JP2008257582A - Driving assistance device - Google Patents

Abstract

An object of the present invention is to provide a vehicle driving support apparatus that detects the presence of a pedestrian around a vehicle and informs the driver of the presence of the pedestrian.
In a collision avoidance device 1, a radio wave transmitted from a mobile phone 50 is received, and the presence of a terminal holder is detected based on the signal strength S of the received signal. Further, it is determined whether or not the driver should be notified of the presence of the terminal owner based on the vehicle speed V of the host vehicle acquired from each part of the vehicle and the presence or absence of the operation of the brake pedal. When the presence of the terminal owner is detected and it is determined that the presence of the terminal owner should be notified, the presence of the terminal owner is notified to the driver via the in-vehicle notification unit 16.
[Selection] Figure 3

Description

  The present invention relates to a vehicle driving support device that detects the presence of a pedestrian around a vehicle and notifies the driver of that fact.

  Conventionally, driving support devices that detect the presence of pedestrians, bicycles, and the like around a vehicle and notify the driver of that fact are known. For example, infrared rays are emitted in front of a vehicle and an infrared camera is used. Some are configured to detect the presence of a pedestrian based on the infrared intensity of the captured image. However, in such an apparatus, there is a problem that a pedestrian outside the imaging range of the infrared camera (for example, the side or the rear of the vehicle) cannot be detected and cannot be appropriately notified.

Therefore, the vehicle is provided with a receiving device capable of receiving radio waves transmitted from a mobile terminal such as a mobile phone or a dedicated transmitter, and the receiving device receives radio waves transmitted from a mobile terminal possessed by a pedestrian. There has been proposed one that is configured to reliably detect pedestrians present in the vicinity of a vehicle by monitoring reception results (see, for example, Patent Document 1).
JP 2005-148815 A

  However, in the proposed device, it is determined whether or not the electric field strength of the radio wave received by the receiving device is larger than a preset threshold value, and if the electric field strength is larger than the threshold value, the portable device It is determined that a pedestrian with a terminal is present in the vicinity of the vehicle, and the driver is notified accordingly. For this reason, for example, the driver has already noticed the presence of a pedestrian, has slowed down the vehicle, and there is a problem that the driver is notified when there is no need for notification.

  The present invention has been made in view of these problems, and in a vehicle driving support device that detects the presence of a pedestrian around the vehicle and notifies the driver of that fact, while making a reliable notification, a wasteful notification is made. The purpose is to reduce.

  The driving support device according to claim 1, which has been made to achieve such an object, is installed in a vehicle, detects the presence of a terminal owner who has a mobile communication terminal around the vehicle, and informs the driver of that fact. The receiving means receives the radio wave transmitted from the mobile communication terminal, and the presence detecting means detects the presence of the terminal holder based on the radio wave intensity of the received radio wave received by the receiving means. . Further, the vehicle speed acquisition unit acquires information on the vehicle speed of the host vehicle, and the brake state acquisition unit acquires brake operation information indicating whether or not the brake pedal is operated.

  Then, using the vehicle speed acquired by the vehicle speed acquisition means and the brake operation information acquired by the brake state acquisition means as parameters for determination, the notification necessity determination means indicates the presence of the terminal owner to the driver. When it is determined whether or not the presence of the terminal holder is detected by the presence detection unit and the notification necessity determination unit determines that the notification should be notified, the notification unit Announce the presence.

As described above, in the driving support device of the present invention, since the radio wave transmitted from the mobile communication terminal is received and the presence of the terminal owner is detected based on the received radio wave intensity, the terminal existing around the vehicle The owner (that is, a pedestrian or a person riding a bicycle) can be reliably detected.
Further, since it is determined whether or not the notification should be made based on the vehicle speed of the host vehicle and the presence or absence of the brake operation, for example, the driver is operating the brake and the vehicle speed is lower than a preset determination value. In such a case, it is possible not to notify the driver. Therefore, according to the driving support device of the present invention, it is possible to determine whether or not to notify in consideration of the state of the vehicle and the operation state of the driver, and it is possible to reduce unnecessary notification to the driver.

  Next, in the driving support device according to claim 1, as described in claim 2, the notifying means specifies the notifying method based on the parameter used for the determination by the notifying necessity determining means and notifies the notifying. It may be configured to do. In this way, for example, the notification method can be changed according to parameters such as the vehicle speed and the presence or absence of a brake operation. That is, for example, when the vehicle is stopped, a voice message is simply output with a content to call attention, or a message or an image of the surroundings of the vehicle is displayed on the monitor, while the vehicle When the vehicle is traveling at a high speed, it is possible to make a notification by using a voice message and a warning sound with a content for recognizing that the danger is high. As described above, according to the driving support device of the second aspect, since the notification method such as the notification content and the notification means is changed according to the state of the vehicle or the driver, the terminal owner is more appropriately notified to the driver. The presence or absence can be notified.

  On the other hand, in the driving support device according to claim 1 or 2, as described in claim 3, the intensity for detecting a change in radio field intensity based on the radio field intensity of the received radio wave received by the receiving means. A change detection unit may be provided, and the notification necessity determination unit may perform the determination using the change in the radio wave intensity detected by the intensity change detection unit as one of the determination parameters.

