Vehicle driving assistance system

Abstract

This vehicle driving assistance system comprises: a control device that outputs a first signal when the time until a vehicle collides with a pedestrian or an obstacle ahead of the vehicle is shorter than a predetermined first time; and a warning device that issues a first warning when the first signal is inputted therein. When the time until the vehicle collides with a pedestrian or an obstacle ahead of the vehicle is not shorter than the first time but shorter than a predetermined second time, the control device outputs a second signal different from the first signal. The warning device issues, when the second signal is inputted therein, a second warning different from the first warning.

Description

Vehicle driving assistance systems

[0001] The present disclosure relates to a driving assistance system for a vehicle.

[0002] Patent Literature 1 discloses a vehicle driving assistance system. When a pedestrian or the like is recognized from an image captured by a stereo camera, the vehicle driving assistance system acquires position information and moving speed information of the pedestrian or the like until the pedestrian or the like moves out of the stereo camera's imaging range as the vehicle travels. When the vehicle turns right or left, the system determines whether a pedestrian or the like is present within a predetermined range of the vehicle's right or left turn based on the position information and moving speed information of the pedestrian or the like, and if it determines that a pedestrian or the like is present within the predetermined range, it notifies the vehicle of the presence of the pedestrian or the like.

[0003] Japanese Patent Application Laid-Open No. 2021-71969

[0004] The vehicle driving assistance system disclosed in Patent Document 1 does not alert the driver to the presence of pedestrians or other objects until it is determined that a pedestrian or other object is present within a specified range of the vehicle's right or left turn, so extra caution is required in case a pedestrian or other object suddenly appears.

[0005] In view of the above circumstances, at least one embodiment of the present invention aims to provide a vehicle driving assistance system that can reduce the likelihood of a vehicle driver overlooking pedestrians and the like.

[0006] (1) A driving assistance system according to at least one embodiment of the present invention includes: a measuring device that detects a pedestrian or an obstacle in front of a vehicle and measures the distance from the vehicle to the pedestrian or the obstacle in front of the vehicle; a calculation device that calculates a time until the vehicle collides with the pedestrian or the obstacle in front of the vehicle based on the distance from the vehicle to the pedestrian or the obstacle in front of the vehicle and the speed of the vehicle; a control device that outputs a first signal if the time until the vehicle collides with the pedestrian or the obstacle in front of the vehicle is shorter than a predetermined first time; and an alarm device that issues a first warning when the first signal is input; wherein the control device outputs a second signal different from the first signal if the time until the vehicle collides with the pedestrian or the obstacle in front of the vehicle is equal to or longer than the first time and shorter than a predetermined second time, and the alarm device issues a second warning different from the first warning when the second signal is input.

[0007] According to the configuration (1) above, when the time until the vehicle collides with a pedestrian or obstacle in front of the vehicle is equal to or longer than the first time but shorter than the second time, the warning device issues a second warning that is different from the first warning, thereby reducing the likelihood of the driver of the vehicle overlooking a pedestrian or obstacle.

[0008] (2) In some embodiments, in the configuration of (1) above, the alarm device includes a display provided in the meter, and the second alarm is displayed on the display.

[0009] According to the above configuration (2), the presence or absence of a pedestrian or the like in front of the vehicle can be confirmed by looking at the display provided in the meter.

[0010] (3) In some embodiments, in the configuration of (1) or (2) above, the warning device includes an indicator light provided on a side mirror, and the second warning causes the indicator light to light up or flash.

[0011] According to the above configuration (3), the presence or absence of a pedestrian or the like in front of the vehicle can be confirmed by looking at the indicator lamp provided on the side mirror.

[0012] (4) In some embodiments, in the configuration of (1) or (2) above, the warning device is a flashing display device that flashes an indicator light, and when the flashing display device issues the second warning, the flashing speed of the indicator light increases as the time until the vehicle collides with a pedestrian or obstacle in front of the vehicle decreases.

