JP4911051B2 - Vehicle periphery monitoring device - Google Patents

Vehicle periphery monitoring device Download PDF

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JP4911051B2
JP4911051B2 JP2008016438A JP2008016438A JP4911051B2 JP 4911051 B2 JP4911051 B2 JP 4911051B2 JP 2008016438 A JP2008016438 A JP 2008016438A JP 2008016438 A JP2008016438 A JP 2008016438A JP 4911051 B2 JP4911051 B2 JP 4911051B2
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JP2009173239A (en
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岳史 流石
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Toyota Motor Corp
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Description

本発明は車両用周辺監視装置に関し、特に、自車両の周辺を監視するための車両用周辺監視装置に関するものである。   The present invention relates to a vehicle periphery monitoring device, and more particularly to a vehicle periphery monitoring device for monitoring the periphery of a host vehicle.

従来、自車両の周辺を監視し、自車両の運転者に、自車両の周囲の他車両、歩行者等の物体についての注意を喚起する表示を行う走行支援装置が提案されている。例えば、特許文献１には、所定時間Ｔ１ごとに超音波を発信し、超音波の反射波が受信される場合に自車両に所定距離まで接近する障害物の存在を示す信号をＥＣＵに向けて出力するクリアランスソナーセンサを設け、ＥＣＵに、上記所定時間Ｔ１ごとにクリアランスソナーセンサから出力される障害物の存在を示す信号が受信されるか否かを判定させ、その肯定判定が所定回数Ｎ０連続する場合に警報ブザーを駆動させことにより、過剰に警報が発せられるのを抑制した車両用障害物検出装置が開示されている。   2. Description of the Related Art Conventionally, there has been proposed a driving support device that monitors the surroundings of a host vehicle and performs a display for alerting the driver of the host vehicle about objects such as other vehicles and pedestrians around the host vehicle. For example, in Patent Document 1, an ultrasonic wave is transmitted every predetermined time T1, and when an ultrasonic reflected wave is received, a signal indicating the presence of an obstacle that approaches the vehicle to a predetermined distance is directed to the ECU. An output clearance sonar sensor is provided, and the ECU determines whether or not a signal indicating the presence of an obstacle output from the clearance sonar sensor is received every predetermined time T1. In this case, an obstacle detection device for a vehicle is disclosed in which an alarm buzzer is driven to suppress excessive alarms.

このような周辺監視センサのセンシング領域は、様々な環境に対応するために一定となっている。例えば、前方監視レーダでは、通常走行中の先行車と追突する可能性を検出するためと、横からの歩行者の飛び出しを検出するためと、またこれらを精度良く検出し、誤検出を避ける（安全走行に不要である物は、信号処理の処理負荷低減も考えて検出しない）ために、遠めの検知距離と自車線分の検知角度が設定されている。後方監視レーダも同様に、後方からの追突を検知（直線的な追突と斜めからの追突の両方を検知）するために、近めの検知距離と、広角の検知角度が設定されている。駐車時の周辺監視を目的としたクリアランスソナーも同様に近めの検知距離と、広角の検知角度が設定されている。
特開２００４−３４５４９５号公報 The sensing area of such a peripheral monitoring sensor is constant in order to cope with various environments. For example, the forward monitoring radar detects the possibility of colliding with a preceding vehicle that is running normally, detects the pedestrian jumping out from the side, and detects these with high accuracy to avoid false detection ( Since objects that are not necessary for safe driving are not detected in consideration of reducing the processing load of signal processing), a far detection distance and a detection angle for the own lane are set. Similarly, the rear monitoring radar also sets a closer detection distance and a wide detection angle in order to detect rear-end collisions (detect both linear rear-end collisions and oblique rear-end collisions). The clearance sonar for the purpose of monitoring the surroundings at the time of parking similarly has a close detection distance and a wide detection angle.
JP 2004-345495 A

