JP6972952B2 - Vehicle behavior recognition device and driving support device - Google Patents

Description

The present invention relates to a vehicle behavior recognition device that recognizes the behavior of a small electric vehicle, and a driving support device provided with the vehicle behavior recognition device.

Today, it detects an object in front of its own vehicle, and if an object exists in front of its own vehicle, it issues an alarm to the driver of its own vehicle or provides driving support to automatically decelerate or stop its own vehicle. The development of the device is in progress.

Further, as a method of detecting an object in front of the own vehicle, a method of imaging the front of the own vehicle using an image pickup device such as a camera and recognizing an object in front of the own vehicle based on the captured image obtained thereby. There is. For example, Patent Document 1 below describes a method of photographing a road with a television camera and recognizing a vehicle traveling on the road based on a shade image obtained by the image.

On the other hand, small electric vehicles such as electric wheelchairs and electric carts have become widespread as means of transportation mainly used by the elderly and the physically handicapped. With the increase in the number of elderly people, it is expected that the spread of small electric vehicles will further increase in the future. With the spread of small electric vehicles, it is expected that the number of small electric vehicles traveling in urban areas and country roads will increase.

Japanese Unexamined Patent Publication No. 5-298591

Considering that the number of small electric vehicles traveling in urban areas and country roads will increase, driving support is required to prevent contact and sudden approach between the own vehicle and the small electric vehicle. In order to realize such driving support, it is necessary to recognize the behavior of a small electric vehicle existing in front of the own vehicle by an image pickup device or the like.

Compared to ordinary four-wheeled vehicles such as sedans with roofs, small electric vehicles have both seats and steering wheels located in the center of the vehicle in the left-right direction, and both have a symmetrical shape. It has the feature that a pair of armrests are arranged symmetrically on the left and right of the vehicle, and that these seats, steering wheels, etc. are exposed to the outside. It is desired to utilize such characteristics of the small electric vehicle to simplify and improve the accuracy of the behavior recognition of the small electric vehicle existing in front of the own vehicle.

The present invention has been made in view of, for example, the above-mentioned requirements, and an object of the present invention is to provide a vehicle behavior recognition device and a driving support device capable of recognizing the behavior of a small electric vehicle easily and with high accuracy. There is something in it.

In order to solve the above problems, the vehicle behavior recognition device of the present invention is a vehicle behavior recognition device that recognizes the behavior of a small electric vehicle existing in front of the own vehicle, and is an arithmetic processing device and the front of the own vehicle. and an imaging device for imaging a, the arithmetic processing unit, in the captured image of the small-sized motorized vehicle captured by the front SL imaging apparatus, each of the left portion and the right portion in the upper portion than the fender of the small-sized motorized vehicle It is characterized by having a behavior determination unit for determining whether or not the small electric vehicle has started to move to the left or right based on the change in the area of the above.

Further, in order to solve the above problems, the first driving support device of the present invention is a driving support device that supports the driving of the own vehicle, and is a small electric motor that exists within a predetermined distance range in front of the own vehicle. A vehicle behavior recognition device that recognizes whether or not the vehicle has started moving to the center side of the road on which the own vehicle is traveling, and the small electric vehicle that exists within the predetermined distance range in front of the own vehicle. The vehicle behavior recognition device includes an alarm device that issues an alarm when the vehicle behavior recognition device recognizes that the movement has started to the center side of the road on which the own vehicle is traveling. The arithmetic processing device includes an image pickup device that images the front of the own vehicle, and the arithmetic processing device includes an existence determination unit that determines whether or not the small electric vehicle exists within the predetermined distance range in front of the own vehicle. An orientation determination unit that determines whether the orientation of the small electric vehicle is the same as or opposite to the orientation of the own vehicle based on the captured image of the small electric vehicle captured by the imaging device, and an image captured by the imaging device. In the position determination unit for determining whether the small electric vehicle is located on the left side or the right side in front of the own vehicle based on the image, and in the captured image of the small electric vehicle captured by the image pickup device. It also has a behavior determination unit for determining whether or not the small electric vehicle has started to move to the left or right based on the area changes of the left side portion and the right side portion in the portion above the fender of the small electric vehicle. It is characterized by doing.

Further, in order to solve the above problems, the second driving support device of the present invention is a driving support device that supports the driving of the own vehicle, and is a small electric motor that exists within a predetermined distance range in front of the own vehicle. A vehicle behavior recognition device that recognizes whether or not the vehicle has started moving to the center side of the road on which the own vehicle is traveling, and the small electric vehicle that exists within the predetermined distance range in front of the own vehicle. The vehicle behavior recognition device is provided with a travel control device for decelerating or stopping the own vehicle when the vehicle behavior recognition device recognizes that the movement has started to the center side of the road on which the own vehicle is traveling. The device includes an arithmetic processing device and an image pickup device that images the front of the own vehicle, and the arithmetic processing device determines whether or not the small electric vehicle exists within the predetermined distance range in front of the own vehicle. An existence determination unit for determining whether or not the orientation of the small electric vehicle is the same as or opposite to the orientation of the own vehicle based on the captured image of the small electric vehicle captured by the imaging device. Based on the image captured by the image pickup device, the position determination unit for determining whether the small electric vehicle is located on the left side or the right side in front of the own vehicle, and the image pickup device captured the image. In the captured image of the small electric vehicle, whether or not the small electric vehicle has started to move to the left or right based on the respective area changes of the left side portion and the right side portion in the portion above the fender of the small electric vehicle. It is characterized by having a behavior determination unit for determining.

According to the vehicle behavior recognition device of the present invention, the behavior of a small electric vehicle can be recognized easily and with high accuracy. Further, according to the driving support device of the present invention, the behavior of a small electric vehicle can be recognized easily and with high accuracy, and the driving of the own vehicle can be accurately supported according to the recognition result.

It is explanatory drawing which shows the own vehicle provided with the driving support device of the Example of this invention, and the small electric vehicle which exists in front of the own vehicle, and is in the direction opposite to the direction of the own vehicle. It is explanatory drawing which shows the own vehicle provided with the driving support device of the Example of this invention, and the small electric vehicle which exists in front of the own vehicle, and is in the same direction as the direction of the own vehicle. It is a block diagram which shows the structure of the driving support device of the Example of this invention. It is a flowchart which shows the driving support processing by the driving support device of the Example of this invention. It is a perspective view of a small electric vehicle. It is a front view of a small electric vehicle. It is a rear view of a small electric vehicle. It is a top view of a small electric vehicle.

The vehicle behavior recognition device of the embodiment of the present invention is a device that recognizes the behavior of a small electric vehicle existing in front of the own vehicle. This vehicle behavior recognition device includes an arithmetic processing unit and an image pickup device that captures an image of the front of the own vehicle. The arithmetic processing unit has an orientation determination unit and a behavior determination unit.

The orientation determination unit determines whether the orientation of the small electric vehicle is the same as or opposite to the orientation of the own vehicle based on the captured image of the small electric vehicle existing in front of the own vehicle captured by the image pickup device. The direction of the vehicle means the direction in which the front part of the vehicle is facing, and when the vehicle is traveling (forwarding), it means the traveling direction.

