WO2024043277A1 - Dispositif de surveillance de périphérie - Google Patents

Dispositif de surveillance de périphérie Download PDF

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Publication number
WO2024043277A1
WO2024043277A1 PCT/JP2023/030318 JP2023030318W WO2024043277A1 WO 2024043277 A1 WO2024043277 A1 WO 2024043277A1 JP 2023030318 W JP2023030318 W JP 2023030318W WO 2024043277 A1 WO2024043277 A1 WO 2024043277A1
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WO
WIPO (PCT)
Prior art keywords
display
vehicle
pedestrian
area
outside
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PCT/JP2023/030318
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English (en)
Japanese (ja)
Inventor
圭吾 池田
大輔 秋田
一矢 渡邊
Original Assignee
株式会社アイシン
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Filing date
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Application filed by 株式会社アイシン filed Critical 株式会社アイシン
Publication of WO2024043277A1 publication Critical patent/WO2024043277A1/fr

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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
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N7/00—Television systems
    • H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast

Definitions

  • the present invention relates to a surrounding monitoring device.
  • a surrounding area monitoring device that detects obstacles and the like around a vehicle and monitors the surrounding area by visually calling the driver's attention, for example.
  • This type of technology would be beneficial if it could more reliably alert drivers to pedestrians.
  • one of the problems of the embodiments of the present invention is to provide a surroundings monitoring device that can more reliably alert a driver to pedestrians, for example.
  • the surroundings monitoring device of the embodiment includes a detecting unit that detects pedestrians around a vehicle, and a first surrounding area around the vehicle based on a captured image obtained by imaging the surroundings of the vehicle by an imaging unit.
  • a display control unit that displays a region on a display device in the vehicle, and the display control unit is configured to detect a pedestrian located outside the first surrounding area by the detection unit. If so, a pedestrian notification display is displayed on the display device to notify the presence of the pedestrian outside the area.
  • the surrounding area monitoring device of the embodiment of the present invention for example, it is possible to more reliably alert the driver to pedestrians.
  • FIG. 1 is a top view of a vehicle equipped with a driving support device according to an embodiment.
  • FIG. 2 is a block diagram showing an example of the overall configuration of the driving support system according to the embodiment.
  • FIG. 3 is a block diagram showing an example of the functional configuration of the driving support device according to the embodiment.
  • FIG. 4 is a schematic diagram illustrating an example of a display on the monitor device during parking assistance by the driving assistance device according to the embodiment.
  • FIG. 5 is a schematic diagram illustrating an example of a display on the monitor device during parking assistance by the driving assistance device according to the embodiment.
  • FIG. 6A is a schematic diagram illustrating an example of a display on the monitor device during parking assistance by the driving assistance device according to the embodiment.
  • FIG. 1 is a top view of a vehicle equipped with a driving support device according to an embodiment.
  • FIG. 2 is a block diagram showing an example of the overall configuration of the driving support system according to the embodiment.
  • FIG. 3 is a block diagram showing an example of the functional configuration
  • FIG. 6B is a schematic diagram illustrating an example of a display on the monitor device during parking assistance by the driving assistance device according to the embodiment.
  • FIG. 6C is a schematic diagram illustrating an example of a display on the monitor device during parking assistance by the driving assistance device according to the embodiment.
  • FIG. 6D is a schematic diagram illustrating an example of a display on the monitor device during parking assistance by the driving assistance device according to the embodiment.
  • FIG. 7 is a schematic diagram illustrating an example of a display on the monitor device during parking assistance by the driving assistance device according to the embodiment.
  • FIG. 8A is a schematic diagram illustrating an example of a display on a monitor device during parking assistance by the driving assistance device according to the embodiment.
  • FIG. 8B is a schematic diagram illustrating an example of a display on the monitor device during parking assistance by the driving assistance device according to the embodiment.
  • FIG. 8C is a schematic diagram illustrating an example of a display on the monitor device during parking assistance by the driving assistance device according to the embodiment.
  • FIG. 8D is a schematic diagram illustrating an example of a display on the monitor device during parking assistance by the driving assistance device according to the embodiment.
  • FIG. 9 is a schematic diagram illustrating an example of a display on the monitor device during parking assistance by the driving assistance device according to the embodiment.
  • FIG. 10 is a flowchart illustrating an example of a procedure of driving support processing by the driving support device according to the embodiment.
  • Exemplary embodiments of the present invention are disclosed below.
  • the configuration of the embodiment shown below, and the actions, results, and effects brought about by the configuration are examples.
  • the present invention can be realized with configurations other than those disclosed in the embodiments below, and it is possible to obtain at least one of various effects based on the basic configuration and derivative effects. .
  • FIG. 1 is a top view of a vehicle 10 equipped with a driving support device 20 according to an embodiment.
  • the front, rear, left, and right sides of the vehicle 10 in FIG. 1 indicate directions when viewed from the driver's seat of the vehicle 10.
  • the vehicle 10 of the embodiment may be, for example, an internal combustion engine vehicle that uses an internal combustion engine as a drive source, an electric vehicle or a fuel cell vehicle that uses an electric motor as a drive source, or a vehicle that drives both of them. It may also be a hybrid vehicle that is used as a source.
  • the vehicle 10 can be equipped with various transmission devices, and can be equipped with various systems, parts, and other devices necessary for driving the internal combustion engine or the electric motor. Further, the method, number, layout, etc. of devices related to driving the wheels 13 in the vehicle 10 can be set in various ways.
