JP2009234449A - Alarm device for vehicle - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To timely urge a driver to pay attention based on video images outside a vehicle imaged by cameras provided in the vehicle. <P>SOLUTION: This alarm device urges the driver of the vehicle 10 to pay attention based on the video images outside the vehicle imaged by the cameras 11 and 12 provided in the vehicle 10. The alarm device is provided with an alarm execution means 21 for executing alarm control to urge the driver to pay attention by operating alarm equipment 15, 16 and 17 when a prescribed alarm execution condition is satisfied, a stop intention estimation means 23 for estimating whether or not the driver has an intention to bring the vehicle 10 into a stop state, and an alarm inhibition means 24 for inhibiting the execution of the alarm control by the alarm execution means 21 when it is estimated that the driver has the intention to bring the vehicle into the stop state. The alarm execution condition includes a condition of the case that an object approaching the vehicle 10 exists in the video images outside the vehicle. <P>COPYRIGHT: (C)2010,JPO&INPIT

Description

  The present invention relates to an alarm device for a vehicle that urges a driver's attention based on an image outside the vehicle captured by a camera provided in the vehicle.

2. Description of the Related Art Conventionally, a technique has been developed that expands the visual field of a driver by displaying an image outside the vehicle imaged by a camera (a so-called nose view camera) provided in front of the vehicle on a display provided in the vehicle.
Further, in recent years, an approaching object (for example, another vehicle or a pedestrian) approaching the host vehicle is detected based on the video from the nose view camera, and the approaching object passes in front of the host vehicle. A technique for estimating the time has also been developed.

This technique is disclosed in Patent Document 1 below, and highlights the approaching object on a monitor in the vehicle or activates an alarm device according to the passing time of the approaching object, thereby driving the driver's attention. It is supposed to prompt the arousal.
JP 2006-253932 A

However, in the technique of Patent Document 1, even if the driver has already paid sufficient attention to the approaching object, there is a case where an emphasis display or an alarm sound is generated. In other words, in the technique of Patent Document 1, the number of scenes that call the driver's attention is increased more than necessary.
In such a case, not only is it bothering the driver, but the driver gets used to highlighting and warning sounds, making it difficult to call the driver's attention when the driver's attention is really needed. There is a problem.

  The present invention has been devised in view of such problems, and provides a vehicle alarm device that can prompt the driver's attention in a timely manner based on an image outside the vehicle captured by a camera provided in the vehicle. The purpose is to do.

  In order to achieve the above object, an alarm device for a vehicle according to the present invention (claim 1) is an alarm device for a vehicle that prompts the driver of the vehicle to pay attention based on an image outside the vehicle imaged by a camera provided in the vehicle. Whether the driver has an intention to execute alarm control that activates an alarm device to alert the driver when a predetermined alarm execution condition is satisfied, and the driver intends to stop the vehicle. Stop intention estimation means for estimating whether or not, and when the stop intention estimation means estimates that the driver has the intention to put the vehicle into the stop state, execution of the alarm control by the alarm execution means The alarm execution condition includes a condition that an object approaching the vehicle is present in the image outside the vehicle.

  According to a second aspect of the present invention, the alarm device for a vehicle of the present invention further comprises vehicle speed detecting means for detecting the vehicle speed of the vehicle and acceleration detection means for detecting the acceleration of the vehicle. The stop intention estimation means is configured so that the driver detects the vehicle when the vehicle speed detected by the vehicle speed detection means exceeds a vehicle speed threshold and the acceleration detected by the acceleration detection means is equal to or less than an acceleration threshold. It is characterized by having an intention to stop.

  According to a third aspect of the present invention, there is provided the vehicle alarm device according to the first or second aspect, wherein the vehicle speed detecting means for detecting the vehicle speed of the vehicle and the brake pedal provided on the vehicle are depressed by a predetermined amount. Braking stop means for detecting that the vehicle has detected that the vehicle has detected that the vehicle speed detected by the vehicle speed detection means is less than or equal to a vehicle speed threshold value and the brake pedal is depressed by a predetermined amount. It is estimated that the driver has an intention to stop the vehicle when the vehicle is detected.

