JP2021149256A - Warning device - Google Patents

Abstract

To provide a warning device that warns a person of the existence of another approaching vehicle at an earlier timing.SOLUTION: A warning device 4 mounted on a vehicle 100 includes: a detection unit 421 that detects a peripheral vehicle different from the vehicle 100 and a person; a direction specifying unit 423 that specifies a driving direction in which the peripheral vehicle drives; an estimate unit 422 that estimates a blind spot area where a field of view of the person detected by the detection unit 421 is blocked by the vehicle 100, in the vicinity of the vehicle 100; a determination unit 426 that determines whether or not the peripheral vehicle is approaching the vehicle, and determines whether or not the peripheral vehicle enters the blind spot area, based on the driving direction specified by the direction specifying unit 423; and a warning unit 427 that warns the person of the existence of the peripheral vehicle when the determination unit 426 determines that the peripheral vehicle is approaching the vehicle and the peripheral vehicle enters the blind spot area.SELECTED DRAWING: Figure 2

Description

The present invention relates to a warning device that warns a person around a vehicle of the presence of a peripheral vehicle.

A pedestrian may overlook the approach of another vehicle traveling around the vehicle due to the vehicle obstructing the view of the pedestrian. Patent Document 1 proposes to warn a pedestrian of the existence of another vehicle when the pedestrian is present in the blind spot area of another approaching vehicle.

Japanese Unexamined Patent Publication No. 2008-009941

In the technique of Patent Document 1, it is possible to warn a person existing in the blind spot area of another vehicle of the existence of this vehicle. However, in the technique of Patent Document 1, since the existence of this vehicle is not warned to the person until the person is located in the blind spot area of another vehicle, when another vehicle is approaching the person at a relatively high speed. Sometimes the timing of warnings to people was delayed.

The present invention has been made in view of the above circumstances, and an object of the present invention is to provide a warning device capable of warning a person around a vehicle of the existence of another approaching vehicle at an earlier timing.

The warning device according to the first aspect of the present invention is a warning device mounted on a vehicle, in which a peripheral vehicle different from the vehicle and a detection unit for detecting a person in the vicinity of the vehicle and the peripheral vehicle travel. The direction specifying unit that specifies the traveling direction, the estimating unit that estimates the blind spot area in which the view of the person detected by the detecting unit is blocked by the vehicle, and the direction specifying unit have specified around the vehicle. Based on the traveling direction, a determination unit that determines whether or not the peripheral vehicle is approaching the vehicle, and determines whether or not the peripheral vehicle enters the blind spot area, and the peripheral vehicle. It is provided with a warning unit that warns the person of the existence of the peripheral vehicle when the determination unit determines that the vehicle is approaching the vehicle and the peripheral vehicle enters the blind spot area.

The warning unit may further include an acquisition unit for acquiring the remaining battery level of the vehicle, and the warning unit may warn the person of the existence of the peripheral vehicle on condition that the remaining battery level is equal to or higher than the threshold value. The warning unit may end the warning when a predetermined period has elapsed from the start of warning the person of the existence of the peripheral vehicle.

The warning device further includes a stop identification unit that identifies that the vehicle is stopped along the direction in which the road extends, and the detection unit is such that the person is located in front of or behind the vehicle or the person is in front of or behind the vehicle. The warning unit detects whether the vehicle is located on the left or right side of the vehicle, and the warning unit approaches the peripheral vehicle approaching the blind spot area where the view of the person located in front of or behind the vehicle is blocked by the vehicle. When the determination unit determines that a vehicle enters, the person is warned of the existence of the surrounding vehicle, and the vehicle enters the blind spot area where the view of the person located on the left and right sides of the vehicle is blocked by the vehicle. When the determination unit determines that the peripheral vehicle approaching the vehicle enters the vehicle, it is not necessary to warn the person of the existence of the peripheral vehicle.

The detection unit detects a pedestrian crossing in front of the vehicle and the person located in a crossable area that can cross the pedestrian crossing, and the vehicle moves in front of the pedestrian crossing detected by the detection unit. The deceleration specifying unit further includes a deceleration specifying unit that identifies that the traveling speed has been reduced, and the determination unit is said to be said when the deceleration specifying unit specifies that the vehicle has reduced the traveling speed in front of the pedestrian crossing. It is determined whether or not the peripheral vehicle traveling behind the vehicle overtakes the vehicle, and the peripheral vehicle is placed in the blind spot area where the view of the person located in the crossable area is blocked by the vehicle. The warning unit determines whether or not to enter, and when the determination unit determines that the peripheral vehicle traveling behind the vehicle overtakes the vehicle and enters the blind spot area, the presence of the peripheral vehicle is present. May warn the person. The warning unit is present on the condition that the detection unit detects a person in a predetermined range in front of and to the side of the vehicle when the vehicle is traveling at a traveling speed equal to or lower than a predetermined speed. May warn the person.

