WO2011125135A1 - Collision prevention support device - Google Patents
Collision prevention support device Download PDFInfo
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- WO2011125135A1 WO2011125135A1 PCT/JP2010/002620 JP2010002620W WO2011125135A1 WO 2011125135 A1 WO2011125135 A1 WO 2011125135A1 JP 2010002620 W JP2010002620 W JP 2010002620W WO 2011125135 A1 WO2011125135 A1 WO 2011125135A1
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- moving object
- vehicle
- image
- predicted
- collision avoidance
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- 230000002265 prevention Effects 0.000 title abstract 2
- 230000001737 promoting effect Effects 0.000 claims 1
- 235000019557 luminance Nutrition 0.000 description 7
- 238000005259 measurement Methods 0.000 description 7
- 238000004891 communication Methods 0.000 description 5
- 238000000034 method Methods 0.000 description 5
- 238000010586 diagram Methods 0.000 description 3
- 239000003086 colorant Substances 0.000 description 2
- 238000001514 detection method Methods 0.000 description 2
- 230000002411 adverse Effects 0.000 description 1
- 230000003247 decreasing effect Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
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Classifications
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/16—Anti-collision systems
- G08G1/166—Anti-collision systems for active traffic, e.g. moving vehicles, pedestrians, bikes
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K35/00—Instruments specially adapted for vehicles; Arrangement of instruments in or on vehicles
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K35/00—Instruments specially adapted for vehicles; Arrangement of instruments in or on vehicles
- B60K35/20—Output arrangements, i.e. from vehicle to user, associated with vehicle functions or specially adapted therefor
- B60K35/28—Output arrangements, i.e. from vehicle to user, associated with vehicle functions or specially adapted therefor characterised by the type of the output information, e.g. video entertainment or vehicle dynamics information; characterised by the purpose of the output information, e.g. for attracting the attention of the driver
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/16—Anti-collision systems
- G08G1/167—Driving aids for lane monitoring, lane changing, e.g. blind spot detection
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K2360/00—Indexing scheme associated with groups B60K35/00 or B60K37/00 relating to details of instruments or dashboards
- B60K2360/16—Type of output information
- B60K2360/179—Distances to obstacles or vehicles
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2554/00—Input parameters relating to objects
- B60W2554/80—Spatial relation or speed relative to objects
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
- B60W30/095—Predicting travel path or likelihood of collision
- B60W30/0956—Predicting travel path or likelihood of collision the prediction being responsive to traffic or environmental parameters
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/0097—Predicting future conditions
Definitions
- the present invention relates to a collision avoidance support device.
- the own vehicle For those who drive a moving object such as a car (hereinafter referred to as the own vehicle), in order to travel safely, the moving object (hereinafter referred to as another vehicle) around the own vehicle is detected, and the predicted position is Understanding is important. Therefore, in Japanese Patent Application Laid-Open Nos. 2007-323178 and 2007-27350, the predicted position of another surrounding vehicle after a predetermined time is fixed to a display device (head-up display) mounted on the vehicle. What is indicated by a flat mark of the present invention has been invented.
- the driver can not instantaneously perceive the distance relationship between the predicted position of the own vehicle and the predicted position of the surrounding other vehicle.
- the flat mark displayed on the head-up display may be an obstacle for the driver.
- JP 2007-323178 A Japanese Patent Application Publication No. 2007-27350
- a display device capable of instantaneously determining the positional relationship between the host vehicle and other surrounding vehicles within several seconds is desired.
- the image displayed on the head-up display should not be an obstacle to the driver.
- An object of the present invention is to provide a collision avoidance support device that supports the avoidance behavior of a moving object that can possibly collide.
- a collision avoidance assistance device is mounted on a first moving object, and a display device for superimposing an image on a real scene, and a second device existing around the first moving object.
- An information acquisition device for measuring the position and velocity of the moving object, a size measuring device for measuring the size of the second moving object, and predicting a position and a path of the first moving object after a set time
- a path position prediction device having a first prediction device to perform the second moving device, and a second prediction device that predicts the route and the position of the second moving object after the set time; predicted position of the first moving object Creating a vehicle image of the first moving object according to its predicted position, and obtaining a vehicle image of the second moving object obtained from the size measuring device at the predicted position of the second moving object Created according to the predicted position, the display Characterized by comprising and an image creating apparatus for outputting.
- the present invention it is possible to intuitively know the positional relationship with a surrounding moving object entering a blind spot.
- the positional relationship with the surrounding moving objects is specifically known, the driver's safety can be enhanced.
- FIG. 1 is a block diagram showing the configuration of a collision avoidance assistance device according to an embodiment of the present invention.
- FIG. 6 is a view showing the operation of the size measuring device of the present embodiment. The figure which shows the principle of the size measurement by the size measurement apparatus of this embodiment.
- 3 is a flowchart showing the operation of the present embodiment. An example of the picture seen through the driver's seat displayed on the head up display of this embodiment. The example which shows the prediction image after setting time when the self-vehicles of this embodiment try to change lanes.
- FIG. 1 is a block diagram showing the configuration of a collision avoidance assistance device according to an embodiment of the present invention.
- description will be made on the assumption that a car is a moving object.
- the present invention is applicable not only to automobiles but also to maneuverable moving objects, such as vessels and remote controlled searchers.
- the collision avoidance assistance device 100 shown in FIG. 1 is mounted on a moving object (own vehicle) driven by a driver.
- the collision avoidance assistance device 100 can be optionally turned on / off by the driver.
- the collision avoidance support device 100 includes an information acquisition device 110 for acquiring information of a moving object (other vehicle) existing around the host vehicle, a size measurement device 120 for measuring the size of the other vehicle, and several seconds of the host vehicle A route position prediction device 130 that predicts future positions after tens of seconds and other vehicles several seconds to tens of seconds, and an image creation device that generates predicted images after several seconds to tens of seconds of the own vehicle and other vehicles 140, and a display 150 for displaying an image predicted through the windshield of the host vehicle.
- an information acquisition device 110 for acquiring information of a moving object (other vehicle) existing around the host vehicle
- a size measurement device 120 for measuring the size of the other vehicle
- several seconds of the host vehicle A route position prediction device 130 that predicts future positions after tens of seconds and other vehicles several seconds to tens of seconds, and an image creation device that generates predicted images after several seconds to tens of seconds of the own vehicle and other vehicles 140, and a display 150 for displaying an image predicted through the windshield of the host vehicle
- the information acquisition device 110 includes a distance measurement device such as a laser sensor 111 and an inter-vehicle communication device 112.
- a distance measurement device such as a laser sensor 111 and an inter-vehicle communication device 112.
- the laser sensor 111 is used here, a millimeter wave sensor may be used.
- the information acquisition device 110 detects another vehicle around the traveling direction of the own vehicle using the laser sensor 111, the speed of the other surrounding vehicle and the relative position from the own vehicle are detected from the signal detected by the laser sensor 111. measure.
- wireless communication can be performed with another vehicle by the inter-vehicle communication device 112, and vehicle information such as the speed and size of the other vehicle can be obtained by communication.
