JP2008176459A - Caution object detection device and traffic safety support system using caution object detection device - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a caution object detection device and a traffic safety support system for reducing communication quantity, and for giving a proper warning to a driver. <P>SOLUTION: This caution object detection device is provided with a first radio communication means for receiving identification information to specify radio equipment from radio equipment carried by a caution object existing in a service area; an image pickup means for acquiring image data in a predetermined range in the service area; an image analyzing means for analyzing image data, and for extracting the location information of a caution object existing in the predetermined range; and a second radio communication means for receiving identification information to specify the radio equipment from the radio equipment carried by the caution object existing in the predetermined range by referring to the location information. The caution object detection device is configured to determine whether or not the caution object exists in the predetermined range in the service area by collating the identification information received by the first communication means with the identification information received by the second radio communication means. <P>COPYRIGHT: (C)2008,JPO&INPIT

Description

  BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a warning object detection device that detects a pedestrian or the like existing in the traveling direction of a vehicle or in the vicinity thereof, and a traffic safety support system that prevents a collision between a vehicle and a pedestrian or the like by using the warning object detection device. It is.

  In recent years, with the increase in traffic volume and the complexity of the traffic environment, collision accidents at encounters with poor visibility and collisions caused by pedestrians jumping out from parallel parked vehicles are increasing. Therefore, a countermeasure against a collision accident caused by the presence of a pedestrian at a blind spot from the vehicle is strongly desired.

  As such a traffic safety support system for countermeasures against accidents, a system using wireless communication is generally known. In this case, the vehicle side and the pedestrian perform wireless communication so that the vehicle side detects information on the presence and position of the pedestrian and alerts the driver of the vehicle.

  FIG. 5 shows a schematic configuration diagram of a conventional traffic safety support system. The illustrated traffic safety system includes a portable wireless terminal 2 from which position information can be obtained by GPS (Global Positioning System), and a receiver 5 that receives pedestrian information including position information and behavior information transmitted from the portable wireless terminal 2. And a base station 3 that transmits information received from the portable wireless terminal 2 to the receiver 5, and the pedestrian 1 carries the portable wireless terminal 2 and the receiver 5 is mounted on the vehicle 4. Is.

  With this configuration, the receiver 5 mounted on the vehicle 4 can transmit the pedestrian information transmitted from the portable wireless terminal 2 held by the pedestrian 1 indirectly via the base station 3 or directly from the portable terminal 2. To receive. Further, the vehicle 4 acquires position information of the vehicle 4 itself from the GPS, and acquires sensor information from various sensors such as an acceleration sensor mounted on the vehicle 4. Then, the vehicle 4 processes the position information obtained from the portable wireless terminal 2, the position information of the vehicle 4 itself, and the sensor information based on a certain criterion, so that the collision between the vehicle 4 and the pedestrian 1 is detected. The degree of danger is judged and attention is given to the driver of the vehicle 4 (see Patent Document 1).

JP 2000-149198 A (page 5-8, Fig. 1)

  However, the conventional traffic safety support system determines the risk based on the positional relationship between the vehicle and the pedestrian and the behavior information of the pedestrian regardless of whether or not the pedestrian exists in the blind spot as seen from the driver. Therefore, the receiver mounted on the vehicle has to always acquire pedestrian information from the mobile terminal.

  Therefore, when there are a plurality of pedestrians carrying portable terminals in the communication area of the vehicle, the conventional traffic safety support system determines the risk level for all pedestrians existing in the communication area of the vehicle. The receiver mounted on the vehicle needs to acquire pedestrian information including position information and behavior information of the mobile terminal from all mobile terminals existing in the communication area by wireless communication, and the amount of communication is excessive. Would increase.

  For example, when the communication area of the receiver mounted on the vehicle is an area having a surrounding radius of 100 [m], the number of pedestrians existing in the communication area when the vehicle passes through an urban area is from several hundred. It is expected to be about a thousand people. If the vehicle performs wireless communication of pedestrian information to all of the many pedestrians, the amount of communication will be enormous.

