Hereinafter, preferred embodiments of the present invention will be described referring to the accompanying drawings. It should be understood that even though embodiments are separately described, single features thereof may be combined to additional embodiments.
As shown in
In the vehicle surrounding information device 1, the above-described devices 10-13 of another vehicle B (one or more vehicles; referred to as “another vehicle B” regardless of the number of vehicles just for simplicity in the description of the embodiments) that is located around the own vehicle A function for the own vehicle A. Another vehicle B moves momently. Also, another vehicle B has the above-described devices 4-8 of the own vehicle A, so another vehicle B has the same functions as the own vehicle A in this respect. The own vehicle A has the above-described device 12 of another vehicle B, so the own vehicle A has the same function as another vehicle B in this respect.
The own-vehicle traveling information detecting device 2 of the own vehicle A detects own-vehicle traveling information including a location AX, a moving direction AV and a moving direction AD of the own vehicle A. The own-vehicle obstacle detecting device 3 of the own vehicle A detects own-vehicle obstacle information including a location ACX, a moving direction ACV and a moving direction ACD of any obstacle AC that exists around the own vehicle A. Likewise, the another-vehicle traveling information detecting device 10 of another vehicle B detects another-vehicle traveling information including a location BX, a moving direction BV and a moving direction BD of another vehicle B. The another-vehicle obstacle detecting device 11 of another vehicle B detects another-vehicle obstacle information including a location BCX, a moving direction BCV and a moving direction BCD of any obstacle BC that exists around another vehicle B. Further, the obstacle identifying device 12 identifies a kind BCK of the obstacle BC.
In a case where another vehicle B exists around the own vehicle A, the information communication device 13 of another vehicle B can transmit the another-vehicle traveling information detected by the another-vehicle traveling information detecting device 10 and the another-vehicle obstacle information including the location BCX, moving direction BCV and moving direction BCD of the obstacle BC (existing around the own vehicle A) that are detected by the another-vehicle obstacle detecting device 11 and the kind BCK of the obstacle BC that is detected by the obstacle identifying device 12 to the own vehicle A via wireless communication. Also, the information communication device 9 of the own vehicle A can receive these another-vehicle traveling information and another-vehicle obstacle information that has been transmitted by another vehicle B.
The dead-ground another vehicle detecting device 4 of the own vehicle A detects a dead-ground another vehicle Ba that is located in the dead ground of the own vehicle A among another vehicle B around the own vehicle A based on the own-vehicle obstacle information detected by the own-vehicle obstacle detecting device 3 and the another-vehicle traveling information detected by the another-vehicle traveling information detecting device 10. Meanwhile, the dead-ground obstacle detecting device 5 of the own vehicle A detects a dead-ground obstacle Ca that is located in the dead ground of the own vehicle A among the obstacles C around the own vehicle A based on the own-vehicle obstacle information detected by the own-vehicle obstacle detecting device 3 and the another-vehicle obstacle information detected by the another-vehicle obstacle detecting device 11.
The existing-area calculating device 6 calculates an existing area BE where the dead-ground another vehicle Ba that approaches the own vehicle A is likely to exist and an existing area CE where the dead-ground obstacle Ca that approaches the own vehicle A is likely to exist, based on the own-vehicle traveling information detected by the own-vehicle traveling information detecting device 2, another-vehicle traveling information of the dead-ground another vehicle Ba detected by the dead-ground another vehicle detecting device 4, and another-vehicle obstacle information of the dead-ground obstacle Ca detected by the dead-ground obstacle detecting device 5.
In this case, the existing-area calculating device 6 calculates the existing area BE in which the dead-ground another vehicle Ba approaches closest to the own vehicle A and the existing area CE in which the dead-ground obstacle Ca approaches closest to the own vehicle A. In addition, the existing-area calculating device 6 calculates an error-allowance existing area BEM of the dead-ground another vehicle Ba and an error-allowance existing area CEM of the dead-ground obstacle Ca in which a detection error of the own-vehicle obstacle information by the own-vehicle obstacle detecting device 3, a detection error of the another-vehicle obstacle information by the another-vehicle obstacle detecting device 11, and a communication error by the information communication devices 9, 12 become a maximum.
