CN112542060A - Rear side alarm device for vehicle - Google Patents
Rear side alarm device for vehicle Download PDFInfo
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- CN112542060A CN112542060A CN202010966616.XA CN202010966616A CN112542060A CN 112542060 A CN112542060 A CN 112542060A CN 202010966616 A CN202010966616 A CN 202010966616A CN 112542060 A CN112542060 A CN 112542060A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
- G01S15/88—Sonar systems specially adapted for specific applications
- G01S15/93—Sonar systems specially adapted for specific applications for anti-collision purposes
- G01S15/931—Sonar systems specially adapted for specific applications for anti-collision purposes of land vehicles
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/52—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S15/00
- G01S7/539—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S15/00 using analysis of echo signal for target characterisation; Target signature; Target cross-section
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/01—Detecting movement of traffic to be counted or controlled
- G08G1/052—Detecting movement of traffic to be counted or controlled with provision for determining speed or overspeed
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/16—Anti-collision systems
- G08G1/161—Decentralised systems, e.g. inter-vehicle communication
- G08G1/163—Decentralised systems, e.g. inter-vehicle communication involving continuous checking
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/16—Anti-collision systems
- G08G1/166—Anti-collision systems for active traffic, e.g. moving vehicles, pedestrians, bikes
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/16—Anti-collision systems
- G08G1/167—Driving aids for lane monitoring, lane changing, e.g. blind spot detection
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Abstract
车用后侧方警报装置包括：拍摄车辆的后侧方的后侧方图像拍摄部；基于由车速检测部检测出的车速和由侧方空间检测部检测出的侧方空间信息，对以车辆的后端位置为基准的后方的检测距离进行计算的检测距离运算部；根据由检测距离运算部计算出的检测距离，从由后侧方图像拍摄部拍摄到的后侧方图像中提取对要穿过车辆与侧方障碍物之间的移动体进行检测的图像区域，并从所提取出的图像区域中检测移动体的移动体检测部；以及基于由移动体检测部检测出的移动体检测信息，进行是否将警报通知给车辆的驾驶员的判断的警报输出判断部。
The vehicle rear side warning device includes: a rear side image capturing unit that captures a rear side of the vehicle; The detection distance calculation unit that calculates the rear detection distance based on the rear end position of A moving object detection unit that detects a moving object from the extracted image area through an image area that detects a moving object between the vehicle and a side obstacle; and a moving object detection unit that detects a moving object based on the moving object detection unit information, and an alarm output determination unit that determines whether or not to notify the driver of the vehicle of the alarm.
Description
Technical Field
The present application relates to a rear side alarm device for a vehicle.
Background
Conventionally, a rear-lateral side warning device for a vehicle (so-called blind spot warning system (BSW) or lane change warning system (LCW)) has been proposed, which recognizes a following vehicle B traveling on an adjacent lane adjacent to a traveling lane on which the vehicle a is traveling, and notifies a driver of a warning that there is a possibility of collision if the following vehicle B is traveling on the adjacent lane in the lane change direction when the vehicle a is about to change the lane, thereby preventing the vehicle a from colliding with the following vehicle B at the time of lane change.
For example, patent document 1 discloses a vehicle monitoring device in which: a distance threshold value is set according to the distance between the following vehicle B traveling behind the vehicle A and the vehicle A in the lateral direction, and when the distance between the vehicle A and the following vehicle B is equal to or less than the distance threshold value, it is determined that the following vehicle B is present in the mirror blind spot area of the vehicle A, and a warning is issued.
Further, the vehicle monitoring device of patent document 2 discloses the following: the wide-angle camera can photograph the rear side of the host vehicle a at regular intervals, and it is possible to select whether to detect the vehicle B in the entire area of the photographing area obtained by the wide-angle camera or in an area obtained by extracting a part of the area from the photographing area, based on whether the subsequent vehicle B was detected in the rear of the host vehicle a at the previous time, and monitor the subsequent vehicle B in a wide range from the vicinity of the host vehicle a to a distant place.
Patent document 1: japanese patent laid-open No. 2000-149197
Patent document 2: japanese patent No. 4287532
However, the conventional vehicle monitoring devices disclosed in patent document 1 or patent document 2 are related to a device that detects a vehicle B traveling behind the host vehicle a on an adjacent lane adjacent to a traveling lane on which the host vehicle a is traveling, and are not designed to detect a vehicle C, for example, a two-wheeled vehicle, traveling so as to pass between the host vehicle a and the vehicle B traveling on the adjacent lane.
Therefore, even if the vehicle monitoring device described in patent document 1 is used, for example, there is a problem that: it is difficult to set a distance threshold value from the host vehicle a and the vehicle B in the vicinity of the host vehicle a to detect a vehicle C, for example, a two-wheeled vehicle, which has a high possibility of collision and which passes between the host vehicle a and the vehicle B traveling on an adjacent lane. In addition, there are also the following problems: a warning for the vehicle B often occurs, and the driver considers the warning to be too troublesome, resulting in the warning output of the vehicle monitoring apparatus being stopped, and thus not being effectively utilized flexibly.
