JP5769163B2 - Alarm device - Google Patents

Alarm device Download PDF

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JP5769163B2
JP5769163B2 JP2010110918A JP2010110918A JP5769163B2 JP 5769163 B2 JP5769163 B2 JP 5769163B2 JP 2010110918 A JP2010110918 A JP 2010110918A JP 2010110918 A JP2010110918 A JP 2010110918A JP 5769163 B2 JP5769163 B2 JP 5769163B2
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moving
alarm
control
detection
area
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JP2011238161A (en
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服部 哲也
哲也 服部
伊藤 晃
晃 伊藤
真義 千田
真義 千田
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株式会社ユピテル
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Description

  The present invention relates to an alarm device that warns a driver of danger around a moving body.

  In order to compensate for blind spots of side mirrors and rearview mirrors, there is known a vehicle surrounding state display device including left and right side rearward imaging cameras instead of both side mirrors and rearward imaging cameras instead of rearview mirrors ( For example, see Patent Document 1). In the apparatus of Patent Document 1, the surrounding situation of a vehicle is detected from a camera image, the detected surrounding situation of the vehicle is displayed on a screen, and a moving body that moves relative to the vehicle is detected. And since the surrounding vehicles can be detected in this way, the blind spot range of the driver can be reduced. Moreover, based on the information of the detected moving body, the position of the moving body on the screen is calculated, and the image area of the moving body on the screen is highlighted, so that dangerous factors in the indirect field of view can be instantly displayed. Can be recognized.

JP-A-7-223487

  However, for example, since it is difficult for the driver of the vehicle to constantly watch the screen while driving, even if the image area of the moving body in the screen is highlighted as in the vehicle surrounding state display device of Patent Document 1, The driver does not always notice the moving object displayed instantaneously on the screen. In particular, it is very difficult to see the display on the screen while operating the steering wheel at a turning corner such as a right turn or a left turn or in a garage, and it is difficult to know the approach of the moving body. For example, even if a moving body in the screen is noticed during the steering operation, it is difficult to determine from which direction the moving body is approaching instantaneously from the displayed image content. In addition, other moving objects approaching from a blind spot in front of a lateral direction near the right angle of the traveling direction of the host vehicle or an A pillar on the front side, under the side mirror of the vehicle, or obstacles on the lower front side of the vehicle Detection is not shown.

  It is an object of the present invention to provide an alarm device that detects the approach of other moving bodies from the periphery of the vehicle including the lateral direction of the vehicle and the blind spot in front of the vehicle, together with the approach direction, and reports the approach direction including the approach direction. Objective.

(1) In order to solve the above-described problem, an alarm device according to the present invention includes a plurality of detection means for outputting a detection signal when an object around a moving body is detected, and each detection signal by the plurality of detection means. Control means for determining at least any two of the distance of the object relative to the moving object, the detected direction, and the degree of danger of the object in the moving object based on the detection time, and based on the determination result, And a notifying means for notifying the degree of danger of the moving object in a certain direction.
According to the alarm device of this aspect, it is possible to know from which direction the object is approaching based on the direction and distance of the object with respect to the moving body and the detection timing. Can be appropriately operated in a direction to avoid collision with an object.

(2) Preferably, the control means may also determine the traveling direction of the object and whether or not the object is approaching the moving body.
According to the alarm device of this aspect, it is possible to increase the accuracy of notifying the approach of an object and the degree of danger.

(3) Preferably, in the alarm device according to the present invention, the detection unit is a camera that optically images an object, and the control unit may use image information captured as a detection signal.
According to the alarm device of this aspect, by using a camera as the detection unit, the outer shape of the object can be recognized, and the object can be detected from a change in the image that has a difference in image capturing time (for example, a difference in image capturing time). Can accurately detect the moving direction (vector). Note that the control means may perform control so that the notification means notifies the state of the detection signal of the detection means. If it is made like (3), it can also be set as the structure which displays the image of the object from the camera which is a detection means on a display apparatus. In this way, the driver can confirm what the object is from the captured image. In addition, by projecting a reference image such as a part of a moving body in the image, the size of the object can be compared, and the size of the object can be detected.

(4) Preferably, in the alarm device according to the present invention, the detection means is a Doppler radar that detects an object by transmitting and receiving electromagnetic waves, and the control means may use the received electromagnetic wave signal as a detection signal. .
According to the alarm device of this aspect, by using a Doppler radar as a detection means, an object can be detected even at night or in a dark place, and even a small object or a distant object can be detected. The degree of freedom can be increased.

(5) Preferably, in the alarm device according to the present invention, the control means determines whether or not the object is located in each of the divided areas divided in advance according to the distance from the moving body. The means may output a different alarm depending on the determination result.
According to the alarm device of this aspect, it is possible to cause the driver to perform an appropriate risk avoidance operation by providing different notifications for each of the divided areas that are divided in advance so that the distance from the moving body and the degree of danger are different.

(6) Preferably, in the alarm device according to the present invention, the control unit registers one or more regions according to the degree of danger around the moving body based on the detection signal of the detection unit, and the region and the position of the object The relationship may be determined, and the notification unit may output a different alarm depending on the positional relationship between the area and the object.
According to the alarm device of this aspect, the driver (user) can register the area, and different alarms are output in relation to the area where the alarm is registered. Therefore, the driver can easily know the positional relationship between the position of the object and the area, and can easily know the urgency of the danger.

(7) Preferably, in the alarm device according to the present invention, the control means uses the size of the moving body of the vehicle and the installation height and the mounting angle of the detecting means on the moving body. It is recommended to register the initial value of.
According to the alarm device of this aspect, since different areas can be easily registered for each moving body, the determination of the risk level can be optimized for each moving body.

(8) Preferably, in the alarm device according to the present invention, the detection means detects the position of the mobile object on the ground, and the control means determines whether the mobile object is located in a ground area divided in advance. It is preferable that the notification means outputs a different alarm when the moving body is in a different section area.
According to the alarm device of this aspect, by detecting the position of the moving body, in the surrounding area of the facility where there are many children and elderly people, the surrounding section area to be notified is enlarged, or the contents of the notification are made different. Can reduce the probability.

