JP2007249911A - Collision preventing device - Google Patents

Collision preventing device Download PDF

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JP2007249911A
JP2007249911A JP2006076287A JP2006076287A JP2007249911A JP 2007249911 A JP2007249911 A JP 2007249911A JP 2006076287 A JP2006076287 A JP 2006076287A JP 2006076287 A JP2006076287 A JP 2006076287A JP 2007249911 A JP2007249911 A JP 2007249911A
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processing unit
image
collision
radio wave
collision avoidance
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JP4936755B2 (en
JP2007249911A5 (en
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Yasuhiro Ando
康浩 安藤
Shuichi Kawano
修一 川野
Yukihiro Kamimura
幸弘 上村
Hirokazu Shimomaki
裕和 下牧
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Toshiba Corp
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Toshiba Corp
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Abstract

<P>PROBLEM TO BE SOLVED: To provide a collision prevention device capable of surely preventing collisions with a collision avoidance target, by allowing a driver to detect the position of the collision avoidance target, beforehand, even with respect to the collision avoidance target existing at a place that cannot be seen from the driver. <P>SOLUTION: The collision prevention device includes an antenna 17 for receiving radio waves; an incoming direction estimation processing part 20 for interring the incoming direction of received radio waves; an imaging processor 21 for performing image processing of the received radios waves and performing arithmetic processings on the distance to the collision avoidance target; a photographic part 22 for photographing the background; an image compositing part 23 for compositing the background image with a radio wave image; a protection target determining processing part 24 for determining the existence/absence of danger of the collision avoidance target 12; a warning determining processing part 25 for determining the propriety of generating a warning, according to the determination result; a safety information processing part 26 for determining the propriety of danger avoidance; and an image and sound output control processing part 27 for receiving the control signal of warning generated from the safety information processing part 26 and sending respective image and sound signals to a car navigation console 28. <P>COPYRIGHT: (C)2007,JPO&INPIT

Description

本発明は、車や列車などの移動体による衝突事故、例えば、車と歩行者との衝突を運転者が歩行者の所在位置が危険範囲内であることを事前に察知することによって回避する衝突防止装置に関する。   The present invention avoids a collision accident caused by a moving object such as a car or a train, for example, a collision between a car and a pedestrian when the driver detects in advance that the location of the pedestrian is within the danger range. The present invention relates to a prevention device.

従来、この種の衝突事故を防止する衝突防止装置としては、車載レーダーなどの安全装置があるが、これら従来技術は全て車載レーダーなどの安全装置の見通し範囲内に歩行者や車などの衝突回避物（以下、衝突回避対象と呼ぶ）がある場合だけに機能するものであった。   Conventionally, as an anti-collision device for preventing this type of collision accident, there is a safety device such as an on-vehicle radar. It functioned only when there was an object (hereinafter referred to as a collision avoidance target).

したがって、車載レーダーなどの安全装置が見通せない場合、例えば、衝突回避対象が車載レーダーなどの安全装置の見通せない街角にいて、その街角から突然飛び出してきた場合、運転者は飛び出してきた衝突回避対象を充分に回避することが出来ず、事故につながってしまうという大きな問題があった。   Therefore, when a safety device such as an in-vehicle radar cannot be seen, for example, when a collision avoidance target is in a street corner where the safety device such as an in-vehicle radar cannot be seen and suddenly jumps out of the street corner, the driver has a collision avoidance target that has jumped out. There was a big problem that could not be avoided enough, leading to an accident.

そこで、本発明の目的は、車載レーダーなどの安全装置から見通せない場所に存在する衝突回避対象に対しても、その存在位置を事前に察知し、衝突回避対象との衝突を確実に回避出来る衝突防止装置を提供することにある。   Therefore, an object of the present invention is to detect a collision avoidance target existing in a place that cannot be seen from a safety device such as an in-vehicle radar in advance, and to detect a collision with the collision avoidance target in advance. It is to provide a prevention device.

