Driver assistance system against blind spots for the driver

Abstract

Driver assistance system for installation in a vehicle, wherein the driver assistance system comprises: a transmitting module which repeatedly emits a search wave in at least either a right-hand or a left-hand direction relative to a direction of travel of the vehicle; a receiving module which receives object information from echoes, the echoes being based on the emitted search waves; a determination module which, based on object information, determines whether the vehicle is entering a target area that contains a blind spot for the driver of the vehicle; and a provisioning module which provides the driver with information assigned to the target area according to the determination result by the determination module, wherein the object information contains an initial distance information which indicates a relative distance between the vehicle and at least one object in a search area formed by the search waves; the receiving module is able to repeatedly obtain the object information from the echoes; and the determination module is designed to: To monitor relative distance values ​​contained in the repeatedly received object information; to determine whether a fixed number of values ​​of the relative distance lie continuously within a first range, the first range being defined as a range in which, if the relative distance is within the first range, at least one object is likely to obstruct the driver's view; and to determine that the vehicle enters the target area when it is detected that a value of the relative distance is equal to or longer than a second area, after it has been determined that the specified number of values ​​of the relative distance were continuously within the specified first area, the second area being determined to be longer than the first area.

Description

TECHNICAL AREA

[0001] The present invention relates to driver assistance systems for transmitting information to a vehicle driver, which warns the driver when the vehicle enters a target area with a blind spot for the driver, for example a poorly visible intersection, a poorly visible corner or the like; ‘blind spot’ means a section with poor visibility for a driver of the vehicle. BACKGROUND OF THE INVENTION

[0002] One type of driver assistance system in this technical field has a front-view function for capturing surveillance images of the left and right side views from the front section of a controlled vehicle and displaying these surveillance images. When the controlled vehicle enters a target area, such as a poorly visible intersection, a blind corner, or the like, which contains a blind spot for the driver, this type of driver assistance system is designed to display one or more surveillance images on a display in response to a switch operation by the driver. An example of this type of driver assistance system is described in JP 2 827 665 B2.

[0003] This type of driver assistance system requires the driver to operate a switch when one or more monitoring images are to be displayed. This requirement necessitates the driver operating the switch in addition to steering and / or braking maneuvers as the controlled vehicle approaches the target area. This can increase the driver's workload.

[0004] An alternative example of a driver assistance system of this type is designed to pre-register positions around the current location of a controlled vehicle, based on map information in a navigation system, where the front-view function is required. If, based on the measured current position of the controlled vehicle, it is determined that the controlled vehicle will reach a registered position, the driver assistance system is designed to automatically display monitoring images on a screen, thus reducing the driver's workload associated with viewing these images.

[0005] The driver assistance system according to this alternative example is described in both JP 3 417 134 B2 and JP 3 468 620 B2.

[0006] In the driver assistance system described in this alternative example, the driver of the controlled vehicle must pre-select necessary blind spots (intersections, corners, etc.) and register the positions of these blind spots. This can be very time-consuming. Now, let us assume, in contrast, that the driver of the controlled vehicle uniformly registers all positions of necessary blind spots (intersections, cross streets, junctions, etc.), regardless of whether they are blind spots. Under this assumption, the driver assistance system automatically displays one or more monitoring images each time the vehicle reaches a registered position, even if the blind spot is not a target area for the driver.This can cause the driver to become fed up with the whole thing.

[0007] In the driver assistance system according to the alternative example, even if a driver of the controlled vehicle manually registers the positions of only the selected blind spot road segments, some road segments with clear visibility may be changed to blind spot segments. Such changes may become necessary due to, for example, structural changes to buildings around the road segments and / or structural changes to the road segments themselves. Similarly, some registered blind spot segments may be changed to road segments with good visibility due to, for example, structural changes to buildings around the road segments and / or structural changes to the road segments themselves.This may necessitate that the driver re-register the positions of sections that are difficult to see, leading to many inconveniences during the re-registration process.

[0008] Furthermore, according to the above description, the driver assistance system, according to the alternative example, determines whether the controlled vehicle reaches a registered position of a target area by using the navigation system, which uses registered information about road sections with blind spots.

[0009] Therefore, as described above, the actual circumstances of a road section with poor visibility may differ from the information recorded in the navigation system. This can reduce the accuracy in determining whether the controlled vehicle is entering a road section with a blind spot.

[0010] Additionally, if the driver assistance system displays one or more monitoring images on the screen after the navigation system has determined that the vehicle's current position is approaching a registered position within a target area, there may be a time delay between the vehicle reaching the registered position and the display of the monitoring images. To eliminate this delay, it is necessary to display one or more monitoring images earlier than when the vehicle will reach the registered position. However, this introduces a time delay between the display of the monitoring images and the vehicle reaching the registered position. This delay can be inconvenient for the driver.

[0011] From JP 2010-244478 A, a driving assistance device is also known in which, when an object obstructing the driver's field of vision is detected by radar, and the vehicle is about to enter a specific intersection requiring a temporary stop or a slow approach, a reaction force to be applied to an accelerator pedal by a reaction application section is increased. US 2011 / 0025529A1 discloses an intersection visibility determination device that determines the visibility at an intersection in front of a vehicle. SUMMARY OF THE INVENTION

[0012] The object of the present invention is to create systems for supporting a driver of a vehicle which are designed in such a way that at least one of the above-mentioned disadvantages is eliminated.

[0013] It is particularly an object of the present invention to create such systems which are able to improve the accuracy in determining whether a corresponding vehicle is entering a target area which has a blind spot section for a driver of the vehicle.

[0014] It is further an object of the present invention to create such systems which are able to provide a vehicle driver with information which warns the driver when the vehicle enters a target area which contains a blind spot section for the driver, whereby the aforementioned time delays are reduced.

[0015] It is further an object of the present invention to create such systems that are able to provide a vehicle driver with information that warns the driver when the vehicle enters a target area with a blind spot section for the driver, thereby reducing at least psychological and / or operational stress for the driver.

[0016] The problem is solved according to the invention by the features of a driver assistance system for a vehicle according to claim 1. Advantageous further developments are the subject of the dependent claims.

[0017] According to a first exemplary aspect of the present invention, a driver assistance system is provided that is installed in a vehicle. The driver assistance system comprises a transmitting module that repeatedly emits a search wave at least in the right or left lateral direction relative to a direction of travel of the vehicle, and a receiving module that receives object information from echoes, the echoes being based on the emitted search waves. The driver assistance system comprises a determination module that, based on the object information, determines whether the vehicle is entering a target area with a blind spot for the driver, and a delivery module that provides the driver with information regarding the target area according to a determination result by the determination module.

[0018] The configuration of the driver assistance system according to the first exemplary aspect of the present invention determines, based on object information obtained directly from echoes derived from the emitted search waves, whether the vehicle is entering a target area. This makes it possible to improve the detection accuracy of the moment the vehicle enters a target area containing a blind spot for the driver, so that the driver is appropriately warned that the vehicle is entering the target area.

[0019] In the driver assistance system according to the first exemplary aspect of the present invention, the object information includes a first distance information, which indicates a relative distance between the vehicle and at least one object within a search area defined by the search waves. The receiving module is able to repeatedly obtain the object information from the echoes based on the emitted search waves. The determining module is able to monitor relative distance values ​​in the repeatedly obtained object information and determine whether a specified number of relative distance values ​​continuously lie within a first area. The first area is defined as an area such that, if the relative distance is within the first area, the at least one object is likely to obstruct the driver's view.The determination module can also determine that the vehicle is entering the target area if it detects that a value of the relative distance is equal to or greater than a second area, after it has been determined that the specified number of relative distance values ​​was continuously within the defined first area. The second area is determined to be longer than the first area.

[0020] The driver assistance system configuration according to the first exemplary example can detect a moving object, such as a wall, in the vehicle's direction of travel with high accuracy as it approaches a target area. This allows the system to determine the time at which the vehicle will arrive at the target area with high accuracy. This enables the driver to determine the exact time at which the vehicle will arrive at the target area with high accuracy.

