Get-off support device

Abstract

The vehicle exit assistance device includes a processor, which is configured to issue an alarm when a moving path condition such as the presence of an approaching object is met and a prohibition condition is not met, wherein the approaching object is an object whose moving path is predicted to be a path passing next to a door of the vehicle, and when the prohibition condition is met, the alarm is not issued even if the moving path condition is met, wherein the prohibition condition includes the following condition: when there is a stationary object stopped next to the vehicle, a difference between a lateral distance from the vehicle to the stationary object and a lateral distance from the vehicle to the approaching object is less than a predetermined value.

Description

Technical Field

[0001] The present invention relates to a vehicle getting-off assistance device. Background Art

[0002] As a related technology, there is a vehicle exit support device that prevents passengers from exiting the vehicle by not opening the door when an object that may pass by the side of the stopped vehicle is detected (for example, refer to Japanese Patent Application Laid-Open No. 2007-138457). In addition, there is also a vehicle exit support device that issues an alarm when an object that may pass by the side of the stopped vehicle is detected, thereby notifying passengers of the vehicle that there is an object that may pass by the side of the stopped vehicle. According to such a vehicle exit support device, the safety of passengers of the vehicle can be protected. Summary of the invention

[0003] Even if there is an object such as a vehicle approaching the vehicle from behind (approaching object) and the predicted moving path of the approaching object is a path passing by the side of the vehicle, if the vehicle or other object stops by the side of the vehicle, there is a possibility that the approaching object cannot pass between the object (stopping object) and the vehicle and stops in front of the stopped object. If an alarm is issued when there is such a possibility, an unnecessary alarm will be issued.

[0004] The present invention provides a vehicle getting-off support device capable of avoiding unnecessary warnings.

[0005] The getting off assistance device of the scheme of the present invention includes a processor, and the processor is configured to issue an alarm when a moving path condition such as the presence of an approaching object is satisfied and a prohibition condition is not satisfied, wherein the approaching object is an object approaching the host vehicle and the predicted moving path is a path passing next to the door of the host vehicle, and when the prohibition condition is satisfied, the alarm is not issued even if the moving path condition is satisfied, wherein the prohibition condition includes the following condition: when there is a stationary object stopped next to the host vehicle, the difference between the lateral distance from the host vehicle to the stationary object and the lateral distance from the host vehicle to the approaching object is less than a predetermined value.

[0006] In the case where the difference between the lateral distance from the host vehicle to the stopped object and the lateral distance from the host vehicle to the approaching object is small, the approaching object may stop in front of the stopped object. If an alarm is issued in the case of such a possibility, an unnecessary alarm may be issued. According to the above scheme, an alarm is not issued when the difference between the lateral distance from the host vehicle to the stopped object and the lateral distance from the host vehicle to the approaching object is less than a predetermined value, thereby avoiding unnecessary alarms.

[0007] In the above aspect, the processor may be configured to detect, as the approaching object, the object approaching the host vehicle and the predicted movement path passing through an area within a predetermined distance in a lateral direction from the host vehicle.

[0008] The approaching object is a factor that affects the establishment of the moving path condition. Therefore, in order to appropriately determine whether the moving path condition is established, it is preferred that the object determined as the approaching object is an object whose predicted moving path is a path that passes through an area within a certain distance in the lateral direction from the vehicle. According to the above structure, an object that is approaching the vehicle and whose predicted moving path is a path that passes through an area within a predetermined distance in the lateral direction from the vehicle is detected as the approaching object. Therefore, the establishment of the moving path condition can be determined more appropriately.

[0009] In the above aspect, the processor may be configured to detect an object stopped in a predetermined area beside the host vehicle as the stopped object.

[0010] Since the stationary object is a factor that affects the establishment of the prohibition condition, in order to appropriately determine whether the prohibition condition is established, it is preferred that the object determined as the stationary object is an object that is stopped in a certain area next to the host vehicle. According to the above structure, an object that is stopped in a predetermined area next to the host vehicle is detected as a stationary object. Therefore, the establishment of the prohibition condition can be more appropriately determined.

[0011] In the above aspect, the movement path condition may include a condition that a time required for the approaching object to pass by a door of the host vehicle is predicted to be equal to or less than a predetermined time.

