JP2019121028A - Output control device, information notification device and output control method - Google Patents

Abstract

To notify a driver of information on the presence/absence of a possibility that a passenger gets off a mobile body with appropriate notification contents according to the possibility if there is the mobile body on a side strip ahead.SOLUTION: A detection unit 720 of an output control device 700 performs processing of detecting another mobile body being present on a side strip ahead of express highway where a mobile body MV is moving. When the detection unit 720 detects that there is another mobile body and a passenger gets off the another mobile body, a control unit 730 generates first notification information related to a passenger getting off the another mobile body being present on the side strip. The control unit 730 continuously generates a notification signal for providing a notification of contents of the first notification information using both of sound and display, and outputs the generated signal to a notification unit 800.SELECTED DRAWING: Figure 1

Description

  The present invention relates to an output control device, an information notification device, an output control method and an output control program, and a recording medium in which the output control program is recorded.

  Conventionally, various techniques have been proposed for assisting the driver's operation of a mobile object such as a vehicle. As one of such proposed techniques, a mobile object existing on a motorway dedicated to a car is detected, and the detection is performed in consideration of the magnitude of the influence of the detected mobile object on the traveling of the own vehicle. There is a technique for determining whether or not to notify information on a moving object (see Patent Document 1; hereinafter, referred to as “conventional example”).

  According to the related art, when the moving speed of the moving object present on the roadside zone is slower than a predetermined determination threshold speed, for example, when the detected moving body is stopped on the roadside zone, the detection is performed. It is configured not to uniformly notify the information on the mobile unit. Further, it is disclosed that the notification is simultaneously performed by both the sound and the display (the notification by the sound is performed only once).

JP, 2013-061797, A

  Here, when the mobile object on the roadside zone is, for example, a stopped vehicle, there is a possibility that the passenger gets off the stopped vehicle and jumps out to the traveling lane. When such a situation occurs, the safety of the vehicle may be affected, and the passenger getting off of the stopped vehicle may be in danger. Then, when such a situation occurs, it is necessary to respond suddenly to the driver to avoid the situation. However, in the prior art described above, the notification process for preparing for occurrence of such a situation is not performed.

  For this reason, there is a demand for a technology that can notify the driver with appropriate notification contents according to the possibility of the passenger getting off from the moving body when the moving body is present in the roadside zone ahead. Responding to such a request is one of the problems to be solved by the present invention.

  The invention according to claim 1 is characterized in that the other moving body and the other moving body passenger who are present in the roadside zone of the freeway are in front of the freeway where the moving body is moving, from the other moving body A detection unit that detects whether to dismount; and a control that outputs a signal based on first notification information related to alighting when the detection unit detects that the passenger of the other moving object dismounts from the other moving object And an output control device.

  The invention according to claim 7 is an information comprising: the output control device according to any one of claims 1 to 6; and a notification unit for notifying notification information corresponding to a signal output from the output control device. It is a notification device.

  The invention according to claim 8 is an output control method used in an output control apparatus including a detection unit and a control unit, which is located in front of an expressway on which a moving body is moving, the expressway A detection step in which the detection unit detects whether the other moving body present in the roadside zone and the passenger of the other moving body get off the other moving body; and the control unit detects the other moving of the other moving body A control step of outputting a signal based on notification information related to getting off when it is detected that a passenger of the body gets off the other moving body.

  The invention according to claim 9 is an output control program that causes a computer included in an output control device to execute the output control method according to claim 8.

  The invention according to claim 10 is a recording medium characterized in that the output control program according to claim 9 is recorded so as to be readable by a computer included in the output control device.

It is a block diagram showing composition of an output control device concerning one embodiment of the present invention, and an information informing device. FIG. 1 is a block diagram schematically showing the configuration of an output control apparatus and an information notification apparatus according to an embodiment of the present invention. It is a flowchart for demonstrating the alerting | reporting process of alerting | reporting information by the process control unit of FIG. It is a flowchart for demonstrating the image-analysis process of FIG. It is a flowchart for demonstrating the detection process of the other vehicle on the roadside zone of FIG. It is a flowchart for demonstrating the specific process of the other vehicle on the roadside zone of FIG. It is a flowchart for demonstrating the detection process of the stop display instrument material of FIG. It is a flowchart for demonstrating the output process of alerting | reporting information of FIG. It is a figure which shows the example of a display in the case of alerting | reporting of alerting | reporting information.

  Hereinafter, one embodiment will be described with reference to FIG. In the following description and the drawings, the same or equivalent elements will be denoted by the same reference symbols, without redundant description.

[Constitution]
FIG. 1 is a block diagram showing the configuration of an information notification apparatus 900 according to an embodiment. The information notification device 900 is disposed on a movable body MV such as a vehicle. In the present embodiment, in addition to the information notification device 900, a photographing unit 910, a moving speed detection unit 920, and a position detection unit 930 are disposed in the moving body MV.

  In the present embodiment, the above-described imaging unit 910 is configured to include an imaging device that captures an image in front of the moving body MV. The imaging result by the imaging device is sent to the information notification device 900.

