Recognition support system

Abstract

A recognition support system comprising: an object detection device (2) that detects an object located in a vicinity of a host vehicle; a direction measuring device (3) that measures a direction in which a driver intends to turn the host vehicle; an area setting device (S120) that sets a notification area based on the direction measured by the direction measuring device; a selection device (S130 to S190) that defines the object detected by the object detection device as a specified object when the object moves independently of the host vehicle and selects the specified object located within the notification area to be presented to the driver based on a state of the specified object;andan information presenting device (S1, S200) that presents information that enables the driver to recognize the specified object selected by the selecting device,wherein:the selecting device (S140, S150) defines the specified object as a first-priority object that is preferentially presented to the driver when the specified object is within a predetermined range including a crossing pedestrian that is in front of the host vehicle that will turn;the selecting device (S160, S170) defines the specified object as a second-priority object that is preferentially presented to the driver when the specified object is estimated to encounter the crossing pedestrian within a predetermined period of time; andthe second-priority object that is outside the driver's field of view is more preferentially presented.;

Description

Cross-reference to related application

[0001] This application is based on Japanese patent application JP 2014 - 82 082 A, filed on April 11, the disclosure of which is incorporated by reference. TECHNICAL FIELD

[0002] The present disclosure relates to a recognition support system that enables a driver to recognize a situation of a position at which a vehicle will turn. BACKGROUND

[0003] A device is known which measures an obstacle in a direction in which a vehicle is turning and which provides a warning based on the measurement result of the obstacle when a condition that the vehicle is approaching an intersection is met (see: JP 2001 - 84 496 A).

[0004] Since the conventional device provides the warning for a less dangerous obstacle located within the detection range, there is a possibility that a driver may be disturbed in such a case.

[0005] Reference is further made to EP 2 133 851 B1, US 8 085 140 B2 and US 8 576 055 B2, which were identified as prior art. OVERVIEW OF THE INVENTION

[0006] It is an object of the present disclosure to provide a recognition support system that accurately selects information presented to a driver at an intersection and reduces driver annoyance.

[0007] The problem is solved by the features of independent claim 1.

[0008] According to this structure, the recognition support system selects the area and the object to be presented based on the turning direction, the object category, and the object's condition, reducing the driver's inconvenience caused by unnecessary information. Furthermore, since the recognition support system not only selects one object to be presented but presents information from multiple objects, the recognition support system allows the driver to ultimately determine how to handle the specified object. BRIEF DESCRIPTION OF THE DRAWINGS

[0009] The above and other objects, features and advantages of the present disclosure will become more apparent from the following detailed description when taken in conjunction with the drawings.

[0010] They show: Fig. 1 is a block diagram illustrating an overall structure of a recognition support system; Fig. 2 is a diagram for explaining a measuring range of an environment detection sensor group; Fig. 3 is a diagram for explaining a structure of a recognition support information presentation unit; Fig. 4 is a flowchart for explaining contents of recognition support processing; Fig. 5 is a diagram for explaining a definition of a teaching area; Fig. 6A is a diagram for explaining a first priority object and a third priority object; Fig. 6B is a diagram for explaining an example of information presentation in a case described in Fig. 6A; Fig. 7A is a diagram for explaining a first priority object, a second priority object, and a third priority object; Fig. 7B is a diagram for explaining an example of information presentation in a case described in Fig. 7A; Fig. 8A is a diagram for explaining a first priority object and an excluded object; and Fig. 8B is a diagram for explaining an example of information presentation in a case described in Fig. 8A is shown. DESCRIPTION OF EMBODIMENTS

[0011] Embodiments of the present disclosure will be described with reference to the drawings. <gesamtstruktur>

[0012] As a Fig. 1, a recognition support system 1 includes an environment recognition sensor group 2, a vehicle state detection sensor group 3, a control unit 4, and an information presentation unit 5.

