Monitoring device

Abstract

To provide a monitoring device that notifies two moving objects that they are approaching each other before the objects are too close to each other.SOLUTION: A monitoring device includes: a first determination unit that determines whether or not a first moving object and a second moving object are present in a predetermined range around an own vehicle; a setting unit that sets a first detection range for the first moving object and sets a second detection range for the second moving object; a second determination unit that determines whether or not there is an obstacle that may prevent detection of the second moving object included in the first detection range, and may prevent detection of the first moving object included in the second detection range; a third determination unit that determines whether or not the first moving object and the second moving object approach each other up to a reference distance with detection of the second moving object within the first detection range being prevented by the obstacle and detection of the first moving object within the second detection range being prevented by the obstacle; and a determination unit that determines to notify the first moving object and the second moving object of a warning.SELECTED DRAWING: Figure 2

Description

Technical Field

[0001] This disclosure relates to a monitoring device.

Background Art

[0002] When an automatic control device that controls a vehicle detects another vehicle using a sensor, it controls the host vehicle so as to maintain a safe distance between the host vehicle and the other vehicle. Thereby, it is possible to prevent the host vehicle from approaching the other vehicle.

[0003] If there is a tall structure around the vehicle, the detection range of the sensor is blocked by the structure, creating an area that cannot be detected by the sensor. If another vehicle is in the area that cannot be detected by the sensor, the sensor cannot detect the other vehicle.

[0004] Two vehicles may be approaching each other, but the two vehicles may be located in areas where they cannot be detected by each other's sensors. For example, assume that the host vehicle is in front of an intersection without a signal, and there is an oncoming vehicle at the intersection in front of the host vehicle that is about to turn right at this intersection. Also, assume that another vehicle is about to drive straight through the intersection from the direction in which the oncoming vehicle is turning right (see, for example, FIG. 1). Here, if there is a tall structure between the oncoming vehicle and the other vehicle, the two vehicles are located in areas where they cannot be detected by each other's sensors.

Prior Art Documents

Patent Documents

[0005]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0006] In this case, although the oncoming vehicle and the other vehicle are approaching each other, since they are located in areas where they cannot be detected by each other's sensors, the two vehicles cannot detect each other.

[0007] When the oncoming vehicle and other vehicles enter the intersection, there is no structure, so the two vehicles can detect each other. However, at this point, the two vehicles are in a state of being quite close to each other.

[0008] On the other hand, if the oncoming vehicle and other vehicles are within the detection range of the sensors of the host vehicle, the host vehicle can detect that the oncoming vehicle and other vehicles are approaching.

[0009] An object of the present disclosure is to provide a monitoring device that, when detecting that two moving objects are approaching each other, notifies the two moving objects that they are approaching before they get too close to each other.

Means for Solving the Problems

[0010] (1) According to one embodiment, a monitoring device is provided. The monitoring device includes: a first determination unit that determines whether a first moving object and a second moving object are present in a predetermined range around the host vehicle; a setting unit that, when the first determination unit determines that the first moving object and the second moving object are present, sets a first detection range for detecting other moving objects with respect to the first moving object and sets a second detection range for detecting other moving objects with respect to the second moving object; a second determination unit that determines whether there is an obstacle that may prevent the detection of the second moving object included in the first detection range and prevent the detection of the first moving object included in the second detection range when the first detection range and the second detection range are set by the setting unit; a third determination unit that determines whether the first moving object and the second moving object approach a predetermined reference distance in a state where the detection of the second moving object within the first detection range is prevented by the obstacle and the detection of the first moving object within the second detection range is prevented by the obstacle when the second determination unit determines that there is an obstacle; and a determination unit that determines to notify a warning to the first moving object and the second moving object when the third determination unit determines that the first moving object and the second moving object approach the reference distance.

[0011] (2) In the monitoring device of (1), it is preferable that the third determination unit sets a reference distance based on the positional relationship between the first moving object, the second moving object, and the host vehicle.

[0012] (3) In the monitoring device of (2), when the first moving object and the second moving object are on the same side with respect to the host vehicle, it is preferable that the third determination unit sets the reference distance to be shorter than when the first moving object and the second moving object are on different sides with respect to the host vehicle.

[0013] (4) In the monitoring device of (1), it is preferable that the third determination unit sets a reference distance based on the speeds of the first moving object and the second moving object.

[0014] (5) In the monitoring device of (4), when either one of the speeds of the first moving object and the second moving object exceeds a predetermined reference speed, it is preferable that the third determination unit sets the reference distance to be longer than when neither the speed of the first moving object nor the speed of the second moving object exceeds the reference speed.

