WO2020170876A1 - Moving body detection system for vehicle and moving body detection method for vehicle - Google Patents

Moving body detection system for vehicle and moving body detection method for vehicle Download PDF

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Publication number
WO2020170876A1
WO2020170876A1 PCT/JP2020/005044 JP2020005044W WO2020170876A1 WO 2020170876 A1 WO2020170876 A1 WO 2020170876A1 JP 2020005044 W JP2020005044 W JP 2020005044W WO 2020170876 A1 WO2020170876 A1 WO 2020170876A1
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vehicle
moving body
body detection
moving
line
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PCT/JP2020/005044
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French (fr)
Japanese (ja)
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一博 反町
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いすゞ自動車株式会社
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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

Definitions

  • the present disclosure relates to a vehicle moving body detection system and a vehicle moving body detection method.
  • a vehicle safety system has been proposed which has a function of displaying the distance between a vehicle and an obstacle on a controller display by computer graphics in a state where the passenger can clearly recognize the distance (for example, refer to Patent Document 1).
  • a vehicle moving body detection system for achieving the above object is a vehicle moving body detecting system that detects a moving body running in parallel with the vehicle in an area lateral to a driver's seat of the vehicle.
  • the moving body is arranged on the upper end of the vehicle and detects the position information of the moving body from above, and the moving body based on the position information of the moving body detected by the moving body detecting device.
  • a control device that predicts the movement of the.
  • the moving body detection system 2 provided in the vehicle 1 is a system that detects moving bodies A and B running in parallel with the vehicle 1 in a region lateral to the driver's seat 1 a of the vehicle 1.
  • the vehicle width direction of the vehicle 1 is defined as the X direction
  • the vehicle length direction is defined as the Y direction
  • the vehicle height direction is defined as the Z direction.
  • the vehicle 1 of the present embodiment is a large bus, it may be a truck or the like. It suffices that the moving object detection device 3 to be described later is set at a height (2 m or more) at which a pedestrian can be overlooked.
  • the driver's seat 1a is disposed on the front right side of the vehicle 1 in a plan view of the vehicle 1, and the left side of the vehicle 1 (the side opposite to the side on which the driver's seat 1a is disposed) runs in parallel.
  • the moving bodies A and B that are moving are detected by the moving body detection system 2, but the present invention is not limited to this configuration.
  • a configuration may be adopted in which the driver's seat 1a is arranged on the front left side of the vehicle 1 and the moving body detection system 2 detects the moving bodies A and B running in parallel on the right side of the vehicle 1.
  • the driver's seat 1a is disposed in the center of the front of the vehicle 1 and the vehicle is running in parallel on one side of the vehicle 1.
  • a configuration in which A and B are detected by the moving body detection system 2 may be used.
  • the “one side” is the left side when the road on which the vehicle 1 is traveling is a left-handed road, and is the right side when the road on which the vehicle 1 is traveling is a right-handed road.
  • the moving bodies detected by the moving body detection device 3 described later are two persons, a pedestrian A closest to the vehicle 1 and a pedestrian B closest to the pedestrian crossing 11, but the number of detected persons is two.
  • the number is not limited to one, and may be one or more than two.
  • pedestrians not only pedestrians but also bicycle operators are included in the moving body.
  • the moving body detection system 2 is a system including a moving body detection device 3, a control device 4, and an alarm device 5.
  • the moving body detection device 3 is a device that is arranged at the upper end of the vehicle 1 and detects the position information of the moving bodies A and B by looking down.
  • the moving body detection device 3 may be arranged on the roof panel that constitutes the upper end portion of the vehicle 1, or may be arranged so as to be embedded inside the roof panel. In this embodiment, the moving body detection device 3 is arranged on the roof panel.
  • the arrangement position of the moving body detection device 3 is not particularly limited in the vehicle length direction.
  • the moving body detection device 3 is disposed on the left side of the vehicle 1 in the vehicle width direction center in plan view.
  • the detection area of the moving body detection device 3 is formed by extending the end portion on the side where the moving bodies A and B run side by side in the vehicle width direction of the vehicle 1 in the vehicle width direction in the vehicle length direction in the vehicle length direction. It is set within a region R that is set toward the side where the moving bodies A and B are running side by side from the first line L1. This region R is a region that spreads from the left end portion of the vehicle 1 toward the side (sidewalk side) where the moving bodies A and B are running side by side.
  • the detection area of the moving body detection device 3 is arranged so as to include at least areas R1 and R2 described later.
  • the moving body detection device 3 may be arranged at the upper end portion of the cab or the upper end portion of the torii located at the front end of the luggage carrier.
  • the detection area of the moving body detection device 3 is configured by combining the detection areas of these devices.
  • the moving body detection device 3 is arranged at the left end in the vehicle width direction of the vehicle 1 in the plan view of the vehicle 1 and at the center in the vehicle length direction.
  • a plurality of devices 3 may be arranged at different positions. Further, a plurality of devices of the same type may be arranged, for example, two cameras 3a may be arranged.
  • the moving body A located in the vicinity of the left end portion of the vehicle 1 (the area defined by the lines L1, L2, L3 and the guardrail 9 in FIG. 1). It is a device that can detect the bird's eye view.
  • the detection area of the moving body detection device 3 in the present embodiment is characterized by including at least a rectangular area R1 in a plan view of the vehicle 1, as shown in FIG.
  • the rectangular region R1 is a region set based on a region that is difficult for the driver of the vehicle 1 to visually recognize from the driver's seat 1a. More specifically, the rectangular region R1 is divided by the first line L1, the second line L2, the third line L3, and the fourth line L4 into a width D ⁇ length (the same length as the vehicle length of the vehicle 1). This is the L area.
  • the second line L2 is a line formed by extending the front end of the vehicle 1 in the vehicle width direction.
  • the third line L3 is a line formed by extending the rear end of the vehicle 1 in the vehicle width direction.
  • the fourth line L4 is separated from the first line L1 by a preset distance D on the side where the moving bodies A and B are running side by side, and extends in parallel with the first line L1. It is the line that is formed.
  • the width (set distance) D is set based on a region where the driver has poor visibility, and is set to about 5 m, for example.
  • the width D is set to about 5 m
  • the rectangular region R1 can be supplemented by the moving object detection device 3 by the moving body detection device 3.
  • the length in the vehicle width direction is long. Is set to D1 ( ⁇ D, the length from the left end of the vehicle 1 to the left end of the pedestrian crossing 11), most of the moving objects that may cross the pedestrian crossing are detected in the detection area of the moving object detection device 3. It is preferable because it can be included.
  • the length D1 is, for example, about 10 m.
  • the detection area of the moving body detection device 3 includes not only the area R1 set based on the area where the driver has poor visibility but also the area R2 on the front left side of the vehicle 1.
  • the region R2 is set based on a region in which the vehicle 1 and the moving body may collide when the vehicle 1 turns left. By including this region R2 in the detection region of the moving body detection device 3, it is possible to reduce the risk of collision between the vehicle 1 and the moving body when the vehicle 1 makes a left turn.
  • the detection region of the moving body detection device 3 may include the regions R1 and R2.