しかしながら、駐車時等の低速走行時では、環境により運転者が検知して欲しい領域が初期設定されたものと異なる場合がある。特に、側方への幅寄せにおいて、後退時に壁に自車両を近接させて寄せる場合に、運転者は、バンパーの角やホイール周辺が壁に接触しないかと、当該部分を凝視しながらアクセル及び操舵の操作を行う。現状のクリアランスソナーでは、前後バンパーの中央と角周辺が接触するか否かを検出するため、その周辺だけを一点集中的に検知している。しかし、多くの運転者は、前後バンパーの中央と角のみではなく、バンパー全体として接触するか否かを知りたいと考えているが、現状のクリアランスソナーでは困難である。   However, when the vehicle is traveling at a low speed, such as when parked, the region that the driver wants to detect may be different from that initially set depending on the environment. In particular, when laterally shifting the vehicle closer to the wall at the time of reversing, the driver checks the accelerator and steering while staring at the corner of the bumper and whether the wheel periphery is in contact with the wall. Perform the operation. In the current clearance sonar, in order to detect whether or not the center and corner corners of the front and rear bumpers are in contact with each other, only the periphery is detected intensively. However, many drivers want to know whether or not the bumper as a whole touches not only the center and corners of the front and rear bumpers, but it is difficult with the current clearance sonar.

本発明は、上記事情に鑑みてなされたものであり、その目的は、低速走行時に、自車両の運転者に、自車両の周囲の物体に関する情報をより有効に与えることができる車両用周辺監視装置を提供することにある。   The present invention has been made in view of the above circumstances, and an object of the present invention is to provide vehicle periphery monitoring that can more effectively give information on objects around the host vehicle to the driver of the host vehicle when traveling at a low speed. To provide an apparatus.

本発明は、監視距離が遠くなるに従い監視角度が狭くなる、自車両の周辺を監視するための周辺監視手段と、自車両の車速を検出する車速検出手段と、自車両の運転者の視線方向を検出する運転者視線検出手段と、周辺監視手段の監視角度を制御する制御手段と、を備え、制御手段は、車速検出手段が検出した自車両の車速が閾値以下であるときに、運転者視線検出手段が検出した運転者の視線方向については、周辺監視手段の監視角度を自車両の車速が閾値を超えるときに比べて広くする、車両用周辺監視装置である。   The present invention relates to a peripheral monitoring means for monitoring the periphery of the host vehicle, a vehicle speed detecting means for detecting the vehicle speed of the host vehicle, and a line-of-sight direction of the driver of the host vehicle, with the monitoring angle becoming narrower as the monitoring distance increases. And a control means for controlling the monitoring angle of the periphery monitoring means. The control means is provided when the vehicle speed of the host vehicle detected by the vehicle speed detection means is equal to or less than a threshold value. With regard to the driver's line-of-sight direction detected by the line-of-sight detection unit, the vehicle periphery monitoring device widens the monitoring angle of the periphery monitoring unit as compared to when the vehicle speed of the host vehicle exceeds a threshold value.

この構成によれば、監視距離が遠くなるに従い監視角度が狭くなる周辺監視手段を備えた車両用周辺監視装置において、制御手段は、車速検出手段が検出した自車両の車速が閾値以下であるときに、運転者視線検出手段が検出した運転者の視線方向については、周辺監視手段の監視角度を自車両の車速が閾値を超えるときに比べて広くするため、駐車時等の低速走行時において、運転者が凝視しているバンパーの角やホイール周辺については、より広い監視角度が得られることになり、運転者はバンパーやホイールが全体として壁等と接触するか否かが判るため、低速走行時に自車両の運転者に自車両の周囲の物体に関する情報をより有効に与えることができる。   According to this configuration, in the vehicle periphery monitoring device including the periphery monitoring unit that decreases the monitoring angle as the monitoring distance increases, the control unit is configured such that the vehicle speed detected by the vehicle speed detection unit is equal to or less than the threshold value. In addition, for the driver's line-of-sight direction detected by the driver's line-of-sight detection means, in order to make the monitoring angle of the periphery monitoring means wider than when the vehicle speed of the host vehicle exceeds the threshold, A wider monitoring angle can be obtained for the corner of the bumper and the wheel around which the driver is staring, and the driver knows whether the bumper and the wheel are in contact with the wall as a whole. Sometimes, the driver of the host vehicle can be given information about the objects around the host vehicle more effectively.

