JP3864964B2 - Alarm device - Google Patents

Description

  The present invention relates to an alarm device mounted on a host vehicle.

Conventionally, an alarm device mounted on the host vehicle is known (for example, Patent Document 1). In the technology related to the alarm device, various types of moving bodies (for example, people) are irradiated with spotlights to notify the driver of the presence and position of the moving bodies. The technique is used for crime prevention, for example.
JP 2002-83383 A

  However, when spotlighting a person in the technology, the following problems occur. That is, when a person is present in the vicinity of the oncoming vehicle, the technology irradiates not only the person but also the oncoming vehicle, so the driver of the oncoming vehicle may be dazzled by the spotlight. The problem that there is.

  The present invention has been made to solve such a conventional problem, and a main object thereof is to provide an alarm device that does not dazzle the driver of the oncoming vehicle.

  In order to achieve the above object, the invention described in the claims of the present application includes, in an alarm device mounted on a host vehicle, an area detection unit that detects an oncoming vehicle area in which an oncoming vehicle exists, and a predetermined marking object. Based on the detection results of the marking object detection means to be detected and the area detection means and the marking object detection means, when the marking object exists in the oncoming vehicle area, a marking wave that designates the marking object is displayed on the oncoming vehicle. And an irradiation means for irradiating outside the region.

  In the invention described in the claims of the present application, the following effects can be mainly obtained. That is, the alarm device irradiates a marking wave that designates the marking object outside the oncoming vehicle area when the marking object exists in the oncoming vehicle area. Thereby, even if a marking target object exists in an oncoming vehicle area, an alarm device does not dazzle the driver of an oncoming vehicle by irradiation of a marking wave.

(First embodiment)
DESCRIPTION OF EXEMPLARY EMBODIMENTS Hereinafter, a first embodiment of the invention will be described with reference to the drawings. First, based on FIG. 1, the function of the alarm device 1 which concerns on one embodiment of this invention is demonstrated roughly. Here, FIG. 1 is a block diagram showing a configuration of the alarm device 1.

  The alarm device 1 is mounted on the host vehicle and includes an infrared camera 11, a millimeter wave radar 12, a vehicle speed sensor 13, a person position detection circuit 14, and a marking wave irradiation device 15. The marking wave irradiation device (irradiation means) 15 includes a laser diode 151, a two-dimensional scanner 152, a reflecting mirror 153, a scanner driving device 154, a scanning position detection circuit 155, and a control circuit 156.

  The infrared camera 11 captures the front of the host vehicle and converts a thermal image obtained thereby into thermal image data. Then, the infrared camera 11 outputs a thermal image data signal related to the thermal image data to the person position detection circuit 14. In this thermal image, a temperature distribution in front of the host vehicle is drawn, and a region having a temperature in the vicinity of 35 (° C.) among the regions in front of the host vehicle is drawn more emphasized than other regions. For example, since the temperature of the headlight of a person or vehicle is in the vicinity of 35 (° C.), the headlight of the person or vehicle is drawn with emphasis over other elements in front of the host vehicle.

  The thermal image data is composed of a plurality of pixel data. The pixel data is the temperature of the area corresponding to the pixel data in the area in front of the host vehicle and the thermal image of the pixel corresponding to the pixel data. The position at. Note that the position on the thermal image is represented by two-dimensional coordinates (x, y) defined on the thermal image. Here, 0 ≦ x ≦ 200 and 0 ≦ y ≦ 100.

  The millimeter wave radar 12 scans the front of the host vehicle with millimeter waves, and thereby detects a reflection point that reflects the millimeter waves. Then, the millimeter wave radar 12 measures the relative position of the reflection point with respect to the own vehicle and the relative speed of the reflection point with respect to the own vehicle. Then, the millimeter wave radar 12 outputs a reflection point signal related to the measurement result to the person position detection circuit 14.

  The vehicle speed sensor 13 detects the speed of the host vehicle and outputs a vehicle speed signal related to the detected result to the person position detection circuit 14.

  The person position detection circuit (area detection means, marking object detection means, calculation means) 14 is an oncoming vehicle in which an oncoming vehicle exists based on signals given from the infrared camera 11, the millimeter wave radar 12, and the vehicle speed sensor 13. An area or the like is detected, and a person position detection signal related to the detection result is output to the control circuit 156.

  The laser diode 151 irradiates the two-dimensional scanner 152 with the laser beam in the irradiation mode determined by the control circuit 156 based on the control signal given from the control circuit 156.

  The two-dimensional scanner 152 irradiates the laser irradiated from the laser diode 151 toward the reflecting mirror 153 by reflecting the laser irradiated from the laser diode 151 toward the reflecting mirror 153.

  The reflecting mirror 153 reflects the laser emitted from the two-dimensional scanner 152 to the front of the host vehicle, and irradiates the laser emitted from the two-dimensional scanner 152 to the front of the host vehicle.

  The scanner driving device 154 drives the two-dimensional scanner 152 based on the control signal given from the control circuit 156 so that the reflecting mirror 153 irradiates the irradiation position determined by the control circuit 156. For example, when the irradiation position determined by the control circuit 156 becomes the position of the marking object A, the scanner driving device 154 causes the two-dimensional scanner 152 to cause the reflecting mirror 153 to irradiate the marking object A with laser. To drive.

  The scanning position detection circuit 155 detects the position of the two-dimensional scanner 152 and outputs a scanning position detection signal related to the detection result to the control circuit 156.

  The control circuit 156 determines the laser irradiation position and irradiation mode based on the person position detection signal given from the person position detection circuit 14. Then, the control circuit 156 outputs a control signal related to the determined irradiation position to the scanner driving device 154 and a control signal related to the determined irradiation form to the laser diode 151.

  Next, the procedure of processing by the alarm device 1 will be described along the flowchart shown in FIG.

  When the alarm device 1 is powered on in step ST101, the infrared camera 11 and the millimeter wave radar 12 start the above-described processing.

  In step ST102, the person position detection circuit 14 reads one frame of the thermal image data signal output from the infrared camera 11. Next, the person position detection circuit 14 detects the thermal target indicating the temperature in the vicinity of 35 (° C.) and the position of the thermal target on the thermal image from the read thermal image data signal. The person position detection circuit 14 generates thermal target data indicating the position of the thermal target on the thermal image, and generates a label list that distinguishes these thermal target data.

