JP4556533B2 - Pedestrian notification device for vehicle and pedestrian notification method - Google Patents

Description

  The present invention relates to a vehicular pedestrian notification device that notifies a driver of the presence or the presence of a pedestrian by irradiating an irradiation target set based on the position where the pedestrian is present.

  With this type of device, when a human being is detected with an infrared camera, the degree of danger is judged, the optical axis of the headlamp is directed toward the most dangerous obstacle, and the light distribution is increased. There is a vehicle control device that displays an outside image (see Patent Document 1).

However, when a plurality of obstacles appear in a distant place, there is a problem that if only the obstacle determined to be the most dangerous is notified, the driver may be concentrated on the obstacle. That is, when there are obstacles around the vehicle and the driver's attention is concentrated only on one obstacle, the situation where attention to other obstacles becomes insufficient or the timing of paying attention is delayed. There was the inconvenience that there was a risk of inducing the situation.
JP 2001-91618 A

The present invention has been made in view of the above problems, and the position of a pedestrian that exists (possibly exists) around the vehicle so that the driver's attention is paid in a balanced manner to the number of pedestrians. It is intended to notify.
According to the present invention, an obstacle image around the own vehicle including a pedestrian is acquired, and a position where a pedestrian actually exists or a position where a pedestrian may exist based on the captured obstacle image 1 or 2 or more, and the irradiation target is set based on the position where the detected pedestrian actually exists or each position where the pedestrian may exist, and the set irradiation target is irradiated. A pedestrian notification device for vehicles and a pedestrian notification method for irradiating a set irradiation target at a predetermined timing according to the determined irradiation order are provided.
As a result, the vehicle pedestrian notification device and the pedestrian notification method of the present invention include a plurality of walks that exist (or may exist) in a wide range without biasing the driver's attention to one pedestrian. The driver's position can be notified to the driver.

<First Embodiment>
Hereinafter, a vehicle pedestrian alarm device according to a first embodiment of the present invention will be described with reference to the drawings. FIG. 1 shows a hardware configuration of the vehicle pedestrian notification device 100. The vehicle pedestrian notification device 100 is mounted on a vehicle on which a user is boarded, has an imaging device 1, a control device 2, and an irradiation device 3, and irradiates the detected position of the pedestrian to notify the user. .

  The imaging device 1 acquires an image of an obstacle including a pedestrian existing around the host vehicle. The imaging device 1 of the present embodiment includes an infrared camera 11 and captures an infrared image emitted by an obstacle. Means for acquiring an image of an obstacle including the pedestrian 5 is not particularly limited, and means capable of detecting the presence / absence and position of an object such as a CCD camera or a radar sensor can be used. The infrared camera 11 includes an image processing unit 111 and processes an image captured by the infrared camera 11.

  The control device 2 controls the irradiation of the irradiation device 3 based on the detection result detected by the imaging device 1.

  The irradiation device 3 irradiates the irradiation target under the control of the control device 2. The irradiation device 3 of this embodiment includes two spotlights, a first spotlight 31a and a second spotlight 31b. The spotlight 31a is mounted in the vicinity of the left headlight at the front of the vehicle, and mainly irradiates the left side of the vehicle. The spotlight 31b is mounted in the vicinity of the right headlight at the front of the vehicle, and mainly irradiates the right side of the vehicle. The spotlight 31a can be rotated horizontally in the horizontal direction with reference to the optical axis or up and down in the gravity direction with reference to the optical axis by a step motor 32a. Similarly, the spotlight 31b can be rotated horizontally in the horizontal direction with reference to the optical axis or up and down in the direction of gravity with reference to the optical axis by the step motor 32b. The step motors 32a and 32b acquire the control command of the control device 2 via the motor control lines 34a and 34b, and set the optical axis directions of the spotlights 31a and 31b according to the optical axis setting command of the control device 2. The spotlights 31a and 31b acquire the control command of the control device 2 via the spotlight control lines 33a and 33b, and perform irradiation at a predetermined timing according to the timing control command of the control device 2. Further, the spotlights 31a and 31b acquire a control command of the control device 2 via the spotlight control lines 33a and 33b, and perform irradiation with a predetermined light amount according to the light amount setting command of the control device 2.

FIG. 2 is a diagram illustrating a block configuration of the vehicle pedestrian notification device 100 according to the present embodiment.
Image data acquired by the infrared camera 11 of the imaging device 1 and subjected to predetermined infrared image processing by the image processing unit 111 is sent to the control device 2.

  The control device 2 according to the present embodiment includes a detection unit 21, an irradiation target setting unit 22, an irradiation order determination unit 23, and an irradiation control unit 24, and is based on infrared image data acquired by the imaging device 1. The irradiation of the irradiation device 3 is controlled. Specifically, the irradiation target is set based on at least the position of the pedestrian detected based on the acquired data or the position where the pedestrian may exist, and the irradiation apparatus 3 has a predetermined order and predetermined By executing the ROM stored with the program for irradiating the irradiation target at the timing and the program stored in the ROM or the like, the detection means 21, the irradiation target determination means 22, the irradiation order determination means 23, and the irradiation control A CPU or the like that functions as the means 24 and a RAM or the like that functions as an accessible storage device (not shown) are provided.

Hereinafter, each structure of the control apparatus 2 is demonstrated.
The detection unit 21 detects one or more positions where a pedestrian actually exists or a position where a pedestrian may exist based on data acquired by the imaging device 1. The detection means 21 of this embodiment has a pedestrian position detection unit 211, and the pedestrian position detection unit 211 detects the position of a pedestrian that actually exists. The pedestrian position detection unit 211 detects the position of an obstacle including the pedestrian 5 based on the infrared image captured by the infrared camera 11. The pedestrian position detection unit 211 detects the presence of the pedestrian (human) and the position where the pedestrian actually exists based on the infrared image captured by the infrared camera 11. The method of detecting the pedestrian 5 from the infrared image is not particularly limited, but the detected object is based on the acquired infrared image temperature, temperature distribution, area area indicating the predetermined temperature, area shape indicating the predetermined temperature, and the like. It is determined whether or not a person (pedestrian). Specifically, when the detection target is a human, the temperature range, size, etc. of the infrared image such as the temperature of the infrared image, the temperature distribution, the area area indicating the predetermined temperature, and the area shape indicating the predetermined temperature are set in advance. Then, the presence and location of the pedestrian 5 included in the infrared image are detected by comparing the set value with the acquired infrared image.