  • the configuration in which the detection region of the moving object detection device 3 includes the regions R1 and R2 is not limited to the above configuration.
  • the control device 4 of the present embodiment predicts the movements of the moving bodies A and B based on at least the position information of the moving bodies A and B detected by the moving body detection device 3, more specifically, the control device.
  • Reference numeral 4 is a device that determines whether or not the moving bodies A and B are stopped.
  • the steering angle sensor is used as the steering angle acquisition device 7, but a yaw rate sensor may be used.
  • the control device 4 has a moving body motion determination means 4a, a turning determination means 4b, and a collision prediction means 4c. Based on the position information of the moving bodies A and B detected by the moving body detection device 3 and the vehicle speed V acquired by the vehicle speed sensor 6, the moving body motion determination means 4a determines whether or not the moving bodies A and B are stopped. Is a means for determining. For example, the absolute speeds of the moving bodies A and B are calculated from the position information of the moving bodies A and B and the vehicle speed V, and when the absolute speed is zero, it is determined that the moving bodies A and B are stopped. If the absolute speed is not zero, it is determined that the moving bodies A and B are moving.
  • the turning determination means 4b turns the vehicle 1 left based on the vehicle speed V acquired by the vehicle speed sensor 6, the steering angle Sa acquired by the steering angle sensor 7, and the operation state of the left winker acquired by the winker operation acquisition device 8. It is means for determining whether or not to perform (turning to the left side where the moving bodies A and B are running side by side). For example, when the vehicle speed V is equal to or lower than the preset speed V1 and the steering angle Sa is equal to or greater than the preset angle Sa1 and the left turn signal is on, the vehicle 1 starts turning left. It is judged that it did.
  • the set speed V1 is a speed for determining whether or not the vehicle 1 has entered the low speed state before turning left.
  • the set angle Sa1 is an angle for determining whether the vehicle 1 is steered to the left.
  • the collision predicting means 4c is turning when the moving body motion determining means 4a determines that the moving bodies A and B are not stopped and the turning determining means 4b determines that the vehicle 1 is turning. It is means for predicting whether or not the vehicle 1 and the moving bodies A and B collide. For example, the area in which the vehicle 1 will pass after turning left is predicted using the minimum turning radius of the vehicle 1 that is stored in the control device 4 in advance, and the moving bodies A and B pass from this prediction time to this area. And the time t required for the vehicle 1 to pass through this area from this predicted time.
  • ) and ⁇ t2 (
  • the area that the vehicle 1 passes through after turning left may be predicted using GPS (Global Positioning System). Alternatively, this area may be the same as the area where the pedestrian crossing 11 is arranged using the map information.
  • the alarm device 5 is a device that issues an alarm to the driver's seat 1a of the vehicle 1 or the outside of the vehicle 1 when the collision prediction means 4c predicts that the vehicle 1 and the moving bodies A and B will collide.
  • a speaker or a display panel is exemplified as a device for issuing an alarm to the driver's seat 1a of the vehicle 1.
  • a device for issuing an alarm to the outside of the vehicle 1 is also exemplified by a speaker and a display panel, but it is preferable to dispose at least a speaker in order to call attention to the moving bodies A and B.
  • step S10 the moving body detection device 3 detects the position information of the moving bodies A and B, and the vehicle speed sensor 6 acquires the vehicle speed V.
  • step S20 the moving body motion determination means 4a determines whether or not the moving bodies A and B are stopped. When it is determined that both of the moving bodies A and B are stopped (YES), the process proceeds to return and the control flow ends. On the other hand, if it is determined that either the moving body A or B is moving (NO), the process proceeds to step S30.
  • step S30 the steering angle sensor 7 acquires the steering angle Sa, and the winker acquisition device 8 acquires the operating state of the left winker. After performing step S30, the process proceeds to step S40.
  • step S40 the turning determination means 4b determines whether or not the vehicle 1 will make a left turn. When it is determined that the vehicle 1 does not turn left (NO), the process proceeds to the return and the control flow ends. On the other hand, when it is determined that the vehicle 1 makes a left turn (YES), the process proceeds to step S50.
  • step S50 the collision predicting means 4c predicts whether or not the vehicle 1 and the moving bodies A and B determined to be moving in step S20 collide with each other while the vehicle is turning left.
  • the process proceeds to return and the present control flow ends.
  • the process proceeds to step S60.
  • step S60 the alarm device 5 issues an alarm to the driver's seat 1a of the vehicle 1 or the outside of the vehicle 1. After performing step S60, the process proceeds to return and the present control flow is ended.
  • the moving body detection device 3 looks down at the moving bodies A and B that are running in parallel with the vehicle 1 in a region lateral to the driver's seat 1a of the vehicle 1. ..
  • the moving body detection device 3 is provided between the vehicle 1 and the moving body B.
  • the guardrail 9 and the planting 10 that are arranged do not interfere with the detection of the moving body B by the moving body detection device 3.
  • the moving body A located near the left end of the vehicle 1 can be detected without any trouble. Therefore, the moving bodies A and B can be accurately detected.
  • an alarm device 5 gives an alarm to the driver's seat 1a of the vehicle 1 or the outside of the vehicle 1.
  • the driver of the vehicle 1 and the moving bodies A and B can quickly select an action for avoiding a collision.
  • another moving body detection device is further provided on the side surface in the vehicle width direction of the vehicle 1 and at a position lower than the support column 9a of the guardrail 9. It is preferable to arrange them. For example, in the case where a signboard higher than the moving body B (the signboard of the signboard is higher than the pillar 9a of the guardrail 9) is arranged at the arrangement position of the implant 10 shown in FIG. There is a possibility that the moving body detection device 3 arranged may be unable to detect the moving body B due to the signboard blocking. In such a case, the moving body B can be detected by another moving body detection device through the columns 9a of the guardrail 9 and the columns of the signboard 10, so that the moving body can be detected. The accuracy can be improved.

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  • General Physics & Mathematics (AREA)
  • Traffic Control Systems (AREA)

Abstract

The present invention is provided with: a moving body detection device 3 that is disposed on an upper end section of a vehicle 1 and overviews and detects the positional information about moving bodies A, B; and a control device 4 that predicts the behavior of the moving bodies A, B on the basis of the positional information about the moving bodies A, B detected by the moving body detection device 3.

Description

車両の移動体検出システム及び車両の移動体検出方法Vehicle moving body detection system and vehicle moving body detection method
　本開示は、車両の移動体検出システム及び車両の移動体検出方法に関する。 The present disclosure relates to a vehicle moving body detection system and a vehicle moving body detection method.
　車両と障害物との間の距離を明確に搭乗者が認識できる状態でコンピュータグラフィックスによりコントローラのディスプレイに表示する機能を有する自動車の安全システムが提案されている（例えば、特許文献１参照）。 A vehicle safety system has been proposed which has a function of displaying the distance between a vehicle and an obstacle on a controller display by computer graphics in a state where the passenger can clearly recognize the distance (for example, refer to Patent Document 1).