The informing device 7 informs the existing area BE of the dead-ground another vehicle Ba and the existing area CE of the dead-ground obstacle Ca that are calculated by the existing-area calculating device 6. Herein, the indicator 7a indicates the existing area BE of the dead-ground another vehicle Ba and the existing area CE of the dead-ground obstacle Ca. Further, the indicator 7a indicates the existing area BE of the dead-ground another vehicle Ba and the error-allowance existing area BEM, and the existing area CE of the dead-ground obstacle Ca and the error-allowance existing area CEM in such a manner that these areas indicated are distinguishable from each other, respectively. In addition, the indicator 7a distinguishably indicates the kind of the obstacle C identified by an obstacle identifying device 11a for the existing area CE of the dead-ground obstacle Ca.
The above-described indicator comprises a window indicator 7a that indicates the existing area BE and the error-allowance existing area BEM of the dead-ground another vehicle Ba and the existing area CE and the error-allowance existing area CEM of the dead-ground obstacle Ca on at least one of a windshield, a side window, and a rear window of the own vehicle A. An eye-point detecting device 8 detects an eye position of the deriver of the own vehicle A, and the window indicator 7a indicates the existing area BE, error-allowance existing area BEM, existing area CE and error-allowance existing area CEM in such a manner that these areas overlap an actual view of the driver based on the detection of the eye position of the driver detected.
The own vehicle A, as shown in
Inside the own vehicle A are provided a dash board 26, steering wheel 27, right-and-left front seats 28, and rear seat 29 as shown in
Meanwhile, as shown in
Herein, the navigation devices 48, 68 of the own vehicle A and another vehicle B are general ones that are configured to receive signals from satellites via the GPS antennas 49, 69, calculate present locations of the vehicles A, B, indicate the present locations and map containing roads, facilities, buildings and so on that are located around the vehicles A, B on displays (not illustrated), set destinations and retrieve traveling route to the destinations automatically, thereby guiding the vehicles A, B to the destinations by means of indications or voice messages. Herein, the map data bases 48a, 68a store road information including location of many roads and local information including location of many facilities, buildings and so on.
The vehicle surrounding information device 1 of the present invention, as shown in
Herein, in the own vehicle A, the vehicle speed sensor 41, yaw-rate sensor 42, navigation device 48, GPS antenna 49 constitute the own-vehicle traveling information detecting device 2. The C/U 40 and cameras 43-46 constitute the own-vehicle obstacle detecting device 3. The C/U 40 constitutes the dead-ground another vehicle detecting device 4, dead-ground obstacle detecting device 5, and existing-area calculating device 6. The EL sheets 30-34 constitute the indicator (window indicator) 7a. The EL sheets 30-34 and C/U 40 constitute the informing device 7. The C/U 40 and inside camera 50 constitute the eye-point detecting device 8. The C/U 40 and inter-vehicle communication antenna 47 constitutes the information communication device 9.
Meanwhile, in the own vehicle B, the vehicle speed sensor 61, yaw-rate sensor 62, navigation device 68, GPS antenna 69 constitute the another-vehicle traveling information detecting device 10. The C/U 60 and cameras 63-66 constitute the another-vehicle obstacle detecting device 11 and obstacle identifying device 12. The C/U 60 and inter-vehicle communication antenna 67 constitute the information communication device 13.
The C/U 40, 60 of the own vehicle A and another vehicle B comprise a computer including CPU, ROM and RAM, respectively. A program for detecting the obstacle C and a program for transmitting and receiving various information via wireless communication are stored in the ROM. Further, the ROM of the C/U 40 of the own vehicle A stores programs for detecting the dead-ground another vehicle Ba and dead-ground obstacle Ca, programs for calculating the existing areas BE, CE, error-allowance existing areas BEM, CEM of the respective dead-ground another vehicle: Ba and the dead-ground obstacle Ca, and programs for indicating these BE, CE, BEM, CEM on the EL sheets 30-34. The C/U 60 of another vehicle B stores a program for calculating the another-vehicle obstacle information.
Next, processing executed by the C/U 40, 60 of the own vehicle A and another vehicle B with the above-described programs will be described referring to flowcharts of
At the start of the C/U 40 of the own vehicle A, as shown in
Meanwhile, as shown in
Herein, the location error BCXe or moving speed error BCVe, which are values corresponding to the detection error of the location BX of another vehicle B by the navigation device 68 of another vehicle B or the maximum error that may be caused by the location, moving speed, moving direction, kind, and near circumstances (brightness) of the obstacle BC, may be calculated based on stored maps or calculation formulas.