  The moving speed detection unit 920 described above detects the moving speed of the moving body MV. The detection result by the moving speed detection unit 920 is sent to the information notification device 900 as moving speed information.

  The position detection unit 930 described above detects the current position of the mobile unit MV. The detection result by the position detection unit 930 is sent to the information notification device 900 as current position information.

<Configuration of Information Notification Device 900>
Next, the configuration of the above-described information notification device 900 will be described.

  As shown in FIG. 1, the information notification device 900 includes an output control device 700 and a notification unit 800. The configuration of the output control device 700 will be described later.

  The notification unit 800 described above includes a sound output unit 810. Further, the notification unit 800 includes a display unit 820.

  The above sound output unit 810 is configured to include a speaker device. The sound output unit 810 receives an output sound signal sent from the output control device 700. Then, the sound output unit 810 outputs a sound corresponding to the output sound signal.

  The display unit 820 described above is configured to include a display device. The display unit 820 receives a display image signal sent from the output control device 700. Then, the display unit 820 displays an image corresponding to the display image signal.

<Configuration of Output Control Device 700>
Next, the configuration of the output control device 700 described above will be described.

  The output control device 700 includes a storage unit 710. Further, the output control device 700 includes a detection unit 720 and a control unit 730.

  The storage unit 710 described above includes a non-volatile storage element. The storage unit 710 stores various information data used in the output control device 700. Such information data includes map information, optical characteristics of the imaging device provided in the imaging unit 910, and the like. The storage unit 710 is accessible by the detection unit 720 and the control unit 730.

  The detection unit 720 receives the shooting result sent from the shooting unit 910, the moving speed information sent from the moving speed detection unit 920, and the current position information sent from the position detection unit 930. Then, based on the travel speed information, the current position information, and the map information stored in storage unit 710, detection unit 720 detects the front of mobile unit MV on the expressway while moving on the expressway. Information on the other moving object present on the roadside zone (hereinafter referred to as “other moving object information”) is detected. The detection result by the detection unit 720 is sent to the control unit 730 together with the imaging result sent from the imaging unit 910.

  The details of the process of detecting other-moving-body information by the detection unit 720 will be described later.

  The control unit 730 receives the other-moving-body information sent from the detection unit 720 and the photographed image photographed by the photographing unit 910. Subsequently, based on the other moving object information, the control unit 730 generates notification information related to the other moving objects and the passengers of the other moving objects getting off. Then, the control unit 730 generates a notification signal based on the notification information, and sends the notification signal to the notification unit 800.

  Here, when an output sound signal is included in the generated notification signal, the generated output sound signal is sent to the sound output unit 810. On the other hand, when the generated notification signal includes a display image signal, the generated display image signal is sent to the display unit 820. Here, the display image signal is generated using the map information stored in the storage unit 710 and the photographing result photographed by the photographing unit 910.

  In addition, the detail of the output process of the alerting | reporting signal by the control part 730 is mentioned later.

[Operation]
The operation of the information notification apparatus 900 configured as described above will be described mainly focusing on the detection process of other-moving-object information by the detection unit 720 and the output process of the notification signal by the control unit 730.

  It is assumed that the photographing unit 910 has started operation and sequentially sends the photographing result to the information notification device 900. In addition, it is assumed that the moving speed detection unit 920 has started operation and sequentially sends detected moving speed information to the information notification device 900. In addition, it is assumed that the position detection unit 930 has started operation and sequentially sends detected current position information to the information notification device 900.

<Detection processing of other mobile information>
At the time of detection processing of other moving object information, the detecting unit 720 first refers to the map information stored in the storage unit 710 based on the current position information, and the road on which the moving object MV is moving is a highway. The expressway determination processing of whether or not there is is performed. If the result of the expressway determination process is negative, the detection unit 720 repeats the expressway determination process.

  If the result of the expressway determination process is affirmative, the detection unit 720 performs an image analysis process of the imaging result sent from the imaging unit 910 to detect other moving object information. In the image analysis processing, in the present embodiment, the detection unit 720 first performs other-moving-body detection processing for detecting another moving body on the roadside zone. Subsequently, the detection unit 720 performs another moving object determination processing whether or not the other moving object is detected.

  If the result of the other-moving-body determination processing is negative, the detecting unit 720 sends, to the control unit 730, the other-moving-body information that the other moving object is not present on the roadside zone. Then, the detection unit 720 ends the other vehicle detection process this time, and restarts the above-described expressway determination process.

  On the other hand, when the result of the other-moving-body determination processing is affirmative, the detection unit 720 calculates the relative velocity with respect to the moving object MV from the time change of the imaging result. Subsequently, the detection unit 720 calculates the moving velocity of the other moving object based on the calculated relative velocity and the moving velocity of the moving object MV from the moving velocity detecting unit 920.

