Collision avoidance system and vehicle equipped with same

Abstract

To improve the detection accuracy for a vehicle that requires collision avoidance in a collision avoidance system.SOLUTION: A collision avoidance system 1 comprises: a surroundings monitoring system 2 that includes a radar 2_1 and outputs monitoring detection information 2DB based on information acquired by the radar 2_1; an area notification system 3 that outputs area detection information 3DB related to a surrounding area; and an auxiliary system 4 that generates auxiliary information 4DH for controlling the surroundings monitoring system 2 on the basis of the area detection information 3DB and outputs the information to the surroundings monitoring system 2.SELECTED DRAWING: Figure 1

Description

Technical Field

[0001] The present invention relates to a collision avoidance system and a vehicle equipped with the same, for example, a collision avoidance system including a peripheral monitoring system that monitors the periphery of a vehicle using a sensor and detects an approaching vehicle, and a vehicle equipped with the same.

Background Art

[0002] Techniques for preventing vehicle collisions are described, for example, in Patent Document (Japanese Patent Application Laid-Open No. 2012-226635). The said patent document describes a collision prevention safety device capable of contributing to low power consumption without impairing the collision prevention function.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] The peripheral monitoring system uses, for example, a camera or a radar using radio waves as a sensor, and by receiving the video or the reflected radio waves of the vehicle approaching the host vehicle, detects the presence of the approaching vehicle and the distance from the host vehicle, and notifies the driver of the host vehicle. However, the detection accuracy of the peripheral monitoring system depends on the environment around the host vehicle. Therefore, there is a problem that in a specific surrounding environment, the detection accuracy of the peripheral monitoring system deteriorates and it becomes difficult to smoothly perform collision avoidance. For example, in an environment where there is a building between the host vehicle and the approaching vehicle, the radio waves are weakened by the building and the detection accuracy of detecting the approaching vehicle deteriorates. Also, in an environment where sunlight or streetlight enters the camera, the detection accuracy of the peripheral monitoring system deteriorates.

[0005] In addition to the surrounding monitoring system, a system equipped with an approaching vehicle notification system can be considered as a collision avoidance system. The approaching vehicle notification system performs wireless communication (vehicle-to-vehicle communication) between the host vehicle and other vehicles, notifies each other of their positions, calculates the distance of the approaching vehicle based on the obtained position information, and notifies the driver of the host vehicle. By providing the approaching vehicle notification system, the host vehicle can detect and notify the driver of a vehicle existing outside the detection range of the sensor through vehicle-to-vehicle communication with a vehicle existing outside the detection range of the sensor. However, in a specific surrounding environment (area), vehicle-to-vehicle communication may be difficult. In such an area, for example, it becomes difficult to detect a vehicle moving from outside the detection range of the sensor to within the detection range within a time when collision avoidance is possible, and there is a problem that it becomes difficult to smoothly perform collision avoidance.

[0006] In the above-mentioned patent documents, such problems are neither described nor recognized. Other problems and novel features will become apparent from the description of this specification and the accompanying drawings.

Means for Solving the Problems

[0007] The outline of typical embodiments disclosed in the present application will be briefly described as follows.

[0008] That is, the collision avoidance system according to the embodiment includes a surrounding monitoring system that includes a sensor and outputs monitoring detection information based on the information acquired by the sensor, an area notification system that outputs area detection information regarding the surrounding area, and an auxiliary system that generates first auxiliary information for controlling the surrounding monitoring system based on the area detection information and outputs it to the surrounding monitoring system.

Effects of the Invention

[0009] According to one embodiment, it is possible to provide a collision avoidance system capable of improving the detection accuracy of a vehicle that requires collision avoidance.

Brief Description of the Drawings

[0010]

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Embodiments for Carrying Out the Invention

[0011] Hereinafter, each embodiment of the present invention will be described with reference to the drawings. It should be noted that the disclosure is merely an example, and for those that can be easily conceived by those skilled in the art with appropriate modifications while maintaining the gist of the invention, they are naturally included in the scope of the present invention.

[0012] Also, in this specification and each figure, elements that are the same as those described above with respect to the previously shown figures may be assigned the same reference numerals, and detailed descriptions may be omitted as appropriate.

[0013] (Embodiment 1) In the following description, a collision avoidance system mounted on a vehicle will be described as an example, but it is not limited thereto. FIG. 22 is a diagram schematically showing a vehicle equipped with the collision avoidance system according to the first embodiment. Vehicle 100 is shown in FIG. 22. Although an automobile will be described as an example of the vehicle, it is not limited thereto. Further, vehicle 100 is provided with a collision avoidance system 1. The collision avoidance system 1 detects a vehicle approaching vehicle 100 and notifies the driver (not shown) of vehicle 100 of the detected vehicle information. The driver who receives the notification operates vehicle 100, for example, so as to avoid a collision with the notified vehicle. Here, an example in which the collision avoidance system 1 notifies the driver of the approaching vehicle will be described, but it is not limited thereto. For example, the notification of the collision avoidance system 1 may be made to vehicle 100 so that vehicle 100 operates to automatically avoid a collision.

