JP7000851B2 - Driving support device - Google Patents

Description

The present invention relates to a driving support device.

When a motorcycle, which is a type of saddle-type vehicle, is traveling in the oncoming lane of the lane in which the vehicle is traveling, the motorcycle may travel near the center line and approach the vehicle.

For example, on a long straight road with good visibility and no interference zone such as a median strip between the lane in which the vehicle is traveling and the oncoming lane, the motorcycle is traveling in front of the motorcycle. At this time, since the motorcycle overtakes the motorcycle, it is conceivable that the vehicle travels near the center line or straddles the center line.

For example, when such a situation occurs from dusk to night, it is difficult for the driver of the own vehicle to recognize the motorcycle, and the discovery of the motorcycle is likely to be delayed. For this reason, it is possible that the driver of the own vehicle needs not only the so-called hiyari hat experience but also the driver of the own vehicle to make a sudden change of course in order to avoid contact. A sudden change of course may adversely affect other vehicles traveling in front of or behind the own vehicle, which is not preferable in terms of preventive safety.

In particular, in sections where rumble strips are provided between the lane in which the own vehicle is traveling and the oncoming lane to prevent inadvertent driving, it is better to avoid abnormal approach between the own vehicle and the motorcycle. desirable. This is because the rumble strips have minute irregularities on the center line, so that sand, water, etc. are easily retained, and the motorcycle easily slips, which is not a very preferable driving environment.

In the above situation, a driving support device that recognizes a motorcycle and gives an alarm or avoidance action in the own vehicle is desired. It is necessary to reduce the driving anxiety of the driver of the own vehicle as much as possible in consideration of the aging society in the future.

From the change in the detection position of the object due to the object detection by the laser radar, it is determined whether the object is moving in the traveling direction or the transverse direction of the own vehicle, and it is determined that the object is moving in the traveling direction. A vehicle peripheral monitoring device for determining whether an object is a four-wheeled vehicle or a two-wheeled vehicle based on the size of the object obtained from the detection position by the laser radar has been proposed (for example). , Patent Document 1).

Patent Document 1 describes that a pedestrian or a bicycle is left by excluding an image captured by an infrared camera having an image portion of a heat source such as a muffler as a feature of a motorcycle.

International Publication No. 2011/114815

However, since the total capacity (volume) of a motorcycle is small even when the occupant (rider) is on board, it cannot be said that detection by radar means alone is sufficient. In Patent Document 1, the detection accuracy is improved by combining the radar means and the imaging means, but the driving support device becomes large-scale, and the equipment to the own vehicle tends to be a burden in terms of space and cost, as much as possible. It is desirable to use only the imaging means so that the driving support device can be small and inexpensive.

Further, in Patent Document 1, it is difficult to recognize a motorcycle only by whether or not it has an image portion of a heat source such as a muffler from an image captured by an infrared camera, and the accuracy is low.

The present invention has been made in view of this point, and is a driving support device capable of accurately recognizing a saddle-mounted vehicle traveling in an oncoming lane and improving preventive safety by a relatively small-scale and inexpensive configuration. One of the purposes is to provide.

One aspect of the driving support device of the present invention is based on an image pickup means for capturing the front from the own vehicle and a change in the infrared reaction in the oncoming vehicle image captured in the infrared image captured by the image pickup means. Based on the oncoming vehicle discriminating means for determining whether or not the vehicle is a saddle-type vehicle and the visible image or the infrared image captured by the image pickup means, (1) the saddle-type vehicle is the own vehicle. When the vehicle is traveling closer to the own vehicle than a predetermined distance from the center line between the traveling lane and the oncoming lane, (2) the saddle-mounted vehicle straddles the center line and the own vehicle. A vehicle monitoring means for determining that the saddle-mounted vehicle affects the running of the own vehicle and the saddle-mounted vehicle when the vehicle is traveling in the traveling lane. Is determined by the vehicle monitoring means to affect the traveling of the own vehicle, the warning means is controlled to give an alarm to the driver of the own vehicle, or the avoidance control means is controlled. It is characterized in that the own vehicle is provided with a driving control means for performing one of the avoidance actions of the saddle-mounted vehicle.

According to the present invention, it is possible to accurately recognize a saddle-type vehicle traveling in an oncoming lane and improve preventive safety due to a relatively small-scale and inexpensive configuration.

