JP2008062762A - Drive assist device and drive assist method - Google Patents

Drive assist device and drive assist method Download PDF

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Publication number
JP2008062762A
JP2008062762A JP2006241913A JP2006241913A JP2008062762A JP 2008062762 A JP2008062762 A JP 2008062762A JP 2006241913 A JP2006241913 A JP 2006241913A JP 2006241913 A JP2006241913 A JP 2006241913A JP 2008062762 A JP2008062762 A JP 2008062762A
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Japan
Prior art keywords
pedestrian
driver
vehicle
driving support
host vehicle
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Pending
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JP2006241913A
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Japanese (ja)
Inventor
Minoru Fujioka
Yoshiko Okamoto
Katsumi Sakata
Hiroaki Sano
裕明 佐野
佳子 岡本
稔 藤岡
克己 阪田
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Fujitsu Ten Ltd
富士通テン株式会社
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Priority to JP2006241913A priority Critical patent/JP2008062762A/en
Publication of JP2008062762A publication Critical patent/JP2008062762A/en
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Abstract

<P>PROBLEM TO BE SOLVED: To appropriately inform a driver of necessary information with a simple structure. <P>SOLUTION: An informed pedestrian selection part 40a selects only a pedestrian (a bicycle and a motorcycle can be included) out of objects around an own vehicle detected by an image recognition device 10 as an information objective to a driver. A projection control part 40c control projection by a windscreen projection mechanism 51 to display information calling driver's attention at a position of the pedestrian selected by the informed pedestrian selection part 40a. The projection position control part 40b corrects a projection position by estimating an eye point of the driver from an adjustment state of a driver's seat output by a seat adjustment mechanism 53 and identifying position of eyes of the driver by image recognition of image acquisition result of a cabin camera 52. <P>COPYRIGHT: (C)2008,JPO&INPIT

Description

  The present invention relates to a driving support device and driving that support driving operation by notifying a driver of the presence of an object, particularly a pedestrian, that exists in the vicinity of the host vehicle and may affect the traveling of the host vehicle. It relates to support methods.

  Conventionally, driving support technology that supports driving operation by providing information necessary for driving operation such as a planned travel route has been put into practical use.

  Furthermore, in recent years, driving support technologies have been devised that contribute to safe driving by prompting attention to surrounding vehicles, obstacles, and pedestrians.

  As the driving support technology diversifies in this way, the amount of information to be notified to the driver has increased, and it is necessary to devise a notification method in order to provide necessary information without obstructing the driving operation. It has become.

  Therefore, for example, Patent Document 1 discloses a technique in which a warning display unit installed on the edge of a windshield and a projection display unit capable of projecting information by superimposing information on the entire windshield cooperate.

  Patent Document 2 discloses a technique for guiding a driver's line of sight to a dangerous object detected on the apparatus side by a combination of presentation of a predicted traveling locus by laser irradiation and a dangerous object notification.

JP 2003-291688 A JP 2006-127055 A

  However, the output device of Patent Document 1 is premised on having a projection mechanism that can project information by superimposing information on the entire windshield, and the device configuration is large and complicated. Furthermore, since the difference in the viewpoint of the driver is not taken into consideration, the position of the information projected on the windshield appears to be shifted for each driver. For this reason, the driver himself / herself covers and displays the position of an object that needs to be visually observed, which may reduce the visibility of the driver.

  Further, in the technology disclosed in Patent Document 2, since the line of sight is always guided to an object that the device side has determined to be dangerous, it is easy for the driver to visually recognize the object, and the driver has already recognized its presence. However, gaze guidance is continuously performed. As a result, there is a possibility of obstructing recognition of other dangerous goods, dangers that are really necessary to be notified and are difficult to recognize by the driver.

  Therefore, it has been an important issue to realize a technique for appropriately notifying a driver of necessary information without obstructing the driver's own visual recognition and operation.

  The present invention has been made to solve the above-described problems in the prior art and to solve the problems, and provides a driving support apparatus and a driving support method for appropriately notifying a driver of necessary information with a simple configuration. The purpose is to provide.

  In order to solve the above-described problems and achieve the object, the driving support device and the driving support method according to the present invention detect an object that exists in the vicinity of the host vehicle and may affect the traveling of the host vehicle, Among the detected objects, a pedestrian is selected as an object to be notified to the driver, and information is displayed in a position on the windshield when the pedestrian is viewed from the driver of the host vehicle so that the driver can visually recognize the information.