  Moreover, the detection means 21 detects the position where a pedestrian may exist. Pedestrians may be hidden behind objects such as parked vehicles, signboards, and utility poles on the road. Since a pedestrian hiding in the shadow may jump out suddenly, it is preferable that sufficient attention is paid as in the case of a pedestrian that actually exists. In this embodiment, it is assumed that the position of the parked vehicle where the presence of the pedestrian is hidden is a position where the pedestrian may be present, and the “position of the other vehicle during parking” “vehicle” The “positions of installed objects in the vicinity” and “positions of obstacles other than pedestrians” are defined as “positions where pedestrians may exist”. That is, the detection means 1 detects the position of a parked vehicle, the position of a signboard, the position of a utility pole, etc. as positions where a pedestrian may be present. The method for detecting obstacles other than these pedestrians is not particularly limited, and may be detected based on an infrared image acquired by the infrared camera 11, or a CCD camera or a laser radar may be provided as the imaging device 1.

  When the detecting means 21 detects the position of a pedestrian or the position of an obstacle other than the pedestrian, it is preferable to add the detected order to the detection result. This is because the irradiation order determining means 23 to be described later can determine the irradiation order based on the order in which the detected timing is earlier with reference to the detection order added to the detection result. Moreover, when the detection means 21 detects the position of a pedestrian or the position of obstacles other than a pedestrian, it is preferable to add the distance from the own vehicle to each obstacle to a detection result. This is because the irradiation order determining means 23 described later can determine the irradiation order based on the order in which the position of the obstacle is close to the own vehicle with reference to the distance between the own vehicle and the obstacle added to the detection result. . In addition, it is preferable to add a distinction between whether a pedestrian that has actually existed is detected or an obstacle that does not actually exist but may have a pedestrian. The attention level for pedestrians that actually exist is higher than the caution level for pedestrians that are predicted to exist, so it is necessary to handle them preferentially when determining the irradiation order or determining the irradiation method (light quantity, timing) Because there is. Incidentally, in this embodiment, when a pedestrian actually exists, irradiation is performed by setting an irradiation target only for the pedestrian that actually exists.

  The irradiation target setting unit 22 sets the irradiation target based on the position where the detected pedestrian actually exists or the position where the pedestrian may exist. The irradiation target in the present embodiment is set to substantially the same position or the vicinity of “a position where a pedestrian is actually present” or “a position where a pedestrian is likely to be present” which is a target of notification. In this example, when the position where the pedestrian actually exists is detected, the position corresponding to the trunk part of the pedestrian is set as the position of the irradiation target. When a position where a pedestrian may be present is detected, the position closest to the host vehicle is set as the irradiation target position among the contours of the obstacle simulated by the position of the pedestrian. The optical axis directions of the spotlights 31a and 31b are set based on the irradiation target.

  The irradiation order determining unit 23 determines the order of irradiation toward the irradiation target set by the irradiation target setting unit 22. The irradiation order determination means 23 of this embodiment determines the irradiation order for each irradiation target when a plurality of irradiation targets are set (that is, when a plurality of pedestrians are detected). Although the decision rule of the irradiation order is not particularly limited, the irradiation target corresponding to the position where the pedestrian actually exists is irradiated before the irradiation target corresponding to the position where the pedestrian may exist. It is preferable to do. Since the importance of the pedestrian that actually exists for the driver is higher than the importance of the pedestrian whose existence is predicted (whether or not it actually exists), to the pedestrian that actually exists This is to give priority to the attention (notification). In this example, from the viewpoint of giving priority to notifications to pedestrians that actually exist, when a predetermined number or more of pedestrians that are actually present are detected, irradiation to irradiation targets based on pedestrians that are predicted to exist Do not do.

  Moreover, you may determine the order which irradiates based on the order where the position of irradiation target (namely, positions, such as a pedestrian), is close to the own vehicle. That is, the closer the position of the irradiation target is to the host vehicle, the faster the irradiation. Thereby, a pedestrian approaching the own vehicle can be preferentially alerted. Furthermore, you may determine the order to irradiate based on the order with the early timing at which the possibility that the pedestrian or pedestrian corresponding to an irradiation target exists was detected. That is, the earlier the timing detected by the detection means 21, the faster the irradiation. Thereby, a driver | operator can be alerted preferentially about the pedestrian etc. detected previously which needs to respond | correspond first.

  The irradiation target determining means 23 irradiates the irradiation target set on the left side with respect to the own vehicle center before and / or after irradiating the irradiation target set on the right side with respect to the own vehicle center. It is preferable to determine the order of irradiation. As a result, the irradiation on the right side with respect to the center of the host vehicle and the irradiation on the left side with respect to the center of the host vehicle are alternately performed, and the driver's attention can be distributed to both the left and right sides.

  The irradiation control unit 24 irradiates the set irradiation target at a predetermined timing according to the irradiation order determined by the irradiation order determination unit 23. The irradiation control means 24 of the present embodiment includes an optical axis setting unit 241, a timing setting unit 242, and a light setting unit 243.

  The optical axis setting unit 241 sets the optical axis direction of the spotlights 31 a and 31 b and controls the irradiation direction of the irradiation device 3. The optical axis setting unit 241 sets the optical axes of the spotlights 31a and 31b so that the irradiation light is projected toward the irradiation target whose irradiation order is the first (irradiated first), and step A command for adjusting the rotation angle of the motors 32 a and 32 b is sent to the irradiation device 3. Although not particularly limited, when the left side is irradiated with respect to the vehicle center, the optical axis of the first spotlight 31a is adjusted, and when the right side is irradiated with respect to the vehicle center, the second spotlight 31b is adjusted. It is preferable to adjust the optical axis.

  The timing setting unit 242 sets the irradiation timing of the spotlights 31a and 31b. The timing setting unit 242 of the present embodiment irradiates the set irradiation target according to the irradiation order determined by the irradiation order determination unit 23 so that two or more irradiation targets are not simultaneously irradiated. This is because if a plurality of irradiation targets in the driver's field of view are irradiated simultaneously, the driver may not be able to recognize the exact position of the irradiation target. By not irradiating a plurality of irradiation targets simultaneously, the presence of a pedestrian or the like can be notified so that the driver can easily recognize. Further, from a different point of view, the timing control unit 242 performs irradiation toward the set irradiation target by providing a predetermined interval between irradiation and the next irradiation according to the irradiation order determined by the irradiation order determining unit 23. It is preferable to make it. By providing a predetermined interval, it is possible to provide a predetermined time during which irradiation is not performed between the executed irradiation and the next executed irradiation, so the driver can reliably recognize the irradiated pedestrians one by one. can do.