[0013] According to the configuration of (4) above, the blinking speed of the display light increases as the time until the vehicle collides with a pedestrian or obstacle in front of the vehicle decreases, so by looking at the blinking speed of the display light, it is possible to check the time until the vehicle collides with a pedestrian or obstacle in front of the vehicle.

[0014] (5) In some embodiments, the configuration of (1) or (2) above includes a detection device that detects a crosswalk located in front of the vehicle, and when the measurement device detects the crosswalk, it detects a pedestrian or obstacle in front of the vehicle and measures the distance from the vehicle to the pedestrian or obstacle in front of the vehicle.

[0015] According to the configuration of (5) above, when the detection device detects a crosswalk located in front of the vehicle, the measurement device detects a pedestrian or obstacle in front of the vehicle and measures the distance from the vehicle to the pedestrian or obstacle in front of the vehicle, thereby reducing the chance of overlooking pedestrians, etc. who stop at the entrance to the crosswalk or pedestrians, etc. who are crossing the crosswalk.

[0016] (6) In some embodiments, in the configuration of (1) or (3) above, when a turn signal is operated, the measurement device detects a pedestrian or obstacle in front of the vehicle and measures the distance from the vehicle to the pedestrian or obstacle in front of the vehicle.

[0017] According to the configuration (6) above, when the turn signal is operated, the measuring device detects pedestrians or obstacles in front of the vehicle and measures the distance from the vehicle to the pedestrian or obstacle in front of the vehicle, thereby reducing the chance of overlooking pedestrians, etc. at intersections or T-junctions.

[0018] According to at least one embodiment of the present invention, the driver of a vehicle can reduce the likelihood of overlooking pedestrians and the like.

[0019] It is a block diagram showing the outline of the configuration of the driving assistance system according to the embodiment. It is a time chart showing the time until the vehicle collides with a pedestrian or the like, the deceleration of the vehicle, the advance warning / automatic brake warning, and the notification warning. It is a diagram showing an example of an alarm device according to the embodiment. It is a diagram showing another example of an alarm device according to the embodiment. It is a flowchart showing the outline of the operation of the driving assistance system according to the embodiment.

[0020] Hereinafter, several embodiments of the present invention will be described with reference to the accompanying drawings. However, the dimensions, materials, shapes, relative arrangements, etc. of components described as embodiments or shown in the drawings are merely illustrative examples and are not intended to limit the scope of the present invention.

[0021] [Vehicle Driving Assistance System] The vehicle driving assistance system 1 according to the embodiment is a system that measures the distance to a pedestrian or obstacle in front of the vehicle and issues an alarm if there is a risk of the vehicle colliding with the pedestrian or obstacle in front of the vehicle, and as shown in FIG. 1 , includes a measuring device 11, a calculation device 13, a control device 15, and an alarm device 17.

[0022] [Measurement Device] The measurement device 11 is a device that detects pedestrians or obstacles in front of the vehicle and measures the distance from the vehicle to the pedestrian or obstacle in front of the vehicle. Pedestrians include pedestrians who are standing still, and obstacles include preceding vehicles traveling in front of the vehicle (host vehicle) as well as bicycles, etc. The measurement device 11 is composed of a camera or a camera and radar, and identifies pedestrians or obstacles and measures the distance from the vehicle to the pedestrian or obstacle.

[0023] [Calculation Device] The calculation device 13 is a device that calculates the time until the vehicle collides with a pedestrian or obstacle in front of the vehicle based on the distance from the vehicle to the pedestrian or obstacle in front of the vehicle and the vehicle speed. The distance from the vehicle to the pedestrian or obstacle in front of the vehicle is measured by the above-mentioned measurement device 11, and the vehicle speed is measured by wheel speed sensors (not shown) provided for each wheel. The time until the vehicle collides with the pedestrian or obstacle in front of the vehicle (TTC (Time-To-Collision)) is calculated by dividing the distance from the vehicle to the pedestrian or obstacle in front of the vehicle by the vehicle speed. The calculation device 13 is provided in, for example, an electronic control unit (ECU (Electronic Control Unit)) 19. The ECU 19 is made up of a processor including an arithmetic unit, registers for storing instructions and information, and peripheral devices, memories such as a ROM (Read Only Memory) and a RAM (Random Access Memory), and an input interface.

