JP2018018467A - Pedestrian position detection device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To detect a position of a pedestrian existing in a circumference by including a position that cannot be viewed from a vehicle.SOLUTION: A pedestrian existence position in the circumference of a vehicle is detected by analyzing an image signal of an on-vehicle camera or a reflection signal of an electromagnetic irradiation apparatus such as an on-vehicle radar. Besides, an object area requiring an inquiry on existence of a pedestrian is extracted. Then, an ultrasonic wave output device mounted on the vehicle is driven, so as to output an ultrasonic wave toward the object area and to detect a response signal wirelessly transmitted from the object area in response to the ultrasonic wave. A pedestrian existence position in the circumference of the vehicle is determined based on a detection result of an acquired response signal and a previously detected pedestrian existence position. Consequently, a position of a pedestrian existing in a circumference can be detected by including a position that cannot be viewed from the vehicle.SELECTED DRAWING: Figure 4

Description

  The present invention relates to a technique for detecting the position of a pedestrian mounted on a vehicle and existing around the vehicle.

  In order to prevent a traffic accident between the vehicle and the pedestrian, it is important to detect the position of the pedestrian existing around the vehicle. Here, as a technique for detecting the position of the pedestrian existing around the vehicle, a technique for detecting the position of the pedestrian by analyzing an image captured by the in-vehicle camera, or a position transmitted by the portable information terminal of the pedestrian A technique for detecting the position of a pedestrian based on information is known.

Among these, the technology using the position information of the portable information terminal may not be suitable for the purpose of detecting a pedestrian position and preventing a traffic accident because an error larger than the width of the road may occur. Therefore, in order to be able to detect the position of the pedestrian with sufficient accuracy, in addition to the position information of the pedestrian, by acquiring information about the distance to the pedestrian based on the radio wave intensity from the portable information terminal A technique for improving detection accuracy has been proposed.
However, in order to detect the position of the pedestrian based on the position information of the portable information terminal, the position information must be continuously transmitted from the portable information terminal. It's not a natural way.

  On the other hand, a technique for analyzing an image taken by an in-vehicle camera can detect the position of a pedestrian with sufficient accuracy. In addition, this technology has sufficient reliability because it has already been used in many devices. Furthermore, with recent technological development, it is possible to detect a pedestrian with sufficient accuracy even from an image in which the whole body of the pedestrian is not captured (for example, an image in which the pedestrian's half body is captured) ( For example, Patent Document 1).

JP, 2015-191338, A

However, the technology for detecting pedestrians by analyzing images taken with an in-vehicle camera has the problem that pedestrians that cannot be seen from the in-vehicle camera, such as the other side of a wall, cannot be detected. It was.
In recent years, a technique for detecting a pedestrian using an in-vehicle radar that emits electromagnetic waves such as millimeter waves has been widely used. However, the same problem exists in this technique.

  The present invention has been made in view of the above-described problems in the prior art. When detecting a pedestrian using an in-vehicle camera or an in-vehicle radar, the present invention includes a position that cannot be seen from the in-vehicle camera or the in-vehicle radar. The purpose is to provide a technique capable of detecting the position of a person.

  In order to solve the above-described problem, the pedestrian position detection device of the present invention analyzes an image signal of an in-vehicle camera, or analyzes a reflection signal of an electromagnetic wave emitted from an in-vehicle radar or an in-vehicle laser. The location of the pedestrian is detected. Further, a target area that requires an inquiry about the presence of a pedestrian is extracted. Then, by driving an ultrasonic output device mounted on the vehicle, an ultrasonic wave is output toward the target region, and a response signal transmitted wirelessly from the target region in response to the ultrasonic wave is detected. Based on the detection result of the response signal obtained in this way and the pedestrian location detected earlier, the pedestrian location around the vehicle is determined.

  Today, a pedestrian may think that he / she carries a portable information terminal having a call function such as a so-called mobile phone or smart phone, and if it is a portable information terminal having a call function, the function of detecting ultrasonic waves has already been established. I have. In addition, since ultrasonic waves are a kind of sound, it can be considered that they are transmitted to the shadows of buildings and vehicles due to diffraction, reflection, and transmission. Therefore, if a pedestrian is present in a shadow target area such as a building or a vehicle, ultrasonic waves are output toward the target area, so that the pedestrian's portable information terminal detects the ultrasonic wave. A response signal to can be transmitted. From this, it is possible to determine whether or not there is a pedestrian in the target area based on the response signal to the ultrasonic wave. As a result, walking in the vicinity of the vehicle, including positions that cannot be seen from the in-vehicle camera or radar, combined with the detection result of the pedestrian obtained based on the image signal of the in-vehicle camera or the reflected signal of the in-vehicle radar. It is possible to detect the location of the person.

It is explanatory drawing which shows the vehicle 1 carrying the pedestrian position detection apparatus 100 of a present Example. It is a block diagram which shows the internal structure of the pedestrian position detection apparatus 100 of a present Example. It is explanatory drawing which illustrates a mode that the image of the vehicle-mounted camera 11 was analyzed and the pedestrian and the object area | region R were detected. It is explanatory drawing which shows the reason which can determine the presence or absence of a pedestrian by outputting an ultrasonic signal toward the target area | region R. FIG. It is a flowchart of the pedestrian position detection process which the pedestrian position detection apparatus 100 of a present Example performs. 4 is an explanatory diagram illustrating a state in which an ultrasonic signal is output toward a target region R. FIG. It is explanatory drawing about the data structure of the ultrasonic signal which the ultrasonic output device 13 outputs. It is explanatory drawing about the data structure of the response signal transmitted from the portable information terminal. It is a block diagram which shows the internal structure of the pedestrian position detection apparatus 130 of a 1st modification. It is explanatory drawing which shows the data structure of the ultrasonic signal of a 1st modification. It is explanatory drawing which shows the data structure of the response signal of a 1st modification. It is a block diagram which shows the internal structure of the pedestrian position detection apparatus 150 of a 2nd modification. It is explanatory drawing about the vehicle 1 carrying the pedestrian position detection apparatus 170 of a 3rd modification. It is a block diagram which shows the internal structure of the pedestrian position detection apparatus 170 of a 3rd modification. It is explanatory drawing which shows a mode that the vehicle 1 carrying the pedestrian position detection apparatus 170 of a 3rd modification outputs an ultrasonic signal toward the object area | region R. FIG. It is a block diagram which shows the internal structure of the pedestrian position detection apparatus 190 of a 4th modification. It is explanatory drawing about the 4th modification which outputs an ultrasonic signal to the object area | region R, performing vehicle-to-vehicle communication between the vehicle 1a and the vehicle 1b.

Hereinafter, examples will be described in order to clarify the contents of the present invention described above.
A. Device configuration :
FIG. 1 shows a rough configuration of a vehicle 1 on which a pedestrian position detection device 100 of the present embodiment is mounted. As illustrated, the vehicle 1 includes a driving support device 10, an in-vehicle camera 11, an electromagnetic wave irradiation device 12, an ultrasonic output device 13, a wireless communication device 14 and the like in addition to the pedestrian position detection device 100. ing.