[0013] The environment detection sensor group 2 includes an image sensor that films the surroundings of a vehicle to detect objects, a radar sensor that detects the distance and relative speed of the objects and the vehicle using millimeter waves and sound waves, a GPS sensor and a position sensor that detect a current position of the vehicle. As shown in Fig. 2, a measurement range of the environment detection sensor group 2 is set to include an entire environment of the vehicle except a portion behind the vehicle (for example, a range of plus and minus 20 degrees behind the vehicle).

[0014] The vehicle state detection sensor group 3 includes at least one direction indicator sensor that detects at least an operation state of a direction indicator, and a speed sensor that detects the speed of the vehicle.

[0015] The information presentation unit 5 includes a display that displays an image and a letter, and a lamp or a buzzer that visually or audibly warns the driver. In the present embodiment, as shown in Fig. 3, the information presentation unit 5 includes a recognition support information presentation unit 51 provided by light-emitting units (LEDs) that emit light of multiple colors and are arranged in an arc shape.

[0016] The control unit 4 includes a known microcomputer having at least a CPU 41 and a memory 42, and executes at least object detection processing, recognition support activation processing, and recognition support processing. <verarbeitung>

[0017] Object detection processing is repeatedly executed while the control unit 4 is powered on. In the object detection processing, at least one specified object, a crossing pedestrian, and a guardrail located within the detection range are detected using the detection result of the environment detection sensor group 2. The specified object is an object that moves independently of the host vehicle, and in the present embodiment, the specified object is a pedestrian or a bicycle. In the object detection processing, the moving speed of the specified object is also detected.

[0018] The recognition support activation processing is repeatedly executed while the control unit 4 is turned on. The recognition support activation processing activates the recognition support processing when the host vehicle, in which the recognition support system 1 is mounted, detects that the driver intends to turn the vehicle at the intersection, and when the vehicle state detection sensor group 3 has determined that the state of the host vehicle satisfies a predetermined activation condition. The activation condition is satisfied when a time period until the host vehicle reaches the intersection at which the driver intends to turn the host vehicle, or when a distance from the host vehicle to the intersection is estimated to be equal to or less than a threshold value.Since the activation condition is remotely related to the main part of the present disclosure, detailed descriptions thereof are omitted.

[0019] The details of the recognition support processing activated by the recognition support activation processing are described in accordance with a Fig. 4. The CPU 41 repeatedly executes the recognition support processing after the recognition support activation processing activates the recognition support processing until the host vehicle completes the tuning.

[0020] When the recognition support processing is enabled, the CPU 41 acquires a speed (i.e., vehicle speed) of the host vehicle and a turning direction in which the host vehicle will turn at the intersection from the vehicle state detection sensor group 3 at S110.

[0021] At S120, a notification area for which the recognition support processing is executed is set based on the vehicle speed and the turning direction of the own vehicle obtained at S110. Specifically, for example, when the turning direction indicates right, as shown in Fig. 5, the notification area is set to focus on a right side of the host vehicle. When the vehicle speed is lower than the predetermined threshold speed, the notification area is set wide to include, in a front-backward direction, the intersection in front of the host vehicle and the area within the driver's field of view behind the host vehicle. The notification area is set to include, across an opposite lane in a right-left direction (that is, a direction along a width of the host vehicle), a left side of the host vehicle and the intersection located in front of the host vehicle that is about to turn right.As the vehicle speed increases, the notification range is reduced in the front-backward direction (that is, the range behind the host vehicle is reduced) and the notification range is reduced toward the left side of the host vehicle in the right-left direction.

[0022] At S130, based on the result of the object detection processing, the specified object, the crossing pedestrian, the guardrail, and the like located within the notification range set at S120 are extracted.

