JP2016177573A - Warning device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a warning device capable of issuing a warning according to the positional relation between an obstacle that can be dispersed on the road by the passage of a vehicle and a pedestrian around the vehicle or a moving object such as the other vehicle and the like and to prevent the dispersed obstacle from being caught on the moving object.SOLUTION: A warning device 1 includes; an obstacle detection part for detecting an obstacle which can be dispersed on the road by the passage of a vehicle; a moving object detection part for detecting a moving object around the vehicle; an obstacle detected by the obstacle detection part; a specifying part for specifying a positional relation with the moving object detected by the moving object detection part; and an output part 14 for outputting warning information according to the positional relation specified by the specifying part.SELECTED DRAWING: Figure 1

Description

  The present invention relates to a warning device that detects an obstacle on a road that can be scattered by passing a vehicle and issues a warning.

  Patent Document 1 discloses a lane departure prevention support device that changes a warning given to a driver in accordance with a road surface state. The lane departure prevention support device is a device that detects a lane from an image obtained by imaging the front of the vehicle and issues a warning when the vehicle deviates from the lane. The lane departure prevention support device is provided with means for detecting snow accumulation, puddles, etc. on the road surface. However, it is configured not to issue a warning.

JP 2010-244070 A

  On the other hand, even if there are puddles on the road, there are many drivers who travel without avoiding puddles, which may pour pedestrians and cause trouble. Moreover, not only a pedestrian but water may be poured on the windshield of an oncoming vehicle or a subsequent vehicle. If water gets on the windshield, the field of view of the front will deteriorate, leading to an accident.

  The object of the present invention is to issue a warning according to the positional relationship between an obstacle on the road that can be scattered by passing a vehicle and a moving object such as a pedestrian or other vehicle around the vehicle, and the scattered obstacle is a moving object. An object of the present invention is to provide a warning device capable of preventing the occurrence of the problem.

  An alarm device according to an aspect of the present invention includes an obstacle detection unit that detects an obstacle on a road that may be scattered by passing a vehicle, a moving body detection unit that detects a moving body around the vehicle, and the obstacle A specifying unit for specifying a positional relationship between the obstacle detected by the object detecting unit and the moving body detected by the moving unit detecting unit, and warning information corresponding to the positional relationship specified by the specifying unit An output unit.

  Note that the present application can be realized not only as a warning device including such a characteristic processing unit, but also as a warning method using such characteristic processing as a step, or for causing a computer to execute such a step. It can be realized as a program. Further, it can be realized as a semiconductor integrated circuit that realizes part or all of the warning device, or can be realized as another system including the warning device.

  According to the above, a warning is issued according to the positional relationship between obstacles on the road that can be scattered by passing vehicles and moving objects such as pedestrians or other vehicles around the vehicle, and the scattered obstacles are moved to the moving object. It is possible to provide a warning device that can prevent this.

It is a block diagram which shows one structural example of the warning device which concerns on this Embodiment 1. FIG. It is a schematic diagram which shows the vehicle in this Embodiment 1, and its periphery. It is a flowchart which shows the warning process sequence which concerns on this Embodiment 1. FIG. It is a flowchart which shows the warning process sequence which concerns on this Embodiment 1. FIG. It is a schematic diagram which shows the vehicle in this Embodiment 2, and its periphery. 10 is a flowchart illustrating a warning processing procedure according to the second embodiment. 10 is a flowchart illustrating a warning processing procedure according to the second embodiment.

[Description of Embodiment of the Present Invention]
First, embodiments of the present invention will be listed and described. Moreover, you may combine arbitrarily at least one part of embodiment described below.

(1) An alarm device according to an aspect of the present invention includes an obstacle detection unit that detects an obstacle on a road that can be scattered by passing a vehicle, and a moving body detection unit that detects a moving body around the vehicle. A specifying unit that specifies a positional relationship between the obstacle detected by the obstacle detecting unit and the moving body detected by the moving body detecting unit, and a positional relationship specified by the specifying unit And an output unit for outputting the warning information.