In the captured image of the small electric vehicle captured by the image pickup device, the behavior judgment unit moves the small electric vehicle to the left or right based on the area changes of the left side portion and the right side portion in the portion above the fender of the small electric vehicle. Determine if the move has started.

The principle that the vehicle behavior recognition device of the embodiment of the present invention recognizes the behavior of a small electric vehicle existing in front of the own vehicle is as follows.

That is, while the small electric vehicle running or stopped in the direction opposite to the direction of the own vehicle in front of the own vehicle is imaged by the image pickup device provided in the own vehicle, the small electric vehicle is viewed from the own vehicle. When the small electric vehicle in the captured image starts moving to the right, the area of the right side portion of the small electric vehicle changes so as to be smaller than the area of the left side portion when viewed from the own vehicle. Further, while the small electric vehicle running or stopped in the direction opposite to the direction of the own vehicle is imaged by the image pickup device in front of the own vehicle, the small electric vehicle starts moving to the left when viewed from the own vehicle. Then, the area of the right side portion of the small electric vehicle in the captured image changes so as to be larger than the area of the left side portion when viewed from the own vehicle. Further, when the small electric vehicle starts moving to the right when viewed from the own vehicle while the small electric vehicle running or stopped in the same direction as the own vehicle is being imaged by the image pickup device in front of the own vehicle. The small electric vehicle in the captured image changes so that the area of the left side portion thereof is smaller than the area of the right side portion when viewed from the own vehicle. Further, when the small electric vehicle starts moving to the left when viewed from the own vehicle while the image pickup device is taking an image of the small electric vehicle running or stopping in the same direction as the own vehicle in front of the own vehicle. The small electric vehicle in the captured image changes so that the area of the left side portion thereof is larger than the area of the right side portion when viewed from the own vehicle. Therefore, it recognizes whether the direction of the small electric vehicle running or stopped in front of the own vehicle is the same as or opposite to the direction of the own vehicle, and in the captured image of the small electric vehicle captured by the image pickup device, the small electric vehicle is used. By recognizing changes in the areas of the left side portion and the right side portion of the vehicle, it is possible to recognize that the small electric vehicle existing in front of the own vehicle has started to move to the left or right.

Further, the recognition of whether or not the small electric vehicle existing in front of the own vehicle has started to move to the left or right is determined by the left side portion and the right side of the components having a symmetrical shape among the components of the small electric vehicle. It can be easily and accurately performed based on the change in the area of each of the portions or the change in the area of each of the pair of components arranged at symmetrical positions.

Here, the small electric vehicle has the following features. That is, the seat and steering wheel of the small electric vehicle are arranged in the center of the vehicle in the left-right direction and have a symmetrical shape. In addition, many small electric vehicles have a basket having a symmetrical shape on the front side of the steering wheel. As described above, many small electric vehicles have a seat, a handle, and a basket as components having a symmetrical shape. Further, the seat of the small electric vehicle is provided with a pair of armrests. The pair of armrests have symmetrical shapes and are arranged at symmetrical positions. Also, many small electric vehicles have a pair of handle grips, and many small electric vehicles have a pair of rearview mirrors. The pair of handle grips also have a symmetrical shape and are arranged at symmetrical positions, and the pair of rearview mirrors also have a symmetrical shape and are arranged at symmetrical positions. As described above, many small electric vehicles have a pair of armrests, a pair of hand grips, and a pair of rear-view mirrors as a pair of components arranged symmetrically. Further, in a small electric vehicle, these components are arranged in a portion above the fender. Further, all of these components are exposed to the outside, and are in a state where it is easy to take an image by an image pickup device.

Since the small electric vehicle has such characteristics, the recognition that the small electric vehicle existing in front of the own vehicle has started to move to the left or right is an image of the small electric vehicle imaged by the image pickup device. In the image, it can be easily and highly accurately performed based on the area changes of the left side portion and the right side portion in the portion above the fender of the small electric vehicle.

As described above, according to the vehicle behavior recognition device of the embodiment of the present invention, it is possible to easily and highly accurately recognize the behavior of the small electric vehicle existing in front of the own vehicle by utilizing the characteristics of the small electric vehicle. can.

Further, the driving support device according to the embodiment of the present invention is a driving support device that supports the driving of the own vehicle, and a small electric vehicle existing within a predetermined distance range in front of the own vehicle is traveling on the own vehicle. A vehicle behavior recognition device that recognizes whether or not the vehicle has started moving to the center of the road, and a small electric vehicle that exists within a predetermined distance in front of the vehicle moves to the center of the road on which the vehicle is traveling. It is equipped with an alarm device that issues an alarm when the vehicle behavior recognition device recognizes that the vehicle has started. This vehicle behavior recognition device includes an arithmetic processing unit and an image pickup device that captures an image of the front of the own vehicle. Further, the arithmetic processing unit of this vehicle behavior recognition device has an existence determination unit, an orientation determination unit, a position determination unit, and a behavior determination unit. The existence determination unit determines whether or not a small electric vehicle exists within a predetermined distance range in front of the own vehicle. The orientation determination unit determines whether the orientation of the small electric vehicle is the same as or opposite to the orientation of the own vehicle based on the captured image of the small electric vehicle captured by the image pickup device. The position determination unit determines whether the small electric vehicle is located on the left side or the right side in front of the own vehicle based on the captured image captured by the image pickup device. In the captured image of the small electric vehicle captured by the image pickup device, the behavior judgment unit moves the small electric vehicle to the left or right based on the area changes of the left side portion and the right side portion in the portion above the fender of the small electric vehicle. Determine if the move has started.

According to the driving support device of the embodiment of the present invention, a small electric vehicle existing within a predetermined distance range in front of the own vehicle has started to move from the left end side to the center side of the road on which the own vehicle is traveling, for example. It is possible to easily and highly accurately recognize that the vehicle has started moving from the right end side of the road to the center side. Then, when such a recognition result is obtained, an alarm is issued to notify the driver of the own vehicle that the risk of contact or sudden approach between the own vehicle and the small electric vehicle is increasing. Can be done.

Further, in the above-mentioned driving support device according to the embodiment of the present invention, in addition to or in place of the alarm device, a small electric vehicle existing within a predetermined distance range in front of the own vehicle moves to the center side of the road on which the own vehicle is traveling. The vehicle behavior recognition device may be configured to include a travel control device for decelerating or stopping the own vehicle when the vehicle behavior recognition device recognizes that the vehicle has started.

According to this driving support device, a small electric vehicle existing within a predetermined distance in front of the own vehicle has started to move from the left end side to the center side of the road on which the own vehicle is traveling, or the road. It is possible to easily and highly accurately recognize that the movement has started from the right end side to the center side, and by decelerating or stopping the own vehicle according to this recognition result, the own vehicle and the small electric vehicle come into contact with each other or. It is possible to surely prevent a sudden approach.

