Vehicle control device

Abstract

To provide a vehicle control device for detecting a distance between a mobile body and an own vehicle with the use of a monocular camera so as to issue a warning when a predetermined condition related to the distance is established, and for enhancing safety of the mobile body approaching the own vehicle while descending a staircase or a slant road.SOLUTION: A processor of a vehicle control device 1 is configured to: acquire a second distance between an own vehicle and a mobile body based on a position of a mobile body image in a vertical axial direction in an imaging range of a monocular camera; and improve priority of warning processing to pay attention to the mobile body when the second distance is greater than a first distance between the own vehicle and a stationary object and its difference exceeds a threshold, and also when a feature quantity exceeds a predetermined value, the feature quantity being a change quantity of the position of the mobile body image with respect to a change quantity of a size of the mobile body image in a case where the mobile body image is moved downward and also enlarged within the imaging range of the monocular camera.SELECTED DRAWING: Figure 2

Description

Technical Field

[0001] The present invention relates to a vehicle control device that issues an alarm to a driver of a host vehicle when a predetermined condition regarding the distance between the host vehicle and an object is satisfied.

Background Art

[0002] A vehicle control device that issues an alarm to a driver of a host vehicle when the distance between the host vehicle and an obstacle is equal to or less than a threshold value has been proposed (see, for example, Patent Document 1 below). This vehicle control device (hereinafter referred to as the "conventional device") includes a monocular camera and a processor. The monocular camera is directed, for example, to the rear of the host vehicle. The monocular camera provides an image obtained by photographing a region behind the host vehicle to the processor at a predetermined frame rate. When the host vehicle is reversing, the processor calculates the distance between an object located behind the host vehicle and the host vehicle by processing a plurality of images (a plurality of images with different shooting times) acquired from the monocular camera according to a predetermined algorithm.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

[0004] Generally, an object reflected in the upper part of an image IMG acquired by a monocular camera is likely to be an object at a relatively far position from the monocular camera. On the other hand, an object reflected in the lower part of the same image IMG is likely to be an object at a relatively close position to the monocular camera. However, there may be a case where an object reflected in the upper part of the same image IMG is at a relatively close position to the monocular camera and at a position higher than the monocular camera. Therefore, when estimating (calculating) the distance between the host vehicle and each object based only on the position (vertical coordinate in the image) of each object within the imaging range (angle of view) of the monocular camera mounted on the host vehicle, the estimation accuracy is low. For example, when a monocular camera captures a scene where a pedestrian is approaching the host vehicle while descending a staircase (or an inclined road), the pedestrian is likely to be reflected in the upper part of the image IMG[t0] acquired at time point t0 when the pedestrian is located near the uppermost step of the staircase. Therefore, although the distance between the pedestrian and the host vehicle is actually relatively small, since the pedestrian is reflected in the upper part of the image IMG[t0], there is a risk of erroneously estimating that the distance between the host vehicle and the pedestrian is relatively large.

[0005] One object of the present invention is to provide a vehicle control device that detects the distance between a moving object and a host vehicle using a monocular camera and issues an alarm when a predetermined condition regarding the distance is satisfied, and that can enhance the safety of a moving object approaching the host vehicle while descending a staircase or an inclined road.

