JP2008059178A - Operation support device and program - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To achieve attention calling in a real time to the other vehicles existing in dead angles, and to accurately grasp the locations of the other vehicles. <P>SOLUTION: Images photographed by a camera are displayed in each of regions corresponding to the locations of the other vehicles existing in dead angles formed in a dead angle formation vehicle 200 while displays 310 and 410 for notifying the result are superimposed on those images. In this case, the dead angle formation vehicle 200 is specified on the basis of a GPS signal acquired from the outside and the detection result of a front detection sensor, so that it is possible to specify its existence in an early stage without being accompanied by any large processing load like the analysis of an image, and to achieve real time attention calling in comparison with the configurations of the analysis of an image. Furthermore, the displays 310 and 410 superimposed on the images are superimposed in the regions specified as the respective regions corresponding to the locations of the other vehicles existing in the dead angles in the images, so that it is possible for a driver to accurately grasp the locations of the other vehicles existing in the dead angles from the images displayed. <P>COPYRIGHT: (C)2008,JPO&INPIT

Description

  The present invention relates to a driving support device for visually supporting driving of a vehicle.

In recent years, various techniques for prompting the driver to pay attention to other vehicles existing in the blind spot for the driver have been proposed.
For example, the presence of another vehicle (hereinafter referred to as “other vehicle”) that forms a blind spot is identified by analyzing an image of the periphery of the host vehicle, and the image is virtually displayed in an area corresponding to the identified blind spot. It is a technique of displaying in a state where another vehicle is superimposed (see Patent Document 1).
JP 2006-72830 A

  However, in the above-described technology, first, in identifying the presence of another vehicle that forms a blind spot, an image obtained by photographing the periphery of the own vehicle is analyzed. As a result of the processing load, there is a problem that it is difficult to call attention in real time.

  Moreover, although the said patent document 1 has the description to detect the other vehicle which exists in a blind spot, and to display another vehicle (for example, paragraph 0072), in which part in a blind spot the other vehicle exists. No mention or suggestion has been made up to the identification.

Therefore, there is a problem that even if an actually detected other vehicle is superimposed and an image is displayed, the position of the other vehicle cannot be accurately grasped from the image.
The present invention has been made to solve such problems, and its purpose is to realize real-time alerting to other vehicles in the blind spot and accurately grasp the position of the other vehicles. It is to provide the technology to make it possible.

  In order to solve the above problem, a driving support device according to claim 1 is a driving support device for visually supporting driving of a vehicle (hereinafter referred to as “own vehicle”). In this driving support device, the image acquisition means acquires an image obtained by photographing the area in the traveling direction of the host vehicle from outside the driving support device, and the position information acquisition means automatically acquires from the outside of the driving support device. Position information capable of specifying the positional relationship between the vehicle and another vehicle (hereinafter referred to as “other vehicle”) around the vehicle is acquired.

  In addition, another vehicle that forms a blind spot for the driver of the own vehicle based on the positional relationship specified by the positional information acquired by the positional information acquisition unit (hereinafter referred to as “dead spot forming vehicle”). If the blind spot forming vehicle determining means determines that the blind spot forming vehicle is present, the blind spot vehicle specifying means includes: Based on the positional relationship specified by the positional information acquired by the positional information acquisition means, each position of another vehicle existing in the blind spot formed in the blind spot forming vehicle is specified.

  Thereafter, the image area specifying means is specified by the blind spot vehicle specifying means in the image based on the position information acquired by the position information acquiring means and the image acquired by the image acquiring means. An area corresponding to each position of the other vehicle is specified. A display for notifying that an image acquired by the image acquisition unit is present in the blind spot in each of the areas specified by the image area specifying unit in the image. Is displayed on the display unit in a superimposed state.

  According to the driving support device configured as described above, an image acquired from the outside by specifying that a blind spot forming vehicle (another vehicle forming a blind spot) exists based on position information acquired from the outside. Can be displayed on the display unit in a state where a display for notifying that effect is superimposed on each of the areas corresponding to the positions of other vehicles in the blind spot.

  Here, since the existence of the blind spot forming vehicle is specified based on the position information acquired from the outside, it is possible to specify the existence of the blind spot forming vehicle without accompanying a large processing load as in the case of analyzing the image. it can. Therefore, the presence of the blind spot forming vehicle can be identified at an early stage as compared with the configuration in which the image is analyzed to identify the presence of the blind spot forming vehicle, and as a result, real-time alerting can be realized.

  Furthermore, the image displayed on the display unit by the superimposed display means is in a state in which a display for notifying that there is another vehicle is superimposed on the blind spot, but the display is present on the blind spot in this image. It is superimposed on the area specified as each area corresponding to the position of the other vehicle. Therefore, the driver can accurately grasp the position of the other vehicle existing in the blind spot from the image displayed in this manner.

