The present invention relates to a vehicle surrounding information informing device that informs a vehicle passenger of a surrounding obstacle information, and in particular, relates to a vehicle surrounding information informing device that calculates an existing area where a hidden-area obstacle that approaches the own vehicle is likely to exist, based on own-vehicle traveling information and another-vehicle obstacle information, and then inform the existing area.
Conventionally, a driving assist technology, in which any obstacle, such as another vehicle (vehicles) or a pedestrian, that exists around an own vehicle are detected by a camera or a radar of the own vehicle, and, for instance, the possibility of collision of the own vehicle against the obstacle is detected and then informed by means of an indication or a voice message, is known. However, it may be difficult to properly detect any obstacle that is located within a dead ground of the own vehicle due to existence of buildings or the like only by the camera or radar.
Japanese Patent Laid-Open Publication No. 2001-101566 discloses a traffic safety confirming system. In this system, a road image and a road-side image around an intersection are picked up individually by an intersection-camera that is provided at the intersection and a vehicle-camera that is provided at the own vehicle or another vehicle than the own vehicle. Then, data of these images are transmitted to a system body. At the system body, the data of the road image that may be located within the dead ground of the own vehicle proceeding into the intersection and the data of the road-side image that may not be located within the dead ground of the own vehicle are combined in such a manner that both images overlap each other. This overlapping image data may be transmitted to the own vehicle from the system body, and then indicated on a side window of the own vehicle.
Generally, there may occur traffic accidents (sudden-meeting collision) at or around blind (unclear) intersections more often than at or around clear intersections. Also, more accidents may happen in an urban area where many buildings gather due to existence of more roads with blind intersections and more traveling vehicles. Accordingly, it may be rather difficult to properly detect the obstacle located within the dead ground of the own vehicle only by the camera or radar, so even informing the existence of this hidden-area obstacle could not be conducted properly.
Meanwhile, since the traffic safety confirming system disclosed in the above-described patent document may indicate the overlapping image data of the road image and the road-side image as described above, any hidden-area obstacles contained in the overlapping image data may be indicated. Thereby, the passenger could recognize the hidden-area obstacles that exist around the intersection.
The above-described traffic safety confirming system, however, could not detect and indicate (inform) an accurate location of the hidden-area obstacle because the own vehicle and the hidden-area obstacle actually move momently. Namely, there is a problem in that an error (difference) between the actual location and the indicated location of the hidden-area obstacle would become improperly large, so that the passenger (driver) could not surely recognize the existence of the hidden-area obstacle in order to take any proper action to avoid a possible collision with the hidden-area obstacle. Accordingly, the reliability of the traffic safety confirming system would be improperly low.
The present invention has been devised in view of the above-described problem, and an object of the present invention is to provide a vehicle surrounding information informing device in which the passenger (driver) can surely recognize the existence of the hidden-area obstacle (vehicle) to take any proper action to avoid the possible collision with the hidden-area obstacle (vehicle), thereby improving the reliability of the vehicle surrounding information informing device.
According to the present invention, there is provided a vehicle surrounding information informing device, which informs a vehicle passenger of a surrounding obstacle information, comprising an own-vehicle traveling information detecting device to detect own-vehicle traveling information including a location, a moving speed and a moving direction of an own vehicle, an information communication device to receive another-vehicle obstacle information including a location, a moving speed and a moving direction of an obstacle that exists around the own vehicle, the another-vehicle obstacle information being detected by another vehicle, an existing-area calculating device to calculate an existing area where a hidden-area obstacle that approaches the own vehicle is likely to exist, based on the own-vehicle traveling information detected by the own-vehicle traveling information detecting device and information with respect to the hidden-area obstacle of the another-vehicle obstacle information, the hidden-area obstacle being the obstacle that is located within a dead ground of the own vehicle, and an informing device to inform the existing area of the hidden-area obstacle calculated by the existing-area calculating device.