[0012] It is preferable to issue an alarm after the approaching object approaches the vehicle, rather than issuing an alarm while the approaching object is moving in a place far from the vehicle. According to the above structure, when the time required for the approaching object to pass by the door of the vehicle is predicted to be less than a predetermined time, the moving path condition is satisfied. Therefore, the alarm can be issued more appropriately.

[0013] The components of the present invention are not limited to the embodiments of the present invention described below with reference to the drawings. Other features and advantages of the present invention will be easily understood from the description of the embodiments of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Features, advantages, and technical and industrial significance of exemplary embodiments of the present invention will be described below with reference to the accompanying drawings, in which like reference numerals represent like elements, and in which:

[0015] Figure 1It is a diagram showing a vehicle getting off support device and a vehicle (host vehicle) equipped with the vehicle getting off support device according to an embodiment of the present invention.

[0016] Figure 2 It is a diagram showing the vehicle.

[0017] Figure 3A The diagram shows a scene in which there is a vehicle (approaching vehicle) approaching the host vehicle from behind.

[0018] Figure 3B The figure shows a scene in which an approaching vehicle attempts to pass by the side of the host vehicle.

[0019] Figure 4A The diagram shows a scene in which there is a vehicle (approaching vehicle) approaching the host vehicle from behind and there is a vehicle (stopped vehicle) stopped beside the host vehicle.

[0020] Figure 4B The diagram shows a scene in which an approaching vehicle passes between a stopped vehicle and the host vehicle.

[0021] Figure 5A The diagram shows a scene in which there is a vehicle (approaching vehicle) approaching the host vehicle from behind and there is a vehicle (stopped vehicle) stopped beside the host vehicle.

[0022] Figure 5B The diagram shows a scene in which an approaching vehicle stops in front of a stopped vehicle.

[0023] Fig. 6A The diagram shows a scene in which a vehicle (approaching vehicle) approaching the host vehicle from behind is detected.

[0024] Figure 6B It is a diagram showing the traveling direction of the approaching vehicle and the longitudinal distance between the approaching vehicle and the host vehicle.

[0025] Figure 6C 1 is a diagram showing a predicted movement path approaching the left front corner of the vehicle.

[0026] Figure 7 is a diagram showing a proximity area.

[0027] Figure 8 It is a diagram showing a proximity line as a proximity area.

[0028] Fig. 9 is a diagram showing adjacent areas.

[0029] Fig.10 The diagram shows a scene in which there is a vehicle stopped in an adjacent area (stopped vehicle).

[0030] Fig.11AThe diagram shows a scene in which a vehicle (approaching vehicle) approaching the host vehicle from behind is moving to a position relatively far behind the host vehicle.

[0031] Fig. 11B The diagram shows a scene in which an approaching vehicle approaches the host vehicle.

[0032] Fig. 12A This is a diagram showing a scene in which a vehicle approaching the host vehicle from behind (approaching vehicle) and a vehicle stopped beside the host vehicle (stopped vehicle) overlap greatly in the lateral direction.

[0033] Fig. 12B The diagram shows a scene in which the lateral overlap between the approaching vehicle and the stopped vehicle is small.

[0034] Fig.13 This is a flowchart showing a routine executed by the vehicle getting off support device according to the embodiment of the present invention. DETAILED DESCRIPTION

[0035] Hereinafter, a vehicle getting-off assist device according to an embodiment of the present invention will be described with reference to the drawings. Figure 1 A vehicle getting-off assist device 10 according to an embodiment of the present invention is shown. The vehicle getting-off assist device 10 is mounted on a vehicle (host vehicle 100).

[0036] like Figure 2 As shown, in this example, the vehicle 100 has four doors 100D. The four doors 100D are a right front door 100D_RF provided at the right front of the vehicle 100, a right rear door 100D_RR provided at the right rear of the vehicle 100, a left front door 100D_LF provided at the left front of the vehicle 100, and a left rear door 100D_LR provided at the left rear of the vehicle 100.

[0037] In the drawings, reference numeral X indicates the longitudinal direction of the vehicle 100, and reference numeral Y indicates the lateral direction of the vehicle 100. Therefore, the longitudinal direction X is the front-rear direction or the overall length direction of the vehicle 100, and the lateral direction Y is the left-right direction or the width direction of the vehicle 100.