(9) Preferably, in the alarm device according to the present invention, the control means further obtains a relative speed at which the object approaches, and the notifying means outputs a stepwise alarm according to the relative speed.
According to the alarm device of the present aspect, the driver knows how fast the object is likely to approach the moving body, so that a fast object can be operated as quickly as possible, such as steering, braking / acceleration, etc. For a slow object, there is no need for sudden steering operation or braking / acceleration. Therefore, in the case of a slow object, the driver should take appropriate risk-avoidance operation without impacting the occupant or making a sudden driving operation that could surprise another moving body and cause another accident. Can be made.

(10) Preferably, in the alarm device according to the present invention, the control means may further determine the degree of danger in consideration of a vehicle speed signal input from another device.
According to the alarm device of this aspect, it is possible to detect not only the relative speed but also the absolute speed by making a determination in consideration of the vehicle speed signal from the speed pulse from the GPS or the moving body speedometer, thereby increasing the accuracy of the risk level. be able to.

(11) Preferably, in the alarm device according to the present invention, the control means further determines whether or not the approaching object is a person, and the notification means moves when the approaching object is a person. It is recommended to output an alarm outside the body.
According to the alarm device of this aspect, it is possible to reduce the degree of danger by issuing an alarm to an approaching person outside, and when the approaching object is not a person, an unnecessary alarm is not output to the outside. Therefore, the waste of electric power is eliminated and the surrounding people without danger are not surprised.

  According to the present invention, it is possible to provide an alarm device that detects the approach of another moving body from the periphery of the vehicle including the lateral direction of the vehicle or a blind spot in front of the vehicle together with the approach direction, and notifies it including the approach direction. it can.

It is a perspective view which shows the external appearance when the alarm device of 1st Embodiment of this invention is installed in the vehicle. It is a perspective view which shows the external appearance on the opposite side to FIG. 1 at the time of the alarm device of FIG. 1 being installed in the vehicle. It is a figure which shows the division area set to the alarm device of FIG. Among a plurality of camera images which are a plurality of detection means of the alarm device of FIG. 1, (a) a display device display image of the front camera and (b) a display device display image from the right side front side. It is a block diagram which shows the structure of the outline | summary of the alarm device of FIG. It is a flowchart which shows the operation | movement of the outline | summary of the control means of the alarm device of FIG. It is a perspective view which shows the external appearance when the alarm device of 2nd Embodiment of this invention is installed in the vehicle. FIG. 8 is a top view when the alarm device of FIG. 7 is installed in a vehicle.

(First embodiment)
The alarm device 18 according to the first embodiment of the present invention is mounted on the moving body 1 as shown in FIGS. The mobile body 1 is a vehicle that is driven by the driver 100 and is a bus that moves on a road. The driver 100 is located in a driver seat provided in front of the moving body 1, watches the front in the traveling direction of the moving body 1 through the windshield 10, and is provided on both left and right side surfaces of the driver seat of the moving body 1. The vehicle is operated while paying attention to the side and the rear by the side glasses 13 and 14 and the rearview mirrors 11 and 12 provided on the front side of the side glasses 13 and 14. Further, in passenger cars and the like, in addition to the rearview mirrors 11 and 12, a rearview mirror (not shown) that reflects the rear is also used.

  Next, the relationship between the visual operation during driving of the driver of the moving body 1 and the blind spot area will be briefly described. The driver 100 gazes forward through the windshield 10, but the driver's seat has a dashboard, a console box, etc. in which instruments are installed, and the windshield 10 is installed only on a part of the front surface 2. A blind spot area 210 is formed below the windshield 10 on the front surface 2 of the seat. That is, the blind spot area 210 is an area between a distance 310 from the lower side of the front surface 2 of the moving body 1 (driver's seat) to the position 110 that can be visually recognized in the driver's seat.

  Similarly, the driver 100 pays attention to the left and right side surfaces through the side glasses 13 and 14 of the left and right side surfaces 3 and 4 of the moving body 1. However, since the left and right side surfaces 3 and 4 of the moving body 1 have bodies and the side glasses 13 and 14 are installed only on a part of the left and right side surfaces 3 and 4, the side glasses 13 on the both side surfaces 3 and 4 of the driver's seat 100. , 14 are blind spot areas 220 and 240. In addition, rear mirrors 11 and 12 and the like are used to project the left and right side surfaces 3 and 4 behind, thereby reducing some blind spots on the lower left and right sides.

  However, the rear-view mirrors 11 and 12 are mainly used to project the left and right rear 120 and 130 in order to recognize the following vehicle, and the left and right rear 120 and 130 are installed so that they can be seen most easily. The lower side of 3 and 4 cannot be shown much. That is, the blind spot areas 220 and 240 are areas from the lower side of the left and right side surfaces 3 and 4 of the driver's seat of the moving body 1 to a position where the side windows 13 and 14 and the rearview mirrors 11 and 12 are visible. .

  Similarly, the driver 100 pays attention to the rear surface 5 through the rear glass 15 on the rear surface 5 of the moving body 1 and using the rearview mirrors 11 and 12 and, if equipped, the rearview mirror. . However, since the rear surface 5 of the moving body 1 also has a body and the rear glass 15 is installed only on a part of the rear surface 5, a blind spot area 230 is formed below the rear glass 15 on the rear surface 5. That is, the blind spot area 230 is an area from the lower side of the rear surface 5 of the moving body 1 to a position where the rear glass 15 and the rearview mirrors 11 and 12 can be visually recognized.

  In addition, in order to reflect the rear surface 5, a passenger car or the like uses a room mirror, a back door mirror, or the like, so that a part of the blind spot area 230 can be reduced. However, the rear-view mirror, the rear door mirror, and the like are far from the driver 100 and have a narrow viewing angle, so that it is not possible to project all the blind spot areas 230 on the rear surface 5.