  The light amount setting unit 243 sets the irradiation light amount of the spotlights 31a and 31b. The light amount setting unit 243 preferably sets the irradiation light amount according to the ambient brightness. In addition, the amount of light that irradiates "irradiation target set based on the position where the pedestrian actually exists" and the amount of light that irradiates "irradiation target set based on the position where the pedestrian may exist" And different light quantities. In this example, the amount of light that irradiates the “irradiation target corresponding to the position where the pedestrian may exist” is lower than the amount of light that irradiates the “irradiation target corresponding to the position where the pedestrian actually exists”. . As a result, strong light (a high amount of irradiation light) is applied to the position that actually exists, and a higher level of attention than a place where a pedestrian may be present can be evoked. The user can recognize the level of the danger level according to the intensity of the irradiation light, and can take appropriate care.

  Next, the processing procedure of the vehicle pedestrian notification device 100 will be described with reference to FIGS. FIG. 3 is a flowchart showing a processing procedure of the vehicle pedestrian notification device 100. In this example, a process when a position where a pedestrian actually exists is detected will be described as an example.

  As shown in FIG. 3, when the system is activated (step 1), the infrared camera 11 images the periphery of the host vehicle 10 times per second (step 2). Based on the infrared image captured by the infrared camera 11, the detection means 21 detects an obstacle existing around the host vehicle including the pedestrian (step 3). The detection means 21 detects a pedestrian based on the acquired infrared image. If a pedestrian can be detected (Yes in step 4), the process proceeds to step 5. If a pedestrian cannot be detected, the process returns to step 2 to continue the imaging process. Pedestrian position detector 211 The position of the pedestrian is determined (step 5). The irradiation target setting means 22 sets the position according to each position of the detected pedestrian as an irradiation target (step 6). In this example, an irradiation target is set on the detected position of the pedestrian.

  When the detected number of pedestrians is two or more (Yes in Step 7), the irradiation order determination unit 23 determines the order of irradiation of the set irradiation targets. If the number of detected pedestrians is one (No in step 7), the process proceeds to step 9 without determining the irradiation order. The irradiation controller 24 causes the irradiation device 3 to irradiate the irradiation target set at a predetermined timing according to the irradiation order. The irradiation order determining means 23 of the present embodiment irradiates the irradiation standard set on the left side with respect to the center of the own vehicle before and / or after irradiating the irradiation standard set on the right side with respect to the center of the own vehicle. Next, the order in which the irradiation targets are irradiated is determined. That is, the irradiation order is determined so that the irradiation target corresponding to the pedestrian existing on the right side with respect to the center of the own vehicle and the irradiation target corresponding to the pedestrian existing on the left side with respect to the center of the own vehicle are alternately irradiated. To do. Thereby, a driver | operator's attention can be disperse | distributed with sufficient balance to the both right and left sides ahead of a vehicle.

  The irradiation control means 24 irradiates the first spotlight 31a when a pedestrian is present on the left side with respect to the vehicle center, and irradiates the second spotlight 31b when the pedestrian is present on the right side with respect to the vehicle center. Let Specifically, in step 9, it is determined whether or not the irradiation target (on the position of the pedestrian) having the first irradiation order is on the left side with respect to the vehicle center. If it is determined that it is present on the left side (Yes in step 9), the first spotlight 31a is turned, the optical axis is set toward the irradiation target (step 10), and the irradiation target is determined by the first spotlight 31a. (Step 11). The second spotlight 31b is turned to the right (step 12) in tandem with the irradiation timing of the first spotlight 31a. That is, the second spotlight 31b is put on standby in preparation for irradiation of the right irradiation target. The irradiation control means 24 determines whether or not the irradiation target whose irradiation order is next is on the right side (step 13). If there is an irradiation target on the right side (Yes in step 13), the optical axis of the second spotlight 31b that is turned in the right direction in advance and is in a standby state is set toward the irradiation target (step 14). The irradiation control means 24 irradiates the irradiation target with the second spotlight at a predetermined timing (step 15). In this example, since the irradiation order is defined so that the irradiation target set on the right side and the irradiation target set on the left side with respect to the center of the host vehicle alternate, after irradiation of the left irradiation target, If there is no irradiation target on the right side (No in step 13), it is determined that there is no irradiation target of the next point in the irradiation order, and the process returns to step 2.

  Returning to Step 9, when the irradiation target such as a pedestrian or the like who is ranked first in the irradiation order is on the right side of the vehicle center (No in Step 9), the second spotlight 31b is turned so that the optical axis is directed to the irradiation target. (Step 16). The irradiation control means 24 irradiates the second spotlight 31b at a predetermined timing (step 17).

  In tandem with the irradiation timing of the second spotlight 31b, the first spotlight 31a is turned to the left (step 18). That is, the first spotlight 31a is put on standby in preparation for irradiation of the left irradiation target. The irradiation control means 24 determines whether or not the irradiation target with the next irradiation order is on the left side (step 19). If there is an irradiation target on the left side (Yes in step 19), the optical axis of the first spotlight 31a that is turned in the left direction in advance and is in a standby state is set toward the irradiation target (step 20). The irradiation control means 24 irradiates the irradiation target to the first spotlight at a predetermined timing (step 21). In this example, since the irradiation order is defined so that the irradiation target set on the right side and the irradiation target set on the left side with respect to the center of the host vehicle alternate, after irradiation of the right irradiation target, When there is no irradiation target on the left side (No in Step 19), it is determined that there is no irradiation target whose irradiation order is the next point, and the process returns to Step 2.

  In this example, after irradiating the irradiation target on the right side or the left side, it is determined whether or not there is an irradiation target on the opposite side (step 13 and step 19), but this determination is omitted, and the first spotlight 31a is used. After irradiating the left irradiation target, the right irradiation target may be irradiated by the second spotlight 31b. That is, the process may transit to step 14 after steps 11 and 12 or to step 20 after steps 17 and 18. Furthermore, after irradiating the irradiation target on the right side or the left side, the step 12 or the step 18 in which the spotlight that has not been irradiated is turned to the opposite side and put on standby in preparation for the irradiation on the opposite side may be omitted. That is, after step 11, the process may transition to step 13 or step 14, or after step 17, the process may transition to step 19 or step 20.

  In this example, the case where two spotlights are provided has been described as an example. However, the number of spotlights is not particularly limited, and for example, two spotlights may be provided on each of the left and right sides. In this example, the optical axis direction of the spotlight is freely rotatable by the step motor 32. However, a plurality of spotlights 31 having a fixed optical axis direction may be provided from the viewpoint of cost reduction.