[0023] At S140, it is determined whether there is a specified object near the crossing pedestrian located in front of the host vehicle that will turn, or a specified object near an entrance of a road located in front of the host vehicle (hereinafter, "the crossing pedestrian and the like" means to include the crossing pedestrian and the entrance to the road). In the present embodiment, a region near the crossing pedestrian and the like means a region within a predetermined range (e.g., equal to or less than 2 meters) from the crossing pedestrian and both ends of the crossing pedestrian, or a region corresponding to the above-described region when there is no crossing pedestrian. If the specified object is near the crossing pedestrian and the like (S140: YES), the specified object is set as a first-priority object at S150.Conversely, if there is no specified object near the crossing pedestrian and the like (S140: NO), the processing of S150 is skipped and the processing proceeds to S160. Setting the specified object as the first priority object means that it is necessary to pay attention to the specified object that crosses the crossing pedestrian and the like, and to the specified object that is close to the crossing pedestrian and has a probability of crossing. For example, in the situations shown in [Fig. Fig. 6A, Fig. 7A, and Fig. 8A, specified objects A and B from the specified objects A to D are set as the first priority object.

[0024] At S160, it is determined that there is a specified object other than the first-priority object that has a possibility of encountering the crossing pedestrian within a predetermined time period. This determination is made based on a position of the specified object and the moving speed of the specified object.

[0025] If there is such a specified object (S160: YES), the specified object is set as a second-priority object at S170. Conversely, if there is no such specified object (S160: NO), the processing of S170 is skipped and the processing proceeds to S180. Setting the specified object as the second-priority object means that it is necessary to pay attention to the specified object that is not close to the crossing pedestrian and the like, whose probability of crossing the crossing pedestrian at a time when the host vehicle reaches the crossing pedestrian is high, because the moving speed of the specified object is high. For example, in the situation shown in Fig. 7A, a specified object A is set as the second priority object from among the specified objects A, C, and D.

[0026] At S180, it is determined whether there is a guardrail between the specified object and the own vehicle. If there is no guardrail between the specified object and the own vehicle (S180: NO), the specified object, in addition to the first-priority object and the second-priority object, is set as a third-priority object at S190. Conversely, if there is a guardrail between the specified object and the own vehicle (S180: YES), the processing of S190 is skipped and the processing proceeds to S200. That is, if there is a guardrail between the specified object and the own vehicle, the specified object is less likely to approach the own vehicle via the guardrail. Accordingly, the specified object is excluded from the objects to be watched for, and the other specified object is set as a third-priority object. For example, in the situations described in Fig. 6A and Fig. 7A, since there is no guardrail, the specified object C is set as the third priority object. In the situation shown in Fig. As shown in Figure 8A, a guardrail is located between the specified object C and the host vehicle, and the specified object C is not close to the crossing pedestrian, etc. Therefore, the specified object C is not set as the third-priority object and is excluded from the object to be paid attention to.

[0027] At S200, the processing for presenting information of the first to third priority objects is executed using the recognition support information presentation unit 51, and the processing is terminated.

[0028] In the information presentation processing, the first priority object has the highest priority and the third priority object has the lowest priority. A predetermined number of specified higher priority objects (for example, three objects in the present embodiment) are selectively presented. In particular, in Fig. 3 the vehicle is positioned at a position P. If a vertical direction in Fig. 3 is defined as a vehicle's direction of travel, the LED light-emitting unit is illuminated in a color depending on the priority, corresponding to the direction in which the specified object is located. Thus, the driver recognizes that the specified object is located in the direction indicated by the light spot. If there are multiple second-priority objects, the one outside the driver's field of vision has higher priority than the one within it. If there are multiple third-priority objects, the one closer to the intersection has higher priority.

[0029] Especially in the situations that Fig. 6A, Fig. 7A and Fig. 8A, the recognition support information presentation unit 51 presents the information shown in Fig. 6B, Fig. 7B and Fig. 8B. In Fig. 6B, Fig. 7B and Fig. 8B, dashed circles represent the light spots, each of which indicates that the corresponding LED light-emitting unit is illuminated, and hatching patterns indicate different colors. As shown in Fig. 7B, with respect to the second priority object with high moving speed (i.e., the specified object D), the light spot is shown as moving along an arrow in Fig. 7B is shown fluently. In the situation described in Fig. 8A and Fig. 8B, the specified object C is excluded, and the recognition support information presentation unit 51 presents the light spot corresponding to the specified objects A and B. <wirkungen>

[0030] As described above, the recognition support system 1 narrows the notification area based on the turning direction of the host vehicle, selects the objects to be presented based on the object category, sets the priority of the objects based on the object status, and reduces the objects to be presented. The recognition support system 1 reduces driver annoyance caused by unnecessary information. Furthermore, since the recognition support system 1 not only selects one object to be presented but presents multiple high-priority objects, the recognition support system 1 allows the driver to ultimately determine the handling of the specified object.

