Vehicle control device and vehicle control method

Abstract

This invention provides a vehicle control device and a vehicle control method. When multiple objects exist around the controlled vehicle, the device can appropriately notify the objects via a display. The vehicle control device (10) includes: a surrounding object recognition unit (21) that recognizes objects existing around the controlled vehicle; an object status recognition unit (22) that recognizes the status of a first object and a second object identified by the surrounding object recognition unit (21); and a display control unit (23) that performs external notification processing based on the status of the first object and the second object, in which a notification for the first object or the second object is displayed on a display.

Description

Technical Field

[0001] This invention relates to a vehicle control device and a vehicle control method. Background Technology

[0002] Previously, vehicle status display systems have been proposed that display the vehicle's status and intentions to pedestrians and other vehicles in the vicinity of the vehicle via a display screen that shows text facing outwards (for example, see Patent Document 1).

[0003] Patent Document 1: International Publication No. 2017 / 056995

[0004] Similar to the vehicle status display system described above, when displaying information about objects outside the vehicle, such as pedestrians, it is advisable to provide attention reminders for these objects. Furthermore, when multiple objects exist around the vehicle, it is preferable to appropriately remind attention to each object. Summary of the Invention

[0005] The present invention was made in view of the following background, and its object is to provide a vehicle control device and a vehicle control method that can appropriately notify the objects of the objects on the display when there are multiple objects around the controlled vehicle.

[0006] As a first method for achieving the above-mentioned objective, a vehicle control device is provided that controls the display mode of a display on a controlled vehicle that shows external information facing the controlled vehicle. The vehicle control device includes: a peripheral object recognition unit that identifies objects existing in the vicinity of the controlled vehicle; an object status recognition unit that, when a first object and a second object are identified by the peripheral object recognition unit, identifies the status of the first object and the second object, the status of the first object and the second object including the distance between the controlled vehicle and the first object, the distance between the controlled vehicle and the second object, the direction of movement of the first object, and the direction of movement of the second object; and a display control unit that, based on the status of the first object and the second object identified by the object status recognition unit, performs external notification processing, in which a notification for the first object or the second object is displayed on the display.

[0007] In the vehicle control device described above, the display control unit may also perform the external notification processing when the surrounding object recognition unit identifies the first object as a pedestrian and the second object as a vehicle other than the controlled vehicle.

[0008] In the aforementioned vehicle control device, the display control unit may not perform the external notification processing if the object status recognition unit identifies that the pedestrian is about to cross in front of the controlled vehicle and identifies that another vehicle is approaching the controlled vehicle from in front of the controlled vehicle, and the object status recognition unit identifies that the pedestrian is facing the other vehicle and stops.

[0009] In the aforementioned vehicle control device, it can also be configured such that, when the object status recognition unit identifies that the pedestrian is about to cross in front of the controlled vehicle and identifies that other vehicles are approaching the controlled vehicle from in front of the controlled vehicle, and the object status recognition unit identifies that the pedestrian is not facing the other vehicles and stops, the display control unit displays a notification prompting the pedestrian to wait on the display screen through the external notification processing.

[0010] In the aforementioned vehicle control device, it can also be configured such that when the object status recognition unit identifies that the pedestrian is about to cross in front of the controlled vehicle and identifies that other vehicles are approaching the controlled vehicle from in front of the controlled vehicle, the display control unit displays a warning notification to the pedestrian on the display based on the distance between the controlled vehicle and the other vehicles as identified by the object status recognition unit, through the external notification processing.

[0011] In the aforementioned vehicle control device, the display control unit may also be configured to adjust the level of attention given to the pedestrian based on the distance between the controlled vehicle and other vehicles during the external notification processing.

[0012] In the aforementioned vehicle control device, it can also be configured such that when the object status recognition unit identifies that the other vehicle has stopped, the display control unit displays a notification to the pedestrian on the display through the external notification processing, prompting the pedestrian to cross the road.

[0013] In the aforementioned vehicle control device, it can also be configured such that when the object status recognition unit identifies that a pedestrian is about to cross in front of the controlled vehicle and identifies that other vehicles are approaching the controlled vehicle from in front of the controlled vehicle, the display control unit, through the external notification processing, displays a warning notification to the other vehicles on the display based on the distance between the controlled vehicle and the other vehicles identified by the object status recognition unit, and illuminates the lights of the controlled vehicle.

[0014] In the aforementioned vehicle control device, it can also be configured such that, when the object status recognition unit identifies that the pedestrian is about to cross in front of the controlled vehicle and identifies that other vehicles are approaching the controlled vehicle from in front of the controlled vehicle, and when the object status recognition unit identifies that the other vehicles are about to turn right or left before reaching the controlled vehicle, the display control unit displays a notification to the pedestrian on the display prompting them to cross the road through the external notification processing.

[0015] In the aforementioned vehicle control device, it can also be configured such that when the object status recognition unit identifies that the pedestrian is about to cross behind the controlled vehicle and identifies that other vehicles are approaching the controlled vehicle from the front, the display control unit displays a notification to the pedestrian on the display, prompting them to wait, through the external notification processing.

[0016] In the aforementioned vehicle control device, it may also be configured such that when the surrounding object recognition unit identifies a first object as a first other vehicle besides the controlled vehicle and a second object as a second other vehicle besides the controlled vehicle and the first other vehicle, and the object status recognition unit identifies that the first other vehicle is turning in the direction of approaching the controlled vehicle in the forward direction of the controlled vehicle, and the second other vehicle passes behind the controlled vehicle from the side of the controlled vehicle while facing the first other vehicle across from the controlled vehicle, the display control unit displays a notification to the first other vehicle on the display, informing the second other vehicle of the passage of the second other vehicle, through the external notification processing.

