Pay attention to the activating device.

Abstract

To provide a warning device that can alert vehicle drivers without causing them any inconvenience. [Solution] The warning device 1 warns the driver of vehicle 2 that it is necessary to stop vehicle 2. The warning device 1 includes a camera 6 and an object recognition unit 12 that detect at least one of the stop sign 3 and the red or yellow light of a traffic signal that are in the direction of travel of vehicle 2, a time-series data extraction unit 14 that acquires information on the driver's driving tendencies regarding at least one of the stop sign 3 and the red or yellow light of a traffic signal, and an alarm control unit 20 that uses the driving tendencies information to control the timing of issuing a warning.

Description

[Technical Field]

[0001] This invention relates to a warning device. [Background technology]

[0002] Conventional warning devices include, for example, the technology described in Patent Document 1. The warning device described in Patent Document 1 is a device that provides warnings regarding stop signs located in the direction of travel of a vehicle. The warning device includes a navigation device that acquires the distance between the vehicle and the stop sign, a vehicle speed sensor that detects the vehicle's speed, a road gradient identification unit that identifies the gradient of the road on which the vehicle is traveling based on the detection values ​​of the G sensor and the vehicle speed sensor, and a warning determination unit that determines whether or not to provide a warning based on the distance between the vehicle and the stop sign, the vehicle's speed, and the road gradient. [Prior art documents] [Patent Documents]

[0003] [Patent Document 1] Japanese Patent Publication No. 2008-117131 [Overview of the project] [Problems that the invention aims to solve]

[0004] In the conventional technology described above, even if the vehicle or driver is different, a warning will be issued if the vehicle speed and the distance between the vehicle and the stop sign are the same. However, the vehicle's deceleration behavior in relation to the stop sign (timing of deceleration, amount of deceleration, minimum speed, etc.) differs from one driver to another. Therefore, some drivers may find the timing of the warning annoying.

[0005] The objective of the present invention is to provide a warning device that can alert vehicle drivers without causing them any inconvenience. [Means for solving the problem]

[0006] (1) One aspect of the present invention is a warning device for alerting a vehicle driver that it is necessary to stop the vehicle, comprising: an object detection unit that detects at least one of a stop sign and a red or yellow light of a traffic signal located in the direction of travel of the vehicle; an acquisition unit that acquires information regarding the driver's driving tendencies in relation to at least one of the stop sign and the red or yellow light of the traffic signal detected by the object detection unit; and a control unit that controls the timing of issuing a warning using the driving tendencies information acquired by the acquisition unit.

[0007] (2) In (1) above, the warning device further comprises: a distance detection unit that detects the distance from the vehicle to a stop line corresponding to at least one of a stop sign and a traffic light; a first calculation unit that calculates parameters relating to the vehicle's driving state when stopping the vehicle at the stop line based on information regarding driving tendencies acquired by the acquisition unit; a second calculation unit that calculates a warning activation distance to the stop line based on the parameters relating to the vehicle's driving state calculated by the first calculation unit; and a determination unit that determines whether the distance to the stop line detected by the distance detection unit is less than or equal to the warning activation distance calculated by the second calculation unit, and the control unit may control the device to issue a warning when the determination unit determines that the distance to the stop line is less than or equal to the warning activation distance.

[0008] (3) In (2) above, the determination unit may determine whether the distance to the stop line is less than or equal to the warning activation distance and whether the vehicle is decelerating, and the control unit may be controlled to issue a warning when the determination unit determines that the distance to the stop line is less than or equal to the warning activation distance and the vehicle is decelerating.

[0009] (4) In the above (2) or (3), the warning device further includes a vehicle speed detection unit that detects the vehicle speed of the vehicle, and the acquisition unit acquires, as information on the driving tendency, the time-series data of the vehicle speed detected by the vehicle speed detection unit and the time-series data of the distance to the stop line detected by the distance detection unit. The first calculation unit may calculate, as parameters related to the driving state of the vehicle, the deceleration of the vehicle when stopping the vehicle, the minimum speed of the vehicle, and the offset amount of the stop position of the vehicle with respect to the stop line.

[0010] (5) In any of the above (2) to (4), the warning device further includes a recognition unit that recognizes the driver, and the second calculation unit may calculate a warning activation distance corresponding to the driver recognized by the recognition unit.

Advantages of the Invention

[0011] According to the present invention, it is possible to give a warning to the driver of the vehicle without causing annoyance.

