JP2011111070A - Device, system, and method of detecting approaching object - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a technique capable of reliably detecting an approaching object with a possibility of causing a contact or collision to an occupant of a vehicle in opening a vehicle door without a door opening/closing operation such as an operation of moving a door knob upon an exit from the vehicle. <P>SOLUTION: The approaching object approaching to the vehicle is detected based on a photographed image obtained by a camera mounted in the vehicle in a halt condition of the vehicle. A vehicle door which the approaching object approaches is specified out of a plurality of vehicle doors, and the alarm device corresponding to the door is actuated in response to the detection of the approaching object. Thus, the risk of the contact or collision with the approaching object by opening of the door upon the exit from the vehicle, can be avoided. <P>COPYRIGHT: (C)2011,JPO&INPIT

Description

  The present invention relates to a technique for detecting an approaching object around a vehicle.

  In general, an object approaching the vehicle while the vehicle is traveling (for example, an object approaching the left and right rear sides of the vehicle) is detected using a radar device or the like, and the presence of an object approaching the vehicle exists. There is a technique for informing a driver who is a user. Patent Document 1 discloses a technology related to an alarm device for a vehicle door opening operation that prevents a vehicle occupant from contacting or colliding with a vehicle approaching from behind when getting off the vehicle.

JP 2001-239832 A

  However, the technique of Patent Document 1 discloses an alarm device for preventing contact and collision with an approaching object from the rear of the vehicle when a door opening operation is performed such as moving the door knob of the vehicle. However, no warning is given to passengers before opening the door. Therefore, the vehicle occupant can know the presence or absence of an approaching object only when the door opening operation is performed immediately before getting off, and there is a problem that it is difficult to know when to get off.

  The present invention has been made in view of the above-described problems, and makes it possible for a vehicle occupant to contact or collide with a vehicle occupant when the vehicle door is opened without performing a door opening / closing operation such as moving a door knob when getting off the vehicle. An object of the present invention is to provide a technique capable of reliably detecting an approaching object that may cause a problem.

  In order to solve the above-mentioned problem, the invention of claim 1 is an approaching object detection device that is mounted on a vehicle and detects an approaching object approaching the vehicle, wherein each of the plurality of doors of the vehicle is included in the vehicle. In response to the above, an alarm device for notifying the user of a warning is provided, and an approaching object approaching the vehicle is detected based on a captured image obtained by a camera mounted on the vehicle when the vehicle is stopped. In response to detecting the approaching object, a detection means for identifying the door of the vehicle that the approaching object is approaching among a plurality of doors of the vehicle based on the captured image And an apparatus operating means for operating the alarm device corresponding to the door specified by the specifying means.

  According to a second aspect of the present invention, in the approaching object detection device according to the first aspect, the camera is disposed on both the left and right sides of the vehicle, and the specifying means includes an image including an image of the approaching object. The door of the vehicle to which the approaching object is approaching is specified based on the left and right positions of the camera that acquired

  Further, the invention of claim 3 is the approaching object detection device according to claim 2, wherein the camera is capable of photographing from the front to the rear in the side region of the vehicle on the side where the device is disposed, The detection means detects an object approaching from at least one of the front and rear of the vehicle.

According to a fourth aspect of the present invention, in the approaching object detection device according to any one of the first to third aspects, the acquisition means for acquiring the position and speed of the approaching object, and the position and speed of the approaching object. Determining means for determining the degree of risk;
The device actuating means actuates the alarm device in a different manner according to the degree of risk.

  The invention of claim 5 is an approaching object detection system mounted on a vehicle, corresponding to each of the approaching object detection device according to any one of claims 1 to 4 and the plurality of doors of the vehicle. And an alarm device for informing the user of the warning.

  Further, the invention of claim 6 is an approaching object detection method for detecting an approaching object mounted on a vehicle and approaching the vehicle, wherein the vehicle corresponds to each of a plurality of doors of the vehicle, A detection step of detecting an approaching object approaching the vehicle based on a photographed image obtained by a camera mounted on the vehicle in a stopped state of the vehicle, provided with an alarm device for notifying a user; Based on the captured image, in response to detecting the approaching object, a specifying step of specifying the approaching door of the approaching object among the plurality of doors of the vehicle, the specifying means A device actuating step of actuating the alarm device corresponding to the identified door.