The kind BCK of the obstacle BC shows automotive vehicle, motorcycle, bike, and pedestrian, for example. The identification of the kind BCK is conducted by comparing image patterns of the obstacle BC picked up by the cameras 63-66 with standard image patters of the automotive vehicle, motorcycle, bike and pedestrian that are stored. The kind identification rate BCKα of the obstacle BC is some value that can show reliability of the identified obstacle BC, which is calculated based on matching degree of the above-described both image patters.
In step S14 after the another-vehicle obstacle information calculating processing S13, the another-vehicle traveling information, including the location BX, location error BXe, moving speed BV, moving direction BD, moving speed error BVe, kind BK, kind identification rate BKα (herein, the kind BK is the automotive vehicle, and the kind identification rate BKα has the maximum reliability) of another vehicle B calculated based on the signals from the navigation device 68, speed sensor 61, and yaw-rate sensor 62, is transmitted. Also, the another-vehicle obstacle information calculated in the step S13 is transmitted via wireless communication by formatting as shown in
As shown in
Next, an exiting-area calculating processing (S6) of the dead-ground another vehicle Ba and the dead-ground obstacle Ca is executed. Herein, the existing areas BE, CE, where the dead-ground another vehicle Ba and the dead-ground obstacle Ca approaching the own vehicle A are likely to exist, and the error-allowance existing areas BEM, CEM of the, dead-ground another vehicle Ba and the dead-ground obstacle Ca, in which the detection error and the communication error become the maximum, are calculated based on the own-vehicle traveling information including the location AX, moving speed AV and moving direction AD that are obtained from the navigation device 48, vehicle speed sensor 41, and yaw-rate sensor 42 of the own vehicle, the another-vehicle traveling information of the dead-ground another vehicle Ba received in the step S4, and the obstacle information of the dead-ground obstacle Ca received in the step S4.
With respect to the existing area BE and error-allowance existing area BEM of the dead-ground obstacle Ca, as shown in
In step S7, after the calculation of the existing areas BE, CE and error-allowance existing areas BEM, CEM of the dead-ground another vehicle Ba and the dead-ground obstacle Ca in the step S6 in
Then, in step S8, the existing areas BE, CE, BEM, CEM are indicated on the windows 20-25. Herein, this indication is conducted in such a manner that these indicated existing areas can be seen so as to overlap the actual view, that the existing areas BE, BEM or the exiting areas CE, CEM are respectively distinguishable from each other, and that the kinds of the dead-ground another vehicle Ba and the dead-ground obstacle Ca for the existing areas BE, CE are distinguishable from each other. Then, the processing returns.
Herein, in a case where a plurality of vehicles C exist around the own vehicle, the above-described steps S4-S8 of
Next, the operation of the vehicle surrounding information informing device 1 will be described by using an exemplified surrounding situation around the own vehicle A, which is shown in
In
The own vehicle A detects the dead-ground another vehicle Ba1 and the dead-ground obstacles Ca3-Ca5 that exist within the dead ground of the own vehicle A based on the own-vehicle obstacle information, the another-vehicle traveling information and the another-vehicle obstacle information that are received from the other vehicles B1, B2. Further, the own vehicle A detects, based on the information stored by the map data base 48a, the dead-ground another vehicle Ba1, the dead-ground obstacles Ca3, Ca5 that approach the own vehicle A and have the possibility of encountering the own vehicle A at the intersections R12, R13.
Then, existing areas B1E, C3E, C5E, where the dead-ground another vehicle Ba1 and the dead-ground obstacles Ca3, Ca5 that approaches the own vehicle A are likely to exist, are calculated based on the own-vehicle traveling information of the own vehicle A, the another-vehicle traveling information of the dead-ground another vehicle Ba1, and the another-vehicle obstacle information of the dead-ground obstacles Ca3, Ca5. These existing areas B1E, C3E, C5E are indicated on the windshield 20 by the EL sheet 30 as shown in
In
With respect to the dead-ground another vehicle Ba and the dead-ground obstacle Ca in
With respect to the dead-ground obstacle Ca in
The above-described vehicle surrounding information informing device 1 performs the following effects. Since there are provided the own-vehicle traveling information detecting device 2, information communication device 9, existing-area calculating device 6, and informing device 7, the existing area CE where the dead-ground obstacle Ca approaching the own vehicle A is likely to exist can be calculated based on the own-vehicle traveling information including the location AX, moving speed AV and moving direction AD detected by the own vehicle A and the another-vehicle obstacle information including the location BCX, moving speed BCV and moving direction BCD of the obstacle BC detected by the another vehicle B. Then, the existing area CE can be informed.
