JP6912931B2 - Side vehicle monitoring system - Google Patents

Description

The present invention relates to a technique for monitoring another vehicle traveling on the side of the vehicle.

As a technology for monitoring other vehicles traveling on the side of the vehicle, a camera that captures the side of the vehicle is provided, and the other vehicle traveling on the side of the vehicle is detected from the image taken by the camera. A technique of turning on a warning light arranged on a side mirror of an automobile when another vehicle is detected is known (for example, Patent Document 1).

Special Table 2006-591427

According to the above-mentioned technology of turning on the warning light arranged on the side mirror of the vehicle when detecting another vehicle traveling on the side of the own vehicle, the other vehicle and the own vehicle run side by side at the same speed. If so, the warning light placed on the side mirror will continue to light.

And, the continuation of lighting of such a warning light becomes troublesome for the driver who has already noticed another vehicle. Further, since the warning light arranged on the side mirror is also visible to the driver of the other vehicle, the continuous lighting of the warning light becomes troublesome for the driver of the other vehicle.

Therefore, in the side vehicle monitoring system that displays a warning when another vehicle traveling on the side of the own vehicle is detected, it is an object to suppress the continuation of the display of the warning for a long period of time.

In order to achieve the above-mentioned problems, the present invention provides an indicator and a predetermined side of the vehicle to a side vehicle monitoring system mounted on the vehicle to monitor another vehicle traveling on the side of the vehicle. With the range as the detection range, the side vehicle detecting means for detecting another vehicle located within the detection range as the side vehicle and the side vehicle detecting means during the period during which the side vehicle is detected. A side vehicle warning means for displaying a side vehicle warning that lights or blinks an indicator, and a message output means for outputting a message related to the detection of the side vehicle when the side vehicle warning display continues for a predetermined period of time. And are provided.

Further, in order to achieve the above-mentioned problems, the present invention provides a side vehicle monitoring system, which is mounted on an automobile and monitors another vehicle traveling on the side of the automobile, with an indicator and a side of the automobile. With a predetermined range as the detection range, other vehicles located within the detection range are detected as side vehicles, and the side vehicle detecting means for calculating the relative speed of the side vehicle with respect to the own vehicle and the side vehicle inspection When the side vehicle warning means that lights or blinks the indicator while the exit means is detecting the side vehicle and the side vehicle warning display continues for a predetermined period of time. When the relative speed between the side vehicle and the own vehicle is not larger than the predetermined speed, a message related to the detection of the side vehicle is output, and the relative speed between the side vehicle and the own vehicle is the predetermined speed. A message output means for not outputting the message when the speed is higher than the above speed is provided.

Here, in such a side vehicle monitoring system, the indicator may be arranged on the side mirror of the vehicle.
Further, in the above-mentioned side vehicle monitoring system, the message output by the message output means may be a message for inducing the driver to move the side vehicle away from the detection range.

Further, the message output by the message output means is a message for instructing how to drive the side vehicle to be separated from the detection range, a message indicating a condition for the side vehicle to be separated from the detection range, or a message indicating a condition for the side vehicle to be separated from the detection range. , At least one of the messages indicating the time expected for the side vehicle to leave the detection range.
According to the side vehicle monitoring system as described above, when another vehicle is detected on the side of the own vehicle, the side vehicle warning display is displayed by turning on or blinking the indicator, but the side vehicle warning display is displayed. If it continues for a long period of time, a message related to the detection of a side vehicle is output. Here, since such a message reminds the driver of driving so as not to detect another vehicle, it is possible to induce a driving in which the indicator is turned off.

Therefore, it becomes possible to suppress the continuation of the display for a long period of time when the indicator is lit or blinking.
Further, the present invention is a side vehicle monitoring system mounted on an automobile to monitor another vehicle traveling on the side of the automobile in order to achieve the above object, and is an indicator and a side of the automobile. The side vehicle detecting means for detecting another vehicle located within the detection range as a side vehicle and the side vehicle detecting means detect the side vehicle with a predetermined range on the side as a detection range. During the period, when the side vehicle warning means that lights or blinks the side vehicle warning display, the vehicle-to-vehicle communication device that performs wireless communication with another vehicle, and the side vehicle warning display continues for a predetermined period. , The detecting means for notifying the other vehicle detected as the side vehicle by using the vehicle-to-vehicle communication device that the vehicle is detected as a side vehicle, and the other vehicle via the vehicle-to-vehicle communication device. Therefore, when it is notified that the vehicle is detected as a side vehicle, a message output means for outputting a message related to the detection of the vehicle as a side vehicle in the other vehicle is provided.