  Further, the driving support device according to the present invention detects an object that exists in the vicinity of the own vehicle and may affect the traveling of the own vehicle, and notifies the driver of the pedestrian among the detected objects. And the positional relationship viewed from above the host vehicle is graphically displayed on the display means.

  In addition, the driving support device according to the present invention has an optical signal output that outputs an optical signal to the driver of the host vehicle in the vicinity of the optical rear visual recognition device, and affects the traveling of the host vehicle behind the host vehicle. When a given object is detected, an optical signal is output.

  According to the present invention, the driving assistance device and the driving assistance method are information that is likely to be overlooked by the driver, selects a pedestrian having a high priority on safe driving, and overlaps the pedestrian when viewed from the driver. Since it displays, there exists an effect that the driving assistance apparatus and the driving assistance method which can notify suitably information required for a driver | operator can be obtained.

  In addition, according to the present invention, the driving support device is likely to be overlooked by the driver, selects a pedestrian having a high priority for safe driving, and displays the positional relationship viewed from above the own vehicle as a graphic. Since it displays, there exists an effect that the driving assistance apparatus which can notify appropriately the information required for a driver | operator can be obtained.

  Further, according to the present invention, the driving support device outputs an optical signal from the vicinity of the optical rear visual recognition device when an object to be alerted to the driver is present behind the host vehicle. There is an effect that it is possible to obtain a driving support device capable of prompting confirmation easily and effectively.

  Exemplary embodiments of a driving support apparatus and a driving support method according to the present invention will be explained below in detail with reference to the accompanying drawings.

  In the configuration according to the first embodiment, an object around the host vehicle is detected by the image recognition device, and only a pedestrian (which may include a bicycle or a motorcycle) is selected from the detected objects and projected onto the windshield. .

  Detectable objects include obstacles such as other vehicles and falling objects in addition to pedestrians, but other vehicles are large, their locations are limited to some extent, and the driver of the own vehicle pays attention to the trends of other vehicles. Because it pays, it is relatively easy for the driver to recognize. Also, obstacles such as falling objects have a lower priority for safe driving than avoiding collisions with pedestrians.

  Therefore, oversight by the driver is likely to occur, and it is possible to appropriately notify necessary information for the driver by encouraging the driver's recognition only for pedestrians with high priority on safe driving. .

  In the event of a collision, the damage to the host vehicle will increase with the collision with other vehicles, but when the possibility of a collision increases, safety will be ensured by intervention in vehicle behavior. When driving assistance is performed, necessary and sufficient assistance can be provided by focusing only on pedestrians.

  In addition, if there are multiple pedestrians, notification of all pedestrians will prevent the driver from checking the surroundings. Therefore, one pedestrian with the highest degree of risk, or two or three people with the highest degree of risk. It is preferable to notify about the degree of pedestrians.

  In this way, after carefully selecting the target to be notified, the display that prompts the driver's attention according to the position on the windshield when the pedestrian is visually recognized from the driver of the own vehicle is projected. Information can be appropriately provided to the person.

  FIG. 1 shows a schematic configuration of a vehicle equipped with the driving support apparatus according to the first embodiment. As shown in the figure, in the vehicle, the driving support device 40 includes an image recognition device 10, a brake 41, an engine control device (EFI) 42, a display 43, a speaker 44, a windshield projection mechanism 51, a vehicle interior camera 52, and a seat adjustment. It is connected to the mechanism 53. Further, the image recognition device 10 is connected to the navigation device 30, the camera 31, and the radar 33.

  The navigation device 30 is an in-vehicle device that sets and guides a travel route using the position of the host vehicle specified by communicating with a GPS (Global Positioning System) artificial satellite and map data 30a stored in advance. In addition, the navigation device 30 provides the image recognition device 10 with location information of the host vehicle, surrounding map information, a planned travel route, and the like.

  The camera 31 captures the vicinity of the host vehicle and inputs the captured result to the image recognition apparatus 10. The radar 33 detects an object around the own vehicle and measures a distance to the object and inputs the detected object to the image recognition apparatus 10.

  The image recognition apparatus 10 includes a preprocessing unit 11, a vehicle recognition unit 16, a white line recognition unit 17, a pedestrian recognition unit 18, and a collision determination unit 20 therein. Here, the vehicle recognition unit 16, the white line recognition unit 17, the pedestrian recognition unit 18, and the collision determination unit 20 are realized by, for example, a single microcomputer 10a (an arithmetic processing unit including a combination of a CPU, a ROM, and a RAM). Is preferred.

