JP5939170B2 - Object approach notification system - Google Patents

Description

  The present invention relates to an object approach notification system that links a vehicle-side device and an object approach notification function of a portable information terminal to notify a driver of a danger ahead of the vehicle.

  2. Description of the Related Art Conventionally, a technique for notifying a driver when a preceding vehicle or the like approaches is known for the purpose of preventing a rear-end collision during vehicle travel.

  For example, Patent Document 1 discloses an object recognition device that uses a ranging radar mounted on a vehicle and a sensor fusion of an image sensor. This object recognition apparatus recognizes an object using the radar width detected by the ranging radar and the image width detected by the image sensor, and performs a collision avoidance alarm control.

In recent years, with the spread of smartphones, many applications for car drivers are being proposed. One of them is an application that supports driving of a vehicle. In this application, a camera of a smartphone installed in the vehicle captures an image in front of the host vehicle, detects an approach between the host vehicle and a preceding vehicle based on the captured image, and notifies the driver of the danger.
JP 2006-240454 A

  However, when the vehicle approaching object approach notification function of the technology described in Patent Document 1 and the object approach notification function of a portable information terminal such as a smartphone are performed simultaneously, the notification timing and type of each object approach notification function are It does not necessarily match. For this reason, when the vehicle side device and the portable information terminal notify the object approach in the same vehicle, if the notification timing or the like is shifted, the driver may be confused and the vehicle driving control may be disturbed. There is.

  The present invention has been made in view of the above problems, and an object thereof is to provide an object approach notification system that performs consistent notification when the object approach notification function of the vehicle side device and the portable information terminal is performed simultaneously. And

  The invention according to claim 1, which has been made to solve the above problems, is an object approach notification system including a vehicle-side device and a portable information terminal, and the vehicle-side device is mounted on a vehicle and around the vehicle. Vehicle-side object information acquisition means for acquiring information of an existing object, vehicle-side approach determination means for determining whether the vehicle and the object are approaching based on the acquisition information of the vehicle-side object information acquisition means, Vehicle-side notification means for notifying the vehicle driver of the approach of the object based on the determination result of the side-approaching determination means, and the portable information terminal acquires terminal-side object information acquisition for acquiring information on objects existing around the vehicle Driving the vehicle based on the determination result of the terminal side approach determining means, the terminal side approach determining means for determining whether the vehicle and the object are approaching based on the acquisition information of the means, the terminal side object information acquiring means Object approaching the person In the object approach warning system and a terminal informing means for informing, and performs notification by one of vehicle informing means or terminal notifying means.

  According to this configuration, since only one of the vehicle-side notifying means and the terminal-side notifying means is notified, the notification timing shifts even when the vehicle-side notifying means and the terminal-side notifying means having different notification timings are operated simultaneously. It is possible to notify the driver of the approach of the object of the vehicle without the occurrence of. Therefore, the driver can safely perform driving control without causing confusion for the driver due to a difference in notification timing.

  Hereinafter, an embodiment embodying the object approach notification system of the present invention will be described with reference to the drawings.

  (Example 1) First, with reference to FIG. 1, the structure of the object approach alerting | reporting system 1 in Example 1 is demonstrated. Here, FIG. 1 is a block diagram of the object approach notification system 1 in the present embodiment.

  As shown in FIG. 1, the object approach notification system 1 includes a portable information terminal 10 (portable information terminal) and a vehicle side device 20 (vehicle side device).

  (Portable information terminal 10) The portable information terminal 10 is installed in a substantially central part on the front side of the vehicle, and includes a terminal side communication unit 11, a terminal camera 12 (terminal side object information acquisition means), a terminal control unit 13, and a terminal side. It is comprised from the approach determination part 14 (terminal side approach determination means) and the terminal side alerting | reporting part 15 (terminal side alerting | reporting means). Examples of the portable information terminal 10 include a smartphone and a tablet computer.