According to the present invention, there is an effect of warning a pedestrian of the presence of another approaching vehicle at an earlier timing.

It is a figure which shows the outline of the vehicle which mounted on the warning device of 1st Embodiment. It is a figure which shows the structure of a vehicle. It is a figure which shows the state when the vehicle is stopped along the road. It is a flowchart which shows the processing procedure which warns the existence of the surrounding vehicle by the warning device. It is a figure which shows the structure of the vehicle of the 2nd Embodiment. It is a figure which shows the state when the vehicle reduces the traveling speed in front of a pedestrian crossing.

<First Embodiment>
[Overview of warning device]
FIG. 1 is a diagram showing an outline of a vehicle 100 equipped with the warning device of the first embodiment. The vehicle 100 is, for example, a large vehicle such as a truck or a bus. In the example of FIG. 1, it is assumed that the vehicle 100 is stopped with the engine stopped for loading and unloading of cargo and the like. The vehicle 100 includes a plurality of imaging units that generate captured images of the surroundings of the vehicle 100. In the example of the present specification, it is assumed that a plurality of imaging units generate images captured in the front, rear, left and right sides of the vehicle 100, respectively. The imaging unit generates captured images of the surroundings of the vehicle 100 at predetermined time intervals.

The warning device is realized by, for example, an ECU (Electronic Control Unit). The warning device detects a peripheral vehicle 200 different from the vehicle 100 based on the captured image generated by the imaging unit. The peripheral vehicle 200 is a vehicle traveling on the road around the vehicle 100. For example, when the vehicle 100 is stopped in a roadside zone of a road, the peripheral vehicle 200 is a vehicle traveling on this road. Further, when the vehicle 100 is stopped near the intersection, the peripheral vehicle 200 may be a vehicle passing through the intersection. Further, the warning device detects a person 300 around the vehicle 100 based on the generated captured image. The person 300 is, for example, a pedestrian or a worker who performs loading / unloading work from the loading platform of the vehicle 100.

The warning device estimates a blind spot area where the field of view of the person 300 is blocked by the vehicle 100 based on the detected position of the person 300. The blind spot area of the person 300 is shown by a broken line in FIG. The warning device identifies the traveling direction of the peripheral vehicle 200 by analyzing a plurality of captured images generated at different timings.

The warning device determines whether or not the peripheral vehicle 200 is approaching the vehicle 100 based on the traveling direction of the specified peripheral vehicle 200. When the warning device determines that the peripheral vehicle 200 is approaching the vehicle 100, the warning device determines whether or not the peripheral vehicle 200 enters the blind spot area of the person 300. When the warning device determines that the peripheral vehicle 200 enters the blind spot area of the person 300, the warning device warns the person 300 of the existence of the peripheral vehicle 200.

In this way, the warning device can warn the person 300 of the existence of the peripheral vehicle 200 at an earlier timing than the case where the peripheral vehicle 200 warns the person 300 after entering the blind spot area. Therefore, the warning device can secure a longer time for the person 300 to grasp the existence of the peripheral vehicle 200.

[Vehicle configuration]
FIG. 2 is a diagram showing the configuration of the vehicle 100. The vehicle 100 includes an imaging unit 1, a remaining amount sensor 2, a speaker 3, and a warning device 4. The warning device 4 includes a storage unit 41 and a control unit 42.

The remaining amount sensor 2 measures the remaining battery level of the vehicle 100. The speaker 3 converts an electric signal into sound. The storage unit 41 is composed of, for example, a ROM (Read Only Memory), a RAM (Random Access Memory), or the like. The storage unit 41 stores various programs and various data for operating the control unit 42.

The control unit 42 functions as a detection unit 421, an estimation unit 422, a direction identification unit 423, an acquisition unit 424, a stop identification unit 425, a determination unit 426, and a warning unit 427 by executing a program stored in the storage unit 41. do.