[0017] As a second approach to achieve the aforementioned objective, a vehicle control method is provided, which controls the display mode of a display on a controlled vehicle that faces the vehicle to show external information via a computer. The method includes: a surrounding object identification step, identifying objects existing around the controlled vehicle; an object status identification step, identifying the status of the first and second objects if a first and a second object are identified by the surrounding object identification step, the status of the first and second objects including the distance between the controlled vehicle and the first object, the distance between the controlled vehicle and the second object, the direction of movement of the first object, and the direction of movement of the second object; and a display control step, performing external notification processing based on the status of the first and second objects identified by the object status identification step, in which a notification for the first or second object is displayed on the display.

[0018] Invention Effects

[0019] According to the vehicle control device described above, when there are multiple objects around the controlled vehicle, it is possible to appropriately notify the objects via a display. Attached Figure Description

[0020] Figure 1 It is a structural diagram of a vehicle equipped with a vehicle control device.

[0021] Figure 2 This is a structural diagram of the vehicle control device.

[0022] Figure 3 This is the first flowchart for external notification processing.

[0023] Figure 4 This is the second flowchart for external notification processing.

[0024] Figure 5 This is an illustration of a display-based notification in situations where other vehicles approach this vehicle and pedestrians cross in front of this vehicle.

[0025] Figure 6 This is an illustration of a notification displayed on the screen when other vehicles turn left before reaching this vehicle.

[0026] Figure 7 This is an illustration of a display-based notification in situations where other vehicles approach this vehicle and pedestrians cross behind it.

[0027] Figure 8 This is an illustration of a display-based notification in a situation where another vehicle turns right in front of this vehicle, and a two-wheeled vehicle passes on the left side of this vehicle.

[0028] Label Explanation:

[0029] 1…Vehicle (controlled vehicle), 10…Vehicle control device, 20…Processor, 21…Surrounding object recognition unit, 22…Object status recognition unit, 23…Display control unit, 30…Memory, 31…Control program, 40…Front camera, 41…Right-side camera, 42…Left-side camera, 43…Rear camera, 44…Front radar, 45…Right-side radar, 46…Left-side radar, 47…Rear radar, 48…Horn, 50…Front display, 51…Front louvers, 60…Rear display, 61…Rear louvers, P…Pedestrian, V…Other vehicles, B…Two-wheeled vehicles. Detailed Implementation

[0030] [1. Vehicle Structure]

[0031] Reference Figure 1 The structure of the vehicle 1 equipped with the vehicle control device 10 of this embodiment will be described. The vehicle 1 is a four-wheeled vehicle, which corresponds to the controlled vehicle of the present invention. Hereinafter, the vehicle 1 will be referred to as the present vehicle 1.

[0032] The front of this vehicle 1 includes a front camera 40 for capturing images of the front of the vehicle 1, a front radar 44 for detecting the position of objects in front of the vehicle 1, a horn 48, a front display 50 for displaying information facing forward of the vehicle 1, and headlights 65a and 65b. A front louver 51 is disposed on the front surface of the front display 50, and by switching the orientation of the front louver 51 left and right, the display direction of the front display 50 can be switched to left and right.

[0033] By moving the front louvers 51 to the left, for example, a notification based on the front display 50 can be given to a pedestrian located to the left front of the vehicle 1. In this case, the driver of an oncoming vehicle cannot visually recognize the display on the front display 50. Alternatively, by moving the front louvers 51 to the right, for example, a notification based on the front display 50 can be given to an oncoming vehicle approaching the vehicle 1 from the front. In this case, a pedestrian located to the left front of the vehicle 1 cannot visually recognize the display on the front display 50.

[0034] The rear of this vehicle 1 includes a rear camera 43 for capturing images of the area behind the vehicle 1, a rear radar 47 for detecting the position of objects located behind the vehicle 1, and a rear display 60 that displays information facing the rear of the vehicle 1. Similar to the front display 50, a rear louver 61 is provided on the front surface of the rear display 60 (see reference). Figure 2 By switching the orientation of the rear blinds 61 left and right, the display direction of the rear display 60 can be switched to the left and right directions.

[0035] The right side of the vehicle 1 is equipped with a right-side camera 41 for capturing images of the right side of the vehicle 1, and a right-side radar 45 for detecting the position of objects present on the right side of the vehicle 1. The left side of the vehicle 1 is equipped with a left-side camera 42 for capturing images of the left side of the vehicle 1, and a left-side radar 46 for detecting the position of objects present on the left side of the vehicle 1.

[0036] Furthermore, the vehicle 1 is equipped with a navigation device 70 and a communication unit 80. The navigation device 70 includes a GNSS (Global Navigation Satellite System) sensor 71 that detects the position of the vehicle 1 by receiving radio waves transmitted from multiple navigation satellites toward the ground, and map data 72, and performs route guidance to the destination, etc. The communication unit 80 communicates with other vehicles, external servers, roadside equipment, etc. Additionally, the vehicle 1 may be configured to have cameras and radar at its four corners.

[0037] [2. Structure of the vehicle control device]

[0038] Reference Figure 2 The structure of the vehicle control device 10 will be described. The vehicle control device 10 is a control unit consisting of a processor 20, a memory 30, and interface circuits (not shown). Images captured by the front camera 40, right-side camera 41, left-side camera 42, and rear camera 43, as well as position detection data of objects detected by the front radar 44, right-side radar 45, left-side radar 46, and rear radar 47 are input to the vehicle control device 10.

[0039] Based on the control signals output from the vehicle control unit 10, the operation of the horn 48, front display 50, front louvers 51, rear display 60, rear louvers 61, and headlights 65a and 65b is controlled. The vehicle control unit 10 identifies the location of the vehicle 1 and the conditions of surrounding roads through data communication with the navigation unit 70. The vehicle control unit 10 communicates with other vehicles via the communication unit 80.

[0040] The processor 20 functions as the peripheral object recognition unit 21, the object status recognition unit 22, and the display control unit 23 by reading and executing the control program 31 stored in the memory 30. The processor 20 is equivalent to the computer of the present invention. The processing executed by the peripheral object recognition unit 21 is equivalent to the peripheral object recognition step in the vehicle control method of the present invention. The processing executed by the object status recognition unit 22 is equivalent to the object recognition step in the vehicle control method of the present invention, and the processing executed by the display control unit 23 is equivalent to the display control step in the vehicle control method of the present invention.