  In addition, the conventional traffic safety support system cannot consider the driver's field of view when judging the risk level, so the pedestrian is within the driver's viewing angle of the vehicle and the driver has already recognized the danger. In some cases, it is determined that the degree of risk is the same as when the pedestrian is present outside the driver's viewing angle, that is, when there is a pedestrian at the blind spot as viewed from the driver.

  Therefore, when a vehicle passes through an urban area with many pedestrians, the vehicle will almost always give a warning to notify the driver of the same risk level to alert the driver. May be distracted and the effect of a single warning on the driver may be diminished.

  The present invention has been made in view of the above-described problems, and is a warning object detection device capable of reducing traffic and giving an appropriate warning to a driver, and a traffic safety support system using the warning object detection device. The purpose is to provide.

  A warning target detection device of the present invention is a warning target detection device that detects a warning target existing in the vicinity of a vehicle, from the wireless device held by the warning target existing in a preset communication area, to the wireless device A first wireless communication means for receiving solid identification information for identifying the image, an imaging means for acquiring a predetermined range of image data in the communication area, and a warning object that exists in the predetermined range by analyzing the image data Image analysis means for extracting the position information, and second information for receiving the solid identification information for identifying the wireless device from the wireless device held by the alert target existing within the predetermined range with reference to the position information Wireless communication means and determination means for determining the existence range of the alert target, wherein the determination means receives the solid identification information received by the first wireless communication means and the second wireless communication means. By collating the individual identification information, the recognized warning target to be present in the communication area is, the imaging means is to determine whether existing within a predetermined range acquired image data.

  With this configuration, the warning target detection device mounted on the vehicle wirelessly communicates with the wireless device held by the warning target only by the unique identification information of the wireless device, and thus there are a plurality of wireless devices in the communication area. Even if it exists, the amount of communication does not increase excessively. That is, the amount of communication information can be greatly reduced as compared with the case where conventional pedestrian behavior information is used. In addition, the amount of information processing used for determination is greatly reduced. Further, for example, when the alert target is a pedestrian, it is possible to separately determine a pedestrian existing in a preset communication area and a pedestrian existing in a predetermined range that is a part of the communication area. Therefore, it is possible to warn the appropriate warning content according to the location of the pedestrian.

  In the alert target detection apparatus of the present invention, the communication area of the first wireless communication means may be set as a range in which a collision between the vehicle and the alert target may occur.

  In the alert target detection apparatus of the present invention, the predetermined range in which the imaging unit acquires image data may be set so as to coincide with the field of view of the driver of the vehicle.

  In addition, the warning target detection apparatus of the present invention may include warning means that determines the warning content with reference to the determination result of the determination means and warns the driver of the presence of the warning target.

  With this configuration, it is possible to separately determine pedestrians and the like that are outside the driver's field of view, that is, at a blind spot as viewed from the driver, and pedestrians and the like that are in the driver's field of view. Can be selected appropriately. For example, when there are pedestrians outside the viewing angle, the driver is alerted with a loud voice saying "There is a pedestrian in an invisible position, attention!", Or there are pedestrians within the viewing angle. Can be alerted with “pedestrian attention” and normal voice, or the warning content can be selected. Therefore, when the conventional warning target detection device has a negative effect, that is, when a vehicle enters an urban area or the like, the same warning is repeated regardless of the location of the pedestrian or the like, so that one warning is driven. The adverse effect that the effect on the person is weakened can be reduced.

  In addition, the traffic safety support system of the present invention is a traffic safety support system that prevents a collision between a vehicle and a warning object. This traffic safety support system is composed of a wireless device held by a warning target and a warning target detection device mounted on the vehicle. The wireless device transmits a radio wave that can be received in a communication area set in advance by the warning target detection device, and the warning target detection device is any one of the warning target detection devices described above, and has the same effects. It is what you have.

  With this configuration, the warning target detection device mounted on the vehicle wirelessly communicates with the wireless device held by the warning target only by the unique identification information of the wireless device, and thus there are a plurality of wireless devices in the communication area. Even if it exists, the amount of communication does not increase excessively. That is, the amount of communication information can be greatly reduced as compared with the case of using conventional pedestrian information, and the processing amount of information used for determination is also greatly reduced.