[0021] The driver assistance system according to the first exemplary example can be designed to monitor relative distance values ​​in the repeatedly received object information, keeping the number of search wave transmissions constant—in other words, keeping the system's monitoring level constant. Conversely, increasing or decreasing the monitoring level can reduce the load on the driver assistance system required to monitor the object information, thereby reducing the system's monitoring load and / or energy consumption.

[0022] For example, in the driver assistance system according to a second exemplary aspect of the present invention, the transmitting module is configured to emit a search wave at a specific cycle. The determining module is capable of monitoring at least either the vehicle's speed or the amount of brake pedal depressor applied by the driver. The determining module further reduces the cycle if either the vehicle's speed is equal to or less than a specified slow speed, or the amount of brake pedal depressor applied by the driver is equal to or greater than a specified stop signal stroke. If the amount of brake pedal depressor applied by the driver is equal to or greater than the stop signal stroke, it is determined that the driver intends to stop the vehicle.This means that when a vehicle approaches an area with a blind spot for the driver, the driver usually slows down or stops the vehicle. Therefore, the detection module reduces the search wave emission cycle to increase the system's monitoring level, thus reducing the monitoring load on the system when the driver does not intend to slow down or stop the vehicle.

[0023] Similarly, in the driver assistance system according to a third exemplary aspect of the present invention, an information acquisition module is provided to obtain environmental information about the vehicle's current position from the outside. The transmitting module is capable of emitting a search wave in a specific cycle. The determination module can reduce the cycle if, based on the environmental information, it is determined that the target area lies in the vehicle's direction of travel.

[0024] The driver assistance system according to the third embodiment does not use environmental information to determine whether the vehicle is arriving at a target area, but rather uses it to determine whether the target area lies in the vehicle's direction of travel. This reduces the monitoring load on the system without adversely affecting the accuracy of determining whether the vehicle is entering the target area.

[0025] In the driver assistance system according to a fourth exemplary aspect of the present invention, a camera is provided to capture an image of at least either an area located on the right side or an area located on the left side relative to the direction of travel of the vehicle, and a display module is provided. The delivery module can display the image captured by the camera on the display module when the determination module determines that the vehicle is entering the target area. This configuration focuses the driver's attention at the appropriate time on the situation at which the vehicle is entering the target area.

[0026] In the driver assistance system according to the fifth exemplary aspect of the present invention, the object information includes a second distance information, which indicates a relative distance between the vehicle and the at least one object in a search area defined by the search waves. The receiving module can repeatedly obtain the object information from the echoes based on the emitted search waves. The provisioning module can monitor the relative distance values ​​contained in the repeatedly obtained object information. The provisioning module can also provide the driver with information indicating that the at least one object is located in the target area if, based on the relative distance values, it is determined that the at least one object is a hazard and is located in the target area. The hazard requires the driver's attention.

[0027] In the driver assistance system according to the sixth exemplary aspect of the present invention, the object information includes speed information indicating a relative speed between the vehicle and the at least one hazard object within a search area defined by the search waves, wherein the at least one hazard object requires the driver's attention. The receiving module can repeatedly obtain the object information from the echoes based on the emitted search waves. The providing module can monitor the relative speed values ​​contained in the repeatedly obtained object information.The deployment module can also provide the driver with information indicating that at least one hazard object is located in the target area, if, based on the relative speed values, it is determined that at least one object is a hazard object and is located in the target area. The hazard object requires the driver's attention.

[0028] The design of the driver assistance system according to both the fifth and sixth exemplary aspects of the present invention provides the driver with the information indicating that at least one object is in a target area only if that object is at least one hazard object and is located in the target area. This prevents the driver from suffering from a decrease in attention to hazards, as the information is not transmitted to the driver too frequently.

[0029] In the driver assistance system according to the seventh exemplary aspect of the present invention, the transmitting module can emit a search wave in a specific cycle, and the deployment module can decrease the cycle when the determination module determines that the vehicle is entering the target area. That is, the deployment module increases the monitoring level of the system when the vehicle enters a target area, which makes it possible to determine whether at least one hazardous object is located in the target area.

[0030] In the driver assistance system according to the eighth exemplary aspect of the present invention, the provisioning module can prevent the output of information concerning the target area to the driver if, based on the repeatedly received object information, it is determined that there is no hazardous object in the target area, and if the determination module determines that the vehicle is entering the target area.

[0031] Similarly, in the driver assistance system according to the eighth exemplary aspect of the present invention, the provisioning module is designed such that the output of information concerning the target area to the driver is prevented if the determination module does not determine that the vehicle is entering the target area.

[0032] The configuration of the driver assistance system according to both the eighth and ninth exemplary aspects of the present invention reliably prevents a warning to the driver, as long as it is determined that no warnings are necessary.

[0033] In the driver assistance system according to the tenth exemplary aspect of the present invention, the transmitter module is arranged on a side of the vehicle facing the direction of travel (forward or rear) relative to the position of the driver's eye. This allows the transmitter module to emit search waves to at least one blind spot for the driver, so that the driver is effectively provided with warning information before the driver directly surveys the situation in a target area with at least one poorly visible section. BRIEF DESCRIPTION OF THE DRAWING

[0034] Further aspects of the present invention will become clearer from the present description of one embodiment with reference to the accompanying drawing, in which: Fig. 1 is a schematic view showing where a driver assistance system according to a first embodiment of the present invention and its search fields are located in a top view of a vehicle; Fig. 2 is a block diagram, which schematically shows an example of the structure of the in Fig. 1 shows the driver assistance system shown; Fig. 3A a top view of a Fig. The object finder shown in section 2 is; Fig. 3B is a view on the right side of the object viewfinder; Fig. 3C is a view from below of the object viewfinder; Fig. 4 is a flowchart which schematically shows a warning task performed by a microcomputer in the driver assistance system of Fig. 2 is carried out; Fig. Figure 5A schematically shows an intersection with a blind spot in both the right and left directions of a vehicle relative to the direction of travel of the vehicle; Fig. 5B is a schematic view showing a road for drivers with a blind spot section where the driver's view during a right turn is obstructed by objects, for example central barriers, on the right side in the direction of travel of the vehicle; Fig. 6A is a view which schematically shows an example of how a target area and the relative distance between the vehicle according to Fig. 1 and an object in the first embodiment; Fig. 6B is a schematic view showing another example of how a target area and the relative distance between the vehicle according to Fig. 1 and an object in the first embodiment; Fig. 6C is a view that schematically shows a case in which the environment in which a previously detected (identified) continuous blocking object, for example a wall that lies in the direction of travel of the vehicle, changes to an environment in which there are no continuous objects in the direction of travel of the vehicle in the first embodiment; Fig. 7 is a flowchart which schematically shows a warning task performed by a microcomputer of a driver assistance system in a second embodiment of the present invention; Fig. 8 is a flowchart which schematically shows a warning task performed by a microcomputer of a driver assistance system in a third embodiment of the present invention; Fig. Figure 9 is a block diagram which schematically shows an example of the structure of a driver assistance system according to a modification of each embodiment of the present invention. DETAILED DESCRIPTION OF FORMATIONS OF THE INVENTION

[0035] Embodiments of the present invention are described below with reference to the accompanying drawing. In these embodiments and their variations, identical parts are designated with the same reference numerals and omitted or simplified to avoid redundant description. First embodiment

[0036] A driver assistance system in which the present invention is used as a first embodiment of the present invention is described below.

[0037] Referring to the Fig. 1 and Fig. 2 The driver assistance system 1 comprises a head unit 3 and an associated indoor unit 5. The head unit 3 is located substantially centrally at the front end (the nose) of a vehicle V, and the indoor unit 5 is installed inside the passenger compartment.

[0038] The head unit 3 consists of an object finder 7. The object finder 7 consists of a transceiver module 7a (T / R) and a computer 7b. Under the control of the computer 7b, the T / R module 7a emits search waves, for example radar waves, laser waves (laser pulses), ultrasound waves, or the like, to define a specific and at least one search area, and receives reflected waves from objects present in the at least one search area. The T / R module 7a then detects the objects based on the reflected waves.