  The alarm device 18 according to the present embodiment is a device that detects the objects 600 and 650 from the captured image, determines whether they are approaching, determines the speed, etc., and warns if there is a danger. In the present embodiment, the detection data Is stored in correspondence with the detection time, and judgment and warning are performed from the stored and new input. Further, the alarm device 18 according to the present embodiment includes a detection device 20, a control device 30, and a notification device 40 as shown in FIG. 5, and the detection device 20, the control device 30, and the notification device 40 are electrically wired and the like. Connected with. Further, when the signal detected by the detection device 20 is input to the control device 30, processing and determination are performed there, and an alarm is output from the control device 30 to the notification device 40 according to the determination result. 3 and 4 of the present embodiment, the object 600 is a person, the object 650 is a flying object such as a ball or a bird, the arrow 9 is a vector indicating the traveling direction and speed of the moving body 1, and the arrow 610 , 620 is a vector indicating the traveling direction and speed of the object 600 (person), and arrows 660 and 670 are vectors indicating the traveling direction and speed of the object 650 (ball or bird).

  More specifically, the alarm device 18 includes a plurality of detection devices 20 that detect the surrounding objects 600 and 650 and output detection signals on the exterior side of the moving body 1 as shown in FIGS. , Video cameras 510, 520, 530, 540, 550, 560 (hereinafter referred to as video camera 510) are mounted. Further, the alarm device 18 is electrically connected to each video camera 510 and the like, and based on the detection timing of each detection signal by the plurality of detection devices 20, the distance of the objects 600 and 650 to the moving body 1, the detected direction, In addition, when the control device 30 that determines at least any two of the dangers in a certain direction of the objects 600 and 650 in the moving body 1 and the objects 600 and 650 are approaching, the object 600 and the moving body 1 650 has a notification device 40 that notifies the degree of danger in a certain direction.

  The detection apparatus 20 according to the present embodiment includes a plurality of video cameras that optically image the objects 600, 650, and the like, for example, 510 in FIGS. 1 and 2, and the video camera 21 in FIG. By connecting the detection device 20 as the video camera 510 or the like to the display device 41 via the control device 30, the images of the objects 600 and 650 can be displayed on the display device 41. In the present embodiment, image information captured by the video camera 510 or the like is used as a detection signal. In the alarm device 18 according to this embodiment, the video camera 510 or the like captures an image of the front of the moving body 1 or the surroundings including at least the front.

  The video camera 510 or the like is included in the detection device 20 and is configured using, for example, a CCD or a CMOS sensor, outputs a signal for each image frame, and is attached on the relatively upper side of the outer periphery of the moving body 1. The video camera 510 or the like captures an area including each blind spot area 210, 220, 230, and 240, and compares the scale level of the image in the area and the objects 600 and 650 with respect to a known dimension such as a part of a reference moving body. It is attached to a position where a reference image such as a part of the moving body 1 can be projected on the image so that the size of the objects 600 and 650 can be detected by the size comparison. Further, the video camera 510 or the like outputs the captured image data for each frame to the control device 30 at a cycle of 33.3 ms in the case of 30 frames / second, for example.

  The alarm device 18 is equipped with a storage device (not shown) that stores at least image data captured by the video camera 510 and the like, and detection data detected from the image data. The storage device may be an internal storage element in the alarm device 18, but may be a removable external storage medium connected to an external storage connection unit such as a memory card, or an external storage medium that can communicate via a communication device There may be.

  The video camera 510 is provided above the windshield 10 on the front surface 2 of the moving body 1 and photographs a front photographing area 410 including a blind spot area 210 on the front surface 2 of the driver's seat. The video camera 520 is provided on an upper portion of the side glass on the left side surface 3 of the moving body 1, and photographs the left side front side imaging region 420 mainly including the periphery of the front wheel 8 in the blind spot region 220 of the side surface 3. The video camera 530 is also provided in the upper part of the side glass on the left side surface 3 of the moving body 1, and images the left side rear imaging region 430 mainly including the periphery of the rear wheel 7 in the blind spot region 220 of the side surface 3.

  The video camera 540 is provided above the rear glass 15 on the rear surface 5 of the moving body 1 and photographs the rear surface imaging region 440 including the blind spot region 230 on the rear surface 5. The video camera 550 is provided on an upper portion of the side glass on the right side surface 4 of the moving body 1 and photographs the right side rear side imaging region 450 mainly including the periphery of the rear wheel 7 in the blind spot region 240 of the side surface 4. The video camera 560 is also provided on the upper part of the side glass on the right side surface 4 of the moving body 1, and images the right side front side imaging region 460 mainly including the periphery of the front wheel 8 in the blind spot region 240 of the side surface 4.

  The front imaging area 410, the left side front imaging area 420, the left side rear imaging area 430, the rear imaging area 440, the right side rear imaging area 450, and the right side front imaging area 460 are at a distance from the moving body 1. In response, each is further divided in advance into a plurality of divided regions. As shown in FIG. 3A, when the object 600 approaching the video camera 520 of the moving body 1 is a person, the A section area that is closer than the C section area 730 that is far from the moving body 1. 710 is more dangerous. The B segment area 720 is an area where the risk is intermediate between the A segment area 710 and the C segment area 720.

  For example, when a person is in the C section area 730, the degree of danger is low, so a light alarm may be used. However, when a person approaches the A section area 730, the degree of danger is high, so a severe warning is required. In addition, the degree of danger is higher in the approaching direction than when the vector 610 of the person's moving direction is not in the direction approaching the moving body 1, and the speed is higher when approaching than when the speed is slow. The degree becomes higher.

  In addition, it is not necessary to make the distance (area width) from the moving body 1 uniform in each of the front, rear, left, and right directions in each of the divided areas around the moving body 1, and the range that the driver can visually recognize in each direction is small. When the blind spot area is wide, the section area can be widened. For example, as shown in FIG. 3 (b), for each segmented region behind the front of the mobile body 1, the range that the driver can visually recognize is small and the blind spot area is wide, so the distance from the mobile body 1 is increased. Then, the section area (and the detection range) may be expanded. In addition, as for the side surface, the detection range may be expanded by expanding each segmented region on the left side of the right side where the driver is present. Each of the divided areas 710, 720, and 730 is set and registered in advance by the control device 30 described later based on the detection signal of the detection device 20.

