JP2013120573A - On-vehicle pedestrian detector and on-vehicle danger alarm device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide an on-vehicle pedestrian detector capable of properly detecting a pedestrian and an on-vehicle danger alarm device capable of warning a driver of the vehicle of a risk of the pedestrian to the vehicle by using the pedestrian detector.SOLUTION: An on-vehicle pedestrian detector includes: visible object detection means 13 for detecting visible objects as objects that can be recognized in front of a vehicle 1; information communication means 14 for communicating with portable terminals held by terminal holders in the periphery of the vehicle 1; and comparison detection means 15a for comparing the visible objects detected by the visible object detection means 13 and the terminal holders detected by the information communication means 14 to detect a terminal holder corresponding to one of the visible objects in the terminal holders as a visible pedestrian who can be recognized and a terminal holder not corresponding to any of the visible objects in the terminal holders as a pedestrian positioned in shade who cannot be recognized.

Description

  The present invention relates to a vehicle pedestrian detection device that detects a pedestrian using communication and a vehicle danger notification device that uses this to notify a driver of a vehicle of a danger to a pedestrian.

  In recent years, techniques for detecting an object using a radar mounted on a vehicle have been developed. Examples of such a technique include Patent Document 1 and Patent Document 2.

  In the technique of Patent Document 1, an object and its lateral movement speed are detected by a laser radar installed in the vehicle, a traveling lane of the vehicle is detected by a camera, and the traveling path of the vehicle is determined based on the detected information. It detects a laterally moving object that has a risk of entering.

  The technique of patent document 2 detects the relative distance and relative speed of the own vehicle and an object with the radar sensor with which the vehicle was equipped. In this technology, the accuracy of the relative distance and relative speed between the vehicle and the object is improved by correcting the relative distance and relative speed detected using a linear filter.

Japanese Patent Application Laid-Open No. 10-1000082 JP 2010-60465 A

In the techniques of Patent Document 1 and Patent Document 2, since an object is detected by a radar, if there is an obstacle between the vehicle equipped with the radar and the object, radio waves emitted from the radar are blocked. An object cannot be detected. For this reason, it is impossible to detect a shadow object that cannot be visually recognized by the driver of the vehicle.
Therefore, with these techniques, a hidden object approaching the vehicle cannot be detected, and a hidden pedestrian with a probability of jumping out cannot be detected.

  The present invention was devised in view of such a problem, and a pedestrian detection device for a vehicle capable of appropriately detecting a pedestrian and a pedestrian for a vehicle using the pedestrian detection device. It is an object of the present invention to provide a vehicle danger notification device capable of notifying a driver of a vehicle of the danger level of the vehicle.

  (1) In order to achieve the above object, a pedestrian detection device for a vehicle according to the present invention includes a visible object detection unit that detects a visible object that is a visible object in front of the vehicle, and a terminal around the vehicle. An information communication means for detecting the terminal holder by communicating with a portable terminal held by the holder, the visible object detected by the visible object detecting means, and the terminal holder detected by the information communication means In comparison, a pedestrian who detects a terminal pedestrian who corresponds to the visible object as a visible pedestrian who is a visible pedestrian and who is in the shadow of the terminal holder who does not correspond to the visible object And a comparison detection means for detecting as a non-visually visible pedestrian.

  (2) The apparatus further includes a visible moving body determination unit that determines whether or not the visible object is a moving visible moving body from detection information obtained by the visible object detection unit. The comparison detection unit includes the visible object detection unit. The visible moving object determined by the visible moving object determining means among the visible objects detected by the means and the terminal holder detected by the information communication means are compared, and the visually recognized pedestrian and the non-visible pedestrian are compared. It is preferable to detect a visually recognized pedestrian.

  (3) In addition, vehicle position detection means for detecting the position of the vehicle and vehicle speed detection means for detecting the vehicle speed of the vehicle are provided, and the information communication means acquires position information and speed information of the terminal holder. The comparison detection means includes the position of the vehicle detected by the vehicle position detection means, the vehicle speed detected by the vehicle speed detection means, and the position information and speed of the terminal holder acquired by the information communication means. The terminal holder approaching the vehicle is detected based on the information, and the terminal holder approaching the vehicle is detected as a jumping pedestrian who can jump out of the non-visible pedestrians. Is preferred.