[0041] The surrounding object recognition unit 21 identifies pedestrians, other vehicles, and other objects in the vicinity of the vehicle 1 based on images captured by the front camera 40, right-side camera 41, left-side camera 42, and rear camera 43, and position detection data of objects detected by the front radar 44, right-side radar 45, left-side radar 46, and rear radar 47.

[0042] The object state recognition unit 22 identifies the state of the object identified by the surrounding object recognition unit 21 based on the image of the object obtained by the front camera 40, right camera 41, left camera 42, or rear camera 43 and the detection position of the object obtained by the front radar 44, right radar 45, left radar 46, or rear radar 47. In this embodiment, the object state recognition unit 22 identifies the distance between the vehicle 1 and the object, the direction of movement of the object, and the orientation of the pedestrian if the object is a pedestrian, as the state of the object.

[0043] When the peripheral object recognition unit identifies a first object and a second object, the display control unit 23 performs external notification processing, in which a notification is sent to the first object or the second object based on the front display 50 or the rear display 60. During the external notification processing, the display control unit 23 determines the content of the notification sent to the first object or the second object based on the state of the first object and the second object identified by the object state recognition unit 22, and the content of the notification sent to the first object or the second object based on the front display 50 or the rear display 60.

[0044] [3. External Notification Handling]

[0045] according to Figures 3-4 The flowchart shown illustrates the series of processes executed by the vehicle control device 10, from identifying objects existing around the vehicle 1 to processing external notifications. Hereinafter, as... Figure 5 As shown, the situation is explained with regard to the pedestrian P who is about to cross in front of the vehicle 1 as the first object and the other vehicle V approaching the vehicle 1 from the front as the second object.

[0046] exist Figure 3 In step S1, the surrounding object recognition unit 21 identifies objects existing around the vehicle 1 based on images captured by the front camera 40, right-side camera 41, left-side camera 42, and rear camera 43, and position detection data of objects detected by the front radar 44, right-side radar 45, left-side radar 46, and rear radar 47. In the following step S2, if the surrounding object recognition unit 21 identifies multiple objects, the process proceeds to step S3; otherwise, the process returns to step S1.

[0047] In step S3, if the identified object is a pedestrian or other vehicle, the surrounding object recognition unit 21 proceeds to step S4; if the identified object is not a pedestrian or other vehicle, the process proceeds to step S1. In step S4, the object status recognition unit 22 identifies the status of the pedestrians and other vehicles identified by the surrounding object recognition unit 21. Figure 5In the example, the object state recognition unit 22 identifies the state of pedestrian P and other vehicles V based on images of pedestrian P and other vehicles V extracted from images captured by the front camera 40, and the positions of pedestrian P and other vehicles V detected by the front radar 44.

[0048] More specifically, the object state recognition unit 22 recognizes the following (1) to (7) as the state of pedestrian P and other vehicles V: (1) Distance between pedestrian P and vehicle 1. (2) Direction of movement of pedestrian P. (3) Speed ​​of movement of pedestrian P. (4) Orientation of pedestrian P. (5) Distance between other vehicles V and vehicle 1. (6) Direction of movement of other vehicles V. (7) Speed ​​of movement of other vehicles V.

[0049] The direction and speed of pedestrian P are identified based on changes in pedestrian P's position detected by front radar 44, or changes in the image of pedestrian P extracted from images captured by front camera 40. The direction and speed of other vehicles V are identified in the same way.

[0050] In the next step S5, the display control unit 23 determines whether pedestrian P and other vehicles V meet the notification target conditions. In this embodiment, the notification target conditions are set to meet all of the following conditions (a) to (d): (a) The distance between pedestrian P and vehicle 1 is a first predetermined distance (e.g., 5m) or less. (b) The distance between other vehicles V and vehicle 1 is a second predetermined distance (e.g., 10m) or less. (c) Pedestrian P is facing the roadside. (d) Other vehicles V are approaching vehicle 1.

[0051] When pedestrian P and other vehicles V meet the notification target conditions, the display control unit 23 causes the process to proceed to step S6. On the other hand, when pedestrian P and other vehicles V do not meet the notification target conditions, the display control unit 23 causes the process to proceed to step S1. In this case, the external display processing after step S6 is not executed.

[0052] In step S6, the display control unit 23 determines whether pedestrian P has stopped. Then, if pedestrian P has stopped, the display control unit 23 causes the process to proceed to step S20; if pedestrian P has not stopped (during the crossing action), the process proceeds to step S7. In step S20, the display control unit 23 determines whether pedestrian P is facing other vehicles V by recognizing the orientation of pedestrian P's face from the image of pedestrian P.

[0053] Then, the display control unit 23 initiates processing when pedestrian P is facing other vehicles V. Figure 4In step S13, the display control unit 23 does not notify pedestrian P via the front display 50. This avoids the need for cumbersome notifications to pedestrian P who is waiting while aware of other vehicles V. On the other hand, when pedestrian P is not facing other vehicles V, the display control unit 23 initiates step S21, causing the front louvers 51 to turn left and displaying a "Please wait" notification on the front display 50, thus initiating further processing. Figure 4 Step S13. This will prompt pedestrian P to wait.

[0054] In step S7, the display control unit 23 moves the front louver 51 to the right, as shown. Figure 5 As shown, a notification 101 stating "Pedestrian is crossing" is displayed on the front display 50. This informs drivers of other vehicles V that pedestrian P is about to cross the road. Additionally, when the distance between vehicle 1 and other vehicles V is less than a predetermined distance, the display control unit 23, in addition to displaying notification 101 on the front display 50, also illuminates the headlights 65a, 65b or other lights (not shown) of vehicle 1, thereby providing a stronger warning to drivers of other vehicles V.