日本国特開２００５―２９７８６３号公報Japanese Patent Laid-Open No. 2005-297863
　しかしながら、上記の特許文献１に例示されているような従来技術では、車両の運転席から側方の領域を車両と並走している移動体を正確に検出することは困難であった。 However, with the conventional technology as exemplified in the above-mentioned Patent Document 1, it was difficult to accurately detect a moving body running in parallel with the vehicle in a region lateral to the driver's seat of the vehicle.
　本開示の目的は、車両の運転席から側方の領域を車両と並走している移動体を正確に検出することができる車両の移動体検出システム及び車両の移動体検出方法を提供することにある。 An object of the present disclosure is to provide a vehicle moving body detection system and a vehicle moving body detection method capable of accurately detecting a moving body running in parallel with a vehicle in a region lateral to a driver's seat of the vehicle. It is in.
　上記の目的を達成するための本開示の態様の車両の移動体検出システムは、車両の運転席から側方の領域を前記車両と並走している移動体を検出する車両の移動体検出システムにおいて、前記車両の上端部に配置され、前記移動体の位置情報を俯瞰して検出する移動体検出装置と、前記移動体検出装置が検出した前記移動体の位置情報を基に、前記移動体の動きを予測する制御装置と、を備えて構成される。 A vehicle moving body detection system according to an aspect of the present disclosure for achieving the above object is a vehicle moving body detecting system that detects a moving body running in parallel with the vehicle in an area lateral to a driver's seat of the vehicle. In the above, the moving body is arranged on the upper end of the vehicle and detects the position information of the moving body from above, and the moving body based on the position information of the moving body detected by the moving body detecting device. And a control device that predicts the movement of the.
　また、上記の目的を達成するための本開示の態様の車両の移動体検出方法は、車両の運転席から側方の領域を前記車両と並走している移動体を検出する車両の移動体検出方法において、前記車両の上端部に配置された移動体検出装置により前記移動体の位置情報を俯瞰して検出する第１のステップと、前記第１のステップによって検出された前記移動体の位置情報を基に前記移動体の動きを予測する第２のステップと、を含むことを特徴とする方法である。 Further, a method for detecting a moving body of a vehicle according to an aspect of the present disclosure for achieving the above object is a moving body of a vehicle that detects a moving body running in parallel with the vehicle in an area lateral to a driver's seat of the vehicle. In the detection method, a first step of overlooking and detecting position information of the moving body by a moving body detection device arranged at an upper end portion of the vehicle, and a position of the moving body detected by the first step A second step of predicting the movement of the moving body based on information, the method.
　本開示によれば、車両の運転席から側方の領域を車両と並走している移動体を正確に検出することができる。 According to the present disclosure, it is possible to accurately detect a moving body running in parallel with a vehicle in an area lateral to the driver's seat of the vehicle.
本開示の車両の移動体検出システムを例示する平面図である。It is a top view which illustrates the moving body detection system of the vehicle of this indication. 図１の移動体検出システムをＹ１方向から視た正面図である。It is the front view which looked at the mobile body detection system of FIG. 1 from the Y1 direction. 移動体検出装置を構成する各装置の検出領域を例示する平面図であり、カメラの検出領域を例示している。It is a top view which illustrates the detection area of each apparatus which comprises a moving body detection apparatus, and has illustrated the detection area of a camera. 移動体検出装置を構成する各装置の検出領域を例示する平面図であり、ライダーの検出領域を例示している。It is a top view which illustrates the detection area of each apparatus which comprises a mobile body detection apparatus, and has illustrated the detection area of a rider. 本開示の車両の移動体検出方法を制御フローの形で例示した図である。It is the figure which illustrated the moving body detection method of the vehicle of this indication in the form of a control flow.
　以下、本開示の実施形態の車両の移動体検出システム及び車両の移動体検出方法について、図面を参照しながら説明する。車両１に備わるこの移動体検出システム２は、車両１の運転席１ａから側方の領域を車両１と並走している移動体Ａ、Ｂを検出するシステムである。なお、本実施形態では、車両１の車幅方向をＸ方向、車長方向をＹ方向、車高方向をＺ方向と定義する。また、本実施形態の車両１は大型のバスであるが、トラック等でもよい。少なくとも歩行者を俯瞰可能な高さ（２ｍ以上）に後述する移動体検出装置３が設定されればよい。 Hereinafter, a vehicle moving body detection system and a vehicle moving body detection method according to an embodiment of the present disclosure will be described with reference to the drawings. The moving body detection system 2 provided in the vehicle 1 is a system that detects moving bodies A and B running in parallel with the vehicle 1 in a region lateral to the driver's seat 1 a of the vehicle 1. In the present embodiment, the vehicle width direction of the vehicle 1 is defined as the X direction, the vehicle length direction is defined as the Y direction, and the vehicle height direction is defined as the Z direction. Further, although the vehicle 1 of the present embodiment is a large bus, it may be a truck or the like. It suffices that the moving object detection device 3 to be described later is set at a height (2 m or more) at which a pedestrian can be overlooked.
　また、本実施形態では、車両１を平面視で運転席１ａは車両１の前方右側に配置されて、車両１の左側（運転席１ａが配置されている側とは反対側）を並走している移動体Ａ、Ｂを移動体検出システム２により検出しているが、この構成に限定されない。例えば、車両１の前方左側に運転席１ａが配置されて、車両１の右側を並走している移動体Ａ、Ｂを移動体検出システム２により検出する構成でもよい。上記のように運転席１ａが車幅方向の一側に位置する構成だけでなく、車両１の前方中央に運転席１ａが配置されて、車両１の一側方を並走している移動体Ａ、Ｂを移動体検出システム２により検出する構成でもよい。「一側方」とは、車両１の走行する道路が左通行用の道路である場合は左側方であり、車両１の走行する道路が右通行用の道路である場合は右側方である。 Further, in the present embodiment, the driver's seat 1a is disposed on the front right side of the vehicle 1 in a plan view of the vehicle 1, and the left side of the vehicle 1 (the side opposite to the side on which the driver's seat 1a is disposed) runs in parallel. The moving bodies A and B that are moving are detected by the moving body detection system 2, but the present invention is not limited to this configuration. For example, a configuration may be adopted in which the driver's seat 1a is arranged on the front left side of the vehicle 1 and the moving body detection system 2 detects the moving bodies A and B running in parallel on the right side of the vehicle 1. In addition to the configuration in which the driver's seat 1a is positioned on one side in the vehicle width direction as described above, the driver's seat 1a is disposed in the center of the front of the vehicle 1 and the vehicle is running in parallel on one side of the vehicle 1. A configuration in which A and B are detected by the moving body detection system 2 may be used. The “one side” is the left side when the road on which the vehicle 1 is traveling is a left-handed road, and is the right side when the road on which the vehicle 1 is traveling is a right-handed road.
　また、本実施形態では、後述する移動体検出装置３の検出する移動体は車両１に最も近い歩行者Ａと横断歩道１１に最も近い歩行者Ｂの２人であるが、検出人数は２人に限定されることなく１人または３人以上の複数人であってもよい。また、歩行者だけでなく自転車の操縦者等も移動体に含まれる。 Further, in the present embodiment, the moving bodies detected by the moving body detection device 3 described later are two persons, a pedestrian A closest to the vehicle 1 and a pedestrian B closest to the pedestrian crossing 11, but the number of detected persons is two. However, the number is not limited to one, and may be one or more than two. Further, not only pedestrians but also bicycle operators are included in the moving body.