  The preprocessing unit 11 performs processing such as filtering, edge detection, and contour extraction on the image captured by the camera 31, and then outputs the image to the vehicle recognition unit 16, the white line recognition unit 17, and the pedestrian recognition unit 18.

  The vehicle recognition unit 16 performs pattern matching on the image output from the preprocessing unit 11 to recognize the vehicle, and outputs the recognition result to the collision determination unit 20. Similarly, the white line recognition unit 17 recognizes a white line by performing pattern matching or the like on the image output from the preprocessing unit 11, and outputs the recognition result to the collision determination unit 20. The pedestrian recognition unit 18 recognizes a pedestrian image from the image (input image) output by the preprocessing unit 11 and outputs the pedestrian image to the collision determination unit 20.

  The collision determination unit 20 uses the recognition results obtained by the vehicle recognition unit 16, the white line recognition unit 17, the pedestrian recognition unit 18, the detection result obtained by the radar 33, and the position information output from the navigation device 30, and automatically detects the collision with the pedestrian and other vehicles. The risk of collision with the vehicle is determined and output to the driving support device 40.

  The vehicle interior camera 52 photographs the interior of the host vehicle, particularly the driver, and outputs the photographed result to the driving support device 40. The seat adjustment mechanism 53 is a mechanism that adjusts the position of the driver's seat in the front-rear direction, the height of the seat surface in the vertical direction, and the position of the headrest that supports the driver's head. Output to the device 40.

  The driving support device 40 provides information to the driver and applies to the vehicle behavior based on the output from the image recognition device 10, the image recognition on the photographing result of the passenger compartment camera 52, and the seat adjustment state output by the seat adjustment mechanism 53. Intervene.

  Specifically, as a result of the determination by the collision determination unit 20, if there is a high possibility that a collision between the host vehicle and another object (another vehicle, a pedestrian, an obstacle) will occur, the driving support device 40 performs braking. 41 and an engine control unit (EFI) 42 are used to intervene in the operation control of the vehicle, and an automatic assist process for avoiding a collision and reducing damage is executed.

  For providing information to the driver, the driving support device 40 uses the display 43, the speaker 44, and the windshield projection mechanism 51. The display 43 is an output means for notifying the user, that is, the vehicle occupant by display, and the speaker 44 is an output means for notifying by voice. The display 43 and the speaker 44 can be shared by various in-vehicle devices such as the navigation device 30 and an in-vehicle audio device (not shown) in addition to performing output under the control of the driving support device 40.

  The windshield projection mechanism 51 is a projection mechanism that projects light of a predetermined shape onto the windshield, and is realized by, for example, a laser or a spot light source. Moreover, it is preferable that the projection direction of a light beam can irradiate an arbitrary position on the windshield.

  Furthermore, if the number of pedestrians who call attention to the driver is one, only one emission mechanism may be used. It is necessary to provide a mechanism.

  In order to perform notification by the windshield projection mechanism 51, the driving support device 40 includes a notification pedestrian selection unit 40a, a projection position correction unit 40b, and a projection control unit 40c.

  The notification pedestrian selection unit 40a selects a pedestrian among the objects recognized by the image recognition device 10, and when a plurality of pedestrians are recognized, the collision risk determined by the collision determination unit 20 is the highest. A high pedestrian is selected as an object to be notified to the driver.

  The projection control unit 40c is a processing unit that controls the projection by the windshield projection mechanism 51 so as to perform information display that prompts the driver to pay attention to the position of the pedestrian selected by the notification pedestrian selection unit 40a.

  Here, in order to control the display projected on the windshield so as to overlap the position of the pedestrian as viewed from the driver, it is necessary to correct the projection position according to the position of the driver's viewpoint. Therefore, the projection position correction unit 40b estimates the driver's viewpoint from the driver's seat adjustment state output by the seat adjustment mechanism 53, and specifies the position of the driver's eyes by recognizing the image captured by the passenger compartment camera 52. Correct the projection position.

  Subsequently, installation and operation control of the windshield projection mechanism 51 will be described. In the installation example shown in FIG. 2, the windshield projection mechanism 51 is installed below the windshield. In this configuration, by controlling the projection direction in the front-rear direction and the width direction of the vehicle body, it is possible to irradiate an arbitrary position on the windshield.