[0006] To solve the above problems, the vehicle control device (1) of the present invention includes an in-vehicle sensor (20) including a distance measuring sensor (21) that acquires the distance between the host vehicle and an object existing in a predetermined first region in the traveling direction of the host vehicle (V), and a monocular camera (22) that captures a predetermined second region in the traveling direction of the host vehicle. Based on the distance acquired by the ranging sensor, the distance between the stationary object located in the traveling direction of the host vehicle and the host vehicle is acquired as a first distance (ΔL1). Further, based on the image (IMG) acquired by the monocular camera, the distance between the moving object moving toward the host vehicle side and the host vehicle is acquired as a second distance (ΔL2). When a first condition regarding the first distance is satisfied, a first warning process for controlling the notification device (30) so that a predetermined first warning is issued, and when a second condition regarding the second distance is satisfied, a second warning process for controlling the notification device so that a predetermined second warning is issued, and a processor (10) configured to be capable of executing the above. is provided. When the first condition is satisfied and the second condition is satisfied, the processor acquires the second distance based on the position (Yc) of the image of the moving object in the vertical axis direction of the imaging range of the monocular camera. When the second distance is greater than the first distance and the difference (ΔL) therebetween exceeds a threshold value (ΔLth), when the image of the moving object moves downward and expands within the imaging range of the monocular camera, the feature amount (α = ΔYc / ΔYs), which is the change amount (ΔYc) of the position (Yc) of the image of the moving object with respect to the change amount (ΔYs) of the size (Ys) of the image of the moving object, is configured to increase the priority of the second warning process with respect to the first warning process when exceeding a predetermined value (αth).

[0007] The processor of the vehicle control device according to the present invention acquires the second distance based on the position of the image of the moving object within the imaging range of the monocular camera. However, as described above, the accuracy of the second distance acquired based only on the position of the image of the moving object may be low. For example, even if it is estimated that the second distance (the distance between the host vehicle and the moving object) is relatively large compared to the first distance (the distance between the host vehicle and the stationary object), actually, the difference between the first distance and the second distance may be minute.

[0008] Here, when the moving object is photographed with a monocular camera from its front side in a scene where the moving object moves toward the host vehicle side, within the imaging range of the monocular camera, the image of the moving object (for example, the lower end of the image of the moving object) moves downward and expands. And in a scene where the moving object moves toward the host vehicle side while descending a staircase or an inclined road, the larger the vertical movement distance, the larger the feature amount (the amount of change in the position of the image of the moving object with respect to the amount of change in the size of the image of the moving object). Therefore, in the present invention, when the feature amount exceeds a predetermined value, it is considered that the accuracy (precision) of the second distance (the distance estimated based only on the position of the image of the moving object) is low, and the processor increases the priority of the second warning process. Thereby, calling attention to the moving object is prioritized, and the safety of the moving object is enhanced.

[0009] In a vehicle control device according to an aspect of the present invention, The predetermined value is the amount of change in the position of the image of the moving object with respect to the amount of change in the size of the image of the moving object within the imaging range when the moving object moves toward the host vehicle side parallel to the optical axis (ax) of the monocular camera.

[0010] According to this, when the moving object moves toward the host vehicle side while descending in a direction inclined with respect to the optical axis of the monocular camera, the priority of the second warning process is increased.

[0011] In a vehicle control device according to another aspect of the present invention, The stationary object is a staircase, The moving object is a pedestrian descending the staircase.

[0012] According to this, when a pedestrian moves toward the host vehicle side while descending a staircase, the priority of the second warning process (the priority of calling attention to the pedestrian) is increased.

[0013] In a vehicle control device according to another aspect of the present invention, The first condition is satisfied when the first distance is less than or equal to the first threshold value, The second condition is satisfied when the second distance is less than or equal to the second threshold value, When the feature amount exceeds the predetermined value, the processor temporarily changes the first threshold value and the second threshold value so that only the second condition is satisfied.

[0014] According to this, when the feature amount exceeds the predetermined value, the first threshold value and the second threshold value are temporarily changed so that only the second condition is satisfied. For example, the first threshold value is set to an extremely small value, and the second threshold value is set to an extremely large value. Thereby, the priority of the second warning process is enhanced.

[0015] In a vehicle control device according to another aspect of the present invention, The stationary object is a shielding object that restricts the movement of the moving body toward the host vehicle side, When the shielding object does not exist and the second condition is satisfied, the processor executes the second warning process.

[0016] According to this, the processor recognizes only the shielding object (for example, a wall, a fence) as a stationary object, and even if there is a stationary object other than the shielding object, the processor regards that object as non-existent. That is, the processor acquires the first distance that is the distance between the shielding object and the host vehicle, but does not acquire the distance between the stationary object other than the shielding object and the host vehicle. When the shielding object does not exist and the moving body exists, the processor executes the second warning process when the second warning condition regarding the second distance that is the distance between the moving body and the host vehicle is satisfied. Thereby, the safety of the moving body is enhanced.