  ADVANTAGE OF THE INVENTION According to this invention, the traffic safety assistance system using the warning object detection apparatus and warning object detection apparatus which can give a suitable warning to a driver | operator while reducing communication volume can be provided.

  Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings.

(Embodiment 1)
FIG. 1 is a schematic configuration diagram of the traffic safety support system according to the first embodiment. As shown in FIG. 1, the traffic safety support system according to the first embodiment includes an in-vehicle device 117 mounted on a vehicle 100 and portable wireless terminals 105 to 108 held by pedestrians 101 to 104. Yes. Each portable wireless terminal 105 to 108 carried by a pedestrian is equipped with a communication function for communicating with the in-vehicle device 117.

  The in-vehicle device 117 includes a camera 109 that acquires image data in a predetermined range within a communication area with the portable wireless terminal, an image analysis device 112 that processes image data acquired by the camera 109, and a wide area with respect to the vehicle traveling direction. A first antenna 111 having directivity, a second antenna 110 having directivity in a narrower range than the first antenna, a directivity control unit 113 that controls the directivity of the second antenna, and each antenna A transmitting / receiving unit 114 that transmits / receives data to / from the portable wireless terminals 105 to 108, a determination unit 115 that determines the degree of collision with the pedestrians 101 to 104, and an alarm device 116 that alerts the driver. It is the structure provided with. With this configuration, the in-vehicle device 117 detects a warning target (for example, a pedestrian, a bicycle, a moped motorcycle, etc.).

  The camera 109 is mounted so that the front side of the vehicle that is the field of view of the driver of the vehicle 100 is an imaging region. In FIG. 1, an area indicated by reference numeral S <b> 2 is an imaging area of the camera 109. The camera 109 is connected to the image analysis device 112 and outputs the captured image data to the image analysis device 112.

  The image analysis device 112 analyzes the image data input from the camera 109 to recognize the presence of the pedestrian and the position of the pedestrian, and outputs the recognized position information of the pedestrian to the directivity control unit 113. Further, the image analysis device 112 is connected to the determination unit 115, and outputs pedestrian presence information to the determination unit 115.

  The directivity control unit 113 follows the position information of the pedestrian input from the image analysis device 112, and the directivity (communication target range, that is, the code S3 in FIG. Control). Specifically, the directivity control unit 113 generates a control signal that directs the directivity of the second antenna 110 to the pedestrian based on the above-described position information, and outputs the control signal to the second antenna 110. .

  The directivity of the second antenna 110 is controlled by, for example, mechanically changing the angle of the second antenna 110 vertically and horizontally based on a control signal input from the directivity control unit 113. As shown in FIG. 1, when pedestrians 101 to 103 exist in the imaging area of the camera 109, it is possible to individually communicate with the portable wireless terminals 105 to 107 carried by the pedestrians 101 to 103. The directivity is controlled. In FIG. 1, the region indicated by reference sign S <b> 3 is the directivity region of the second antenna 110.

  The directivity of the first antenna 111 is directed to the traveling direction of the vehicle 100, and communicates with the portable devices 105 to 108 carried by the pedestrians 101 to 104 existing in an area where the vehicle 100 may collide, respectively. It is installed so that it becomes possible. In FIG. 1, a region indicated by reference sign S <b> 1 is a communication area of the first antenna 111.

  As shown in FIG. 1, the pedestrian 104 is present in the right turn direction of the intersection when viewed from the vehicle 100, and is present at a blind spot position from the vehicle 100, but is present at a position other than the blind spot from the vehicle 100. The communication target of the first antenna 111 is the same as the users 101 to 103.

  The transmission / reception unit 114 communicates with the portable wireless terminals 105 to 107 carried by the pedestrians 101 to 104 via the first antenna 111 or the second antenna 110. The transmission / reception unit 114 is connected to the determination unit 115 and outputs pedestrian information obtained by communication to the determination unit 115. Here, the pedestrian information is, for example, a unique ID (solid identification information) possessed by a portable wireless terminal carried by each pedestrian.

