Vehicle-in-blind-spot detecting apparatus and method thereof

• US 8,525,654 B2
• Filed: 05/05/2010
• Issued: 09/03/2013
• 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
• Primary Examiner(s): Wu, Daniel
• Assistant Examiner(s): Tang, Son M
• Application Number:
  US12/774,060
• Publication Number:
  US 20100214086A1
• Time in Patent Office: 1,217 Days
• Field of Search: 340901-903, 340/943, 340435-438, 701/300, 701/301, 381/86
• 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

A vehicle-in-blind-spot detecting apparatus detects a vehicle positioned in a blind spot by 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; and a sound source direction detecting unit which detects a sound source direction of the vehicle sound extracted by the vehicle sound extracting unit. A vehicle-in-blind-spot determining unit 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 mounted on a vehicle which detects another vehicle positioned in a blind spot, the vehicle-in-blind-spot detecting 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 of the other vehicle from the sound detected by the microphone;

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

a vehicle-in-blind-spot determining unit configured to cause the presenting unit to present the information, the information indicating that a the other vehicle is found in a blind spot based on the sound source direction of the vehicle sound detected by the sound source direction detecting unit, which is a first direction representing a direction above the vehicle with the vehicle-in-blind-spot detecting apparatus with respect to ground level,

wherein the first direction has an elevation angle with respect to the vehicle with the vehicle-in-blind-spot detecting apparatus that is greater than 0 degrees.

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

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

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

the 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 the first microphone and the second microphone, and (ii) extracted by the vehicle sound extracting unit, and

the 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 the 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 the first microphone mounted above in the vertical direction to (ii) the vehicle sound detected by the second microphone mounted below in the vertical direction.

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

wherein the 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 level, and, in the case of determining that the sound source direction has changed from the first direction to the second direction, (ii) cause the presenting unit to present information for raising caution to an operator of the vehicle equipped with the vehicle-in-blind-spot detecting apparatus, the sound source direction being detected by the sound source direction detecting unit.

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

wherein the 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 the vehicle-in-blind-spot detecting apparatus,

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

the 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 the first microphone and the second microphone, and (ii) extracted by the vehicle sound extracting unit, and

the 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 a value larger than the predetermined threshold value to a 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 the 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 the first microphone mounted above in the vertical direction to (ii) the vehicle sound detected by the second microphone mounted below in the vertical direction.

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

wherein the 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 the presenting unit to present information on raising caution to the operator of the vehicle equipped with the vehicle-in-blind-spot detecting apparatus.

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

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

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

the 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 the first microphone and the second microphone, and extracted by the 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 the first microphone or the second microphone, and (ii) the third microphone, and

the 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 the first microphone mounted above in the vertical direction to (b) the vehicle sound detected by the 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 the first microphone or the second microphone, and (b) the 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 the 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 the 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 the 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 the microphone includes pairs of microphones, each pair (i) being mounted to left and right of the vehicle equipped with the vehicle-in-blind-spot detecting apparatus, and (ii) having two microphones mounted with a certain distance apart in a vertical direction,

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

the 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 the two microphones included in at least one of the two pairs of microphones, and

the 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 the two microphones, in the pair, which is mounted above in the vertical direction to (b) the vehicle sound detected by an other one of the two microphones, in the 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 the microphones included in the pair to the left and at one of the microphones included in the pair to the right, is approaching 1 or 0 degrees with time, and

when the one of the ratio of the sound pressure levels and the phase difference obtained by either the above microphone or the 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 the microphone on the left and the microphone on the right is approaching 1 or 0 degrees 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 the 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 the 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 the 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 the microphone includes pairs of microphones, each pair (i) being mounted to left and right of the vehicle equipped with the vehicle-in-blind-spot detecting apparatus, and (ii) having two microphones mounted with a certain distance apart in a vertical direction,

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

the 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 the two pairs of the microphones, and

the 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 the two microphones, in the pair, which is mounted above in the vertical direction to (b) the vehicle sound detected by an other one of the two microphones, in the 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 the two microphones included in the pair to the left and by one of the two microphones included in the pair to the right, and

when the one of the ratio of the sound pressure levels and the phase difference detected by either the above microphone or the 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 the microphone to the left and the 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 the presenting unit to present information on a sound source direction horizontal to the ground level 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 the sound source direction detecting unit.

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

wherein, in the case where the sound source direction detecting unit finds several sound source directions horizontal to the ground level, the vehicle direction specifying unit is configured to calculate an average direction among the several sound source directions, and cause the 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 another vehicle is positioned in a blind spot, the method being executed by a vehicle-in-blind-spot detecting apparatus mounted on a vehicle, the vehicle-in-blind-spot detecting apparatus including a presenting unit which presents information and at least one microphone which detects a sound, the method comprising:

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

detecting a sound source direction of the vehicle sound extracted; and

causing the presenting unit to present the information, the information indicating that flail the other vehicle is found in a blind spot based on the sound source direction of the vehicle sound detected, which is a first direction representing a direction above the vehicle with the vehicle-in-blind-spot detecting apparatus with respect to ground level,

wherein the first direction has an elevation angle with respect to the vehicle with the vehicle-in-blind-spot detecting apparatus that is greater than 0 degrees.

15. A non-transitory computer-readable recording medium storing a program for a vehicle-in-blind-spot detecting apparatus which detects the other vehicle positioned in a blind spot, and which causes a computer to execute the steps included in the method according to claim 14.