Side object confirmation device, side object confirmation system, and marker line setting tool

Abstract

To provide a side object confirmation system for determining a danger degree of an object to approach the side of a vehicle.SOLUTION: A rear object confirmation system 1 includes: a camera 2 for photographing a rear side of a vehicle; a monitor 3 for displaying a camera image; and a side object confirmation device 7. The side object confirmation device 7 is configured to: adjust warning lines WL1, WL2 (WL21, WL22, WL23) dividing a range in a vehicle width direction and in a traveling direction in the side of the vehicle (Fig.7-10); allow the monitor to display warning lines when moving sideward; determine a danger degree of an entering object in response to position relation between an existence area A of the approaching object and the warning line; and issue warning by a buzzer 4 (Fig.11). The warning lines WL1, WL2 are adjusted on the monitor so as to match standard lines SL1, SL2 (SL21, SL22, SL23) (Fig.9) arranged on a road.SELECTED DRAWING: Figure 2

Description

[Technical field]

[0001] The present invention relates to a side object confirmation device or system that can confirm objects on the side of a traveling vehicle when the vehicle moves sideways to make a right or left turn, etc., and can output a warning if necessary. In particular, the present invention relates to a side object confirmation device or system that can set the detection range for objects on the side of the vehicle to a predetermined range in accordance with regulations, etc., and a marking line setting tool used to set the detection and warning range in the side object confirmation system. [Background technology]

[0002] The Ministry of Land, Infrastructure, Transport and Tourism has made it mandatory for new large freight vehicles (total vehicle weight over 8 tons) to be equipped with "side collision warning devices" that warn the driver if there is a risk of collision with a bicycle when making a left turn, from May 2022, and for vehicles still in production from May 2024. This is in response to the adoption of standards related to side collision warning devices (such as "Agreement Regulation on Side Collision Warning Devices (No. 151)") by the United Nations Economic Commission for Europe World Forum for Harmonization of Vehicle Regulations. According to these standards, side collision warning devices are capable of detecting objects such as bicycles that fall within the ranges described in the three points below, and outputting a warning if they are detected within a specified warning range. - In terms of the vehicle width, the system must detect the area between a position 0.9 m from the left side of the vehicle in the vehicle width direction (0.25 m for the front wheels) and a position 4.25 m from the left side of the vehicle in the vehicle width direction. - On the left side of the vehicle (including the range in front and behind the vehicle in the direction of travel), the system detects an area 7m forward from the front end of the vehicle and 30m backward from the front end of the vehicle in the direction of travel The warning range is on the left side of the vehicle, extending 6m from the front end of the vehicle to the rear in the direction the vehicle is traveling. Summary of the Invention [Problem to be solved by the invention]

[0003] Camera systems are already widely used, in which a camera is attached to the side of a vehicle (for example, a side mirror holder, etc.) to display an image of the side of the vehicle on a driver's seat monitor, and when the vehicle moves to the side to make a right or left turn, or when the vehicle stops on the shoulder of the road, the driver can visually check objects such as bicycles traveling on the side of the vehicle to confirm safety. However, according to the side collision warning device that has been made mandatory by the recent legal amendment, the specified side range to be cautious about is indicated by a specific distance, so it is not necessarily easy to actually confirm the safety of the specified range on the side of the vehicle body without error only by the driver's visual estimation on the monitor. In addition, side collision warning devices using remote detection means such as radar sensors and ultrasonic sensors are also possible, but although these means are technically capable of detection and warning within a specified detection range, due to their detection principle, they detect all objects within the range, so they give more warnings than necessary, which is a drawback in terms of usability.

[0004] The present invention has been made in consideration of the above-described conventional technology and the problems associated therewith, and has a first object to provide a side object confirmation device or system for confirming objects present to the side of a vehicle when the vehicle moves sideways, which can arbitrarily adjust a warning line defining a predetermined range in the vehicle width direction and driving direction on the side of the vehicle and display it on a monitor, and can objectively determine the degree of danger of an object according to the positional relationship between the object displayed on the monitor when the vehicle moves sideways and the adjusted warning line, and a second object to provide a marking line setting tool useful for actually setting a detection and warning range on the road in order to set a warning line in the side object confirmation system. [Means for solving the problem]

[0005] The side object confirmation device according to claim 1 comprises: A side object confirmation device for confirming an object on the side of a vehicle, comprising: This system is characterized by having a means for arbitrarily adjusting a warning line that defines a range in the vehicle width direction and driving direction on the side of the vehicle and displaying it on a display device, and by having a means for determining the degree of danger of an object based on the positional relationship between the object photographed by a photographing device and displayed on the display device and the adjusted warning line.