[0055] In the next Figure 4 In step S8, the display control unit 23 determines whether the object status recognition unit 22 has detected that another vehicle V is approaching while decelerating. Then, if the other vehicle V is approaching while decelerating, the display control unit 23 proceeds to step S30; if the other vehicle V is not decelerating, the process proceeds to step S9. In step S30, the display control unit 23 moves the front louvers 51 to the left, displays a "Please be aware of oncoming vehicles" notification 100 on the front display 50, and proceeds to step S13. This encourages pedestrian P to pay attention to other vehicles V and cross the road.

[0056] In step S9, the display control unit 23 determines whether the object status recognition unit 22 has identified that other vehicles V have stopped. Then, if other vehicles V have stopped, the display control unit 23 causes the process to proceed to step S31; if other vehicles V have not stopped, the process proceeds to step S10. In step S31, the display control unit 23 moves the front louvers 51 to the left, displays a "Please go first" notification on the front display 50, and causes the process to proceed to step S13. This encourages pedestrian P to cross the road.

[0057] In step S10, the display control unit 23 determines whether the object status recognition unit 22 has identified that another vehicle V will turn right or left before reaching the position of the vehicle 1. Then, if the other vehicle V turns right or left, the display control unit 23 causes the process to proceed to step S32; if the other vehicle V neither turns right nor left, the process proceeds to step S11. In step S32, the display control unit 23 moves the front louvers 51 to the left and displays a "Please be aware of the surrounding area crossing" notice on the front display 50, causing the process to proceed to step S13.

[0058] Here, Figure 6 This example illustrates a situation where another vehicle V turns right before reaching the position of vehicle 1. Because vehicle V turns right, it does not obstruct pedestrian P's crossing. Therefore, displaying a "Please be aware of crossing" notice 102 on the front display 50 prompts pedestrian P to cross the road. The right or left turn of other vehicle V can be identified by the image captured by the front camera 40, or by recognizing the flashing of other vehicle V's turn signal. Alternatively, vehicle 1 can also identify whether other vehicle V is turning right or left through inter-vehicle communication with it.

[0059] In step S11, the display control unit 23 determines whether the distance between the other vehicle V identified by the object status recognition unit 22 and the vehicle 1 is a determination distance (e.g., 10m or more). Then, if the distance between the other vehicle V and the vehicle 1 is a determination distance or more, the display control unit 23 causes the process to proceed to step S33; if the distance between the other vehicle V and the vehicle 1 is less than the determination distance, the process proceeds to step S12.

[0060] In step S33, the display control unit 23 moves the front louvers 51 to the left and displays a "Please stop" notification on the front display 50, thus proceeding to step S13. This prompts pedestrian P to wait before crossing. Alternatively, in step S12, the display control unit 23 moves the front louvers 51 to the left and displays "Please stop!" and an emphasis on stopping on the front display 50, thus proceeding to step S13. This increases the level of attention given to pedestrian P, more strongly prompting pedestrian P to wait before crossing when other vehicles V are approaching vehicle 1. Furthermore, in addition to the emphasis on "Please stop!", the level of attention given to pedestrian P can be further increased by performing a sounding action based on a horn 48 or similar device.

[0061] [4. Other Implementation Methods]

[0062] In the above embodiments, such as Figure 5 as well as Figure 6As shown, an example is illustrated where, upon identifying a pedestrian P and another vehicle V located in front of the vehicle 1, the display control unit 23 displays a notification on the front display 50. Alternatively, as shown in the example... Figure 7 As shown, when the object status recognition unit 22 identifies that another vehicle V is approaching the vehicle 1 from the front and a pedestrian P is about to cross the rear of the vehicle 1, the display control unit 23 performs external notification processing, in which a notification is displayed to the pedestrian P and the other vehicle V.

[0063] In this situation, the display control unit 23 moves the rear louver 61 to the left and displays a "Please wait" message on the rear display 60 for pedestrian P. Additionally, the display control unit 23 moves the front louver 51 to the right and displays a "Please be aware of pedestrian crossing" message 104 on the front display 50 for other vehicles V. This prompts pedestrian P to wait for other vehicles V, which are difficult to see due to obstruction by vehicle 1, to pass, and also alerts the drivers of other vehicles V to pedestrian P appearing from behind vehicle 1.

[0064] In addition, such as Figure 8 As shown, it is also possible that when the surrounding object recognition unit 21 recognizes that the two-wheeled vehicle B and other vehicles V, the object status recognition unit 22 recognizes that the two-wheeled vehicle B is about to pass on the left side of the vehicle 1 and moves in front of the vehicle 1, and other vehicles V turn right in front of the vehicle 1, the display control unit 23 performs external display processing.

[0065] exist Figure 8 In this situation, other vehicle V is equivalent to the first other vehicle of the present invention, and two-wheeled vehicle B is equivalent to the second other vehicle. Other vehicle V turns to the left in the direction of approaching vehicle 1, and two-wheeled vehicle B intends to pass behind vehicle 1 and to the side of vehicle 1 while facing other vehicles V with vehicle 1 in between.

[0066] In this situation, the display control unit 23, through external display processing, causes the front louvers 51 to turn to the right and displays a "Caution: Motorcycle Approaching!" notification 105 on the front display 50. This allows the driver of another vehicle V to recognize the presence of the two-wheeled vehicle B, which is obscured by this vehicle 1 and difficult for the driver of the other vehicle V to see, thus preventing contact between the other vehicle V and the two-wheeled vehicle B. Furthermore, the driver of the two-wheeled vehicle B can also be alerted to the right-turning other vehicle V by sounding the car horn 48.

[0067] In the above embodiment, the display orientation of the front display 50 and the rear display 60 can be switched left and right by arranging a front louver 51 on the front surface of the front display 50 and a rear louver 61 on the front surface of the rear display 60. Alternatively, a structure omitting the front louver 51 and the rear louver 61 may be used. Or, the display orientation of the front display 50 and the rear display 60 can be switched using structures other than louvers. Furthermore, for example, a dual-view display method can be used, where the displayed content differs when viewed from the left and right sides relative to the front display 50, or the screen of the front display 50 itself can be tilted during display.