[Detection of people and surrounding vehicles]
The detection unit 421 detects the person 300 and the peripheral vehicle 200 different from the vehicle 100 based on the captured image generated by the image pickup unit 1. For example, the detection unit 421 extracts a variation region in which temporal variation is observed in the captured images generated at a plurality of timings. The storage unit 41 stores in advance a plurality of person characteristic information indicating the characteristics of the shades of color of a person extracted from the past captured images of a large number of people. The detection unit 421 pattern-matches the features extracted from the variable region of the captured image with the features indicated by the plurality of person feature information read from the storage unit 41. The detection unit 421 detects as a feature of the person 300 a feature whose similarity with any of the features indicated by the plurality of person feature information read from the storage unit 41 is equal to or higher than a certain value.

The detection unit 421 detects whether the person 300 is located in front of or behind the vehicle 100 or the person 300 is located on the left or right side of the vehicle 100. For example, the detection unit 421 detects that the person 300 is located in front of or behind the vehicle 100 when the person 300 is detected in the captured image generated by the image pickup unit 1 installed toward the front and the rear of the vehicle 100. .. The detection unit 421 detects that the person 300 is located on the left and right sides of the vehicle 100 when the person 300 is detected in the captured image generated by the image pickup unit 1 installed toward the left and right sides of the vehicle 100.

The detection unit 421 reads out a plurality of vehicle feature information indicating the features of the contour of the vehicle extracted from the past captured images of a large number of vehicles from the storage unit 41. The detection unit 421 detects the characteristics of the peripheral vehicle 200 included in the captured image by referring to the read vehicle characteristic information in the same manner as the detection of the person 300.

Further, the detection unit 421 is not limited to the example of detecting the peripheral vehicle 200 or the like based on the captured image generated by the imaging unit 1. For example, the detection unit 421 may detect a peripheral vehicle 200 or the like based on the detection result of a distance measuring sensor such as LIDAR (Light Detection and Ranging).

[Estimation of blind spot area]
The estimation unit 422 estimates a blind spot area around the vehicle 100 in which the field of view of the person 300 detected by the detection unit 421 is blocked by the vehicle 100. In the example of the present specification, the estimation unit 422 estimates the range of the positions of the pixels corresponding to the blind spot area of the person 300 among the plurality of pixels included in the imaging planes of the plurality of imaging units 1.

The storage unit 41 stores an area table in which the positions of the pixels of the person 300 and the area information indicating the range of the positions of the pixels in the blind spot area on the imaging planes of the plurality of imaging units 1 are associated with each other. The estimation unit 422 reads this area table from the storage unit 41. The estimation unit 422 estimates the range of the blind spot area indicated by the area information associated with the position of the pixel of the person 300 detected by the detection unit 421 with reference to the read area table.

The direction specifying unit 423 specifies the traveling direction in which the peripheral vehicle 200 travels. The direction specifying unit 423 specifies the traveling direction of the peripheral vehicle 200 by specifying the difference in the positions of the peripheral vehicles 200 in the plurality of captured images generated by the imaging unit 1 at different timings. The acquisition unit 424 acquires the remaining battery level of the vehicle 100 based on the measurement result of the remaining amount sensor 2.

The stop identification unit 425 specifies whether or not the vehicle 100 is stopped along the direction in which the road extends, based on the captured image generated by the image pickup unit 1. The stop identification unit 425 identifies that the vehicle 100 is stopped, for example, based on the measurement result of a speedometer (not shown) that measures the traveling speed of the vehicle 100. The stop identification unit 425 specifies whether or not the vehicle 100 is stopped along the direction in which the road extends by specifying the direction in which the white line extends on the road in the captured image.

The determination unit 426 determines whether or not the peripheral vehicle 200 is approaching the vehicle 100 based on the traveling direction specified by the direction specifying unit 423. When the determination unit 426 determines that the peripheral vehicle 200 is approaching the vehicle 100, the determination unit 426 determines whether or not the peripheral vehicle 200 enters the blind spot area estimated by the estimation unit 422. For example, the determination unit 426 determines whether or not the peripheral vehicle 200 that has traveled straight enters the blind spot area, assuming that the peripheral vehicle 200 travels straight in the traveling direction specified by the direction specifying unit 423.