  The terminal side communication part 11 communicates with the vehicle side apparatus 20 via a wireless or wired communication circuit, and performs transmission and reception of each data. The terminal-side communication unit 11 performs communication according to a communication method such as wireless communication such as Bluetooth (registered trademark) or Wi-Fi (registered trademark), or wired communication such as USB connection. In this embodiment, communication according to Bluetooth (registered trademark) is performed.

  The terminal camera 12 receives a photographing instruction signal output from a terminal control unit 13 described later. The terminal camera 12 captures information on a front object by capturing a road situation around the vehicle at regular intervals (for example, at a cycle of 100 ms) based on a photographing instruction signal in the terminal control unit 13. The terminal camera 12 is connected to the terminal control unit 13 and outputs captured image data from the terminal camera 12 to the terminal control unit 13.

  The terminal control unit 13 executes various processes.

  The terminal control unit 13 can execute an application program (hereinafter referred to as an application) held by the portable information terminal 10. In this embodiment, the terminal control unit 13 can be used by connecting the portable information terminal 10 and the vehicle side device 20. An approach notification application for performing approach notification of a front object to a person is executed. The terminal control unit 13 executes processing for determining whether or not the approach notification application has been activated. The terminal control unit 13 is connected to the terminal camera 12 and outputs a photographing instruction signal to the terminal camera 12 when the approach notification application is activated.

  Further, the terminal control unit 13 has driver information used when the approach notification application is executed. Driver information here is information for performing notification according to the driver when notifying the approach of the front object by the approach notification application. For example, when the approach of the front object is notified, the driver's age information that tends to make a difference in the speed of response to the approach, or notification timing information set according to the driver (early, normal, late) M) etc.

  In addition, captured image data output from the terminal camera 12 is input to the terminal control unit 13. The terminal control unit 13 executes image processing that extracts edge data of the front object based on the captured image data in the terminal camera 12. And if communication with the portable information terminal 10 and the vehicle side apparatus 20 is established, the terminal control part 13 will transmit the edge data and driver information in the terminal control part 13 via the terminal side communication part 11 to the vehicle of the vehicle side apparatus 20. It transmits to the side communication part 21.

  Further, when the portable information terminal 10 and the vehicle-side device 20 are not connected, the terminal control unit 13 determines the lateral position, the lateral width and the height of the front object, the distance between the vehicle and the front object, and the vehicle based on the edge data. A process of calculating the relative speed with the front object is executed. The terminal control unit 13 is connected to the terminal side approach determination unit 14, and outputs a calculation result in the terminal control unit 13 to the terminal side approach determination unit 14.

  A calculation result output from the terminal control unit 13 is input to the terminal-side approach determination unit 14. The terminal-side approach determination unit 14 executes processing for determining whether or not a forward object is approaching based on the calculation result in the terminal control unit 13. The terminal side approach determination unit 14 is connected to the terminal side notification unit 15, and outputs the terminal side approach determination result in the terminal side approach determination unit 14 to the terminal side notification unit 15.

  The terminal side notification unit 15 receives the terminal side approach determination result output from the terminal side approach determination unit 14. The terminal-side notification unit 15 notifies the vehicle operator of the approach of the front object based on the terminal-side approach determination result in the terminal-side approach determination unit 14. Further, the terminal-side notification unit 15 is at least one of a terminal-side audio output unit (sound output unit) (not shown) of the portable information terminal 10 or a terminal-side display unit (display unit).

  (Vehicle-side device 20) The vehicle-side device 20 includes a vehicle-side communication unit 21, a radar sensor 22 (vehicle-side object information acquisition means), a light sensor 23, a brightness determination unit 24, a data calculation unit 25, The vehicle-side approach determination unit 26 (vehicle-side approach determination unit) and the vehicle-side notification unit 27 (vehicle-side notification unit) are configured.