[0014] <Configuration of Collision Avoidance System> FIG. 1 is a block diagram showing the configuration of the collision avoidance system according to the first embodiment. In FIG. 1, the collision avoidance system 1 is shown. The collision avoidance system 1 includes various systems, but only those required in the following description are depicted in FIG. 1.

[0015] The collision avoidance system 1 in Fig. 1 includes a surrounding monitoring system 2, an area notification system 3, and an auxiliary system 4. The surrounding monitoring system 2 is equipped with sensors. Based on the information (signals or data) detected by the sensors, it detects vehicles existing within the detection range of the sensors and outputs information regarding the detected vehicles as monitoring detection information 2DB. In Fig. 1, a radar 2_1 is illustrated as an example of the sensor. The radar 2_1 transmits radio waves and receives the radio waves reflected by an approaching vehicle (object). Based on the radio waves (received signals) received by the radar 2_1, object detection processing (signal processing) is executed, and information regarding the direction or distance of the object is obtained. Note that the area where the reflected radio waves can be received is the detection range of the radar 2_1. Instead of the radar 2_1, for example, a camera or the like may be used as the sensor. In this case, the area that can be photographed by the camera is the detection range of the camera. Then, image processing is performed on the video photographed by the camera, and information regarding the direction or distance of the object is obtained.

[0016] The area notification system 3 identifies the position where the vehicle (own vehicle) 100 equipped with the collision avoidance system 1 exists and outputs information on the surrounding area of the identified position as area detection information 3DB. The area notification system 3 according to Embodiment 1 includes a Global Navigation Satellite System (hereinafter also referred to as GNSS) 3_1 and an area information storage unit 3_2 that stores information on the surrounding area of the position identified by the GNSS 3_1.

[0017] The monitoring detection information 2DB and the area detection information 3DB are supplied to the auxiliary system 4. Based on the monitoring detection information 2DB and the area detection information 3DB, this auxiliary system 4 generates auxiliary information (first auxiliary information) 4DH for assisting the detection by the peripheral monitoring system 2 and outputs it to the peripheral monitoring system 2. The detection performed in the peripheral monitoring system 2 is controlled by the auxiliary information 4DH. In FIG. 1, an example is shown in which the auxiliary system 4 generates the auxiliary information 4DH based on the monitoring detection information 2DB and the area detection information 3DB, but it is not limited thereto. For example, the auxiliary system 4 may generate the auxiliary information 4DH based on the area detection information 3DB without using the monitoring detection information 2DB. In the first embodiment, since the auxiliary system 4 assists the peripheral monitoring system 2, it can be regarded as an auxiliary system for the peripheral monitoring system.

[0018] In the collision avoidance system 1 according to the first embodiment, the peripheral monitoring system 2 is controlled by the auxiliary information 4DH based on the area detection information 3DB, which is information on the peripheral area obtained by the area notification system 3. That is, the peripheral monitoring system 2 is controlled according to the situation specific to the peripheral area obtained by the area notification system 3. As a result, the peripheral monitoring system 2 can improve the detection accuracy of vehicles existing within the detection range of the sensor according to the situation specific to the peripheral area. Therefore, it becomes possible to detect a vehicle that requires collision avoidance in a short time, and it becomes possible to smoothly perform the collision avoidance action.

[0019] <<Operation of the Collision Avoidance System>> Next, an operation example of the collision avoidance system 1 will be described with reference to the drawings. FIGS. 2 to 7 are diagrams for explaining the operation example of the collision avoidance system 1 according to the first embodiment. Here, as an example, a relatively large metal fence is installed at a so-called T-shaped intersection, and a case where the radar 2_1 in the collision avoidance system 1 is affected by the metal fence will be described.

[0020] In FIG. 2, 10_1 and 10_2 indicate roads. The straight road 10_1 and the road 10_2 intersect at a T-shaped intersection 10_T. Also, at the intersection 10_T, a relatively large metal fence 12 is installed in the traveling direction of the road 10_2.

[0021] In the same figure, the symbol A indicates the host vehicle. The host vehicle A is traveling in the direction indicated by 10_2A on the road 10_2 so as to enter the intersection 10_T. The symbol B indicates a vehicle approaching the host vehicle A. The vehicle B is traveling in the direction indicated by 10_1B on the road 10_1 so as to enter the intersection 10_T. The host vehicle A is equipped with the above-described collision avoidance system 1, and the collision avoidance system 1 detects the presence of the vehicle B and notifies the driver of the host vehicle A so as to avoid a collision with the vehicle B.

[0022] In FIG. 2, the symbol 11 indicates a wall installed along the roads 10_1 and 10_2. The driver of the host vehicle A has difficulty visually recognizing the vehicle B due to the wall 11. Also, since the radio wave of the radar 2_1 in the collision avoidance system 1 is blocked by the wall 11 and does not reach the vehicle B, the presence of the vehicle B is not detected even by the surrounding monitoring system 2. That is, the vehicle B is outside the detection range of the sensors of the collision avoidance system 1 of the host vehicle A.

[0023] FIGS. 3 and 4 are schematic diagrams showing FIG. 2 three-dimensionally, taking the case where the vehicle B in FIG. 2 is a bicycle as an example. In FIGS. 3 and 4, some of the walls 11 and the host vehicle A are omitted. Also, in the following description, the bicycle will also be described using the same symbol B.