Brief Description of Drawings

[0017]

Figure 1

Figure 2

Figure 3

Figure 4

DETAILED DESCRIPTION OF THE INVENTION

[0018] (Schematic) As shown in FIG. 1, a vehicle control device 1 according to an embodiment of the present invention is applied to a vehicle V (hereinafter referred to as "own vehicle") having an automatic driving function. When the distance between the own vehicle and an object located around it becomes equal to or less than a threshold value in a state where the automatic driving function is disabled, the vehicle control device 1 has a warning function of issuing a warning to the driver of the own vehicle to draw attention to the object.

[0019] (Specific Configuration) As shown in FIG. 1, the vehicle control device 1 includes an ECU 10, an in-vehicle sensor 20, and a notification device 30.

[0020] The ECU 10 includes a microcomputer including a CPU 10a, a ROM 10b (rewritable non-volatile memory), a RAM 10c, a timer 10d, etc. The CPU realizes various functions by executing a program (instruction) stored in the ROM. The ECU 10 is connected to other ECUs via a CAN (Controller Area Network).

[0021] The in-vehicle sensor 20 includes a sonar 21 as a sensor (distance measuring sensor) for measuring the distance between the own vehicle and an object located around it. The in-vehicle sensor 20 also includes a camera 22 for photographing the surrounding area of the own vehicle.

[0022] The sonar 21 intermittently emits ultrasonic waves to the rear right obliquely and rear left obliquely of the own vehicle, and receives ultrasonic waves (reflected waves) reflected by a three-dimensional object. The sonar 21 calculates the distance between the own vehicle and the three-dimensional object based on the time from when the ultrasonic wave is transmitted until the reflected wave is received, and provides the calculation result to the ECU 10.

[0023] The camera 22 includes an imaging device and an image analysis device. The imaging device is, for example, a monocular camera incorporating a CCD. The imaging device is installed at the rear of the host vehicle and is directed rearward of the host vehicle. The imaging device captures an area behind the host vehicle at a predetermined frame rate to acquire image data. The image analysis device analyzes the image data acquired from the imaging device and recognizes (identifies) a target existing around the host vehicle from the image IMG. The image analysis device can recognize, for example, a pedestrian P. That is, the image analysis device distinguishes the area occupied by the pedestrian P from other areas in the acquired image IMG. Then, as shown in FIGS. 2 and 3, the image analysis device acquires the vertical coordinate Yc, which is the position in the vertical axis (Y-axis) direction of the feet (feature points) of the pedestrian P in the image IMG (imaging range), and the vertical size Ys, which is the size (number of pixels) in the vertical axis direction, and provides information representing the vertical coordinate Yc and the vertical size Ys to the ECU 10. Further, the image analysis device recognizes a wall, a fence, etc. reflected in the image IMG and provides the recognition result to the ECU 10.

[0024] Furthermore, the in-vehicle sensor 20 includes a vehicle speed sensor 23 for acquiring the vehicle speed of the host vehicle. The vehicle speed sensor 23 includes a rotation speed measurement circuit and a vehicle speed calculation device. The rotation speed measurement circuit includes a pulse generation circuit that outputs a pulse (electrical signal) each time the wheels of the host vehicle rotate by a predetermined angle, and a counter circuit that counts the number of the pulses. The vehicle speed calculation device acquires the output value (number of pulses) of the counter circuit at a predetermined period (each time a unit time elapses), and resets the count value to "0". In this way, the vehicle speed calculation device acquires the rotation speed N of the wheels per unit time. The vehicle speed calculation device multiplies the rotation speed N by a coefficient k to acquire the vehicle speed vs (absolute value) of the host vehicle. Then, the vehicle speed calculation device provides information representing the acquired vehicle speed vs to the ECU 10.

