JP2012048591A - Vehicle surroundings notification device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To detect a pedestrian who passes through the vicinity of a rear part of a vehicle which becomes a dead angle of the vehicle to call attentions to the surroundings without providing a special sensor, etc.SOLUTION: A vehicle surroundings notification device 1 includes: image analysis means 3 for detecting whether or not the pedestrian exists in the vicinity of the rear part of the vehicle based on an image photographed by a camera 2; and control means 4 for executing notification when an object is detected. The image analysis means 3 detects contours of the object which exists at the rear part of the vehicle from the image to be photographed by the camera 2 to determine that the pedestrian exists in the vicinity of the rear part of the vehicle when the object with the largest contours exists at the center position in the vertical direction of the photographed image and occupies size of more than 50 percent of width in the vertical direction in the photographed image.

Description

  The present invention relates to a vehicle surroundings notification device. More specifically, the present invention relates to a vehicle surroundings notification device capable of detecting a pedestrian existing near the rear of the vehicle without using a special sensor such as an obstacle detection sensor.

  On roads without pedestrian crossings, there are many scenes where pedestrians cross the road after confirming left and right. When a pedestrian crosses the road, if there is no parked vehicle or the like on the shoulder of the road, the driver traveling on the road can easily recognize the pedestrian, so that the safety of the pedestrian can be improved.

  However, in today's traffic road conditions, many vehicles are often parked on the shoulders. For this reason, pedestrians who want to cross the road often cross the road by going from the sidewalk to the roadway between the vehicles parked on the shoulders of the vehicle. However, when a pedestrian crosses a road between vehicles, the pedestrian tends to be behind the front and rear vehicles, so the driver of the traveling vehicle is difficult to notice the pedestrian. There was a problem.

  For this reason, display panels are installed on the front, back, left and right sides of the vehicle, and cameras are installed on the front, back, left and right, and images captured by the camera are displayed on the display panel installed on the side opposite to the camera installation position. Has been proposed (see Patent Document 1). For example, a camera image taken in front of the vehicle is displayed on a display panel installed at the rear of the vehicle, and a camera image taken on the right side of the vehicle is displayed on a display panel installed on the left side of the vehicle.

  Thus, by photographing the situation on the back side of the vehicle with the camera and displaying it on the display panel on the front side, it is possible to make it easier for surrounding people to grasp the situation around the vehicle.

Japanese Patent Laid-Open No. 2002-87188

  However, it is not easy to install display panels on the front, rear, left, and right surfaces of a general vehicle and display images captured by the cameras on the respective display panels in view of installation costs. In addition, a wide display panel can be installed in a large vehicle such as a bus exemplified in Patent Document 1, but in a general passenger car, it is difficult to install the display panel in terms of space. It was.

  Also, it is desirable to issue a warning to the surroundings only when a pedestrian is behind the vehicle, such as when a person passes near the vehicle. However, in the above-described method, only surrounding information is always displayed on the display panel, and there is a problem that it is impossible to extract only pedestrians passing near the vehicle and issue a warning to the surroundings.

  Furthermore, a method for detecting whether or not a person is present in the vicinity of a vehicle by providing a sensor or the like for detecting a moving object in the vicinity of the vehicle is conceivable, but installing such a sensor in the vehicle is an installation cost. From the point of view, it was not easy.

  The present invention has been made in view of the above problems, and can detect a pedestrian passing through the vicinity of the rear of the vehicle, which is a blind spot of the vehicle, without providing a special sensor, and can call attention to the surroundings. It is an object to provide a vehicle surroundings notification device.

  In order to solve the above-described problem, a vehicle surroundings notification device according to the present invention is captured by a camera that captures the rear of the vehicle, a notification unit that performs notification for alerting the surroundings of the vehicle, and the camera. Image analysis means for performing image analysis of a captured image and determining whether or not a pedestrian is present in the vicinity of the rear of the vehicle, and when the pedestrian is detected by the image analysis means, the notification means notifies the notification The image analysis means detects the contour of the object existing behind the vehicle from the photographed image, and the object having the largest contour is located at the center position in the vertical direction of the photographed image. If it exists and occupies 50% or more of the vertical width of the photographed image, the object is regarded as the pedestrian and it is determined that the pedestrian exists in the vicinity of the rear of the vehicle. The features.