  Next, the detection unit 720 performs stop determination processing whether or not it can be said that the other moving body is stopped, based on the calculated moving speed of the other moving body. If the result of the stop determination process is negative, the detection unit 720 indicates that “the other moving object exists on the roadside zone, but the passenger of the other moving object is out of the other moving object. The fact that there is no possibility of coming "is sent to the control unit 730 as other mobile information. Then, the detection unit 720 ends the other vehicle detection process this time, and restarts the above-described expressway determination process.

  If the result of the stop determination process is affirmative, the detection unit 720 performs an image analysis of the image of the imaging result to perform a process of detecting the stop display equipment installed on the front side of the other mobile body. At the time of the detection processing of the stop display equipment, the detection processing corresponding to the color, the shape, and the size of the stop display equipment defined by the law, the rules and the like is performed. For example, in the case of Japan, the stop indicator is a red or amber frame-shaped triangular plate, and the detection of the stop indicator is performed on the condition that the predetermined size and the base are approximately parallel to the road surface. Processing is performed.

  Next, the detection unit 720 performs stop display device determination processing as to whether or not the stop display device installed on the front side of the other mobile body is detected. If the result of the stop indication equipment determination process is affirmative, the detection unit 720 indicates that “the other moving object exists on the roadside zone, but the passenger of the other moving object is the other moving object. From the vehicle is sent to the control unit 730 as other moving body information. Then, the detection unit 720 ends the other vehicle detection process this time, and restarts the above-described expressway determination process.

  On the other hand, when the result of the stop display equipment determination process is negative, the detection unit 720 indicates that “the other moving object is present on the roadside zone, and the passenger of the other moving object is the other moving object. The fact that there is a possibility of getting off from the vehicle is sent to the control unit 730 as other moving body information. Then, the detection unit 720 ends the other-vehicle determination processing this time, and restarts the above-described expressway determination processing.

<Output process of notification signal>
Next, output processing of a notification signal performed by the control unit 730 will be described.

  At the time of output processing of the notification signal, when the control unit 730 receives the new mobile object information sent from the detection unit 720, the control unit 730 starts output processing of the notification signal corresponding to the new mobile object information.

  In the process of outputting the notification signal, the control unit 730 does not generate the notification signal when the new mobile object information is information indicating that “the other moving object is not present on the roadside band”.

  Also, the control unit 730 indicates that the new mobile information is "There is a possibility that another mobile is present on the roadside zone, and the passenger of the other mobile may get off the other mobile". If it is, the first notification information related to the getting-off of the passenger of the other moving object present on the roadside zone is generated. Subsequently, the control unit 730 generates both an output sound signal and a display image signal as a notification signal based on the first notification information. Then, the control unit 730 sends the generated output sound signal to the sound output unit 810 and sends the generated display image signal to the display unit 820. As a result, the notification by the output sound from the sound output unit 810 and the notification by the image display on the display unit 820 are performed with respect to the first notification information related to the getting-off of the passenger of the other moving object present on the roadside band. . Here, the contents of the first notification information may be, for example, the contents such as "There is a moving object in the roadside zone. There is a possibility that the passenger opens the door and gets off."

  This content is an example and is not limited to the content. Here, when the moving body MV is moving on a curved road, the moving body on the roadside zone from the image capturing the front is compared with the case of moving on a straight road. It is also conceivable that detection of the presence may be delayed. Under circumstances where such urgency is required, the content of the first notification information may be such as "Beware of getting off the passenger of the moving object in the roadside zone". In this case, it is also possible to more intuitively convey the urgency to the driver.

  In addition, the control unit 730 indicates that the new mobile information is "there is no possibility that the passenger of the other mobile gets out of the other mobile although the other mobile exists on the roadside zone". If it is the information, the second notification information indicating that there is no possibility that the passenger of the other moving object present on the roadside zone will get off is generated. Subsequently, the control unit 730 generates an output sound signal as a notification signal based on the second notification information. Then, the control unit 730 sends the generated output sound signal to the sound output unit 810. As a result, the notification by the output sound from the sound output unit 810 is performed regarding that there is no possibility that the passenger of the other moving object present on the roadside zone gets off. Here, as the contents of the second notification information, for example, the contents such as "There is a moving body in the roadside zone. There is no possibility that the passenger gets off, but please be careful." There are moving objects in the area, please be careful.

  As described above, in the present embodiment, the detection unit 720 of the output control device 700 performs detection processing of another moving object present in the roadside zone in front of the freeway on which the moving object MV is moving. Then, when it is detected by the detection unit 720 that there is the other moving object and that there is a possibility that the passenger may get off the other moving object, the control unit 730 detects that the other moving object is present on the roadside zone. First notification information related to the getting off of the passenger of the moving body is generated. Subsequently, the control unit 730 generates a notification signal for notifying the content of the first notification information by both sound and display, and outputs the signal to the notification unit 800. For this reason, it is possible to call the driver's attention of the driver's operation by sound and display that the passenger can open the door and the passenger's getting off can occur.