[Warning of the existence of surrounding vehicles]
The warning unit 427 warns the person 300 of the existence of the peripheral vehicle 200 when the determination unit 426 determines that the peripheral vehicle 200 is approaching the vehicle 100 and the peripheral vehicle 200 enters the blind spot area. For example, the warning unit 427 outputs a message such as "a car is coming from the other side" to the person 300 by the speaker 3. On the other hand, when the determination unit 426 determines that the peripheral vehicle 200 does not approach the vehicle 100, or when the determination unit 426 determines that the peripheral vehicle 200 does not enter the blind spot area, the warning unit 427 determines that the peripheral vehicle 200 does not approach the vehicle 100. Does not warn person 300 of its existence. The warning unit 427 ends the warning when a predetermined period has elapsed after starting to warn the person 300 of the existence of the peripheral vehicle 200. The predetermined period is, for example, about 10 seconds.

When the peripheral vehicle 200 enters the blind spot area of the person 300, the person 300 cannot see the peripheral vehicle 200, but the driver of the peripheral vehicle 200 cannot see the person 300. Therefore, the warning unit 427 may warn the driver of the peripheral vehicle 200 of the existence of the person 300. For example, the warning unit 427 may warn the driver of the peripheral vehicle 200 of the existence of the person 300 by blinking the headlights. The warning unit 427 may display a message such as "There is a person on the left" on a display such as a display mounted on the vehicle 100. When the vehicle 100 is a bus, the warning unit 427 may display a message such as "There is a person on the left" on the electric bulletin board or the electronic advertisement mounted on the vehicle 100.

When the determination unit 426 determines that the peripheral vehicle 200 approaching the vehicle 100 enters the blind spot area where the field of view of the person 300 located in front of and behind the vehicle 100 is blocked by the vehicle 100, the warning unit 427 is in the vicinity. Warn the person 300 of the existence of the vehicle 200. On the other hand, when the warning unit 427 determines that the peripheral vehicle 200 approaching the vehicle 100 enters the blind spot area where the field of view of the person 300 located on the left and right sides of the vehicle 100 is blocked by the vehicle 100, the determination unit 426 determines. , Does not warn the person 300 of the existence of the peripheral vehicle 200.

3A and 3B are diagrams showing a state when the vehicle 100 is stopped along the road. FIG. 3A shows an example in which the person 300 is located in front of and behind the vehicle 100, and FIG. 3B shows an example in which the person 300 is located in front of and behind the vehicle 100.

In the example of FIG. 3A, the vehicle 100 is stopped in the roadside zone A of the road, and the stop identification unit 425 specifies that the vehicle 100 is stopped along the road. The peripheral vehicle 200 is traveling on the road where the vehicle 100 is stopped, and is approaching the vehicle 100 from behind. The person 300 is located in front of the vehicle 100. The blind spot area where the field of view of the person 300 is obstructed by the vehicle 100 is shown by a broken line. In the example of FIG. 3A, the determination unit 426 determines that the peripheral vehicle 200 is approaching the vehicle 100 and that the peripheral vehicle 200 enters the blind spot area of the person 300. At this time, as shown in FIG. 3A, the warning unit 427 specifies (1) that the vehicle 100 is stopped along the road by the stop identification unit 425, and (2) the person 300. When the detection unit 421 detects that the vehicle is located in front of or behind the vehicle 100, the person 300 is warned of the existence of the peripheral vehicle 200.

In the example of FIG. 3B, similarly to FIG. 3A, the vehicle 100 is stopped in the roadside zone A of the road, and the vehicle 100 is stopped along the road in the stop identification unit 425. Identify that. The person 300 is located to the left of the vehicle 100. The person 300 needs to detour around the vehicle 100 in order to cross the road on which the peripheral vehicle 200 travels, and is not in a position where the person 300 can immediately cross the road. Similar to FIG. 3A, the determination unit 426 determines that the peripheral vehicle 200 is approaching the vehicle 100 and that the peripheral vehicle 200 enters the blind spot area of the person 300. At this time, as shown in FIG. 3B, the warning unit 427 specifies (1) that the vehicle 100 is stopped along the road by the stop identification unit 425, and (2) the person 300. When the detection unit 421 detects that the vehicle is located on the left and right sides of the vehicle 100, the person 300 is not warned of the existence of the peripheral vehicle 200. In this way, the warning unit 427 can suppress the warning of the existence of the peripheral vehicle 200 to a person who is not in a position facing the road on which the peripheral vehicle 200 travels.