[0006] The side object confirmation system according to claim 2 comprises: A side object confirmation system for confirming an object on the side of a vehicle, comprising: An image capturing device provided in a vehicle for capturing an image of a side of the vehicle; a display device provided in the vehicle for displaying an image of the side of the vehicle captured by the imaging device; a side object confirmation device that arbitrarily adjusts a warning line that defines a range in a vehicle width direction and a traveling direction on the side of the vehicle and displays the line on the display device, and determines a degree of danger of an object according to a positional relationship between the object displayed on the display device and the adjusted warning line; The present invention is characterized by being provided with the following:

[0007] The side object confirmation system according to claim 3 is the side object confirmation system according to claim 2, The vehicle is characterized by comprising a warning output device for outputting a necessary warning based on the result of the determination by the side object confirmation device.

[0008] The side object confirmation system according to claim 4 is the side object confirmation system according to claim 3, The side object confirmation device, a warning line display and adjustment unit for adjusting the warning line displayed on the display device so as to match a marking line set on a road on the side of the vehicle, and displaying the same on the display device; an obstacle determination unit that detects an object presence area displayed on the display device while the vehicle is traveling, and determines a degree of danger of the object according to a positional relationship between the adjusted warning line displayed on the display device and the object presence area; The present invention is characterized in that it has the following features.

[0009] The side object confirmation system according to claim 5 is the side object confirmation system according to claim 4, the warning lines include vehicle width direction warning lines that define a range in the vehicle width direction on the side of the vehicle, and driving direction warning lines that are perpendicular to the vehicle width direction warning lines and indicate a distance in the vehicle driving direction on the side of the vehicle, The marker lines include a vehicle width direction marker line that defines a range in the vehicle width direction on the side of the vehicle, and a driving direction marker line that is perpendicular to the vehicle width direction marker line and indicates the distance in the vehicle's driving direction on the side of the vehicle.

[0010] The side object confirmation system according to claim 6 is the side object confirmation system according to claim 5, The object presence area is a display surrounding the periphery of the object, and is displayed in different colors depending on the positional relationship with the vehicle width direction warning line and the driving direction warning line.

[0011] The marker line setting jig described in claim 7 comprises: A marking line setting tool used to set a predetermined detection range and a warning range in a side object confirmation system that confirms an object on the side of a vehicle, A warning sign portion having a rectangular frame shape corresponding to the warning range, the warning sign portion being laid on the road so that its front end coincides with the front end of the vehicle; A detection sign unit having a rectangular frame shape corresponding to the detection range, the detection sign unit being connected to the front and rear of the warning sign unit in the vehicle travel direction and laid on the road; The present invention is characterized by being provided with the following: Effect of the Invention

[0012] According to the side object confirmation device described in claim 1 and the side object confirmation system described in claim 2, an image of the side of the vehicle and a warning line on the side of the vehicle are displayed superimposed on the display device. Also, depending on the positional relationship between the object that has entered the display screen of the display device and the warning line, the risk of the object colliding with the vehicle is judged. When moving the vehicle to the side, the driver can check the risk of the object on the side of the vehicle on the display screen of the display device using the warning line as a guide, and therefore can drive safely.

[0013] According to the side object confirmation system described in claim 3, the alarm output device can output a necessary alarm based on the result of the determination by the side object confirmation device, so that the effect of improving safety can be obtained compared to a case where the degree of danger of an object on the side of the vehicle is confirmed only by visually checking the display screen of the display device.

[0014] According to the side object confirmation system described in claim 4, in the adjustment work before use, by using the warning line display / adjustment part of the side object confirmation device, a sign line, marker, etc., which is provided in advance at an appropriate work place such as the road on the side of the vehicle, and a warning line on the side of the vehicle can be displayed on the display device in an overlapping manner, and the position of the warning line on the display screen of the display device can be adjusted so that the sign line, marker, etc. and the warning line match. Then, after the adjustment work, when the vehicle is moved to the side while the vehicle is running, the obstacle determination part of the side object confirmation device detects the presence area of ​​the object displayed on the display screen of the display device and can determine the danger level of the object according to the positional relationship between the warning line and the presence area on the display screen of the display device, so that the driver can drive safely so as not to come into contact with the object based on the determination.

[0015] According to the side object confirmation system recited in claim 5, in the adjustment work before use, the vehicle width direction warning lines and driving direction warning lines displayed on the display screen of the display device can be matched with the vehicle width direction sign lines and driving direction sign lines on the road displayed on the display screen of the display device, respectively, thereby making it possible to set the range indicated by the warning lines on the display screen of the display device in accordance with the standard.

[0016] According to the side object confirmation system described in claim 6, when the vehicle is moved sideways, the area in which the object is present displayed on the display screen of the display device is displayed in different colors depending on its positional relationship with the warning line displayed on the display screen of the display device, so that the driver can intuitively know the degree of danger of the object from the displayed color.

