image data of a message projected by the projector 13-1, and the CPU 35 controls the projector 13-1 to project this message.

  If it is determined that the pedestrian 2 has moved out of the blind spot area 51 to 53, the pedestrian 2 may return to the roadside without crossing the road. Therefore, the CPU 35 determines whether the pedestrian 2 has crossed the road. Determine whether or not.

  The CPU 35 makes this determination based on the visible light image of the visible light camera 11-4 and the infrared image of the infrared camera 12-4. That is, when the position of the infrared image of the pedestrian 2 obtained by photographing with the infrared camera 12-4 is in front of the center line of the road obtained by photographing with the visible light camera 11-4, the CPU 35 Judged not crossing the pedestrian crossing.

If it determines in this way, CPU35 will wait until it determines with the pedestrian 2 having crossed the road.
On the other hand, when the position of the infrared image of the pedestrian 2 exceeds the center line of the road, the CPU 35 determines that the pedestrian 2 has crossed the road.

  If CPU35 determines in this way, it will switch off switches 20-22, will stop the output of an operation instruction signal, will read message data of thanks from ROM33, and will supply to transmitter 16.

  Then, the CPU 35 determines whether or not the main switch 18 is turned on. When it is determined that the main switch 18 remains off, the above operation is performed again.

  When determining that the main switch 18 is turned on, the CPU 35 turns off the switch 19 to stop the operations of the visible light cameras 11-1 to 11-4 and the infrared cameras 12-1 to 12-4.

  The approaching vehicle 42 is equipped with an operation control device 3 that responds to the vehicle notification device 1. The configuration of the operation control device 3 is shown in FIG.

  The operation control device 3 includes a receiver 71, an antenna 71a, a steering device 72, a battery 73, a switch 74, a braking device 75, a car navigator 76, and an ECU 77.

  The receiver 71 is for receiving radio waves from the vehicle 41, and is connected to an antenna 71a for receiving radio wave signals.

  The steering device 72 is a mechanism for steering the vehicle 42, and includes a handle 72a, a rod 72b, and a vibration device 72c. The handle 72a is operated by a driver, and the rod 72b is for transmitting the rotation of the handle 72a to a steering gear (not shown).

  The vibration device 72c is applied with a voltage from the battery 73 and vibrates the rod 72b. The vibration device 72c is for informing the driver of the vehicle 42 that the pedestrian 2 exists in any one of the blind spot areas 51 to 53 by vibrating the handle 72a via the rod 72b. is there.

The battery 73 is a direct current power source that applies a voltage to the steering device 72.
The switch 74 is for turning on and off the vibration device 72 c of the steering device 72.

  The braking device 75 is for braking the vehicle 42, and includes a brake 75a, a cylinder 75b, a piston 75c, a rod 75d, a brake pedal 75e, and a brake control device 75f.

  The brake 75a is for directly braking the wheels (not shown) of the vehicle 42.

  The cylinder 75b is for filling brake oil. The piston 75c is for pushing out the brake oil in the cylinder 75b to the brake 75a side.

  The brake pedal 75e is for the driver of the vehicle 42 to perform a braking operation. The rod 75d is for biasing the piston 75c when the brake pedal 75e is depressed.

  The brake operating device 75f is connected between the piston rod and the brake pedal 75e, and biases the piston 75c via the rod 75c even when the brake pedal 75e is not depressed. The brake actuating device 75f is controlled and operated by the CPU 83 of the ECU 77.

  The car navigator 76 guides the travel route to the current position and the destination, and includes a display 76a for displaying the current position and the travel route to the destination.

  As shown in FIG. 12, the display 76 a is disposed on the front surface in the vehicle that is visible to the driver of the vehicle 42. The car navigator 76 of this embodiment is used for displaying a message from the vehicle 41.

  The ECU 77 is for controlling the steering device 72, the braking device 75, and the car navigator 76, and includes a ROM 81, a RAM 82, and a CPU 83.

  The ROM 81 stores programs executed by the CPU 83, and the RAM 82 stores data necessary for the operation of the CPU 83.

  When the operation instruction signal is supplied from the receiver 71, the CPU 83 turns on the switch 74. Further, the CPU 83 controls the brake operation device 75f of the brake device 75 so as to urge the piston 75c when the operation instruction signal is supplied from the receiver 71.

  When message data is supplied from the receiver 71, the message data is supplied to the car navigator 76.

Next, the operation of the vehicle notification device 1 according to the present embodiment will be described.
When the main switch 18 is turned off, the CPU 35 reads a program from the ROM 33 and executes notification processing.

  The CPU 35 executes this notification process according to the flowcharts shown in FIGS.

  The CPU 35 turns on the switches 19 for operating the visible light cameras 11-1 to 11-4 and the infrared cameras 12-1 to 12-4 (step S11).