The in-vehicle camera 11 acquires a photographed image obtained by photographing the front of the vehicle 1 and outputs it to the pedestrian position detection device 100.
The electromagnetic wave irradiation device 12 is a so-called in-vehicle radar, which detects an obstacle existing in front of the vehicle 1 by emitting a radio wave toward the front of the vehicle 1 and detects the detected result as a pedestrian position. Output to the device 100. In addition, the electromagnetic wave irradiation apparatus 12 can also use a vehicle-mounted laser rider instead of a vehicle-mounted radar. The vehicle-mounted laser rider can detect an obstacle existing in front of the vehicle 1 by emitting a laser beam that is a kind of electromagnetic wave toward the front of the vehicle 1 and detecting reflected light.
The pedestrian position detection device 100 according to the present embodiment can detect the position of a pedestrian existing around the vehicle 1 by analyzing a captured image acquired from the in-vehicle camera 11. Further, the electromagnetic wave (including the laser beam) irradiated from the electromagnetic wave irradiation device 12 is reflected by the obstacle and the electromagnetic wave returned is detected so that the obstacle is a structure such as a building or a pedestrian. Can be determined. As a result, the position of a pedestrian existing around the vehicle 1 can also be detected by the electromagnetic wave irradiation device 12.

Furthermore, an ultrasonic output device 13 is connected to the pedestrian position detection device 100. Under the control of the pedestrian position detection device 100, the ultrasonic output device 13 outputs an ultrasonic wave aiming at a desired place existing around the vehicle 1. Since the ultrasonic wave has a high vibration frequency and therefore a short wavelength, the ultrasonic wave can be output in a narrow range. The ultrasonic output device 13 is mounted on the vehicle 1 in a state in which the direction can be changed in the left-right direction and the up-down direction, and is adjusted to a desired place by adjusting the angles in the left-right direction and the up-down direction. Can output ultrasonic waves.
Alternatively, instead of changing the direction of the ultrasonic output device 13, the ultrasonic output device 13 may be formed using a speaker array in which a plurality of small speakers capable of outputting ultrasonic waves are arranged. In the speaker array, ultrasonic waves having the same frequency are output from the respective speakers, and the phase of the ultrasonic waves output from each speaker is controlled, so that the ultrasonic waves can be output in an arbitrary direction.
In addition, a wireless communication device 14 is connected to the pedestrian position detection device 100, and the pedestrian position detection device 100 performs wireless communication with communication devices existing around the vehicle 1 via the wireless communication device 14. can do.

  As described above, if the captured image acquired from the in-vehicle camera 11 is analyzed, the position of a pedestrian existing around the vehicle 1 can be detected. Alternatively, the position of a pedestrian existing around the vehicle 1 can also be detected by analyzing the reflected wave detected by the electromagnetic wave irradiation device 12. However, with these methods, a pedestrian who is behind the scenes that cannot be seen from the vehicle 1 cannot be detected. Therefore, the pedestrian position detection device 100 according to the present embodiment outputs ultrasonic waves toward the object and receives radio waves from surrounding communication devices. In this way, it is possible to accurately detect pedestrians present in the vicinity, including pedestrians at locations hidden from the vehicle 1 in the shade.

FIG. 2 shows a rough internal structure of the pedestrian position detection device 100 according to the present embodiment. As shown in the figure, a pedestrian position detection device 100 according to the present embodiment includes a signal acquisition unit 101, a signal analysis unit 102, a target region extraction unit 103, an ultrasonic output unit 104, and a response signal detection unit 105. The pedestrian position determination unit 106 is provided.
In addition, these “parts” are abstract concepts that are conveniently classified from the viewpoint of functions for the inside of the traffic support device, and that the traffic support device is physically divided into these “parts”. It does not represent. Therefore, these “units” can be realized as a computer program executed by the CPU, can be realized as an electronic circuit including an LSI, or can be realized as a combination thereof.

The signal acquisition unit 101 is connected to the in-vehicle camera 11 and the electromagnetic wave irradiation device 12. The in-vehicle camera 11 acquires a captured image obtained by capturing the front of the vehicle 1 and outputs it to the signal analysis unit 102. The electromagnetic wave irradiation device 12 is a so-called in-vehicle radar, which radiates a radio wave toward the front of the vehicle 1 and receives a radio wave that has been reflected and returned, thereby receiving a reflected signal indicating the presence of an obstacle. The data is output to the analysis unit 102. The electromagnetic wave irradiation device 12 may use a so-called in-vehicle laser rider (LIDAR) instead of the in-vehicle radar. When an in-vehicle laser lidar (LIDAR) is used, a reflected signal indicating the presence of an obstacle is detected by irradiating a laser beam instead of a radio wave and detecting reflected light that has returned after reflection. Can be output.
The signal analysis unit 102 detects a pedestrian, a vehicle, a building, or the like shown in the captured image by analyzing the image signal acquired by the signal acquisition unit 101. And when a pedestrian is detected, the relative position with respect to the vehicle 1 is detected. Since the in-vehicle camera 11 is fixedly attached to the vehicle 1, if the position where the pedestrian is captured in the captured image is detected, the relative position with respect to the vehicle 1 is detected by rereading the position in the captured image. be able to.
Further, when a vehicle or a building (hereinafter, the vehicle and the building are collectively referred to as “structure”) is detected, the relative position of the structure with respect to the vehicle 1 and the size of the structure are detected. . As described above, since the vehicle-mounted camera 11 is fixedly attached to the vehicle 1, if the position and size of the structure in the captured image are known, the size of the structure (ie, width and height). ) Can also be detected.

Moreover, the signal analysis part 102 can detect the position of a pedestrian also by analyzing the reflected signal from the electromagnetic wave irradiation apparatus 12, and can detect a position and a magnitude | size about a structure. In other words, the electromagnetic wave irradiation device 12 outputs pulsed electromagnetic waves (including laser light), and the elapsed time until the output electromagnetic waves are reflected back by obstacles such as pedestrians and structures. Based on this, the distance to the obstacle can be detected. Moreover, since the direction which outputs electromagnetic waves is changed so that the front of the vehicle 1 may be scanned, it is based on the direction which electromagnetic waves were output when it reflected by an obstacle and electromagnetic waves returned. Can be detected. Furthermore, a pedestrian and a structure can be distinguished from the intensity of electromagnetic waves reflected and returned. That is, if the intensity of the electromagnetic wave is small, it can be determined that the obstacle is a pedestrian. Conversely, if the intensity of the electromagnetic wave is large, it can be determined that the obstacle is a structure such as a vehicle or a building. it can.
As described above, even when the electromagnetic wave irradiation device 12 is used, the time until the reflected electromagnetic wave (that is, the reflected signal) returns and the intensity of the reflected electromagnetic wave are detected while changing the direction in which the electromagnetic wave is output. Thus, the position of the pedestrian and the position and size of the structure can be detected.