[0017] According to the marking line setting tool described in claim 7, it is possible to easily set a detection / warning range of a predetermined size and shape determined by laws, regulations, standards, etc. on the road surface to the side of a vehicle without actually measuring it. This is displayed on a display device of a side object confirmation system mounted on a vehicle, and by aligning the warning line on the display device with the displayed actual detection / warning range, it is possible to display a warning line corresponding to the legal warning range on the display device. [Brief description of the drawings]

[0018] [Figure 1] 1 is a schematic structural diagram showing an overall configuration of a side object confirmation system according to an embodiment; [Diagram 2] 1 is a functional block diagram showing an overall configuration of a side object confirmation system according to an embodiment; [Diagram 3] FIG. 2 is a diagram showing an example of a display screen on a monitor of the rear object checking system according to the embodiment. [Figure 4] This is a plan view showing the object detection range and warning range required for the "side collision warning device" that the Ministry of Land, Infrastructure, Transport and Tourism has made mandatory for large freight vehicles (total vehicle weight over 8 tons). [Diagram 5]1 is a plan view of a marker line setting jig used to set a predetermined detection range and a warning range in a side object confirmation device in a side object confirmation system according to an embodiment. FIG. [Figure 6] FIG. 11 is a diagram showing a method for setting a predetermined marker line on the side of a vehicle equipped with a lateral object confirmation system according to an embodiment, in which FIG. 11(a) is a front view of the vehicle (upper diagram) and a plan view (lower diagram) showing an example of a marker line set on the road on the side of the vehicle to serve as a marker during adjustment, and FIG. 11(b) is a plan view showing another example of a method for setting a marker line set on the road on the side of the vehicle to serve as a marker during adjustment. [Figure 7] FIG. 13 is a diagram showing an example of a display screen on a monitor of a side object confirmation system according to an embodiment, showing images of a marking line and a pylon set on the road to the side of the vehicle superimposed on a warning line before adjustment. [Figure 8] FIG. 13 is a diagram showing a warning line displayed on a monitor of the side object confirmation system according to the embodiment, and is a work instruction diagram showing, by numbers, the order of adjustment of adjustment points. [Figure 9] FIG. 13 is a diagram showing a warning line adjustment display screen on the monitor of the side object confirmation system of the embodiment, illustrating a state in which a part of each adjustment point is aligned with a marker line. [Figure 10] FIG. 13 is a diagram showing a warning line adjustment display screen on the monitor of the side object confirmation system of the embodiment, showing a state in which all adjustment points are aligned with the marker line. [Figure 11] FIG. 2 is a diagram illustrating an example of a display screen on a monitor of the side object confirmation system according to the embodiment. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0019] The configuration of a side object confirmation system 1 according to an embodiment will be described with reference to FIGS. 1 to 3. FIG. The side object confirmation system 1 of this embodiment aims to comply with the technical standards stipulated in the aforementioned "Agreement Regulation on Side Collision Warning Devices (No. 151)" and aims to realize a function that enables confirmation on a monitor of a rectangular detection and warning range on the side of the vehicle, for example, a maximum of 4m in the vehicle width direction and 37m in the vehicle running direction. However, when an image of the side of the vehicle to be displayed on a monitor is acquired by photographing with a camera, the aforementioned detection and warning range displayed on the monitor display screen looks different depending on the position (particularly the height) at which the camera is attached to the vehicle.

[0020] Therefore, in this embodiment, a designated detection / warning range is actually created by laying a marking line setting tool, which is a dedicated range setting sheet described later, on the side of a vehicle stopped on the road, or by attaching tape or the like to the road surface. Then, the side of the vehicle is photographed by a camera, and the image of the detection / warning range created on the road with the range setting sheet or tape and the warning line are both displayed on the display screen of a monitor, and the warning line can be aligned with the warning range within the detection / warning range by adjusting the position of the warning line on the display screen. This allows the position and size of the warning line displayed on the display screen of the monitor to be arbitrarily adjusted to match the required warning range, even if the vehicle type has different conditions such as vehicle width, camera specifications, and installation height, and regardless of the dimensions of the target designated detection / warning range.

[0021] A side object confirmation system 1 of this embodiment shown in the schematic configuration diagram of Fig. 1 is a system mounted on a vehicle and used by a driver to confirm the sides of the vehicle, and includes a camera 2 as an image capturing device that captures images of the sides of the vehicle, a monitor 3 as a display device that displays images captured by the camera 2, a buzzer 4 as an alarm output device, a GPS (Global Positioning System) antenna 5 as information acquisition means, a manual recording switch 6 that also serves as a microphone, and a side object confirmation device 7 to which these components are connected. Although not shown in Fig. 1 showing the hardware configuration of the system, a turn signal output when a turn signal is activated and a parking brake signal output when the parking brake is used are input as control signals to the side object confirmation device 7 from a control unit of the vehicle (not shown) (see Fig. 2).

[0022] Although the camera 2 and monitor 3 in the configuration example shown in Fig. 1 are connected to an on-board power supply by a power cable (not shown), power may also be supplied from a side object confirmation device 7 connected to the on-board power supply. The GPS antenna 5 acquires position information and provides it to the side object confirmation device 7. Also, by operating the manual recording switch 6, the image displayed on the monitor 3 can be recorded and saved in a memory unit 12 (see Fig. 2) described later together with position information and time information.