The control by the control apparatus 2 of this embodiment is demonstrated based on FIG.
FIG. 4A is a diagram showing a situation around the host vehicle. B is a lane in which the vehicle travels, A is a sidewalk, C is a center line, and D is an oncoming lane.

  As shown in FIG. 4B, a description will be given by taking as an example a state in which a pedestrian 5 existing on the left sidewalk A enters the own vehicle travel lane B. The infrared camera 11 images the pedestrian 5, the detection means 21 detects “actually present pedestrian”, and the pedestrian position detection unit 211 detects “position where the pedestrian 5 actually exists”.

  FIG. 4C shows a state in which the control device 2 performs control processing based on the state of FIG. 4B, and is a state 0.1 seconds after the timing of FIG. 4B. As illustrated in FIG. 4C, the irradiation target setting unit 22 sets the irradiation target T <b> 1 for the trunk of the pedestrian 5 based on the position of the pedestrian 5. Since the pedestrian 5 is detected first, in this example, the irradiation order of the irradiation target T1 is determined to be first. The optical axis setting unit 241 of the irradiation control means 24 sets the optical axis of the first spotlight 31a toward the irradiation target T1, and irradiates the irradiation target T1 at a predetermined timing. Thereafter, the second spotlight 31b is turned to the opposite side (right side) with respect to the irradiation target T1 and the vehicle center, and a standby state is set with the optical axis directed to T2. The position of T2 is preferably set in advance.

  FIG. 4D shows a state one second after the timing of FIG. As shown in FIG. 4D, a new pedestrian 5 has been detected on the right side of the vehicle, and an irradiation target T3 that has an irradiation order slower than the irradiation order of the irradiation target T1 is set. The optical axis setting unit 241 of the irradiation control unit 24 sets the optical axis of the second spotlight 31b from the standby direction T2 toward the irradiation target T3, and irradiates the irradiation target T3 at a predetermined timing. After irradiating the irradiation target on the left side with one spotlight 31a in this way and then irradiating the irradiation target on the opposite side (right side) with a different spotlight 31b, a plurality of pedestrians appearing on the left and right sides of the own vehicle Etc. can be notified quickly. In addition, after one spotlight 31 irradiates one of the right side or left side, the other spotlights are turned to the opposite side in advance, and are put on standby for the next irradiation, so that they appear on both the left and right sides of the vehicle. The presence of a plurality of pedestrians and the like can be quickly notified.

  In this example, the processing when a position where a pedestrian actually exists is described as an example. However, when a position where a pedestrian may exist is detected, This process may be executed by assuming that “a certain position” is “a position where a pedestrian actually exists”.

Since this embodiment is configured and functions as described above, the following effects can be obtained.
Since irradiation targets corresponding to a plurality of obstacles including pedestrians are irradiated at a predetermined timing in accordance with a predetermined order, a plurality of pedestrians and the like can be easily notified to the driver.

  Since the position where the pedestrian actually exists or the position where the pedestrian may actually exist can be notified by irradiation, there is a possibility that the pedestrian exists when the pedestrian cannot actually be detected. The driver can be alerted about the position.

  Since the order of irradiating the irradiation target is determined based on the order of the position of the irradiation target close to the own vehicle, it is possible to preferentially notify a pedestrian or the like approaching the own vehicle and having a high danger level.

  Since the order of irradiating the irradiation target is determined based on the order in which the position of the pedestrian or the position where the pedestrian may exist is detected, the pedestrians detected earlier are given priority. Can be notified.

  In order to determine the irradiation order so that the irradiation target set on the right side with respect to the center of the host vehicle and the irradiation target set on the left side with respect to the center of the host vehicle are alternately irradiated, The driver's attention can be distributed over a wide range in a well-balanced manner.

  Since two or more irradiation targets are not irradiated simultaneously, the driver's attention can be concentrated on one irradiation target at one timing.

  By providing a predetermined time interval between the irradiation and the next irradiation, it is possible to make the driver accurately recognize each irradiation target.

<Second Embodiment>
Next, a second embodiment will be described. The vehicle pedestrian notification device 200 according to the present embodiment includes means corresponding to a case where an actually existing pedestrian cannot be detected. That is, in this embodiment, when the position of a pedestrian actually present cannot be detected by the detection means 21, the position of another vehicle parked around the vehicle, the position of an installation existing around the vehicle, etc. The position of the obstacle other than the pedestrian is detected as a position where the pedestrian may exist. That is, if the position of the pedestrian existing around the vehicle can be detected as the position of the pedestrian that actually exists, the vehicle pedestrian notification device 100 of the first embodiment can cope with it. However, when a pedestrian exists behind a parked vehicle, the position where the pedestrian actually exists cannot be detected, and a problem arises that sufficient warning cannot be executed. In the present embodiment, the positions of other vehicles parked and parked around the vehicle, the positions of installation objects existing around the vehicle, and the positions of obstacles other than pedestrians may be positions where pedestrians may exist. And the position of the obstacle is detected as the position of the pedestrian. As a result, the presence of pedestrians hiding in parked vehicles and pedestrians hiding on signboards installed on the shoulders of roads is predicted in advance, and these pedestrians suddenly jump out onto the road. The situation can be notified in advance.

  FIG. 5 shows the hardware configuration of this embodiment. The basic configuration is common to the vehicle pedestrian alarm device 100 of the first embodiment shown in FIG. The vehicle pedestrian notification device 200 according to the present embodiment detects the position of another vehicle parked and parked around the vehicle, the position of an installation existing around the vehicle, and the position of an obstacle other than a pedestrian. The laser radar device 12 is provided.

  The laser radar device 12 irradiates the obstacle with laser light, and detects the presence and position of the obstacle based on the reflected light from the obstacle. The laser radar device 12 of the present embodiment detects other vehicles parked and stopped around the vehicle. In this example, reflected light from the taillight reflector is used for vehicle detection. This is because the taillight reflector returns the strongest reflected light and can accurately detect the presence of the vehicle. The interval between the taillight reflectors can be calculated based on the angle formed between the left and right taillight reflectors provided in the other vehicle and the laser light detector and the time difference from irradiation to reception. The taillight reflector spacing is generally in the range of 1.4 m to 2.5 m. When a certain target object is detected, the radar laser apparatus 12 calculates the interval based on the angle between the detected target objects and the time difference from irradiation to reception. When the calculated value belongs to the range of 1.4 m to 2.5 m, it can be estimated that the detected object is a tail lamp reflector. Other than the taillight reflector, other vehicles can be detected based on the rear part of the vehicle body.