  According to the first to sixth aspects of the invention, in response to the detection of the approaching object, the alarm device corresponding to the door of the vehicle that is approaching among the plurality of doors of the vehicle is operated. It is possible to recognize whether or not an approaching object is approaching the door from which the passenger gets off before the passenger gets off without opening the door. This also avoids the danger of opening a door and touching or colliding with an approaching object when getting off the vehicle.

  According to the invention of claim 2 in particular, the vehicle occupant can identify the vehicle door that the approaching object is approaching based on the left and right positions of the camera that acquired the image including the image of the approaching object. Whether the approaching object is approaching from the left or right side of the vehicle can be detected easily and accurately. This also avoids the danger of opening a door and touching or colliding with an approaching object when getting off the vehicle.

  In particular, according to the invention of claim 3, by detecting an object approaching from at least one of the front and rear of the vehicle, an alarm device corresponding to an approaching object approaching from a more dangerous front or rear Is activated.

  In particular, according to the invention of claim 4, the degree of danger is determined based on the position and speed of the approaching object, and the warning device is operated in a different manner according to the degree of danger, so that the occupant can It is possible to inform the passenger that the approaching object is approaching, and to inform the occupant when it is possible to get off.

FIG. 1 is a block diagram of an approaching object detection system. FIG. 2 is a diagram showing the installation position of each camera in the vehicle. FIG. 3 is a flowchart of the activation process in the approaching object detection mode. FIG. 4 is a diagram showing an approaching object detection range in the approaching object detection mode. FIG. 5 shows the approaching object detection process. FIG. 6 is a diagram illustrating a specific example 1 of approaching object detection. FIG. 7 is a diagram illustrating warning processing when an approaching object is detected. FIG. 8 is a diagram showing a specific example of an alarm device provided on the door of the vehicle.

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

<1. Configuration>
FIG. 1 is a block diagram of the approaching object detection system 1. The approaching object detection system 1 is mounted on a vehicle (in this embodiment, an automobile). The approaching object detection system 1 captures an image of the vicinity of the vehicle, generates an image, detects an approaching object approaching the vehicle, and detects the approaching object. The vehicle has a function of operating the alarm device corresponding to the door in response to detecting the approaching object by identifying the door of the vehicle approaching. A vehicle occupant serving as a user who uses the approaching object detection system 1 can easily grasp an approaching object to the vehicle without opening and closing the door.

  As shown in FIG. 1, the approaching object detection system 1 includes an imaging unit 10, an approaching object detection unit 20, an alarm device 30, a radar device 40, and a navigation device 50.

  The photographing unit 10 is an in-vehicle camera, and includes a right side camera 101, a left side camera 102, a front camera 103, and a rear camera 104. These cameras are equipped with a lens and an image sensor and electronically acquire images.

  FIG. 2 is a diagram showing the installation positions of the cameras of the vehicle 2. The vehicle 2 includes a right door mirror 4 and a left dora mirror 5 for a driver who is a user of the vehicle to confirm the side of the vehicle. The right door mirror 4 is provided with a right side camera 101, and the left door mirror 5 is provided with a left side camera 102. The optical axis of each camera is directed toward the outside of the vehicle 2 so as to intersect the straight traveling direction of the vehicle 2.

  Further, the front camera 103 is provided at a substantially right and left center of a front bumper that is a front end of the vehicle 2, and an optical axis thereof is directed in a straight traveling direction of the vehicle 2. Further, the rear camera 104 is provided at a substantially right and left center of a rear bumper that is a rear end of the vehicle 2, and an optical axis thereof is provided in a direction opposite to the straight traveling direction of the vehicle 2.

  A fisheye lens or the like is adopted as the lens of each camera, and each camera has an angle of view of 180 degrees or more. For this reason, by using the four in-vehicle cameras 101, 102, 103, and 104, it is possible to capture the entire periphery of the vehicle 2.

  Further, the vehicle 2 includes a driver seat door R2, a driver seat side rear door R1, a passenger seat door L2, and a passenger seat rear door L1. Hereinafter, the driver seat door R2 and the driver seat side rear door R1 are collectively referred to as a driver seat side door, and the passenger seat door L2 and the passenger seat side rear door L1 are also referred to as a passenger seat side door.