  In this way, since it is determined whether or not to notify based on the change in the radio wave strength in addition to the vehicle speed and the presence or absence of the brake operation, for example, when the value of the radio wave strength is reduced, that is, the vehicle and the terminal When the distance to the owner is widened, it is possible to prohibit notification because there is no possibility of collision between the vehicle and the terminal owner, and wasteful notification can be reduced.

  Further, in the driving support device according to any one of claims 1 to 3, as described in claim 4, information on a moving body around the vehicle detected based on an image around the vehicle is acquired. A mobile body information acquisition unit may be provided, and the notification necessity determination unit may perform determination using the mobile body information acquired by the mobile body information acquisition unit as one of the determination parameters.

  If it does in this way, in addition to the parameter mentioned above, since it judges whether it should notify based on moving body information detected based on a picture around a vehicle, for example, it walks by information on moving bodies, such as a pedestrian To notify only when the presence of a person is recognized, or conversely to notify only when the presence of a pedestrian is not recognized. Can do.

  Furthermore, in the driving support apparatus according to claim 4, as obtained in claim 5, the driving support device is acquired by the line-of-sight information acquisition means for acquiring the line-of-sight information indicating the driver's line-of-sight direction and the moving body information acquisition means. The line-of-sight determination that determines whether the driver's line-of-sight direction matches the direction in which the mobile body exists indicated in the mobile body information is based on the moving body information and the line-of-sight information acquired by the line-of-sight information acquisition means And a notification necessity determination unit may determine the determination result determined by the line-of-sight determination unit as one of the determination parameters.

  If it does in this way, in addition to the parameter mentioned above, it will be judged whether it should report based on whether a driver's eyes | visual_axis direction corresponds with the direction of moving bodies, such as a pedestrian recognized by the image. Therefore, for example, when the line-of-sight directions match, that is, when the driver has already noticed the pedestrian, the notification can be prevented from being performed, and the notification can be performed more appropriately.

  In the driving support device according to any one of claims 1 to 5, as described in claim 6, the vehicle speed acquired by the vehicle speed acquisition means is preset as a value indicating stop of the vehicle. If it is smaller than the determination value, the notification necessity determination means may determine whether or not the presence of the terminal owner should be notified based only on the vehicle speed.

  In this way, when the vehicle speed of the vehicle is smaller than the determination value set as a value indicating the stop of the vehicle, that is, when the vehicle is stopped and it is not necessary to determine whether or not the brake operation is performed, Since determination is not performed, processing can be reduced. Therefore, when the vehicle is stopped, appropriate notification corresponding to the time when the vehicle is stopped can be executed more quickly.

  Next, the driving support apparatus according to any one of claims 1 to 6 is provided with a communication unit for performing communication with surrounding vehicles as described in claim 7 to determine whether notification is necessary. The means may make the determination as information about the terminal owner acquired from the surrounding vehicle via the communication means as one of the determination parameters.

  In this way, in addition to the state of the host vehicle, should the notification be made based on information about the terminal owner acquired from surrounding vehicles (for example, the presence of the terminal owner, the position of the terminal owner, the moving direction, etc.) Since it is determined whether or not, notification can be performed more appropriately.

  Further, the driving support device according to claim 7 is a situation in which the presence detection means detects the presence of the terminal holder and the notification necessity determination means should be notified as described in claim 8. If it is determined, the notification means may notify the surrounding vehicle of the information of the terminal owner detected by the presence detection means to the surrounding vehicle via the communication means. On the other hand, the information of the terminal owner detected by the own vehicle can be provided.

  Furthermore, the driving support device according to claim 8 is provided with position acquisition means for acquiring information indicating the current position of the host vehicle, as described in claim 9, and the notification means is used as terminal owner information. Information indicating the current position of the host vehicle acquired by the position acquisition unit together with the presence of the terminal owner may be notified to surrounding vehicles via the communication unit. In this way, since the presence of the terminal owner and the current position of the transmission source vehicle are notified to surrounding vehicles, in the driving support device that acquired the information of the terminal owner, the terminal owner's Since the presence and the current position of the transmission source vehicle can be acquired, the determination can be performed based on information such as the position and direction of the terminal owner identified from the current position of the transmission source vehicle.

  In addition, the driving support device according to any one of claims 1 to 9 is configured so that the notification means notifies the terminal owner in addition to the driver, as described in claim 10. If it does in this way, the existence of vehicles can be made to recognize to the terminal holder who exists in the circumference of vehicles.

  On the other hand, in the driving support apparatus according to any one of claims 1 to 10, the presence detection means detects the presence of the terminal owner and the notification necessity determination means as described in claim 11. If it is determined that the situation is to be notified, the brake control unit may control the brake of the vehicle so as to reduce the speed of the vehicle.

  In this way, not only the driver is notified, but also the speed of the vehicle is decelerated, so that the driver can recognize the presence of the terminal owner even by decelerating. In addition, when the terminal owner should be notified of the presence of the terminal owner, that is, when the terminal owner is in the vicinity of the vehicle and the vehicle may collide with the terminal owner, the vehicle is automatically decelerated. It is also possible to avoid a collision with the terminal owner.

Embodiments according to the present invention will be described below with reference to the drawings.
FIG. 1 is a block diagram showing a configuration of a collision avoidance device 1 to which the driving support device of the present invention is applied.