  According to the vehicle periphery notification device according to the present invention, the image analysis means detects the contour of the object existing behind the vehicle from the photographed image, and the object having the largest contour is located at the center position in the vertical direction of the photographed image. When it exists and occupies a size of 50% or more of the vertical width in the captured image, the object is regarded as a pedestrian and it is determined that the pedestrian is present in the vicinity of the rear of the vehicle.

  Today's vehicles are often provided with a rear-view back camera. In the back camera, the shooting range of the camera is set so as to face the rear of the vehicle so that the vehicle stop range behind the vehicle can be sufficiently captured. However, when an object such as a pedestrian exists in the vicinity of the rear of the vehicle, the pedestrian or the like often appears in the captured image so as to largely block the imaging range of the back camera.

  For this reason, when the object having the largest contour exists at the center position in the vertical direction of the photographed image and occupies 50% or more of the vertical width in the photographed image, the object is determined to be a pedestrian. By doing so, a pedestrian can be specified with high accuracy. Moreover, since a pedestrian is detected based on a picked-up image, it is possible to determine the presence of a pedestrian without installing a sensor or the like separately.

  Note that the vicinity of the rear of the vehicle means a range of positions that are separated from the rear of the vehicle by a degree that allows a pedestrian to pass between the host vehicle and the rear vehicle in a state where a plurality of vehicles are parked in parallel. . Specifically, a range of about 0.5 m to 1.5 m from the rear of the vehicle can be applicable.

  Further, in the above-described vehicle surrounding notification device, the image analysis means converts the position change of the object having the largest contour into the position change of the object and a change in the size thereof in a plurality of continuously shot images. The determination may be made based on this, and when the object moves in the horizontal direction, the object may be regarded as the pedestrian and determined that the pedestrian exists.

  When a pedestrian moves to the roadway between vehicles parked in parallel, the pedestrian moves in the vehicle width direction, that is, in the horizontal direction of the image photographed by the camera. . For this reason, when the contour of the object shown in the photographed image moves in the horizontal direction, the pedestrian takes into account the position change (movement direction) in addition to the photographing position and size of the contour of the object. By determining the presence of the pedestrian, the detection accuracy of the pedestrian can be further enhanced.

  Furthermore, in the above-described vehicle surrounding notification device, the image analysis means includes correction data set in advance according to a lens installed in the camera, and determines the size of the contour of the object and the shooting position in the captured image. After the correction using the correction data, detection of the shooting position of the object and the ratio of the vertical width of the shooting image in the shooting image may be performed.

  A wide-angle lens or the like is often used for a camera for photographing the rear of the vehicle. However, when a wide-angle lens or the like is used for the camera, the size and position of the pedestrian's contour in the captured image changes depending on the performance of the lens. Therefore, it is difficult to uniformly determine whether or not the object is a pedestrian from the size of the outline of the object in the captured image, the shooting position, and the like.

  For this reason, the image analysis means is provided with correction data set in advance according to the lens installed in the camera, and after correcting the outline size and shooting position of the object in the shot image using the correction data, shooting is performed. By detecting the shooting position of the object in the image and the ratio of the vertical width in the shot image, the contour of the object in the shot image can be detected based on the same reference without being influenced by the lens characteristics. It becomes possible. Therefore, pedestrians can be detected without being affected by the performance of the lens used in the camera.

  Further, in the above-described vehicle surroundings notification device, the image analysis unit includes correction data set in advance according to a lens installed in the camera, and the size of the contour of the object in the captured image and the shooting position are determined. On the other hand, by calculating the distance from the rear part of the vehicle to the pedestrian by applying the correction data, when it is determined that the pedestrian exists in the range of 0.5 m to 1.5 m from the rear part of the vehicle, It may be determined that a pedestrian is present near the rear of the vehicle.

