JP2015079330A - Notification system - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a notification system that can prevent an involvement accident.SOLUTION: A notification system (1) includes: distance calculation means (3, 17) that calculates a distance X from one end of a road (103) to an own vehicle (101) in a width direction of a road on which the own vehicle travels; direction instruction detection means (11, 19) that detects an instruction of the one direction by a direction indicator; and notification means (21, 13) that performs notification under the necessary condition that the distance X is not less than a predetermined lower limit value, and the instruction of the one direction is detected.

Description

  The present invention relates to a notification system.

  2. Description of the Related Art Conventionally, there are known notification systems that monitor the surroundings of a host vehicle using various sensors and notify a driver when an obstacle (for example, a pedestrian or bicycle) that may collide with the host vehicle is detected. (See Patent Document 1).

JP 2004-51006 A

  If there is a space between the left end of the road and the host vehicle, the two-wheeled vehicle may pass through. At this time, if the host vehicle turns left at the intersection, there is a risk of a entanglement accident involving the motorcycle.

  In order to prevent a entanglement accident, it is conceivable to detect a motorcycle passing through the left side of the host vehicle using various sensors and notify the driver. However, in the conventional notification system, a motorcycle passing through the left side of the host vehicle may not always be accurately detected. This is because the two-wheeled vehicle is small and close to a structure (such as a guardrail) existing near the left end of the road, and thus it is difficult to detect the two-wheeled vehicle separately from the structure.

  This invention is made | formed in view of the above point, and it aims at providing the alerting | reporting system which can suppress an entrainment accident.

  The notification system of the present invention detects a distance calculation means for calculating a distance X from one end of the road to the host vehicle in the width direction of the road on which the host vehicle travels, and detects the one instruction by a direction indicator. Direction indication detecting means for performing the notification, and notifying means for performing notification on the condition that the distance X is equal to or greater than a predetermined lower limit value and the one instruction is detected.

  According to the notification system of the present invention, there is a high possibility that another vehicle (for example, a two-wheeled vehicle) will slip through one side of the own vehicle (distance X is equal to or greater than a predetermined lower limit), and the own vehicle bends to the one side. Can be notified (when the one instruction by the direction indicator is detected). For this reason, it is possible to suppress an entrainment accident.

The notification system of the present invention can include, for example, a condition that the distance X is a predetermined upper limit value or less as a necessary condition for the notification means to perform notification.
In this case, if the distance X is excessively large (for example, if the host vehicle is traveling in a lane other than the lane near the one end on the road), even if the distance X is equal to or greater than a predetermined lower limit value, Since notification is not performed, unnecessary notification can be suppressed.

  The distance calculating means detects, for example, an object whose position relative to the road is constant on the one side of the road and is continuous for a predetermined length or more along the traveling direction of the road. The distance from the vehicle to the host vehicle can be calculated as the distance X. In this case, the distance X can be easily calculated.

  For example, when the object cannot be detected, the distance calculation means performs extrapolation in the traveling direction of the host vehicle from the position of the object detected in the past, and calculates the distance from the extrapolated portion to the host vehicle. The distance X can be calculated. In this case, the distance X can be calculated even if the object cannot be detected temporarily.

1 is a block diagram illustrating a configuration of a notification system 1. FIG. It is a flowchart showing the whole process which the alerting | reporting system 1 performs. It is a flowchart showing the distance X calculation process which the alerting | reporting system 1 performs. It is a flowchart showing the own vehicle left turn detection process which the alerting | reporting system 1 performs. It is a flowchart showing the entrainment risk determination process which the alerting | reporting system 1 performs. 6A to 6C are explanatory diagrams illustrating examples of road end objects. 7A is an explanatory diagram showing the distance X when the road end object is recognized, and 7B is an explanatory diagram showing the distance X when the road end object is not recognized and there is a recognition history.

Embodiments of the present invention will be described with reference to the drawings.
<First Embodiment>
1. Configuration of Notification System 1 The configuration of the notification system 1 will be described with reference to FIG. The notification system 1 is an in-vehicle system mounted on a vehicle. Hereinafter, a vehicle on which the notification system 1 is mounted is referred to as a host vehicle. The notification system 1 includes a road edge object recognition unit 3, a vehicle speed sensor 5, a yaw rate sensor 7, a steering angle sensor 9, a direction indicator sensor 11, an alarm display unit 13, and an entrainment risk determination ECU 15.

