VEHICLE-IN-BLIND-SPOT DETECTING APPARATUS AND METHOD THEREOF

• US 20100214086A1
• Filed: 05/05/2010
• Published: 08/26/2010
• Est. Priority Date: 09/26/2008
• Status: Active Grant

• Current Assignee: Panasonic Corporation (Panasonic Holdings Corporation)
• Original Assignee: Panasonic Corporation (Panasonic Holdings Corporation)
• Inventors: YOSHIZAWA, Shinichi, Nakatoh, Yoshihisa
• Granted Patent: US 8,525,654 B2
• Time in Patent Office: Days
• US Class Current: 340/435
• CPC Class Codes: G01S 3/801 Details G01S3/82, G01S3/84, G01S3/86 take precedence
• CPC Class Codes: G01S 3/802 Systems for determining direction or deviation from predetermined direction
• CPC Class Codes: G08G 1/16 Anti-collision systems road vehicle drive control systems for predicting or avoiding probable or impending collision otherwise than by control of a particular sub-unit B60W30/08
• CPC Class Codes: G08G 1/166 for active traffic, e.g. moving vehicles, pedestrians, bikes
• CPC Class Codes: G08G 1/167 Driving aids for lane monitoring, lane changing, e.g. blind spot detection

Abstract

Provided is a vehicle-in-blind-spot detecting apparatus which can detect a vehicle positioned in a blind spot by simply mounting the apparatus on an operator'"'"'s vehicle. The vehicle-in-blind-spot includes: a presenting unit which presents information; at least one microphone which detects a sound a vehicle sound extracting unit which extracts a vehicle sound from the sound detected by the microphone; a sound source direction detecting unit which detects a sound source direction of the vehicle sound extracted by the vehicle sound extracting unit; and a vehicle-in-blind-spot determining unit which causes the presenting unit to present the information indicating that a vehicle is found in a blind spot in the case where the sound source direction of the vehicle sound detected by the sound source direction detecting unit is a first direction representing above the vehicle-in-blind-spot detecting apparatus with respect to a ground.

Claims

1. A vehicle-in-blind-spot detecting apparatus which detects a vehicle positioned in a blind spot, said apparatus comprising:

a presenting unit configured to present information;

at least one microphone which detects a sound;

a vehicle sound extracting unit configured to extract a vehicle sound from the sound detected by said microphone;

a sound source direction detecting unit configured to detect a sound source direction of the vehicle sound extracted by said vehicle sound extracting unit; and

a vehicle-in-blind-spot determining unit configured to cause said presenting unit to present the information indicating that a vehicle is found in a blind spot in the case where the sound source direction of the vehicle sound detected by said sound source direction detecting unit is a first direction representing above said vehicle-in-blind-spot detecting apparatus with respect to a ground.

2. The vehicle-in-blind-spot detecting apparatus according to claim 1,

wherein said microphone includes a first microphone and a second microphone which are mounted with a certain distance apart on a vehicle in a vertical direction, the vehicle being equipped with said vehicle-in-blind-spot detecting apparatus,

said vehicle sound extracting unit is configured to extract each of vehicle sounds from sounds detected by respective said first microphone and said second microphone,

said sound source direction detecting unit is configured to detect one of a ratio of sound pressure levels and a phase difference between the vehicle sounds which are (i) detected by said first microphone and said second microphone, and (ii) extracted by said vehicle sound extracting unit, and

said vehicle-in-blind-spot determining unit is configured to (i) determine whether or not one of the ratio of the sound pressure levels and the phase difference is greater than a predetermined threshold value, and in the case where one of the ratio of the sound pressure levels and the phase difference is greater than the predetermined threshold value, (ii) determine that the sound source direction is at the first direction, and (iii) cause said presenting unit to present the information, the ratio of the sound pressure levels and the phase difference representing a ratio of the sound pressure levels and a phase difference of (i) the vehicle sound detected by said first microphone mounted above in the vertical direction to (ii) the vehicle sound detected by said second microphone mounted below in the vertical direction.

3. The vehicle-in-blind-spot detecting apparatus according to claim 1,

wherein said vehicle-in-blind-spot determining unit is further configured to (i) determine whether or not the sound source direction of the vehicle sound has changed from the first direction to a second direction which is horizontal to the ground, and, in the case of determining that the sound source direction has changed from the first direction to the second direction, (ii) cause said presenting unit to present information for raising caution to an operator of the vehicle equipped with said vehicle-in-blind-spot detecting apparatus, the sound source direction being detected by said sound source direction detecting unit.