[0039] It should be noted that in this embodiment, the right-hand direction of vehicle V, which is parallel to the width (horizontal direction) of vehicle V relative to the forward direction of vehicle V, is sometimes referred to as the right-hand direction of vehicle V. The left-hand direction of vehicle V, which is parallel to the width (horizontal direction) of vehicle V, is sometimes also referred to as the left-hand direction of vehicle V relative to the forward direction of vehicle V.

[0040] The T / R module 7A provides a right search area SR and a left search area SL as at least one search area. The right search area SR is a right-side view from the nose of the vehicle V, where the head unit 3 (object finder 7) is located; the right search area SR is formed by waves emitted in a right-side direction from the object finder 7. The left search area SL is a left-side view from the nose of the vehicle V, where the head unit 3 (object finder 7) is located; the left search area SL is formed by waves emitted in a left-side direction from the object finder 7.

[0041] The right search area SR, for example, covers a wedge shape from a reference line RL1 to a specific line L1 in a top view of the vehicle V. The reference line RL1 extends to the right and passes through a wave emission point of the object finder 7, and the line L1 also passes through the wave emission point. An angle θ1 formed between the reference line RL and the line L1 is, for example, set to 15 degrees. Similarly, the left search area SL essentially covers a wedge shape from a reference line RL2 to a line L2, which is predetermined in front of the vehicle V and passes through the wave emission point; the reference line RL2 extends to the left, passing through the wave emission point of the object finder 7. An angle θ2 between the reference line RL2 and the line L2 is, for example, set to 15 degrees.The extension length of the right search area SR in the right-hand direction can be determined to assist a driver D of vehicle V in visualizing right-hand blind spots in front of vehicle V. Similarly, the extension length of the left search area SL in the left-hand direction can be determined to assist the driver D of vehicle V in visualizing left-hand blind spots in front of vehicle V.

[0042] It should be noted that each of the left and right search areas SR and SL has a specific length in the vertical direction of the vehicle V.

[0043] In addition to controlling the T / R module 7a, the control unit 7b works to perform the detection of objects in each of the right and left search areas SR and SL in a specific search cycle, in other words, a specific cycle of outputting search waves.

[0044] If at least one object is detected in one of the right or left search areas SR and SL, the computer 7b generates object information based on echoes (reflected waves) from the right or left search area SR and SL. This object information includes at least: which of the right and left search areas SR and SL corresponds to the detected object; the distance from the object finder 7 to the object; and the relative speed of the vehicle V with respect to the object. The controller 7b then transmits the generated object information to the indoor unit 5.It should be noted that in this embodiment the search cycle is determined in advance by the indoor unit 5 and information of the determined search cycle is supplied in advance by the indoor unit 5 to the controller 7b, so that the information of the determined search cycle is stored in the controller 7b.

[0045] In this embodiment, such object information contains information on all objects in the right and left search areas SR and SL. For example, objects to be detected in the right and left search areas SR include structural objects that obstruct the driver's view, such as buildings (their walls), and other types of structural objects, such as parked vehicles, moving vehicles, pedestrians, cyclists, plants, stones, animals, etc.

[0046] The following is an example of the setup and the operating principles of the T / R module 7a of the object finder 7 according to this embodiment, based on the Fig. 3A to 3C described. Fig. Figure 3A is a top view of the T / R module 7a of the object seeker 7 and shows the search wave emission system of the T / R module 7a. Fig. 3B is a view of the right side of the T / R module 7a, and Fig. Figure 3C is a bottom view of the T / R module 7a, showing the reflection wave receiving system of the T / R module 7a.

[0047] Referring to the Fig. 3A to 3C the T / R module 7a of the object finder 7 is designed as a non-scanning laser radar consisting of a light source 10, a receiver unit 11, an optical path changer 12, a right-side lens unit 13 and a left-side lens unit 14.

[0048] The light source 10 emits laser pulses under control by the controller 7b as the search waves in the forward direction of the vehicle V, and the receiver unit 11 receives echoes (reflected waves) based on the emitted laser beam.

[0049] The optical path changer 12 splits a beam (laser beam) of the laser pulses from the light source 10 into a right-side search beam and a left-side search beam, such that the right-side search beam travels in the right-side direction to form the right-side search area SR, and the left-side search beam travels in the left-side direction to form the left-side search area SL. Preferably, the optical axis of both the right-side and left-side search beams is substantially perpendicular to that of the laser beam emitted by the light source 10. The optical path changer 12 also guides the echoes based on the emitted laser pulses to the receiver unit 11.

[0050] The right-hand lens unit 13 lies on an optical path of the right-hand search beam and causes the right-hand search beam to fan out. It focuses a beam of reflected echoes based on the right-hand search beam onto the optical path changer 12; the optical path extends outwards from the optical path changer 12. The left-hand lens unit 14 lies on an optical path of the left-hand search beam and causes the left-hand search beam to fan out. It focuses a beam of reflected echoes based on the left-hand search beam onto the optical path changer 12; the optical path extends outwards from the optical path changer 12.

[0051] The light source 10 consists of a laser diode or light-emitting diode. The direction along the optical axis JC of the laser beam emitted by the optical source 10 is subsequently described as the forward / backward direction (see figure). Fig. 3A and Fig. 3C). The direction perpendicular to the forward / backward direction and parallel to the optical axes of the right and left search beams is called the side direction, corresponding to the horizontal direction in the Fig. 3A and Fig. 3C and the direction perpendicular to the plane of Fig. 3B. The direction perpendicular to both the forward / backward direction and the side direction is called the vertical direction, corresponding to a direction perpendicular to the plane of the Fig. 3A and Fig. 3C and the horizontal direction in Fig. Designated 3B.

[0052] This means that the object finder 7 is located essentially in the middle of the front end of the vehicle V, so that the forward / backward direction, the lateral direction and the vertical direction coincide with the longitudinal direction, the latitude direction and the height direction of the vehicle V.

[0053] The receiving unit 11 consists of a commonly known image sensor, for example, an array of multiple photodetectors such as CMOS elements and CCDs. The receiving unit 11 is located vertically below the light source 10, so that the orientation of the array of photodetectors is aligned with the lateral direction. That is, the receiving unit 11 has a directional effect in the lateral direction.

[0054] The optical path changer 12 of this embodiment consists, for example, of a triangular prism mirror. The optical path changer 12 is positioned such that a center line of the triangular prism mirror, which passes through an edge of two rectangular sides of the triangular prism mirror, coincides with the optical axis JC of the laser beam from the light source 10, with the two rectangular sides being parallel to the vertical direction. This causes the laser beam emitted by the light source 10 to fall on the two rectangular sides, so that the laser beam is split into two laser beams (right-side and left-side search beams), and the two laser beams are directed in opposite directions in the lateral direction.This means that the optical path of the laser beam emitted by the light source 10 changes to an optical path of the right-hand search beam, which is directed in the right direction, and an optical path of the left-hand search beam, which is directed in the left direction.

[0055] When echoes from both sides (the right side and the left side) arrive laterally at the optical path changer 12, the echoes are input to the receiver 11. It should be noted that the optical path changer 12 is not limited to a triangular prism mirror and can be composed of two mirrors. The two mirrors can be located at the same positions as the two rectangular sides of the triangular prism and be designed such that they cause the laser beam emitted by the light source 10 to strike the two rectangular sides, thus splitting the laser beam into the right- and left-hand search beams, which are then directed laterally in opposite directions.

[0056] The right-hand mirror unit 13, for example, is formed from a first lens arrangement 13a and a second lens arrangement 13b. Referring to Fig. In lens assembly 3B, the first lens assembly 13a consists of one or more lenses and can output the right-side search beam originating from the optical path changer 12, widening or narrowing the width of the right-side search beam; the right-side search beam provides the right search area SR. Lens assembly 13b is identical in construction to lens assembly 13a and is located vertically below lens assembly 13a. Lens assembly 13b can direct echoes based on the right-side search beam to the right half of the photodetectors of the receiver unit 11 via the optical path changer 12, so that the echoes are focused onto the corresponding photodetectors of the right half of the receiver unit 11.That is, the arrival direction of an echo received by a corresponding photodetector coincides with the direction of a corresponding component of a laser pulse emitted by the light source 10 in a plane formed by the forward / backward direction and the side direction (see . Fig. 3B and Fig. 3C).