  The image acquisition means in this configuration is a means for acquiring an image obtained by photographing an area in the traveling direction of the own vehicle from the outside, for example, obtaining an image photographed by a camera installed to photograph the periphery of the own vehicle. What is necessary is just to comprise so.

  The position information acquisition means described above is means for acquiring position information capable of specifying the positional relationship between the own vehicle and the other vehicle, and the information acquired as the position information includes specifying the positions of the own vehicle and the other vehicle. Possible GPS signals, information indicating the positions of the own vehicle and other vehicles, distances and directions to other vehicles based on the own vehicle, and the like can be considered.

  Here, the information that can identify the position of the own vehicle is configured to acquire directly or indirectly the information received by a device (such as a GPS receiver) provided in the own vehicle, Information that can identify the position can be obtained through communication (vehicle-to-vehicle / road-to-vehicle communication) with devices installed in other vehicles (such as GPS receivers) or devices installed on the road. Good. In addition, with respect to the distance and direction to the other vehicle based on the own vehicle, communication with sensors (for example, radar, sonar, etc.) installed to detect the presence (direction, distance) of obstacles around the own vehicle It may be configured to obtain through the above.

  The image area specifying means described above is based on the position information and the image, and corresponds to the position of the other vehicle specified by the blind spot vehicle specifying means in this image, that is, the position of the other vehicle existing in the blind spot. The specific identification method is not particularly limited. For example, the distance in the real space is specified for each unit area of the image, and the areas corresponding to the positions of other vehicles existing in the blind spot in the image are determined based on the positional relationship specified by the distance and the position information. The method of specifying can be considered.

  Here, as a method for “specifying the distance in the real space for each unit region of the image”, for example, the shooting range of the image acquired by the image acquisition unit, the direction and angle of the camera that shot this image (the depression angle) , Elevation angle), etc., a method of specifying the distance to each unit area when there is no blind spot forming vehicle in the area corresponding to the blind spot forming vehicle is conceivable.

  Further, the superimposing display means described above indicates that there is another vehicle in each of the areas of the image specified by the image area specifying means, that is, the areas corresponding to the positions of the other cars existing in the blind spot. Is displayed on the display unit in a state where a display for notifying is superimposed, and the display mode of the superimposed display is not particularly limited.

For example, it is conceivable to superimpose on the area of the corresponding image, a model showing another vehicle or a mark indicating that there is another vehicle.
Further, the display mode of the display superimposed on the image in this way may be the same regardless of the relationship between the other vehicle corresponding to the display and the own vehicle, but is configured to be different depending on the relationship. May be. For example, it may be configured such that the closer the vehicle is to the other vehicle, the more clearly it can be understood (for example, the closer the vehicle is, the larger the display or the more prominent color it is).

  In addition, if it is possible to specify that another vehicle is approaching the own vehicle based on the position information, the above-described information may be displayed only for the other vehicle approaching the own vehicle. In addition, if the other vehicle is approaching the host vehicle based on the position information and the speed of the other vehicle can be specified, the higher the speed approaching the host vehicle, the more noticeable the above indication is. Such a mode (same as above) may be adopted.

  Note that the visual driving assistance for the traveling direction of the own vehicle in the above-described configuration may be implemented regardless of the driving state of the own vehicle, but exists in the blind spot formed in the traveling direction. It may be configured to be implemented only when the other vehicle is a safety issue.

  Here, “when it becomes a safety problem” is a case where the vehicle is located at the intersection (turns within the intersection at a predetermined speed or stops or stops at the intersection) to turn the intersection. In this situation, the existence of a blind spot forming vehicle indicates that there is another vehicle trying to make a turn at the intersection from the opposite lane. In this case, since the other vehicle existing in the blind spot is traveling toward the own vehicle, notifying the driver of the presence and position of such another vehicle inadvertently starts the own vehicle. It can be said that it is suitable for preventing a collision with another vehicle.

  As described above, in order to realize the visual driving support in the traveling direction of the own vehicle only when it becomes a safety problem, for example, the driving support device according to claim 1 is provided. It is conceivable to configure as described in claim 2.

  In this driving support device, the intersection detection means detects that the vehicle is in a state of being located at the intersection so as to bend the intersection based on the driving state of the own vehicle. When it is detected by the means that the own vehicle is stopped at the intersection, an image is displayed on the display unit by the superimposed display means.

  With this configuration, visual driving support in the direction of travel of the vehicle is only realized when the vehicle is located at the intersection to turn around the intersection, that is, when it is a safety issue. Can be done.

  In this configuration, the intersection detection means is means for detecting, based on the driving state of the own vehicle, that the own vehicle is positioned at the intersection so as to bend the intersection. Is not particularly limited. For example, information is exchanged with the car navigation device, and the situation where it is specified that the vehicle is located near the intersection (for example, less than a few meters from the intersection center), and in addition to this, In addition, it may be configured to detect a situation in which the brake is in operation or the like as “a state where the vehicle is located at the intersection to turn the intersection”.