[0024] As shown in FIG. 3, the bicycle B advances toward the intersection 10_T and enters the intersection 10_T as shown in FIG. 4. At this time, the bicycle B will move in front of the metal fence 12 installed opposite to the road 10_2, that is, between the metal fence 12 and the road 10_2. In other words, the bicycle B is a vehicle that moves from outside the detection range of the sensor of the peripheral monitoring system 2 of the collision avoidance system 1 of the own vehicle A to within the detection range.

[0025] The radar 2_1 in the peripheral monitoring system 2 within the collision avoidance system 1 mounted on the own vehicle A receives reflected waves from objects such as vehicles existing within the detection range of the radar 2_1. The radar 2_1 has a dynamic range DRG indicating the range within which signal processing of the received signal is possible. Therefore, the radar 2_1 can detect an object that generates a reflected wave falling within the range between the minimum level min and the maximum level max of this dynamic range DRG.

[0026] The peripheral monitoring system 2 outputs the distance to the object detected by the radar 2_1 as monitoring detection information 2DB. Usually, the peripheral monitoring system 2 dynamically changes the dynamic range DRG of the radar 2_1 over time so that it can detect objects that generate reflected waves of various sizes. That is, the peripheral monitoring system 2 moves the dynamic range DRG up and down periodically in FIG. 5, for example, while maintaining the size of the range between the minimum level min and the maximum level max.

[0027] As shown in FIGS. 2 and 3, when a relatively large metal fence 12 is installed at the intersection 10_T, there will be an object with a large radar cross-sectional area on the facing surface of the radar 2_1. In this case, the peripheral monitoring system 2 usually controls to maintain the dynamic range DRG in a state corresponding to the magnitude of the reflected wave from the metal fence 12 so as to continuously detect the metal fence 12 with a large radar cross-sectional area.

[0028] The magnitude of the reflected wave from the bicycle B is smaller than that from the metal fence 12. Therefore, as shown in FIG. 6, the reflected wave from the bicycle B may fall outside the dynamic range DRG set to detect the reflected wave from the metal fence 12. In this case, as shown in FIG. 4, the peripheral monitoring system 2 cannot detect the bicycle B even if the bicycle B moves within the detection range of the radar 2_1, making it difficult to smoothly avoid a collision.

[0029] In the collision avoidance system 1 according to Embodiment 1, the area notification system 3 identifies the peripheral area of the host vehicle A. An example of the peripheral area AR1 identified by the area notification system 3 is shown as the hatched area in FIG. 2. In the area notification system 3, the coordinates of the host vehicle A are acquired by the GNSS 3_1, and based on the acquired coordinate information and the pre-registered map data and the like, the information of the peripheral area AR1 is acquired. That is, by referring to the acquired coordinate information, the information of the peripheral area AR1 recorded in the map data is acquired. In the example of FIG. 2, the peripheral area AR1 includes the T-shaped intersection 10_T, and it is acquired as the information of the peripheral area AR1 that the metal fence 12 is installed on the opposing surface of the road 10_2 at the T-shaped intersection 10_T, and is stored in the area information storage unit 3_2. The information stored in this area information storage unit 3_2 is output as the area detection information 3DB.

[0030] As described above, the auxiliary system 4 may generate the auxiliary information 4DH based on the area detection information 3DB without using the monitoring detection information 2DB. Here, first, the case of generating the auxiliary information 4DH based only on the area detection information 3DB will be described.

[0031] In the situation shown in FIG. 3, as described above, bicycle B is outside the detection range of radar 2_1, and therefore, the perimeter monitoring system 2 is unable to detect bicycle B. As bicycle B advances and reaches the situation shown in FIG. 4, bicycle B moves into the detection range of radar 2_1 of the perimeter monitoring system 2. However, because a metal fence 12 with a large radar cross section is installed on the opposite side of radar 2_1, the dynamic range of radar 2_1 is set so as to detect the metal fence 12 (as shown in FIG. 6). Therefore, the reflected wave from bicycle B, which has a smaller radar cross section than the metal fence 12, falls below the minimum level min of the set dynamic range DRG, and it becomes difficult for radar 2_1 to detect bicycle B.

[0032] The auxiliary system 4 recognizes from the area detection information 3DB that a T-shaped intersection 10_T exists and that a metal fence 12 has been installed. Then, the auxiliary system 4 outputs (notifies) to the perimeter monitoring system 2 as auxiliary information 4DH that an object with a large radar cross section, i.e., an object (metal fence) that emits large reflected waves, has been installed within the radar detection range. For example, the auxiliary system 4 may be configured to output the auxiliary information 4DH when it determines, based on the area detection information 3DB, that an object that emits reflected waves of a predetermined size or larger is included within the detection range of the radar 2_1.