この場合、制御手段は、車速検出手段が検出した自車両の車速が閾値以下であるときに、運転者視線検出手段が検出した運転者の視線方向以外については、周辺監視手段の監視角度を運転者の視線方向に比べて狭くすることが好適である。   In this case, when the vehicle speed of the host vehicle detected by the vehicle speed detection unit is equal to or less than the threshold value, the control unit operates the monitoring angle of the periphery monitoring unit except for the driver's line-of-sight direction detected by the driver line-of-sight detection unit. It is preferable to make it narrower than the person's line of sight.

後退時は特に、運転者が凝視していない方向である前方から車両や人が接近してくるかどうかを、運転者はすぐに確認することはできないので、多くの運転者は、前方の検知距離は現状のクリアランスソナーのように近めの検知距離ではなく、やや遠距離の検知距離が必要であると考える。正面の検知距離は前方監視レーダ等により遠距離の検知が可能な場合もあるが、駐車時に必要なのは１０〜１５ｍ以内に接近する対象物であり、駐車時には、死角方向である前方斜め方向から対象物が接近してくる場合が最も対象物を検知しにくいため、このような斜め方向を検知するためには、前方監視レーダではなく、クリアランスソナーの検知距離を遠距離まで設定する必要がある。   Especially when going backwards, many drivers are not able to immediately detect whether a vehicle or a person is approaching from the front, which is the direction in which the driver is not staring. I think that the distance is not a close detection distance like the current clearance sonar, but a detection distance that is a little far away. In some cases, the front detection distance can be detected by a forward monitoring radar or the like, but what is required when parking is an object that approaches within 10 to 15 m. When an object approaches, it is most difficult to detect the target object. Therefore, in order to detect such an oblique direction, it is necessary to set the detection distance of the clearance sonar to a long distance instead of the front monitoring radar.

しかしながら、この構成によれば、制御手段は、車速検出手段が検出した自車両の車速が閾値以下であるときに、運転者視線検出手段が検出した運転者の視線方向以外については、周辺監視手段の監視角度を運転者の視線方向に比べて狭くするため、駐車時等の低速走行時に、運転者は凝視していない方向から車両や人が接近してくるかどうかを、早期に確認することが可能となる。   However, according to this configuration, when the vehicle speed of the host vehicle detected by the vehicle speed detection unit is equal to or lower than the threshold, the control unit is configured to monitor the surroundings except for the driver's line-of-sight direction detected by the driver's line-of-sight detection unit. In order to narrow the monitoring angle of the driver compared to the driver's line of sight, the driver should check at an early stage whether the vehicle or person is approaching from the direction where the driver is not staring when driving at a low speed such as when parking. Is possible.

本発明の車両用周辺監視装置によれば、低速走行時に、自車両の運転者に、自車両の周囲の物体に関する情報をより有効に与えることができる。   According to the vehicle periphery monitoring device of the present invention, it is possible to more effectively give information related to objects around the host vehicle to the driver of the host vehicle when traveling at a low speed.

以下、本発明の実施の形態に係る車両用周辺監視装置について添付図面を参照して説明する。図１は、実施形態に係る車両用周辺監視装置の構成を示すブロック図である。本実施形態の車両用周辺監視装置は、特に駐車時等において自車両の周囲の障害物の存在を、運転者に対して報知することにより、運転者の運転を支援するためのものである。図１に示すように本実施形態の車両用周辺監視装置１０は、ドライバ顔撮影部１２、画像処理部１４、注視方向判定部１６、車速検出部１７、検知領域変更部１８、ドライバ報知部２０、信号処理部２２、及び距離測定部２４ａ，２４ｂ，２４ｃ，２４ｄを備えている。   Hereinafter, a vehicle periphery monitoring device according to an embodiment of the present invention will be described with reference to the accompanying drawings. FIG. 1 is a block diagram illustrating a configuration of a vehicle periphery monitoring device according to an embodiment. The vehicle periphery monitoring device according to the present embodiment is intended to assist the driver in driving by notifying the driver of the presence of obstacles around the host vehicle, particularly during parking. As shown in FIG. 1, the vehicle periphery monitoring device 10 according to the present embodiment includes a driver face photographing unit 12, an image processing unit 14, a gaze direction determination unit 16, a vehicle speed detection unit 17, a detection region change unit 18, and a driver notification unit 20. , A signal processing unit 22, and distance measurement units 24a, 24b, 24c, and 24d.