  Further, in this configuration, it is only necessary to configure so that the display by the superimposed display unit is not finally performed except when the intersection detection unit detects that the vehicle is located at the intersection. For this purpose, for example, the acquisition, determination, identification and display by at least one means among the acquisition, determination, identification and display by each means may be configured not to be performed.

Moreover, the blind spot vehicle specifying means described above is means for specifying each position of another vehicle existing in the blind spot formed in the blind spot forming vehicle, and the specific specifying method is not particularly limited.
For example, based on the positional relationship specified by the positional information acquired by the positional information acquisition means, the range of the blind spot formed by the blind spot forming vehicle is specified, and the position of each other vehicle existing within this range is specified. , Etc. can be considered.

  As a specific configuration for this, the driving support device according to claim 1 or 2 is used in a positional relationship in which, for example, the blind spot vehicle specifying means is specified by the position information acquired by the position information acquiring means. Based on this assumption, a straight line extending from the own vehicle via the blind spot forming vehicle is assumed, and this straight line is rotated by a predetermined angle in the positive direction and / or the negative direction around the own vehicle or the dead angle forming vehicle. In this case, it is conceivable that the range through which the straight line passes is specified as the range of the blind spot formed by the blind spot forming vehicle.

  Further, it is conceivable that the driving support apparatus according to claim 1 or 2 is configured as described in claim 3. The driving support device includes a straight line extending from the own vehicle via the blind spot forming vehicle based on the positional relationship specified by the position information acquired by the position information acquiring unit. When assuming a straight line extending between the own vehicle in a straight line and the blind spot forming vehicle toward an acute angle toward the blind spot forming vehicle, a range sandwiched between the assumed straight lines is formed by the blind spot forming vehicle. It is configured to be specified as a range of blind spots.

If comprised in this way, the range of the blind spot formed with a blind spot formation vehicle can be specified on the basis of the straight line extended via the blind spot formation vehicle from the own vehicle.
In these configurations, the blind spot vehicle specifying means may specify all the positions of other vehicles located in the range where the straight line passes and the range sandwiched between the straight lines, but is more than a certain distance from the own vehicle. Since it can be said that there is no need to pay attention to other vehicles, from the viewpoint of alerting, it may be configured such that the above indication is not superimposed on such other vehicles.

  For this purpose, for example, based on the positional relationship specified by the positional information acquired by the positional information acquisition means, a blind spot formed in the blind spot forming vehicle and another vehicle existing within a predetermined distance from the own vehicle It is good to comprise so that each position may be specified.

  Further, the blind spot forming vehicle determination means described above is a means for determining whether or not the blind spot forming vehicle exists around the own vehicle based on the positional relationship specified by the position information. If it is information that can identify the position of the vehicle, the blind spot is that the position of the other vehicle is within a predetermined distance from the position of the own vehicle and is in a predetermined direction from the own vehicle (for example, the traveling direction of the vehicle). It may be configured to determine that a forming vehicle is present.

  Further, if the position information is the distance or direction to the obstacle with reference to the own vehicle, there is an obstacle within a predetermined direction (for example, the traveling direction of the vehicle) and within the predetermined distance with respect to the own vehicle. It can be considered to be configured to determine that there is a blind spot forming vehicle.

  For this purpose, it is conceivable that the driving support device according to any one of claims 1 to 3 is configured as described in claim 4. In this driving support device, the position information acquisition means acquires the detection result from the sensor that detects the direction and distance from the own vehicle to the obstacle around the own vehicle as position information, and the blind spot forming vehicle determination means The blind spot forming vehicle is present in the vicinity of the own vehicle when a detection result indicating that the obstacle exists in a predetermined direction and within a predetermined distance is acquired as the position information by the position information acquisition means. It is comprised so that it may determine.

  With this configuration, a blind spot forming vehicle exists when the sensor detects that an obstacle is present within a predetermined direction (for example, the traveling direction of the vehicle) and within a predetermined distance with respect to the own vehicle. Can be determined.

  Further, in the driving support device according to any one of claims 1 to 4, as described in claim 5, the driving situation detecting means for detecting the driving situation of the vehicle by the driver, and the driving situation detecting means An area for changing the display area of the image acquired by the image acquisition means in accordance with the field of view estimation means for estimating the field of view of the driver based on the detected driving situation It is good also as a structure provided with the change means.

If comprised in this way, since the image displayed on a display part can be match | combined with a driver | operator's visual field, the driving | operation assistance by the image suitable for a driver | operator's visual field can be implement | achieved.
The driving condition detection means in this configuration is means for detecting, for example, the position and orientation of the driver's head and the direction of the line of sight as the driving condition of the vehicle by the driver.