[0068] In the above embodiments, it is based on Figure 3 , Figure 4 The display of the notification on the display 50 is changed by determining whether the conditions of steps S6, S20, and S8 to S11 in the flowchart are met or not. However, it is also possible to determine whether some conditions are met or not, without having to determine all of them.

[0069] In the above embodiment, the vehicle control method of the present invention is executed by the processor 20 (equivalent to the computer of the present invention) provided in the vehicle control device 10. However, the vehicle control method of the present invention can also be executed by a computer or the like that constitutes an external server communicating with the vehicle 1. In this case, information about objects existing in the vicinity of the vehicle 1 is sent from the vehicle 1 to the external server, and instruction information is sent from the external server to the vehicle 1 to display a notification on the front display 50 and the rear display 60. Alternatively, the surrounding object recognition unit 21, the object status recognition unit 22, and the display control unit 23 can be configured to be respectively disposed in the vehicle control device 10 and the external server.

[0070] also, Figure 1 , Figure 2 This is a schematic diagram illustrating the structure of the vehicle 1 and the vehicle control device 10 based on the main processing content for ease of understanding of the invention. The structure of the vehicle 1 and the vehicle control device 10 can also be constructed using other methods of differentiation. Furthermore, the processing of each component can be performed by one hardware unit or by multiple hardware units. Figure 3 , Figure 4 The processing of each component of the flowchart shown can be performed by one program or by multiple programs.

[0071] [5. Structures supported by the above embodiments]

[0072] The above implementation is a specific example of the following structure.

[0073] (First item) A vehicle control device that controls the display mode of a display of external information facing the controlled vehicle, wherein the vehicle control device comprises: a peripheral object recognition unit that recognizes objects existing in the periphery of the controlled vehicle; an object status recognition unit that, when a first object and a second object are recognized by the peripheral object recognition unit, recognizes the status of the first object and the second object, the status of the first object and the second object including the distance between the controlled vehicle and the first object, the distance between the controlled vehicle and the second object, the direction of movement of the first object, and the direction of movement of the second object; and a display control unit that, based on the status of the first object and the second object recognized by the object status recognition unit, performs external notification processing, in which a notification for the first object or the second object is displayed on the display.

[0074] According to the vehicle control device in the first item, when there are multiple objects around the controlled vehicle, the display of the objects can be appropriately implemented by the display screen.

[0075] (Second item) According to the vehicle control device of the first item, the display control unit performs the external notification processing when the surrounding object recognition unit identifies the first object as a pedestrian and the second object as a vehicle other than the controlled vehicle.

[0076] According to the vehicle control device in the second item, when other vehicles and pedestrians are identified in the vicinity of the controlled vehicle, the display can appropriately notify pedestrians or other vehicles.

[0077] (Third item) According to the vehicle control device of the second item, wherein when the object status recognition unit identifies that the pedestrian is about to cross in front of the controlled vehicle and identifies that the other vehicle is approaching the controlled vehicle from in front of the controlled vehicle, and the object status recognition unit identifies that the pedestrian is facing the other vehicle and stops, the display control unit does not perform the external notification processing.

[0078] According to the vehicle control device in the third item, if it is estimated that the pedestrian has recognized the approach of other vehicles because the pedestrian has stopped facing the direction of other vehicles, external notification processing is not performed, thereby avoiding cumbersome notification to the pedestrian.

[0079] (Fourth item) According to the vehicle control device of the second or third item, when the object status recognition unit identifies that the pedestrian is about to cross in front of the controlled vehicle and identifies that other vehicles are approaching the controlled vehicle from in front of the controlled vehicle, and the object status recognition unit identifies that the pedestrian is not facing the other vehicles and stops, the display control unit displays a notification prompting the pedestrian to wait on the display screen through the external notification processing.

[0080] According to the vehicle control device in the fourth item, if it is estimated that the pedestrian is not paying attention to the approaching other vehicles and stops because the pedestrian is not facing other vehicles, the pedestrian can be prompted to wait for crossing.

[0081] (Fifth item) In the vehicle control device according to any one of the second to fourth items, when the object status recognition unit identifies that the pedestrian is about to cross in front of the controlled vehicle and identifies that other vehicles are approaching the controlled vehicle from in front of the controlled vehicle, the display control unit displays a notification to the pedestrian on the display based on the distance between the controlled vehicle and the other vehicles identified by the object status recognition unit through the external notification processing.

[0082] According to the vehicle control device in item 5, it is able to display a notification to pedestrians, taking into account the degree of influence of other vehicles on pedestrians, which varies depending on the distance between the controlled vehicle and other vehicles.

[0083] (Sixth item) According to the vehicle control device of the fifth item, the display control unit changes the degree of attention given to the pedestrian in the external notification processing according to the distance between the controlled vehicle and the other vehicles.

[0084] According to the vehicle control device in item six, pedestrians can recognize the approach of other vehicles depending on the degree of attention required.

[0085] (Seventh) According to the vehicle control device of the fifth or sixth item, when the object status recognition unit identifies that the other vehicle has stopped, the display control unit displays a notification to the pedestrian on the display through the external notification processing to prompt the pedestrian to cross the road.

[0086] According to the vehicle control device in item seven, pedestrians can be prompted to cross the road when other vehicles stop, thus reducing their impact on pedestrians.

[0087] (Eighth item) In the vehicle control device according to any one of items 2 to 7, when the object status recognition unit identifies that the pedestrian is about to cross in front of the controlled vehicle and identifies that other vehicles are approaching the controlled vehicle from in front of the controlled vehicle, the display control unit, through the external notification processing, displays a warning notification to the other vehicles on the display based on the distance between the controlled vehicle and the other vehicles identified by the object status recognition unit, and illuminates the lights of the controlled vehicle.

[0088] According to the vehicle control device in item 8, the effect of alerting other vehicles can be improved by combining the display on the screen for alerting attention with the illumination of the lights.

