JP4066892B2 - Vehicle alarm device - Google Patents

Description

[0001]
BACKGROUND OF THE INVENTION
The present invention relates to a vehicle alarm device that detects an obstacle to a vehicle and notifies a driver.
[0002]
[Prior art]
As a conventional vehicle alarm device of this type, a technique described in Patent Document 1 described below is publicly known.
[0003]
In this conventional vehicle alarm device, a driver's eyeball part is imaged with an infrared camera, and the line-of-sight direction is detected from the image. And a driver | operator's gaze direction area is set on the front window shield of a vehicle. On the other hand, the position direction of the obstacle around the vehicle is detected using an infrared radar. Then, an alarm mark is displayed on the head-up display between the position direction of the obstacle and the center of the line-of-sight direction.
[0004]
However, in the conventional vehicle alarm device, the driver can recognize the detection of the obstacle, but it is insufficient to call attention to the vehicle on the obstacle side.
[0005]
[Patent Document 1]
JP-A-6-230132 (see page 4, FIG. 8)
[0006]
[Problems to be solved by the invention]
SUMMARY OF THE INVENTION An object of the present invention is to provide a vehicle alarm device that allows a driver to recognize an obstacle and recognize its direction without complicating the configuration, and to call attention to the vehicle on the obstacle side. .
[0007]
[Means for Solving the Problems]
Obstacle detection means for detecting an obstacle with respect to the vehicle, obstacle direction detection means for detecting the direction of the obstacle, and a mirror that is directly visible from the outside of the vehicle and in which the driver is attached to the vehicle A plurality of notification devices arranged at positions that can be visually confirmed via the obstacle detection device, and when the obstacle detection device detects an obstacle, the obstacle corresponding to the direction of the obstacle detected by the obstacle direction detection means A vehicle alarm device comprising: a control device that activates a notification device , wherein the obstacle direction detection means sets a specific area among a plurality of areas around the vehicle as the direction of the obstacle. Detecting, the mirror is a door mirror or a room mirror, the notification device is a blinker lamp or a high-mount stop lamp, and the direction detected by the obstacle direction detection means The winker lamp and emits at least one of the high-mount stop lamp, it is where the structure is recognized the emission to the driver through the side mirror or the rearview mirror of the emitted side.
[0008]
In this configuration, the notification device is visible directly from the outside of the vehicle. And since a control apparatus operates the alerting | reporting apparatus corresponding to the direction of an obstruction, when it act | operates, the obstruction side will also pay attention to the said vehicle. That is, it is possible to call attention to the vehicle on the disabled side.
[0009]
In addition, the notification device is visible to the driver via a mirror. And since a control apparatus operates the alerting | reporting apparatus corresponding to the direction of an obstruction, the driver | operator can also recognize the detection of an obstruction and its direction.
[0010]
In this case, since one notification device is visible from the outside of the vehicle and from the driver, the configuration is simpler than the case where a separate notification device is provided.
[0012]
In this configuration, since the direction of the obstacle is detected as a specific area among a plurality of divided areas, it is easy to detect.
[0014]
In this configuration, since an existing door mirror and room mirror are used as mirrors, they are inexpensive.
[0016]
In this configuration, since the blinker lamp and the high-mount stop lamp are used as the notification device, it is inexpensive.
[0017]
Preferably, a gaze direction detection device that detects a gaze direction of the driver, and the control device determines that the direction of the obstacle and the gaze direction of the driver detected by the gaze direction detection device are the same direction. In such a case, the operation of the notification device may be stopped or reduced.
[0018]
In this configuration, when the driver's line-of-sight direction and the direction of the obstacle are the same direction, the operation of the notification device is stopped or reduced if the driver recognizes the obstacle, so there is no sense of humor and the driver The feeling of use of the vehicle alarm device is suitable.