The pedestrian position determination unit 106 acquires information on the position of the pedestrian detected by the signal analysis unit 102, thereby determining a pedestrian position existing around the vehicle 1.
However, as described above, the method of analyzing the captured image of the in-vehicle camera 11 and the reflected signal of the electromagnetic wave irradiation device 12 cannot detect a pedestrian hidden behind a structure (such as a vehicle or a building).
Therefore, when the target region extraction unit 103 acquires the detection result of the structure from the signal analysis unit 102, the target region extraction unit 103 extracts a structure in which the pedestrian may be hidden behind. That is, when the structure is small, it may be considered that the pedestrian is not hidden, but when the structure becomes a certain size, the pedestrian may be hidden behind. Therefore, a structure having a size larger than a predetermined size is extracted as a structure in which a pedestrian may be hidden behind. And the area | region where the extracted structure exists based on the vehicle 1 is extracted as an object area | region which inquires about the presence or absence of a pedestrian.
When the ultrasonic output unit 104 acquires the information on the target region extracted by the target region extraction unit 103, the ultrasonic output unit 104 drives the ultrasonic output device 13 to output an ultrasonic wave toward the target region. Since the ultrasonic wave has higher directivity than the normal sound wave, the ultrasonic wave can be output in the vicinity of the target region.

In addition, today, pedestrians usually carry portable information terminals having a call function, such as so-called mobile phones and smartphones. And if it is an apparatus which has a telephone call function, it can detect that the ultrasonic wave was output for the reason mentioned later. Therefore, a function of wirelessly transmitting a predetermined response signal when it is detected that an ultrasonic wave has been output is incorporated in the portable information terminal in advance. The response signal is received by the wireless communication device 14 of the vehicle 1.
If there is a pedestrian in the target area where the ultrasonic waves are output, a response signal should be returned from the portable information terminal carried by the pedestrian. Therefore, if a response signal is returned, it can be determined that there is a pedestrian in the target area. Conversely, if no response signal is returned, it can be determined that no pedestrian exists in the target area.

Therefore, the response signal detection unit 105 detects the response signal received by the wireless communication device 14 within a predetermined time after outputting the ultrasonic wave from the ultrasonic output unit 104. When a response signal is detected, information about the position of the target area where the response signal was received is acquired from the target area extraction unit 103 and output to the pedestrian position determination unit 106.
As described above, the pedestrian position determination unit 106 uses the information about the position of the pedestrian acquired from the signal analysis unit 102 to determine whether the pedestrian is not hidden behind a structure (ie, a vehicle or a building). Has already determined the pedestrian position. Furthermore, the position of the pedestrian hidden behind the structure can be determined based on the position of the target area acquired from the target area extraction unit 103. By doing so, it is possible to determine all pedestrian positions existing around the vehicle 1 including pedestrians hidden behind the structure.

  In FIG. 1 and FIG. 2, the vehicle 1 is displayed as being equipped with an in-vehicle camera 11 and an electromagnetic wave irradiation device 12 (that is, an in-vehicle radar or an in-vehicle laser rider). However, both the in-vehicle camera 11 and the electromagnetic wave irradiation device 12 are used for detecting a pedestrian or a structure existing in front of the vehicle 1 and have overlapping functions. Therefore, in actuality, it is sufficient that either one is mounted. Therefore, in the following description, it is assumed that the vehicle 1 is exclusively equipped with the in-vehicle camera 11.

  For example, if the captured image is an image as shown in FIG. 3A, buildings A to D can be detected from the captured image in addition to pedestrians a to c. Furthermore, information on the position of the pedestrian and information on the position and size of the building (ie, height and width) can be detected from the position and size in the captured image. In any of the buildings A to D, there is a possibility that a pedestrian is hidden in the shade, but in the building D, a pedestrian c in which a part is out of the shade has already been detected. In addition, the buildings B and C are too far away even if pedestrians are hidden, so the possibility that the pedestrians are hidden behind is not considered. Eventually, the building where the pedestrian may be hidden is the building A. Therefore, a portion between the building A and the building B on the other side is extracted as a target area. A white arrow shown in FIG. 3B represents the target region R extracted in this way.

  Subsequently, ultrasonic waves are output toward the target region R using the ultrasonic output device 13. FIG. 4A illustrates a state in which ultrasonic waves are output toward the target region R. Since ultrasonic waves are also a kind of sound, they can wrap around behind obstacles by diffraction and reflection, so if there are pedestrians behind the building A, the ultrasonic waves should reach the pedestrians. Also, since ultrasonic waves cannot be heard by humans, pedestrians do not feel uncomfortable even when ultrasonic waves arrive. As long as the pedestrian carries a portable information terminal (so-called smart phone or mobile phone), ultrasonic waves can be detected using the portable information terminal. This point will be described in detail later.

Therefore, a program that wirelessly transmits a response signal when an ultrasonic wave is detected is incorporated in the portable information terminal in advance.
In this way, if there is a pedestrian behind the building A, a response signal is transmitted from the portable information terminal 20 carried by the pedestrian as shown in FIG. Therefore, the presence of the pedestrian d can be detected. As a result, in addition to the pedestrians a to c detected from the photographed image, the pedestrian d behind the building A can also be detected. If no response signal is transmitted, there are no pedestrians behind the building A. Therefore, the pedestrians existing around are all the pedestrians a to c detected from the captured images. Judgment can be made.

B. Pedestrian position detection processing:
FIG. 5 shows a flowchart of the pedestrian position detection process executed by the pedestrian position detection device 100.
As shown in FIG. 5, when the pedestrian position detection process is started, first, a captured image is acquired from the in-vehicle camera 11 (S101), and then a pedestrian and a target area in the captured image are detected (S102). ). As described above, the target region R is a region in which a pedestrian on the back side of a structure such as a building or a vehicle may be hidden. The target region R existing on the back side of the building shown in the photographed image can be detected as described above with reference to FIG.
Further, the target region R existing on the back side of the vehicle can be detected as follows. First, the height of the vehicle shown in the photographed image is detected, and it is determined whether or not the pedestrian can hide it. If it is determined that the pedestrian can hide, a region having a predetermined width (for example, 1.5 m) existing on the back side of the vehicle is extracted as the target region R. Here, in the case of a building, as described above with reference to FIG. 3, the target region R is extracted in consideration of not only the height but also the width of the building, but in the case of a vehicle, a pedestrian may be hidden. Since it is clear that it has a possible width, the target region R is extracted without considering the width.

Subsequently, it is determined whether or not the target area is detected from the captured image (S103). As a result, when the target area is not detected (S103: no), it may be considered that all pedestrians existing around the vehicle 1 are shown in the captured image. Therefore, the position of the pedestrian detected using the captured image is output to the driving support device 10 (S104). By doing so, the position of the pedestrian existing around the vehicle 1 is output without omission.
Thereafter, it is determined whether or not to end the pedestrian position detection process (S105). If it is determined not to end the pedestrian position detection process (S105: no), the process returns to S101 and the captured image is acquired again. On the other hand, when it is determined that the pedestrian position detection process is to be ended (S105: yes), the pedestrian position detection process is ended.
The case where the target area R is not detected in the captured image has been described above (S103: no). However, if the target area R is detected in the captured image (S103: yes), the target area is detected. A pedestrian may be hiding in R. Therefore, when the target region R is detected (S103: yes), an ultrasonic signal is output toward the target region R (S106).