  The CPU 35 sets the blind spot areas 51 to 53 in areas corresponding to the field angles of the visible light cameras 11-1 to 11-4 and the field angles of the infrared cameras 12-1 to 12-4 ( Step S12).

  CPU35 acquires each visible light image from visible light cameras 11-1 to 11-4 (step S13).

  CPU35 acquires each infrared image from infrared camera 12-1 to 12-4 (step S14).

  CPU35 discriminate | determines the pedestrian 2 based on the infrared image each acquired from the infrared cameras 12-1 to 12-4 (step S15).

  CPU35 determines whether the pedestrian 2 exists in any area | region of the set blind spot area | regions 51-53 (step S16).

  When it is determined that the pedestrian 2 does not exist in any of the set blind spot areas 51 to 53 (No in step S16), the CPU 35 determines whether or not the main switch 18 is turned on ( Step S29).

  If it is determined that the main switch 18 is not turned on (No in step S29), the CPU 35 returns to step S13 again.

  When it is determined that the pedestrian 2 is present in any one of the blind spot areas 51 to 53 (Yes in Step S16), the CPU 35 approaches based on the visible light image acquired from the visible light camera 11-2. The vehicle 42 to be determined is determined, and it is determined whether there is a vehicle 42 approaching (step S17).

  When it is determined that there is no approaching vehicle 42 (No in step S17), the CPU 35 determines whether or not the main switch 18 is turned on (step S29) and determines that the main switch 18 is not turned on. If so (No in step S29), the CPU 35 returns to step S13 again.

  If it is determined that there is an approaching vehicle 42 (Yes in step S17), the CPU 35 turns on the switch 22 for operating the hazard controller 15 (step S18).

  The CPU 35 turns on the switch 21 for operating the projector 13-2 (step S19).

  CPU35 reads the message data which calls the driver | operator of the vehicle 42 to approach from ROM33, and supplies this message data to the transmitter 16 (step S20).

  The CPU 35 supplies an operation instruction signal to the transmitter 16 to operate the operation control device 3 of the approaching vehicle 42 (step S21).

  CPU35 determines whether the vehicle 42 decelerated or stopped based on the visible light image acquired from the visible light camera 11-2 (step S22).

  When it is determined that the vehicle 42 has not decelerated or stopped (No in step S22), the CPU 35 stands by.

  On the other hand, when it is determined that the vehicle 42 has decelerated or stopped (Yes in step S22), the CPU 35 turns on the switch 20 for operating the projector 13-1 (step S23).

The CPU 35 determines whether or not the pedestrian 2 has moved out of any one of the blind spot areas 51 to 53 (step S24).
When it is determined that the pedestrian 2 has not moved out of any one of the blind spot areas 51 to 53 (No in step S24), the CPU 35 stands by.

  When it is determined that the pedestrian 2 has moved out of any of the blind spot areas 51 to 53 (Yes in step S24), the CPU 35 determines whether or not the pedestrian 2 has crossed the road (step S25). ).

  When it is determined that the pedestrian 2 has not crossed the road (No in step S25), the CPU 35 waits until the pedestrian 2 passes the road.

When it is determined that the pedestrian 2 has crossed the road (Yes in step S25), the CPU 35 turns off the switches 20 to 22 (step S26).
The CPU 35 stops supplying the operation instruction signal (step S27).

  The CPU 35 reads thank-you message data from the ROM 33 and supplies it to the transmitter 16 (step S28).

  When the thank-you message data is transmitted, the CPU 35 determines whether or not the main switch 18 is turned on (step S29), and determines that the main switch 18 is not turned on (No in step S29). The CPU 35 returns to step S13 again.

  On the other hand, when determining that the main switch 18 is turned on (Yes in step S29), the CPU 35 turns off the switch 19 for operating the visible light cameras 11-1 to 11-4 and the infrared cameras 12-1 to 12-4. (Step S30). Then, the CPU 35 ends this notification process.

Next, the operation of the vehicle notification device 1 will be specifically described.
When the main switch 18 is turned on, the CPU 35 turns on the switch 19 (step S11). When the switch 19 is turned on, the visible light cameras 11-1 to 11-4 and the infrared cameras 12-1 to 12-4 are activated, respectively, as shown in FIGS. 2 and 3, Take front, back, left and right.

  CPU35 sets the blind spot area | regions 51-53 of the vehicle 42, as shown in FIG. 2 in the case of left side stop or left side parking (process of step S12).

  As illustrated in FIG. 15, when the pedestrian 2 moves within the angle of view of the infrared cameras 12-1 and 12-3, the CPU 35 determines the pedestrian 2 based on the infrared image acquired from the infrared camera 12-1. (Steps S13 to S15).

  When the pedestrian 2 enters the set blind spot area 51, the CPU 35 determines that the pedestrian 2 exists in the blind spot area 51 (Yes in step S16).