[0023] As shown in the control block diagram of FIG. 2, the side object confirmation device 7 includes a control unit 8 as a central function for controlling various controls for confirming a side object. That is, the control unit 8 transmits and receives video signals and control signals between the camera 2 and the monitor 3, and as shown in FIG. 3, displays an image of the side of the vehicle on the monitor 3, displays various control images superimposed thereon, detects an object displayed on the display screen 30, determines the type of the object, and controls the buzzer 4 to generate an alarm as necessary, and has other functions for performing such controls in cooperation with other functional parts. As described above, the control unit 8 of the side object confirmation device 7 receives, as control signals, a turn signal signal output when the turn signal is activated and a parking brake signal output when the parking brake is activated from a control unit of the vehicle (not shown), and the control unit 8 performs control operations related to object detection and determination of the danger level of the object only when the turn signal signal is input, and stops the control operations when the parking brake signal is input during the control operations. As a modification of this embodiment, a control operation may be performed to constantly detect objects on the side while driving, regardless of whether the turn signal is activated, and to sound a warning as necessary. In that case, an "accessory power supply signal" may be substituted for the "turn signal" in Fig. 2, and when a signal from the accessory power supply, rather than a signal from the turn signal, is input to the control unit 8, the control unit 8 may perform a control operation related to the detection of an object and the determination of the degree of danger of the object.

[0024] Fig. 3 is a diagram showing an example of the display screen 30 on the monitor 3 of the lateral object confirmation device 7. As shown in this figure, the images displayed on the display screen 30 of the monitor 3 include an actual video of the sides of the vehicle (in Fig. 3, two bicycles and people traveling on the left edge of the road, a guard rail, etc. are displayed), warning lines WL (vehicle width direction warning line WL1 and traveling direction warning line WL2 (WL21, WL22, WL23) which are control images indicating the predetermined warning range, a frame-shaped presence area A displayed to surround the object to indicate that an object has been detected, vehicle position coordinates 20, a time stamp 21, a recording status 23, a microphone status 24, a GPS reception status 25, and a status 26 of a memory card which is an external storage medium, etc.

[0025] 2, the side object confirmation device 7 has a warning line display and adjustment unit 9. The warning line display and adjustment unit 9 is connected to the control unit 8, and has a function of displaying a warning line WL, which is a control image indicating the width direction and the front-rear distance from the side of the vehicle, on the display screen 30 of the monitor 3 by cooperating with the control unit 8, and also of moving the warning line on the display screen 30 to adjust its position.

[0026] As shown in Fig. 2, the side object confirmation device 7 has an obstacle determination unit 10. The obstacle determination unit 10 is connected to the control unit 8, and by working together with the control unit 8, detects an object presence area A (see Fig. 3) displayed on the camera 2 when the traveling vehicle moves between lanes, etc., and has the functions of collating this presence area A with the adjusted warning line WL displayed on the monitor 3 and determining the danger level of the object according to their positional relationship, as will be described in detail later.

[0027] As shown in FIG. 2, the side object confirmation device 7 has an input unit 11. The input unit 11 is connected to the control unit 8, and can input instructions and data required to operate the side object confirmation device 7, as well as ON / OFF operation of the side object confirmation device 7. Specifically, the driver can operate the input unit 11 to cause the warning line display / adjustment unit 9 to function to display the warning line WL on the monitor 3, and input instructions to move the displayed warning line WL for adjustment, and can also input instructions required to operate the obstacle determination unit 10. The input unit 11 includes push-button type function switches, a numeric keypad, directional buttons such as an up button, a down button, a right button, and a left button for moving display elements on the monitor 3 in each direction, and a confirmation button for confirming switch or button operations, and these switches or buttons may be displayed on the monitor 3.

[0028] 2, the side object confirmation device 7 has a storage unit 12. The storage unit 12 is connected to the control unit 8, and stores data necessary for the operation of the side object confirmation device 7 and software for operating each unit of the side object confirmation device 7. The data includes, for example, original line data of the warning line WL displayed on the display screen 30 of the monitor 3, line adjustment data which is data of the warning line WL after adjustment, and recorded data of the image displayed by the monitor 3, while the software includes, for example, various software for operating each unit of the side object confirmation device 7 as described above.

[0029] The side object confirmation device 7 has an internal memory as well as a memory card, which is an external storage medium, as the storage unit 12. The memory card is removable and can be attached to and used in other side object confirmation devices 7, or the data can be copied onto multiple memory cards and attached to and used in side object confirmation devices installed in multiple other automobiles with the same conditions.