[0024] [Control Device] The control device 15 outputs a signal when the time until the vehicle collides with a pedestrian or obstacle ahead of the vehicle is shorter than a predetermined time. The control device is, for example, provided in the ECU 19 described above. As shown in FIG. 2 , the predetermined time includes a first time T1 and a second time T2 that is longer than the first time T1. The first time T1 is, for example, a time when it is clear that the vehicle will collide with a pedestrian or obstacle if the situation remains unchanged and driving operations to avoid the collision are possible. The second time T2 is, for example, a time when there is a risk of colliding with a pedestrian or obstacle but driving operations to avoid the collision are not necessary at that time. The second time T2 is, for example, 20% to 30% longer than the first time T1 (T1 x 1.2 to 1.3), but is not limited to this. The signal includes a pre-signal (first signal) and a notification signal (second signal) that is different from the pre-signal. The advance signal is output when the time until the collision is shorter than a first time, and the notification signal is output when the time until the collision is equal to or longer than the first time and shorter than a second time.

[0025] [Alarm Device] The alarm device 17 is a device that issues an alarm when a signal is input. There are two types of alarms: a pre-alarm (first alarm) and a notice alarm (second alarm) that is different from the pre-alarm. A pre-alarm is an alarm that is output when a pre-signal is input to the alarm device, and is composed of sound, light, display, or a combination thereof. A notice alarm is an alarm that is output when a notice signal is input to the alarm device, and is composed of sound, light, display, or a combination thereof, just like a pre-alarm.

[0026] The alarm device 17 may be one that issues both a pre-alarm and a notice alarm using the same device, or one that issues both a pre-alarm and a notice alarm using separate devices. For example, an alarm device 17 that outputs sound can output the pre-alarm and the notice alarm by changing the sound of the pre-alarm and the notice alarm. Also, for example, an alarm device 17 that uses a flashing indicator light can output the pre-alarm and the notice alarm by changing the display color or flashing speed of the pre-alarm and the notice alarm. Also, for example, an alarm device 17 that displays a warning can output the pre-alarm and the notice alarm by changing the display of the pre-alarm and the notice alarm.

[0027] 3, the warning device 17 may include a display 21 provided in the meter, and the warning may be displayed on the display 21. The warning displayed on the display 21 distinguishes between a pedestrian approaching on the left side of the vehicle and a pedestrian approaching on the right side of the vehicle based on the display position and orientation, but the distinction is not required.

[0028] As shown in Fig. 4, the warning device 17 includes indicator lights 27, 29 provided on the side mirrors 23, 25, and the warning may be issued by lighting or flashing the indicator lights 27, 29. In this case, the warning is issued by lighting or flashing the indicator lights 27, 29. A pedestrian approaching the left side of the vehicle and a pedestrian approaching the right side of the vehicle are distinguished by lighting or flashing the indicator light 27 provided on the left side mirror 23 or the indicator light 29 provided on the right side mirror 25, but this distinction is not required.

[0029] 1, the driving assistance system 1 for a vehicle according to the embodiment includes a braking device 31 that is activated when there is a high risk of a collision with a pedestrian or an obstacle in front of the vehicle, but the braking device 31 is not essential. The braking device 31 is activated, for example, when a pre-collision signal is input to the braking device 31 from the control device 15.