[0038] In this example, each door 100D is a swinging (pivoting) door. Therefore, each door 100D is mounted on the vehicle body 100B of the vehicle 100 so as to be swingable (pivotable) about a pivot axis extending vertically at the front portion thereof. In addition, one or more of the doors 100D may be sliding doors.

[0039] Hereinafter, the right front door 100D_RF and the right rear door 100D_RR are respectively referred to as “right door 100D_R”, and the left front door 100D_LF and the left rear door 100D_LR are respectively referred to as “left door 100D_L”.

[0040] <ecu>

[0041] The vehicle exit support device 10 includes an ECU 90. ECU is an abbreviation for an electronic control unit. The ECU 90 includes a microcomputer as a main part. The microcomputer includes a CPU, a ROM, a RAM, a nonvolatile memory, and an interface. The CPU implements various functions by executing instructions, programs, or routines stored in the ROM.

[0042] <Alarm devices, etc.>

[0043] The vehicle 100 is equipped with an alarm device 21 and a door locking device 22 .

[0044] <Alarm device>

[0045] The alarm device 21 is, for example, a buzzer that outputs various alarm sounds. The alarm device 21 is electrically connected to the ECU 90. The ECU 90 can output the alarm sound from the alarm device 21.

[0046] <Door locking device>

[0047] The door locking device 22 is a device for locking or unlocking each door 100D. The door locking device 22 is electrically connected to the ECU 90. The ECU 90 can control the operation of the door locking device 22.

[0048] <Surrounding Information Detection Device, etc.>

[0049] Furthermore, the vehicle 100 is equipped with a surrounding information detection device 30 , a door opening and closing detection device 41 , a door lock operation device 42 , and a door lock operation detection device 43 .

[0050] <Surrounding Information Detection Device>

[0051] The surrounding information detection device 30 is a device that detects information about the surroundings of the host vehicle 100 , and includes, for example, a camera, a radar sensor (millimeter wave radar, etc.), an ultrasonic sensor (clearance sonar), and a laser radar (LiDAR).

[0052] The surrounding information detection device 30 is electrically connected to the ECU 90. The surrounding information detection device 30 detects information about the surroundings of the vehicle 100 and sends the detected information to the ECU 90. The ECU 90 can detect objects and the like existing in the surroundings of the vehicle 100 based on the information (surrounding information I_S) and obtain information related to the objects and the like. In other words, the surrounding information detection device 30 detects objects existing in the surroundings of the vehicle 100 and sends information related to the detected objects to the ECU 90, and the ECU 90 can obtain information related to objects existing in the surroundings of the vehicle 100 (object information I_O) based on the information. In this example, the objects detected by the surrounding information detection device 30 are other vehicles, two-wheeled motor vehicles, bicycles, pedestrians, and the like.

[0053] <Door opening and closing detection device>

[0054] The door opening and closing detection device 41 is a device for detecting whether each door 100D is opened or closed. The door opening and closing detection device 41 is electrically connected to the ECU 90. The door opening and closing detection device 41 detects whether each door 100D is opened or closed, and sends information related to the detection result to the ECU 90. The ECU 90 can recognize whether each door 100D is opened or closed based on the information.

[0055] <Door lock operation device>

[0056] The door lock operation device 42 is a device for locking or unlocking the door 100D, and is, for example, a door lock switch operated by an occupant of the vehicle 100 or a door lock sensor that detects an operation applied to the door lock operation device 42 .

[0057] The door lock operation device 42 is electrically connected to the door lock operation detection device 43. In addition, the door lock operation detection device 43 is electrically connected to the ECU 90. The door lock operation detection device 43 detects the operation applied to the door lock operation device 42, and sends information related to the detected operation to the ECU 90. The ECU 90 operates the door lock device 22 according to the information, thereby locking or unlocking the door 100D. Therefore, the occupant of the vehicle 100 can lock or unlock each door 100D by using the door lock device 22 by operating the door lock operation device 42.

[0058] <Overview of Operation of the Vehicle Exit Assist Device>

[0059] Next, the outline of the operation of the vehicle getting off support device 10 will be described.