  (4) The vehicle danger notification device according to the present invention is weighted by the vehicle pedestrian detection device, a risk determination unit that weights the risk of the pedestrian with respect to the vehicle, and the risk determination unit. A notification means for notifying the driver of the vehicle of the pedestrian based on the risk level, and the risk level determination means weights the risk level to the invisible pedestrian more than the visual pedestrian. It is characterized by that.

  (5) Further, based on the vehicle pedestrian detection device, a risk determination unit that weights the risk of the pedestrian to the vehicle, and the risk weighted by the risk determination unit, the vehicle Informing the driver of the pedestrian, the risk determination means weights the risk to the non-visual pedestrian more than the visual pedestrian, and corresponds to the jumping pedestrian The risk degree is weighted more heavily on the jumping pedestrian than on the non-visible pedestrian.

  (1) Therefore, according to the vehicle pedestrian detection device of the present invention, the comparison detection means compares the visible object detected by the visible object detection means with the terminal holder detected by the information communication means, and the terminal In order to detect a visible pedestrian among the holders as a visible pedestrian and to detect a non-visible pedestrian among the terminal holders as a non-visible pedestrian, distinguish between a visible pedestrian and a non-visible pedestrian Can be detected. Thereby, it is possible to appropriately detect a pedestrian having a high degree of danger with respect to the vehicle.

  (2) The comparison detection means compares the visible moving object determined by the visible moving object determination means among the visible objects detected by the visible object detection means with the terminal holder detected by the information communication means, If it comprises so that a pedestrian and a non-visually recognized pedestrian may be detected, a stationary visual pedestrian will not be used for a comparison and simplification of a detection process can be achieved.

  (3) The comparison detection means is based on the vehicle position detected by the vehicle position detection means, the vehicle speed detected by the vehicle speed detection means, and the position information and speed information of the terminal holder acquired by the information communication means. If the terminal holder approaching the vehicle is detected and the terminal holder approaching the vehicle among the non-viewing pedestrians is detected as a jumping pedestrian, the jumping pedestrian is detected from the non-viewing pedestrian. Appropriate discrimination and detection are possible. Thereby, a pedestrian with a high risk degree with respect to a vehicle can be detected more appropriately.

  (4) According to the vehicle danger notification device of the present invention, the risk determination means weights the risk to the non-visual pedestrian more than the visual pedestrian, and based on the risk, the notification means In order to notify the driver of the pedestrian, the driver can be appropriately notified of the pedestrian by notifying the driver of the pedestrian according to the degree of danger to the vehicle.

  (5) Further, according to the vehicle danger notification device of the present invention, the risk determination means weights the risk to non-visual pedestrians more than non-visual pedestrians and does not correspond to jumping pedestrians. The risk level is weighted more heavily on the pedestrian than the driver, and the notification means notifies the pedestrian to the driver of the vehicle based on the risk level. By informing the driver, the driver can be informed of the pedestrian more appropriately.

1 is a configuration diagram illustrating a vehicle pedestrian detection device and a vehicle danger notification device using the same according to an embodiment of the present invention. It is a figure which illustrates the pedestrian who approaches the vehicle concerning one embodiment of the present invention. It is a figure explaining the danger level of the pedestrian with respect to the vehicle in the vehicle danger notification device according to one embodiment of the present invention, (a) shows the case where the vehicle and the pedestrian are in contact, (b) is the walking Shows a case where the vehicle passes through the lane after the person crosses the lane, and (c) shows a case where the pedestrian crosses the lane through which the vehicle has passed. It is a flowchart which shows the detection of the pedestrian in the pedestrian detection apparatus for vehicles concerning one Embodiment of this invention. It is a flowchart which shows the alerting | reporting of the danger level of the pedestrian with respect to the vehicle in the danger notification apparatus for vehicles concerning one Embodiment of this invention.

Hereinafter, embodiments of the present invention will be described with reference to the drawings.
<One Embodiment>
[Constitution]
First, the structure of the pedestrian detection apparatus for vehicles and the danger notification apparatus for vehicles concerning one Embodiment is demonstrated. The vehicle according to the present embodiment is a so-called large or medium-sized automobile such as a truck or a bus.

  As shown in FIG. 1, the vehicle 1 is connected to a GPS (vehicle position detection means) 11, a vehicle speed sensor (vehicle speed detection means) 12, a visible object detection unit (visible object detection means) 13, and an antenna 14a. An inter-pedal communication device (information communication means) 14, a steering angle sensor 16, an HMI (Human Machine Interface, notifying means) 19, and these components 11, 12, 13, 14, 16, 19 are connected and compared. A pedestrian detection ECU 15 having a detection unit (comparison detection unit) 15a, a risk level determination unit (risk level determination unit) 15b, and a visible mobile body determination unit (visible mobile body determination unit) 15c is provided.