  In addition, when detecting a parked vehicle on the left-hand traffic road, if the left end of another vehicle is not detected within the range of 1.3 m on the right side to 1.3 m on the left side with respect to the center of the vehicle, The other vehicle is judged to be parked. Since the width of the vehicle is about 2.5 m, it is determined whether another vehicle is parked or stopped with reference to the range of 1.3 m on the right side to 1.3 m on the left side with respect to the center of the vehicle.

  Further, the laser radar device 12 measures the vehicle speed of the other vehicle, acquires the own vehicle speed, and calculates the actual vehicle speed of the other vehicle based on the relative speed. If the calculated actual vehicle speed is about 0 km / h, it is determined that the other vehicle is parked and stopped. If the calculated actual vehicle speed is 0 + α (predetermined value) km / h, the other vehicle is determined to be a preceding vehicle. .

  The opposite lane is processed in the same manner to detect a vehicle that is parked or stopped in the opposite lane and a vehicle that is stopped due to traffic congestion (the speed is extremely low).

  FIG. 6 shows a block configuration of this embodiment. The basic configuration is common to the vehicle pedestrian alarm device 100 of the first embodiment shown in FIG. Since the basic configuration and operation of the present embodiment are the same as the configuration and operation of the first embodiment, overlapping description of common portions is avoided here, and different portions are mainly described.

  As shown in FIG. 6, the vehicle pedestrian notification device 200 of the present embodiment includes a laser radar device 12 as an imaging device 1 that captures images of pedestrians and other obstacles, and includes obstacles other than pedestrians. An obstacle position detection unit 212 is provided as detection means 21 of the control device 2 that detects the position.

  As in the first embodiment, the irradiation order determining means 23 of the present embodiment may be based on the order in which the irradiation target positions are close to the host vehicle, or the position of a pedestrian corresponding to the irradiation target or the presence of a pedestrian. The order of irradiation is determined based on the order in which the timing at which the characteristic position is detected is early. For this reason, it is possible to determine the order of irradiation in consideration of the degree of approach with the host vehicle or the degree of danger based on the detection timing while giving priority to notifying the position of a pedestrian that actually exists.

  Furthermore, the irradiation order determination means 23 of this embodiment irradiates the irradiation target set on the left side with respect to the center of the own vehicle before and / or after irradiating the irradiation target set on the right side with respect to the center of the own vehicle. The order of irradiating the irradiation target is determined. As a result, when “the position of a pedestrian that actually exists” or “the position where a pedestrian may exist” is detected on the right side of the vehicle, The “position” or “position where a pedestrian may exist” can be notified.

  The light amount setting unit 243 of the irradiation control means 24 of the present embodiment is configured so that the illuminance of light irradiated toward the irradiation target set based on the position where the pedestrian may exist is actually present in the pedestrian. In accordance with the irradiation order, the irradiation target is irradiated at a predetermined timing so as to be lower than the illuminance of light irradiated toward the irradiation target set based on the position to be irradiated. This allows the driver to know the level of caution between the cautionary levels of pedestrians that are actually present and the positions where pedestrians are predicted that do not actually exist. Can be notified. In other words, high illuminance light is radiated to the position where the pedestrian is actually present, and a high level of attention is urged, and relatively low illuminance light is irradiated to the position where the pedestrian is predicted to exist. Therefore, the driver can pay appropriate attention according to the attention level. The point which prevents the irradiation control means 24 of this embodiment from irradiating two or more irradiation targets simultaneously is common with 1st Embodiment. Moreover, the point which the irradiation control means 24 of this embodiment provides a predetermined time interval from irradiation to the next irradiation and irradiates an irradiation target is common to 1st Embodiment.

Next, the operation procedure of this embodiment will be described based on the flowchart of FIG.
Steps 1 to 4 shown in FIG. 7 are common to steps 1 to 4 shown in FIG. In this embodiment, when the pedestrian position detection unit 211 cannot detect the position of the pedestrian that actually exists in Step 4 (No in Step 4), the obstacle position detection unit 212 is parked around the vehicle. The position of the other vehicle that is in operation, the position of the installed object around the vehicle, and the position of the obstacle other than the pedestrian are detected as positions where the pedestrian may exist (step 51). If an obstacle other than a pedestrian such as a stopped vehicle is detected (Yes in step 52), the position of the stopped vehicle or the like is determined (step 54). If a stop vehicle or the like cannot be detected (No in step 52), the optical axis direction of the spotlight 31 is maintained, and the process returns to step 2.

  The irradiation target setting means 22 sets the irradiation target based on the position after detecting / determining the position of the stopped vehicle or the like (step 55). When the number of stopped vehicles is 2 or more (Yes in step 56), the irradiation order determining means 23 determines the irradiation order (step 57). The irradiation control means 24 determines whether the irradiation target with the first irradiation order is on the right side or the left side with respect to the center of the host vehicle. When the stopped vehicle is on the left side (Yes in Step 58), the process proceeds to Step 59, where the optical axis setting unit 24 turns the first spotlight 31a and sets the optical axis toward the irradiation target (Step 59). In accordance with the timing set by the timing setting unit 242, the irradiation control means 24 causes the first spotlight 31a to irradiate the irradiation target. The second spotlight 31b is turned to the right (step 61) in tandem with the irradiation timing of the first spotlight 31a. That is, the second spotlight 31b is put on standby in preparation for irradiation of the right irradiation target. The irradiation control means 24 determines whether or not the irradiation target whose irradiation order is next is on the right side (step 62). If there is an irradiation target on the right side (Yes in step 62), the optical axis of the second spotlight 31b that is turned in the right direction in advance and is in a standby state is set toward the irradiation target (step 63). The irradiation control means 24 irradiates the irradiation target with the second spotlight at a predetermined timing (step 64). In this example, since the irradiation order is defined so that the irradiation target set on the right side and the irradiation target set on the left side with respect to the center of the host vehicle alternate, after irradiation of the left irradiation target, If there is no irradiation target on the right side (No in step 62), it is determined that there is no irradiation target with the next irradiation order, and the process returns to step 2.

  Returning to step 58, when the irradiation target such as a pedestrian or the like who is ranked first in the irradiation order is on the right side with respect to the vehicle center (No in step 58), the second spotlight 31b is turned so that the optical axis is directed toward the irradiation target. (Step 65). The irradiation control means 24 irradiates the second spotlight 31b at a predetermined timing (step 66).