  The Doppler radar 22 shown in FIG. 5 is included in the detection device 20, for example, transmits microwaves to the objects 600, 650, etc., detects microwave signals reflected by the objects 600, 650, etc., and detects the microwave speed. The detection apparatus detects an object and detects the speed of the object using the frequency and the time from transmission to reception. The operation when the Doppler radar 22 is used will be described later in the second embodiment.

  The GPS device 23 is included in the detection device 20 and can detect position information and time information at that time from the GPS signal at a cycle of, for example, once per second, and output detection data. Therefore, for example, when the objects 600 and 650 are detected from the image data obtained by photographing the photographing region with the video camera, time and position information can be added in association with the photographed image data.

The control device 30 is an arithmetic element that performs various processing on various types of input data. For example, the control device 30 performs all processing by a program using a general-purpose microprocessor or the like.
Further, for the control device 30, various data such as image data output detected by the detection device 20, various data and operation programs, calculation results, detection data, position data, region data, etc. necessary for the calculation of the above-described calculation elements. And a storage device (not shown) for storing an operation work area and the like. This storage device is the same as that for storing the image data and detection data of the alarm device 18 described above.

  By storing area data, position data, calculation results, and detection results in the storage device, the control device 30 then uses the stored data or the like to determine the degree of risk and provides a more accurate risk to the driver. A notification can be output, and the convenience of the alarm device 18 can be enhanced. Further, since the storage device has a finite storage capacity, for example, using the position data and map data from the GPS device 23 or the like, the registered regional data and facility data, and each arithmetic device of this embodiment, etc. By switching on and off the storage of detection results and not storing when the risk is low, the capacity of the storage device can be reduced, and the lack of storage capacity during use can be reduced Can do.

  Map data and facility data to be registered include, for example, (b) areas where the population density of students and students such as schools / kindergartens / nursery schools / parks is high, and (b) elderly people such as nursing homes and nursing facilities. Areas where the population density increases, (c) areas where the commuting / commuting school population around the station is high, (d) areas where the population density of shoppers such as shopping streets / shopping centers / shopping malls is high, etc. . By using such a region, it is possible to improve the accuracy of danger notification.

  The control device 30 displays images of the objects 600 and 650 detected by the video camera 510 of the detection device 20 on the display device 41. The display device 41 is, for example, a flat display device that is installed around a driver such as a dashboard and is visible to the driver. Therefore, the driver 100 can confirm what the objects 600 and 650 are directly from the captured image.

  On the other hand, the control device 30 performs image recognition of the outer shapes of the objects 600 and 650 using image information captured as a detection signal. Further, the control device 30 detects the objects 600 and 650 from the display images of a plurality of frames having different imaging timings (for example, imaging times), and detects the moving direction and the speed (vector) from the difference in the positions. Further, the control device 30 projects the reference image such as a part of the moving body 1 on the image, thereby determining the sizes of the objects 600 and 650 whose dimensions are unknown and the part of the moving body 1 whose dimensions are known. The sizes of the objects 600 and 650 are detected by comparison.

  Further, the control device 30 determines that the approaching object 600 or 650 is a person based on the image recognition result of the outer shape of the object 600 or 650 described above, the size compared with the moving body 1, the moving direction, the speed (vector), or the like. Judge whether there is. When the approaching object 600 or 650 is a person, the control device 30 not only provides the driver's in-vehicle speaker 42 but also an outside speaker outside the moving body 1 when the alarm device 40 generates an alarm. An alarm is also output to 43. If the control device 30 is configured in this manner, it is possible to reduce the degree of danger by issuing an alarm even to an external approaching person. In addition, when an approaching object is not a person, unnecessary alarms are not output to the outside, power is not wasted, and surrounding people and animals in a non-hazardous area are not surprised.

  The camera image data processing unit 31 processes the image data from the video cameras 510, 520, 530, 540, 550 and 560, for example, image data suitable for internal processing and storage in the control device 30. , And output to the calculation block such as the direction, distance, and traveling direction of the next object.

  The radar reception data processing unit 32 performs predetermined processing on the reception data from the Doppler radar 22 to perform processing on the image data suitable for internal processing and storage in the control device 30, and the next calculation block Output to. The operation when the Doppler radar 22 is used will be described later in the second embodiment.

  The time data processing unit 33 uses the time data from the GPS device 23 as data suitable for internal processing and storage in the control device 30, and associates the time data with the other input data such as image data and calculation data. . Thereby, time data is related to each image of the objects 600 and 650 detected by the video camera 510 or the like. Therefore, the control device 30 recognizes the time series of each image, calculates the traveling direction and speed of the objects 600 and 650 from the change of the image for each image frame such as 30 frames / second, and the like for the moving body 1. It is determined whether the objects 600 and 650 are approaching.

  The position data processing unit 34 uses the position data from the GPS device 23 as data suitable for internal processing and storage in the control device 30, and correlates time data with other input data such as image data and calculation data. .

  The direction of the object from the moving object and the distance / object traveling direction calculator 35 converts the image data from the camera image data processor 31, the time data from the time data processor 33, and the position data from the position data processor 34. Based on this, the direction and distance of the objects 600 and 650 from the moving body 1 are calculated, and the traveling direction of the objects 600 and 650 is further calculated.

  The approach determination / relative speed / absolute speed calculation unit 36 is based on the direction and distance of the object from the moving body / the direction and distance of the objects 600 and 650 from the traveling direction calculation unit 35 of the object, and the traveling direction of the objects 600 and 650. Thus, the relative speed between the objects 600 and 650 and the moving body 1 and the absolute speed between the objects 600 and 650 and the moving body 1 are calculated. Note that the absolute speed of the moving body 1 may be used for diverting data such as a speed sensor of the moving body 1 itself or improving the accuracy of the speed.