  The vehicle-side communication unit 21 communicates with the portable information terminal 10 via a wireless or wired communication circuit, and transmits and receives each data. The vehicle-side communication unit 21 performs communication according to a communication method such as wireless communication such as Bluetooth (registered trademark) or Wi-Fi (registered trademark) or wired communication such as USB connection. In this embodiment, communication according to Bluetooth (registered trademark) is performed.

  The vehicle side communication unit 21 is connected to the vehicle side notification unit 27, and when communication between the portable information terminal 10 and the vehicle side device 20 is established, a communication establishment signal is generated and output to the vehicle side notification unit 27. The communication establishment signal is a signal that serves as a trigger for notification of the start of cooperation between the portable information terminal 10 and the vehicle-side device 20 performed by the vehicle-side notification unit 27 described later. Further, the vehicle side communication unit 21 receives the edge data and driver information transmitted from the terminal side communication unit 11 and outputs them to the data calculation unit 25.

  The radar sensor 22 is disposed at a substantially central portion on the front side of the vehicle, transmits a radar wave to the periphery of the vehicle at regular time intervals (for example, a cycle of 100 ms), and reflects a reflected wave (hereinafter referred to as an echo) reflected from a front object. Data). The radar sensor 22 is connected to the data calculation unit 25, and outputs echo data of a forward object in the radar sensor 22 to the data calculation unit 25. The radar sensor 22 corresponds to a millimeter wave radar sensor, a laser radar sensor, an ultrasonic radar sensor, or the like.

  The optical sensor 23 acquires brightness information around the vehicle. The optical sensor is connected to the brightness determination unit 24 and outputs brightness information in the optical sensor 23 to the brightness determination unit 24. As the optical sensor, a phototransistor (illuminance sensor), a CMOS, or the like is applicable. In this embodiment, brightness information, that is, illuminance is acquired by the illuminance sensor.

  Brightness information output from the optical sensor 23 is input to the brightness determination unit 24. The brightness determination unit 24 performs a process of determining whether the visibility state around the vehicle is good based on the brightness information in the optical sensor 23. The brightness determination unit 24 is connected to the data calculation unit 25, and outputs the visibility state determination result in the brightness determination unit 24 to the data calculation unit 25.

  The data calculation unit 25 includes edge data transmitted from the terminal-side communication unit 11 via the vehicle-side communication unit 21, echo data output from the radar sensor 22, and a visibility state determination result output from the brightness determination unit 24. Is entered. The data calculation unit 25 executes a process of calculating fusion data from the echo data in the radar sensor 22 and the edge data in the terminal control unit 13. Fusion data is data obtained by combining echo data and edge data.

  In addition, the data calculation unit 25 determines the lateral position, width and height of the front object, the distance between the vehicle and the front object, and the relative speed between the vehicle and the front object based on any of the edge data, echo data, and fusion data. The process of calculating is executed. The data calculation unit 25 is connected to the vehicle-side approach determination unit 26 and outputs the calculation result in the data calculation unit 25 to the vehicle-side approach determination unit 26.

  A calculation result output from the data calculation unit 25 is input to the vehicle-side approach determination unit 26. The vehicle-side approach determination unit 26 executes processing for determining whether or not a forward object is approaching based on the calculation result in the data calculation unit 25. The vehicle-side approach determination unit 26 is connected to the vehicle-side notification unit 27, and outputs the vehicle-side approach determination result in the vehicle-side approach determination unit 26 to the vehicle-side notification unit 27.

  The vehicle-side notification unit 27 receives a communication establishment signal output from the vehicle-side communication unit 21 and notifies the vehicle driver of the start of cooperation between the portable information terminal 10 and the vehicle-side device 20. In addition, the vehicle-side approach determination result and the driver information output from the vehicle-side approach determination unit 26 are input, and the approach of the front object is notified based on the vehicle-side approach determination result and the driver information in the vehicle-side approach determination unit 26. I do.