  The collision avoidance device 1 of the present embodiment detects the presence of pedestrians and bicycles around the vehicle, informs the driver and pedestrian of that fact, and stops the vehicle as necessary. As shown in FIG. 1, the periphery recognition unit 2, the line-of-sight recognition unit 4, the vehicle speed sensor 6, the brake switch 8, the navigation device 10, the external communication device 12, the inter-vehicle communication device 14, the in-vehicle notification unit 16, the horn 18, and the brake ECU 20 , A receiver 30 and a control device 40.

  The periphery recognition unit 2 is connected to a vehicle exterior camera 22 installed at the front, rear, side, etc. of the vehicle so that the periphery of the vehicle can be imaged, and performs image processing on the captured image captured by the vehicle exterior camera 22. Thus, a moving body (for example, a pedestrian or a bicycle) existing around the vehicle is recognized.

  The line-of-sight recognition unit 4 detects the driver's line of sight (position of the gazing point) by performing image processing on the captured image captured by the in-vehicle camera 24 installed inside the vehicle so that the driver's face can be captured. To do. In addition, since the process which recognizes a moving body by image-processing a captured image or detects a driver | operator's eyes | visual_axis is a known technique, detailed description is abbreviate | omitted.

The vehicle speed sensor 6 detects the speed of the host vehicle based on the detected signal. The brake switch 8 detects whether or not the brake pedal is depressed.
The navigation device 10 is a well-known device that provides route guidance to a destination with images and sounds. Based on the detection results of the GPS receiver 26, the vehicle speed sensor 6, a gyroscope (not shown), etc., the current position of the host vehicle is detected, and the map information is read from the storage medium according to the detected current position. A map image in which the current location of the host vehicle is superimposed is generated and displayed on a monitor (not shown), or voice guidance is output from a speaker (not shown). In addition, since the navigation apparatus 10 is a well-known technique, it abbreviate | omits for details.

  The external communication device 12 is for performing wireless communication with a device outside the vehicle. For example, the external communication device 12 communicates with a predetermined external device connected to a telephone exchange and is detected by the navigation device 10. The current position of the host vehicle is transmitted to an external device together with a notification command. When the external device receives the current position of the vehicle and the notification command from the external communication device 12, the external device is based on the received current position of the vehicle and the position information of the mobile phone stored in the exchange. The mobile phone 50 in the vicinity of the vehicle on which the external communication device 12 (that is, the collision avoidance device 1) is mounted is specified, and the mobile phone 50 is called.

  The vehicle-to-vehicle communication device 14 is for performing vehicle-to-vehicle communication, and performs wireless communication with a vehicle-to-vehicle communication device mounted on another vehicle existing around the vehicle. As a communication method, for example, it is conceivable to adopt a wireless communication method mainly in a narrow area such as DSRC, BlueTooth (registered trademark), wireless LAN, UWB, millimeter wave communication. As for this communication area, it is sufficient that there is a response from the vehicle within a range that can be visually confirmed by the driver. For example, a communication area having a radius of about 50 m can be considered. Of course, it may be a narrower communication area or a wider communication area than the above, depending on the road condition and type.

The in-vehicle notification unit 16 includes a display device such as a monitor and a speaker. Upon receiving a command from the control device 40, the in-vehicle notification unit 16 displays a warning, a confirmation display, etc. on the display device, and outputs a warning sound or sound from the speaker. Output. In addition, in this embodiment, it is shared with the monitor and speaker of the navigation apparatus 10. The horn 18 receives a command from the control device 40 and sounds a horn toward the periphery of the vehicle.

  The brake ECU 20 controls the brake according to the detection results of the steering sensor that detects the steering angle and the yaw rate sensor that detects the angular velocity. In addition, when receiving an instruction from the control device 40, the brake ECU 20 operates the brake in accordance with the instruction.

  The receiver 30 includes an antenna capable of receiving radio waves transmitted from the mobile communication terminal (mobile phone in the present embodiment) 50, and detects the signal strength S of the received signal received by the antenna. Note that the cellular phone 50 periodically communicates with the base station in order to register location information and the like, and radio waves are transmitted even during a call. The person who owns the mobile phone 50 around the vehicle (hereinafter referred to as the signal intensity S) is monitored by monitoring the signal intensity S of the received signal received at the vehicle and determining whether or not the signal intensity S exceeds a preset determination value. , Also referred to as a terminal holder).

  The control device 40 is mainly configured by a known microcomputer including a CPU, a ROM, a RAM, an I / O, a bus line connecting these, and the like. And the terminal owner who exists in the circumference of vehicles using the above-mentioned each part is detected, and the vehicle or the terminal owner is given to the driver and the terminal owner according to the situation of the vehicle, the driver and the terminal owner. A driving assistance process for notifying that the vehicle is approaching and stopping the vehicle according to the situation is executed.

Hereinafter, the driving support process executed by the control device 40 will be described with reference to FIG. FIG. 2 is a flowchart showing the driving support process.
The driving support process is a process that is started when the ignition switch is turned on. When the process is started, the vehicle speed (vehicle speed V) detected by the vehicle speed sensor 6 is acquired in S110, and then continued. In S120, brake information indicating whether or not the brake pedal is depressed detected by the brake switch 8 is acquired.

