JP6921160B2 - 車両の後側方監視装置 - Google Patents
車両の後側方監視装置 Download PDFInfo
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- JP6921160B2 JP6921160B2 JP2019195814A JP2019195814A JP6921160B2 JP 6921160 B2 JP6921160 B2 JP 6921160B2 JP 2019195814 A JP2019195814 A JP 2019195814A JP 2019195814 A JP2019195814 A JP 2019195814A JP 6921160 B2 JP6921160 B2 JP 6921160B2
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- 238000012806 monitoring device Methods 0.000 title claims description 64
- 238000001514 detection method Methods 0.000 claims description 14
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- 238000012544 monitoring process Methods 0.000 description 10
- 238000013459 approach Methods 0.000 description 2
- 238000010801 machine learning Methods 0.000 description 2
- 238000005259 measurement Methods 0.000 description 2
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N7/00—Television systems
- H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
- H04N7/183—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast for receiving images from a single remote source
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/08—Interaction between the driver and the control system
- B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R1/00—Optical viewing arrangements; Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles
- B60R1/20—Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles
- B60R1/22—Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles for viewing an area outside the vehicle, e.g. the exterior of the vehicle
- B60R1/23—Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles for viewing an area outside the vehicle, e.g. the exterior of the vehicle with a predetermined field of view
- B60R1/26—Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles for viewing an area outside the vehicle, e.g. the exterior of the vehicle with a predetermined field of view to the rear of the vehicle
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
- B60W30/095—Predicting travel path or likelihood of collision
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
- B60W30/095—Predicting travel path or likelihood of collision
- B60W30/0956—Predicting travel path or likelihood of collision the prediction being responsive to traffic or environmental parameters
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/02—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to ambient conditions
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/16—Anti-collision systems
- G08G1/167—Driving aids for lane monitoring, lane changing, e.g. blind spot detection
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R2300/00—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle
- B60R2300/30—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of image processing
- B60R2300/301—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of image processing combining image information with other obstacle sensor information, e.g. using RADAR/LIDAR/SONAR sensors for estimating risk of collision
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R2300/00—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle
- B60R2300/30—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of image processing
- B60R2300/304—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of image processing using merged images, e.g. merging camera image with stored images
- B60R2300/305—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of image processing using merged images, e.g. merging camera image with stored images merging camera image with lines or icons
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R2300/00—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle
- B60R2300/80—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the intended use of the viewing arrangement
- B60R2300/802—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the intended use of the viewing arrangement for monitoring and displaying vehicle exterior blind spot views
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/08—Interaction between the driver and the control system
- B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
- B60W2050/146—Display means
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2420/00—Indexing codes relating to the type of sensors based on the principle of their operation
- B60W2420/40—Photo, light or radio wave sensitive means, e.g. infrared sensors
- B60W2420/403—Image sensing, e.g. optical camera
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2420/00—Indexing codes relating to the type of sensors based on the principle of their operation
- B60W2420/40—Photo, light or radio wave sensitive means, e.g. infrared sensors
- B60W2420/408—Radar; Laser, e.g. lidar
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2552/00—Input parameters relating to infrastructure
- B60W2552/50—Barriers
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2554/00—Input parameters relating to objects