ドライバ顔撮影部１２は、自車両の運転者の視線を検出するためのものである。ドライバ顔撮影部１２は、例えば、赤外線を運転者の頭部に照射して、運転者の頭部から反射された赤外線を受光することにより、運転者の運転操作を妨げずに運転者の頭部の状態を撮像し、運転者の視線を検出するための撮像画像を取得する。   The driver face photographing unit 12 is for detecting the line of sight of the driver of the host vehicle. For example, the driver face photographing unit 12 irradiates the driver's head with infrared rays and receives the infrared rays reflected from the driver's head, thereby preventing the driver's driving operation from being disturbed. The state of a part is imaged and the captured image for detecting a driver | operator's eyes | visual_axis is acquired.

画像処理部１４は、ドライバ顔撮影部１２によって撮像された運転者の頭部の撮像画像に対してパターン処理等の画像処理を施すことにより、後段の注視方向判定部１６が運転者の視線方向を検出するための画像データを生成するためのものである。   The image processing unit 14 performs image processing such as pattern processing on the captured image of the driver's head imaged by the driver face photographing unit 12, so that the gaze direction determination unit 16 in the subsequent stage causes the driver's gaze direction This is for generating image data for detecting.

注視方向判定部１６は、画像処理部１４によってパターン処理等がなされた運転者の頭部の撮像画像の画像データに基づいて、運転者の視線方向を検出するためのものである。以上のドライバ顔撮影部１２、画像処理部１４及び注視方向判定部１６は、特許請求の範囲に記載の運転者視線検出手段として機能する。   The gaze direction determination unit 16 is for detecting the driver's line-of-sight direction based on image data of a captured image of the driver's head that has been subjected to pattern processing and the like by the image processing unit 14. The driver face photographing unit 12, the image processing unit 14, and the gaze direction determination unit 16 described above function as driver gaze detection means described in the claims.

車速検出部１７は、自車両の車速を検出するための車速センサである。車速検出部１７は、特許請求の範囲に記載の車速検出手段として機能する。   The vehicle speed detector 17 is a vehicle speed sensor for detecting the vehicle speed of the host vehicle. The vehicle speed detection unit 17 functions as vehicle speed detection means described in the claims.

検知領域変更部１８は、注視方向判定部１６により判定された運転者の視線方向についての情報と、車速検出部１７により検出された自車両の車速とに基づいて、距離測定部２４ａ，２４ｂ，２４ｃ，２４ｄの検知領域を変更するためのものである。検知領域変更部１８は、特許請求の範囲に記載の制御手段として機能する。   The detection area changing unit 18 is based on the information about the driver's line-of-sight direction determined by the gaze direction determining unit 16 and the vehicle speed of the host vehicle detected by the vehicle speed detecting unit 17. This is for changing the detection areas 24c and 24d. The detection area changing unit 18 functions as a control unit described in the claims.