本発明の衝突防止装置は、衝突回避対象に携帯させた電波発信機からの電波を受信するアンテナと、このアンテナによる受信電波を、以後の処理方式に合った周波数に変換する周波数変換部と、この周波数変換されたアナログ信号をディジタル信号に変換するＡ−Ｄ変換部と、前記アンテナによる受信電波の到来方向を推定処理する到来方向推定処理部と、前記アンテナによる受信電波を画像処理し、さらに、受信された電波強度によって衝突回避対象との距離を演算処理する画像化処理部と、前記アンテナによる電波受信範囲の背景を撮影する撮影部と、この撮影部によって撮影された背景画像と前記画像化処理部で画像処理された電波の可視化画像とを合成処理する画像合成処理部とを有し、さらに、前記到来方向推定処理部からの出力信号と前記画像化処理部および前記画像合成処理部からの出力信号とを受けて衝突回避対象を保護すべきか否かの判定処理を行う保護対象判定処理部と、この保護対象判定処理部の判定結果によって警報の発生是非を判定する警報判定処理部と、この保護対象判定処理部および警報判定処理部による判定に基づいて危険回避の是非を判定処理する安全情報処理部と、この安全情報処理部から警報発生の制御信号を受けてカーナビゲーションコンソールに画像信号および音声信号を送る画像音声出力制御処理部とを具備することを特徴とするものである。   The collision prevention device of the present invention includes an antenna that receives a radio wave from a radio transmitter carried to a collision avoidance target, a frequency conversion unit that converts the radio wave received by the antenna into a frequency suitable for a subsequent processing method, An analog-to-digital converter that converts the frequency-converted analog signal into a digital signal; an arrival direction estimation processing unit that estimates an arrival direction of a received radio wave by the antenna; and image processing of the radio wave received by the antenna; An imaging processing unit that calculates a distance from a collision avoidance target based on the received radio wave intensity, a photographing unit that captures a background of a radio wave reception range by the antenna, and a background image and the image captured by the photographing unit An image synthesizing processing unit that synthesizes the radio wave visualized image processed by the image processing unit, and further, an output from the arrival direction estimation processing unit A protection target determination processing unit that receives a signal and an output signal from the imaging processing unit and the image composition processing unit and determines whether or not a collision avoidance target should be protected, and determination of the protection target determination processing unit An alarm determination processing unit that determines whether or not an alarm has occurred according to a result, a safety information processing unit that determines whether to avoid danger based on determination by the protection target determination processing unit and the alarm determination processing unit, and the safety information processing unit And a video / audio output control processing unit for receiving a control signal for generating an alarm and transmitting a video signal and a voice signal to the car navigation console.

また、本発明の衝突防止装置においては、前記安全情報処理部からの警報発生の制御信号を受けて危険回避手段を作動させる停止制御部を有することを特徴とするものである。   Further, the collision preventing apparatus of the present invention is characterized by having a stop control unit that activates the danger avoiding means in response to the alarm generation control signal from the safety information processing unit.

さらに、本発明の衝突防止装置においては、前記アンテナは、複数のアンテナ素子が並列に接続されたアレーアンテナであることを特徴とするものである。   Furthermore, in the collision prevention apparatus of the present invention, the antenna is an array antenna in which a plurality of antenna elements are connected in parallel.

さらに、本発明の衝突防止装置においては、前記電波発信機は、車および人などの全ての移動体に携帯させることを特徴とするものである。   Furthermore, in the collision prevention apparatus of the present invention, the radio wave transmitter is carried by all moving bodies such as cars and people.

本発明によれば、電波を利用した危険回避システムで構成されている衝突防止装置を用いているため、運転者からは見通し不可能な物陰からも回折してくる電波を捉えることが出来、その結果、運転者は視覚外に存在する危険な衝突回避対象をも事前に察知でき、その結果、危険を確実に回避することができる。   According to the present invention, since the collision prevention device configured by the danger avoidance system using radio waves is used, radio waves that are diffracted from the shadows that cannot be seen from the driver can be captured. As a result, the driver can detect in advance a dangerous collision avoidance target that is out of sight, and as a result, it is possible to reliably avoid the danger.