  The determination unit 115 includes a storage unit that stores pedestrian information input from the transmission / reception unit 114. Further, the determination unit 115 determines the risk of collision between the vehicle 100 and each pedestrian with reference to the pedestrian information and the pedestrian presence information input from the image analysis device 112. The determination unit 115 is connected to the alarm device 116 and outputs the determination result to the warning device 116.

  The alarm device 116 alerts the driver of the vehicle 100 according to the determination result input from the determination unit 115. For example, if there are pedestrians outside the viewing angle, the driver will be alerted with a loud voice saying “There is a pedestrian in an invisible position, caution!” If there is, the user is alerted by calling out “pedestrian attention” and normal voice or selecting the warning content. Warning methods include sound, lamp display, character display, or a combination thereof. The warning method may change the combination according to the degree of collision risk and appropriately change the level (strength) of alerting the driver.

  Next, with reference to FIGS. 1-4, operation | movement of the traffic safety assistance system of this Embodiment 1 is demonstrated. As described above, FIG. 1 shows a schematic configuration diagram of the traffic safety support system of the first embodiment. FIG. 2 is a diagram illustrating a captured image captured by the camera. FIG. 3 is a flowchart for explaining the operation of the traffic safety support system according to the first embodiment. FIG. 4 is a correspondence table between each portable wireless terminal and each ID.

  First, the situation / positional relationship between the vehicle 100 and each pedestrian, which is a premise for explaining the operation, will be described. As shown in FIG. 1, the vehicle 100 is traveling toward an intersection having a right turn ahead. Pedestrians 101 to 103 are walking on a road on the extension of the traveling direction of the vehicle 100. The pedestrian 104 is present at the right turn of the intersection and is moving toward the junction of the intersection. In other words, the pedestrian 104 is present at a blind spot position (a blind spot area) from the driver's seat of the vehicle 100. In FIG. 1, the area indicated by reference sign D1 is a blind spot area.

  Each pedestrian carries and holds a wireless communication terminal. Specifically, the pedestrian 101 carries the portable wireless terminal 105. A pedestrian 102 carries a portable wireless terminal 106. A pedestrian 103 carries a portable wireless terminal 107. A pedestrian 104 carries a portable wireless terminal 108.

  Each portable wireless terminal is given a unique ID. Specifically, as shown in FIG. 4, the ID of the portable wireless terminal 105 is “# 1”, the ID of the portable wireless terminal 106 is “# 2”, and the ID of the portable wireless terminal 107 is “# 3”. And the ID of the portable wireless terminal 108 is “# 4”.

  The in-vehicle device 117 is mounted on the vehicle 100. The first antenna 111 provided in the in-vehicle device 117 has a communication area in front of the traveling direction of the vehicle 100 and can communicate with all the pedestrians 101 to 104. Based on this situation, the operation of the traffic safety support system according to the first embodiment will be described below.

  As shown in the flowchart of FIG. 3, first, the in-vehicle device 117 is a mobile wireless terminal that exists in the communication area of the first antenna 111, that is, each of the pedestrians 101 to 104 that are present in the traveling direction of the vehicle 100. Wireless communication is performed with each of the portable wireless terminals 105 to 108 held by the person, and the ID of each portable wireless terminal is acquired (S200).

  Each acquired ID is stored in the determination unit 115 as shown in FIG. 4 (S201). Next, the field of view of the vehicle driver in the traveling direction of the vehicle 100 is imaged by the camera 109 (S202). Under the above-described situation, as shown in FIG. 2, the captured image is an image in which the pedestrian 101, the pedestrian 102, and the pedestrian 103 are captured.

  Image data captured by the camera 109 is output to the image analysis device 112. The image analysis device 112 analyzes the image data input from the camera 109 and recognizes the presence and position of the pedestrian 101, the pedestrian 102, and the pedestrian 103 from the shape and characteristics. Then, the image analysis device 112 outputs the position information of the pedestrian 101, the pedestrian 102, and the pedestrian 103 to the directivity control unit 113. Further, the image analysis device 112 outputs the presence information of the pedestrian 101, the pedestrian 102, and the pedestrian 103 to the determination unit 115. The determination unit 115 detects the pedestrian 101, the pedestrian 102, and the pedestrian 103 as pedestrians present in the driver's field of view (S203).