The own-vehicle traveling information detecting device may comprise a GPS device, vehicle speed sensor, yaw-rate sensor (steering angle sensor) and so on, which detects the own-vehicle traveling information including the location, moving speed and moving direction of the own vehicle. Meanwhile, another vehicle (vehicles) is equipped with an another-vehicle obstacle information detecting device to detect another-vehicle obstacle information including a location, a moving speed and a moving direction of an obstacle at another vehicle. This another-vehicle obstacle information detecting device may comprise a camera, radar or the like. The another-vehicle obstacle information detected may be provided to the own vehicle via wireless transmission. (Hereinafter, another vehicle or other vehicles, which are not the own vehicle, as an object vehicle to be detected, will be often referred to as “another vehicle” regardless of the number of vehicles just for simplicity.)
The own vehicle can receive the another-vehicle obstacle information detected by another vehicle that exists around the own vehicle via the information communication device. The existing-area calculating device calculates the existing area where the hidden-area obstacle that approaches the own vehicle is likely to exist, based on the own-vehicle traveling information detected by the own-vehicle traveling information detecting device and the information with respect to the hidden-area obstacle of the another-vehicle obstacle information. Then, the informing device informs the existing area.
According to the present invention, since the existing area of the hidden-area obstacle is detected and informed, the passenger (driver) of the own vehicle can surely recognize the existence of the hidden-area obstacle to take any proper action to avoid a possible collision with the hidden-area obstacle. Accordingly, the reliability of the vehicle surrounding information informing device can be improved.
According to an embodiment of the present invention, the information communication device receives another-vehicle traveling information including a location, a moving speed and a moving direction of another vehicle that exists around the own vehicle, the another-vehicle obstacle information being detected by another vehicle, the existing-area calculating device calculates an existing area where a hidden-area another vehicle that approaches the own vehicle is likely to exist, based on the own-vehicle traveling information detected by the own-vehicle traveling information detecting device and information with respect to the hidden-area another vehicle of the another-vehicle traveling information, the hidden-area another vehicle being another vehicle that is located within the dead ground of the own vehicle, and the informing device informs the existing area of the hidden-area another vehicle calculated by the existing-area calculating device. Thereby, since the existing area of the hidden-area another vehicle is detected and informed, the passenger (driver) of the own vehicle can surely recognize the existence of the hidden-area another vehicle to take any proper action to avoid a possible collision with the hidden-area another vehicle. Thereby, the reliability of the vehicle surrounding information informing device can be further improved.
According to another embodiment of the present invention, the informing device comprises an indicator to indicate the existing area of the hidden-area obstacle. Thereby, the passenger of the own vehicle can recognize the existing area of the hidden-area obstacle by seeing its indication.
According to another embodiment of the present invention, the existing-area calculating device calculates the existing area in which the hidden-area obstacle approaches closest to the own vehicle. Thereby, the passenger of the own vehicle can further surely recognize the hidden-area obstacle having the possibility of collision with the own vehicle.
According to another embodiment of the present invention, the existing-area calculating device calculates an error-allowance existing area in which at least one of a detection error of the another-vehicle obstacle information by another vehicle and a communication error by the information communication device becomes a maximum. Thereby, the passenger of the own vehicle can recognize the error-allowance existing area considering the detection error or the communication error.
According to another embodiment of the present invention, the indicator indicates the existing area and the error-allowance existing area in such a manner that the areas indicated are distinguishable from each other. Thereby, the passenger of the own vehicle can recognize the existing area and the error-allowance existing area distinguishably.
According to another embodiment of the present invention, the indicator comprises a window indicator that indicates the existing area of the hidden-area obstacle on at least one of a windshield, a side window, and a rear window. Thereby, particularly, the driver of the own vehicle can recognize the existing area of the hidden-area obstacle easily and promptly without turning the driver's eyes to any display in the vehicle.