Also, the existing area BE where the dead-ground another vehicle Ba approaching the own vehicle A is likely to exist can be calculated based on the own-vehicle traveling information and the another-vehicle traveling information including the location BX, moving speed BV and moving direction BD detected by the another vehicle B, and then can be informed. Thereby, the existing areas BE, CE of the dead-ground another vehicle Ba and the dead-ground obstacle Ca can be detected and informed, so the passenger (driver) of the own vehicle A can surely recognize the existence of the dead-ground another vehicle Ba and the dead-ground obstacle Ca to take any proper action to avoid the possible collision with these vehicle Ba and obstacle Ca. Thereby, the reliability of the vehicle surrounding information informing device 1 can be further improved.
Since the informing device 7 comprises the indicator 7a to indicate the existing areas BE, CE of the dead-ground another vehicle Ba and the dead-ground obstacle Ca, the passenger of the own vehicle A can recognize the existing areas BE, CE of the dead-ground another vehicle Ba and the dead-ground obstacle Ca. Since the existing-area calculating device 6 calculates the existing areas BE, CE in which the dead-ground another vehicle Ba and the dead-ground obstacle Ca approach closest to the own vehicle A, the passenger of the own vehicle A can further surely recognize the dead-ground another vehicle Ba and the dead-ground obstacle Ca that have the possibility of collision with the own vehicle A.
Since the existing-area calculating device 6 calculates the error-allowance existing areas BEM, CEM of the dead-ground another vehicle Ba and the dead-ground obstacle Ca in which the detection error of the another-vehicle obstacle information by another vehicle B or the communication error by the information communication devices 9, 13 become the maximum, the passenger of the own vehicle A can recognize the error-allowance existing areas BEM, CEM considering the detection error or the communication error.
Since the indicator 7a indicates the existing areas BE, CE and error-allowance existing areas BEM, CEM of the dead-ground another vehicle Ba and the dead-ground obstacle Ca in such a manner that the areas indicated are distinguishable from each other, the passenger of the own vehicle A can recognize these existing areas BE, CE and the error-allowance existing areas BEM, CEM distinguishably.
Since the indicator comprises the window indicators 7a that indicate the existing areas BE, CE of the dead-ground another vehicle Ba and the dead-ground obstacle Ca on the windshield 20, side windows 21-24, and the rear window 25, the driver of the own vehicle A can recognize the existing areas BE, CE indicated on the windows 20-25 easily and promptly without turning the driver's eyes to any display in the vehicle.
Also, there is provided the eye-point detecting device 8 to detect the eye position of the deriver of the own vehicle A, and the window indicator 7a indicates the existing areas BE, CE in such a manner that the indicated existing areas overlap the actual view of the driver. Thereby, the driver of the own vehicle A can surely recognize the existing areas BE, CE of the dead-ground another vehicle Ba and the dead-ground obstacle Ca of the own vehicle A.
Since there is provided the obstacle identifying device 12 to identify the kind of the obstacle BC detected by another vehicle B and the indicator 7a distinguishably indicates the kind of the obstacle BC identified by the obstacle identifying device 12 for the existing area CE of the obstacle BC, the passenger can recognize the kind of the dead-ground obstacle Ca distinguishably, along with the existing area of the dead-ground obstacle Ca.
Also, there are provided the own-vehicle obstacle detecting device 3 to detect the obstacle C and the dead-ground another-vehicle detecting device 4 and the dead-ground obstacle detecting device 5 that detect the dead-ground another vehicle Ba and the dead-ground obstacle Ca based on the own-vehicle obstacle information detected by the own-vehicle obstacle detecting device 3, the another-vehicle traveling information and the another-vehicle obstacle information. Thereby, only the existing areas, BE, CE of the dead-ground another vehicle Ba and the dead-ground obstacle Ca can be surely calculated and informed, excluding any other vehicle B, obstacle C that are not located within the dead ground of the own vehicle A.