  The directivity control unit 113 refers to the position information of the pedestrian 101 input from the image analysis device 112 and determines the directivity of the second antenna 110 having a narrow directivity in the direction in which the pedestrian 101 exists. Control is made so as to point (S204).

  The second antenna 110 is in a state in which communication with the portable wireless terminal 105 carried by the pedestrian 101 is possible by directing the directivity toward the pedestrian 101 under the control of the directivity control unit 113. Then, the unique ID “# 1” of the mobile communication terminal 105 carried by the pedestrian 101 in the imaging area is acquired via the second antenna 110 and the transmission / reception unit 114 (S205).

  The determination unit 115 uses the ID “# 1” acquired via the second antenna 110 and the ID (“# 1”, “# 2”) acquired and stored first via the first antenna 111 in S200. , “# 3”, “# 4”) and confirms whether there is a match (S206).

  When the matching ID is confirmed, the ID stored in the determination unit 115 is deleted. In this step, “# 1” is deleted (S207).

  Next, the determination unit 115 completes ID verification for the number of pedestrians recognized by image analysis based on the presence information of the pedestrian 101, the pedestrian 102, and the pedestrian 103 input from the image analysis device 112. It is confirmed whether or not (S208). In the description of this operation, the presence of three pedestrians has been confirmed in S203. On the other hand, since only one ID has been confirmed, the determination unit 115 enters a waiting state for verification, and the process returns to S204. (S208-No).

  Next, the directivity control unit 113 is controlled to direct the directivity of the second antenna 110 in the direction in which the pedestrian 102 exists based on the position information of the pedestrian 102 input from the image analysis device 112. (S204). Then, the ID “# 2” of the portable wireless terminal 106 carried by the pedestrian 102 is acquired (S205) and collated with the stored ID (S206). As a result, the ID “# 2” matched by the collation is deleted (S207).

  Again, the determination unit 115 determines whether or not the ID verification for the number of pedestrians recognized by the image analysis has been completed based on the presence information of the pedestrian 101, the pedestrian 102, and the pedestrian 103 input from the image analysis device 112. (S208). In the description of this operation, the presence of three pedestrians has been confirmed in S203, while the IDs have only been confirmed for two persons. Therefore, the determination unit 115 enters a waiting state for verification, and the process returns to S204 again. Return (S208-No).

  The matching process is repeated for the pedestrian 103 as well. The directivity control unit 113 is controlled to direct the directivity of the second antenna 110 in the direction in which the pedestrian 103 exists based on the position information of the pedestrian 103 input from the image analysis device 112 (S204). ). Then, the ID “# 3” of the portable wireless terminal 107 carried by the pedestrian 103 is acquired (S205) and collated with the stored ID (S206). As a result, the ID “# 3” matched by the collation is deleted (S207).

  Next, the determination unit 115 recognizes that the ID collation for the number of pedestrians recognized by the image analysis is completed (S208-Yes), and the ID “#” that is not deleted by the above collation from the stored ID. 4 ”, it is detected that the pedestrian 104 is a pedestrian existing outside the field of view (dead angle) of the driver of the vehicle 100 (S209).

  By performing the above operation, the determination unit 115 detects the pedestrians 101 to 103 as pedestrians present in the driver's field of view. The determination unit 115 detects the pedestrian 104 as a pedestrian existing outside the driver's field of view. With reference to the determination result, the alarm device 116 alerts the driver to the pedestrians 101 to 103 in the field of view, for example, alerts “pedestrian attention” by voice. Similarly, with reference to the determination result, the alarm device 116 “sees” the driver with a voice larger than a warning to the pedestrian 104 outside the field of view, for example, a warning to the pedestrians 101 to 103. There is no pedestrian, attention "is executed.