[0089] (Ninth) A vehicle control device according to any one of the second to eighth claims, wherein, when the object status recognition unit identifies that the pedestrian is about to cross in front of the controlled vehicle and identifies that another vehicle is approaching the controlled vehicle from in front of the controlled vehicle, and the object status recognition unit identifies that the other vehicle is about to turn right or left before reaching the controlled vehicle, the display control unit displays a notification prompting the pedestrian to cross the road on the display through the external notification processing.

[0090] According to the vehicle control device in item 9, pedestrians can be prompted to cross the road when the influence of other vehicles on pedestrians disappears because other vehicles turn right or left before reaching the controlled vehicle.

[0091] (Tenth item) In any one of the second to ninth items, when the object status recognition unit identifies that the pedestrian is about to cross behind the controlled vehicle and identifies that another vehicle is approaching the controlled vehicle from the front of the controlled vehicle, the display control unit displays a notification prompting the pedestrian to wait on the display through the external notification processing.

[0092] According to the vehicle control device of item 10, pedestrians who are located behind the controlled vehicle and have difficulty noticing other vehicles approaching the controlled vehicle from the front of the controlled vehicle should wait to cross the road.

[0093] (Eleventh item) In the vehicle control device according to any one of items one to ten, when the surrounding object recognition unit identifies a first object as a first other vehicle other than the controlled vehicle and a second object as a second other vehicle other than the controlled vehicle and the first other vehicle, and the object status recognition unit identifies that the first other vehicle is turning in a direction approaching the controlled vehicle in the direction in front of the controlled vehicle, and the second other vehicle passes behind the controlled vehicle from the side of the controlled vehicle while facing the first other vehicle across from the controlled vehicle, the display control unit displays a notification to the first other vehicle on the display informing the second other vehicle of the passage of the second other vehicle through the external notification processing.

[0094] According to the vehicle control device of the eleventh item, by notifying the first other vehicle of the presence of a second other vehicle passing by on the side of the controlled vehicle, contact between the first other vehicle and the second other vehicle can be avoided.

[0095] (Item 12) A vehicle control method, comprising controlling the display mode of a display of external information facing the controlled vehicle by a computer, including: a surrounding object identification step, identifying objects existing around the controlled vehicle; an object status identification step, identifying the status of the first object and the second object when a first object and a second object are identified by the surrounding object identification step, the status of the first object and the second object including the distance between the controlled vehicle and the first object, the distance between the controlled vehicle and the second object, the movement direction of the first object and the movement direction of the second object; and a display control step, performing external notification processing based on the status of the first object and the second object identified by the object status identification step, wherein a notification for the first object or the second object is displayed on the display.

[0096] By having a computer execute the twelfth vehicle control method, the same effect as the first vehicle control device can be achieved.

Claims

1. A vehicle control device that controls the display mode of a display on a vehicle that faces the vehicle and displays external information, wherein... The vehicle control device includes: A surrounding object recognition unit identifies objects existing around the controlled vehicle. An object state recognition unit identifies the state of the first object and the second object when the surrounding object recognition unit identifies the first object and the second object. The state of the first object and the second object includes the distance between the controlled vehicle and the first object, the distance between the controlled vehicle and the second object, the direction of movement of the first object, and the direction of movement of the second object. as well as The display control unit performs external notification processing based on the states of the first object and the second object identified by the object state recognition unit. In this external notification processing, a notification for the first object or the second object is displayed on the display. When the surrounding object recognition unit identifies the first object as a pedestrian and the second object as a vehicle other than the controlled vehicle, the display control unit executes the external notification processing. If the object status recognition unit identifies that the pedestrian is about to cross in front of the controlled vehicle and identifies that other vehicles are approaching the controlled vehicle from in front of it, or if the object status recognition unit identifies that the pedestrian is facing the other vehicles and stops, the display control unit will not perform the external notification processing.

2. The vehicle control device according to claim 1, wherein, When the object status recognition unit identifies that the pedestrian is about to cross in front of the controlled vehicle and identifies that other vehicles are approaching the controlled vehicle from the front, and the object status recognition unit identifies that the pedestrian is not facing the other vehicles and stops, the display control unit displays a notification prompting the pedestrian to wait on the display screen through the external notification processing.

3. The vehicle control device according to claim 1, wherein, When the object status recognition unit identifies that the pedestrian is about to cross in front of the controlled vehicle and identifies that other vehicles are approaching the controlled vehicle from in front of the controlled vehicle, the display control unit displays a warning notification to the pedestrian on the display screen through the external notification processing, based on the distance between the controlled vehicle and the other vehicles identified by the object status recognition unit.

4. The vehicle control device according to claim 3, wherein, The display control unit adjusts the level of attention given to the pedestrian based on the distance between the controlled vehicle and other vehicles during the external notification processing.

5. The vehicle control device according to claim 3, wherein, When the object status recognition unit identifies that the other vehicle has stopped, the display control unit displays a notification to the pedestrian on the display through the external notification processing, prompting the pedestrian to cross the road.

6. The vehicle control device according to claim 1, wherein, When the object status recognition unit identifies that a pedestrian is about to cross in front of the controlled vehicle and identifies that other vehicles are approaching the controlled vehicle from the front, the display control unit, through the external notification processing, displays a warning notification to the other vehicles on the display based on the distance between the controlled vehicle and the other vehicles identified by the object status recognition unit, and illuminates the lights of the controlled vehicle.

7. The vehicle control device according to claim 1, wherein, When the object status recognition unit identifies that the pedestrian is about to cross in front of the controlled vehicle and identifies that other vehicles are approaching the controlled vehicle from in front of it, and when the object status recognition unit identifies that other vehicles are about to turn right or left before reaching the controlled vehicle, the display control unit displays a notification to the pedestrian on the display prompting them to cross the road via the external notification processing.

8. The vehicle control device according to claim 1, wherein, When the object status recognition unit identifies that the pedestrian is about to cross behind the controlled vehicle and identifies that other vehicles are approaching the controlled vehicle from the front, the display control unit displays a notification to the pedestrian on the display, prompting the pedestrian to wait, through the external notification processing.

