JP2011100257A - Risk avoidance system and method - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To efficiently and reliably prevent unnecessary avoidance to a target that is not likely to collide with a mobile body. <P>SOLUTION: The system includes: a mobile body position prediction means 2 which predicts a position of a mobile body; an object position prediction means 3 which predicts a position of an object; an object detection means 4 which checks whether the object actually exists around the mobile body; an avoidance execution means 5 which avoids contact between the mobile body and the object when the presence of the object is detected by the object detection means 4; and a preferential search area setting means 6 which sets a preferential search area for preferentially detecting the object by the object detection means 4 based on the predicted position information of the mobile body, the predicted position information of the object information related to movement of the mobile body, and information on movement of the object. <P>COPYRIGHT: (C)2011,JPO&INPIT

Description

  The present invention relates to a technique for avoiding contact between a moving body such as an automobile and an object such as a pedestrian.

  In recent years, a system for avoiding a contact accident between an automobile and a pedestrian has been developed. Such a system usually includes means for detecting whether or not there are pedestrians or the like around the automobile. For this detection, a satellite positioning system such as GPS (Global Positioning System), a positioning system using information obtained from a mobile phone base station, or the like is used.

  In Patent Document 1, based on information from a plurality of mobile terminals and base stations, mobile entity information including a position distribution, a moving speed distribution, a moving direction distribution, etc. of the mobile terminals is generated, and the mobile entity information is A system that broadcasts to a car navigation apparatus existing in a predetermined area via a station is disclosed.

  In Patent Document 2, the position, moving direction, moving speed, and the like of a plurality of moving bodies are calculated from information from a plurality of portable terminals, and an alarm is output to the plurality of portable terminals that may cross each other. A system is disclosed.

  Patent Document 3 discloses a system that recognizes a pedestrian or the like from image information around a car and executes a predetermined notification process based on the risk of contact between the car and the pedestrian or the like.

  In patent document 4, it is a system which alert | reports the presence of the said pedestrian to the driver | operator of a moving body based on the electromagnetic wave which the portable terminal which a pedestrian has transmits, Comprising: The said pedestrian around the said moving body autonomously A system is disclosed that detects and detects the presence of this autonomously detected pedestrian. This system pays attention to the fact that the range that can be detected by the autonomous detection means substantially overlaps with the range that can be recognized by the driver, so that only the pedestrian that the driver is assumed to be unable to recognize can be notified. It is intended to do.

JP 2006-279859 A JP 2002-304700 A JP 2006-163637 A JP 2007-128235 A

  However, in the systems disclosed in Patent Documents 1, 2, and 4, since the presence is notified based on information transmitted by the mobile terminal, for example, a pedestrian moving in a building, a parking lot There is a problem in which the driver is informed of information related to objects that are not in danger of contact, such as moving cars, pedestrians moving on three-dimensional intersections that do not intersect, or cars.

  In addition, the system disclosed in Patent Document 3 has a room for significant improvement in risk avoidance capability because its presence cannot be detected unless a pedestrian or the like is within the image range of an imaging device installed in an automobile. It is.

  One aspect of the present invention is a mobile body position prediction unit that predicts a position of a mobile body, a target position prediction unit that predicts a position of a target that the mobile body should avoid contact, and the target around the mobile body. A target detection unit that detects whether or not a target actually exists, and a measure for avoiding contact between the moving body and the target when the target detection unit detects the presence of the target Avoidance measure execution means, position information of the moving body predicted by the moving body position prediction means, position information of the object predicted by the target position prediction means, information on movement of the moving body, and A risk avoidance system comprising: priority search area setting means for setting a priority search area in which the target detection means preferentially executes processing for detecting the target based on information relating to movement. .

  According to another aspect of the present invention, there are a step of predicting a position of a moving body, a step of predicting a position of a target from which the moving body should avoid contact, and the target actually exists around the moving body. Detecting whether or not to perform, a step of executing a measure for avoiding contact between the moving object and the object when the presence of the object is detected, and a predicted position of the moving object Setting a priority search area that preferentially executes the process of detecting the target based on the information, the predicted position information of the target, the information related to the movement of the moving body, and the information related to the movement of the target; A risk avoidance method comprising:

  According to the above aspect, the positions of the moving body and the target are predicted based on information acquired using an appropriate positioning system such as GPS, and the priority search is performed based on the predicted position information. An area is set. Then, whether or not the target actually exists at the predicted position is detected by a detection device such as a camera or a radar that operates according to the setting result of the priority search area. If the target is not actually detected based on the detection result, avoidance measures such as issuing an alarm and autopilot are not executed.