  In addition, when the detection unit 720 detects the presence of the other moving object and that there is no possibility that the passenger will get off from the other moving object, the control unit 730 detects that the other moving object is present on the roadside zone. The second notification information indicating that there is no possibility of the passenger getting off the moving object is generated. Subsequently, the control unit 730 generates a notification signal for notifying the content of the second notification information by sound, and outputs the signal to the notification unit 800. Therefore, the driver can be informed by sound that there is no possibility of the presence of another moving object and the passenger getting off. In this case, it may be notified only the presence of another mobile object present on the roadside zone.

  Therefore, when a moving body exists in the roadside zone ahead by cooperation between output control device 700 and notification unit 800, the possibility of the passenger getting off from the moving body is increased. It is possible to notify the driver of information regarding the presence or absence with appropriate notification content.

  Further, in the present embodiment, when the analysis result of the image indicates that the other mobile body is moving on the roadside belt, the detection unit 720 may possibly come out of the other mobile body. It detects that there is nothing. For this reason, it is possible to reasonably detect the possibility of the passenger of the other moving body coming out of the other moving body.

  Moreover, in the present embodiment, the detection unit 720 indicates that the analysis result of the image indicates that the other mobile body is not moving on the roadside zone and that the stop display equipment is not installed around the other mobile body. In this case, it is detected that the passenger may come out of another mobile body. For this reason, it is possible to more rationally detect the possibility of the passenger of the other mobile body coming out of the other mobile body.

[Modification of the embodiment]
The present invention is not limited to the above embodiments, and various modifications are possible.

  For example, in the above embodiment, only when the mobile is moving on the expressway, the information on the other mobile present in the roadside zone and the information on the presence or absence of the passenger of the other mobile are notified I did it. On the other hand, even when the moving object travels on a road other than the expressway, the information on the other moving object existing in the roadside zone and the information on the possibility of getting off the passenger of the other moving object May be notified.

  Further, in the above embodiment, as the notification mode, whether to alert by alert by sound or alert by alert by sound or display according to the presence or absence of the passenger from the other moving body may be disqualified Although illustrated, these notification modes are not particularly limited.

  In the above embodiment, the lane identification is performed by analyzing the forward image. On the other hand, lane identification may be performed by combining a high precision map and a high precision position detection result such as GNSS (Global Navigation Satellite System) positioning.

  Note that the output control device in the above embodiment is configured as a computer system provided with computing means such as a central processing unit (CPU: Central Processing Unit), and the computer executes the program prepared in advance, thereby performing the above-described operation. Some or all of the functions of the output control device may be realized. This program is recorded on a computer-readable recording medium such as a hard disk, a CD-ROM, a DVD, etc., and is read from the recording medium and executed by the computer. In addition, this program may be acquired in the form of being recorded on a portable recording medium such as a CD-ROM or a DVD, or may be acquired in the form of distribution via a network such as the Internet. It is also good.

  Hereinafter, an embodiment of the present invention will be described with reference to FIGS. In the following description and the drawings, the same or equivalent elements as those in the above embodiment are denoted by the same reference numerals, and redundant description will be omitted.

[Constitution]
FIG. 2 is a block diagram showing a schematic configuration of the information notification device 300 according to an embodiment. The information notification device 300 is an aspect of the information notification device 900 (see FIG. 1) according to the above-described embodiment.

  The information notification device 300 is disposed in the vehicle CR. In the present embodiment, a photographing unit 410, a vehicle speed detection unit 420, and a position detection unit 430 are disposed in the vehicle CR, and are each connected to the information notification device 300.

  In the present embodiment, the above-described imaging unit 410 is configured to include an imaging device that captures an image in front of the vehicle CR. The imaging result by the imaging device is sent to the information notification device 300. That is, the photographing unit 410 is configured to perform the function of the photographing unit 910 in the above-described embodiment.

  The above-described vehicle speed detection unit 420 detects the vehicle speed of the vehicle CR. The detection result by the vehicle speed detection unit 420 is sent to the information notification device 300 as vehicle speed information. That is, the vehicle speed detection unit 420 performs the function of the moving speed detection unit 920 of the above-described embodiment.

  The position detection unit 430 described above is configured to include a GPS receiver or the like, and detects the current position of the vehicle CR. The detection result by the position detection unit 430 is sent to the information notification device 300 as current position information. That is, the position detection unit 430 performs the function of the position detection unit 930 of the above-described embodiment.

<Configuration of Information Notification Device 300>
The configuration of the above-described information notification device 300 will be described.

  As shown in FIG. 2, the information notification device 300 includes an output control device 100 and a notification unit 200. The configuration of the output control device 100 will be described later.

  The above notification unit 200 is provided with a sound output unit 210. Further, the notification unit 200 includes a display unit 220.

  The above sound output unit 210 is configured to include a speaker device. The sound output unit 210 receives an output sound signal sent from the output control device 100. Then, the sound output unit 210 outputs a sound corresponding to the output sound signal. That is, the sound output unit 210 performs the function of the sound output unit 810 in the above-described embodiment.

  The display unit 220 described above is configured to include a display device. The display unit 220 receives a display image signal sent from the output control device 100. Then, the display unit 220 displays an image corresponding to the display image signal. That is, the display unit 220 performs the function of the display unit 820 in the above-described embodiment.