[0019]
DETAILED DESCRIPTION OF THE INVENTION
(First Embodiment) A vehicle alarm device 1 (vehicle alarm device) according to a first embodiment of the present invention will be described below with reference to FIGS. As shown in FIGS. 1 and 2, a vehicle alarm device 1 includes a plurality of cameras 3 to 5 attached to a vehicle 2 (vehicle) and an image processing device that performs image processing on images captured by the cameras 3 to 5. 9, a plurality of light emitting devices 10 to 12 (notification devices) attached to the vehicle 2, and an ECU 15 (control device) that causes the light emitting devices 10 to 12 to emit light.
[0020]
As shown in FIG. 2, the right camera 3 is disposed on the right door mirror 2 a (mirror door mirror) on the right side of the vehicle 2 in the forward direction. The rear camera 4 is disposed near the rear number plate of the vehicle 2. The left camera 5 is disposed on the left door mirror 2b (mirror / door mirror) on the left side of the vehicle 2 in the forward direction. And the cameras 3-5 image | photograph all over the back range of the vehicle 2, especially from both sides. The number of cameras attached to the vehicle 2 and the mounting position are not limited to this.
[0021]
The image processing device 9 is disposed, for example, below the floor of the vehicle 2, and transmits images from the cameras 3 to 5 taken at regular time intervals. The image processing device 9 processes the image transmitted by the obstacle detection program 17. That is, the image processing device 9 detects a moving body such as an automobile, a motorcycle, a bicycle, and a person from the image, and calculates a distance from the vehicle 2 based on a moving speed of the vehicle 2 and an angle change of the moving body with respect to the vehicle 2. Then, a moving object located within a predetermined distance L1 from the vehicle 2 is detected as an obstacle 16. As described above, the obstacle detection program 24 (obstacle detection means) for detecting the obstacle with respect to the vehicle 2 by the obstacle detection program 17 for detecting the obstacle 16 of the cameras 3 to 5 and the image processing apparatus 9. (Shown in FIG. 1).
[0022]
As shown in FIG. 1, a wheel speed sensor 26 that detects the rotational speed of the driven wheel is connected to the image processing device 9 in order to obtain the moving speed of the vehicle 2.
[0023]
Further, the obstacle detection means 24 may be configured to detect the obstacle 16 as follows. First, the shape of a car, a person, etc. is patterned and registered in the storage device of the image processing apparatus. On the other hand, the edges of images taken by the cameras 3 to 5 are detected, and various processes such as pattern search are further performed to temporarily detect the obstacle 16. Then, the distance to the vehicle is calculated from the temporarily detected obstacle 16 image size, and an obstacle located within a predetermined distance L 1 from the vehicle 2 is detected as the obstacle 16. According to this configuration, a stationary body such as a parked car or a stationary person can be detected as the obstacle 16.
[0024]
When the obstacle 16 is detected, the image processing device 9 executes the direction detection program 18 so that the obstacle 16 is divided into a plurality of areas partitioned around the vehicle 2 (that is, the right side when viewed from the driver 25). It is detected which of the rear region 21, the rear region 22, and the left rear region 23) is located. That is, when the obstacle 16 is located in the right rear region 21, the rear region 22, or the left rear region 23, the direction detection program 18 sets the direction of the obstacle 16 viewed from the driver 25 in each region. It is detected as (right rear, rear, or left rear). Each region 21 to 23 can be perceived sensuously without a sense of incongruity when the driver 25 looks at the obstacle 16 located in each region and the obstacle 16 is located in the direction associated with each region. It is divided like. The areas 21 to 23 are registered in the storage device of the image processing apparatus 9.
[0025]
As described above, the direction detection program 18 of the image processing apparatus 9 has the obstacle direction detection means 27 (obstacle direction detection means) (shown in FIG. 1) for detecting the direction of the obstacle 16 as viewed from the driver 25. It is what constitutes.