Since the dead-ground obstacle detecting device 4 and the dead-ground obstacle detecting device 5 are provided on the own vehicle A, the dead-ground another vehicle Ba, and the dead-ground obstacle Ca can be surely detected by the own vehicle A. Further, there is provided the map data base 48a to store map information including road information with respect to plural roads, and the dead-ground obstacle detecting device 4 and the dead-ground obstacle detecting device 5 detect the dead-ground another vehicle Ba and the dead-ground obstacle Ca that have the possibility of encountering the own vehicle A based on the information stored by the map data base 48a. Thereby, only the dead-ground another vehicle Ba and the dead-ground obstacle Ca that have the possibility of collision with the own vehicle A can be surely detected.
In a vehicle surrounding information device 1A, as shown in
The information center E has an computer including CPU, ROM and RAM. A program for transmitting and receiving various information via wireless communication and programs for detecting the dead-ground another vehicle Ba and dead-ground obstacle Ca are stored at the ROM. Hereinafter, processing executed by the C/U 40, 60 of the own vehicle A and another vehicle B and the information center E will be described referring to flowcharts of
At the start of the C/U 40 of the own vehicle A, as shown in
As shown in
As shown in
Next, with respect to the dead-ground another vehicle Ba and dead-ground obstacle Ca detected in the step S36, processing of steps S37-S39 that are similar to the steps S6-S8 of
Herein, the above-described embodiments 1, 2 maybe modified partially as follows.
1] A steering angle sensor may be applied instead of the yaw-rate sensor 42.
2] A radar may be applied instead of the cameras 43-46, 63-66.
3] As the indicator 8a, LCD or LED may be applied instead of EL sheets 30-35, or any display device that can display images on the windows 20-25 or a liquid-crystal display that is provided inside the vehicle may be applied. In a case where the liquid-crystal display provided inside is used, the existing areas BE, CE of the dead-ground another vehicle Ba and the dead-ground obstacle Ca may be indicated on the map that is indicated at this display, utilizing the navigation device 48.
4] A voice-message output may be provided for the existing areas BE, CE of the dead-ground another vehicle Ba and the dead-ground obstacle Ca. For instance, a voice message, like “another vehicle is approaching from the left at the forward intersection” may be outputted. This voice message may be provided along with the visual indication of the existing areas BE, CE by the EL sheets 30-35, or without this visual indication.
5] The existing areas BE, CE in which the dead-ground another vehicle Ba and the dead-ground obstacle Ca approach the intersection that the own vehicle A is approaching may be calculated instead of the existing areas BE, CE in which the dead-ground another vehicle Ba and the dead-ground obstacle Ca approach closest to the own vehicle A.
6] The informing (indication) of the existing areas BE, CE may be started at a certain timing, for instance, a specified time (e.g., 4 or 5 seconds) or distance (e.g., 20-30 m) before the closest approaching of the dead-ground another vehicle Ba and the dead-ground obstacle Ca to the own vehicle A.
7] The calculation or informing of the error-allowance existing areas BEM, CEM of the dead-ground another vehicle Ba and the dead-ground obstacle Ca may be omitted.
8] Any indication manners of the kinds of the identified dead-ground another vehicle Ba and the dead-ground obstacle Ca other than those shown in
9] In a case where the map data base 48a of the navigation device 48 contains information of shape of buildings, the dead-ground another vehicle Ba and the dead-ground obstacle Ca may be detected based on this shape of buildings.
10] The function of detecting the dead-ground another vehicle Ba and the dead-ground obstacle Ca around the own vehicle A may be provided at the other vehicles B or the information center E, instead of the own vehicle A. In this case, since only the another-vehicle traveling information and the another-vehicle obstacle information of dead-ground another vehicle Ba and the dead-ground obstacle Ca are transmitted to the own vehicle A, a processing burden for the transmission may be reduced.
11] Any other modifications and improvements may be applied within the scope of a sprit of the present invention. The present invention is applicable to any type of vehicles.
Number | Date | Country | Kind |
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2006-155644 | Jun 2006 | JP | national |