1 and 2 show the own vehicle 2 traveling on the road 1 and the small electric vehicle 3 existing in front of the own vehicle 2 on the road 1. The own vehicle 2 is provided with the driving support device 11 (see FIG. 3) according to the embodiment of the present invention. As shown in FIG. 1 or 2, the driving support device 11 recognizes the behavior of the small electric vehicle 3 existing in front of the own vehicle 2, and supports the driver of the own vehicle 2 based on the recognition result. It is a device that controls the running of the own vehicle 2.

The own vehicle 2 may be a manually driven vehicle or an automatically driven vehicle. The manual driving vehicle referred to here is a vehicle having an automatic driving level of 0, and an automatic driving vehicle is a vehicle having an automatic driving level of 1 or more. When the driving support device 11 is applied to the own vehicle 2 which is a manually driven vehicle, the driving support device 11 and the own vehicle 2 are based on the recognition result of the behavior of the small electric vehicle 3 existing in front of the own vehicle 2. It is possible to notify the driver of the own vehicle 2 that the risk of contact with or a sudden approach to the small electric vehicle 3 has increased. Further, when the driving support device 11 is applied to the own vehicle 2 which is an automatic driving vehicle, the own vehicle is based on the recognition result of the behavior of the small electric vehicle 3 existing in front of the own vehicle 2 by the driving support device 11. The traveling of the own vehicle 2 can be controlled so that the contact or the sudden approach between the 2 and the small electric vehicle 3 is avoided. Further, although the own vehicle 2 in the figure is a motorcycle, the own vehicle may be a saddle-type vehicle such as a motorcycle or a tricycle.

The small electric vehicle 3 is an example of a recognition target of the driving support device 11 (specifically, the vehicle behavior recognition device 12 described later), and is a vehicle called an electric wheelchair or an electric cart. The small electric vehicle to be recognized by the driving support device 11 is not limited to the electric wheelchair and the electric cart. The small electric vehicle to be recognized by the driving support device 11 has an electric motor as a power source for traveling, has three or four wheels, has a single seat, and has a occupant constant of one person. However, even if the width of the vehicle is large, various vehicles of about 1 m are included. Further, a two-seater or three-seater three-wheeled or four-wheeled electric vehicle having two or three seats arranged in a row in the vertical direction is also included in the small electric vehicle to be recognized by the driving support device 11. .. Further, although the small electric vehicle 3 in the figure does not have a canopy, an electric wheelchair or an electric cart having a canopy is also included in the small electric vehicle to be recognized by the driving support device 11. The maximum speed of an electric wheelchair or electric cart is generally less than 6 km / h, but even if the maximum speed is about 15 km / h (a level slightly faster than the driving speed), if the above conditions are met. It is included in the small electric vehicle that is the recognition target of the driving support device 11.

The driving support device 11 (specifically, the vehicle behavior recognition device 12) recognizes the behavior of the small electric vehicle 3 based on the shape and position of the components of the small electric vehicle 3. Therefore, before going into the detailed description of the driving support device 11, the components of the small electric vehicle 3 will be described. 5 to 8 show the details of the small electric vehicle 3 in FIG. 1 or 2. Specifically, FIG. 5 is a perspective view of the small electric vehicle 3, FIG. 6 is a front view of the small electric vehicle 3, FIG. 7 is a rear view of the small electric vehicle 3, and FIG. 8 is a rear view of the small electric vehicle 3. It is a plan view. In addition, in FIG. 1, FIG. 2, FIG. 6, FIG. 7, and FIG. 8, the driver 4 of the small electric vehicle 3 is schematically shown by a two-dot chain line.

As shown in FIG. 5, the small electric vehicle 3 has a body 31, a pair of front wheels 32 as steering wheels, and a pair of rear wheels 33 as drive wheels. The pair of front wheels 32 are arranged on the left side and the right side of the front part of the body 31, respectively. The pair of rear wheels 33 are arranged on the left side and the right side of the rear part of the body 31, respectively. Further, as shown in FIG. 7, a motor 34 is provided below the rear portion of the body 31 as a drive source for driving the rear wheels 33. Further, as shown in FIG. 6, a pair of left and right front fenders 35 are provided on the front portion of the body 31, and a pair of left and right rear fenders 36 are provided on the rear portion of the body 31 as shown in FIG. Each front fender 35 is arranged on the upper side of the front wheel 32 and in a position close to the front wheel 32. Further, each rear fender 36 is arranged at a position on the upper side of the rear wheel 33 and close to the rear wheel 33.

Further, as shown in FIG. 6, a headlight 37 is provided at the center of the front surface of the body 31 in the left-right direction. Further, as shown in FIG. 7, the small electric vehicle 3 has a pair of winker lamps 38. The pair of winker lamps 38 are arranged at the left and right corners of the rear part of the body 31, respectively. Further, reflectors 39 are provided on the left and right portions of the rear surface of the body 31, respectively.

Further, as shown in FIG. 5, a front frame 40 is provided at the center of the front portion of the body 31 in the left-right direction. The front frame 40 extends upward from the body 31. Further, an operation box 41 is provided at the upper end of the front frame 40. The operation box 41 is arranged at the center of the front upper portion of the small electric vehicle 3 in the left-right direction. As shown in FIG. 8, the operation box 41 is provided with an accelerator lever 42 and a brake lever 43. Further, although not shown, the operation box 41 is provided with a forward / backward changeover switch, a blinker switch, a display, and the like.

Further, a handle 44 is provided at the upper end of the front frame 40. As shown in FIG. 8, the handle 44 has a symmetrical shape and is arranged in the center of the front upper portion of the small electric vehicle 3 in the left-right direction. Further, handle grips 45 are provided at both ends of the handle 44. These handle grips 45 have symmetrical shapes and are arranged at symmetrical positions with respect to the center in the left-right direction of the small electric vehicle 3. Further, the small electric vehicle 3 has a pair of rearview mirrors 46. As shown in FIG. 6, these rear-view mirrors 46 have symmetrical shapes and are arranged at symmetrical positions in the front upper portion of the small electric vehicle 3 with respect to the center in the left-right direction of the small electric vehicle 3. There is. Further, a cargo basket 47 is attached to the front frame 40. The cargo cage 47 has a symmetrical shape and is arranged in the center of the front upper side of the small electric vehicle 3 in the left-right direction.

Further, as shown in FIG. 5, a seat 48 on which the driver of the small electric vehicle 3 is seated is provided on the upper rear side of the body 31. The seat 48 has a seat 49, a backrest 50 and a pair of armrests 51. As shown in FIG. 7 or 8, the seat portion 49 and the backrest portion 50 each have a symmetrical shape and are arranged in the center of the small electric vehicle 3 in the left-right direction. The pair of armrests 51 have symmetrical shapes and are arranged symmetrically with respect to the center of the small electric vehicle 3 in the left-right direction in the rear upper portion of the small electric vehicle 3. Further, as shown in FIG. 5, a step 52 in which the driver 4 seated on the seat 48 puts his / her foot is provided at a substantially central portion in the front-rear direction of the body 31.