[0057] The left-side mirror assembly 14, for example, consists of a first lens assembly 14a and a second lens assembly 14b. Like the first lens assembly 13a, the first lens assembly 14a consists of one or more lenses and can output the left-side search beam coming from the optical path changer 12, widening or narrowing the width of the left-side search beam; the left-side search beam provides the left search area SL. Like the second lens assembly 13b, the second lens assembly 14b is identical in structure to the lens assembly 14a and is located below the lens assembly 14a in the vertical direction. The lens assembly 14b can direct echoes based on the left-side search beam to the left half of the photodetectors of the receiver unit 11 via the optical path changer 12, so that the echoes are focused on the left half of the photodetectors (see Fig. 3B and Fig. 3C).

[0058] The control unit 7b receives the object information from echoes, detected by at least either the right half or the left half of the photodetectors of the receiving unit 11.

[0059] Back to Fig. 2, the indoor unit 5 consists of a loudspeaker 22, a right lamp 23, a left lamp 24, a microcomputer 25, sensors / switches 32 and a navigation system 33. The components 22, 23, 24, 32 and 33 are in communication connection with the microcomputer 25.

[0060] The loudspeaker 22, for example, is arranged in the instrument panel of vehicle V such that it points towards the driver's seat of vehicle V. The loudspeaker 22 is a device for outputting audible information. The right lamp 23 is arranged in the right A-pillar of the passenger compartment of vehicle V; the right A-pillar supports the windshield and the roof of vehicle V. The right lamp 23 is a device for emitting light as an example of visible information. The left lamp 24 is arranged in the left A-pillar of the passenger compartment of vehicle V; the left A-pillar supports the windshield and the roof of vehicle V. The left lamp 24 is a device for emitting light as an example of visible information.

[0061] The microcomputer 25, for example, is designed as a normal microcomputer circuit and consists, for example, of a CPU 25a, a storage medium 25b with volatile and non-volatile memory, an I / O interface (input and output), etc. In this embodiment, the normal microcomputer circuit is defined such that it contains at least one CPU and a main memory, for example, the storage medium for this purpose.

[0062] The CPU 25a functionally contains a determiner 20 and a controller 21. In other words, at least one program P in the storage medium 25b causes the CPU 25a to operate as a determiner 20 and as a controller 21. The determiner 20 and the controller 21, in cooperation, perform at least one warning task, which receives object information from the head unit 3 (the object finder 7) and communicates the information to the driver D using the loudspeaker 22, right lamp 23, and left lamp 24. Fig. In the case of the two microcomputers, the determiner 20 and the controller 21 are functionally contained within the single microcomputer 24, but they can be functionally contained within a plurality of microcomputers. Each of the determiner 20 and controller 21 can be designed as a wired logic circuit, a programmed logic circuit, or a wired and programmed logic hybrid circuit.

[0063] The sensors / switches 32 serve as means for measuring values ​​of parameters associated with the operating state of the vehicle V. In this embodiment, the sensors include at least one sensor for measuring the speed of the vehicle V and one sensor for measuring the actuation stroke (depression) of a brake pedal by the driver. The operating conditions of the vehicle V, measured by the switches / sensors 32, are transmitted to the microcomputer 25.

[0064] The navigation system 33 contains a GPS receiver (Global Positioning System) that receives GPS signals from GPS satellites. Based on these GPS signals, the navigation system 33 can determine the current position of the vehicle V and display a map on its monitor showing the vehicle V's current position, based on pre-generated map data. The navigation system 33 can also determine the best route to the destination for the driver from the vehicle V's current position and provide the driver D with voice and / or visual directions to the destination along the determined best route, using the monitor and / or the speaker.

[0065] The map data contains information about road sections with blind spots. This information includes the locations of blind spot sections for drivers, such as blind spot intersections (cross streets, junctions, etc.), blind spot corners, etc. If the indoor unit 5 has a switch in the sensors / switches 32 for inputting the locations of road sections that driver D recognizes as having poor visibility, the blind spot information can include the locations of one or more road sections entered by driver D activating the switch.

[0066] If, based on the map data and the current position of the vehicle V, it is determined that the vehicle V is entering an area containing at least one blind spot section, the navigation system 33 adds the information about blind spot sections, including the at least one blind spot section, to the environmental information around the vehicle's current position. The navigation system 33 then transmits this environmental information to the determiner 20.

[0067] Additionally, the navigation system 33 incorporates wireless communication, which communicates wirelessly with other vehicles, roadside devices, and devices such as internet servers, etc., so that information about road sections with blind spots is obtained based on the communication results. The navigation system 33 transmits the received information to the controller 20 and stores it there, so that the received information is correlated with the map data.

[0068] The warning task, which is carried out cooperatively by the CPU 25 (the determiner 20 and the controller 21) according to the corresponding program P, is described below with reference to Fig. 4 described. The warning task is carried out every time an ignition switch in the sensors / switches 32 is turned on or a specific switch is manually turned on to start the warning task.

[0069] When the warning task is initiated, the determiner 20, based on the parameters measured by the sensors / switches 32, determines whether the vehicle speed V is equal to or less than a specified deceleration speed, or whether the driver's brake pedal depressor stroke is equal to or greater than a predetermined stop signal stroke (step S110). The deceleration speed is predetermined as a threshold speed, and if the vehicle V is traveling at a speed equal to or less than the deceleration speed, it is determined that the vehicle V is decelerating. The stop signal stroke is predetermined as a threshold stroke, and if the driver's brake pedal depressor stroke is equal to or greater than the stop signal stroke, it is determined that the driver D intends to stop the vehicle V.

[0070] If it is determined that the vehicle's speed V is higher than the specified slow speed and the driver's brake pedal travel is less than the specified stop signal travel (NO in step S110), determiner 20 proceeds to step S120. If, on the other hand, it is determined that the vehicle's speed V is equal to or lower than the specified slow speed, or the driver's brake pedal travel is equal to or greater than the specified stop signal travel (YES in step S110), determiner 20 determines that the vehicle V is entering a target area with a blind spot for the driver. Then determiner 20 proceeds to step S140.

[0071] In step S120, the controller 20 determines whether the environmental information supplied by the navigation system 33 contains information about a road segment with a blind spot; in other words, whether the vehicle V is entering an area that has at least one road segment with a blind spot for the driver D. If it is determined that the environmental information supplied by the navigation system 33 does not contain information about a road segment with a blind spot (NO in step S120), the controller 20 proceeds to step S130. If, on the other hand, it is determined that the environmental information supplied by the navigation system 33 contains information about the road segment with a blind spot (YES in step S220), the controller 20 proceeds to step S140.

[0072] A blind spot intersection for drivers is an intersection with a blind spot section in which the driver's view is blocked by an object, such as a building or a wall, at least either in the right-hand or left-hand direction of the vehicle relative to the direction of travel of the vehicle. Fig. Figure 5A shows, for example and schematically, an intersection with a blind spot section in both the right and left directions of the vehicle relative to the direction of travel of the vehicle.

[0073] Additionally, a roadway with a blind spot for drivers is a roadway, for example a main road, with a blind spot section in which the driver's view while turning right is blocked by objects, for example central reservation barriers, on the right side of the vehicle relative to the vehicle's direction of travel (see Fig. 5B). It should be noted that Fig. Figure 5B also shows a blind spot section in which the view of the driver of the vehicle turning right is blocked by the central barrier, on the left side of the vehicle relative to the direction of travel of the vehicle.

[0074] In the following, an intersection or a roadway with a blind spot section into which the vehicle V enters is referred to as the target area.