  • the vehicle 10 includes a vehicle body 12, a plurality of wheels 13, a plurality of distance measuring sections 14a to 14l, and a plurality of imaging sections 16a to 16d. Note that when there is no need to distinguish between the distance measuring sections 14a to 14l, they are simply referred to as distance measuring section 14. Furthermore, if there is no need to distinguish between the imaging units 16a to 16d, they will simply be referred to as the imaging unit 16.
  • the vehicle body 12 constitutes a vehicle interior in which a passenger rides.
  • a plurality of wheels 13, a plurality of distance measuring sections 14, and a plurality of imaging sections 16 are attached to the vehicle body 12.
  • the vehicle body 12 includes four wheels 13, twelve ranging sections 14, and four imaging sections 16.
  • the number of distance measuring units 14 and imaging units 16 attached to the vehicle body 12 is arbitrary.
  • the four wheels 13 are provided on the front, rear, left and right sides of the vehicle body 12.
  • the two wheels 13 on the front side function, for example, as steered wheels
  • the two wheels 13 on the rear side function, for example, as driving wheels.
  • the distance measuring unit 14 as a sensor is provided, for example, on the outer periphery of the vehicle 10, and transmits sound waves such as ultrasonic waves as detection waves, and detects detection waves reflected by objects such as obstacles existing around the vehicle 10. It is a sonar that captures Note that the distance measuring section 14 may be a radar that transmits a detection wave such as a laser beam, a millimeter wave radar, or the like.
  • the distance measuring unit 14 collects surrounding information that is information around the vehicle 10 and outputs it to the driving support device 20.
  • the distance measuring unit 14 collects, for example, a response time, which is the time from transmitting a detection wave to receiving it, as peripheral information for specifying the distance between the target object and the vehicle 10.
  • the driving support device 20 can detect the presence or absence of obstacles around the vehicle 10 and the distance to the obstacles based on the surrounding information collected by the distance measuring section 14.
  • the distance measuring unit 14 calculates only the response time of the detection wave received earliest. It may be included in the surrounding information.
  • the distance measuring units 14a to 14d are provided at the front of the vehicle body 12. Among these distance measuring sections 14a to 14d, distance measuring sections 14b and 14c are also called front sonar and are provided at the front end of the vehicle 10. The distance measuring units 14b and 14c detect objects in front of the vehicle 10 and collect peripheral information in front of the vehicle 10. Further, the distance measuring units 14a and 14d are also called corner sonar, and are provided at a corner portion of the front portion of the vehicle 10. The distance measuring units 14a and 14d detect objects on the outside in front of the vehicle 10 and collect peripheral information on the outside in front of the vehicle 10.
  • the distance measuring units 14e to 14h are provided at the rear of the vehicle body 12. Among these distance measuring units 14e to 14h, distance measuring units 14f and 14g are also called rear sonar and are provided at the rear end of the vehicle 10. The distance measuring units 14f and 14g detect objects behind the vehicle 10 and collect peripheral information behind the vehicle 10. Further, the distance measuring units 14e and 14h are also called corner sonar, and are provided at the rear corner of the vehicle 10. The distance measuring units 14e and 14h detect objects on the rear outside of the vehicle 10 and collect peripheral information on the rear outside of the vehicle 10.
  • the distance measuring units 14i to 14l are also called side sonar and are provided on the side of the vehicle body 12. Among the distance measuring sections 14i to 14l, the distance measuring sections 14i and 14j are provided on the front side of the vehicle 10. The distance measuring units 14k and 14l are provided at the rear side of the vehicle 10. The distance measuring units 14i to 14l detect objects on the sides of the vehicle 10 and collect peripheral information on the sides of the vehicle 10.
  • the imaging unit 16 as a sensor is, for example, a digital camera incorporating an imaging element such as a CCD (Charge Coupled Device) or a CIS (CMOS Image SenSor).
  • the imaging unit 16 generates a captured image of a moving image or a still image including a plurality of frame images captured at a predetermined frame rate.
  • the imaging unit 16 is provided on the outer periphery of the vehicle body 12, and each has a wide-angle lens or a fisheye lens, and can photograph a range of 140° to 190° in the horizontal direction, for example.
  • the optical axis of the imaging unit 16 is set diagonally downward.
  • the imaging unit 16 collects surrounding information obtained by imaging the surroundings of the vehicle 10 including the road surface, and outputs it to the driving support device 20.
  • the driving support device 20 can detect the presence or absence of obstacles around the vehicle 10 and the position of the obstacles based on the surrounding information collected by the imaging unit 16. Further, the driving support device 20 can detect parking lots around the vehicle 10 and the positions of the parking lots based on the surrounding information collected by the imaging unit 16.
  • the imaging unit 16a is located in the center of the front end of the vehicle body 12 in the left-right direction, and is provided, for example, in the front bumper.
  • the imaging unit 16a collects a captured image of the front of the vehicle 10 as surrounding information.
  • the imaging unit 16b is provided at the center in the left-right direction of the rear end of the vehicle body 12, for example, in the rear bumper.
  • the imaging unit 16b collects a captured image of the rear of the vehicle 10 as surrounding information.
  • the imaging unit 16c is located at the center of the left end of the vehicle body 12 in the longitudinal direction, and is provided, for example, in the left side mirror.