In this aspect, the obstacle detection unit detects an obstacle on the road. Obstacles may be scattered by passing vehicles. For example, the obstacle is a puddle, snow accumulation, gravel, or a fallen object from another vehicle. The moving body detection unit detects moving bodies around the vehicle. The moving body is, for example, a pedestrian or a vehicle. When the obstacle and the moving body are detected, the specifying unit specifies the positional relationship between the obstacle and the moving body. Depending on the positional relationship between the obstacle and the moving body, when the vehicle travels on the obstacle, the obstacle may be scattered and the scattered obstacle may be applied to the moving body. Therefore, the output unit outputs warning information corresponding to the positional relationship specified by the specifying unit. For example, the output unit outputs warning information to a speaker, a light emitting unit, a display unit, an actuator, and the like, and notifies the user of the warning information by sound, light, vibration, or the like.
Thus, by outputting the warning information according to the positional relationship between the moving body and the obstacle, it is possible to effectively prevent the scattered obstacle from being applied to the moving body. In addition, it is possible to prevent warning information from being output to a person in a situation where the moving object is not applied even if an obstacle is scattered.

(2) The specifying unit is configured to specify a distance between the obstacle and the moving body, and the output unit outputs warning information when the distance between the obstacle and the moving body is less than a threshold value. Is preferred.

  In this aspect, the specifying unit specifies the distance between the obstacle and the moving body. The shorter the distance between the obstacle and the moving body, the higher the possibility that the scattered obstacle will hit the moving body. Therefore, the output unit outputs warning information when the distance is less than the threshold value. When the distance between the obstacle and the moving object is equal to or greater than the threshold, warning information is not output because the possibility that the scattered obstacle is applied to the moving object is low.

(3) It is preferable that an acquisition unit that acquires the speed of the vehicle is provided, and the output unit outputs warning information according to the positional relationship specified by the specifying unit and the speed of the vehicle.

  In this aspect, in general, the faster the vehicle speed, the longer the distance of obstacles scattered by passing the vehicle, so the output unit, together with the positional relationship between the obstacle and the moving body, Warning information is output in consideration of the vehicle speed.

(4) A threshold value determination unit that determines a threshold value according to the speed of the vehicle is provided, wherein the specifying unit specifies a distance between the obstacle and the moving body, and the output unit includes the obstacle and A configuration in which warning information is output when the distance of the moving body is less than the threshold value is preferable.

  In this aspect, the specifying unit specifies the distance between the obstacle and the moving body. The output unit outputs warning information when the distance is less than the threshold value. In general, the faster the vehicle speed, the longer the obstacle scattering distance due to the passage of the vehicle. Therefore, the threshold value determining unit sets a threshold value for determining whether the scattered obstacle is applied to the moving object. Determine according to the speed of the vehicle. Since the output unit outputs warning information using the threshold value determined in this way, the warning device more accurately determines the possibility that a scattered obstacle will hit the moving object, and outputs the warning information. can do.

(5) It is preferable to include a shield detection unit that detects a shield that blocks the scattering of obstacles, and that the threshold value determination unit determines a threshold value according to the speed of the vehicle and the presence or absence of the shield.

  In this aspect, the shielding object detection unit detects the shielding object. The shield is a structure that shields obstacles scattered by the passing of the vehicle. The shield is, for example, a sound insulation wall or a median strip. Depending on the presence or absence of the shielding object, the possibility that the scattered obstacle is applied to the moving object varies. For this reason, a threshold value determination part determines a threshold value according to the presence or absence of an obstruction. Specifically, the threshold is small when there is a shield, and the threshold is large when there is no shield. The warning device can more accurately determine the possibility that a scattered obstacle will hit the moving object, and can output warning information.

(6) Preferably, the output unit outputs warning information indicating that the vehicle should travel while avoiding the obstacle detected by the obstacle detection unit.

  In this aspect, the output unit can warn that the vehicle should travel while avoiding an obstacle by outputting the warning information. When the vehicle travels avoiding obstacles, it is possible to prevent the obstacles from scattering.

(7) Preferably, the output unit outputs warning information indicating that the speed of the vehicle should be reduced.

  In this aspect, the output unit warns that the speed of the vehicle should be reduced by outputting the warning information. By reducing the speed of the vehicle, it is possible to shorten the distance at which the obstacles scatter and prevent the scattered obstacles from being applied to the moving body.