Brief Description of the Drawings

[0012] [Figure 1] It is a schematic configuration diagram showing a warning device according to an embodiment of the present invention. [Figure 2] It is a diagram showing a state where the vehicle approaches a temporary stop sign. [Figure 3] It is a flowchart showing the procedure of parameter calculation processing executed by the ECU shown in FIG. 1. [Figure 4] It is a flowchart showing the procedure of warning control processing executed by the ECU shown in FIG. 1.

Modes for Carrying Out the Invention

[0013] Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings.

[0014] FIG. 1 is a schematic configuration diagram showing a warning device according to an embodiment of the present invention. In FIG. 1, the warning device 1 of the present embodiment is mounted on a vehicle 2 (see FIG. 2). The warning device 1 is a device that gives a warning to the driver of the vehicle 2 that it is necessary to stop the vehicle 2.

[0015] As shown in FIG. 2, the warning device 1 gives a warning to the driver that it is necessary to stop the vehicle 2 at a position in front of the stop line 4 corresponding to the temporary stop sign 3 or traffic signal (not shown) on the road R where the temporary stop sign 3 or traffic signal is installed.

[0016] The warning device 1 includes a camera 5 for driver imaging, a front camera 6, a vehicle speed sensor 7, a memory 8, an alarm 9, and an ECU (Electronic Control Unit) 10.

[0017] The camera 5 images the face of the driver sitting in the driver's seat of the vehicle 2 and acquires image data of the driver's face. As the camera 5, for example, a monocular camera or a stereo camera is used. The camera 6 images the front of the vehicle 2 and acquires image data of the front of the vehicle 2. As the camera 6, for example, a plurality of monocular cameras or a stereo camera is used. The vehicle speed sensor 7 is a vehicle speed detection unit that detects the traveling speed (vehicle speed) of the vehicle 2.

[0018] The memory 8 stores parameters (described later) related to the traveling state of the vehicle 2 when the vehicle 2 is stopped at the stop line 4 (see FIG. 2). Sufficient parameters related to the traveling state of the vehicle 2 are stored in the memory 8. Note that the memory 8 may be built into the ECU 10. The alarm 9 gives a warning for attention, for example, by an alarm sound and an alarm display.

[0019] The ECU 10 is composed of a CPU, a RAM, a ROM, an input / output interface, and the like. The ECU 10, for example, loads a program recorded in the ROM into the RAM and executes the program loaded into the RAM by the CPU.

[0020] The ECU 10 includes a driver recognition unit 11, an object recognition unit 12, a distance calculation unit 13, a time-series data extraction unit 14, a parameter calculation unit 15, a parameter storage unit 16, a learning processing unit 17, an operating distance calculation unit 18, a warning determination unit 19, and an alarm control unit 20.

[0021] The driver recognition unit 11 recognizes the driver operating the vehicle 2 based on image data acquired by the camera 5. The driver recognition unit 11 works in cooperation with the camera 5 to form a recognition unit that recognizes the driver.

[0022] The object recognition unit 12 recognizes the state of a stop sign 3 or a traffic light (not shown) located in front of the vehicle 2 based on image data acquired by the camera 6. The object recognition unit 12 recognizes the state of the traffic light as either red or yellow. The object recognition unit 12, in cooperation with the camera 6, constitutes an object detection unit that detects at least one of the stop sign 3 and the red or yellow traffic light located in the direction of travel of the vehicle 2.

[0023] The distance calculation unit 13 calculates the distance from the vehicle 2 to the stop line 4 (see Figure 2) corresponding to the stop sign 3 or traffic light (not shown) based on the image data acquired by the camera 6. The distance calculation unit 13 also functions as a distance detection unit that works in cooperation with the camera 6 to detect the distance from the vehicle 2 to the stop line 4 corresponding to at least one of the stop sign 3 and traffic light.

[0024] The time-series data extraction unit 14 extracts time-series data of the vehicle speed of vehicle 2 from the time it is decelerated to a specified speed until it reaches its minimum speed, and time-series data of the distance from vehicle 2 to the stop line 4 from the time it is decelerated to a specified speed, based on the detected value of the vehicle speed sensor 7 and the distance from vehicle 2 to the stop line 4 calculated by the distance calculation unit 13. The time-series data of vehicle speed and distance correspond to information regarding the driver's driving tendencies in relation to the stop sign 3 or traffic light.