  For example, when the situation ahead of the host vehicle is as shown in FIG. 3, the thermal image obtained by the infrared camera 11 is as shown in FIG. Here, FIG. 3 is an explanatory diagram showing an example of a situation in front of the host vehicle, and FIG. 4 is an explanatory diagram showing a thermal image obtained when the infrared camera 11 captures the situation shown in FIG. As shown in FIG. 3, in front of the host vehicle, there are a person A1, an oncoming vehicle A2, a roadside tree A3, an own lane (road where the own vehicle is in contact) A4, an oncoming lane A5, and a center line A6. Further, in the thermal image shown in FIG. 4, the headlights of the person A1 and the oncoming vehicle A2 are drawn with emphasis over other areas in the area ahead of the host vehicle. Therefore, the person position detection circuit 14 detects the positions of the thermal targets B1 and B2 and the thermal targets B1 and B2 on the thermal image from the read thermal image data signal, and generates thermal target data. To do. Next, the person position detection circuit 14 generates a label list that distinguishes and indicates the thermal target data.

  In step ST103, the person position detection circuit 14 reads one frame of the reflection point signal output from the millimeter wave radar 12. Next, based on the read reflection point signal, the person position detection circuit 14 determines that reflection points that are close to each other and have the same relative velocity are reflected from the same millimeter wave target. Detect wave targets. Furthermore, the person position detection circuit 14 groups the reflection points that are close to each other and have the same relative velocity, and generates millimeter wave target data. Next, the person position detection circuit 14 calculates the speed of each millimeter wave target, the distance from the host vehicle to each millimeter wave target, and the moving direction of each millimeter wave target based on the millimeter wave target data. To do. The person position detection circuit 14 calculates the position of each millimeter wave target on the thermal image based on the relative position of the reflection point included in the millimeter wave target. Next, the person position detection circuit 14 calculates the speed of each calculated millimeter wave target, the distance from the host vehicle to each millimeter wave target, the moving direction of each millimeter wave target, and each millimeter wave target. The position on the thermal image is included in the millimeter wave target data. The person position detection circuit 14 calculates an average value for the relative speeds of the reflection points included in each millimeter wave target, and calculates the difference between the average value and the speed of the host vehicle as the speed of each millimeter wave target. To do.

  For example, when the situation in front of the host vehicle is as shown in FIG. 3, the person A1, the oncoming vehicle A2, and the roadside tree A3 reflect millimeter waves. Based on the read reflection point signal, the millimeter wave target C1 corresponding to the person A1, the millimeter wave target C2 corresponding to the oncoming vehicle A2, and the millimeter wave target C3 corresponding to the roadside tree A3 are detected. In addition, FIG. 5 is explanatory drawing which shows the millimeter wave target C1-C3 corresponding to the position on the thermal image of the said millimeter wave target C1-C3. Next, the person position detection circuit 14 groups the reflection points on the person A1 to generate millimeter wave target data of the millimeter wave target C1, and groups the reflection points on the oncoming vehicle A2 to generate the millimeter wave target data. The millimeter wave target data of the wave target C2 is generated. Further, the person position detection circuit 14 groups the reflection points on the street tree A3 to generate millimeter wave target data of the millimeter wave target C3. Next, the person position detection circuit 14 detects the speed of each of the millimeter wave targets C1 to C3, the distance from the host vehicle to each of the millimeter wave targets C1 to C3, the moving direction of each of the millimeter wave targets C1 to C3, and The positions of the millimeter wave targets C1 to C3 on the thermal image are calculated and included in the corresponding millimeter wave target data. In this case, the person position detection circuit 14 calculates the speed of the millimeter wave target C1 as 0 (km / h) and the distance from the host vehicle to the millimeter wave target C1 as 20 (m). Further, the person position detection circuit 14 sets the speed of the millimeter wave target C2 to 40 (km / h), the distance from the own vehicle to the millimeter wave target C2 to 30 (m), and the moving direction of the millimeter wave target C2. Calculated as the direction approaching the host vehicle. The person position detection circuit 14 calculates the speed of the millimeter wave target C3 as 0 (km / h) and the distance from the host vehicle to the millimeter wave target C3 as 30 (m).

  In step ST104, the person position detection circuit 14 generates person data by adding a person label to the millimeter wave target data corresponding to the person, and sets the oncoming vehicle label to the millimeter wave target data corresponding to the oncoming vehicle. By adding, oncoming vehicle data is generated. Specifically, the person position detection circuit 14 determines the position of the millimeter wave target on the thermal image and the position of the thermal target on the thermal image based on the label list and the millimeter wave target data. As a result, a millimeter wave target that satisfies both the following conditions (1) to (2) is extracted. Here, the reference person speed range is set in advance corresponding to the movement speed of the person, and is, for example, a range of −10 (km / h) to 10 (km / h).

(1) The speed is within the reference person speed range.
(2) The position of the millimeter wave target on the thermal image overlaps the position of the thermal target on the thermal image.

  Next, the person position detection circuit 14 adds a person label to the millimeter wave target data corresponding to the extracted millimeter wave target. Thereby, the person position detection circuit 14 detects a person and generates person data.

  Similarly, the person position detection circuit 14 extracts those satisfying the following conditions (3) to (4) from the millimeter wave target detected in step ST103.

(3) The speed exceeds the reference person speed range.
(4) The moving direction is a direction approaching the host vehicle.

  Next, the person position detection circuit 14 adds the label of the oncoming vehicle to the millimeter wave target data corresponding to the extracted millimeter wave target. Accordingly, the person position detection circuit 14 detects the oncoming vehicle and generates oncoming vehicle data. In addition, when the millimeter wave target does not satisfy any of the conditions (1) to (2) and does not satisfy any of the conditions (3) to (4), the person position detection circuit 14 Throw away the millimeter wave target data indicating

  For example, when the thermal image obtained by the infrared camera 11 is as shown in FIG. 4 and the millimeter wave targets detected by the person position detection circuit 14 are the millimeter wave targets C1 to C3 shown in FIG. As shown in FIG. 6, the position of the millimeter wave target C1 on the thermal image overlaps the position of the thermal target B1 on the thermal image. Moreover, since the moving speed of the millimeter wave target C1 is 0 (km / h), it is within the reference person speed range. Therefore, the person position detection circuit 14 generates person data by adding a person label to the millimeter wave target data indicating the millimeter wave target C1. FIG. 6 is an explanatory diagram showing a state in which a part of FIG. 4 and a part of FIG. 5 are combined. Further, as described above, the speed of the millimeter wave target C2 exceeds the reference person speed range. The moving direction is a direction approaching the host vehicle. Accordingly, the person position detection circuit 14 generates oncoming vehicle data by adding the oncoming vehicle label to the millimeter wave target data indicating the millimeter wave target C2. Further, since the millimeter wave target C3 does not satisfy any of the conditions (1) to (2) and does not satisfy any of the conditions (3) to (4), the person position detection circuit 14 The millimeter wave target data indicating the target C3 is discarded.