4. The vehicle-in-blind-spot detecting apparatus according to claim 3,

wherein said microphone includes a first microphone and a second microphone which are mounted with a certain distance apart on a vehicle in a vertical direction, the vehicle being equipped with said vehicle-in-blind-spot detecting apparatus,

said vehicle sound extracting unit is configured to extract each of vehicle sounds from sounds detected by respective said first microphone and said second microphone,

said sound source direction detecting unit is configured to detect one of a ratio of sound pressure levels and a phase difference which is observed between the vehicle sounds which are (i) detected by said first microphone and said second microphone, and (ii) extracted by said vehicle sound extracting unit, and

said vehicle-in-blind-spot determining unit is configured to (i) determine whether or not one of the ratio of the sound pressure levels and the phase difference has changed from a value larger than a predetermined threshold value to a value smaller than the predetermined threshold value, and, in the case where one of the ratio of the sound pressure levels and the phase difference has changed from the value larger than the predetermined threshold value to the value smaller than the predetermined threshold value, (ii) determine that the sound source direction has changed from the first direction to the second direction, and (iii) cause said presenting unit to present the information, the ratio of the sound pressure levels and the phase difference representing a ratio of the sound pressure levels and a phase difference of (i) the vehicle sound detected by said first microphone mounted above in the vertical direction to (ii) the vehicle sound detected by said second microphone mounted below in the vertical direction.

5. The vehicle-in-blind-spot detecting apparatus according to claim 3,

wherein said vehicle-in-blind-spot determining unit is further configured to (i) determine whether or not an intersection located toward the sound source direction has one of a blinking traffic light and a stop sign when the sound source direction has changed from the first direction to the second direction, and, in the case where the intersection located toward the sound source direction has one of the blinking traffic light and the stop sign, (ii) cause said presenting unit to present information on raising caution to the operator of the vehicle equipped with said vehicle-in-blind-spot detecting apparatus.

6. The vehicle-in-blind-spot detecting apparatus according to claim 1,

wherein said vehicle-in-blind-spot determining unit is further configured to (i) determine whether or not the sound source direction is a direction indicating ahead of a vehicle equipped with said vehicle-in-blind-spot detecting apparatus, and, in the case where the sound source direction is the first direction and the direction indicating ahead of the vehicle, (ii) cause said presenting unit to present the information indicating that a vehicle is found in a blind spot.

7. The vehicle-in-blind-spot detecting apparatus according to claim 6,

wherein said microphone includes a first microphone, a second microphone, and a third microphone, said first microphone and said second microphone being mounted with a certain distance apart on the vehicle equipped with said vehicle-in-blind-spot detecting apparatus in a vertical direction, and said third microphone being mounted on the vehicle behind said first microphone and said second microphone,

said vehicle sound extracting unit is configured to extract each of vehicle sounds from sounds detected by respective said first microphone, said second microphone, and said third microphone,

said sound source direction detecting unit is configured to detect (i) one of a ratio of sound pressure levels and a phase difference which is observed between the vehicle sounds which are detected by said first microphone and said second microphone, and extracted by said vehicle sound extracting unit, and (ii) one of an other ratio of sound pressure levels and an other phase difference which is observed between the vehicle sounds which are detected by (i) either said first microphone or said second microphone, and (ii) said third microphone, and

said vehicle-in-blind-spot determining unit is configured to (i) determine whether or not one of the ratio of the sound pressure levels and the phase difference is greater than a predetermined threshold value, the ratio of the sound pressure levels and the phase difference representing a ratio of the sound pressure levels and a phase difference of (a) the vehicle sound detected by said first microphone mounted above in the vertical direction to (b) the vehicle sound detected by said second microphone mounted below in the vertical direction, (ii) determine whether or not one of the other ratio of the sound pressure levels and the other phase difference is greater than a predetermined threshold value, the other ratio of the sound pressure levels and the other phase difference representing a ratio of the sound pressure levels and a phase difference of the vehicle sounds between (a) either said first microphone or said second microphone, and (b) said third microphone, and, when both of the determinations show affirmatives, (iii) determine that the sound source direction is the first direction and is the direction indicating ahead of the vehicle.

8. The vehicle-in-blind-spot detecting apparatus according to claim 1,

wherein said vehicle-in-blind-spot determining unit is further configured to (i) determine whether or not the sound source direction, found ahead of a vehicle equipped with said vehicle-in-blind-spot detecting apparatus, has changed either from left to front or from right to front on the vehicle, and, in the case of determining that the sound source direction is the first direction and has changed has changed either from the left to the front or from the right to the front, (ii) cause said presenting unit to present the information indicating that a vehicle is found in a blind spot.

9. The vehicle-in-blind-spot detecting apparatus according to claim 8,

wherein said microphone includes pairs of microphones, each pair (i) being mounted to left and right of the vehicle equipped with said vehicle-in-blind-spot detecting apparatus, and (ii) having two microphones mounted with a certain distance apart in a vertical direction,

said vehicle sound extracting unit is configured to extract each of vehicle sounds from sounds detected by two pairs of said microphones included in said pairs of microphones, each pair being mounted to the left and the right of the vehicle equipped with said vehicle-in-blind-spot detecting apparatus,

said sound source direction detecting unit is configured to detect one of a ratio of sound pressure levels and a phase difference which is observed between the vehicle sounds detected by said two microphones included in at least one of said two pairs of microphones, and