(8) The moving body detection unit is configured to detect another vehicle, and whether or not the vehicle collides with the other vehicle when the vehicle travels avoiding the obstacle detected by the obstacle detection unit. When the collision determination unit determines that the collision determination unit does not collide, the output unit outputs warning information indicating that the vehicle should travel avoiding an obstacle, and determines that the collision determination unit collides. In such a case, it is preferable to output warning information indicating that the speed of the vehicle should be reduced.

  In this aspect, the moving body detection unit detects another vehicle as one of the moving bodies around the vehicle, and the collision determination unit may collide with the other vehicle when the vehicle avoids an obstacle. It is determined whether or not there is. For example, the collision determination unit determines that there is a possibility of a collision when another vehicle is traveling on the right side or the left side of the host vehicle equipped with the warning device. If the distance between the host vehicle and the other vehicle is less than the predetermined distance and the other vehicle is located obliquely behind the host vehicle, it is determined that there is a possibility of a collision or a rear-end collision.

(9) A radar that outputs electromagnetic waves or ultrasonic waves to the surroundings of the vehicle and detects reflected waves, or an imaging unit that images the surroundings of the vehicle, and the obstacle detecting unit and the moving body detecting unit are A configuration in which an obstacle and a moving body are detected based on a detected reflected wave or an image captured by the imaging unit is preferable.

  In this aspect, the obstacle detection unit can detect an obstacle using a radar or an imaging unit. The moving body detection unit can detect the moving body by a radar or an imaging unit.

(10) Preferably, the obstacle is a puddle.

  In this aspect, it is possible to prevent the splashed water splashing on a moving object such as a pedestrian or a vehicle, particularly by passing through a puddle.

[Details of the embodiment of the present invention]
A specific example of a warning device according to an embodiment of the present invention will be described below with reference to the drawings. In addition, this invention is not limited to these illustrations, is shown by the claim, and intends that all the changes within the meaning and range equivalent to a claim are included.

(Embodiment 1)
FIG. 1 is a block diagram illustrating a configuration example of a warning device 1 according to the first embodiment, and FIG. 2 is a schematic diagram illustrating a vehicle C and its surroundings according to the first embodiment. The warning device 1 is mounted on the vehicle C. Hereinafter, the configuration and processing contents of the warning device 1 will be described assuming the situation shown in FIG. That is, the vehicle C is traveling on the road R as shown in FIG. 2, and there is a puddle W on the road surface in front of the vehicle. There is a pedestrian A near the puddle W. B in the figure is a sound insulation wall B and may be installed on the road side of the road R. The sound insulation wall B is an example of a shield that can block the splash of water.
In addition, the thick line arrow has shown the traveling route of the vehicle C which passed without avoiding the puddle W, and the broken line arrow has shown the traveling route of the vehicle C which avoided the puddle W.

  The warning device 1 warns an appropriate driving method so that when the vehicle C passes without avoiding the puddle W on the road R, the pedestrian A is not sprayed with water. The warning device 1 according to the first embodiment includes a control unit 11 having, for example, a CPU (Central Processing Unit) that controls the operation of each component of the warning device 1, a ROM, a RAM, and the like. A storage unit 12, an input unit 13, and an output unit 14 are connected to the control unit 11. The warning device 1 executes an after-mentioned computer program stored in the storage unit 12 to control the operation of each component and execute a warning process according to the present embodiment.

  The storage unit 12 is a nonvolatile memory such as an EEPROM (Electrically Erasable Programmable ROM) and stores a control program necessary for the initial operation of the computer. Further, the storage unit 12 stores a computer program for executing the warning process according to the first embodiment. Furthermore, the memory | storage part 12 has memorize | stored the threshold value for determining whether a spray may be applied to the pedestrian A when the vehicle C passes the puddle W. FIG. The threshold value varies based on the distance between the pedestrian A and the puddle W, the speed of the vehicle C, the presence or absence of the sound insulation wall B, and the like. Therefore, the storage unit 12 stores a table in which the distance between the pedestrian A and the puddle W, the speed of the vehicle C, the presence / absence of the sound insulation wall B, and the threshold value are associated with each other. The threshold value corresponds to the distance at which the splashes are scattered, and is determined in advance through a running experiment or the like. The table is an example of a method for storing a varying threshold value, and is not limited to this. For example, if there is a certain correlation between the threshold and the speed of the vehicle C, the threshold may be stored as a function.