[0075] As a comparison between Fig. 1 and the Fig. 5A and Fig. As can be seen from 5B, the right and left search areas SR and SL cover at least part of each blind spot section according to the Fig. 5A and Fig. 5B.

[0076] In step S130, the determiner 20 estimates, based on the operating conditions of the vehicle V and the environmental information (the determined results from steps S110 and S120), that the vehicle will not enter a target area. The determiner 20 then outputs information to the object finder 7 indicating that the monitoring level of the object finder 7 is "low level (normal level)" (step S130). A "low level" monitoring level of the object finder 7 means that high accuracy in calculating the object information is not always necessary. Therefore, the controller 7b of the object finder 7 maintains or sets the search cycle of the T / R module 7a (the emission cycle of search waves, i.e., laser pulses, from the light source 10) to a relatively long (slow) cycle. The relatively long search cycle of the T / R module 7a (the object finder 7) is referred to as the "normal cycle".

[0077] If, on the other hand, an affirmative determination is made in either step S110 or S120, the determiner 20 estimates, based on at least either the operating conditions of the vehicle V or the environmental information (the determination results in either step S110 or S120), that the vehicle V is entering a target area. Then, in step S140, the determiner 20 outputs information to the object finder 7 indicating that the monitoring level of the object finder 7 is a "medium level (first level)." "Medium level" of the monitoring level of the object finder 7 means that high accuracy is required in calculating the object information. Thus, the controller 7b of the object finder 7 sets or maintains the search cycle of the object finder 7 at a specific first cycle, which is shorter (faster) than the normal cycle.

[0078] Then, in step S150, the controller 20 obtains the object information from the object finder 7 for each search cycle of the object finder 7 and extracts distance information from the object information obtained for each search cycle of the object finder 7, which indicates a value for the relative distance between vehicle V and each object (step S151). Then, in step S152, the controller 20 monitors how the relative distance between vehicle V and each object changes over time, based on the extracted values ​​of the relative distance between vehicle V and each object.

[0079] In particular, if the vehicle does not reach a target area, the controller 20 determines that the feed cycle of search waves (laser pulses) is relatively slow. This reduces the unnecessary output of laser pulses from the light source 10 of the object finder 7, thus limiting the temperature rise of the light source 10 and increasing the lifetime of the object finder 7. Conversely, if the vehicle V reaches a target area, the controller 20 sets the feed cycle of search waves (laser pulses) to a shorter (faster) rate than the relatively slow cycle. This increases the measurement cycle of the relative distance between vehicle V and each object, thus improving the accuracy in calculating the relative distance between vehicle V and each object.

[0080] By monitoring how the relative distance between vehicle V and each object changes over time, the determiner 20 determines whether the instantaneous value of the relative distance between vehicle V and each object in the right and left search areas SR and SL is within a certain short range (step S153). The certain short range means that if the relative distance between vehicle V and an object is within the short range in at least either the right or the left search area SR or SL, then the object is likely to obstruct the driver's view.

[0081] If it is determined that the instantaneous value of the relative distance between vehicle V and at least one object in at least either the right or the left search area SR or SL is within the short range (YES in step S153), the determiner 20 proceeds to step S154. In step S154, the determiner 20 increments a pre-created hardware or software counter C by 1, with an initial value of counter C set to 0. If, on the other hand, it is determined that the instantaneous value of the relative distance between vehicle V and any object in either the right or the left search area SR or SL is not within the short range (NO in step S153), the determiner 20 returns to step S110 and repeats the above processes of steps S110 to S153. The counter value of C is reset to 0 when the alert task is completed.

[0082] After step S154, in step S155, determiner 20 determines whether the count value of counter C reaches a certain threshold to identify a continuously blocking object. If it is determined that the count value has reached the certain threshold (YES in step S155), determiner 20 determines that at least one object detected in step S153 is a continuously blocking object and proceeds to step S160. If, on the other hand, it is determined that the count value of counter C does not reach the certain threshold (NO in step S155), determiner 20 returns to step S153. Determiner 20 then repeats the processes of steps S153 to S155 as described above, based on the object information obtained by object seeker 7 for each cycle.

[0083] For example, assume that the short range is set to 5 m and a positive determination is carried out in step S155. This assumption means that the number of positive determinations in step S153, corresponding to the count of counter C, has reached the determined threshold (see Fig. 6A). Thus, the determiner 20 determines that there is a continuously blocking object, for example a wall, as an object in one of the corresponding right and left search areas SR and SL within 5 m starting from the current position of the vehicle V in the direction of travel of the vehicle V.

[0084] Additionally, assume that a negative determination is carried out in step S155 and that it is determined that, after the relative distance has exceeded the short range, subsequent values ​​of the relative distance are within a certain recognizable range and thereafter the relative distance enters the short range (see Fig. 6B). Under this assumption, the determiner 20 determines that the same obstructing object exists with a gap, for example, an obstructing object in the driveway of a house or in a garden, as an object in the right or left search area SR and SL within 5 m of the current position of vehicle V in the direction of travel of vehicle V. In each of the Fig. 6A and Fig. Figure 6B shows a plurality of lines. Each of the lines shows a relationship between the relative distance for the same object and the time for a corresponding direction of a component of laser pulses from the light source 10. For example, if the directions of the components of the laser pulses correspond to the photodetectors of the right half of the receiver unit 11, they are shown in Figure 6B. Fig. 6C is shown as DIRECTION 1, DIRECTION 2, DIRECTION 3 and DIRECTION 4.

[0085] The detectable range of the object finder 7 represents the upper limit of the relative distance that the object scanner 7 can detect. The threshold value used in step S155 represents a count value that is variably determined according to at least either the search cycle or the speed of the vehicle V.

[0086] The threshold is used to determine whether at least one obstructing object detected in step 153 has a length of 2 m or more in the direction of travel of vehicle V.

[0087] Following the affirmative determination in step S155, the determiner 20 determines whether the instantaneous value of the relative distance between vehicle V and each object in at least either the right or left search area SR and SL is equal to or greater than a long range; the longer range is set to be longer than the short range and shorter than the detectable range of the object finder 7 in step S160. If it is determined that the instantaneous value of the relative distance is equal to or greater than the long range (YES in step S160), the CPU 25a proceeds to step S161. If, on the other hand, it is determined that the instantaneous value of the relative distance is shorter than the long range (NO in step S160), the CPU 25a returns to step S153 and repeats the processes of steps S153 to S155 above, based on the object information obtained for each cycle of the object finder 7.

[0088] More precisely, and as in Fig. As shown in Figure 6A, the difference between the detectable range of the object finder 7 and the short range is defined as the critical range, and a range from the vehicle V to the long range, which is shorter than the critical range, is defined as the spatial range. In this embodiment, if the relative distance between the vehicle V and at least one object in at least either the right or the left search range SR or SL increases to exceed the spatial range, the vehicle V is determined to enter a corresponding target range. The long range is defined as a distance from the vehicle V such that, if an object is at or beyond the long range, the object does not impede the vehicle V as it moves into a corresponding target range. The long range is determined in advance using simulations and the like.It should be noted that, since the upper limit of the detectable range of the object scanner 7 may contain errors depending on the reflection intensity of objects for laser waves (search waves), the long range is defined as a measurable distance from the vehicle V within which objects are reliably detectable by the object finder 7.

[0089] This means that if, in step S160, the environment in which a previously detected (recognized) continuous blocking object, for example a wall, lies in the direction of travel of vehicle V, changes to the environment in which there are no continuous objects in the direction of travel of vehicle V, the determiner 20 determines that the vehicle V enters a corresponding target area (YES in step S160, see Fig. 6C). Then, in step S161, the controller 20 outputs information to the object finder 7 indicating that the monitoring level of the object finder 7 is the "high level (second level)." The "high level" of the monitoring level of the object finder 7 means that even greater accuracy is required when calculating the object information. Thus, the controller 7b of the object finder 7 sets the search cycle of the object finder 7 to a specific second cycle, which is shorter (faster) than the first cycle: If, on the other hand, in step 160 the environment in which a previously detected (recognized) continuous blocking object, for example a wall, lies in the direction of travel of vehicle V, does not change to an environment in which there are no continuous objects in the direction of travel of vehicle V, the determiner 20 determines that the vehicle V does not enter a corresponding target area (NO in step S160). Thus, the CPU 25a returns to step S153 without carrying out the subsequent processes of steps S161 to S180; in other words, the CPU 25a blocks the output of information pertaining to the vehicle's entry into a corresponding target area to the driver.