  The person position detection circuit 14 may generate person data and oncoming vehicle data by performing the following processing in step ST104. When the person position detection circuit 14 performs this process, the person position detection circuit 14 causes the person position detection circuit 14 to show a relationship between the distance from the host vehicle to the person and the size and aspect ratio of the person on the thermal image. Data is stored in advance.

  That is, the person position detection circuit 14 adds the person label to the millimeter wave target data that satisfies both the following conditions (5) to (6) based on the thermal target data, the millimeter wave target data, and the first correlation data. Is added.

(5) A thermal target exists at a position on the thermal image of the millimeter wave target.
(6) The size and aspect ratio of the thermal target in (5) should match the size and aspect ratio of the person on the thermal image.

  Here, whether or not the condition (6) is satisfied is determined by extracting the size and aspect ratio corresponding to the distance from the host vehicle to the millimeter wave target from the first correlation data, and extracting the extracted size and aspect ratio. This is done by comparing the ratio with the size and aspect ratio of the thermal target in (5).

  Thereby, the person position detection circuit 14 generates person data. Further, when the speed of the millimeter wave target exceeds the reference person speed range, the person position detection circuit 14 adds the label of the oncoming vehicle to the millimeter wave target data corresponding to the millimeter wave target, so that the oncoming vehicle Generate data. This is because it can be said that the millimeter wave target is neither a person nor a road structure.

  In step ST105, the person position detection circuit 14 determines whether or not person data has been generated in step ST104. As a result, if it is determined that the person position detection circuit 14 has generated person data (step ST105: YES), the process proceeds to step ST106, and if it is determined that no person data has been generated (step ST105: NO). Return to step ST102.

  In step ST106, the person position detection circuit 14 detects the center coordinates on the thermal image of the oncoming vehicle based on the oncoming vehicle data generated in step ST104. Then, the person position detection circuit 14 defines a region on the thermal image of ± 20 in the x direction and ± 15 in the y direction around the detected center coordinate, and corresponds to the region on the thermal image. An area in front of the host vehicle is defined as an oncoming vehicle area. Thereby, the person position detection circuit 14 detects the oncoming vehicle area. Next, the person position detection circuit 14 detects the center coordinates on the thermal image of the person based on the person data. Next, the person position detection circuit 14 outputs to the control circuit 156 a person position detection signal regarding the position of the oncoming vehicle area on the thermal image, the position of the person on the thermal image, and the center coordinates on the person's thermal image. To do.

  For example, when the thermal image obtained by the infrared camera 11 is as shown in FIG. 4 and the millimeter wave targets detected by the person position detection circuit 14 are the millimeter wave targets C1 to C3 shown in FIG. As shown in FIG. 7, the position detection circuit 14 detects the millimeter wave target C2, that is, the center coordinates of the oncoming vehicle as (110, 60). In addition, the person position detection circuit 14 is centered on the center coordinates (110, 60) and has a region on the thermal image of ± 20 in the x direction and ± 15 in the y direction, that is, from (90, 45) to (130, 75). ) To define a rectangular area C22 shown in the range up to and including the area in front of the host vehicle corresponding to the area C22. Thereby, the person position detection circuit 14 detects the oncoming vehicle area. Here, FIG. 7 is an explanatory diagram showing the center coordinates and the like of the oncoming vehicle. Further, (90, 45) are the coordinates of the lower left end point of the region C22, and (130, 75) are the coordinates of the upper right end point of the region C22. Point C21 is a central coordinate point on the thermal image of the oncoming vehicle. Next, the person position detection circuit 14 calculates the center coordinates on the millimeter wave target C1, that is, the thermal image of the person, as (115, 50). Therefore, in this case, the center coordinate point C11 on the thermal image of the person exists inside the region C22.

  In step ST107, control circuit 156 determines whether or not a person exists in the oncoming vehicle area detected in step ST106, based on the person position detection signal provided from person position detection circuit 14. Specifically, if the person and the oncoming vehicle area overlap on the thermal image, the control circuit 156 determines that the person is present in the oncoming vehicle area, and the person and the oncoming vehicle area are on the thermal image. If they do not overlap, it is determined that there is no person in the oncoming vehicle area.

  As a result, when it is determined that there is a person in the oncoming vehicle area (step ST107: YES), the control circuit 156 proceeds to step ST108, and when it is determined that there is no person in the oncoming vehicle area (step ST107). : NO), the process proceeds to step ST109.

  In step ST108, the control circuit 156 determines whether the distance from the host vehicle to the person exceeds 15 (m) based on the person data. As a result, when the control circuit 156 determines that the distance from the host vehicle to the person exceeds 15 (m) (step ST108: YES), the control circuit 156 proceeds to step ST110, where the distance from the host vehicle to the person is 15 ( When it is determined that m) is not exceeded (step ST108: NO), the process proceeds to step ST111.

  In step ST109, control circuit 156 calculates the actual position of the person (specifically, the position in front of the host vehicle) based on the person data, and determines the laser irradiation position as the calculated position. . Further, the control circuit 156 determines the shape of the mark displayed at the reflection point of the laser as a triangle as the laser irradiation mode. Next, the control circuit 156 outputs a control signal related to the determined irradiation position to the scanner driving device 154 and a control signal related to the determined irradiation mode to the laser diode 151.

  Next, the scanner driving device 154 drives the two-dimensional scanner 152 based on the control signal given from the control circuit 156 so that the reflecting mirror 153 irradiates the irradiation position determined by the control circuit 156.

  On the other hand, the laser diode 151 irradiates the two-dimensional scanner 152 with the laser in the irradiation form determined by the control circuit 156 based on the control signal given from the control circuit 156.

  Thereby, the marking wave irradiation device 15 irradiates the irradiation position determined by the control circuit 156 with the laser in the irradiation mode determined by the control circuit 156. Specifically, the marking wave irradiation device 15 irradiates a person in front of the host vehicle with a laser and displays a triangular mark on the person. Thereafter, the control circuit 156 proceeds to step ST112.