9. The vehicle control device according to claim 1, wherein, When the surrounding object recognition unit identifies the first object as a first other vehicle besides the controlled vehicle and the second object as a second other vehicle besides the controlled vehicle and the first other vehicle, and the object status recognition unit identifies that the first other vehicle is turning in the direction of approaching the controlled vehicle in front of the controlled vehicle, and the second other vehicle passes behind the controlled vehicle from the side of the controlled vehicle while facing the first other vehicle with the second other vehicle in between, the display control unit displays a notification to the first other vehicle on the display informing the second other vehicle of the passage of the second other vehicle through the external notification processing.

10. A vehicle control device that controls the display mode of a display on a controlled vehicle that displays external information facing the controlled vehicle, wherein... The vehicle control device includes: A surrounding object recognition unit identifies objects existing around the controlled vehicle. An object state recognition unit identifies the state of the first object and the second object when the surrounding object recognition unit identifies the first object and the second object. The state of the first object and the second object includes the distance between the controlled vehicle and the first object, the distance between the controlled vehicle and the second object, the direction of movement of the first object, and the direction of movement of the second object. as well as The display control unit performs external notification processing based on the states of the first object and the second object identified by the object state recognition unit. In this external notification processing, a notification for the first object or the second object is displayed on the display. When the surrounding object recognition unit identifies the first object as a pedestrian and the second object as a vehicle other than the controlled vehicle, the display control unit executes the external notification processing. When the object status recognition unit identifies that the pedestrian is about to cross in front of the controlled vehicle and identifies that other vehicles are approaching the controlled vehicle from the front, and the object status recognition unit identifies that the pedestrian is not facing the other vehicles and stops, the display control unit displays a notification prompting the pedestrian to wait on the display screen through the external notification processing.

11. The vehicle control device according to claim 10, wherein, When the object status recognition unit identifies that the pedestrian is about to cross in front of the controlled vehicle and identifies that other vehicles are approaching the controlled vehicle from in front of the controlled vehicle, the display control unit displays a warning notification to the pedestrian on the display screen through the external notification processing, based on the distance between the controlled vehicle and the other vehicles identified by the object status recognition unit.

12. The vehicle control device according to claim 11, wherein, The display control unit adjusts the level of attention given to the pedestrian based on the distance between the controlled vehicle and other vehicles during the external notification processing.

13. The vehicle control device according to claim 11, wherein, When the object status recognition unit identifies that the other vehicle has stopped, the display control unit displays a notification to the pedestrian on the display through the external notification processing, prompting the pedestrian to cross the road.

14. The vehicle control device according to claim 10, wherein, When the object status recognition unit identifies that a pedestrian is about to cross in front of the controlled vehicle and identifies that other vehicles are approaching the controlled vehicle from the front, the display control unit, through the external notification processing, displays a warning notification to the other vehicles on the display based on the distance between the controlled vehicle and the other vehicles identified by the object status recognition unit, and illuminates the lights of the controlled vehicle.

15. The vehicle control device according to claim 10, wherein, When the object status recognition unit identifies that the pedestrian is about to cross in front of the controlled vehicle and identifies that other vehicles are approaching the controlled vehicle from in front of it, and when the object status recognition unit identifies that other vehicles are about to turn right or left before reaching the controlled vehicle, the display control unit displays a notification to the pedestrian on the display prompting them to cross the road via the external notification processing.

16. The vehicle control device according to claim 10, wherein, When the object status recognition unit identifies that the pedestrian is about to cross behind the controlled vehicle and identifies that other vehicles are approaching the controlled vehicle from the front, the display control unit displays a notification to the pedestrian on the display, prompting the pedestrian to wait, through the external notification processing.

17. The vehicle control device according to claim 10, wherein, When the surrounding object recognition unit identifies the first object as a first other vehicle besides the controlled vehicle and the second object as a second other vehicle besides the controlled vehicle and the first other vehicle, and the object status recognition unit identifies that the first other vehicle is turning in the direction of approaching the controlled vehicle in front of the controlled vehicle, and the second other vehicle passes behind the controlled vehicle from the side of the controlled vehicle while facing the first other vehicle with the second other vehicle in between, the display control unit displays a notification to the first other vehicle on the display informing the second other vehicle of the passage of the second other vehicle through the external notification processing.

18. A vehicle control device that controls the display mode of a display on a controlled vehicle that displays external information facing the controlled vehicle, wherein... The vehicle control device includes: A surrounding object recognition unit identifies objects existing around the controlled vehicle. An object state recognition unit identifies the state of the first object and the second object when the surrounding object recognition unit identifies the first object and the second object. The state of the first object and the second object includes the distance between the controlled vehicle and the first object, the distance between the controlled vehicle and the second object, the direction of movement of the first object, and the direction of movement of the second object. as well as The display control unit performs external notification processing based on the states of the first object and the second object identified by the object state recognition unit. In this external notification processing, a notification for the first object or the second object is displayed on the display. When the surrounding object recognition unit identifies the first object as a pedestrian and the second object as a vehicle other than the controlled vehicle, the display control unit executes the external notification processing. When the object status recognition unit identifies that the pedestrian is about to cross in front of the controlled vehicle and identifies that other vehicles are approaching the controlled vehicle from in front of it, and when the object status recognition unit identifies that other vehicles are about to turn right or left before reaching the controlled vehicle, the display control unit displays a notification to the pedestrian on the display prompting them to cross the road via the external notification processing.

19. The vehicle control device according to claim 18, wherein, When the object status recognition unit identifies that the pedestrian is about to cross behind the controlled vehicle and identifies that other vehicles are approaching the controlled vehicle from the front, the display control unit displays a notification to the pedestrian on the display, prompting the pedestrian to wait, through the external notification processing.

20. The vehicle control device according to claim 18, wherein, When the surrounding object recognition unit identifies the first object as a first other vehicle besides the controlled vehicle and the second object as a second other vehicle besides the controlled vehicle and the first other vehicle, and the object status recognition unit identifies that the first other vehicle is turning in the direction of approaching the controlled vehicle in front of the controlled vehicle, and the second other vehicle passes behind the controlled vehicle from the side of the controlled vehicle while facing the first other vehicle with the second other vehicle in between, the display control unit displays a notification to the first other vehicle on the display informing the second other vehicle of the passage of the second other vehicle through the external notification processing.