[0026]
As shown in FIG. 2, the light emitting device 10 is attached to the right side in the front direction of the vehicle 1. The light emitting device 11 is attached to the rear of the vehicle 1 (near the upper part of the rear window). The light emitting device 12 is attached to the left side facing the front direction of the vehicle 1. The light emitting device 10 and the light emitting device 12 are outside the vehicle 2 and can be directly recognized from the right side and the left side of the vehicle 2, respectively. Further, the light emitting device 10 and the light emitting device 12 are visible to the driver 25 through the right door mirror 2a and the left door mirror 2b. Further, the light emitting device 11 is outside the vehicle 2 and can be directly recognized from the rear side of the vehicle 2. Further, the light emitting device 11 is visible to the driver 25 through the room mirror 2c (mirror / room mirror).
[0027]
In the present embodiment, the light emitting devices 10 and 12 are blinker lamps, and the light emitting device 11 is a high-mount stop lamp. That is, since the winker lamp and the high-mount stop lamp, which are existing devices, are used as the light-emitting device, it is advantageous in terms of cost compared to a configuration in which separate devices are provided for the vehicle 2. 2 as a whole is inexpensive. However, from a cost standpoint, the light emitting devices 10 to 12 may be configured differently from the blinker lamp or the high-mount stop lamp. Note that a light-emitting lamp, a light-emitting diode, or the like can be used as the light-emitting body.
[0028]
The ECU 15 executes a warning program (described later) shown in FIG. 3 as a control device at regular time intervals. That is, the ECU 15 takes in the direction of the obstacle 16 viewed from the driver 25 from the image processing device 9 and causes the light emitting devices 10 to 12 corresponding to the direction of the obstacle 16 to emit light.
[0029]
Here, the operation of the vehicle alarm device 1 will be described. As described above, the cameras 3 to 5 capture the situation around the vehicle 2 at regular time intervals. Images from the cameras 3 to 5 are transmitted to the image processing device 9. The image processing device 9 detects an object that can be an obstacle 16 of the vehicle 2 such as an automobile or a person and is located within a predetermined distance L1 from the vehicle 2 as the obstacle 16. Further, the image processing device 9 detects the direction of the obstacle 16 when the obstacle 16 is detected.
[0030]
Next, an alarm program (shown in FIG. 3) executed by the ECU 15 will be described. In step 1, the ECU 15 determines whether there is an obstacle 16 around the vehicle 2 based on the detection result of the image processing device 9. If there is an obstacle 16, the process proceeds to step 2. If there is no obstacle 16, the process proceeds to step 8.
[0031]
In step 2, the ECU 15 determines whether or not the obstacle 16 is in the right rear region 21 as viewed from the driver 25 of the vehicle 2 based on the detection result of the image processing device 9. If the obstacle 16 is in the right rear region 21, the process proceeds to step 5 and the light emitting device 10 is activated (lights on). If not, go to Step 3.
[0032]
In step 3, the ECU 15 determines whether the obstacle 16 is in the left rear region 23 as viewed from the driver 25 of the vehicle 2 based on the detection result of the image processing device 9. If the obstacle 16 is in the left rear region 23, the process proceeds to step 6 and the light emitting device 12 is activated (lights on). If not, go to Step 4.
[0033]
In step 4, the ECU 15 determines whether or not the obstacle 16 is in the rear region 22 viewed from the driver 25 of the vehicle 2 based on the detection result of the image processing device 9. If the obstacle 16 is in the rear region 22, the process proceeds to step 7 and the light emitting device 12 is activated (lights on). If not, the process ends.
[0034]
In step 8, the ECU 15 sends an operation stop (light emission stop) signal to the light emitting devices 10 to 12.
[0035]
The light emission of the light emitting devices 10 to 12 may be always turned on or blinked.
[0036]
As apparent from the above description, in the vehicle alarm device 10, for example, when the vehicle as the obstacle 16 is present in the right rear region 21 of the vehicle 2, the light emitting device 10 emits light. As described above, since the light emitting device 10 is directly visible from the right side of the vehicle 2, the vehicle driver of the obstacle 16 can pay attention to the vehicle 2. That is, attention to the vehicle 2 on the obstacle 16 side can be urged. In this case, since the light emitting device 10 is visible to the driver 25 via the right door mirror 2a, the driver 25 recognizes that the vehicle alarm device 10 is reporting. Can do. Therefore, since attention is drawn to both the driver 25 of the vehicle 2 and the driver of the obstacle 16, the safety is improved.