  Here, an example in which the alarm device 1 performs the process of step ST109 will be described with reference to FIGS. FIG. 8 is an explanatory diagram showing a central coordinate point C12 on the thermal image of the person, a central coordinate point C23 on the thermal image of the oncoming vehicle, and a region C24 on the thermal image corresponding to the oncoming vehicle region. 9 is an explanatory diagram showing a region in front of the host vehicle corresponding to FIG. As shown in FIG. 8, since the person and the oncoming vehicle area do not overlap on the thermal image, the person does not exist in the oncoming vehicle area. As shown in FIG. 9, a person A11, an oncoming vehicle A21, a roadside tree A3, an own lane A4, an oncoming lane A5, and a center line A6 exist in front of the own vehicle.

  That is, when the person position detection signal indicates the center coordinate point C12 and the region C24 shown in FIG. 8, the marking wave irradiation device 15 performs the above-described processing to irradiate the person A11 with laser as shown in FIG. Then, a triangular mark P1 is displayed on the person A11. In this case, since the person A11 exists outside the oncoming vehicle area, the driver of the oncoming vehicle is not dazzled by the irradiation. In addition, the driver of the host vehicle is not dazzled by the headlights of the oncoming vehicle when viewing the mark P1.

  In step ST110, the control circuit 156 calculates a straight line passing through the central coordinate point on the thermal image of the person and the central coordinate point on the thermal image of the host vehicle set in advance, and the calculated straight line The intersection with the area on the thermal image corresponding to the oncoming vehicle area is calculated. Then, the control circuit 156 determines the mark displayed at the reflection point of the laser as a red arrow indicating the person as the laser irradiation mode. Further, the control circuit 156 determines the irradiation position so that the tip of the arrow coincides with the position of the intersection described above in front of the host vehicle (hereinafter referred to as “intersection position”). Next, the control circuit 156 outputs a control signal related to the determined irradiation position to the scanner driving device 154 and a control signal related to the determined irradiation mode to the laser diode 151.

  Next, the scanner driving device 154 drives the two-dimensional scanner 152 based on the control signal given from the control circuit 156 so that the reflecting mirror 153 irradiates the irradiation position determined by the control circuit 156.

  On the other hand, the laser diode 151 irradiates the two-dimensional scanner 152 with the laser in the irradiation form determined by the control circuit 156 based on the control signal given from the control circuit 156.

  Thereby, the marking wave irradiation device 15 irradiates the irradiation position determined by the control circuit 156 with the laser in the irradiation mode determined by the control circuit 156. Specifically, the marking wave irradiation device 15 irradiates a laser outside the oncoming vehicle area and displays a red arrow mark indicating a person outside the oncoming vehicle area. Thereafter, the control circuit 156 proceeds to step ST112.

  Here, an example in which the alarm device 1 performs the process of step ST110 will be described with reference to FIGS. FIG. 10 shows a central coordinate point C13 on the thermal image of the person, a central coordinate point C25 on the thermal image of the oncoming vehicle, a region C26 on the thermal image corresponding to the oncoming vehicle region, and a thermal image of the host vehicle. FIG. 11 is an explanatory diagram showing an area ahead of the host vehicle corresponding to FIG. 10. Here, the straight line D2 is a straight line passing through the center coordinate point C13 on the thermal image of the person and the center coordinate point D1 on the thermal image of the host vehicle. Further, as shown in FIG. 10, since the person and the oncoming vehicle area overlap on the thermal image, the person exists in the oncoming vehicle area. As shown in FIG. 11, a person A12, an oncoming vehicle A22, a roadside tree A3, an own lane A4, an oncoming lane A5, and a center line A6 exist in front of the own vehicle.

  That is, when the person position detection signal indicates the center coordinate point C13 and the region C26 shown in FIG. 10, the marking wave irradiation device 15 performs the above-described processing, so that the marking wave irradiation device 15 moves outside the oncoming vehicle region as shown in FIG. Laser irradiation is performed, and a red arrow mark P2 indicating the person A12 is displayed outside the oncoming vehicle area.

  In step ST111, the control circuit 156 calculates a straight line that passes through the central coordinate point on the thermal image of the person and the central coordinate point on the thermal image of the vehicle set in advance, and the calculated straight line The intersection with the area on the thermal image corresponding to the oncoming vehicle area is calculated. Then, the control circuit 156 determines the shape of the mark displayed at the reflection point of the laser as an irradiation mode of the laser as an arrow that points to a person and has a shape larger than that of step ST110. Also, the control circuit 156 determines that the mark color is alternately changed to red and yellow every 0.3 (seconds) as the laser irradiation mode. In addition, the control circuit 156 determines the irradiation position so that the tip of the arrow matches the intersection position. Next, the control circuit 156 outputs a control signal related to the determined irradiation position to the scanner driving device 154 and a control signal related to the determined irradiation mode to the laser diode 151.

  Next, the scanner driving device 154 drives the two-dimensional scanner 152 based on the control signal given from the control circuit 156 so that the reflecting mirror 153 irradiates the irradiation position determined by the control circuit 156.

  On the other hand, the laser diode 151 irradiates the two-dimensional scanner 152 with the laser in the irradiation form determined by the control circuit 156 based on the control signal given from the control circuit 156.

  Thereby, the marking wave irradiation device 15 irradiates the irradiation position determined by the control circuit 156 with the laser in the irradiation mode determined by the control circuit 156. Specifically, the marking wave irradiation device 15 irradiates a laser outside the oncoming vehicle area and displays an arrow mark indicating a person outside the oncoming vehicle area. Also, the marking wave irradiation device 15 alternately changes the color of the arrow mark to red and yellow every 0.3 (seconds). Thereafter, the control circuit 156 proceeds to step ST112.

  Here, an example in which the alarm device 1 performs the process of step ST111 will be described with reference to FIG. FIG. 12 is an explanatory diagram showing a region in front of the host vehicle. As shown in FIG. 12, a person A13, an oncoming vehicle A23, a roadside tree A3, an own lane A4, an oncoming lane A5, and a center line A6 are present in front of the own vehicle, and the person A13 is present in the oncoming vehicle area. . Further, the distance from the person A13 to the host vehicle is 15 (m) or less. In this case, as shown in FIG. 12, the marking wave irradiation device 15 irradiates a laser outside the oncoming vehicle area and displays an arrow mark P3 indicating the person A13 outside the oncoming vehicle area. Further, the marking wave irradiation device 15 alternately changes the color of the mark P3 to red and yellow every 0.3 (seconds).

  In step ST112, control circuit 156 determines whether the power supply of alarm device 1 is maintained in the ON state. As a result, when the control circuit 156 determines that the power supply of the alarm device 1 is maintained in the ON state (step ST112: YES), the control circuit 156 returns to step ST102, and the power supply of the alarm device 1 is maintained in the ON state. If it is determined that it is not present (step ST112: NO), this process ends.