  In order to control the projected display so that it overlaps the position of the pedestrian as viewed from the driver, the display position D2 is controlled in consideration of the difference D1 in the viewpoint position of the driver as shown in FIG.

  Moreover, as shown in FIG. 4, you may install the windshield projection mechanism 51 in the headrest of a driver's seat. In this case, since the viewpoint position of the driver and the light source position of the projection are close, the necessary correction amount can be reduced.

  It should be noted that by installing the windshield projection mechanism 51 on the headrest, the viewpoint position of the driver and the light source position of the projection are regarded as substantially the same, the projection position correction unit 40b, and the vehicle interior camera 52 that is configured for correction, You may implement this invention by the simple structure which abbreviate | omitted the connection with the seat adjustment mechanism 53. FIG.

  As for the shape of the light beam projected from the windshield projection mechanism 51, for example, as shown in FIG. 5, a round projection image M1 may be superimposed (or enclosed) on a pedestrian to be notified, or as shown in FIG. As described above, the display may be performed by a combination of the horizontal line-type projection image M2 and the vertical line-type projection image M3.

  Furthermore, as shown in FIG. 7, it is possible to use an arbitrary shape such as projecting so as to indicate the pedestrian position with the arrow-shaped projection image M4.

  In addition, the amount of information to be notified can be increased by changing the shape, size, color, density, presence / absence of blinking, blinking cycle, and the like. For example, the degree of danger may be notified by a color change such as red when the degree of danger is relatively high, yellow when the degree of danger is relatively low, or the shape is changed depending on the distance, and as shown in FIG. In the case of notification using vertical and horizontal lines, the width of the horizontal line display M2 may be increased as the pedestrian is closer to the vehicle.

  Next, processing operations of the image recognition device 10 and the driving support device 40 will be described. First, the processing operation of the image recognition apparatus 10 is shown in FIG. The processing flow shown in the figure is started when a power switch (which may be linked to an ignition switch or the like) is turned on and the camera 31 captures an image, and for each processing of an image frame (for example, every several msec). This process is repeatedly executed.

  First, the image recognition apparatus 10 performs processing such as filtering, edge detection, and contour extraction by the preprocessing unit 11 on an image captured by the camera 31 (step S101). Next, the white line recognition process (step S102) by the white line recognition part 16 and the vehicle recognition process (step S103) by the vehicle recognition part 16 are performed.

  Thereafter, the pedestrian recognition unit 18 performs pedestrian recognition (step S104), the collision determination unit 20 performs collision determination (step S105), and outputs the determination result to the driving support device 40 (step S106). Exit.

  The driving support device 40 always monitors the output of the image recognition device 10 as shown in FIG. If an object is detected by the image recognition device 10 (step S201, Yes), first, it is determined whether or not the detected object is a vehicle (step S202).

  As a result, if the detected object is a vehicle (step S202, Yes), the possibility of collision between the vehicle and the host vehicle is determined (step S207), and if there is a possibility of collision (step S207, Yes). ) Automatic assist is executed to intervene in the behavior control of the vehicle (step S208).

  On the other hand, when the detected object is not a vehicle (step S202, No), the driving assistance apparatus 40 determines whether the detected object is a pedestrian (step S203). As a result, if a pedestrian has been detected (step S203, Yes), the pedestrian with the highest degree of risk is selected from the detected pedestrians (step S204), and the selected pedestrian is placed on the windshield. It is displayed (step S205).

  Thereafter, if the danger is eliminated (Yes at Step S206), the process is terminated as it is. If the danger is not eliminated (No at Step S206), the automatic assist process is executed by intervening in the behavior control of the vehicle (Step S206). S208).

  If the detected object is neither a vehicle nor a pedestrian (No at Step S203), the driving support device 40 determines the possibility of a collision with the object (Step S209). If there is a possibility of collision (step S209, Yes), the influence (damage) on the host vehicle in the case of further collision is taken into consideration, and if the influence is slight (step S210, Yes), the display on the display 43 ( In step S211, if the influence is not slight (No in step S210), an automatic assist process (step S208) is executed.

  As described above, in the driving support device according to the first embodiment, the notification pedestrian selection unit 40a selects only a pedestrian among the objects detected by the image recognition device 10, and the projection control unit 40c The windshield projection mechanism 51 is controlled to display information that alerts the driver.

  Therefore, an oversight by the driver is likely to occur, and the driver's recognition can be promoted only for pedestrians with high priority in safe driving, and information necessary for the driver can be appropriately notified.