[0025] Furthermore, the in-vehicle sensor 20 includes a shift position sensor 24 for acquiring the current position of the shift lever of the host vehicle (such as a forward position, a reverse position, etc.). The shift position sensor 24 provides information representing the acquired current shift position to the ECU 10.

[0026] The notification device 30 includes an image display device and an acoustic device. The image display device displays an image based on an image display command acquired from the ECU 10. The acoustic device reproduces a sound based on a voice reproduction command acquired from the ECU 10.

[0027] (Alarm function) The ECU 10 sequentially acquires information representing the shift position from the shift position sensor 24. When the current shift position is a reverse position, the ECU 10 sequentially acquires the distance between the host vehicle and a three-dimensional object from the sonar 21. Also, the ECU 10 sequentially acquires the vehicle speed vs of the host vehicle from the vehicle speed sensor 23. The ECU 10 acquires the distance ΔL1 between the stationary object located behind the host vehicle and the host vehicle based on this information. When the distance ΔL1 is less than or equal to the threshold value ΔL1th, the ECU 10 determines that the first alarm condition is satisfied.

[0028] Also, when the current shift position is a reverse position, the ECU 10 sequentially acquires the vertical coordinate Yc (the position of the feet of the pedestrian P in the image IMG) from the camera 22. The ECU 10 estimates the distance ΔL2 between the host vehicle and the pedestrian P (the distance in the direction parallel to the optical axis ax of the camera 22) based on the vertical coordinate Yc. Specifically, a map MP (database) defining the relationship between the vertical coordinate Yc and the distance ΔL2 is stored in the ROM 10b, and the ECU 10 refers to the map MP to acquire the distance ΔL2 (current value). When the distance ΔL2 is decreasing (that is, when the pedestrian P is moving toward the host vehicle side) and the distance ΔL2 is less than or equal to the threshold value ΔL2th, the ECU 10 determines that the second alarm condition is satisfied.

[0029] In the map MP, the distance ΔL2a associated with the vertical coordinate Yca is greater than the distance ΔL2b associated with the vertical coordinate Ycb (<Yca) below the vertical coordinate Yca. That is, it is estimated that the distance between the pedestrian P and the host vehicle when the pedestrian P is reflected in the upper part of the image IMG is greater than the distance between the pedestrian P and the host vehicle when the pedestrian P is reflected in the lower part of the same image IMG.

[0030] When the first warning condition is satisfied and the second warning condition is not satisfied, the ECU 10 controls the notification device 30 so that a predetermined first warning for alerting the driver to a stationary object behind the host vehicle is issued (first warning process). Specifically, the ECU 10 causes the notification device 30 to display a predetermined first image and reproduce a predetermined first voice.

[0031] When the first warning condition is not satisfied and the second warning condition is satisfied, the ECU 10 controls the notification device 30 so that a predetermined second warning for alerting the driver to the pedestrian P behind the host vehicle is issued (second warning process). Specifically, the ECU 10 causes the notification device 30 to display a predetermined second image and reproduce a predetermined second voice.

[0032] When the first warning condition is satisfied and the second warning condition is satisfied, the ECU 10 controls the notification device 30 so that either the first warning or the second warning is issued as described below. That is, the ECU 10 controls the notification device 30 so that the first warning is issued when it is determined that attention should be given priority to alerting the driver to a stationary object. On the other hand, the ECU 10 controls the notification device 30 so that the second warning is issued when it is determined that attention should be given priority to alerting the driver to the pedestrian P.

[0033] Specifically, the ECU 10 determines whether or not the following condition X regarding the magnitude relationship between the distance ΔL1 and the distance ΔL2 is satisfied. (Condition X) ··· The difference ΔL (= ΔL2 - ΔL1) between the distance ΔL1 and the distance ΔL2 exceeds the threshold value ΔLth.

[0034] When it is estimated that "the pedestrian P is at a position closer to the host vehicle than the stationary object" or "when it is estimated that the pedestrian P is located farther from the host vehicle than the stationary object as viewed from the host vehicle and the pedestrian P and the stationary object are estimated to be at relatively close positions", Condition X is not satisfied. In this case, it is preferable to prioritize alerting about the contact between the host vehicle and the pedestrian P. Therefore, when Condition X is not satisfied, the ECU 10 controls the notification device 30 so that a second alarm is issued.