Advantages of the Invention

[0015] When the monitoring device according to the present disclosure detects that two moving objects are approaching each other, before they approach each other too much, by notifying the two moving objects that they are approaching, it is possible to prevent the two moving objects from approaching.

Brief Description of the Drawings

[0016]

Figure 1

Figure 2

Figure 3

Figure 4

Figure 5

Figure 6

Embodiments for Carrying Out the Invention

[0017] FIG. 1 is a diagram for explaining the outline of the operation of the monitoring device according to the present embodiment. Hereinafter, with reference to FIG. 1, the outline of the operation regarding the monitoring process of the monitoring device 13 disclosed in this specification will be explained.

[0018] As shown in FIG. 1, the vehicle 10 is traveling on the road 50. The road 50 intersects with the road 51 at the intersection 52. The vehicle 10 is located in front of the intersection 52.

[0019] The vehicle 10 includes an object detection device 11, an automatic control device 12, and a monitoring device 13. The object detection device 11 generates object detection information representing an object such as a vehicle based on environmental information representing the environment around the vehicle 10 such as a camera image. Further, the object detection device 11 generates road feature information representing road features such as lane dividing lines based on the environmental information. The automatic control device 12 controls the vehicle 10 based on the object detection information, road feature information, etc. The vehicle 10 may be an autonomous driving vehicle.

[0020] When the monitoring device 13 detects that two moving objects are approaching each other, it determines to notify the two moving objects that they are approaching before they get too close to each other.

[0021] Based on the object detection information, the monitoring device 13 determines that there are a vehicle 60 and a vehicle 70 in a predetermined range around the vehicle 10. The vehicle 60 is traveling on the road 50 on the side opposite to the vehicle 10 with respect to the intersection 52 and is scheduled to turn right at the intersection 52. The vehicle 70 is traveling on the road 51 on the left side of the intersection 52 and is scheduled to go straight through the intersection 52.

[0022] The monitoring device 13 sets a first detection range F1 for detecting other moving objects with respect to the vehicle 60, and sets a second detection range F2 for detecting other moving objects with respect to the vehicle 70. The first detection range F1 can be the detection range of a camera.

[0023] The first detection range F1 can be, for example, the detection range of a sensor such as a camera virtually arranged in front of the vehicle 60. Similarly, the second detection range F2 can be, for example, the detection range of a sensor such as a camera virtually arranged in front of the vehicle 70.

[0024] The monitoring device 13 determines that there is a structure 80 as an obstacle that may prevent the detection of the second moving object included in the first detection range F1 and may prevent the detection of the first moving object included in the second detection range F2. The structure 80 is arranged in an L shape at the upper left of the intersection 52. The structure 80 extends along the road 51 to the intersection 52 on the left side of the intersection 52 and then extends upward along the road 50. The height of the structure 80 is about 3 m.

[0025] The structure 80 blocks a part of the right side of the detection range of the first detection range F1, and the vehicle 70 is not detected from the vehicle 60. Similarly, the structure 80 blocks a part of the left side of the detection range of the second detection range F2, and the vehicle 60 is not detected from the vehicle 70. Therefore, if the two vehicles 70 and 80 continue to travel, there is a risk of approaching each other.

[0026] Since the monitoring device 13 determines that the vehicle 60 and the vehicle 70 approach to the reference distance L in a state where the detection of the vehicle 70 within the first detection range F1 is blocked by the structure 80 and the detection of the vehicle 60 within the second detection range F2 is blocked by the structure 80, it is determined to notify a warning to the vehicle 60 and the vehicle 70. The reference distance L is set, for example, as a distance at which the vehicle 60 and the vehicle 70 notified of the warning by the vehicle 10 can safely stop so as not to collide.

[0027] The automatic control device 12 notifies warnings to the vehicle 60 and the vehicle 70. The vehicle 60 and the vehicle 70, to which the warnings were notified by the automatic control device 12, decelerated and then stopped.

[0028] As described above, when the monitoring device 13 detects that the two vehicles 60 and 70 are approaching each other, it can notify the two vehicles 60 and 70 that they are approaching before they get too close to each other. Since the two vehicles 60 and 70 can stop leaving a safe stopping distance, the monitoring device 13 can prevent the approach of the two vehicles 60 and 70.

[0029] FIG. 2 is a hardware configuration diagram of the vehicle 10 in which the monitoring device 13 of the present embodiment is mounted. The vehicle 10 includes a front camera 2a, a rear camera 2b, LiDAR sensors 3a and 3b, an alarm device 4, a vehicle speed sensor 6, a user interface (UI) 7, an object detection device 11, an automatic control device 12, a monitoring device 13, and the like.