[0090] Subsequently, the controller 21 obtains object information from the object finder 7 for each search cycle of the object finder 7 and extracts distance information from the object information obtained for each search cycle of the object finder 7, which indicates a value for the relative distance between the vehicle V and each object (S162). The controller 21 then monitors how the relative distance between the vehicle V and each object changes over time, based on the extracted values ​​of the relative distance between the vehicle V and each object (S163).

[0091] In step S170, the controller 21 extracts a velocity value from the object information for each search cycle of the object finder 7, indicating the relative velocity of the vehicle V with respect to each object. Then, in step S171, the controller 21 monitors how the relative velocity of the vehicle V with respect to each object changes over time, based on the extracted values ​​of the relative velocity of the vehicle V with respect to each object.

[0092] In particular, when the vehicle V enters a target area, the controller 20 sets the cycle of transmissions of the search waves (laser pulses) to shorter (faster) than in the first cycle in order to improve the calculation accuracy of the relative distance and relative speed of the vehicle V with respect to each object.

[0093] It should be noted that in steps S163 and S171, the controller 21 can monitor how the relative distance and relative speed of the vehicle V with respect to each object change over time for a fixed duration. It should also be noted that the controller 21 can monitor how the relative distance and relative speed of the vehicle V with respect to each object change over time until the speed of the vehicle V becomes equal to or greater than the slow speed.

[0094] If, based on the results of step S163, it is determined that there is at least one object in the target area, the controller 21 proceeds to step S172. In step S172, the controller 21 determines whether the relative speed of the vehicle V with respect to the specific at least one object monitored in step S172 is a negative value, that is, whether the at least one specific object is approaching the vehicle V in S172.

[0095] If it is determined that the relative speed of the vehicle V with respect to the specified at least one object is a negative value, the control system 21 determines that there is at least one object in the target area that requires special care (attention) from the driver (JA in step S172).

[0096] Then the controller 21 proceeds to step S180. If, on the other hand, it is determined that the relative speed of the vehicle V with respect to the identified at least one object is a positive value, the controller 21 determines that there are no objects requiring urgent attention (NO in step S172) and returns to step S153. Then the determiner 20 or the controller 21 repeats the operations in the above steps S153 to S172 based on the object information obtained for each cycle of the object seeker 7.

[0097] In step S172, the control unit 21 can determine whether the relative distance of the vehicle V with respect to the specific at least one object is reduced, that is, whether the specific at least one object is approaching the vehicle V.

[0098] It should be noted that the at least one object requiring special attention, and designated as at least one hazard object (caution object), is defined as at least one object that is present in a target area and is approaching the vehicle V. For example, the at least one hazard object is a vehicle, a pedestrian, a bicycle, an animal, or the like, which is moving towards the vehicle V.

[0099] Following an affirmative determination in step S172, the control unit 21 outputs various types of information via the loudspeaker 22, the right lamp 23, and the left lamp 24, which contain warnings for the driver (step S180). In particular, in step S180, the control unit 21 instructs the right lamp 23 to emit light, while the loudspeaker 22 emits an audible warning indicating the approach of at least one caution object from the right, if the at least one caution object is located in the right search area SR.

[0100] In step S180, the controller 21 instructs the left lamp 23 to emit light, while an audible warning is issued via the speaker 22, indicating the approach of at least one caution object from the left, provided that at least one caution object is present in the left search area SL. In step S180, the controller 21 can issue at least one visual warning via the right and / or left lamp 23 or 24 and an audible warning via the speaker 22.

[0101] It should be noted that in step S180, the controller 21 can calculate an estimated time of arrival of the at least one caution object based on the relative distance and relative speed of the vehicle V with respect to the at least one caution object; the estimated time of arrival is the time required for the at least one caution object to arrive at the current position of the vehicle V. The controller 21 can then change the type of audible warning according to the estimated time of arrival in step S180. For example, the controller 21 can output a pulsed audible warning from the loudspeaker 22 such that, the shorter the estimated time of arrival, the shorter the pulse intervals of the pulsed audible warning and the greater the volume of the pulsed audible warning.

[0102] It should be noted that if no items requiring urgent attention are identified (NO in step S172), the CPU 25a may block the output of any information, including warnings to the driver, in step S180 and return to step S153.

[0103] As described above, according to the first embodiment, the driver assistance system 1 can determine whether the vehicle V is entering a target area containing a blind spot for the driver of the vehicle V, based on the object information actually measured and input by the object finder 7. This embodiment allows the determination of whether the vehicle V is entering a target area with a blind spot for the driver, according to the actual environment around the vehicle V. This makes it possible to improve the accuracy of detecting the time at which the vehicle V reaches a target area with a blind spot for the driver and the time at which the vehicle V enters a target area with a blind spot for the driver, thereby reducing the time delays described in the SUMMARY OF THE INVENTION.

[0104] In particular, the driver assistance system 1 can determine that there is a continuous obstructing object, for example, a wall, as at least one object in at least either the right or the left search area SR and SL in the direction of travel of the vehicle V, by recognizing the number of determinations that the relative distance between the vehicle V and the at least one object is within the short area. After the determination, the driver assistance system 1 can recognize that the relative distance between the vehicle V and the at least one object (continuous obstructing object) increases in order to exceed the area.This makes it possible to determine that the environment (circle) in which at least one object (continuous obstructing object) lies in the vehicle's direction of travel changes to an environment (circle) where no continuous objects are present in the vehicle V's direction of travel. This allows for the highly accurate determination that the vehicle V is entering a target area containing a blind spot for the driver.

[0105] The driver assistance system 1 according to the first embodiment is also capable of issuing at least either an audible warning or a visual warning when it is determined that at least one object requiring caution, for example a junction with a blind spot or an intersection with a blind spot due to central reservation barriers, is located in a target area into which the vehicle V is traveling. This effectively draws the driver's attention to at least one hazardous object without the driver becoming overly familiar with either the audible or the visual warning.

[0106] The driver assistance system 1 according to the first embodiment is further able to determine whether the vehicle V is entering an area, including a target area, with a blind spot for the driver, based on the operating conditions of the vehicle V, the map data, and / or the environmental information input from an external source. The driver assistance system 1 is then able to adjust the monitoring level of the object scanner 7 according to the determination results; the monitoring level of the object scanner 7 represents the computational accuracy of the object information.This configuration reduces the monitoring level of object scanner 7 when it is determined that the vehicle V will not enter a target area with a driver blind spot, and increases the monitoring level of object scanner 7 when it is determined that the vehicle V is traveling to or entering a target area with a driver blind spot. Thus, it is possible to determine whether the vehicle V is entering a target area with a driver blind spot and whether there is at least one hazardous object in a target area with a driver blind spot, without placing an excessive load on object scanner 7.

[0107] In addition, according to the first embodiment, the driver assistance system 1 is able to determine whether the vehicle 4 is entering a target area with a blind spot for the driver and whether there is at least one dangerous object in a target area with a blind spot for the driver, while causing minimal psychological and / or operational stress to the driver. This is because these determinations can be made without the driver having to register blind spot sections (intersections with blind spots, corners with blind spots, etc.) in the storage unit 25b and / or the navigation system 33. Second embodiment

[0108] A driver assistance system according to the second embodiment of the present invention is described below with reference to Fig. 7 described.

[0109] The design and / or operation of the driver assistance system according to the second embodiment differ from the driver assistance system 1 according to the first embodiment in the warning task performed by the CPU 25a (the determiner 20 and the controller 21). Therefore, the warning task is described in detail below.