  ADVANTAGE OF THE INVENTION According to this invention, it becomes possible to prevent efficiently and reliably the unnecessary avoidance measure with respect to the object which does not actually have a risk of contacting with a moving body, for example, the pedestrian who moves the inside of a building.

It is a block diagram which shows the functional structure of the danger avoidance system which concerns on Embodiment 1 of this invention. It is a figure which illustrates the condition where the danger avoidance system which concerns on the said Embodiment 1 is operated. It is a block diagram which illustrates the specific structure of the danger avoidance system which concerns on the said Embodiment 1. FIG. It is a flowchart which illustrates the flow of the process in the danger avoidance system which concerns on the said Embodiment 1. FIG. It is a figure which illustrates the condition where a priority search area is set in the danger avoidance system which concerns on the said Embodiment 1. FIG.

Embodiment 1
FIG. 1 shows a functional configuration of a danger avoidance system 1 according to Embodiment 1 of the present invention. The danger avoidance system 1 includes a moving body position prediction unit 2, a target position prediction unit 3, a target detection unit 4, an avoidance measure execution unit 5, and a priority search area setting unit 6.

  The mobile body position predicting means 2 predicts the position of a mobile body such as an automobile. The mobile body position prediction means 2 can be configured using a satellite positioning system such as GPS, a positioning system using a wireless communication network such as a mobile phone, and the like.

  The target position predicting means 3 predicts the position of a target such as a pedestrian that the moving body should avoid contact with. The target position predicting means 3 can also be configured using a satellite positioning system such as GPS, a positioning system using a wireless communication network such as a mobile phone, and the like, similar to the mobile position predicting means 2.

  The target detection means 4 detects whether or not the target actually exists around the moving body. The object detection unit 4 can be configured using, for example, a camera, a radar, and a microcomputer that analyzes information acquired from these devices.

  The avoidance measure execution unit 5 executes a measure for avoiding contact between the moving body and the target when the target detection unit 4 detects the presence of the target. As this measure, for example, an alarm is sent to the driver, and an automatic operation such as a brake or a steering wheel is given. The avoidance measure execution means 5 can be configured using, for example, a microcomputer that controls an alarm device, a brake unit, a handle unit, and the like provided in an automobile according to a predetermined control program.

  The priority search area setting unit 6 determines whether the target detection unit 4 is based on a prediction result (moving body position information) by the moving body position prediction unit 2 and a prediction result (target position information) by the target position prediction unit 3. A priority search area for preferentially executing processing for detecting whether or not the target actually exists is set. The target detection means 4 refers to not only the mobile body position information and the target position information but also the setting result (priority search area information) by the priority search area setting means 6 and executes the target detection process. The priority search area setting means 6 can be configured by using, for example, a microcomputer that executes information processing according to a predetermined calculation / control program.

  FIG. 2 illustrates a situation where the danger avoidance system 1 is operated. The danger avoidance system 1 according to this example is intended to avoid contact between the automobile 11 and the pedestrians 12A, 12B, 12C. The automobile 11 includes a navigation system 21 or places a mobile phone 22 owned by a driver in the car. The automobile 11 includes a detection device 23 such as a camera or a radar. Each of the pedestrians 12A, 12B, and 12C has portable communication terminals such as mobile phones 24A, 24B, and 24C. Each of the mobile phones 22, 24A, 24B, and 24C transmits and receives information to and from the management center 25 via a wireless communication network including a base station and the like. The navigation system 21 and each of the mobile phones 22, 24A, 24B, and 24C preferably have a function of receiving a signal from the GPS satellite 27 and positioning it.