[0035] On the other hand, when it is estimated that the pedestrian P is located considerably farther from the stationary object as viewed from the host vehicle, Condition X is satisfied. Here, the distance ΔL2 is a value obtained (estimated) based only on the vertical coordinate Yc of the image of the pedestrian P reflected in the image IMG (the coordinate of the feet of the pedestrian P within the imaging range of the monocular camera). As described above, the accuracy of the distance ΔL2 obtained by this method is low. Therefore, even if Condition X is satisfied (it is estimated that the pedestrian P is located considerably farther from the stationary object), in reality, the stationary object and the pedestrian P may be close to each other. Such false detection occurs, for example, when the pedestrian P is at a relatively high position compared to the host vehicle (camera 22) as shown in FIG. 2.

[0036] FIG. 2 shows a scene where the pedestrian P is approaching the host vehicle while descending the staircase STP. In this example, as shown in FIG. 2(A), the pedestrian P is reflected in the upper part of the image IMG[t0] obtained at the time point t0 when the pedestrian P is located at the uppermost step of the staircase STP. Therefore, the distance ΔL2 (the distance obtained based on the vertical coordinate Yc) is considerably larger than the distance ΔL1 (the distance between the host vehicle and the staircase STP obtained by the sonar 21), and Condition X is satisfied (ΔL2 - ΔL2 > ΔLth). That is, in this example, it is estimated (false detected) that the pedestrian P is located considerably farther from the staircase STP.

[0037] The ECU 10 determines whether such a false detection has occurred as follows. Specifically, when condition X is satisfied, the ECU 10 sequentially acquires the vertical coordinate Yc and the vertical size Ys from the camera 22. Then, based on the change amount of the vertical coordinate Yc with respect to the change amount of the vertical size Ys (the change amount of the distance ΔL2 (estimated value)), the ECU 10 determines whether the pedestrian P is moving toward the host vehicle side while descending the staircase STP or the inclined road. Hereinafter, this determination process will be specifically described with reference to FIGS. 2 and 3. In the examples shown in FIGS. 2 and 3, the host vehicle is temporarily stopped.

[0038] As shown in FIG. 2, in the process of transitioning from the time point t0 when the pedestrian P is located at the uppermost step of the staircase STP to the time point t1 when the pedestrian P moves to the middle stage (FIG. 2(B)), the pedestrian P moves a distance Δd in a direction parallel to the optical axis ax of the camera 22. The vertical coordinate Yc2B, which is the coordinate of the feet of the pedestrian P in the image IMG[t1] acquired at the time point t1, is located below the vertical coordinate Yc2A, which is the coordinate of the feet of the pedestrian P in the image IMG[t0] acquired at the time point t0. Also, the vertical size Ys2B of the pedestrian P in the image IMG[t1] is larger than the vertical size Ys2A of the pedestrian P in the image IMG[t0]. That is, in the process of the pedestrian P descending one step of the staircase STP, within the imaging range of the camera 22, the vertical coordinate Yc moves downward and the vertical size Ys expands.

[0039] On the other hand, FIG. 3 shows a scene where the pedestrian P moves toward the host vehicle side in parallel with the optical axis ax of the camera 22. In this example, the distance that the pedestrian P moves toward the host vehicle side during the transition from time t0 to time t1 is the same as the distance Δd that the pedestrian P moves in the scene shown in FIG. 2. The vertical coordinate Yc3B in the image IMG[t1] is located below the vertical coordinate Yc3A in the image IMG[t0]. Also, the vertical size Ys3B of the pedestrian P in the image IMG[t1] is larger than the vertical size Ys3A of the pedestrian P in the image IMG[t0]. That is, as the pedestrian P moves forward, within the imaging range of the camera 22, the vertical coordinate Yc moves downward and the vertical size Ys expands.