- the size measuring device 120 has a distance sensor 121 and a vehicle data file 122.
- the vehicle data file 122 stores data indicating the sizes of various vehicles that are commercially available.
- the size measuring device 120 detects the size of another vehicle existing around the host vehicle from a response signal to the signal emitted from the distance sensor 121.
- the distance sensor 121 may share the laser sensor 111 (or the millimeter wave sensor) of the information acquisition device 110.
- FIG. 2 is a diagram showing the operation of the size measuring device 120.
- the size measuring device 120 measures the distance to the own vehicle and the other vehicles around the vehicle using distance sensors 121a and 121b provided on the left and right of the own vehicle.
- the distance sensors 121a and 121b transmit detection signals in the other direction toward the other vehicles present in the surrounding area.
- the distance sensors 121a and 121b detect reflection signals from other vehicles to acquire point train data indicating the size of the other vehicles.
- the size measuring apparatus 120 clusters the acquired point sequence data (length direction) and detects one or more line segments 124 and 125 from each cluster by the least square method.
- a detection method of the line segments 124 and 125 another method such as Hough transform may be used.
- the length of the line segment 124 and the vehicle data recorded in advance in the vehicle data file 122 And estimate another line segment (for example, the width direction). Thereby, the size in the length direction and the width direction of the other vehicle present in the periphery is estimated.
- the estimated size length direction and width direction
- the estimated size may be compared with the vehicle data of the vehicle data file 122, and the approximate size of the vehicle may be used as an output.
- the distance sensor 121 when the distance sensor 121 is provided so that the distance in the vertical direction can also be measured, the data of the point at the highest position on the vehicle position is drawn as height data of the moving object from the obtained multipoint data. Reflect on the image. If height data can not be obtained, the height may be estimated by comparing the obtained size on the plane of the moving object with the vehicle data of the vehicle data file 122. Alternatively, the height direction may be a predetermined constant value. Similarly, the estimated size (height direction) may be compared with the vehicle data of the vehicle data file 122, and the approximate size of the vehicle may be used as an output.
- the route position prediction device 130 has a future position calculation unit 131 and a host vehicle information generation unit 132.
- the future position calculation unit 131 outputs relative position information and speed information of the other vehicle present in the surroundings output from the information acquisition device 110, and size information of the other vehicles present in the periphery output from the size measurement device 120.
- Receive The future position calculation unit 131 predicts a route after a set time (several seconds to several tens of seconds) of another vehicle present in the surroundings, and calculates position information.
- the future position calculation unit 131 outputs the calculated future position information and the predicted route to the image creating apparatus 140.
- the host vehicle information generation unit 132 has a speedometer 133, a steering angle acquisition sensor 134 for the steering wheel, a GPS 135 for detecting the position of the host vehicle, a map information file 136 for storing map information, a turn signal 137, etc. .
- the host vehicle information generation unit 132 predicts the route and position of the host vehicle after the set time (several seconds to tens of seconds) using the speedometer 133 and the steering angle acquisition sensor 134 of the steering wheel. For example, when the winker signal 137 indicating the change of the traveling path is input, the host vehicle information generation unit 132 predicts the route and the position of the own vehicle several seconds to several tens of seconds after changing the traveling path. Then, the host vehicle information generation unit 132 can output display information indicating whether safe driving is possible from the predicted position of the host vehicle and the predicted position of the other vehicle.
- the host vehicle information generation unit 132 acquires map information currently being traveled from the map information file 136. Then, the route that can be moved is limited to the travelable places shown by the map and calculated. The host vehicle information generation unit 132 performs route and position prediction with higher accuracy based on the speed information from the speedometer 133 and the position information obtained from the GPS 135.
- the setting of the prediction time may be initially set so as to monotonously decrease with the upper limit and the lower limit as the moving speed of the host vehicle increases.
- the initial time I (v) can be expressed as the following equation.
- a is a positive constant.
- any I (v) may be used as long as it is a monotonically decreasing function with upper and lower limits.
- the initial time may be a fixed value.
- the fine adjustment of the prediction time may be replaced with an input method that can be easily operated during driving, such as voice recognition and gesture recognition, in addition to the button.
- the position prediction information of the host vehicle obtained by the host vehicle information generation unit 132 is output to the image generation device 140.
- a method of predicting a future position and a route may be adopted by linearly complementing the position and the velocity.
- the image creation device 140 has an image creation unit 141 and a vehicle image file 142.
- the vehicle image file 142 stores image data of various vehicles commercially available.
- the image data of a vehicle said here represents the external appearance shape (image of a magnitude
- the image creating unit 141 receives the predicted position of the host vehicle output from the route position prediction device 130 and the predicted positions of the other vehicles present in the surroundings, and displays the image using the image data of the vehicle from the vehicle image file 142 Create an image for display on device 150.
- the display device 150 is configured of a head-up display that can superimpose the created image on a real view through the windshield of the host vehicle.
- FIG. 4 is a flowchart showing the operation of the collision avoidance assistance device.
- the user operates the collision avoidance assistance device 100 while traveling on the road (step S200).
- the collision avoidance assistance device 100 may be designed to operate in conjunction with a winker switch (not shown). That is, when the driver changes lanes on the traveling road, he / she is obliged to turn on the turn signal switch at least 5 seconds ago to notify the driver of the other surrounding vehicles of the intention to change lanes.
- the collision avoidance assistance device 100 is automatically operated in conjunction with the operation of the winker switch to draw a predicted image after the time set on the head-up display.
- the display of the collision avoidance assistance device 100 does not adversely affect the driving operation.
- a switch different from the winker switch may be provided, and the on / off of the display may be switched by the on / off of the switch.
- the information acquisition device 110 acquires information of other vehicles existing around the host vehicle. Further, the size measuring device 120 measures the size of the other vehicle present in the surroundings (step S210).
- the future position calculation unit 131 of the route position prediction device 130 acquires the speed information and the relative position information of the other vehicle present in the surroundings output from the information acquisition device 110. Further, the future position calculation unit 131 acquires the size information of the other vehicle present in the surroundings, which is output from the size measurement device 120. Then, the future position calculation unit 131 predicts a position after a time set (for example, after 5 seconds) set from the speed information and relative position information of other vehicles present in the surroundings and a route to that position (step S220) .
- the host vehicle information generation unit 132 of the route position prediction device 130 uses the signals from the speedometer 133 and the steering angle acquisition sensor 134 of the steering wheel to set the route and position after the time set by the host vehicle (for example, after 5 seconds) Are predicted (step S230). In the prediction of the future position of the host vehicle by the host vehicle information generation unit 132, on the map after a set time (for example, after 5 seconds) from the position information obtained from the GPS 135 and the map information from the map information file 136 Position is taken into account.
- the image creation unit 141 of the image creation device 140 acquires size information of other vehicles present in the surroundings output from the route position prediction device 130. In addition, predicted position information and route information after the set time of the other vehicle present in the surroundings output from the future position calculation unit 131 are acquired. Further, predicted position information and route information after the set time of the own vehicle are acquired from the own vehicle information generation unit 132. Then, the image creating unit 141 reads a vehicle image corresponding to the size information of another vehicle from the vehicle image file 142 (step S240).