  Further, the above-described region changing unit is a unit that changes the display region of the image acquired by the image acquiring unit so that the image displayed on the display unit by the superimposed display unit matches the field of view estimated by the field of view estimating unit. . Here, “changing the display range of the image” means, for example, changing the display area itself to be displayed on the display unit among the images acquired by the image acquiring unit, or acquiring the image by the image acquiring unit. It is to change the direction of the camera and the magnification at the time of shooting.

  A program according to claim 6 is a program for causing a computer system to execute various processing procedures for causing all of the means according to any one of claims 1 to 5 to function.

The computer system controlled by this program can constitute a part of the driving support apparatus according to any one of claims 1 to 5.
Each program described above consists of an ordered sequence of instructions suitable for processing by a computer system, and is provided to a driving support device and a user using the same via various recording media and communication lines. Is.

Embodiments of the present invention will be described below with reference to the drawings.
(1) Overall Configuration The driving support device 1 is a device configured by a well-known computer system mounted on a vehicle. As shown in FIG. 1, the vehicle position detection unit 12 and the state detection unit 14 are used as control blocks. , Communication unit 16, other vehicle position specifying unit 18, forward vehicle detection unit 20, imaging range control unit 22, control processing unit 24, and the like.

Hereinafter, the vehicle on which the driving support device 1 is mounted is referred to as “own vehicle”.
The own vehicle position detection unit 12 detects the current position of the own vehicle (coordinates indicating) based on the GPS signal received by the navigation device 110 (its GPS receiver).

  The state detection unit 14 detects the operation state of the vehicle based on detection results from various sensors 120 that detect the operation state of the vehicle (specifically, the blinker, the brake, the engine, and the like).

  The communication unit 16 receives, from the other vehicle, the GPS signal and the operation information that can identify the operation state received by the other vehicle (hereinafter referred to as “other vehicle”) traveling around the vehicle via the communication device 130. While receiving, the GPS signal received by the navigation apparatus 110 and the operation information indicating the operation state detected by the state detection unit 14 are transmitted.

The other vehicle position specifying unit 18 specifies the current position (denoting coordinates) of each other vehicle based on the GPS signal and the operation information received by the communication unit 16.
The forward vehicle detection unit 20 detects, based on the detection result by the forward detection sensor (for example, radar or sonar) 140, whether or not there is another vehicle ahead of the host vehicle and the distance and direction to the other vehicle. To do.

  The imaging range control unit 22 determines the imaging range that can be taken by the camera 150 that captures the front of the vehicle, based on the detection result from the driver sensor 160 that detects the driver's head position, orientation, line-of-sight direction, and the like. change.

The control processing unit 24 performs display of an image on the display unit 170, output of sound from the speaker 180, and the like based on the results detected and specified by the above-described units, the image taken by the camera 150, and the like.
(2) Processing by Driving Support Device 1 Hereinafter, various processing executed by the driving support device 1 (the control processing unit 24) will be described.
(2-1) Driving Support Processing First, the processing procedure of driving support processing that is repeatedly executed while the driving support device 1 is activated will be described with reference to FIG.

  When the driving support process is started, first, it is checked whether or not the first support condition is satisfied (s110). Here, a first threshold range (e.g., 30 m to 50 m) is reached from the navigation device 110 to the intersection (center) of the vehicle through an exchange of information regarding the relationship between the vehicle and the position on the map. ) Is determined to be satisfied, the first support condition is determined to be satisfied.

  When it is determined in s110 that the first support condition is satisfied (s110: YES), after driving support by voice is started (s120), the process returns to s110. In this s120, driving assistance by voice is implemented by outputting from the speaker 180 a message indicating that there is an intersection capable of visual assistance, which will be described later. If the message output by s120 executed previously is not completed at the time of s120, the message is not output.

  If it is determined in s110 that the first support condition is not satisfied (s110: NO), it is checked whether or not the second support condition is satisfied (s130). Here, as in s110, when it is determined that the vehicle is located at a distance of a second threshold range (for example, 10 m to 30 m) through the exchange of information to the intersection, the second support It is determined that the condition is satisfied.

  When it is determined in s130 that the second support condition is satisfied (s130: YES), after driving support is displayed by displaying a message on the display unit 170 (s140), the process proceeds to s110. Return. In s140, a message indicating that the host vehicle is approaching the intersection is displayed on the display unit 170, thereby supporting driving by displaying the message.

  If it is determined in s130 that the second support condition is not satisfied (s130: NO), it is checked whether or not the third support condition is satisfied (s150). Here, like s110, it is specified that the vehicle is located at a distance of a third threshold range (for example, 5 m to 10 m) to the intersection through the exchange of information, and the state detection unit 14 When it is detected that the vehicle is in an operation state where the vehicle is preparing for a right turn (right turn signal is ON), it is determined that the third support condition is satisfied. That is, the third support condition is satisfied when it can be estimated that the vehicle is approaching the intersection to make a right turn.

  When it is determined in s150 that the third support condition is satisfied (s150: YES), a message indicating that visual support described later is to be started is displayed on the display unit 170 (s160), and then the process is performed. Returns to s110.