[0040] Here, the change amount ΔYs2 (=ΔYs2B - ΔYs2A) of the vertical size Ys when the pedestrian P moves (advances) by the distance Δd in the scene where the pedestrian P descends the staircase STP (FIG. 2) is the same as the change amount ΔYs3 (=ΔYs3A - ΔYs3B) of the vertical size Ys in the scene where the pedestrian P moves (advances) by the distance Δd in parallel with the optical axis of the camera 22 (FIG. 3). In contrast, the change amount ΔYc2 (=Yc2A - Yc2B) of the vertical coordinate Yc when the pedestrian P moves (advances) by the distance Δd in the scene where the pedestrian P descends the staircase STP (FIG. 2) is larger than the change amount ΔYc3 (=Yc3A - Yc3B) of the vertical coordinate Yc in the scene where the pedestrian P moves (advances) by the distance Δd in parallel with the optical axis ax of the camera 22 (FIG. 3). Thus, the "change amount of the vertical size Ys" has a positive correlation with the "distance that the pedestrian P moves in the optical axis direction". In contrast, not only does the "change amount of the vertical coordinate Yc" have a positive correlation with the "distance that the pedestrian P moves in the optical axis direction", but the "change amount of the vertical coordinate Yc" also has a positive correlation with the "distance that the pedestrian P moves in the vertical direction". According to this finding, when the change amount ΔYc of the vertical coordinate Yc with respect to the change amount ΔYs of the vertical size Ys (hereinafter referred to as "feature quantity α") when the image of the pedestrian P expands in the image IMG (within the imaging range of the camera 22) is relatively large, it can be estimated that the pedestrian P is approaching the host vehicle side while descending from a position higher than the host vehicle (camera 22).

[0041] Therefore, the ECU 10 sequentially acquires the vertical coordinate Yc and the vertical size Ys, and based on these time-series data, acquires the change amount of the vertical coordinate Yc with respect to the change amount of the vertical size Ys as the feature amount α. Then, the ECU 10 determines whether or not the feature amount α exceeds the threshold value αth. Here, the change amount ΔYc3 of the vertical coordinate Yc with respect to the change amount ΔYs3 of the vertical size Ys when the pedestrian P moves toward the host vehicle side in parallel with the optical axis direction of the camera 22 (FIG. 3) has been measured in advance, and the measurement result is stored in the ROM 10b as the threshold value αth.

[0042] When the feature amount α exceeds the threshold value αth, it is highly likely that the pedestrian P is moving toward the host vehicle side while descending from a relatively high position, and the distance ΔL2 estimated based only on the vertical coordinate Yc is likely to be inaccurate. That is, the actual distance between the host vehicle and the pedestrian P may be smaller than the distance ΔL2 (estimated value). Therefore, in this case (α > αth), the ECU 10 selects the pedestrian P as the warning target object and controls the notification device 30 so that a second warning is issued. That is, the ECU 10 increases the priority of the second warning with respect to the first warning. On the other hand, when the feature amount α is equal to or less than the threshold value αth, the ECU 10 selects a stationary object as the warning target object and controls the notification device 30 so that a first warning is issued.

[0043] When the host vehicle is reversing (traveling), when the ECU 10 calculates the feature amount α, the correction amount ΔYc[vs] and the correction amount ΔYs[vs] corresponding to the vehicle speed vs are subtracted from the change amount ΔYc and the change amount ΔYs, respectively. A map representing the relationship between the vehicle speed vs and the correction amount is designed in advance and stored in the ROM 10b.

[0044] Next, referring to FIG. 4, a program PR1 executed by the CPU 10a of the ECU 10 (hereinafter simply referred to as "CPU") to realize the above warning function will be described.

[0045] When the ignition switch is in the ON state, the CPU sequentially acquires the current shift position from the shift position sensor 24. When the current shift position is the reverse position, the CPU starts executing the program PR1 at a predetermined cycle. The CPU starts executing the program PR1 from step 100 and proceeds to step 101.