  The road edge object recognition unit 3 includes a known millimeter wave sensor or laser sensor, and can detect an object present in the left direction of the host vehicle. Further, the road edge object recognition unit 3 detects the detected object from the detected object based on the time difference from the time when the millimeter wave sensor or laser sensor irradiates the millimeter wave or laser until the reflected wave reflected by the detected object is received. The distance to the host vehicle can be calculated.

  The vehicle speed sensor 5 detects the vehicle speed of the host vehicle. The yaw rate sensor 7 detects the yaw rate of the host vehicle. The steering angle sensor 9 detects the steering angle of the host vehicle. The direction indicator sensor 11 detects that the direction indicator of the host vehicle is instructing a left direction.

The alarm display unit 13 includes a lamp provided in the passenger compartment of the host vehicle and a drive unit for the lamp. The lamp is provided at a position on the left side in the passenger compartment of the host vehicle.
The entrainment risk determination ECU 15 is a well-known computer including a CPU, ROM, RAM, and the like, and detection results of the road edge object recognition unit 3, the vehicle speed sensor 5, the yaw rate sensor 7, the steering angle sensor 9, and the direction indicator sensor 11. Based on the above, the processing described later is executed. The entrainment risk determination ECU 15 functionally includes a distance X calculation means 17, a host vehicle left turn detection means 19, and an entrainment risk determination means 21. They respectively perform a distance X calculation process, a self-vehicle left turn detection process, and an entrainment risk determination process, which will be described later.

  The road edge object recognition unit 3 and the distance X calculation means 17 are an embodiment of the distance calculation means, and the direction indicator sensor 11 and the vehicle left turn detection means 19 are an embodiment of the direction instruction detection means. The entrainment risk determination means 21 and the alarm display unit 13 are an embodiment of the notification means.

2. Processing Performed by Notification System 1 Processing that is repeatedly executed by the notification system 1 (particularly the entrainment risk determination ECU 15) every predetermined time will be described with reference to FIGS. In step 1 of FIG. 2, the distance X calculation process is executed to calculate the distance X. As shown in FIG. 7A, the distance X is a distance in the width direction of the road 103 (the left-right direction in FIG. 7A) on which the host vehicle 101 travels, and an object (hereinafter, referred to as the left end of the road). This is the distance from the vehicle 101 to the host vehicle 101.

  The road end object 105 is, for example, a step 107 provided at the left end of the road 103 as shown in FIGS. 6A and 6B or a guard rail 109 provided at the left end of the road 103 as shown in FIG. 6C. is there. The step 107 and the guard rail 109 have a fixed position with respect to the road 103 and extend long along the traveling direction of the road 103. Details of the distance X calculation process will be described later.

In step 2, the left turn detection process of the own vehicle is executed to detect the schedule of the left turn of the own vehicle. Details of the vehicle left turn detection process will be described later.
In step 3, the entrainment risk determination process is executed to determine the risk of an entrainment accident involving another vehicle (for example, a two-wheeled vehicle) that passes through the left side of the host vehicle. Details of the entrainment risk determination process will be described later.

  In step 4, when it is determined that there is an entrainment risk in the entrainment risk determination process, notification is performed. This notification is a process of lighting the lamp in the alarm display unit 13. On the other hand, in this step 4, when it is determined that there is no entrainment risk in the entrainment risk determination process, notification is not performed.

  Next, the distance X calculation process will be described based on the flowchart of FIG. In step 11, the road end object recognition unit 3 is used to detect an object present on the left side of the road on which the host vehicle is traveling. At this time, by continuously performing the detection for a predetermined time, the position of the detected object on the road is constant, and the detected object is continuously longer than the predetermined length along the traveling direction of the road. Judge whether or not.

When the position of the detected object with respect to the road is constant and the object continues for a predetermined length or more along the traveling direction of the road, the object is recognized as a road edge object.
The road edge object may be present on the left boundary line of the road, may be present outside the boundary line (the side far from the host vehicle), or may be present inside the boundary line (on the host vehicle). It may be present on the near side.

  In step 11, even if an object with a fixed position on the road is recognized on the left side of the road on which the host vehicle is traveling, it continues for a predetermined length or more along the traveling direction of the road. Otherwise, it is not recognized as a road edge object. In addition, even if an object that is continuous for a predetermined length or more along the traveling direction of the road on the left side of the road on which the vehicle is traveling is recognized, Not recognized as an object.

  In step 12, it is determined whether or not the road end object has been recognized in step 11. If it can be recognized, the process proceeds to step 13. If it cannot be recognized, the process proceeds to step 15.

  In step 13, the shape and position of the road edge object recognized in step 11 are stored in a memory included in the entrainment risk determination ECU 15. This storage can be used as a recognition history described later.