It is a schematic diagram which shows the running state of the own vehicle and the oncoming vehicle to which the driving support device which concerns on embodiment of this invention is applied. In the embodiment of the present invention, it is a schematic diagram which shows the running state of a motorcycle, a motorcycle, and two motorcycles. It is a perspective view which shows the motorcycle which the driving support device which concerns on this embodiment discriminates and monitors. It is a schematic diagram which shows an example of the oncoming vehicle image taken by the infrared camera in the driving support apparatus which concerns on this embodiment. It is a schematic block diagram of the driving support apparatus which concerns on 1st Embodiment. It is a schematic diagram which shows the mounting position of the visible light camera and the infrared camera of the driving support device which concerns on 1st Embodiment. It is a figure which shows the control flow of the driving support apparatus which concerns on 1st Embodiment. It is a figure which shows the control flow of the driving support apparatus which concerns on 1st Embodiment. It is a schematic diagram which shows the relationship between the front situation of the own vehicle, and a visible image in 1st Embodiment. It is a schematic diagram which shows the relationship between the front situation of the own vehicle, and a visible image in 1st Embodiment.

Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings. In the present embodiment, an example in which the driving support device according to the present invention is applied to a motor vehicle will be described, but the application target is not limited to this and can be changed. For example, the driving support device according to the present invention may be applied to other types of vehicles (for example, saddle-mounted vehicles such as motorcycles and tricycles). Further, in the following description, the saddle-mounted vehicle will be described with a motorcycle as a typical example.

<Overview>
FIG. 1 is a schematic diagram showing a running situation of a own vehicle and an oncoming vehicle to which the driving support device according to the embodiment of the present invention is applied. As shown in FIG. 1, the own vehicle 1 is traveling in the left lane (hereinafter referred to as a traveling lane) L1 of the road R1. On the other hand, the motorcycle 2 and the motorcycle 3 are traveling in the lane L2 on the right side of the road R1 (hereinafter referred to as an oncoming lane) as oncoming vehicles. The motorcycle 2 is arranged on the right side of the motorcycle 3 and runs near the center line CL.

FIG. 2 is a schematic diagram showing a running situation of the motorcycle 2, the motorcycle 3, and the two motorcycles 3, 4. 2A and 2B show the light 2a of the headlight of the motorcycle 2 and the light 3a, 3b, 4a of the headlight of the motorcycles 3 and 4, respectively. When the motorcycle 2 and the motorcycle 3 are located at a point far from the vehicle 1 (indicated by the arrow A in FIG. 1) from dusk to night, the driver of the vehicle 1 is headlighted by the light 2a. 3a and 3b can recognize that the oncoming vehicle is in front. However, as shown in FIG. 2A, is the motorcycle 2 running side by side with the motorcycle 3, or as shown in FIG. 2B, the motorcycle 3 and the motorcycle 4 running behind it. It is not possible to distinguish whether the light 3a and 3b of the headlight of the motorcycle 3 and the light 4a of the headlight on one side of the motorcycle 4 are visible from the own vehicle 1 because they overlap each other. difficult.

After that, the motorcycle 2 and the motorcycle 3 gradually approach the own vehicle 1, reach a point close to the own vehicle 1 (indicated by an arrow B in FIG. 1), and the driver of the own vehicle 1 takes the motorcycle 2 May occur when you notice. Further, when the motorcycle 2 is in the oncoming lane L2 but is traveling near the center line CL (for example, within 50 cm), or is traveling in the traveling lane L1 straddling the center line CL, the driver. In addition to receiving a hiyari hat experience, it may be necessary to suddenly turn the steering wheel in an attempt to avoid the motorcycle 2 and suddenly change the course of the own vehicle 1.

Such a sudden change of course due to a delay in the awareness of the motorcycle 2 adversely affects not only the own vehicle 1 but also the following vehicle traveling behind the own vehicle 1, which is not preferable from the viewpoint of preventive safety.

It is effective to use an infrared camera to recognize the monitored object from dusk to night. However, is the oncoming vehicle a motorcycle based only on the outline of the image (hereinafter referred to as the oncoming vehicle image) that visualizes the heat source of the oncoming vehicle in the image captured by the infrared camera (hereinafter referred to as the infrared image)? It is difficult to determine whether it is a motorcycle.

Therefore, as a result of diligent studies, the inventor of the present application has found that it is possible to determine whether or not the oncoming vehicle is a saddle-type vehicle based on the change in the infrared reaction in the oncoming vehicle image captured in the infrared image. The invention was completed.