- the image creating unit 141 is a vehicle of the other vehicle according to the predicted distance. An image and a predicted route are generated and output to the display device 150 (step S260).
- the image creating unit 141 processes the read vehicle image . Specifically, when the distance between both vehicles is distant from the predicted position information of the own vehicle and the predicted position information of the other vehicle, the vehicle image may not be used as it is. In such a case, the read vehicle image (for example, the outside view) is shaped according to the angle obtained from the distance. Then, a new vehicle image is created according to the predicted distance and the angle viewed after the set time. The image creation unit 141 outputs the created vehicle image of the other vehicle and the predicted route to the display device 150 (step S270).
- the image creation unit 141 performs reduction processing according to predicted position information after the time set in the back surface image of the own vehicle read from the vehicle image file 142.
- the image creating unit 141 outputs the created vehicle image of the own vehicle and the predicted route to the display device 150 (step S280).
- the predicted route and the vehicle image of the own vehicle and the other vehicle after the set time are synthesized and displayed (step S290).
- FIG. 5 shows an example of an image viewed through the driver's seat displayed on the head-up display of the host vehicle.
- the predicted route 300 of the own vehicle and the predicted routes 310 and 320 of the other vehicle are drawn in different colors (or patterns) to facilitate identification.
- an image to be superimposed on the real scene is displayed, including the size of the other vehicle.
- the obstacle on driving can be reduced by displaying the object on which the created vehicle image is displayed in a semi-transparent manner.
- the luminance of the image displayed in FIG. 5 is set so low that the real view can be seen.
- the luminances of the vehicle image 330 of the own vehicle and the luminances of the vehicle images of the other vehicles 340 and 350 present in the surroundings are set to be different. Instead of setting different luminances, different colors may be used.
- FIG. 5 the case where the brightness
- the brightness of the host vehicle may be lower than the brightness of other vehicles.
- the image created here is successively updated according to the driver's viewpoint position, the own vehicle, and changes in the state of other vehicles existing around the own vehicle.
- FIG. 6 is an example showing a predicted image after setting time (for example, 5 seconds) of the other vehicle traveling on the traveling lane and the own vehicle when, for example, the own vehicle tries to change lanes from the overtaking lane to the traveling lane. It is.
- the predicted image is a display of the predicted image of the lane change when the host vehicle information generation unit 132 receives the turn signal 137.
- FIG. 6A if it is determined by the route position prediction device 130 that the inter-vehicle distance is sufficient, for example, from the predicted position of the host vehicle after 5 seconds and the predicted position of the other vehicle traveling on the travel lane, It indicates that it is running. However, as shown in FIG.
- a mark 400 prompting collision avoidance is displayed.
- characters for informing the danger may be displayed.
- a voice may be output to urge "safe driving" by voice output.
- the present invention it is possible to specifically grasp the moving object driven by the driver and the predicted position of the surrounding moving object so as to look at the actual landscape from the driver's point of view.
- the positional relationship with the moving object can be intuitively known.
- safety during driving can be enhanced.
- the vehicle image is represented by a simple three-dimensional view and the luminance is displayed low, information can be presented without disturbing driving without being confused with an actual vehicle.
- 100 .. collision avoidance support device 110 .. information acquisition device, 111 .. laser sensor 112 .. inter-vehicle communication device, 120 .. size measurement device, 121 .. distance sensor, 122.
- Vehicle data file 130 .. Route position prediction device 131 .. Future position calculation unit, 132 .. Own vehicle information generation unit, 133 .. Speedometer 134 .. Steering angle sensor, 135 .. GPS, 136 .. Map information data file 137 .. Signal, 140 .. Image creation device, 141 .. Image creation part 142 .. Vehicle image data file, 150 .. Display device
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Abstract
Disclosed is a collision prevention support device including a display device installed on a first moving body, that superimposes an image on an actual scene; an information acquisition device that measures a position and a speed of a second moving body existing in a vicinity of the first moving body; and a size measuring device that measures a size of the second moving body. Further comprised is a path position predicting device that includes a first predicting device that predicts a position and a path after a set time of the first moving body; and a second first predicting device that predicts a position and a path after a set time of the second moving body. An image creation device creates a vehicle image of the first moving body at the predicted position of the first moving body according to the predicted position, and a vehicle image of the second moving body obtained from the size measuring device, at the predicted position of the second moving body, and outputs these to the display device. This enables display of a safe position after the set time of the first moving body.
Description
本発明は、衝突回避支援装置に関する。
The present invention relates to a collision avoidance support device.
自動車などの移動物体(以下、自車両と称する)を運転する者にとって、安全な走行を行うために自車両の周囲の移動物体(以下、他車両と称する)を検出して、その予測位置を把握することは重要である。そこで、特開2007-323178号公報、および特開2007-27350号公報には、自車両に搭載された表示装置(ヘッドアップディスプレイ)に、周囲の他車両の所定時間後の予測した位置を固定の平面マークで表示するものが発明されている。
For those who drive a moving object such as a car (hereinafter referred to as the own vehicle), in order to travel safely, the moving object (hereinafter referred to as another vehicle) around the own vehicle is detected, and the predicted position is Understanding is important. Therefore, in Japanese Patent Application Laid-Open Nos. 2007-323178 and 2007-27350, the predicted position of another surrounding vehicle after a predetermined time is fixed to a display device (head-up display) mounted on the vehicle. What is indicated by a flat mark of the present invention has been invented.
しかしながら、周囲の他車両の未来の予測位置を平面マークで表示するものでは、自車両の予測位置と周囲の他車両の予測位置との距離関係を運転手が瞬時に知覚することができないと言う問題がある。また、ヘッドアップディスプレイに表示される平面マークが運転者にとって障害になる虞がある。
However, when the future predicted position of the surrounding other vehicle is displayed by a plane mark, it is said that the driver can not instantaneously perceive the distance relationship between the predicted position of the own vehicle and the predicted position of the surrounding other vehicle. There's a problem. In addition, the flat mark displayed on the head-up display may be an obstacle for the driver.
したがって、自車両と周囲の他車両の数秒後の位置関係を瞬時に判断できる表示装置が望まれる。また、ヘッドアップディスプレイに表示される画像が運転者の障害とならない表示が望まれる。
Therefore, a display device capable of instantaneously determining the positional relationship between the host vehicle and other surrounding vehicles within several seconds is desired. In addition, it is desirable that the image displayed on the head-up display should not be an obstacle to the driver.
本発明は、衝突の可能性がある移動物体の回避行動を支援する衝突回避支援装置を提供することを目的とする。
An object of the present invention is to provide a collision avoidance support device that supports the avoidance behavior of a moving object that can possibly collide.