  In the present embodiment, a vehicle including four doors including a driver seat door, a driver seat side rear door, a passenger seat door, and a passenger seat side rear door will be described, but the type of the vehicle is limited to this. The present invention can be applied to a vehicle having a plurality of doors. At that time, the door provided on the driver's seat side is referred to as the driver's seat side door, and the door provided on the passenger seat side is referred to as the passenger seat side door. Then, as described in detail below, either the driver side door or the passenger side door is identified based on the approaching object detection range corresponding to the driver side door and the approaching object detection range corresponding to the passenger side door To detect an approaching object.

  In the warning to the vehicle occupant accompanying the approaching object detection described below, processing using the right side camera 101 and the left side camera 102 will be described as an example.

  Returning to FIG. 1, the approaching object detection unit 20 includes an image generation unit 201, a control unit 202, and a nonvolatile memory 203.

  The image generation unit 201 generates a captured image of an object including an approaching object approaching the vehicle 2 based on the data acquired by the imaging unit 10. Note that the approach of the object to the vehicle 2 is determined based on the change over time of the image of the object in which a plurality of frames of the object in the captured image are captured.

  The control unit 202 detects an approaching object approaching the vehicle 2 in the captured image generated by the image generation unit 201. The detection of the approaching object targets an object in a predetermined area provided in advance within the imaging range of the right side camera 101 and the left side camera 102 of the imaging unit 10. In addition, the predetermined area | region which detects the approaching object within the imaging | photography range of each camera is mentioned later.

  In addition, the control unit 202 captures the acquired captured image with either the right side camera 101 or the left side camera 102, and is within a predetermined area provided in front of or behind the vehicle in the traveling direction. Based on which region the object is detected, the vehicle door to which the approaching object approaches is specified.

  When an approaching object is detected, an alarm device described later is provided at a position to call attention when an occupant of the door specified as approaching approaching gets off the vehicle 2 in response to the detection. A signal for operating 30 is transmitted to the alarm device 30. Further, the control unit 202 comprehensively controls each unit of the approaching object detection system 1.

  The control unit 202 also receives signals from a vehicle speed sensor 701, a shift sensor 702, an ignition switch 703, and a brake sensor 704, which will be described later, via the signal input unit 601. Based on these signals, for example, the state of the vehicle 2 is determined as to whether or not the vehicle 2 is stopped, and an approaching object is detected.

  Further, the control unit 202 receives information on the position (the distance and angle of the object) and the speed of the object from the radar device 40 described later via the signal input unit 601. Based on the information on the position and speed of the object from the radar apparatus 40, the degree of danger of the approaching object is determined according to how far the approaching object of the vehicle 2 is approaching from what position. Then, depending on the determination of the degree of risk, the operation mode of the alarm device 30 is varied. The operation mode according to the degree of risk of the alarm device 30 will be described later.

  The nonvolatile memory 203 stores in advance programs that realize various control functions including approaching object detection of the control unit 202, and when the control unit 202 executes processing, a program corresponding to the processing is used.

  The warning device 30 visually notifies the passenger of the danger visually by a light emitter such as an LED (Light Emitting Diode). And it operates in a different mode depending on the danger level of the approaching object. The alarm device 30 is provided corresponding to each of the doors R1, R2, L1, and L2 provided in the vehicle. The alarm device 30 is disposed in the corresponding door itself and in the vicinity of the door. For example, alarm device 30 is provided at the door portion of vehicle 2 (for example, near the doorknob of the door of vehicle 2). Thereby, danger can be reliably notified before the passenger | crew of the vehicle 2 gets off.

  Further, for example, the alarm device 30 may be provided in a pillar part of the vehicle 2 (A pillar in the case of a driver seat or a passenger seat, B pillar and C pillar in the case of a rear seat, etc.). As described above, the alarm device 30 is provided at a position where an occupant calls attention before getting out of the vehicle 2, thereby avoiding the danger that the occupant opens the door and contacts or collides with an approaching object when getting off the vehicle. it can.

  The radar apparatus 40 includes a control unit 401. The radar device 40 detects the position and speed of an object around the vehicle using radio waves in a frequency band such as a millimeter wave. The control unit 401 provided in the radar device 40 reflects a transmission wave transmitted from an antenna (not shown) to an object, processes a signal received by the antenna as a reception wave, and inputs the position and speed of the object as a signal. It transmits to the control part 202 of the approaching object detection part 20 via the part 701.

  The navigation device 50 includes a display unit 501, an audio output unit 502, and a control unit 503. The navigation device 50 has a navigation function and an audio function when a vehicle occupant drives, displays map information and image information associated with other functions from the display unit 501, and the voice output unit 502 performs navigation. Voice guidance when and audio output when using audio.