[0030] The front camera 2a, the rear camera 2b, the LiDAR sensors 3a and 3b, the alarm device 4, the vehicle speed sensor 6, the UI 7, the object detection device 11, the automatic control device 12, and the monitoring device 13 are communicably connected via an in-vehicle network 14 compliant with a standard such as a controller area network.

[0031] The front camera 2a and the rear camera 2b are examples of an image acquisition unit provided in the vehicle 10. The front camera 2a is attached to the vehicle 10 so as to face the front of the vehicle 10. The rear camera 2b is attached to the vehicle 10 so as to face the rear of the vehicle 10.

[0032] The front camera 2a and the rear camera 2b acquire camera images representing the environment of areas within a predetermined field of view in front of and behind the vehicle 10, for example, at the camera image acquisition times set at a predetermined period. The camera images may represent the road included in predetermined areas in front of and behind the vehicle 10 and road features such as lane dividing lines on the road surface. The front camera 2a and the rear camera 2b have a two-dimensional detector composed of an array of photoelectric conversion elements sensitive to visible light, such as a CCD or a C-MOS. Also, the front camera 2a and the rear camera 2b have an imaging optical system that forms an image of the area to be the image acquisition target on the two-dimensional detector. The fields of view of the front camera 2a and the rear camera 2b are an example of a predetermined range around the vehicle 10.

[0033] Each time the front camera 2a and the rear camera 2b acquire a camera image, they output the camera image and the camera image acquisition time to the object detection device 11 and the like via the in-vehicle network 14. The camera image is used in the object detection device 11 for processing to detect objects and road features around the vehicle 10.

[0034] The LiDAR sensor 3a is attached, for example, to the outer surface of the vehicle 10 so as to face the front of the vehicle 10. The LiDAR sensor 3b is attached, for example, to the outer surface of the vehicle 10 so as to face the rear of the vehicle 10.

[0035] The LiDAR sensors 3a and 3b emit a laser beam so as to scan in a predetermined field of view in front of and behind the vehicle 10 at a reflection wave information acquisition time set at a predetermined cycle. Then, the LiDAR sensors 3a and 3b receive the reflected wave reflected by the reflecting object. The time required for the reflected wave to return has distance information between the vehicle 10 and other objects located in the direction where the laser is irradiated. The LiDAR sensors 3a and 3b output the reflected wave information to the object detection device 11 and the like via the in-vehicle network 14 together with the reflection wave information acquisition time when the laser is emitted. The reflected wave information includes the irradiation direction of the laser and the time required for the reflected wave to return. The reflection wave information acquisition time represents the time when the laser is emitted. The reflected wave information is used in the object detection device 11 for processing to detect objects around the vehicle 10. The fields of view of the LiDAR sensors 3a and 3b preferably overlap the fields of view of the front camera 2a and the rear camera 2b.

[0036] The warning device 4 is controlled by the monitoring device 13 and the like and can output sound. The warning device 4 has, for example, an amplifier that outputs a warning signal and a speaker that outputs the warning signal output from the amplifier as a warning sound. It is preferable that speakers are arranged in front of and behind the vehicle 10 respectively. The warning sound preferably reaches within the range of the fields of view of the front camera 2a and the rear camera 2b. Also, a headlight (not shown) may be used as the warning device 4.

[0037] The vehicle speed sensor 6 detects speed information representing the speed of the vehicle 10. The vehicle speed sensor 6 has, for example, a measurement unit that measures the rotation speed of the tires of the vehicle 10. The vehicle speed sensor 6 outputs the speed information to the object detection device 11, the automatic control device 12, the monitoring device 13 and the like via the in-vehicle network 14. The speed information is used in the object detection device 11, the automatic control device 12 and the monitoring device 13 for processing to obtain the speed of the vehicle 10.

[0038] UI7 is an example of a notification unit. UI7 is controlled by the automatic control device 12, the monitoring device 13, etc., and notifies the driver of the driving information or warnings of the vehicle 10. The driving information of the vehicle 10 includes the current position of the vehicle 10, notifications to the driver, etc. UI7 has a display device 7a such as a liquid crystal display or a touch panel to display the driving information, etc. Further, UI7 may have an acoustic output device (not shown) for notifying the driver of the driving information, etc.

[0039] The object detection device 11 detects the objects around the vehicle 10 and their types based on the camera image. The objects include moving objects such as pedestrians and vehicles. The vehicles include bicycles, two-wheeled motor vehicles, and four-wheeled motor vehicles. Further, the objects include structures that can be obstacles to prevent the detection of other moving objects included in the detection range set for the moving objects. Examples of the structures include walls and buildings.