According to a fourth aspect of the present invention, there is provided the vehicle alarm device according to any one of the first to third aspects, wherein the alarm execution means is configured to cause the driver to detect the vehicle by the stop intention estimation means. The alarm control is performed when it is estimated that the user does not have the intention to enter the stop state.
According to a fifth aspect of the present invention, there is provided the vehicle alarm device according to any one of the first to fourth aspects, wherein the alarm device includes an alarm lamp, a buzzer, a navigation display, a seat vibrator, and an accelerator. At least one of the pedal actuators is included.

According to the vehicle alarm device of the present invention, it is possible to prompt the driver's attention in a timely manner based on the outside image captured by the camera provided in the vehicle. (Claim 1)
Further, it is possible to appropriately estimate whether or not the driver has an intention to stop the vehicle according to the vehicle speed and the acceleration. (Claim 2)
In addition, it is possible to appropriately estimate whether the driver has an intention to stop the vehicle with a simple configuration. (Claim 3)
Further, when it is estimated that the driver does not intend to stop the vehicle, the driver's attention can be alerted. (Claim 4)
In addition, the driver can be alerted through the driver's auditory, visual, and tactile sensations. (Claim 5)

Hereinafter, a vehicle alarm device according to an embodiment of the present invention will be described with reference to the drawings.
FIG. 1 is a schematic diagram showing a vehicle to which a vehicle alarm device according to an embodiment of the present invention is applied, FIG. 2 is a schematic diagram showing a situation where a nose view camera detects an approaching object, and FIG. 3 shows its operation. It is a typical flowchart.
As shown in FIG. 1, a left nose view camera 11 is provided on the left side of the front part of the vehicle 10, and a right nose view camera 12 is provided on the right side of the front part.

The left nose view camera 11 can capture the front left side of the vehicle 10, and the right nose view camera 12 can capture the front right side of the vehicle 10.
Further, the vehicle 10 is provided with a G sensor unit (acceleration detection means, vehicle speed detection means) 13 and a brake pedal switch (brake detection means) 14.
Among these, the G sensor unit 13 calculates the vehicle speed V by detecting the acceleration α of the vehicle 10 and integrating the acceleration α.

The brake pedal switch 14 is an electrical switch that is turned on when a brake pedal (not shown) is depressed by a predetermined amount.
Further, the vehicle 10 is provided with an alarm lamp 15, a buzzer 16, and a liquid crystal display 17 as alarm devices.
The warning lamp 15 is a lamp provided on an instrument panel (not shown), and is lit to urge the driver's attention through the driver's vision.

The buzzer 16 emits an alarm sound by sounding and urges the driver to be alert through the driver's hearing.
The liquid crystal display 17 is a multipurpose display that is connected to a navigation device or an audio device (both not shown) and displays various information such as navigation information and music information.

The vehicle 10 is provided with an alarm ECU 18. The alarm ECU 18 is an electronic control unit that includes an interface, a CPU, a memory, and the like (not shown).
The alarm ECU 18 is electrically connected to a left nose view camera 11, a right nose view camera 12, a G sensor unit 13, a brake pedal switch 14, an alarm lamp 15, a buzzer 16, and a liquid crystal display 17.

The memory of the alarm ECU 18 includes an alarm execution unit (alarm execution unit) 21, an approaching object detection unit (approaching object detection unit) 22, a stop intention estimation unit (stop intention estimation unit) 23, and an alarm prohibition unit (alarm prohibition unit) 24. Are provided as software.
Among these, the alarm execution unit 21 turns on the alarm lamp 15, sounds the buzzer 15, and displays a warning on the liquid crystal display 17 when a predetermined alarm execution condition is satisfied. The control (warning control) that calls for attention is executed.

  The alarm execution condition includes a moving object (approaching object) approaching the vehicle 10 in at least one of the left front image captured by the left nose view camera 11 and the right front image captured by the right nose view camera 12. The condition that it is detected that it is included is included. The approaching object is detected by an approaching object detection unit 22 described later.

  The approaching object detection unit 22 detects a plurality of feature points in the outside image captured by the left nose view camera 11 or the right nose view camera 12, and obtains motion vectors of these feature points. Yes. Further, the approaching object detection unit detects an object having a vector approaching the vehicle 10 among the obtained motion vectors as an approaching object.