[0046] At step 101, the CPU determines whether the first warning condition is satisfied. If the CPU determines that the first warning condition is satisfied (ΔL1≦ΔL1th) (101: Yes), the CPU proceeds to step 102. On the other hand, if the CPU does not determine that the first warning condition is satisfied (101: No), the CPU proceeds to step 103.

[0047] At step 102, the CPU determines whether the second warning condition is satisfied. If the CPU determines that the second warning condition is satisfied (ΔL2≦ΔL2th) (102: Yes), the CPU proceeds to step 104. On the other hand, if the CPU does not determine that the second warning condition is satisfied (102: No), the CPU proceeds to step 107.

[0048] At step 103, the CPU determines whether the second warning condition is satisfied. If the CPU determines that the second warning condition is satisfied (ΔL2≦ΔL2th) (103: Yes), the CPU proceeds to step 106. On the other hand, if the CPU does not determine that the second warning condition is satisfied (103: No), the CPU proceeds to step 108, and at step 108, the execution of the program PR1 ends.

[0049] At step 104, the CPU determines whether condition X is satisfied. If the CPU determines that condition X is satisfied (ΔL2 - ΔL1>ΔLth) (104: Yes), the CPU proceeds to step 105. On the other hand, if the CPU does not determine that condition X is satisfied (104: No), the CPU proceeds to step 106.

[0050] The CPU calculates the feature quantity α at step 105 and determines whether the feature quantity α exceeds the threshold value αth. When the CPU determines that the feature quantity α exceeds the threshold value αth (105: Yes), the process proceeds to step 106. On the other hand, when the CPU does not determine that the feature quantity α exceeds the threshold value αth (105: No), the process proceeds to step 107.

[0051] At step 106, the CPU controls the notification device 30 so that a first alarm is issued. Then, the CPU proceeds to step 108 and ends the execution of the program PR1.

[0052] At step 107, the CPU controls the notification device 30 so that a second alarm is issued. Then, the CPU proceeds to step 108 and ends the execution of the program PR1.

[0053] (Effect) The ECU10 of the vehicle control device 1 acquires the distance ΔL2 based on the position (vertical coordinate Yc) of the image of the pedestrian P within the imaging range of the camera 22. However, as described above, the accuracy of the distance ΔL2 acquired by this method is low. Therefore, there may be a case where it is estimated (false detection) that the distance ΔL2 (the distance between the host vehicle and the pedestrian descending the staircase STP acquired based on the vertical coordinate Yc) is relatively larger than the distance ΔL1 (the distance between the host vehicle and the staircase STP acquired by the sonar 21).

[0054] Here, when the pedestrian P is photographed by the camera 22 from the front side in a scene where the pedestrian P moves toward the vehicle side, within the imaging range of the camera 22, the image of the pedestrian P (the position of the feet) moves downward and expands. And in a scene (Fig. 2) where the pedestrian P moves toward the vehicle side while descending the staircase STP (or the inclined road), the larger the amount of movement in the vertical direction, the larger the feature amount α (the change amount ΔYc of the vertical coordinate Yc with respect to the change amount ΔYs of the vertical size Ys). Therefore, in the present embodiment, when the feature amount α exceeds the threshold αth, it is regarded that the distance ΔL2 (the distance between the vehicle and the pedestrian P estimated based only on the vertical coordinate Yc) is inaccurate, and the ECU 10 increases the priority of the second warning. Thereby, calling attention to the pedestrian P is prioritized, and the safety of the pedestrian P is enhanced.

[0055] The present invention is not limited to the above-described embodiment, and as described below, various modifications can be adopted within the scope of the present invention.

[0056] <Modification Example 1> When the first warning condition and the second warning condition are satisfied and the feature amount α exceeds the threshold αth, the ECU 10 temporarily changes the threshold ΔL1th and the threshold ΔL2th so that only the second warning condition is satisfied. For example, the ECU 10 sets the threshold ΔL1th to an extremely small value and sets the threshold ΔL2th to an extremely large value. Then, for example, when the pedestrian P cannot be recognized (when the pedestrian P moves out of the imaging range of the camera 22), the ECU 10 returns the threshold ΔL1th and the threshold ΔL2th to the original values (standard values).