[0037]
Further, the driver 25 can immediately recognize that the obstacle 16 is in the right rear region 21 of the vehicle 2 by the light emitting device 10 sensuously. Furthermore, in this case, when the driver 25 visually recognizes the light-emitting device 10, the driver 25 can check the right rear region 21 where the obstacle 16 will be located through the right door mirror 2a. , Safety is excellent. The same applies when the obstacle 16 is in the rear region 22 or the left rear region 23 of the vehicle 2.
[0038]
Further, in the present configuration, as described above, the obstacle direction detection unit 27 specifies one of the areas 21 to 23 in which the direction of the obstacle 16 is divided in advance around the vehicle 2. Since it is detected, the detection is easy, and the control of the ECU 15 using the detection result is also simple.
[0039]
Furthermore, in this structure, since the light-emitting devices 10-12 can be visually recognized from both the outside of the vehicle and the driver 25, the structure is simplified compared to the case where separate notification devices are provided. ing.
[0040]
In the present embodiment, the light emitting devices 10 to 12 are used as the notification device, but a function of generating sound may be provided.
[0041]
In this embodiment, the cameras 3 to 5 and the image processing device 9 are used for detecting the obstacle 16, but a laser radar, a millimeter wave radar, or the like may be used. Further, in the case where each automobile is provided with a GPS receiver, position information obtained from the GPS receiver is transmitted and received between the automobiles, information on the traveling state such as the traveling direction and speed of the vehicle 2, and the vehicle 2 Another vehicle that may collide may be determined as the obstacle 16 from information on the traveling state of the other vehicle located within the distance. Furthermore, when an infrastructure device (for example, a beacon) that detects a surrounding solid object is installed at an intersection or the like, information on an object around the vehicle 2 is transmitted from the infrastructure device to the image processing device 9 by a communication device. An object that is captured and image-processed and is located within a predetermined distance from the vehicle 2 or a three-dimensional object located in the course of the vehicle 2 may be detected as an obstacle.
[0042]
(Second Embodiment) A vehicle alarm device 1 (vehicle alarm device) according to a second embodiment of the present invention will be described below with reference to FIGS.
[0043]
In the present embodiment, as shown in FIG. 4, a line-of-sight direction detection device 30 (line-of-sight direction detection device) is added as compared with the first embodiment, and an alarm is executed by the ECU 15. The contents of the program (shown in FIGS. 6 to 9) are different. Since other parts are the same, description thereof is omitted.
[0044]
The line-of-sight detection device 30 detects the direction of the line of sight of the driver 25 and inputs the result to the ECU 15. As shown in FIG. 5, the vehicle 2 includes an infrared illumination light 31 that emits infrared light outside the visible range that irradiates the vicinity of the face of the driver 25 and an infrared camera 32 that captures the face of the driver 25. It is attached to the instrument panel 2d. An infrared camera 33 that captures the head of the driver 25 is attached to the ceiling of the passenger compartment.
[0045]
The line-of-sight direction detection device 30 captures images captured at regular time intervals by the infrared camera 32 and the infrared camera 33 and performs image processing. As a result, the direction of the head and the line-of-sight direction with respect to the face are superimposed, and the line-of-sight direction E of the driver 25 is detected. Furthermore, an angle formed by the line-of-sight direction E (line-of-sight direction angle α) is obtained based on the front direction F of the vehicle 2.
[0046]
Next, an alarm program (shown in FIGS. 6 to 9) executed by the ECU 15 will be described. In step 11, the ECU 15 determines whether there is an obstacle 16 around the vehicle 2 based on the detection result of the image processing device 9. If there is an obstacle 16, the process proceeds to step 12. If there is no obstacle 16, the process proceeds to step 24.