In addition, the vehicle monitoring device described in patent document 2 also has the same problem as described above, and in an environment where, for example, a vehicle C that is a two-wheeled vehicle travels so as to pass between the vehicle a and a vehicle B that travels in an adjacent lane lateral to the vehicle a, there is no problem in detecting the vehicle B, but since the vehicle B is often detected even if the vehicle C that is a two-wheeled vehicle is detected, for example, the subsequent detection is limited to the vicinity. Therefore, there are the following problems: it is not possible to sufficiently detect the vehicle C, which is a two-wheeled vehicle, for example, and to notify the driver of an accurate warning corresponding to the vehicle C with which contact or collision is likely to occur.
In particular, in recent years, in the area of the southeast asian national alliance (hereinafter, referred to as ASEAN), two-wheeled vehicles have been introduced in large numbers into urban citizens as a convenient mobile manner. In these regions, a lot of vehicles C, for example, two-wheeled vehicles, are seen through a scene between the host vehicle a and a vehicle B, for example, four-wheeled vehicles, which is traveling in an adjacent lane lateral to the host vehicle a, and there is a possibility that many of the host vehicle a is involved in the vehicles C. Therefore, it is urgently required to develop an inexpensive system which can notify the driver of an alarm by finding the vehicle C at an accurate timing without affecting the vehicle B traveling on the adjacent lane.
Disclosure of Invention
The present application discloses a technique for solving the above-described problem, and an object thereof is to provide a vehicle rear-lateral side warning device that can find a moving body that is about to pass through a space between a vehicle and a lateral obstacle of the vehicle at an accurate timing and accurately notify a driver of the vehicle of an alarm.
The application discloses automobile-used rear side alarm device includes: a rear-side image capturing unit that is attached to a vehicle and captures a rear side of the vehicle; a vehicle speed detection unit mounted on the vehicle and detecting a traveling speed of the vehicle; a side space detection unit that detects a distance between the vehicle and a side obstacle of the vehicle as side space information; a detected distance calculation unit that calculates a detected distance to the rear with reference to a rear end position of the vehicle, based on the vehicle speed detected by the vehicle speed detection unit and the side space information detected by the side space detection unit; a moving body detection unit that extracts an image region for detecting a moving body that is to pass through between the vehicle and the side obstacle from the rear side image captured by the rear side image capturing unit, based on the detection distance calculated by the detection distance calculation unit, and detects the moving body from the extracted image region; and an alarm output determination unit that determines whether or not to notify an alarm to a driver of the vehicle based on the moving object detection information detected by the moving object detection unit.
According to the vehicle rear-lateral-side warning device disclosed in the present application, it is possible to obtain a vehicle rear-lateral-side warning device that can find a moving body that is about to pass through a space between a vehicle and a lateral obstacle of the vehicle at an accurate timing and accurately notify a driver of the vehicle of a warning.
Drawings
Fig. 1 is a plan view showing the configuration of a vehicle rear-side alarm device according to embodiment 1.
Fig. 2 is a functional block diagram showing the vehicle rear-lateral side alarm device according to embodiment 1.
Fig. 3 is a flowchart showing the operation of the vehicle rear-lateral-side warning device according to embodiment 1.
Fig. 4 is a diagram showing an example of a method for obtaining a detection distance by the detection distance calculation unit of the vehicle rear-lateral side warning device according to embodiment 1.
Fig. 5 is a diagram showing the positional relationship of a plurality of vehicles according to embodiment 1.
Fig. 6 is a diagram showing the positional relationship of a plurality of vehicles according to embodiment 1.
Fig. 7 is a diagram showing a rear-side image when the situation in fig. 5 is captured by the left-side camera of the vehicle.
Fig. 8 is a diagram showing a rear-side image when the situation of fig. 6 is captured by the left-side camera of the vehicle.
Fig. 9 is a diagram showing an extracted image obtained by extracting the region X in the posterior-lateral image of fig. 8.
Fig. 10 is a plan view showing a modification of the vehicle rear-lateral-side alarm device according to embodiment 1.
Fig. 11 is a diagram showing an example of a method for obtaining a detection distance by a detection distance calculation unit of the vehicle rear-lateral side warning device according to embodiment 2.
Fig. 12 is a diagram showing an example of hardware of the vehicle rear-lateral-side alarm device according to embodiment 1 and embodiment 2.
Detailed Description
Hereinafter, embodiment 1 will be described with reference to the drawings. In the drawings, the same reference numerals denote the same or corresponding parts.