[0030] A method for adjusting the side object confirmation system 1 according to the embodiment before use will be described with reference to FIGS. FIG. 4 is a plan view showing the object detection range X and warning range Y (collectively referred to as detection / warning range Z) required for the "side collision warning device" that the Ministry of Land, Infrastructure, Transport and Tourism requires large freight vehicles (total vehicle weight over 8 tons) to be equipped with. As shown in the figure, the detection / warning range Z is a rectangular range divided by a distance of 4 m in the vehicle width direction (horizontal direction in FIG. 4) of the vehicle 50 and 37 m in the running direction (longitudinal direction in FIG. 4) of the vehicle 50. In this range, the corners at both ends of the front side in the traveling direction of the vehicle 50 are A and B, the corners at both ends of the rear side in the traveling direction are C and D, the points where the vehicle width direction line and the traveling direction line intersect at a position corresponding to the front end of the vehicle 50 are E and F, and the points where the vehicle width direction line and the traveling direction line intersect at a position 6 m backward along the traveling direction from the position corresponding to the front end of the vehicle 50 are G and H. The detection range X and warning range Y will be explained using the symbols of each point above. First, the warning range Y, where it is legally obligated to not only detect a lateral object but also to output a warning for the detected object, is EFHG. The detection range X, where it is necessary to detect an object that enters the range but is not obligated to output a warning, is ABFE for the front and GHDC for the rear. In this embodiment, although not shown in FIG. 4, a part of the rear detection range X that is continuous with the warning range Y in the driving direction can be set as a preliminary warning range YP. This preliminary warning range YP is not a legal obligation, and it is up to the user to decide whether to set it or not. The camera 2 provided at the left corner at the front end of the vehicle 50 corresponds to the front end of the warning range Y, the position E on the vehicle side, at a distance of 0.9 m between them.

[0031] Fig. 5 is a plan view of a marking line setting jig 60 (also referred to as a setting jig 60) used for setting the predetermined detection / warning range Z shown in Fig. 4 in the side object confirmation device 7 in the side object confirmation system 1 of the embodiment. This setting jig 60 is actually laid on the ground to the side of the parked vehicle 50 for use.

[0032] As shown in Fig. 5, the setting jig 60 is provided with a warning sign section 61 in the shape of a substantially rectangular frame corresponding to the warning range Y shown in Fig. 4. The warning sign section 61 is made of white tarpaulin (a fabric in which PVC resin is applied to both sides of a cloth or fabric such as polyester or nylon) or the like, and is made up of two width bands 62 of 4.25 m in the width direction (vertical direction in Fig. 5) of the vehicle 50, a first longitudinal band 63 of 6 m in length connecting one corresponding end of the two width bands 62, 62, and a second longitudinal band 64 of 6 m in length connecting a position 0.25 m from the other corresponding end of the two width bands 62, 62. Therefore, the other two ends of the two width bands 62, 62 protrude outward by 0.25 m from the second longitudinal band 64. Next, detection sign units 65, 66 each having a substantially square frame shape corresponding to the detection range X shown in Fig. 4 are connected to the front and rear of the warning sign unit 61 in the running direction (left and right direction in Fig. 5). The detection sign units 65, 66 are made of polyester rope or the like, and the connection parts with the warning sign unit 61 are detachable, and annular bodies 67 for confirming the position and fixing to the ground are attached to the four corners corresponding to positions A, B, C, and D in the detection range X shown in Fig. 4.

[0033] FIG. 6(a) shows a state in which a setting tool 60 is laid on a road on the side of a vehicle 50 equipped with a side object confirmation system 1, and a sign line corresponding to the detection and warning range Z of the actual dimensions is set on the road. In this case, the setting tool 60 is laid so that the front end of the warning sign section 61 in the traveling direction of the vehicle 50 (left and right direction in FIG. 6) coincides with the front end of the vehicle 50. When laid in this way, the camera attached to the front left end of the vehicle 50 is close to the front right end of the warning range Y (position E in FIG. 4) in a plan view. In FIG. 6(a), pylons P are placed as markers at the two front corners and the two rear corners of the detection range X to make the corners of the setting tool 60 more noticeable when operating on the screen 30 of the monitor 3 described later.

[0034] In Fig. 6(a), a part of the detection range X adjacent to the rear end of the warning range Y in the traveling direction of the vehicle 50 is set as the preliminary warning range YP. The preliminary warning range YP is an area close to the warning range Y, and is an area in which a preliminary warning is assumed to be issued before an object that appears in this area is detected within the warning range Y because it is highly likely that the object will enter the warning range Y. In the illustrated example, this preliminary warning range YP is a range of about 2 m behind the warning range Y in the traveling direction, and although it is not included in the setting jig 60 shown in Fig. 5, it can be defined by a preliminary width band 68 having a length of 4 m in the vehicle width direction of the vehicle 50, as shown by the dashed line in Fig. 6(a). This preliminary width band 68 can be made of a polyester rope or the like. In this way, by using the setting jig 60 manufactured to the same dimensions and shape as the detection and warning range Z specified by law, it is possible to easily set up a detection and warning range Z on the road having the specified dimensions and shape that comply with the law, and by appropriately changing the position at which the preliminary width band portion 68 is attached, it is possible to set a preliminary warning range YP of any width as required.

[0035] FIG. 6(b) is a diagram corresponding to the lower diagram of FIG. 6(a), and shows an example of setting the detection / warning range Z on the road without using the setting jig 60. That is, a tape is cut to a predetermined length, and the cut tape is attached on the road to the side of the vehicle 50 equipped with the side object confirmation system 1, and the detection / warning range Z of the actual dimensions is set. In the traveling direction of the vehicle 50, the detection range X 7 m ahead of the warning range Y and the detection range X 24 m behind the warning range Y are measured using a laser distance measuring device or the like to determine the above-mentioned positions A, B, C, and D (see FIG. 4), and a pylon P is placed at each position.