[0040] Further, the object detection device 11 detects road features such as lane dividing lines and traffic lights based on the camera image. The object detection device 11 may detect the lighting state of the traffic light. Further, the object detection device 11 may be configured to detect the road edge.

[0041] The object detection device 11 has, for example, an identifier that detects the objects, structures, and road features represented in the image by inputting the camera image. As the identifier, for example, a deep neural network (DNN) pre-trained to detect the objects, structures, and road features represented in the input image can be used. The object detection device 11 may use an identifier other than the DNN.

[0042] In addition, the object detection device 11 may detect an object around the vehicle 10 based on the reflected wave information. Further, the object detection device 11 may determine the orientation of the object with respect to the vehicle 10 based on the position of the object in the camera image, and determine the distance between this object and the vehicle 10 based on this orientation and the reflected wave information. The position of the object represents the position (e.g., the center of gravity) that represents the object. The object detection device 11 estimates the position of the object, which is represented in, for example, the vehicle coordinate system, based on the current position of the vehicle 10, the distance and orientation to the object with respect to the vehicle 10. Also, the object detection device 11 may track the object detected from the latest camera image by associating the object detected from the latest camera image with the object detected from the past image according to the tracking process based on the optical flow. The tracked object is assigned an object identification number. Then, the object detection device 11 may determine the trajectory of the object being tracked based on the position of the object from the past image to the latest image. The object detection device 11 can estimate the speed of the object with respect to the vehicle 10 based on the change in the position of the object over time. Also, the object detection device 11 can estimate the acceleration of the object based on the change in the speed of the object over time. The object detection device 11 may determine the position of the road feature in the same manner as described above. The position of the road feature is represented in, for example, the vehicle coordinate system.

[0043] In addition, the object detection device 11 determines the height of the object detected as a structure based on the reflected wave information. When the height of the object exceeds a predetermined reference height, the object detection device 11 determines this structure as an obstacle. As the reference height, for example, it can be set to 1 m to 1.5 m. Structures with a height equal to or greater than the reference height will block part of the driver's field of view and the camera's field of view. The object detection device 11 generates obstacle information representing the position of the obstacle. Also, the object detection device 11 determines a stationary vehicle as an obstacle if it also has a height equal to or greater than the reference height. The object detection device 11 determines a vehicle with a speed of zero as a stationary vehicle.

[0044] The object detection device 11 notifies the automatic control device 12, the monitoring device 13, etc. of object detection information including information representing an object and road feature information representing road features. The object detection information includes information indicating the type of the detected object, information indicating its position, speed, acceleration, and information indicating the driving lane. For a tracked object, the object detection information includes an object identification number. The road feature information may include the position of a traffic signal and the lighting state of the traffic signal. Further, the object detection device 11 outputs obstacle information to the monitoring device 13 via the in-vehicle network 14.

[0045] The automatic control device 12 controls the operation of the vehicle 10. The automatic control device 12 has an automatic driving mode in which the vehicle 10 is driven in automatic driving and a manual driving mode in which the operation of the vehicle 10 is controlled based on the driver's operation. In the automatic driving mode, the automatic control device 12 mainly drives the vehicle 10. In the automatic driving mode, the automatic control device 12 controls operations such as steering, driving, and braking based on the object detection information, road feature information, etc.

[0046] Also, in the manual driving mode, the driver mainly drives the vehicle 10. In the manual driving mode, the automatic control device 12 controls the operations of the vehicle 10 such as steering, driving, and braking based on the operation of the driver on the operation unit 5. The automatic control device 12 controls the operation of the vehicle 10 based on at least one of the steering wheel, brake pedal, or accelerator pedal (not shown) operated by the driver in the manual driving mode.

[0047] The automatic control device 12 outputs a control signal for controlling steering to a steering device (not shown) via the in-vehicle network 14. The automatic control device 12 outputs a driving signal for controlling driving to a driving device (not shown) via the in-vehicle network 14. The automatic control device 12 outputs a braking signal for controlling braking to a braking device (not shown) via the in-vehicle network 14.

[0048] The monitoring device 13 executes a determination process, a setting process, and a decision process. For this purpose, the monitoring device 13 includes a communication interface (IF) 21, a memory 22, and a processor 23. The communication interface 21, the memory 22, and the processor 23 are connected via a signal line 24. The communication interface 21 has an interface circuit for connecting the monitoring device 13 to the in-vehicle network 14.

[0049] The memory 22 is an example of a storage unit and includes, for example, a volatile semiconductor memory and a non-volatile semiconductor memory. The memory 22 stores a computer program of an application and various data used in information processing executed by the processor 23.