The warning unit 427 warns the person 300 of the existence of the peripheral vehicle 200 on condition that the remaining battery level acquired by the acquisition unit 424 is equal to or higher than the threshold value. The warning unit 427 does not warn the person 300 of the existence of the peripheral vehicle 200 when the remaining battery level acquired by the acquisition unit 424 is less than the threshold value. For example, the warning unit 427 presets a value obtained by adding a predetermined margin to the remaining battery level required for starting the engine or the like as a threshold value. When the remaining battery level acquired by the acquisition unit 424 is less than the set threshold value, the warning unit 427 may further reduce the power consumption by stopping the generation of the captured image by the imaging unit 1. In this way, the warning unit 427 can prevent the remaining battery level from becoming insufficient due to warning the person 300 of the existence of the vehicle 100.

[Warning processing procedure by warning device]
FIG. 4 is a flowchart showing a processing procedure for warning the existence of the peripheral vehicle 200 by the warning device 4. This processing procedure is started, for example, when the engine is stopped while the vehicle 100 is stopped. First, the detection unit 421 determines whether or not the person 300 has been detected (S101). When the detection unit 421 detects the person 300 (YES in S101), the detection unit 421 determines whether or not the peripheral vehicle 200 is detected (S102). When the detection unit 421 detects the peripheral vehicle 200 (YES in S102), the direction specifying unit 423 specifies the traveling direction in which the peripheral vehicle 200 travels (S103). The estimation unit 422 estimates a blind spot area around the vehicle 100 in which the field of view of the person 300 detected by the detection unit 421 is blocked by the vehicle 100 (S104).

The determination unit 426 determines whether or not the peripheral vehicle 200 is approaching the vehicle 100 based on the traveling direction specified by the direction specifying unit 423 (S105). When the determination unit 426 determines that the peripheral vehicle 200 is approaching the vehicle 100 (YES in S105), the determination unit 426 determines whether or not the peripheral vehicle 200 enters the blind spot area estimated by the estimation unit 422 (S106). .. When the determination unit 426 determines that the peripheral vehicle 200 enters the blind spot area estimated by the estimation unit 422 (YES in S106), the warning unit 427 warns the person 300 of the existence of the peripheral vehicle 200 (S107) and processes it. To finish.

When the detection unit 421 does not detect the person 300 in the determination of S101 (NO of S101), the detection unit 421 repeats the process of S101. When the detection unit 421 does not detect the peripheral vehicle 200 in the determination of S102 (NO in S102), the detection unit 421 returns to the determination of S101. When the determination unit 426 determines in the determination of S105 that the peripheral vehicle 200 is not approaching the vehicle 100 (NO in S105), the determination unit 426 returns to the determination in S101. The warning unit 427 returns to the determination of S101 when the determination unit 426 determines that the peripheral vehicle 200 does not enter the blind spot area estimated by the estimation unit 422 in the determination of S106 (NO in S106).

[Effect of the warning device of this embodiment]
According to the present embodiment, the warning unit 427 determines the existence of the peripheral vehicle 200 when the determination unit 426 determines that the peripheral vehicle 200 is approaching the vehicle 100 and the peripheral vehicle 200 enters the blind spot area. Warn. Since the warning unit 427 warns the person 300 of the existence of the peripheral vehicle 200 at an earlier timing than the case where the peripheral vehicle 200 warns the person 300 after entering the blind spot area, the person 300 warns the person 300 of the peripheral vehicle 200. It is possible to secure a longer time to grasp the existence.

<Second embodiment>
In the second embodiment, an example will be described in which it is determined whether or not the peripheral vehicle 200 enters the blind spot area of the person 300 when the vehicle 100 reduces the traveling speed in front of the pedestrian crossing. FIG. 5 is a diagram showing the configuration of the vehicle 100 of the second embodiment. The vehicle 100 of the second embodiment is different from the vehicle 100 of FIG. 2 in that it further includes a deceleration specific unit 501. The same functional blocks as those in FIG. 2 are designated by the same reference numerals, and the description thereof will be omitted.

The detection unit 421 detects the pedestrian crossing in front of the vehicle 100 based on the captured image generated by the imaging unit 1. The storage unit 41 stores pedestrian crossing feature information indicating the features of the edges of the plurality of pedestrian crossings. The detection unit 421 reads the pedestrian crossing feature information from the storage unit 41. The detection unit 421 pattern-matches the edge features extracted from the captured image with the edge features indicated by the read pedestrian crossing feature information. Among the edge features extracted from the captured image, the detection unit 421 sets the edge feature having a similarity with any of the edge features indicated by the read-out pedestrian crossing feature information to a certain value or more as the pedestrian crossing feature. Detect.