  When a wide-angle lens or the like is used for the camera, the object to be photographed is smaller than the actual object and is captured in the photographed image. However, if the lens performance is known in advance, the lens correction data By using, it is possible to calculate how far the object is located from the rear of the vehicle, based on the size of the object shown in the captured image.

  For this reason, the distance from the rear part of the vehicle to the pedestrian can be calculated by applying the correction data to the size of the contour of the object and the shooting position occupied by the image analysis means in the shot image. In this way, the distance from the rear of the vehicle to the pedestrian is calculated, and the calculated distance to the pedestrian falls within the range of 0.5 m to 1.5 m from the rear of the vehicle, that is, the range near the rear of the vehicle. When it is determined, it is possible to determine that a pedestrian exists near the rear of the vehicle.

  Furthermore, in the vehicle surrounding notification device described above, the notification means may be a stop lamp.

  By using a stop lamp as the notification means, it is possible to notify the driver of another vehicle located behind the vehicle that a pedestrian is present. In addition, the stop lamp is often installed at a relatively high position in the center of the rear upper end of the vehicle in order to improve visibility. Therefore, by actively blinking the stop lamp, the stop lamp can blink at the height position of the pedestrian's line of sight, and a warning can be effectively given to the pedestrian.

  Further, in the vehicle surrounding notification device described above, the notification means may be a hazard lamp.

  By using hazard lamps as notification means, not only drivers of other vehicles positioned behind the vehicle, but also drivers of other vehicles positioned in front of the vehicle or driving of other vehicles traveling in adjacent lanes It is possible to call attention to the person. Therefore, even when the pedestrian passes through the rear of the vehicle and moves to the roadway side, it is possible to call attention to the driver of the other vehicle. It becomes easy to discover and it becomes possible to improve the safety of pedestrians.

  According to the vehicle periphery notification device according to the present invention, the image analysis means detects the contour of the object existing behind the vehicle from the photographed image, and the object having the largest contour is located at the center position in the vertical direction of the photographed image. When it exists and occupies a size of 50% or more of the vertical width in the captured image, the object is regarded as a pedestrian and it is determined that the pedestrian is present in the vicinity of the rear of the vehicle.

  Today's vehicles are often provided with a rear-view back camera. In the back camera, the shooting range of the camera is set so as to face the rear of the vehicle so that the vehicle stop range behind the vehicle can be sufficiently captured. However, when an object such as a pedestrian exists in the vicinity of the rear of the vehicle, the pedestrian or the like often appears in the captured image so as to largely block the imaging range of the back camera.

  For this reason, when the object having the largest contour exists at the center position in the vertical direction of the photographed image and occupies 50% or more of the vertical width in the photographed image, the object is determined to be a pedestrian. By doing so, a pedestrian can be specified with high accuracy. Moreover, since a pedestrian is detected based on a picked-up image, it is possible to determine the presence of a pedestrian without installing a sensor or the like separately.

It is the block diagram which showed schematic structure of the vehicle alarm device which concerns on this Embodiment. 1 is a rear perspective view of a vehicle in which a CCD camera according to the present embodiment is installed. (A) shows the positional relationship between a person and a vehicle when a person is present at a position relatively distant from the rear part of the vehicle in which the CCD camera is installed on the rear side license plate of the vehicle, and (b) It is the figure which showed the image image | photographed with the CCD camera in the state shown to (a). (A) is the figure which showed the positional relationship of a person and a vehicle in case a person exists in the vehicle rear vicinity in the vehicle by which the CCD camera was installed in the rear part number plate of the vehicle, (b), It is the figure which showed the image image | photographed with the CCD camera via the wide angle lens in the state shown to a), (c) is the image image | photographed with the CCD camera which does not use a wide angle lens in the state shown to (a). FIG. (A) is the figure which showed the positional relationship of a person and a vehicle in case a CCD camera is installed in the rear upper end of a vehicle with high vehicle height, and a person exists in the vehicle rear vicinity, (b) is ( It is the figure which showed the image image | photographed with the CCD camera through the wide angle lens in the state shown to a). (A) is the figure which showed the positional relationship of a person and a vehicle in case a CCD camera is installed in the rear upper end of a vehicle with high vehicle height, and a person exists in the vehicle rear vicinity, (b) is ( FIG. 6 is a diagram showing an image photographed by a CCD camera using a wide-angle lens having a wider angle than the wide-angle lens used for photographing in FIG. 5B in the state shown in a).