  If it is determined in s150 that the third support condition is not satisfied (s150: NO), it is checked whether the fourth support condition is satisfied (s170). Here, as in s110, it is specified that the vehicle is located at an intersection (for example, a distance of less than 5 m from the intersection center) through information exchange, and immediately before the vehicle turns right by the state detection unit 14. Is detected (the right turn signal is ON and the brake is ON), it is determined that the fourth support condition is satisfied. That is, the fourth support condition is satisfied when it can be estimated that the vehicle is located in the intersection to make a right turn at the intersection.

  If it is determined in s170 that the fourth support condition is satisfied (s170: YES), after visual support described later is started (s180), the process returns to s110. In this s180, visual assistance is started by starting the visual assistance processing described later. Note that if the visual support process started by s180 executed earlier is not completed at the time of s180, the visual support process is not started here.

If it is determined in s170 that the fourth support condition is not satisfied (s170: NO), the process returns to s110.
(2-2) Visual Support Processing Next, the processing procedure of the visual support processing which is s180 in FIG. 2 will be described based on FIG.

  When the visual assistance process is activated, first, the shooting range shot by the camera 150 is changed based on the detection result from the driver sensor 160 (s310). Here, first, the driver sensor 160 detects the position and orientation of the driver's head, the direction of the line of sight, and the like. Then, the driver's field of view is estimated based on the parameters thus detected, and the shooting range control unit 22 determines the orientation of the camera 150 and adjusts the image to be displayed on the display unit 170 in the subsequent processing to the field of view thus estimated. The magnification at the time of shooting is changed.

  Next, acquisition of an image photographed by the camera 150 is started (s320). The images acquired in this way are sequentially displayed on the display unit 170 in a state that matches the shooting range changed in s310, that is, the driver's field of view.

  Next, based on the GPS signal received by the navigation device 110 and the GPS signal received by the communication device 130 via the communication unit 16, the current position of the own vehicle and other vehicles existing around the own vehicle, respectively. Is identified (s330). Here, based on each GPS signal, the current position of the own vehicle is specified (detected) via the own vehicle position detecting unit 12, and the current position of each other vehicle is specified via the other vehicle position specifying unit 18. Is done.

  Next, it is checked whether or not there is another vehicle (hereinafter referred to as “dead zone forming vehicle”) that forms a blind spot for the driver in front of the host vehicle (s340). Here, when the forward vehicle detection unit 20 detects that another vehicle is present in front of the host vehicle (see detection range A in FIG. 4), it is determined that a blind spot forming vehicle is present. At this time, the forward vehicle detection unit 20 detects the presence of the blind spot forming vehicle based on the distance and direction up to that.

If it is determined in s340 that there is a blind spot forming vehicle (s340: YES), the range of the blind spot formed by the blind spot forming vehicle is specified (s350).
Here, based on the current positions of the own vehicle and the other vehicle specified in s330, first, among the current positions of these other vehicles (see (x2, y2) to (x5, y5) in FIG. 4), The current position (see (x2, y2) in the figure) in the distance and direction (including a predetermined error range) detected in s340 with reference to the current position of the car (see (x1, y1) in the figure) is a blind spot. Identified as the current position of the forming vehicle. Then, as shown in FIG. 4, a blind spot forming vehicle 200 from the current position of the host vehicle 100 and the current position of the blind spot forming vehicle 200, and between the own vehicle 100 and the blind spot forming vehicle 200 on the straight line a. Assuming a straight line b extending at an acute angle toward the side, a range sandwiched between the straight lines a and b is specified as a range of blind spots formed by the blind spot forming vehicle.

  In the present embodiment, the center line along the traveling direction of the vehicle immediately before the visual assistance processing is assumed as a straight line b, and the intersection center c of the range between the straight lines a and b is used as a reference. A region in the traveling direction of the host vehicle 100 (above the host vehicle 100 in the figure) is specified as a blind spot range.

  Next, the current position of another vehicle (hereinafter referred to as “dead zone vehicle”) existing at the blind spot identified at s350 is identified (s360). Here, among the current positions of each of the other vehicles specified in s330, the current position that is present in the blind spot specified in s350 and that is other than the current position of the blind spot forming vehicle ( x3, y3) and (x4, y4) are specified as the current position of the blind spot vehicle.

  Next, for each unit region of the image acquired in s320, it is specified how far the unit region is an imaged region of the object to be imaged (s370). Here, each unit area (for example, pixel) of the image acquired in s320 and the distance to the unit area are specified based on a known method.

  As the known method here, for example, a method of specifying the distance between the unit regions based on the difference between the images sequentially acquired in s320 is conceivable. Further, if the camera 150 is configured to be able to detect not only the image but also the distance of each unit region in the image, the image and information on the distance (distance information) are acquired in s320, and the image is obtained. A method of specifying the distance of each unit area based on the distance information is also conceivable.