FIG. 3 shows the configuration of the driving support device 11 according to the embodiment of the present invention. As shown in FIG. 3, when the own vehicle 2 is an autonomous driving vehicle, the driving support device 11 includes a vehicle behavior recognition device 12, an alarm device 25, and a travel control device 27. When the own vehicle 2 is a manually driven vehicle, the driving support device 11 includes a vehicle behavior recognition device 12 and an alarm device 25.

The vehicle behavior recognition device 12 is a device that recognizes the behavior of the small electric vehicle 3 existing in front of the own vehicle 2. The vehicle behavior recognition device 12 can determine whether or not the small electric vehicle 3 existing within a predetermined distance range in front of the own vehicle 2 has started to move to the center side of the road 1 on which the own vehicle is traveling. can.

The vehicle behavior recognition device 12 includes an arithmetic processing unit 13, a storage device 21, and an image pickup device 23. The arithmetic processing unit 13 is, for example, an electronic control unit (ECU), a central processing unit (CPU), a microprocessor (MPU), or the like. The storage device 21 is, for example, a semiconductor storage element or the like. The arithmetic processing unit 13 and the storage device 21 are attached to the own vehicle 2. The image pickup device 23 is a device that takes an image of the front of the own vehicle 2, for example, a video camera or a still camera. The image pickup apparatus 23 is attached to, for example, the front portion or the upper portion of the own vehicle 2. In the own vehicle 2 in this embodiment, as shown in FIG. 1 or 2, the image pickup device 23 is attached to the center of the front upper portion of the own vehicle 2 in the driver's cab in the left-right direction.

Further, the arithmetic processing unit 13 functions as an existence determination unit 14, an orientation determination unit 15, a position determination unit 16, and a behavior determination unit 17 by reading and executing a program stored in the storage device 21, for example. The existence determination unit 14 determines whether or not the small electric vehicle 3 exists within a predetermined distance range in front of the own vehicle 2. The orientation determination unit 15 determines whether the orientation of the small electric vehicle 3 is the same as or opposite to the orientation of the own vehicle 2. The position determination unit 16 determines whether the small electric vehicle 3 is located on the left side or the right side in front of the own vehicle. The behavior determination unit 17 determines the behavior of the small electric vehicle 3, specifically, whether or not the small electric vehicle 3 has started to move to the left or right.

The alarm device 25 is a device that issues an alarm to the driver of the own vehicle 2. The alarm device 25 can output an alarm by sound using a speaker provided in the room of the own vehicle 2. Further, the alarm device 25 can output an alarm by light or screen display by using a lamp or a display provided on the instrument panel or the like of the own vehicle 2.

The travel control device 27 is a device that controls the travel of the own vehicle 2 when the own vehicle 2 is an automatically driven vehicle. The travel control device 27 controls the engine output of the own vehicle 2 by controlling the fuel injection valve and the throttle device provided in the own vehicle 2, or by controlling the brake of the own vehicle 2, for example. Can be automatically slowed down or stopped.

FIG. 4 shows the driving support process by the driving support device 11. The driving support process is executed, for example, while the own vehicle 2 is running. Further, during the execution of the driving support process, the image pickup device 23 constantly images the front of the own vehicle 2.

In the driving support process, first, the existence determination unit 14 determines whether or not the small electric vehicle 3 exists within a predetermined distance range in front of the own vehicle 2 based on the image captured by the image pickup device 23. (Step S1 in FIG. 4). This judgment can be made, for example, as follows. That is, the distance between the small electric vehicle 3 existing in front of the own vehicle 2 and the own vehicle 2 and the small electric vehicle 3 in the captured image obtained by imaging the small electric vehicle 3 with the image pickup device 23. The relationship between the reduction ratio (for example, the ratio between the actual width dimension of the small electric vehicle 3 and the width dimension in the captured image) is measured in advance and stored in the storage device 21. Using this pre-stored relationship, the distance between the small electric vehicle 3 and the own vehicle 2 is specified from the reduction ratio of the small electric vehicle 3 in the actual captured image. Then, it is determined whether or not the specified distance is equal to or less than the threshold value in the predetermined distance range.

The threshold value in the predetermined distance range is set to a distance at which the own vehicle 2 can safely stop. Generally, the distance from the start of braking to the stop of a motorcycle traveling at a speed of 40 km / h on a dry asphalt road is 17 m. In addition, the distance from the start of braking to the stop of a motorcycle traveling at a speed of 60 km / h on a dry asphalt road is 32 m. Considering these facts, the distance at which the own vehicle 2 can safely stop is, for example, 40 m. The threshold value in the predetermined distance range is set to, for example, 40 m.

As a result of the determination by the existence determination unit 14, when the small electric vehicle 3 is present within a predetermined distance range in front of the own vehicle 2 (step S1: YES), the orientation determination unit 15 is then subjected to the image pickup device 23. Based on the captured image of the small electric vehicle 3, it is determined whether the direction of the small electric vehicle 3 is opposite to or the same as the direction of the own vehicle 2 (step S2). This judgment can be made, for example, as follows. That is, when the orientation of the small electric vehicle 3 is opposite to the orientation of the own vehicle 2, the image of the front surface of the small electric vehicle 3 is reflected in the captured image obtained from the image pickup device 23. Therefore, if the components arranged in front of the small electric vehicle 3 can be recognized from the captured image of the small electric vehicle 3 captured by the image pickup device 23, the orientation of the small electric vehicle 3 is the own vehicle. It can be determined that the direction is opposite to that of 2. As shown in FIG. 6, a headlight 37 and a cargo cage 47 are arranged on the front surface of the small electric vehicle 3. When the orientation determination unit 15 can recognize the headlight 37 or the cargo cage 47 of the small electric vehicle 3 from the captured image of the small electric vehicle 3 captured by the image pickup device 23, for example, the small electric vehicle It is determined that the direction of 3 is opposite to the direction of the own vehicle 2. On the other hand, when the orientation of the small electric vehicle 3 is the same as the orientation of the own vehicle 2, the image of the rear surface of the small electric vehicle 3 is reflected in the captured image obtained from the image pickup device 23. Therefore, if the components arranged on the rear surface of the small electric vehicle 3 can be recognized from the captured image of the small electric vehicle 3 captured by the image pickup device 23, the orientation of the small electric vehicle 3 is the own vehicle. It can be determined that the orientation is the same as 2. As shown in FIG. 7, a pair of winker lamps 38 and a backrest portion 50 are arranged on the rear surface of the small electric vehicle 3. When the orientation determination unit 15 can recognize the pair of winker lamps 38 or the backrest portion 50 of the small electric vehicle 3 from the captured image of the small electric vehicle 3 captured by the image pickup device 23, for example, the orientation determination unit 15 is small. It is determined that the orientation of the electric vehicle 3 is the same as the orientation of the own vehicle 2.