[0030] [Operation of the Vehicle Driving Assistance System] As shown in Figure 5, in the vehicle driving assistance system 1 according to the embodiment, when a pedestrian or obstacle is detected in front of the vehicle while the vehicle is traveling, the measurement device 11 first detects the pedestrian or obstacle in front of the vehicle and measures the distance from the vehicle to the pedestrian or obstacle in front of the vehicle (steps S11 and S12). Next, the calculation device 13 calculates the time until the vehicle collides with the pedestrian or obstacle in front of the vehicle based on the distance from the vehicle to the pedestrian or obstacle in front of the vehicle and the vehicle speed (step S13). If the time until the vehicle collides with the pedestrian or obstacle in front of the vehicle is equal to or greater than the first time T1 and shorter than the second time T2 (step S14: Yes), the control device 15 outputs a notification signal (step S15). When the notification signal is input, the warning device 17 issues a notification alert (step S16).

[0031] As the vehicle continues traveling, the distance from the vehicle to the pedestrian or obstacle in front of the vehicle becomes shorter, and the time until the vehicle collides with the pedestrian or obstacle in front of the vehicle becomes shorter. When the time until the vehicle collides with the pedestrian or obstacle in front of the vehicle becomes shorter than the first time T1 (step S17: Yes), the control device 15 outputs a pre-warning signal (step S18). When the pre-warning signal is input, the warning device 17 stops the notification warning and issues a pre-warning (step S19). This allows the driver of the vehicle to realize that the vehicle will collide with the pedestrian or obstacle in front of the vehicle if the current situation continues, and allows the driver to take driving action to avoid the collision.

[0032] In the case where the vehicle driving assistance system 1 according to the embodiment is provided with the braking device 31, the braking device 31 is activated when the advance signal is input (step S20), thereby decelerating the vehicle and reducing collision damage caused by the vehicle colliding with a pedestrian or an obstacle.

[0033] [Effects of the vehicle driving assistance system] According to the vehicle driving assistance system 1 of the embodiment, when the time until the vehicle collides with a pedestrian or obstacle in front of the vehicle is equal to or longer than the first time T1 and shorter than the second time T2, the warning device 17 issues a notification warning that is different from the advance warning, thereby reducing the likelihood of the vehicle driver overlooking pedestrians, etc.

[0034] The warning device 17 includes a display 21 provided in the meter, and when a notification warning is displayed on the display 21, the driver of the vehicle can check whether there are pedestrians or the like in front of the vehicle by looking at the display 21 provided in the meter.

[0035] The warning device 17 includes indicator lights 27, 29 provided on the side mirrors 23, 25, and when a notification warning causes the indicator lights 27, 29 to light up or flash, the driver of the vehicle can check whether there are pedestrians or other obstacles in front of the vehicle by looking at the indicator lights 27, 29 provided on the side mirrors 23, 25.

[0036] [Variation 1] The warning device 17 may be a flashing display device (not shown) that flashes an indication light, and when issuing a notification warning, the flashing display device may increase the flashing speed of the indication light as the time until the vehicle collides with a pedestrian or obstacle in front of the vehicle decreases.

[0037] In this way, the blinking speed of the display light increases as the time until the vehicle collides with a pedestrian or obstacle in front of the vehicle decreases, so by looking at the blinking speed of the display light, it is possible to check the time until the vehicle collides with a pedestrian or obstacle in front of the vehicle.

[0038] [Variation 2] The vehicle may be equipped with a detection device (not shown) that detects a crosswalk provided in front of the vehicle, and when the detection device detects a crosswalk, the measurement device 11 may detect a pedestrian or obstacle in front of the vehicle and measure the distance from the vehicle to the pedestrian or obstacle in front of the vehicle. The detection device may be, for example, a camera, a car navigation device, a road-to-vehicle communication device, or a device capable of communicating with a cloud in which crosswalk information is registered, but is not limited to these.

[0039] In this way, when the detection device detects a crosswalk located in front of the vehicle, the measuring device 11 detects a pedestrian or obstacle in front of the vehicle and measures the distance from the vehicle to the pedestrian or obstacle in front of the vehicle, thereby reducing the chance of overlooking pedestrians, etc. who stop at the entrance to the crosswalk or pedestrians, etc. crossing the crosswalk.