  Further, since the projection position correction unit 40b corrects the information projection position on the windshield according to the driver's viewpoint position using the output of the passenger compartment camera 52 and the seat adjustment mechanism 53, the projection position correction unit 40b can be notified from the driver. It is possible to display accurately so as to overlap a certain pedestrian.

  In the configuration according to the second embodiment, the pedestrian is selected as the notification target among the objects detected by the image recognition device, and then the positional relationship between the host vehicle and the pedestrian is displayed on the display.

  FIG. 10 shows a schematic configuration of a vehicle equipped with the driving support apparatus in the second embodiment. As shown in the figure, in this configuration, the driving support device 40 is connected to the image recognition device 10, the brake 41, the engine control device (EFI) 42, the display 43, the speaker 44, the shift lever 61, and the winker lamp 62. Moreover, the driving assistance apparatus 40 has the notification pedestrian selection part 40a, the operation detection part 40d, and the pedestrian display control part 40e in the inside.

  Since other configurations and operations are the same as those of the driving support apparatus shown in the first embodiment, the same components are denoted by the same reference numerals, and description thereof is omitted.

  The shift lever 61 is an operating means used by the driver for operating the speed change mechanism, and outputs the operation state to the driving support device 40. The blinker lamp 62 is a direction indicating lamp that mainly notifies the surrounding vehicle of the course change of the host vehicle, and outputs the operation state to the driving support device 40.

  The pedestrian display control unit 40e inside the driving support device 40 performs a process of displaying the positional relationship between the pedestrian selected by the notification pedestrian selection unit 40a and the host vehicle on the display 43.

  Here, pedestrian notification is particularly important when the host vehicle changes its course (turns left or right, changes lanes, etc.) or moves backward (the host vehicle may collide with its route when traveling straight ahead). The situation where there is a pedestrian is rare, and when such a situation occurs, it is preferable to execute automatic assist rather than notification).

  On the other hand, since the display 43 is shared with the navigation device 30 and other in-vehicle devices, if the pedestrians around the vehicle are always displayed, the display output by the other devices is hindered.

  Therefore, the operation detection 40d detects the driving operation state by the driver from the state of the shift lever 61 and the blinker lamp 62, and when the shift lever 61 enters the back (that is, when the speed change mechanism is operated in the reverse mode), When the blinker lamp 62 starts blinking, the display 43 displays the positional relationship between the pedestrian and the host vehicle.

  Specific examples of display on the display 43 are shown in FIGS. In the example shown in FIG. 11, the image G <b> 1 is displayed on the display 43. In the image G1, a figure indicating the own vehicle is arranged in the center, and the danger notice display M11 is arranged in the direction in which the pedestrian to be notified exists, so that the positional relationship viewed from above the own vehicle is displayed in a graphic form. ing.

  The distance to the danger notification display M11 in this image G1 may correspond to the distance from the host vehicle to the pedestrian. Further, the degree of danger can be notified by changing the size, shape, color, presence / absence of blinking, blinking cycle, etc. of the danger notice display M11.

  Similarly, in the example illustrated in FIG. 12, the image G <b> 2 is displayed on the display 43. And in the image G2, the figure which shows the own vehicle is distribute | arranged to the center part, the display mode of the direction where the pedestrian who should be notified is divided | segmented into the eight directions is changed. In the figure, the presence of a pedestrian is notified by making the display of the direction M12 corresponding to the blind spot of the left front pillar different from the display of the other direction from the driver.

  Also in the display mode shown in FIG. 12, the amount of information notified to the driver can be increased by changing the display size, shape, color, presence / absence of blinking, blinking cycle, and the like. Further, in the display examples shown in FIG. 11 and FIG. 12, the case of notifying the driver about a single pedestrian has been described, but the same display can be used when notifying about a plurality of pedestrians. Needless to say.

  Furthermore, the driver's attention may be urged by further using a sound output from the speaker 44 in accordance with the display output. In addition, when voice output is performed, the effect of causing the driver to recognize the pedestrian can be further enhanced by performing direction sense control so that a voice prompting attention is heard from the direction in which the pedestrian is present. .

  For display output, a sub-display may be installed in addition to the display 43. In this case, as shown in FIG. 13, it is desirable to install the sub-display 63 at a position where it can be easily seen by the driver.