上記目的を達成するために、本発明に関わる衝突回避支援装置は、第1の移動物体に搭載され、実景に画像を重畳する表示装置と、前記第1の移動物体の周囲に存在する第2の移動物体の位置と速度を計測する情報取得装置と、前記第2の移動物体の大きさを測定する大きさ測定装置と、前記第1の移動物体の設定した時間後の位置と経路を予測する第1の予測装置と、前記第2の移動物体の前記設定した時間後の位置と経路を予測する第2の予測装置とを有する経路位置予測装置と、前記第1の移動物体の予測位置に前記第1の移動物体の車両イメージをその予測位置に応じて作成し、前記第2の移動物体の予測位置に前記大きさ測定装置から得られた前記第2の移動物体の車両イメージをその予測位置に応じて作成して、前記表示装置に出力する画像作成装置と、を具備することを特徴とする。
In order to achieve the above object, a collision avoidance assistance device according to the present invention is mounted on a first moving object, and a display device for superimposing an image on a real scene, and a second device existing around the first moving object. An information acquisition device for measuring the position and velocity of the moving object, a size measuring device for measuring the size of the second moving object, and predicting a position and a path of the first moving object after a set time A path position prediction device having a first prediction device to perform the second moving device, and a second prediction device that predicts the route and the position of the second moving object after the set time; predicted position of the first moving object Creating a vehicle image of the first moving object according to its predicted position, and obtaining a vehicle image of the second moving object obtained from the size measuring device at the predicted position of the second moving object Created according to the predicted position, the display Characterized by comprising and an image creating apparatus for outputting.
本発明によれば、死角に入る周囲移動物体との位置関係を直感的に知ることができる。また、周囲の移動物体との位置関係が具体的に分かるため、運転者の安全性を高めることができる。
According to the present invention, it is possible to intuitively know the positional relationship with a surrounding moving object entering a blind spot. In addition, since the positional relationship with the surrounding moving objects is specifically known, the driver's safety can be enhanced.
以下、図面を参照して本発明の実施の形態を説明する。
Hereinafter, embodiments of the present invention will be described with reference to the drawings.
(実施例)
図1は、本発明の実施形態に係る衝突回避支援装置の構成を示すブロック図である。なお、以下の実施形態では、移動物体として自動車を想定して説明する。本発明は、自動車以外に、船舶やリモートコントロールする探索機のような操縦可能な移動物体等にも適用可能である。 (Example)
FIG. 1 is a block diagram showing the configuration of a collision avoidance assistance device according to an embodiment of the present invention. In the following embodiments, description will be made on the assumption that a car is a moving object. The present invention is applicable not only to automobiles but also to maneuverable moving objects, such as vessels and remote controlled searchers.
図1は、本発明の実施形態に係る衝突回避支援装置の構成を示すブロック図である。なお、以下の実施形態では、移動物体として自動車を想定して説明する。本発明は、自動車以外に、船舶やリモートコントロールする探索機のような操縦可能な移動物体等にも適用可能である。 (Example)
FIG. 1 is a block diagram showing the configuration of a collision avoidance assistance device according to an embodiment of the present invention. In the following embodiments, description will be made on the assumption that a car is a moving object. The present invention is applicable not only to automobiles but also to maneuverable moving objects, such as vessels and remote controlled searchers.
図1に示す衝突回避支援装置100は、運転者が運転する移動物体(自車両)に搭載されるものである。この衝突回避支援装置100は、運転者によって任意にON/OFFすることができる。
The collision avoidance assistance device 100 shown in FIG. 1 is mounted on a moving object (own vehicle) driven by a driver. The collision avoidance assistance device 100 can be optionally turned on / off by the driver.
この衝突回避支援装置100は、自車両の周囲に存在する移動物体(他車両)の情報を取得する情報取得装置110、その他車両の大きさを計測する大きさ計測装置120、自車両の数秒~数十秒後の未来位置および他車両の数秒~数十秒後の未来位置を予測する経路位置予測装置130、自車両と他車両の数秒~数十秒後の予測画像を作成する画像作成装置140、および自車両のフロントガラスを通して予測した画像を表示する表示装置150などから構成されている。
The collision avoidance support device 100 includes an information acquisition device 110 for acquiring information of a moving object (other vehicle) existing around the host vehicle, a size measurement device 120 for measuring the size of the other vehicle, and several seconds of the host vehicle A route position prediction device 130 that predicts future positions after tens of seconds and other vehicles several seconds to tens of seconds, and an image creation device that generates predicted images after several seconds to tens of seconds of the own vehicle and other vehicles 140, and a display 150 for displaying an image predicted through the windshield of the host vehicle.
情報取得装置110は、レーザーセンサ111などの距離計測装置および車間通信装置112を有している。ここでは、レーザーセンサ111を用いるとしたが、ミリ波センサを用いても良い。情報取得装置110は、レーザーセンサ111を用いて自車両の走行方向の周囲に他車両を検出すると、レーザーセンサ111によって検出される信号から周囲の他車両に関する速度と自車両からの相対位置とを計測する。また、車間通信装置112により、他車両との間で無線通信を行い、他車両に関する速度、大きさなどの車両情報を通信により得ることもできる。
The information acquisition device 110 includes a distance measurement device such as a laser sensor 111 and an inter-vehicle communication device 112. Although the laser sensor 111 is used here, a millimeter wave sensor may be used. When the information acquisition device 110 detects another vehicle around the traveling direction of the own vehicle using the laser sensor 111, the speed of the other surrounding vehicle and the relative position from the own vehicle are detected from the signal detected by the laser sensor 111. measure. In addition, wireless communication can be performed with another vehicle by the inter-vehicle communication device 112, and vehicle information such as the speed and size of the other vehicle can be obtained by communication.
大きさ計測装置120は、距離センサ121と車両データファイル122を有している。車両データファイル122には、市販されている各種車両の大きさを示すデータが格納されている。大きさ計測装置120は、距離センサ121から発した信号に対する応答信号より、自車両の周囲に存在する他車両の大きさを検出する。なお、距離センサ121は、情報取得装置110のレーザーセンサ111(又はミリ波センサ)を共用してもよい。
The size measuring device 120 has a distance sensor 121 and a vehicle data file 122. The vehicle data file 122 stores data indicating the sizes of various vehicles that are commercially available. The size measuring device 120 detects the size of another vehicle existing around the host vehicle from a response signal to the signal emitted from the distance sensor 121. The distance sensor 121 may share the laser sensor 111 (or the millimeter wave sensor) of the information acquisition device 110.
図2は、大きさ計測装置120の動作を示す図である。大きさ測定装置120は、例えば、自車両の左右に設けられた距離センサ121a,121bにより、自車両と周囲に存在する他車両までの距離を計測する。この時、図2に示すように、距離センサ121a,121bから周囲に存在する他車両に向けて多方向に検出信号を発信する。そして、他車両からの反射信号を距離センサ121a,121bが検出することにより、他車両の大きさを示す点列データを取得する。
FIG. 2 is a diagram showing the operation of the size measuring device 120. As shown in FIG. For example, the size measuring device 120 measures the distance to the own vehicle and the other vehicles around the vehicle using distance sensors 121a and 121b provided on the left and right of the own vehicle. At this time, as shown in FIG. 2, the distance sensors 121a and 121b transmit detection signals in the other direction toward the other vehicles present in the surrounding area. Then, the distance sensors 121a and 121b detect reflection signals from other vehicles to acquire point train data indicating the size of the other vehicles.