[0031] For example, in the case of a right turn, if a driver detects that there is a pedestrian or a cyclist crossing in front of the host vehicle that is about to turn right, the driver immediately determines not to proceed with the host vehicle regardless of the presence of an oncoming vehicle. Furthermore, the situation in which the driver pays too much attention to the road in front of the host vehicle and ignores the oncoming vehicle is prevented. Conversely, the situation in which the driver pays too much attention to the oncoming vehicle and ignores the road in front of the host vehicle is prevented. <Weitere Ausführungsformen>

[0032] Although the embodiment of the present disclosure is described above, the present disclosure is not limited to the above embodiment and may be implemented in various other ways. (1) In the above embodiment, a case where the surroundings detection sensor group 2 detects the objects well is described. If it is estimated that the surroundings detection sensor group 2 does not detect the objects well due to some obstacles such as oncoming vehicles or the like, it is possible to notify the driver of the situation to attract his attention. (2) The elements of the present disclosure are only conceptual elements, and the present disclosure is limited to the elements. For example, a function of one of the elements may be divided into multiple elements, or functions of the multiple elements may be combined into one of the elements. Likewise, at least one of the elements of the above embodiments may be replaced with a publicly known element having a similar function. Furthermore, at least one of the elements of the above embodiments may be added to the other embodiments, or at least one of the elements of the above embodiments may be replaced in the other embodiments.

[0033] The present disclosure may be implemented in a manner other than the above recognition support system, such as a program that enables a computer to function as devices providing the recognition support system.

[0034] It should be noted that a flowchart or the processing of the flowchart in the present disclosure includes sections (also referred to as steps), each of which is represented, for example, as S110. Further, each section may be divided into multiple subsections, while multiple sections may be combined into a single section. Further, each of the sections thus configured may be referred to as a device, module, or means.

[0035] Although the present disclosure is described based on the above embodiments, the present disclosure is not limited to the embodiments and structures. Various changes and modifications can be made in the present disclosure. Furthermore, various combinations and configurations, and further combinations and configurations including one, more than one, or less than one element are also possible in the present disclosure.< / wirkungen> < / verarbeitung> < / gesamtstruktur>

Claims

[1] A recognition support system comprising: an object detection device (2) that detects an object located in an environment of a host vehicle; a direction measuring device (3) that measures a direction in which a driver intends to turn the vehicle; an area setting device (S120) that sets a notification area based on the direction measured by the direction measuring device; a selecting device (S130 to S190) that defines the object detected by the object detecting device as a specified object when the object moves independently of the host vehicle, and selects the specified object located within the notification area to be presented to the driver based on a state of the specified object; and an information presenting device (51, S200) that presents information that enables the driver to recognize the specified object selected by the selecting device, where: the selecting device (S140, S150) defines the specified object as a first-priority object that is preferentially presented to the driver when the specified object is within a predetermined range that includes a crossing pedestrian that is in front of the host vehicle that will turn; the selection device (S160, S170) defines the specified object as a second-priority object that is preferentially presented to the driver if the specified object is estimated to encounter the crossing pedestrian within a predetermined time period; and the second priority object, which is outside the driver's field of vision, is presented more preferentially. [2] A recognition support system according to claim 1, wherein: the area setting device widens the notification area when a speed of the own vehicle increases. [3] A recognition support system according to any one of claims 1 or 2, wherein: the selection device (S180, S190) defines the specified object as a third priority object that is preferentially presented to the driver when the specified object is located at a position without a guardrail. [4] A recognition support system according to any one of claims 1 to 3, wherein: the specified object is a pedestrian or a bicycle.

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