FIG. 6 illustrates a state in which an ultrasonic signal is output toward the target region R. Here, the ultrasonic signal is the following signal. First, the ultrasonic output device 13 of the present embodiment can output ultrasonic waves of two frequencies, frequency F1 and frequency F2, and can switch between two states (that is, by switching the frequency of the ultrasonic waves). 1-bit information) can be expressed. Accordingly, the ultrasonic frequency is designated as either F1 or F2 at a certain time interval, and the ultrasonic wave having the designated frequency is output. In this way, it is possible to output multiple bits of information on the ultrasonic wave. In this embodiment, by repeating the operation of designating and outputting the frequency of the ultrasonic wave as either F1 or F2 at a predetermined relaxation interval, information of a plurality of bits is superimposed on the ultrasonic wave. Output as a sound wave signal.
In the present embodiment, the ultrasonic frequency output from the ultrasonic output device 13 will be described as being two types of F1 and F2, but it is also possible to output ultrasonic waves having three or more types of frequencies. In the present embodiment, the description will be made assuming that the information is represented by changing the frequency of the ultrasonic wave output from the ultrasonic output device 13 (that is, frequency modulation), but the sound pressure (that is, the amplitude) of the ultrasonic wave is changed ( In other words, information may be expressed by amplitude modulation. Alternatively, the information may be expressed by changing the phase with respect to the reference ultrasonic wave (that is, phase modulation). Furthermore, information may be expressed by changing the frequency, amplitude, and phase in combination, such as changing the frequency and amplitude, or changing the amplitude and phase.

FIG. 7 illustrates a data structure of an ultrasonic signal output from the ultrasonic output device 13. As shown in the figure, the data structure of the ultrasonic signal output from the ultrasonic output device 13 is a structure in which a transmission ID is followed by a response request command. The transmission ID in this embodiment corresponds to the “identification number” in the present invention.
Here, the response request command requests the portable information terminal 20 (see FIG. 4B) that has received the ultrasonic signal to wirelessly return a response signal indicating that the ultrasonic signal has been received. It is a command. The transmission ID is an identification number assigned to the ultrasonic signal itself.
For example, when the ultrasonic output device 13 outputs ultrasonic signals to two target regions, a separate identification number is assigned as a transmission ID to each ultrasonic signal. In addition, when outputting an ultrasonic signal a plurality of times for the same target region, an individual identification request may be given as a transmission ID for each ultrasonic signal, but the same ultrasonic output device The same transmission ID can be assigned to the ultrasonic signals output from 13 to the same target area. Furthermore, for convenience, the same transmission ID can be assigned to the ultrasonic signals output from the same ultrasonic output device 13 even when they are output at different timings toward different target regions. is there.
In S106 of FIG. 5, the ultrasonic signal as described above is output toward the target region R.

  If a pedestrian is present in the target area R, the pedestrian usually carries a portable information terminal 20 having a call function, such as a so-called mobile phone or smartphone. And if it is the portable information terminal 20 which has a telephone call function, an ultrasonic signal can be detected from the following reasons. First, the portable information terminal 20 having a call function is always equipped with a microphone. The microphone has a function of converting vibration in the air due to sound into an electric signal, and vibration due to ultrasonic waves can also be converted into an electric signal. The microphone is connected to a signal processing circuit that processes an electrical signal. By using this signal processing circuit, it is possible to determine the frequency of the ultrasonic wave and detect the ultrasonic signal. Thus, the portable information terminal 20 having a call function is already equipped with a microphone for receiving an ultrasonic signal and a signal processing circuit. Therefore, when an ultrasonic signal as shown in FIG. 7 is received, a program for returning the following response signal is incorporated in the portable information terminal 20 in advance.

FIG. 8 illustrates a data structure of a response signal transmitted by the portable information terminal 20. As shown in the figure, the response signal has a data structure in which the transmission ID is followed by the top response code. Here, the response code is information indicating that the response is to the ultrasonic signal. The transmission ID is a transmission ID read from the ultrasonic signal. That is, since the response signal is a signal returned to the ultrasonic signal received by the portable information terminal 20, the transmission ID included in the received ultrasonic signal is also included in the response signal. When the portable information terminal 20 receives the ultrasonic signal from the ultrasonic output device 13, the portable information terminal 20 wirelessly transmits the response signal as described above.
Note that the pedestrian position detection device 100 outputs an ultrasonic signal aiming at the target region R, but the portable information terminal 20 does not consider in which direction the ultrasonic signal has arrived, and covers a wide range of surroundings. What is necessary is just to transmit a response signal toward.
Moreover, although the portable information terminal 20 consumes electric power in order to transmit a response signal, since it should just transmit a response signal when an ultrasonic signal is received, it is not necessary to transmit frequently. For this reason, there is no possibility that the battery in the portable information terminal 20 is greatly consumed.

  As described above, if a pedestrian exists in the target region R, it is considered that a response signal is transmitted from the portable information terminal 20 of the pedestrian. Therefore, when the pedestrian position detection device 100 according to the present embodiment outputs an ultrasonic signal toward the target region R in S106 of FIG. 5, it determines whether or not a response signal from the target region R has been received (S107). ). Since the portable information terminal 20 transmits the response signal wirelessly, the response signal can be received using the wireless communication device 14. Further, as described above, since the transmission signal is included in the response signal, it can be determined whether the response signal is from the target region R based on the transmission ID. That is, if it is a response signal returned in response to the ultrasonic signal output toward the target region R in S106, the same transmission ID as the transmission ID of the ultrasonic signal should be included. Therefore, in S107, not only whether or not the response signal is received by the wireless communication device 14, but also whether or not the transmission ID included in the received response signal matches the transmission ID of the previously output ultrasonic signal. Judgment is also included.

As a result, when the wireless communication device 14 receives the response signal and the transmission ID included in the received response signal matches the transmission ID of the ultrasonic signal, the target region R that has output the ultrasonic signal It is determined that the response signal has been received (S107: yes).
On the other hand, if the wireless communication device 14 has not received a response signal, or if the transmission ID does not match even if the response signal is received, it is determined that the response signal from the target region R has not been received. (S107: no).

  If it is determined that the response signal from the target region R has not been received (S107: no), it is determined whether or not a predetermined time (for example, 1 second) has elapsed since the ultrasonic signal was output ( S108). That is, in order to receive the response signal, the ultrasonic signal output from the ultrasonic output device 13 reaches the target region R, and the portable information terminal 20 in the target region R detects the ultrasonic signal and outputs the response signal. It is necessary to transmit the radio wave to the wireless communication device 14. Therefore, a certain amount of time is required for the wireless communication device 14 to receive the response signal after outputting the ultrasonic signal in S106. Therefore, even if it is determined in S107 that the response signal has not been received (S107: no), it is determined whether or not a predetermined time has elapsed since the output of the ultrasonic signal (S109).

As a result, if the predetermined time has not yet elapsed (S109: no), it is determined again whether or not a response signal from the target region R has been received (S107). If no response signal has been received (S107: no), it is determined whether a predetermined time has elapsed (S109). In this way, the determination of S107 and S109 described above is repeated until a response signal matching the transmission ID is received (S107: yes) or until a predetermined time has elapsed (S109: yes).
As a result, when a response signal is received from the target area R (S107: yes), it is determined that a pedestrian exists in the target area R (S108). On the other hand, when the predetermined time has elapsed (S109: yes), it is determined that there is no pedestrian in the target area R (S110).