[0025] The time-series data extraction unit 14 is configured as an acquisition unit that acquires information regarding the driver's driving tendencies in relation to at least one of the stop sign 3 and the red or yellow light of the traffic signal, which are detected by the target detection unit. The time-series data extraction unit 14 acquires time-series data of the vehicle speed detected by the vehicle speed sensor 7 (vehicle speed detection unit) and time-series data of the distance to the stop line 4 detected by the distance detection unit as information regarding driving tendencies.

[0026] The parameter calculation unit 15 calculates parameters related to the driving state of vehicle 2 when stopping vehicle 2 at the stop line 4 (hereinafter sometimes referred to as driving parameters) based on the time-series data of vehicle speed and distance extracted by the time-series data extraction unit 14. The parameter calculation unit 15 calculates the deceleration of vehicle 2 when stopping vehicle 2, the minimum speed of vehicle 2, and the offset amount of the stopping position of vehicle 2 relative to the stop line 4 as parameters related to the driving state of vehicle 2.

[0027] The parameter calculation unit 15 is a first calculation unit that calculates parameters related to the driving state of the vehicle 2 when it is stopped at the stop line 4, based on information about the driver's driving tendencies acquired by the acquisition unit.

[0028] The parameter storage unit 16 stores the parameters related to the driving state of the vehicle 2, calculated by the parameter calculation unit 15, in memory 8, linked to the driver recognized by the driver recognition unit 11. The parameter storage unit 16 also stores the deceleration of the vehicle 2, the minimum speed of the vehicle 2, and the offset amount of the vehicle 2's stopping position relative to the stop line 4 in memory 8 along with the driver data.

[0029] The learning processing unit 17 reads the driving parameters corresponding to the driver recognized by the driver recognition unit 11 from the memory 8 and creates a distribution of driving parameters, thereby performing a learning process for the driving parameters. The learning process will be described in detail later.

[0030] The operating distance calculation unit 18 calculates the warning operating distance D(V) for the stop line 4 based on the learning results of the learning processing unit 17. The warning operating distance D(V) is the distance required to warn the driver of vehicle 2 (see Figure 2). The operating distance calculation unit 18, in cooperation with the learning processing unit 17, constitutes a second calculation unit that calculates the warning operating distance for the stop line 4 based on parameters related to the driving state of vehicle 2 calculated by the parameter calculation unit 15 (first calculation unit).

[0031] As shown in Figure 2, the warning determination unit 19 determines the distance D to the stop line 4 calculated by the distance calculation unit 13. driver The system determines whether the operating distance is less than or equal to the warning operating distance D(V) calculated by the operating distance calculation unit 18, and also determines whether the vehicle 2 is decelerating based on the value detected by the vehicle speed sensor 7.

[0032] The warning determination unit 19 is configured to determine whether the distance to the stop line 4 detected by the distance detection unit is less than or equal to the warning activation distance calculated by the second calculation unit. The warning determination unit 19 determines whether the distance to the stop line 4 is less than or equal to the warning activation distance and whether the vehicle 2 is decelerating.

[0033] The alarm control unit 20 determines the distance D to the stop line 4 based on the warning determination unit 19. driver The alarm device 9 is controlled to issue a warning alert when it is determined that the vehicle 2 is below the warning activation distance D(V) and that the vehicle 2 is not decelerating.

[0034] The alarm control unit 20 works in cooperation with the alarm 9 to control the timing of issuing a warning using information on driving trends acquired by the acquisition unit. The alarm control unit 20 controls the system to issue a warning when the warning determination unit 19 determines that the distance to the stop line 4 is less than or equal to the warning activation distance and that the vehicle 2 is decelerating.

[0035] Figure 3 is a flowchart showing the procedure for the parameter calculation process performed by the ECU 10. This process is performed by the driver recognition unit 11, the target recognition unit 12, the distance calculation unit 13, the time-series data extraction unit 14, the parameter calculation unit 15, and the parameter storage unit 16.

[0036] In Figure 3, the ECU 10 first recognizes the driver of vehicle 2 based on the image data from camera 5 (procedure S101). Next, the ECU 10 determines whether the stop sign 3 located in front of vehicle 2 has been recognized based on the image data from camera 6 (procedure S102).