Fig. 1 is a plan view showing the configuration of a vehicle rear-side alarm device according to embodiment 1. In fig. 1, a vehicle 1 includes a vehicle rear-lateral-side warning device 2, a plurality of rear-lateral-side cameras 3, and a plurality of sonar sensors 4. The rear side cameras 3 are attached to both sides of the vehicle 1, and are arranged toward the rear side so as to capture images or videos of the rear side of the vehicle 1 at regular intervals. The imaging cycle of the rear-lateral-side camera 3 is set in advance when the vehicle rear-lateral-side warning device 2 is designed. At least one sonar sensor 4 is disposed on both sides of the vehicle 1 so as to be able to detect a side obstacle of the vehicle 1.
The vehicle rear-lateral-side warning device 2 includes a vehicle speed sensor 6, a sonar controller 7, a rear-lateral-side camera controller 5, and a warning device 8. The vehicle speed sensor 6, the sonar controller 7, the rear side camera controller 5, and the alarm device 8 are connected to each other via a communication line 10, and can transmit and receive information. The rear side camera 3 is connected to a rear side camera signal line 9 via a rear side camera controller 5, and an image or video captured by the rear side camera 3 is transmitted to the rear side camera controller 5 via the rear side camera signal line 9, and the transmitted image or video is processed by the rear side camera controller 5. The sonar sensor 4 is connected to the sonar controller 7 via a sonar signal line 11, and the sonar controller 7 manages the operation of each sonar sensor 4 via the sonar signal line 11, collects distance information obtained by each sonar sensor 4 to the sonar controller 7 via the sonar signal line 11, and obtains spatial information by the sonar controller 7.
Next, a functional configuration and an operation of the vehicle rear-lateral-side warning device according to embodiment 1 will be described. Fig. 2 is a functional block diagram showing the vehicle rear-lateral side alarm device according to embodiment 1. Fig. 3 is a flowchart showing the operation of the vehicle rear-lateral-side warning device according to embodiment 1.
First, as shown in fig. 2 and 3, in step S1001, an image or video of the rear side of the vehicle 1 is acquired by the rear side image capturing unit 301 and output to the moving object detecting unit 501 as a rear side image. The rear-lateral-image capturing section 301 is constituted by the rear-lateral camera 3, the rear-lateral-camera controller 5, and the rear-lateral-camera signal line 9.
As shown in fig. 1, one rear-side camera 3 is provided on each side of the vehicle 1, and the rear-side cameras 3 are attached to photograph the rear side of the vehicle. However, the side cameras 3 are not necessarily attached to both sides of the side of the vehicle 1, and the rear side cameras 3 may be provided only on the opposite side of the driver's seat (the passenger seat side) in order to support the side that particularly requires monitoring, for example, the side that is difficult to visually recognize by the driver. Further, the rear-lateral cameras 3 themselves may be provided on both sides, and the processing of the rear-lateral monitoring may be limited to only one of them. In embodiment 1, for simplicity of explanation, only one side of the vehicle 1 is explained as the side on which the rear-lateral monitoring process is performed, but in the case of performing rear-lateral monitoring on both sides of the vehicle 1, the processes of embodiment 1 are performed only on the left and right sides, and no change in method or difference in effect occurs.
Next, in step S1002, the vehicle speed detection unit 601 detects a vehicle speed that is a traveling speed of the vehicle 1, and outputs the detected distance to the detected distance calculation unit 502. In step S1003, the side space detection unit 701 detects a space (distance) on the side of the vehicle 1, and outputs the detected space (distance) to the detected distance calculation unit 502 as side space information. In the configuration of the vehicle rear-lateral-side warning device 2 according to embodiment 1, the vehicle speed detection unit 601 is constituted by the vehicle speed sensor 6. The side space detection unit 701 is configured by the sonar sensor 4, the sonar controller 7, and the sonar signal line 11.
Next, a side space detection method of the side space detection section 701 of the vehicle rear-side warning device 2 according to embodiment 1 will be described. Sonar controller 7 according to embodiment 1 receives ultrasonic waves transmitted from sonar sensors 4 attached to the sides of vehicle 1 and reflected from a side obstacle. The sonar controller 7 measures the time from transmission to reception, and compares the measured time with the sound velocity to determine the distance between the vehicle 1 and the obstacle on the side of the vehicle 1. In the side space detecting unit 701 according to embodiment 1, the distance between the vehicle 1 and the side obstacle of the vehicle 1 is output to the detected distance calculating unit 502 as side space information.
The operations of step S1004, step S1005, and step S1006 are executed by the rear camera controller 5. First, in step S1004, the detection distance calculation unit 502 obtains a detection distance as an index when a specific region is cut out from the rear-lateral-side image in the moving object detection unit 501, and outputs the detection distance to the moving object detection unit 501.