  As described above, when it is determined in S103 that the target region R exists in the captured image (S103: yes), an ultrasonic signal is output toward the target region R (S106), and the target region R is output from the target region R. Based on whether or not a response signal is returned, it can be determined whether or not there is a pedestrian in the target region R (S108, S110).

  Further, as described above in S102, the position of the pedestrian has already been detected for the pedestrian captured in the captured image. Of course, the presence or absence of pedestrians that are not shown in the captured image (because they are hidden behind structures such as buildings and vehicles) cannot be determined by analyzing the captured image. Can also be determined based on the presence or absence of a response signal to the ultrasonic signal.

Therefore, when it is determined in S103 that the target area exists in the captured image (S103: yes) and there is a pedestrian in the target area (S108), the pedestrian detected in the captured image in S102 is displayed. The position of the target area determined that a pedestrian is present in S108 is added to the position, and the position is output to the driving support apparatus 10 as the position of the pedestrian existing around the vehicle 1 (S104).
In S103, if it is determined that there is no pedestrian in the target area even if the target area exists in the captured image (S103: yes), the pedestrian detected in the captured image in S102. Is output to the driving support apparatus 10 as the position of a pedestrian existing around the vehicle 1 (S104).
By so doing, it is possible to detect the positions of all pedestrians existing around the vehicle 1 including pedestrians hidden in the target area.

  When the position of the pedestrian is thus output (S104), it is then determined whether or not the pedestrian position detection process is to be ended (S105). If it is determined not to end the pedestrian position detection process (S105: no), the process returns to S101 and the captured image is acquired again. On the other hand, when it is determined that the pedestrian position detection process is to be ended (S105: yes), the pedestrian position detection process is ended.

  As described above, the traveling position detection apparatus according to the present embodiment can accurately detect the position of a pedestrian in a captured image by analyzing the captured image captured by the in-vehicle camera 11. In addition, it is possible to determine the presence or absence of a pedestrian by outputting an ultrasonic signal and receiving a response signal even when attached to a pedestrian in a position hidden behind an object such as a building or a vehicle. For this reason, the position of the pedestrian which exists in the circumference | surroundings of the vehicle 1 including the pedestrian hidden in the shade can be detected without omission. As a result, it is possible to more reliably prevent a traffic accident between the vehicle and the pedestrian.

  In addition, if it is an ultrasonic signal, it can be received by the portable information terminal 20 carried by a pedestrian, and today, it is considered that all pedestrians carry the portable information terminal 20. good. Therefore, if the ultrasonic output device 13 is mounted on the vehicle 1, no other special device is required.

  In addition, since the pedestrian's portable information terminal 20 only needs to transmit a response signal when receiving an ultrasonic signal, the battery of the portable information terminal 20 is not greatly consumed. And since the pedestrian also has the advantage of notifying the surrounding vehicle 1 of his / her existence and reducing the possibility of encountering an accident, the pedestrian carries a program for transmitting a response signal when receiving an ultrasonic signal. It is intended to be actively incorporated into the information terminal 20 and started. As a result, the position of the pedestrian can be reliably detected using the pedestrian position detection device 100 of the present embodiment.

In the present embodiment, the case where the number of target areas detected from the captured image captured by the in-vehicle camera 11 is one is described as an example.
Even when the number of target areas detected from the ultra-photographed image is two or more, there is a pedestrian for each target area by outputting ultrasonic signals having different transmission ID information toward the target area. It can be determined whether or not.

C. Modified example:
There are several variations of the above-described embodiment. Hereinafter, these modified examples will be briefly described focusing on differences from the above-described embodiment.

C-1. First modification:
The pedestrian position detection device 100 of the above-described embodiment has been described as outputting an ultrasonic signal having a simple data structure in which a transmission ID is followed by a response request command, as shown in FIG. However, more information may be included in the ultrasonic signal.

  FIG. 9 shows a rough internal configuration of the pedestrian position detection device 130 of the first modification. The illustrated pedestrian position detection device 130 of the first modification includes a vehicle position acquisition unit 107 and a position information calculation unit 108, compared to the pedestrian position detection device 100 of the present embodiment described above with reference to FIG. The point of preparation is very different. In response to this, in the pedestrian position detection device 130 of the first modified example, the extraction result of the target area R obtained by the target area extraction unit 103 is output to the position information calculation unit 108. When the sound wave output unit 104 generates an ultrasonic signal, the information from the position information calculation unit 108 is used in addition to the information from the target region extraction unit 103.

When the target region extraction unit 103 of the first modification extracts the target region R from the captured image, the target region extraction unit 103 outputs the result to the ultrasonic output unit 104 and also to the position information calculation unit 108.
The navigation device 15 is mounted on the vehicle 1 of the first modification. The navigation device 15 can detect the position and direction of the vehicle 1 with high accuracy using a positioning signal of a GNSS (Global Navigation Satellite System), a vehicle speed sensor or the like (not shown). The vehicle position acquisition unit 107 acquires information on the position and direction of the vehicle 1 from the navigation device 15 and outputs the information to the position information calculation unit 108.
In general, the navigation device 15 has a function of storing map information and a function of searching a route to a destination in addition to a function of detecting the position and direction of the vehicle 1. Then, the function which detects the position and direction of the vehicle 1 is utilized. Therefore, the navigation device 15 is not necessarily used as long as it has this function. For example, a device called a locator equipped with a function for detecting the position and direction of the vehicle 1 can be used instead of the navigation device 15.

  The position information calculation unit 108 calculates the relative position of the target region R with respect to the vehicle 1 based on the information received from the target region extraction unit 103. Further, since the position and direction information of the vehicle 1 is acquired from the vehicle position acquisition unit 107, the absolute position of the target region R is determined based on the relative position information and the position and direction information of the vehicle 1. (Hereinafter referred to as target region position information) is calculated. Then, the calculated target region position information is output to the ultrasonic output unit 104.

  The ultrasonic output unit 104 of the first modified example generates an ultrasonic signal using the target region position information received from the position information calculation unit 108. In addition, the ultrasonic output unit 104 of the first modified example uses the wireless communication device 14 to transmit information related to a communication protocol for the wireless communication device 14 to start wireless communication with the portable information terminal 20 (hereinafter referred to as wireless communication start information). 14 to generate an ultrasonic signal incorporating wireless communication start information.

  FIG. 10 shows a data structure of an ultrasonic signal generated by the ultrasonic output unit 104 of the first modification. As shown in the drawing, the ultrasonic signal of the first modification has a data structure in which the transmission ID, the target area position information, and the wireless communication start information are arranged in this order following the response request command. ing. Here, as described above, the response request command is a command for requesting the portable information terminal 20 to return a response signal, and the transmission ID is an identification number assigned to the ultrasonic signal itself. It is. The target area position information is information on the absolute position of the target area calculated by the position information calculation unit 108. Furthermore, the wireless communication start information is information regarding a communication protocol for the wireless communication device 14 to start wireless communication with the portable information terminal 20 as described above.