  As described above, according to the first embodiment, the alarm device 1 irradiates a laser designating a person outside the oncoming vehicle area when the person exists in the oncoming vehicle area. Thereby, even if a person exists in the oncoming vehicle area, the alarm device 1 does not dazzle the driver of the oncoming vehicle due to laser irradiation.

  Further, when viewing the inside of the oncoming vehicle area, the driver of the host vehicle is more likely to be dazzled by the headlight of the oncoming vehicle than when viewing the other area. On the other hand, conventionally, even when a person is present in the oncoming vehicle area, the person is irradiated with a laser. For this reason, the driver is more likely to be present when the person is in the oncoming vehicle area than when the person is outside the oncoming vehicle area, that is, at a position where the driver of the host vehicle is not subject to the headlights of the oncoming vehicle. It was difficult to see both the person and the mark.

  In other words, it is easier for the driver of the own vehicle to confirm that the person is present ahead of the own vehicle when the person is in the oncoming vehicle area than when the person is outside the oncoming vehicle area. It was not. In this respect, since the alarm device 1 irradiates the laser outside the oncoming vehicle area, the driver of the host vehicle can more easily visually recognize the mark displayed by the irradiation. Therefore, even when a person is present in the oncoming vehicle area, the driver of the host vehicle can more easily confirm that the person is present in front of the host vehicle.

  Further, since the alarm device 1 displays an arrow mark indicating the person when the person is present in the oncoming vehicle area, it is easier for the driver of the own vehicle to have a person in front of the own vehicle than before. Can be confirmed. For example, when the shape of the arrow enters the driver's field of view, the driver can immediately confirm that there is a person at the point indicated by the arrow, so the driver of the own vehicle can ensure safety. Therefore, even if the consciousness is concentrated outside the front of the host vehicle, the presence of the person can be confirmed more easily than in the past.

  Moreover, the warning device 1 can produce the effect mentioned above by irradiating a laser as a marking wave.

  Further, the alarm device 1 calculates the distance from the own vehicle to the person as the person discovery necessity level, and adjusts the laser irradiation form, specifically the mark, according to the distance. Therefore, the driver of the own vehicle can grasp the distance from the own vehicle to the person by visually recognizing the mark.

  More specifically, since the warning device 1 adjusts the shape of the mark as the irradiation form, the driver of the own vehicle can grasp the distance from the own vehicle to the person by visually recognizing the shape of the mark. I can do it.

  Further, the alarm device 1 adjusts the irradiation mode to either fix the color of the mark in red or alternately repeat red and yellow, so that the driver of the host vehicle visually recognizes the color of the mark. By doing so, it is possible to grasp the distance from the own vehicle to the person.

  Next, some modified examples of the alarm device 1 will be described.

(First modification)
The alarm device 1 according to the first modification (hereinafter referred to as “alarm device 1-1”) adjusts the adjustment interval of the mark color in the above-described processing. Specifically, in step ST111, the person position detection circuit 14 always reads the reflection point signal output from the millimeter wave radar 12, constantly generates the person position detection signal described above, and outputs the signal to the control circuit 156. . The control circuit 156 always reads the person position detection signal output from the person position detection circuit 14 so as to always recognize the distance from the host vehicle to the person. Then, in accordance with the recognized distance, the control circuit 156 determines the mark color adjustment interval (interval fixed to 0.3 (seconds) in the above-described processing) in the above-described processing. Specifically, in step ST110 to step ST111, the alarm device 1-1 shortens the adjustment interval according to the distance from the own vehicle to the person. Thereby, the driver of the own vehicle can grasp the distance from the own vehicle to the person more easily than the alarm device 1 by visually recognizing the mark.

(Second modification)
The alarm device 1 according to the second modification (hereinafter referred to as “alarm device 1-2”) adjusts the laser irradiation interval, not the mark color, as the irradiation mode. Specifically, in step ST110, the alarm device 1-2 continuously displays the mark by continuously irradiating the laser in the above-described processing. On the other hand, in step ST111, in the above-described processing, alarm device 1-2 displays the mark intermittently instead of alternately changing the color of the mark to red and yellow every 0.3 (seconds). To decide. As a result, the alarm device 1-2 blinks and displays the mark by intermittently irradiating the laser. Thereby, the driver of the own vehicle can grasp | ascertain the distance from the own vehicle to a person more easily than before by visually recognizing a mark.

(Third Modification)
The alarm device 1 according to the third modification (hereinafter referred to as “alarm device 1-3”) adjusts the laser irradiation mode in accordance with the speed of the host vehicle in addition to the distance from the host vehicle to the person. It is. Specifically, in steps ST109 to ST111, the person position detection circuit 14 performs the above-described processing and outputs the vehicle speed signal output from the vehicle speed sensor 13 to the control circuit 156. Then, the control circuit 156 adjusts the color of the mark according to the speed of the host vehicle in the above-described processing. Specifically, in the above-described processing, the alarm device 1-3 increases the ratio of the necessity display color mark in the entire color tone as the speed of the host vehicle increases. Here, the necessity display color is a color (for example, red) that can express the necessity of person discovery with emphasis over other colors. Thereby, the driver of the own vehicle can grasp the necessity of person discovery more easily than before.

(Fourth modification)
The alarm device 1 according to the fourth modification (hereinafter referred to as “alarm device 1-4”) adjusts the amount of laser light instead of the color of the mark in the alarm device 1-3. Specifically, in steps ST109 to ST111, the alarm device 1-3 increases the amount of laser light as the speed of the host vehicle increases, instead of adjusting the color of the mark. Thereby, the driver of the own vehicle can grasp the necessity of person discovery more easily than before.

(Fifth modification)
The alarm device 1 according to the fifth modification (hereinafter referred to as “alarm device 1-5”) adjusts the laser irradiation interval instead of the color of the mark in the alarm device 1-3. Specifically, in steps ST110 to ST111, the alarm device 1-3 shortens the laser irradiation interval as the speed of the host vehicle increases, instead of adjusting the color of the mark. Thereby, the driver of the own vehicle can grasp the necessity of person discovery more easily than before.

(Sixth Modification)
The alarm device 1 according to the sixth modification (hereinafter referred to as “alarm device 1-6”) includes an environment detection sensor that detects an environment (for example, light amount, weather, current time, etc.) around the host vehicle. And the control circuit 156 adjusts an irradiation form based on the signal output from the environment detection sensor other than the distance from the own vehicle to a person. Specifically, in step ST109 to step ST111, the control circuit 156 adjusts the amount of laser light so that the driver can visually recognize the mark. For example, the control circuit 156 makes the light amount of the laser during night driving larger than during daytime driving. In addition, the control circuit 156 increases the amount of laser light in bad weather than in good weather. As a result, the driver can surely see the mark regardless of the environment around the host vehicle, so that the driver can more reliably grasp the presence of a person in front of the host vehicle.