  The vehicle-side notification unit 27 is at least one of a vehicle-side audio output unit (sound output unit) or a vehicle-side display unit (display unit) (not shown). Furthermore, the vehicle-side audio output unit includes a sound display device and a buzzer such as a speaker system that perform auditory notification, and the vehicle-side display unit includes a large number of image display devices such as a liquid crystal monitor that performs visual notification. At least of a light emitting display device that displays character information or the like by lighting or flashing of a light emitting element such as an LED, a warning lamp, a car navigation monitor that has two functions of voice output and display, and a navigation device using a speaker One.

  In addition, the terminal side communication part 11 of the portable information terminal 10, the terminal control part 13, the terminal side approach determination part 14, the vehicle side communication part 21 of the vehicle side apparatus 20, the brightness determination part 24, and a data calculation part 25 and the vehicle side approach determination part 26 are comprised by the microcomputer, memory, etc. which are not shown in figure.

  The present embodiment in the object approach notification system 1 having such a configuration will be described with reference to FIG. Here, FIG. 2 is a flowchart showing processing by the object approach notification system 1.

  The object approach notification process will be described based on FIG.

  First, the flag is cleared in S100 (Flag = 0), and it is determined in S101 whether or not the vehicle side device 20 is activated. In S101, when it is determined that the vehicle-side device 20 is not activated (S101: No), the process returns to S101.

  On the other hand, when it is determined in S101 that the vehicle-side device 20 is activated (S101: Yes), the acquisition of echo data around the vehicle by the radar sensor 22 and the acquisition of brightness information around the vehicle by the optical sensor are performed. Be started. Then, the process proceeds to next S102.

  In S102, the terminal control unit 13 of the portable information terminal 10 determines whether or not the approach notification application is activated.

  In S102, when it is determined that the approach notification application is activated (S102: Yes), the terminal camera 12 receives the shooting instruction signal and starts shooting the road conditions around the vehicle. The terminal camera 12 outputs the captured image data to the terminal control unit 13, and the terminal control unit 13 performs image processing to extract edge data. Then, the process proceeds to the next S103.

  In S103, when the portable information terminal 10 and the vehicle-side device 20 are connected according to Bluetooth (registered trademark), the communication establishment signal input from the vehicle-side communication unit 21 becomes a trigger, and the vehicle-side notification unit 27 notifies the driver. On the other hand, the start of cooperation between the portable information terminal 10 and the vehicle side device 20 is notified. In the cooperation start notification between the portable information terminal 10 and the vehicle-side device 20 by the vehicle-side notification unit 27, screen display using a monitor of the navigation device and output of an alarm sound using a speaker are performed.

  When the portable information terminal 10 and the vehicle side device 20 are connected, the edge data of the terminal control unit 13 is transmitted from the terminal side communication unit 11 to the data calculation unit 25 via the vehicle side communication unit 21. The Then, the process proceeds to the next S104.

  In S104, based on the communication between the portable information terminal 10 and the vehicle-side device 20, it is determined whether or not the driver information is set in the portable information terminal 10.

  In S104, when it is determined that the driver information is set in the portable information terminal 10 (S104: Yes), the driver information transmitted from the terminal side communication unit 11 is set in the vehicle side device 20 (S105). . Then, the process proceeds to the next S106.

  On the other hand, if it is determined in S104 that the driver information is not set in the portable information terminal 10 (S104: No), the process proceeds to S106.

  In S106, the terminal side communication part 11 determines whether the vehicle side communication part 21 received edge data.

  Specifically, when an ACK signal indicating that the vehicle-side communication unit 21 has normally received the edge data is transmitted from the vehicle-side communication unit 21 to the terminal-side communication unit 11, the vehicle-side communication unit 21 It is determined that data has been received. Further, when a NACK signal indicating that the vehicle-side communication unit 21 has not successfully received the edge data is transmitted from the vehicle-side communication unit 21 to the terminal-side communication unit 11, the vehicle-side communication unit 21 receives the edge data. Is determined not to be received. Here, the case where the vehicle-side communication unit 21 cannot normally receive the edge data indicates that data is lost due to a communication abnormality.