The GPS 11 detects the position of the vehicle 1. The GPS 11 detects the latitude / longitude information of the vehicle 1 as position information of the vehicle 1 via a GPS antenna (not shown). The latitude / longitude information can be supplemented by so-called autonomous navigation in which the vehicle speed and steering angle information is accumulated to estimate the direction of the vehicle 1 and can be handled as the position information of the vehicle 1.
The position information of the vehicle 1 detected by the GPS 11 is transmitted to the pedestrian detection ECU 15.

The vehicle speed sensor 12 detects the vehicle speed of the vehicle 1. As the vehicle speed sensor 12, for example, a wheel speed sensor that detects the rotational speed of each driven wheel can be applied. In the case of this wheel speed sensor, the average speed of the detected rotational speed of each driven wheel is calculated. Thus, the vehicle speed can be detected.
The vehicle speed information of the vehicle 1 detected by the vehicle speed sensor 12 is transmitted to the pedestrian detection ECU 15.

The steering angle sensor 16 detects the steering angle (steering angle) of the vehicle 1. Information on the steering angle detected by the steering angle sensor 16 is transmitted to the pedestrian detection ECU 15.
The visible object detection unit 13 detects a visible object (visible object) in front of the vehicle 1 and detects the position of the object. As the visible object detection unit 13, a camera, a radar sensor, or the like can be used.

In the present embodiment, the visible moving object determination unit 15c determines whether or not the visible object is a moving object (visible moving object) from the detection information obtained by the visible object detection unit 13.
When a camera is used as the visible object detection unit 13, each object is identified from the shape of the object in the image captured by the camera, and the object is positioned with respect to the vehicle 1 based on the position of the identified object in the image. Based on the movement of the vehicle 1 such as the vehicle speed detected by the vehicle speed sensor 12 and the steering angle detected by the steering angle sensor 16 based on the movement of the object in the image detected by the camera. , Whether the object is a stationary object or a moving object can be specified.

For example, it is possible to determine whether or not an object is moving by using a so-called optical flow in which moving images are analyzed by comparing consecutive images taken by a camera.
Further, during the straight movement of the vehicle 1, the stationary object flows from the center of the image captured by the camera (or the vanishing point) to the outside of the image at a speed corresponding to the vehicle speed of the vehicle 1, so that the object is a stationary object. It is possible to specify that the object is a moving object.

Alternatively, the object is moving using the change in the size of the object in the image captured by the camera and the movement information of the vehicle 1 such as the vehicle speed detected by the vehicle speed sensor 12 and the steering angle detected by the steering angle sensor 16. It can also be determined whether or not.
The visible moving body determination by the visible moving body determination unit 15c can be performed in this way.

  When a camera is used, the contour of an object in an image captured by the camera can be extracted, and the extracted contour can be detected as the shape of the object. In this case, as the viewing angle of the camera image, the contour or width of the object is detected as the shape of the object, and the degree of coincidence with the template shape stored in advance as the shape of a pedestrian or the like is calculated from the detected shape of the object. Thus, it can be detected that the object is a pedestrian or the like.

  When a radar sensor is used as the visible object detection unit 13, the radar sensor can detect the relative distance between the object and the vehicle 1 and the relative direction in which the object is positioned with respect to the vehicle 1. From these relative distance and relative direction, The relative position of the object relative to the host vehicle can be detected, and the relative position information and the movement information of the vehicle 1 such as the vehicle speed detected by the vehicle speed sensor 12 and the steering angle detected by the steering angle sensor 16 are used. It can be determined whether or not is moving.

  When a radar sensor is used, a set of detection points having the same relative speed or distance detected by the radar sensor is extracted, and the width of the object is detected as an irradiation angle of the radar sensor corresponding to the extracted detection points. can do. Furthermore, if the width of the object detected by the radar sensor is accumulated in the vertical direction, the contour of the object can be detected. From these, the width and contour of the object as the shape of the object can be detected. In this case, it is also possible to detect that the object is a pedestrian or the like by calculating the degree of coincidence with the template shape stored in advance as the shape of the pedestrian or the like. Alternatively, it may be possible to detect that the object is a pedestrian or the like based on only the width of the object or based on the width of the object and the movement (position change) of the object.