  Hereinafter, a vehicle alarm device which is an example of a vehicle surrounding notification device according to the present invention will be described in detail with reference to the drawings.

  FIG. 1 is a block diagram showing a schematic configuration of the vehicle alarm device according to the present embodiment. The vehicle alarm device 1 includes a CCD camera (camera) 2, an image analysis unit (image analysis unit) 3, a control unit (control unit) 4, a stop lamp (informing unit) 5, and a hazard lamp (informing unit) 6. And have.

  As shown in FIG. 2, the CCD camera 2 is installed at the rear of the vehicle 10 so as to face the rear. In the case shown in FIG. 2, the CCD camera 2 is provided in the vicinity of the installation position of the license plate 11. As the CCD camera 2, a general back camera for backward confirmation can be used. Therefore, when a back camera for rearward confirmation is already attached, the attached back camera can be used as the CCD camera 2 of the vehicle alarm device 1 according to the present embodiment. The CCD camera 2 is equipped with a wide-angle lens so that a wider range can be photographed, and it is possible to photograph not only the rear front direction of the vehicle but also a relatively wide range in the left-right and up-down directions. It has become.

  The image analysis unit 3 performs D / A conversion on the image captured by the CCD camera 2 and adjusts the brightness of the captured image. Then, the image analysis unit 3 detects an object photographed in the photographed image by extracting a contour in the photographed image subjected to the brightness adjustment. The image analysis unit 3 identifies an object having the largest contour from the objects extracted by the contour extraction, and detects the photographing position of the identified object and the size of the contour of the object in the photographed image. I do.

  FIG. 3A shows a human 13 in a case where the human 13 is standing at a position relatively away from the vehicle 10 (for example, a position about 5 m away from the rear of the vehicle as shown in FIG. 3A). 2 is a diagram showing a positional relationship between the vehicle and a vehicle 10. FIG. 3B shows an image obtained by photographing the state behind the vehicle with the CCD camera 2 when the human 13 is away from the vehicle 10 by the distance shown in FIG. As shown in FIG. 3A, when the human 13 stands at a position relatively away from the vehicle 10, the entire figure of the human 13 can be photographed. Further, since the human 13 is present at a position relatively distant from the rear part of the vehicle, it is possible to photograph the road surface condition on the near side of the standing position of the human 13.

  On the other hand, FIG. 4A shows that the human 13 and the vehicle 10 in the case where the human 13 is standing near the rear portion of the vehicle 10 (for example, a position about 0.5 m to 1.5 m away from the rear of the vehicle). FIG. FIG. 4B shows an image obtained by photographing the rear side of the vehicle with the CCD camera 2 when the human 13 is standing in the vicinity of the rear portion of the vehicle 10 as shown in FIG. .

  As shown in FIG. 4A, when the person 13 stands near the rear part of the vehicle 10, the person 13 is present so as to block the shootable range of the CCD camera 2. The body of the human 13 (specifically, a dark part that is shadowed by the human) is reflected in most of the area. More specifically, in FIG. 4B, the contour portion of the human 13 exists at the center position in the vertical direction of the captured image, and further occupies a size of 50% or more of the vertical width of the captured image. . Thus, in the vicinity of the rear portion of the vehicle, specifically, when the vehicle 13 is parked in parallel, the human 13 can pass between the vehicles (a position about 0.5 m to 1.5 m away from the rear portion of the vehicle). In the case where it exists, due to the presence of the person 13, the ratio of the photographed image of the person (human contour) increases. For this reason, when a human contour exists in the central portion of the captured image in the vertical direction, and when the human contour occupies 50% or more of the vertical width of the captured image, a human (pedestrian) has a high probability. ) Exists in the vicinity of the rear of the vehicle.