　図１、図２に示すように、移動体検出システム２は、移動体検出装置３と、制御装置４と、警報装置５とを備えるシステムである。移動体検出装置３は、車両１の上端部に配置され、移動体Ａ、Ｂの位置情報を俯瞰して検出する装置である。移動体検出装置３は、車両１の上端部を構成するルーフパネルの上に配置してもよいし、ルーフパネルの内部に埋め込む形で配置してもよい。本実施形態では、移動体検出装置３はルーフパネルの上に配置される。移動体検出装置３の配置位置は車長方向に関しては特に限定されない。移動体検出装置３の配置位置は、車両の車幅方向に関しては、車両１を平面視で、車両１の車幅方向中央よりも左側に配置すると好ましい。移動体検出装置３の検出領域は、車両１を平面視で、車両１の車幅方向で移動体Ａ、Ｂが並走している側の端部を車長方向に延在して形成される第１線Ｌ１より移動体Ａ、Ｂが並走している側に向けて設定される領域Ｒ内に設定される。この領域Ｒは、車両１の左端部から移動体Ａ、Ｂが並走している側（歩道側）に向けて広がる領域である。移動体検出装置３の検出領域は、後述する領域Ｒ１、Ｒ２を少なくとも含むように配置される。なお、車両１がキャブ及び荷台で構成されるトラックの場合には、移動体検出装置３をキャブの上端部に配置することや、荷台の前端に位置する鳥居の上端部の設けてもよい。 As shown in FIGS. 1 and 2, the moving body detection system 2 is a system including a moving body detection device 3, a control device 4, and an alarm device 5. The moving body detection device 3 is a device that is arranged at the upper end of the vehicle 1 and detects the position information of the moving bodies A and B by looking down. The moving body detection device 3 may be arranged on the roof panel that constitutes the upper end portion of the vehicle 1, or may be arranged so as to be embedded inside the roof panel. In this embodiment, the moving body detection device 3 is arranged on the roof panel. The arrangement position of the moving body detection device 3 is not particularly limited in the vehicle length direction. With respect to the vehicle width direction of the vehicle, it is preferable that the moving body detection device 3 is disposed on the left side of the vehicle 1 in the vehicle width direction center in plan view. The detection area of the moving body detection device 3 is formed by extending the end portion on the side where the moving bodies A and B run side by side in the vehicle width direction of the vehicle 1 in the vehicle width direction in the vehicle length direction in the vehicle length direction. It is set within a region R that is set toward the side where the moving bodies A and B are running side by side from the first line L1. This region R is a region that spreads from the left end portion of the vehicle 1 toward the side (sidewalk side) where the moving bodies A and B are running side by side. The detection area of the moving body detection device 3 is arranged so as to include at least areas R1 and R2 described later. When the vehicle 1 is a truck composed of a cab and a luggage carrier, the moving body detection device 3 may be arranged at the upper end portion of the cab or the upper end portion of the torii located at the front end of the luggage carrier.
　移動体検出装置３は、カメラ３ａ、ライダー３ｂ、ミリ波レーダーの内、１つ又は２つ以上の組み合わせで構成される装置である。移動体検出装置３の検出範囲は図３Ａ及び図３Ｂに示すもの（Ｒａ、Ｒｂ）が一例であるが、線分から広角に広がり連続的な曲線を描くように検出範囲を設定するものであってもよい。なお、本実施形態のミリ波レーダーは、車間距離の検出等に用いられる遠距離用のミリ波レーダーではなく、近距離用または中距離用のミリ波レーダーである。 The moving body detection device 3 is a device configured by one or a combination of two or more of the camera 3a, the lidar 3b, and the millimeter wave radar. The detection range of the moving body detection device 3 is one shown in FIGS. 3A and 3B (Ra, Rb), but the detection range is set so as to spread from a line segment to a wide angle and draw a continuous curve. Good. The millimeter-wave radar of this embodiment is not a long-range millimeter-wave radar used for detecting an inter-vehicle distance, but a short-range or medium-range millimeter-wave radar.
　移動体検出装置３の検出領域は、これらの装置の各検出領域を組み合わせて構成される。なお、本実施形態では、移動体検出装置３の配置位置は、車両１を平面視で、車両１の車幅方向左端部で、かつ、車長方向中央の１箇所であるが、移動体検出装置３を異なる位置に複数配置してもよい。また、例えばカメラ３ａを２個配置する等、同種類の装置を複数配置してもよい。 The detection area of the moving body detection device 3 is configured by combining the detection areas of these devices. In the present embodiment, the moving body detection device 3 is arranged at the left end in the vehicle width direction of the vehicle 1 in the plan view of the vehicle 1 and at the center in the vehicle length direction. A plurality of devices 3 may be arranged at different positions. Further, a plurality of devices of the same type may be arranged, for example, two cameras 3a may be arranged.
　また、いずれの装置も図１に示す配置位置に設置された場合、車両１の左端部の近傍（図１における、線Ｌ１、Ｌ２、Ｌ３とガードレール９で区画される領域）にいる移動体Ａを俯瞰して検出することが可能な装置である。 Further, when any of the devices is installed in the arrangement position shown in FIG. 1, the moving body A located in the vicinity of the left end portion of the vehicle 1 (the area defined by the lines L1, L2, L3 and the guardrail 9 in FIG. 1). It is a device that can detect the bird's eye view.
　本実施形態における移動体検出装置３の検出領域は、図１に示すように、車両１を平面視で、長方形の領域Ｒ１を少なくとも含むことを特徴とする。この長方形の領域Ｒ１は、車両１の運転者が運転席１ａから視認しづらいと想定される領域を基に設定される領域である。より具体的には、長方形の領域Ｒ１は、第１線Ｌ１と第２線Ｌ２と第３線Ｌ３と第４線Ｌ４とで区画される幅Ｄ×長さ（車両１の車長と同じ長さ）Ｌの領域である。第２線Ｌ２は、車両１の前方端部を車幅方向に延在して形成される線である。第３線Ｌ３は、車両１の後方端部を車幅方向に延在して形成される線である。第４線Ｌ４は、第１線Ｌ１より移動体Ａ、Ｂが並走している側に予め設定された設定距離Ｄ分だけ離間して、かつ、第１線Ｌ１に平行に延在して形成される線である。幅（設定距離）Ｄは、運転者の視認不良な領域を基に設定され、５ｍ程度が例示される。 The detection area of the moving body detection device 3 in the present embodiment is characterized by including at least a rectangular area R1 in a plan view of the vehicle 1, as shown in FIG. The rectangular region R1 is a region set based on a region that is difficult for the driver of the vehicle 1 to visually recognize from the driver's seat 1a. More specifically, the rectangular region R1 is divided by the first line L1, the second line L2, the third line L3, and the fourth line L4 into a width D×length (the same length as the vehicle length of the vehicle 1). This is the L area. The second line L2 is a line formed by extending the front end of the vehicle 1 in the vehicle width direction. The third line L3 is a line formed by extending the rear end of the vehicle 1 in the vehicle width direction. The fourth line L4 is separated from the first line L1 by a preset distance D on the side where the moving bodies A and B are running side by side, and extends in parallel with the first line L1. It is the line that is formed. The width (set distance) D is set based on a region where the driver has poor visibility, and is set to about 5 m, for example.