  The input unit 13 is an interface through which information necessary for detecting the pedestrian A around the vehicle C, other vehicles, the puddle W on the road R, and the sound insulation wall B and the vehicle speed information are input. A vehicle speed detection unit 2, an imaging unit 3, and a radar 4 are connected.

  The vehicle speed detection unit 2 includes, for example, a magnetic pickup that transmits a signal proportional to the rotational speed of an axle provided in the vehicle C, a non-contact sensor that includes a Hall element, and a counting circuit that measures the number of pulses from the non-contact sensor. And detecting the speed of the vehicle C by measuring the number of pulses. Vehicle speed information detected by the vehicle speed detection unit 2 is input to the input unit 13.

  The radar 4 is, for example, a millimeter wave radar, a laser radar, an ultrasonic radar, or the like. The radars 4 are provided on the left and right of the front part or the rear part of the vehicle C. The mounting position of the radar 4 is an example, and the radar 4 may be provided at the front and rear of the vehicle C at the center in the vehicle width direction. The radar 4 outputs radio waves, electromagnetic waves such as lasers or ultrasonic waves to the front and rear of the vehicle C, and detects reflected waves, thereby detecting a puddle W, a pedestrian A, another vehicle, a sound insulation wall B, etc. on the road R. To detect. Further, the radar 4 can detect the distance between the vehicle C on which the radar 4 is mounted, the puddle W, the pedestrian A, and another vehicle. Furthermore, the radar 4 can detect the direction of the puddle W, the pedestrian A, the other vehicle, and the sound insulation wall B with respect to the vehicle C.

  The imaging unit 3 is a monocular camera or a stereo camera provided in the vehicle C so that at least the road R and the sidewalk in front of the vehicle are included in the imaging range. The imaging unit 3 images the surroundings with visible light or infrared light. For example, the imaging unit 3 captures an image of, for example, 30 frames per second, and the image acquired by the imaging unit 3 is input to the input unit 13.

The output unit 14 is an interface that outputs warning information for issuing a warning so that the splash of the vehicle C passing through the puddle W is not applied to the pedestrian A. The output unit 14 includes the display unit 5 and the audio output unit 6. Is connected. The display unit 5 is a display device such as a liquid crystal display, an organic EL display, or a head-up display, and displays a warning image based on the warning information output from the output unit 14 under the control of the control unit 11. The sound output unit 6 outputs a sound corresponding to the warning information output from the output unit 14 under the control of the control unit 11.
In addition, although the display part 5 and the audio | voice output part 6 were illustrated as a warning information output destination apparatus, if warning information can be notified to a driver | operator, the output destination will not be specifically limited. For example, the warning information can be output by outputting the warning information to the light emitting unit provided in the vehicle to cause the light emitting unit to emit light and blink, and to change the emission color of the light emitting unit. Moreover, you may comprise so that warning information may be output to the portable terminal device connected to the warning device 1 by wire or radio | wireless. Further, warning information may be output to an actuator that transmits information by vibration, and the warning may be performed by vibration.

  3 and 4 are flowcharts showing a warning processing procedure according to the first embodiment. First, the control unit 11 acquires vehicle speed information detected by the vehicle speed detection unit 2 (step S11). Next, the control unit 11 acquires an image around the vehicle C from the imaging unit 3 (step S12), and acquires the detection result from the radar 4 (step S13).

  Next, the control unit 11 performs a process for detecting the puddle W based on the image acquired in step S12 or step S13 and the detection result by the radar 4 (step S14), and whether there is a puddle W in front of the vehicle C. Is determined (step S15). When it determines with there being no puddle W (step S15: NO), the control part 11 finishes a process.

  When it is determined that there is a puddle W (step S15: YES), the control unit 11 executes a detection process of the pedestrian A based on the image acquired in step S12 or step S13 and the detection result by the radar 4 ( Step S16), it is determined whether or not there is a pedestrian A in front of the vehicle C (Step S17). When it determines with there being no pedestrian A (step S17: NO), the control part 11 finishes a process.