That is, one aspect of the driving support device according to the present embodiment is an infrared imaging means and a visible light imaging means for capturing the front from the own vehicle, and an oncoming vehicle image captured in the infrared image captured by the infrared imaging means. The oncoming vehicle discriminating means for determining whether or not the oncoming vehicle is a saddle-type vehicle based on the change in the infrared reaction inside, and the saddle-type vehicle based on the visible image captured by the visible light imaging means. Either you are traveling in the oncoming lane of your vehicle near the center line between the driving lane in which your vehicle is traveling and the oncoming lane, or you are traveling in the driving lane across the center line. On the other hand, it is characterized by comprising a vehicle monitoring means for detecting whether or not the vehicle is present.

FIG. 3 is a perspective view showing an example of a motorcycle 2 that is determined and monitored by the driving support device according to the present embodiment. In the present embodiment, the infrared reaction in the oncoming vehicle image captured in the infrared image is, for example, as shown in FIG. 3, the headlight 31 of the motorcycle 2 and the exhaust pipe 33 attached to the engine 32. And, the muffler 34 attached to the exhaust pipe 33 is used as a heat source.

FIG. 4 is a schematic diagram showing an example of an oncoming vehicle image taken by an infrared camera in the driving support device according to the present embodiment. FIG. 4A is an oncoming vehicle image 41 showing the motorcycle 2 at the point indicated by the arrow A in FIG. 1. FIG. 4B is an oncoming vehicle image 42 showing the motorcycle 2 at the point indicated by the arrow B in FIG. 1.

As shown in FIGS. 4A and 4B, in the oncoming vehicle images 41 and 42, a region where the infrared reaction is high (hereinafter, high temperature) using the headlight 31, the exhaust pipe 33 and the muffler 34 of the motorcycle 2 (see FIG. 3) as heat sources. (Described as a region) (indicated by a alternate long and short dash line in FIG. 4) occurs. As is clear from comparing FIGS. 4A and 4B, at the point A far from the own vehicle 1 and the point B near the own vehicle 1, the positions of the high temperature regions on the sides and lower parts of the oncoming vehicle images 41 and 42 and At least one of the areas changes. As for this change in the infrared reaction, the own vehicle 1 and the motorcycle 2 approach each other, and a change occurs from a state where the relative angle is small to a state where the relative angle is large (relative angle change), and the lower part of the motorcycle 2 is changed. This is due to the change in the appearance (visible range and position) of the exhaust pipe 33 arranged from (close to the ground) to the side portion and the muffler 34 arranged behind the side surface of the motorcycle 2.

That is, at the point A far from the own vehicle 1, the relative angle is small, and the exhaust devices such as the exhaust pipe 33 and the muffler 34 of the motorcycle 2 are hidden by the feet and front wheels of the occupants of the motorcycle 2, but the own vehicle 1 At the point B near the point B, the relative angle is large, and the exhaust device can be seen from the own vehicle 1.

The muffler can generally be detected by an infrared camera even in a motorcycle with a cowling.

On the other hand, when the oncoming vehicle is the automatic four-wheeled vehicle 3 or 4, the infrared reaction using the exhaust device such as the exhaust pipe and the muffler as a heat source cannot be seen from the own vehicle 1 and the infrared reaction in the oncoming vehicle image (for example, There is almost no change in the heat source of the headlamp).

Therefore, it detects an oncoming vehicle, continuously or periodically monitors changes over time in the oncoming vehicle images 41 and 42 in the infrared image, and infrared reactions, especially those at the sides and / or lower part of the oncoming vehicle image 41. If there is a change in, it can be determined that the oncoming vehicle is the motorcycle 2.

The motorcycle 2 shown in FIG. 3 illustrates a case where the muffler 34 is arranged on the right side of the vehicle body, but the above principle can be applied even if the mufflers are arranged on the left and right sides of the vehicle. ..

After determining that the oncoming vehicle is the motorcycle 2 based on the infrared image in this way, the motorcycle 2 is in the oncoming lane L2 (see FIG. 1) based on the visible image captured by the visible light camera. It detects whether the vehicle is traveling near the center line CL or is traveling in the traveling lane L1 across the center line CL. As a result, when the driving of the own vehicle 1 is affected, it is possible to give an alarm to the driver of the own vehicle 1 and / or to perform an avoidance action of the own vehicle 1 to improve preventive safety. Become.

Even from dusk to night, the motorcycle 2 and the center line CL can be identified by a visible image as long as the headlights of the own vehicle 1 are within reach.