また、本発明によれば、カーナビゲーションなどの画像可視化装置を用いて、衝突回避対象から発する電波を可視化し、背景の映像と重ね合わせて合成表示されているので、衝突回避対象と背景画像との相対的な位置関係から、衝突回避対象が危険範囲の位置に存在しているか否かの判定が行われるため、運転者は、その危険度によって車両を緊急停止或いは減速させるなどして危険回避を確実に行うことができる。   Further, according to the present invention, the radio wave emitted from the collision avoidance target is visualized by using an image visualization device such as a car navigation, and is superimposed and displayed on the background video, so the collision avoidance target and the background image Therefore, the driver determines whether or not the collision avoidance target exists at the position of the danger range. Therefore, the driver avoids danger by urgently stopping or decelerating the vehicle depending on the degree of danger. Can be performed reliably.

以下、本発明の実施形態につき、図１乃至図２を用いて詳細に説明する。   Hereinafter, embodiments of the present invention will be described in detail with reference to FIGS.

図１は、本発明による実施形態の情報伝達手順を示した説明図で、携帯電話や小型電波発信機を携帯している歩行者などの衝突回避対象１が、車２の運転者からは塀３で遮られて見通せない状況が示されている。   FIG. 1 is an explanatory diagram showing an information transmission procedure according to an embodiment of the present invention. A collision avoidance target 1 such as a pedestrian carrying a mobile phone or a small radio wave transmitter is not recognized by a driver of a car 2. 3 shows a situation that cannot be seen through.

この場合、車２には、衝突回避対象１が危険範囲内に位置しているかを認知する電波発射源可視化装置（後記）がカーナビゲーション（不図示）と連動された状態で設置されている、したがって、電波発射源である衝突回避対象１からの電波が電波発射源可視化装置（後記）によって捉えられ、車２の運転者は衝突回避対象１の所在位置をカーナビゲーションの表示画面を通して認知できる構成になっている。   In this case, a radio wave emission source visualizing device (described later) for recognizing whether the collision avoidance target 1 is located within the danger range is installed in the car 2 in a state interlocked with the car navigation (not shown). Therefore, the radio wave from the collision avoidance target 1 that is the radio wave emission source is captured by the radio wave emission source visualization device (described later), and the driver of the car 2 can recognize the location of the collision avoidance target 1 through the display screen of the car navigation. It has become.

図２は、本発明による衝突防止装置の構成ブロック図で、その構成は、小型電波発信器１１を携帯している歩行者や車両などの衝突回避対象１２と車両１３との２ブロックに分けられ、さらに、車両１３は本発明による電波発射源可視化技術を用いた衝突回避（歩行者）安全装置（以下、安全装置と呼ぶ）１４と車両積載機材１５および運転者１６との３ブロックに区分して示されている。   FIG. 2 is a block diagram showing the configuration of the collision preventing apparatus according to the present invention. The configuration is divided into two blocks, a collision avoidance target 12 such as a pedestrian or a vehicle carrying a small radio wave transmitter 11 and a vehicle 13. Further, the vehicle 13 is divided into three blocks of a collision avoidance (pedestrian) safety device (hereinafter referred to as a safety device) 14 using the radio wave emission source visualization technology according to the present invention, a vehicle loaded equipment 15 and a driver 16. Is shown.