<< Configuration of Output Control Device 100 >>
Next, the configuration of the output control device 100 described above will be described.

  The output control device 100 includes a process control unit 110. Further, the output control device 100 includes a storage unit 120.

  The above process control unit 110 centrally controls the operation of the output control apparatus 100. In the present embodiment, the processing control unit 110 is configured to include a central processing unit (CPU) as an arithmetic unit and its peripheral circuits. The processing control unit 110 executes various programs to realize various functions as the output control apparatus 100. Such functions include the functions of the detection unit 720 and the control unit 730 in the above-described embodiment. The details of the process executed by the process control unit 110 will be described later.

  The storage unit 120 described above is configured to include a non-volatile storage device such as a hard disk drive, and stores various information data used in the output control device 100. Such information data includes map information, optical characteristics of the imaging device provided in the imaging unit 410, and the like. The storage unit 120 is accessible to the processing control unit 110. That is, the storage unit 120 performs the function of the storage unit 710 described above.

[Operation]
The operation of the information notification apparatus 300 configured as described above will be described focusing mainly on the processing by the processing control unit 110.

  Here, the processing control unit 110 performs the notification processing of the notification information to perform the function that the output control device 100 should perform.

  It is assumed that the imaging unit 410 has started operation and sequentially sends the imaging result to the information notification device 300. In addition, it is assumed that the vehicle speed detection unit 420 has started operation and sequentially sends the detected vehicle speed information to the information notification device 300. In addition, it is assumed that the position detection unit 430 has started operation and sequentially sends the detected current position information to the information notification device 300.

  Furthermore, it is assumed that the vehicle CR is traveling in one of a traveling lane area and a passing lane area on an expressway in Japan. Also, it is assumed that the color of the lane markings drawn on the road for the lane marking display is white or yellow. Further, it is assumed that a clothoid curve is adopted as the shape of the lane line. Furthermore, the stop indicator is a red or amber frame-shaped triangular plate and has a predetermined size, and is detected on the condition that the bottom side is substantially parallel to the road surface. It has become.

<Notification processing of notification information>
At the time of notification processing of notification information, as shown in FIG. 3, first, at step S11, the processing control unit 110 is stored in the storage unit 120 based on the current position information sent from the position detection unit 430. It is determined whether or not the road on which the vehicle CR is traveling is a highway, with reference to the obtained map information. When the result of the determination in step S11 is negative (step S11: N), the process of step S11 is repeated.

  If the result of the determination in step S11 is affirmative (step S11: Y), the process proceeds to step S12. In step S12, the process control unit 110 acquires the forward image sent from the imaging unit 410. Further, the process control unit 110 acquires the vehicle speed information sent from the vehicle speed detection unit 420.

  Next, in step S13, the processing control unit 110 performs image analysis processing to detect other vehicle information. The details of the image analysis process will be described later.

  Next, in step S14, the process control unit 110 determines whether notification is not required in the process of step S13. If the result of the determination in step S14 is affirmative (step S14: Y), the process returns to step S11.

  If the result of the determination in step S14 is negative (step S14: N), the process proceeds to step S15. In step S15, the processing control unit 110 generates a notification signal for notifying the notification information, and performs output processing of notification information for outputting the generated notification signal. As a result, the notification unit 200 notifies the driver of the notification information. In addition, the detail of the output process of alerting | reporting information is mentioned later.

  When the process of step S15 ends, the process returns to step S11. Thereafter, the processing of steps S11 to S15 described above is repeated.

Image analysis processing
Next, the image analysis process in step S13 will be described.

  At the time of image analysis processing, as shown in FIG. 4, in step S21, the processing control unit 110 performs processing of detecting another vehicle on the roadside band. In addition, the detail of a detection process of the other vehicle on a roadside zone is mentioned later.

  Next, in step S22, the processing control unit 110 determines whether another vehicle on the roadside band is detected. If the result of the determination in step S22 is negative (step S22: N), the process proceeds to step S24 described later.

  If the result of the determination in step S22 is affirmative (step S22: Y), the process proceeds to step S23. In step S23, the processing control unit 110 determines whether the detected other vehicle is a new other vehicle. If the result of the determination in step S23 is negative (step S23: N), the process proceeds to step S24.

  In step S24, the processing control unit 110 determines that notification is unnecessary. When the process of step S24 ends, the process of step S13 ends. Then, the process proceeds to step S14 in FIG.

  If the result of the determination in step S23 is affirmative (step S23: Y), the process proceeds to step S25. In step S25, as described later, whether the processing control unit 110 can be said that the other vehicle on the detected roadside zone is stopped based on the speed of the other vehicle calculated in the process of step S21. Make a decision on

  When the result of the determination in step S25 is negative (step S25: N), the processing control unit 110 states that “the other vehicle is present on the roadside zone, but the passenger dismounts from the other vehicle. There is no possibility of doing. " Then, the process proceeds to step S29 described later.