  The CCD camera 2 according to the present embodiment is provided with the wide angle lens as described above. When the situation behind the vehicle is photographed through a special lens such as a wide-angle lens, the percentage of human contours in the photographed image compared to an image photographed with a normal lens without using a wide-angle lens or the like Will change. For example, the photographed image shown in FIG. 4B is an image photographed through a wide angle lens. For this reason, when photographing without using a wide-angle lens, the angle of view of the CCD camera 2 is narrower than when using a wide-angle lens, so that as shown in FIG. The proportion of the contour increases.

  In such a case, a correction value corresponding to the lens characteristics used in the CCD camera 2 is given in advance to the image analysis unit 3, and after the captured image is corrected in the image analysis unit 3, the shooting position of the contour of the human 13 By determining the size of the contour and the contour, it is possible to obtain a photographed image that conforms to the same reference regardless of lens characteristics, regardless of what lens is used in the CCD camera 2. This makes it possible to determine the contour of the human 13 in a common state.

  As described above, the image analysis unit 3 detects the object having the largest contour by performing luminance analysis and contour analysis on the image photographed by the CCD camera 2, and the contour of the detected target is A human (pedestrian) exists in the vicinity of the rear of the vehicle by detecting whether or not it is located at the center position in the vertical direction of the captured image and occupies more than 50% of the vertical width of the captured image. It can be determined whether or not.

  Further, the image analysis unit 3 determines the detected position change of the contour based on the position change and the size change of the contour in a plurality of continuously captured images, and whether the contour has been moved in the horizontal direction. It is also possible to determine whether or not the object that forms an outline is a pedestrian depending on whether or not. When the vehicle is parked in parallel and the pedestrian proceeds between the vehicles and travels to the vehicle, the pedestrian moves in the vicinity of the rear of the vehicle in the vehicle width direction. For this reason, when the detected contour object moves in the horizontal direction, it can be determined that the object is a pedestrian.

  In this way, when the position change of the contour of the object is determined over time from the plurality of captured images, and the contour of the object moves in the horizontal direction in the captured image, the pedestrian can By determining that the pedestrian is moving in the direction, the presence of the pedestrian can be obtained with high detection accuracy.

  FIG. 5A is a side view showing a case where the CCD camera 2 is provided at the upper rear end of a vehicle having a high vehicle height, such as a minivan, and a pedestrian is present in the vicinity of the rear of the vehicle. is there. FIG. 5B shows an image obtained by photographing the state behind the vehicle with the CCD camera 2 in the positional relationship between the person 13 and the vehicle 10 shown in FIG. When the human 13 is photographed from above as shown in FIG. 5 (a), the contour is shown in a state photographed from the front direction as shown in FIG. 4 (b) and FIG. 4 (c). Instead, as shown in FIG. 5B, the outline of the person is photographed as if looking down from above.

  However, when the person 13 is photographed in the state shown in FIG. 5B, the person 13 is photographed based on the photographing position and angle of the person 13 and the ratio of the photographed person 13 to the photographed image. As in the case of b), it is possible for the image analysis unit 3 to determine that the human 13 is present near the rear of the vehicle.

  Further, even when shooting is performed with an image as shown in FIG. 5B, for example, the human 13 can determine the change in position of the captured human 13 from the captured image over time. The situation where the vicinity of the rear of the vehicle is moving in the vehicle width direction can be easily determined, and the presence of the person 13 can be determined with high detection accuracy.