[0037] When the ECU 10 determines that a stop sign 3 located in front of vehicle 2 has been recognized, it determines whether the vehicle speed of vehicle 2 is below the specified speed based on the value detected by the vehicle speed sensor 7 (procedure S103). The specified speed is, for example, 10 km / h. If the ECU 10 determines that the vehicle speed of vehicle 2 is not below the specified speed, it repeats the above procedure S101.

[0038] When the ECU 10 determines that the vehicle speed of vehicle 2 is below the specified speed, it records time-series data of the vehicle speed of vehicle 2 (procedure S104). The ECU 10 also calculates the distance from vehicle 2 to the stop line 4 corresponding to the stop sign 3 based on the image data from camera 6 (procedure S105). The ECU 10 then records time-series data of the distance from vehicle 2 to the stop line 4 corresponding to the stop sign 3 (procedure S106).

[0039] Next, the ECU 10 determines, based on the value detected by the vehicle speed sensor 7, whether the vehicle speed of vehicle 2 has reached the minimum speed (procedure S107). In this case, the minimum speed is zero. In other words, the minimum speed is the speed at which vehicle 2 is stopped. If the ECU 10 determines that the vehicle speed of vehicle 2 has not reached the minimum speed, it repeats procedure S101.

[0040] When the ECU 10 determines that the vehicle speed of vehicle 2 has reached its minimum speed, it calculates three driving parameters based on the time-series data of vehicle speed recorded in step S104 and the time-series data of the distance from vehicle 2 to stop line 4 recorded in step S106 (step S108). The driving parameters are the deceleration of vehicle 2, the minimum speed of vehicle 2, and the offset amount of the stopping position of vehicle 2 relative to stop line 4. The ECU 10 then stores the three driving parameters in memory 8 along with the driver data recognized in step S101 (step S109).

[0041] If the ECU 10 determines in step S102 that the stop sign 3 located in front of vehicle 2 has not been recognized, it determines, based on the image data from camera 6, whether a red or yellow light of a traffic light (not shown) located in front of vehicle 2 has been recognized (step S110).

[0042] When the ECU 10 determines that a red or yellow traffic light ahead of vehicle 2 has been detected, it determines whether the vehicle speed of vehicle 2 is below a specified speed based on the value detected by the vehicle speed sensor 7 (procedure S111). The specified speed is, for example, 10 km / h. If the ECU 10 determines that the vehicle speed of vehicle 2 is not below the specified speed, it repeats the above procedure S101.

[0043] When the ECU 10 determines that the vehicle speed of vehicle 2 is below a specified speed, it records time-series data of the vehicle speed of vehicle 2 (procedure S112). The ECU 10 also calculates the distance from vehicle 2 to the stop line corresponding to the traffic light based on the image data from camera 6 (procedure S113). The ECU 10 then records time-series data of the distance from vehicle 2 to the stop line corresponding to the traffic light (procedure S114).

[0044] Next, ECU10 executes steps S107 to S109 above, and then executes step S101 again. If ECU10 determines in step S110 that the red and yellow traffic lights in front of vehicle 2 have not been recognized, it executes step S101 again.

[0045] Here, the driver recognition unit 11 executes procedure S101. The target recognition unit 12 executes procedures S102 and S110. The distance calculation unit 13 executes procedures S105 and S113. The time series data extraction unit 14 executes procedures S103, S104, S106, S111, S112 and S114. The parameter calculation unit 15 executes procedures S107 and S108. The parameter storage unit 16 executes procedure S109.

[0046] Figure 4 is a flowchart showing the procedure for the warning control process performed by the ECU 10. This process is performed by the driver recognition unit 11, the target recognition unit 12, the distance calculation unit 13, the learning processing unit 17, the operating distance calculation unit 18, the warning determination unit 19, and the alarm control unit 20. This process is performed in parallel with the parameter calculation process shown in Figure 3.

[0047] In Figure 4, the ECU 10 first recognizes the driver of vehicle 2 based on the image data from camera 5 (procedure S121). Next, the ECU 10 determines whether the stop sign 3 located in front of vehicle 2 has been recognized based on the image data from camera 6 (procedure S122).

[0048] When the ECU 10 determines that a stop sign 3 located in front of vehicle 2 has been recognized, it reads three driving parameters corresponding to the driver of vehicle 2 from memory 8 (procedure S123). The driving parameters are the deceleration of vehicle 2, the minimum speed of vehicle 2, and the offset amount of the stopping position of vehicle 2 relative to the stop line 4 corresponding to the stop sign 3.