前記安全装置１４は、小型電波発信器１１からの電波を受信する複数のアンテナ素子からなるアレーアンテナ１７と、その受信電波を以後の処理方式に合わせるために、ある周波数にダウンコンバートする周波数変換部１８と、この周波数変換されたアナログ信号をディジタル信号に変換するＡ−Ｄ変換部１９と、発信電波の到来方向を探知推定する到来方向推定処理部２０と、前記受信電波を画像化処理し、さらに、受信された電波強度により衝突回避対象１２との距離を演算処理する画像化処理部２１と、この画像化処理部２１から受けた電波の可視化画像と、撮影部２２によって撮影された撮影画像、すなわち、電波受信範囲内の周辺を撮影した背景画像とを合成する画像合成処理部２３と、衝突回避対象１２が危険範囲内に存在するかを判定する保護対象判定処理部２４と、この保護対象判定処理部２４から出力を受けて警報発生の是非を判定する警報判定処理部２５と、前記保護対象判定処理部２４および警報判定処理部２５の両者からの出力を受けて警報発生の制御信号を出力する安全情報処理部２６と、この安全情報処理部２６からの出力を受けて画像信号と音声信号をカーナビゲーションコンソール（後記）に出力する画像音声出力制御処理部２７とから構成されている。   The safety device 14 includes an array antenna 17 composed of a plurality of antenna elements that receive radio waves from the small radio wave transmitter 11, and a frequency conversion unit that down-converts the received radio waves to a certain frequency in order to match the received processing method. 18, an A-D conversion unit 19 that converts the frequency-converted analog signal into a digital signal, an arrival direction estimation processing unit 20 that detects and estimates the arrival direction of the outgoing radio wave, and imaging the received radio wave, Furthermore, the imaging processing unit 21 that calculates the distance from the collision avoidance target 12 based on the received radio wave intensity, the radio wave visualization image received from the imaging processing unit 21, and the captured image captured by the imaging unit 22 That is, the image composition processing unit 23 that composes the background image obtained by photographing the periphery in the radio wave reception range, and the collision avoidance target 12 exist in the danger range. A protection target determination processing unit 24, an alarm determination processing unit 25 that receives an output from the protection target determination processing unit 24 to determine whether or not an alarm has occurred, and the protection target determination processing unit 24 and the alarm determination processing unit 25. A safety information processing unit 26 that outputs an alarm generation control signal in response to the outputs from both of them, and outputs an image signal and an audio signal to the car navigation console (described later) in response to the output from the safety information processing unit 26 And an image / audio output control processing unit 27.

そして、この車両１３には、画像音声出力制御処理部２７からの出力を受けて、その出力を可視化および音声化する前記カーナビゲーションコンソール２８と、前記安全情報処理部２６からの出力によって、車両１３を減速或いは停止させる手段、例えば、ブレーキなどを作動制御する停止制御部２９とが積載されており、このうち、カーナビゲーションコンソール２８には衝突回避対象１２の画像が表示され、運転者１６に衝突回避対象１２を視覚的に認知させると同時に、音声によっても認知させるシステム構成になっている。   The vehicle 13 receives the output from the image / sound output control processing unit 27, visualizes and outputs the output, and the vehicle 13 by the output from the safety information processing unit 26. On the vehicle navigation console 28, an image of the collision avoidance target 12 is displayed, and a collision with the driver 16 is performed. The system configuration is such that the avoidance target 12 is visually recognized and at the same time also recognized by voice.

このようなシステム構成において、いま、図１のブロックＢに示したように、小型電波発信器１１を携帯している衝突回避対象３が、車４の運転者からは、塀６で遮られている位置に存在しているものとして、以下、図２について、本発明による実施形態の作用を詳述する。   In such a system configuration, as shown in block B of FIG. 1, the collision avoidance target 3 carrying the small radio wave transmitter 11 is blocked from the driver of the car 4 by the saddle 6. Hereinafter, the operation of the embodiment according to the present invention will be described in detail with reference to FIG.

この場合、衝突回避対象１２が携帯している小型電波発信器１１から発する電波は、車両１３では、搭載している安全装置１４によって、アレーアンテナ１７で受信され、衝突回避対象１２が存在する位置方向が探知される、そして、この位置方向はアレーアンテナ１７の中心を原点とした方位角および仰角で表される。   In this case, a radio wave emitted from the small radio wave transmitter 11 carried by the collision avoidance target 12 is received by the array antenna 17 in the vehicle 13 by the mounted safety device 14 and the position where the collision avoidance target 12 exists. The direction is detected, and this position direction is represented by an azimuth angle and an elevation angle with the center of the array antenna 17 as the origin.