[0057] <Modification Example 2> When there is no stationary object (hereinafter referred to as "shielding object"), such as a low wall or a fence, that restricts the approach of pedestrian P to the host vehicle side in the traveling direction of the host vehicle (rearward in the example of FIG. 2), and when stationary objects other than the shielding object and pedestrian P are detected, regardless of the distance ΔL1 and the distance ΔL2, the second warning may be prioritized. Thereby, the safety of pedestrian P is enhanced. On the other hand, when there is a shielding object in the traveling direction of the host vehicle, the ECU 10 determines whether pedestrian P exists on the host vehicle side as viewed from the shielding object in the same procedure as in the above-described embodiment. Thus, in this modification, the stationary object in the above-described embodiment is limited to a shielding object. Note that the ECU 10 can determine the presence or absence of a shielding object based on the information acquired from the camera 22. Further, when the ECU 10 detects, based on the information acquired from the sonar 21, a stationary object that is continuous in the lateral direction or stationary objects arranged at equal intervals behind the host vehicle, and the lateral length (width) of the stationary object is larger than the width of the host vehicle and the height thereof is substantially constant, the stationary object may be recognized as a shielding object.

[0058] <Others> Regardless of whether the first warning condition and the second warning condition are satisfied, the ECU 10 may calculate the feature amount α, and when the feature amount α exceeds the threshold value αth, control the notification device 30 so that the second warning is preferentially issued.

Description of Reference Numerals

[0059] 1... Vehicle control device, 10... ECU, 20... In-vehicle sensor, 30... Notification device

Claims

1. An in-vehicle sensor including a distance measuring sensor that acquires the distance between an object existing in a predetermined first region in the traveling direction of the host vehicle and the host vehicle, and a monocular camera that photographs a predetermined second region in the traveling direction of the host vehicle, Based on the distance acquired by the distance measuring sensor, the distance between the stationary object located in the traveling direction of the host vehicle and the host vehicle is acquired as a first distance. Further, based on the image acquired by the monocular camera, the distance between the moving object moving toward the host vehicle and the host vehicle is acquired as a second distance. When a first condition regarding the first distance is satisfied, a first warning process for controlling a notification device so that a predetermined first warning is issued, and when a second condition regarding the second distance is satisfied, a second warning process for controlling the notification device so that a predetermined second warning is issued, and a processor configured to be capable of executing the processes, A vehicle control device including the above, When the first condition is satisfied and the second condition is satisfied, the processor acquires the second distance based on the position of the image of the moving object in the vertical axis direction of the imaging range of the monocular camera. When the second distance is greater than the first distance and the difference exceeds a threshold value, and when a feature amount, which is the amount of change in the position of the image of the moving object with respect to the amount of change in the size of the image of the moving object when the image of the moving object moves downward and expands within the imaging range of the monocular camera, exceeds a predetermined value, the vehicle control device is configured to increase the priority of the second warning process with respect to the first warning process.

2. In the vehicle control device according to claim 1, The predetermined value is the amount of change in the position of the image of the moving object with respect to the amount of change in the size of the image of the moving object within the imaging range when the moving object moves toward the host vehicle in parallel with the optical axis of the monocular camera. The vehicle control device.

3. In the vehicle control device according to claim 1 or claim 2, The stationary object is a staircase, The moving object is a pedestrian descending the staircase. The vehicle control device.

4. In the vehicle control device according to claim 1, the first condition is satisfied when the first distance is less than or equal to a first threshold value, the second condition is satisfied when the second distance is less than or equal to a second threshold value, the processor is configured to temporarily change the first threshold value and the second threshold value so that only the second condition is satisfied when the feature amount exceeds the predetermined value. A vehicle control device.

5. In the vehicle control device according to claim 1, the stationary object is a shielding object that restricts the movement of the moving object toward the host vehicle, the processor executes the second warning process when the shielding object does not exist and the second condition is satisfied, A vehicle control device configured as described above.

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