[0049] Then, ECU10 creates distributions for each of the three driving parameters (procedure S124). Subsequently, ECU10 calculates the mean μ and variance σ of the three driving parameters. 2 Calculate each of these (procedure S125).

[0050] Next, ECU10 displays the mean value μ and the variance value σ. 2Using this method, outlier handling is performed for each of the three driving parameters (procedure S126). For example, the ECU10 excludes values ​​outside the range of (μ±σ), which is the 1σ interval, for each driving parameter as outliers.

[0051] Next, the ECU10 calculates the learned values ​​for each of the three driving parameters (procedure S127). For example, the ECU10 uses the average or median value within the range of (μ±σ) as the learned value for each driving parameter. The learned values ​​for the driving parameters are the deceleration g of vehicle 2 and the minimum speed v of vehicle 2. min And the offset amount a of the stopping position of vehicle 2 relative to stop line 4 (see Figure 2).

[0052] Next, as shown in Figure 2, the ECU 10 calculates the warning activation distance D(v) for the stop line 4 using the following formula based on the detection value of the vehicle speed sensor 7 (procedure S128). The warning activation distance D(v) is the distance corresponding to the vehicle speed of vehicle 2. The reaction time T is 1.

[0053]

number

[0054] Next, as shown in Figure 2, the ECU 10 calculates the distance D from the vehicle 2 to the stop line 4 based on the image data from the camera 6. driver The ECU calculates the distance D from vehicle 2 to stop line 4. driver It is determined whether the distance is less than or equal to the alert activation distance D(v) calculated in step S128 (step S130).

[0055] ECU10 determines the distance D from vehicle 2 to stop line 4. driverWhen it is determined that the distance D is less than or equal to the warning activation distance D(v), it is determined whether the vehicle 2 is decelerating based on the detected value of the vehicle speed sensor 7 (step S131). When the ECU 10 determines that the vehicle 2 is not decelerating, it controls the alarm device 9 to issue a warning for alerting (step S132), and executes the above-described step S121 again.

[0056] When the ECU 10 determines in step S130 that the distance D from the vehicle 2 to the stop line 4 driver is not less than or equal to the warning activation distance D(v), or when it is determined in step S131 that the vehicle 2 is decelerating, the above-described step S121 is executed again without executing step S132.

[0057] When the ECU 10 determines in step S122 that the stop sign 3 existing in front of the vehicle 2 is not recognized, it is determined based on the image data of the camera 6 whether a red signal or a yellow signal of a traffic signal (not shown) existing in front of the vehicle 2 is recognized (step S133).

[0058] When the ECU 10 determines that a red signal or a yellow signal of a traffic signal existing in front of the vehicle 2 is recognized, the subsequent steps S123 and later are executed. At this time, the stop line refers to the stop line corresponding to the traffic signal. When the ECU 10 determines that neither the red signal nor the yellow signal of the traffic signal existing in front of the vehicle 2 is recognized, the subsequent steps S123 and later are not executed, and the above-described step S121 is executed again.

[0059] Here, the driver recognition unit 11 executes step S121. The target recognition unit 12 executes steps S122 and S133. The distance calculation unit 13 executes step S129. The learning processing unit 17 executes steps S123 to S127. The activation distance calculation unit 18 executes step S128. The warning determination unit 19 executes steps S130 and S131. The warning control unit 20 executes step S132.

[0060] In the warning device 1 described above, as shown in Figure 2, when the camera 6 recognizes a stop sign 3 located in front of the vehicle 2, and the vehicle 2 begins to decelerate, time-series data of the vehicle 2's speed until it reaches its minimum speed, and time-series data of the distance from the vehicle 2 to the stop line 4 corresponding to the stop sign 3 are extracted. Based on the time-series data of speed and distance, the vehicle 2's deceleration, minimum speed, and the offset amount of the vehicle 2's stopping position relative to the stop line 4 are calculated as driving parameters. These driving parameters are then stored in memory 8, linked to the driver of the vehicle 2 recognized by the camera 5.

[0061] Subsequently, as vehicle 2 approaches the stop sign 3, a distribution of the driver's driving parameters stored in memory 8 is created, and the driving parameter learning process is performed. Then, the deceleration g of vehicle 2 and the minimum speed v of vehicle 2 are determined. min Based on the offset amount a of the vehicle 2's stopping position relative to the stop line 4, the warning activation distance D(v) relative to the stop line 4 is calculated.