  Next, the area | region corresponding to a blind spot formation vehicle is specified among the images acquired in s320 (s380). Here, among the images acquired in s320, a set of unit areas in which the distance for each unit area specified in s370 is the distance (including a predetermined error range) detected in s340. It is specified as an area corresponding to a blind spot forming vehicle.

Next, among the areas corresponding to the blind spot forming vehicle specified in s380, the area corresponding to the blind spot vehicle specified in s360 is specified (s390).
Here, first, based on the shooting range of the image displayed on the display unit 170 and the direction and angle (angle of depression) of the camera 150, it is assumed that there is no blind spot forming vehicle in the area corresponding to the blind spot forming vehicle. The distance and direction from the own vehicle to each unit area are specified. The position in the real space specified by the distance and direction in the unit area thus specified by the distance and direction becomes the position of the blind spot vehicle specified in s360 (including within a predetermined error range). A set of unit areas is identified as an area corresponding to the blind spot vehicle.

Next, in the image acquired in s320, a display indicating that a blind spot vehicle is present is superimposed on an area corresponding to the blind spot forming vehicle specified in s380 (s400).
Here, as shown in FIG. 5, among the areas corresponding to the blind spot forming vehicle 200 in the image, the blind spot vehicles 300 and 400 exist at the centers of the areas corresponding to the blind spot vehicle identified in s390, respectively. Indications (in this embodiment, ☆ marks) 310 and 410 indicating that they are present are superimposed and displayed on the display unit 170.

  At this time, each display 310, 410 has a different display mode depending on the distance between the own vehicle and the blind spot vehicle, and a display mode that visually stands out as the distance decreases (in this embodiment, the closer the ☆ mark is, Display to be larger).

  Thus, after finishing s400 or when it is determined in s340 that there is no blind spot forming vehicle (s340: NO), it is checked whether or not the visual assistance should be ended (s410). Here, as in s110 of FIG. 2, when it is detected that the vehicle is separated from the intersection by a predetermined distance (for example, 5 m from the intersection center) through the exchange of information, the driving assistance by the assistance image is performed. It is determined that it should end.

If it is determined in s410 that driving assistance based on the assistance image should not be terminated (s410: NO), the process returns to s320, while if it is determined that visual assistance should be terminated (s410: YES). The visual assistance process ends.
(3) Operation and Effect According to the driving support apparatus 1 configured as described above, a blind spot forming vehicle (others that form a blind spot based on a GPS signal acquired from the outside and a detection result by the front detection sensor 140 is provided. (S340 in FIG. 3), and an image captured by the camera 150 is displayed for notifying each region corresponding to the position of the other vehicle existing in the blind spot. Can be displayed on the display unit 170 in a superimposed state (s400 in the figure).

  Here, since the presence of the blind spot forming vehicle is specified based on the GPS signal acquired from the outside and the detection result by the front detection sensor 140, without accompanying a large processing load as in the case of analyzing the image, The presence of a blind spot forming vehicle can be identified. Therefore, the presence of the blind spot forming vehicle can be identified at an early stage as compared with the configuration in which the image is analyzed to identify the presence of the blind spot forming vehicle, and as a result, real-time alerting can be realized.

  Furthermore, the image displayed on the display unit 170 is in a state in which a display (☆ mark) for notifying that there is another vehicle is superimposed on the blind spot (see FIG. 5). In the image, it is superimposed on the areas specified as the areas corresponding to the positions of other vehicles existing in the blind spot. Therefore, the driver can accurately grasp the position of the other vehicle existing in the blind spot from the image displayed in this manner. Since the display superimposed at this time is simply a ☆ mark, it is easy to identify in relation to the image taken by the camera 150, and this also contributes to accurately grasping the position of the other vehicle in the blind spot. is doing.

  In the above embodiment, the presence of a blind spot forming vehicle is determined in front of the vehicle, that is, in the traveling direction (s340 in FIG. 3), and when there is another vehicle in the blind spot formed in the traveling direction, that fact An image formed by superimposing the display on the corresponding area can be displayed on the display unit 170. Therefore, the driver can accurately grasp the position of the other vehicle existing in the blind spot formed in the traveling direction of the own vehicle from the image displayed in this manner.

  Further, in the above embodiment, when it can be estimated that the vehicle is located within the intersection to make a right turn at the intersection (“YES” in s170 of FIG. 2), the blindness assistance can be performed by starting the visual assistance process. Yes (s180 in the figure).

  The presence of a blind spot forming vehicle in a situation where the vehicle is located within the intersection to turn the intersection means that there is another vehicle that is about to turn the intersection from the opposite lane. . In this case, since the other vehicle in the blind spot is moving toward the own vehicle, informing the driver of the presence and position of such another vehicle by visual assistance is inadvertently starting the own vehicle. This is suitable for preventing a collision with another vehicle due to the occurrence of the accident.