  In tandem with the irradiation timing of the second spotlight 31b, the first spotlight 31a is turned to the left (step 67). That is, the first spotlight 31a is put on standby in preparation for irradiation of the left irradiation target. The irradiation control means 24 determines whether or not the irradiation target whose irradiation order is next is on the left side (step 68). If there is an irradiation target on the left side (Yes in step 68), the optical axis of the first spotlight 31a that is turned in the left direction in advance and is in a standby state is set toward the irradiation target (step 69). The irradiation control means 24 irradiates the irradiation target with the first spotlight at a predetermined timing (step 70). In this example, since the irradiation order is defined so that the irradiation target set on the right side and the irradiation target set on the left side with respect to the center of the host vehicle alternate, after irradiation of the right irradiation target, If there is no irradiation target on the left side (No in step 68), it is determined that there is no irradiation target with the next irradiation order, and the process returns to step 2.

  In this example, after irradiating the irradiation target on the right side or the left side, it is determined whether there is an irradiation target on the opposite side (step 62, step 68), but this determination is omitted, and the first spotlight 31a is used. After irradiating the left irradiation target, the right irradiation target may be irradiated by the second spotlight 31b. That is, the process may transit to step 63 after steps 60 and 61, or to step 69 after steps 66 and 67. Furthermore, after irradiating the irradiation target on the right side or the left side, the step 61 or the step 67 in which the spotlight that has not been irradiated is turned to the opposite side and is put on standby in preparation for the irradiation on the opposite side may be omitted. That is, after step 60, the process may transition to step 62 or step 63, or after step 66, the process may transition to step 68 or step 69.

Control by the control device 2 of the present embodiment will be described with reference to FIG.
FIG. 8A is a diagram showing a situation around the host vehicle. B is a lane in which the host vehicle is traveling, A is a sidewalk, C is a center line, and D is an oncoming lane.

  As shown in FIG. 8B, the case where no pedestrian is present in front of the host vehicle will be described as an example. The laser radar device 12 images the vehicles 61 to 63, the detection means 21 detects “another vehicle parked around the vehicle”, and the obstacle position detection unit 212 detects the position of the other vehicle parked. It is detected as “position where a pedestrian may exist”.

  FIG. 8C shows a state in which the control device 2 performs control processing based on the state of FIG. 8B, and is a state 0.1 seconds after the timing of FIG. 8B. As illustrated in FIG. 8C, the irradiation target setting unit 22 sets the irradiation target T <b> 5 on the contour of the stopped vehicle 61 based on the position of the stopped vehicle 61. Since the stop vehicle 61 is detected first, the irradiation order of the irradiation target T5 is determined to be first in this example. The optical axis setting unit 241 of the irradiation control means 24 sets the optical axis of the first spotlight 31a toward the irradiation target T5, and irradiates the irradiation target T5 at a predetermined timing. Then, the position of the stop vehicle on the opposite side (right side) from the irradiation target T5 is detected with the vehicle center as an axis. The irradiation target T6 is set on the contour of the stopped vehicle 62 in the traffic jam detected on the right side (opposite lane) of the vehicle, the optical axis of the second spotlight 31b is set toward the irradiation target T6, and at a predetermined timing. Irradiate the irradiation target T5. In this example, after the irradiation target on the right side is irradiated with the first spotlight 31a, the process of turning the optical axis of the second spotlight 31b to the left side to enter the standby state is omitted.

  FIG. 8D shows a state one second after the timing of FIG. As shown in FIG. 8D, after irradiating the irradiation target T6, a pedestrian appears from the stopped vehicle corresponding to the irradiation target T6. Even when pedestrians that actually exist cannot be detected in this way, it is possible to predict and irradiate the position of a stopped vehicle or the like as the position where the pedestrian appears. Can be aroused.

Since it is configured and functions as described above, this embodiment has the same effects as the first embodiment and the following effects.
Even if a pedestrian that actually exists cannot be detected, the position of an obstacle other than a pedestrian such as a stopped vehicle is detected as a position where a pedestrian may exist, and is set based on the detected position. Therefore, it is possible to notify in advance about a pedestrian that suddenly appears from behind a stopped vehicle or the like.

  In addition, the light amount setting unit 243 of the irradiation control unit 24 is configured such that the illuminance of the light irradiated toward the irradiation target set based on the position where the pedestrian may exist is the position where the pedestrian actually exists. Since the irradiation of the irradiation device 3 is controlled so as to be lower than the illuminance of the light irradiated toward the irradiation target corresponding to the pedestrian, the position where the pedestrian actually exists is irradiated with strong light, and the pedestrian actually It is possible to irradiate low light to a position that may not exist, and the driver can recognize the difference in attention level by the illuminance of light.

<Third Embodiment>
Next, a vehicle pedestrian notification device 300 according to a third embodiment will be described. The configuration of the present embodiment is basically the same as the configuration of the second embodiment shown in FIGS. Here, description of overlapping parts is omitted, and different parts are mainly described.

  In the present embodiment, when the obstacle position detection unit 212 cannot detect the position where the pedestrian actually exists in the right or left area with respect to the center of the host vehicle, the position of the pedestrian cannot be detected. The position of other vehicles parked and parked around the vehicle, the position of installed objects around the vehicle, and the position of obstacles other than pedestrians are detected as positions where pedestrians may exist. Features a point.

  The detection area is divided into right and left with reference to the center of the host vehicle, and the position of the pedestrian or the pedestrian is determined in each of the left and right areas of the host vehicle by judging the position of the pedestrian or the obstacle other than the pedestrian. The position of an obstacle other than the driver can be detected, and the driver's attention can be guided to the left and right sides in a balanced manner. In addition, priority is given to detection of pedestrians that actually exist, and only when pedestrians that actually exist in the right region or the left region cannot be detected, the positions of obstacles other than pedestrians in the region are determined. By detecting it as a position that may exist, it is possible to preferentially notify an object with a high danger level (a pedestrian that actually exists).

  Furthermore, the irradiation order determination means 23 of this embodiment irradiates the irradiation target set on the left side with respect to the center of the own vehicle before and / or after irradiating the irradiation target set on the right side with respect to the center of the own vehicle. The order of irradiating the irradiation target is determined. As a result, when “the position of a pedestrian that actually exists” or “the position where a pedestrian may exist” is detected on the right side of the vehicle, The “position” or “position where a pedestrian may exist” can be notified. In particular, in this embodiment, when the position where the pedestrian actually exists in the right or left area of the host vehicle cannot be detected, the position of the obstacle other than the pedestrian is set as the position where the pedestrian exists in the area. To detect. As a result, the position of a pedestrian that actually exists is detected on the right side of the host vehicle, but if the position of a pedestrian that actually exists is not detected on the left side of the host vehicle, walking is performed on the left side of the host vehicle. By detecting the position of an obstacle other than a pedestrian that is predicted to be present, the driver's attention can be alerted alternately on the left and right sides of the host vehicle. Specifically, after detecting the position of a pedestrian that actually exists on the left side of the vehicle traveling in the left lane, setting an irradiation target at the position of the pedestrian and irradiating it, walking to the opposite lane side of the left lane Even if a person cannot be detected, an obstacle other than a pedestrian (such as a parked vehicle) can be detected and irradiated.