次いで、アレーアンテナ１７による受信信号は周波数変換部１８に送られ、以後の処理方式に合った周波数に変換される、さらに、その周波数変換されたアナログ信号はＡ−Ｄ変換部１９でディジタル変換されて到来方向推定処理部２０に入力され、この到来方向推定処理部２０では衝突回避対象１２からの発信電波の到来方向が、前記アレーアンテナ１７による受信電波の方位角および仰角から推定処理される。   Next, the signal received by the array antenna 17 is sent to the frequency converter 18 where it is converted to a frequency suitable for the subsequent processing method. Further, the analog signal subjected to frequency conversion is digitally converted by the AD converter 19. The arrival direction estimation processing unit 20 estimates the arrival direction of the outgoing radio wave from the collision avoidance target 12 from the azimuth angle and elevation angle of the received radio wave from the array antenna 17.

この到来方向の推定処理後、画像化処理部２１で受信電波の画像化処理が行われ、同時に、受信された電波強度から衝突回避対象１２との距離が演算処理される、次いで、その出力を入力した画像合成処理部２３では、撮影部２２によって撮影された電波受信範囲内の背景画像と衝突回避対象１２からの受信電波の画像位置とが合成処理される。   After this direction-of-arrival estimation processing, the imaging processing unit 21 performs imaging processing of the received radio wave, and at the same time, the distance from the collision avoidance target 12 is calculated from the received radio wave intensity. In the input image composition processing unit 23, the background image within the radio wave reception range imaged by the imaging unit 22 and the image position of the received radio wave from the collision avoidance target 12 are synthesized.

同時に、到来方向推定処理部２０によって演算処理された受信電波の到来方向と、画像化処理部２１からの受信電波の画像、および画像合成処理部２３による衝突回避対象１２の画像位置とは、保護対象判定処理部２４に送られ、ここで、受信電波の発信位置、すなわち、衝突回避対象１２の存在位置が危険範囲内であるか否かの判定が行われる。   At the same time, the arrival direction of the received radio wave calculated by the arrival direction estimation processing unit 20, the image of the received radio wave from the imaging processing unit 21, and the image position of the collision avoidance target 12 by the image synthesis processing unit 23 are protected. It is sent to the target determination processing unit 24, where it is determined whether or not the transmission position of the received radio wave, that is, the position where the collision avoidance target 12 exists is within the danger range.

なお、この判定は、「周波数が一致しているか」、あるいは、「到来方向が前方からか後方からか」などで判断される。   This determination is made based on “whether the frequencies match” or “whether the arrival direction is from the front or the rear”.

この判定の結果、衝突回避対象１２が危険範囲に位置していると判定された場合、警報判定処理部２５によって、さらに、警報発生の是非が判定される。   As a result of this determination, if it is determined that the collision avoidance target 12 is in the danger range, the alarm determination processing unit 25 further determines whether or not an alarm has occurred.

なお、この判定は、「前方危険範囲に衝突回避対象１２が位置しているか否か」、「車両と保護対象との距離が危険範囲であるか否か」などで判断され、その判定の結果、回避すべき衝突回避対象１２であり、且つ、警報を発する必要性があると判断された場合、警報発生の制御信号が安全情報処理部２６から出力され、画像音声出力制御処理部２７と停止制御部２９とに送られる。   This determination is made based on whether or not the collision avoidance target 12 is located in the forward danger range, whether or not the distance between the vehicle and the protection target is in the danger range, and the result of the determination When it is determined that it is a collision avoidance target 12 to be avoided and it is necessary to issue an alarm, a control signal for generating an alarm is output from the safety information processing unit 26 and stopped with the video / audio output control processing unit 27 It is sent to the control unit 29.