For example, during the movement of the vehicle 1, the movement of the vehicle 1 can be specified from the vehicle speed and the steering angle of the vehicle 1, and the stationary object moves relative to the vehicle 1 with characteristics opposite to the movement of the vehicle 1. Therefore, it is possible to specify that the object is a stationary object, and it is possible to specify an object that cannot be identified as a stationary object as a moving object.
Further, a radar sensor and a camera may be used in combination as the visible object detection unit 13. In this case, for example, a small change in the shape of the object is recognized as the same object, the position of this object is continuously detected, the relative speed is detected, and whether or not the object is moving Can be determined.

The visible moving body determination by the visible moving body determination unit 15c can be performed in this way.
In the present apparatus, the stationary object is excluded from the visible object detected by the visible object detection unit 13 by the determination of the visible moving object by the visible moving object determination unit 15c, and processing is performed by specifying only the visible moving object.

  The visible object detection unit 13 uses reflected light reflected from the object or a reflected wave of radio waves, and when there is an obstacle between the vehicle 1 and the object, the reflected light or reflected wave is blocked. Therefore, no object is detected. That is, the visible object detection unit 13 does not detect an object (non-visible object) that cannot be visually recognized by the driver of the vehicle 1. Therefore, the information of the visible moving object determined by the visible moving object determining unit 15c does not include an object that cannot be visually recognized (non-visible object).

The inter-pedal communication device 14 communicates with a portable terminal held by a terminal holder around the vehicle 1. The inter-vehicle communication device 14 detects the presence of the terminal holder if it can communicate with the portable terminal, and detects the position information and speed information (here, the moving speed and the moving direction) of the portable terminal by communicating with the portable terminal. The terminal holder's position information and speed information are acquired by acquiring the combined information as speed information).
This inter-vehicle communication device 14 is connected to an antenna 14a for performing communication, and information on the terminal holder acquired by this communication is transmitted to the pedestrian detection ECU 15.

Various information is periodically transmitted to the pedestrian detection ECU 15 as described above. The various information referred to here includes the position information of the vehicle 1 detected by the GPS 11, the vehicle speed information of the vehicle 1 detected by the vehicle speed sensor 12, the detection information by the visible object detection unit 13, and the inter-vehicle communication device 14. It includes the acquired presence information of the terminal holder, position information, and speed information.
The pedestrian detection ECU 15 is an electronic control device configured as an LSI device or an embedded electronic device in which, for example, a microprocessor, ROM, RAM, and the like are integrated.
Hereinafter, the comparison detection unit (comparison detection unit) 15a and the risk level determination unit (risk level determination unit) 15b of the pedestrian detection ECU 15 will be described.

The comparison detection unit 15a discriminates and detects a pedestrian that can be visually recognized by the driver (a visually recognized pedestrian) and a pedestrian in the shadow that cannot be visually recognized by the driver (a non-visually visible pedestrian). Furthermore, the comparison detection part 15a discriminate | determines and detects the pedestrian (flying pedestrian) which can jump out among non-viewing pedestrians.
First, detection (also referred to as first detection) by distinguishing between a visually recognized pedestrian and a non-visible pedestrian by the comparison detection unit 15a will be described.

  In the first detection, the position information of the visible moving object determined by the visible moving object determining unit 15c is compared with the position information of the terminal holder detected by the communication by the inter-pedestrian communication device 14, and both are identified. To do. This makes it possible to simplify the detection process without using information on a visible stationary object, and to detect a large number of pedestrians in a complicated manner.

  And the visible moving body and terminal holding | maintenance with which position information corresponds are detected as a pedestrian (visual pedestrian) which can be visually recognized. When a plurality of visible moving bodies and terminal holders having the same position information are detected, the visible moving bodies and terminal holders having the same position information are respectively detected as one visual pedestrian.

  The position information in this case is that the position information of the visible moving body is relative position information with respect to the vehicle 1, that is, relative information with respect to the vehicle 1, or information with respect to the relative distance and relative direction with respect to the vehicle 1. In some cases, the position information of the terminal holder is GPS information, that is, earth-based absolute position information. In this case, the position of the terminal holder is determined from the GPS information of the vehicle 1 and the GPS information of the terminal holder. The information is converted into relative position information with respect to the vehicle 1 and compared, or the position information of the visible moving body is converted into the absolute position information of the earth reference by the GPS information of the vehicle 1 and compared with the same parameter. . However, when the position information of the visible moving object is obtained only in the relative direction with respect to the vehicle 1, the position information of the visible moving object is not point information but line information, but from the position information of the terminal holder closest to the vehicle 1 The object is compared with the position information of the visible moving object.