  • the imaging unit 16c collects a captured image of the left side of the vehicle 10 as surrounding information.
  • the imaging unit 16d is located at the center of the right end of the vehicle body 12 in the longitudinal direction, and is provided, for example, in the right side mirror.
  • the imaging unit 16d collects a captured image of the right periphery of the vehicle 10 as surrounding information.
  • FIG. 2 is a block diagram showing an example of the overall configuration of the driving support system 200 according to the embodiment.
  • the driving support system 200 is mounted on the vehicle 10, for example, and performs driving support such as a driver's operation of entering (parking) the vehicle 10 into a parking lot or leaving the parking lot.
  • the driving support system 200 includes a driving support device 20, a monitor device 30, a braking system 140, an acceleration system 150, a steering system 160, a transmission system 170, a vehicle speed sensor 183, a distance measuring unit 14, and an imaging unit 14.
  • a section 16 is provided. These configurations are connected to each other by an in-vehicle network NT so that they can transmit and receive information.
  • the in-vehicle network NT is configured to include, for example, a CAN (Controller Area Network) and a LIN (Local Interconnect Network).
  • the in-vehicle network NT may be included as part of the driving support system 200.
  • the driving support device 20 is configured as a microcomputer such as an ECU (Electronic Control Unit), and provides driving support for the vehicle 10 by the driver.
  • ECU Electronic Control Unit
  • the driving support device 20 includes a CPU (Central Processing Unit) 21, a display control circuit 23, an SSD (Solid State Drive) 24, a ROM (Read Only Memory) 25, and a RAM (Random A). access memory) 26.
  • CPU21, ROM25, and RAM26 may be integrated in the same package.
  • the CPU 21 is an example of a hardware processor, and reads a program stored in a non-volatile storage device such as the ROM 25, and executes various arithmetic processing and control according to this program.
  • the ROM 25 stores various programs and parameters necessary for executing the programs.
  • the RAM 26 temporarily stores various data used in calculations by the CPU 21.
  • the SSD 24 is a rewritable nonvolatile storage device, and maintains data even when the driving support device 20 is powered off.
  • the display control circuit 23 mainly processes images obtained by the imaging unit 16, and processes data of images for display to be displayed on a display unit 131 provided in the monitor device 30, which will be described later. Perform conversion, etc.
  • the braking system 140 includes a braking section 141, a braking control section 142, and a braking section sensor 143, and controls the deceleration of the vehicle 10.
  • the braking unit 141 is a device including, for example, a brake and a brake pedal, and decelerates the vehicle 10.
  • the brake control unit 142 is, for example, a microcomputer including a hardware processor such as a CPU.
  • the brake control unit 142 decelerates the vehicle 10 based on the driver's operation of the brake pedal or the like.
  • the brake part sensor 143 is, for example, a position sensor, and detects the position of a brake pedal included in the brake part 141.
  • the brake sensor 143 outputs the detected brake pedal position to the in-vehicle network NT.
  • the acceleration system 150 includes an acceleration section 151, an acceleration control section 152, and an acceleration section sensor 153, and controls acceleration of the vehicle 10.
  • the acceleration unit 151 is a device including, for example, an accelerator pedal, and accelerates the vehicle 10.
  • the acceleration control unit 152 is, for example, a microcomputer having a hardware processor such as a CPU. Acceleration control unit 152 accelerates vehicle 10 based on the driver's operation of an accelerator pedal or the like.
  • the acceleration section sensor 153 is a position sensor, and detects the position of an accelerator pedal included in the acceleration section 151. The acceleration section sensor 153 outputs the detected position of the accelerator pedal to the in-vehicle network NT.
  • the steering system 160 includes a steering section 161, a steering control section 162, and a steering section sensor 163, and controls the traveling direction of the vehicle 10.
  • the steering unit 161 is a device including, for example, a handle or a steering wheel, and steers the steering wheel of the vehicle 10 to steer the traveling direction of the vehicle 10.
  • the steering control unit 162 is, for example, a microcomputer including a hardware processor such as a CPU.
  • the steering control unit 162 controls the traveling direction of the vehicle 10 based on the driver's operation of a steering wheel, steering wheel, or the like.
  • the steering section sensor 163 is an angle sensor including, for example, a Hall element, and detects a steering angle that is a rotation angle of the steering section 161.
  • the steering section sensor 163 outputs the detected steering angle of the steering section 161 to the in-vehicle network NT.
  • the transmission system 170 includes a transmission section 171, a transmission control section 172, and a transmission section sensor 173, and controls the transmission ratio of the vehicle 10.
  • the transmission section 171 is a device including, for example, a shift lever, and changes the transmission ratio of the vehicle 10.
  • the speed change control unit 172 is, for example, a microcomputer having a hardware processor such as a CPU.
  • the gear change control unit 172 controls the gear ratio of the vehicle 10 based on the operation of a shift lever or the like by the driver.
  • the transmission section sensor 173 is, for example, a position sensor, and detects the position of a shift lever included in the transmission section 171.
  • the transmission section sensor 173 outputs the detected position of the shift lever to the in-vehicle network NT.
  • the vehicle speed sensor 183 has a Hall element provided near the wheel 13 of the vehicle 10, for example, and detects the amount of rotation of the wheel 13 or the number of rotations per unit time.