  Further, in the above embodiment, in s350 of FIG. 3, the straight line a passing through the own vehicle 100 and the blind spot forming vehicle 200 and the straight line b extending from between the own vehicle 100 and the blind spot forming vehicle 200 in this straight line a are sandwiched. This range can be specified as the range of blind spots formed by the blind spot forming vehicle. Thus, the range of the blind spot formed by the blind spot forming vehicle can be specified with reference to the straight line a extending from the own vehicle via the blind spot forming vehicle.

  In the above embodiment, in s340 of FIG. 3, it can be determined that there is a blind spot forming vehicle when the forward vehicle detection unit 20 detects that there is another vehicle ahead of the host vehicle. .

Further, in s310 of FIG. 3, the shooting range shot by the camera 150 can be changed based on the detection result from the driver sensor 160. As a result, the image displayed on the display unit 170 can be matched with the driver's field of view, so that driving assistance using an image that matches the driver's field of view can be realized.
(4) Modifications The embodiment of the present invention has been described above. However, the present invention is not limited to the above embodiment, and can take various forms as long as they belong to the technical scope of the present invention. Needless to say.

  For example, although the case where the driving support device 1 is configured as a single device has been illustrated in the above embodiment, the driving support device 1 may be configured to be mounted on the navigation device 110 or other devices.

  In the above embodiment, the communication unit 16 is configured to transmit a GPS signal received by the navigation device 110 of the own vehicle and receive a GPS signal received by the navigation device 110 of the other vehicle. Was illustrated. However, the communication unit 16 may be configured to transmit and receive not the GPS signal but information indicating the current position detected by the vehicle position detection unit 12 based on the GPS signal.

  Moreover, in the said embodiment, the imaging | photography range control part 22 changes the direction of the camera 150, the magnification at the time of imaging | photography, etc., and what was comprised so that the imaging | photography area | region of the camera 150 might be matched with a driver | operator's visual field is illustrated. did. However, as a configuration for adjusting the shooting area of the camera 150 to the driver's field of view, the shooting area of the camera 150 is fixed, and an area that matches the driver's field of view is extracted from the shooting area. May be.

  Moreover, in the said embodiment, what was comprised so that a GPS signal might be utilized as positional information for pinpointing the present position of the own vehicle and another vehicle was illustrated. However, the position information may be information that can identify the current positions of the host vehicle and the other vehicle, and may be information indicating the current position itself, for example.

  Moreover, in the said embodiment, what was comprised so that the positional information (GPS signal) which can pinpoint the present position of another vehicle was directly acquired from the other vehicle was illustrated. However, the position information may be acquired indirectly via a device that is installed on the road and can communicate with the driving support device 1.

  In the above embodiment, as a display indicating that a blind spot vehicle is present in s400 of FIG. 3, an image in which a mark indicating that is superimposed is displayed on the display unit 170. What was comprised was illustrated. However, in addition to such a mark, for example, it may be configured to superimpose a vehicle or the like that schematically shows another vehicle.

  Further, in the above embodiment, in s400 of FIG. 3, the display indicating that there is a blind spot vehicle is configured such that the closer the blind spot vehicle is to the own vehicle, the more clearly it can be grasped. This is illustrated. However, as a condition for making the aspect different in this way, a condition other than the proximity from the own vehicle may be used or used together.

  As a condition in that case, for example, the speed of another vehicle can be considered. For this purpose, the speed of each of the other vehicles is specified based on the images sequentially acquired in s320, and the display of the above is conspicuously superposed as the specified speed increases. Good.

  Further, in the above embodiment, in s350 of FIG. 3, the straight line a passing through the own vehicle 100 and the blind spot forming vehicle 200 and the straight line b extending from between the own vehicle 100 and the blind spot forming vehicle 200 in the straight line a are sandwiched. The range which was specified as the range of the blind spot formed by the blind spot forming vehicle was illustrated. However, the configuration for specifying such a blind spot range is not limited to this method. For example, when the straight line a is rotated by a predetermined angle in one or both of the positive direction and the negative direction around the own vehicle or the blind spot forming vehicle, the range through which the straight line passes is determined by the blind spot forming vehicle. It may be configured to specify the range of the blind spot to be formed.

  Moreover, in the said embodiment, what was comprised so that all the present positions of a blind spot vehicle might be specified by s360 of FIG. 3 irrespective of the positional relationship with the own vehicle was illustrated. However, since it can be said that there is no need to pay attention to other vehicles that are more than a certain distance from the host vehicle, from the viewpoint of alerting, the above indication is not superimposed on such other vehicles. Also good. Specifically, in s360, the blind spot formed in the blind spot forming vehicle and the position of the other vehicle existing within a predetermined distance from the own vehicle may be specified.

  Further, in s370 of FIG. 3 in the above embodiment, the camera 150 is configured with a plurality of cameras that capture images from each of the spaced positions, and the distance between each unit region is determined by stereo vision based on the captured images. It may be specified.