The stop intention estimation unit 23 estimates whether or not the driver has the intention to place the vehicle 10 in a stop state. Here, the stopped state refers to a state where the vehicle 10 substantially stops.
More specifically, the stop intention estimation unit 23 determines that the vehicle speed V exceeds the vehicle speed threshold value V _th1 (that is, V> V _th1 ) and the acceleration α is equal to or less than the acceleration threshold value α _th (that is, α ≦ α). _th ), it is estimated that the driver has an intention to bring the vehicle 10 to a stop state. In the present embodiment, the vehicle speed threshold value V _th1 is set to 1 km / h. This is set in view of the fact that the speed at which the vehicle 10 can travel with the driver slightly depressing the brake pedal and turning on the brake pedal switch 14 is about 1 km / h. On the other hand, the acceleration threshold α _th is set to zero. This is set to determine whether or not the vehicle 10 is decelerating.

  The warning prohibition unit 24 prohibits execution of alarm control by the alarm execution unit 21 when the stop intention estimation unit 23 estimates that the driver has an intention to stop the vehicle 10. That is, if the stop intention estimation unit 23 estimates that the driver has an intention to stop the vehicle 10, even if the alarm execution condition is satisfied, the alarm lamp 15 is turned on or the buzzer 16 sounds. Or the warning prohibition unit 24 prohibits the warning from being displayed on the liquid crystal display 17.

Since the vehicular alarm device according to one embodiment of the present invention is configured as described above, the following operations and effects are achieved.
As shown in FIG. 2, the vehicle 10 is approaching an intersection, the left nose view camera is imaged so as to include the other vehicle 31, and the right nose view camera 12 is imaged so as to include the other vehicle 32. It is assumed that Here, one other vehicle 31 is approaching the vehicle 10 from the left side, and the other other vehicle 32 is approaching the vehicle 10 from the right side.

In such a situation, as shown in the flowchart of FIG. 3, the approaching object detection unit 22 detects that the other vehicle 31 is included in the left front image and the other vehicle 32 is included in the right front image. The alarm execution unit 21 determines that the alarm execution condition is satisfied (Yes route in step S10).
At this time, the stop intention estimation unit 23 determines whether or not the vehicle speed V of the vehicle 10 exceeds the vehicle speed threshold value V _th1 (step S11). When the vehicle speed V is equal to or less than the vehicle speed threshold V _th1 (No route in Step S11), the stop intention estimating unit 23 further determines whether or not the brake pedal switch 14 is off (Step S12).

Here, when the brake pedal switch 14 is off (Yes route of step S14), the alarm execution unit 21 turns on the alarm lamp 15, sounds the buzzer 15, and gives a warning on the liquid crystal display 17. By displaying the information, control for alerting the driver, that is, alarm control is executed (step S13).
On the other hand, when the brake pedal switch 14 is on (No route in step S14), the alarm prohibiting unit 24 turns on the alarm lamp 15, sounds the buzzer 16, or displays a warning on the liquid crystal display 17. Control, that is, the execution of alarm control by the alarm execution unit 21 is prohibited (step S14).

On the other hand, when the vehicle speed V exceeds the vehicle speed threshold value V _th1 (Yes route in step S11), the stop intention estimating unit 23 determines whether or not the acceleration α exceeds the acceleration threshold value α _th (step S15).
Here, when the acceleration α exceeds the acceleration threshold α _th (Yes route in step S15), the alarm execution unit 21 executes alarm control in the same manner as in step S13 (step S16).

On the other hand, when the acceleration α is equal to or less than the acceleration threshold α _th (No route in Step S15), the alarm execution unit 21 prohibits execution of the alarm control (Step S14).
That is, the difference between the case where the control of step S13 or step S16 is executed and the case where the control of step S14 is executed is that the driver has the intention to stop the vehicle 10 by the stop intention estimation unit 23. The difference is whether or not it is estimated.

  The case where the driver has the intention to stop the vehicle 10 can be considered that the driver has already exerted sufficient attention and paid sufficient attention to the approaching object. Even in such a case, if the alarm prohibition unit 24 executes the alarm control, the driver who has already demonstrated sufficient attention will be further alerted. This makes the driver feel bothersome.

Therefore, in the present invention according to the present embodiment, when the driver has an intention to stop the vehicle 10, it is estimated that the driver has already exerted sufficient attention, and the alarm prohibition unit 24 generates an alarm. Execution of alarm control by the execution unit 21 is prohibited. As a result, it is possible to suppress the occurrence of a situation in which the driver feels bothersome.
In addition, since it is possible to appropriately estimate whether or not the driver has an intention to stop the vehicle without adding a special device, it is possible to prevent an increase in cost and an increase in the size of the apparatus.