(Seventh Modification)
The alarm device 1 according to the seventh modified example (hereinafter referred to as “alarm device 1-7”) includes a marking object as an object other than a person (for example, a motorcycle, a bicycle, a preceding vehicle, etc.). To do. According to the alarm device 1-7, the driver of the host vehicle can easily understand that an object other than a person exists in front of the host vehicle.

(Eighth modification)
The alarm device 1 according to the eighth modification (hereinafter referred to as “alarm device 1-8”) includes a white line detection sensor that detects the position of a white line (for example, the center line shown in FIG. 3 and the like). In the alarm device 1-8, the control circuit 156 determines whether the person exists in the own lane or the oncoming lane based on the signals output from the person position detection circuit 14 and the white line detection sensor. Then, the control circuit 156 adjusts the laser irradiation mode according to whether the person is in the own lane or the oncoming lane. Specifically, in step ST109 to step ST111, when the person is present in the own lane, the control circuit 156 indicates the ratio of the necessity display color mark to the entire color tone in the opposite lane. Make it bigger than the case. Thereby, the driver of the own vehicle can grasp | ascertain easily whether a person exists in an own lane or an oncoming lane compared with the past.

(Ninth Modification)
The alarm device 1 according to the ninth modification (hereinafter referred to as “alarm device 1-9”) is a thermal image of the distance from the own vehicle to the person, not the reflection point signal, in the processing by the alarm device 1. The detection is based on the data signal. In the alarm device 1-9, the person position detection circuit 14 indicates the relationship between the size of the thermal target on the thermal image and the distance from the host vehicle to the thermal target in addition to the first correlation data described above. 2 Correlation data is stored. The person position detection circuit 14 also stores third correlation data indicating the relationship between the distance from the host vehicle to the oncoming vehicle and the size and aspect ratio of the oncoming vehicle on the thermal image.

  In step ST103 to step ST104, the person position detection circuit 14 detects a person and an oncoming vehicle from the label list based on the label list and the first to second correlation data.

  In other words, the person position detection circuit 14 calculates the distance from the host vehicle to the thermal target based on the thermal image data signal and the second correlation data, and compares the calculated distance with the first correlation data. Thus, of the size and aspect ratio of the person on the thermal image, the one corresponding to the distance is recognized. When the size and aspect ratio of the thermal target on the thermal image coincides with the recognized size and aspect ratio, the person position detection circuit 14 selects the thermal target corresponding to the thermal target. A person's label is added to the mark data. Thereby, the person position detection circuit 14 generates person data. In addition, the person position detection circuit 14 generates oncoming vehicle data based on the thermal target data, the second correlation data, and the third correlation data by a process similar to the process that generates the person data. The alarm device 1-9 can obtain the same effect as the alarm device 1.

(10th modification)
The alarm device 1 according to the tenth modification (hereinafter referred to as “alarm device 1-10”) is an obstacle detection sensor (for example, a visible camera, a laser radar, an ultrasonic sensor, an electromagnetic wave) instead of the infrared camera 11. Sensor), and performs processing similar to the processing described above based on signals output from the obstacle detection sensor and the millimeter wave radar 12. The alarm device 1-10 can obtain the same effect as the alarm device 1.

(Eleventh modification)
The alarm device 1 according to the eleventh modification (hereinafter referred to as “alarm device 1-11”) is obtained by omitting the processes of step ST108 and step ST111 in the alarm device 1. Specifically, when the warning device 1-11 determines in step ST107 that there is a person in the oncoming vehicle area (step ST107: YES), the warning device 1-11 proceeds to step ST110, and the person is in the oncoming vehicle area. If it is determined that it does not exist (step ST107: NO), the process proceeds to step ST109. Thereafter, the alarm device 1-11 performs the process of step ST109 or step ST110, and then proceeds to step ST112. Other processes are the same as those of the alarm device 1.

  The alarm device 1-11 can obtain the same effect as that of the alarm device 1, and can reduce the development cost of the processing logic. Moreover, in the alarm device 1-11, since a monochromatic thing can be employ | adopted as the laser diode 151, the manufacturing cost of the alarm device 1-11 can be reduced.

(Twelfth modification)
An alarm device 1 according to a twelfth modification (hereinafter referred to as “alarm device 1-12”) is obtained by providing the alarm device 1 with a display device. In step ST109 to step ST111, the warning device 1-12, instead of irradiating the laser, displays predetermined warning information on the display device (for example, information indicating that a person exists in front of the host vehicle and the host vehicle). (Distance information to person) is displayed. The alarm device 1-12 can obtain the same effect as the alarm device 1.

(Second Embodiment)
Next, a second embodiment of the present invention will be described. First, the function of the alarm device 2 according to an embodiment of the present invention will be schematically described based on FIG. Here, FIG. 13 is a block diagram showing a configuration of the alarm device 2.

  The alarm device 2 is mounted on the host vehicle and includes an infrared camera 21, a millimeter wave radar 22, a vehicle speed sensor 23, a person position detection circuit 24, and a marking wave irradiation device 25. The marking wave irradiation device (irradiation means) 25 includes a light emitting device 251, a spotlight turning device 252, a scanning position detection circuit 253, and a control circuit 254.

  The infrared camera 21, millimeter wave radar 22, vehicle speed sensor 23, and person position detection circuit 24 are the same as the infrared camera 11, millimeter wave radar 12, vehicle speed sensor 13, and person position detection circuit 14.

  The light emitting device 251 emits a spotlight (visible light beam) based on the control signal given from the control circuit 254.

  The spotlight turning device 252 drives the light emitting device 251 based on the control signal given from the control circuit 254 so that the light emitting device 251 emits the spotlight to the irradiation position determined by the control circuit 254. Further, the spotlight turning device 252 drives the light emitting device 251 so that the light emitting device 251 emits the spotlight in the irradiation form determined by the control circuit 254.

  The scanning position detection circuit 253 detects the position of the light emitting device 251 and outputs a scanning position detection signal related to the detection result to the control circuit 254.

  The control circuit 254 determines the laser irradiation position and irradiation mode based on the person position detection signal given from the person position detection circuit 14. Then, the control circuit 254 outputs a control signal related to the determined irradiation position and irradiation form to the spotlight turning device 252 and outputs a control signal for performing spotlight irradiation to the light emitting device 251.