  Moreover, CPU35 determines with the vehicle 42 approaching, when the image of the vehicle 42-1 is detected within the determination area | region of the visible light image of the visible light camera 11-2 (Yes in step S17).

  When the CPU 35 turns on the switch 22 by determining in this way (the process of step S18), the hazard controller 15 causes the hazard lamps 14-1 to 14-4 to blink as shown in FIG.

  Next, when the CPU 35 turns on the switch 21 (step S <b> 19), the projector 13-2 operates to read out the corrected stop line image 62 data from the image memory 31. Then, the projector 13-2 projects the stop line image 62 onto the road surface on the right rear side of the vehicle 41 as shown in FIG.

  Next, when the CPU 35 supplies the transmitter 16 with message data “There is a pedestrian. Please be careful.” To alert the driver of the vehicle 42 to the transmitter 16 (processing in step S20). The transmitter 16 transmits this message data as a radio signal to the vehicle 42 via the antenna 16a.

  The receiver 71 of the approaching vehicle 42 receives this message data via the antenna 71 a and supplies the received message data to the CPU 83 of the ECU 77.

  The CPU 83 supplies this message data to the car navigator 76. When this message data is supplied, the car navigator 76 displays the message data on the display 76a as shown in FIG.

  Next, when the CPU 35 supplies an operation instruction signal to the transmitter 16 (step S21), the transmitter 16 transmits the operation instruction signal as a radio wave signal via the antenna 16a.

  The receiver 71 of the approaching vehicle 42 receives this operation instruction signal via the antenna 71 a and supplies the received operation instruction signal to the CPU 83.

  When this operation instruction signal is supplied, the CPU 83 turns on the switch 74. When the switch 74 is turned on, the vibration device 72c is vibrated by applying a voltage from the battery 73. This vibration is transmitted to the handle 72a via the rod 72b, and the handle 72a vibrates as shown in FIG.

  Further, the CPU 83 controls the brake control device 75f so as to bias the piston 75c of the braking device 75. The brake control device 75f biases the piston 75c via the rod 75d, and the piston 75c is biased to push the brake oil in the cylinder 75b toward the brake 75. As a result, the vehicle 42 is braked and stops in front of the stop line image 62.

  When the CPU 35 determines that the vehicle 42 has decelerated or stopped (Yes in step S22) and turns on the switch 20 (step S23), the projector 13-1 is activated and corrected from the image memory 31. Data of the image 61 is read out. Then, the projector 13-1 projects this image 61 on the road surface in front of the vehicle 41 as shown in FIG.

  When the pedestrian 2 moves out of the blind spot area 51 and crosses the road (Yes in Step S24, Yes in Step S25), the CPU 35 turns off the switches 20 to 22 (processing of Step S26).

  When the switches 20 to 22 are turned off, the projectors 13-1 and 13-2 stop operating, and the image 61 and the stop line image 62 disappear as shown in FIG.

  When the CPU 35 stops supplying the operation instruction signal (step S27), the CPU 83 of the vehicle 42 turns off the switch 74 because the operation instruction signal is not supplied from the receiver 71. When the switch 74 is turned off, the vibration device 72c stops the vibration, and the vibration of the handle 72a is also stopped.

  The CPU 83 also stops the operation of the brake operation device 75f. When the operation of the brake operating device 75f stops, the braking of the braking device 75 is released, and the vehicle 42 can start.

  Further, when the CPU 35 supplies thank you message data “Thank you for your cooperation” to the transmitter 16 (step S28), the transmitter 16 transmits this message data via the antenna 16a.

  The CPU 83 of the vehicle 42 supplies this message data to the car navigator 76, and the car navigator 76 displays this thank you message on the display 76a as shown in FIG.

  As described above, according to the first embodiment, the CPU 35 sets the blind spot areas 51 to 52 caused by the vehicle 41 for the approaching vehicle 42 in the case of left-side stop or left-side parking. Further, the CPU 35 sets the blind spot area 53 when the other vehicle 43 confirms behind the vehicle 41. Then, the CPU 35 determines that the pedestrian 2 is present in any one of the blind spot areas 51 to 53, determines the approach of the vehicle 42, and determines that the vehicle is decelerated or stopped. The image 61 is projected.

  Therefore, the pedestrian 2 can recognize that the vehicle 42 is approaching. Also, for the approaching vehicle 42, when the image 61 is projected on the road surface when approaching the vehicle 41, the pedestrian 2 is placed in any one of the blind spot areas 51 to 53 of the stopped vehicle 41. It can be determined that the pedestrian 2 is present.

  Further, when the CPU 35 determines that the pedestrian 2 is present in any one of the blind spot areas 51 to 53 and determines the approach of the vehicle 42, the hazard lamps 14-1 to 14-4 blink. The stop line image 62 is projected on the road surface by the projector 13-2.

  Accordingly, the driver of the vehicle 42 can also recognize that the pedestrian 2 is present in any one of the blind spots 51 to 53, and can stop the approaching vehicle 42.