[0033] Upon receiving this notification, the perimeter monitoring system 2 controls the radar 2_1 so as to be able to detect objects with small radar cross sections. In the first embodiment, as shown in FIG. 7, the perimeter monitoring system 2 controls the radar 2_1 so as to widen the dynamic range to the dynamic range DRG_e. That is, the auxiliary information 4DH is dynamic change instruction information for the radar 2_1. This enables the perimeter monitoring system 2 to detect objects with small radar cross sections. As shown in FIG. 7, the widened dynamic range DRG_e accommodates the reflected waves from the metal fence 12 and the reflected waves from the bicycle B, so that the presence of not only the metal fence 12 but also the bicycle B is detected. Therefore, even if a vehicle moves (enters) from outside the line of sight into the line of sight, the perimeter monitoring system 2 can detect the vehicle. This also makes it possible to obtain the distance from the host vehicle A to the bicycle B.

[0034] In this way, even if an object with a large radar cross section is present within the radar's detection range, it is possible to detect, for example, a vehicle (bicycle) crossing in front of it, making it possible to smoothly avoid a collision.

[0035] Next, an example of a configuration for controlling the dynamic range of the radar 2_1 will be described with reference to the drawings. FIG. 8 is a circuit diagram showing the configuration of a range control circuit according to the first embodiment. FIG. 8 shows a range control circuit 2_DRG provided in the perimeter monitoring system 2. The range control circuit 2_DRG includes a variable gain amplifier GCA, a DC offset adjuster OFS, and an analog-to-digital converter ADC. A reflected wave from an object is input as an analog signal RF to the variable gain amplifier GCA. The analog signal RF amplified by the variable gain amplifier GCA has its DC offset adjusted by the DC offset adjuster OFS, which is composed of a resistor R1 and a variable resistor R2 connected in series between a bias voltage Vb and a ground voltage Vs, and is then converted into a digital signal DT by the analog-to-digital converter ADC. This digital signal DT serves as a signal indicating the presence of an object, etc.

[0036] In the peripheral monitoring system 2, the gain variable amplifier GCA and the DC offset adjuster OFS are controlled by the auxiliary information 4DH. Briefly speaking, the amplitude is adjusted by the gain variable amplifier GCA, and the DC offset is adjusted by the DC offset adjuster OFS. As a result, the dynamic range with respect to the radar reflected wave is changed.

[0037] In FIG. 7, compared with FIGS. 5 and 6, the dynamic range DRG is expanded to DRG_e by reducing the resolution, but it is not limited thereto. For example, by making the bit width to be converted by the analog / digital converter ADC shown in FIG. 8 variable according to the auxiliary information 4DH, it is also possible to expand the dynamic range DRG while maintaining the resolution with high precision.

[0038] As shown in FIG. 1, the auxiliary system 4 may generate the auxiliary information 4DH based on the monitoring detection information 2DB and the area detection information 3DB. In this case, the auxiliary system 4 can detect the presence of the metal fence 12 by, for example, the monitoring detection information 2DB, and can determine that it has entered the peripheral area AR1 by the area detection information 3DB, and generates the auxiliary information 4DH when both conditions are met. Since the auxiliary information 4DH generated when both conditions are met is used, it is possible to improve the accuracy.

[0039] In FIG. 1, the case where the peripheral monitoring system 2 uses the radar 2_1 as a sensor has been described, but it is not limited thereto. For example, a camera or the like may be used as a sensor.

[0040] According to the collision avoidance system 1 according to the first embodiment, the peripheral monitoring system 2 is controlled according to the specific information of the peripheral area detected by the area notification system 3. As a result, it becomes possible to detect a vehicle that needs to avoid a collision in a short time, and it is possible to smoothly perform the collision avoidance action.

[0041] (Embodiment 2) In Embodiment 2, a collision avoidance system is provided in which a peripheral monitoring system includes different types of sensors and uses a sensor suitable for the detected peripheral area.

[0042] <Problem> Before explaining the details of Embodiment 2, first, the problem to be solved in Embodiment 2 will be described with reference to the drawings. FIGS. 9 and 10 are diagrams for explaining the problem to be solved in Embodiment 2. Here, a case where a peripheral monitoring system provided in a collision avoidance system mounted on a host vehicle (not shown) uses a camera as a sensor will be described as an example.

[0043] In FIG. 9, reference numeral 13 indicates a building existing along the road, and reference numeral C indicates a vehicle that exists in the shadow of the building 13 and travels in the direction of 10_1C when viewed from the host vehicle. Also, in FIG. 9, reference numeral 20 indicates a detection range detectable by the camera of the peripheral monitoring system. In this case, the camera photographs the detection range 20. The video of the detection range 20 obtained by the photographing is divided into a plurality (in FIG. 9, 5x3 = 15) of processing unit ranges 20_S. The peripheral monitoring system performs image processing for detecting a vehicle, a moving object (for example, a vehicle), etc. for each of the divided processing unit ranges 20_S. Also, in FIG. 9, the sun SN is reflected in the video of the detection range 20.

[0044] Since vehicle C is hidden in the shadow of building 13, it will be outside the detection range of the cameras of the surrounding monitoring system. Therefore, cameras and the like of the surrounding monitoring system installed in the host vehicle cannot detect vehicle C. As vehicle C moves forward, as shown in Fig. 10, when a part of vehicle C appears from the shadow of building 13, it becomes possible to photograph vehicle C with the camera. However, at this time, as shown in Fig. 10, sunlight from the sun SN is included in the detection range 20, and a very strong light is incident on the camera. Therefore, vehicle C will be photographed in a so-called backlight situation, and vehicle C will be recognized as a shadow. Even in a backlight situation, it is possible to detect details of vehicle C, such as the shape and speed including the vehicle type of vehicle C, by adjusting the exposure of the camera and the like. However, there is a problem that it is difficult to detect the details of vehicle C in a short time.