According to the side vehicle monitoring system as described above, when another vehicle is detected on the side of the own vehicle, the side vehicle warning display is displayed by turning on or blinking the indicator, but the side vehicle warning display is long-term. If the vehicle continues to be detected, the other vehicle that has been detected will be notified of the fact of the detection. In addition, when the notification is received, a message related to the detection of the vehicle as a side vehicle of the vehicle in the other vehicle is output. Here, since such a message reminds the driver to drive away from the other vehicle detecting the own vehicle, it induces the driving to turn off the indicator of the other vehicle detecting the own vehicle. can do.

Therefore, it becomes possible to suppress the continuation of the display for a long period of time when the indicator is lit or blinking.

As described above, according to the present invention, in the side vehicle monitoring system that displays a warning when another vehicle traveling on the side of the own vehicle is detected, the warning is continuously displayed for a long period of time. It can be suppressed.

It is a block diagram which shows the structure of the side vehicle monitoring system which concerns on embodiment of this invention. It is a figure which shows the arrangement of the left sensor and the right sensor of the side vehicle monitoring system which concerns on embodiment of this invention, and the detection range of another vehicle. It is a figure which shows the arrangement of the left indicator and the right indicator of the side vehicle monitoring system which concerns on embodiment of this invention. It is a flowchart which shows the left-hand side vehicle warning processing which concerns on embodiment of this invention.

Hereinafter, embodiments of the present invention will be described.
FIG. 1 shows the configuration of the side vehicle monitoring system according to the present embodiment.
The side vehicle monitoring system is a system mounted on an automobile, and as shown in the figure, the left side sensor 1, the right side sensor 2, the left side vehicle recognition unit 3, the right side vehicle recognition unit 4, the winker sensor 5, and the side surface. It includes a vehicle warning processing unit 6, a voice output device 7, a left indicator 8, a right indicator 9, a vehicle-to-vehicle communication device 10, and the like.

Here, the left sensor 1 is a sensor such as a camera or a radar device that is arranged on the left side mirror as shown in FIG. 2 and observes the left side, which is the range from the left side to the left rear of the own vehicle. Based on the observed value of the left side sensor 1, the left side vehicle recognition unit 3 detects another vehicle existing in the left side detection range 21 of FIG. 2 as a left side vehicle, and the left side vehicle is relative to the own vehicle. Calculate the position and relative speed.

Further, the right side sensor 2 is a sensor such as a camera or a radar device that is arranged on the right side mirror as shown in FIG. 2 and observes the right side, which is the range from the right side to the right rear side of the own vehicle, and is on the right side. Based on the observed value of the right side sensor 2, the side vehicle recognition unit 4 detects another vehicle existing in the right side detection range 22 of FIG. 2 as a right side vehicle, and at the same time, the position of the right side vehicle relative to the own vehicle. And calculate the relative speed.

Next, the winker sensor 5 is a sensor that detects the on / off state of the left and right winkers of the automobile.
Next, the left indicator 8 is arranged behind the mirror of the left side mirror of the automobile. The mirror of the left side mirror is a mirror that reflects the light incident from the front side and transmits the light incident from the back side. Then, when the left indicator 8 is turned off, as shown in FIG. 3a1, the left indicator 8 is concealed by the mirror of the left side mirror. On the other hand, when the left indicator 8 is lit, as shown in FIG. 3a2, the light of the left indicator 8 is emitted through the mirror and recognized by the user.

Similarly, the right indicator 9 is arranged behind the mirror of the right side mirror of the automobile. The mirror of the right side mirror is a mirror that reflects the light incident from the front side and transmits the light incident from the back side. Then, when the right indicator 9 is turned off, the right indicator 9 is concealed by the mirror of the right side mirror as shown in FIG. 3b1. On the other hand, when the right indicator 9 is lit, as shown in FIG. 3b2, the light of the right indicator 9 is emitted through the mirror and recognized by the user.