　なお、この長方形の領域Ｒ１は、幅Ｄを５ｍ程度に設定すると運転者の視認不良な領域を移動体検出装置３により補うことができるが、車両１の左折時については車幅方向の長さをＤ１（≧Ｄ、車両１の左端部から横断歩道１１の左端部までの長さ）に設定すると、横断歩道を横断する可能性のある移動体の大半を移動体検出装置３の検出領域に含めることができるので好ましい。この長さＤ１は例えば１０ｍ程度である。 In addition, when the width D is set to about 5 m, the rectangular region R1 can be supplemented by the moving object detection device 3 by the moving body detection device 3. However, when the vehicle 1 is turned left, the length in the vehicle width direction is long. Is set to D1 (≧D, the length from the left end of the vehicle 1 to the left end of the pedestrian crossing 11), most of the moving objects that may cross the pedestrian crossing are detected in the detection area of the moving object detection device 3. It is preferable because it can be included. The length D1 is, for example, about 10 m.
　移動体検出装置３の検出領域は、運転者の視認不良な領域を基に設定される領域Ｒ１だけでなく、車両１の前方左側の領域Ｒ２も含めると好ましい。この領域Ｒ２は、車両１の左折時に車両１と移動体が衝突する懸念のある領域を基に設定される。この領域Ｒ２を移動体検出装置３の検出領域に含めることで、車両１の左折時に車両１と移動体が衝突する危険性を低減することができる。 It is preferable that the detection area of the moving body detection device 3 includes not only the area R1 set based on the area where the driver has poor visibility but also the area R2 on the front left side of the vehicle 1. The region R2 is set based on a region in which the vehicle 1 and the moving body may collide when the vehicle 1 turns left. By including this region R2 in the detection region of the moving body detection device 3, it is possible to reduce the risk of collision between the vehicle 1 and the moving body when the vehicle 1 makes a left turn.
　なお、領域Ｒ２は、具体的には、車両１を平面視で、第１線Ｌ１と第２線Ｌ２の交点（車両１の前方左端部）から左側（移動体Ａ、Ｂが並走している側）で、かつ、予め設定された設定角度αだけ前方に向かって延在して形成される第５線Ｌ５と、第２線Ｌ２と、第４線Ｌ４とで区画される三角形の領域である。設定角度αは、横断歩道１１を車幅方向（Ｘ方向）の右端部側から横断を開始する移動体を検出可能な角度に設定される。 The region R2 is specifically the vehicle 1 in a plan view, from the intersection of the first line L1 and the second line L2 (the front left end of the vehicle 1) to the left side (the moving bodies A and B run side by side). Area) and a triangular area defined by a fifth line L5, a second line L2, and a fourth line L4 that are formed by extending forward by a preset setting angle α. Is. The set angle α is set to an angle at which a moving body that starts crossing the pedestrian crossing 11 from the right end side in the vehicle width direction (X direction) can be detected.
　例えば、車両１の左前角部と左後角部に魚眼カメラ３ａを１台ずつ、これらのカメラ３ａの向きを外側（移動体Ａ、Ｂが並走している側）に向けることで、移動体検出装置３の検出領域を領域Ｒ１及びＲ２を含むようにすることができる。なお、移動体検出装置３の検出領域を領域Ｒ１及びＲ２を含むようにする構成は、上記の構成に限定されない。 For example, by arranging one fish-eye camera 3a at each of the left front corner and the left rear corner of the vehicle 1 and orienting these cameras 3a to the outside (the side where the moving bodies A and B run side by side), The detection region of the moving body detection device 3 may include the regions R1 and R2. The configuration in which the detection region of the moving object detection device 3 includes the regions R1 and R2 is not limited to the above configuration.
　制御装置４は、各種情報処理を行うＣＰＵ、その各種情報処理を行うために用いられるプログラムや情報処理結果を読み書き可能な内部記憶装置、及び各種インターフェースなどから構成されるハードウェアである。制御装置４には、移動体検出装置３と、車両１の車速Ｖを取得する車速センサ（車速取得装置）６と、車両の操舵角Ｓａを取得する操舵角センサ（操舵角取得装置）７と、車両１の左側（移動体Ａ、Ｂが並走している側）のウインカーの動作状態を取得するウインカー動作取得装置８とが電気的に接続される。ウインカーにはオンまたはオフの異なる動作状態がある。本実施形態の制御装置４は、少なくとも、移動体検出装置３が検出した移動体Ａ、Ｂの位置情報を基に、移動体Ａ、Ｂの動きを予測する、より具体的には、制御装置４は移動体Ａ、Ｂが停止しているか否かを判定する装置である。なお、本実施形態では、操舵角取得装置７として、操舵角センサとしたが、ヨーレイトセンサでもよい。 The control device 4 is hardware that includes a CPU that performs various types of information processing, an internal storage device that can read and write programs used to perform the various types of information processing, and information processing results, and various interfaces. The control device 4 includes a moving body detection device 3, a vehicle speed sensor (vehicle speed acquisition device) 6 that acquires the vehicle speed V of the vehicle 1, and a steering angle sensor (steering angle acquisition device) 7 that acquires the steering angle Sa of the vehicle. The winker operation acquisition device 8 that acquires the operation state of the winker on the left side of the vehicle 1 (the side on which the moving bodies A and B are running side by side) is electrically connected. The blinkers have different operating states, on or off. The control device 4 of the present embodiment predicts the movements of the moving bodies A and B based on at least the position information of the moving bodies A and B detected by the moving body detection device 3, more specifically, the control device. Reference numeral 4 is a device that determines whether or not the moving bodies A and B are stopped. In the present embodiment, the steering angle sensor is used as the steering angle acquisition device 7, but a yaw rate sensor may be used.
　制御装置４は、移動体動作判定手段４ａと旋回判定手段４ｂと衝突予測手段４ｃとを有する。移動体動作判定手段４ａは移動体検出装置３が検出した移動体Ａ、Ｂの位置情報と、車速センサ６が取得した車速Ｖとに基づいて、移動体Ａ、Ｂが停止しているか否かを判定する手段である。例えば、移動体Ａ、Ｂの位置情報と車速Ｖとから移動体Ａ、Ｂの絶対速度を算出して、この絶対速度がゼロである場合に移動体Ａ、Ｂは停止していると判定し、絶対速度がゼロでない場合に移動体Ａ、Ｂは動いていると判定する。 The control device 4 has a moving body motion determination means 4a, a turning determination means 4b, and a collision prediction means 4c. Based on the position information of the moving bodies A and B detected by the moving body detection device 3 and the vehicle speed V acquired by the vehicle speed sensor 6, the moving body motion determination means 4a determines whether or not the moving bodies A and B are stopped. Is a means for determining. For example, the absolute speeds of the moving bodies A and B are calculated from the position information of the moving bodies A and B and the vehicle speed V, and when the absolute speed is zero, it is determined that the moving bodies A and B are stopped. If the absolute speed is not zero, it is determined that the moving bodies A and B are moving.