[0062] Then, the distance D from vehicle 2 to stop line 4. driver When the distance from vehicle 2 to stop line 4 falls below the warning activation distance D(v), it is determined whether vehicle 2 is slowing down. driver If the vehicle 2 does not decelerate because the driver does not press the brake pedal, even if the warning activation distance D(v) is below the warning activation distance, the warning device 9 will alert the driver. As a result, the driver can press the brake pedal and stop the vehicle 2 before the stop line 4.

[0063] When camera 6 recognizes a red or yellow traffic light in front of vehicle 2, and vehicle 2 begins to decelerate, time-series data of vehicle 2's speed until it reaches its minimum speed, and time-series data of the distance from vehicle 2 to the stop line corresponding to the traffic light are extracted. Then, similarly to the above, the deceleration of vehicle 2, the minimum speed of vehicle 2, and the offset amount of vehicle 2's stopping position relative to the stop line are calculated as driving parameters.

[0064] Subsequently, as vehicle 2 approaches the traffic light, the same process as above is performed to learn the driving parameters, and the warning activation distance D(v) for the stop line is calculated. Then, the distance D from vehicle 2 to the stop line is calculated. driver If the vehicle 2 is not decelerating even when the warning activation distance D(v) falls below the specified range, the warning device 9 will alert the driver in the same manner as described above.

[0065] As described above, in this embodiment, either a stop sign 3 or a red or yellow light of a traffic light (not shown) located in the direction of travel of vehicle 2 is detected, and information regarding the driver's driving tendencies in response to either the stop sign 3 or the red or yellow light of the traffic light is acquired. Then, the timing of issuing a warning to the driver is controlled using the information regarding the driver's driving tendencies. As a result, the timing of issuing a warning to the driver is changed according to the driver's driving tendencies. This makes it possible to issue a warning to the driver of vehicle 2 without causing them any inconvenience.

[0066] Furthermore, in this embodiment, based on information regarding driving tendencies, parameters related to the driving state of vehicle 2 when stopping vehicle 2 at a stop line corresponding to a stop sign 3 or traffic light are calculated, and based on the parameters related to the driving state of vehicle 2, the warning activation distance D(v) for the stop line is calculated. The distance D from vehicle 2 to the stop line is then calculated. driver When it is determined that the distance from vehicle 2 to the stop line is less than or equal to the warning activation distance D(v), the system is controlled to issue a warning. driver A warning is issued when the vehicle approaches the stop line at a distance D(v) or less. Therefore, a warning can be issued before reaching the stop line.

[0067] Furthermore, in this embodiment, the distance D from the vehicle 2 to the stop line is also present. driver The system is controlled to issue a warning when it is determined that the distance from vehicle 2 to the stop line is less than or equal to the warning activation distance D(v) and that vehicle 2 is decelerating. driverEven when the warning activation distance D(v) falls below this distance, a warning is issued if vehicle 2 is not decelerating. Therefore, for example, even if vehicle 2 is traveling towards the stop line without the driver applying the brakes, a warning can be issued before reaching the stop line.

[0068] Furthermore, in this embodiment, time-series data of the vehicle speed of vehicle 2 and time-series data of the distance from vehicle 2 to the stop line are acquired as information regarding driving tendencies. Parameters related to the driving state of vehicle 2 are calculated, including the deceleration of vehicle 2 when stopping vehicle 2, the minimum speed of vehicle 2, and the offset amount of vehicle 2's stopping position relative to the stop line. Therefore, when stopping vehicle 2 at a stop sign 3 or traffic light, a warning can be issued at a timing appropriate to the driver's deceleration action of vehicle 2.

[0069] Furthermore, in this embodiment, the driver of vehicle 2 is recognized, and a warning activation distance D(v) corresponding to the driver is calculated. Therefore, even when multiple drivers operate the same vehicle 2, when stopping vehicle 2 at a stop sign 3 or traffic light, warnings can be issued at a timing corresponding to the deceleration action of vehicle 2 by each driver.