On the other hand, the terminal holder who does not match any position information of the visible object is detected as a pedestrian (non-visible pedestrian) who is in the shadow of being invisible. When a plurality of visible objects and terminal holders whose position information do not match are detected, the terminal holders are detected as non-viewing pedestrians among the visible objects and terminal holders whose position information do not match.
That is, the comparison detection unit 15a detects a terminal holder corresponding to a visible moving body as a visible pedestrian, and detects a terminal holder not corresponding to a visible object as a non-visible pedestrian. However, since the terminal holder corresponding to the visible object is a visible pedestrian, this information is not used for the first detection.

  Note that a visible moving object that does not match any of the position information of the terminal holder can be detected as a visual pedestrian, and when a camera is used as the visible object detection unit 13, the shape of the visible moving object It is possible to detect a visible moving object whose position matches that of the pedestrian detected based on the visual pedestrian.

Next, detection (second detection) performed by discriminating a jumping pedestrian among non-viewing pedestrians by the comparison detection unit 15a will be described.
In the second detection, the position information of the vehicle 1 detected by the GSP 11, the vehicle speed information detected by the vehicle speed sensor 12, the steering angle information detected by the steering angle sensor 16, and the inter-vehicle communication device 14 are acquired. The terminal holder approaching the vehicle 1 (approaching terminal holder) is detected based on the position information and speed information of the terminal holder.

Then, the approaching terminal holder is compared with the invisible pedestrian detected by the first detection, and the approaching terminal holder and the invisible pedestrian having the same position information can jump out from the shadow (the jumping pedestrian ) To detect. When a plurality of approaching terminal holders and non-viewing pedestrians having the same position information are detected, the approaching terminal holder and non-viewing pedestrians having the same position information are respectively detected as one jumping pedestrian.
That is, the comparison detection unit 15a detects a non-viewing pedestrian corresponding to the approaching terminal holder as a jumping pedestrian.
Note that a non-visible pedestrian that does not match any of the position information of the approaching terminal holder can be detected as a non-visually distant pedestrian who is in the shadow and moves away from the vehicle 1.

  The comparison detection unit 15a compares the position information of the approaching terminal holder and the position information of the visual pedestrian detected by the first detection as detection different from the first and second detections described above, and The approaching terminal holder and the viewing pedestrian that match can be detected as the viewing approaching pedestrian, and the approaching terminal holder and the viewing pedestrian whose position information does not match can be detected as the viewing distance pedestrian. In these detections, when a plurality of approaching terminal holders and viewing pedestrians are detected, the approaching terminal holder and the viewing pedestrian having the same position information are detected as one viewing approaching pedestrian, respectively, An approaching terminal holder and a visually recognized pedestrian whose information does not match can be detected as one visually distant pedestrian.

  The risk determination unit 15 b weights the pedestrian risk to the vehicle 1. Specifically, the risk determination unit 15b sets and sets the risk for each detected pedestrian regardless of the pedestrian type such as a visible pedestrian, a non-visible pedestrian, or a jumping pedestrian. The risk is weighted according to the pedestrian type.

First, risk level setting by the risk level determination unit 15b will be described with reference to FIGS.
FIG. 2 illustrates a vehicle 1 that travels from the bottom to the top in the figure and a pedestrian 2 that crosses the road on which the vehicle 1 travels (in this case, obliquely crossing).
The vehicle 1 travels at a vehicle speed v ₁ , and the hatched portion above the vehicle 1 in FIG. 2 indicates a region (travel region) in which the vehicle 1 travels after time T ₀ shown in FIG.
The vehicle 1 passes the point P ₁ at the time T ₁₁ (= L ₁ / v ₁ ) traveled by the distance L ₁ , and the point at the time T ₁₂ (= L ₂ / v ₁ ) traveled by the distance L _2. passing through the P _2.
The pedestrian 2 moves at a speed v ₂ toward the upper left in the figure around a one-dot chain line intersecting with the pedestrian 2 in FIG.
Pedestrian 2 passes through the point P ₁ at a distance d ₁ by the time you move _{T 21 (= d 1 / v} 2), also at a distance d ₂ only when moved _{T 22 (= d 2 / v} 2) passing through the point P _2.