　旋回判定手段４ｂは、車速センサ６が取得した車速Ｖと、操舵角センサ７が取得した操舵角Ｓａと、ウインカー動作取得装置８が取得した左ウインカーの動作状態とに基づいて、車両１が左折（移動体Ａ、Ｂが並走している左側への旋回）を行うか否かを判定する手段である。例えば、車速Ｖが予め設定された設定速度Ｖ１以下で、かつ、操舵角Ｓａが予め設定された設定角度Ｓａ１以上で、かつ、左ウインカーがオンしている場合には、車両１が左折を開始したと判定する。設定速度Ｖ１は、車両１が左折を行う前の低速状態に入ったか否かを判定するための速度である。設定角度Ｓａ１は、車両１が左折側に操舵されたか否かを判定するための角度である。 The turning determination means 4b turns the vehicle 1 left based on the vehicle speed V acquired by the vehicle speed sensor 6, the steering angle Sa acquired by the steering angle sensor 7, and the operation state of the left winker acquired by the winker operation acquisition device 8. It is means for determining whether or not to perform (turning to the left side where the moving bodies A and B are running side by side). For example, when the vehicle speed V is equal to or lower than the preset speed V1 and the steering angle Sa is equal to or greater than the preset angle Sa1 and the left turn signal is on, the vehicle 1 starts turning left. It is judged that it did. The set speed V1 is a speed for determining whether or not the vehicle 1 has entered the low speed state before turning left. The set angle Sa1 is an angle for determining whether the vehicle 1 is steered to the left.
　衝突予測手段４ｃは、移動体動作判定手段４ａにより移動体Ａ、Ｂが停止していないと判定され、かつ、旋回判定手段４ｂにより車両１が旋回を行うと判定された場合に、この旋回中に車両１と移動体Ａ、Ｂが衝突するか否かを予測する手段である。例えば、制御装置４に予め記憶させておいた車両１の最小旋回半径等を用いて車両１が左折後に通過する領域を予測し、移動体Ａ、Ｂがこの予測時点からこの領域を通過するまでに要する時間ｔａ、ｔｂと車両１がこの予測時点からこの領域を通過するまでに要する時間ｔを演算する。時間ｔと時間ｔａ、ｔｂの差であるΔｔ１（＝｜ｔ－ｔａ｜）、Δｔ２（＝｜ｔ－ｔｂ｜）が予め設定された設定時間Δｔｃ以下である場合には、車両１の左折時に車両１と移動体Ａ、Ｂが衝突すると予測する。なお、車両１が左折後に通過する領域は、ＧＰＳ（Global Positioning System）を用いて予測してもよい。または、地図情報を用いて、この領域を横断歩道１１の配置領域と同一の領域としてもよい。 The collision predicting means 4c is turning when the moving body motion determining means 4a determines that the moving bodies A and B are not stopped and the turning determining means 4b determines that the vehicle 1 is turning. It is means for predicting whether or not the vehicle 1 and the moving bodies A and B collide. For example, the area in which the vehicle 1 will pass after turning left is predicted using the minimum turning radius of the vehicle 1 that is stored in the control device 4 in advance, and the moving bodies A and B pass from this prediction time to this area. And the time t required for the vehicle 1 to pass through this area from this predicted time. When Δt1 (=|t−ta|) and Δt2 (=|t−tb|), which are the differences between the time t and the times ta and tb, are equal to or shorter than a preset set time Δtc, when the vehicle 1 turns left. It is predicted that the vehicle 1 collides with the moving bodies A and B. The area that the vehicle 1 passes through after turning left may be predicted using GPS (Global Positioning System). Alternatively, this area may be the same as the area where the pedestrian crossing 11 is arranged using the map information.
　警報装置５は、衝突予測手段４ｃにより車両１と移動体Ａ、Ｂが衝突すると予測されたときに、車両１の運転席１ａまたは車両１の外部に警報を発する装置である。車両１の運転席１ａに警報を発する装置としては、スピーカや表示パネルが例示される。車両１の外部に警報を発する装置も、同様に、スピーカや表示パネルが例示されるが、移動体Ａ、Ｂへの注意喚起を促すためには少なくともスピーカを配置すると好ましい。 The alarm device 5 is a device that issues an alarm to the driver's seat 1a of the vehicle 1 or the outside of the vehicle 1 when the collision prediction means 4c predicts that the vehicle 1 and the moving bodies A and B will collide. A speaker or a display panel is exemplified as a device for issuing an alarm to the driver's seat 1a of the vehicle 1. Similarly, a device for issuing an alarm to the outside of the vehicle 1 is also exemplified by a speaker and a display panel, but it is preferable to dispose at least a speaker in order to call attention to the moving bodies A and B.
　本実施形態の移動体検出システム１を基にした制御フローについて、言い換えれば、車両１の移動体検出方法について、図４を参照しながら説明する。図４に示す制御フローは、車両の走行中に周期的に行われる制御フローである。 A control flow based on the moving body detection system 1 of this embodiment, in other words, a moving body detection method of the vehicle 1 will be described with reference to FIG. The control flow shown in FIG. 4 is a control flow periodically performed while the vehicle is traveling.
　図４に示す制御フローがスタートすると、ステップＳ１０（第１ステップ）にて、移動体検出装置３により移動体Ａ、Ｂの位置情報を検出し、車速センサ６により車速Ｖを取得する。ステップＳ１０を実施後、ステップＳ２０に進む。ステップＳ２０（第２ステップ）にて、ステップＳ１０で検出した移動体Ａ、Ｂの位置情報を基に、移動体動作判定手段４ａにより移動体Ａ、Ｂが停止しているか否かを判定する。移動体Ａ、Ｂの両方が停止していると判定された場合（ＹＥＳ）にはリターンに進んで本制御フローを終了する。一方、移動体ＡまたはＢのいずれかが動いていると判定された場合（ＮＯ）にはステップＳ３０に進む。 When the control flow shown in FIG. 4 starts, in step S10 (first step), the moving body detection device 3 detects the position information of the moving bodies A and B, and the vehicle speed sensor 6 acquires the vehicle speed V. After performing step S10, the process proceeds to step S20. In step S20 (second step), based on the position information of the moving bodies A and B detected in step S10, the moving body motion determination means 4a determines whether or not the moving bodies A and B are stopped. When it is determined that both of the moving bodies A and B are stopped (YES), the process proceeds to return and the control flow ends. On the other hand, if it is determined that either the moving body A or B is moving (NO), the process proceeds to step S30.
　ステップＳ３０にて、操舵角センサ７により操舵角Ｓａを取得し、ウインカー取得装置８により左ウインカーの動作状態を取得する。ステップＳ３０を実施後、ステップＳ４０に進む。 In step S30, the steering angle sensor 7 acquires the steering angle Sa, and the winker acquisition device 8 acquires the operating state of the left winker. After performing step S30, the process proceeds to step S40.