Fig. 4 is a diagram showing an example of a method for obtaining a detection distance in a detection distance calculation unit of the vehicle rear-lateral side warning device according to embodiment 1.
An example of a method for determining the detection distance of the vehicle rear-lateral-side warning device 2 according to embodiment 1 will be described below with reference to fig. 4.
Fig. 4 is a diagram in which the detected distance is specified based on the vehicle speed of the vehicle 1 as the host vehicle 20 and the space (distance) in the lateral direction between the vehicle 1 and the obstacle in the lateral direction of the vehicle 1. The vehicle speed threshold of the vehicle rear-lateral-side warning device 2 according to embodiment 1 is actually set to 20km/h using the average speed of the passing speeds of two-wheeled vehicles in the ASEAN area. For example, when the vehicle 1 as the host vehicle 20 has a vehicle speed of less than 20km/h, a wide space (distance) on the side of the host vehicle 20, and a distance of 1m or more from an adjacent vehicle or a side wall, the detection distance is set to 5m from the rear end position of the host vehicle 20. On the other hand, when the vehicle 1 as the host vehicle 20 has a vehicle speed of 20km/h or more, a space (distance) at the side of the host vehicle 20 is narrow, and a distance of less than 1m from an adjacent vehicle or a side wall exists, the detection distance is set to 0m from the rear end position of the host vehicle 20.
The threshold value of the vehicle speed may be set according to the traffic conditions or the traffic regulations in the country or region to which the vehicle rear-lateral side warning device 2 according to embodiment 1 is applied. The vehicle speed threshold is set based on the legal speed and the average speed of a moving object passing through the vehicle, that is, a two-wheeled vehicle approaching from behind. When the vehicle 1 as the host vehicle 20 has a vehicle speed equal to or higher than the legal speed and the average speed of the two-wheeled vehicle, the detection distance is set near the host vehicle 20 in consideration of the difficulty in passing or the low passing speed (low relative speed) of the two-wheeled vehicle approaching from behind. On the other hand, when the vehicle 1 as the host vehicle 20 has a vehicle speed lower than the legal speed and the average speed of the two-wheeled vehicle, the detection distance may be set to be a distance from the host vehicle 20 in view of a high passing speed (high relative speed) of the two-wheeled vehicle approaching from behind.
That is, the detected distance is calculated by the detected distance calculation unit 502 based on the legal speed and the average speed of the two-wheeled vehicle and based on a vehicle speed threshold set in advance. When the vehicle speed is equal to or higher than the vehicle speed threshold value, the detection distance is set to the 1 st detection distance that matches the rear end position of the vehicle 1. Here, for example, the 1 st detection distance is set to 0m from the rear end position of the host vehicle 20. When the vehicle speed is lower than the vehicle speed threshold, the detection distance is set to the 2 nd detection distance that is larger than the 1 st detection distance so that the detection distance is set to be rearward of the rear end position of the vehicle 1. Here, for example, the 2 nd detection distance is set to 5m from the rear end position of the host vehicle 20.
On the other hand, the side space threshold value of the space (distance) to the side of the host vehicle 20 is set with reference to 1m, which is the average lateral width of the target passing vehicle, i.e., the two-wheeled vehicle approaching from the rear, and when the space (distance) to the side of the host vehicle 20 is smaller (narrower) than the lateral width of the two-wheeled vehicle, the detected distance is set to the vicinity of the vehicle 1 as the host vehicle 20 in view of the fact that the two-wheeled vehicle is less likely to pass through or the vehicle speed is reduced before passing through. In the case where the space (distance) on the side of the vehicle 1 as the host vehicle 20 is almost the same as or larger (wider) than the lateral width of the two-wheeled vehicle, the detection distance may be set to a distance from the vehicle 1 as the host vehicle 20 in view of the fact that the vehicle can easily pass through the space from behind almost without any change.
That is, the detected distance is calculated by the detected distance calculating unit 502 based on the average lateral width of the two-wheeled vehicle and based on a side space threshold value set in advance. When the side space information is smaller than the side space threshold, the detection distance is set to the 1 st detection distance that matches the rear end position of the vehicle 1. Here, for example, the 1 st detection distance is set to 0m from the rear end position of the host vehicle 20. When the side space information is the same as or greater than the side space threshold, the detection distance is set to the 2 nd detection distance greater than the 1 st detection distance so that the detection distance is set to be rearward of the rear end position of the vehicle 1. Here, for example, the 2 nd detection distance is set to 5m from the rear end position of the host vehicle 20.
In embodiment 1, as shown in fig. 4, the detection distances are divided by one threshold value according to the vehicle speed of the host vehicle 20 and the space (distance) on the side of the host vehicle 20, but the detection distances may be divided into smaller outputs by defining a plurality of threshold values, respectively, not necessarily in accordance with the above.