  If it is determined in S106 that edge data has been received (S106: Yes), the data calculation unit 25 calculates fusion data based on the echo data of the radar sensor 22 and the edge data of the terminal control unit 13 (S107). ). Then, the process proceeds to the next S108.

  In S108, the data calculation unit 25 calculates the lateral position, width and height of the front object, the distance between the vehicle and the front object, and the relative speed between the vehicle and the front object based on the calculated fusion data. And a fusion data calculation result is output to the vehicle side approach determination part 26, and it progresses to following S114.

  On the other hand, if it is determined in S106 that no edge data has been received (S106: No), the process proceeds to S109.

  In S109, the brightness determination unit 24 determines whether or not the detected illuminance value E input from the optical sensor 23 is equal to or greater than a predetermined illuminance value E_th. Here, the predetermined illuminance value E_th is set in advance to be equivalent to the illuminance value during the daytime or in good weather, and may be variable according to the season or time zone.

  Here, that the detected illuminance value E is equal to or greater than the predetermined illuminance value E_th indicates that it is daytime or in good weather, that is, the field of view is good. Since the accuracy of the edge data extracted from the captured image data of the terminal camera 12 when the visibility is good is high, the edge data is preferentially used.

  Further, the fact that the detected illuminance value E is less than the predetermined illuminance value E_th indicates that it is nighttime or bad weather, that is, poor visibility. Since the accuracy of the edge data extracted from the captured image data of the terminal camera 12 at the time of poor visibility is low, the echo data acquired by the radar sensor 22 is used preferentially.

  In S109, when it is determined that the detected illuminance value E is equal to or greater than the predetermined illuminance value E_th (S109: Yes), the terminal control unit 13 determines that the lateral position, width and height of the front object based on the edge data, the vehicle The distance between the front objects and the relative speed between the vehicle and the front object are calculated (S110). Then, the edge data calculation result is output to the terminal-side approach determination unit 14, and the process proceeds to the next S114.

  On the other hand, when it is determined in S109 that the detected illuminance value E is less than the predetermined illuminance value E_th (S109: No), the data calculation unit 25 uses the echo data input from the radar sensor 22 to detect the front object. The position, width and height, the distance between the vehicle and the front object, and the relative speed between the vehicle and the front object are calculated (S111). Then, the echo data calculation result is output to the vehicle-side approach determination unit 26, and the process proceeds to the next S114.

  Further, in S102, when it is determined that the approach notification application of the portable information terminal 10 is not activated (S102: No), the data calculation unit 25 detects the front object based on the echo data input from the radar sensor 22. The lateral position, the lateral width and the height, the distance between the vehicle and the front object and the relative speed between the vehicle and the front object are calculated (S112), and the echo data calculation result is output to the vehicle side approach determination unit 26. Then, a flag is set (Flag = 1) (S113), and the process proceeds to the next S114.

  In S114, based on the edge data calculation result input from the terminal control unit 13 by the terminal side approach determination unit 14, a collision margin time TTC (Time To Collation) that is a margin time until the vehicle collides with a front object is calculated. Alternatively, the vehicle side approach determination unit 26 calculates the collision margin time TTC based on the fusion data calculation result or the echo data calculation result input from the data calculation unit 25. Then, the terminal side approach determination unit 14 or the vehicle side approach determination unit 26 determines whether the calculated collision allowance time TTC is less than the predetermined time TTC_th. Here, the predetermined time TTC_th is set in advance to be equivalent to a time during which a collision can be avoided without sudden braking when the driver notices a forward object, and may be variable according to the driver.

  Here, that the calculated collision margin time TTC is equal to or longer than the predetermined time TTC_th indicates that the front object is not approaching. Further, the calculated collision margin time TTC being less than the predetermined time TTC_th indicates that the front object is approaching.