As described above, in the pedestrian position detection device 130 according to the first modification, information on the absolute position of the target region R (that is, target region position information) or wireless communication is included in the ultrasonic signal output toward the target region R. Start information is included.
For this reason, if there is a pedestrian in the target region R, the portable information terminal 20 carried by the pedestrian can obtain information on the absolute position of the target region R by receiving the ultrasonic signal. it can. Usually, the portable information terminal 20 also has a function of detecting its own position using the positioning signal of the GNSS satellite. However, the position information detected by the portable information terminal 20 is the navigation device 15 mounted on the vehicle 1. Compared to position information detected by (or a locator), the accuracy is not high. The target area position information included in the ultrasonic signal is detected by the portable information terminal 20 because the position information of the vehicle 1 detected by the navigation device 15 is corrected based on the relative position of the target area R with respect to the vehicle 1. It is considered that the accuracy is higher than the position information. Therefore, the position information detected by the portable information terminal 20 is replaced with the target area position information acquired from the ultrasonic signal. If it carries out like this, the precision of the own positional information which the portable information terminal 20 grasps | ascertains can be improved. Since the portable information terminal 20 uses its own location information in various programs, it is possible to operate various programs more appropriately by improving the accuracy of the location information.

  The ultrasonic signal of the first modification also includes wireless communication start information. As described above, the wireless communication start information is information related to a communication protocol for wireless communication by the wireless communication device 14 of the vehicle 1. Therefore, when the portable information terminal 20 that has received the ultrasonic signal transmits a response signal, if the transmission is performed using the communication protocol specified by the ultrasonic signal, the wireless communication device 14 of the vehicle 1 can be more reliably connected. A response signal can be transmitted.

In addition, if a wireless connection is established between the wireless communication device 14 of the vehicle 1 and the portable information terminal 20, various data can be exchanged quickly. For example, the presence of the vehicle 1 and other vehicles that are not visible to the pedestrian can be transmitted to the pedestrian by wireless communication.
In order to establish a wireless connection in this way, it is necessary to share information regarding a communication protocol used for wireless communication between the wireless communication device 14 of the vehicle 1 and the portable information terminal 20. Therefore, if information related to a communication protocol used by the wireless communication device 14 of the vehicle 1 for wireless communication is included in the ultrasonic signal as wireless communication start information, the wireless communication device 14 of the vehicle 1 and the portable information terminal 20 are communicated. It is possible to quickly establish a connection between them.

Further, from the viewpoint of promptly establishing a connection between the wireless communication device 14 of the vehicle 1 and the portable information terminal 20, the response signal transmitted from the portable information terminal 20 also includes information related to the communication protocol on the portable information terminal 20 side. May be included as wireless communication start information.
FIG. 11 shows the data structure of the response signal of the first modified example including the wireless communication start information. The response signal of the first modification shown in the figure has a data structure in which wireless communication start information is added after the response signal of the present embodiment shown in FIG.
In this way, when the portable information terminal 20 receives the ultrasonic signal output from the vehicle 1 side and receives the response signal transmitted by the portable information terminal 20 on the vehicle 1 side, the wireless communication device 14 of the vehicle 1. And the portable information terminal 20 recognize at least a part of information related to a communication protocol for wireless communication. For this reason, it becomes possible to establish the connection between the radio | wireless communication apparatus 14 of the vehicle 1 and the portable information terminal 20 more rapidly.

C-2. Second modification:
As described above, the ultrasonic output device 13 outputs an ultrasonic signal having a frequency exceeding the human audible range toward the target region R. For this reason, even if a pedestrian is present in the target region R, the pedestrian does not notice that an ultrasonic signal has been output and does not notice that the vehicle 1 is approaching.
However, by doing the following, it is possible to make the pedestrian notice that an ultrasonic signal (or simply an ultrasonic wave) has been output from the ultrasonic output device 13. Hereinafter, the pedestrian position detection device 150 of the second modified example will be described.

FIG. 12 shows a rough internal configuration of the pedestrian position detection device 150 according to the second modification. The illustrated pedestrian position detection device 150 of the second modification is largely different from the pedestrian position detection device 100 of the present embodiment described above with reference to FIG.
The audio information storage unit 109 stores audio information of audible frequencies. The sound information may be sound information that can be perceptually sensed by humans. For example, the sound information may be an effect sound (engine sound, motor sound, etc.) that informs the approach of the vehicle 1 or a pedestrian. It is also possible to use voice information that prompts a warning or attention.

When outputting the ultrasonic signal, the ultrasonic output unit 104 of the second modification reads out the audio information from the audio information storage unit 109 and modulates the frequency of the ultrasonic wave output from the ultrasonic output device 13. Audio information is superimposed. As described above, since the ultrasonic output unit 104 can designate the frequency F1 or the frequency F2 as the frequency of the ultrasonic wave, when the frequency F1 is designated, the audio information is centered on the frequency F1. Modulate the frequency. When the frequency F2 is designated, the frequency of the audio information is modulated around the frequency F2. Then, ultrasonic waves having a modulated frequency are output from the ultrasonic output device 13.
Here, the description has been made assuming that so-called frequency modulation is performed as a modulation method of audio information, but amplitude modulation can also be performed.

Here, when an ultrasonic wave in which an audio component of an audible frequency is modulated is transmitted through the air, a phenomenon (so-called non-linear parametric phenomenon) that the audio component of the audible frequency is demodulated by a slight non-linearity of air. Are known.
Therefore, if the audio information is superimposed by modulating the frequency of the ultrasonic signal output from the ultrasonic output device 13, the superimposed audio information is transmitted until the ultrasonic signal is transmitted to the target region R. Since it is demodulated, the pedestrian can recognize the voice information.
If sound information such as engine sound is stored as sound information, the presence or approach of the vehicle 1 can be notified to a pedestrian in the target area R.

Also, a plurality of types of audio information for prompting pedestrians and warnings are stored, and appropriate information is selected according to the situation around the vehicle 1 and the driving situation, and superimposed on the ultrasonic signal. You may let them. Furthermore, it is also possible to generate an audible sound message to be transmitted to the pedestrian according to the situation around the vehicle 1 or the driving condition, and to superimpose the generated sound message on the ultrasonic signal.
By so doing, it is possible to convey appropriate warnings, alerts, voice messages, and the like to pedestrians according to the situation around the vehicle 1 and driving conditions.

C-3. Third modification:
In the above-described embodiments or various modifications, it has been described that one ultrasonic output device 13 is mounted in front of the vehicle 1. However, one ultrasonic output device 13 may be mounted on each of the left and right positions in front of the vehicle 1. Hereinafter, such a third modification will be described.

FIG. 13 illustrates a vehicle 1 on which a pedestrian position detection device 170 according to a third modification is mounted. As illustrated, in the third modification, two ultrasonic output devices 13L and 13R are mounted in front of the vehicle 1 with different positions in the left-right direction. The ultrasonic output device 13L mounted on the left side of the vehicle 1 and the ultrasonic output device 13R mounted on the right side are both connected to the pedestrian position detection device 170.
The vehicle 1 of the third modified example is also equipped with the in-vehicle camera 11, the electromagnetic wave irradiation device 12, the wireless communication device 14, and the like, similar to the vehicle 1 of the present embodiment shown in FIG. In FIG. 13, these are not shown in order to avoid complicated illustration.