In step S1005, the moving object detection unit 501 extracts an image region of a part of the rear-lateral-side image based on the detected distance, further detects a moving object from the extracted image, and outputs moving object detection information including the detected moving object, that is, for example, the position, size, relative speed, and the like of the vehicle to the alarm output unit 801. The situation in which a partial region is extracted from the posterior-lateral image as an extracted image will be described later.
In step S1006, the warning output determination unit 503 determines whether or not the moving object detected from the moving object detection information, for example, as a vehicle is a target to which a warning should be issued, and outputs a warning signal when determining that the warning should be issued. Specifically, it is determined whether or not the moving object is a passing vehicle based on the following conditions: whether the detected position of the moving object, which is a vehicle, is located on the rear side of the host vehicle 20; or, for example, whether the size of the moving body as a vehicle is the size of a two-wheeled vehicle passing through the vehicle or the size of a vehicle passing through; or whether the relative speed of the moving object as the vehicle is in the direction toward the host vehicle 20, and outputs an alarm signal at an accurate timing.
In step S1007, the warning output unit 801 outputs a warning to the driver from the warning device 8 based on the warning signal. As a method of warning the driver, embodiment 1 is not limited, and the following method may be considered: visually providing an alarm through a Light Emitting Diode (LED) or a display or the like embedded in a dashboard or a mirror portion; or audibly providing an alarm by generating an alarm sound or sound through a speaker in the vehicle; or provide a warning in a tactile sense by assembling a vibration device to a driver's seat or steering wheel. In embodiment 1, the effects are not affected by any of the above methods.
The embodiment 1 relates to a vehicle rear-lateral side detection device 2, and as shown in fig. 5 and 6, the vehicle rear-lateral side detection device 2 detects a 2 nd vehicle 22 passing from behind a host vehicle 20 between the host vehicle 20 and a 1 st vehicle 21 traveling in an adjacent lane 25 adjacent to a traveling lane 24 of the host vehicle 20 on which the host vehicle 20 is traveling, and gives an alarm to a driver of the host vehicle 20.
Here, first, a method of monitoring a following vehicle by a vehicle rear-lateral-side warning device as a comparative example will be described in detail.
In the vehicle rear-lateral side warning device in the comparative example, for example, in the situation shown in fig. 5, when the 2 nd vehicle 22 (two-wheeled vehicle) is near the rear of the host vehicle 20, a rear-lateral side image as shown in fig. 7 is acquired by a rear-lateral side camera attached to the left-lateral side of the host vehicle 20. In the vehicle rear-side alarm device of the comparative example, dynamic object extraction using an optical flow is used to detect the 1 st vehicle 21 (four-wheel vehicle) and the 2 nd vehicle 22 (two-wheel vehicle) on the rear side. In the case of fig. 7, the 1 st vehicle 21 (four-wheel vehicle) and the 2 nd vehicle 22 (two-wheel vehicle) on the rear side are illuminated in the image with a sufficiently large size for the entire area of the rear side image, and a plurality of feature points for optical flow can be detected. Further, it is expected that a vector of the detected optical flow is also detected with a large value.
On the other hand, in the vehicle rear-lateral-side warning device in the comparative example, for example, in the situation as shown in fig. 6, when the 2 nd vehicle 22 (two-wheeled vehicle) is far behind the host vehicle 20, a rear-lateral-side image as shown in fig. 8 can be acquired by the rear-lateral-side camera attached to the left side of the host vehicle 20. Even if the dynamic object extraction by the optical flow is directly performed on the rear side image of fig. 8, the nearby 1 st vehicle 21 (four-wheel vehicle) is illuminated in the rear side image with a sufficiently large size as in fig. 7, but the 2 nd vehicle 22 (two-wheel vehicle) and the 3 rd vehicle 23 (four-wheel vehicle) which are far from the host vehicle 20 are not reflected with a sufficiently large size, and are buried by the optical flow caused by an obstacle other than the 2 nd vehicle 22 (two-wheel vehicle) and the 3 rd vehicle 23 (four-wheel vehicle), and thus there is a problem that the detection is difficult. Therefore, in the vehicle rear-lateral side alarm device of the comparative example, the region where the moving body is to be detected is extracted from the rear-lateral side image, and the optical flow processing is performed on the extracted region.
For example, when a region X is set for the rear-lateral image in fig. 8 and an image of the region is extracted, an extracted image as shown in fig. 9 can be extracted. In the extracted image of fig. 9, for example, the size of the 2 nd vehicle 22 (two-wheeled vehicle) in the rear side with respect to the entire image is not inferior to the size of the 2 nd vehicle 22 (two-wheeled vehicle) in the rear side image of fig. 7, and a sufficient size is shown in the extracted image, and a plurality of feature points for optical flow can be detected, and a larger value of the vector of the detected optical flow can be expected. Thus, in the vehicle rear-lateral side alarm device of the comparative example, in order to easily detect a distant following vehicle, switching of the image of the detected vehicle is performed so as to use the rear-lateral side image itself or use the extracted image extracted from the extraction area.