次に、大きさ計測装置120は、図3に示すように、取得した点列データ(長さ方向)をクラスタリングし、各クラスタから最小二乗法により一つ以上の線分124,125を検出する。ここで、線分124,125の検出法はハフ変換等、他の手法を用いても良い。
Next, as shown in FIG. 3, the size measuring apparatus 120 clusters the acquired point sequence data (length direction) and detects one or more line segments 124 and 125 from each cluster by the least square method. . Here, as a detection method of the line segments 124 and 125, another method such as Hough transform may be used.
この時、図3の右側に示すように、2つの線分124,125が取得できる場合(長さ方向と幅方向)、各線分124,125の各端点から他車両の長さ方向および幅方向の大きさを推定する。
At this time, as shown on the right side of FIG. 3, when two line segments 124 and 125 can be acquired (longitudinal direction and width direction), the longitudinal direction and width direction of the other vehicle from each end point of each line segment 124 and 125 Estimate the size of
また、図3の左側に示すように、1つの線分124(例えば、長さ方向)しか得られない場合は、その線分124の長さと車両データファイル122に予め記録している車両データとから、もう一つの線分(例えば、幅方向)を推定する。これにより、周囲に存在する他車両の長さ方向および幅方向の大きさを推定する。又は、推定した大きさ(長さ方向と幅方向)を車両データファイル122の車両データと比較して、近似している車両の大きさを出力として用いてもよい。
Further, as shown on the left side of FIG. 3, when only one line segment 124 (for example, in the length direction) can be obtained, the length of the line segment 124 and the vehicle data recorded in advance in the vehicle data file 122 And estimate another line segment (for example, the width direction). Thereby, the size in the length direction and the width direction of the other vehicle present in the periphery is estimated. Alternatively, the estimated size (length direction and width direction) may be compared with the vehicle data of the vehicle data file 122, and the approximate size of the vehicle may be used as an output.
更に、垂直方向の距離も計測できるように距離センサ121を設けた場合は、得られた多点データから車両位置上で最も高い位置にある点のデータを、移動物体の高さデータとして描画する画像に反映する。高さデータが得られない場合は、得られた移動物体の平面上の大きさと車両データファイル122の車両データと比較して、高さを推定しても良い。または、高さ方向は予め定めておいた一定値でも良い。同様に、推定した大きさ(高さ方向)を車両データファイル122の車両データと比較して、近似している車両の大きさを出力として用いてもよい。
Furthermore, when the distance sensor 121 is provided so that the distance in the vertical direction can also be measured, the data of the point at the highest position on the vehicle position is drawn as height data of the moving object from the obtained multipoint data. Reflect on the image. If height data can not be obtained, the height may be estimated by comparing the obtained size on the plane of the moving object with the vehicle data of the vehicle data file 122. Alternatively, the height direction may be a predetermined constant value. Similarly, the estimated size (height direction) may be compared with the vehicle data of the vehicle data file 122, and the approximate size of the vehicle may be used as an output.
経路位置予測装置130は、未来位置算出部131と、自車両情報生成部132とを有している。未来位置算出部131は、情報取得装置110から出力される周囲に存在する他車両の相対位置情報と速度情報、および大きさ計測装置120から出力される周囲に存在する他車両の大きさ情報とを受信する。未来位置算出部131は、周囲に存在する他車両の設定された時間後(数秒~数十秒後)の経路を予測すると共に、位置情報を計算する。未来位置算出部131は、算出した未来の位置情報と、予測した経路を画像作成装置140に出力する。
The route position prediction device 130 has a future position calculation unit 131 and a host vehicle information generation unit 132. The future position calculation unit 131 outputs relative position information and speed information of the other vehicle present in the surroundings output from the information acquisition device 110, and size information of the other vehicles present in the periphery output from the size measurement device 120. Receive The future position calculation unit 131 predicts a route after a set time (several seconds to several tens of seconds) of another vehicle present in the surroundings, and calculates position information. The future position calculation unit 131 outputs the calculated future position information and the predicted route to the image creating apparatus 140.
一方、自車両情報生成部132は、スピードメータ133、ハンドルの操舵角取得センサ134、自車両の位置を検出するGPS135、地図情報を記憶する地図情報ファイル136、ウインカー信号137等を有している。自車両情報生成部132は、スピードメータ133およびハンドルの操舵角取得センサ134を用いて自車両の設定された時間後(数秒~数十秒後)の経路と位置を予測する。例えば、走行路の変更を示すウインカー信号137が入力されたとき、自車両情報生成部132は走行路を変更しようとした時の自車両の数秒~数十秒後の経路と位置を予測する。そして、自車両情報生成部132は、自車両の予測位置および他車両の予測位置から安全運転が可能か否かを示す表示情報を出力することができる。
On the other hand, the host vehicle information generation unit 132 has a speedometer 133, a steering angle acquisition sensor 134 for the steering wheel, a GPS 135 for detecting the position of the host vehicle, a map information file 136 for storing map information, a turn signal 137, etc. . The host vehicle information generation unit 132 predicts the route and position of the host vehicle after the set time (several seconds to tens of seconds) using the speedometer 133 and the steering angle acquisition sensor 134 of the steering wheel. For example, when the winker signal 137 indicating the change of the traveling path is input, the host vehicle information generation unit 132 predicts the route and the position of the own vehicle several seconds to several tens of seconds after changing the traveling path. Then, the host vehicle information generation unit 132 can output display information indicating whether safe driving is possible from the predicted position of the host vehicle and the predicted position of the other vehicle.
即ち、自車両情報生成部132は、地図情報ファイル136から現在走行中の地図情報を取得する。そして、移動できる経路を地図で示される走行可能場所に限定して計算する。自車両情報生成部132は、スピードメータ133からの速度情報と、GPS135から得られる位置情報から、より精度を高めて経路と位置予測を行う。
That is, the host vehicle information generation unit 132 acquires map information currently being traveled from the map information file 136. Then, the route that can be moved is limited to the travelable places shown by the map and calculated. The host vehicle information generation unit 132 performs route and position prediction with higher accuracy based on the speed information from the speedometer 133 and the position information obtained from the GPS 135.
なお、予測時間の設定は、自車両の移動速度が増すにつれ、上限下限付きで単調減少するように初期設定を行うとよい。例えば、速度v、上限時間T、下限時間tとしたとき、初期時間I(v)は次式のように表すことができる。なお、aは正の定数とする。
The setting of the prediction time may be initially set so as to monotonously decrease with the upper limit and the lower limit as the moving speed of the host vehicle increases. For example, assuming that the velocity v, the upper limit time T, and the lower limit time t, the initial time I (v) can be expressed as the following equation. Here, a is a positive constant.