According to another embodiment of the present invention, there is provided an eye-point detecting device to detect an eye position of a driver of the own vehicle, and the window indicator indicates the existing area of the hidden-area obstacle in such a manner that the indicated existing area of the hidden-area obstacle overlaps an actual view of the driver. Thereby, the driver of the own vehicle can surely recognize the existing area of the hidden-area obstacle of the own vehicle.
According to another embodiment of the present invention, there is provided an obstacle identifying device to identify a kind of the obstacle detected by another vehicle, and the indicator distinguishably indicates the kind of the obstacle identified by the obstacle identifying device for the existing area. Thereby, the passenger of the own vehicle can recognize the kind of the hidden-area obstacle distinguishably, along with the existing area of the hidden-area obstacle.
According to another embodiment of the present invention, the vehicle surrounding information informing device further comprises an own-vehicle obstacle detecting device that includes at least one of a radar and a camera that are provided on the own vehicle to detect the obstacle, and a hidden-area obstacle detecting device to detect the hidden-area obstacle based on an own-vehicle obstacle information detected by the own-vehicle obstacle detecting device and the another-vehicle obstacle information. Thereby, the existing area of only the hidden-area obstacle can be surely calculated and informed, excluding any obstacle that is not located within the dead ground of the own vehicle.
According to another embodiment of the present invention, the hidden-area obstacle detecting device is provided on at least one of the own vehicle and another vehicle. Thereby, the hidden-area obstacle of the own vehicle can be surely detected by the own vehicle or another vehicle.
According to another embodiment of the present invention, the hidden-area obstacle detecting device is provided at an information center that is capable of communicating with the own vehicle and another vehicle. Thereby, the hidden-area obstacle of the own vehicle can be surely detected at the information center.
According to another embodiment of the present invention, there is provided a map data base to store map information including road information with respect to plural roads, and the hidden-area obstacle detecting device detects the hidden-area obstacle that has a possibility of encountering the own vehicle further based on the information stored by the map data base. Thereby, only the hidden-area obstacle having the possibility of collision with the own vehicle can be surely detected.
Other features, aspects, and advantages of the present invention will become apparent from the following description which refers to the accompanying drawings.
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 hidden-area another vehicle detecting device 4 of the own vehicle A detects a hidden-area 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 hidden-area obstacle detecting device 5 of the own vehicle A detects a hidden-area 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 hidden-area another vehicle Ba that approaches the own vehicle A is likely to exist and an existing area CE where the hidden-area 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 hidden-area another vehicle Ba detected by the hidden-area another vehicle detecting device 4, and another-vehicle obstacle information of the hidden-area obstacle Ca detected by the hidden-area obstacle detecting device 5.
In this case, the existing-area calculating device 6 calculates the existing area BE in which the hidden-area another vehicle Ba approaches closest to the own vehicle A and the existing area CE in which the hidden-area 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 hidden-area another vehicle Ba and an error-allowance existing area CEM of the hidden-area 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 hidden-area another vehicle Ba and the existing area CE of the hidden-area obstacle Ca that are calculated by the existing-area calculating device 6. Herein, the indicator 7a indicates the existing area BE of the hidden-area another vehicle Ba and the existing area CE of the hidden-area obstacle Ca. Further, the indicator 7a indicates the existing area BE of the hidden-area another vehicle Ba and the error-allowance existing area BEM, and the existing area CE of the hidden-area 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 hidden-area 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 hidden-area another vehicle Ba and the existing area CE and the error-allowance existing area CEM of the hidden-area 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 driver 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 hidden-area another vehicle detecting device 4, hidden-area 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 hidden-area another vehicle Ba and hidden-area obstacle Ca, programs for calculating the existing areas BE, CE, error-allowance existing areas BEM, CEM of the respective hidden-area another vehicle Ba and the hidden-area 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 hidden-area another vehicle Ba and the hidden-area obstacle Ca is executed. Herein, the existing areas BE, CE, where the hidden-area another vehicle Ba and the hidden-area obstacle Ca approaching the own vehicle A are likely to exist, and the error-allowance existing areas BEM, CEM of the hidden-area another vehicle Ba and the hidden-area 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 hidden-area another vehicle Ba received in the step S4, and the obstacle information of the hidden-area obstacle Ca received in the step S4.