  In addition, the image information related to the object photographed by the right side camera 101 and the left side camera 102 of the photographing unit 10 and detected as an approaching object by the control unit 202 of the approaching object detection unit 20, and an occupant accompanying the approaching object detection A voice guidance or the like that calls attention is output using the display unit 501 and the voice output unit 502 via the navigation communication unit 602. Thereby, the occupant of the vehicle 2 can recognize the approaching object approaching the vehicle 2 by visual and auditory sense, and when getting off the vehicle 2, the door is opened and the danger of contacting or colliding with the approaching object can be avoided. Can be avoided.

  The control unit 503 performs control of each unit such as the display unit 501 and the audio output unit 502 of the navigation device, and various data processing such as a navigation function and an audio function.

  The signal input unit 601 is an interface that transmits information on a vehicle speed sensor 701, a shift sensor 702, an ignition switch 703, and a brake sensor 704, which will be described later, to the control unit 202 of the approaching object detection unit 20.

  In addition, the navigation communication unit 602 mediates communication of information between the navigation device 50 and the control unit 202 of the approaching object detection unit 20.

  Next, the vehicle speed sensor 701 detects the speed of the vehicle 2 and transmits vehicle speed (km / h) information to the control unit 20. The shift sensor 702 receives shift positions such as “P”, “D”, “N”, and “R” from a shift lever (not shown).

  The ignition switch 703 has four switching positions: ignition OFF, accessory ON, ignition ON, and starter ON of the vehicle 2, and can be switched by a passenger of the vehicle 2. A signal from the ignition switch 703 is input to the control unit 202 via the signal input unit 601. Here, the ignition OFF state of the vehicle 2 means that an engine (not shown) of the vehicle 2 is in a stopped state, and the ignition ON state means that the engine of the vehicle 2 is in an activated state. The accessory ON state refers to a state in which various devices such as the photographing unit 10, the approaching object detection unit 20, the radar device 40, and the navigation device 50 can be used without starting the engine.

  A brake signal is input from the brake sensor 704 to the control unit 202 when the driver performs a brake operation.

<2. Processing>
<2-1. Approaching object detection mode activation process>
Next, an approaching object detection mode activation process that detects an approaching object to the vehicle 2 and warns the occupant of the vehicle 2 when the approaching object is detected when the occupant gets off the vehicle 2 will be described. This process is performed by the control unit 202 of the approaching object detection unit 20.

  FIG. 3 is a flowchart of the activation process in the approaching object detection mode. Based on the signal from the shift sensor 702, whether the shift lever is in the P range or not after the accessory is turned on by the driver's operation of the ignition switch 703 or when 30 seconds have elapsed after the ignition is turned on (Yes in step S301). Judgment is made (step S302). If 30 seconds have not elapsed after the accessory is turned on or after the ignition is turned on (No in step S301), the process ends.

  When the shift lever is in the P range (step S302 is Yes), it is determined whether the vehicle speed is less than 1 km / h (step S306). When the vehicle speed is less than 1 km / h (step S306 is Yes), the approaching object detection mode is turned on. As a result, it is possible to detect the presence of an approaching object before the occupant gets off the vehicle 2 while the vehicle 2 is stopped, and when the approaching object is detected, a warning can be given to the occupant, and the approaching object can be opened by opening the door. You can avoid the danger of touching or colliding. When the vehicle speed is not less than 1 km / h (No in step S306), the process ends.

  Returning to step S302, if the shift lever is not in the P range (step S302 is No), it is determined whether or not the shift lever is in the D range (step S303). If the shift lever is not in the D range (No in step S303), the process ends.

  When the shift lever is in the D range (step S303 is Yes), it is determined whether or not the brake signal from the brake sensor 704 is in an ON state (step S304). When the brake signal is ON (step S304 is Yes), it is determined whether or not the vehicle speed is less than 1 km / h (step S306). If the vehicle speed is less than 1 km / h (step S306 is Yes), the approaching object detection mode Is turned on (step S307), and if the vehicle speed is not less than 1 km / h (step S306: No), the process is terminated.