Next, the vehicle-to-vehicle communication device 10 is a communication device that wirelessly communicates with the vehicle-to-vehicle communication device 10 of another vehicle. Further, the vehicle-to-vehicle communication device 10 has a function of calculating the current position of the own vehicle and exchanging the calculated current position with the vehicle-to-vehicle communication device 10 of another vehicle. It is possible to identify the vehicle-to-vehicle communication device 10 of another vehicle at a specific relative position and communicate with the identified vehicle-to-vehicle communication device 10.

By the way, in such a configuration of the side vehicle monitoring system, the side vehicle warning processing unit 6 is the left side vehicle detected by the left side vehicle recognition unit 3 and the right side vehicle detected by the right side vehicle recognition unit 4. The left side vehicle warning process and the right side vehicle warning process are performed in order to warn of the existence of.

First, the left-hand side vehicle warning process will be described.
FIG. 4 shows the procedure for this left-hand side vehicle warning process.
As shown in the figure, the side vehicle warning processing unit 6 monitors the occurrence of detection of the left side vehicle by the left side vehicle recognition unit 3 in the left side vehicle warning processing (step 402).
Then, when the detection of the left-hand side vehicle occurs (step 402), the left indicator 8 is turned on (step 404), and the timer set with a predetermined timeout time (for example, 3 seconds) is started (step 406). ..

Then, the left winker is turned on (step 408), the timer time-out occurs (step 410), and the left side vehicle recognition unit 3 does not detect the left side vehicle (step 412). Monitor.

Then, when a state occurs in which the left side vehicle recognition unit 3 does not detect the left side vehicle (step 412), the left indicator 8 is turned off (step 414), and the process returns to the process from step 402.

On the other hand, when the left blinker is turned on (step 408), a predetermined warning sound is output from the voice output device 7 (step 416), and the process returns to the monitoring of steps 408, 410, and 412.

On the other hand, when the timer time-out occurs (step 410), the relative speed of the left-hand vehicle with respect to the own vehicle calculated by the left-side vehicle recognition unit 3 is a predetermined threshold value Th (Th is, for example, 18 km /). h) Check if it is larger (step 418), and if it is larger, the left-hand side vehicle will soon leave the left-side detection range 21 and will not be detected, so the process returns to the monitoring of steps 408, 410, and 412.

On the other hand, if the relative speed of the left-hand vehicle with respect to the own vehicle is not greater than the predetermined threshold value Th (step 418), the voice output device 7 outputs a message regarding the detection of the left-hand vehicle (step 422).
Here, it is possible to make the driver remember that the left-hand side vehicle recognition unit 3 does not detect the left-sided vehicle by such a message regarding the detection of the left-sided vehicle, and to induce the driving. can.

More specifically, such a message is a message that guides how to drive the left side vehicle away from the left side vehicle detection range, or a message that indicates a condition for leaving the left side vehicle from the left side vehicle detection range. Alternatively, a message indicating the expected time for the left-hand vehicle to leave the left-side vehicle detection range can be used.

That is, as this message, for example, a voice message such as "acceleration or deceleration will make the car on the left side undetectable" or "the car on the left side will not be detected xx m behind". Such a voice message or a voice message such as "At this rate, the car on the left side will continue to be detected for tt seconds later" can be used.

In this case, xx meters can be calculated from the relative position of the left side vehicle calculated by the left side vehicle recognition unit 3 and the left side detection range 21 of the left side vehicle recognition unit 3. Further, the tt second can be calculated from the relative position and relative speed of the left side vehicle calculated by the left side vehicle recognition unit 3 and the left side detection range 21 of the left side vehicle recognition unit 3.
However, this message may be a message that directly guides driving so that the left side vehicle recognition unit 3 does not detect the left side vehicle.

Next, the relative position of the left-hand vehicle calculated by the left-side vehicle recognition unit 3 is shown as a detection position, and the relative coordinates of the left-side vehicle recognition range 21 of the left-side vehicle recognition unit 3 with respect to the own vehicle are detected. The detection status information, which is shown as a range and shows the relative speed calculated by the left-side vehicle recognition unit 3 as the detection relative speed, is transmitted to the vehicle-to-vehicle communication device 10 mounted on the left-side vehicle via the vehicle-to-vehicle communication device 10. (Step 422).