The detection unit 421 detects a crossable area corresponding to the detected pedestrian crossing. The crossable area is a predetermined range around the pedestrian crossing in the captured image. The detection unit 421 detects the person 300 located on the crossable area.

When the detection unit 421 detects a pedestrian crossing, the deceleration specific unit 501 identifies that the vehicle 100 has reduced the traveling speed before the pedestrian crossing detected by the detection unit 421. For example, the deceleration specifying unit 501 identifies that the vehicle 100 has lowered the traveling speed to a threshold value or less in front of the pedestrian crossing. The threshold value is, for example, 10 km / h.

[Judgment by the judgment unit when decelerating in front of the pedestrian crossing]
The determination unit 426 determines whether or not the peripheral vehicle 200 traveling behind the vehicle 100 overtakes the vehicle 100 when the deceleration specific unit 501 specifies that the vehicle 100 has reduced the traveling speed in front of the pedestrian crossing. judge. When the determination unit 426 determines that the peripheral vehicle 200 overtakes the vehicle 100, the determination unit 426 determines whether or not the peripheral vehicle 200 enters the blind spot area where the field of view of the person located in the crossable area is blocked by the vehicle 100. do.

FIG. 6 is a diagram showing a state in which the vehicle 100 reduces the traveling speed in front of the pedestrian crossing. It is assumed that the peripheral vehicle 200 travels behind the vehicle 100 and overtakes the vehicle 100 when the vehicle 100 decelerates. Person 300 is located in a crossable area B that can cross a pedestrian crossing. The crossable area B is indicated by a thick line. The blind spot area of the person 300 estimated by the estimation unit 422 is shown by a broken line.

When the deceleration specific unit 501 identifies that the vehicle 100 has reduced the traveling speed in front of the pedestrian crossing, the determination unit 426 determines whether or not the peripheral vehicle 200 traveling behind the vehicle 100 overtakes the vehicle 100. .. For example, the determination unit 426 determines that the peripheral vehicle 200 overtakes the vehicle 100 when at least a part of the traveling peripheral vehicle 200 is on the lane boundary line. On the other hand, the determination unit 426 determines that the peripheral vehicle 200 does not overtake the vehicle 100 when the traveling peripheral vehicle 200 does not protrude on the lane boundary line at all.

When the determination unit 426 determines that the peripheral vehicle 200 overtakes the vehicle 100, the determination unit 426 determines whether or not the peripheral vehicle 200 enters the blind spot area of the person 300. For example, the determination unit 426 predicts the trajectory on which the peripheral vehicle 200 overtakes the vehicle 100 based on the traveling direction of the peripheral vehicle 200 specified by the direction specifying unit 423. The determination unit 426 determines whether or not the predicted trajectory enters the blind spot area.

[Warning output when overtaking judgment]
When the determination unit 426 determines that the peripheral vehicle 200 traveling behind the vehicle 100 overtakes the vehicle 100 and enters the blind spot area, the warning unit 427 warns the person 300 of the existence of the peripheral vehicle 200. On the other hand, when the warning unit 427 determines that the peripheral vehicle 200 traveling behind the vehicle 100 does not overtake the vehicle 100, or when the determination unit 426 determines that the peripheral vehicle 200 does not enter the blind spot area. Does not warn the person 300 of the existence of the peripheral vehicle 200.

When the vehicle 100 slows down to stop in front of the pedestrian crossing, the peripheral vehicle 200 behind the vehicle 100 may overtake the vehicle 100 and approach the person 300 from the blind spot of the person 300. Since the warning unit 427 warns the person 300 of the existence of the peripheral vehicle 200 entering the blind spot area, it is possible to prevent the person 300 from noticing the existence of the peripheral vehicle 200.