  Returning to step S304, if the brake signal is not ON (No in step S304), it is determined based on the signal from the brake sensor 704 whether the parking brake signal is in an ON state (step S305). If the parking brake signal is not ON (step S305), the process is terminated. If the parking brake signal is ON (step S305 is Yes), it is determined whether or not the vehicle speed is less than 1 km / h (step S306). If the vehicle speed is less than 1 km / h (step S306 is Yes), the approaching object The detection mode is turned on. As a result, it is possible to detect the presence of an approaching object before the occupant gets off the vehicle 2 while the vehicle 2 is stopped, and when the approaching object is detected, a warning can be given to the occupant, and the approaching object can be opened by opening the door. You can avoid the danger of touching or colliding.

  If the vehicle speed is not less than 1 km / h (No in step S306), the process ends.

  FIG. 4 is a diagram showing an approaching object detection range in the approaching object detection mode. In the vehicle 2, a right side camera 101 is provided on the right door mirror 4, and a left side camera 102 is provided on the left door mirror 5. In the right side camera 101, the range indicated by the broken line B2 and B1 in the shooting range RB is set as the approaching object detection range. In the approaching object detection within the approaching object detection range, the approach to the vehicle 2 is determined based on the change of the object with time in a plurality of frames of the captured image. In the left side camera 102, the range indicated by the broken lines A2 and A1 in the shooting range RA is set as the approaching object detection range. In the approaching object detection within the approaching object detection range, the approach to the vehicle 2 is determined based on the change of the object with time in a plurality of frames of the captured image.

  These processes are performed by the control unit 202 of the approaching object detection unit 20 based on image information captured by the right side camera 101 and the left side camera 102 of the imaging unit 10.

  Moreover, the approaching object detection range shown by the broken line of each side camera can detect an object at a position of about 20 m to 30 m before and after the vehicle, and detects an object approaching from the vehicle 2 within a distance of about 1 m to the left and right as an approaching object. Thereby, even an approaching object at a position 20 m to 30 m away from the vehicle 2 can be detected at an early stage, and the danger of the passenger opening the door when getting off and contacting or colliding with the approaching object can be avoided.

<2-2. Approaching object detection processing>
FIG. 5 is a flowchart showing the approaching object detection process. The processing described in FIG. 5 is performed by the control unit 202 of the approaching object detection unit 20. When the approaching object detection mode of the vehicle 2 is ON (step S501 is Yes), when an approaching object to the vehicle 2 is detected in the approaching object detection range (hereinafter referred to as “detection range”) A1 (step S502). Is Yes), it is determined whether or not an approaching object to the vehicle 2 is detected within the detection range B1 (step S506). When an approaching object is detected in the detection range B1 (Yes in step S506), the approaching object is detected on both the left and right sides of the vehicle in the detection range A1 and the detection range B1, and the driver side door and the passenger seat side It is determined that there is an object approaching the doors on both sides of the door vehicle 2 (step S508).

  The situation of such an approaching object is shown in FIG. In FIG. 6, the motorcycle 61 approaches the vehicle 2 based on the approaching state of the motorcycle 61 to the vehicle 2 from the time when the motorcycle 61a is detected in the detection range A1 until the motorcycle 61b is detected after a predetermined time has elapsed. It is determined that As a result, it is determined that there is an object approaching the passenger seat side door (passenger seat door L2 and passenger seat side rear door L1).

  In the detection range B1, the vehicle 62 is an approaching object to the vehicle 2 based on the approaching state of the vehicle 62 to the vehicle 2 from the time when the vehicle 62a is detected until the vehicle 62b after a predetermined time has elapsed. Judge that there is. As a result, it is determined that there is an object approaching the driver seat side door (driver seat door R2 and driver seat side rear door R1).

  Returning to step S506 of FIG. 5, if no approaching object to the vehicle 2 is detected in the detection range B1 (No in step S506), whether an approaching object to the vehicle 2 is detected in the detection range B2 or not. If an approaching object is detected in the detection range B2 (Yes in Step S507), it is determined that there is an object approaching the doors on both the left and right sides of the vehicle 2 (Step S508). If no approaching object to the vehicle 2 is detected in the detection range B2 (No in step S507), it is determined that there is an object approaching the passenger seat side door that is the left door of the vehicle 2 (step S509). ).

  Next, returning to step S502, if no approaching object to the vehicle 2 is detected in the detection range A1 (No in step S502), whether or not an approaching object to the vehicle 2 is detected in the detection range A2. Is determined (step S503).