  If the result of the determination in step S25 is affirmative (step S25: Y), the process proceeds to step S26. In step S26, the process control unit 110 performs a process of detecting the stop indicator. In addition, the detail of a detection process of stop display equipment is mentioned later.

  Next, in step S27, the process control unit 110 determines whether or not there is a stop indicator on the roadside side in front of the other vehicle. When the result of the determination in step S27 is negative (step S27: N), the processing control unit 110 states that “the other vehicle is present on the roadside zone, and the passenger dismounts from the other vehicle. It is judged that there is a possibility. Then, the process proceeds to step S28.

  In step S28, the processing control unit 110 sets the internal flag FLG to "0". When the process of step S28 ends, the process of step S13 ends. Then, the process proceeds to step S14 in FIG.

  On the other hand, when the result of the determination in step S27 is affirmative (step S27: Y), the processing control unit 110 states that “the other vehicle is present on the roadside zone, but the passenger from the other vehicle There is no possibility of getting off Then, the process proceeds to step S29.

  In step S29, the processing control unit 110 sets the internal flag FLG to "1". When the process of step S29 ends, the process of step S13 ends. Then, the process proceeds to step S14 in FIG.

(Detection of other vehicles on the roadside)
Next, the process of detecting another vehicle on the roadside band in step S21 will be described.

  At the time of the detection process of the other vehicle on the roadside belt, as shown in FIG. 5, first, in step S31, the processing control unit 110 performs the gray scale processing of the acquired forward image. Subsequently, in step S32, the process control unit 110 extracts an image feature amount from the grayscale image. In the present embodiment, the processing control unit 110 is configured to extract an HOG (Histograms of Gradients) feature value.

  Next, in step S33, the processing control unit 110 identifies a vehicle based on the extracted image feature quantity. In the present embodiment, the processing control unit 110 is configured to identify a vehicle using an algorithm of SVM (Support Vector Machine) identification.

  In the processing control unit 110, the function of the SVM discriminator for vehicle identification, which is created by supervised learning, is implemented.

  Next, in step S34, the processing control unit 110 determines whether another vehicle is detected. When the result of the determination in step S34 is negative (step S34: N), the detection process of the other vehicle on the roadside zone is ended. Then, the process proceeds to step S22 in FIG. 4 described above.

  If the result of the determination in step S34 is affirmative (step S34: Y), the process proceeds to step S35. In step S35, the process control unit 110 performs a process of specifying another vehicle on the roadside band. In addition, the detail of a specific process of the other vehicle on a roadside zone is mentioned later.

  Next, in step S36, the process control unit 110 calculates the speed of the other vehicle specified by the process of step S35. At the time of this calculation, the processing control unit 110 first calculates the relative velocity of the other vehicle with respect to the vehicle CR from the time change of the photographing result. Subsequently, the processing control unit 110 calculates the speed of the other vehicle on the roadside zone based on the calculated relative speed and the vehicle speed information of the vehicle CR sent from the vehicle speed detection unit 420.

  When the process of step S36 ends, the process of step S21 ends. Then, the process proceeds to step S22 in FIG. 4 described above.

((Specific processing of other vehicles on the roadside))
Next, a process of specifying another vehicle on the roadside band in step S35 will be described.

  As shown in FIG. 6, in the process of identifying another vehicle on the roadside, first, in step S41, the process control unit 110 processes the process control unit 110 based on the optical characteristic information of the camera provided in the imaging unit 410. Convert the forward image into a bird's-eye view image. In the present embodiment, the processing control unit 110 is configured to convert the forward image into a bird's-eye view image by matrix operation corresponding to the optical characteristic information.

  Next, in step S42, the processing control unit 110 extracts the lane marking candidates in the bird's-eye view image. When extracting such lane markings, in the present embodiment, the processing control unit 110 extracts a white or yellow area in the bird's-eye view image. This is because, as described above, in the present embodiment, the color of the lane markings drawn on the road for the marking of lane markings is white or yellow.

  Next, in step S43, the processing control unit 110 generates a binarized image of the bird's-eye view image. When generating such a binarized image, the processing control unit 110 sets the pixel value of the extracted area as the first value (for example, “1”), and the pixel value of the area other than the extracted area A binarized image is generated with a value of 2 (for example, “0”).

  Next, in step S44, the processing control unit 110 specifies a lane marking. In order to specify the lane markings, the process control unit 110 first calculates a representative line segment of the area with the first pixel value in the binarized image. Subsequently, the processing control unit 110 performs fitting processing on the calculated representative line segment to the clothoid curve. Based on the result of the fitting process, the processing control unit 110 identifies a lane line.

  Next, in step S45, the processing control unit 110 identifies the roadside zone in the front image based on the identified lane markings. When specifying the roadside band area, the processing control unit 110 specifies that a lane line exists on the right side in the traveling direction, but an area where no lane line exists on the left side in the traveling direction is the roadside band area. Do.

  Next, in step S46, the processing control unit 110 determines whether another vehicle is present on the identified roadside zone. If the result of the determination in step S46 is affirmative (step S46: Y), the process proceeds to step S47.