[First Embodiment]
<Driving support device>
Hereinafter, the configuration of the driving support device 100 according to the first embodiment of the present invention will be described. FIG. 5 is a schematic configuration diagram of the driving support device according to the first embodiment. It is assumed that the own vehicle 1 to which the driving support device 100 is applied has the configuration (engine, tire, etc.) normally provided in the motorcycle, and the description thereof will be omitted.

The operation support device 100 (see FIG. 1) according to the first embodiment includes an ECU (Electronic Control Unit) 101, which is an example of a processing unit. The ECU 101 is composed of, for example, a processor that executes various processes.

The ECU 101 is configured to be able to realize the front distance determining means 102, the vehicle monitoring means 103, the oncoming vehicle determining means 104, and the driving control means 105 by executing the program as the processing unit.

Further, in the first embodiment, the driving support device 100 is an example of the visible light camera 106 and the infrared image pickup means, which are examples of the visible light image pickup means, as an example of the image pickup means for photographing the front of the own vehicle 1. The infrared camera 107 is provided, and its output is electrically connected so as to be input to the ECU 101.

The visible light camera 106 and the infrared camera 107 may be provided separately, or the two cameras may be provided integrally. Further, if one camera can capture both a visible image and an infrared image, it is sufficient to have one camera.

The visible light camera 106 and the infrared camera 107 are means for photographing the front of the own vehicle 1, and both are video cameras. Specifically, the visible light camera 106 is a means for converting visible light emitted from an imaging target into an electric signal to generate an image, and is mainly used for imaging in the daytime or in an environment with sufficient illumination. On the other hand, the infrared camera 107 is a means for converting infrared rays emitted from an image pickup target into an electric signal to generate an image, and is mainly used for image pickup from twilight to nighttime.

FIG. 6 is a schematic view showing the mounting positions of the visible light camera 106 and the infrared camera 107 of the driving support device according to the first embodiment. The visible light camera 106 and the infrared camera 107, for example, as shown in FIG. 6A, are attached in the vicinity of the windshield in the driver's cab of the own vehicle 1 of the motorcycle, but are not particularly limited.

Further, the visible light camera 106 and the infrared camera 107 are attached above the headlights of the motorcycle 71, which is the own vehicle, as shown in FIG. 6B, but are not particularly limited. The visible light camera 106 and the infrared camera 107 may be attached to the helmet of the occupant 72 of the motorcycle 71.

As will be described later, the forward distance determining means 102 determines whether or not the distance between the own vehicle 1 and the oncoming vehicle traveling in front is within a predetermined distance based on the visible image captured by the visible light camera 106. It is configured to do.

As will be described later, the vehicle monitoring means 103 is configured to determine whether or not the motorcycle 2 affects the traveling of the own vehicle 1 based on the visible image captured by the visible light camera 106.

As will be described later, the oncoming vehicle determining means 104 is configured to determine whether or not the oncoming vehicle is a motorcycle 2 based on an infrared image captured by the infrared camera 107.

The driving control means 105 causes the warning means 108 to give an alarm in response to the output from the vehicle monitoring means 103, or causes the steering control means 109, which is an example of the avoidance control means, to change the course of the own vehicle 1. It is configured.

The warning means 108 gives a warning to the driver of the own vehicle 1. The alarm means 108 may be composed of, for example, an alarm sound generator and a speaker, or may be composed of a display for displaying information related to the alarm, for example, a display of a speedometer or a display of a navigation system.

Further, the alarm means 108 may be configured by, for example, a steering vibration means (not shown) which is an example of the vibration generating means. The steering vibration means generates vibration in the steering (not shown). The steering vibration means is composed of, for example, a vibration device such as a vibration motor built in the steering and an instruction device that gives a vibration instruction to the vibration device.

The steering control means 109 causes the own vehicle 1 to change the course (steering) as an example of the avoidance action performed by the own vehicle 1.

For the implementation of the present invention, the own vehicle 1 suffices to be provided with imaging means (visible light camera 106 and infrared camera 107) for recognizing an oncoming vehicle, but other detection means (laser radar or the like). It does not matter if it is equipped with.

As described above, the driving support device 100 mounted on the motorcycle as the own vehicle 1 has been described with reference to FIG. It is also possible to mount the driving support device 100 on the own vehicle, which is a motorcycle (an example of a saddle-mounted vehicle). The difference between a motorcycle and a motorcycle is that, instead of displaying the information on the display, for example, information is transmitted to an external communication device (not shown) built in the helmet by using a communication means (not shown). The point is to transmit and provide information to the occupants, for example, by voice. Of course, as in the case of the motorcycle, the in-vehicle device mounted on the motorcycle may be used.