[0060] Hereinafter, the operation of the getting-off assist device 10 will be described when the object approaching the host vehicle 100 is a vehicle approaching the host vehicle 100 from the rear, but the getting-off assist device 10 also operates in the same manner when the object approaching the host vehicle 100 is a vehicle approaching the host vehicle 100 from the front. In addition, hereafter, the operation of the getting-off assist device 10 will be described when the object approaching the host vehicle 100 is a vehicle, but the getting-off assist device 10 also operates in the same manner when the object approaching the host vehicle 100 is another object such as a motorcycle, a bicycle, or a pedestrian.

[0061] Furthermore, the operation of the exit assist device 10 when the object stopped beside the host vehicle 100 is a vehicle will be described below, but the exit assist device 10 operates similarly when the object stopped beside the host vehicle 100 is another object such as a motorcycle, a bicycle, or a pedestrian.

[0062] like Figure 3A As shown, the vehicle 200 may approach the door 100D of the host vehicle 100 from behind the host vehicle 100 which is stopped. Figure 3B As shown, such a vehicle 200 (approaching vehicle 200A) sometimes passes by the side of the host vehicle 100. At this time, if the door 100D of the host vehicle 100 is opened, the approaching vehicle 200A may collide with the door 100D. Therefore, if an alarm is issued (processing of outputting an alarm sound from the alarm device 21) when there is such a possibility, the occupants including the driver of the host vehicle 100 can be notified of the possibility that the approaching vehicle 200A may collide with the door 100D, thereby, if the occupants stop opening the door 100D, the collision between the approaching vehicle 200A and the door 100D can be avoided.

[0063] Therefore, in order to avoid a collision between the approaching vehicle 200A and the door 100D of the host vehicle 100, it is preferable to predict the moving path of the approaching vehicle 200A, and to issue an alarm when it is determined that the approaching vehicle 200A may pass by the host vehicle 100 based on the predicted moving path (predicted moving path).

[0064] On the other hand, Figure 4A As shown in FIG. 1 , the vehicle 300 may stop beside the host vehicle 100. When there is such a vehicle 300 (stopped vehicle 300S) stopped beside the host vehicle 100, as shown in FIG. Figure 4B As shown, the approaching vehicle 200A passes between the stopped vehicle 300S and the host vehicle 100. At this time, the approaching vehicle 200A sometimes passes by the side of the host vehicle 100. Therefore, in this case, if an alarm is issued, the alarm is necessary to avoid a collision between the approaching vehicle 200A and the door 100D of the host vehicle 100.

[0065] However, if Figure 5A As shown in FIG. 1 , if the approaching vehicle 200A moves in a manner overlapping with the stopped vehicle 300S in the lateral direction Y, then Figure 5B As shown, the approaching vehicle 200A stops in front of the stopped vehicle 300S. Therefore, in this case, if an alarm is issued, the alarm is not necessary to avoid the collision between the approaching vehicle 200A and the door 100D of the host vehicle 100, and the implementation of such an alarm should be avoided.

[0066] Therefore, the vehicle getting off support device 10 determines whether to issue an alarm as follows.

[0067] The vehicle exit assisting device 10 performs a process of detecting the approaching vehicle 200A based on the surrounding information I_S. Fig. 6A As shown, when the vehicle 200 approaches the host vehicle 100 , the getting-off assistance device 10 detects the vehicle 200 as an approaching vehicle 200A based on the surrounding information I_S.

[0068] When the approaching vehicle 200A is detected, the getting off assistance device 10 obtains the relative position P200 of the approaching vehicle 200A, the longitudinal distance D2_X of the approaching vehicle 200A, the relative speed dV of the approaching vehicle 200A, and the traveling direction D200 of the approaching vehicle 200A based on the radio wave information I_R.

[0069] The relative position P200 of the approaching vehicle 200A is the position of the approaching vehicle 200A relative to the host vehicle 100. Figure 6B As shown in FIG. 1 , the longitudinal distance D2_X of the approaching vehicle 200A is the distance in the longitudinal direction X from the host vehicle 100 to the approaching vehicle 200A. In addition, the relative speed dV of the approaching vehicle 200A is the speed of the approaching vehicle 200A relative to the host vehicle 100. Figure 6B As shown, the traveling direction D200 of the approaching vehicle 200A is the traveling direction of the approaching vehicle 200A relative to the host vehicle 100 .