  In step 14, the distance from the road end object recognized in step 11 to the host vehicle is calculated, and the distance is set as the distance X. This distance X is a distance in the width direction of the road. The distance X may be a distance from the road end object to the left end of the host vehicle, or may be a distance from the road end object to a predetermined position in the host vehicle (for example, the center of the host vehicle).

  On the other hand, if a negative determination is made in step 12, the process proceeds to step 15. In step 15, the road end object is recognized and stored in a section between the current position on the travel route of the host vehicle and a position that is a predetermined distance away from the current position (hereinafter referred to as a traveled section). It is determined whether there is (hereinafter referred to as a recognition history). Note that the recognition history is created by the process of step 13. If there is a recognition history, the process proceeds to step 16, and if there is no recognition history, the present process is terminated.

  In step 16, as shown in FIG. 7B, the position of the road end object 105 </ b> A on the recognition history is extrapolated in the traveling direction of the host vehicle along the traveling direction of the road 103. The extrapolated portion is defined as an extrapolation interpolation unit 105B. Here, extrapolation means that the road end object 105A on the recognition history is virtually extended to the traveling direction side of the host vehicle. The extrapolation is performed until the extrapolation interpolation unit 105B reaches the side of the host vehicle 101 at the current time.

  In step 17, as shown in FIG. 7B, the distance from the extrapolation interpolation unit 105B calculated in step 16 to the current vehicle 101 is calculated as a distance X. This distance X is a distance in the width direction of the road. The calculation of the distance X is performed in consideration of the movement of the host vehicle 101 in the left-right direction during the period from the time when the road end object 105A on the recognition history is recognized to the present time. The movement of the host vehicle 101 in the left-right direction can be detected by the vehicle speed sensor 5, the yaw rate sensor 7, and the steering angle sensor 9.

  For example, when the host vehicle 101 has approached the left end of the road 103 by Pm from the recognition of the road end object 105A on the recognition history to the present time, the distance from the host vehicle 101 to the left end of the road 103 is constant. In comparison, the distance X is reduced by Pm. In addition, when the host vehicle 101 has moved Qm away from the left end of the road 103 from the recognition of the road end object 105A on the recognition history to the present time, the distance from the host vehicle 101 to the left end of the road 103 is constant. In comparison, the distance X is increased by Qm.

  Next, the vehicle left turn detection process will be described based on the flowchart of FIG. In step 21, the direction indicator sensor 11 is used to determine whether or not the direction indicator indicates the left direction. If the left direction is instructed, the process proceeds to step 22. If the left direction is not instructed (no direction is instructed or the right direction is instructed), the process proceeds to step 24.

  In step 22, it is determined whether or not the distance X calculated in the distance X calculation process exceeds a predetermined upper limit value. This upper limit value is a sufficiently large value that is set in advance so as not to exceed when the host vehicle is traveling in the leftmost lane of the road. Therefore, when the distance X exceeds the predetermined upper limit value, there is a high possibility that the host vehicle is traveling in a lane other than the leftmost lane on the road.

If the distance X does not exceed the upper limit value, the process proceeds to step 23. If the distance X exceeds the upper limit value, the process proceeds to step 24.
In step 23, the plan of the left turn of the own vehicle 101 is detected. On the other hand, if a negative determination is made in step 21, the process proceeds to step 24. In step 24, the left turn schedule of the host vehicle is not detected.

  Next, the entrainment risk determination process will be described with reference to FIG. In step 31, it is determined whether or not the distance X calculated by the distance X calculation process is greater than or equal to a predetermined lower limit value. This lower limit is a distance (for example, 1 m) at which there is a high possibility that a motorcycle or the like passes through the left side of the host vehicle 101, and is a preset value. If the distance X is equal to or greater than the predetermined lower limit value, the process proceeds to step 32. If the distance X is less than the predetermined lower limit value, or if the distance X cannot be calculated, the process proceeds to step 34.

  In step 32, it is determined whether a left turn schedule has been detected in the vehicle left turn detection process. If a left turn schedule is detected, the process proceeds to step 33. If a left turn schedule is not detected, the process proceeds to step 34.

In step 33, it is determined that there is an entrainment risk. In step 34, it is determined that there is no risk of entrainment.
3. Effects produced by the notification system 1 (1) The notification system 1 is in a state where there is a high possibility that another vehicle (for example, a two-wheeled vehicle) will slip through the left side of the host vehicle 101 (a state where the distance X is equal to or greater than a predetermined lower limit value). Notification can be performed. For this reason, it is possible to suppress an entrainment accident.