When it is necessary to alert the driver's attention, the alarm lamp 15 is turned on, the buzzer 16 is sounded, and a warning is displayed on the liquid crystal display 17. Accordingly, the driver's attention can be appropriately evoked through the driver's vision and hearing.
As a specific example, for example, when the vehicle 10 is waiting for a crossing in front of a circuit breaker, a situation in which alarm control is executed due to a train crossing the front of the vehicle 10 can be avoided. In this case, the driver of the vehicle 10 that has already waited for the crossing is paying sufficient attention, and prohibiting the driver from issuing further warnings makes the driver feel bothered. This can be prevented.

  Further, for example, when the vehicle 10 is sufficiently decelerated in front of the intersection and is approaching the intersection while further decelerating, the alarm control is performed due to other vehicles or pedestrians crossing the front of the vehicle 10. The situation where it is executed can be avoided. In this case, the driver of the vehicle 10 that has sufficiently decelerated and further decelerated is paying sufficient attention, and prohibiting the driver from issuing further warnings can be used. It can prevent annoyance from being felt.

Although the embodiments of the present invention have been described above, the present invention is not limited to such embodiments, and various modifications can be made without departing from the spirit of the present invention. An example is shown below.
In the above-described embodiment, the case where the liquid crystal display 17 is used has been described as an example. However, the present invention is not limited to this. For example, an EL (Electro-Luminescence) display, a plasma display, or the like may be used, or a head-up display that projects an image on a windshield.

In the above-described embodiment, the case where the alarm lamp 15, the buzzer 16, and the liquid crystal display 17 are provided in the vehicle 10 as an alarm device has been described as an example. However, the present invention is not limited to this. For example, a seat vibrator or an accelerator pedal actuator may be used as the alarm device.
Among these, the seat vibrator is a vibrator embedded in a driver's seat (not shown), and urges the driver to draw attention through the tactile sense of the driver by vibrating.

The accelerator pedal actuator functions as an accelerator pedal vibrator that finely vibrates the accelerator pedal, and can prompt the driver to draw attention through the sense of touch of the driver.
Further, in the above-described embodiment, the stop intention estimation unit 23 makes the driver's intention to stop the vehicle 10 when the relationship V> V _th1 is established and α ≦ α _th is established. Although the case where it is estimated that it has has been described, it is not limited to this. For example, when the stop intention estimating unit 23 detects that the vehicle speed V is equal to or lower than the vehicle speed threshold value V _th1 (that is, V ≦ V _th1 ) and the brake pedal is depressed by a predetermined amount, the driver 10 It may be estimated that the user has an intention to stop. In this case, detection that the brake pedal is depressed by a predetermined amount is performed by turning on the brake pedal switch.

The operation in this case is as shown in the flowchart of FIG.
In step S20, the approaching object detection unit 22 detects that the moving approaching object is included in the left front image or the right front image, and the alarm execution unit 21 determines that the alarm execution condition is satisfied (step S20). Yes route).
At this time, the stop intention estimation unit 23 determines whether or not the vehicle speed V of the vehicle 10 exceeds the first vehicle speed threshold V _th1 (step S21). Here, when the vehicle speed V is equal to or less than the vehicle speed threshold value V _th1 (No route in step S21), the stop intention estimating unit 23 further determines whether or not the vehicle speed V of the vehicle 10 exceeds the second vehicle speed threshold value V _th2 . Is determined (step S22).

There is a relationship of the following expression (1) between the first vehicle speed threshold V _th1 and the second vehicle speed threshold V _th2 .
V _th1 > V _th2 (1)
Here, the first vehicle speed threshold value V _th1 is set as 1 km / h, and the second vehicle speed threshold value V _th2 is set as 0.05 km / h. That is, in step S21, it is determined whether the vehicle 10 is traveling at a low speed, and in step S22, it is determined whether the vehicle 10 is traveling at an extremely low speed.

When the vehicle speed V of the vehicle 10 exceeds the second vehicle speed threshold value V _th2 (Yes route of step S22), the stop intention estimation unit 23 further determines that the acceleration α of the vehicle 10 exceeds the acceleration threshold value α _th. It is determined whether or not there is (step S23). Note that the acceleration threshold α _th is set to 0 as in the case of the above-described embodiment.
Here, when it is determined that the acceleration α exceeds the acceleration threshold α _th (Yes route in step S23), the alarm execution unit 21 turns on the alarm lamp 15, sounds the buzzer 15, and displays the liquid crystal. By displaying a warning on the display 17, control for prompting the driver's attention, that is, alarm control is executed (step S24).