  • the vehicle speed sensor 183 outputs the detected rotation amount or the number of wheel speed pulses indicating the rotation speed to the in-vehicle network NT as a sensor value for calculating the speed (vehicle speed) of the vehicle 10.
  • the driving support device 20 can calculate the speed, amount of movement, etc. of the vehicle 10 based on the sensor value acquired from the vehicle speed sensor 183.
  • the monitor device 30 is provided on an instrument panel or the like in the interior of the vehicle 10, and has a display section 131 and an input section 132.
  • the display unit 131 is, for example, a display device such as a liquid crystal display (LCD: Liquid CryStal DiSplay) or an organic EL display (OELD: Organic Electroluminescent DiSplay).
  • the display unit 131 displays, for example, an image based on the image data transmitted by the driving support device 20, an image for accepting an operation instruction for switching between the normal driving mode and the driving support mode at the time of entering or leaving the warehouse.
  • the input unit 132 is, for example, a touch panel provided on the display screen of the display unit 131.
  • the input unit 132 is configured to be able to transmit the content displayed on the display screen by the display unit 131. Thereby, the input unit 132 can allow the occupant to visually confirm the display content of the display unit 131.
  • the input unit 132 receives an instruction input by the driver or the like by touching a position corresponding to the display content on the display unit 131, and transmits the instruction to the driving support device 20 via the in-vehicle network NT.
  • the input unit 132 is not limited to a touch panel, and may be a hard switch such as a push button type.
  • the monitor device 30 has a built-in speaker 133 that outputs audio.
  • FIG. 3 is a block diagram showing an example of the functional configuration of the driving support device 20 according to the embodiment.
  • the driving support device 20 includes a display control section 201, an audio control section 202, an acquisition section 204, a detection section 205, and a route calculation section 206 as functional sections.
  • These functional units are realized, for example, by the above-mentioned CPU 21 reading out a program stored in a storage device such as the ROM 25 and executing it.
  • the display control circuit 23 and the like operate under the control of the CPU 21 according to a program.
  • a part or all of these functional units may be configured by hardware such as a circuit including an ASIC (Application Specific Integrated Circuit).
  • ASIC Application Specific Integrated Circuit
  • the display control unit 201 generates content to be displayed on the display unit 131 of the monitor device 30 and causes the display unit 131 to display the content.
  • the display control unit 201 displays, for example, a notification screen that a parking area in which the vehicle 10 can be parked has been detected, a selection screen for starting, interrupting, or canceling driving assistance, a peripheral image of the vehicle 10 during driving assistance, etc. is displayed on the display unit 131.
  • the audio control unit 202 causes the speaker 133 to output audio.
  • the acquisition unit 204 acquires sound wave transmission/reception information from the ranging unit 14 and captured images of the surroundings of the vehicle 10 from the imaging unit 16 as information about the surroundings of the vehicle 10.
  • the detection unit 205 detects obstacles, parking lots, parking areas, etc. around the vehicle 10 based on the surrounding information acquired by the acquisition unit 204.
  • Obstacles include various objects such as other vehicles, walls, pillars, fences, protrusions, steps, and wheel stops. Further, the obstacle may be, for example, a person walking in the parking lot.
  • a parking lot is an area provided to park the vehicle 10, and is divided by, for example, a lot line, a frame line, a straight line, a band, a step, etc.
  • the parking area is a parking area where the vehicle 10 can be parked, that is, a parking area where there are no obstacles such as other vehicles that would obstruct the parking of the vehicle 10.
  • the detection unit 205 detects the presence or absence of an obstacle, the distance from the vehicle 10 to the obstacle, etc., based on the detection result of the distance measurement unit 14, for example. In addition, the detection unit 205 detects the presence or absence of obstacles, parking areas, their positions (directions) relative to the vehicle 10, and their shapes, sizes, and heights, for example, by image processing based on images captured by the imaging unit 16. Detect etc.
  • the detection unit 205 determines whether or not there is an obstacle around the vehicle 10, how far the obstacle is from the vehicle 10 when there are multiple obstacles, and the distance around the vehicle 10. Information such as whether there is a parking lot in the area and whether the vehicle 10 can be parked in the parking lot, that is, whether or not it can be used as a parking area, is extracted.
  • the route calculation unit 206 calculates a target position for guiding the vehicle 10 based on the detection result by the detection unit 205, and calculates a travel route for moving the vehicle 10 to the target position.
  • the parking area detected by the detection unit 205 becomes the target position.
  • the target position is a predetermined location where the vehicle 10 can safely start traveling from then on, such as on a passage provided between a plurality of parking spots.
  • the route calculation unit 206 may calculate a turnaround position as necessary.
  • One or more turning positions are set when parking or leaving the garage is difficult due to one backward movement or one forward movement.
  • the route calculation unit 206 calculates the travel route of the vehicle 10 from the current position of the vehicle 10 to the target position in order to guide the vehicle 10 to the target position calculated as described above. If the travel route includes a turnaround position, the route calculation unit 206 calculates a travel route from the current position of the vehicle 10 to the target position via the turnback position.
  • the route calculation unit 206 calculates travel routes for parking such as reverse parking, forward parking, parallel parking by reversing, and parallel parking by forward. Further, the route calculation unit 206 calculates a movement route for exiting the garage, such as forward exit, backward exit, parallel exit by forward movement, and parallel exit by backward movement.
  • the driving support device 20 also functions as a surroundings monitoring device that monitors the surroundings of the vehicle 10 by detecting obstacles around the vehicle 10 during driving support.