  FIG. 3 illustrates a specific configuration of the danger avoidance system 1. The automobile 11 includes the navigation system 21, camera 31, radar 32, brake unit 33, handle unit 34, alarm device 35, and control unit 36. The navigation system 21 includes a GPS receiver 38 that receives signals from the GPS satellite 27, and a positioning sensor 39 that collects feedback signals from wheels, handles, and the like used when the GPS function cannot be used. The camera 31 acquires image information around the automobile 11. The radar 32 transmits ultrasonic waves, electromagnetic waves and the like around the automobile 11 and receives the reflected waves to collect the information. The control unit 36 includes a microcomputer that operates in accordance with various control / calculation programs, and outputs control signals to the brake unit 33, the handle unit 34, the alarm device 35, and other units.

  The cellular phone 24 owned by the pedestrian 12 includes a GPS receiving unit 24 that receives a signal from the GPS satellite 27. The mobile phone 24 transmits and receives information to and from the host system 46 through base stations 45 installed in various places. The host system 46 is a computer system that performs overall control, and is installed in the management center 25, for example. The host system 46 transmits / receives information to / from the control unit 36 of the automobile 11 via a predetermined wireless communication network.

  FIG. 4 exemplifies the flow of processing in the danger avoidance system 1 configured as described above. First, the position information of the automobile 11 is acquired by the GPS receiver 38 and the immediate sensor 39 of the navigation system 21 (S101), and the position of the automobile 11 is predicted based on the position information (S102). . Next, the host system 46 acquires position information acquired by the GPS receiver 41 of the mobile phone 24 owned by the pedestrian 12, information on the base station 45 communicating with the mobile phone 24, and the like. (S103). The acquired information is transmitted to the control unit 36 of the automobile 11, and the control unit 36 predicts the position of the pedestrian 12 (the mobile phone 24) based on the received information (S104). . The process of predicting the position of the pedestrian 12 may be executed in the host system 46.

  Next, the control unit 36 predicts whether or not the pedestrian 12 is present around the automobile 11 based on the predicted position of the automobile 11 and the predicted position of the pedestrian 12 (S105). If it is predicted in step S105 that the pedestrian 12 does not exist (NO), the process returns to step S101. If it is predicted that the pedestrian 12 exists (YES), the vehicle 11 The priority search area is set based on a predicted position, a predicted position of the pedestrian 12, movement information (direction, speed, etc.) of the automobile 11, movement information (direction, speed, etc.) of the pedestrian 12 ( S106). As described above, the priority search area is an area that preferentially detects whether or not the pedestrian 12 actually exists in the search areas of the camera 31 and the radar 32. The setting of the priority search area will be described later.

  Next, it is determined whether or not the presence of the pedestrian 12 is actually detected by the camera 31 and the radar 32 according to the setting result of the priority search area (S107). If the pedestrian 12 is not detected in the step S107 (NO), the process returns to the step S101. If the pedestrian 12 is detected (YES), the detected pedestrian 12 is then detected. It is determined whether there is a risk of contact between the vehicle 11 and the automobile 11 (S108). If it is determined in step S108 that there is no risk of contact (NO), the process returns to step S101, and if it is determined that there is a risk of contact (YES), An avoidance measure is executed (S109).

  Hereinafter, setting of the priority search area will be described. FIG. 5 illustrates a situation where the priority search area is set. In the figure, the car 11, the first pedestrian 12A, the second pedestrian 12B, and the third pedestrian 12C that are running are shown. The first pedestrian 12A exists in the building 50, moves in the direction of the arrow 51A, and is separated from the automobile 11 by a distance D1. The second pedestrian 12B exists on the road, moves in the direction of the arrow 51B, and is separated from the automobile 11 by a distance D2. The third pedestrian 12C exists on the road, moves in the direction of the arrow 52C, and is separated from the automobile 11 by a distance D3. The distances D1, D2, D3 have a relationship of D1 <D2 <D3.

  In the same figure, the search area SA, the first area A1, the second area A2, and the third area A3 are shown. The search area SA is an area where the presence of an object including a pedestrian can be detected by the camera 31 and the radar 32 mounted on the automobile 11, or an area where there is a possibility of contact in the detectable area. is there. In the present example, the search area SA is shown only in front of the automobile 11, but this is for simplifying the explanation, and the actual search area is located on the rear side and both sides of the automobile 11. It is preferable to cover all directions including.