距離測定部２４ａ，２４ｂ，２４ｃ，２４ｄは、自車両の周辺を監視するためのものである。距離測定部２４ａは自車両の前方右側を監視範囲とし、距離測定部２４ｂは自車両の前方左側を監視範囲とし、距離測定部２４ｃは自車両の後方右側を監視範囲とし、距離測定部２４ｄは自車両の後方左側を監視範囲とする。距離測定部２４ａ，２４ｂ，２４ｃ，２４ｄは、具体的には超音波により、自車両の周辺の物体の存在と当該物体までの距離とを検出するクリアランスソナー（略称：クリソナ）である。距離測定部２４ａ，２４ｂ，２４ｃ，２４ｄは、監視距離が遠くなるに従い監視角度が狭まり、監視距離が近くなるに従い監視角度が拡がるようになっており、当該監視角度は検知領域変更部１８からの指令信号により変更される。距離測定部２４ａ，２４ｂ，２４ｃ，２４ｄは、特許請求の範囲に記載の周辺監視手段として機能する。   The distance measuring units 24a, 24b, 24c, and 24d are for monitoring the surroundings of the host vehicle. The distance measurement unit 24a uses the front right side of the host vehicle as the monitoring range, the distance measurement unit 24b sets the front left side of the host vehicle as the monitoring range, the distance measurement unit 24c uses the rear right side of the host vehicle as the monitoring range, and the distance measurement unit 24d The rear left side of the vehicle is the monitoring range. Specifically, the distance measuring units 24a, 24b, 24c, and 24d are clearance sonars (abbreviated as “crisona”) that detect the presence of an object around the host vehicle and the distance to the object using ultrasonic waves. The distance measuring units 24a, 24b, 24c, and 24d are configured such that the monitoring angle decreases as the monitoring distance increases, and the monitoring angle increases as the monitoring distance decreases. It is changed by the command signal. The distance measuring units 24a, 24b, 24c, and 24d function as surrounding monitoring means described in the claims.

信号処理部２２は、距離測定部２４ａ，２４ｂ，２４ｃ，２４ｄによる検出信号を信号処理し、ドライバ報知部２０を動作させるための信号を生成するためのものである。   The signal processing unit 22 performs signal processing on detection signals from the distance measurement units 24a, 24b, 24c, and 24d, and generates a signal for operating the driver notification unit 20.

ドライバ報知部２０は、運転者に対し、車両周辺に存在する物体に対して警報、音声、映像等により、当該物体の存在、当該物体の位置する方向、及び当該物体までの距離を知らしめるためのものである。ドライバ報知部２０は、具体的には、警報ブザー、音声スピーカ、ナビゲーションシステム等の液晶ディスプレイ等により構成される。   The driver notifying unit 20 informs the driver of the presence of the object, the direction in which the object is located, and the distance to the object by warning, sound, video, or the like with respect to the object existing around the vehicle. belongs to. Specifically, the driver notification unit 20 includes an alarm buzzer, an audio speaker, a liquid crystal display such as a navigation system, and the like.

以下、本実施形態の車両用周辺監視装置の動作について説明する。図２は、実施形態に係る車両用周辺監視装置の動作を示すフロー図である。図２に示すように、ドライバ顔撮影部１２が、自車両の運転者の頭部を撮影する（Ｓ１１）。画像処理部１４は、運転者の撮像画像をパターン処理等の画像処理を施す（Ｓ１２）。注視方向判定部１６は、画像処理部１４によってパターン処理等がなされた運転者の頭部の撮像画像の画像データに基づいて、運転者の視線方向を検出する（Ｓ１３）。   Hereinafter, the operation of the vehicle periphery monitoring device of the present embodiment will be described. FIG. 2 is a flowchart showing the operation of the vehicle periphery monitoring device according to the embodiment. As shown in FIG. 2, the driver face photographing unit 12 photographs the head of the driver of the own vehicle (S11). The image processing unit 14 performs image processing such as pattern processing on the captured image of the driver (S12). The gaze direction determination unit 16 detects the driver's line-of-sight direction based on the image data of the captured image of the driver's head that has been subjected to pattern processing and the like by the image processing unit 14 (S13).

一方、車速検出部１７は、自車両の車速を検出する（Ｓ１４）。検知領域変更部１８は、自車両の車速が駐車時における、例えば、５ｋｍ／ｈ以下である場合には（Ｓ１５）、距離測定部２４ａ，２４ｂ，２４ｃ，２４ｄの検知領域を変更して設定する（Ｓ１６）。   On the other hand, the vehicle speed detector 17 detects the vehicle speed of the host vehicle (S14). The detection area changing unit 18 changes and sets the detection areas of the distance measurement units 24a, 24b, 24c, and 24d when the vehicle speed of the host vehicle is, for example, 5 km / h or less during parking (S15). (S16).