  • the driving support system 200 which includes the driving support device 20, a distance measuring section 14, an imaging section 16, a monitor device 30, and the like, also functions as a surroundings monitoring system.
  • FIGS. 4 to 9 are schematic diagrams illustrating examples of displays on the monitor device 30 during parking assistance by the driving assistance device 20 according to the embodiment.
  • FIG. 4 shows an example of an image displayed on the display unit 131 of the monitor device 30 when the driver instructs to start driving assistance from the input unit 132 or the like of the monitor device 30.
  • the display control unit 201 of the driving assistance device 20 causes the display unit 131 of the monitor device 30 to display, for example, a display image 32.
  • the display section 131 has a first display area 31 that displays a display image 32 and a second display area 33 outside the first display area 31.
  • the display image 32 is an image in which the display control unit 201 synthesizes images captured by a plurality of imaging units 16 provided on the outer periphery of the vehicle 10 into a bird's-eye view looking down on the vehicle 10 from above.
  • the display image 32 includes a first surrounding area image 34 that is an image of the first surrounding area 100 (FIG. 1) around the vehicle 10.
  • the first surrounding area 100 is a predetermined area around the vehicle 10 in real space. That is, the first peripheral area 100 is an area displayed on the monitor device 30 in real space.
  • the display control unit 201 also displays a vehicle icon 10ic indicating the vehicle 10 in the center of the display image 32. That is, the display image 32 is an image representing the vehicle 10 and the first surrounding area 100 (FIG. 1) around the vehicle 10 based on a captured image obtained by imaging the surroundings of the vehicle 10 by the imaging unit 16. It is.
  • the display image 32 is also called a bird's-eye view image, a top view, or a composite image.
  • an obstacle warning display 41 for an obstacle 40 detected based on the surrounding information from the imaging unit 16 is displayed superimposed on the image.
  • Obstacle warning display 41 indicates that an obstacle 40 exists around vehicle 10.
  • the obstacle warning display 41 is an arcuate mark that is convex toward the obstacle 40.
  • the obstacle warning display 41 is displayed semi-transparently so that the image behind it can be seen through the obstacle warning display 41.
  • the detection unit 205 of the driving support device 20 detects a pedestrian (person) who may be an obstacle around the vehicle 10 that is being supported while driving, based on the surrounding information from the ranging unit 14 and the imaging unit 16. Then, the size, height, direction with respect to the vehicle 10, distance from the vehicle 10, etc. of this pedestrian are calculated.
  • the detection unit 205 determines whether the position of the detected pedestrian is inside or outside the first surrounding area 100.
  • pedestrians located outside the first surrounding area 100 will be referred to as outside-area pedestrians.
  • the display control unit 201 displays pedestrian notification displays 51A and 51B (FIGS. 5 to 7) to notify the presence of an out-of-area pedestrian. It is displayed on the monitor device 30.
  • the display control unit 201 displays a pedestrian notification display 51A that notifies the presence of a pedestrian detected by the detection unit 205 but not displayed in the first display area 31 of the display image 32 (pedestrian outside the area).
  • 51B are displayed on the monitor device 30.
  • the pedestrian notification displays 51A and 51B may be displayed regardless of the distance between the outside pedestrian and the vehicle 10, or when the distance between the outside pedestrian and the vehicle 10 is a specified distance ( It may be displayed when the value is below a predetermined threshold value.
  • Pedestrian notification displays 51A and 51B are also referred to as warning displays.
  • the out-of-area pedestrian is also referred to as an out-of-range pedestrian or a notification target.
  • a pedestrian outside the area is also referred to as a pedestrian outside the image or a non-display pedestrian.
  • FIG. 5 shows an example of a pedestrian notification display 51A when a pedestrian outside the area exists around the vehicle 10 but does not come toward the vehicle 10 (does not approach the vehicle 10).
  • the display mode of the pedestrian notification display 51A is different from the display mode of the obstacle warning display 41, which is a display in the display image 32 that notifies the presence of an obstacle other than a pedestrian.
  • the pedestrian notification display 51A includes a text portion 52A and an icon portion 53A.
  • the text portion 52A is displayed in the second display area 33 outside the first display area 31 on the display unit 131 of the monitor device 30.
  • the text portion 52A notifies the user of the presence of a pedestrian outside the area in text.
  • the text portion 52A is, for example, "There are pedestrians in the vicinity.”
  • the icon section 53A is displayed across the first display area 31 and the second display area 33.
  • the icon section 53A uses an icon to notify the presence of a pedestrian outside the area.
  • the icon portion 53A is shaped like, for example, a pedestrian's footprint.
  • the icon portion 53A has a plurality of footprint-shaped portions 53a to 53d that imitate footprints.
  • the plurality of footprint-shaped parts 53a to 53d are lined up along the movement direction (advancing direction) of the pedestrian outside the area. Therefore, the direction (line direction) of the plurality of footprint-shaped parts 53a to 53d is changed depending on the moving direction (progressing direction) of the pedestrian outside the area.
  • the plurality of footprint-shaped parts 53a to 53d have different display modes depending on the movement direction of the out-of-area pedestrian.
  • the color of the pedestrian notification display 51A is, for example, yellow.
  • the icon portion 53A may be semitransparent.