  The object position / partition area and moving object position / on-map area collation unit 37 is based on image data from the camera image data processing unit 31, time data from the time data processing unit 33, and position data from the position data processing unit 34. Thus, the current positions of the objects 600 and 650 and the moving body 1, the partitioned area where the objects 600 and 650 are present, and the area on which the moving body 1 is currently on the map are collated. Further, the object position / partition area and the moving object position / on-map area collation unit 37 further collide based on the calculation result (approach determination / relative speed / absolute speed) of the approach determination / relative speed / absolute speed calculation unit 36. The remaining time in the case of a collision is calculated.

  The alarm judgment / alarm stage selection unit 38: (A) whether or not the objects 600 and 650 are approaching the moving body 1; (B) the relative speed between the objects 600 and 650 and the moving body 1; Absolute speeds of the objects 600 and 650 and the moving object 1, (D) the current positions of the objects 600 and 650 and the moving object 1, (E) a divided area where the objects 600 and 650 are present, and (F) the moving object 1 is a current map. Information on which region is above, (G) Possibility of collision, and (H) Remaining time in case of collision is input. The alarm determination / alarm stage selection unit 38 determines the risk of collision by the objects 600 and 650 from each of the information (A) to (H) using, for example, the method shown in the flowchart of FIG. Whether or not to output the alarm and the alarm stage for alarm output are selected according to the current risk level.

  The alarm output unit 39, when outputting an alarm, according to the selected alarm stage, an image output signal composed of a display image frame to be displayed on the display device 41 described later and display information corresponding thereto, An in-vehicle acoustic output signal to be output from the in-vehicle speaker 42 for the driver's seat and an out-of-vehicle acoustic output signal to be output from the in-vehicle speaker 43 when the moving body 1 includes the in-vehicle speaker 43 are generated and output.

  The display device 41 is a flat display device using an LCD (liquid crystal display device), an EL (electroluminescence) display element, or the like, and is attached to a position where the driver of the moving body 1 can visually check the input image signal. Display the based image.

  The in-vehicle speaker 42 is provided in the vicinity of the driver of the moving body 1 and outputs a synthesized voice or an alarm sound to the driver when an in-vehicle acoustic output signal is input from the alarm output unit 39.

  The outside speaker 43 is an external notification device, for example, provided in the vicinity of each blind spot area 210, 220, 230, 240 on the outer periphery of the moving body 1 or in the vicinity of the video camera 510 or the like. When the vehicle exterior acoustic output signal is input, a synthesized voice or warning sound is output to a pedestrian or the like outside the moving body 1 shown as the object 600 in FIGS. 3 (a) and 3 (b). In addition, when the control device 30 determines that the person outside the mobile body 1 is at risk, the external device (the object 600) is used to detect that the danger is imminent. Inform.

Next, operation | movement of the alarm device 18 of this embodiment is demonstrated, referring FIGS. 1-5 using FIG.
In the alarm device 18 of the present embodiment, the position of the moving body 1 in the image data from each video camera 510 or the like is registered using the control device 30, and the distance from the moving body 1 is previously around the moving body 1. Accordingly, the A section area 710, the B section area 720, and the farthest C section area 730 are set and registered from the nearest. How to divide each of the divided areas 710, 720, and 730 is based on a case study, an accident memory, and the like based on a dangerous distance (for example, a distance from the moving body 1 that can be determined to have an accident risk if approached further). Depending on, it is set in two stages.

  The setting method of each segmented area can be set by using an input device such as a keyboard or a touch panel. For example, the alarm device 18 has a plurality of boundaries between the actual segmented areas 710, 720, and 730 during the setting mode. It may be set by actually standing a person at a position, detecting a plurality of positions where the person stands as each point, and connecting each point. In the area setting by a person, the setting may be performed by detecting an action such as a person raising his / her hand, a shape in which a person raises his / her hand up or side, or a time for stopping at the same place.

  In addition, the control device 30 registers the initial values of the divided areas 710, 720, and 730 using the size of the vehicle of the moving body 1 and the installation height and the mounting angle of the detection device 20 on the moving body 1. It is good to do. Further, according to the control device 30 of the alarm device 18 of the present embodiment, according to the method described in the description of each segmented area, the moving body 1 is set for each moving body 1 in accordance with the range that the driver of the moving body 1 can visually recognize. Since different divided areas 710, 720, and 730 can be registered, the determination of the degree of risk can be optimized for each moving body 1.

  When the alarm device 18 has map data, a predetermined area on the map for changing the alarm content according to the degree of danger is set in advance in the map data, for example, by an input device. The predetermined area on the map can also be set using an input device such as a keyboard or a touch panel.

  First, the control device 30 of the alarm device 18 according to the present embodiment starts analysis of the input signal for each video camera 510 or the like (S1), and determines whether or not the object 600 or 650 has been detected for the first time. (S2). If there is no first detection (S2: NO), control device 30 repeats step S2 again to determine whether or not the first detection has been performed. When there is a first detection (S2: YES), the control device 30 obtains the time at which the first detection has been made from a GPS signal or the like, Corresponding detection times are stored in a storage device (not shown).

  Next, the control device 30 determines whether or not the object 600 or 650 is detected for the second time (S4). When the second detection is not performed (S4: NO), the control device 30 returns to step S2 and determines whether or not the first detection is performed. When there is a second detection (S4: YES), the control device 30 obtains the time at which the second detection was made from a GPS signal or the like, and the second detection position and the second detection position. Corresponding detection times are stored in a storage device (not shown).

  Based on the stored first detection position and detection time and second detection position and detection time, the control device 30 controls the object 600 or 650 from the moving body 1 for each of the first time and the second time. And the direction of the object 600 or 650 when viewed from the moving body 1 is calculated (S6). Further, the traveling direction of the object 600 or 650 is calculated from the distance and direction of the first object 600 or 650 and the distance and direction of the second object 600 or 650 (S7).