  In step S47, the processing control unit 110 determines that there is another vehicle on the roadside band. Then, the process of step S35 ends, and the process proceeds to step S36 of FIG. 5 described above.

  If the result of the determination in step S46 is negative (step S46: N), the process proceeds to step S48. In step S48, the processing control unit 110 determines that there is no other vehicle on the roadside band. Then, the process of step S35 ends, and the process proceeds to step S36 in FIG.

(Detection processing of stop display equipment)
Next, the process of detecting the stop display material performed in step S26 of FIG. 4 will be described.

  In the process of detecting the stop indicator, as shown in FIG. 7, first, in step S51, the processing control unit 110 extracts graphic candidates for the stop indicator in the forward image. When extracting such figure candidates, in the present embodiment, the processing control unit 110 extracts a red or amber area in the front image. This is because, as described above, in the present embodiment, the stop indicator is a red or amber frame-shaped triangular plate.

  Subsequently, in step S52, the processing control unit 110 generates a binarized image of the forward image. When generating such a binarized image, the processing control unit 110 sets the pixel value of the extracted area as the first value (for example, “1”), and the pixel value of the area other than the extracted area A binarized image is generated with a value of 2 (for example, “0”).

  Next, in step S53, the processing control unit 110 performs Hough transform on the extracted area to extract a short straight line. Subsequently, in step S54, the processing control unit 110 determines whether or not there is a combination of short straight lines that become triangles.

  If the result of the determination in step S54 is negative (step S54: N), the process proceeds to step S58 described later. If the result of the determination in step S54 is affirmative (step S54: Y), the process proceeds to step S55.

  In step S55, the processing control unit 110 determines whether or not the size of the triangle formed by the combination of the short straight lines is an appropriate size as the stop indicator. At the time of this determination, the processing control unit 110 is appropriate as the stop display material based on the size of the triangle in the front image, the position in the front image, and the optical characteristics of the imaging device stored in the storage unit 120. Whether or not the size is determined.

  If the result of the determination in step S55 is negative (step S55: N), the process proceeds to step S58. If the result of the determination in step S55 is affirmative (step S55: Y), the process proceeds to step S56.

  In step S56, the processing control unit 110 determines whether the base of the triangle is substantially parallel to the road surface (that is, the triangle is facing upward). If the result of the determination in step S56 is affirmative (step S56: Y), the process proceeds to step S57.

  In step S57, the process control unit 110 determines that the stop indicator is present. Then, the process of step S26 ends, and the process proceeds to step S27 of FIG. 4 described above.

  If the result of the determination in step S56 is negative (step S56: N), the process proceeds to step S58. In step S58, the process control unit 110 determines that the stop indicator is not present. Then, the process of step S26 ends, and the process proceeds to step S27 of FIG.

<< Output process of notification information >>
Next, the process of outputting the notification information in step S15 will be described.

  In the process of outputting the notification information, as shown in FIG. 8, first, in step S61, the processing control unit 110 determines whether the value of the internal flag FLG is “0”. If the result of the determination in step S61 is affirmative (step S61: Y), the process proceeds to step S62.

  In step S62, the processing control unit 110 determines that "the other vehicle exists on the roadside zone and there is a possibility that the passenger may get off from the other vehicle", and the other vehicle's existing on the roadside zone The first notification information related to the passenger getting off is generated. Subsequently, the processing control unit 110 generates both the output sound signal and the display image signal as the first notification signal based on the first notification information. Then, the processing control unit 110 sends the generated output sound signal to the sound output unit 210 of the notification unit 200 and sends the generated display image signal to the display unit 220 of the notification unit 200.

  As a result, the notification by the output sound from the sound output unit 210 and the notification by the image display on the display unit 220 are performed with respect to the first notification information related to the alighting of the passenger of the other vehicle present on the roadside band.

  Thus, when the process of step S62 ends, the process of step S15 ends. Then, the process returns to step S11 of FIG. 3 described above.

  In addition, the example of the display information of 1st alerting | reporting information is shown by FIG. The display example of FIG. 9 is a display example when the vehicle CR is traveling in the traveling lane. And in FIG. 9, an example which is performing the display of "Be careful to alighting (door opening)" is shown by the image display for the purpose of alerting the other vehicle which exists on the said roadside zone. Also, for example, when the vehicle CR is traveling in the overtaking lane, the information on the door opening is omitted, and only “get off notice” is displayed to call attention on the getting off of another vehicle. May be

  If the result of the determination in step S61 is negative (step S61: N), the process proceeds to step S63. In step S63, the processing control unit 110 determines that "the other vehicle is present on the roadside band, but there is no possibility that the passenger may get off from the other vehicle", and the other vehicle exists on the roadside band. The second notification information indicating that there is no possibility of getting off the passenger is generated. Subsequently, the processing control unit 110 generates an output sound signal as a second notification signal based on the second notification information. Then, the processing control unit 110 sends the generated output sound signal to the sound output unit 210 of the notification unit 200.