[0070] The vehicle getting off assistance device 10 predicts the movement path of the approaching vehicle 200A based on the acquired relative position P200 and the travel direction D200 and the like, and acquires the predicted movement path as a predicted movement path R200 .

[0071] In this example, if Figure 6C As shown, the vehicle exit assisting device 10 predicts the movement path of the corner (target portion P_T) of the right front corner 200C_R and the left front corner 200C_L of the approaching vehicle 200A, which is close to the host vehicle 100 in the lateral direction Y, and acquires the predicted movement path as the predicted movement path R200 of the approaching vehicle 200A. The vehicle exit assisting device 10 acquires the predicted movement path R200 at a predetermined calculation cycle while the approaching vehicle 200A is detected.

[0072] The predicted movement path R200 is a path along which the target portion P_T moves when the approaching vehicle 200A is assumed to travel in the travel direction D200 at the time when the predicted movement path R200 is obtained. Figure 6C In the illustrated example, since the approaching vehicle 200A is traveling on the right side of the host vehicle 100 in the lateral direction Y, the target portion P_T is the left front corner 200C_L of the approaching vehicle 200A.

[0073] After obtaining the predicted movement path R200, the vehicle exit support device 10 determines whether the predicted movement path R200 is a path passing by the door 100D of the vehicle 100. In this example, the vehicle exit support device 10 determines whether the predicted movement path R200 intersects the approaching area AN when viewed from above, thereby determining whether the predicted movement path R200 is a path passing by the door 100D of the vehicle 100. Figure 7 As shown, the proximity area AN includes a right proximity area AN_R and a left proximity area AN_L.

[0074] <Right approach area>

[0075] The right approach area AN_R is an area set on the right side of the host vehicle 100 and is a rectangular area surrounded by two vertical lines (vertical line NR_X1 and vertical line NR_X2) and two horizontal lines (horizontal line NR_Y1 and horizontal line NR_Y2).

[0076] The longitudinal line NR_X1 is a line extending along the right side wall 100W_R of the host vehicle 100 in the longitudinal direction X. The longitudinal line NR_X2 is a line extending in the longitudinal direction X at a predetermined distance dN_Y to the right from the longitudinal line NR_X1 (i.e., the right side wall 100W_R of the host vehicle 100). Therefore, the length of the right approach area AN_R in the lateral direction Y is a length equivalent to the predetermined distance dN_Y.

[0077] The transverse line NR_Y1 is a line extending in the transverse direction Y along the front wall 100W_F of the host vehicle 100. The transverse line NR_Y2 is a line extending in the transverse direction Y along the rear wall 100W_B of the host vehicle 100. In this example, the length of the right approach area AN_R in the longitudinal direction X is a length dN_X.

[0078] <Left Approach Area>

[0079] The left approach area AN_L is an area set on the left side of the host vehicle 100 and is a rectangular area surrounded by two vertical lines (vertical line NL_X1 and vertical line NL_X2) and two horizontal lines (horizontal line NL_Y1 and horizontal line NL_Y2).

[0080] The longitudinal line NL_X1 is a line extending along the left side wall 100W_L of the host vehicle 100 in the longitudinal direction X. The longitudinal line NL_X2 is a line extending in the longitudinal direction X at a predetermined distance dN_Y to the left from the longitudinal line NL_X1 (i.e., the left side wall 100W_L of the host vehicle 100). Therefore, the length of the left approach area AN_L in the lateral direction Y is a length corresponding to the predetermined distance dN_Y.

[0081] The horizontal line NL_Y1 is a line extending in the horizontal direction Y along the front wall 100W_F of the host vehicle 100. The horizontal line NL_Y2 is a line extending in the horizontal direction Y along the rear wall 100W_B of the host vehicle 100. In this example, the length of the left approach area AN_L in the longitudinal direction X is the length dN_X.

[0082] <Approach Line>

[0083] In this example, if Figure 8 As shown, the right approach line LN_R is used as the right approach area AN_R, and the left approach line LN_L is used as the left approach area AN_L.