  In this way, the image analysis unit 3 detects the object by detecting the contour of the captured image, and the ratio and the capturing position of the contour of the object in the captured image, By determining the temporal change state, it can be determined whether or not there is a pedestrian in the vicinity of the rear of the vehicle. When it is determined that there is a pedestrian in the vicinity of the rear of the vehicle, the image analysis unit 3 outputs pedestrian detection information to the control unit 4.

  When the control unit 4 receives the pedestrian detection information from the image analysis unit 3, the control unit 4 performs lighting / extinguishing / flashing control of the stop lamp 5, the hazard lamp 6, and the like, so that the driver, the passenger, the pedestrian of the vehicle Then, a process for causing a surrounding third party (for example, a driver of a vehicle parked in the rear or a driver traveling in the opposite lane) to recognize the presence of a pedestrian is performed.

  For example, by performing the process of blinking the stop lamp 5, it is possible to notify the driver of another vehicle located behind the vehicle that a pedestrian exists. In addition, the stop lamp is often installed at a relatively high position at the center of the upper end of the vehicle in order to improve visibility (the stop lamp installed at this position is generally a high-mount stop). Called a lamp). For this reason, by actively blinking the stop lamp, the stop lamp can blink at a height position of the pedestrian's line of sight, and a warning can be effectively given to the pedestrian.

  Moreover, by performing the process of blinking the hazard lamp 6, not only the driver of another vehicle located behind the vehicle, but also the driver of another vehicle located on the front side of the vehicle or an adjacent lane is traveled. It is possible to call attention to the driver of another vehicle. Therefore, even when the pedestrian passes through the rear of the vehicle and moves to the roadway side, it is possible to call attention to the driver of the other vehicle. It becomes easy to discover and it becomes possible to improve the safety of pedestrians.

  Furthermore, when a car navigation system or the like is installed in the passenger compartment, the control unit 4 displays on the screen of the car navigation system that there is a pedestrian in the vicinity of the rear of the vehicle, or performs voice synthesis from the car navigation system. It is possible to call attention not only to the driver of the vehicle but also to passengers in the passenger compartment by using the technology to call attention. In particular, when a car navigation system is installed, an image taken by the CCD camera 2 can be displayed on the liquid crystal screen of the car navigation system, so that more detailed information regarding pedestrians can be presented. It is possible to increase the attention of the driver.

  As described above, the vehicle surrounding alarm device according to the present invention has been described by taking the vehicle alarm device as an example, but the vehicle surrounding alarm device according to the present invention is not limited to the one disclosed in the above-described embodiment. It will be apparent to those skilled in the art that various changes and modifications can be made within the scope of the claims, and these are naturally within the technical scope of the present invention. Understood.

  For example, in the above-described vehicle warning device 1, a case has been described in which it is determined that a pedestrian is present in the vicinity of the rear of the vehicle when a pedestrian image is captured in most of the images photographed by the CCD camera 2. It is not always determined that a pedestrian exists only when the ratio of pedestrians is large.

  For example, as shown in FIG. 6A, when the CCD camera 2 is installed at a relatively upper position of the vehicle and the wide-angle lens can be photographed in a relatively wide range, the camera walks near the rear of the vehicle. Even if there is a person, as shown in FIG. 6B, a pedestrian may be photographed small.

  When the wide-angle lens is used in this way, even if the pedestrian in the captured image is small, the pedestrian is present at what position in the rear of the vehicle according to the wide angle ratio of the wide-angle lens. Can be easily determined. Specifically, by providing correction information based on the wide angle of the CCD camera 2 to the image analysis unit 3 in advance, the shooting position of the pedestrian's contour in the captured image and the size of the contour can be corrected. Is possible. By correcting the captured image in accordance with the characteristics of the lens in this way, the shooting position of the pedestrian's contour and The size can be obtained based on the same standard.