It is also possible to display information using a head-mounted display such as smart glasses as an external communication device.

However, it goes without saying that the driving support device 100 may have the same configuration for the motorcycle and the motorcycle.

Next, the control flow of the driving support device 100 according to the first embodiment will be described. 7 and 8 are diagrams showing a control flow of the operation support device 100 according to the first embodiment.

<Recognizing the existence of oncoming vehicles>
First, the vehicle monitoring means 103 (see FIG. 5) determines whether or not an oncoming vehicle exists within a predetermined distance in front of the own vehicle 1 (ST101).

In ST101, the vehicle monitoring means 103 (see FIG. 5) is, for example, an oncoming vehicle when the light spot assumed to be the light of the headlight can be recognized by the image recognition technology in the visible image captured by the visible light camera 106. May be determined to exist. However, this is only an example, and whether or not an oncoming vehicle exists may be determined by another method.

Here, it is sufficient if the presence of the oncoming vehicle can be recognized, and it is not necessary to determine the vehicle type. The visible light camera 106 does not necessarily have to be a high-sensitivity camera that can capture the characteristics of an oncoming vehicle from dusk to night.

If the determination is NO in ST101, the process returns to ST101. On the other hand, if the determination is YES, the vehicle monitoring means 103 determines whether or not the oncoming vehicle is traveling near the center line CL (see FIG. 1) (ST102).

In ST 102, the vehicle monitoring means 103 (see FIG. 5) has, for example, a center line (CL) (see FIG. 1) that is reflected in a visible image and that the headlight of the own vehicle 1 reaches and can be recognized by image recognition technology. A virtual line to pass through (hereinafter referred to as CL virtual line) is set in the visible image. Then, the vehicle monitoring means 103 faces the CL virtual line when the light spot assumed to be the light of the headlight of the oncoming vehicle is within a predetermined range (for example, less than the number of pixels that can be arbitrarily set). It may be determined that the vehicle is traveling near the center line CL. However, this is only an example, and whether or not the oncoming vehicle is traveling near the center line CL may be determined by another method.

Here, it is sufficient if at least a part of the center line CL can be recognized within the reachable range of the headlight of the own vehicle 1. It is not always necessary that the visible light camera 106 is a high-sensitivity camera because it is not always necessary to recognize the center line CL up to the vicinity of a distant oncoming vehicle.

If the determination is NO in ST102, the process returns to ST101. On the other hand, if the determination is YES, the process proceeds to the oncoming vehicle determination process (ST103).

<Identification of oncoming vehicles>
In ST103, the oncoming vehicle determining means 104 (see FIG. 5) determines whether or not the oncoming vehicle is a motorcycle 2 (see FIG. 1) based on the infrared image captured by the infrared camera 107. Specifically, the oncoming vehicle discriminating means 104 stores infrared images in a storage unit (not shown) at predetermined intervals (for example, 0.5 second intervals), and an infrared image I captured at a certain point in time and the infrared image I thereof. By comparing with the infrared image II captured at the previous time, it is determined whether or not there is a change in the infrared reaction in the oncoming vehicle image captured in the infrared images I and II. This method is an example, and one of ordinary skill in the art will understand that other methods can be used. For example, it is a method of continuously observing an infrared image of the lower part of an oncoming vehicle, capturing the change, and using it for judgment.

Next, the vehicle monitoring means 103 (see FIG. 5) determines whether or not the oncoming vehicle discrimination means 104 has determined that the oncoming vehicle is the motorcycle 2 in the oncoming vehicle discrimination process (ST103) (ST104). .. If the determination is NO in ST104, the process returns to ST101. On the other hand, if the determination is YES, the vehicle monitoring means 103 proceeds to ST105. At this point, the vehicle monitoring means 103 may cause the driving control means 105 to warn the oncoming vehicle that the oncoming vehicle is the motorcycle 2 by the warning means 108.

<Judgment of forward distance>
Next, the forward distance determining means 102 determines whether or not the distance from the own vehicle 1 to the motorcycle 2 is within a predetermined forward distance based on the visible image (ST105).