[0045] <Configuration of Collision Avoidance System> Fig. 11 is a block diagram showing the configuration of the collision avoidance system according to Embodiment 2. Fig. 11 shows the collision avoidance system 1. Since Fig. 11 is similar to Fig. 1, mainly the differences will be described.

[0046] The surrounding monitoring system 2 shown in Fig. 11 is different from Fig. 1 in that it is equipped with a plurality of sensors of different types. That is, the surrounding monitoring system 2 in Fig. 11 is equipped with a radar 2_1 and a camera 2_2 as sensors. The surrounding monitoring system 2 outputs the vehicle information detected based on the information detected by the radar 2_1 and / or the information detected by the camera 2_2 as the monitoring detection information 2DB_1.

[0047] The area notification system 3 differs from the area notification system of FIG. 1 in that it includes a time information generation unit 3_3 and a notification determination unit 3_4 in addition to the GNSS 3_1 and the area information storage unit 3_2. The time information generation unit 3_3 includes, for example, a clock and generates time information indicating the current time. The notification determination unit 3_4 generates area detection information 3DB_1 based on information on coordinates detected by the GNSS 3_1, information specific to the surrounding area acquired based on map data, and time information. In other words, the area detection information 3DB_1 is time-dependent information.

[0048] The auxiliary system 4 differs from the auxiliary system shown in FIG. 1 in that it includes a sensor switching unit 4_1. As in FIG. 1, the auxiliary system 4 generates auxiliary information based on area detection information. Auxiliary information 4DH_1 according to the second embodiment is output from the auxiliary system 4 to the periphery monitoring system 2. This auxiliary information (first auxiliary information) 4DH_1 includes sensor switching information generated by the sensor switching unit 4_1 based on the area detection information 3DB_1. The sensor switching information is information for switching between multiple sensors (radar 2_1, camera 2_2) included in the periphery monitoring system 2. The periphery monitoring system 2 is controlled based on the auxiliary information 4DH_1. Furthermore, the periphery monitoring system 2 selects, based on the auxiliary information 4DH_1, information obtained from a sensor suitable for the surrounding area from among the information obtained from the multiple sensors, and generates monitoring detection information 2DB_1 based on the information from the selected sensor.

[0049] <Collision Avoidance System Operation> <<Example 1>> In the area notification system 3, specific information about the surrounding area of the host vehicle is generated based on GNSS 3_1 and map data. In this case, information such as whether the traveling direction of the host vehicle, that is, the sensor of the surrounding monitoring system 2, is facing the direction where the sun SN exists, is generated as specific information about the surrounding area. At this time, the position of the sun SN in the sky is obtained based on the time information generated by the time information generation unit 3_3. The notification determination unit 3_4 specifies whether the sun SN enters the detection range 20 of the camera 2_2 and the position (detection range) of the sun SN in the detection range 20 based on the time information and the specific information about the surrounding area, and outputs it as area detection information 3DB_1.

[0050] Based on this area detection information 3DB_1, the sensor switching unit 4_1 in the auxiliary system 4 generates sensor switching information for switching the sensor, and outputs auxiliary information 4DH_1 including the sensor switching information to the surrounding monitoring system 2. The surrounding monitoring system 2 performs signal processing on the signals obtained from the sensors based on the sensor switching information.

[0051] Figures 12 and 13 are diagrams for explaining Operation Example 1 of the collision avoidance system according to Embodiment 2. For example, in Figures 12 and 13, it is assumed that the presence of the sun SN in the detection range 20_SN filled with diagonal lines is indicated by the area detection information 3DB_1. Based on the area detection information 3DB_1, the sensor switching unit 4_1 notifies the peripheral monitoring system 2 via the auxiliary information 4DH_1 so that the detection range 20_SN is detected by the radar 2_1, and the other detection ranges (the ranges in the detection range 20 that are not filled with diagonal lines) are detected by the camera 2_2. In accordance with this notification, the peripheral monitoring system 2 performs object detection processing based on the information obtained by the radar 2_1 for the detection range 20_SN, and performs object detection processing (image processing) based on the information (video) obtained by the camera 2_2 for the detection ranges other than the detection range 20_SN. That is, the peripheral monitoring system 2 switches the sensor information to be the target of the object detection processing for each processing unit range based on the area detection information 3DB_1. In this way, the peripheral monitoring system 2 generates the monitoring detection information 2DB_1 based on the information obtained from a plurality of sensors. As a result, it becomes possible to detect the vehicle C using not only the information detected by the camera 2_2 but also the information detected by the radar 2_1, and it becomes possible to perform smooth collision avoidance.