例えば、図３に示すように、自車両が低速で前進しており、運転者Ｄが前方左側を注視しているときは、距離測定部２４ｂの監視範囲Ａ２４ｂは、監視角度を広く、監視距離を短くする。一方、運転者Ｄが注視していない方向である距離測定部２４ｃの監視範囲Ａ２４ｃは、監視角度を狭く、監視距離を長くする。 For example, as shown in FIG. 3, when the host vehicle is moving forward at a low speed and the driver D is gazing at the front left side, the monitoring range A 24b of the distance measuring unit 24b has a wide monitoring angle and is monitored. Reduce the distance. On the other hand, the monitoring range A 24c of the distance measuring unit 24c, which is the direction in which the driver D is not gazing, narrows the monitoring angle and lengthens the monitoring distance.

一方、図４に示すように、自車両が低速で後退しており、運転者Ｄが後方左側を注視しているときは、距離測定部２４ｄの監視範囲Ａ２４ｄは、監視角度を広く、監視距離を短くする。一方、運転者Ｄが注視していない方向である距離測定部２４ａの監視範囲Ａ２４ａは、監視角度を狭く、監視距離を長くする。 On the other hand, as shown in FIG. 4, when the host vehicle is moving backward at a low speed and the driver D is gazing at the rear left side, the monitoring range A 24d of the distance measuring unit 24d has a wide monitoring angle and is monitored. Reduce the distance. On the other hand, the monitoring range A 24a of the distance measuring unit 24a, which is the direction in which the driver D is not gazing, narrows the monitoring angle and increases the monitoring distance.

本実施形態によれば、監視距離が遠くなるに従い監視角度が狭くなる距離測定部２４ａ，２４ｂ，２４ｃ，２４ｄを備えた車両用周辺監視装置１０において、検知領域変更部１８は、車速検出部１７が検出した自車両の車速が閾値以下であるときに、注視方向判定部１６が検出した運転者Ｄの視線方向については、距離測定部２４ａ，２４ｂ，２４ｃ，２４ｄの監視角度を自車両の車速が閾値を超えるときに比べて広くするため、駐車時等の低速走行時において、運転者Ｄが凝視しているバンパーの角やホイール周辺については、より広い監視角度が得られることになり、運転者Ｄはバンパーやホイールが全体として壁等と接触するか否かが判るため、低速走行時に自車両の運転者Ｄに自車両の周囲の物体に関する情報をより有効に与えることができる。   According to the present embodiment, in the vehicle periphery monitoring device 10 including the distance measuring units 24a, 24b, 24c, and 24d in which the monitoring angle is narrowed as the monitoring distance is increased, the detection area changing unit 18 is the vehicle speed detecting unit 17. When the vehicle speed detected by the vehicle is equal to or less than the threshold value, the monitoring angles of the distance measuring units 24a, 24b, 24c, and 24d are set to the vehicle speeds of the host vehicle with respect to the line-of-sight direction of the driver D detected by the gaze direction determination unit 16. Therefore, when driving at low speeds such as when parking, a wider monitoring angle can be obtained for the corners of the bumper and the wheel surroundings where the driver D is staring. Since the person D knows whether or not the bumper and the wheel are in contact with the wall as a whole, it can more effectively give the driver D of the own vehicle information about the objects around the own vehicle when traveling at low speed. Can.

一方、後退時は特に、運転者Ｄが凝視していない方向である前方から車両や人が接近してくるかどうかを、運転者Ｄはすぐに確認することはできないので、多くの運転者Ｄは、前方の検知距離は現状のクリアランスソナーのように近めの検知距離ではなく、やや遠距離の検知距離が必要であると考える。本実施形態によれば、検知領域変更部１８は、車速検出部１７が検出した自車両の車速が閾値以下であるときに、注視方向判定部１６が検出した運転者Ｄの視線方向以外については、周辺監視手段の監視角度を運転者Ｄの視線方向に比べて狭くするため、駐車時等の低速走行時に、運転者Ｄは凝視していない方向から車両や人が接近してくるかどうかを、早期に確認することが可能となる。   On the other hand, especially when reversing, since the driver D cannot immediately check whether the vehicle or the person approaches from the front, which is the direction in which the driver D is not staring, many drivers D Thinks that the detection distance in the front is not a close detection distance like the current clearance sonar, but a detection distance that is a little far away is necessary. According to this embodiment, when the vehicle speed of the host vehicle detected by the vehicle speed detection unit 17 is equal to or less than the threshold value, the detection area changing unit 18 is other than the line-of-sight direction of the driver D detected by the gaze direction determination unit 16. In order to make the monitoring angle of the surrounding monitoring means narrower than the line of sight of the driver D, when the vehicle is traveling at a low speed such as when parked, it is determined whether the driver D approaches from a direction not staring. It becomes possible to confirm early.