Then, the timer is restarted (step 424), and the process returns to the monitoring of steps 408, 410, and 412.
The left side vehicle warning processing performed by the side vehicle warning processing unit 6 has been described above.
Next, the right-side vehicle warning process performed by the side-vehicle warning processing unit 6 is a process in which "left" is replaced with "right" in the above description of the left-side vehicle warning process.
Next, if the side vehicle warning processing unit 6 receives the detection status information from another vehicle via the vehicle-to-vehicle communication device 10 in addition to the left side vehicle warning processing and the right side vehicle warning processing as described above. The voice output device 7 also outputs a message regarding the detection of the other vehicle as a side vehicle of the own vehicle.

Here, such a message can make the driver remember the driving to leave the own vehicle from the detection range indicated by the detection status information, and can induce the driving.
More specifically, this message indicates a message for instructing how to drive the vehicle to move out of the detection range indicated by the detection status information, or a condition for the vehicle to leave the detection range indicated by the detection status information. A message or a message indicating the estimated time until the vehicle leaves the detection range indicated by the detection status information is used.

That is, this message can be, for example, a voice message such as "Detected by a side car. It will be undetected by accelerating or decelerating" or "Detected by a side car. A voice message such as "If you move yy meters behind or overtake, it will not be detected" or "It is detected by the car on the side. At this rate, the car on the left side will continue to be detected for TT seconds afterwards." Make it a voice message. In this case, yy meters is from the coordinate range of the detection range indicated by the detection status information, zz meters is from the coordinate range of the detection range indicated by the detection status information and the detection position, and TT seconds is the detection indicated by the detection status information. It can be calculated from the coordinate range of the range, the detection position, and the detection relative velocity.

The embodiment of the present invention has been described above.
In the above embodiment, the left indicator 8 and the right indicator 9 are arranged on the left side mirror and the right side mirror, but the left indicator 8 and the right indicator 9 are arbitrary as long as they are visible to the driver. It may be arranged in a position. That is, the left indicator 8 and the right indicator 9 may be arranged inside the rearview mirror or the A pillar.

Further, in the above embodiment, instead of lighting the left indicator 8 and the right indicator 9, the left indicator 8 and the right indicator 9 may be blinked.

1 ... Left sensor, 2 ... Right sensor, 3 ... Left vehicle recognition unit, 4 ... Right vehicle recognition unit, 5 ... Winker sensor, 6 ... Side vehicle warning processing unit, 7 ... Voice output device, 8 ... Left indicator, 9 ... Right indicator, 10 ... Vehicle-to-vehicle communication device, 21 ... Left side detection range, 22 ... Right side detection range.

Claims (5)

It is a side vehicle monitoring system installed in a vehicle that monitors other vehicles traveling on the side of the vehicle.
Indicator and
A side vehicle detecting means for detecting another vehicle located within the detection range as a side vehicle, with a predetermined range on the side of the vehicle as the detection range.
While the side vehicle detecting means is detecting the side vehicle, the side vehicle warning means that lights or blinks the indicator and displays the side vehicle warning.
A side vehicle monitoring system comprising: a message output means for outputting a message related to detection of the side vehicle when the side vehicle warning display continues for a predetermined period. The side vehicle monitoring system according to claim 1 or 2.
The message output means suppresses the output of the message when the relative speed between the side vehicle and the own vehicle is higher than the predetermined speed even when the side vehicle warning display continues for a predetermined period. A side vehicle monitoring system characterized by The side vehicle monitoring system according to claim 1 or 2.
A side vehicle monitoring system characterized in that the indicator is arranged in a side mirror of the vehicle. The side vehicle monitoring system according to claim 1, 2 or 3.
A side vehicle monitoring system characterized in that the message output by the message output means is a message for inducing the driver to drive the vehicle so that the detection range does not include the side vehicle. The side vehicle monitoring system according to claim 1, 2 or 3.
The message output by the message output means is a message that guides how to drive the vehicle so that the detection range does not include the side vehicle , or the side vehicle leaves the detection range. A side vehicle monitoring system characterized in that it is at least one of a message indicating a condition or a message indicating the time expected for the side vehicle to leave the detection range.

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