  The sub display 63 may be a device dedicated to the driving support device 40, but even when the sub display 63 is shared with other devices, the number of display means that can be used is increased to reduce display output contention with other devices. An effect is obtained.

  As described above, in the driving support device according to the second embodiment, the notification pedestrian selection unit 40a selects only the pedestrian among the objects detected by the image recognition device 10 as the notification target, and the pedestrian display control unit 40e controls the display 43 to display information to alert the driver.

  Therefore, an oversight by the driver is likely to occur, and the driver's recognition can be promoted only for pedestrians with high priority in safe driving, and information necessary for the driver can be appropriately notified.

  In addition, the operation detection unit 40d detects the driving operation state from the shift lever 61 and the blinker lamp 62, and notifies the pedestrian using the display 43 when changing the course or when moving backward, thereby enabling display output with other devices. It is possible to reduce contention.

  In the configuration according to the third embodiment, an optical signal output means is provided in the vicinity of the optical rear visual recognition device, that is, the rearview mirror or the side mirror, and the optical signal is output to the driver of the host vehicle, so that the driver can Encourage confirmation of back using mirrors and side mirrors.

  FIG. 14 shows a schematic configuration of a vehicle equipped with the driving support device in the third embodiment. As shown in the figure, in this configuration, the driving support device 40 is connected to the image recognition device 10, the brake 41, the engine control device (EFI) 42, the display 43, the speaker 44, the rearview mirror lamp 71, and the side mirror lamp 72. . Moreover, the driving assistance apparatus 40 has the notification pedestrian selection part 40a and the mirror display control part 40f in the inside.

  Since other configurations and operations are the same as those of the driving support apparatus shown in the first embodiment, the same components are denoted by the same reference numerals, and description thereof is omitted.

  The rearview mirror lamp 71 is an indicator installed near the rearview mirror, and the side mirror lamp 72 is an indicator installed near the rearview mirror. For example, in the installation example shown in FIG. 15, the rearview mirror lamp 71 is installed on the edge of the rearview mirror, and the side mirror lamp 72 is installed on the edges of the left and right sidemirrors.

  Since these indicators output optical signals to the driver of the host vehicle, it is preferable that the lighting (flashing) state is not visible from other vehicles in the vicinity. Further, the installation example shown in FIG. 15 is merely an example, and for example, the side mirror lamp 72 may be installed on the pillar. That is, when the driver looks in the direction of the rearview mirror lamp 71 and the side mirror lamp 72, the pack mirror and the side mirror need only be visible in the vicinity.

  When the pedestrian is detected by the notification pedestrian selection unit 40a, the mirror display control unit 40f inside the driving support device 40 is based on the positional relationship between the pedestrian and the host vehicle, and the pack mirror lamp 71 and the side mirror lamp. Illuminating (or blinking) 72 prompts the driver to check backwards.

  Specifically, when there is a pedestrian on the right rear side of the host vehicle, the side mirror lamp 72 provided near the right side mirror is blinked so that the driver can check the right side mirror. When there is a pedestrian, the side mirror lamp 72 provided in the vicinity of the left side mirror is blinked so that the driver can confirm the left side mirror. Similarly, in order to make the driver check the rearview mirror, the rearview mirror lamp 71 is blinked.

  As described above, in the driving assistance device according to the third embodiment, the optical signal output means is provided in the vicinity of the optical rear visual recognition device, and when a pedestrian is detected behind the own vehicle, the driver of the own vehicle is notified. By outputting the optical signal, the driver can be urged to confirm the rear using a rearview mirror or side mirror.

  Here, the description has been given by taking a pedestrian as an example. However, for example, this configuration can be applied to prompt the driver to confirm the back even if the vehicle is a subsequent vehicle.

  As described above, the driving support device and the driving support method according to the present invention are effective for notification to the driver, and are particularly suitable for appropriate notification of the presence of a pedestrian.