Next, the operation procedure of this embodiment will be described based on the flowchart of FIG.
Steps 1 to 11 and steps 1 to 16 shown in FIG. 9 are common to steps 1 to 11 and steps 1 to 16 shown in FIG. 3 according to the first embodiment. In the present embodiment, processing corresponding to the case where a pedestrian actually exists on either the right side or the left side of the center of the host vehicle but no pedestrian exists on the opposite side (left side or right side). Execute.

In step 9, it is determined that a pedestrian is present on the left side of the vehicle, and in step 11, after being illuminated by the first spotlight 31 a, step 71 is started. In step 71, it is determined whether or not a pedestrian actually exists on the right side opposite to the left side with respect to the center of the own vehicle where the pedestrian actually present is detected (step 71). If there is also a pedestrian on the right side, the process proceeds to step 14 in FIG. 3 and the same processing as in the first embodiment is performed. On the other hand, when it is determined in step 71 that there is no pedestrian on the right side (No in step 71),
The obstacle position detection unit 212 predicts a position where a pedestrian may be present (step 72). Specifically, the obstacle position detection unit 212 is configured so that pedestrians can detect the positions of other vehicles parked and stopped around the vehicle, the positions of installed objects around the vehicle, and the positions of obstacles other than pedestrians. It is detected as a position that may exist (step 73). If an obstacle other than a pedestrian such as a stopped vehicle is detected on the right side with respect to the center of the host vehicle (Yes in step 73), the position of the stopped vehicle or the like is determined (step 74). If a stopped vehicle or the like cannot be detected (No in step 73), the process returns to step 2 assuming that there is no obstacle to be notified.

  The irradiation target setting means 22 sets the irradiation target based on the position after detecting / determining the position of the stopped vehicle or the like (step 75). The optical axis setting unit 24 turns the second spotlight 31b and sets the optical axis toward the irradiation target (step 76). According to the timing set by the timing setting unit 242, the irradiation control means 24 causes the second spotlight 31b to irradiate the irradiation target (step 77).

In step 9, it is determined that a pedestrian is present on the right side of the vehicle. In step 17, the second spotlight 31 b is irradiated, and then step 78 is started. In step 78, it is determined whether or not a pedestrian actually exists on the left side opposite to the right side with respect to the center of the host vehicle where the pedestrian actually present is detected (step 78). If there is also a pedestrian on the left side, the process proceeds to step 20 in FIG. 3, and the same processing as in the first embodiment is performed. On the other hand, if it is determined in step 78 that there is no pedestrian on the left side (No in step 78),
The obstacle position detection unit 212 predicts a position where a pedestrian may be present (step 79). Subsequent steps 80 to 84 are common to steps 73 to 77.

Control by the control apparatus 2 of this embodiment is demonstrated based on FIG.
FIG. 10 (A) is a diagram showing a situation around the host vehicle. B is a lane in which the vehicle travels, A is a sidewalk, C is a center line, and D is an oncoming lane.

  As shown in FIG. 10B, a case will be described in which a pedestrian is present on the left side with respect to the center of the host vehicle, but no pedestrian is present on the right side with respect to the center of the host vehicle. The infrared camera 11 images the pedestrian 5, the detection means 21 detects “actually present pedestrian”, and the pedestrian position detection unit 211 detects the position where the pedestrian actually exists. The laser radar device 12 captures images of the vehicles 61 to 63, and the detection means 21 detects “another vehicle parked around the vehicle”. The obstacle position detection unit 212 of the present embodiment cannot detect the position where the pedestrian actually exists, and the position of the other vehicle 62 parked in the opposite lane region on the right side with respect to the center of the own vehicle due to traffic jam. Is detected as “position where a pedestrian may exist”. The reason why the position of the other vehicle 63 is not detected as “a position where a pedestrian may exist” in this process is that the other vehicle 63 has already approached within the predetermined distance of the own vehicle and is already outside the notification range. Because. In this embodiment, from the viewpoint of notifying at an appropriate timing, the other vehicle 63 that has already passed through the distance range is notified to the pedestrian existing within the predetermined distance range from the own vehicle. At the timing of (B), it is not detected as “a position where a pedestrian may exist”.

  FIG. 10C shows a state in which the control device 2 performs control processing based on the state of FIG. 10B, and is a state 0.1 seconds after the timing of FIG. 10B. As shown in FIG. 10C, the irradiation target setting means 22 sets the irradiation target T7 based on the position where the pedestrian 5 is present. Since the pedestrian 5 is detected first, in this example, the irradiation order of the irradiation target T7 is determined to be first. The optical axis setting unit 241 of the irradiation control means 24 sets the optical axis of the first spotlight 31a toward the irradiation target T7, and irradiates the irradiation target T7 at a predetermined timing.

  Moreover, the irradiation target setting means 22 sets the irradiation target T8 based on the position where the other vehicle 62 is stopped, in tandem with the irradiation of the irradiation target T7. The optical axis setting unit 241 of the irradiation control means 24 sets the optical axis of the first spotlight 31a toward the irradiation target T8.

  FIG. 10D shows a state one second after the timing of FIG. As shown in FIG. 10D, after irradiating the irradiation target T7, the irradiation control means 24 causes the second spotlight 31b to irradiate the irradiation target T8.

  Since it is configured and functions as described above, this embodiment has the same effects as the first and second embodiments, and the following effects.

  The front can be divided into a left region and a right region based on the center of the host vehicle, and a position of a pedestrian or a position where a pedestrian is predicted to exist can be notified for each. By detecting a position where a pedestrian may actually exist in an area where no pedestrian actually exists, the driver's attention can be distributed in a well-balanced manner without biasing the driver's attention to the right or left side.

  When the position where the pedestrian actually exists is detected on the right side or the left side with respect to the center of the host vehicle, and the pedestrian that actually exists cannot be detected, the vehicle is parked in the right or left area. Since the position of an obstacle such as another vehicle is detected as a position where a pedestrian may be present, a pedestrian that actually exists can be preferentially notified.