In FIG. 3, the time T ₁ of the vehicle 1 is taken on the vertical axis, the time points T ₁₁ and T ₁₂ are present on the axis, the time T ₂ of the pedestrian ₂ is taken on the horizontal axis, and the time T ₂ is on the axis. It is assumed that time points T ₂₁ and T ₂₂ exist. Since the actual event e occurs on the line indicated by time T ₁ = time T ₂ , it can be determined whether or not the vehicle 1 and the pedestrian 2 are in contact with each other on this line.

Incidentally, none of FIG 3 (a) ~ (c) , When the pedestrian 2 indicates that passing through the point P ₁ at event e _a1, the pedestrian 2 is continued to move by keeping the moving velocity v ₂ It indicates the point of passing the point P ₂ in the event e _a2. Further, the point at which the vehicle 1 passes the point P ₁ is indicated by an event _eb1 , and if the vehicle 1 continues to travel while maintaining the moving speed v ₁ , the point at which the vehicle 1 passes the point P ₂ is indicated by an event _eb2 .

FIG. 3A illustrates a case where the vehicle 1 and the pedestrian 2 shown in FIG. 2 are in contact with each other. In this case, a region surrounded by the time T ₁₁ and the time T _{12 and the} time T ₂₁ and the time T ₂₂ (hereinafter also referred to as a cross contact region) intersects with a line indicated by time T ₁ = time T ₂ .
That is, the vehicle 1 travels between the points P ₁ and P ₂ while the pedestrian 2 is moving between the points P ₁ and P ₂ . Therefore, FIG. 3A shows a case where the pedestrian 2 comes out of contact with the vehicle 1.

FIG. 3B illustrates a case where the pedestrian 2 crosses the travel area before the vehicle 1 shown in FIG. 2 travels the travel area. In this case, the intersecting contact region and the line indicated by time T ₁ = time T ₂ do not intersect.
That is, after the pedestrian 2 completes the movement between the points P ₁ and P ₂ , the vehicle 1 travels between the points P ₁ and P ₂ .

FIG. 3C illustrates a case where the vehicle 1 passes through the point P ₂ before the pedestrian 2 shown in FIG. 2 crosses the traveling area. In this case, the intersecting contact region and the line indicated by time T ₁ = time T ₂ do not intersect.
That is, the vehicle 1 after passing through the point between the point P ₁ point P _2, the pedestrian 2 traverses a point between the point P ₁ point P _2.

FIG. 3C shows a pedestrian 2 that is in contact with the traveling vehicle 1 from the lateral direction, so that the length component in the longitudinal direction of the vehicle 1 is not considered. the length by correcting the time period only when T ₁₂ divided by the vehicle speed v _1, may be used those containing a longitudinal length component of the vehicle 1.

The risk determination unit 15b shifts the distance in the vertical axis direction between the intersection contact area and the time T ₁ = the line indicated by the time T ₂ , that is, the time T for contacting the pedestrian 2 when the time T _{1 of the} vehicle 1 is shifted back and forth. _{As a} becomes smaller, the risk level is set higher.
For example, in the example shown in FIG. 3A, the intersecting contact region and the line indicated by time T ₁ = time T ₂ intersect, and the time _Ta is zero. In this case, the risk determination unit 15b sets a high risk.

In the example shown in FIG. 3B, the distance in the vertical axis direction between the intersecting contact region and the line indicated by time T ₁ = time T ₂ is indicated by time _{Ta 1} , and the risk determination unit 15b uses this time T 1. Set the risk level according to the size of _a1 .
Similarly, in the example shown in FIG. 3C, the distance in the vertical axis direction between the intersecting contact region and the line indicated by time T ₁ = time T ₂ is indicated by time _{Ta 2} , and the risk determination unit 15b The degree of risk corresponding to the magnitude of this time _Ta2 is set.
When a plurality of pedestrians are detected, the risk level determination unit 15b sets a risk level for each detected pedestrian.

Next, the weighting by the risk determination unit 15b of the set risk will be described.
The risk determination unit 15b weights the risk according to the pedestrian type determined by the comparison detection unit 15a.

That is, the risk level determination unit 15b weights the risk level more to non-viewing pedestrians than to visual pedestrians. Further, the risk determination unit 15b weights the jumping pedestrian more heavily than the non-viewing pedestrian that does not correspond to the jumping pedestrian.
Therefore, the risk level determination unit 15b sets the risk level corresponding to the probability of contact with the vehicle 1 to all pedestrians detected regardless of the pedestrian type, and sets the risk level to the pedestrian type. Weight accordingly.