  When it determines with the pedestrian A (step S17: YES), the control part 11 is based on the image acquired in step S12 or step S13, and the detection result by the radar 4, and the positional relationship of the pedestrian A and the puddle W And the distance are calculated (step S18). The positional relationship is, for example, the direction of the pedestrian A and the puddle W with respect to the vehicle CC. Next, the control unit 11 performs a process of detecting the sound insulation wall B between the pedestrian A and the puddle W based on the image acquired in step S12 or step S13 and the detection result by the radar 4 (step S19). ). In addition, the control part 11 determines whether the sound insulation wall B is located between the pedestrian A and the puddle W based on the information of the direction and distance of the pedestrian A, the puddle W, and the sound insulation wall B with respect to the vehicle CC. Can be determined. And the control part 11 determines a threshold value based on the distance of the pedestrian A and the puddle W, the speed of the vehicle C, the presence or absence of the sound insulation wall B, etc. (step S20). Specifically, the control unit 11 sets the threshold corresponding to the situation from the table stored in the storage unit 12 using the distance between the pedestrian A and the puddle W, the speed of the vehicle C, the presence / absence of the sound insulation wall B, and the like as keys. Search for.

  Next, the control unit 11 determines whether or not there is a possibility that the splash is applied to the pedestrian A (step S21). Specifically, the control unit 11 determines whether or not the distance between the pedestrian A and the puddle W is less than the threshold value determined in step S20.

  When it determines with there being no possibility that a splash will be applied to the pedestrian A (step S21: NO), the control part 11 finishes a process. When it is determined that there is a possibility that the splash is applied to the pedestrian A (step S21: YES), the control unit 11 travels around based on the image acquired in step S12 or step S13 and the detection result by the radar 4. The detection process of the other vehicle is executed (step S22), and it is determined whether or not the puddle W can be avoided without colliding with the other vehicle (step S23). When it is determined that the puddle W can be avoided (step S23: YES), the control unit 11 outputs warning information indicating that the vehicle should travel while avoiding the puddle W from the output unit 14 to the display unit 5 and the audio output unit 6. (Step S24), and the process ends.

  When it is determined that the puddle W cannot be avoided (step S23: NO), the control unit 11 calculates a speed at which the puddle A is not covered with the puddle W (step S25). Specifically, the control unit 11 may determine the speed in reverse calculation using a table stored in the storage unit 12. In the table, the distance between the pedestrian A and the puddle W, the speed of the vehicle C, the presence / absence of the sound insulation wall B, and a threshold value are associated with each other. Based on the distance between the pedestrian A and the puddle W calculated in step S18 and the presence / absence of the sound insulation wall B detected in step S19, the control unit 11 searches for the speed of the vehicle C such that the threshold is equal to or less than the distance. Just do it.

  Next, the control unit 11 outputs warning information from the output unit 14 to the display unit 5 and the audio output unit 6 to reduce the speed of the vehicle C so as to be equal to or lower than the speed calculated in step S25 (step S26). Finish the process.

  According to the warning device 1 according to the first embodiment, it is possible to issue a warning according to the positional relationship between the puddle W and the pedestrian A around the vehicle, and to prevent the pedestrian A from splashing water.

  Specifically, when the distance between the puddle W and the pedestrian A is less than the threshold, the warning device 1 prevents the pedestrian A from being splashed by passing through the puddle W by issuing a warning. can do.

  Moreover, since the warning device 1 uses a threshold value corresponding to the speed of the vehicle C, it is possible to more accurately determine the possibility of splashing, and more effectively prevent the splashing from being applied to the pedestrian A. it can. Further, it is possible to prevent an unnecessary warning from being issued.

  Furthermore, since the warning device 1 uses a threshold value according to the presence or absence of the sound insulation wall B, it is possible to more accurately determine the possibility of splashing and to more effectively prevent the splashing from being applied to the pedestrian A. it can. Further, it is possible to prevent an unnecessary warning from being issued.

Furthermore, when there is no danger of collision with another vehicle, the warning device 1 can issue a warning that the vehicle should travel while avoiding the puddle W, and can prevent the occurrence of splashing itself.
Furthermore, since the warning device 1 is configured to warn that the puddle W should be avoided after confirming the danger of a collision with another vehicle, the warning device 1 collides with another vehicle when the puddle W is avoided according to the warning. Accidents can be prevented.

  Furthermore, the warning device 1 can warn that the speed of the vehicle C should be reduced when the puddle W cannot be avoided, and prevents the puddle W from being applied to the pedestrian A even if the puddle W cannot be avoided. be able to.

  Furthermore, since the warning device 1 can notify the driver of a speed at which the splash is not applied to the pedestrian A, the warning device 1 can more effectively prevent the splash from being applied to the pedestrian A.