On the other hand, when the vehicle speed V of the vehicle 10 is equal to or lower than the second vehicle speed threshold value V _th2 (No route in step S22), or when the acceleration α is equal to or lower than the acceleration threshold value α _th (No route in step S23), alarm prohibition The unit 24 prohibits execution of alarm control by the alarm execution unit 21 (step S25).
On the other hand, when the vehicle speed V exceeds the vehicle speed threshold value V _th1 (Yes route of step S21), the stop intention estimating unit 23 determines whether or not the acceleration α exceeds the acceleration threshold value α _th (step S26).

Here, when the acceleration α exceeds the acceleration threshold α _th (Yes route in step S27), the alarm execution unit 21 executes alarm control in the same manner as in step S24 (step S27).
On the other hand, when the acceleration α is equal to or less than the acceleration threshold α _th (No route of Step S26), the alarm execution unit 21 prohibits execution of the alarm control (Step S25).

  In this way, it is possible to appropriately estimate whether or not the driver has an intention to stop the vehicle according to the vehicle speed V and the acceleration α.

1 is a schematic diagram of a vehicle showing an overall configuration of a vehicle alarm device according to an embodiment of the present invention. It is a schematic diagram which shows the condition where the nose view camera of the vehicle provided with the alarm device for vehicles which concerns on one Embodiment of this invention detects an approaching object. It is a typical flowchart which shows operation | movement of the alarm device for vehicles which concerns on one Embodiment of this invention. It is a typical flowchart which shows operation | movement of the alarm device for vehicles which concerns on the modification of one Embodiment of this invention.

Explanation of symbols

10 Vehicle 11 Left nose view camera (camera)
12 Right nose view camera (camera)
13 G sensor unit (vehicle speed detection means, acceleration detection means)
15 Alarm lamp (alarm equipment)
16 Buzzer (alarm device)
17 Liquid crystal display (alarm equipment)
21 Alarm execution part (alarm execution means)
23 Stop intention estimation unit (stop intention estimation means)
24 Alarm prohibition section (alarm prohibition means)

Claims (5)

An alarm device for a vehicle that prompts the driver of the vehicle based on an image outside the vehicle imaged by a camera provided in the vehicle,
An alarm execution means for executing an alarm control that activates an alarm device to alert the driver when a predetermined alarm execution condition is satisfied;
Stop intention estimating means for estimating whether or not the driver has the intention to put the vehicle in a stopped state;
Alarm prohibiting means for prohibiting execution of the alarm control by the alarm execution means when the stop intention estimation means estimates that the driver has the intention to put the vehicle in the stop state,
The vehicle alarm device characterized in that the alarm execution condition includes a condition that an object approaching the vehicle is present in the image outside the vehicle. Vehicle speed detection means for detecting the vehicle speed of the vehicle;
Acceleration detection means for detecting the acceleration of the vehicle,
The stop intention estimation means includes:
The driver has an intention to stop the vehicle when the vehicle speed detected by the vehicle speed detection means exceeds the vehicle speed threshold and the acceleration detected by the acceleration detection means is equal to or less than the acceleration threshold. The vehicle alarm device according to claim 1, wherein the vehicle alarm device is estimated. Vehicle speed detection means for detecting the vehicle speed of the vehicle;
Brake detecting means for detecting that a predetermined amount of a brake pedal provided on the vehicle is depressed,
The stop intention estimation means includes:
The driver intends to stop the vehicle when the vehicle speed detected by the vehicle speed detecting means is below a vehicle speed threshold value and the brake detecting means detects that the brake pedal is depressed by a predetermined amount. The vehicle alarm device according to claim 1, wherein it is estimated that the vehicle alarm is present. The warning execution means executes the warning control when it is estimated by the stop intention estimation means that the driver does not have the intention to put the vehicle into the stop state. The vehicle alarm device according to any one of? 3. The alarm device includes
The vehicle alarm device according to any one of claims 1 to 4, wherein at least one of an alarm lamp, a buzzer, a navigation display, a seat vibrator, and an accelerator pedal actuator is included.

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