[0050] All or part of the functions of the monitoring device 13 are function modules realized by, for example, a computer program operating on the processor 23. The processor 23 includes a determination unit 231, a setting unit 232, and a decision unit 233. Alternatively, the function modules of the processor 23 may be dedicated arithmetic circuits provided in the processor 23. The processor 23 includes one or more CPUs (Central Processing Units) and their peripheral circuits. The processor 23 may further include other arithmetic circuits such as a logical arithmetic unit, a numerical arithmetic unit, or a graphic processing unit.

[0051] FIG. 3 is an example of an operation flowchart regarding the monitoring process of the monitoring device 13 of the present embodiment. The monitoring process of the monitoring device 13 will be described below with reference to FIG. 3. The monitoring device 13 executes a determination process according to the operation flowchart shown in FIG. 3 at a monitoring time having a predetermined period.

[0052] First, the determination unit 231 determines whether there are a first moving object and a second moving object in a predetermined range around the vehicle 10 (step S101). The determination unit 231 is an example of a first determination unit. The determination unit 231 determines that there are two moving objects when two moving objects are detected based on the object detection information. The moving objects include motorcycles, automobiles, pedestrians, bicycles, and the like.

[0053] Next, when it is determined that there are a first moving object and a second moving object (step S101 - Yes), the setting unit 232 sets a first detection range for detecting other moving objects with respect to the first moving object, and sets a second detection range for detecting other moving objects with respect to the second moving object (step S102).

[0054] FIG. 4 is a diagram for explaining the first detection range and the second detection range. The setting unit 232 virtually arranges a first sensor at the center in front of the vehicle 60. A first detection range F1 is set for the first sensor. Similarly, the setting unit 232 virtually arranges a second sensor at the center in front of the vehicle 70. A second detection range F2 is set for the second sensor. For example, the viewing angle of the first detection range F1 and the second detection range F2 can be 150 degrees to the left and right, and the detection distance can be 200 m. The first detection range F1 and the second detection range F2 move together with the movement of the first moving object and the second moving object.

[0055] Next, the determination unit 231 determines whether there is an obstacle that may prevent the detection of the second moving object included in the first detection range and may prevent the detection of the first moving object included in the second detection range (step S103). The determination unit 231 is an example of a second determination unit. The determination unit 231 acquires the position of the obstacle based on the obstacle information. The determination unit 231 determines that there is an obstacle that may prevent detection when the straight line connecting the position of the first moving object and the position of the second moving object intersects the area where the obstacle is located. Note that the method for determining whether there is an obstacle is not limited to this.

[0056] In the example shown in FIG. 4, a straight line M connecting the center in front of the vehicle 60 and the center in front of the vehicle 70 intersects an obstacle 80.

[0057] The presence or absence of an obstacle that obstructs the detection of a moving object can vary depending on the positions of the two moving objects. Therefore, by executing the monitoring process for each monitoring time, the respective positional relationships are determined.

[0058] On the other hand, when a straight line connecting the position of the first moving object and the position of the second moving object does not intersect the area where the obstacle is located, the determination unit 231 determines that there is no obstacle. Also, when no obstacle information has been notified, the determination unit 231 determines that there is no obstacle.

[0059] When there is an obstacle (step S103 - Yes), the determination unit 231 determines whether the first moving object and the second moving object approach each other to a predetermined reference distance in a state where the detection of the first moving object within the second detection range is obstructed by the obstacle and the detection of the second moving object within the first detection range is obstructed by the obstacle (step S104). The determination unit 231 obtains the distance between the first moving object and the second moving object and compares it with the reference distance. The reference distance is preferably a distance at which each of the two moving objects notified of a warning by the vehicle 10 can safely stop without colliding. The determination unit 231 is an example of a third determination unit. The process of step S104 will be described later with reference to FIG. 5.

[0060] When it is determined that the distance has approached the reference distance (step S104 - Yes), the determination unit 233 determines to notify a warning to the first moving object and the second moving object (step S105), and ends a series of processes. The determination unit 233 uses the warning device 4 to notify a warning to the first moving object and the second moving object. The warning may be a loud sound. Also, the warning may be a voice indicating that another vehicle is approaching. The drivers of the vehicle 60 and the vehicle 70 that notice the warning can manually operate the vehicle to avoid approaching other moving objects. Also, the warning may be a flashing of the headlights. Further, the determination unit 233 may notify the driver to notify a warning via the UI 7.