  Furthermore, since the approaching vehicle notification device 1 transmits message data to call attention to the vehicle 42, it is possible to call attention to the driver of the approaching vehicle 42 in the form of a specific message. By transmitting the operation instruction signal, the driver of the vehicle 42 can be alerted and brake control can be performed so that the pedestrian 2 can cross the road.

  Further, when the approach of the vehicle 42 is determined, the CPU 35 determines that the vehicle 42 is decelerated or stopped, and then controls to project the image 61 on the road surface, so that the safety of the pedestrian 2 is ensured. be able to.

(Embodiment 2)
The vehicle notification device according to the second embodiment is configured to variably set the blind spot area based on the position of the approaching vehicle.

  As shown in FIG. 20, when the vehicle 42 advances from the position Pos1 to the position Pos2, the blind spot of the driver of the vehicle 42 changes from θ1 to θ2. As shown in FIG. 20, when the blind spot areas 51 and 53 are fixedly set, even if the pedestrian 2 exists in the blind spot area 53, the driver of the vehicle 42 walks outside the blind spots θ1 and θ2. The person 2 can be identified.

  Even if the driver of the vehicle 42 can identify the pedestrian 2, the vehicle alarm device 1 blinks the hazard lamps 14-1 to 14-4 and projects the image 61 and the stop line image 62. From the viewpoint of ensuring safety, it is preferable.

  However, even if the driver of the vehicle 42 visually recognizes the pedestrian 2, the hazard lamps 14-1 to 14-4 blink and the image 61 and the stop line image 62 are projected. is there. In such a case, this troublesomeness is eliminated by variably setting the blind spot area based on the positions Pos1 and Pos2 of the vehicle 42.

  In order to perform such control, the CPU 35 sets the blind spot area 51-1 and the blind spot area 53-1 when it is determined that the vehicle 42 is located at the position Pos1, as shown in FIG.

  Note that the CPU 35 determines the position of the vehicle 42 based on, for example, a determination area where the image 42-1 shown in FIG. 9 is detected. The correspondence between the discriminating area where the image 42-1 is detected and the position of the vehicle 42 is determined by the angle of view and the shooting range of the visible light camera 11-2, and the ROM 33 detects the image 42-1. The correspondence relationship between the determination area and the position of the vehicle 42 is stored in advance.

  Further, areas 51-0 and 53-0 shown in FIG. 21 are blind spots when fixedly set, and indicate areas outside the blind spot θ1. Even if the pedestrian 2 exists in the areas 51-0 and 53-0, the CPU 35 does not determine that the pedestrian 2 exists in the blind spot area, and does not turn on the switches 20-22. For this reason, the hazard controller 15 does not blink the hazard lamps 14-1 to 14-4, and the projectors 13-1 and 13-2 do not project the image 61 and the stop line image 62, respectively.

  When the vehicle 42 has traveled to the position Pos2 as shown in FIG. 22, the CPU 35 detects the image 42-1 in the discrimination area Sp0 from the visible light image acquired from the visible light camera 11-2, and the image 42 The position Pos2 of the vehicle 42 is determined based on the determination region where −1 exists.

  When determining the position Pos2 of the vehicle 42, the CPU 35 sets the blind spot areas 51-2 and 53-2. Therefore, when the vehicle 42 is present at the position Pos1, even if there is no pedestrian 2, if the pedestrian 2 moves to the blind spot area 53-2 when the vehicle 42 proceeds to the position Pos2, the CPU 35 It is determined that the pedestrian 2 exists at 53-2.

  In this case, the CPU 35 turns on the switches 20 to 22 as in the first embodiment. Therefore, the hazard controller 15 blinks the hazard lamps 14-1 to 14-4, and the projectors 13-1 and 13-2 project the image 61 and the stop line image 62, respectively.

  As described above, according to the second embodiment, the CPU 35 variably sets the blind spot area based on the position of the approaching vehicle 42. Accordingly, the hazard lamps 14-1 to 14-4 blink based on the position of the vehicle 42, and the image 61 and the stop line image 62 are also projected based on the position of the vehicle 42. For this reason, the troublesomeness of notification can be reduced.

(Embodiment 3)
In the vehicle notification device according to the third embodiment, when a vehicle enters from the side, this approaching vehicle is used as a moving body to notify that there is an approaching vehicle in the approaching vehicle.

  The moving body is not limited to a pedestrian, and may be, for example, a vehicle 44 that enters from the left of the vehicle 41 to the right as shown in FIG. In this case, the CPU 35 determines the vehicle 44 as a moving body based on the visible light images of the visible light cameras 11-1 and 11-3 instead of the infrared image. Further, the projector 13-1 projects a character image 63 or the like that calls attention instead of the image 61.