  • the display position of the icon section 53A is set by the display control section 201 to a position according to the position of the pedestrian outside the area. Specifically, the icon portion 53A is displayed around the vehicle icon 10ic such that the direction of the icon portion 53A with respect to the vehicle icon 10ic is the same as the direction of the pedestrian outside the area with respect to the vehicle 10 detected by the detection unit 205. be done. That is, the display control section 201 sets the display position of the icon section 53A in the pedestrian notification display 51A according to the position of the out-of-area pedestrian detected by the detection section 205.
  • the icon portion 53A is displayed as an animation, for example. 6A to 6D schematically show how the icon section 53A is animated. As shown in FIGS. 6A to 6D, the icon section 53A displays footprint-shaped sections 53a to 53d in order. Note that the footprint-shaped parts 53a to 53d may be hidden in order after being displayed. In addition, the footprint-shaped portions 53a to 53d may be displayed in a manner that gradually fades after being displayed. The animation display of the footprint shapes 53a to 53d may be repeated or may be performed only once.
  • FIG. 7 shows an example of a pedestrian notification display 51B when a pedestrian outside the area exists around the vehicle 10 and is coming toward (approaching) the vehicle 10.
  • the pedestrian notification display 51B notifies the vehicle 10 of the approach of a pedestrian outside the area. That is, the pedestrian notification display 51B notifies that there is a possibility that a pedestrian may enter the first surrounding area 100 around the vehicle 10.
  • the pedestrian notification display 51B notifies the vehicle 10 of the approach of a pedestrian outside the area.
  • the display mode of the pedestrian notification display 51B is different from the display mode of the obstacle warning display 41, which is a display in the first display area 31 that notifies the presence of an obstacle other than a pedestrian.
  • the pedestrian notification display 51B includes a text portion 52B and an icon portion 53B.
  • the pedestrian notification display 51B is also called an entry warning.
  • the text portion 52B is displayed in the second display area 33 outside the first display area 31 on the display unit 131 of the monitor device 30.
  • the text part 52B notifies the presence of a pedestrian outside the area in characters.
  • the text portion 52A is, for example, "A pedestrian is approaching.”
  • the icon section 53B is displayed across the first display area 31 and the second display area 33.
  • the icon section 53B notifies the presence (approach) of a pedestrian outside the area using an icon.
  • the icon part 53B has a shape imitating, for example, a pedestrian's footprint, and has a plurality of footprint-shaped parts 53a to 53d imitating footprints.
  • the plurality of footprint-shaped parts 53a to 53d are lined up along the movement direction (advancing direction) of the pedestrian outside the area. Therefore, the direction (alignment direction) of the plurality of footprint-shaped parts 53a to 53d is changed depending on the moving direction (progressing direction) of the pedestrian outside the area.
  • the plurality of footprint-shaped parts 53a to 53d have different display modes depending on the movement direction of the out-of-area pedestrian.
  • the color of the pedestrian notification display 51B is, for example, orange. That is, the colors of the icon parts 53A and 53B are different from each other.
  • the icon portion 53B may be semitransparent.
  • the display position of the icon section 53B is set by the display control section 201 to a position according to the position of the pedestrian outside the area. Specifically, the icon portion 53B is displayed around the vehicle icon 10ic such that the direction of the icon portion 53B with respect to the vehicle icon 10ic is the same as the direction of the out-of-area pedestrian with respect to the vehicle 10 detected by the detection unit 205. be done. That is, the display control section 201 sets the display position of the icon section 53B in the pedestrian notification display 51B according to the position of the out-of-area pedestrian detected by the detection section 205.
  • the icon portion 53B is displayed as an animation, for example. 8A to 8D schematically show how the icon section 53B is displayed as an animation. As shown in FIGS. 8A to 8D, the icon section 53B displays footprint-shaped sections 53a to 53d in order. Note that the footprint-shaped portions 53a to 53d may be hidden in order after being displayed. Further, the footprint-shaped portions 53a to 53d may be displayed so that their display gradually fades after being displayed. The animation display of the footprint-shaped portions 53a to 53d may be repeated or may be performed only once.
  • the pedestrian notification display 51B is displayed and the audio control unit 202 outputs a sound to the speaker 133 to hear footsteps. You may also output it. For example, the sound of footsteps is "knocking".
  • the display forms of the pedestrian notification displays 51A and 51B shown in FIGS. 5 and 7 differ depending on the direction of movement of the pedestrian outside the area. Specifically, the contents of the text portions 52A, 52B of the pedestrian notification displays 51A, 51B are different from the colors of the pedestrian notification displays 51A, 51B.
  • the audio control unit 202 When the pedestrian notification displays 51A and 51B are displayed, that is, when a pedestrian outside the area is detected by the detection unit 205, the audio control unit 202 outputs a sound that notifies the presence of the pedestrian outside the area to the speaker in the vehicle 10. 133 to output.
  • the content of the audio notifying the presence of a pedestrian outside the area is, for example, the same as the content of the text portions 52A, 52B of the pedestrian notification displays 51A, 51B.
  • the outside pedestrian enters the first surrounding area 100 and is reflected in the first display area 31, and the outside pedestrian appears in the first display area 31.
  • An example is shown in which the feet of the corresponding pedestrian image OBa are displayed.
  • FIG. 10 is a flowchart illustrating an example of a procedure of driving support processing by the driving support device 20 according to the embodiment. Note that the surrounding monitoring process by the driving support device 20 is performed in parallel with the driving support process.