[0061] The determination unit 233 may further determine to decelerate the vehicle 10, stop it, or steer it to move away from the two vehicles 60 and 70. The determination unit 233 notifies these controls to the automatic control device 12. The automatic control device 12 executes the notified controls. Thereby, the safety of the vehicle 10 can be ensured in case the vehicle 60 and the vehicle 70 approach each other.

[0062] On the other hand, when it is determined that the distance has not approached the reference distance (step S104 - No), the determination unit 233 determines whether the time to collision (TTC) is less than a predetermined reference time (step S106). The determination unit 231 acquires the speeds of the first moving object and the second moving object based on the object detection information. The determination unit 231 obtains the time to collision until the first moving object and the second moving object collide when moving at the current speeds.

[0063] When the time to collision is less than the reference time (step S106 - Yes), the determination unit 233 determines to notify a warning to the first moving object and the second moving object (step S105), and ends a series of processes.

[0064] Also, when it is not determined that there are the first moving object and the second moving object (step S101 - No), when it is determined that there is no obstacle (step S103 - No), or when the collision time is not less than the reference time (step S106 - No), the series of processes is terminated.

[0065] Next, with reference to FIG. 5, the determination process of step S104 described above will be described below. FIG. 5 is an example of an operation flowchart regarding the determination process of the monitoring device 13 of the present embodiment.

[0066] First, the determination unit 231 determines whether the detection of the second moving object within the first detection range F1 is obstructed by an obstacle (step S201). The determination unit 231 sets a detection area F1S within the first detection range F1 that is not shielded by the obstacle.

[0067] In the example shown in FIG. 4, for the first detection range F1 of the vehicle 70, the determination unit 231 determines, from the vehicle 70 outward, that the area from the position where the first detection range F1 overlaps with the obstacle 80 onward is an area where detection is obstructed. The determination unit 231 sets a detection area F1S within the first detection range F1 where detection is not obstructed by the obstacle 80. The detection area F1S is shown as a hatched area.

[0068] Then, the determination unit 231 determines whether the detection of the second moving object within the first detection range F1 is obstructed by an obstacle. If a part of the second moving object is included in the detection area F1S, the determination unit 231 determines that the detection of the second moving object within the first detection range F1 is not obstructed by the obstacle. On the other hand, if the second moving object is not included in the detection area F1S, the determination unit 231 determines that the detection of the second moving object within the first detection range F1 is obstructed by the obstacle.

[0069] When the detection of the second moving object within the first detection range F1 is obstructed by an obstacle (step S201 - Yes), the determination unit 231 determines whether the detection of the first moving object within the second detection range F2 is obstructed by the obstacle (step S202). The determination unit 231 sets a detection area F2S within the second detection range F2 where the detection is not obstructed by the obstacle.

[0070] In the example shown in FIG. 4, for the second detection range F2 of the vehicle 80, the determination unit 231 determines that, outward from the vehicle 80, the area where the second detection range F2 overlaps with the obstacle 80 and beyond is an area where the detection is obstructed. The determination unit 231 sets a detection area F2S within the second detection range F2 where the detection is not obstructed by the obstacle 80. The detection area F2S is shown as the hatched area.

[0071] Then, the determination unit 231 determines whether the detection of the first moving object within the second detection range F2 is obstructed by the obstacle. If a part of the first moving object is included in the detection area F2S, the determination unit 231 determines that the detection of the first moving object within the second detection range F2 is not obstructed by the obstacle. On the other hand, if the first moving object is not included in the detection area F2S, the determination unit 231 determines that the detection of the first moving object within the second detection range F2 is obstructed by the obstacle.

[0072] When the detection of the first moving object within the second detection range F2 is obstructed by the obstacle (step S202 - Yes), the determination unit 231 determines whether the first moving object and the second moving object have approached each other to a predetermined reference distance (step S203).

[0073] The determination unit 231 may set a reference distance based on the speeds of the first moving object and the second moving object. For example, when either one of the speeds of the first moving object and the second moving object exceeds a predetermined reference speed, the determination unit 231 sets the reference distance to be longer than when the speeds of the first moving object and the second moving object do not exceed the reference speed. As the reference speed, for example, it can be set to be from 30 km / h to 50 km / h. This is because when the speed of the first moving object or the second moving object is high, it is preferable to notify earlier that the two are approaching each other.

[0074] When the first moving object and the second moving object approach each other to the reference distance (step S203 - Yes), the determination unit 231 determines that the first moving object and the second moving object have approached each other to the reference distance (step S204), and ends a series of processes.