said vehicle-in-blind-spot determining unit is configured to (i) determine whether or not one of the ratio of the sound pressure levels and the phase difference is greater than a predetermined threshold value, the ratio of the sound pressure levels and the phase difference representing a ratio of the sound pressure levels and a phase difference of (a) the vehicle sound detected by one of said two microphones, in said pair, which is mounted above in the vertical direction to (b) the vehicle sound detected by an other one of said two microphones, in said pair, which is mounted below in the vertical direction, (ii) determine whether or not one of the ratio of the sound pressure levels and the phase difference, observed at one of said microphones included in said pair to the left and at one of said microphones included in said pair to the right, is approaching 1 or 0 degree with time, and, when the one of the ratio of the sound pressure levels and the phase difference obtained by either said above microphone or said below microphone is greater than a predetermined threshold value, and one of the ratio of the sound pressure levels and the phase difference obtained by said microphone on the left and said microphone on the right is approaching 1 or 0 degree with time, (iii) determine that the sound source direction is the first direction and the direction indicating ahead of the vehicle.

10. The vehicle-in-blind-spot detecting apparatus according to claim 1,

wherein said vehicle-in-blind-spot determining unit is further configured to (i) determine a predetermined number of vehicles or more have not crossed in front of the vehicle equipped with the apparatus within a predetermined time period before presenting the information, and, when the sound source direction is the first direction and said vehicle-in-blind-spot determining unit has determined that the predetermined number of vehicles or more have not crossed in front of the vehicle equipped with the apparatus within a predetermined time period, (ii) cause said presenting unit to present the information indicating that a vehicle is found in a blind spot.

11. The vehicle-in-blind-spot detecting apparatus according to claim 10,

wherein said microphone includes pairs of microphones, each pair (i) being mounted to left and right of the vehicle equipped with said vehicle-in-blind-spot detecting apparatus, and (ii) having two microphones mounted with a certain distance apart in a vertical direction,

said vehicle sound extracting unit is configured to extract each of vehicle sounds from sounds detected by two pairs of microphones, included in said pairs of microphones, mounted to each of the left and the right of the vehicle,

said sound source direction detecting unit is configured to detect one of a ratio of sound pressure levels and a phase difference which is observed between the vehicle sounds which are detected by at least one of said two pairs of said microphones, and

said vehicle-in-blind-spot determining unit is configured to (i) determine whether or not one of the ratio of the sound pressure levels and the phase difference is greater than a predetermined threshold value, the ratio of the sound pressure levels and the phase difference representing a ratio of the sound pressure levels and a phase difference of (a) the vehicle sound detected by one of said two microphones, in said pair, which is mounted above in the vertical direction to (b) the vehicle sound detected by an other one of said two microphones, in said pair, which is mounted below in the vertical direction, (ii) determine, within a predetermined time period before presenting the information, whether or not one of (a) a magnitude relation of the sound pressure levels, and (b) the number of times at which a sign of the phase difference has inverted is smaller with time than a predetermined threshold value, the one of the ratio of the sound pressure levels and the phase difference being detected by one of said two microphones included in said pair to the left and by one of said two microphones included in said pair to the right, and, when the one of the ratio of the sound pressure levels and the phase difference detected by either said above microphone or said below microphone is greater than a predetermined threshold value, and the one of (a) the magnitude relation of the sound pressure levels and (b) the number of times at which a sign of the phase difference has inverted is smaller with time than the predetermined threshold value, the one of the ratio of the sound pressure levels and the phase difference being detected by said microphone to the left and said microphone to the right, (iii) determine that the sound source direction is the first direction, and the predetermined number of vehicles or more have not crossed in front of the vehicle equipped with the apparatus within the predetermined time period.

12. The vehicle-in-blind-spot detecting apparatus according to claim 1, further comprising

a vehicle direction specifying unit configured to cause said presenting unit to present information on a sound source direction horizontal to the ground as a direction at which a vehicle generating the vehicle sound is found, the sound source direction being included in the sound source direction detected by said sound source direction detecting unit.

13. The vehicle-in-blind-spot detecting apparatus according to claim 12,

wherein, in the case where said sound source direction detecting unit finds several sound source directions horizontal to the ground, said vehicle direction specifying unit is configured to calculate an average direction among the several sound source directions, and cause said presenting unit to present the calculated average direction as the direction at which the vehicle generating the vehicle sound has been found.

14. A method, of determining a vehicle positioned in a blind spot, executed by a vehicle-in-blind-spot detecting apparatus including a presenting unit which presents information and at least one microphone which detects a sound, said method comprising:

extracting a vehicle sound from the sound detected by the microphone;

detecting a sound source direction of the vehicle sound extracted in said extracting; and

causing the presenting unit to present the information indicating that a vehicle is found in a blind spot in the case where the sound source direction of the vehicle sound detected in said detecting is a first direction representing above the vehicle-in-blind-spot detecting apparatus with respect to a ground.

15. A program for a vehicle-in-blind-spot detecting apparatus which detects a vehicle positioned in a blind spot, and which causes a computer to execute said steps included in said method according to claim 14.