FIG. 14 shows a rough internal configuration of the pedestrian position detection device 170 of the third modification. The pedestrian position detection device 170 according to the third modification is different from the pedestrian position detection device 100 according to the present embodiment described with reference to FIG. 2 in that the ultrasonic output unit 104 includes two ultrasonic output devices 13L and 13R. The point that is connected is greatly different.
When the ultrasonic output unit 104 of the third modification obtains the extraction result of the target region R from the target region extraction unit 103, it determines whether the target region R is on the left side in front of the vehicle 1 or on the right side. And when the object area | region R exists in the front left side of the vehicle 1, the ultrasonic output device 13R mounted in the right side of the vehicle 1 is driven, and an ultrasonic signal is output. When the target region R is on the right side in front of the vehicle 1, the ultrasonic output device 13 </ b> L mounted on the left side of the vehicle 1 is driven to output an ultrasonic signal.

FIG. 15 illustrates a state in which the vehicle 1 according to the third modification outputs an ultrasonic signal toward the target region R extracted on the left side of the vehicle 1. As shown in FIG. 15A, the vehicle 1 of the third modified example has an ultrasonic output device 13 </ b> R mounted on the right side of the vehicle 1 for the target region R extracted on the left side of the vehicle 1. Used to transmit ultrasonic signals. FIG. 15B shows a case where an ultrasonic signal is transmitted from the ultrasonic output device 13L on the left side of the vehicle 1 as a reference.
As apparent from a comparison between FIG. 15A and FIG. 15B, when the target region R exists on the left side of the vehicle 1, the ultrasonic output device 13L on the left side of the vehicle 1 is used. Rather than using the ultrasonic output device 13R on the right side, an ultrasonic signal can be output with an angle with respect to the target region R. For this reason, an ultrasonic signal can be more reliably transmitted also to the portable information terminal 20 of the pedestrian d which exists in the object area | region R. FIG. As a result, the presence of the pedestrian d hidden in the target region R can be detected more reliably.

C-4. Fourth modification:
In the above-described embodiment and various modifications, it has been described that each vehicle 1 individually outputs an ultrasonic signal to the target region R even when there are a plurality of vehicles 1.
However, an ultrasonic signal may be output while performing vehicle-to-vehicle communication using the wireless communication device 14 in a plurality of vehicles 1.

FIG. 16 shows a rough internal configuration of the pedestrian position detection device 190 of the fourth modified example. The pedestrian position detection device 190 of the fourth modification is greatly different from the pedestrian position detection device 100 of the present embodiment described with reference to FIG. 2 in that the inter-vehicle communication unit 110 is mounted. .
The vehicle-to-vehicle communication unit 110 is connected to the wireless communication device 14 and can perform vehicle-to-vehicle communication with other vehicles in the vicinity. Note that the wireless communication device 14 of the fourth modified example is compatible with a communication standard for inter-vehicle communication in addition to a communication standard with the portable information terminal 20 (for example, Bluetooth (registered trademark) or wireless LAN).

When the target region extraction unit 103 of the fourth modification extracts the target region R, the result is output to the inter-vehicle communication unit 110 and the ultrasonic output unit 104.
When the vehicle-to-vehicle communication unit 110 receives the target region R from the target region extraction unit 103, the vehicle-to-vehicle communication unit 110 performs vehicle-to-vehicle communication via the wireless communication device 14, thereby indicating the presence or absence of a pedestrian in the target region R. Inquire about other vehicles. As a result, for the target region R that is known to have a pedestrian, the fact that a pedestrian is present is output to the pedestrian position determination unit 106. Further, the target region R for which the presence or absence of a pedestrian is not known is output to the ultrasonic output unit 104.
The ultrasonic output unit 104 of the fourth modified example outputs an ultrasonic signal by driving the ultrasonic output device 13 toward the target region R where the presence or absence of a pedestrian is not known.

FIG. 17 shows a state in which the vehicle 1 of the fourth modified example outputs an ultrasonic signal while performing vehicle-to-vehicle communication using the wireless communication device 14. In the example shown in FIG. 17A, the target area R for the vehicle 1a is also the target area R for the vehicle 1b.
However, the target area R is not extracted by the vehicle 1a and the vehicle 1b at the same timing. Therefore, when the vehicle 1 from which the target region R has been extracted first (the vehicle 1b in the example shown in FIG. 17A) outputs an ultrasonic signal, the ultrasonic signal is output toward the target region R. Information on the position of the target region R and the information are transmitted to the surroundings via the wireless communication device 14.

Then, the vehicle 1 from which the target region R is extracted later (the vehicle 1a in the example of FIG. 17A) is directed toward the target region R by another vehicle 1 (here, the vehicle 1b). If it recognizes that it is going to output by radio | wireless communication, the judgment result of the presence or absence of the pedestrian d about the object area | region R will be acquired by performing vehicle-to-vehicle communication with the vehicle 1. FIG.
In this way, the vehicle 1 that does not output the ultrasonic signal (here, the vehicle 1a) can also determine the presence or absence of the pedestrian d for the target region R.

  As illustrated in FIG. 17B, when the vehicle 1a and the vehicle 1b output an ultrasonic signal toward the same target region R, interference between the two ultrasonic signals occurs, and the pedestrian d carries it. There is a possibility that the information terminal 20 cannot recognize the ultrasonic signal. In the fourth modified example, such a possibility can be eliminated, so that the presence or absence of the pedestrian d in the target region R can be reliably determined.

In the above description, when the target region R is extracted, it is determined whether or not an ultrasonic signal is output toward the target region R. If the ultrasonic signal is not output, the target region R is determined. In the above description, an ultrasonic signal is output.
However, even when an ultrasonic signal is not output to the target region R, whether or not to output the ultrasonic signal toward the target region R by performing inter-vehicle communication with other vehicles 1 present in the vicinity. It can also be judged.
For example, in the example shown in FIG. 17 (a), if an ultrasonic signal is output from the vehicle 1a, an angle with respect to the target region R cannot be obtained sufficiently, but a sufficient angle with respect to the target region R is obtained from the vehicle 1b. Can be taken. Therefore, if an ultrasonic signal is output to the target region R, it is considered preferable to output from the vehicle 1b rather than from the vehicle 1a.
Therefore, by performing inter-vehicle communication between the vehicle 1a and the vehicle 1b and recognizing each other's position, a person at a more desirable position (here, the vehicle 1b) may output an ultrasonic signal. good.

In the example shown in FIG. 17C, the pedestrian d in the target area R is not visible from the vehicle 1b, but the pedestrian d is visible from the vehicle 1a. Therefore, since the target area R for the vehicle 1b is not the target area R for the vehicle 1a in the first place, no ultrasonic signal is output from the vehicle 1a to the target area R.
Therefore, when the vehicle 1b extracts the target region R, the presence or absence of a pedestrian in the target region R may be inquired by performing inter-vehicle communication with the surrounding vehicle 1a using the wireless communication device 14. Then, when there is no response to the inquiry, an ultrasonic signal may be output toward the target region R.
By doing so, the frequency of outputting the ultrasonic signal can be reduced, so that the power consumption for outputting the ultrasonic wave can be reduced. Further, since the frequency of transmitting a response signal to the ultrasonic signal can be reduced for the portable information terminal 20 of the pedestrian d, the power consumption of the portable information terminal 20 can be reduced.