However, the vehicle rear-lateral side warning device of the comparative example uses the detection result of the vehicle at the previous time to switch whether to detect the vehicle in the entire region of the rear-lateral side image obtained by the wide-angle camera or to detect the vehicle in the extracted image obtained by extracting a part of the rear-lateral side image. Therefore, in the situation shown in fig. 6, based on the result of detecting the 1 st vehicle 21 in the vicinity, the rear-side image in fig. 8 is directly used for the next detection, and the detection is performed using the dynamic object extraction by the optical flow without using the extracted image as shown in fig. 9, and as a result, it is difficult to detect the 2 nd vehicle 22 (two-wheel vehicle) in the far distance.
Further, the method of detecting the 1 st vehicle 21 (four-wheel vehicle), the 2 nd vehicle 22 (two-wheel vehicle), and the 3 rd vehicle 23 (four-wheel vehicle) has been described using the dynamic object detection using the optical flow together with the vehicle rear-side warning device of the comparative example, but the same problem occurs in spite of the detection probability even if another detection method, for example, the object detection using the deep learning is used. For example, even when object detection using deep learning is used, there is a similar problem in that: it is difficult to directly detect an object obtained by projecting a distant object in a small size in the rear-lateral-side image.
In embodiment 1, for example, in a method of extracting, as an extracted image, for example, a region X as a partial region from an image shown in fig. 8 as a posterior lateral side image, the position of the region X in fig. 8 is further specified based on the detected distance. The moving object detection unit 501 detects a moving object as a passing vehicle from the further extracted image. As a method of detecting a moving object passing through a vehicle, dynamic object detection using the optical flow described above may be used, or object detection using deep learning may be used. With either method, it is possible to make it easier to detect a vehicle at a distance by using embodiment 1.
According to the vehicle rear-lateral-side warning device 2 of the embodiment 1, attention is paid to the following cases: the faster the vehicle speed of the host vehicle 20 becomes, the lower the relative speed of the 2 nd vehicle 22 passing between the host vehicle 20 and the 1 st vehicle 21 running side by side on the host vehicle 20 becomes, and conversely, the slower the vehicle speed of the host vehicle 20 becomes, the higher the relative speed of the 2 nd vehicle 22 becomes, and the 2 nd vehicle 22 is detected in the area near the rear-side image without being affected by the 1 st vehicle 21 running side by side on the host vehicle 20 and the passing speed of the 2 nd vehicle 22 is slow, that is, the relative speed of the host vehicle 20 and the 2 nd vehicle 22 becomes low. In addition, when the passing speed of the 2 nd vehicle 22 is high, that is, the relative speed between the host vehicle 20 and the 2 nd vehicle 22 becomes high, the 2 nd vehicle 22 is detected in a region illuminated from the rear-side image to a far distance, so that the 2 nd vehicle 22 can be found at an accurate timing and the warning can be notified to the driver.
In addition, the vehicle rear-lateral side warning device 2 according to embodiment 1 is configured to, based on the distance (distance) between the host vehicle 20 and the 1 st vehicle 21 running side by side on the host vehicle 20, in the case where the interval is wide, since the 2 nd vehicle 22 is less likely to contact the own vehicle 20 and the 1 st vehicle 21 running side by side on the side of the own vehicle 20, it approaches from behind at a high speed and passes through directly, however, when the distance (distance) is narrow, the possibility of contact between the 2 nd vehicle 22 and the own vehicle 20 and the 1 st vehicle 21 is high, thus approaching and passing directly from the rear at a low speed or passing at a low speed after temporarily decelerating behind the host vehicle 20 even if approaching at a high speed, it is therefore possible to accurately extract the area illuminated far away or near from the rear-lateral side image and detect the 2 nd vehicle 22 according to the passing speed of the 2 nd vehicle 22, and it is possible to find the 2 nd vehicle 22 and notify the driver of the alarm at an accurate timing.
Thus, the vehicle rear-lateral-side warning device 2 according to embodiment 1 includes: a rear-side image capturing unit 301 that is attached to the vehicle 1 and captures the rear side of the vehicle 1; a vehicle speed detection unit 601, mounted on the vehicle 1, for detecting a traveling speed of the vehicle 1; a side space detection unit 701 that detects a distance between the vehicle 1 and a side obstacle of the vehicle 1 as side space information; a detected distance calculation unit 502 that calculates a detected distance to the rear with reference to the rear end position of the vehicle 1, based on the vehicle speed detected by the vehicle speed detection unit 601 and the side space information detected by the side space detection unit 701; a moving object detection unit 501, the moving object detection unit 501 extracting an image region for detecting a moving object that is about to pass through the space between the vehicle 1 and the side obstacle from the rear-side image captured by the rear-side image capturing unit 301, based on the detection distance calculated by the detection distance calculation unit 502, and detecting the moving object from the extracted image region; and an alarm output determination unit 503, the alarm output determination unit 503 determining whether or not to notify an alarm to the driver of the vehicle based on the moving object detection information detected by the moving object detection unit 501. Thus, the vehicle rear-lateral side warning device 2 can be provided, which is capable of finding a moving object at an accurate timing and accurately notifying a warning to the driver of the vehicle 1, without being affected by a lateral obstacle.