  Next, in S130, the signal strength S of the received signal is acquired from the receiver 30, and in subsequent S140, the time change ΔS (= dS / dt) of the signal strength S is calculated based on the acquired signal strength S of the received signal. calculate. In S150, information about the position and direction of the moving body recognized by the periphery recognition unit 2 is acquired from the periphery recognition unit 2, and in S160, the current position of the host vehicle detected by the navigation device 10 is obtained. Get the information shown.

  Next, in S170, the driver's line-of-sight direction detected by the line-of-sight recognition unit 4 is acquired from the line-of-sight recognition unit 4, and in S180, a signal for confirming the presence of vehicles around the host vehicle. Is transmitted to the surroundings via the inter-vehicle communication device 14, and based on the response transmitted from the surrounding vehicles, the presence or absence of the surrounding vehicles and whether the collision avoidance device 1 of this embodiment is mounted on the surrounding vehicles. In S190, based on the information acquired via the inter-vehicle communication device 14, there is a vehicle (hereinafter also referred to as another vehicle) capable of transmitting and receiving information regarding the terminal owner around the host vehicle. Judge whether or not.

  If it is determined that there is another vehicle (S190: YES), information regarding the terminal owner is acquired from the other vehicle in S200, and the process proceeds to S210. On the other hand, if it is determined that there is no other vehicle (S190: NO), the process proceeds to S210 without performing information acquisition processing. Next, in S210, the notification control process described below is executed, and when the notification control process ends, the process proceeds to S110 again to perform the process of acquiring the various types of information described above.

Next, the notification control process executed in S210 of the driving support process will be described with reference to FIG. FIG. 3 is a flowchart showing the notification control process.
When the process is started, first, in S310, it is determined whether or not the vehicle speed V is equal to or higher than a first vehicle speed determination value K1 (for example, 4 Km / h) set in advance, and the vehicle speed V is equal to or higher than the first vehicle speed determination value K1. (S310: YES), the process proceeds to S320, where it is determined whether or not the brake pedal is operated based on the brake information acquired in the process of S120.

  If it is determined that the brake pedal is operated (S320: YES), the process proceeds to S430, where the vehicle speed V is equal to or less than a preset second vehicle speed determination value K2 (for example, 20 Km / h). Determine whether or not. If it is determined that the vehicle speed is equal to or lower than the second vehicle speed determination value K2 (S430: YES), the brake pedal is operated and the vehicle is slowing down. Even if the driver exists, it is determined that the driver has already noticed the presence of the terminal owner, and the process is terminated without notification. If it is determined that the vehicle speed is greater than the second vehicle speed determination value K2 (S430: NO), the vehicle speed exceeds the second vehicle speed determination value K2 even though the brake pedal is operated, and the vehicle is traveling normally. The process proceeds to S330, and the next process is performed.

  On the other hand, if it is determined in S320 that the brake pedal is not operated (S320: NO), the process proceeds to S330, and the signal strength S is within a predetermined range around the vehicle by the terminal owner. It is determined whether or not it is equal to or greater than a first intensity determination value S1 set in advance as a threshold for determining whether or not. When the signal strength S is smaller than the preset first strength determination value S1 (S330: NO), it is determined that the terminal holder does not exist within the predetermined range, and the process is terminated.

  In S330, when it is determined that the signal strength S is equal to or higher than the first strength determination value S1 set in advance (S330: YES), the signal strength is the first strength determination value S1, and thus the predetermined range. It is determined that there is a terminal holder, and the process proceeds to S340. In S340, the time change ΔS of the signal intensity (hereinafter also referred to as intensity change ΔS) is a state where the vehicle and the terminal owner are approaching. It is determined whether or not the threshold value is greater than or equal to a second intensity determination value S2 set in advance.

  When it is determined that the intensity change ΔS is smaller than the second intensity determination value S2 (S340: NO), it is determined that the vehicle is away from the terminal owner and is not dangerous, and notification is made. The process ends without any processing. On the other hand, if it is determined in S340 that the intensity change ΔS is equal to or greater than the second intensity determination value S2 (S340: YES), it is determined that the vehicle and the terminal owner are approaching, and the process proceeds to S350. Then, it is determined whether or not the direction of the moving body acquired in the process of S150 matches the driver's line-of-sight direction acquired in the process of S170.

  Then, when it is determined that the direction of the moving body and the driver's line-of-sight direction coincide with each other (S350: YES), that is, the terminal owner is within the predetermined range of the vehicle, and the vehicle is the terminal owner. When the driver is approaching, if the driver is looking in the direction of the terminal owner, it is determined that the driver is aware of the terminal owner (that is, the moving body), and the process proceeds to S360. Then, a voice message (for example, “pedestrian is approaching”) for alerting the driver anew is output via the in-car notification unit 16, and in the subsequent S370, via the horn 18. To notify the terminal owner.

In S380, it is determined that there is another vehicle in S190, and when the other vehicle is behind the host vehicle, the other vehicle behind (hereinafter also referred to as the following vehicle) As information about the terminal owner, the current position and traveling direction of the host vehicle, as well as the position, direction, and traveling direction of the terminal owner acquired by the host vehicle are transmitted to the following vehicle via the inter-vehicle communication device 14, End the process. Note that the determination of whether or not the other vehicle is behind may be made based on information transmitted from the other vehicle, or may be made based on an image captured by the outside camera 22.