  In response to the above situation, the danger avoidance system 1 sets the first to third areas A1, A2, and A3 as the priority search areas in the search area SA. The first area A1 is an area in the search area SA that is assumed to be calculated when the first pedestrian 12A reaches when the movement of the first pedestrian 12A continues in the direction of the arrow 51A. Similarly, the second area A2 is an area assumed to reach the second pedestrian 12B, and the third area A3 is an area assumed to reach the third pedestrian 12C. It is. Furthermore, the danger avoidance system 1 determines the priority for executing the detection process for these areas A1, A2, and A3. It is preferable that the priorities are determined in order from the earliest time (estimated arrival time) when the pedestrians 12A, 12B, and 12C are expected to reach the areas A1, A2, and A3. The estimated arrival time is calculated based on the moving direction and speed of the automobile 11, the distances D1, D2, and D3, the moving directions (arrows 51A, 51B, and 51C) of the pedestrians 12A, 12B, and 12C, the speed, and the like. can do.

  In the situation shown in FIG. 5, since the first pedestrian 12A is closest to the car 11, the priority of the first area A1 is the highest if the moving direction and speed satisfy certain conditions. It is set high (the detection process is executed earliest). However, in this example, since the first pedestrian 12A is moving in the building 50, there is almost no possibility of contact with the automobile 11. That is, even if detection processing is executed on the first area A1 by the camera 31 and the radar 32, the presence of the first pedestrian 12A is not detected. Thus, unnecessary avoidance measures by the avoidance measure execution means 5, that is, unnecessary automatic control for the brake unit 33, the handle unit 34, the alarm device 35, etc., are not executed. Thereafter, if the detection process is executed for the second area A2 and the third area A3, and the second pedestrian 12B or the third pedestrian 12C is detected, the appropriate avoidance is performed. Measures are implemented.

  As described above, according to the danger avoidance system 1, the predicted position information of the automobile 11, the predicted position information of the pedestrians 12A, 12B, and 12C, the movement information of the automobile 11, the pedestrians 12A and 12B. The priority search areas A1, A2, and A3 are set based on the movement information of 12C, and the pedestrians 12A, 12B, and 12C are actually present by the camera 31, the radar 32, and the like according to the setting result. Is detected. This makes it possible to efficiently and reliably prevent unnecessary avoidance measures for the pedestrian 12A that has no possibility of contact.

  The present invention is not limited to the above-described embodiment, and can be appropriately changed without departing from the spirit of the present invention.

DESCRIPTION OF SYMBOLS 1 Risk avoidance system 2 Mobile body position prediction means 3 Target position prediction means 4 Target detection means 5 Avoidance measure execution means 6 Priority search area setting means 11 Car 12 (12A, 12B, 12C) Pedestrian 21 Navigation system 22 Cellular phone 23 Detection Equipment 24 (24A, 24B, 24C) Mobile phone 25 Management center 27 GPS satellite 31 Camera 32 Radar 33 Brake unit 34 Handle unit 35 Alarm device 36 Control unit 38 GPS receiver 39 Positioning sensor 41 GPS receiver 45 Base station 46 Host system 50 Building SA Search Area A1, A2, A3 (Priority Search) Area

Claims (3)

Mobile body position prediction means for predicting the position of the mobile body;
Target position prediction means for predicting the position of the target where the moving body should avoid contact;
Object detection means for detecting whether or not the object actually exists around the moving body;
Avoidance measure execution means for executing a measure for avoiding contact between the moving object and the target when the target detection means detects the presence of the target;
Based on the position information of the mobile body predicted by the mobile body position prediction means, the position information of the target predicted by the target position prediction means, the information about the movement of the mobile body, and the information about the movement of the target Priority search area setting means for setting a priority search area in which the target detection means preferentially executes processing for detecting the target;
A danger avoidance system comprising: The priority search area setting means, when there are a plurality of the priority search areas corresponding to a plurality of the pedestrians, based on the time when each pedestrian is assumed to reach a predetermined search area Determine the priority of each priority search area,
The danger avoidance system according to claim 1. Predicting the position of the moving object;
Predicting the position of the object to which the mobile body should avoid contact;
Detecting whether or not the object actually exists around the moving body;
Executing a measure for avoiding contact between the moving object and the target when the presence of the target is detected;
Based on the predicted position information of the moving body, the predicted position information of the target, information about movement of the moving body, and information about movement of the target, the process of detecting the target is preferentially executed. Setting a priority search area;
A danger avoidance method comprising:

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