21. A vehicle control device that controls the display mode of a display on a controlled vehicle that displays external information facing the controlled vehicle, wherein, The vehicle control device includes: A surrounding object recognition unit identifies objects existing around the controlled vehicle. An object state recognition unit identifies the state of the first object and the second object when the surrounding object recognition unit identifies the first object and the second object. The state of the first object and the second object includes the distance between the controlled vehicle and the first object, the distance between the controlled vehicle and the second object, the direction of movement of the first object, and the direction of movement of the second object. as well as The display control unit performs external notification processing based on the states of the first object and the second object identified by the object state recognition unit. In this external notification processing, a notification for the first object or the second object is displayed on the display. When the surrounding object recognition unit identifies the first object as a first other vehicle besides the controlled vehicle and the second object as a second other vehicle besides the controlled vehicle and the first other vehicle, and the object status recognition unit identifies that the first other vehicle is turning in the direction of approaching the controlled vehicle in front of the controlled vehicle, and the second other vehicle passes behind the controlled vehicle from the side of the controlled vehicle while facing the first other vehicle with the second other vehicle in between, the display control unit displays a notification to the first other vehicle on the display informing the second other vehicle of the passage of the second other vehicle through the external notification processing.

22. A vehicle control method, comprising controlling the display mode of a display on a vehicle that faces the vehicle to display external information via a computer, including: The surrounding object recognition step identifies objects existing around the controlled vehicle. The object state recognition step involves identifying the first object and the second object through the surrounding object recognition step, and then recognizing the state of the first object and the second object. The state of the first object and the second object includes the distance between the controlled vehicle and the first object, the distance between the controlled vehicle and the second object, the direction of movement of the first object, and the direction of movement of the second object. as well as The display control step, based on the states of the first object and the second object identified through the object state identification step, performs external notification processing, in which a notification for the first object or the second object is displayed on the display. When the first object, which is a pedestrian, and the second object, which is a vehicle other than the controlled vehicle, are identified in the surrounding object recognition step, the external notification processing is executed in the display control step. If, in the object state recognition step, it is recognized that the pedestrian is about to cross in front of the controlled vehicle, and it is recognized that other vehicles are approaching the controlled vehicle from in front of it, and the pedestrian stops because it is recognized that the pedestrian is facing the other vehicles, then the external notification processing is not performed in the display control step.

23. A vehicle control method, comprising controlling the display mode of a display on a vehicle that faces the vehicle to display external information via a computer, including: The surrounding object recognition step identifies objects existing around the controlled vehicle. The object state recognition step involves identifying the first object and the second object through the surrounding object recognition step, and then recognizing the state of the first object and the second object. The state of the first object and the second object includes the distance between the controlled vehicle and the first object, the distance between the controlled vehicle and the second object, the direction of movement of the first object, and the direction of movement of the second object. as well as The display control step, based on the states of the first object and the second object identified through the object state identification step, performs external notification processing, in which a notification for the first object or the second object is displayed on the display. When the first object, which is a pedestrian, and the second object, which is a vehicle other than the controlled vehicle, are identified in the surrounding object recognition step, the external notification processing is executed in the display control step. In the object state recognition step, if it is recognized that the pedestrian is about to cross in front of the controlled vehicle, and other vehicles are approaching the controlled vehicle from in front of it, and the pedestrian stops because it is not facing the other vehicles, in the display control step, a notification prompting the pedestrian to wait is displayed on the display through the external notification processing.

24. A vehicle control method, comprising controlling the display mode of a display on a vehicle that faces the vehicle to display external information via a computer, including: The surrounding object recognition step identifies objects existing around the controlled vehicle. The object state recognition step involves identifying the first object and the second object through the surrounding object recognition step, and then recognizing the state of the first object and the second object. The state of the first object and the second object includes the distance between the controlled vehicle and the first object, the distance between the controlled vehicle and the second object, the direction of movement of the first object, and the direction of movement of the second object. as well as The display control step, based on the states of the first object and the second object identified through the object state identification step, performs external notification processing, in which a notification for the first object or the second object is displayed on the display. When the first object, which is a pedestrian, and the second object, which is a vehicle other than the controlled vehicle, are identified in the surrounding object recognition step, the external notification processing is executed in the display control step. In the object state recognition step, if it is recognized that the pedestrian is about to cross in front of the controlled vehicle, and it is also recognized that other vehicles are approaching the controlled vehicle from in front of it, and that the other vehicles are about to turn right or left before reaching the controlled vehicle, in the display control step, through the external notification processing, a notification prompting the pedestrian to cross is displayed on the display.

25. A vehicle control method, comprising controlling the display mode of a display on a vehicle that faces the vehicle to display external information via a computer, including: The surrounding object recognition step identifies objects existing around the controlled vehicle. The object state recognition step involves identifying the first object and the second object through the surrounding object recognition step, and then recognizing the state of the first object and the second object. The state of the first object and the second object includes the distance between the controlled vehicle and the first object, the distance between the controlled vehicle and the second object, the direction of movement of the first object, and the direction of movement of the second object. as well as The display control step, based on the states of the first object and the second object identified through the object state identification step, performs external notification processing, in which a notification for the first object or the second object is displayed on the display. In the surrounding object recognition step, when the first object is identified as a first other vehicle other than the controlled vehicle, and the second object is identified as a second other vehicle other than the controlled vehicle and the first other vehicle, and in the object status recognition step, when the first other vehicle is identified as turning in the direction of approaching the controlled vehicle in the front direction of the controlled vehicle, and the second other vehicle passes behind the controlled vehicle from the side of the controlled vehicle while facing the first other vehicle with the second other vehicle in between, in the display control step, through the external notification processing, a notification informing the first other vehicle of the passage of the second other vehicle is displayed on the display to the first other vehicle.

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