[0052] Of course, when the presence of the sun SN in the detection range 20 is notified by the area detection information 3DB_1, the sensor switching unit 4_1 may perform detection using the radar 2_1 instead of detection by the camera 2_2 in the entire area of the detection range 20. In this case, the detection (imaging) by the camera 2_2 may be stopped. Also, until the exposure of the camera 2_2 is adjusted, detection may be performed using the radar 2_1, and when the adjustment of the exposure is completed, the sensor may be switched to use the camera 2_2.

[0053] <<Operation Example 2>> Figures 14 to 18 are diagrams for explaining Operation Example 2 of the collision avoidance system according to Embodiment 2.

[0054] In Fig. 14, 14 indicates a street light installed on road 10_2. Fig. 14 shows a situation in which a vehicle, a bicycle D (10_1D), is approaching the intersection of roads 10_1 and 10_2. Fig. 14 also shows a situation at night, with the street light 14 on, and the vehicle traveling along road 10_2 toward the intersection (not shown).

[0055] The vehicle is equipped with the collision avoidance system 1 shown in Fig. 11 and needs to avoid a collision with the bicycle D. However, in the situation shown in Fig. 14, the bicycle D is hidden by the wall 11, that is, it is outside the detection range of the perimeter monitoring system 2, and therefore it is difficult for the radar 2_1 and the camera 2_2 to detect it.

[0056] The detection range 20 of the camera 2_2 at this time is shown in Fig. 15. In Fig. 15, 14_R indicates an area that is brightened by the street lamp 14. The image captured by the camera 2_2 shows the bright area 14_R and an area outside the area 14_R that is dark because the light from the street lamp 14 does not reach it. The image thus captured is processed for each processing range 20_S, and detection is performed.

[0057] FIG. 16 shows a situation in which bicycle D proceeds and enters an intersection. FIG. 17 shows the detection range 20 of camera 2_2 at this time. By entering the intersection, bicycle D moves into detection range 20 of camera 2_2, but as shown in FIG. 17, bicycle D is located in an area 14_R that is lit by streetlights 14. In other words, because bicycle D is located in an area that is not lit by streetlights 14, it is difficult for camera 2_2 to detect bicycle D in a short period of time.

[0058] In the area notification system 3 according to the second embodiment, specific information about the surrounding area, including information identifying streetlights 14, is generated based on the GNSS 3_1 and map data. Furthermore, it is determined that it is nighttime based on time information generated by the time information generation unit 3_3. Upon determining that it is nighttime, the notification determination unit 3_4 identifies areas brightened by the streetlights 14 and dark areas based on the information identifying the streetlights 14. The area notification system 3 outputs area detection information 3DB_1 including information identifying the bright areas and dark areas. The auxiliary system 4 generates sensor switching information based on the information identifying the bright areas and dark areas. Based on this sensor switching information, the perimeter monitoring system 2 switches between using information detected by the radar 2_1 and information detected by the camera 2_2 in each processing unit range.

[0059] 18, the shaded area 20_R is a portion indicated as a bright area by the sensor switching information, and the area excluding the area 20_R in the detection range 20 is a portion indicated as a dark area by the sensor switching information. In the perimeter monitoring system 2, the area 20_R is detected using information (image) detected by the camera 2_2, and the area excluding the area 20_R is detected using information detected by the radar 2_1.

[0060] In the second embodiment, similarly to the first embodiment, the auxiliary system 4 may generate the auxiliary information 4DH_1 based on the monitoring detection information 2DB_1 and the area detection information 3DB_1. In this case, the auxiliary system 4 detects backlighting, for example, from the monitoring detection information 2DB_1, and determines sensor switching from the area detection information 3DB_1, and generates the auxiliary information 4DH_1 when both conditions are met. Since the auxiliary information 4DH_1 generated when both conditions are met is used, it is possible to improve accuracy.

[0061] According to the second embodiment, the sensor that detects the object is switched based on the information specific to the surrounding area. By switching the sensor, it becomes possible to detect the object that needs to be avoided in a short time, and it becomes possible to take action to avoid the collision smoothly.

[0062] (Embodiment 3) In a third embodiment, a collision avoidance system is provided that includes an approaching vehicle notification system that performs vehicle-to-vehicle communication with a vehicle that is outside the detection range of the perimeter monitoring system in order to detect a vehicle that is outside the detection range of the perimeter monitoring system. The collision avoidance system also includes an auxiliary system that includes a communication environment determination unit that determines the environment for vehicle-to-vehicle communication and outputs auxiliary information that controls the approaching vehicle notification system.

[0063] FIG. 19 is a block diagram showing the configuration of a collision avoidance system according to a third embodiment. Since FIG. 19 is similar to FIG. 11, differences will be mainly described. The differences are that the collision avoidance system 1 in FIG. 19 further includes an approaching vehicle notification system 15, and the auxiliary system 4 further includes a communication environment determination unit 4_2. In addition to the functions of the collision avoidance system described in the second embodiment, the collision avoidance system 1 according to the third embodiment has additional functions achieved by the approaching vehicle notification system 15 and the communication environment determination unit 4_2. Note that the auxiliary system 4 shown in FIG. 19 assists both the perimeter monitoring system 2 and the approaching vehicle notification system 15, and therefore can be considered as an auxiliary system for the perimeter monitoring system and the approaching vehicle notification system.