[0036] The power supply of the side object confirmation device 7 is turned on by operating the input unit 11 of the side object confirmation device 7, and the warning line display and adjustment unit 9 and the control unit 8 are made to function by operating the input unit 11, and the display and adjustment mode of the warning line WL is started. The line original data of the warning line WL stored in the memory unit 12 is read out.

[0037] 7 is a diagram showing an example of a display on the display screen 30 of the monitor 3 of the side object confirmation system 1, showing a state in which the sign line SL indicating the legal detection / warning range Z and the default warning line WL before adjustment are misaligned and overlapped. The sign line SL on the display screen 30 is a setting jig 60 laid on the road photographed by the camera 2 and displayed on the display screen 30, and four pylons P indicating the front-rear limits of the detection range X are also displayed on the display screen 30.

[0038] As shown in FIG. 7, in the sign line SL displayed on the display screen 30, a pair of lines that are parallel to the driving direction and define a range in the vehicle width direction on the side of the vehicle 50 are called vehicle width direction sign lines SL1, SL1. Also, lines that are parallel to the vehicle width direction perpendicular to the driving direction and indicate the distance in the driving direction of the vehicle 50 on the side of the vehicle 50 are called driving direction sign lines, and are called the first driving direction sign line SL21, the second driving direction sign line SL22, and the third driving direction sign line SL23 from the rear to the front in the driving direction. The area defined by the pair of vehicle width direction sign lines SL1, SL1, the first driving direction sign line SL21, and the second driving direction sign line SL22 is the preliminary warning range YP. The area defined by the pair of vehicle width direction sign lines SL1, SL1, the second driving direction sign line SL22, and the third driving direction sign line SL23 is the warning range Y. The detection range X existing before and after the warning range Y in the driving direction is displayed on the display screen 30 by a pair of vehicle width direction sign lines SL1, SL1 and a total of four pylons P arranged on both ends thereof.

[0039] As shown in FIG. 7, in the warning line WL displayed on the display screen 30, a pair of lines that are parallel to the driving direction and define a range in the vehicle width direction on the side of the vehicle 50 are called vehicle width direction warning lines WL1, WL1. A line that is parallel to the vehicle width direction perpendicular to the driving direction and indicates a distance in the driving direction of the vehicle 50 on the side of the vehicle 50 is called a driving direction warning line WL2, and the lines are called the first driving direction warning line WL21, the second driving direction warning line WL22, and the third driving direction warning line WL23 in order from the rear to the front in the driving direction. The area defined by the pair of vehicle width direction warning lines WL1, WL1, the first driving direction warning line WL21, and the second driving direction warning line WL22 is the area that should be matched with the preliminary warning range YP. The area defined by the pair of vehicle width direction warning lines WL1, WL1, the second driving direction warning line WL22, and the third driving direction warning line WL23 is the area that should be matched with the warning range Y.

[0040] 8 is a diagram showing warning lines WL displayed on the display screen 30 of the monitor 3, and the numbers shown in the outline polygons in the diagram indicate the positions on the lines to be moved and the order in which the vehicle width direction warning line WL1 and the driving direction warning line WL2 (WL21-23) are moved in the adjustment work for moving them on the screen. Each position (number 1-10) on each line can be moved by any amount in any direction by operating the input unit 11 (see FIG. 2).

[0041] Position 1, indicated by the white arrow in Figure 8, is moved by operating the up, down, left, and right directional buttons on the input unit 11, and moved to align with the corresponding position of the marker line SL (position F in Figure 4) not shown in Figure 9, as shown at (1) in Figure 9, and then confirmed by pressing and holding the confirmation button.

[0042] As shown in Fig. 9, position 2 shown in (2) is moved to the corresponding position of the marker line (position E in Fig. 4) by operating the input unit 11, and is confirmed by matching it. Furthermore, position 3 shown in (3) is moved to the corresponding position of the marker line (position H in Fig. 4) by operating the input unit 11, and is confirmed by matching it.

[0043] As shown in FIG. 10, the position 4 indicated by (4) is moved to the corresponding position on the marker line (position G in FIG. 4) by operating the input unit 11, and is confirmed by matching it.

[0044] As shown in FIG. 10, the positions of numbers 5 to 8 on the vehicle width direction warning line WL1 are further moved by operating the input unit 11 to align with the vehicle width direction sign line SL1 located on the outer side in the vehicle width direction, and are confirmed by matching them.

[0045] As shown in FIG. 10, furthermore, two positions, number 9 and number 10, which are rear corner positions of the warning line WL, are moved by operating the input unit 11 to match the positions of both ends of the spare width belt portion 68 shown in FIG. 6, although not shown in FIG. 4, and are confirmed by matching them.