(Embodiment 2)
The warning device 1 according to the second embodiment warns an appropriate driving method so that when the vehicle passes without avoiding the puddle W on the road R, the splash is not applied to other vehicles such as the oncoming vehicle E. Since the warning device 1 according to the second embodiment differs from the first embodiment in the processing contents of the control unit 11 and the table contents, the following mainly describes the differences. Since other configurations and operational effects are the same as those of the first embodiment, the corresponding portions are denoted by the same reference numerals, and detailed description thereof is omitted.

  The storage unit 12 of the warning device 1 according to the second embodiment stores a table in which the distance between the oncoming vehicle E and the puddle W, the speed of the vehicle C, the presence / absence of the sound insulation wall B, and the threshold value are associated with each other.

  FIG. 5 is a schematic diagram showing the vehicle C and its surroundings in the second embodiment, and FIGS. 6 and 7 are flowcharts showing a warning processing procedure according to the second embodiment. As shown in FIG. 5, the vehicle C is traveling on the road R, and there is a puddle W on the road R ahead. There is an oncoming vehicle E diagonally forward of the vehicle C, and the oncoming vehicle E reaches the vicinity of the puddle W when the vehicle C equipped with the warning device 1 reaches the puddle W. Hereinafter, the processing procedure of the warning device 1 in such a situation will be described. In addition, D in the figure is the central separation band D. The median strip D is an example of a shield that can block splashes.

  The control part 11 performs the process similar to step S11-step S15 of Embodiment 1 in step S211-step S215. That is, the control unit 11 acquires the vehicle speed information, the image around the vehicle C, and the detection result of the radar 4, executes the detection process of the puddle W, and determines the presence or absence of the puddle W.

  In Step S215, when it is determined that there is a puddle W (Step S215: YES), the control unit 11 detects the oncoming vehicle E based on the image acquired in Step S212 or Step S213 and the detection result by the radar 4. Is executed (step S216), and it is determined whether there is an oncoming vehicle E (step S217). The oncoming vehicle E is another vehicle that travels in a travel lane different from that of the vehicle C on which the warning device 1 is mounted, and is traveling in the opposite direction to the vehicle C. Simply, the other vehicle in front of the vehicle C may be detected as the oncoming vehicle E from the detection result of the radar 4. In Step S215, when it is determined that there is no puddle W (Step S215: NO), or when it is determined that there is no oncoming vehicle E (Step S217: NO), the control unit 11 ends the process.

  When it is determined that the oncoming vehicle E is present (step S217: YES), the control unit 11 is based on the vehicle speed information acquired in step S211, the image acquired in step S212 or step S213, and the detection result by the radar 4. The position of the oncoming vehicle E when the vehicle C on which the warning device 1 is mounted reaches the puddle W is predicted (step S218). Specifically, the control unit 11 can calculate the time until the vehicle C reaches the puddle W by dividing the distance to the puddle W by the vehicle speed of the vehicle C. Based on the detection result of the radar 4, the distance and relative speed between the vehicle C and the oncoming vehicle E can be specified, and the relative speed is multiplied by the time until the vehicle C reaches the puddle W. It can be calculated in which direction and how far the vehicle E has moved relative to the vehicle C.

  Next, the control unit 11 calculates the positional relationship and distance between the oncoming vehicle E and the puddle W when the vehicle C reaches the puddle W (step S219). And the control part 11 performs the detection process of the median strip D based on the image acquired in step S212 or step S213, and the detection result by the radar 4 (step S220). And the control part 11 determines a threshold value based on the distance of the oncoming vehicle E and the puddle W, the speed of the vehicle C, the presence or absence of the median strip D, etc. (step S221). Specifically, the control unit 11 responds to such a situation from the table stored in the storage unit 12 using the distance between the oncoming vehicle E and the puddle W, the speed of the vehicle C, the presence / absence of the median strip D, and the like as keys. Search for a threshold.

  Next, the control unit 11 determines whether or not there is a possibility of splashing on the oncoming vehicle E (step S222). Specifically, the control unit 11 determines whether or not the distance between the oncoming vehicle E and the puddle W is less than the threshold value determined in step S221.