C-5. Fifth modification:
In the above-described embodiment or various modifications, the object to which the ultrasonic output device 13 outputs an ultrasonic signal is assumed to be an area where a pedestrian may be hidden (that is, the target area R). explained.
However, the target for outputting the ultrasonic signal need not be limited to the target region R, and the ultrasonic signal may be output toward a pedestrian detected by the in-vehicle camera 11 or the like.

For example, in addition to the ultrasonic signal including the response request command illustrated in FIG. 7, an ultrasonic signal including a warning command can be output. Here, the warning command is a command that requests the portable information terminal 20 that has received the ultrasonic signal to warn the owner of the portable information terminal 20 using voice or vibration. Also, a program that warns the owner of the portable information terminal 20 by a predetermined method when the warning command is received is incorporated in the portable information terminal 20.
And with respect to the object area | region R extracted from the picked-up image of the vehicle-mounted camera 11, the ultrasonic signal containing a response request command is output. In addition, among the pedestrians extracted from the photographed image, for example, for a pedestrian who has determined that a warning is necessary, such as the possibility of not being aware of the presence of the vehicle 1, an ultrasonic including the warning command described above. Output a signal. If it carries out like this, it will become possible to warn a pedestrian as needed.

  Although the present embodiment and various modifications have been described above, the present invention is not limited to the above-described embodiment and modification, and can be implemented in various modes without departing from the scope of the present invention.

    DESCRIPTION OF SYMBOLS 1 ... Vehicle, 10 ... Driving assistance device, 11 ... Car-mounted camera, 12 ... Electromagnetic wave irradiation apparatus, 13 ... Ultrasonic output device, 14 ... Wireless communication device, 15 ... Navigation device, 20 ... Portable information terminal, 100 ... Pedestrian position Detecting device, 101 ... Signal acquisition unit, 102 ... Signal analysis unit, 103 ... Target region extraction unit, 104 ... Ultrasound output unit, 105 ... Response signal detection unit, 106 ... Pedestrian position determination unit, 107 ... Vehicle position acquisition unit 108: Position information calculation unit 109: Audio information storage unit 130 ... Pedestrian position detection device 150 ... Pedestrian position detection device 170: Pedestrian position detection device

Claims (10)

A pedestrian position detection device (100, 130, 150, 170, 190) that is mounted on a vehicle (1) and detects a position of a pedestrian existing around the vehicle,
A signal acquisition unit (101) for acquiring an image signal from the in-vehicle camera (11) or a reflection signal obtained by irradiating an electromagnetic wave from the electromagnetic wave irradiation device (12);
By analyzing the image signal or the reflected signal, a signal analysis unit (102) for detecting the position of the pedestrian, the position of the structure existing around the vehicle, and the size of the structure When,
A target area extraction unit (103) that extracts a target area that requires an inquiry about the presence of the pedestrian based on the size of the structure and the position of the structure;
An ultrasonic output unit (104) that outputs an ultrasonic wave toward the target region by driving an ultrasonic output device (13) mounted on the vehicle;
A response signal detector (105) for detecting a response signal transmitted wirelessly from the target region in response to the output ultrasonic wave;
A pedestrian comprising: a pedestrian position determining unit (106) that determines the pedestrian's presence position in consideration of the presence position of the pedestrian detected by the signal analysis unit and the detection result of the response signal. Position detection device. The pedestrian position detection device according to claim 1,
The ultrasonic output unit outputs the ultrasonic wave by designating at least one of the vibration frequency, amplitude or phase of the ultrasonic wave output by the ultrasonic output device at a predetermined time interval. Detection device. The pedestrian position detection device according to claim 2,
The ultrasonic output unit designates at least one of the frequency, amplitude, or phase of the ultrasonic wave output from the ultrasonic output device at a predetermined time interval, thereby superimposing the ultrasonic wave on which a command for requesting a response is superimposed. A pedestrian position detecting device characterized in that The pedestrian position detection device according to claim 2 or claim 3,
The ultrasonic output unit outputs the ultrasonic wave on which the identification number is superimposed by specifying at least one of the frequency, amplitude, or phase of the ultrasonic wave output from the ultrasonic output device at a predetermined time interval. A pedestrian position detecting device characterized by that. A pedestrian position detection device (130) according to any one of claims 2 to 4,
A vehicle position acquisition unit (107) for acquiring information on the current position of the vehicle;
A position information calculation unit (108) that calculates position information of the target area based on the extraction result of the target area and information on the current position of the vehicle;
The ultrasonic output unit specifies at least one of the frequency, amplitude, or phase of the ultrasonic wave output from the ultrasonic output device at a predetermined time interval, thereby superimposing the position information of the target region on the ultrasonic wave. A pedestrian position detecting device characterized by outputting sound waves. A pedestrian position detection device (130) according to any one of claims 2 to 5,
The ultrasonic output unit wirelessly connects to an external wireless communication device by designating at least one of the frequency, amplitude, or phase of ultrasonic waves output from the ultrasonic output device at a predetermined time interval. A pedestrian position detecting device characterized in that the ultrasonic wave on which information for establishing the above is superimposed is output. The pedestrian position detection device according to any one of claims 2 to 6,
The ultrasonic output unit specifies at least one of the vibration frequency, amplitude, or phase of the ultrasonic wave output from the ultrasonic output device at a predetermined time interval, thereby superimposing the command for requesting execution of the warning. A pedestrian position detecting device characterized by outputting sound waves. A pedestrian position detection device (150) according to any one of claims 1 to 7,
A voice information storage unit (109) for storing voice information based on audible frequencies;
The ultrasonic output unit outputs the ultrasonic wave in which the audio information is modulated by reading out the audio information from the audio information storage unit when the ultrasonic output device outputs the ultrasonic wave. A pedestrian position detection device. A pedestrian position detection device (170) according to any one of claims 1 to 8,
Two ultrasonic output devices are mounted in front of the vehicle with different positions in the left-right direction,
The ultrasonic output unit
When the target area is extracted on the left side in front of the vehicle, the ultrasonic output device mounted on the right side of the vehicle is driven to output the ultrasonic wave,
When the target area is extracted on the right side in front of the vehicle, the ultrasonic output device mounted on the left side of the vehicle is driven to output the ultrasonic wave. Detection device. A pedestrian position detection device (190) according to any one of claims 1 to 9,
A vehicle-to-vehicle communication unit (110) that performs vehicle-to-vehicle communication with other vehicles existing around the vehicle,
When the target area is extracted, the inter-vehicle communication unit inquires about the presence or absence of the pedestrian in the target area by performing the inter-vehicle communication, and for the target area where the pedestrian exists. , Output to the pedestrian position determination unit,
The ultrasonic output unit outputs the ultrasonic wave by driving the ultrasonic output device for the target area where the presence or absence of the pedestrian is unknown even if the inter-vehicle communication is performed. Person position detection device.

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