- B60W2554/80—Spatial relation or speed relative to objects
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Multimedia (AREA)
- Automation & Control Theory (AREA)
- Transportation (AREA)
- Human Computer Interaction (AREA)
- Physics & Mathematics (AREA)
- Mathematical Physics (AREA)
- General Physics & Mathematics (AREA)
- Signal Processing (AREA)
- Traffic Control Systems (AREA)
- Fittings On The Vehicle Exterior For Carrying Loads, And Devices For Holding Or Mounting Articles (AREA)
- Closed-Circuit Television Systems (AREA)
Description
実施の形態1.
図1は、実施の形態1に係る車両の後側方監視装置を示す構成図である。図1に示したように、実施の形態1に係る車両の後側方監視装置10は、機能ブロックとして、抽出部11と、警告判定部12と、警告情報付加部13と、側方距離計測部14と、車両進行方向推定部15とを備えている。
<警告条件>
(条件1)死角移動体が車両に接近している。
(条件2)死角移動体が二輪車である。
(条件3)側方物体までの距離Wyが判定距離以下である。
(条件4)車両の進行方向が側方物体の存在する側に向かう方向である。
次に、実施の形態2に係る車両の後側方監視装置について説明する。実施の形態2に係る車両の後側方監視装置は、車両50と二輪車51との距離に応じて警告情報の表示態様を変化させる。
Claims (6)
- 車両の後側方を撮影するサイドカメラからの情報と、前記車両の後方の物体を検出する後方センサからの情報とに基づいて、前記サイドカメラの死角領域と前記後方センサの検出領域とが重なる領域に存在する移動体である死角移動体を抽出する抽出部と、
前記死角移動体が警告条件を満たしているか否かを判定する警告判定部と、
前記警告判定部により、前記死角移動体が前記警告条件を満たしていると判定された場合に、前記サイドカメラによって撮影された撮影画像に警告情報を付加して、前記車両のディスプレイに表示させる警告情報付加部と、
前記車両から、前記サイドカメラが撮影する側において前記車両の側方に存在する物体である側方物体までの距離を計測する側方距離計測部と
を備え、
前記警告条件は、前記死角移動体が前記車両に接近しているという条件と、前記側方物体までの距離が判定距離以下であるという条件とを含んでいる
車両の後側方監視装置。 - 前記車両の進行方向を推定する車両進行方向推定部をさらに備え、
前記警告条件は、前記車両の進行方向が、前記側方物体の存在する側に向かう方向であるという条件をさらに含んでいる
請求項1に記載の車両の後側方監視装置。 - 車両の後側方を撮影するサイドカメラからの情報と、前記車両の後方の物体を検出する後方センサからの情報とに基づいて、前記サイドカメラの死角領域と前記後方センサの検出領域とが重なる領域に存在する移動体である死角移動体を抽出する抽出部と、
前記死角移動体が警告条件を満たしているか否かを判定する警告判定部と、
前記警告判定部により、前記死角移動体が前記警告条件を満たしていると判定された場合に、前記サイドカメラによって撮影された撮影画像に警告情報を付加して、前記車両のディスプレイに表示させる警告情報付加部と、
前記車両の進行方向を推定する車両進行方向推定部と、
前記車両から、前記サイドカメラが撮影する側において前記車両の側方に存在する物体である側方物体までの距離を計測する側方距離計測部と
を備え、
前記警告条件は、前記死角移動体が前記車両に接近しているという条件と、前記車両の進行方向が、前記側方物体の存在する側に向かう方向であるという条件とを含んでいる
車両の後側方監視装置。 - 前記警告条件は、前記死角移動体が二輪車であるという条件をさらに含んでいる
請求項1から請求項3までのいずれか1項に記載の車両の後側方監視装置。 - 前記警告情報付加部は、
前記警告情報として前記死角移動体の予想進路を表す記号を前記撮影画像に付加する
請求項1から請求項4までのいずれか1項に記載の車両の後側方監視装置。 - 前記警告情報付加部は、
前記車両と前記死角移動体との距離に応じて前記警告情報の表示態様を変化させる
請求項1から請求項5までのいずれか1項に記載の車両の後側方監視装置。
Priority Applications (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2019195814A JP6921160B2 (ja) | 2019-10-29 | 2019-10-29 | 車両の後側方監視装置 |
DE102020212498.1A DE102020212498B4 (de) | 2019-10-29 | 2020-10-02 | Fahrzeug-Heck-Lateralseiten-Überwachungsvorrichtung |
CN202011138680.5A CN112744230B (zh) | 2019-10-29 | 2020-10-22 | 车辆后侧方监视装置 |
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JP2019195814A JP6921160B2 (ja) | 2019-10-29 | 2019-10-29 | 車両の後側方監視装置 |
Publications (2)
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JP2021072459A JP2021072459A (ja) | 2021-05-06 |
JP6921160B2 true JP6921160B2 (ja) | 2021-08-18 |
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JP (1) | JP6921160B2 (ja) |
CN (1) | CN112744230B (ja) |
DE (1) | DE102020212498B4 (ja) |
Family Cites Families (13)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2000043658A (ja) * | 1998-07-27 | 2000-02-15 | Sony Corp | 車両用警告/記録装置、及び動き検出装置 |
JP3882568B2 (ja) | 2001-10-17 | 2007-02-21 | 日産自動車株式会社 | 車両用接近報知装置 |
TWM277644U (en) * | 2005-05-26 | 2005-10-11 | Whetron Electronics Co Ltd | Vehicular lateral image device |
JP2009231938A (ja) * | 2008-03-19 | 2009-10-08 | Mazda Motor Corp | 車両用周囲監視装置 |
DE102010032411A1 (de) | 2010-07-27 | 2012-02-02 | Hans Dominik | Vorrichtung zur Überwachung der seitlichen und rückwärtigen Umgebung eines Fahrzeugs |
WO2014027489A1 (ja) * | 2012-08-17 | 2014-02-20 | 本田技研工業株式会社 | 運転支援装置 |
CN103679838A (zh) * | 2012-09-20 | 2014-03-26 | 上海科沁机电有限公司 | 车辆监控系统及方法 |
KR20150044346A (ko) * | 2013-10-16 | 2015-04-24 | 현대모비스 주식회사 | 차량의 전방필러에 의한 사각지대의 사고방지 장치 및 방법 |
JP6429069B2 (ja) * | 2014-09-16 | 2018-11-28 | 日本精機株式会社 | 運転支援情報表示システム |
KR102239014B1 (ko) * | 2014-11-10 | 2021-04-13 | 현대모비스 주식회사 | 사각지대 경보 제어 시스템 및 방법 |
JP6564577B2 (ja) * | 2015-02-16 | 2019-08-21 | 修一 田山 | 自動車における近接体警報知装置 |
US10173590B2 (en) | 2017-02-27 | 2019-01-08 | GM Global Technology Operations LLC | Overlaying on an in-vehicle display road objects associated with potential hazards |
DE102017122261A1 (de) | 2017-09-26 | 2019-03-28 | Valeo Schalter Und Sensoren Gmbh | Verfahren zum Überwachen eines Umgebungsbereiches eines Kraftfahrzeugs sowie Kamerasystem |
-
2019
- 2019-10-29 JP JP2019195814A patent/JP6921160B2/ja active Active
-
2020
- 2020-10-02 DE DE102020212498.1A patent/DE102020212498B4/de active Active
- 2020-10-22 CN CN202011138680.5A patent/CN112744230B/zh active Active
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Publication number | Publication date |
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DE102020212498A1 (de) | 2021-04-29 |
CN112744230B (zh) | 2024-07-23 |
DE102020212498B4 (de) | 2022-07-07 |
CN112744230A (zh) | 2021-05-04 |
JP2021072459A (ja) | 2021-05-06 |
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R250 | Receipt of annual fees |
Free format text: JAPANESE INTERMEDIATE CODE: R250 |