  When it determines with there being no possibility that a splash will be applied to the oncoming vehicle E (step S222: NO), the control part 11 complete | finishes a process. When it determines with there being a possibility that a splash may be applied to the oncoming vehicle E (step S222: YES), the control part 11 performs the process similar to step S22-step S26 of Embodiment 1 by the process of step S223-step S227. Run.

  According to the warning device 1 according to the second embodiment, it is possible to issue a warning according to the positional relationship between the puddle W and the oncoming vehicle E around the vehicle, and to prevent the splashing from being applied to the oncoming vehicle E.

  Further, since the distance between the oncoming vehicle E and the puddle W at the time when the vehicle C on which the warning device 1 is mounted reaches the puddle W is determined and the possibility that the splash is applied to the oncoming vehicle E is determined. Can be more effectively prevented from being applied to the oncoming vehicle E. Further, it is possible to prevent an unnecessary warning from being issued.

  In addition, although the oncoming vehicle E was demonstrated to an example as an object which splashes, it is not necessarily limited to this. For example, when traveling on a road R of two or more lanes, the same as in the second embodiment is applied so that the subsequent vehicle traveling on a lane different from the vehicle C traveling on the warning device 1 is not splashed. Processing may be executed.

  In the first and second embodiments, the puddle W has been described as an example of an obstacle that can be scattered by the passage of the vehicle C. However, snow, gravel, falling objects from other vehicles, etc. are detected, and these obstacles are detected. It may be configured to prevent other vehicles such as the pedestrian A or the oncoming vehicle E.

DESCRIPTION OF SYMBOLS 1 Warning device 2 Vehicle speed detection part 3 Image pick-up part 4 Radar 5 Display part 6 Audio | voice output part 11 Control part 12 Memory | storage part 13 Input part 14 Output part A Pedestrian B Sound insulation wall C Vehicle D Center separation zone E Oncoming vehicle R Road W Puddle

Claims (10)

An obstacle detection unit for detecting obstacles on the road that may be scattered by passing vehicles;
A moving body detection unit for detecting a moving body around the vehicle;
A specifying unit for specifying a positional relationship between the obstacle detected by the obstacle detecting unit and the moving object detected by the moving object detecting unit;
And an output unit that outputs warning information corresponding to the positional relationship specified by the specifying unit. The specific part is:
The distance between the obstacle and the moving body is specified,
The output unit is
The warning device according to claim 1, wherein warning information is output when a distance between the obstacle and the moving body is less than a threshold value. An acquisition unit for acquiring the speed of the vehicle;
The output unit is
The warning device according to claim 1, wherein warning information is output according to the positional relationship specified by the specifying unit and the speed of the vehicle. A threshold value determining unit for determining a threshold value according to the speed of the vehicle;
The specific part is:
The distance between the obstacle and the moving body is specified,
The output unit is
The warning device according to claim 3, wherein warning information is output when a distance between the obstacle and the moving body is less than a threshold value. Provided with an obstacle detection unit that detects obstacles that block the scattering of obstacles,
The threshold determination unit
The warning device according to claim 4, wherein a threshold value is determined according to the speed of the vehicle and the presence or absence of an obstacle. The output unit is
The warning device according to any one of claims 1 to 5, wherein warning information indicating that the vehicle should travel while avoiding an obstacle detected by the obstacle detection unit is output. The output unit is
The warning device according to any one of claims 1 to 6, wherein warning information indicating that the speed of the vehicle should be reduced is output. The moving body detection unit is adapted to detect other vehicles,
A collision determination unit for determining whether to collide with the other vehicle when the vehicle travels avoiding the obstacle detected by the obstacle detection unit;
The output unit is
When the collision determination unit determines that the vehicle does not collide, warning information indicating that the vehicle should run while avoiding an obstacle is output. When the collision determination unit determines that the vehicle will collide, warning information that the vehicle speed should be decreased. The warning device according to any one of claims 1 to 5. A radar that outputs electromagnetic waves or ultrasonic waves to the surroundings of the vehicle and detects reflected waves, or an imaging unit that images the surroundings of the vehicle,
The obstacle detection unit and the moving body detection unit are:
The warning device according to any one of claims 1 to 8, wherein an obstacle and a moving body are detected based on a reflected wave detected by the radar or an image captured by the imaging unit. The warning device according to any one of claims 1 to 9, wherein the obstacle is a puddle.

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