[0084] The right approach line LN_R is a line extending from the right side wall 100W_R of the host vehicle 100 to a location at a predetermined distance dN_Y in the right direction. In other words, the right approach line LN_R is an area within a predetermined distance dN_Y in the lateral direction Y from the host vehicle 100. The left approach line LN_L is a line extending from the left side wall 100W_L of the host vehicle 100 to a location at a predetermined distance dN_Y in the left direction. In other words, the left approach line LN_L is an area within a predetermined distance dN_Y in the lateral direction Y from the host vehicle 100.

[0085] In addition, the predetermined distance dN_Y is set to be at least a distance greater than the distance (minimum distance Dm) between the point where the top end of the right door 100D_R of the vehicle 100 reaches when the right door 100D_R of the vehicle 100 is opened to the maximum and the right side wall 100W_R of the vehicle 100. In addition, the predetermined distance dN_Y is set to be at least a distance greater than the distance (minimum distance Dm) between the point where the top end of the left door 100D_L of the vehicle 100 reaches when the left door 100D_L of the vehicle 100 is opened to the maximum and the left side wall 100W_L of the vehicle 100.

[0086] Taking into account the situation that when an occupant of the vehicle 100 opens the door 100D and gets off, the occupant may stick out further to the side than the top portion of the opened door 100D; the situation that even at the time when the approaching vehicle 200A is traveling at a relatively far rear position away from the vehicle 100, the predicted moving path R200 may leave the vehicle 100 by a distance longer than the minimum distance Dm and then approach the vehicle 200A in the lateral direction Y; and the situation that it is difficult to obtain an extremely accurate predicted moving path R200. In order to ensure safety, in this example, the predetermined distance dN_Y is set to a distance longer than the minimum distance Dm.

[0087] Furthermore, when the approaching vehicle 200A is detected, the getting-off assisting device 10 obtains the predicted arrival time required for the approaching vehicle 200A to reach the door 100D of the host vehicle 100 based on the surrounding information I_S. In this example, the getting-off assisting device 10 obtains the predicted arrival time TTC required for the approaching vehicle 200A to reach the host vehicle 100 as the predicted arrival time required for the approaching vehicle 200A to reach the door 100D of the host vehicle 100.

[0088] The exit assist device 10 obtains the predicted arrival time TTC by calculation based on the longitudinal distance D2_X and the relative speed dV. In this example, the exit assist device 10 obtains the predicted arrival time TTC by dividing the longitudinal distance D2_X by the relative speed dV (TTC=D2_X / dV). The exit assist device 10 obtains the predicted arrival time TTC in a predetermined calculation cycle while detecting the approaching vehicle 200A.

[0089] When the approaching vehicle 200A is detected, the getting off assist device 10 determines whether there is a vehicle stopped in the adjacent area AS based on the surrounding information I_S. The getting off assist device 10 determines whether there is a vehicle stopped in the adjacent area AS in a predetermined calculation cycle while the approaching vehicle 200A is detected.

[0090] <Neighboring Area>

[0091] like Fig. 9 As shown, the adjacent area AS includes a right adjacent area AS_R and a left adjacent area AS_L.

[0092] <Right adjacent area>

[0093] In this example, the right adjacent area AS_R is an area set on the right side of the host vehicle 100 and is a rectangular area surrounded by two vertical lines (vertical line SR_X1 and vertical line SR_X2) and two horizontal lines (horizontal line SR_Y1 and horizontal line SR_Y2).

[0094] The longitudinal line SR_X1 is a line extending in the longitudinal direction X from the right side wall 100W_R of the vehicle 100 at a first distance dS_Y1 to the right. The longitudinal line SR_X2 is a line extending in the longitudinal direction X from the right side wall 100W_R of the vehicle 100 at a second distance dS_Y2 to the right. The second distance dS_Y2 is longer than the first distance dS_Y1 by a predetermined length dS_Y3. Therefore, the length of the right adjacent area AS_R in the transverse direction Y is the predetermined length dS_Y3.