FIG. 9 is a schematic diagram showing the relationship between the front state of the own vehicle 1 and the visible image in the first embodiment. As shown in FIG. 9, the motorcycle 2 traveling in front of the oncoming lane of the own vehicle 1 (see FIG. 1) comes within the range of the visible image 201 captured by the visible light camera 106. The forward distance determining means 102 (see FIG. 5) sets a coordinate system in which the lower left corner of the visible image 201 is the origin O. Then, based on the value in the y direction (vertical direction in FIG. 9) in the coordinate system and the measured value of the distance from the front end of the own vehicle 1, the value Y in the y direction corresponding to the predetermined distance is determined, and the value Y is determined. A determination line A parallel to the x direction (left-right direction in FIG. 9) is set. Then, in the front distance determining means 102, when the value y ₁ in the y direction of the virtual line B (indicated by the broken line in FIG. 9) passing through the lowermost end of the motorcycle 2 is smaller than the value Y in the y direction of the determination line A. In other words, when the virtual line B is closer to the origin O than the determination line A, it is determined that the front distance from the own vehicle 1 to the motorcycle 2 is less than a predetermined distance. This method is an example, and one of ordinary skill in the art will understand that other methods can be used.

Here, the predetermined distance can be set based on the expected relative speed between the own vehicle 1 and the motorcycle 2. For example, assuming that the relative speed is 120 km / h, the predetermined distance can be 150 m, which is the forward distance for 4.5 seconds until the forward distance becomes zero. Further, the relative speed between the own vehicle 1 and the motorcycle 2 can be actually measured and set as a reference.

If the determination is NO in ST105, the process returns to ST105. On the other hand, if the determination is YES, the process proceeds to ST106. At this point, the forward distance determining means 102 may cause the driving control means 105 to warn the oncoming vehicle that the oncoming vehicle is the motorcycle 2 by the warning means 108.

<Judgment of driving near the center line>
Next, the vehicle monitoring means 103 analyzes the visible image and determines whether or not the motorcycle 2 straddles the center line CL (see FIG. 1) (ST106). FIG. 10 is a schematic diagram showing the relationship between the front state of the own vehicle 1 and the visible image in the first embodiment. As shown in FIG. 10, in the visible image 301, a CL virtual line X passing through the center line CL is set. Then, the contour of the motorcycle 2 is recognized, and it is determined whether or not at least a part of the image of the motorcycle 2 defined by the contour extends to the left side (traveling lane L1 side) with respect to the CL virtual line X. do. This method is an example, and one of ordinary skill in the art will understand that other methods can be used. For example, by increasing the sensitivity of the visible light camera 106, directly recognizing the center line CL from the visible image, and determining whether or not at least a part of the image of the motorcycle 2 extends to the left side of the center line CL. be.

If the determination is YES in ST106, the process proceeds to ST108. If the determination is NO, the vehicle monitoring means 103 analyzes the visible image and determines whether or not the motorcycle 2 is traveling in the immediate vicinity of the center line CL (see FIG. 1) (ST107). In the visible image 301 shown in FIG. 10, the distance between the leftmost end of the image of the motorcycle 2 defined by the contour of the motorcycle 2 and the CL virtual line X is within a predetermined range (for example, within 50 cm in terms of the inter-vehicle distance). It is determined whether or not it is within (corresponding to). This method is an example, and one of ordinary skill in the art will understand that other methods can be used.

If the determination is YES in ST107, the process proceeds to ST108. If the determination is NO, the process returns to ST101.

<Monitoring, warning and avoidance behavior of oncoming vehicles>
Next, the vehicle monitoring means 103 determines whether or not the motorcycle 2 affects the traveling of the own vehicle 1 (ST108).

The determination can be made by, for example, any of the following methods, but is not particularly limited.
(1) The width of the traveling lane is narrower than the reference road width. For example, the vehicle monitoring means 103 uses image analysis processing of a visible image to determine the width of the traveling lane L1 (see FIG. 1) on the road R1 on which the own vehicle 1 travels. W (not shown) is measured. Then, as compared with the reference road width stored in the storage unit (not shown), when the road width W is narrower than the reference road width, it can be determined that the motorcycle 2 affects the traveling of the own vehicle 1.

Here, the reference road width is, for example, the vehicle width of the own vehicle 1 (173.5 cm), the vehicle width of the motorcycle 2 (79.5 cm), the shoulder width of both roads (30 cm), and the minimum safe inter-vehicle distance when passing each other ( It can be set to 3.5 m based on the total (313 cm) of 30 cm), but is not particularly limited.