If the orientation of the small electric vehicle 3 is opposite to the orientation of the own vehicle 2 as a result of the determination by the orientation determination unit 15, then the position determination unit 16 is based on the captured image captured by the image pickup device 23. , It is determined whether the small electric vehicle 3 is located on the left side or the right side in front of the own vehicle 2 (step S3). This determination can be made by recognizing the position of the small electric vehicle 3 in the captured image in front of the own vehicle 2 obtained from the image pickup device 23.

As a result of the determination by the position determination unit 16, when the small electric vehicle 3 is located on the left side in front of the own vehicle 2, the behavior determination unit 17 next causes the small electric vehicle 3 imaged by the image pickup device 23. In the captured image of the small electric vehicle 3, the area changes of the left side portion and the right side portion of the component having a symmetrical shape located above the fenders 35 and 36 of the small electric vehicle 3, or the fenders 35 and 36 of the small electric vehicle 3 Based on the area change of each of the pair of components arranged at symmetrical positions on the upper side, it is determined whether or not the small electric vehicle 3 has started to move to the right when viewed from the own vehicle 2. Specifically, in the captured image of the small electric vehicle 3 captured by the image pickup device 23, the behavior determination unit 17 has the area of the right side portion of the handle 44 of the small electric vehicle 3 as viewed from the own vehicle 2 as the handle 44. It is determined whether or not the change is made so as to be smaller than the area of the left side portion (step S4). The handle 44 corresponds to a component having a symmetrical shape located above the fenders 35 and 36.

When the small electric vehicle 3 running or stopped in the direction opposite to the direction of the own vehicle 2 in front of the own vehicle 2 starts moving to the right when viewed from the own vehicle 2, the small size imaged by the image pickup device 23. In the captured image of the electric vehicle 3, the area of the right side portion of the handle 44 of the small electric vehicle 3 changes so as to be smaller than the area of the left side portion of the handle 44 when viewed from the own vehicle 2. Therefore, the small electric vehicle 3 is changed from the own vehicle 2 based on the fact that the area of the right side portion of the handle 44 of the small electric vehicle 3 is changed to be smaller than the area of the left side portion of the handle 44 when viewed from the own vehicle 2. You can see that it has started moving to the right.

In the captured image of the small electric vehicle 3 captured by the image pickup device 23, the area of the right side portion of the handle 44 when viewed from the own vehicle 2 is the area of the portion corresponding to the portion HR surrounded by the broken line in FIG. The area of the left side portion of the handle 44 is the area of the portion corresponding to the portion HL surrounded by the broken line in FIG. The behavior determination unit 17 is, for example, the area of the portion corresponding to the partial HL in FIG. 6 from the area value of the portion corresponding to the partial HR in FIG. 6 in the captured image of the small electric vehicle 3 captured by the image pickup device 23. Subtract the value and compare the value obtained this time with the value obtained last time through the same steps as this time. As a result, when the value obtained this time is reduced by a predetermined amount or more from the value obtained last time, the area of the right side portion of the handle 44 of the small electric vehicle 3 as seen from the own vehicle 2 is the area of the left side portion of the handle 44. It is judged that the change is made so that it becomes smaller than.

Further, as a result of the determination by the position determination unit 16 in step S3, when the small electric vehicle 3 is located on the right side in front of the own vehicle 2, the behavior determination unit 17 is the small electric vehicle imaged by the image pickup device 23. In the captured image of the vehicle 3, the area changes of the left side portion and the right side portion of the component having a symmetrical shape located above the fenders 35 and 36 of the small electric vehicle 3, or the fender 35 of the small electric vehicle 3 , It is determined whether or not the small electric vehicle 3 has started to move to the left when viewed from the own vehicle 2 based on the area change of each of the pair of components arranged at symmetrical positions above 36. .. Specifically, in the captured image of the small electric vehicle 3 captured by the image pickup device 23, the behavior determination unit 17 has the area of the right side portion of the handle 44 of the small electric vehicle 3 as viewed from the own vehicle 2 as the handle 44. It is determined whether or not the change is made so as to be larger than the area of the left side portion (step S5).

When the small electric vehicle 3 running or stopped in the direction opposite to the direction of the own vehicle 2 in front of the own vehicle 2 starts moving to the left when viewed from the own vehicle 2, the small size imaged by the image pickup device 23. In the captured image of the electric vehicle 3, the area of the right side portion of the handle 44 of the small electric vehicle 3 changes so as to be larger than the area of the left side portion of the handle 44 when viewed from the own vehicle 2. Therefore, the small electric vehicle 3 is changed from the own vehicle 2 based on the fact that the area of the right side portion of the handle 44 of the small electric vehicle 3 is changed to be larger than the area of the left side portion of the handle 44 when viewed from the own vehicle 2. You can see that it has started moving to the left.

The behavior determination unit 17 is, for example, the area of the portion corresponding to the partial HL in FIG. 6 from the area value of the portion corresponding to the partial HR in FIG. 6 in the captured image of the small electric vehicle 3 captured by the image pickup device 23. Subtract the value and compare the value obtained this time with the value obtained last time through the same steps as this time. As a result, when the value obtained this time is increased by a predetermined amount or more from the value obtained last time, the area of the right side portion of the handle 44 of the small electric vehicle 3 as seen from the own vehicle 2 is the area of the left side portion of the handle 44. Judge that it has changed to be larger than.

On the other hand, as a result of the determination by the orientation determination unit 15, when the orientation of the small electric vehicle 3 is the same as the orientation of the own vehicle 2, the position determination unit 16 is based on the image captured by the image pickup device 23. It is determined whether the small electric vehicle 3 is located on the left side or the right side in front of the own vehicle 2 (step S6). This determination can be made in the same manner as the determination in step S3.

As a result of the determination by the position determination unit 16, when the small electric vehicle 3 is located on the left side in front of the own vehicle 2, the behavior determination unit 17 next causes the small electric vehicle 3 imaged by the image pickup device 23. In the captured image of the small electric vehicle 3, the area changes of the left side portion and the right side portion of the component having a symmetrical shape located above the fenders 35 and 36 of the small electric vehicle 3, or the fenders 35 and 36 of the small electric vehicle 3 Based on the area change of each of the pair of components arranged at symmetrical positions on the upper side, it is determined whether or not the small electric vehicle 3 has started to move to the right when viewed from the own vehicle 2. Specifically, in the captured image of the small electric vehicle 3 captured by the image pickup device 23, the behavior determination unit 17 has the area of the armrest 51 on the left side of the small electric vehicle 3 as viewed from the own vehicle 2 as the armrest 51 on the right side. It is determined whether or not the change is made so as to be smaller than the area of (step S7). The left and right armrests 51 correspond to a pair of components arranged symmetrically above the fenders 35 and 36.

When the small electric vehicle 3 running or stopped in the same direction as the own vehicle 2 in front of the own vehicle 2 starts moving to the right when viewed from the own vehicle 2, the small electric vehicle imaged by the image pickup device 23 In the captured image of 3, the area of the left armrest 51 of the small electric vehicle 3 when viewed from the own vehicle 2 changes so as to be smaller than the area of the right armrest 51. Therefore, the small electric vehicle 3 is viewed from the own vehicle 2 based on the fact that the area of the left armrest 51 of the small electric vehicle 3 is changed to be smaller than the area of the right armrest 51 when viewed from the own vehicle 2. You can recognize that you have started moving to the right.