  The control device 30 determines whether the object 600 or 650 is approaching the moving body 1 from the traveling direction of the object 600 or 650 from the position of the moving body 1 (S8). When the vehicle is not approaching (S8: NO), the control device 30 returns to step S2 and determines whether or not the first detection has been performed. When the vehicle is approaching (S8: YES), the control device 30 determines that the object 600 or 650 is the moving object 1 based on the first detection position and detection time, the second detection position and detection time, and the like. The relative speed approaching is calculated (S9).

  The control device 30 determines the object 600 or 650 from the position of the moving body 1 in the registered image data, the first detection position, the second detection position, and the registered contents of the respective divided areas 710, 720, and 730. Are compared with the respective segmented regions 710, 720, and 730, and the absolute velocity of the object 600 or 650 is also calculated (S10). As described above, according to the control device 30 of the present embodiment, different notifications are made for each of the divided areas 710, 720, and 730 divided in advance so that the distance from the moving body 1 of the object 600 or 650 and the degree of risk are different. Thus, the driver 100 can be made to perform an appropriate danger avoidance operation, and the accuracy of notifying the approach of the objects 600 and 650 and the degree of danger can be calculated by calculating the traveling direction of the object 600 or 650 and approaching. Can be increased.

  Further, the alarm device 18 increases the accuracy of speed detection of the moving body 1 by taking into account a vehicle speed signal input from another device such as a vehicle speed sensor of a vehicle or a vehicle speed sensor based on a GPS signal. The relative speed and the absolute speed between the object 600 and the object 600 and 650 may be calculated to determine the degree of danger. As a result, the alarm device 18 detects not only the relative speed but also the absolute speed of the moving body 1 and the objects 600 and 650 by making a determination in consideration of the vehicle speed signal from the speed pulse from the GPS or the speedometer of the moving body 1. It is possible to increase the accuracy of the danger level.

  Moreover, since the control apparatus 30 can discriminate | determine that the object 600 is a person as above-mentioned, when it is judged that the person (pedestrian etc.) outside a moving body is near danger, the outside speaker 43 grade | etc., Using an external notification device, an external person (object 600) can be informed that the danger of approaching and colliding with the moving body 1 is imminent and can be withdrawn. Even when the object 600 is an animal such as a dog, a cat, or a bird, it can be similarly notified and evacuated. Therefore, the driver 100 can reduce the operation for avoiding the collision with those people and animals. In general, the danger avoidance operation is an operation that may lead to other accidents such as a sudden handle or a sudden brake. Therefore, not only by reducing the risk of collision by the above external notification, The risk of serious accidents can be reduced.

  Moreover, the control apparatus 30 collates the position on the map (on the earth) of the moving body 1 by GPS etc. with a predetermined area on the map set in advance (S11). At that time, the GPS or the like that is the detection device 20 detects the position of the moving body 1 on the ground.

  The control device 30 determines whether or not the position of the mobile body 1 on the map is located in a predetermined area on the ground map divided in advance, and determines whether or not to output an alarm based on the result. (S12). When the moving body 1 is outside the predetermined area on the map and does not output an alarm (S12: NO), the control device 30 returns to step S2 and determines whether or not the first detection has been performed. When the moving body 1 outputs an alarm within a predetermined area on the map (S12: YES), the control device 30 causes the relative speed, absolute speed, relative position, absolute position of the object 600 or 650, From the position on the map, etc., the alarm type and volume are selected step by step in correspondence with the alarm level, and an alarm signal is output. And the alerting | reporting apparatus 40 outputs a warning in steps according to a relative speed.

  Further, the control device 30 outputs a different alarm from the notification device 40, for example, when the moving body 1 is in a different ground area according to the result of determination and selection by the control device 30 (S14). And the control apparatus 30 stores an alarm output in a memory | storage device, and complete | finishes a process (S15).

  For example, the alarm device 18 of the present embodiment detects the position of the moving body 1 with the control device 30 and, for example, a child or an elderly person such as (b) school, kindergarten / nursery school, (b) nursing home, etc. described above. The probability of an accident can be reduced by enlarging the surrounding area to be notified or changing the notification contents in the peripheral area on the map of a facility with a large number of facilities.

  Thus, according to the alarm device 18 of the present embodiment, the driver 100 can know how fast the objects 600 and 650 are approaching the moving body 1 at a speed. Then, the driver 100 does not perform a quick steering operation or a brake / accelerator for the fast objects 600 and 650 as much as possible, and does not perform a sudden steering operation or a brake / accelerator for the slow objects 600 and 650, and has a margin. Operation can avoid danger. In addition, when the approaching object 600 or 650 is slow, the driver 100 does not give a shock to the occupant or surprise the other moving body 1 and perform a drastic driving operation that may cause another accident. Appropriate danger avoidance operation can be performed

  In addition, when there is no risk, the control device 30 displays the normal mode, for example, a map display of the current position, when there is no risk. 600 and 650 and an image notifying that the danger is imminent are displayed, and when it is determined that the danger level is lost, the display of the objects 600 and 650 and the danger imminent on the display device is stopped. As a result, according to the alarm device 18 of the present embodiment, the object 600, 650 and the danger approaching are displayed on the monitor only when there is a danger level, so that the driver is not distracted effectively and the driver is effective. The danger content can be notified to.

  Further, since the objects 600 and 650 are detected for the voice and the danger is imminent, the control device 30 indicates that there is a danger at the same timing as displaying the image on the display device described above. Is notified from the in-vehicle speaker 42 which is a notification device. By notifying in this way, the driver can be surely aware that the objects 600 and 650 are detected and the danger is imminent or that the object 600 or the like is displayed on the monitor. The danger content can be notified to the person.

  In addition, the control device 30 is an arithmetic element that performs various processing on various types of input data. For example, the general-purpose microprocessor or CPU is used to perform all processing by a program. For image data having a large amount of information, a dedicated image processing arithmetic element (graphic controller) may be added. The storage device is the same as that for storing the image data and detection data of the alarm device 18 described above. However, each storage device may be a dedicated storage device, or it may be a built-in type. It may be a free external storage medium.