The pedestrian detection ECU 15 instructs the HMI 19 to provide information on the pedestrian risk weighted by the risk determination unit 15b.
The HMI 19 is an interface between the driver and the vehicle equipment, and provides information to the driver of the vehicle 1. As the HMI 19, a monitor, a speaker, or the like can be used.

  The HMI 19 notifies the driver of the vehicle 1 of a pedestrian according to the degree of danger when an information provision instruction regarding the degree of danger of the pedestrian is given from the pedestrian detection ECU 15. For example, when an information provision instruction related to the weighted risk is given to the HMI 19, the information content is displayed on the monitor, and a warning sound or information content is sounded as a message by a speaker, so that the driver of the vehicle 1 is pedestrian. Inform.

[Action / Effect]
Since the configuration of the vehicle pedestrian detection device and the vehicle danger notification device according to the embodiment of the present invention is configured as described above, the vehicle pedestrian detection device detects a pedestrian as shown in FIG. A flow of discriminating and detecting each type is periodically performed.
In step S10, it is determined whether or not a visible moving object has been detected. If a visible moving body is detected, it will transfer to step S20, and if a visible moving body is not detected, it will transfer to step S12.

In step S20, it is determined whether the terminal holder has been detected. If the presence of the terminal holder is detected, the process proceeds to step S30. If the presence of the terminal holder is not detected, the process proceeds to step S22.
In step S22, a visually recognized pedestrian is detected. Then, this control cycle ends (end).
In step S30, the position of the visible moving body is compared with the position of the terminal holder. Then, the process proceeds to step S40.

  In step S40, the position where the position of the visible moving body and the position of the terminal holder match is detected as a visual pedestrian, and the terminal holder who does not match any of the positions of the visible moving body is detected as a non-visible pedestrian. . Then, the process proceeds to step S50.

In step S12, it is determined whether a terminal holder has been detected as in step S20. If the presence of the terminal holder is detected, the process proceeds to step S14, and if the presence of the terminal holder is not detected, this control cycle ends (end).
In step S14, a non-viewing pedestrian is detected. Then, the process proceeds to step S50.
In step S50, it is determined whether the approaching terminal holder has been detected. If the presence of the approaching terminal holder is detected, the process proceeds to step S60, and if the presence of the approaching terminal holder is not detected, this control cycle ends (end).

In step S60, the position of the approaching terminal holder is compared with the position of the non-viewing pedestrian. Then, control goes to a step S70.
In step S70, an object in which the position of the approaching terminal holder matches the position of the non-viewing pedestrian is detected as a jumping pedestrian. Then, this control cycle ends (end).

Further, in the vehicle danger notification device, a risk weighting flow for a pedestrian as shown in FIG. 5 is periodically performed using the type of pedestrian detected by the vehicle pedestrian detection device.
In step S100, the danger level of a pedestrian is set. Then, the process proceeds to step S110.
In step S110, the risk set according to the type of pedestrian such as a visible pedestrian, a non-visible pedestrian, or a jumping pedestrian is weighted. And it transfers to step S120.
In step S120, a pedestrian is notified according to the weighted risk level. Then, this control cycle ends (end).

  Therefore, according to the vehicle pedestrian detection device of the present invention, the comparison detection unit 15a performs the visible object detected by the visible object detection unit 13 and the visible moving object determined by the visible moving object determination unit 15c and the inter-pedestrian communication. In order to compare with the terminal holder detected by the device 14, detect those that correspond to the visible moving body as visual pedestrians, and detect those that do not correspond to visible objects among the terminal holders as non-visual pedestrians, A visually recognized pedestrian and a non-visible pedestrian can be distinguished and detected. Thereby, it is possible to appropriately detect a pedestrian having a high degree of danger with respect to the vehicle 1.

  Further, the comparison detection unit 15a is based on the position information of the vehicle 1 detected by the GPS 11, the vehicle speed detected by the vehicle speed detection sensor, and the position information and speed information of the terminal holder acquired by the inter-vehicle communication device 14. In order to detect an approaching terminal holder and detect a terminal holder approaching the vehicle among non-viewing pedestrians as a jumping pedestrian, it is possible to appropriately determine and detect a jumping pedestrian from non-viewing pedestrians it can. Thereby, it is possible to more appropriately detect a pedestrian having a high degree of danger with respect to the vehicle 1.