　ステップＳ４０にて、旋回判定手段４ｂにより車両１が左折を行うか否かを判定する。車両１が左折を行わないと判定された場合（ＮＯ）にはリターンに進んで本制御フローを終了する。一方、車両１が左折を行うと判定された場合（ＹＥＳ）にはステップＳ５０に進む。 In step S40, the turning determination means 4b determines whether or not the vehicle 1 will make a left turn. When it is determined that the vehicle 1 does not turn left (NO), the process proceeds to the return and the control flow ends. On the other hand, when it is determined that the vehicle 1 makes a left turn (YES), the process proceeds to step S50.
　ステップＳ５０にて、衝突予測手段４ｃにより車両の左折中に車両１とステップＳ２０で動いていると判定された移動体Ａ、Ｂが衝突するか否かを予測する。車両１と移動体Ａ、Ｂが衝突しないと予測された場合（ＮＯ）には、リターンに進んで本制御フローを終了する。一方、車両１と移動体Ａ、Ｂが衝突すると予測された場合（ＹＥＳ）には、ステップＳ６０に進む。 In step S50, the collision predicting means 4c predicts whether or not the vehicle 1 and the moving bodies A and B determined to be moving in step S20 collide with each other while the vehicle is turning left. When it is predicted that the vehicle 1 and the moving bodies A and B do not collide (NO), the process proceeds to return and the present control flow ends. On the other hand, when it is predicted that the vehicle 1 collides with the moving bodies A and B (YES), the process proceeds to step S60.
　ステップＳ６０にて、警報装置５により車両１の運転席１ａまたは車両１の外部に警報を発する。ステップＳ６０を実施後、リターンに進んで本制御フローを終了する。 In step S60, the alarm device 5 issues an alarm to the driver's seat 1a of the vehicle 1 or the outside of the vehicle 1. After performing step S60, the process proceeds to return and the present control flow is ended.
　本実施形態の車両の移動体検出システム２では、車両１の運転席１ａから側方の領域を車両１と並走している移動体Ａ、Ｂを移動体検出装置３により俯瞰して検出する。これにより、車両１の車幅方向の側面に移動体検出装置３を設置して、この装置３の検出領域を地面と平行の領域に設定する場合と異なり、車両１と移動体Ｂの間に配置されるガードレール９や植え込み１０等により、移動体検出装置３による移動体Ｂの検出が妨害されることがない。また、車両１の左端部近傍に位置する移動体Ａの検出も支障なく行うことができる。したがって、移動体Ａ、Ｂを正確に検出することができる。 In the vehicle moving body detection system 2 of the present embodiment, the moving body detection device 3 looks down at the moving bodies A and B that are running in parallel with the vehicle 1 in a region lateral to the driver's seat 1a of the vehicle 1. .. As a result, unlike the case where the moving body detection device 3 is installed on the side surface of the vehicle 1 in the vehicle width direction and the detection area of the device 3 is set in the area parallel to the ground, the moving body detection device 3 is provided between the vehicle 1 and the moving body B. The guardrail 9 and the planting 10 that are arranged do not interfere with the detection of the moving body B by the moving body detection device 3. In addition, the moving body A located near the left end of the vehicle 1 can be detected without any trouble. Therefore, the moving bodies A and B can be accurately detected.
　また、車両１と移動体Ａ、Ｂが衝突すると予測されたときに、車両１の運転席１ａまたは車両１の外部に警報装置５により警報を発する。これにより、車両１の運転者と移動体Ａ、Ｂは衝突を回避するための行動を迅速に選択することができる。 Further, when it is predicted that the vehicle 1 collides with the moving bodies A and B, an alarm device 5 gives an alarm to the driver's seat 1a of the vehicle 1 or the outside of the vehicle 1. As a result, the driver of the vehicle 1 and the moving bodies A and B can quickly select an action for avoiding a collision.
　なお、車両１の上端部に移動体検出装置３を配置した上で、さらに、車両１の車幅方向の側面で、かつ、ガードレール９の支柱９ａよりも低い位置に別の移動体検出装置を配置すると好ましい。例えば、図１に示す植え込み１０の配置位置に植え込み１０ではなく移動体Ｂより高い看板（看板の支柱はガードレール９の支柱９ａより高い）が配置されている場合には、車両１の上端部に配置した移動体検出装置３ではこの看板に妨害されて移動体Ｂを検出できない虞がある。このような場合に別の移動体検出装置により、ガードレール９の各支柱９ａの間と看板１０の各支柱の間を介して、移動体Ｂを検出することが可能になるので、移動体の検出精度を向上することができる。 In addition, after arranging the moving body detection device 3 on the upper end portion of the vehicle 1, another moving body detection device is further provided on the side surface in the vehicle width direction of the vehicle 1 and at a position lower than the support column 9a of the guardrail 9. It is preferable to arrange them. For example, in the case where a signboard higher than the moving body B (the signboard of the signboard is higher than the pillar 9a of the guardrail 9) is arranged at the arrangement position of the implant 10 shown in FIG. There is a possibility that the moving body detection device 3 arranged may be unable to detect the moving body B due to the signboard blocking. In such a case, the moving body B can be detected by another moving body detection device through the columns 9a of the guardrail 9 and the columns of the signboard 10, so that the moving body can be detected. The accuracy can be improved.
　本出願は、2019年2月21日付で出願された日本国特許出願（特願2019-29311）に基づくものであり、その内容はここに参照として取り込まれる。 This application is based on a Japanese patent application filed on February 21, 2019 (Japanese Patent Application 2019-29311), the contents of which are incorporated herein by reference.
　本開示によれば、車両の運転席から側方の領域を車両と並走している移動体を正確に検出することができる点において有用である。 According to the present disclosure, it is useful in that it is possible to accurately detect a moving body running in parallel with the vehicle in a region lateral to the driver's seat of the vehicle.
１　車両
１ａ　運転席
２　車両の移動体検出システム
３　移動体検出装置
３ａ　カメラ
３ｂ　ライダー
４　制御装置
４ａ　移動体動作判定手段
４ｂ　旋回判定手段
４ｃ　衝突予測手段
５　警報装置
６　車速センサ（車速取得装置）
７　操舵角センサ（操舵角取得装置）
８　ウインカー動作取得装置
９　ガードレール
１０　植え込み
１１　横断歩道
Ａ　移動体
Ｂ　移動体
Ｌ１　第１線
Ｌ２　第２線
Ｌ３　第３線
Ｌ４　第４線
Ｌ５　第５線
Ｒ　領域
Ｒ１　長方形の領域
Ｒ２　三角形の領域
α　設定角度 DESCRIPTION OF SYMBOLS 1 vehicle 1a driver's seat 2 vehicle moving body detection system 3 moving body detection device 3a camera 3b rider 4 control device 4a moving body motion determination means 4b turning determination means 4c collision prediction means 5 alarm device 6 vehicle speed sensor (vehicle speed acquisition device)
7 Steering angle sensor (steering angle acquisition device)
8 Winker operation acquisition device 9 Guardrail 10 Implantation 11 Crosswalk A Moving body B Moving body L1 First line L2 Second line L3 Third line L4 Fourth line L5 Fifth line R Area R1 Rectangular area R2 Triangular area α setting angle

Claims (7)

  1. 　車両の運転席から側方の領域を前記車両と並走している移動体を検出する車両の移動体検出システムにおいて、
    　前記車両の上端部に配置され、前記移動体の位置情報を俯瞰して検出する移動体検出装置と、
    　前記移動体検出装置が検出した前記移動体の位置情報を基に、前記移動体の動きを予測する制御装置と、を備える車両の移動体検出システム。     In a moving body detection system for a vehicle, which detects a moving body running in parallel with the vehicle in a lateral region from a driver's seat of the vehicle,
    A moving body detection device that is arranged at the upper end of the vehicle and detects the position information of the moving body by looking down.