上式の他にも、上限下限付きで単調減少する関数ならばどのようなI(v)を用いてもよい。また、初期時間が固定値であってもよい。
Other than the above equation, any I (v) may be used as long as it is a monotonically decreasing function with upper and lower limits. Also, the initial time may be a fixed value.
初期時間の設定後は、微調整ボタン(図示せず)による入力によって、予測時間を変更できるようにしておく。予測時間の微調整に関しては、ボタン以外にも、音声認識やジェスチャ認識などの運転中に容易に操作できる入力手法で代用してもよい。
After setting the initial time, it is possible to change the predicted time by the input by the fine adjustment button (not shown). The fine adjustment of the prediction time may be replaced with an input method that can be easily operated during driving, such as voice recognition and gesture recognition, in addition to the button.
こうして、自車両情報生成部132で得られた自車両の位置予測情報は、画像作成装置140に出力される。なお、地図などの事前情報を持たない場合は、位置と速度で線形に補完することで、未来の位置と経路を予測する方法を採ってもよい。
Thus, the position prediction information of the host vehicle obtained by the host vehicle information generation unit 132 is output to the image generation device 140. In addition, when there is no advance information such as a map, a method of predicting a future position and a route may be adopted by linearly complementing the position and the velocity.
画像作成装置140は、画像作成部141と車両画像ファイル142を有している。車両画像ファイル142には、市販されている各種車両のイメージデータが格納されている。ここで言う車両のイメージデータとは、自車両を含む各種車両の外観形状(大きさのイメージ)を表わしたものである。
The image creation device 140 has an image creation unit 141 and a vehicle image file 142. The vehicle image file 142 stores image data of various vehicles commercially available. The image data of a vehicle said here represents the external appearance shape (image of a magnitude | size) of various vehicles including the own vehicle.
画像作成部141は、経路位置予測装置130から出力された自車両の予測位置と、周囲に存在する他車両の予測位置を受信して、車両画像ファイル142からの車両のイメージデータを用いて表示装置150に表示するための画像を作成する。表示装置150は、自車両のフロントガラスを通して、作成した画像を実景に重畳できるヘッドアップディスプレイで構成されている。
The image creating unit 141 receives the predicted position of the host vehicle output from the route position prediction device 130 and the predicted positions of the other vehicles present in the surroundings, and displays the image using the image data of the vehicle from the vehicle image file 142 Create an image for display on device 150. The display device 150 is configured of a head-up display that can superimpose the created image on a real view through the windshield of the host vehicle.
次に、実施形態に係わる衝突回避支援装置の動作を説明する。図4は、衝突回避支援装置の動作を示すフローチャートである。
Next, the operation of the collision avoidance assistance device according to the embodiment will be described. FIG. 4 is a flowchart showing the operation of the collision avoidance assistance device.
使用者は、道路を走行中に衝突回避支援装置100を作動させる(ステップS200)。例えば、ウインカースイッチ(図示せず)に連動して衝突回避支援装置100が作動するように設計してもよい。即ち、運転手は走行路の車線変更を行う場合、少なくとも5秒前にウインカースイッチを入れて、車線変更の意思を周囲の他車両の運転手に報知する義務がある。ウインカースイッチの操作に連動して自動的に衝突回避支援装置100が作動し、ヘッドアップディスプレイに設定した時間後の予測画像を描画するようにする。その結果、衝突回避支援装置100の表示によって運転操作に悪影響を与えることもない。また、ウインカースイッチとは別のスイッチを設け、そのスイッチのON/OFFで表示のON/OFFを切り替えてもよい。また、自動車以外の場合も、方向指示機のスイッチに連動させることは可能である。
The user operates the collision avoidance assistance device 100 while traveling on the road (step S200). For example, the collision avoidance assistance device 100 may be designed to operate in conjunction with a winker switch (not shown). That is, when the driver changes lanes on the traveling road, he / she is obliged to turn on the turn signal switch at least 5 seconds ago to notify the driver of the other surrounding vehicles of the intention to change lanes. The collision avoidance assistance device 100 is automatically operated in conjunction with the operation of the winker switch to draw a predicted image after the time set on the head-up display. As a result, the display of the collision avoidance assistance device 100 does not adversely affect the driving operation. In addition, a switch different from the winker switch may be provided, and the on / off of the display may be switched by the on / off of the switch. In addition, in the case other than the automobile, it is possible to interlock with the switch of the turn signal.
衝突回避支援装置100を作動すると、情報取得装置110は自車両の周囲に存在する他車両の情報を取得する。また、大きさ計測装置120は、周囲に存在する他車両の大きさを計測する(ステップS210)。
When the collision avoidance assistance device 100 is operated, the information acquisition device 110 acquires information of other vehicles existing around the host vehicle. Further, the size measuring device 120 measures the size of the other vehicle present in the surroundings (step S210).
経路位置予測装置130の未来位置算出部131は、情報取得装置110から出力される周囲に存在する他車両の速度情報および相対位置情報を取得する。また、未来位置算出部131は、大きさ計測装置120から出力される周囲に存在する他車両の大きさ情報を取得する。そして、未来位置算出部131は、周囲に存在する他車両の速度情報および相対位置情報から設定した時間後(例えば、5秒後)の位置と、その位置までの経路を予測する(ステップS220)。
The future position calculation unit 131 of the route position prediction device 130 acquires the speed information and the relative position information of the other vehicle present in the surroundings output from the information acquisition device 110. Further, the future position calculation unit 131 acquires the size information of the other vehicle present in the surroundings, which is output from the size measurement device 120. Then, the future position calculation unit 131 predicts a position after a time set (for example, after 5 seconds) set from the speed information and relative position information of other vehicles present in the surroundings and a route to that position (step S220) .
経路位置予測装置130の自車両情報生成部132は、スピードメータ133およびハンドルの操舵角取得センサ134からの信号を用いて、自車両の設定した時間後(例えば、5秒後)の経路と位置を予測する(ステップS230)。自車両情報生成部132による自車両の未来位置の予測に当たっては、GPS135から得られた位置情報および地図情報ファイル136からの地図情報から、設定した時間後(例えば、5秒後)の地図上の位置が考慮される。
The host vehicle information generation unit 132 of the route position prediction device 130 uses the signals from the speedometer 133 and the steering angle acquisition sensor 134 of the steering wheel to set the route and position after the time set by the host vehicle (for example, after 5 seconds) Are predicted (step S230). In the prediction of the future position of the host vehicle by the host vehicle information generation unit 132, on the map after a set time (for example, after 5 seconds) from the position information obtained from the GPS 135 and the map information from the map information file 136 Position is taken into account.