そして、画像音声出力制御処理部２７が警報発生の制御信号を受けると、画像合成処理部２３で合成された画像がカーナビゲーションコンソール２８に送られ、運転者１６はカーナビゲーション上の画像表示によって視覚的に「衝突回避対象１２が前方の危険範囲内に存在する」ことを認知する。   When the image / sound output control processing unit 27 receives a control signal for generating an alarm, the image synthesized by the image synthesis processing unit 23 is sent to the car navigation console 28, and the driver 16 visually recognizes the image displayed on the car navigation. In other words, it is recognized that “the collision avoidance target 12 exists within the danger range ahead”.

同時に、カーナビゲーションコンソール２８からはカーナビゲーション音声出力によって、音声による警報が発せられ、運転者１６には注意すべき衝突回避対象１２の存在を聴覚的に、より強い警告の形で知らされる。   At the same time, an audio warning is issued from the car navigation console 28 by a car navigation voice output, and the driver 16 is audibly informed in the form of a stronger warning of the presence of the collision avoidance target 12 to be noted.

さらに、回避行動が緊急に必要と判断された場合は、停止制動制御信号が安全情報処理部２６から停止制御部２９に出力され自動的にブレーキなどが作動して、車両１３を減速或いは停止させ、確実な危険回避の行動がとられる。   Further, when it is determined that the avoidance action is urgently necessary, a stop braking control signal is output from the safety information processing unit 26 to the stop control unit 29, and the brake or the like is automatically operated to decelerate or stop the vehicle 13. , Certain danger avoidance actions are taken.

このように、本発明の実施形態にかかる衝突防止装置によれば、電波を利用した危険回避システムで構成されているため、運転者からは見通し不可能な物陰からも回折してくる電波を捉えることが出来、その結果、運転者は視覚外の危険な衝突回避対象をも事前に察知できるので、危険を確実に回避することができる。   As described above, according to the collision prevention apparatus according to the embodiment of the present invention, since it is configured by the danger avoidance system using radio waves, the radio waves diffracted from the shadows that cannot be seen by the driver are captured. As a result, the driver can detect in advance dangerous collision avoidance objects that are out of sight, so that danger can be avoided reliably.

また、本発明によれば、画像可視化装置（カーナビゲーション）において電波（衝突回避対象）を可視化し、さらに、背景の映像と重ね合わせて合成表示しているので、衝突回避対象と背景画像との相対的な位置関係から、衝突回避対象の電波が危険範囲の位置から発せられているかの判定が行われ、したがって、運転者は危険度を事前に知ることが出来、危険回避をより確実に行うことができる。   Further, according to the present invention, the radio wave (collision avoidance target) is visualized in the image visualization device (car navigation) and further superimposed and displayed on the background video, so that the collision avoidance target and the background image are displayed. Based on the relative positional relationship, it is determined whether the radio waves targeted for collision avoidance are emitted from the position in the danger range, so the driver can know the degree of danger in advance and more reliably avoid the danger. be able to.

本発明による実施形態の情報伝達手順を示した説明図である。It is explanatory drawing which showed the information transmission procedure of embodiment by this invention. 本発明による衝突防止装置の構成ブロック図である。1 is a block diagram illustrating a configuration of a collision preventing apparatus according to the present invention.

符号の説明Explanation of symbols

１ 衝突回避対象（歩行者）
２ 車
３ 塀
１１ 小型電波発信器
１３ 車両
１４ 衝突回避安全装置
１５ 車両積載機材
１６ 運転者
１７ アレーアンテナ
１８ 周波数変換部
１９ Ａ−Ｄ変換部
２０ 到来方向推定処理部
２１ 画像化処理部
２２ 撮影部
２３ 画像合成処理部
２４ 保護対象判定処理部
２５ 警報判定処理部
２６ 安全情報処理部
２７ 画像音声出力制御処理部
２８ カーナビゲーションコンソール
２９ 停止制御部 1 Collision avoidance target (pedestrian)
2 car 3 car 11 small radio wave transmitter 13 vehicle 14 collision avoidance safety device 15 vehicle loading equipment 16 driver 17 array antenna 18 frequency conversion unit 19 AD conversion unit 20 arrival direction estimation processing unit 21 imaging processing unit 22 photographing unit 23 Image composition processing unit 24 Protection target determination processing unit 25 Alarm determination processing unit 26 Safety information processing unit 27 Image audio output control processing unit 28 Car navigation console
29 Stop controller