  Further, by giving a correction value based on the wide angle of the CCD camera 2 to the image analysis unit 3 in advance, the distance from the rear of the vehicle to the object is calculated based on the size and position of the object shown on the screen. It is also possible to do. Therefore, not only when the pedestrian is located in the vicinity of the rear part of the vehicle, but also when the pedestrian is not in the vicinity of the rear part of the vehicle but is present behind the vehicle, the stop lamp or the hazard lamp is confirmed or preliminary. It is also possible to adopt a configuration in which a warning is given by blinking.

  In the CCD camera 2 of the vehicle alarm device 1 shown in the embodiment, a wide-angle lens is provided, and an image used for determination of pedestrian detection is also described for an image taken through the wide-angle lens. This is because it is assumed that the CCD camera 2 used for pedestrian detection is a back camera for rearward confirmation, and the back camera generally uses a wide-angle lens. For this reason, the CCD camera 2 does not necessarily have to be provided with a wide-angle lens, and the vehicle alarm device 1 shown in the embodiment is also applied to a CCD camera that is photographed at a general angle of view that does not use a wide-angle lens. It is possible to achieve the same effect as.

  In particular, when there is a pedestrian near the rear of the vehicle, the proportion of the size of the pedestrian in the image taken without using the wide-angle lens is the size of the pedestrian in the image taken using the wide-angle lens. It becomes larger than the ratio. For this reason, a pedestrian existing in the vicinity of the rear of the vehicle can be detected more reliably in an image shot without using a wide-angle lens than in an image shot with a wide-angle lens.

  Further, when the CCD camera 2 is used as both a pedestrian detection camera and a back camera, when the CCD camera 2 is used as a back camera, a rear image of the vehicle is photographed through a wide-angle lens and used as a pedestrian detection camera. In such a case, a configuration may be adopted in which the captured angle is switched by capturing a vehicle rear image without using a wide-angle lens.

1 ... Vehicle warning device (vehicle surroundings notification device)
2 ... CCD camera (camera)
3. Image analysis unit (image analysis means)
4. Control unit (control means)
5 Stop lamp (notification means)
6 ... Hazard lamp (notification means)
10 ... Vehicle 11 ... License plate 13 ... Human (pedestrian)

Claims (6)

A camera that captures the back of the vehicle,
A notification means for performing a notification to call attention to the surroundings of the vehicle;
Image analysis means for performing image analysis of a captured image captured by the camera and determining whether a pedestrian is present near the rear of the vehicle;
Control means for executing the notification by the notification means when the pedestrian is detected by the image analysis means;
With
The image analysis means detects the contour of an object existing behind the vehicle from the photographed image, the object having the largest contour is present at the center position in the vertical direction of the photographed image, and in the photographed image The pedestrian is determined to be present in the vicinity of the rear of the vehicle when the object occupies a size of 50% or more of the width in the vertical direction, and the object is regarded as the pedestrian. Vehicle surrounding alarm device. The image analysis means determines a change in position of the object having the largest outline based on a change in position of the object and a change in its size in a plurality of continuously shot images. The vehicle surrounding notification device according to claim 1, wherein, when the vehicle moves in a direction, the object is regarded as the pedestrian and the pedestrian is present. The image analysis means includes correction data set in advance according to a lens installed in the camera, and corrects the size and shooting position of an object occupying the captured image using the correction data. The vehicle surrounding notification device according to claim 1, wherein detection of a shooting position of the object in the captured image and a ratio of a vertical width in the captured image is performed. The image analysis means includes correction data set in advance according to a lens installed in the camera, and applies the correction data to a contour size and a shooting position of an object in the captured image. The distance from the rear part of the vehicle to the pedestrian is calculated, and when it is determined that the pedestrian is in the range of 0.5 m to 1.5 m from the rear part of the vehicle, there is a pedestrian in the vicinity of the rear part of the vehicle. The vehicle surrounding alarm device according to any one of claims 1 to 3, wherein the vehicle surrounding alarm device is determined. The vehicle surroundings notification device according to any one of claims 1 to 4, wherein the notification unit is a stop lamp. The vehicle surrounding notification device according to any one of claims 1 to 5, wherein the notification unit is a hazard lamp.

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