以上、本発明の実施の形態について説明したが、本発明は、上記実施形態に限定されるものではなく種々の変形が可能である。   Although the embodiment of the present invention has been described above, the present invention is not limited to the above embodiment, and various modifications can be made.

実施形態に係る車両用周辺監視装置の構成を示すブロック図である。It is a block diagram which shows the structure of the vehicle periphery monitoring apparatus which concerns on embodiment. 実施形態に係る車両用周辺監視装置の動作を示すフロー図である。It is a flowchart which shows operation | movement of the vehicle periphery monitoring apparatus which concerns on embodiment. 実施形態に係る車両用周辺監視装置の前進時の検知領域を示す平面図である。It is a top view which shows the detection area at the time of advance of the vehicle periphery monitoring apparatus which concerns on embodiment. 実施形態に係る車両用周辺監視装置の後退時の検知領域を示す平面図である。It is a top view which shows the detection area at the time of reverse of the vehicle periphery monitoring apparatus which concerns on embodiment.

符号の説明Explanation of symbols

１０…車両用周辺監視装置、１２…ドライバ顔撮影部、１４…画像処理部、１６…注視方向判定部、１７…車速検出部、１８…検知領域変更部、２０…ドライバ報知部、２２…信号処理部、２４ａ，２４ｂ，２４ｃ，２４ｄ…距離測定部。 DESCRIPTION OF SYMBOLS 10 ... Vehicle periphery monitoring apparatus, 12 ... Driver face imaging | photography part, 14 ... Image processing part, 16 ... Gaze direction determination part, 17 ... Vehicle speed detection part, 18 ... Detection area change part, 20 ... Driver alerting | reporting part, 22 ... Signal Processing part, 24a, 24b, 24c, 24d ... Distance measuring part.

Claims (1)

監視距離が遠くなるに従い監視角度が狭くなる、自車両の周辺を監視するための周辺監
視手段と、
前記自車両の車速を検出する車速検出手段と、
前記自車両の運転者の視線方向を検出する運転者視線検出手段と、
前記周辺監視手段の監視角度を制御する制御手段と、
を備え、
前記制御手段は、前記車速検出手段が検出した前記自車両の車速が閾値以下であるときに、前記運転者視線検出手段が検出した前記運転者の視線方向については、前記周辺監視手段の監視角度を前記自車両の車速が閾値を超えるときに比べて広くし、前記運転者視線検出手段が検出した前記運転者の視線方向以外については、前記周辺監視手段の監視角度を前記運転者の視線方向に比べて狭くする、車両用周辺監視装置。 Peripheral monitoring means for monitoring the periphery of the own vehicle, the monitoring angle becomes narrower as the monitoring distance becomes longer,
Vehicle speed detection means for detecting the vehicle speed of the host vehicle;
Driver gaze detection means for detecting the gaze direction of the driver of the host vehicle;
Control means for controlling the monitoring angle of the periphery monitoring means;
With
When the vehicle speed of the host vehicle detected by the vehicle speed detection means is less than or equal to a threshold value, the control means is configured to monitor the driver's line-of-sight direction detected by the driver's line-of-sight detection angle. The vehicle monitoring speed of the surroundings monitoring means is set to a direction of the driver's line of sight except for the direction of the driver's line of sight detected by the driver's line of sight detection means. Perimeter monitoring device for vehicles , which is narrower than
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