  As described above, according to the alarm device 18 of the present embodiment, one or more divided regions 710, 720, 730 corresponding to the degree of danger are registered around the moving body 1 based on the detection signal of the detection device 20 in advance. It is determined whether the objects 600 and 650 are located in any of the divided areas 710, 720, and 730 divided in advance according to the distance from the moving body 1. Then, the notification device 40 outputs different alarms according to the determination result of the positional relationship between the divided areas 710, 720, 730 and the object 600 or 650 by the control device 30.

  Further, according to the alarm device 18 of the present embodiment, it can be determined from which direction the objects 600 and 650 are approaching from the direction and distance of the objects 600 and 650 with respect to the moving body 1 and the detection time. Therefore, the driver 100 can appropriately perform the danger avoiding operation in the direction of avoiding the collision with the objects 600 and 650 by operating the steering wheel, the brake / accelerator, and the like with respect to the danger that the objects 600 and 650 approach.

(Second Embodiment)
In the first embodiment described above, the detection device 20 is the video camera 510 or the like, but in the case of a video camera, the image becomes unclear due to insufficient illuminance or the like necessary for imaging at night. 600 may not be detected. In addition, when a wide-angle lens video camera used when the distance from the mounting position to the subject is short, a wide range of images captures a wide range of individual objects. However, if the object on the screen is small, image recognition becomes difficult. There is. In the second embodiment, in order to improve the problem of the first embodiment, a Doppler radar using, for example, an electromagnetic wave having a predetermined frequency such as a microwave or an ultrasonic wave is used.

  As shown in FIGS. 7 and 8, the alarm device 18 according to the present embodiment includes Doppler radars 570 to 590 as the detection device 20, the control device 30, and the notification device 40, and the detection device 20, the control device 30, and the notification are provided. The device 40 is electrically connected by wiring or the like. Further, when the signal detected by the detection device 20 is input to the control device 30, processing and determination are performed there, and an alarm is output from the control device 30 to the notification device 40 according to the determination result.

  In the alarm device 18 of this embodiment shown in FIGS. 7 and 8, the detection device 20 is a Doppler radar 570 to 590 that detects the objects 600 and 650 by transmitting and receiving electromagnetic waves. The Doppler radar 570 is provided in the lower part of the side mirror 11 on the right side surface 4 of the moving body 1 so as to monitor the right side surface detection area 470 behind the side mirror 11 and detect an object. The right side surface detection region 470 is a region including the blind spot region 240 of the side surface 4.

  The Doppler radar 580 is provided in the lower part of the side mirror 12 on the left side surface 3 of the moving body 1 so as to monitor the right side surface detection area 490 behind the mirror and detect an object. The right side detection area 490 is an area including the blind spot area 220 of the side surface 3.

  The Doppler radar 590 is provided in the rear bumper on the rear surface 5 of the moving body 1 so as to detect the object by monitoring the rear surface detection region 480 behind the rear bumper. The rear surface detection region 480 is a region including the blind spot region 230 on the rear surface 5.

  In the alarm device 18 of the present embodiment, the control device 30 uses the received electromagnetic wave signal as the detection signal by changing the side detection device 20 from the video camera 520 or the like of the first embodiment to the Doppler radar 570. Thus, the objects 600 and 650 can be detected at night or in a dark place, and can be detected even if the object is small or far away. Further, since the Doppler radar 570 has a wider detection range than the video camera 520 and the like of the first embodiment, the degree of freedom of the attachment position and attachment angle can be increased.

  Conventional vehicle Doppler radars are installed around a moving body so that obstacles in a traveling direction such as in front of the moving body can be detected, and vehicles that are driven up from behind the moving body can be detected. However, the conventional Doppler radar is not installed at an angle that detects an object in the blind spot area of the moving object.

The processing method of the detection signal from each blind spot area in the control unit 30 and the notification method in the notification device 40 are the same as in the first embodiment. In addition, when the detection device 20 is a Doppler radar 570 to 590, an approaching object is detected for each case described below, and a different warning (notification) is generated for each individual case.
(1) About the presence of an approaching object from the left rear, its distance, and the relative speed approaching when another vehicle (object) that approaches and tracks from the left rear is detected only by the Doppler radar 590 under the left side mirror 12 Warning.
(2) When another vehicle (object) that approaches and tracks from the right rear is detected only by the Doppler radar 570 under the right side mirror, the existence of the approaching object from the right rear, its distance, and the relative speed of approaching warning.
(3) A warning about the presence of an approaching object from the rear, its distance, and the approaching relative speed when another vehicle (object) approaching and tracking from behind is detected only by the rear Doppler radar 580.
(4) When Doppler radar 590 below the left side mirror and another vehicle (object) that approaches and tracks from the left rear are detected by the rear Doppler radar 580, it is a mirror rather than the rear left (in the case of (1)) Warning about the presence of an approaching object from the rear blind spot area that is difficult to detect), its distance and the relative speed of approaching.
(5) When the Doppler radar 570 below the right side mirror and the rear Doppler radar 580 detect another vehicle (object) that is approaching and tracking from the right rear side, the right rear (in the case of (2)) Warning about the presence of an approaching object from the rear blind spot area that is difficult to detect), its distance and the relative speed of approaching.
(6) Notification of the approaching object when the approaching object of (1) to (5) cannot be detected.

  By enabling each of the above warnings and notifications, the present embodiment detects an object such as a motorcycle, a bicycle, or a pedestrian approaching from the left and right rear, particularly from the blind spot area, with respect to the traveling direction of the own vehicle. And accidents due to contact can be prevented. In addition, for example, it is possible to more quickly detect an object that is difficult to detect with the video camera of the first embodiment, such as a motorcycle that passes between congested vehicles during a traffic jam, a nighttime motorcycle, a bicycle, and a pedestrian. In addition, since the vehicle approaching backward from the blind spot can be quickly detected, the approaching vehicle can evacuate before performing a hitting action, for example, even if it is hit from behind, it can be prepared by knowing in advance, It is possible to reduce diseases such as whiplash by taking a defensive posture against impact and giving tension to the muscles around the cervical spine.