[0110] When the warning task starts, CPU 25a (the determiner 20) obtains object information from object seeker 7 for each search cycle of object seeker 7 in step S150. Then, in step S151, CPU 25a extracts distance information from the object information obtained for object seeker 7's search cycle, indicating a value for the relative distance between vehicle V and each object. Finally, in step S152, CPU 25a monitors how the relative distance between vehicle V and each object changes over time, based on the extracted values.

[0111] This means that the warning task according to the second embodiment does not include the processes of steps S110 to S140 according to the warning task of the first embodiment. This eliminates the determination of whether the vehicle V is moving towards a target area and the process of increasing the monitoring level of the object seeker 7 when the vehicle V moves into a target area, thus reducing the processing load of the CPU 25a.

[0112] After step S152, the CPU 25a executes the processes of steps S153 to S160 to determine whether the vehicle V enters a target area. If it is determined that the vehicle V enters a corresponding target area, the CPU 25a proceeds to step S170 and extracts a velocity value from the object information obtained for each search cycle of the object seeker 7 in step S150. This velocity value indicates the relative velocity of the vehicle V with respect to each object (S170).

[0113] This means that the warning task according to the second embodiment does not include the processes of steps S160 to S163, which are included in the warning task according to the first embodiment. This eliminates the process of increasing the monitoring level of the object seeker 7 and the process of monitoring the relative distance between vehicle V and each object when it is determined that the vehicle V is entering a target area, thus further reducing the processing load of the CPU 25a.

[0114] After step S170, the CPU 25a performs the processes of steps S171, S172 and S180 to determine if there is at least one hazardous object in a target area and outputs various types of information, including warnings for the driver, via the speaker 22, the right lamp 23 and the left lamp 24.

[0115] As described above, the driver assistance system 1 according to the second embodiment reduces the processing load of the CPU 25a compared to that of the CPU 25a of the first embodiment. Third embodiment

[0116] A driver assistance system according to the third embodiment of the present invention is described below with reference to Fig. 8 described.

[0117] The design and / or operation of the driver assistance system according to the third embodiment differ from the driver assistance systems according to the first and second embodiments in the warning task performed by the CPU 25a (the determiner 20 and the controller 21). Therefore, the warning task is described in detail below.

[0118] When the warning task is started, the CPU 25a (the determiner 20) performs the processes of steps S150 to S160 as the CPU 25a does in the second embodiment, so that it is determined whether the vehicle V is entering a target area.

[0119] This means that the warning task according to the first embodiment does not include the processes of steps S110 to S140, which are included in the warning task according to the first embodiment. This eliminates the determination of whether the vehicle V is moving towards a target area and the process of increasing the monitoring level of the object seeker 7 when the vehicle V is moving towards a target area, thus reducing the processing load of the CPU 25a.

[0120] In the warning task according to the third embodiment, after step S160, the CPU 25a proceeds to step S161 and, in step S161, provides information to the object finder 7 indicating that the monitoring level of the object finder 7 is the "high level (first level)". Thus, the controller 7b of the object finder 7 sets the search cycle of the object finder 7 to a predetermined first cycle, which is shorter (faster) than a normal cycle (a relatively long cycle).

[0121] The CPU 25a then performs the processes of steps S170 to S172 to determine whether there is at least one dangerous object in a target area.

[0122] If it is determined that there are no hazardous objects in a target area (NO in step S172), the CPU 25a proceeds to step S173 and sends information to the object finder 7 indicating that its monitoring level is "low" (step S140). The "low" monitoring level of the object finder 7 means that high computational accuracy of the object information is not always necessary. Therefore, the controller 7b of the object finder 7 sets its search cycle to a specific second cycle, for example, the normal cycle, which is longer (slower) than the first cycle.

[0123] If, on the other hand, it is determined that there is at least one dangerous object in a target area (YES in step S171), the CPU 25a executes the sequence in step S180 in the same way as in the second embodiment. It outputs various types of information, including warnings for the driver, via the loudspeaker 22, the right lamp 23, and the left lamp 24.

[0124] As described above, the driver assistance system according to the third embodiment can only increase the monitoring level of the object scanner 7 if the vehicle V enters a target area. That is, the driver assistance system according to the first embodiment increases the monitoring level of the object scanner 7 in two steps: first, when it is determined that the vehicle V is traveling to an area containing a target area, and second, when it is determined that the vehicle V is entering the target area. In contrast, the driver assistance system according to the third embodiment increases the monitoring level of the object scanner 7 in one step when it is determined that the vehicle V is entering a target area.

[0125] The first to third embodiments of the present invention have been described in detail; however, the present invention is not limited to these embodiments but can be modified as follows.

[0126] The warning task according to the first to third embodiments is programmed to output various types of information via the loudspeaker 22, the right lamp 23 and the left lamp 24, which contain warnings for the driver when the condition in S172 is met, however the present invention is not limited to this.

[0127] More precisely, the sensors / switches 32 can include a camera, which is arranged, for example, at the front or rear section of the vehicle V; the camera records surveillance images of left and right-side views from the front or rear section of the vehicle V along the vehicle V's direction of travel. For example, if the camera is arranged at the front section of the vehicle V, the camera can operate to record surveillance images in the right and left search areas SR and SL. In addition, according to each embodiment, the driver assistance system can include a display 50 (see Fig. 2) exhibit. The CPU 25a can display the monitoring images as warning images on the display 40 if it is determined that there is at least one hazardous object in a target area in step S172 (see steps S180a in Fig. 4) In step S180a, the CPU 25a can also be configured to display warning images, which may consist of warning text messages, for example, on display 50, without recording surveillance images. Display 50 in Fig. 1 and the process in step S180a in Fig. 4 are shown for the sake of completeness and can be omitted in any of the first to third embodiments.

[0128] The driver assistance system according to the first to third embodiments is characterized by the fact that in step S160 it is determined whether the vehicle V is entering a target area containing a blind spot with poor visibility for the driver of vehicle V. If, in each of the first to third embodiments, it is determined that the vehicle V is entering a target area (YES in step S160), the CPU 25a can, according to one modification, proceed directly to step S180 and execute the sequence of steps S180. That is, in step S180, in this modification, the CPU 25a outputs various types of information, including warnings for the driver, via the speaker 22, the right lamp 23, and the left lamp 24, and then terminates the warning task.

[0129] Preferably, according to this modification, the driver assistance system can be composed of a camera, which is contained in the sensors / switches 32, to capture surveillance images in the right and left search areas SR and SL, and a display 50. That is, if it is determined that the vehicle V is entering a target area (YES in step S160), the CPU 25a can, in this modification, provide visual information to the driver of the vehicle V, for example, by displaying the surveillance images captured by the camera as warning images on the display 50. This modification can therefore draw the driver's attention at the appropriate time to a situation in which the vehicle V is entering a target area.

[0130] The warning task according to each of the first to third embodiments is programmed to determine whether there is at least one dangerous object in a target area, based on the object information input by the target seeker 7 when it is determined that the vehicle V is entering the target area; however, the present invention is not limited thereto. In particular, the warning task according to each of the first to third embodiments can be programmed to determine whether there is at least one dangerous object in a target area, based on information input by the navigation system 33 when it is determined that the vehicle V is entering the target area.The information entered by the navigation system 33 is infrastructure information, obtained through wireless communication between the wireless communicator of the navigation system 33 and at least either other vehicles or roadside devices.

[0131] The warning task according to each of the first to third embodiments can be programmed to generate hazard object information, including the position, direction of travel, speed, and / or type of the at least one hazardous object, based on the object information input by the object finder 7. The warning task can also be programmed to output the hazard object information as various types of information, including warnings for the driver. Furthermore, the warning task can be programmed to generate such hazard object information based on infrastructure information obtained through wireless communication between the wireless communicator of the navigation system 33 and at least either other vehicles or roadside devices.

[0132] In each of the first to third embodiments, the object finder 7 is located essentially centrally at the front end of the vehicle V; however, the present invention is not limited to this. In particular, the object finder 7 can also be arranged, for example, at the rear end of the vehicle V. This modification can provide the driver of the vehicle with information that warns the driver when the vehicle, which is reversing, enters a target area.