  Next, the procedure of processing by the alarm device 2 will be described along the flowchart shown in FIG.

  In step ST201 to step ST208 and step ST212, the alarm device 2 performs the same processing as step ST101 to step ST108 and step ST112 shown in FIG.

  In step ST209, the control circuit 254 calculates the actual position of the person (specifically, the position in front of the host vehicle) based on the person data, and determines the spotlight irradiation position as the calculated position. To do. Next, the control circuit 254 outputs a control signal relating to the determined irradiation position to the spotlight turning device 252 and a control signal for performing spotlight irradiation to the light emitting device 251.

  Next, the spotlight turning device 252 drives the light emitting device 251 so that the light emitting device 251 emits the spotlight to the irradiation position determined by the control circuit 254 based on the control signal given from the control circuit 254. .

  On the other hand, the light emitting device 251 emits a spotlight based on the control signal given from the control circuit 254. As a result, the marking wave irradiation device 25 irradiates the irradiation position determined by the control circuit 254 with the spotlight. Specifically, the marking wave irradiation device 25 irradiates a person in front of the host vehicle with a spotlight. Thereafter, the control circuit 254 proceeds to step ST212.

  Here, an example in which the alarm device 2 performs the process of step ST209 will be described with reference to FIG. FIG. 15 is an explanatory diagram showing an area in front of the host vehicle. As shown in FIG. 15, a person A11, an oncoming vehicle A21, a roadside tree A3, an own lane A4, an oncoming lane A5, and a center line A6 exist in front of the own vehicle. The person A11 does not exist in the oncoming vehicle area.

  That is, the marking wave irradiation device 25 irradiates a person A11 with a laser as shown in FIG. 15 by performing the above-described processing. Thereby, the marking wave irradiation device 25 displays a round mark Q1 on the person A11. In this case, since the person A11 exists outside the oncoming vehicle area, the driver of the oncoming vehicle is not dazzled by the irradiation. In addition, the driver of the host vehicle is not dazzled by the headlights of the oncoming vehicle when viewing the mark Q1.

  In step ST210, the control circuit 254 calculates a straight line passing through the central coordinate point on the thermal image of the person and the central coordinate point on the thermal image of the host vehicle set in advance, and the calculated straight line The intersection with the area on the thermal image corresponding to the oncoming vehicle area is calculated. Then, the control circuit 254 determines that the mark displayed at the reflection point of the spotlight is reciprocated on a predetermined reciprocating orbit as a spotlight irradiation form. Here, the reciprocating track is one that connects the intersection point position and the own vehicle position, in other words, exists outside the oncoming vehicle region in the track that connects the position of the person in front of the own vehicle and the own vehicle position. To do.

  Next, the control circuit 254 outputs a control signal related to the determined irradiation mode to the spotlight turning device 252 and a control signal to irradiate the spotlight to the light emitting device 251.

  Next, the spotlight turning device 252 drives the light emitting device 251 based on the control signal given from the control circuit 254 so that the mark displayed at the reflection point of the spotlight reciprocates on the reciprocating orbit.

  On the other hand, the light emitting device 251 emits a spotlight based on the control signal given from the control circuit 254.

  Thereby, the marking wave irradiation device 25 irradiates the spotlight with the irradiation form determined by the control circuit 254. Specifically, the marking wave irradiation device 25 irradiates the spotlight so that the mark displayed at the spotlight reflection point reciprocates on the reciprocating orbit. Thereafter, the control circuit 254 proceeds to step ST212.

  Here, an example in which the alarm device 2 performs the process of step ST210 will be described with reference to FIG. FIG. 16 is an explanatory diagram showing a region in front of the host vehicle. As shown in FIG. 16, a person A12, an oncoming vehicle A22, a roadside tree A3, an own lane A4, an oncoming lane A5, and a center line A6 exist in front of the own vehicle. The person A12 exists in the oncoming vehicle area.

  In other words, the marking wave irradiation device 25 irradiates the spotlight so that the mark displayed at the reflection point of the spotlight reciprocates on the reciprocating path Q2 as shown in FIG. . Here, the reciprocating track Q2 exists outside the oncoming vehicle region in a track that connects the position of the person in front of the host vehicle and the position of the host vehicle.

  In step ST211, the control circuit 254 calculates a straight line passing through the central coordinate point on the thermal image of the person and the central coordinate point on the thermal image of the host vehicle set in advance, and the calculated straight line The intersection with the area on the thermal image corresponding to the oncoming vehicle area is calculated. Next, the control circuit 254 determines that the mark displayed at the spotlight reflection point is reciprocated on the reciprocating orbit as the spotlight irradiation form. Further, the control circuit 254 determines the speed of the mark so as to increase as the distance from the host vehicle to the person becomes shorter as the spotlight irradiation mode based on the person data. Next, the control circuit 254 outputs a control signal related to the determined irradiation mode to the spotlight turning device 252 and a control signal to irradiate the spotlight to the light emitting device 251.

  Next, based on the control signal given from the control circuit 254, the spotlight turning device 252 reciprocates the mark displayed at the spotlight reflection point on the reciprocating orbit, and the speed of the mark is controlled by the control circuit. The light emitting device 251 is driven to match the speed determined by H.254.

  On the other hand, the light emitting device 251 emits a spotlight based on the control signal given from the control circuit 254.

  Thereby, the marking wave irradiation device 25 irradiates the spotlight with the irradiation form determined by the control circuit 254. Specifically, the marking wave irradiation device 25 causes the mark displayed at the spotlight reflection point to reciprocate on the reciprocating orbit, and the speed of the mark matches the speed determined by the control circuit 254. Then, the spotlight is irradiated. Thereafter, the control circuit 254 proceeds to step ST212.

  Here, an example in which the alarm device 2 performs the process of step ST211 will be described with reference to FIG. FIG. 17 is an explanatory diagram showing a region in front of the host vehicle. As shown in FIG. 17, a person A13, an oncoming vehicle A23, a roadside tree A3, an own lane A4, an oncoming lane A5, and a center line A6 exist in front of the own vehicle. Further, the person A13 exists in the oncoming vehicle area, and the distance from the own vehicle to the person A13 is 15 (m) or less.

  That is, by performing the above-described processing, the marking wave irradiation device 25 reciprocates the mark displayed on the reflection point of the spotlight on the reciprocating trajectory Q3 as shown in FIG. The spotlight is irradiated so as to coincide with the speed determined by the control circuit 254. Here, the reciprocating track Q3 exists outside the oncoming vehicle region in a track that connects the position of the person in front of the host vehicle and the position of the host vehicle.