Claims (4)

衝突回避対象に携帯させた電波発信機からの電波を受信するアンテナと、このアンテナによる受信電波を、以後の処理方式に合った周波数に変換する周波数変換部と、この周波数変換されたアナログ信号をディジタル信号に変換するＡ−Ｄ変換部と、前記アンテナによる受信電波の到来方向を推定処理する到来方向推定処理部と、前記アンテナによる受信電波を画像処理し、さらに、受信された電波強度によって衝突回避対象との距離を演算処理する画像化処理部と、前記アンテナによる電波受信範囲の背景を撮影する撮影部と、この撮影部によって撮影された背景画像と前記画像化処理部で画像処理された電波の可視化画像とを合成処理する画像合成処理部とを有し、さらに、前記到来方向推定処理部からの出力信号と前記画像化処理部および前記画像合成処理部からの出力信号とを受けて衝突回避対象を保護すべきか否かの判定処理を行う保護対象判定処理部と、この保護対象判定処理部の判定結果によって警報の発生是非を判定する警報判定処理部と、この保護対象判定処理部および警報判定処理部による判定に基づいて危険回避の是非を判定処理する安全情報処理部と、この安全情報処理部から警報発生の制御信号を受けてカーナビゲーションゲーションコンソールに画像信号および音声信号を送る画像音声出力制御処理部とを具備することを特徴とする衝突防止装置。   An antenna that receives radio waves from a radio transmitter that is carried by a collision avoidance target, a frequency converter that converts the radio waves received by this antenna into a frequency suitable for the subsequent processing method, and this frequency-converted analog signal A digital-to-analog converter, an arrival direction estimation processing unit for estimating the direction of arrival of the received radio wave by the antenna, image processing of the radio wave received by the antenna, and collision according to the received radio wave intensity An image processing unit for calculating a distance to the avoidance target, a photographing unit for photographing the background of the radio wave reception range by the antenna, a background image photographed by the photographing unit, and image processing by the imaging processing unit An image composition processing unit for performing composition processing on the radio wave visualization image, and further, an output signal from the arrival direction estimation processing unit and the imaging processing unit. And an output signal from the image composition processing unit, a protection target determination processing unit for determining whether or not a collision avoidance target should be protected, and whether or not an alarm is generated depending on a determination result of the protection target determination processing unit. An alarm determination processing unit for determining, a safety information processing unit for determining whether to avoid danger based on determination by the protection target determination processing unit and the alarm determination processing unit, and a control signal for generating an alarm from the safety information processing unit An anti-collision apparatus comprising: an audio / video output control processing unit that receives the image signal and the audio signal to the car navigation navigation console. 前記安全情報処理部からの警報発生の制御信号を受けて危険回避手段を作動させる停止制御部を有することを特徴とする請求項１記載の衝突防止装置。   2. The collision prevention apparatus according to claim 1, further comprising a stop control unit that activates the danger avoiding means in response to an alarm generation control signal from the safety information processing unit. 前記アンテナは、複数のアンテナ素子が並列に接続されたアレーアンテナであることを特徴とする請求項１記載の衝突防止装置。   2. The collision preventing apparatus according to claim 1, wherein the antenna is an array antenna in which a plurality of antenna elements are connected in parallel. 前記電波発信機は、車および人などの全ての移動体に携帯させることを特徴とする請求項１記載の衝突防止装置。   2. The collision preventing apparatus according to claim 1, wherein the radio wave transmitter is carried by all moving bodies such as cars and people.
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