[0133] The object finder 7 can be positioned relative to the driver's eye position in the direction of travel (forward or rear) of the vehicle V such that it is located at a distance from the driver's eye position. This configuration allows the object finder 7 to emit search waves into at least one section of poor visibility for the driver within a target area before the vehicle V actually enters the target area. This makes it possible to effectively output information that warns the driver before the driver directly sees the situations in the target area.

[0134] If the object finder 7 is positioned at a location on the vehicle V to the side of the driver's eye position, it is possible for the driver assistance system, which is equipped with the camera and the display 50, to assist the driver in visually identifying a target area based on surveillance images captured by the camera and displayed on the display 50.

[0135] The target finder 7 according to each embodiment can provide a right-side illumination light (right search area SR) and a left-side illumination light (left search area SL); however, the target scanner 7 can also be configured to provide either a right-side illumination light (right search area SR) or a left-side illumination light (left search area SL). The driver assistance system according to this modification can determine that there is a continuous obstructing object, for example, a wall, as at least one object in either the right or the left search area SR or SL in the direction of travel of the vehicle V. Following this determination, the driver assistance system can detect that the relative distance between the vehicle V and the same at least one object (continuous obstructing object) increases in order to exceed the spatial area.This may allow the determination that the environment in which the same at least one object (continuously blocking object) lies in the direction of travel of the vehicle changes to an environment in which there are no continuously blocking objects in the direction of travel of the vehicle V.

[0136] The driver assistance system according to each embodiment is designed such that the object finder 7 provides the right-side illumination light (right search area SR) and the left-side illumination light (left search area SL), but the present invention is not limited thereto. More precisely, the driver assistance system according to the present invention can be equipped with a right-side object finder arranged on the vehicle V to provide the right-side illumination light (right search area SR), and a left-side object finder arranged on the vehicle V separately from the first object finder to provide the left-side illumination light (left search area SL).

[0137] As in the Fig. As shown in Figures 3A to 3C, the target finder 7, according to each embodiment, is capable of providing the right-side illumination (right search area SR) and the left-side illumination (left search area SL) without scanning a beam of laser waves by rotating a lens or the like. However, the present invention is not limited to this embodiment. More precisely, the target finder 7 can be configured such that a beam of laser waves from the light source 10 is guided by rotating a lens or the like, thus creating the right-side illumination (right search area SR) and the left-side illumination (left search area SL).

[0138] In the driver assistance system according to each embodiment, the microcomputer with the determiner 20 and the control unit 21 is installed in the indoor unit 5, but can also be installed in the head unit 3 or the like.

[0139] In the driver assistance system according to each embodiment, the computer 7b operates to generate object information from echoes detected by at least either the right half or the left half of the photodetectors of the receiving units 11; however, the present invention is not limited thereto. More precisely, the microcomputer 25 can include a receiving module 60 capable of generating object information based on information transmitted by the computer 7b; the information is associated with echoes detected by at least either the right half or the left half of the photodetectors of the receiving units 11 (see Fig. 9).

[0140] As a specific example of the present invention, a driver assistance system installed in a vehicle features: a T / R module 7a, which repeatedly emits a search wave in at least either a right-hand or left-hand direction relative to a direction of travel of the vehicle; a control 7b or a receiving module 60 which receives object information from echoes, wherein the echoes are based on the emitted search waves; a determiner 20 (processes in steps S110 to S161) that determines, based on the object information, whether the vehicle is entering a target area that contains a blind spot section for a driver of the vehicle; and a control unit 21 (sequences of steps S162 to S180 and / or S180a) and at least either a loudspeaker 22 or a right lamp 23 or a left lamp 24, which provide the driver with information regarding the target area according to a result of the determination by the determiner 20. In the specific example, the navigation system 33 serves as, for example, an information acquisition module, which externally obtains environmental information about the current position of the vehicle.

Claims

[1] Driver assistance system for installation in a vehicle, the driver assistance system comprising: a transmitting module which repeatedly emits a search wave in at least either a right-hand or a left-hand direction relative to a direction of travel of the vehicle; a receiving module which receives object information from echoes, the echoes being based on the emitted search waves; a determination module which, based on object information, determines whether the vehicle is entering a target area that contains a blind spot for the driver of the vehicle; and a provisioning module which provides the driver with information assigned to the target area according to the determination result by the determination module, wherein the object information contains an initial distance information which indicates a relative distance between the vehicle and at least one object in a search area formed by the search waves; the receiving module is able to repeatedly obtain the object information from the echoes; and the determination module is designed to: To monitor relative distance values ​​contained in the repeatedly received object information; to determine whether a fixed number of values ​​of the relative distance lie continuously within a first range, the first range being defined as a range in which, if the relative distance is within the first range, at least one object is likely to obstruct the driver's view; and to determine that the vehicle enters the target area when it is detected that a value of the relative distance is equal to or longer than a second area, after it has been determined that the specified number of values ​​of the relative distance were continuously within the specified first area, the second area being determined to be longer than the first area. [2] Driver assistance system according to claim 1, wherein the transmitting module is able to emit a search wave in a specific cycle, and The determination module is designed to monitor at least either the speed of the vehicle or the depressing stroke of a brake pedal by the driver of the vehicle and to reduce the cycle when either the speed of the vehicle is equal to or less than a specified deceleration rate or the depressing stroke of the brake pedal by the driver is equal to or greater than a specified stop signal stroke, wherein, when the depressing stroke by the driver is equal to or less than the stop signal stroke, it is determined that the driver intends to stop the vehicle. [3] Driver assistance system according to claim 1, further comprising an information retention module which receives environmental information from an external source about a current position of the vehicle, wherein the transmitting module is able to emit a search wave in a specific cycle, and The determination module is designed to reduce the cycle time when, based on environmental information, it is determined that the target area is present in the direction of travel of the vehicle. [4] Driver assistance system according to claim 1, further comprising a camera capable of capturing an image of at least either a right-hand area or a left-hand area relative to the direction of travel of the vehicle, and comprising a display module, where The deployment module can display the image captured by the camera on the display module when the determination module determines that the vehicle is entering the target area. [5] Driver assistance system according to claim 1, wherein the object information includes a second distance information which indicates a relative distance between the vehicle and the at least one object in a search area formed by the search waves, wherein The receiving module is able to repeatedly obtain the object information from the echoes based on the emitted search waves, and The deployment module is able to monitor the relative distance values ​​contained in the repeatedly received object information and provide the driver with information indicating that at least one object is in the target area, if it is determined that at least one object is a dangerous object and exists in the target area, based on the relative distance values, where the dangerous object requires the driver's attention. [6] Driver assistance system according to claim 1, wherein The object information includes speed information indicating a relative speed between the vehicle and at least one dangerous object in a search area formed by the search waves, wherein the at least one dangerous object requires the driver's attention, The receiving module is able to repeatedly obtain the object information from the echoes, and The deployment module is able to monitor relative velocity values ​​contained in the repeatedly received object information and provide the driver with information indicating that at least one dangerous object is located in the target area, if it is determined that the at least one object is a dangerous object and exists in the target area, based on the relative velocity values, and the dangerous object requires the driver's attention. [7] Driver assistance system according to claim 5 or 6, wherein the transmitting module is able to emit a search wave in a specific cycle, and The deployment module is able to reduce the cycle time when the determination module determines that the vehicle is entering the target area. [8] Driver assistance system according to claim 5 or 6, wherein the provisioning module is able to prevent the output of the information pertaining to the target area to the driver when, on the basis of the repeatedly received object information, it is determined that no dangerous objects are present in the target area, and when the determination module determines that the vehicle is entering the target area. [9] Driver assistance system according to claim 1, wherein the provisioning module is able to prevent the output of the information pertaining to the target area to the driver if the determination module does not determine that the vehicle is entering the target area. [10] Driver assistance system according to claim 1, wherein the transmitter module is arranged relative to the driver's eye position in the direction of travel of the vehicle.

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