  In the danger notification device for a vehicle according to the present invention, the risk determination unit 15b weights the non-viewing pedestrian more heavily than the visual pedestrian, and jumps out from the non-visual pedestrian who does not correspond to the flying pedestrian. The HMI 19 notifies the driver of the pedestrian according to the risk level for the vehicle 1 in order to weight the risk level to the person and to notify the pedestrian to the driver of the vehicle 1 based on the risk level. The pedestrian can be appropriately notified to the driver.

[Others]
Although the embodiments of the present invention have been described above, the present invention is not limited to the above-described embodiments, and various modifications can be made without departing from the spirit of the present invention.
In the above embodiment, the visible moving object detected by the visible object detecting unit is compared with the terminal holder. However, the present invention is not limited to this, and the visible object including the stationary object detected by the visible object detecting unit is used. And the terminal holder may be compared.

  Further, since the speed information can be calculated from the change in the position information, the inter-pedestrian communication device of the vehicle has only to acquire at least the position information of the mobile terminal. In this case, in the pedestrian detection ECU, for example, the comparison detection unit calculates the speed information of the mobile terminal from the change in the position information, and the comparison detection unit replaces the speed information of the mobile terminal acquired by the inter-vehicle communication device. The speed information of the portable terminal calculated from the change in the position information acquired by the inter-vehicle communication device is used.

  The vehicle pedestrian detection device and vehicle danger notification device of the present invention can be applied not only to large or medium-sized vehicles such as trucks or buses but also to small vehicles such as passenger cars.

1 vehicle 2 pedestrian 11 GPS (vehicle position detection means)
12 Vehicle speed sensor (vehicle speed detection means)
13 Visible object detection unit (visible object detection means)
14 Inter-vehicle communication device (information communication means)
14a Antenna 15 Pedestrian detection ECU
15a Comparison detection unit (comparison detection means)
15b Risk determination unit (risk level determination means)
15c Visible moving body determination unit (visible moving body determination means)
16 Steering angle sensor 19 HMI (notification means)

Claims (5)

Visible object detection means for detecting a visible object that is a visible object in front of the vehicle;
Information communication means for detecting the terminal holder by communicating with a portable terminal held by the terminal holder in the vicinity of the vehicle;
The visible object detected by the visible object detection means is compared with the terminal holder detected by the information communication means, and the terminal holder is a pedestrian who can visually recognize the one corresponding to the visible object. A vehicle comprising: a detection means for detecting as a visual pedestrian and detecting as a non-visual pedestrian who is a pedestrian in the shadow of the terminal holder who does not correspond to the visible object. Pedestrian detection device. Visible moving body determining means for determining whether the visible object is a moving visible moving body from detection information by the visible object detecting means,
The comparison detection unit compares the visible moving object determined by the visible moving object determination unit among the visible objects detected by the visible object detection unit and the terminal holder detected by the information communication unit. The vehicle pedestrian detection device according to claim 1, wherein the visual pedestrian and the non-visual pedestrian are detected. Vehicle position detecting means for detecting the position of the vehicle;
Vehicle speed detecting means for detecting the vehicle speed of the vehicle,
The information communication means acquires the position information and speed information of the terminal holder,
The comparison detection means includes
Based on the position of the vehicle detected by the vehicle position detection means, the vehicle speed detected by the vehicle speed detection means, and the position information and speed information of the terminal holder acquired by the information communication means, Detecting the terminal holder approaching the vehicle;
The vehicle pedestrian detection device according to claim 1 or 2, wherein the terminal holder approaching the vehicle among the non-viewing pedestrians is detected as a jumping pedestrian capable of jumping out. The vehicle pedestrian detection device according to claim 1 or 2,
A risk determination means for weighting the risk of the pedestrian to the vehicle;
A notification means for notifying the driver of the vehicle of the pedestrian based on the risk weighted by the risk determination means;
The danger notification device for a vehicle, wherein the risk determination means weights the risk to the non-visual pedestrian more than the visual pedestrian. A vehicle pedestrian detection device according to claim 3,
A risk determination means for weighting the risk of the pedestrian to the vehicle;
A notification means for notifying the driver of the vehicle of the pedestrian based on the risk weighted by the risk determination means;
The risk determination means weights the risk to the non-visual pedestrian more than the visual pedestrian and assigns the risk to the jumping pedestrian rather than the non-visual pedestrian that does not correspond to the jumping pedestrian. A vehicle danger notification device characterized in that the degree is heavily weighted.

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