BRIEF DESCRIPTION OF THE DRAWINGS It is a schematic block diagram which shows schematic structure of the driving assistance device concerning Example 1 of this invention. It is explanatory drawing explaining the case where the windshield projection mechanism shown in FIG. 1 is installed in a windshield lower part. It is explanatory drawing explaining correction | amendment of a driver | operator's viewpoint position and a display position. It is explanatory drawing explaining the case where the windshield projection mechanism shown in FIG. 1 is installed in a headrest. It is explanatory drawing explaining the pedestrian notification by a round projection image. It is explanatory drawing explaining the pedestrian notification by the vertical and horizontal line type | mold projection image. It is explanatory drawing explaining the pedestrian notification by an arrow type projection image. It is a flowchart explaining the processing operation of an image recognition apparatus. It is a flowchart explaining the processing operation of a driving assistance device. It is a schematic block diagram which shows the schematic structure of the driving assistance device concerning Example 2 of this invention. It is explanatory drawing explaining the specific example of the pedestrian position notification on a display (the 1). It is explanatory drawing explaining the specific example of the pedestrian position notification on a display (the 2). It is explanatory drawing explaining the example of installation of a sub display. It is a schematic block diagram which shows schematic structure of the driving assistance device concerning Example 3 of this invention. It is explanatory drawing explaining the example of installation of the back mirror lamp and side mirror lamp which were shown in FIG.

Explanation of symbols

DESCRIPTION OF SYMBOLS 10 Image recognition apparatus 10a Microcomputer 16 Vehicle recognition part 17 White line recognition part 18 Pedestrian recognition part 18a Cutout part 18b Space | interval setting part 18c Recognition processing part 20 Collision determination part 30 Navigation apparatus 30a Map data 31 Camera 33 Radar 40 Driving support apparatus 40a Notification Pedestrian selection unit 40b Projection position correction unit 40c Projection control unit 40d Operation detection unit 40e Pedestrian display control unit 40f Mirror display control unit 41 Brake 42 EFI
43 Display 44 Speaker 51 Windshield Projection Mechanism 52 Vehicle Camera 53 Seat Adjustment Mechanism 61 Shift Lever 62 Turn Signal Lamp 63 Sub Display 71 Rearview Mirror Lamp 72 Side Mirror Lamp

Claims (9)

  1. Pedestrian selection means for selecting a pedestrian among the objects detected by the object detection means for detecting an object that exists in the vicinity of the own vehicle and may affect the traveling of the own vehicle;
    The pedestrian selected by the pedestrian selection means can be visually recognized by the driver on the windshield of the host vehicle so that information is displayed at a position on the windshield when the pedestrian is viewed from the driver of the host vehicle. Display control means for controlling information display means for displaying information on
    A driving support apparatus comprising:
  2.   The pedestrian selection means, when the object detection means detects a plurality of pedestrians, of the plurality of pedestrians, the pedestrian most likely to affect the traveling of the host vehicle as information display targets The driving support device according to claim 1, wherein the driving support device is selected.
  3.   The driving support apparatus according to claim 1, further comprising a correcting unit that corrects an information display position on the windshield based on the head position of the driver.
  4.   The driving support according to claim 1, 2 or 3, wherein the information display means is a projection mechanism that projects a light beam having a predetermined shape, and controls the position of the information display by changing the projection direction. apparatus.
  5. Pedestrian selection means for selecting a pedestrian among the objects detected by the object detection means for detecting an object that exists in the vicinity of the own vehicle and may affect the traveling of the own vehicle;
    About the pedestrian selected by the pedestrian selection means, a display control means for graphically displaying on the display means the positional relationship seen from above the host vehicle,
    A driving support apparatus comprising:
  6.   6. The driving support device according to claim 5, further comprising operation detection means for detecting a driving operation state by a driver, wherein the display control means starts display control based on a detection result by the operation detection means. .
  7.   The operation detecting means detects the operation of the speed change mechanism and / or the direction indicator lamp by the driver, and the display control means is configured to detect when the speed change mechanism is operated in the reverse mode and / or when the direction indicator light is The driving support device according to claim 6, wherein when blinking is started, the positional relationship between the pedestrian and the host vehicle is graphically displayed.
  8. An optical signal output means that is provided in the vicinity of the optical rear visual recognition device and outputs an optical signal to the driver of the own vehicle;
    When an object that affects the travel of the host vehicle is detected behind the host vehicle by the object detection means that detects an object that exists around the host vehicle and may affect the travel of the host vehicle, An optical signal control means for outputting an optical signal;
    A driving support apparatus comprising:
  9. An object detection step for detecting an object that exists in the vicinity of the host vehicle and may affect the traveling of the host vehicle;
    Of the objects detected by the object detection step, a pedestrian selection step of selecting a pedestrian,
    About the pedestrian selected by the pedestrian selection step, an information display step for displaying information from the driver so that the pedestrian can visually recognize the pedestrian when viewing the pedestrian from the driver of the vehicle,
    A driving support method characterized by comprising
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