  In S114, when it is determined that the calculated collision allowance time TTC is equal to or longer than the predetermined time TTC_th (S114: No), it is determined whether or not a flag is set (Flag = 1 or Flag = 0) (S115).

  When it is determined in S115 that the flag is not set (S115: No), that is, the approach notification application of the portable information terminal 10 is activated, and the lateral position of the front object is calculated in S108, S110, or S111. If processed, the process returns to S106.

  On the other hand, if it is determined in S115 that the flag is set (S115: Yes), that is, the approach notification application of the portable information terminal 10 is not activated, and the calculation of the lateral position of the front object is processed in S112. If so, the process returns to S112.

  On the other hand, when it is determined in S114 that the calculated collision allowance time TTC is less than the predetermined time TTC_th (S114: Yes), the terminal-side notification unit 15 receives the terminal-side approach determination result of the terminal-side approach determination unit 14 and In response to the notification of the approach of the front object to the driver or the vehicle side approach determination result of the vehicle side approach determination unit 26, the vehicle side notification unit 27 notifies the driver of the approach of the front object (S116). ), The process returns to the first step S100.

  The notification of the approach of the front object of the terminal side notification unit 15 performs screen display using the screen of the portable information terminal 10, voice output using the existing speaker in the portable information terminal 10, and alarm sound output. At this time, the vehicle-side notification unit 27 disables or suppresses the notification by the vehicle-side notification unit 27 by turning off the monitor screen display of the navigation device or lowering or turning off the volume of the sound output of the speaker or the alarm sound output. To do.

  Further, the approach notification of the front object of the vehicle-side notification unit 27 performs screen display using a monitor of the navigation device, sound output using a speaker, and alarm sound output. At this time, when the portable information terminal 10 and the vehicle-side device 20 are linked, the terminal-side notification unit 15 turns off the screen display of the portable information terminal 10, or the volume of the speaker audio output or alarm sound output The notification by the terminal side notification unit 15 is prohibited or suppressed by lowering or turning it off.

  As described above, only one of the terminal-side notification unit 15 and the vehicle-side notification unit 27 performs the approach notification of the front object.

  Further, when the driver information is set, notification based on the driver information is performed.

  For example, when the driver information is set to be older and the notification timing is earlier, screen display such as the distance to the front object and the calculated collision allowance time TTC and voice output are performed earlier, or the front object is approached. When the notification is made to increase the volume of the alarm sound as the calculated collision allowance time TTC becomes smaller, the volume of the alarm sound is increased and output from an early stage.

  Note that the approach notification of the forward object by the terminal-side notification unit 15 or the vehicle-side notification unit 27 is different from the cooperation start notification between the portable information terminal 10 and the vehicle-side device 20 by the vehicle-side notification unit 27. For example, the type or volume of the alarm sound is changed.

  In addition, when the approach notification application is activated in the portable information terminal 10 or when communication is disconnected during the execution of the object approach notification process, the process returns to the first step S100.

  Finally, the effect will be described. According to the present embodiment, the object approach notification system 1 includes edge data from the terminal camera 12 of the portable information terminal 10, echo data from the radar sensor 22 of the vehicle side device 20, and fusion data generated from the edge data and echo data. Based on any of the above, the lateral position, width and height of the front object, the distance between the vehicle and the front object, and the relative speed between the vehicle and the front object are calculated, and the terminal-side notification unit 15 is calculated based on the calculation result of each data. Only one of the vehicle side notification unit 27 notifies the driver of the approach of the object. Therefore, even when the terminal-side notification unit 15 and the vehicle-side notification unit 27 having different notification timings are operated at the same time, it is possible to notify the driver of an object approach without causing a notification timing shift. In addition, the driver can safely perform driving control without causing confusion for the driver due to a shift in notification timing.