[0064] The approaching vehicle notification system 15 includes a plurality of units, but only those necessary for explanation are shown in Fig. 19. That is, the approaching vehicle notification system 15 includes a GNSS 15_1, a communication unit 15_2, a vehicle information storage unit 15_3, and a non-line-of-sight vehicle information storage unit 15_4.

[0065] The GNSS 15_1 detects the position of the host vehicle equipped with the collision avoidance system 1, similarly to the GNSS 3_1 of the area notification system 3. Therefore, one GNSS may be used for both the GNSS 15_1 and the GNSS 3_1. The communication unit 15_2 is a communication device for performing communication (inter-vehicle communication) between the host vehicle and another vehicle (e.g., a vehicle approaching the host vehicle). The vehicle information storage unit 15_3 stores information about the host vehicle, such as the vehicle type. The non-line-of-sight vehicle information storage unit 15_4 stores information about approaching vehicles received through inter-vehicle communication.

[0066] The approaching vehicle notification system 15 detects an approaching vehicle by performing inter-vehicle communication with the approaching vehicle, and outputs information on the detected approaching vehicle as approach detection information 15DB_1 to the auxiliary system 4. Furthermore, the approaching vehicle notification system 15 transmits information on its own vehicle and the position of its own vehicle detected by the GNSS 15_1 to the approaching vehicle by inter-vehicle communication.

[0067] As described in the second embodiment, the auxiliary system 4 generates auxiliary information 4DH_1 for controlling the periphery monitoring system 2 based on the area detection information 3DB_1 from the area notification system 3. At this time, as described above, the sensor switching unit 4_1 generates sensor switching information for switching the sensors included in the periphery monitoring system 2. Based on the area detection information 3DB_1, the sensors in the periphery monitoring system 2 are switched to suit the information specific to the surrounding area.

[0068] Furthermore, the communication environment determination unit 4_2 in the auxiliary system 4 generates auxiliary information (second auxiliary information) 4DH_2 according to information specific to the surrounding area indicated by the area detection information 3DB_1, based on the area detection information 3DB_1, and outputs the generated auxiliary information to the approaching vehicle notification system 15. The communication unit 15_2 of the approaching vehicle notification system 15 is controlled by the auxiliary information 4DH_2. For example, the communication interval, modulation method and / or transmission output of the inter-vehicle communication performed by the communication unit 15_2 is changed by the auxiliary information 4DH_2.

[0069] <Example of collision avoidance system operation> 20 and 21 are diagrams for explaining the collision avoidance system according to the third embodiment. Here, FIG. 20 is a schematic plan view of the surrounding area. In other words, FIG. 20 shows the situation when the surrounding area is viewed from above. In FIG. 20, reference numeral 10 indicates a road, and reference numeral 13 indicates buildings built along the road 10. Also, in FIG. 20, the received power of radio waves received on the road 10 when radio waves are transmitted at the transmission position Snd_P is shown by the shading of the fill. FIG. 21 shows the correspondence between the shading of the fill shown in FIG. 20 and the numerical value of the received power. As shown in FIG. 21, the darker the shading, the greater the received power.

[0070] As shown in FIG. 20, the received power of radio waves used in inter-vehicle communication varies depending on the location due to the influence of buildings 13 and multipath. For example, with a specific communication interval or a specific modulation method, inter-vehicle communication may be possible at locations where the received power is -110 dBm or higher, but may be impossible at lower received power. In FIG. 20, specific areas where the received power is lower than -110 dBm are indicated by the symbols DF_P1 and DF_P2. In this case, when host vehicle A is located at transmission position Snd_P, it becomes difficult to perform inter-vehicle communication with vehicles located in the specific areas DF_P1 and DF_P2. In other words, communication cannot be established between host vehicle A and vehicles located in the specific areas DF_P1 and DF_P2.

[0071] In Embodiment 3, specific information of the peripheral area is provided to the communication environment determination unit 4_2 by the area detection information 3DB_1. The communication environment determination unit 4_2 determines whether specific areas DF_P1 and DF_P2 as shown in FIG. 20 exist from the specific information of the peripheral area. When it is determined that the specific areas DF_P1 and DF_P2 exist in the peripheral area, the communication environment determination unit 4_2 instructs the communication unit 15_2 to change the communication interval, modulation method, and / or transmission output, etc. of the vehicle-to-vehicle communication based on the auxiliary information 4DB_2. By this instruction, the communication unit 15_2 shortens the communication interval, increases the demodulation gain by changing the modulation method, or increases the transmission output. By this change, vehicle-to-vehicle communication becomes possible with the vehicles existing in the specific areas DF_P1 and DF_P2. That is, the communication environment is improved.

[0072] The communication environment determination unit 4_2 may generate the auxiliary information 4DB_2 based not only on the area detection information 3DB_1 but also on the proximity detection information 15DB_1 and the area detection information 3DB_1. For example, when the communication environment determination unit 4_2 determines that the specific areas DF_P1 and DF_P2 exist based on the area detection information 3DB_1 and determines that communication is not being performed with the vehicles in the specific areas DF_P1 and DF_P2 based on the proximity detection information 15DB_1, it may generate the auxiliary information 4DH_2 for changing the communication interval, modulation method, and / or transmission output, etc. By using the auxiliary information 4DH_2, it is possible to further improve the accuracy. Since the communication interval, modulation method, and / or transmission output, etc. are changed according to the communication environment, when the communication environment is good, for example, it is possible to increase the communication interval and lower the transmission power, and it is possible to reduce the power consumption of the collision avoidance system 1.