  As described above, when the vehicle notification device 1 determines the vehicle 44 as a moving body, for example, even when the vehicle 44 turns left from the blind spot area 51 of the vehicle 41 during a traffic jam, the vehicle 44 It is possible to determine the approach of the vehicle 42 and the vehicle 42 to determine the approach of the vehicle 44.

In carrying out the present invention, various forms are conceivable and the present invention is not limited to the above embodiment.
For example, in the third embodiment, the vehicle notification device 1 determines that the vehicle 44 is a vehicle that approaches the vehicle 41 and passes by the side, and projects the stop line image 62 on the road surface in front of the vehicle 44. The vehicle 42 may be determined as a moving body that moves in the surrounding area of the vehicle 41, and a character image 63 as shown in FIG. 23 may be projected onto the road surface in front of the vehicle 42.

  In the first to third embodiments, the projectors 13-1 and 13-2 project the image 61 and the stop line image 62 on the road surface, respectively. However, the image to be projected is not limited to this, and may be only a graphic image or only a character image.

  In addition, the notification means for calling attention to the pedestrian 2 and the approaching vehicle 42 is not limited to blinking of the hazard lamps 14-1 to 14-4 and image projection, and may be sound, for example. .

  The sensors for detecting the pedestrian 2 are not limited to the infrared cameras 12-1 to 12-4, but may be only the infrared sensors provided in the infrared cameras 12-1 to 12-4, respectively. Moreover, the sensor which detects the pedestrian 2 may be not only an infrared sensor but also an ultrasonic sensor.

  The attachment positions of the visible light cameras 11-1 to 11-4 and the infrared cameras 12-1 to 12-4 do not have to be on the roof of the vehicle 41 and may be indoors of the vehicle 41. Further, when the approach of the vehicle 42 is determined, a side mirror or the like is used to capture an image reflected by the side light camera or the like, and the CPU 35 approaches the approaching vehicle based on the image. 42 may be determined.

  The mounting positions of the projectors 13-1 and 13-2 may also be on the roof of the vehicle 41 or in the vehicle. By attaching the projectors 13-1 and 13-2 to the roof of the vehicle 41 and the inside of the vehicle, the projectors 13-1 and 13-2 are prevented from being damaged even if they come into contact with other vehicles. be able to.

  The visible light cameras 11-1 to 11-4 and the infrared cameras 12-1 to 12-4 may be provided with an autofocus and zoom function. By providing such a function, the vehicle notification device 1 can accurately determine the pedestrian 2 and the approaching vehicle 42 existing in any one of the blind spot areas 51 to 53.

  In the first to third embodiments, the vehicle notification device 1 determines which of the blind spot areas 51 to 54 is the blind spot area based on the monitoring result of the situation of the vehicle 41 and the surrounding area. You can also.

  In this case, for example, the CPU 35 determines the road shoulder 55 based on the visible light image obtained as a result of monitoring the peripheral areas of the visible light cameras 11-3 and 11-4, and if the road shoulder 55 is on the left side of the vehicle 41, It discriminate | determines from a stop or left side parking, and if it is on the right side, it discriminate | determines from right side stop or right side parking.

  When it is determined that the other vehicle 43 is parked or parked behind the vehicle 41 and the vehicle 42 is approaching from the right rear side of the vehicle 41 in the case of left-side stop or left-side parking, the CPU 35 determines the blind spot areas 51 and 52. , 53 are set.

  When it is determined that the other vehicle 43 does not exist behind the vehicle 41 and the vehicle 42 is approaching from the right rear of the vehicle 41 when the vehicle is stopped on the left side or parked on the left side, the CPU 35 determines the blind spot areas 51 and 53. Set.

  When it is determined that the other vehicle 43 is parked or parked behind the vehicle 41 and the vehicle 42 is approaching from the left rear of the vehicle 41 in the case of right-side stop or right-side parking, the CPU 35 performs blind spot areas 51 and 52. , 54 are set.

  When it is determined that the other vehicle 43 does not exist behind the vehicle 41 and the vehicle 42 is approaching from the left rear of the vehicle 41 when the vehicle is stopped on the right side or parked on the right side, the CPU 35 determines the blind spot areas 51 and 54. Set.

  When it is determined that the vehicle 42 is approaching from the front of the vehicle 41, the blind spot areas 52 and 53 are set in the case of the left stop or the left parking, and in the case of the right stop or the right parking, the CPU 35 The blind spot areas 52 and 54 are set.

  Further, when the vehicle stopped or stopped in front of the vehicle 41 is determined and it is determined that the vehicle 42 is approaching from the front of the vehicle 41, the CPU 35 additionally sets the blind spot area 51.

  As described above, even if the CPU 35 is a vehicle that approaches the host vehicle 41 from the front of the vehicle 41 by appropriately setting the blind spot region according to the situation of the vehicle 41 and the surrounding region, the first embodiment described above. ~ 3 can be applied.