Fig. 10 is a plan view showing a modification of the vehicle rear-lateral-side alarm device according to embodiment 1. In embodiment 1, the configuration in which the side space detection section 701 is realized by the sonar sensor 4, the sonar controller 7, and the sonar signal lines 11 is described, but the configuration by the sonar sensor 4, the sonar controller 7, and the sonar signal lines 11 is not necessarily required. For example, the side space detection section 701 may be implemented by a head-around camera provided on the side of the vehicle 1 to photograph the lower part of the side of the vehicle 1, or the side space may be detected by the rear side camera 3 itself. As shown in fig. 10, the side space detection unit 701 may be implemented by detecting the space on the side of the vehicle 1 by using a method of detecting the position and size of an obstacle by combining the sonar sensor 4, the sonar controller 7, and the sonar signal line 11 with the panoramic camera 12, the panoramic camera controller 13, and the panoramic camera signal line 14.
In embodiment 1, the space (distance) lateral to the host vehicle 20 detected by the lateral space detecting unit 701 in step S1003 is not necessarily limited to the space (distance) measured between the host vehicle 20 and the 1 st vehicle 21 (four-wheel vehicle) traveling on the adjacent lane 25. The effect of embodiment 1 is not affected even when another vehicle (not shown) that stops in the adjacent lane 25 is used instead of the 1 st vehicle 21. In addition, even in the case where there is no lane for traveling on the side of the host vehicle 20 and the host vehicle is a side obstacle such as a road structure such as a side wall or a guardrail, the effect of embodiment 1 is not affected, and in this case, the space (distance) on the side of the host vehicle 20 detected by the side space detection unit 701 may be replaced with the distance between the host vehicle 20 and the road structure in step S1003. In the vehicle rear-lateral-side warning device 2 according to embodiment 1, the 2 nd vehicle 22 (two-wheeled vehicle) passing through between the host vehicle 20 and the road structure can be found at an accurate timing and a warning can be accurately notified to the driver.
Fig. 11 is a diagram showing an example of a method for obtaining a detection distance using a detection distance calculation unit of the vehicle rear-lateral side warning device according to embodiment 2. In the vehicle rear-lateral side warning device 2 according to embodiment 2, in step S1004, when the detected distance calculation unit 502 obtains a detected distance that serves as an indicator when the moving object detection unit 501 extracts a specific region from the rear-lateral side image, the output frequency of a plurality of detected distances is changed in accordance with the vehicle speed and the lateral space information in embodiment 2, as shown in fig. 11, with respect to the case where the unique detected distance corresponding to the vehicle speed and the lateral space information is output in embodiment 1, as shown in fig. 4, in the vehicle rear-lateral side warning device 2 according to embodiment 1.
Specifically, as described with reference to fig. 11, when the vehicle speed of the host vehicle 20 is less than 20km/h, the space (distance) on the side of the host vehicle 20 is small (narrow), and there is a distance (distance) of less than 1m from an adjacent vehicle or a side wall, the detection distance is output once for a long distance and then the detection distance is output twice for a short distance. As long as the vehicle speed of the host vehicle 20 and the space (distance) on the side of the host vehicle 20 do not change beyond the respective thresholds, the outputs are sequentially repeated at the ratio. On the other hand, when the vehicle speed of the host vehicle 20 is 20km/h or more, the space (distance) on the side of the host vehicle 20 is large (wide), and there is a gap of 1m or more from the adjacent vehicle or the side wall, the detection distance is output once for a long distance and then the detection distance is output once for a short distance. As described above, as long as the vehicle speed of the host vehicle 20 and the space (distance) on the side of the host vehicle 20 do not change beyond the respective threshold values, the outputs are sequentially repeated at the ratio.
Thus, embodiment 2 is different from embodiment 1 in that not only the unique detected distance is output based on the vehicle speed of the host vehicle 20 and the space (distance) on the side of the host vehicle 20, but also the output content and appearance ratio of the detected distance are changed. Thus, in embodiment 2, the detection distance is prevented from being fixed depending on the vehicle speed of the host vehicle 20 and the space (distance) on the side of the host vehicle 20, and the region extraction by the movement detection unit 501 from the rear-side image is fixed in step S1005, so that the 2 nd vehicle 22 as the moving body can be detected as a whole while weighting the region to be monitored with emphasis.