(2) Distance from the center line For example, in the vehicle monitoring means 103, the motorcycle 2 is left by a predetermined distance (for example, 50 cm) or more from the center line (CL) (see FIG. 1) by image analysis processing of a visible image. When traveling closer (closer to the own vehicle 1), it can be determined that the motorcycle 2 affects the running of the own vehicle 1.

(3) Distance between own vehicle 1 and motorcycle 2 For example, the vehicle monitoring means 103 measures the distance between own vehicle 1 and motorcycle 2 by image analysis processing of a visible image, and measures a predetermined distance (for example,). , 50 cm), it can be determined that the motorcycle 2 affects the running of the own vehicle 1.

If the determination is YES in ST 108, the driving control means 105 causes the driver of the own vehicle 1 to display an alarm sound or an alarm by the alarm means 108 to call attention (ST109). If the determination is NO in ST108, the process returns to ST101.

Next, the vehicle monitoring means 103 determines whether or not the situation affected by the motorcycle 2 continues (ST110).

The determination of ST110 can be determined, for example, by performing the same processing as ST108 after the lapse of a predetermined time and determining whether or not the determination result has changed.

If the determination is NO in ST110, the process returns to ST101. If the determination is YES, the driving control means 105 changes the steering angle of the steering to the steering control means 109, for example, and the course of the own vehicle 1 is closer to the shoulder of the traveling lane L1 (see FIG. 1) (center line CL). And the other side), and the process ends. The steering angle of the steering is determined in consideration of the vehicle speed of the own vehicle 1, and it is preferable that the steering angle becomes smaller as the speed increases.

The order of each process shown in the control flow in the operation support device 100 described above is an example, and those skilled in the art can easily understand that the changes can be made.

As described above, according to the driving support device 100 according to the present embodiment, the saddle-type vehicle is a saddle-mounted vehicle even from dusk to night based on the change in the infrared reaction in the oncoming vehicle image in the infrared image. The motorcycle 2 which is an example can be accurately recognized. As a result, it is possible to prevent the driver's experience of hilarious hat, further prevent a sudden decrease in course change for avoiding contact with the motorcycle 2, and improve the preventive safety for the motorcycle 2.

In particular, even in a section where rumble strips are provided between the traveling lane L1 (see FIG. 1) and the oncoming lane L2 to prevent inadvertent driving, there is an abnormality between the own vehicle 1 and the motorcycle 2. Since approaching can be avoided, preventive safety can be improved even in a driving environment where sand, water, etc. are held in the rumble strips and the motorcycle 2 is likely to slip.

Further, according to the driving support device 100 according to the first embodiment, it is sufficient to use the visible light camera 106 and the infrared camera 107 without using the laser radar, so that the driving support device 100 is small and inexpensive. Therefore, it can be adopted for small vehicles such as saddle-mounted vehicles including motorcycles.

Further, the driving support device 100 according to the first embodiment is useful because it can reduce the driving burden on the driver of the own vehicle 1 in consideration of the aging society in the future.

[Second Embodiment]
In the first embodiment described above, a case where a visible light camera and an infrared camera are provided as an image pickup means has been described as an example, but a driving support device having only an infrared camera as an image pickup means is also described in the present invention. Be included. Hereinafter, the driving support device according to the second embodiment will be described as being different from the first embodiment, and the same reference numerals will be given to the same configurations, and the description thereof will be omitted.

The driving support device according to the second embodiment corresponds to the configuration of the driving support device 100 according to the first embodiment shown in FIG. 5, excluding the visible light camera 106. Here, the infrared camera 107 has high sensitivity and can not only detect infrared rays from the motorcycle 2 (see FIG. 1) as a heat source, but also emit a small amount of infrared rays from the center line CL (see FIG. 1) or the like. It is necessary to be able to detect infrared rays.

Then, the forward distance determining means 102 determines the forward distance (ST105 in FIG. 7) based on the infrared image captured by the infrared camera 107 instead of the visible image captured by the visible light camera 106. It is composed.

Further, the vehicle monitoring means 103 determines the traveling near the center line CL based on the infrared image captured by the infrared camera 107 instead of the visible image captured by the visible light camera 106 (ST106 and ST107 in FIG. 7). , And monitoring, warning and avoidance actions (ST108 to ST112 in FIGS. 7 and 8) of the oncoming vehicle (motorcycle 2).

According to the driving support device according to the second embodiment having the above configuration, the same effect as that of the first embodiment is obtained, and only the infrared camera 107 is imaged without using the laser radar. Since the driving support device 100 is smaller and cheaper, it can be used in small vehicles such as saddle-mounted vehicles including motorcycles.