  Moreover, the vehicle alerting device 1 can be configured such that the blind spot area is instructed by a manual operation. In this case, for example, the vehicle notification device 1 includes a car navigator similar to that mounted on the vehicle 42 in the vehicle 41, and the display of the car navigator is a touch panel type.

  Then, when the car navigator displays images such as those shown in FIGS. 2 and 3 and the driver touches the touch panel and designates the blind spot area, the car navigator supplies this designation information to the CPU 35. The CPU 35 sets a blind spot area based on this designation information.

  Further, the vehicle notification device 1 may execute a notification process or the like according to the vehicle speed of the vehicle 41. In this case, the CPU 35 acquires vehicle speed data from a speedometer that the vehicle 41 normally equips. When the vehicle speed of the vehicle 41 exceeds a preset threshold value, the CPU 35 executes notification processing and the like.

  Further, the vehicle notification device 1 may be provided with a switch for controlling notification processing and the like in the passenger compartment. The CPU 35 acquires on / off information of this switch, and executes notification processing and the like when this switch is turned on.

  In the first embodiment, when the approaching vehicle 42 decelerates or stops, the stop line image 61a, the pedestrian crossing image 61b, and the character image 61c are projected onto the road surface in front of the pedestrian 2.

  However, when the vehicle 42 approaches, the CPU 35 operates the projector 13-1 to project the stop line image 61a and the character image 61c onto the road surface ahead of the pedestrian 2, and the vehicle 42 decelerates or stops. Sometimes, the pedestrian crossing image 61b can be projected on the road surface.

  To configure in this way, when the vehicle 42 approaches, the CPU 35 turns on the switch 21 and turns on the switch 20 to activate the projector 13-1 (step S19).

  The projector 13-1 operates to read out data of the stop line image 61 a and data of the character image 61 c from the image memory 31. Then, as shown in FIG. 16, when the projector 13-2 projects the stop line image 62 onto the road surface, the projector 13-1 also displays the stop line image 61a on the road surface in front (traveling direction) of the pedestrian 2. And the character image 61c is projected simultaneously.

  When the vehicle 42 decelerates or stops, the projector 13-1 changes the data read from the image memory 31 from the data of the stop line image 61a and the character image 61c to the data of the image 61 (step S23).

  Alternatively, the projector 13-1 further reads the data of the pedestrian crossing image 61b from the image memory 31, and projects the stop line image 61a, the pedestrian crossing image 61b, and the character image 61c on the road surface.

  In the first to third embodiments, a four-wheeled vehicle is exemplified as the vehicle 42. However, the vehicle 42 is not limited to a four-wheeled vehicle, and may be a two-wheeled vehicle, a senior car, or the like. In the third embodiment, the vehicle 43 as the moving body is not limited to a four-wheeled vehicle, and may be a two-wheeled vehicle, a senior car, or the like.

  In the first to third embodiments, the vehicle 41 has been described as being stopped or parked. However, the first to third embodiments can be applied even when the vehicle 41 is traveling.

  For example, when the host vehicle is driving, a pedestrian who wants to cross the road, or when another vehicle tries to enter the road from a parking lot on the side of the road, the host vehicle slows down and Crossing the road or making other vehicles enter the road.

  Also, on a two-lane road, another vehicle tries to pass the side of the host vehicle traveling in the current lane, or another vehicle that travels following the same lane as the host vehicle is caused by the deceleration of the host vehicle. Change lanes and try to overtake your vehicle. At this time, there is a risk of inducing contact between the host vehicle and another vehicle if the intention indication of whether or not the host vehicle changes lanes is not clear (so-called thank-you accident).

  When the pedestrian 2 tries to cross the road, or when another vehicle enters the road, when the traveling vehicle 41 decelerates, for example, the projector 13-1 temporarily stops on the road surface ahead. The intention of the driver of the vehicle 41 can be clarified by projecting a character image to that effect.

  In addition, when the vehicle 42 passes the side of the vehicle 41 or tries to pass the vehicle on a two-lane road, the projector 13-2 displays a character image indicating whether or not to change the lane. The intention of the driver of the vehicle 41 can be clarified.

  In this case, in order to perform the notification process even while traveling, the projectors 13-1 and 13-2 can be used as moving bodies even if the vehicle 41 moves by changing the projection angle of the projectors 13-1 and 13-2. An image is projected on the pedestrian 2 and the vehicle 42.

  In this way, even when the vehicle 41 is traveling, the vehicle notification device 1 executes the notification process, so that the pedestrian 2 or the other vehicle 42 can be alerted. Further, if the driver's intention of the vehicle 41 can be clearly expressed, the safety of the pedestrian 2 can be ensured, and contact between the vehicle 41 and the vehicle 42 can be prevented.

  In the first to third embodiments, the vehicle 42 has been described as approaching from behind the vehicle 41. However, even when the vehicle 42 approaches from the front of the vehicle 41, the first to third embodiments can be applied.