  When an approaching object to the vehicle 2 is detected in the detection range A2 (step S503: Yes), it is determined whether an approaching object to the vehicle 2 is detected in the detection range B1 (step S506). If an approaching object is detected in the range B1 (Yes in step S506), the approaching object is detected on both the left and right sides of the vehicle in the detection range A1 and the detection range B1, and the driver side door and the passenger side door are detected. It is determined that there is an object approaching the doors on both sides of the vehicle 2 (step S508).

  If no approaching object to the vehicle 2 is detected in the detection range B1 (No in step S506), it is determined whether an approaching object to the vehicle 2 is detected in the detection range B2 (step S507). ), When an approaching object is detected within the detection range B2 (step S507 is Yes), it is determined that there is an object approaching the doors on both the left and right sides of the vehicle 2 (step S508). If no approaching object to the vehicle 2 is detected in the detection range B2 (No in step S507), it is determined that there is an object approaching the passenger seat side door that is the left door of the vehicle 2 (step S509).

  Returning to step S503, if no approaching object to the vehicle 2 is detected in the detection range A2 (No in step S503), it is determined whether an approaching object to the vehicle 2 is detected in the detection range B1. (Step S504). When an approaching object to the vehicle 2 is detected in the detection range B1 (Yes in step S504), it is determined that there is an object approaching the driver seat side door that is the right door of the vehicle 2 (step S510).

  If no approaching object to the vehicle 2 is detected in the detection range B1 in step S504 (No in step S504), it is determined whether an approaching object to the vehicle 2 is detected in the detection range B2 (step S505). . When an approaching object to the vehicle 2 is detected in the detection range B2 (Yes in step S505), it is determined that there is an object approaching the driver seat side door that is the right door of the vehicle 2 (step S510). If no approaching object to the vehicle 2 is detected in the detection range B2 (No in step S505), the process ends.

  Thereby, based on the information of the approaching object detected in the approaching object detection range, a warning can be given before the occupant gets off the vehicle 2, and there is a risk that the door may be opened to contact or collide with the approaching object. Can be avoided.

<2-3. Warning processing>
FIG. 7 is a flowchart showing warning processing when an approaching object is detected. The processing described in FIG. 7 is performed by the control unit 202 of the approaching object detection unit 20. When the approaching object detection mode of the vehicle 2 is in the ON state (step S701 is Yes), it is determined whether or not an approaching object is detected in the approaching object detection range of the vehicle 2 (step S702). If the approaching object detection mode is not in the ON state (No in step S701), the process ends.

  Returning to step S702, when an approaching object is detected (Yes in step S702), it is determined whether or not the door lock of the door on the side where the approaching object of the vehicle 2 is detected is ON (step S703). If no approaching object is detected (No in step S702), the process ends.

  Returning to Step 703, when the door lock of the door on which the approaching object of the vehicle 2 is detected is ON (Step S703: Yes), the approaching object is approaching, but the door lock is ON. In order to notify the occupant that it is not possible to get off, the LED of the alarm device 30 provided on the door portion and the pillar portion of the vehicle 2 is lit in green (step S706). Thereby, it can be notified that the occupant cannot get off because the approaching object to the vehicle 2 and the door lock are ON.

  When the door lock on the side where the approaching object of the vehicle 2 is detected is not in the ON state (No in step S703), the distance of the approaching object is within a predetermined distance range from the vehicle 2 and the approaching object is equal to or higher than the predetermined speed ( If step S704 is Yes), it is determined that the degree of danger is high. For this reason, in order to alert | report a warning to a passenger | crew, LED of the alarm device 30 provided in the door part of the vehicle 2 and the pillar part is lighted red (step S705). Thereby, when an occupant gets off due to the presence of an approaching object to the vehicle 2, it is possible to notify the occupant that there is a risk that the approaching object contacts or collides with the door of the vehicle 2.

  Returning to step S704, when the distance of the approaching object is within the predetermined distance range from the vehicle 2 and the approaching object is not equal to or higher than the predetermined speed (step S704: No), it is determined that the degree of danger is low. For this reason, in order to alert a passenger | crew, LED of the alarm device 30 provided in the door part of the vehicle 2 and the pillar part is lighted in yellow (step S707). Thereby, when the approaching object is separated from the vehicle 2 by a predetermined distance (for example, 15 m or more) and the speed of the approaching object is equal to or less than the predetermined speed (for example, 10 km / h or less), the approaching object is detected. Even in the case of the vehicle, it is possible to get off the vehicle 2 after confirming the safety by the passenger's judgment. In this way, the occupant can get off smoothly according to the situation of the approaching object.