In the image captured by the small electric vehicle 3 captured by the image pickup device 23, the area of the left armrest 51 is the area of the portion corresponding to the portion AL surrounded by the broken line in FIG. 7, and the area of the right armrest 51 is , Is the area of the portion corresponding to the portion AR surrounded by the broken line in FIG. 7. The behavior determination unit 17 is, for example, the area of the portion corresponding to the partial AR in FIG. 7 from the area value of the portion corresponding to the partial AL in FIG. 7 in the captured image of the small electric vehicle 3 captured by the image pickup device 23. Subtract the value and compare the value obtained this time with the value obtained last time through the same steps as this time. As a result, when the value obtained this time is reduced by a predetermined amount or more from the value obtained last time, the area of the left armrest 51 of the small electric vehicle 3 as seen from the own vehicle 2 is larger than the area of the right armrest 51. Judge that it has changed so that it becomes smaller.

Further, as a result of the determination by the position determination unit 16 in step S6, when the small electric vehicle 3 is located on the right side in front of the own vehicle 2, the behavior determination unit 17 is the small electric vehicle imaged by the image pickup device 23. In the captured image of the vehicle 3, the area changes of the left side portion and the right side portion of the component having a symmetrical shape located above the fenders 35 and 36 of the small electric vehicle 3, or the fender 35 of the small electric vehicle 3 , It is determined whether or not the small electric vehicle 3 has started to move to the left when viewed from the own vehicle 2 based on the area change of each of the pair of components arranged at symmetrical positions above 36. .. Specifically, in the captured image of the small electric vehicle 3 captured by the image pickup device 23, the behavior determination unit 17 has the area of the armrest 51 on the left side of the small electric vehicle 3 as viewed from the own vehicle 2 as the armrest 51 on the right side. It is determined whether or not the change is made so as to be larger than the area of (step S8).

When the small electric vehicle 3 running or stopped in the same direction as the own vehicle 2 in front of the own vehicle 2 starts moving to the left when viewed from the own vehicle 2, the small electric vehicle imaged by the image pickup device 23 In the captured image of 3, the area of the left armrest 51 of the small electric vehicle 3 when viewed from the own vehicle 2 changes so as to be larger than the area of the right armrest 51. Therefore, the small electric vehicle 3 is viewed from the own vehicle 2 based on the fact that the area of the left armrest 51 of the small electric vehicle 3 is changed to be larger than the area of the right armrest 51 when viewed from the own vehicle 2. You can recognize that you have started moving to the left.

The behavior determination unit 17 is, for example, the area of the portion corresponding to the partial AR in FIG. 7 from the area value of the portion corresponding to the partial AL in FIG. 7 in the captured image of the small electric vehicle 3 captured by the image pickup device 23. Subtract the value and compare the value obtained this time with the value obtained last time through the same steps as this time. As a result, when the value obtained this time is increased by a predetermined amount or more from the value obtained last time, the area of the left armrest 51 of the small electric vehicle 3 as seen from the own vehicle 2 is larger than the area of the right armrest 51. Judge that it has changed so that it becomes larger.

As a result of the determination by the behavior determination unit 17, (a) in the captured image of the small electric vehicle 3 running or stopped in the direction opposite to the direction of the own vehicle 2 on the front left side of the own vehicle 2, the small size is seen from the own vehicle 2. When the area of the right side portion of the handle 44 of the electric vehicle 3 is changed to be smaller than the area of the left side portion of the handle 44 (step S4: YES), (b) the direction of the own vehicle 2 to the front right side of the own vehicle 2 In the captured image of the small electric vehicle 3 running or stopped in the opposite direction to the above, the area of the right side portion of the handle 44 of the small electric vehicle 3 is larger than the area of the left side portion of the handle 44 when viewed from the own vehicle 2. (Step S5: YES), (c) In the captured image of the small electric vehicle 3 running or stopped in the same direction as the own vehicle 2 on the front left side of the own vehicle 2, the small size is seen from the own vehicle 2. When the area of the left armrest 51 of the electric vehicle 3 is changed to be smaller than the area of the right armrest 51 (step S7: YES), or (d) the same direction as the own vehicle 2 on the front right side of the own vehicle 2. In the captured image of the small electric vehicle 3 running or stopped, the area of the armrest 51 on the left side of the small electric vehicle 3 when viewed from the own vehicle 2 changes to be larger than the area of the armrest 51 on the right side ( In step S8: YES), the alarm device 25 issues an alarm, or the travel control device 27 decelerates or stops the own vehicle 2 (step S9).

That is, in the case of the above (a), the small electric vehicle 3 running or stopped in the direction opposite to the direction of the own vehicle 2 on the front left side of the own vehicle 2 starts moving to the right when viewed from the own vehicle 2. It is in a state where it has begun to approach the center side of road 1. Further, in the case of (b) above, the small electric vehicle 3 running or stopped in the direction opposite to the direction of the own vehicle 2 starts to move to the left when viewed from the own vehicle 2 on the front right side of the own vehicle 2. It is in a state of starting to approach the center side of the road 1 (see FIG. 1). Further, (c) the small electric vehicle 3 traveling or stopped in the same direction as the own vehicle 2 on the front left side of the own vehicle 2 starts moving to the right when viewed from the own vehicle 2, and approaches the center side of the road 1. It is in the started state (see Fig. 2). Further, (d) a small electric vehicle 3 traveling or stopped in the same direction as the own vehicle 2 on the front right side of the own vehicle 2 starts moving to the left when viewed from the own vehicle 2 and approaches the center side of the road 1. It is in the beginning state. When the small electric vehicle starts to approach the center side of the road 1, the risk of contact or sudden approach between the own vehicle 2 and the small electric vehicle 3 increases. When such a state is recognized, if the own vehicle 2 is a manually driven vehicle, the alarm device 25 issues an alarm to notify the driver of the own vehicle 2 that the danger has increased. Further, when the above-mentioned state is recognized, if the own vehicle 2 is an autonomous driving vehicle, the alarm device 25 issues an alarm, and the travel control device 27 includes the own vehicle 2 and the small electric vehicle 3. The own vehicle 2 is decelerated or stopped so as to avoid contact or sudden approach.

This completes the driving support process. For example, after a certain period of time has passed since the warning was issued, after the own vehicle 2 has changed from deceleration to acceleration, or after the own vehicle 2 has stopped and then started, the driving support process has been completed. Is executed again from step S1. On the other hand, when none of the above (a), (b), (c) and (d), the driving support process returns to step S1.