<Modification example to warn of the existence of own vehicle>
In the first and second embodiments, the warning unit 427 has described an example in which the warning unit 427 warns the person 300 of the existence of the peripheral vehicle 200. However, the present invention is not limited to this. For example, the warning unit 427 detects the person 300 on the condition that the detection unit 421 detects the person 300 in a predetermined range in front of and to the side of the vehicle 100 when the vehicle 100 is traveling at a traveling speed equal to or lower than a predetermined speed. You may warn the person 300 of the existence of the vehicle 100. The predetermined speed is, for example, 10 km / h. The predetermined range is, for example, within a few meters from the vehicle 100. The warning unit 427 may warn the person 300 of the existence of the vehicle 100 by displaying, for example, a message "a car will pass" on a display such as a display. When the vehicle 100 is a bus, the warning unit 427 may display a message "a vehicle passes" on an electric bulletin board or an electronic advertisement mounted on the vehicle 100. In addition, the warning unit 427 may output the message "a car will pass" by the speaker 3.

Although the present invention has been described above using the embodiments, the technical scope of the present invention is not limited to the scope described in the above embodiments, and various modifications and changes can be made within the scope of the gist thereof. be. For example, all or a part of the device can be functionally or physically distributed / integrated in any unit. Also included in the embodiments of the present invention are new embodiments resulting from any combination of the plurality of embodiments. The effect of the new embodiment produced by the combination also has the effect of the original embodiment.

1 Imaging unit 2 Remaining amount sensor 3 Speaker 4 Warning device 41 Storage unit 42 Control unit 100 Vehicle 200 Peripheral vehicle 300 Person 421 Detection unit 422 Estimating unit 423 Direction specifying unit 424 Acquisition unit 425 Stopping identification unit 426 Judgment unit 427 Warning unit 501 Deceleration Specific part

Claims (6)

A warning device mounted on a vehicle
A detection unit that detects a peripheral vehicle different from the vehicle and a person in the vicinity of the vehicle,
A direction specifying unit that specifies the traveling direction in which the surrounding vehicle travels, and
In the vicinity of the vehicle, an estimation unit that estimates a blind spot area in which the field of view of the person detected by the detection unit is blocked by the vehicle, and an estimation unit.
Based on the traveling direction specified by the direction specifying unit, it is determined whether or not the peripheral vehicle is approaching the vehicle, and whether or not the peripheral vehicle enters the blind spot area. Judgment unit and
A warning unit that warns the person of the existence of the peripheral vehicle when the determination unit determines that the peripheral vehicle is approaching the vehicle and the peripheral vehicle enters the blind spot area.
A warning device equipped with. Further provided with an acquisition unit for acquiring the remaining battery level of the vehicle,
The warning unit warns the person of the existence of the peripheral vehicle on condition that the remaining battery level is equal to or higher than the threshold value.
The warning device according to claim 1. The warning unit ends the warning when a predetermined period has elapsed from the start of warning the person of the existence of the surrounding vehicle.
The warning device according to claim 1 or 2. Further provided with a stop identification part that identifies that the vehicle is stopped along the direction in which the road extends.
The detection unit detects whether the person is located in front of or behind the vehicle or is located on the left or right side of the vehicle.
The warning unit is used when the determination unit determines that a peripheral vehicle approaching the vehicle enters the blind spot area where the field of view of the person located in front of or behind the vehicle is blocked by the vehicle. The determination is made when the peripheral vehicle approaching the vehicle enters the blind spot area where the presence of the peripheral vehicle is warned to the person and the field of view of the person located on the left and right sides of the vehicle is blocked by the vehicle. When the department judges, it does not warn the person of the existence of the surrounding vehicle,
The warning device according to any one of claims 1 to 3. The detection unit detects a pedestrian crossing in front of the vehicle and the person located in a crossable area that can cross the pedestrian crossing.
Further provided with a deceleration identification unit that identifies that the vehicle has reduced the traveling speed in front of the pedestrian crossing detected by the detection unit.
Whether or not the peripheral vehicle traveling behind the vehicle overtakes the vehicle when the deceleration specific unit specifies that the vehicle has reduced the traveling speed in front of the pedestrian crossing. And, it is determined whether or not the peripheral vehicle enters the blind spot area where the view of the person located in the crossable area is blocked by the vehicle.
When the determination unit determines that the peripheral vehicle traveling behind the vehicle overtakes the vehicle and enters the blind spot area, the warning unit warns the person of the existence of the peripheral vehicle.
The warning device according to any one of claims 1 to 4. The warning unit is present on the condition that the detection unit detects a person in a predetermined range in front of and to the side of the vehicle when the vehicle is traveling at a traveling speed equal to or lower than a predetermined speed. To warn the person concerned,
The warning device according to any one of claims 1 to 5.

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