  • the driving support device 20 waits for an input from the driver of the vehicle 10 or the like to instruct the start of driving support (S101: No).
  • the detection unit 205 detects the vicinity of the vehicle 10, which is the target position for driving assistance, based on the surrounding information from the ranging unit 14 and the imaging unit 16. Detection of parking areas, etc., and detection of obstacles such as people around the vehicle 10 are started (S102).
  • the detection unit 205 continues to detect the situation around the vehicle 10 until the vehicle 10 reaches the target position and the driving support ends.
  • the route calculation unit 206 calculates a target position for guiding the vehicle 10, a turnaround position if necessary, and a travel route based on the detection result of the detection unit 205 (S103).
  • the display control unit 201 combines the captured images from the plurality of image capturing units 16, and displays the display image 32 with the vehicle icon 10ic attached thereto on the display unit 131 of the monitor device 30 (S104).
  • the detection unit 205 detects an obstacle other than a pedestrian outside the area, the obstacle is displayed in the first display area 31 of the display image 32.
  • the detection unit 205 determines whether there are pedestrians outside the area around the vehicle 10 (S105). If there are no out-of-area pedestrians around the vehicle 10 (S105: No), the processes of S106 to S108 are skipped.
  • the display control unit 201 displays a warning on the monitor device 30 (S106).
  • the warning is provided by pedestrian notification displays 51A and 51B.
  • the audio control unit 202 causes the speaker 133 to output a warning as audio (S107).
  • the driving support device 20 determines whether the driving support has ended, for example, when the vehicle 10 reaches the target position (S108).
  • the driving support device 20 repeats the processes of S105 to S108 until the driving support ends (S108: No), and when the driving support ends (S108: Yes), ends the surrounding monitoring process.
  • Patent Document 3 road facilities are efficiently monitored by displaying a warning in accordance with the content of the warning such as fire on the expressway or trespassing.
  • Patent Document 4 in order to monitor the surroundings of an excavator working in a depression in the ground, the color and brightness of the feature is changed according to the distance from the excavator, and the surroundings of the excavator are monitored. Improve visibility.
  • Patent Documents 1 to 4 it is difficult for the driver to notice the presence of pedestrians outside the area.
  • the driving support device 20 (surroundings monitoring device) of this embodiment includes a detection section 205 and a display control section 201.
  • the detection unit 205 detects pedestrians around the vehicle 10.
  • the display control unit 201 displays the vehicle 10 and a first peripheral area 100 around the vehicle 10 on a monitor device 30 (display device ).
  • the display control unit 201 monitors pedestrian notification displays 51A and 51B that notify the presence of the out-of-area pedestrian. Displayed on the device 30.
  • the pedestrian warning displays 51A and 51B that notify the presence of pedestrians outside the area are displayed on the monitor device 30 (display device), thereby more reliably alerting the driver to the pedestrians. It can be carried out.
  • the display control unit 201 sets the display positions of the pedestrian notification displays 51A and 51B according to the position of the out-of-area pedestrian detected by the detection unit 205.
  • the driver can easily recognize the position of a pedestrian outside the area.
  • a plurality of footprint-shaped portions 53a to 53d imitating the footprints of pedestrians outside the area are displayed along the movement direction of the pedestrian outside the area.
  • the driver can easily recognize the moving direction of the pedestrian outside the area.
  • the display control unit 201 causes at least a portion of the pedestrian notification displays 51A and 51B to be displayed on the second display area 33 outside the first display area 31 that displays the first peripheral area 100 on the monitor device 30.
  • the driving support device 20 includes a voice control section 202.
  • the audio control unit 202 causes the speaker 133 in the vehicle 10 to output a sound notifying the presence of the pedestrian outside the area.
  • the display mode of the pedestrian notification displays 51A and 51B is different from the display mode of the obstacle warning display 41, which is a display on the monitor device 30 that notifies the presence of obstacles other than pedestrians.
  • Pedestrian notification displays 51A and 51B include animation displays.
  • the driver can easily recognize the pedestrian notification displays 51A and 51B.
  • the display modes of the pedestrian notification displays 51A and 51B differ depending on whether a pedestrian outside the area exists around the vehicle 10 but is not coming toward the vehicle 10 or when a pedestrian is coming toward the vehicle 10.
  • the display mode of the pedestrian notification displays 51A and 51B differs depending on the distance between the outside pedestrian and the vehicle 10.
  • the display mode of the pedestrian notification displays 51A and 51B differs depending on the degree of danger of pedestrians outside the area to the vehicle 10.
  • the display control unit 201 changes the display color of the pedestrian notification displays 51A and 51B depending on the distance between the outside pedestrian and the vehicle 10. For example, when the distance between the outside pedestrian and the vehicle 10 exceeds the first distance, the color of the pedestrian notification displays 51A and 51B is blue. When the distance between the outside pedestrian and the vehicle 10 exceeds a second distance that is less than or equal to the first distance and shorter than the first distance, the color of the pedestrian notification displays 51A and 51B is yellow.
  • the color of the pedestrian notification displays 51A and 51B is orange. Note that the relationship between distance and color is not limited to the above. Further, the size of the pedestrian notification displays 51A and 51B may be changed depending on the distance between the outside pedestrian and the vehicle 10. For example, when a pedestrian outside the area approaches the vehicle 10 and the distance between the pedestrian outside the area and the vehicle 10 becomes less than a prescribed distance (predetermined threshold), the pedestrian notification display 51A, 51B is You can increase the size. The size of the pedestrian notification displays 51A and 51B may be increased as the distance between the outside pedestrian and the vehicle 10 becomes shorter.