[0047]
In step 12, the ECU 15 determines whether or not the obstacle 16 is in the right rear region 21 as viewed from the driver 25 of the vehicle 2 based on the detection result of the image processing device 9. If the obstacle 16 is in the right rear area 21, the process proceeds to step 15, and if not, the process proceeds to step 13.
[0048]
In step 15, the ECU 15 determines whether or not the direction of the obstacle 16 and the visual line direction E detected by the visual line direction detection device 30 are the same direction. This determination is made as follows. When the obstacle 16 is in the right rear region 21, it is considered that the driver 25 can usually see the obstacle 16 through the right door mirror 2a. Therefore, with reference to the front direction F of the vehicle 2, θ1 to θ2 that is an angle range in which the right door mirror 2a exists is set in advance, and when the line-of-sight angle α is within θ1 to θ2, It is determined that the direction and the line-of-sight direction E are the same direction. That is, it is determined that the line-of-sight direction E of the driver 25 is the same direction as the obstacle 16 through the right door mirror 2a. If it is determined in step 15 that the direction of the obstacle 16 and the line-of-sight direction E are not the same direction, the process proceeds to step 17 to activate (light-emit) the light emitting device 10. If it is determined that the directions are the same, the process proceeds to step 16, and a signal indicating that the operation is stopped or the operation is reduced (for example, the light emission is weakened, the light is blinked, and the cycle is lengthened) is transmitted.
[0049]
In step 13, the ECU 15 determines whether or not the obstacle 16 is in the left rear region 23 as viewed from the driver 25 of the vehicle 2 based on the detection result of the image processing device 9. If the obstacle 16 is in the left rear area 23, the process proceeds to step 18, and if not, the process proceeds to step 14.
[0050]
In step 18, the ECU 15 determines whether or not the direction of the obstacle 16 and the visual line direction E detected by the visual line direction detection device 30 are the same direction. Similar to step 15, this determination is made based on whether or not the line-of-sight angle α is within θ3 to θ4 (shown in FIG. 5). That is, when the line-of-sight angle α is within θ3 to θ4, it is determined that the line-of-sight direction E of the driver 25 is the same direction as the obstacle 16 through the left door mirror 2b. If it is determined in step 18 that the direction of the obstacle 16 and the line-of-sight direction E are not the same direction, the process proceeds to step 20 to activate (light-emit) the light emitting device 12. If it is determined that the directions are the same, the process proceeds to step 19, and a signal indicating operation stop or operation decrease is sent to the light emitting device 12.
[0051]
In step 14, the ECU 15 determines whether or not the obstacle 16 is in the rear region 22 viewed from the driver 25 of the vehicle 2 based on the detection result of the image processing device 9. If the obstacle 16 is in the rear area 22, the process proceeds to step 21, and if not, the process is terminated.
[0052]
In step 18, the ECU 15 determines whether or not the direction of the obstacle 16 and the visual line direction E detected by the visual line direction detection device 30 are the same direction. This determination is made based on whether or not the line-of-sight angle α is within the range of θ4 to θ5 (shown in FIG. 5), as in steps 15 and 18. That is, when the line-of-sight angle α is within θ4 to θ5, it is determined that the line-of-sight direction E of the driver 25 is the same direction as the obstacle 16 through the room mirror 2c. If it is determined in step 15 that the direction of the obstacle 16 and the line-of-sight direction E are not the same direction, the process proceeds to step 23, where the light emitting device 11 is activated (lights on). If it is determined that the directions are the same, the process proceeds to step 22 to send an operation stop or operation down signal to the light emitting device 11.
[0053]
In step 24, the ECU 15 sends an operation stop (light emission stop) signal to the light emitting devices 10-12.
[0054]
As described above, in the present embodiment, when the direction of the line of sight E of the driver 25 and the direction of the obstacle 16 are the same direction, the operation of the light emitting devices 10 to 12 is stopped or reduced. The sense of use of the vehicular alarm device 10 is suitable because there is no sense of humility.