  In addition, by performing notification based on the driver information, it is possible to perform appropriate front object approach notification that matches the characteristics of the driver.

  Furthermore, the approach notification of the front object is a notification different from the notification of the cooperation start notification between the portable information terminal 10 and the vehicle-side device 20, thereby avoiding confusion and misrecognition of each notification by the driver. .

  In general, when the visibility is poor such as at night or in bad weather, the recognition performance of the terminal camera 12 is inferior to that of the laser radar 22. Therefore, when the visibility around the vehicle is good, the edge data is preferentially used. When the visibility state is poor, the echo data is preferentially used. As described above, even when the fusion data cannot be used, that is, only one of the edge data and the echo data can be used, the data to be used is selected according to the performance of the detector that acquires the information on the front object. Therefore, it is possible to calculate the lateral position, lateral width and height of the front object with higher accuracy, the distance between the vehicle and the front object, and the relative speed between the vehicle and the front object. Therefore, the collision allowance time TTC calculated based on the calculation result of each data also becomes an accurate value, and it becomes possible to notify the driver of the object approach more accurately.

  Note that the present invention is not limited to the above-described embodiments, and modifications can be made without departing from the gist of the present invention.

  (Modification 1) For example, in the present embodiment, as a condition for determining that the forward object is approaching, the case where the calculated collision allowance time TTC based on the calculation result of each data is less than the predetermined time TTC_th is shown. However, it is not limited to this.

  For example, the approach of the front object may be determined based on the distance between the vehicle and the front object. Specifically, the terminal-side approach determination unit 14 or the vehicle-side approach determination unit 26 determines whether the inter-vehicle distance x between the vehicle and the front object is less than a predetermined inter-vehicle distance x_th, and the inter-vehicle distance x is the predetermined inter-vehicle distance. When it is determined that the distance is less than x_th, it is determined that the front object is approaching. The inter-vehicle distance x is a value calculated by the terminal control unit 13 or the data calculation unit 25 based on each data. In addition, the predetermined inter-vehicle distance x_th here is set in advance to a distance that can avoid collision without stepping on the sudden brake when the driver notices a forward object, and may be variable according to the driver.

  (Modification 2) In the present embodiment, as a condition for determining that the visibility state around the vehicle is good, the case where the detected illuminance value E of the optical sensor 23 is equal to or greater than the predetermined illuminance value E_th is shown. It is not limited to.

  For example, based on the brightness of the captured image data of the terminal camera 12 of the portable information terminal 10, it may be determined whether the visibility state around the vehicle is good. Specifically, the terminal control unit 13 determines whether or not the luminance value L measured from the captured image data is equal to or greater than a predetermined luminance value L_th, and the luminance value L of the captured image data is equal to or greater than the predetermined luminance value L_th. When it is determined that the visibility state around the vehicle is good. In addition, the predetermined luminance value L_th here is set in advance to the luminance value of the captured image data captured in the daytime or in good weather, and may be variable according to the season or time zone.

  (Modification 3) In addition, in the present embodiment, the example in which the terminal side notification unit 15 performs the approach notification of the front object is illustrated only when the reception of the edge data is not possible and the visibility state around the vehicle is good. When the portable information terminal 10 and the vehicle-side device 20 are connected and linked, the notification by the terminal-side notification unit 15 may be prohibited, and only the vehicle-side notification unit 27 may notify the approach of the front object.

  In this case, if it is determined that the edge data cannot be received, only the echo data of the laser radar 22 is used, and only the vehicle-side notification unit 27 also notifies the front object.

  In any of the above modifications, the same effects as in the present embodiment can be obtained.

  Further, the positions where the terminal camera 12 and the radar sensor 22 are disposed are not limited to the substantially central portion on the front side of the vehicle. For example, these may be disposed on the rear side of the vehicle. According to this, it is possible to detect an object behind the vehicle and perform approach notification of the rear object.