画像作成装置140の画像作成部141は、経路位置予測装置130から出力される周囲に存在する他車両の大きさ情報を取得する。また、未来位置算出部131から出力される周囲に存在する他車両の設定した時間後の予測位置情報と経路情報を取得する。また、自車両情報生成部132から自車両の設定した時間後の予測位置情報と経路情報を取得する。そして、画像作成部141は、他車両の大きさ情報に該当する車両イメージを車両画像ファイル142から読み出す(ステップS240)。
The image creation unit 141 of the image creation device 140 acquires size information of other vehicles present in the surroundings output from the route position prediction device 130. In addition, predicted position information and route information after the set time of the other vehicle present in the surroundings output from the future position calculation unit 131 are acquired. Further, predicted position information and route information after the set time of the own vehicle are acquired from the own vehicle information generation unit 132. Then, the image creating unit 141 reads a vehicle image corresponding to the size information of another vehicle from the vehicle image file 142 (step S240).
そして、自車両の予測位置情報と他車両の予測位置情報から、読み出した車両イメージが使用可と判断するならば(ステップS250のYes)、画像作成部141は予測距離に応じた他車両の車両イメージと予測経路を生成して表示装置150に出力する(ステップS260)。
Then, if it is determined that the read vehicle image is usable from the predicted position information of the own vehicle and the predicted position information of the other vehicle (Yes in step S250), the image creating unit 141 is a vehicle of the other vehicle according to the predicted distance. An image and a predicted route are generated and output to the display device 150 (step S260).
一方、自車両の予測位置情報と他車両の予測位置情報から、読み出した車両イメージの使用が不可と判断するならば(ステップS250のNo)、画像作成部141は読み出した車両イメージに加工を施す。具体的には、自車両の予測位置情報と他車両の予測位置情報とから、両車の距離が離れている場合には車両イメージがそのまま使用できない場合がある。そのような場合、離れた距離から得られる角度に応じて、読み出した車両イメージ(例えば、外側図)を整形する。そして、予測距離に応じた大きさで、且つ設定した時間後に見える角度に応じた新たな車両イメージを作成する。画像作成部141は、作成した他車両の車両イメージと予測経路を表示装置150に出力する(ステップS270)。
On the other hand, if it is determined that use of the read vehicle image is not possible from the predicted position information of the own vehicle and the predicted position information of the other vehicle (No in step S250), the image creating unit 141 processes the read vehicle image . Specifically, when the distance between both vehicles is distant from the predicted position information of the own vehicle and the predicted position information of the other vehicle, the vehicle image may not be used as it is. In such a case, the read vehicle image (for example, the outside view) is shaped according to the angle obtained from the distance. Then, a new vehicle image is created according to the predicted distance and the angle viewed after the set time. The image creation unit 141 outputs the created vehicle image of the other vehicle and the predicted route to the display device 150 (step S270).
また、画像作成部141は、車両画像ファイル142から読み出した自車両の背面イメージを設定した時間後の予測位置情報に応じて縮小処理を行う。画像作成部141は、作成した自車両の車両イメージと予測経路を表示装置150に出力する(ステップS280)。
Further, the image creation unit 141 performs reduction processing according to predicted position information after the time set in the back surface image of the own vehicle read from the vehicle image file 142. The image creating unit 141 outputs the created vehicle image of the own vehicle and the predicted route to the display device 150 (step S280).
表示装置150のヘッドアップディスプレイには、設定した時間後の自車両および他車両の車両イメージと予測経路が合成されて表示される(ステップS290)。
On the head-up display of the display device 150, the predicted route and the vehicle image of the own vehicle and the other vehicle after the set time are synthesized and displayed (step S290).
図5は、自車両のヘッドアップディスプレイに表示される運転席を通して見る画像の一例を示している。自車両の予測経路300と他車両の予測経路310,320は違う色(又は模様)で描画して、識別し易くしている。そして、他車両の大きさも含めて、実景に重畳させるための画像が表示される。ヘッドアップディスプレイでは、作成した車両イメージが表示されている物体を半透明で表示することで、運転への支障を軽減できる。
FIG. 5 shows an example of an image viewed through the driver's seat displayed on the head-up display of the host vehicle. The predicted route 300 of the own vehicle and the predicted routes 310 and 320 of the other vehicle are drawn in different colors (or patterns) to facilitate identification. Then, an image to be superimposed on the real scene is displayed, including the size of the other vehicle. In the head-up display, the obstacle on driving can be reduced by displaying the object on which the created vehicle image is displayed in a semi-transparent manner.
実景に重畳する車両イメージ330,340,350は簡略化しているが、自車両からの相対位置や運転者の視点に応じて、大きさや見る角度が変更することが分かるよう、大きさ既知の直方体のような単純な立体で車両を表現したものである。
Although the vehicle images 330, 340, and 350 superimposed on the real scene are simplified, rectangular solids of known sizes are known so that the size and viewing angle change according to the relative position from the host vehicle and the driver's viewpoint. Is a simple three-dimensional representation of the vehicle.
また、図5で表示される画像の輝度は、実景が透けるほど低く設定されている。自車両の車両イメージ330の輝度と、周囲に存在する他車両340,350の車両イメージの輝度を異なるように設定されている。異なる輝度を設定する代わりに、異なる色にしてもよい。図5では、自車両の車両イメージ330の輝度が、他車両の車両イメージ340,350の輝度よりも高い場合を示している。自車両の輝度が、他車両の輝度よりも低くてもよい。ここで作成される画像は、運転者の視点位置や、自車両、自車両の周囲に存在する他車両の状態の変化によって逐次更新される。
Further, the luminance of the image displayed in FIG. 5 is set so low that the real view can be seen. The luminances of the vehicle image 330 of the own vehicle and the luminances of the vehicle images of the other vehicles 340 and 350 present in the surroundings are set to be different. Instead of setting different luminances, different colors may be used. In FIG. 5, the case where the brightness | luminance of the vehicle image 330 of the own vehicle is higher than the brightness | luminance of the vehicle images 340 and 350 of another vehicle is shown. The brightness of the host vehicle may be lower than the brightness of other vehicles. The image created here is successively updated according to the driver's viewpoint position, the own vehicle, and changes in the state of other vehicles existing around the own vehicle.
図6は、例えば、自車両が追い越し車線から走行車線へ車線変更を行おうとした場合、走行車線を走行中の他車両と自車両の設定時間(例えば、5秒)後の予測画像を示す一例である。この予測画像は、自車両情報生成部132がウインカー信号137を受信した時の車線変更の予測画像を表示したものである。図6(a)では、経路位置予測装置130によって例えば5秒後の自車両の予測位置と走行車線を走行中の他車両の予測位置から、車間距離が十分であると判断する場合は、安全走行であることを表示している。しかしながら、図6(b)に示すように、経路位置予測装置130によって車間距離が不十分であると判断する場合、衝突回避を促すマーク400を表示している。衝突回避を促すマーク400の代わりに、危険を報知する文字を表示してもよい。また、音声出力により「安全走行」を促す音声を出力するようにしてもよい。
FIG. 6 is an example showing a predicted image after setting time (for example, 5 seconds) of the other vehicle traveling on the traveling lane and the own vehicle when, for example, the own vehicle tries to change lanes from the overtaking lane to the traveling lane. It is. The predicted image is a display of the predicted image of the lane change when the host vehicle information generation unit 132 receives the turn signal 137. In FIG. 6A, if it is determined by the route position prediction device 130 that the inter-vehicle distance is sufficient, for example, from the predicted position of the host vehicle after 5 seconds and the predicted position of the other vehicle traveling on the travel lane, It indicates that it is running. However, as shown in FIG. 6B, when it is determined by the route position prediction device 130 that the inter-vehicle distance is insufficient, a mark 400 prompting collision avoidance is displayed. Instead of the mark 400 prompting for collision avoidance, characters for informing the danger may be displayed. Further, a voice may be output to urge "safe driving" by voice output.