  The in-vehicle device 117 re-stores the ID in the determination unit 115 every time a pedestrian enters the communication area of the first antenna 111 while the vehicle is traveling, that is, whenever a new ID is detected. The following verification process is executed, and the pedestrian always present in the blind spot may be wary while the vehicle is traveling. At this time, the processes in S200 to S209 are simultaneously performed in parallel.

  Thus, in the traffic safety support system according to the present embodiment, the in-vehicle device 117 detects a pedestrian that exists outside the imaging area and a pedestrian that exists within the imaging area, and thus exists outside the field of view. A pedestrian with a high possibility of a collision and a pedestrian in the field of view can be alerted differently.

  Further, since the in-vehicle device 117 mounted on the vehicle 100 wirelessly communicates with each wireless communication terminal only by the ID (unique identification information) of each wireless device, there are a plurality of wireless communication terminals in the communication area. Even if this is done, the amount of communication will not increase excessively. That is, the amount of information can be significantly reduced as compared with the case of using conventional pedestrian behavior information.

  Note that the method of calling attention is not limited to the above method, and the same effect can be obtained by calling attention to the driver of the vehicle by sound, light, vibration, display, or the like.

  In addition, the antenna directivity control method is not limited to the above-described method, and a method in which a plurality of antennas with different directivity directions are installed in advance and the directivity direction is changed by switching the antennas may be used. Alternatively, the same effect can be obtained by using an antenna (a type of directional antenna) that can electrically control the direction of directivity by adjusting the phase.

  INDUSTRIAL APPLICABILITY The warning object detection device and the traffic safety support system of the present invention are useful as a warning object detection device and a traffic safety support system that can reduce traffic and give an appropriate warning to the driver.

Schematic configuration diagram of the traffic safety support system of the first embodiment The figure which shows the picked-up image which the camera imaged The flowchart for demonstrating operation | movement of the traffic safety assistance system of this Embodiment 1. Correspondence table between each portable wireless terminal and each ID Schematic configuration diagram of a conventional traffic safety support system

Explanation of symbols

100 Vehicle 101-104 Pedestrian 105-108 Portable wireless terminal (wireless device)
109 Camera (imaging means)
110 Second antenna (second wireless communication means)
111 First antenna (first wireless communication means)
112 Image analysis device (image analysis means)
113 Directivity Control Unit 114 Transmission / Reception Unit 115 Judgment Unit (Judgment Unit)
116 Alarm device (warning means)
117 On-vehicle device (warning target detection device)
118 images

Claims (5)

A warning target detection device for detecting a warning target existing around a vehicle,
A first wireless communication means for receiving solid identification information for identifying the wireless device from a wireless device held by a security target existing in a preset communication area;
Imaging means for acquiring a predetermined range of image data in the communication area;
Image analysis means for analyzing the image data and extracting position information of a warning target existing within the predetermined range;
A second wireless communication means for referring to the position information and receiving solid identification information for identifying the wireless device from a wireless device held by a security target existing within the predetermined range;
And a judging means for judging the existence range of the alert target,
The determination means is a warning that is recognized as existing in the communication area by comparing the solid identification information received by the first wireless communication means with the solid identification information received by the second wireless communication means. A warning target detection device that determines whether or not a target is present within a predetermined range in which the imaging means acquires image data.   The warning object detection device according to claim 1, wherein the communication area of the first wireless communication unit is set as a range in which a collision may occur between the vehicle and the warning object.   The warning target detection device according to claim 1 or 2, wherein the predetermined range in which the imaging unit acquires image data is set to coincide with the field of view of the driver of the vehicle.   The warning target detection according to any one of claims 1 to 3, further comprising warning means for determining a warning content with reference to a determination result of the determination means and warning the driver of the presence of the warning target. apparatus. A traffic safety support system for preventing a collision between a vehicle and a warning object,
The traffic safety support system is composed of a wireless device held by a warning target and a warning target detection device mounted on the vehicle,
The wireless device transmits a radio wave that can be received in a communication area set in advance by the alert target detection device,
The traffic safety support system, wherein the warning target detection device is a warning target detection device according to any one of claims 1 to 4.

Images