  For example, another vehicle may approach from the front of the vehicle 41 and stop or decelerate as the vehicle 41 tries to make a right turn to enter a facility located on the left side of the vehicle 41.

  Furthermore, when a vehicle such as a two-wheeled vehicle is traveling on the left side of the vehicle 41, the vehicle alarm device 1 uses another vehicle approaching from the front of the vehicle 41 as a moving body and a vehicle 42 approaching the two-wheeled vehicle. Alternatively, the projectors 13-1 and 13-2 may be configured to project an image indicating that there is another vehicle approaching or entering the two-wheeled vehicle.

  By being configured in this manner, the driver of the other vehicle and the driver of the two-wheeled vehicle can recognize each other and can prevent the vehicles from contacting each other.

It is a block diagram which shows the structure of the alerting | reporting apparatus for vehicles which concerns on Embodiment 1 of this invention. It is a figure which shows the attachment position and blind spot area | regions, such as a visible light camera, an infrared camera, and a projector which are shown in FIG. It is a figure which shows the attachment position and blind spot area | regions of the visible light camera, infrared camera, projector, etc. which are shown in FIG. 1 in the case of a right side stop or right side parking. It is a side view of a vehicle and shows the attachment position of the visible light camera, infrared camera, projector, and antenna shown in FIG. It is a figure which shows the pedestrian crossing image and character image which the projector shown in FIG. 1 projects on a road surface. It is a figure which shows the stop line image which the projector shown in FIG. 1 projects on a road surface. It is a figure which shows the keystone correction | amendment which the image process part shown in FIG. 1 performs. It is a figure which shows the discrimination | determination area | region for discriminating the presence or absence of the vehicle which approaches. It is a figure which shows the method for discriminating the deceleration or stop of the approaching vehicle. It is a timing chart which shows the method for discriminating the deceleration or stop of the approaching vehicle. It is a figure which shows the structure of the operation control apparatus with which the approaching vehicle was equipped. It is a figure which shows the inside of the vehicle which approaches, and shows the attachment position of the display of the car navigator shown in FIG. It is a flowchart which shows the alerting | reporting process (the 1) which CPU of the vehicle which has stopped performs. It is a flowchart which shows the alerting | reporting process (the 2) which CPU of the vehicle which has stopped stops. It is a figure which shows a state when a vehicle approaches as a specific example which shows operation | movement of the alerting | reporting apparatus for vehicles, when a pedestrian exists in a blind spot area | region. It is a figure which shows the stop line image which the projector shown in FIG. 1 projected. It is a figure which shows the inside of the approaching vehicle when a pedestrian crosses a road. It is a figure which shows the image which the projector shown in FIG. 1 projected. It is a figure which shows the inside of the approaching vehicle when a pedestrian crosses the road. It is a figure for demonstrating operation | movement of the alerting | reporting apparatus for vehicles which concerns on Embodiment 2 of this invention, and is a figure which shows the relationship between the position of an approaching vehicle, the blind spot of the driver of an approaching vehicle, and the blind spot area fixedly set. It is a figure which shows the relationship (the 1) between the position of an approaching vehicle, the blind spot of the driver of an approaching vehicle, and the blind spot area variably set. It is a figure which shows the relationship (the 2) between the position of the approaching vehicle, the blind spot of the driver of the approaching vehicle, and the blind spot area variably set. It is a figure which shows operation | movement at the time of discriminating the vehicle which turns left as a moving body as operation | movement of the vehicle alerting device which concerns on Embodiment 3 of this invention.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Notification apparatus for vehicles 2 Pedestrian 3 Operation control apparatus 11-1 to 11-4 Visible light camera (monitoring part)
12-1 to 12-4 Infrared camera (monitoring unit)
13-1, 13-2 Projector (notification unit, projection device)
14-1 to 14-4 Hazard lamp 15 Hazard controller 16 Transmitter (transmitter)
16a Antenna 35, 83 CPU (vehicle approach determination unit, moving object determination unit, blind spot area setting unit, determination unit, notification unit)
41-43 Vehicle 51-54 Blind spot area 72 Steering device 75 Braking device 76 Car navigator

Claims (13)