本発明によれば、運転手が運転する移動物体と、周囲の移動物体の予測位置を、運転手の視点から実際の風景を見るように具体的に把握することができるため、死角に入る周囲移動物体との位置関係を直感的に知ることができる。また、周囲の移動物体との位置関係が具体的にわかるため、運転時の安全性を高めることができる。また、車両イメージを簡単な三次元図で表し、輝度を低く表示されるため、実際の車と混同することもなく、運転を妨げることなく情報提示できる。
According to the present invention, it is possible to specifically grasp the moving object driven by the driver and the predicted position of the surrounding moving object so as to look at the actual landscape from the driver's point of view. The positional relationship with the moving object can be intuitively known. In addition, since the positional relationship with the surrounding moving objects is specifically known, safety during driving can be enhanced. Further, since the vehicle image is represented by a simple three-dimensional view and the luminance is displayed low, information can be presented without disturbing driving without being confused with an actual vehicle.
なお、本発明は上記した実施形態に限定されず、発明の要旨を逸脱しない範囲において、設計変更して構わない。
The present invention is not limited to the embodiment described above, and design changes may be made without departing from the scope of the invention.
100‥衝突回避支援装置、110‥情報取得装置、111‥レーザーセンサ
112‥車間通信装置、120‥大きさ計測装置、121‥距離センサ、
122‥車両データファイル、130‥経路位置予測装置
131‥未来位置算出部、132‥自車両情報生成部、133‥スピードメータ
134‥操舵角センサ、135‥GPS、136‥地図情報データファイル
137‥ウインカー信号、140‥画像作成装置、141‥画像作成部
142‥車両画像データファイル、150‥表示装置 100 .. collision avoidance support device, 110 .. information acquisition device, 111 ..laser sensor 112 .. inter-vehicle communication device, 120 .. size measurement device, 121 .. distance sensor,
122. Vehicle data file, 130 .. Routeposition prediction device 131 .. Future position calculation unit, 132 .. Own vehicle information generation unit, 133 .. Speedometer 134 .. Steering angle sensor, 135 .. GPS, 136 .. Map information data file 137 .. Signal, 140 .. Image creation device, 141 .. Image creation part 142 .. Vehicle image data file, 150 .. Display device
112‥車間通信装置、120‥大きさ計測装置、121‥距離センサ、
122‥車両データファイル、130‥経路位置予測装置
131‥未来位置算出部、132‥自車両情報生成部、133‥スピードメータ
134‥操舵角センサ、135‥GPS、136‥地図情報データファイル
137‥ウインカー信号、140‥画像作成装置、141‥画像作成部
142‥車両画像データファイル、150‥表示装置 100 .. collision avoidance support device, 110 .. information acquisition device, 111 ..
122. Vehicle data file, 130 .. Route
Claims (7)
- 第1の移動物体に搭載され、実景に画像を重畳する表示装置と、
前記第1の移動物体の周囲に存在する第2の移動物体の位置と速度を計測する情報取得装置と、
前記第2の移動物体の大きさを測定する大きさ測定装置と、
前記第1の移動物体の設定した時間後の位置と経路を予測する第1の予測装置と、前記第2の移動物体の前記設定した時間後の位置と経路を予測する第2の予測装置とを有する経路位置予測装置と、
前記第1の移動物体の予測位置に前記第1の移動物体の車両イメージをその予測位置に応じて作成し、前記第2の移動物体の予測位置に前記大きさ測定装置から得られた前記第2の移動物体の車両イメージをその予測位置に応じて作成して、前記表示装置に出力する画像作成装置と、
を具備することを特徴とする衝突回避支援装置。 A display device mounted on a first moving object and superposing an image on a real scene;
An information acquisition device for measuring the position and velocity of a second moving object existing around the first moving object;
A size measuring device for measuring the size of the second moving object;
A first prediction device that predicts a position and a route after the set time of the first moving object; and a second prediction device that predicts the position and the route after the set time of the second moving object A path position prediction device having
The vehicle image of the first moving object is created at the predicted position of the first moving object according to the predicted position, and the second obtained from the size measuring device at the predicted position of the second moving object An image creating apparatus that creates a vehicle image of the moving object of No. 2 according to its predicted position and outputs it to the display device;
The collision avoidance assistance device characterized by comprising. - 前記第1の移動物体の予測経路は、前記第2の移動物体の予測経路と異なる色で表示させることを特徴とする請求項1記載の衝突回避支援装置。 The collision avoidance assistance device according to claim 1, wherein the predicted path of the first moving object is displayed in a color different from the predicted path of the second moving object.
- 表示装置は、作成した前記車両イメージが表示されている物体が半透明であることを特徴とする請求項1に記載の衝突回避支援装置。 The collision avoidance assistance device according to claim 1, wherein the display device is configured such that an object on which the created vehicle image is displayed is translucent.
- 画像作成装置は、前記第1の移動物体の前記車両イメージの輝度と前記第2の移動物体の前記車両イメージの輝度が異なるように表示することを特徴とする請求項1に記載の衝突回避支援装置。 The collision avoidance assistance according to claim 1, wherein the image creating device displays the luminance of the vehicle image of the first moving object and the luminance of the vehicle image of the second moving object to be different. apparatus.
- 前記第1の移動物体の移動方向を指定する移動方向指定装置を更に持ち、
前記移動方向指定装置からの出力信号に応じて前記画像作成装置が作成した画像を前記表示装置に重畳させることを特徴とする請求項1に記載の衝突回避支援装置。 The apparatus further comprises a movement direction specification device for specifying the movement direction of the first moving object,
The collision avoidance assistance device according to claim 1, wherein the image created by the image creation device is superimposed on the display device according to an output signal from the movement direction designation device. - 経路位置予測装置は、前記第1の移動物体の速度に応じて表示する未来の時間を初期設定し、前記未来の時間を微調整可能とすることを特徴とする請求項1に記載の衝突回避支援装置。 The collision avoidance according to claim 1, wherein the path position prediction device initializes a future time to be displayed according to the velocity of the first moving object, and enables the future time to be finely adjusted. Support device.
- 前記経路位置予測装置は、前記第1の移動物体の予測位置と前記第2の移動物体の予測位置から危険と判断する場合、衝突回避を促す出力を行うことを特徴とする請求項1に記載の衝突回避支援装置。 The path position prediction apparatus performs an output for promoting collision avoidance when judging that there is a danger from the predicted position of the first moving object and the predicted position of the second moving object. Collision avoidance support device.
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