  In this way, by using the Doppler radar instead of the video camera 510 or the like of the first embodiment as the detection device 20, it can be configured at low cost, and can be improved for night-time object detection and minute object detection. Since the range is widened, further effects as described above can be obtained. In addition, the Doppler radar may be provided with a signal processing circuit that prevents false alarms caused by signals from devices with overlapping frequency bands. Further, by using a video camera and a Doppler radar together, in addition to the individual merits in the case of only the video camera of the first embodiment and the case of only the Doppler radar, the accuracy of the distance to the objects 600 and 650 can be improved. Can be increased.

  As described above, the present invention has been described using the embodiment. However, the present invention is not limited to the scope described in the above embodiment, and is an apparatus for detecting a driver's blind spot area in a moving body, in particular. A detection device that detects an object from the top to the bottom of the blind spot area instead of detecting from the front space or the rear space for other moving objects like a conventional camera or Doppler radar It is possible to obtain the effects of the present invention if it has a detection device that detects an object in the blind spot area. Moreover, although the mobile body 1 demonstrated in the example mentioned above in the example of a bus | bath, it is good also as vehicles, such as a truck, the train which moves a railroad, and the ship which moves on the sea.

1 mobile,
2 (front of the moving body)
3 Left side of (moving body)
4 Right side of (moving body)
5 Rear side of mobile
7 Rear wheel (of mobile body)
8 Front wheel (of mobile body)
9 Arrows (vectors that indicate the direction and speed of movement)
10 (moving body) windshield,
11 (Right side of moving body) Rearview mirror,
12 (Left side of moving object) Rearview mirror,
13 (Left side of moving body) Side glass,
14 (right side of moving body) side glass,
15 Rear glass (of mobile body)
18 alarm device,
20 detection device,
30 control device,
31 camera image data processing unit,
32 Radar reception data processing section,
33 Time data processing unit,
34 position data processing unit,
35 Direction and distance of object from moving object / traveling direction calculation unit of object,
36 Approach determination / relative speed / absolute speed calculator,
37 Object position / partition area and moving object position / map area verification unit,
38 Alarm judgment / alarm stage selection section,
39 Alarm output section,
40 Notification device,
41 display device,
42 Car speakers,
43 Speaker outside the car,
100 drivers,
110 Position where it can be seen,
120 backward (to the left of the mobile)
130 rear (to the right of the mobile),
210 Blind spot area (in front of moving body),
220 blind spot area (on left side of moving object),
230 blind spot area (on the back of the moving body),
240 blind spot area (on the right side of the moving object),
310 distance (to the visible position on the front side of the moving object),
410 Front shooting area (of mobile body),
420 Left side front side shooting area (of mobile body)
430 Left side rear imaging area (of mobile body),
440 Rear imaging area (of moving body),
450 Rear side shooting area on right side (of moving body),
460 Front side shooting area of right side surface (of moving body),
470 right side detection area (of moving body),
480 Left side detection area (of the moving body),
490 Rear surface detection area (of moving body),
510 (front of moving object) video camera,
520 (camera left side front side) video camera,
530 (left side rear side of moving body) video camera,
540 (rear side of moving body) video camera,
550 (Right side rear side of moving body) Video camera,
560 (right front side of moving object) video camera,
570 (right side of moving body) Doppler radar,
580 (left side of moving object) Doppler radar,
590 (rear side of moving body) Doppler radar,
610, 620 (person: vector indicating the direction and speed of the object 600),
600 Object (person),
650 objects (flying objects: birds, balls, etc.)
660, 670 (person: vector indicating the direction and speed of the object 600),
710 A section area,
720 B segment area,
730 C segment area.

Claims (12)

  1. In the direction in which the object is detected based on the positional relationship between the object detected based on the signal from the detection means for detecting the object around the moving body and the plurality of divided regions set around the moving body. Equipped with control means to judge the risk,
    Wherein each segment region Ri configurable der,
    The setting of each segmented area has a function of detecting a plurality of positions on the boundary of each segmented area as each point and setting by connecting each point ,
    Each of the points is detected by detecting a position where a person is standing.
  2.   The control means registers initial values of the respective divided areas by using a vehicle size of the moving body and an installation height and an attachment angle of the detecting means on the moving body. Item 6. The alarm device according to Item 1.
  3.   The control means registers a plurality of the divided regions according to the degree of danger around the moving body based on a signal from the detecting means, and the object is divided into a plurality in advance according to the distance from the moving body. The warning device according to claim 1 or 2, wherein it is determined in which of the divided areas.
  4.   The alarm device according to any one of claims 1 to 3, wherein a range of each of the divided regions is set differently depending on a direction from the moving body.
  5.   5. The alarm device according to claim 4, wherein each of the divided regions is set wider at a rear side than at a front side of the moving body.
  6.   6. The alarm device according to claim 4, wherein each of the divided areas is set wider on the other side opposite to the side on which the driver is present.
  7.   The alarm device according to claim 1, wherein the control unit also determines a traveling direction of the object and whether or not the object is approaching the moving body.
  8.   The alarm device according to claim 1, wherein the control unit performs control to output a different alarm from the notification unit according to the risk level.
  9.   The alarm device according to any one of claims 1 to 8, wherein the control means determines whether the moving body is located in a region on the ground divided in advance.
  10.   The alarm device according to any one of claims 1 to 9, wherein the control means determines the degree of danger in consideration of a vehicle speed signal input from another device.
  11. The control means further determines whether or not the approaching object is a person,
    The alarm device according to any one of claims 1 to 10, wherein when the approaching object is a person, an alarm is also output to the outside of the moving body.
  12. Claim 1-11 program for realizing the functions of the control means in the alarm device according to a computer either.
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