[0070] It should be noted that the present invention is not limited to the above embodiments. For example, in the above embodiments, the minimum speed, which is one of the parameters related to the driving state of the vehicle 2, is set to zero, but the invention is not particularly limited to such an embodiment. For example, when the vehicle 2 is driving toward a traffic light, even if a red light is detected on the traffic light, if the traffic light switches from red to green before the vehicle 2 reaches the traffic light, the vehicle 2 will pass the traffic light without stopping at the stop line corresponding to the traffic light, so the minimum speed may be set to a value greater than zero.

[0071] Furthermore, in the above embodiment, the distance D from the vehicle 2 to the stop line is also present. driverEven if the distance from vehicle 2 to the stop line falls below the warning activation distance D(v), a warning is issued to the driver if vehicle 2 is not decelerating, but the system is not limited to this form. For example, regardless of whether vehicle 2 is decelerating or not, the distance D from vehicle 2 to the stop line may be used. driver When the warning activation distance D(v) falls below this distance, a warning may be issued to the driver.

[0072] Furthermore, in the above embodiment, it is determined whether the vehicle 2 is decelerating based on the detected value of the vehicle speed sensor 7, but the embodiment is not limited to this, and for example, it may be determined whether the vehicle 2 is decelerating based on the amount of pressure applied to the brake pedal and the accelerator pedal.

[0073] Furthermore, in the above embodiment, the distance from the vehicle 2 to the stop sign 3 or the stop line corresponding to the traffic light is calculated based on the image data from the camera 6, but the method is not limited to this, and for example, the distance from the vehicle 2 to the stop line may be detected based on detection data from a distance measuring sensor such as LiDAR. [Explanation of Symbols]

[0074] 1…Warning device, 2…Vehicle, 3…Stop sign, 4…Stop line, 5…Camera (recognition unit), 6…Camera (target detection unit, distance detection unit), 7…Vehicle speed sensor (vehicle speed detection unit), 11…Driver recognition unit (recognition unit), 12…Target recognition unit (target detection unit), 13…Distance calculation unit (distance detection unit), 14…Time series data extraction unit (acquisition unit), 15…Parameter calculation unit (first calculation unit), 17…Learning processing unit (second calculation unit), 18…Operating distance calculation unit (second calculation unit), 19…Warning determination unit (determination unit), 20…Warning control unit (control unit), D driver …distance, D(v)…alert activation distance.

Claims

1. A warning device that alerts the driver of a vehicle that it is necessary to stop the vehicle, A target detection unit that detects at least one of a stop sign and a red or yellow light of a traffic signal located in the direction of travel of the vehicle, An acquisition unit that acquires information regarding the driver's driving tendencies in relation to at least one of the stop sign and the red or yellow light of the traffic signal detected by the target detection unit, A warning device comprising a control unit that controls the timing of issuing a warning using the information on driving trends acquired by the acquisition unit.

2. A distance detection unit that detects the distance from the vehicle to the stop line corresponding to at least one of the stop sign and the traffic light, A first calculation unit calculates parameters relating to the vehicle's driving state when the vehicle is stopped at the stop line, based on the information on driving tendencies acquired by the acquisition unit. A second calculation unit calculates the warning activation distance for the stop line based on the parameters relating to the vehicle's driving state calculated by the first calculation unit, The system further comprises a determination unit that determines whether the distance to the stop line detected by the distance detection unit is less than or equal to the warning activation distance calculated by the second calculation unit, The warning device according to claim 1, wherein the control unit controls the device to issue a warning when the determination unit determines that the distance to the stop line is less than or equal to the warning activation distance.

3. The determination unit determines whether the distance to the stop line is less than or equal to the warning activation distance and whether the vehicle is slowing down. The warning device according to claim 2, wherein the control unit controls the warning to be issued when the determination unit determines that the distance to the stop line is less than or equal to the warning activation distance and that the vehicle is decelerating.

4. The vehicle speed detection unit further comprises a unit that detects the vehicle speed of the aforementioned vehicle. The acquisition unit acquires, as information relating to the driving trend, time-series data of the vehicle speed detected by the vehicle speed detection unit and time-series data of the distance to the stop line detected by the distance detection unit. The warning device according to claim 2, wherein the first calculation unit calculates the deceleration of the vehicle when stopping the vehicle, the minimum speed of the vehicle, and the offset amount of the vehicle's stopping position relative to the stop line as parameters relating to the vehicle's driving state.

5. The system further includes a recognition unit that recognizes the aforementioned driver, The warning device according to claim 2, wherein the second calculation unit calculates the warning activation distance corresponding to the driver recognized by the recognition unit.

Images