  On the other hand, if it is determined in S350 that the direction of the moving body and the direction of the driver's line of sight do not match (S350: NO), that is, the terminal holder is within a predetermined range of the vehicle, and the vehicle When the driver is approaching the terminal owner, if the driver does not see the direction of the terminal owner, it is determined that the driver is not aware of the terminal owner, and the process proceeds to S440. A brake control process to be described later is executed, and when the brake control process ends, the process ends.

  In S310, when it is determined that the vehicle speed V is smaller than the first vehicle speed determination value K1, that is, the vehicle is stopped (S310: NO), the process proceeds to S390, where the signal intensity S is When the vehicle is stopped, it is determined whether or not the terminal is in a predetermined range around the vehicle and whether or not it is equal to or greater than a first 'strength determination value S1' set in advance as a threshold for determining whether or not the terminal holder is present. .

  Here, in the present embodiment, when the terminal holder is within a predetermined range around the vehicle when the vehicle is stopped, it is desired to immediately notify the driver and the terminal owner. From the viewpoint, when the vehicle is stopped, it is determined whether or not notification is performed using only the signal strength S. For this reason, for example, the first 'intensity determination value S1' may be set to a value smaller than the first intensity determination value S1 so that the notification can be made more reliably.

  In S390, when it is determined that the signal strength S is equal to or greater than the first 'strength determination value S1' (S390: YES), the process proceeds to S400 and a voice message for calling attention (for example, , “There are pedestrians in the vicinity”, etc.) or by displaying an image of the surroundings of the vehicle on the monitor, the driver is notified. The terminal possession is made by sounding a horn or transmitting the current position of the host vehicle acquired from the navigation device 10 and the notification command to the external device via the external communication device 12 and ringing the mobile phone 50 of the pedestrian. To the person.

  Next, in S420, similarly to the process of S380, when it is determined in S190 that there is another vehicle, information regarding the terminal owner is transmitted to the following vehicle located behind the host vehicle among the other vehicles. To end the process. On the other hand, if it is determined in S390 that the signal strength S is smaller than the first 'strength determination value S1' (S390: NO), it is determined that the terminal holder does not exist within the predetermined range and the process is performed. finish.

Next, the brake control process executed in the process of S440 of the notification control process will be described with reference to FIG. FIG. 4 is a flowchart showing a brake control process.
In the brake control processing of the present embodiment, the driver is not looking in the direction of the terminal owner when the terminal owner is within a predetermined range of the vehicle and the vehicle and the terminal owner are approaching. This process is started when it is determined. When the process is started, first, in S500, a voice message (for example, “a pedestrian is approaching”) along with a warning sound via the in-vehicle notification unit 16 is provided. In step S510, the horn is sounded at the horn 18 to notify the terminal owner. Further, in S520, as in the process of S380, when it is determined that there is another vehicle in S190, information regarding the terminal owner is transmitted to the following vehicle located behind the own vehicle among the other vehicles. Send.

Next, in S530, it is determined whether or not the signal strength S is equal to or greater than the third strength determination value S3 set to a value larger than the first strength determination value S1 described above. When it is determined that the strength determination value is greater than or equal to S3 (S530: YES), that is, the terminal holder is in a range narrower than the predetermined range, and the terminal holder and the vehicle are very close to each other. If it is determined, the process proceeds to S540, where the intensity change ΔS is more than the second intensity determination value S2 as a determination value for determining that the terminal owner and the vehicle are approaching at a predetermined speed or higher. It is determined whether or not it is equal to or greater than the fourth intensity determination value S4 set to a large value.

  When it is determined that the intensity change ΔS is equal to or greater than the fourth intensity determination value S4 (S540: YES), that is, the terminal holder and the vehicle are very close to each other and are faster than a predetermined speed. When approaching, it transfers to S550, the command for controlling brake to brake ECU20 is transmitted, and a brake is operated. The brake here may be an alarm brake that allows the driver to recognize that the brake has been activated.

  In subsequent S560, the terminal owner is informed by ringing a horn at the horn 18, and in S570, the mobile object (that is, the vehicle in front of the vehicle based on the information related to the mobile object acquired in S150) Whether there are pedestrians or bicycles). Here, when there is no moving body in front, that is, the terminal holder and the vehicle are very close to each other, and the moving body is displayed in the image in front of the vehicle even though they are approaching at a very high speed. For example, when there is a terminal owner on a road that intersects with the road on which the host vehicle is traveling or at an intersection in front of the host vehicle, There is a possibility that the person is hiding, and there is a high possibility that the vehicle and the pedestrian will collide, and a very dangerous situation is assumed.

  For this reason, when it is determined in S570 that there is no moving body ahead (S570: NO), the process proceeds to S580, where the signal strength S of the received signal received by the receiver 30 is acquired, and the subsequent S590 Then, the intensity change ΔS is calculated based on the acquired signal intensity S of the received signal. In S600, the calculated intensity change ΔS indicates that the speed at which the vehicle and the pedestrian approach is sufficiently small (for example, the vehicle or It is determined whether or not it is equal to or less than a fifth intensity determination value S5 set in advance as a threshold value for determining that the pedestrian has stopped.

  In other words, in S600, a dangerous situation occurs when the driver notices the presence of the terminal owner by a warning sound or alarm brake, and stops the vehicle, or the terminal owner notices the presence of the vehicle by horn and stops. It is determined from the value of the intensity change ΔS whether or not.

  In S600, when it is determined that the intensity change ΔS is larger than the fifth intensity determination value S5 (S600: NO), that is, when it is determined that the vehicle and the pedestrian are continuously approaching at a predetermined speed or more. In step S610, a command for controlling the brake is transmitted to the brake ECU 20, the brake is operated, and the vehicle is stopped for a preset stop time (for example, 3 seconds).

  Next, in S620, the brake ECU 20 issues a command to limit the vehicle speed for a predetermined time so that the vehicle speed does not exceed a preset speed limit K3 (for example, 10 Km / h) in order to prevent the vehicle speed from rapidly increasing. Or to an engine ECU or the like (not shown). In S630, the horn is sounded at the horn 18 to alert the terminal owner to the vehicle again, and the process ends.

  On the other hand, when it is determined in S530 that the signal intensity S is smaller than the third intensity determination value S3 (S530: NO), and in S540, it is determined that the intensity change ΔS is smaller than the fourth intensity determination value S4. (S540: NO), if it is determined in S570 that a moving object is present in the front image (S570: YES), and if it is determined in S600 that the intensity change ΔS is equal to or less than the fifth intensity determination value S5. (S600: YES), it is determined that the dangerous situation has been avoided, and the process is terminated without stopping the vehicle.

  As described above, in the collision avoidance apparatus 1 of the present embodiment, the radio wave transmitted from the mobile phone 50 is received, the presence of the terminal owner is detected based on the signal strength S of the received signal, It is determined whether or not the driver should be informed of the presence of the terminal owner based on the vehicle speed V acquired from each part of the vehicle and the presence or absence of the operation of the brake pedal. When the presence of the terminal owner is detected and it is determined that the presence of the terminal owner should be notified, the presence of the terminal owner is notified to the driver via the in-vehicle notification unit 16.

  Therefore, according to the collision avoidance device 1 of the present embodiment, it is possible to reliably detect the terminal owner existing in the vicinity of the vehicle, and determine whether or not to report the vehicle state and the operation state of the driver. Therefore, it can be determined more appropriately whether or not the driver should be notified of the presence of the terminal owner. Therefore, useless notification to the driver can be reduced, and the driver can be prevented from being confused by unnecessary notification.

  Further, in the collision avoidance device 1 of the present embodiment, the signal intensity change (that is, the intensity change ΔS), the moving body information based on the image ahead of the vehicle, the driver's line of sight and the position of the moving body are further included. Whether or not notification is to be performed is determined based on information such as whether or not they match.

  Therefore, according to the collision avoidance device 1 of the present embodiment, it can be determined whether or not the vehicle and the terminal holder are approaching based on the intensity change ΔS. It is possible to determine whether or not the vehicle is recognized by the driver, and it is possible to determine whether or not the driver is aware of the terminal owner by using the driver's line of sight. And since each said determination is combined and used, it can determine more appropriately whether the driver | operator should be alert | reported about the presence of the terminal holder which exists in the periphery of a vehicle.

  On the other hand, in the collision avoidance apparatus 1 of the present embodiment, based on the information acquired from each part of the vehicle as described above, a means used for notification (for example, voice message, warning sound, and monitor to the driver) For the display and terminal owner, a notification method such as the horn 18 and the mobile phone 50) and contents is specified, and not only the driver but also the terminal owner is notified, so the vehicle, driver, terminal More appropriate notification according to the situation of the owner can be made, and the driver and the terminal owner can recognize the situation more reliably.

  Further, when the vehicle speed V is smaller than the first vehicle speed determination value K1, it is determined whether or not the presence of the terminal owner should be notified based only on the vehicle speed V, so the vehicle is stopped and the brake is When it is not necessary to determine the presence or absence of an operation, the determination based on other information is not performed, so that notification can be executed more quickly.

  On the other hand, if the intensity change ΔS is greater than or equal to the fourth intensity determination value S4, that is, if the terminal holder and the vehicle are very close and approaching at a very high speed, a notification to the driver is given. In addition, the brake ECU 20 transmits a command for controlling the brake and operates the brake, so that the driver can recognize the presence of the terminal owner even by decelerating the own vehicle. In particular, the moving object is not recognized in the front image (that is, the driver cannot confirm the terminal owner), and the intensity change ΔS is reported although the driver and the terminal owner are notified. However, if it is determined that the vehicle is larger than the fifth strength determination value S5, that is, if it is determined that the vehicle and the pedestrian are still approaching, the brake is operated via the brake ECU 20 to force the vehicle. Since the vehicle is stopped, a collision between the vehicle and the terminal owner can be avoided.

In this embodiment, the signal intensity S corresponds to the radio field intensity of the present invention, the intensity change ΔS corresponds to the radio field intensity change of the present invention, the receiver 30 corresponds to the receiving means of the present invention, and the inter-vehicle communication. The device 14 corresponds to the communication means of the present invention. Further, the processing of the external communication device 12, the in-vehicle notification unit 16, the horn 18, S360, S370, S400, S410, S500, S510, S560, and S630 corresponds to the notification means of the present invention, and the processing of S130, S330, and S390 is performed. The process of S110 corresponds to the vehicle speed acquisition means of the present invention, the process of S120 corresponds to the brake state acquisition means of the present invention, and the processes of S140 and S590 correspond to the intensity change of the present invention. The process of S150 corresponds to the moving body information acquisition unit of the present invention, the process of S170 corresponds to the line-of-sight information acquisition unit of the present invention, and the process of S350 corresponds to the line-of-sight determination unit of the present invention. , S160 corresponds to the position acquisition means of the present invention, S380, S420, S520 corresponds to the notification means of the present invention, S200, S3 The processes of 0, S320, S340, S350, S430, S530, S540, S570, and S600 correspond to the notification necessity determination means of the present invention, and the processes of the brake ECU 20, S550, and S610 correspond to the brake control means of the present invention. .

  By the way, in the said embodiment, although it comprised so that the information regarding a terminal owner might be transmitted with respect to another vehicle, the information regarding the terminal owner transmitted from the other vehicle is used for determination of whether to alert | report. You may do it. Hereinafter, a collision avoidance device 1 according to a modified example in which information regarding a terminal owner transmitted from another vehicle is used for determination will be described with reference to FIG. FIG. 5 is a flowchart illustrating a notification control process executed by the collision avoidance device 1 according to the modification. However, since the notification control process of the modification is substantially the same as the above-described notification control process, the same parts are denoted by the same step numbers and the description thereof is omitted, and only different parts will be described.

  If it is determined in S320 that the brake pedal is not operated (S320: NO), or if it is determined in S430 that the vehicle speed is greater than the second vehicle speed determination value K2 (S420: NO), the process proceeds to S710. Then, it is determined whether or not the information about the terminal owner (for example, the current position of the other vehicle and the position and direction of the terminal owner acquired by the other vehicle) is obtained from the other vehicle. If it is determined that the information has been acquired (S710: YES), the process proceeds to S720, and is indicated by the information acquired from the other vehicle, the signal intensity S acquired by the processing of S130 to S150, and the intensity change ΔS. Based on the presence / absence of the terminal holder and the approach situation, and information on the position and direction of the terminal holder, it is determined whether or not the information on the terminal holder matches the information received from the other vehicle. If it is determined that they do not match (S720: NO), the process proceeds to S730, and there is a terminal owner in the vicinity of the vehicle via the in-vehicle notification unit 16 by a warning sound or a voice message or the like. The driver is notified and the process is terminated.

  On the other hand, if it is determined in S710 that the information from the other vehicle is not acquired (S710: NO), it is determined in S720 that the information of the terminal owner matches the information received from the other vehicle. In the case (S720: YES), it transfers to S330 and performs the process from S330.

  That is, in the notification control process of the modified example, although information related to the terminal owner that has already been notified by the other vehicle has been received, the information does not match the information acquired by the own vehicle. If the terminal owner is not recognized in the vehicle even though the notification is being made, the notification is made immediately. If the terminal owner is also recognized in the vehicle, the vehicle should be notified. The notification is made after determining whether or not the alarm occurs.

As described above, in the collision avoidance device 1 of the modified example, a peripheral vehicle (that is, another vehicle) having the collision avoidance device 1 using the external communication device 12 for communicating with the surrounding vehicles. Information on the terminal owner is acquired from the terminal, and the acquired information on the terminal owner is used to determine whether or not to notify. Therefore, according to the collision avoidance device 1 of the modified example, in addition to the state of the host vehicle, information about the terminal owner acquired from other vehicles (for example, the presence or absence of the terminal owner, the position of the terminal owner, the moving direction, etc. ), It is determined whether or not to notify, so that the presence of the terminal owner can be more appropriately notified to the driver.

  In addition, after notifying the driver and the terminal owner, the external communication device 12 is used as the information about the terminal owner with the acquired position and direction of the terminal owner as well as the current position of the host vehicle acquired from the navigation device 10. Therefore, information regarding the terminal owner detected by the own vehicle can be provided to the other vehicle.

In this modification, the processes of S710 and S720 correspond to the notification necessity determination unit of the present invention, and the process of S730 corresponds to the notification unit of the present invention.
As mentioned above, although one Embodiment of this invention was described, it cannot be overemphasized that this invention can take a various form.

  In the above embodiment, the configuration is such that the determination is started after all the information for determining whether or not to notify is acquired at the beginning of the driving support process. You may comprise so that determination may be performed while acquiring.

  Moreover, in the said embodiment, it is set as the object which should alert | report the terminal holder who exists in the circumference | surroundings of a vehicle, For example, notification may be performed also when the terminal owner has boarded the vehicle. In such a case, for example, when the moving body is in the vehicle by recognizing whether or not the moving body is in the vehicle using a peripheral image captured by the outside camera 22 You may make it not alert | report. In addition, for example, by providing an upper limit determination value of the intensity change ΔS that changes corresponding to the speed V of the host vehicle, and not causing the notification when the intensity change ΔS exceeds the upper limit determination value, You may make it remove from the object which should alert | report the terminal holder who boarded the vehicle in driving | running | working.

  Further, in the above embodiment, whether or not there is another vehicle is determined by communicating with the other vehicle using the inter-vehicle communication device 14, but based on the surrounding image captured by the outside camera 22, the other vehicle It may be determined whether or not there is a vehicle. Further, the notification to the pedestrian is not necessarily performed as in the above embodiment, and the notification by the horn 18 and the notification by the mobile phone 50 may be appropriately selected according to the situation.

  Furthermore, although the mobile communication terminal is a mobile phone in the above embodiment, it may be a PDA, other mobile terminal, or a dedicated transmitter. On the other hand, in the above embodiment, the driving assistance device of the present invention is the collision avoidance device 1, but the driving assistance device of the present invention is configured as a part of an ECU that performs other controls such as an engine ECU, a brake ECU, and the like. May be. In the above embodiment, the receiver 30 is the receiver 30, but the driver possesses a mobile phone that can be communicated with the in-vehicle LAN by a predetermined communication means (for example, BlueTooth (registered trademark)). That is, you may use as a part of driving assistance device.

It is a block diagram which shows schematic structure of the collision avoidance apparatus 1 of this embodiment. It is a flowchart which shows the driving assistance process of this embodiment. It is a flowchart which shows the alerting | reporting control process of this embodiment. It is a flowchart which shows the brake control process of this embodiment. It is a flowchart which shows the alerting | reporting control process of a modification.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 ... Collision avoidance apparatus, 2 ... Periphery recognition part, 4 ... Gaze recognition part, 6 ... Vehicle speed sensor, 8 ... Brake switch, 10 ... Navigation apparatus, 12 ... External communication apparatus, 14 ... Inter-vehicle communication apparatus, 16
In-vehicle notification section, 18 ... horn, 20 ... Brake ECU22 ... Outside camera, 24 ... In-vehicle camera, 26 ... GPS receiver, 30 ... Receiver, 40 ... Control device, 50 ... Mobile phone

Claims (11)

A vehicle driving support device that detects the presence of a terminal holder who is mounted on a vehicle and has a portable communication terminal in the vicinity of the vehicle, and notifies the driver to that effect,
Receiving means for receiving radio waves transmitted from the mobile communication terminal;
Presence detecting means for detecting the presence of the terminal holder based on the radio field intensity of the received radio wave received by the receiving means;
Vehicle speed acquisition means for acquiring vehicle speed information of the host vehicle;
Brake state acquisition means for acquiring brake operation information indicating whether or not the brake pedal is operated;
Using the vehicle speed acquired by the vehicle speed acquisition unit and the brake operation information acquired by the brake state acquisition unit as parameters for determination, it is determined whether or not the driver should be notified of the presence of the terminal owner. Notification necessity determination means;
When the presence detection unit detects the presence of the terminal holder and determines that the notification necessity determination unit should be notified, the notification unit notifies the presence of the terminal holder;
A driving support apparatus comprising:   The driving support device according to claim 1, wherein the notification unit specifies a notification method based on the parameter used for the determination by the notification necessity determination unit, and performs notification. An intensity change detecting means for detecting a change in the radio field intensity based on the radio field intensity of the received radio wave received by the receiving means;
The operation according to claim 1 or 2, wherein the notification necessity determination unit performs a determination by using a change in radio wave intensity detected by the intensity change detection unit as one of determination parameters. Support device. A moving body information acquisition means for acquiring information on a moving body around the vehicle detected based on an image around the vehicle,
The said notification necessity determination means performs determination using the mobile body information acquired by the said mobile body information acquisition means as one of the parameters for determination, The claim 1 characterized by the above-mentioned. Driving assistance device. Line-of-sight information acquisition means for acquiring line-of-sight information indicating the driver's line-of-sight direction;
Based on the moving body information acquired by the moving body information acquisition means and the line-of-sight information acquired by the line-of-sight information acquisition means, the driver's line-of-sight direction is indicated in the moving body information. A line-of-sight determining means for determining whether or not it coincides with an existing direction;
With
The driving support apparatus according to claim 4, wherein the notification necessity determination unit performs determination using the determination result determined by the line-of-sight determination unit as one of determination parameters.   When the vehicle speed acquired by the vehicle speed acquisition unit is smaller than a determination value set in advance as a value indicating the stop of the vehicle, the notification necessity determination unit determines the presence of the terminal owner based only on the vehicle speed. The driving support apparatus according to claim 1, wherein it is determined whether or not to notify the vehicle. Comprising communication means for communicating with surrounding vehicles,
The said notification necessity determination means determines the information regarding the said terminal owner acquired from the said surrounding vehicle via the said communication means as one of the parameters for determination, The claim 1 characterized by the above-mentioned. 6. The driving support device according to any one of 6.   When the presence detection means detects the presence of the terminal holder and the notification necessity determination means determines that the situation should be notified, the terminal owner detected by the presence detection means The driving support apparatus according to claim 7, further comprising notification means for notifying a surrounding vehicle of information via the communication means. A position acquisition means for acquiring information indicating the current position of the host vehicle;
The notifying means notifies the surrounding vehicle of information indicating the current position of the host vehicle acquired by the position acquiring means together with at least the presence of the terminal owner as information of the terminal owner via the communication means. The driving support apparatus according to claim 8, wherein   The driving support apparatus according to any one of claims 1 to 9, wherein the notification means notifies the terminal owner in addition to the driver.   When the presence detection means detects the presence of the terminal holder and the notification necessity determination means determines that the situation should be notified, the vehicle brake is controlled to decelerate the vehicle speed. The driving support device according to any one of claims 1 to 10, further comprising a brake control unit that performs the operation.

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