A monitoring unit that monitors the surrounding area of the vehicle;
Based on the result of monitoring by the monitoring unit, a vehicle approach determining unit that determines the approach of an approaching vehicle that approaches the host vehicle and passes the side of the host vehicle;
Based on the result of monitoring by the monitoring unit, a moving body determination unit that determines a moving body that moves in the surrounding area separately from the approaching vehicle;
A blind spot area setting unit that sets a blind spot area that becomes a blind spot for the approaching vehicle in a surrounding area monitored by the monitoring unit;
A determination unit that determines whether or not the moving object determined by the moving object determination unit exists in the blind spot region set by the blind spot region setting unit;
When the determination unit determines that the moving body exists in the blind spot area, and the vehicle approach determination unit determines the approach of the vehicle, the notification indicating the presence of the moving body and the movement to the approaching vehicle A notification unit that performs at least one of notifications indicating the approach of the approaching vehicle to the body,
An informing device for vehicles. The moving body discriminating unit discriminates a pedestrian as the moving body,
The determination unit determines whether or not a pedestrian determined by the moving object determination unit exists in the blind spot region set by the blind spot region setting unit,
The notifying unit determines that the pedestrian is present in the approaching vehicle when the determining unit determines that the pedestrian is present in the blind spot area and the vehicle approach determining unit determines approach of the approaching vehicle. At least one of a notification indicating that the pedestrian is approaching the approaching vehicle,
The vehicle notification device according to claim 1. The moving body determination unit is configured to determine an approaching vehicle that enters and moves into the surrounding area as the moving body,
The determination unit determines whether there is an approaching vehicle determined by the moving object determination unit in the blind spot region set by the blind spot region setting unit,
The notification unit determines that the approaching vehicle is present in the approaching vehicle when the determination unit determines that the approaching vehicle exists in the blind spot area, and the vehicle approach determination unit determines the approaching of the approaching vehicle. And at least one of a notification indicating that the approaching vehicle is approaching the approaching vehicle,
The vehicle notification device according to claim 1. The notification unit includes a projection device that projects a character image or a graphic image on a road surface in front of the approaching vehicle, and the determination unit determines that the moving body exists in the blind spot region, When the vehicle approach determination unit determines the approach of the approaching vehicle, the projection device is controlled to project a character image or a graphic image indicating the presence of the moving body.
The vehicular alarm device according to any one of claims 1 to 3. The projection device projects a stop line image on a road surface in front of the approaching vehicle as a graphic image indicating the presence of the moving body.
The vehicle notification device according to claim 4. The notification unit includes a projection device that projects a character image or a graphic image on the road surface in front of the pedestrian, and the determination unit determines that the pedestrian exists in the blind spot area, When the vehicle approach determination unit determines the approach of the approaching vehicle, the projection device is controlled to project a character image or a graphic image indicating the presence of the approaching vehicle onto the road surface in front of the pedestrian.
The vehicle notification device according to claim 2. The moving body discriminating unit discriminates a pedestrian as the moving body,
The vehicle approach determining unit determines whether the approaching vehicle has stopped or decelerated based on the result of monitoring by the monitoring unit,
The notifying unit projects the pedestrian crossing image as the graphic image onto the road surface in front of the pedestrian when the vehicle approach determining unit determines that the approaching vehicle has stopped or decelerated. Control,
The vehicle notification device according to claim 6. The moving body discriminating unit discriminates a pedestrian as the moving body,
The notifying unit determines that the pedestrian is present in the blind spot area, and the determining unit determines that the approaching vehicle approaches the pedestrian when the approaching determination unit determines that the approaching vehicle is approaching. Controlling the projection device to project a character image or a graphic image for calling attention to the road surface in front of the pedestrian,
The vehicle notification device according to claim 6 or 7, wherein The notification unit includes a projection device that projects a character image or a graphic image on a road surface in front of the approaching vehicle, and the determination unit determines that the approaching vehicle exists in the blind spot area, When the vehicle approach determination unit determines the approach of the approaching vehicle, the projection device is controlled to project a character image or a graphic image indicating the approach of the approaching vehicle to the approaching vehicle.
The vehicular alarm device according to claim 3. The projection device projects a character image indicating the approach of the approaching vehicle to a driver of the approaching vehicle;
The vehicle notification device according to claim 9. The notification unit includes a transmission unit that transmits data to the approaching vehicle,
When the determination unit determines that the moving object is present in the set blind spot area, the message data indicating that the moving object exists in the blind spot area is supplied to the transmitting unit. By notifying the approaching vehicle of the presence of the moving body,
The vehicular alarm device according to any one of claims 1 to 10, wherein: The blind spot area setting unit determines a position of the moving body based on a result monitored by the monitoring unit, and sets a blind spot area of the approaching vehicle based on the determined position of the moving body.
The vehicular alarm device according to any one of claims 1 to 11, wherein: Monitoring the surrounding area of the vehicle;
Determining an approaching vehicle that approaches the host vehicle and passes sideways based on the monitored result; and
Determining a moving body that moves in the surrounding area separately from the approaching vehicle based on the monitored result;
Setting a blind spot area that is a blind spot for the approaching vehicle in a surrounding area to be monitored;
Determining whether the determined moving object is present in the set blind spot area;
When it is determined that the moving body is present in the blind spot area and the approaching vehicle is determined, a notification indicating the presence of the pedestrian in the approaching vehicle and a notification indicating the approach of the approaching vehicle to the pedestrian are provided. Performing at least one of the steps,
An informing method for a vehicle.

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