As described above, the vehicle behavior recognition device 12 in the driving support device 11 of the embodiment of the present invention captures an image of the small electric vehicle 3 traveling or stopping in the direction opposite to the direction of the own vehicle 2 in front of the own vehicle 2. In the image, it is determined whether or not the small electric vehicle 3 has started to move to the right or left based on the area changes of the left side portion and the right side portion of the handle 44 of the small electric vehicle 3. The handle 44 corresponds to a component having a symmetrical shape located above the fenders 35 and 36 of the small electric vehicle 3. In the small electric vehicle 3, the components located above the fenders 35 and 36 are exposed to the outside, so that it is easy to take an image. In addition, a component having a symmetrical shape has a change in the area of the left side portion and the right side portion, that is, the area of the left side portion is changed to be larger than the area of the right side portion, or the left side portion. It is easy to recognize whether the area changes so as to be smaller than the area on the right side. Therefore, it is possible to easily and highly accurately recognize that the small electric vehicle 3 has started to move to the right or left based on the area changes of the left side portion and the right side portion of the handle 44.

Further, the vehicle behavior recognition device 12 in the driving support device 11 of the embodiment of the present invention is a captured image of a small electric vehicle 3 traveling or stopped in the same direction as the own vehicle 2 in front of the own vehicle 2. Based on the area change of each of the pair of armrests 51 of the small electric vehicle 3, it is determined whether or not the small electric vehicle 3 has started to move to the right or left. The pair of armrests 51 correspond to a pair of components arranged symmetrically above the fenders 35 and 36 of the small electric vehicle 3. In the small electric vehicle 3, the components located above the fenders 35 and 36 are exposed to the outside, so that it is easy to take an image. In addition, the pair of components arranged at symmetrical positions change their respective areas, that is, the area of the left component in the pair of components changes to be larger than the area of the right component. It is easy to recognize whether the area of the component on the left side is changed to be smaller than the area of the component on the right side in the pair of components. Therefore, it is possible to easily and highly accurately recognize that the small electric vehicle 3 has started to move to the right or left based on the area change of each of the pair of armrests 51.

Further, in the small electric vehicle 3, not only the handle 44 but also the cargo cage 47, the headlight 37, the seat portion 49 and the backrest portion 50 correspond to the components having a symmetrical shape located above the fenders 35 and 36. .. It is easy and highly accurate that the small electric vehicle 3 has started to move to the right or left, even based on the area changes of the left side portion and the right side portion of the cargo cage 47, the headlight 37, the seat portion 49 or the backrest portion 50, respectively. Can be recognized. Further, in the small electric vehicle 3, not only the pair of armrests 51 but also the pair of rearview mirrors 46, the pair of handle grips 45 and the pair of winker lamps 38 are arranged symmetrically on the upper side of the fenders 35 and 36. It corresponds to a pair of components. It is easy and highly accurate to recognize that the small electric vehicle 3 has started to move to the right or left even based on the area change of each of the pair of rearview mirrors 46, the pair of handle grips 45, or the pair of winker lamps 38. Can be done. Further, in the small electric vehicle 3, a plurality of components having a symmetrical shape located above the fenders 35 and 36 and a plurality of sets of components arranged at symmetrical positions above the fenders 35 and 36. Of these, it is easy to select some plurality of components and start moving the small electric vehicle 3 to the right or left even based on the area changes of the left and right of each of the selected components. Moreover, it can be recognized with high accuracy.

Further, according to the vehicle behavior recognition device 12 in the driving support device 11 of the embodiment of the present invention, the behavior of the small electric vehicle 3 can be easily performed only by the image pickup device 23, that is, without using an expensive device such as a radar. It can be recognized with high accuracy. Therefore, the behavior recognition of the small electric vehicle 3 can be realized at low cost.

Further, according to the vehicle behavior recognition device 12 in the driving support device 11 of the embodiment of the present invention, even when it is difficult to predict the behavior of the elderly, the behavior of the small electric vehicle 3 driven by the elderly is recognized with high accuracy. can do. That is, in general, elderly people often forget to put out the winker when moving the small electric vehicle to the right or left, or there is a possibility that the winker is put out in the direction opposite to the moving direction. In addition, the elderly may suddenly start the small electric vehicle in the direction of approaching the vehicle without noticing the approach of the vehicle and checking the surroundings due to the decrease in attention. In addition, elderly people may not be able to quickly move a small electric vehicle to the shoulder side even if they detect the approach of their own vehicle due to a decrease in athletic ability. Thus, the behavior of the elderly is less predictable than the behavior of non-elderly adults. According to the vehicle behavior recognition device 12 in the driving support device 11 of the embodiment of the present invention, the small electric vehicle is based on the captured image of the small electric vehicle 3 without using the behavior prediction of the driver 4 of the small electric vehicle 3. Since the behavior of No. 3 is recognized, the behavior of a small electric vehicle driven by an elderly person whose behavior is difficult to predict can be recognized with high accuracy.

Further, in the vehicle behavior recognition device 12 in the driving support device 11 of the embodiment of the present invention, the small electric vehicle 3 is located on the left side or the right side in front of the own vehicle 2 based on the image captured by the image pickup device 23. Determine if it is located in. This makes it possible to recognize the small electric vehicle 3 that has started moving from the left side of the road 1 to the center side, or the small electric vehicle 3 that has started moving from the right side of the road 1 to the center side.

Further, the vehicle behavior recognition device 12 in the driving support device 11 of the embodiment of the present invention determines whether or not the small electric vehicle 3 exists within a predetermined distance range in front of the own vehicle 2. The threshold value in the predetermined distance range is set to a distance at which the own vehicle 2 can safely stop. As a result, the vehicle behavior recognition device 12 recognizes that the small electric vehicle 3 has started to move to the center side of the road at a position far away from the small electric vehicle 3 so that the own vehicle 2 can safely stop. can do. Then, by issuing an alarm or decelerating or stopping the own vehicle 2 in response to such recognition, it is possible to reliably prevent the own vehicle 2 from coming into contact with or suddenly approaching the small electric vehicle 3.

Further, when the driving support device 11 of the embodiment of the present invention is applied to the own vehicle 2 which is a manually driven vehicle, the small electric vehicle 3 traveling in front of the own vehicle 2 starts moving to the center side of the road 1. By issuing an alarm when the vehicle is used, it is possible to notify the driver that the small electric vehicle 3 has started moving to the center side of the road 1. As a result, the driver can decelerate or stop the own vehicle 2 in order to avoid contact or sudden approach between the own vehicle 2 and the small electric vehicle 3. Further, when the driving support device 11 of the embodiment of the present invention is applied to the own vehicle 2 which is an automatic driving vehicle, the small electric vehicle 3 traveling in front of the own vehicle 2 starts moving to the center side of the road 1. At that time, the own vehicle 2 can be automatically decelerated or stopped. As a result, contact or sudden approach between the own vehicle 2 and the small electric vehicle 3 is automatically avoided. In any case, according to the driving support device 11 of the embodiment of the present invention, even if the number of small electric vehicles 3 traveling in an urban area, a country road, or the like increases, the contact between the own vehicle 2 and the small electric vehicle 3 It is possible to prevent sudden approach and preventive safety.