    A moving body detection system for a vehicle, comprising: a control device that predicts a movement of the moving body based on position information of the moving body detected by the moving body detection device.
  2. 　前記移動体検出装置の検出領域は、前記車両を平面視で、
    　前記車両の車幅方向で前記移動体が並走している側の端部を車長方向に延在して形成される第１線より前記移動体が並走している側に向けて設定される領域内に設定されることを特徴とする請求項１に記載の車両の移動体検出システム。     The detection area of the moving body detection device, in a plan view of the vehicle,
    Set toward the side where the moving body runs side by side from the first line formed by extending the end on the side where the moving body runs side by side in the vehicle width direction of the vehicle in the vehicle length direction. The moving object detection system for a vehicle according to claim 1, wherein the moving object detection system is set in a predetermined area.
  3. 　前記移動体検出装置の検出領域は、前記車両を平面視で、
    　前記第１線と、前記車両の前方端部を車幅方向に延在して形成される第２線と、前記車両の後方端部を車幅方向に延在して形成される第３線と、前記第１線より前記移動体が並走している側に予め設定された設定距離分だけ離間して、かつ、前記第１線に平行に延在して形成される第４線とで区画される長方形の領域を少なくとも含むことを特徴とする請求項２に記載の車両の移動体検出システム。     The detection area of the moving body detection device, in a plan view of the vehicle,
    The first line, a second line formed by extending the front end of the vehicle in the vehicle width direction, and a third line formed by extending the rear end of the vehicle in the vehicle width direction. And a fourth line formed to be separated from the first line by a preset distance on the side where the moving body runs in parallel, and to extend parallel to the first line. The vehicle moving body detection system according to claim 2, further comprising at least a rectangular region partitioned by.
  4. 　前記移動体検出装置の検出領域は、前記車両を平面視で、
    　前記第１線と前記第２線の交点から前記移動体が並走している側で、かつ、予め設定された設定角度だけ前方に向かって延在して形成される第５線と、前記第２線と、前記第４線とで区画される三角形の領域をさらに含むことを特徴とする請求項３に記載の車両の移動体検出システム。     The detection area of the moving body detection device, in a plan view of the vehicle,
    A fifth line formed on the side where the moving body runs in parallel from the intersection of the first line and the second line and extending forward by a preset set angle; and The vehicle moving body detection system according to claim 3, further comprising a triangular area defined by the second line and the fourth line.
  5. 　前記車両の車速を取得する車速取得装置と、前記車両の操舵角を取得する操舵角取得装置と、前記車両の前記移動体が並走している側のウインカーの動作状態を取得するウインカー動作取得装置と、を備え、
    　前記制御装置が、
    　前記移動体検出装置が検出した前記移動体の位置情報と、前記車速取得装置が取得した車速とに基づいて、前記移動体が停止しているか否かを判定する移動体動作判定手段と、
    　前記車速取得装置が取得した車速と、前記操舵角取得装置が取得した操舵角と、前記ウインカー動作取得装置が取得したウインカーの動作状態に基づいて、前記車両が前記移動体が並走している側への旋回を行うか否かを判定する旋回判定手段と、
    　前記移動体動作判定手段により前記移動体が停止していないと判定され、かつ、前記旋回判定手段により前記車両が旋回を行うと判定された場合に、この旋回中に前記車両と前記移動体が衝突するか否かを予測する衝突予測手段と、
    　を備えて構成される請求項１～４のいずれか１項に記載の車両の移動体検出システム。     A vehicle speed acquisition device that acquires the vehicle speed of the vehicle, a steering angle acquisition device that acquires the steering angle of the vehicle, and a winker operation acquisition that acquires the operation state of the winker on the side where the moving body of the vehicle runs in parallel. And a device,
    The control device is
    Based on the position information of the moving body detected by the moving body detection device, and the vehicle speed acquired by the vehicle speed acquisition device, a moving body motion determination means for determining whether the moving body is stopped,
    Based on the vehicle speed acquired by the vehicle speed acquisition device, the steering angle acquired by the steering angle acquisition device, and the operation state of the winker acquired by the winker operation acquisition device, the vehicle is running in parallel with the moving body. Turning determination means for determining whether to turn to the side,
    When the moving body motion determining means determines that the moving body is not stopped, and when the turning determining means determines that the vehicle makes a turn, the vehicle and the moving body are Collision prediction means for predicting whether or not to collide,
    The vehicle moving body detection system according to any one of claims 1 to 4, further comprising:
  6. 　前記衝突予測手段により前記車両と前記移動体が衝突すると予測されたときに、前記車両の運転席または前記車両の外部に警報を発する警報装置を前記車両に備えて構成される請求項５に記載の車両の移動体検出システム。 The vehicle is provided with an alarm device for issuing an alarm to the driver's seat of the vehicle or to the outside of the vehicle when the collision predicting unit predicts that the vehicle and the moving body will collide. Vehicle moving object detection system.
  7. 　車両の運転席から側方の領域を前記車両と並走している移動体を検出する車両の移動体検出方法において、
    　前記車両の上端部に配置された移動体検出装置により前記移動体の位置情報を俯瞰して検出する第１のステップと、
    　前記第１のステップによって検出された前記移動体の位置情報を基に前記移動体の動きを予測する第２のステップと、を含むことを特徴とする車両の移動体検出方法。     In a moving body detection method for a vehicle, which detects a moving body running in parallel with the vehicle in a lateral region from a driver's seat of the vehicle,
    A first step in which the position information of the moving body is overlooked and detected by a moving body detection device arranged at the upper end of the vehicle;
    A second step of predicting a movement of the moving body based on the position information of the moving body detected by the first step, and a moving body detecting method for a vehicle.
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Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP3150467U (en) * 2009-02-27 2009-05-21 社団法人東京バス協会 Bus vehicle safety device
JP2011238161A (en) * 2010-05-13 2011-11-24 Yupiteru Corp Alarm device
JP2016051371A (en) * 2014-09-01 2016-04-11 株式会社ワーテックス Winding prevention alarm device

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP3150467U (en) * 2009-02-27 2009-05-21 社団法人東京バス協会 Bus vehicle safety device
JP2011238161A (en) * 2010-05-13 2011-11-24 Yupiteru Corp Alarm device
JP2016051371A (en) * 2014-09-01 2016-04-11 株式会社ワーテックス Winding prevention alarm device

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