[0055]
【The invention's effect】
According to the present invention, the notification device is directly visible from outside the vehicle. And since a control apparatus operates the alerting | reporting apparatus corresponding to the direction of an obstruction, when it act | operates, the obstruction side will also pay attention to the said vehicle. That is, it is possible to call attention to the vehicle on the disabled side. The notification device is visible to the driver via a mirror. And since a control apparatus operates the alerting | reporting apparatus corresponding to the direction of an obstruction, the driver | operator can also recognize the detection of an obstruction and its direction. In this case, since one notification device is visible from the outside of the vehicle and from the driver, the configuration is simpler than the case where a separate notification device is provided.
[0056]
According to the present invention, since the direction of the obstacle is detected as a specific area of the plurality of divided areas, it is easy to detect.
[0057]
According to the present invention, since an existing door mirror and room mirror are used as mirrors, the cost is low.
[0058]
According to the present invention, since the blinker lamp and the high-mount stop lamp are used as the notification device, it is inexpensive.
[0059]
According to the present invention, when the driver's line-of-sight direction and the direction of the obstacle are the same direction, the operation of the notification device is stopped or reduced when the driver recognizes the obstacle, so there is no sense of nuisance, The driver's feeling of use of the vehicle alarm device is suitable.
[Brief description of the drawings]
FIG. 1 is a system configuration diagram of a vehicle alarm device according to the present invention (first embodiment);
FIG. 2 is a plan view from above of a vehicle equipped with the vehicle alarm device of the present invention (first embodiment).
FIG. 3 is a diagram showing a flow of a control device for a vehicle alarm device according to the present invention (first embodiment);
FIG. 4 is a system configuration diagram of a vehicle alarm device according to the present invention (second embodiment).
FIG. 5 is a plan view from above of a vehicle equipped with the vehicle alarm device of the present invention (second embodiment).
FIG. 6 is a diagram showing a flow of a control device for a vehicle alarm device according to the present invention (second embodiment).
FIG. 7 is a diagram showing a flow of a control device for a vehicle alarm device according to the present invention (second embodiment).
FIG. 8 is a diagram showing a flow of a control device for a vehicle alarm device according to the present invention (second embodiment).
FIG. 9 is a diagram showing a flow of a control device for a vehicle alarm device according to the present invention (second embodiment).
[Explanation of symbols]
1 Vehicle alarm device (Vehicle alarm device)
2 Vehicle (vehicle)
2a Right door mirror (mirror door mirror)
2b Left door mirror (mirror door mirror)
2c room mirror (mirror room mirror)
10 Light emitting device (notification device)
11 Light-emitting device (notification device)
12 Light-emitting device (notification device)
15 ECU (control device)
16 Obstacle (obstacle)
24 Obstacle detection means (obstacle detection means)
27 Obstacle direction detection means (obstacle direction detection means)
30 Gaze direction detection device (Gaze direction detection device)
E Gaze direction

Claims (2)

Obstacle detection means for detecting obstacles to the vehicle;
Obstacle direction detecting means for detecting the direction of the obstacle;
A plurality of notification devices arranged at positions that are visible directly from outside the vehicle and visible to a driver via a mirror attached to the vehicle;
When the obstacle detecting device detects an obstacle, a vehicle alarm system and a control device for activating the notification device corresponding to the direction of the detected obstacle by the obstacle direction detecting means ,
The obstacle direction detecting means detects a specific area of a plurality of areas divided around the vehicle as the direction of the obstacle,
The mirror is a door mirror or a room mirror,
The notification device is a blinker lamp or a high-mount stop lamp,
A vehicle that emits light of at least one of the blinker lamp and the high-mount stop lamp in the direction detected by the obstacle direction detection means, and causes the driver to recognize the light emission by the door mirror or the room mirror on the light emitting side. Alarm device. A gaze direction detection device that detects the gaze direction of the driver, and the control device determines that the direction of the obstacle and the gaze direction of the driver detected by the gaze direction detection device are the same direction The vehicle alarm device according to claim 1, wherein the operation of the notification device is stopped or reduced.

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