[0046] By making the above adjustments, as shown in FIG. 10, the area defined by the pair of vehicle width direction warning lines WL1, WL1 and the driving direction warning line WL2 (WL21, WL22, WL23) displayed on the display screen 30 of the monitor 3 will indicate the same area as the specified preliminary warning area YP and warning area Y actually formed with tape on the road to the side of the vehicle 50.

[0047] As shown in FIG. 4 or FIG. 6, the warning range Y required by the law and displayed on the road by the setting jig 30 conforming to the law is rectangular. However, as shown in FIG. 7, the warning range Y is displayed in a curved shape according to the angle of view of the camera 2 on the screen 30 of the monitor 3 because the imaging range of the camera 2 is wide. That is, the pair of vehicle width direction sign lines SL1, SL1 parallel to each other are displayed in a shape with a bulge at the approximate center, and in particular, the vehicle width direction sign line SL1 on the vehicle 50 side (the front side of the screen 30) is displayed in a curved shape that is greatly bent forward (in FIG. 7, it is shown as a broken line for convenience of illustration). In order to make the vehicle width direction warning line WL1 match the curved vehicle width direction sign line SL1, as described above, a movable position is provided on the pair of vehicle width direction warning lines WL1, WL1 displayed on the screen 30 of the monitor 3. That is, on the near side vehicle width direction warning line WL1 corresponding to the near side vehicle width direction sign line SL1 displayed as a long line with a relatively large curvature as shown in Fig. 7, three positions, (6), (7), and (8), are set as position-adjustable points as shown in Fig. 8, and on the far side vehicle width direction warning line WL1 corresponding to the far side vehicle width direction sign line SL1 displayed as a short line with a relatively small curvature as shown in Fig. 7, the position (5) is set as a position-adjustable point as shown in Fig. 8. In order to align the warning line with the rectangular warning range Y, the warning line WL cannot be accurately aligned with the warning range Y displayed on the screen 30 by simply aligning the four points, (1), (2), (3), and (4), on the warning line WL in Fig. 8 with the four vertices of the rectangular warning range Y. However, according to this embodiment, at least one or more movable positions are provided on the pair of vehicle width direction warning lines WL1, WL1, so that the warning line WL can be accurately aligned with the warning range Y displayed on the screen 30 in a distorted manner according to the angle of view of the camera 2. The same applies to the preliminary warning range YP.

[0048] A method of using the side object confirmation system 1 according to the embodiment after adjustment will be described with reference to FIG.

[0049] FIG. 11 is a diagram showing an example of the display screen 30 of the monitor 3 in the side object confirmation system 1 during operation, and shows the positional relationship between an object presence area A and a warning line WL, etc.

[0050] When the engine of the vehicle 50 is started, the side object confirmation system 1 is automatically started, and as shown in FIG. 11, regardless of whether or not a detection operation is performed, the warning line WL and other icons are displayed on the display screen 30 of the monitor 3. The input unit 11 (see FIG. 2) can be operated appropriately to open the setting menu of the system and turn off the normal detection operation mode of this embodiment (for example, called "AI detection mode"). In this state, the warning line WL and other icons are not displayed on the display screen 30, and the side object detection and warning operation can be performed. Although the detection range X is not displayed by dividing it into lines, the entire area is displayed on the display screen 30. Therefore, the driver can visually check the state within the detection range X on the side of the vehicle 50, and can also visually check the object within the preliminary warning range YP and warning range Y divided by the warning line WL. Moreover, the color of the existence area A displayed surrounding the object as described later allows the driver to visually determine the positional danger of the object, so that the driver can drive safely without coming into contact with the object on the side of the vehicle 50.

[0051] As shown in FIG. 11, when an object appears within the detection and warning range Z on the side of the vehicle 50 during operation of the side object confirmation system 1, the camera 2 captures the object, and the monitor 3 displays the object on the display screen 30. The control unit 8 and obstacle determination unit 10 of the rear object confirmation device 7 recognize the object on the display screen 30 of the monitor 3. According to the control unit 8 and obstacle determination unit 10 of the embodiment, as an example, if the object is a moving object, it can be recognized if it is 80 cm or more in height and 30 cm or more in diameter, and if the object is a fixed object, it can be recognized if it is 50 cm or more in height and 30 cm or more in diameter. The control unit 8 and obstacle determination unit 10 display on the display screen 30 an existence area A consisting of a frame-shaped line surrounding the recognized object.

[0052] The display color of the line of the existence area A is displayed in a different color depending on the positional relationship with the vehicle width direction warning line WL1 and the driving direction warning line WL2 (WL21, WL22, WL23) from the viewpoint of attracting the driver's attention. For example, when the existence area A is in the detection range X, the line of the existence area A is displayed in light blue. When the existence area A falls within the preliminary warning range YP, the line of the existence area A is displayed in yellow as a preliminary warning to attract the driver's attention. When the existence area A falls within the warning range Y, the line of the existence area A is displayed in red, which is a warning color, to strongly attract the driver's attention. Note that in order to attract the driver's attention not only visually but also aurally, when the line of the existence area A is displayed in yellow, the buzzer 4 is activated with an intermittent sound, and when the line of the existence area A is displayed in red, the buzzer 4 is activated with a continuous sound.