  As described above, according to the second embodiment, when the person is present in the oncoming vehicle area, the alarm device 2 irradiates the spotlight designating the person outside the oncoming vehicle area. Thereby, even if a person exists in the oncoming vehicle area, the alarm device 2 does not dazzle the driver of the oncoming vehicle due to the irradiation of the spotlight.

  Further, when viewing the inside of the oncoming vehicle area, the driver of the host vehicle is more likely to be dazzled by the headlight of the oncoming vehicle than when viewing the other area. On the other hand, conventionally, even when a person is present in the oncoming vehicle area, the person is irradiated with a spotlight. For this reason, the driver is less likely to visually recognize both the person and the mark displayed by the irradiation when the person exists in the oncoming vehicle area than when the person exists outside the oncoming vehicle area.

  In other words, it is easier for the driver of the own vehicle to confirm that the person is present ahead of the own vehicle when the person is in the oncoming vehicle area than when the person is outside the oncoming vehicle area. It was not. In this respect, since the alarm device 2 irradiates the spotlight outside the oncoming vehicle area, the driver of the host vehicle can more easily visually recognize the mark displayed by the irradiation. Therefore, even when a person is present in the oncoming vehicle area, the driver of the host vehicle can more easily confirm that the person is present in front of the host vehicle.

  Further, when the person is present in the oncoming vehicle area, the alarm device 2 reciprocates the mark between the position of the person in front of the own vehicle and the position of the own vehicle. It is possible to grasp that a person exists on the extension line. Therefore, the driver of the host vehicle can more easily confirm that a person is present in front of the host vehicle than before. For example, when a reciprocating mark enters the driver's field of view, the driver can immediately confirm that a person is on the extension line of the reciprocating track of the mark. Therefore, even if the consciousness is concentrated outside the front of the host vehicle, the presence of a person can be confirmed more easily than in the past.

  Moreover, the warning device 2 can acquire the effect mentioned above by irradiating a spotlight as a marking wave. Further, since the light emitting device 251 is less expensive than the laser diode 151, the alarm device 2 is manufactured at a lower cost than the alarm device 1.

  Further, the alarm device 2 calculates the distance from the host vehicle to the person as the person discovery necessity level, and adjusts the laser irradiation mode, specifically the moving speed of the mark, according to the distance. Therefore, the driver of the own vehicle can grasp the distance from the own vehicle to the person by visually recognizing the mark.

  The same technology as that of the first to twelfth modifications of the alarm device 1 may be applied to the alarm device 2.

  Next, a modified example of the alarm device 2 will be described. The alarm device 2 according to the modification (hereinafter referred to as “alarm device 2-1”) includes a plurality of light emitting devices that irradiate spotlights in different directions. And alarm device 2-1 performs the same processing as step ST209-step ST211 in Step ST209-Step ST211 using the light-emitting device corresponding to the position in front of a person's own vehicle. As a result, the alarm device 2-1 can perform the same processing as in steps ST209 to ST211 with the light emitting device most suitable for the position of the person in front of the host vehicle among the plurality of light emitting devices. The effect of the device 2 can be obtained more effectively than the alarm device 2.

  As mentioned above, although this invention was demonstrated based on embodiment, this invention is not restricted to the said embodiment, Each embodiment may be combined and it adds in the range which does not deviate from the meaning of this invention. Also good.

It is a block diagram which shows the structure of the alarm device which concerns on one embodiment of this invention. It is a flowchart which shows the procedure of the process by an alarm device. It is explanatory drawing which shows the mode in front of the own vehicle. It is explanatory drawing which shows an example of a thermal image. It is explanatory drawing which shows an example of a millimeter wave target. It is explanatory drawing which shows a mode that the millimeter wave target and the thermal target were synthesize | combined. It is explanatory drawing which shows the millimeter wave target etc. on a thermal image. It is explanatory drawing which shows an oncoming vehicle area | region. It is explanatory drawing which shows the mode in front of the own vehicle. It is explanatory drawing which shows an oncoming vehicle area | region. It is explanatory drawing which shows the mode in front of the own vehicle. It is explanatory drawing which shows the mode in front of the own vehicle. It is a block diagram which shows the structure of the alarm device which concerns on one embodiment of this invention. It is a flowchart which shows the procedure of the process by an alarm device. It is explanatory drawing which shows the mode in front of the own vehicle. It is explanatory drawing which shows the mode in front of the own vehicle. It is explanatory drawing which shows the mode in front of the own vehicle.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1-2 ... Alarm apparatus 11, 21 ... Infrared camera 12, 22 ... Millimeter wave radar 13, 23 ... Vehicle speed sensor 14, 24 ... Person position detection circuit (Area detection means, marking object detection means, calculation means)
15, 25 ... Marking wave irradiation device (irradiation means)

Claims (11)

In the alarm device mounted on the host vehicle,
Area detecting means for detecting an oncoming vehicle area in which an oncoming vehicle exists;
Marking object detection means for detecting a predetermined marking object;
Based on the detection results of the area detection means and the marking object detection means, when the marking object exists in the oncoming vehicle area, a marking wave specifying the marking object is generated outside the oncoming vehicle area. And an irradiating means for irradiating the alarm device. The alarm device according to claim 1,
The alarm device, wherein the marking wave is a visible light beam. The alarm device according to claim 1,
The alarm device, wherein the marking wave is a laser. In the alarm device according to any one of claims 1 to 3,
The irradiating means reciprocates a mark displayed at a reflection point of the marking wave between a predetermined reference position and the position of the marking object. In the alarm device according to any one of claims 1 to 4,
Comprising a calculating means for calculating the degree of discovery of the marking object,
The irradiating unit adjusts an irradiation form of the marking wave based on a calculation result by the calculating unit. The alarm device according to claim 5, wherein
The marking wave irradiation form includes a mark displayed at a reflection point of the marking wave. The alarm device according to claim 6, wherein
The marking wave irradiation form includes the shape of the mark. The alarm device according to claim 6 or 7,
The marking wave irradiation form includes a color of the mark. The alarm device according to claim 8,
The marking wave irradiation form includes an adjustment interval of the color of the mark. In the alarm device according to any one of claims 5 to 9,
The irradiation means reciprocates a mark displayed at a reflection point of the marking wave between a predetermined reference position and the position of the marking object,
The marking wave irradiation form includes a moving speed of the mark. In the alarm device according to any one of claims 5 to 10,
The alarm device according to claim 1, wherein the discovery necessity includes a distance from the own vehicle to the marking object.

Images