In the above-described embodiment, the vehicle behavior recognition device 12 starts the movement of the small electric vehicle 3 running or stopped in front of the own vehicle 2 from the left side or the right side of the road 1 to the center side of the road 1. As an example, based on the judgment results of the orientation determination unit 15 and the behavior determination unit 17 of the vehicle behavior recognition device 12, from the center of the road 1 to the left side or the right side of the road 1 in front of the own vehicle 2. It may be recognized that the movement has started. Further, based on the judgment results of the orientation determination unit 15 and the behavior determination unit 17, it is recognized that the small electric vehicle 3 traveling in front of the own vehicle 2 has started to turn toward another road intersecting the road 1. You may do so.

Further, in the above-described embodiment, it is determined whether or not the small electric vehicle 3 exists within a predetermined distance range in front of the own vehicle 2 based on the image captured by the image pickup device 23. The distance to the small electric vehicle 3 may be measured by a radar, and based on the measurement result, it may be determined whether or not the small electric vehicle 3 exists within a predetermined distance range in front of the own vehicle 2.

Further, when the driving support device 11 of the above-described embodiment is applied to the own vehicle 2 which is an automatic driving vehicle, the steering of the own vehicle 2 is automatically controlled according to the recognition result of the vehicle behavior recognition device 12. It may be possible to avoid contact or sudden approach between the own vehicle 2 and the small electric vehicle 3.

Further, the present invention can be appropriately modified within the scope of the claims and within a range not contrary to the gist or idea of the invention that can be read from the entire specification, and the vehicle behavior recognition device and the driving support device with such a modification are also included. It is included in the technical idea of the present invention.

2 Own vehicle 3 Small electric vehicle 11 Driving support device 12 Vehicle behavior recognition device 13 Arithmetic processing device 14 Existence judgment unit 15 Direction judgment unit 16 Position judgment unit 17 Behavior judgment unit 23 Imaging device 25 Alarm device 27 Travel control device 35 Front fender 36 Rear fender 44 Handle 45 Handle grip 46 Rearview mirror 47 Cargo 48 Seat 49 Seat 50 Backrest 51 Armrest

Claims (10)

It is a vehicle behavior recognition device that recognizes the behavior of a small electric vehicle existing in front of the own vehicle.
It is equipped with an arithmetic processing unit and an image pickup device that images the front of the own vehicle.
The arithmetic processing unit, in the captured image of the small-sized motorized vehicle captured by the front SL imaging device, the small left portion in the upper portion than the fender of the electric vehicle and the small electric based on the respective area change of the right portion A vehicle behavior recognition device characterized by having a behavior determination unit that determines whether or not the vehicle has started moving to the left or right. The behavior determination unit is a left side portion and a right side portion of a component having a symmetrical shape located above the fender of the small electric vehicle in the captured image of the small electric vehicle captured by the image pickup device, respectively. Whether or not the small electric vehicle has started to move to the left or right based on the area change of the small electric vehicle or the area change of each of the pair of components arranged symmetrically above the fender of the small electric vehicle. The vehicle behavior recognition device according to claim 1, wherein the vehicle behavior recognition device is characterized in that. The vehicle behavior recognition device according to claim 2, wherein the component having a symmetrical shape located above the fender of the small electric vehicle is a seat, a handle, or a basket of the small electric vehicle. .. A claim characterized in that the pair of components arranged symmetrically above the fender of the small electric vehicle is a pair of armrests, a pair of handle grips or a pair of rearview mirrors of the small electric vehicle. Item 2. The vehicle behavior recognition device according to item 2. The arithmetic processing device determines whether the orientation of the small electric vehicle is the same as or opposite to the orientation of the own vehicle based on the captured image of the small electric vehicle existing in front of the own vehicle captured by the imaging device. The vehicle behavior recognition device according to any one of claims 1 to 4, further comprising an orientation determination unit. The arithmetic processing device further includes a position determination unit for determining whether the small electric vehicle is located on the left side or the right side in front of the own vehicle based on the image captured by the image pickup device. The vehicle behavior recognition device according to any one of claims 1 to 5, wherein the vehicle behavior recognition device is characterized by the above. The arithmetic processing unit further includes an existence determination unit for determining whether or not a small electric vehicle exists within a predetermined distance range in front of the own vehicle.
The vehicle behavior recognition device according to any one of claims 1 to 6 , wherein the predetermined distance is set to a distance at which the own vehicle can safely stop. The vehicle behavior recognition device according to any one of claims 1 to 7 , wherein the own vehicle is an autonomous driving vehicle. It is a driving support device that supports the driving of the own vehicle.
A vehicle behavior recognition device that recognizes whether or not a small electric vehicle existing within a predetermined distance in front of the own vehicle has started moving to the center side of the road on which the own vehicle is traveling.
When the vehicle behavior recognition device recognizes that the small electric vehicle existing within the predetermined distance in front of the own vehicle has started to move to the center side of the road on which the own vehicle is traveling, an alarm is issued. Equipped with an alarm device to emit
The vehicle behavior recognition device is
Arithmetic processing unit and
It is equipped with an image pickup device that images the front of the own vehicle.
The arithmetic processing unit is
An existence determination unit that determines whether or not the small electric vehicle exists within the predetermined distance range in front of the own vehicle, and
An orientation determination unit that determines whether the orientation of the small electric vehicle is the same as or opposite to the orientation of the own vehicle based on the captured image of the small electric vehicle captured by the imaging device.
A position determination unit that determines whether the small electric vehicle is located on the left side or the right side in front of the own vehicle based on the image captured by the image pickup device.
In the captured image of the small electric vehicle captured by the image pickup device, the small electric vehicle moves to the left or right based on the area changes of the left side portion and the right side portion in the portion above the fender of the small electric vehicle. A driving support device characterized by having a behavior determination unit for determining whether or not the vehicle has started. It is a driving support device that supports the driving of the own vehicle.
A vehicle behavior recognition device that recognizes whether or not a small electric vehicle existing within a predetermined distance in front of the own vehicle has started moving to the center side of the road on which the own vehicle is traveling.
When the vehicle behavior recognition device recognizes that the small electric vehicle existing within the predetermined distance range in front of the own vehicle has started to move to the center side of the road on which the own vehicle is traveling, the self. Equipped with a driving control device that slows down or stops the vehicle,
The vehicle behavior recognition device is
Arithmetic processing unit and
It is equipped with an image pickup device that images the front of the own vehicle.
The arithmetic processing unit is
An existence determination unit that determines whether or not the small electric vehicle exists within the predetermined distance range in front of the own vehicle, and
An orientation determination unit that determines whether the orientation of the small electric vehicle is the same as or opposite to the orientation of the own vehicle based on the captured image of the small electric vehicle captured by the imaging device.
A position determination unit that determines whether the small electric vehicle is located on the left side or the right side in front of the own vehicle based on the image captured by the image pickup device.
In the captured image of the small electric vehicle captured by the image pickup device, the small electric vehicle moves to the left or right based on the area changes of the left side portion and the right side portion in the portion above the fender of the small electric vehicle. A driving support device characterized by having a behavior determination unit for determining whether or not the vehicle has started.

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