1 is a block diagram of an object approach notification system 1 in Embodiment 1. FIG. 3 is a flowchart illustrating processing by the object approach notification system 1 according to the first embodiment.

1: Object approach notification system 10: Portable information terminal 11: Terminal side communication unit 12: Terminal camera 13: Terminal control unit 14: Terminal side approach determination unit 15: Terminal side notification unit 20: Vehicle side device 21: Vehicle side communication unit 22: Radar sensor 23: Optical sensor 24: Brightness determination unit 25: Data calculation unit 26: Vehicle-side approach determination unit 27: Vehicle-side notification unit

Claims (14)

An object approach notification system comprising a vehicle side device and a portable information terminal,
The vehicle side device
Vehicle-side object information acquisition means for acquiring information of an object mounted on a vehicle and existing around the vehicle;
Vehicle-side approach determination means for determining whether or not the vehicle and the object are approaching based on the acquisition information of the vehicle-side object information acquisition means;
Vehicle-side notifying means for notifying the driver of the vehicle of the approach of an object based on the determination result of the vehicle-side approach determining means,
The portable information terminal
Terminal-side object information acquisition means for acquiring information of an object existing around the vehicle;
Terminal side approach determination means for determining whether or not the vehicle and the object are approaching based on the acquisition information of the terminal side object information acquisition means;
Terminal-side notifying means for notifying the vehicle driver of the approach of an object based on the determination result of the terminal-side approach determining means;
In the object approach notification system with
An object approach notification system, wherein notification is performed by either the vehicle-side notification unit or the terminal-side notification unit.   The vehicle-side approach determination means performs an approach determination with the object based on information obtained by fusing the acquisition information obtained by the vehicle-side object information acquisition means and the acquisition information obtained by the terminal-side object information acquisition means. The object approach notification system according to claim 1.   The terminal-side approach determination means performs an approach determination with the object based on information acquired by the terminal-side object information acquisition means when it is determined that the visibility state around the vehicle is good. The object approach notification system according to claim 1.   The vehicle-side approach determination means performs an approach determination with the object based on information acquired by the vehicle-side object information acquisition means when it is determined that the visibility state around the vehicle is not good. Item 10. The object approach notification system according to Item 1.   The approach determination is performed based on a collision margin time or an inter-vehicle distance between the vehicle and the object, which is calculated based on acquisition information of at least one of the vehicle-side object information acquisition unit or the terminal-side object information acquisition unit. The object approach notification system according to any one of claims 1 to 4.   6. The vehicle-side approach determination unit or the terminal-side approach determination unit determines that the vehicle and the object are approaching when the collision margin time is less than a predetermined time. The object approach notification system described.   6. The vehicle-side approach determining unit or the terminal-side approach determining unit determines that the vehicle and the object are approaching when the inter-vehicle distance is less than a predetermined value. Object approach notification system.   The vehicle-side notifying means or the terminal-side notifying means performs notification when the vehicle-side notifying means or the terminal-side notifying means determines that the vehicle and the object are approaching. The object approach notification system according to any one of claims 1 to 7.   The object approach notification system according to claim 8, wherein the vehicle-side notification unit or the terminal-side notification unit performs notification based on a notification timing set according to a driver.   The object approach notification system according to any one of claims 1 to 9, wherein the vehicle-side notification unit or the terminal-side notification unit performs notification by at least one of sound output unit and display unit. .   11. The object approach notification system according to claim 1, wherein the portable information terminal is a smartphone, and the terminal-side object information acquisition unit is a camera.   It is used for the said object approach alerting | reporting system, The vehicle side apparatus as described in any one of Claims 1 thru | or 11 characterized by the above-mentioned.   13. The vehicle-side device according to claim 12, wherein when the portable information terminal is connected, notification by the terminal-side notification unit is prohibited or suppressed.   It is used for the said object approach alerting | reporting system, The portable information terminal as described in any one of Claims 1 thru | or 11 characterized by the above-mentioned.

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