[0075] On the other hand, when the first moving object and the second moving object have not approached each other to the reference distance (step S203 - No), the determination unit 231 moves the positions of the first moving object and the second moving object in the traveling direction (step S205), and returns to before step S201. The distance by which the position of the first moving object is moved is obtained by multiplying the speed of the first moving object by the unit time. Similarly, the distance by which the position of the second moving object is moved is obtained by multiplying the speed of the second moving object by the unit time. As the unit time, for example, it can be set to be from 0.01 seconds to 0.1 seconds. Note that after step S205, the process of step S103 described above may be further performed. Here, if there is an obstacle, it returns to before step S201. On the other hand, if there is no obstacle, the monitoring process ends.

[0076] Also, when the detection of the second moving object within the first detection range F1 is not obstructed by an obstacle (step S201 - No), or when the detection of the first moving object within the second detection range F2 is not obstructed by an obstacle (step S202 - No), the determination unit 231 determines that the first moving object and the second moving object have not approached each other to the reference distance (step S206), and ends a series of processes.

[0077] The above-described determination process may be performed when the distance between the first moving object and the second moving object approaches a predetermined monitoring distance. As the monitoring distance, for example, it can be set from 50 m to 100 m. This is because when the first moving object and the second moving object are separated, it is difficult to understand the meaning of a warning indicating that they are approaching even if such a warning is notified.

[0078] As described in detail above, when the determination device according to the present embodiment detects that two moving objects are approaching each other, it notifies the two moving objects that they are approaching before they approach too close to each other, thereby preventing the two moving objects from approaching each other.

[0079] The situation in which the monitoring device 13 of the present embodiment performs the determination process is not limited to the example shown in FIG. 1. Other examples in which the monitoring device 13 performs the determination process will be described below. FIG. 6 is a diagram for explaining another example of the operation of the monitoring device of the present embodiment. Next, with reference to FIG. 6, another example in which the determination process is performed will be described below.

[0080] As shown in FIG. 6, the vehicle 10 is traveling on the road 50. The vehicle 10 has stopped at an intersection 52 where the road 50 and the road 51 intersect in order to make a right turn.

[0081] Based on the object detection information, the monitoring device 13 determines that there are a vehicle 60 and a vehicle 70 in a predetermined range around the vehicle 10. The vehicle 60 is traveling on the road 50 on the side opposite to the vehicle 10 with respect to the intersection 52 and is scheduled to make a right turn at the intersection 52. The vehicle 70 is traveling on the road 51 and is scheduled to go straight through the intersection 52.

[0082] The monitoring device 13 sets a first detection range F1 for detecting other moving objects with respect to the vehicle 60, and sets a second detection range F2 for detecting other moving objects with respect to the vehicle 70.

[0083] Since the straight line M connecting the position of vehicle 70 and the position of vehicle 80 intersects with the area where vehicle 10 is located, the determination unit 231 determines that there is vehicle 10 as an obstacle. Since vehicle 10 is stationary, it can be an obstacle. That is, the determination unit 231 determines that there is vehicle 10 as an obstacle that may prevent the detection of the second moving object included in the first detection range F1 and may prevent the detection of the second moving object included in the second detection range F2.

[0084] The determination unit 231 determines that vehicle 60 and vehicle 70 approach a predetermined reference distance in a state where the detection of vehicle 60 within the second detection range F2 is blocked by vehicle 10 and the detection of vehicle 70 within the first detection range F1 is blocked by vehicle 10. The determination unit 233 determines to notify a warning to vehicle 60 and vehicle 70.

[0085] The determination unit 231 may set the reference distance based on the positional relationship between vehicle 60 and vehicle 70 and vehicle 10. For example, when vehicle 60 and vehicle 70 are on the same side of vehicle 10, the determination unit 231 sets the reference distance to be shorter than when vehicle 60 and vehicle 70 are on different sides of vehicle 10.

[0086] In the example shown in FIG. 1, vehicle 60 and vehicle 70 are on the same side of vehicle 10. On the other hand, in the example shown in FIG. 6, vehicle 60 and vehicle 70 are on different sides of vehicle 10. Therefore, the reference distance in the example shown in FIG. 6 is set to be longer than the reference distance in the example shown in FIG. 1. In the example shown in FIG. 6, since vehicle 10 is located between vehicle 60 and vehicle 70, the reference distance becomes longer accordingly.

[0087] Also, the determination unit 231 may set the reference distance based on the state of the traffic signal at intersection 52. There is a traffic signal 53 in the traveling direction of vehicle 70. For example, the determination unit 231 sets the reference distance when traffic signal 53 is green to be longer than the reference distance when traffic signal 53 is red. When traffic signal 53 is green, vehicle 70 is traveling at an increased speed, so the reference distance is increased to notify the warning earlier.