The present invention is not limited to the first and second embodiments described above, and can be modified in various ways. In the first and second embodiments, the size and shape shown in the attached drawings are not limited to this, and can be appropriately changed within the range in which the effect of the present invention is exhibited. .. In addition, it can be appropriately modified and implemented as long as it does not deviate from the scope of the object of the present invention.

For example, in the first embodiment described above, the own vehicle 1 has been described by taking as an example a manually driven vehicle driven by a driver, but the present implementation also applies to an automatically driven vehicle on which the driver is aboard. The driving support device 100 according to the embodiment can be applied.

Further, in the first embodiment described above, the case where the motorcycle 2 is traveling on the side of the motorcycle 3 for overtaking or the like has been described as an example, but the motorcycle 2 is independently opposed to the motorcycle 2. The driving support device 100 according to the first embodiment can be applied even when the vehicle is traveling in the lane L2.

Further, in the first embodiment, the road R1 (see FIG. 1) is on the left side, and the exhaust pipe 33 (see FIG. 3) of the motorcycle 2 and the exhaust device such as the muffler 34 are arranged on the right side of the vehicle body. As described above, the change in the infrared reaction described above can be detected even if the road is on the right side, so that the driving support device 100 according to the first embodiment can be applied. Is.

Further, in the first embodiment, the steering control has been described as an example of the avoidance action of the own vehicle 1, but other avoidance actions may be performed. For example, the driving support device 100 may control the deceleration means of the own vehicle 10 to cause the own vehicle 1 to decelerate and avoid contact with the motorcycle 2.

The above-mentioned modification can be similarly applied to the driving support device according to the second embodiment.

As described above, the present invention has the effect of accurately recognizing a saddle-type vehicle traveling in the oncoming lane and improving preventive safety due to a relatively small-scale and inexpensive configuration, and in particular, automatic operation. It is useful for driving support devices such as four-wheeled vehicles and saddle-mounted vehicles.

1 Own vehicle 2,71 Motorcycle (saddle-type vehicle)
3, 4 Automobile 31 Headlight 32 Engine 33 Exhaust pipe 34 Muffler 41, 42 Oncoming vehicle image 100 Driving support device 101 ECU
102 Forward distance determination means 103 Vehicle monitoring means 104 Oncoming vehicle determination means 105 Driving control means 106 Visible light camera (imaging means)
107 Infrared camera (imaging means)
108 Warning means 109 Steering control means (avoidance control means)

Claims (6)

An imaging means that captures the front from the own vehicle,
An oncoming vehicle discriminating means for determining whether or not the oncoming vehicle is a saddle-type vehicle based on the change in the infrared reaction in the oncoming vehicle image captured in the infrared image captured by the imaging means.
Based on the visible image or the infrared image captured by the imaging means,
(1) When the saddle-mounted vehicle is traveling closer to the own vehicle by a predetermined distance or more from the center line between the traveling lane in which the own vehicle is traveling and the oncoming lane.
(2) When the saddle-mounted vehicle is traveling in the traveling lane in which the own vehicle is traveling across the center line.
In the case of any of the above, a vehicle monitoring means for determining that the saddle-mounted vehicle affects the running of the own vehicle, and
When the vehicle monitoring means determines that the saddle -mounted vehicle affects the driving of the own vehicle, the warning means is controlled to give an alarm to the driver of the own vehicle. , A driving control means for controlling the avoidance control means to cause the own vehicle to perform the avoidance action of the saddle-type vehicle, and a driving control means for performing either one.
A driving support device characterized by being equipped with. The driving support device according to claim 1, wherein the change in the infrared reaction is caused by a relative angle change between the own vehicle and the oncoming vehicle. The driving support device according to claim 1 or 2, wherein the oncoming vehicle determining means determines the saddle-type vehicle based on a change in the infrared reaction at a side portion of the oncoming vehicle image. The driving support according to any one of claims 1 to 3, wherein the oncoming vehicle determining means determines the saddle-type vehicle based on a change in the infrared reaction at the lower part of the oncoming vehicle image. Device. It is further provided with a front distance determining means for determining whether or not the saddle-mounted vehicle has approached within a predetermined forward distance from the own vehicle based on the visible image or the infrared image. The driving support device according to any one of claims 1 to 4. The driving support device according to claim 5, wherein the front distance is a distance set based on the relative speed between the own vehicle and the saddle-mounted vehicle.

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