  As a result, the notification by the output sound from the sound output unit 210 is performed regarding the existence on the roadside zone and the possibility that the passenger will not get off.

  Thus, when the process of step S63 ends, the process of step S15 ends. Then, the process returns to step S11 of FIG. 3 described above.

  As described above, in the present embodiment, the processing control unit 110 of the output control device 100 performs processing for detecting other vehicles present in the roadside zone ahead of the freeway on which the vehicle CR is traveling. Then, when it is detected by the processing control unit 110 that the presence of the other vehicle and the possibility that the passenger of the other vehicle may drop off, the drop of the passenger of the other vehicle existing on the roadside zone Generating first notification information related to the Subsequently, the processing control unit 110 outputs, to the notification unit 200, a notification signal for notifying the content of the first notification information by both sound and display. Therefore, the driver can be alerted by sound and display that there is a possibility that the passenger of the other vehicle will get off.

  In addition, when the processing control unit 110 detects that there is no other vehicle and there is no possibility that the passenger of the other vehicle gets off, the passenger gets off the other vehicle existing on the roadside zone. The second notification information indicating that there is no possibility of being generated is generated. Subsequently, the processing control unit 110 outputs, to the notification unit 800, a notification signal for notifying the content of the second notification information by sound. Therefore, the driver can be notified by sound that there is no possibility of the presence of another vehicle and the passenger getting off.

  Therefore, when a vehicle is present in the roadside zone ahead by cooperation between output control apparatus 100 and notification unit 200, whether or not the passenger is dismounted from the other vehicle is the presence or absence of the possibility Can be notified to the driver with appropriate notification content.

  Further, in the present embodiment, when the analysis result of the image indicates that the other vehicle is traveling on the roadside zone, the processing control unit 110 has no possibility that the passenger dismounts from the other vehicle. To detect Therefore, it is possible to reasonably detect the possibility of the passenger of the other vehicle getting off the other vehicle.

  Further, in the present embodiment, the processing control unit 110 indicates that the analysis result of the image indicates that the other vehicle is not traveling on the roadside zone and that the stop indicator is not installed around the other vehicle. In addition, it is detected that the passenger may get off the other vehicle. Therefore, it is possible to more rationally detect the possibility of the passenger of the other vehicle getting off the other vehicle.

[Variation of embodiment]
The present invention is not limited to the above embodiments, and various modifications are possible.

  For example, in the above embodiment, when the other vehicle is recognized, the other vehicle is recognized by the method using the SVM algorithm after calculating the HOG feature value. On the other hand, other vehicles may be recognized by adopting, for example, a deep learning method.

  Further, in the above-described embodiment, the method of using Hough transform is employed when detecting the stop indicator. However, other methods may be employed to detect the stop indicator.

  Further, in the above embodiment, the same modification as in the above embodiment can be performed.

100 ... output control device 110 ... processing control unit (detection unit, control unit)
200 ... Notification unit (notification unit)
300 ... information notification device 700 ... output control device 720 ... detection unit 730 ... control unit 800 ... notification unit 900 ... information notification device

Claims (10)

A detector for detecting whether the other moving object existing in the roadside zone of the freeway and the passenger of the other moving object get off from the other moving object in front of the expressway on which the moving object is moving; ;
A control unit that outputs a signal based on first notification information related to getting off when the detecting unit detects that the passenger of the other moving unit gets off the other moving unit;
Output control device comprising:   The control unit outputs a signal based on second notification information indicating that there is no possibility of getting off when the detection unit detects that the passenger of the other moving object does not get off the other moving object. The output control device according to claim 1,   The detection unit detects whether a passenger of the other moving object or the other moving object dismounts from the other moving object based on an analysis result of an image including the other moving object present in the roadside zone. The output control device according to claim 1 or 2, characterized in that:   The detection unit is characterized in that when the analysis result of the image indicates that the other moving object is moving in the roadside zone, the detection unit detects that the passenger does not get off the other moving object. The output control device according to claim 3.   When the analysis result of the image indicates that the other mobile body has not moved the roadside zone and that the stop display equipment is not installed around the other mobile body, the detection unit may be configured to The output control device according to claim 3 or 4, which detects that the passenger dismounts from the other moving object.   The output control device according to any one of claims 1 to 5, wherein the first notification information is information notifying that the door of the other moving object is opened by sound and display. The output control device according to any one of claims 1 to 6;
A notification unit for notifying notification information corresponding to the signal output from the output control device;
An information notification apparatus comprising: An output control method used in an output control device comprising a detection unit and a control unit, the output control method comprising:
The detection unit determines whether the other moving object existing in the roadside zone of the freeway and the passenger of the other moving object is dismounted from the other moving object in front of the expressway on which the moving object is moving. Detection step to detect;
A control step of outputting a signal based on notification information related to getting off when the control unit detects that the passenger of the other moving body gets off the other moving body;
An output control method comprising:   An output control program that causes a computer included in an output control device to execute the output control method according to claim 8.   A recording medium, wherein the output control program according to claim 9 is recorded so as to be readable by a computer of the output control device.

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