  FIG. 8 is a view showing a specific example of an alarm device provided in the door portion and the pillar portion. The driver's seat door R2 of the vehicle 2 is provided with a door knob 901 for opening and closing the door R2. In the vicinity of the door knob, a door lock 902 is provided to lock the door R2 on and off. An alarm device 30a is provided in the vicinity of the door knob 901 to notify the occupant when an object approaching the vehicle 2 is detected. Thereby, the detection of the approaching object can be notified to the occupant by the alarm device 30a before the occupant gets out of the vehicle 2 and performs the door opening / closing operation using the door knob.

  Further, the alarm device 30 may be provided in the pillar portion of the vehicle 2, and the occupant of the vehicle 2 can provide the vehicle 2 by providing the alarm device 30 b in the A pillar of the vehicle 2 or providing the alarm device 30 c in the B pillar of the vehicle 2. It is possible to notify the occupant of the detection of an approaching object before performing a door opening / closing operation for getting off the vehicle.

  Such alarm devices 30a, 30b, and 30c may be provided in combination, or may be provided separately. Furthermore, detection of an approaching object to the vehicle 2 may be performed using the display unit of the navigation device 50 in combination with the notification by the LED of the alarm device 30 or by using the audio output unit 502. Notification of approaching object detection may be performed, and the display content and sound output pattern may be changed on the navigation device in accordance with the change in the color of the LED of the warning unit 30. Thereby, the notification of the approaching object detection to the occupant can be performed in detail and reliably.

  Further, the alarm device 30 may be an audio-only output device.

  In the above embodiment, the door of the vehicle 2 is described as an example of an openable door. However, the door of the vehicle 2 may be a sliding door, and an alarm device 30 detects an approaching object to the vehicle 2. By notifying the occupant, it is possible to avoid contact or collision with an approaching object after the slidable door is opened and the occupant gets off.

DESCRIPTION OF SYMBOLS 1 ... Approaching object detection system 2 ... Vehicle 10 ... Imaging part 20 ... Approaching object detection part 30 ... Alarm device 40 ... Radar device 50 ... ..Navigation device

Claims (6)

An approaching object detection device that is mounted on a vehicle and detects an approaching object approaching the vehicle,
The vehicle is provided with an alarm device that notifies a user of a warning corresponding to each of the plurality of doors of the vehicle,
Detecting means for detecting an approaching object approaching the vehicle based on a captured image obtained by a camera mounted on the vehicle in a stopped state of the vehicle;
Based on the captured image, a specifying unit that specifies a door of the vehicle that the approaching object is approaching among a plurality of doors of the vehicle;
In response to detecting the approaching object, device operating means for operating the alarm device corresponding to the door specified by the specifying means;
An approaching object detection device comprising: In the approaching object detection device according to claim 1,
The cameras are arranged on both the left and right sides of the vehicle,
The specifying means specifies the door of the vehicle that the approaching object is approaching based on the left and right positions of the camera that acquired the image including the image of the approaching object;
An approaching object detection device characterized by. In the approaching object detection device according to claim 2,
The camera is capable of photographing from the front to the rear in the side region of the vehicle on the side where the device is disposed,
The detecting means detects an object approaching from at least one of the front and rear of the vehicle;
An approaching object detection device characterized by. In the approaching object detection device according to any one of claims 1 to 3,
Obtaining means for obtaining the position and speed of the approaching object;
Determination means for determining the degree of danger based on the position and speed of the approaching object;
Further comprising
The device actuating means actuates the alarm device in a different manner according to the degree of risk;
An approaching object detection device characterized by. An approaching object detection system mounted on a vehicle,
An approaching object detection device according to any one of claims 1 to 4,
In response to each of the plurality of doors of the vehicle, an alarm device that notifies the user of a warning,
An approaching object detection system comprising: An approaching object detection method for detecting an approaching object mounted on a vehicle and approaching the vehicle,
The vehicle is provided with an alarm device that notifies a user of a warning corresponding to each of the plurality of doors of the vehicle,
A detection step of detecting an approaching object approaching the vehicle based on a captured image obtained by a camera mounted on the vehicle in a stopped state of the vehicle;
Based on the captured image, a specifying step for specifying the door of the vehicle that the approaching object is approaching among the plurality of doors of the vehicle;
In response to detecting the approaching object, an apparatus operating step of operating the alarm device corresponding to the door specified by the specifying means;
An approaching object detection method comprising: