JP7818186B2 - Lateral object confirmation device, lateral object confirmation system, and marking line setting jig - Google Patents

Description

The present invention relates to a side object confirmation device or system that can detect objects on the side of a moving vehicle when the vehicle moves to the side to make a right or left turn, etc., and issue a warning if necessary. In particular, the present invention relates to a side object confirmation device or system that can set the detection range for objects on the side of the vehicle to a predetermined range in accordance with regulations, etc., and a marking line setting jig used to set the detection and warning range for the side object confirmation system.

The Ministry of Land, Infrastructure, Transport and Tourism has made it mandatory for new large freight vehicles (gross vehicle weight over 8 tons) to be equipped with a "side collision warning system" that warns the driver if there is a risk of collision with a bicycle when making a left turn, from May 2022, and for continued production vehicles from May 2024. This is in response to the standards for side collision warning systems (such as the "Agreement Regulation on Side Collision Warning Systems (No. 151)") adopted by the United Nations Economic Commission for Europe World Forum for Harmonization of Vehicle Regulations. According to these standards, side collision warning systems are required to detect objects, such as bicycles, within the following three ranges and issue a warning if they are detected within the specified warning range:
- In the vehicle width direction, it detects the range between a position 0.9m in the vehicle width direction from the left side of the vehicle (0.25m for the front wheels) and a position 4.25m in the vehicle width direction from the left side of the vehicle. - On the left side of the vehicle (including the range in front and behind the vehicle in the direction of travel), it detects a range of 7m forward from the front end of the vehicle and 30m rearward from the front end of the vehicle in the direction of travel. - The warning range is a range of 6m rearward from the front end of the vehicle in the direction of travel on the left side of the vehicle.

Camera systems are already widely used. These systems use cameras attached to the sides of vehicles (e.g., in the side mirror holders) to display images of the area to the side of the vehicle on a driver's seat monitor. When a moving vehicle moves to the side to make a right or left turn or when the vehicle is stopped on the shoulder of the road, they visually identify objects, such as bicycles, traveling to the side of the vehicle to ensure safety. However, side collision warning systems, which have been made mandatory by recent legal amendments, indicate specific distances for the designated area to the side of the vehicle, making it difficult for drivers to accurately confirm safety within the designated area to the side of the vehicle by simply visually estimating the area on the monitor. Side collision warning systems using remote detection means, such as radar sensors and ultrasonic sensors, are also considered. However, while these systems are technically capable of detecting and issuing warnings within a designated detection range, their detection principles mean that they will detect all objects within that range, resulting in the issuance of more warnings than necessary and making them less user-friendly.

The present invention was made in consideration of the above-described conventional technology and its problems. Its first object is to provide a side object confirmation device or system for checking for objects to the side of a vehicle when the vehicle is moving sideways. The device or system can arbitrarily adjust warning lines that demarcate a predetermined range on the side of the vehicle in the vehicle width direction and driving direction and display them on a monitor. The device or system can objectively determine the degree of danger of an object based on the positional relationship between the object displayed on the monitor and the adjusted warning line as the vehicle moves sideways. The second object is to provide a marking line setting tool useful for actually setting detection and warning ranges on the road in order to set warning lines in the side object confirmation system.

The side object confirmation device according to claim 1 is
A side object confirmation device for confirming an object on the side of a vehicle,
A side object confirmation device includes a means for arbitrarily adjusting warning lines that demarcate a range on the side of a vehicle in the vehicle width direction and traveling direction and displaying the lines on a display device, and a means for determining the degree of danger of an object based on the positional relationship between an object photographed by a photographing device and displayed on the display device and the adjusted warning line,
a warning line display and adjustment unit that adjusts the warning line displayed on the display device so that it matches a marking line set on the road beside the vehicle, and displays the same on the display device;
an obstacle determination unit that detects an area where an object is present displayed on the display device while the vehicle is traveling, and determines the degree of danger of the object based on the positional relationship between the adjusted warning line displayed on the display device and the area where the object is present;
It is characterized by having :

The side object confirmation system according to claim 2 comprises:
A side object recognition system for recognizing an object on the side of a vehicle, comprising:
an image capturing device provided in the vehicle for capturing an image of the side of the vehicle;
a display device provided in the vehicle for displaying an image of the side of the vehicle captured by the image capturing device;
a side object confirmation device that arbitrarily adjusts warning lines that demarcate ranges on the sides of the vehicle in the vehicle width direction and the traveling direction and displays the lines on the display device, and determines the degree of danger of an object based on the positional relationship between the object displayed on the display device and the adjusted warning lines;
and
The side object confirmation device
a warning line display and adjustment unit that adjusts the warning line displayed on the display device so that it matches a marking line set on the road beside the vehicle, and displays the same on the display device;
an obstacle determination unit that detects an area where an object is present displayed on the display device while the vehicle is traveling, and determines the degree of danger of the object based on the positional relationship between the adjusted warning line displayed on the display device and the area where the object is present;
The present invention is characterized by the following:

The side object confirmation system according to claim 3 is the side object confirmation system according to claim 2, further comprising:
The vehicle is characterized by including a warning output device that outputs a necessary warning based on the result of the determination by the side object confirmation device.

The side object confirmation system according to claim 4 is the side object confirmation system according to claim 3 , further comprising:
the warning lines include vehicle width direction warning lines that define a range in the vehicle width direction on the side of the vehicle, and driving direction warning lines that are perpendicular to the vehicle width direction warning lines and indicate a distance in the vehicle driving direction on the side of the vehicle,
The marker lines include a vehicle width direction marker line that defines a range in the vehicle width direction on the side of the vehicle, and a driving direction marker line that is perpendicular to the vehicle width direction marker line and indicates the distance in the vehicle's driving direction on the side of the vehicle.

The side object confirmation system according to claim 5 is the side object confirmation system according to claim 4 , further comprising:
The object presence area is a display surrounding the periphery of the object, and is displayed in different colors depending on the positional relationship with the vehicle width direction warning line and the driving direction warning line.

According to the side object confirmation device and side object confirmation system of claim 1 and claim 2, an image of the side of the vehicle and a warning line on the side of the vehicle are superimposed on a display device. Furthermore, depending on the positional relationship between an object that has entered the display screen of the display device and the warning line, the risk of the object colliding with the vehicle is determined. When moving the vehicle to the side, the driver can use the warning line as a guide to check the risk of an object on the side of the vehicle on the display screen of the display device, thereby enabling safe driving.
Furthermore, by using the warning line display/adjustment unit of the side object confirmation device in an adjustment work before use, it is possible to display on the display device a warning line on the side of the vehicle superimposed on a sign line, marker, etc. that has been set up in advance at an appropriate work location, such as on the road beside the vehicle, and further to adjust the position of the warning line on the display screen of the display device so that the sign line, marker, etc. matches the warning line. After the adjustment work, when the vehicle is moved to the side while traveling, the obstacle determination unit of the side object confirmation device can detect the presence area of the object displayed on the display screen of the display device and determine the degree of danger of the object according to the positional relationship between the warning line and the presence area on the display screen of the display device, allowing the driver to drive safely to avoid contact between the object and the vehicle based on this determination.

According to the side object confirmation system described in claim 3, the alarm output device can output the necessary alarm based on the results of the determination made by the side object confirmation device, thereby achieving the effect of improving safety compared to when the degree of danger of objects on the side of the vehicle is confirmed solely by visually checking the display screen of the display device.

According to the side object confirmation system of claim 4 , in the adjustment work before use, the vehicle width direction warning line and the driving direction warning line displayed on the display screen of the display device are matched with the vehicle width direction sign line and the driving direction sign line on the road displayed on the display screen of the display device, respectively, so that the range indicated by the warning lines on the display screen of the display device can be set to conform to the standard.

According to the side object confirmation system described in claim 5 , when the vehicle is moved sideways, the area where the object is present displayed on the display screen of the display device is displayed in different colors depending on its positional relationship with the warning line displayed on the display screen of the display device, so that the driver can intuitively know the degree of danger of the object from the displayed color.

1 is a schematic structural diagram showing the overall configuration of a side object confirmation system according to an embodiment; 1 is a functional block diagram showing the overall configuration of a side object confirmation system according to an embodiment; FIG. 2 is a diagram showing an example of a display screen on a monitor of the rear object checking system according to the embodiment. This is a plan view showing the object detection range and warning range required for the "side collision warning device" that the Ministry of Land, Infrastructure, Transport and Tourism has made mandatory for large freight vehicles (total vehicle weight over 8 tons). 1 is a plan view of a marker line setting jig used to set a predetermined detection range and a warning range in a side object confirmation device in a side object confirmation system according to an embodiment. FIG. 1A and 1B are diagrams showing a method for setting a predetermined marker line on the side of a vehicle equipped with a lateral object confirmation system according to an embodiment of the present invention; FIG. 1A is a front view of the vehicle (upper diagram) and a plan view (lower diagram) showing an example of a marker line set on the road on the side of the vehicle to serve as a marker during adjustment; and FIG. 1B is a plan view showing another example of a method for setting a marker line set on the road on the side of the vehicle to serve as a marker during adjustment. FIG. 10 is a diagram showing an example of a display screen on a monitor of an embodiment of a side object confirmation system, showing images of a sign line and a pylon set on the road to the side of the vehicle superimposed on the pre-adjustment warning line. FIG. 10 is a diagram showing a warning line displayed on a monitor of the side object confirmation system of the embodiment, and is a work instruction diagram showing the order of adjustment of adjustment points with numbers. 10 is a diagram showing a warning line adjustment display screen on the monitor of the side object confirmation system of the embodiment, showing a state in which a part of each adjustment point is aligned with the marker line. FIG. 10 is a diagram showing a warning line adjustment display screen on the monitor of the side object confirmation system of the embodiment, showing a state in which all adjustment points are aligned with the marker line. FIG. FIG. 2 is a diagram schematically illustrating an example of a display screen on a monitor of the side object confirmation system according to the embodiment.

The configuration of a side object confirmation system 1 according to an embodiment will be described with reference to FIGS.
The side object confirmation system 1 of this embodiment aims to comply with the technical standards stipulated in the aforementioned "Agreement Regulations Concerning Side Collision Warning Systems (No. 151)" and aims to realize a function that enables a rectangular detection and warning range to be confirmed on a monitor to the side of the vehicle, for example, separated by a maximum distance of 4 m in the vehicle width direction and 37 m in the vehicle's traveling direction. However, when an image of the side of the vehicle to be displayed on a monitor is acquired by photographing with a camera, the appearance of the detection and warning range displayed on the monitor's display screen will differ depending on the position (particularly the height) at which the camera is attached to the vehicle, etc.

In this embodiment, a designated detection and warning range is actually created by laying a dedicated range setting sheet, a marking line setting tool (described below), on the side of a vehicle stopped on the road, or by attaching tape or the like to the road surface. The side of the vehicle is then photographed with a camera, and both the image of the detection and warning range created on the road with the range setting sheet or tape, and the warning line, are displayed on the monitor's display screen. The position of the warning line can be adjusted on the display screen to align it with the warning range within the detection and warning range. This allows the position and size of the warning line displayed on the monitor's display screen to be adjusted to match the required warning range, regardless of the type of vehicle or the dimensions of the desired designated detection and warning range, regardless of the vehicle's width, camera specifications, installation height, or other conditions.

The side object confirmation system 1 of this embodiment, shown in the schematic configuration diagram of Figure 1, is a system mounted on a vehicle and used by the driver to check the sides of the vehicle. It includes a camera 2 as an imaging device that captures images of the side of the vehicle, a monitor 3 as a display device that displays images captured by the camera 2, a buzzer 4 as an alarm output device, a GPS (Global Positioning System) antenna 5 as information acquisition means, a manual recording switch 6 that also serves as a microphone, and a side object confirmation device 7 to which these components are connected. Although not shown in Figure 1, which shows the system's hardware configuration, the side object confirmation device 7 receives as control signals from a vehicle control unit (not shown): a turn signal that is output when the turn signal is activated, and a parking brake signal that is output when the parking brake is engaged (see Figure 2).

In the configuration example shown in Figure 1, the camera 2 and monitor 3 are connected to an on-board power supply via a power cable (not shown), but power may also be supplied from a side object confirmation device 7 connected to the on-board power supply. The GPS antenna 5 acquires position information and provides it to the side object confirmation device 7. Furthermore, by operating the manual recording switch 6, the image displayed on the monitor 3 can be recorded and saved in the memory unit 12 (see Figure 2), described below, along with position and time information.

As shown in the control block diagram of FIG. 2, the side object confirmation device 7 includes a control unit 8, which serves as the central function for overseeing various controls for detecting side objects. Specifically, the control unit 8 transmits and receives video and control signals between the camera 2 and the monitor 3, and, as shown in FIG. 3, displays an image of the side of the vehicle on the monitor 3 while superimposing various control images on it. It also detects and classifies objects displayed on the display screen 30, and, if necessary, controls the buzzer 4 to generate an alarm. As mentioned above, the control unit 8 of the side object confirmation device 7 receives, as control signals, a turn signal signal output when the turn signal is activated and a parking brake signal output when the parking brake is activated from the vehicle's control unit (not shown). The control unit 8 performs control operations related to object detection and the determination of the object's danger level only when a turn signal signal is input. Furthermore, the control unit 8 stops the control operations if a parking brake signal is input during the control operations. As a modification of this embodiment, the control may be such that objects on the side are constantly detected while driving, regardless of whether the turn signal is activated, and a warning is issued as necessary. In this case, the "turn signal" in Figure 2 would be replaced with an "accessory power supply signal," and when a signal from the accessory power supply, rather than a signal from the turn signal, is input to the control unit 8, the control unit 8 would perform control operations related to object detection and determination of the object's level of danger.

Figure 3 shows an example of the display screen 30 on the monitor 3 of the lateral object confirmation device 7. As shown in this figure, the images displayed on the display screen 30 of the monitor 3 include an actual video of the area to the side of the vehicle (in Figure 3, two bicycles and a person traveling on the left edge of the highway, as well as a guardrail, etc.), as well as warning lines WL (vehicle width direction warning line WL1 and driving direction warning lines WL2 (WL21, WL22, WL23)) which are control images indicating the specified warning range, a frame-shaped object presence area A displayed surrounding the object to indicate that it has been detected, vehicle position coordinates 20, a timestamp 21, recording status 23, microphone status 24, GPS reception status 25, and the status 26 of the memory card, which is an external storage medium.

As shown in Figure 2, the side object confirmation device 7 has a warning line display and adjustment unit 9. The warning line display and adjustment unit 9 is connected to the control unit 8 and, by working in cooperation with the control unit 8, displays a warning line WL, which is a control image indicating the widthwise distance from the side of the vehicle and the distance in the fore-and-aft directions, on the display screen 30 of the monitor 3, and also has the function of moving the warning line on the display screen 30 to adjust its position.

As shown in Figure 2, the side object confirmation device 7 has an obstacle determination unit 10. The obstacle determination unit 10 is connected to the control unit 8 and works in cooperation with the control unit 8 to detect an object presence area A (see Figure 3) displayed on the camera 2 when the vehicle moves between lanes while traveling. As will be described in detail later, the obstacle determination unit 10 has the function of comparing this object presence area A with the adjusted warning line WL displayed on the monitor 3 and determining the degree of danger of the object based on their positional relationship.

As shown in FIG. 2, the side object confirmation device 7 has an input unit 11. The input unit 11 is connected to the control unit 8 and can be used to turn the side object confirmation device 7 on and off, as well as to input instructions and data necessary to operate the side object confirmation device 7. Specifically, by operating the input unit 11, the driver can activate the function of the warning line display/adjustment unit 9 to display the warning line WL on the monitor 3, input instructions to move the displayed warning line WL for adjustment, and input instructions necessary to operate the obstacle determination unit 10. The input unit 11 includes push-button function switches, a numeric keypad, directional buttons such as an up button, down button, right button, and left button for moving display elements on the monitor 3 in each direction, and a confirmation button for confirming switch or button operations. These switches or buttons may also be displayed on the monitor 3.

As shown in FIG. 2, the side object confirmation device 7 has a memory unit 12. The memory unit 12 is connected to the control unit 8 and stores data necessary for the operation of the side object confirmation device 7 and software for operating each part of the side object confirmation device 7. The data includes, for example, original line data for the warning line WL displayed on the display screen 30 of the monitor 3, line adjustment data which is data for the adjusted warning line WL, and recorded data for the image displayed on the monitor 3. The software includes, for example, various software programs for operating each part of the side object confirmation device 7 as described above.

The side object confirmation device 7 has an internal memory as well as an external memory medium, a memory card, as its storage unit 12. The memory card is removable and can be inserted and used in other side object confirmation devices 7, or the data can be copied to multiple memory cards and inserted and used in side object confirmation devices installed in multiple other vehicles with the same conditions.

A method for adjusting the side object recognition system 1 according to the embodiment before use will be described with reference to FIGS.
FIG. 4 is a plan view showing the object detection range X and warning range Y (collectively referred to as the detection/warning range Z) required for the "side collision warning device" that the Ministry of Land, Infrastructure, Transport and Tourism has mandated for large freight vehicles (with a gross vehicle weight of over 8 tons). As shown in the figure, the detection/warning range Z is a rectangular range defined by a distance of 4 m in the vehicle width direction (horizontal direction in FIG. 4 ) of the vehicle 50 and 37 m in the traveling direction (longitudinal direction in FIG. 4 ) of the vehicle 50. Within this range, the corners at both ends of the front edge of the vehicle 50 in the traveling direction are designated as A and B, the corners at both ends of the rear edge of the vehicle 50 in the traveling direction are designated as C and D, the points at which the vehicle width direction line and the traveling direction line intersect at a position corresponding to the front end of the vehicle 50 are designated as E and F, and the points at which the vehicle width direction line and the traveling direction line intersect at a position 6 m rearward from the position corresponding to the front end of the vehicle 50 in the traveling direction are designated as G and H. The detection range X and warning range Y will be described using the symbols for each of these points. First, the warning range Y, where the vehicle is legally required not only to detect lateral objects but also to issue a warning for detected objects, is EFHG. The detection range X, where the vehicle is required to detect objects that enter the range but is not required to issue a warning, is ABFE for the front and GHDC for the rear. In this embodiment, although not shown in FIG. 4 , a portion of the rear detection range X that is contiguous with the warning range Y in the direction of travel can be set as a preliminary warning range YP. This preliminary warning range YP is not legally required, and the user has the discretion to set it. The camera 2, located in the left corner at the front end of the vehicle 50, corresponds to the front end of the warning range Y, separated by a distance of 0.9 m from the vehicle-side position E.

Figure 5 is a plan view of a marker line setting jig 60 (also referred to as setting jig 60) used to set the predetermined detection/warning range Z shown in Figure 4 in the side object confirmation device 7 in the side object confirmation system 1 of this embodiment. This setting jig 60 is actually laid on the ground to the side of a parked vehicle 50.

As shown in Figure 5, the setting jig 60 includes a warning sign 61 in the shape of a substantially rectangular frame, corresponding to the warning range Y shown in Figure 4. The warning sign 61 is made of white tarpaulin (a fabric made of polyester, nylon, or other cloth or fabric coated on both sides with PVC resin) or similar material, and is composed of two 4.25 m wide bands 62 extending across the width of the vehicle 50 (the vertical direction in Figure 5), a 6 m long first long band 63 connecting the corresponding ends of the two wide bands 62, 62, and a 6 m long second long band 64 connecting the corresponding ends of the two wide bands 62, 62 at a position 0.25 m from the other ends. Therefore, the other two ends of the two wide bands 62, 62 protrude outward by 0.25 m from the second long band 64. Next, roughly square frame-shaped detection signs 65, 66, which correspond to the detection range X shown in Figure 4, are connected to the front and rear of the warning sign 61 in the direction of travel (left and right in Figure 5). The detection signs 65, 66 are made of polyester rope or the like, and the connection parts to the warning sign 61 are detachable. In addition, ring-shaped bodies 67 are attached to the four corners corresponding to positions A, B, C, and D in the detection range X shown in Figure 4 to confirm their position and to secure them to the ground.

Figure 6(a) shows a state in which a setting jig 60 is laid on the road to the side of a vehicle 50 equipped with a side object confirmation system 1, and a marking line corresponding to the actual dimensions of the detection and warning range Z is set on the road. In this case, the setting jig 60 is laid so that the front end of the warning sign portion 61 in the vehicle's 50 traveling direction (left-right direction in Figure 6) coincides with the front end of the vehicle 50. When laid in this manner, in a plan view, the camera attached to the front left end of the vehicle 50 is close to the front right end of the warning range Y (position E in Figure 4). Note that in Figure 6(a), pylons P are placed as markers at the two front corners and two rear corners of the detection range X to make the corners of the setting jig 60 more noticeable when operating on the screen 30 of the monitor 3, as described below.

In Figure 6(a), a portion of the detection range X adjacent to the rear end of the warning range Y in the vehicle 50's traveling direction is designated as the preliminary warning range YP. The preliminary warning range YP is an area close to the warning range Y, and is an area in which an object appearing in this area is likely to enter the warning range Y, and therefore a preliminary warning is expected to be issued before it is detected within the warning range Y. In the illustrated example, this preliminary warning range YP is a range approximately 2 m behind the warning range Y in the traveling direction. Although it is not included in the setting jig 60 shown in Figure 5, it can be defined by a preliminary width band 68 4 m long in the vehicle width direction of the vehicle 50, as shown by the dashed line in Figure 6(a). This preliminary width band 68 can be made of a polyester rope or the like. In this way, by using a setting jig 60 manufactured to the same dimensions and shape as the legally stipulated detection/warning range Z, it is possible to easily set a legally compliant detection/warning range Z on the road with the specified dimensions and shape, and by appropriately changing the attachment position of the extra width band 68, it is possible to set an extra warning range YP of any width as needed.

Figure 6(b) corresponds to the lower diagram in Figure 6(a) and shows an example of setting a detection/warning range Z on the road without using a setting jig 60. Specifically, tape is cut to a predetermined length and attached to the road to the side of a vehicle 50 equipped with a side object confirmation system 1, thereby setting a detection/warning range Z of actual dimensions. In the direction of travel of the vehicle 50, the detection range X 7 m ahead of the warning range Y and the detection range X 24 m behind the warning range Y are measured using a laser distance measuring device or the like to determine the aforementioned positions A, B, C, and D (see Figure 4), and a pylon P is placed at each position.

By operating the input unit 11 of the side object confirmation device 7, the power to the side object confirmation device 7 is turned on, and by operating the input unit 11, the warning line display/adjustment unit 9 and control unit 8 are put into operation, activating the warning line WL display/adjustment mode. The line source data for the warning line WL stored in the memory unit 12 is read out.

Figure 7 shows an example of the display screen 30 on the monitor 3 of the side object confirmation system 1, showing the marker line SL indicating the legal detection and warning range Z and the default warning line WL before adjustment, misaligned and overlapping. The marker line SL on the display screen 30 is a display of a setting jig 60 laid on the road, photographed by the camera 2. Four pylons P indicating the front-to-rear limits of the detection range X are also displayed on the display screen 30.

As shown in FIG. 7 , among the marker lines SL displayed on the display screen 30, a pair of lines that are parallel to the driving direction and define a range in the vehicle width direction on the sides of the vehicle 50 are referred to as vehicle width direction marker lines SL1, SL1. Furthermore, lines that are parallel to the vehicle width direction, which is perpendicular to the driving direction, and that indicate the distance in the driving direction of the vehicle 50 on the sides of the vehicle 50 are referred to as driving direction marker lines, and are referred to as the first driving direction marker line SL21, the second driving direction marker line SL22, and the third driving direction marker line SL23, in that order, from rear to front in the driving direction. The area defined by the pair of vehicle width direction marker lines SL1, SL1 and the first and second driving direction marker lines SL21 and SL22 constitutes the preliminary warning range YP. The area defined by the pair of vehicle width direction marker lines SL1, SL1 and the second and third driving direction marker lines SL22 and SL23 constitutes the warning range Y. The detection range X, which exists before and after the warning range Y in the driving direction, is displayed on the display screen 30 by a pair of vehicle width direction marking lines SL1, SL1 and a total of four pylons P placed on both ends of them.

As shown in FIG. 7 , among the warning lines WL displayed on the display screen 30, a pair of lines that are parallel to the driving direction and define a range in the vehicle width direction on the side of the vehicle 50 are referred to as vehicle width direction warning lines WL1, WL1. Furthermore, a line that is parallel to the vehicle width direction, which is perpendicular to the driving direction, and that indicates the distance in the driving direction of the vehicle 50 on the side of the vehicle 50 is referred to as driving direction warning line WL2. From rear to front in the driving direction, the lines are referred to as the first driving direction warning line WL21, the second driving direction warning line WL22, and the third driving direction warning line WL23, respectively. The area defined by the pair of vehicle width direction warning lines WL1, WL1, the first driving direction warning line WL21, and the second driving direction warning line WL22 is the area that should be aligned with the preliminary warning range YP. The area defined by the pair of vehicle width direction warning lines WL1, WL1, the second driving direction warning line WL22, and the third driving direction warning line WL23 is the area that should be aligned with the warning range Y.

Figure 8 shows the warning lines WL displayed on the display screen 30 of the monitor 3. The numbers shown in the outlined polygons in the figure indicate the position on the line to be moved and the order in which the lines will be moved when adjusting the vehicle width direction warning line WL1 and driving direction warning line WL2 (WL21-23) on the screen. Each position on each line (numbers 1-10) can be moved any amount in any direction by operating the input unit 11 (see Figure 2).

Position 1, indicated by the white arrow in Figure 8, is moved by operating the up, down, left, and right directional buttons on the input unit 11, and as shown by (1) in Figure 9, it is moved to align with the corresponding position of the marker line SL (position F in Figure 4) not shown in Figure 9, and then confirmed by pressing and holding the confirmation button.

As shown in Figure 9, position 2 shown in (2) is moved by operating the input unit 11 to align with the corresponding position on the marker line (position E in Figure 4) and confirmed by matching. Furthermore, position 3 shown in (3) is moved by operating the input unit 11 to align with the corresponding position on the marker line (position H in Figure 4) and confirmed by matching.

As shown in Figure 10, position 4 indicated by (4) is moved by operating the input unit 11 to match the corresponding position on the marker line (position G in Figure 4), and then confirmed by matching it.

As shown in Figure 10, the positions of numbers 5 to 8 on the vehicle width direction warning line WL1 are then moved by operating the input unit 11 to align them with the vehicle width direction sign line SL1 located on the outside of the vehicle width direction, and are confirmed by matching them.

As shown in Figure 10, the two rear corner positions of the warning line WL, number 9 and number 10, are further moved by operating the input unit 11 to match the positions of both ends of the spare width band 68 shown in Figure 6 (not shown in Figure 4), and are confirmed by matching them.

By making the above adjustments, as shown in Figure 10, the area defined by the pair of vehicle width direction warning lines WL1, WL1 and the driving direction warning lines WL2 (WL21, WL22, WL23) displayed on the display screen 30 of the monitor 3 will be identical to the specified preliminary warning area YP and warning area Y actually formed with tape on the road to the side of the vehicle 50.

As shown in Figures 4 and 6, the warning area Y required by law and displayed on the road using a setting jig 30 conforming to said law is rectangular. However, as shown in Figure 7, because the imaging range of the camera 2 is wide, the warning area Y is displayed on the screen 30 of the monitor 3 in a curved shape according to the angle of view of the camera 2. That is, the pair of parallel vehicle width direction sign lines SL1, SL1 are displayed with a bulge approximately in the center, and in particular, the vehicle width direction sign line SL1 on the vehicle 50 side (the front side of the screen 30) is displayed as a curved line that is significantly bent forward (for convenience of illustration, it is shown as a broken line in Figure 7). In order to align the vehicle width direction warning line WL1 with the curved vehicle width direction sign line SL1, as described above, movable positions are provided on the pair of vehicle width direction warning lines WL1, WL1 displayed on the screen 30 of the monitor 3. That is, on the front vehicle width direction warning line WL1 corresponding to the front vehicle width direction sign line SL1 displayed as a long line with a relatively large curvature as shown in FIG. 7, three positions (6), (7), and (8) are set as position-adjustable points as shown in FIG. 8, and on the rear vehicle width direction warning line WL1 corresponding to the rear vehicle width direction sign line SL1 displayed as a short line with a relatively small curvature as shown in FIG. 7, position (5) is set as a position-adjustable point as shown in FIG. In order to align the warning line with the rectangular warning area Y, simply aligning the four points (1), (2), (3), and (4) on the warning line WL in FIG. 8 with the four vertices of the rectangular warning area Y does not allow the warning line WL to accurately align with the warning area Y displayed on the screen 30. However, according to this embodiment, at least one or more movable positions are provided on the pair of vehicle widthwise warning lines WL1, WL1, so the warning line WL can be displayed accurately aligned with the warning area Y, which is displayed distorted depending on the angle of view of the camera 2 on the screen 30. The same is true for the preliminary warning area YP.

With reference to Figure 11, we will explain how to use the side object confirmation system 1 according to the embodiment after adjustment.

Figure 11 is a diagram showing an example of the display screen 30 of the monitor 3 in the side object detection system 1 during operation, illustrating the positional relationship between the object presence area A and the warning line WL.

When the vehicle 50 engine is started, the side object confirmation system 1 automatically activates. As shown in FIG. 11, the warning line WL and other icons are displayed on the display screen 30 of the monitor 3, regardless of whether or not a detection operation is performed. By appropriately operating the input unit 11 (see FIG. 2) to open the system's settings menu and turning off the normal detection operation mode (e.g., "AI detection mode") of this embodiment, the warning line WL and other icons may not be displayed on the display screen 30, and side object detection and warning operations may be performed in this state. Furthermore, although not separated by lines, the entire detection range X is displayed on the display screen 30. Therefore, the driver can visually confirm the condition within the detection range X to the side of the vehicle 50, and can also visually confirm objects within the preliminary warning range YP and warning range Y, which are separated by the warning line WL. Furthermore, the color of the presence area A displayed surrounding the object, as described below, allows the driver to visually determine the positional danger of the object, thereby enabling safe driving to avoid contact with objects to the side of the vehicle 50.

As shown in FIG. 11 , when an object appears within the detection and warning range Z to the side of the vehicle 50 while the side object confirmation system 1 is in operation, the camera 2 captures the object, and the monitor 3 displays the object on the display screen 30. The control unit 8 and obstacle determination unit 10 of the rear object confirmation device 7 recognize the object on the display screen 30 of the monitor 3. According to the control unit 8 and obstacle determination unit 10 of the embodiment, as an example, if the object is a moving object, it can be recognized if it is 80 cm or more in height and 30 cm or more in diameter, and if the object is a fixed object, it can be recognized if it is 50 cm or more in height and 30 cm or more in diameter. The control unit 8 and obstacle determination unit 10 display an existence area A consisting of a frame-shaped line surrounding the recognized object on the display screen 30.

The display color of the presence area A line varies depending on its position relative to the vehicle width direction warning line WL1 and driving direction warning line WL2 (WL21, WL22, WL23) in order to attract the driver's attention. For example, when the presence area A is within the detection range X, the presence area A line is displayed in light blue. When the presence area A falls within the preliminary warning range YP, the presence area A line is displayed in yellow to attract the driver's attention as a preliminary warning. When the presence area A falls within the warning range Y, the presence area A line is displayed in red, a warning color, to strongly attract the driver's attention. To attract the driver's attention not only visually but also audibly, when the presence area A line is displayed in yellow, the buzzer 4 is activated with an intermittent sound, and when the presence area A line is displayed in red, the buzzer 4 is activated with a continuous sound.

Alternatively, the color of the line indicating the presence area A may be differentiated, regardless of its position relative to the vehicle width direction warning line WL1 and the driving direction warning line WL2 (WL21, WL22, WL23). For example, moving objects, including people and bicycles, may be displayed in red, a warning color, and fixed objects may be displayed in blue. When the red presence area A enters the preliminary warning range YP, an intermittent buzzer sound may be sounded to attract the driver's attention, and when the presence area enters the warning range Y, additional warning means, such as a continuous buzzer sound or flashing light, may be used to strongly attract the driver's attention.

The control unit 8 and obstacle determination unit 10 may also refer to AI data stored in the memory unit 12 based on the object's shape, size, surface condition, color, movement pattern, movement speed, etc., to estimate the type of object with a high degree of accuracy. In this case, the determined type of object may be displayed in text near the displayed existence area A.

The side object confirmation device 7 has a removable memory card as the storage unit 12, and if the line adjustment data is stored on the memory card, it can be copied to another memory card and inserted into a side object confirmation device 7 mounted on another vehicle 50 with the same vehicle width, camera 2 specifications, installation conditions, etc. In other words, once the warning line WL (warning range Y) is adjusted once, it is sufficient to simply insert the memory card containing the line adjustment data into the rear object confirmation device 7 of another vehicle 50 with the same vehicle model, camera specifications, and installation location, eliminating the need to repeat the adjustment of the warning line on the road or in a large, flat area. This is therefore convenient for transportation companies and other businesses that own and operate multiple trucks of the same model, as they only need to adjust the warning line (warning range Y) once.

1...Side object confirmation system 2...Camera as imaging device 3...Monitor as display device 4...Buzzer as warning output device 7...Rear object confirmation device 9...Warning line display and adjustment unit 10...Obstacle determination unit 30...Display screen 50...Vehicle 60...Marker line setting jig X...Detection range Y...Warning range YP...Preliminary warning range A...Object presence area WL...Warning line WL1...Vehicle width direction warning line WL2...Traveling direction warning line WL21...First traveling direction warning line WL22...Second traveling direction warning line WL23...Third traveling direction warning line SL...Marker line SL1...Vehicle width direction mark line SL2...Traveling direction mark line SL21...First traveling direction mark line SL22...Second traveling direction mark line SL23...Third traveling direction mark line

Claims (5)

A side object confirmation device for confirming an object on the side of a vehicle,
A side object confirmation device includes a means for arbitrarily adjusting warning lines that demarcate a range on the side of a vehicle in the vehicle width direction and traveling direction and displaying the lines on a display device, and a means for determining the degree of danger of an object based on the positional relationship between an object photographed by a photographing device and displayed on the display device and the adjusted warning line,
a warning line display and adjustment unit that adjusts the warning line displayed on the display device so that it matches a marking line set on the road beside the vehicle, and displays the same on the display device;
an obstacle determination unit that detects an area where an object is present displayed on the display device while the vehicle is traveling, and determines the degree of danger of the object based on the positional relationship between the adjusted warning line displayed on the display device and the area where the object is present;
A side object confirmation system comprising : A side object recognition system for recognizing an object on the side of a vehicle, comprising:
an image capturing device provided in the vehicle for capturing an image of the side of the vehicle;
a display device provided in the vehicle for displaying an image of the side of the vehicle captured by the image capturing device;
a side object confirmation device that arbitrarily adjusts warning lines that demarcate ranges on the sides of the vehicle in the vehicle width direction and the traveling direction and displays the lines on the display device, and determines the degree of danger of an object based on the positional relationship between the object displayed on the display device and the adjusted warning lines;
and
The side object confirmation device
a warning line display and adjustment unit that adjusts the warning line displayed on the display device so that it matches a marking line set on the road beside the vehicle, and displays the same on the display device;
an obstacle determination unit that detects an area where an object is present displayed on the display device while the vehicle is traveling, and determines the degree of danger of the object based on the positional relationship between the adjusted warning line displayed on the display device and the area where the object is present;
A side object confirmation system comprising : The side object confirmation system described in claim 2, further comprising an alarm output device that outputs a necessary alarm based on the results of the determination made by the side object confirmation device. the warning lines include vehicle width direction warning lines that define a range in the vehicle width direction on the side of the vehicle, and driving direction warning lines that are perpendicular to the vehicle width direction warning lines and indicate a distance in the vehicle driving direction on the side of the vehicle,
4. The side object confirmation system according to claim 3, wherein the marker lines include a vehicle width direction marker line that defines a range in the vehicle width direction on the side of the vehicle, and a driving direction marker line that is a line perpendicular to the vehicle width direction marker line and indicates a distance in the vehicle's driving direction on the side of the vehicle . 5. The side object confirmation system according to claim 4 , wherein the presence area is a display surrounding the periphery of the object and is displayed in different colors depending on the positional relationship with the vehicle width direction warning line and the driving direction warning line.