  • the driver can easily recognize the distance between the pedestrian outside the area and the vehicle 10.
  • the display control unit 201 controls the display control unit 201 when a pedestrian outside the area enters the inside of the first surrounding area 100, and when the outside pedestrian enters the inside of the first surrounding area 100, the monitor device 30 displays the image of the outside pedestrian in the first surrounding area 100 (the first surrounding area image 34).
  • the range of the first display area 31 including the pedestrian is expanded (expanded) in the direction away from the vehicle 10 (vehicle icon 10ic).
  • the first surrounding area 100 may be expanded to include the pedestrian
  • the first surrounding area 100 (first surrounding area image 34) may be expanded to include the pedestrian. It may be a part of the area 100 (first surrounding area image 34) or the entire area.
  • the lighting state of the pedestrian notification displays 51A and 51B differs depending on the distance between the outside pedestrian and the vehicle 10. For example, when the distance between the outside pedestrian and the vehicle 10 is a first distance or more, the pedestrian notification displays 51A and 51B are always displayed, and the distance between the outside pedestrian and the vehicle 10 is is less than the first distance, the pedestrian notification displays 51A and 51B are displayed blinking. Note that the relationship between distance and lighting is not limited to the above.
  • the pedestrian notification displays 51A and 51B are displayed across the first display area 31 and the second display area 33, but the present invention is not limited to this.
  • the entire pedestrian notification displays 51A and 51B may be displayed only in one of the first display area 31 and the second display area 33.
  • the surrounding monitoring device (20) of this embodiment includes at least the following configuration. That is, the surrounding monitoring device (20) a detection unit (205) that detects pedestrians around the vehicle (10); Based on the captured image obtained by imaging the surroundings of the vehicle (10) by the imaging unit (16), the vehicle (10) and the first surrounding area (100) around the vehicle (10) are a display control unit (201) for displaying on a display device (30); Equipped with When the detection unit (205) detects an out-of-area pedestrian located outside the first surrounding area (100), the display control unit (201) sends a pedestrian notification to notify the presence of the out-of-area pedestrian. The display (51A, 51B) is displayed on the display device (30).
  • the pedestrian warning display (51A, 51B) notifying the presence of a pedestrian outside the area is displayed on the display device (30), it is possible to more reliably alert the driver to the pedestrian. I can do it.
  • the display control unit (201) sets the display position of the pedestrian notification display (51A, 51B) according to the position of the out-of-area pedestrian detected by the detection unit (205).
  • the driver can easily recognize the position of a pedestrian outside the area.
  • the pedestrian notification display (51A, 51B) display a plurality of footprint-shaped parts (53a to 53d) imitating the footprints of pedestrians outside the area along the movement direction of the pedestrian outside the area. be.
  • the driver can easily recognize the moving direction of pedestrians outside the area.
  • the display mode of the pedestrian notification display (51A, 51B) differs depending on the distance between the outside pedestrian and the vehicle (10).
  • the driver can easily recognize the distance between the outside pedestrian and the vehicle (10).
  • the display control unit (201) also causes a pedestrian notification display (51A, 51B) is preferably displayed.
  • the display control unit (201) includes the pedestrian on the display device (30). It is preferable to expand the range of the first peripheral region (100) in a direction away from the vehicle (10).

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

Abstract

Ce dispositif de surveillance de périphérie comprend une unité de détection et une unité de commande d'affichage. L'unité de détection détecte un piéton dans la périphérie d'un véhicule. L'unité de commande d'affichage amène un dispositif d'affichage à l'intérieur du véhicule à afficher le véhicule et une première région périphérique de la périphérie du véhicule sur la base d'une image capturée obtenue par une unité d'imagerie imageant la périphérie du véhicule. Si un piéton de région externe, qui est un piéton se trouvant à l'extérieur de la plage d'une région d'affichage, est détecté par l'unité de détection, l'unité de commande d'affichage amène un dispositif de surveillance à afficher un affichage de notification de piéton notifiant la présence du piéton de région externe.
PCT/JP2023/030318 2022-08-24 2023-08-23 Dispositif de surveillance de périphérie WO2024043277A1 (fr)

Applications Claiming Priority (2)

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JP2022-133244 2022-08-24
JP2022133244 2022-08-24

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WO2024043277A1 true WO2024043277A1 (fr) 2024-02-29

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Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2007142545A (ja) * 2005-11-15 2007-06-07 Denso Corp 車両周辺画像処理装置及びプログラム。
JP2007295043A (ja) * 2006-04-20 2007-11-08 Matsushita Electric Ind Co Ltd 車両周囲監視装置
JP2017098932A (ja) * 2015-11-17 2017-06-01 株式会社Ｊｖｃケンウッド 車両用表示装置および車両用表示方法

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2007142545A (ja) * 2005-11-15 2007-06-07 Denso Corp 車両周辺画像処理装置及びプログラム。
JP2007295043A (ja) * 2006-04-20 2007-11-08 Matsushita Electric Ind Co Ltd 車両周囲監視装置
JP2017098932A (ja) * 2015-11-17 2017-06-01 株式会社Ｊｖｃケンウッド 車両用表示装置および車両用表示方法

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