[0053] Alternatively, the color of the line indicating the presence area A may be differentiated, for example, by displaying it in red, a warning color, for moving objects including people and bicycles, and in blue for fixed objects, regardless of the positional relationship with the vehicle width direction warning line WL1 and the driving direction warning line WL2 (WL21, WL22, WL23).When the red presence area A enters the preliminary warning range YP, an intermittent buzzer sound may be sounded to attract the driver's attention, and when the presence area enters the warning range Y, an additional warning means such as a continuous buzzer sound or a flashing light may be used to strongly attract the driver's attention.

[0054] Furthermore, the control unit 8 and the obstacle determination unit 10 may refer to the AI ​​data stored in the storage unit 12 to estimate the type of the object with a high degree of accuracy from the object's shape, size, surface condition, color, manner of movement, speed of movement, etc. In this case, the determined type of object may be displayed in the form of text near the displayed existence area A.

[0055] If the side object confirmation device 7 has a removable memory card as the storage unit 12, and the line adjustment data is stored in the memory card, it can be copied to another memory card and inserted into the side object confirmation device 7 mounted on another vehicle 50 having the same vehicle width, camera 2 specifications, installation conditions, etc., and used. In other words, once the warning line WL (warning range Y) is adjusted once, it is only necessary to insert the memory card having the line adjustment data into the rear object confirmation device 7 of another vehicle 50 having the same vehicle model, camera specifications, and installation position, and it becomes unnecessary to repeat the work on the road or after securing a wide flat area for the warning line adjustment. Therefore, for transportation companies and the like that own and operate many trucks of the same model, it is convenient because the warning line (warning range Y) adjustment work is completed only once. [Explanation of symbols]

[0056] 1. Side object detection system 2. Camera as a photographic device 3. Monitor as a display device 4. Buzzer as an alarm output device 7... Rear object confirmation device 9. Warning line display and adjustment section 10...Obstacle detection section 30…Display screen 50…Vehicle 60...Marking line setting jig X: Detection range Y...Warning range YP…Preliminary warning range A: Area where objects exist WL…Warning line WL1: Vehicle width warning line WL2…Driving direction warning line WL21…First driving direction warning line WL22: Second driving direction warning line WL23…Third driving direction warning line SL: Sign line SL1…Vehicle width direction sign line SL2: Driving direction sign line SL21: First direction sign line SL22: Second direction sign line SL23: Third direction sign line

Claims

1. A side object confirmation device for confirming an object on the side of a vehicle, comprising: A side object confirmation device comprising: a means for arbitrarily adjusting a warning line that defines a range in the vehicle width direction and driving direction on the side of the vehicle and displaying the line on a display device; and a means for determining the degree of danger of an object based on the positional relationship between the adjusted warning line and an object photographed by an imaging device and displayed on the display device.

2. A side object confirmation system for confirming an object on the side of a vehicle, comprising: An image capturing device provided in a vehicle for capturing an image of a side of the vehicle; a display device provided in the vehicle for displaying an image of the side of the vehicle captured by the imaging device; a side object confirmation device that arbitrarily adjusts a warning line that defines a range in a vehicle width direction and a traveling direction on the side of the vehicle and displays the line on the display device, and determines a degree of danger of an object according to a positional relationship between the object displayed on the display device and the adjusted warning line; A side object confirmation system comprising:

3. 3. The side object confirmation system according to claim 2, further comprising an alarm output device for outputting a necessary alarm based on the result of the determination by said side object confirmation device.

4. The side object confirmation device is a warning line display and adjustment unit that adjusts the warning line displayed on the display device so as to match a marking line set on a road on the side of the vehicle, and displays the same on the display device; an obstacle determination unit that detects an object presence area displayed on the display device while the vehicle is traveling, and determines a degree of danger of the object according to a positional relationship between the adjusted warning line displayed on the display device and the object presence area; 4. The side object recognition system according to claim 3, further comprising:

5. the warning lines include a vehicle width direction warning line that defines a range in a vehicle width direction on a side of the vehicle, and a driving direction warning line that is perpendicular to the vehicle width direction warning line and indicates a distance in a vehicle driving direction on the side of the vehicle, 5. The side object confirmation system according to claim 4, wherein the marker lines include a vehicle width direction marker line that defines a range in the vehicle width direction on the side of the vehicle, and a driving direction marker line that is perpendicular to the vehicle width direction marker line and indicates a distance in the vehicle driving direction on the side of the vehicle.

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

7. A marking line setting tool used to set a predetermined detection range and a warning range in a side object confirmation system that confirms an object on the side of a vehicle, a warning sign portion having a rectangular frame shape corresponding to the warning range, the warning sign portion being laid on the road so that a front end of the warning sign portion coincides with a front end of the vehicle; A detection sign unit having a rectangular frame shape corresponding to the detection range, the detection sign unit being connected to the front and rear of the warning sign unit in the vehicle travel direction and laid on the road; A marker line setting jig comprising:

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