Moreover, in the said embodiment, when the own vehicle stopped to turn left at an intersection, what was comprised so that visual assistance might be performed was illustrated (s180 of FIG. 2). However, this visual assistance may be configured to be performed other than when the vehicle is stopped to turn left at the intersection.
(5) Correspondence with the present invention In the embodiment described above, the GPS signal acquired via the navigation device 110 or the communication device 130 and the detection result by the front detection sensor 140 are the position information in the present invention. .

  Further, s170 in FIG. 2 is an intersection detection unit in the present invention, s320 in FIG. 3 is an image acquisition unit in the present invention, s330 in FIG. 2 is a position information acquisition unit in the present invention, and s340 in FIG. S360 is the blind spot vehicle specifying means in the present invention, s390 is the image area specifying means in the present invention, and s400 is the superimposed display means in the present invention, FIG. S310 shows the driving condition detecting means, the visibility estimating means, and the area changing means in the present invention.

Block diagram showing the overall configuration of the driving support device Flow chart showing driving support processing Flow chart showing visual support processing The figure which shows the relation between the own car and the other car at the intersection The figure which shows a mode that the image was displayed on the display part

Explanation of symbols

  DESCRIPTION OF SYMBOLS 1 ... Driving assistance device, 12 ... Own vehicle position detection part, 14 ... State detection part, 16 ... Communication part, 18 ... Other vehicle position specific | specification part, 20 ... Front vehicle detection part, 22 ... Shooting range control part, 24 ... Control Processing unit, 100 ... own vehicle, 110 ... navigation device, 130 ... communicator, 140 ... front detection sensor, 150 ... camera, 160 ... driver sensor, 170 ... display unit, 180 ... speaker, 200 ... blind spot forming vehicle, 300 ... blind spot vehicle, 310 ... display, 410 ... display.

Claims (6)

A driving support device for visually supporting driving of a vehicle (hereinafter referred to as “own vehicle”),
Image acquisition means for acquiring an image obtained by photographing an area in the traveling direction of the host vehicle from outside the driving support device;
Position information acquisition means for acquiring position information capable of specifying the positional relationship between the own vehicle and other vehicles around the own vehicle (hereinafter referred to as “other vehicle”);
Based on the positional relationship specified by the positional information acquired by the positional information acquisition means, the other vehicle (hereinafter referred to as “dead zone forming vehicle”) forming a blind spot for the driver of the own vehicle is traveling in the direction of the host vehicle. A blind spot forming vehicle determination means for determining whether or not the vehicle exists,
When the blind spot forming vehicle determining means determines that a blind spot forming vehicle exists, the blind spot forming vehicle is formed based on the positional relationship specified by the positional information acquired by the positional information acquiring means. Blind spot vehicle identifying means for identifying each position of another vehicle existing in the blind spot,
Based on the position information acquired by the position information acquisition means and the image acquired by the image acquisition means, each of the images corresponds to the position of another vehicle specified by the blind spot vehicle specifying means. Image area specifying means for specifying an area;
The image acquired by the image acquisition means is displayed in a state where a display for notifying that there is another vehicle in the blind spot is superimposed on each of the areas specified by the image area specifying means of the image. A driving support device comprising: a superimposed display means for displaying on the section. Based on the driving state of the host vehicle, the vehicle has an intersection detection means for detecting that the host vehicle is in a state of being located at the intersection to bend the intersection,
When the intersection detection means detects that the host vehicle is stopped at the intersection, the superimposed display means displays an image on the display unit. The driving support device according to claim 1. The blind spot vehicle specifying means, based on the positional relationship specified by the position information acquired by the position information acquisition means, a straight line extending from the own vehicle via the blind spot forming vehicle, and the own vehicle in the straight line When a straight line extending from the dead angle forming vehicle toward the dead angle forming vehicle is assumed to be an acute angle, the range between the assumed straight lines is specified as the range of the dead angle formed by the dead angle forming vehicle. The driving support device according to claim 1 or 2, characterized by: The position information acquisition means acquires, as position information, a detection result from a sensor that detects a direction and distance from the own vehicle to an obstacle existing around the own vehicle,
The blind spot forming vehicle determining means determines that the blind spot forming vehicle is the host vehicle when a detection result indicating that an obstacle is present in a predetermined direction and within a predetermined distance is acquired as position information by the position information acquiring means. It determines with existing in the circumference | surroundings. The driving assistance apparatus in any one of Claim 1 to 3 characterized by the above-mentioned. Driving status detection means for detecting the driving status of the vehicle by the driver;
Visibility estimating means for estimating the driver's visual field based on the driving situation detected by the driving situation detecting means;
5. A region changing unit that changes a display region of an image acquired by the image acquiring unit in accordance with the field of view estimated by the field of view estimating unit. 5. The driving support device according to 1.   A program for causing a computer system to execute various processing procedures for causing all of the means according to any one of claims 1 to 5 to function.