The detected distance calculation unit 502 repeatedly outputs the 1 st detected distance, which is a short distance (0m), or the 2 nd detected distance, which is a long distance (5m), to the moving body detection unit 501. When the vehicle speed of the vehicle 1 as the host vehicle 20 is equal to or higher than the vehicle speed threshold, the frequency of outputting the 1 st detected distance is made higher than the frequency of outputting the 2 nd detected distance. When the vehicle speed is lower than the vehicle speed threshold, the frequency of outputting the 2 nd detection distance is made higher than the frequency of outputting the 1 st detection distance.
When the side space information is smaller than the side space threshold, the frequency of outputting the 1 st detected distance is made higher than the frequency of outputting the 2 nd detected distance. When the side space information is equal to or greater than the side space threshold, the frequency of outputting the 2 nd detection distance is made higher than the frequency of outputting the 1 st detection distance.
As an example of hardware shown in fig. 12, the vehicle rear-lateral-side warning device 2 according to embodiment 1 or embodiment 2 is configured by a processor 30 and a storage device 31. Although not shown, the storage device 31 includes a volatile storage device such as a random access memory and a non-volatile auxiliary storage device such as a flash memory. In addition, an auxiliary storage device such as a hard disk may be provided instead of the flash memory. The processor 30 executes a program input from the storage device 31. In this case, the program is input from the auxiliary storage device to the processor 30 via the volatile storage device. The processor 30 may output data such as the operation result to a volatile storage device of the storage device 31, or may store the data in an auxiliary storage device via the volatile storage device.
In the vehicle rear-lateral-side warning device 2 according to embodiment 1 or embodiment 2, the moving object detection unit 501, the detected distance calculation unit 502, and the warning output determination unit 503, which are executed by the rear-lateral-side camera controller 5, may execute the processing individually by the processor 30 and the storage device 31, or may execute the processing in one location at a time.
In embodiment 1 and embodiment 2, the vehicle rear-lateral-side warning device 2 has been described as including the rear-lateral-side camera 3 and the sonar sensor 4, but may be configured differently from the vehicle rear-lateral-side warning device 2.
Although various exemplary embodiments and examples have been described in the present application, the various features, modes, and functions described in 1 or more embodiments are not limited to the application to specific embodiments, and may be applied to the embodiments alone or in various combinations.
Therefore, it is considered that numerous modifications not illustrated are also included in the technical scope disclosed in the present specification. For example, the case where at least 1 component is modified, added, or omitted, and the case where at least 1 component is extracted and combined with the components of the other embodiments are also included.
Description of the reference symbols
The vehicle-mounted warning system comprises a vehicle 1, a vehicle 2, a rear side warning device, a rear side camera 3, a sonar sensor 4, a rear side camera controller 5, a vehicle speed sensor 6, a sonar controller 7, a warning device 8, a rear side camera signal line 9, a communication line 10, a sonar signal line 11, a surround view camera 12, a surround view camera controller 13, a surround view camera signal line 14, a vehicle 20, a vehicle 21, a vehicle 1, a vehicle 22, a vehicle 3 23, a vehicle 24, a lane 25 adjacent to the vehicle, a processor 30, a storage device 31, a rear side image capturing unit 301, a moving body detecting unit 501, a distance detecting calculating unit 502, an alarm 503 output judging unit, a vehicle speed detecting unit 601, a side space detecting unit 701 and an alarm output unit 801.
Claims (6)
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2019-171080 | 2019-09-20 | ||
| JP2019171080A JP6887471B2 (en) | 2019-09-20 | 2019-09-20 | Rear side alarm device for vehicles |
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| Publication Number | Publication Date |
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| CN112542060A true CN112542060A (en) | 2021-03-23 |
| CN112542060B CN112542060B (en) | 2022-08-26 |
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| CN202010966616.XA Expired - Fee Related CN112542060B (en) | 2019-09-20 | 2020-09-15 | Rear side alarm device for vehicle |
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| JP (1) | JP6887471B2 (en) |
| CN (1) | CN112542060B (en) |
| DE (1) | DE102020207812A1 (en) |
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| WO2023095597A1 (en) * | 2021-11-23 | 2023-06-01 | 株式会社デンソー | Surroundings monitoring device and program |
| JP2024018324A (en) * | 2022-07-29 | 2024-02-08 | 本田技研工業株式会社 | vehicle warning device |
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Also Published As
| Publication number | Publication date |
|---|---|
| JP2021047758A (en) | 2021-03-25 |
| JP6887471B2 (en) | 2021-06-16 |
| DE102020207812A1 (en) | 2021-03-25 |
| CN112542060B (en) | 2022-08-26 |
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