  Further, before and / or after irradiating the irradiation target set on the right side with respect to the center of the own vehicle, the order of irradiating the irradiation target is determined so as to irradiate the irradiation target set on the left side with respect to the center of the own vehicle. By doing so, even if a pedestrian exists only on the right side and does not actually exist on the left side, the driver's attention can be directed to both the left and right.

  The imaging device 1 in the present embodiment corresponds to the imaging means in the claims, the control device 2 in the present embodiment corresponds to the control means in the claims, and the irradiation device 3 in the present embodiment is in the claims. Corresponds to the irradiation means.

  The embodiment described above is described for facilitating the understanding of the present invention, and is not described for limiting the present invention. Therefore, each element disclosed in the above embodiment is intended to include all design changes and equivalents belonging to the technical scope of the present invention.

It is a figure which shows the hardware constitutions of the pedestrian alerting device for vehicles of 1st Embodiment. It is a figure which shows the block configuration of the pedestrian alert device for vehicles of 1st Embodiment. It is a flowchart figure which shows the control procedure of the pedestrian alert device for vehicles of 1st Embodiment. (A)-(D) are the figures for demonstrating the control procedure of the pedestrian alerting device for vehicles of 1st Embodiment. It is a figure which shows the hardware constitutions of the pedestrian alert device for vehicles of 2nd Embodiment. It is a figure which shows the block configuration of the pedestrian alert device for vehicles of 2nd Embodiment. It is a flowchart figure which shows the control procedure of the pedestrian alert device for vehicles of 2nd Embodiment. (A)-(D) are the figures for demonstrating the control procedure of the pedestrian alert device for vehicles of 2nd Embodiment. It is a flowchart figure which shows the control procedure of the pedestrian alert device for vehicles of 3rd Embodiment. (A)-(D) are the figures for demonstrating the control procedure of the pedestrian alert device for vehicles of 3rd Embodiment.

Explanation of symbols

DESCRIPTION OF SYMBOLS 100 ... Vehicle pedestrian alert device 1 ... Imaging device 11 ... Infrared camera 111 ... Image processing means 12 ... Laser radar device 2 ... Control device 21 ... Detection means 211 ... Pedestrian position detection part 212 ... Obstacle position detection part 22 ... Irradiation target setting means 23 ... Irradiation order determining means 24 ... Irradiation control means 241 ... Optical axis setting section 242 ... Timing setting section 243 ... Light quantity setting section 3 ... Irradiation devices 31, 31a, 31b ... Spotlights 32, 32a, 32b ... Step motor

Claims (12)

Imaging means for capturing an obstacle image around the host vehicle including a pedestrian;
Detection means for detecting one or more positions where pedestrians actually exist or positions where pedestrians may exist based on obstacle images captured by the imaging means;
An irradiation target setting means for setting an irradiation target based on each position where a pedestrian actually detected by the detection means or each position where a pedestrian may exist
Irradiation order determining means for determining the order of irradiating the irradiation target set by the irradiation target setting means;
Irradiation control means for irradiating the set irradiation target at a predetermined timing according to the irradiation order determined by the irradiation order determination means,
A vehicle pedestrian notification device comprising: irradiation means for irradiating the irradiation target according to the control of the irradiation control means.   If the detection means cannot detect the position where the pedestrian actually exists, the position of the other vehicle parked around the vehicle, the position of the installed object existing around the vehicle, and other obstacles other than the pedestrian The vehicle pedestrian notification device according to claim 1, wherein the position of an object is detected as a position where the pedestrian may exist.   When the position where the pedestrian actually exists is not detected in the area on the right side or the left side with respect to the center of the own vehicle, the detection means is an area where the presence of the pedestrian cannot be detected and parked around the vehicle 2. The vehicle according to claim 1, wherein the position of another vehicle that is present, the position of an installed object existing around the vehicle, and the position of an obstacle other than a pedestrian are detected as positions where a pedestrian may exist. Pedestrian notification device.   The irradiation control means is an irradiation in which the illuminance of the light irradiated toward the irradiation target set based on the position where the pedestrian may exist is set based on the position where the pedestrian actually exists The irradiation target is irradiated toward the set irradiation target at a predetermined timing in accordance with the irradiation order determined by the irradiation order determination unit so as to be lower than the illuminance of light irradiated toward the target. The pedestrian notification device for a vehicle according to 3.   The pedestrian notification device for a vehicle according to any one of claims 1 to 4, wherein the irradiation order determining means determines an irradiation order based on an order in which the position of the irradiation target is close to the own vehicle.   The irradiation order determining means determines the irradiation order based on a timing at which a position of a pedestrian corresponding to the irradiation target or a position where a pedestrian may exist is detected. The pedestrian alarm device for vehicles as described in 2.   The irradiation order determining means irradiates the irradiation target set on the left side with respect to the own vehicle center before and / or after irradiating the irradiation target set on the right side with respect to the own vehicle center. The pedestrian alarm device for vehicles according to any one of claims 1 to 6 which determines the order which irradiates.   8. The irradiation control unit according to claim 1, wherein the irradiation control unit irradiates the set irradiation target according to the irradiation order determined by the irradiation order determination unit so that two or more irradiation targets are not simultaneously irradiated. The pedestrian alarm device for vehicles as described in 2.   The irradiation control unit is configured to irradiate the set irradiation target with a predetermined time interval between irradiation and the next irradiation according to the irradiation order determined by the irradiation order determination unit. The pedestrian alarm device for vehicles according to any one of 1 to 8. Capturing an obstacle image around the host vehicle including a pedestrian;
Detecting one or more positions where a pedestrian actually exists or a position where a pedestrian may exist based on the acquired obstacle image;
Setting an irradiation target based on each position where the detected pedestrian actually exists or each position where a pedestrian may exist;
Determining the order of irradiating the set irradiation target;
Irradiating the set irradiation target at a predetermined timing according to the determined irradiation order.   In the detecting step, when the position where the pedestrian actually exists cannot be detected, the position of the other vehicle parked around the vehicle, the position of the installed object existing around the vehicle, and other pedestrians other than the pedestrian The pedestrian notification method according to claim 10, wherein a position of an obstacle is detected as a position where the pedestrian may exist. The detecting step is a region in which the presence of a pedestrian cannot be detected in a region on the right side or the left side with respect to the center of the host vehicle, and the presence of the pedestrian cannot be detected and parked around the vehicle. The walking according to claim 10, wherein the position of another vehicle that is stopped, the position of an installation that exists around the vehicle, or the position of an obstacle other than a pedestrian is detected as a position where a pedestrian may exist. Person notification method.

Images