  (2) In addition to the condition that the distance X is equal to or greater than the predetermined lower limit value, the notification system 1 detects a schedule of a left turn of the host vehicle 101 (a state in which the direction indicator indicates the left direction). Is a necessary condition for performing the notification. Therefore, if the left turn schedule of the host vehicle 101 is not detected, notification is not performed even if the distance X is equal to or greater than the predetermined lower limit value, so unnecessary notification can be suppressed.

  (3) In addition to the condition that the distance X is equal to or greater than the predetermined lower limit value, the notification system 1 is equal to or less than the predetermined upper limit value (the vehicle is traveling in the leftmost lane of the road) Is a necessary condition for performing the notification. Therefore, if the distance X exceeds the upper limit (the vehicle is traveling in a lane other than the leftmost lane on the road), no notification is made even if the distance X is equal to or greater than the predetermined lower limit. Necessary notification can be suppressed.

  (4) The notification system 1 detects an object having a constant position relative to the road on the left side of the road on which the host vehicle is traveling and continuing for a predetermined length along the road traveling direction. Recognize as an object. Therefore, it is easy to recognize the road end object and calculate the distance X.

(5) The notification system 1 can calculate the distance X using the recognition history even when the road end object cannot be recognized at that time. Therefore, notification can be performed more appropriately.
<Other embodiments>
(1) In the said 1st Embodiment, the alerting | reporting system 1 can be equipped with the camera which can image | photograph the left direction of the own vehicle as the road edge object recognition unit 3. FIG. And based on the image image | photographed with the camera, a road edge object can be recognized with a known image recognition technique, and the distance from the recognized road edge object to the own vehicle can be calculated as the distance X.

  (2) In the first embodiment, the notification may be a combination of lamp lighting and sound, or may be sound alone. The notification may be an image display on a display provided in the vehicle interior.

  (3) In the first embodiment, the left may be replaced with the right. That is, in the distance X calculation process, the right road end object of the host vehicle is recognized, and the distance from the road end object to the host vehicle is calculated as the distance X.

  Further, a right turn detection process is performed instead of the left turn detection process. The right turn detection process is a process in which the left is replaced with the right in the process shown in FIG. Specifically, in step 21, it is determined whether or not the direction indicator indicates the right direction. In step 23, a right turn schedule is detected, and in step 24, a right turn schedule is not detected.

In this case, the notification system 1 can be used in a one-way road or a country or region to which a right-hand traffic rule is applied.
(4) In the own vehicle left turn detection process shown in FIG. 4, if an affirmative determination is made in step 21, the determination in step 22 may be omitted and the process may always proceed to step 23. In this case, the configuration and processing of the notification system 1 can be further simplified.

  (5) In the determination of step 15 in FIG. 3, the road edge object is recognized within the past predetermined time, and it is determined whether or not there is a stored recognition history. If there is no recognition history, the processing shown in FIG. 3 may be terminated.

DESCRIPTION OF SYMBOLS 1 ... Notification system, 3 ... Road end object recognition unit, 5 ... Vehicle speed sensor, 7 ... Yaw rate sensor, 9 ... Steering angle sensor, 11 ... Direction indicator sensor, 13 ... Alarm display unit, 15 ... Entrainment risk determination ECU, 17 ... distance X calculation means, 19 ... own vehicle left turn detection means, 21 ... entrainment risk determination means, 101 ... own vehicle, 103 ... road, 105 ... road end object, 105A ... road end object on recognition history, 105B ... extrapolation Interpolation section 107 ... Step, 109 ... Guard rail

Claims (4)

Distance calculating means for calculating a distance X from one end of the road in the width direction of the road on which the host vehicle is traveling to the host vehicle;
Direction indication detection means for detecting the one indication by the direction indicator;
An informing means for informing on the condition that the distance X is equal to or greater than a predetermined lower limit and the one instruction is detected;
A notification system comprising:   The notification system according to claim 1, wherein the notification unit includes a condition that the distance X is equal to or less than a predetermined upper limit value as a necessary condition for the notification unit to perform notification.   The distance calculating means detects an object having a constant position with respect to the road on the one side of the road and continuing for a predetermined length or more along the traveling direction of the road. The notification system according to claim 1, wherein a distance to a vehicle is calculated as the distance X.   When the object cannot be detected, the distance calculation means performs extrapolation in the traveling direction of the host vehicle from the position of the object detected in the past, and calculates the distance from the extrapolated portion to the host vehicle. The notification system according to claim 3, wherein X is calculated as X.

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