With respect to the existing area BE and error-allowance existing area BEM of the hidden-area 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 hidden-area another vehicle Ba and the hidden-area 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 hidden-area another vehicle Ba and the hidden-area 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 hidden-area another vehicle Ba1 and the hidden-area 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 hidden-area another vehicle Ba1, the hidden-area 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 hidden-area another vehicle Ba1 and the hidden-area 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 hidden-area another vehicle Ba1, and the another-vehicle obstacle information of the hidden-area 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 hidden-area another vehicle Ba and the hidden-area obstacle Ca in
With respect to the hidden-area 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 hidden-area 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 hidden-area 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 hidden-area another vehicle Ba and the hidden-area obstacle Ca can be detected and informed, so the passenger (driver) of the own vehicle A can surely recognize the existence of the hidden-area another vehicle Ba and the hidden-area 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 hidden-area another vehicle Ba and the hidden-area obstacle Ca, the passenger of the own vehicle A can recognize the existing areas BE, CE of the hidden-area another vehicle Ba and the hidden-area obstacle Ca. Since the existing-area calculating device 6 calculates the existing areas BE, CE in which the hidden-area another vehicle Ba and the hidden-area obstacle Ca approach closest to the own vehicle A, the passenger of the own vehicle A can further surely recognize the hidden-area another vehicle Ba and the hidden-area 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 hidden-area another vehicle Ba and the hidden-area 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 hidden-area another vehicle Ba and the hidden-area 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 hidden-area another vehicle Ba and the hidden-area 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 driver 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 hidden-area another vehicle Ba and the hidden-area 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 hidden-area obstacle Ca distinguishably, along with the existing area of the hidden-area obstacle Ca.
Also, there are provided the own-vehicle obstacle detecting device 3 to detect the obstacle C and the hidden-area another-vehicle detecting device 4 and the hidden-area obstacle detecting device 5 that detect the hidden-area another vehicle Ba and the hidden-area 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 hidden-area another vehicle Ba and the hidden-area 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 hidden-area obstacle detecting device 4 and the hidden-area obstacle detecting device 5 are provided on the own vehicle A, the hidden-area another vehicle Ba, and the hidden-area 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 hidden-area obstacle detecting device 4 and the hidden-area obstacle detecting device 5 detect the hidden-area another vehicle Ba and the hidden-area 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 hidden-area another vehicle Ba and the hidden-area 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 hidden-area another vehicle Ba and hidden-area 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 hidden-area another vehicle Ba and hidden-area 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 may be 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 hidden-area another vehicle Ba and the hidden-area 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 hidden-area another vehicle Ba and the hidden-area 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 hidden-area another vehicle Ba and the hidden-area 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 hidden-area another vehicle Ba and the hidden-area 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 hidden-area another vehicle Ba and the hidden-area obstacle Ca to the own vehicle A.
7] The calculation or informing of the error-allowance existing areas BEM, CEM of the hidden-area another vehicle Ba and the hidden-area obstacle Ca may be omitted.
8] Any indication manners of the kinds of the identified hidden-area another vehicle Ba and the hidden-area 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 hidden-area another vehicle Ba and the hidden-area obstacle Ca may be detected based on this shape of buildings.
10] The function of detecting the hidden-area another vehicle Ba and the hidden-area 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 hidden-area another vehicle Ba and the hidden-area 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 spirit 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 |
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2864311 | Jun 2005 | FR |
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Number | Date | Country | |
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20070279250 A1 | Dec 2007 | US |