[0088] Also, in the example shown in FIG. 6, the determination unit 231 may further set a reference distance based on the speeds of the vehicle 60 and the vehicle 70.

[0089] Also, as a situation where the monitoring device 13 of the present embodiment performs determination processing, there is the following example. The vehicle 10 is traveling on a two-lane road in the oncoming direction, and a truck is parked in the oncoming lane in front of the vehicle 10. An oncoming vehicle is traveling toward the vehicle 10 from further ahead of this truck. Here, a pedestrian is about to cross the road in front of the truck.

[0090] Based on the object detection information, the monitoring device 13 determines that there is an oncoming vehicle and a pedestrian in a predetermined range around the vehicle 10.

[0091] The monitoring device 13 virtually arranges a first sensor at the center in front of the oncoming vehicle and sets a first detection range for the first sensor. Also, the monitoring device 13 virtually arranges a second sensor at the center in front of the pedestrian and sets a second detection range for the second sensor.

[0092] Since the straight line connecting the position of the oncoming vehicle and the position of the pedestrian intersects the area where the truck is located, the monitoring device 13 determines that there is a truck as an obstacle.

[0093] The determination unit 231 determines whether the oncoming vehicle and the pedestrian approach a predetermined reference distance in a state where the detection of the pedestrian within the first detection range F1 is blocked by the truck and the detection of the oncoming vehicle within the second detection range F2 is blocked by the truck. When it is determined that the oncoming vehicle and the pedestrian approach the reference distance, the determination unit 233 determines to notify a warning to the oncoming vehicle and the pedestrian.

[0094] In the present disclosure, the monitoring device of the above-described embodiment can be appropriately changed without departing from the gist of the present disclosure. Also, the technical scope of the present disclosure is not limited to those embodiments, but extends to the invention described in the claims and its equivalents.

[0095] For example, in the monitoring process in the above-described embodiment, determination processing and the like were performed when two moving objects were detected. When three or more moving objects are detected, the above-described determination processing and the like are performed on two of the three or more moving objects.

[0096] Also, the determination processing in the above-described embodiment is not limited to the above-described method. The determination processing may be executed using other methods.

[0097] Further, in the above-described embodiment, the distance between the host vehicle and the moving object or the like was measured using a LiDAR sensor, but the distance between the host vehicle and the moving object or the like may be measured using a stereo camera. Also, the camera image acquired by the camera may be input to a discriminator learned to estimate the distance from the vehicle to the object in the image, and the distance from the vehicle to the moving object or the like may be calculated.

Explanation of Reference Numerals

[0098] 2a Front camera 2b Rear camera 3a, 3b LiDAR sensors 6 Vehicle speed sensor 7 User interface 7a Display device 10 Vehicle 11 Object detection device 12 Automatic control device 13 Monitoring device 21 Communication interface 22 Memory 23 Processor 231 Determination unit 232 Setting unit 233 Decision unit 14 In-vehicle network

Claims

1. A first determination unit that determines whether there is a first moving object and a second moving object within a predetermined range around the host vehicle; When it is determined by the first determination unit that there are the first moving object and the second moving object, a first detection range for detecting other moving objects with respect to the first moving object is set, and a second detection range for detecting other moving objects with respect to the second moving object is set; When the first detection range and the second detection range are set by the setting unit, a second determination unit that determines whether there is an obstacle that may prevent the detection of the second moving object included in the first detection range and the detection of the first moving object included in the second detection range; When it is determined by the second determination unit that there is an obstacle, in a state where the detection of the second moving object within the first detection range is prevented by the obstacle and the detection of the first moving object within the second detection range is prevented by the obstacle, a third determination unit that determines whether the first moving object and the second moving object approach each other to a predetermined reference distance; When it is determined by the third determination unit that the first moving object and the second moving object approach each other to the reference distance, a determination unit that determines to notify a warning to the first moving object and the second moving object; A monitoring device, characterized by comprising the above.

2. The third determination unit sets the reference distance based on the positional relationship between the first moving object and the second moving object and the host vehicle. The monitoring device according to claim 1.

3. The third determination unit sets the reference distance so as to be shorter when the first moving object and the second moving object are on the same side of the host vehicle than when the first moving object and the second moving object are on different sides of the host vehicle. The monitoring device according to claim 2.

4. The third determination unit sets the reference distance based on the speeds of the first moving object and the second moving object. The monitoring device according to claim 1.

5. When either one of the speeds of the first moving object and the second moving object exceeds a predetermined reference speed, the third determination unit sets the reference distance so as to be longer than when the speeds of the first moving object and the second moving object do not exceed the reference speed. The monitoring device according to claim 4.

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