[0040] [Modification 3] When a turn signal (not shown) is operated, the measurement device 11 may detect an obstacle ahead of the vehicle and measure the distance from the vehicle to a pedestrian or obstacle ahead of the vehicle.

[0041] In this way, when the turn signal is operated, the measuring device 11 detects pedestrians or obstacles in front of the vehicle and measures the distance from the vehicle to the pedestrian or obstacle in front of the vehicle, thereby reducing the risk of overlooking pedestrians or obstacles at intersections or T-junctions.

[0042] [Variation 4] The vehicle may be equipped with a traffic light provided in front of the vehicle and a detection device (not shown) that detects its state (green, yellow, or red), and the measuring device 11 may detect a pedestrian or obstacle in front of the vehicle when the detection device detects the green light of the traffic light and the turn signal is operated, and measure the distance from the vehicle to the pedestrian or obstacle in front of the vehicle.

[0043] In this way, the detection device detects the traffic light installed in front of the vehicle and its status, and when the detection device detects the green light of the traffic light and the turn signal is operated, the measuring device 11 measures the distance from the vehicle to the pedestrian or obstacle in front of the vehicle, thereby reducing the chance that a driver of a vehicle turning left or right at an intersection with traffic lights will overlook pedestrians crossing the crosswalk, etc.

[0044] The present invention is not limited to the above-described embodiments, and includes modifications to the above-described embodiments and appropriate combinations of these modifications.

[0045] REFERENCE SIGNS LIST 1 Vehicle driving assistance system 11 Measuring device 13 Calculating device 15 Control device 17 Warning device 19 Electronic control unit (ECU) 21 Display 23, 25 Side mirrors 27, 29 Indicator lights 31 Braking device

Claims

1. A driving assistance system for a vehicle, comprising: a measuring device configured to detect a pedestrian or an obstacle in front of the vehicle and measure a distance from the vehicle to the pedestrian or the obstacle in front of the vehicle; a computing device configured to calculate a time until the vehicle collides with the pedestrian or the obstacle in front of the vehicle based on the distance from the vehicle to the pedestrian or the obstacle in front of the vehicle and the speed of the vehicle; a control device configured to output a first signal when the time until the vehicle collides with the pedestrian or the obstacle in front of the vehicle is shorter than a predetermined first time; and an alarm device configured to give a first alarm when the first signal is input. The control device outputs a second signal different from the first signal when the time until the vehicle collides with the pedestrian or the obstacle in front of the vehicle is equal to or longer than the first time and shorter than a predetermined second time. The alarm device gives a second alarm different from the first alarm when the second signal is input.

2. The driving assistance system for a vehicle according to claim 1, wherein the alarm device includes a display provided in a meter, and the second alarm is displayed on the display.

3. The driving assistance system for a vehicle according to claim 1 or 2, wherein the alarm device includes an indicator light provided on a side mirror, and the second alarm causes the indicator light to light up or blink.

4. The driving assistance system for a vehicle according to claim 1 or 2, wherein the alarm device is a blinking display device in which display light blinks, and when the blinking display device gives the second alarm, the blinking speed of the display light increases as the time until the vehicle collides with the pedestrian or the obstacle in front of the vehicle becomes shorter.

5. The driving assistance system for a vehicle according to claim 1 or 2, further comprising a detection device configured to detect a crosswalk provided in front of the vehicle. When the detection device detects the crosswalk, the measuring device detects a pedestrian or an obstacle in front of the vehicle and measures a distance from the vehicle to the pedestrian or the obstacle in front of the vehicle.

6. The driving assistance system for a vehicle according to claim 1 or 2, wherein when a direction indicator is operated, the measuring device detects a pedestrian or an obstacle in front of the vehicle and measures a distance from the vehicle to the pedestrian or the obstacle in front of the vehicle.

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