[0073] According to Embodiment 3, it is possible to further improve the communication environment and improve the detection of vehicles existing out of sight with respect to the collision avoidance system according to Embodiment 2.

[0074] The invention made by the inventor has been specifically described above based on an embodiment, but it goes without saying that the present invention is not limited to the above embodiment and can be modified in various ways without departing from the gist of the invention. [Explanation of symbols]

[0075] 1. Collision Avoidance System 2 Perimeter monitoring system 3 Area Notification System 4. Auxiliary Systems 15 Approaching vehicle notification system 2DB, 2DB_1 monitoring discovery information 3DB, 3DB_1 area detection information 4DH, 4DH_1, 4DH_2 supplementary information

Claims

1. A peripheral monitoring system including first and second sensors, performing object detection processing based on information acquired by the first and second sensors, and outputting monitoring detection information; An area notification system generating unique information of a peripheral area based on position information and outputting area detection information based on the unique information of the peripheral area; An auxiliary system generating first auxiliary information for controlling the peripheral monitoring system based on the area detection information and outputting the first auxiliary information to the peripheral monitoring system; Comprising: The first and second sensors are a camera and a radar, Based on the area detection information, the auxiliary system outputs, as the first auxiliary information, information for switching between the camera and the radar for each processing unit range in which the object detection processing is performed according to whether the detection range is not suitable for performing the object detection processing based on the information acquired by the camera or is outside the detection range; The peripheral monitoring system: Performs the object detection processing for each processing unit range, The object detection processing for each processing unit range is performed using information acquired from either the camera or the radar based on the first auxiliary information. For the processing unit range included in the detection range not suitable for performing the object detection processing based on the information acquired by the camera, the object detection processing is performed using the information acquired from the radar. For the processing unit range outside the detection range, the object detection processing is performed using the information acquired by the camera. A collision avoidance system.

2. In the collision avoidance system according to Claim 1, The auxiliary system generates the first auxiliary information based on the monitoring detection information and the area detection information. A collision avoidance system.

3. In the collision avoidance system according to Claim 1, The area notification system includes a time information generation unit, and generates the first auxiliary information with reference to the time information generated by the time information generation unit. A collision avoidance system.

4. In the collision avoidance system according to Claim 3, The auxiliary system generates the first auxiliary information based on the monitoring detection information and the area detection information. A collision avoidance system.

5. The collision avoidance system according to Claim 1 is Furthermore, it is equipped with a proximity vehicle notification system that communicates with other approaching vehicles via vehicle-to-vehicle communication. The auxiliary system is a collision avoidance system that generates second auxiliary information for controlling the proximity vehicle notification system based on the area detection information and outputs it to the proximity vehicle notification system.

6. In the collision avoidance system according to claim 5, the auxiliary system is a collision avoidance system that generates the second auxiliary information based on the proximity detection information output from the proximity vehicle notification system and the area detection information.

7. A vehicle equipped with a collision avoidance system, wherein the collision avoidance system includes a peripheral monitoring system that is equipped with sensors, performs object detection processing based on the information obtained by the sensors, and outputs monitoring detection information, an area notification system that outputs area detection information regarding the peripheral area of the host vehicle, and an auxiliary system that generates first auxiliary information for controlling the peripheral monitoring system based on the area detection information and outputs it to the peripheral monitoring system. The sensors include a camera and a radar. The area notification system generates specific information of the peripheral area based on position information and outputs the area detection information based on the specific information of the peripheral area. Based on the area detection information, the auxiliary system outputs, as the first auxiliary information, information for switching between the camera and the radar for each processing unit range in which the object detection processing is performed according to whether the detection range obtained based on the information obtained by the camera is not suitable for performing the object detection processing or is outside the detection range. The peripheral monitoring system performs the object detection processing for each processing unit range. For each object detection processing in the processing unit range, the object detection processing is performed using information obtained from either the camera or the radar based on the first auxiliary information. For the processing unit range included in the detection range that is not suitable for performing the object detection processing based on the information obtained by the camera, the object detection processing is performed using the information obtained from the radar, and for the processing unit range included outside the detection range, the object detection processing is performed using the information obtained by the camera.

8. In the vehicle according to claim 7, The vehicle, wherein the auxiliary system generates the first auxiliary information based on the monitoring detection information and the area detection information.

9. In the vehicle according to claim 7, the collision avoidance system further includes a approaching vehicle notification system that communicates with other approaching vehicles via vehicle-to-vehicle communication, and the auxiliary system generates second auxiliary information for controlling the approaching vehicle notification system based on the area detection information and outputs the second auxiliary information to the approaching vehicle notification system.

10. In the vehicle according to claim 9, the auxiliary system generates the second auxiliary information based on the approaching detection information output from the approaching vehicle notification system and the area detection information.

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