[0095] The horizontal line SR_Y1 is a line that passes through the rear end of the right rear door 100D_RR of the vehicle 100 and extends in the horizontal direction Y. The horizontal line SR_Y2 is a line that is separated from the horizontal line SR_Y1 by a predetermined distance dS_X to the rear and extends in the horizontal direction Y. Therefore, the length of the longitudinal direction X of the right adjacent area AS_R is a length corresponding to the predetermined distance dS_X.

[0096] <Left adjacent area>

[0097] In this example, the left adjacent area AS_L is an area set on the left side of the vehicle 100 and is a rectangular area surrounded by two vertical lines (vertical lines SL_X1 and SL_X2) and two horizontal lines (horizontal lines SL_Y1 and SL_Y2).

[0098] The longitudinal line SL_X1 is a line extending in the longitudinal direction X from the left side wall 100W_L of the vehicle 100 at a first distance dS_Y1 to the left. The longitudinal line SL_X2 is a line extending in the longitudinal direction X from the left side wall 100W_L of the vehicle 100 at a second distance dS_Y2 to the left. As described above, the second distance dS_Y2 is longer than the first distance dS_Y1 by a predetermined length dS_Y3. Therefore, the length of the left adjacent area AS_L in the lateral direction Y is the predetermined length dS_Y3.

[0099] The horizontal line SL_Y1 is a line that passes through the rear end of the left rear door 100D_LR of the vehicle 100 and extends in the horizontal direction Y. The horizontal line SL_Y2 is a line that is separated from the horizontal line SL_Y1 by a predetermined distance dS_X to the rear and extends in the horizontal direction Y. Therefore, the length of the longitudinal direction X of the left adjacent area AS_L is a length corresponding to the predetermined distance dS_X.

[0100] like Fig.10 As shown, when there is a stopped vehicle 300S in the adjacent area AS, the getting off assistance device 10 detects the stopped vehicle 300 as a target stopped vehicle 300T.

[0101] When the target stopped vehicle 300T is detected, the vehicle getting off assistance device 10 acquires the stopped vehicle distance D3_Y and the approaching vehicle distance D2_Y based on the surrounding information I_S.

[0102] The stopped vehicle distance D3_Y is the distance in the lateral direction Y between the host vehicle 100 and the target stopped vehicle 300T. In this example, the stopped vehicle distance D3_Y is the distance between "the portion of the host vehicle 100 close to the target stopped vehicle 300T in the lateral direction Y" and "the portion of the target stopped vehicle 300T close to the host vehicle 100 in the lateral direction Y". Fig.10 In the illustrated example, the stopped vehicle distance D3_Y is the distance between the right side wall 100W_R of the host vehicle 100 and the left side wall 300W_L of the target stopped vehicle 300T.

[0103] The approaching vehicle distance D2_Y is the distance between the host vehicle 100 and the approaching vehicle 200A in the lateral direction Y. In this example, the approaching vehicle distance D2_Y is the distance between "the portion of the host vehicle 100 close to the approaching vehicle 200A in the lateral direction Y" and "the portion of the approaching vehicle 200A away from the host vehicle 100 in the lateral direction Y". Fig.10 In the illustrated example, the approaching vehicle distance D2_Y is the distance between the right side wall 100W_R of the host vehicle 100 and the right side wall 200W_R of the approaching vehicle 200A.

[0104] After obtaining the stopped vehicle distance D3_Y and the approaching vehicle distance D2_Y, the getting off assist device 10 obtains the difference (overlap amount LAP) between these stopped vehicle distance D3_Y and the approaching vehicle distance D2_Y. In this example, the overlap amount LAP is obtained by subtracting the stopped vehicle distance D3_Y from the approaching vehicle distance D2_Y (LAP=D2_Y-D3_Y). Therefore, when the approaching vehicle 200A and the target stopped vehicle 300T overlap in the lateral direction Y, the obtained overlap amount LAP becomes a positive value, and when the approaching vehicle 200A and the target stopped vehicle 300T do not overlap in the lateral direction Y, the obtained overlap amount LAP becomes a negative value.

[0105] <Alarm Conditions Established>

[0106] Regardless of the predicted arrival time TTC, the vehicle getting off support device 10 can Fig.11A As shown in FIG. 1 , when the predicted movement path R200 intersects the approaching area AN, it is determined that the movement path condition C_R is satisfied. However, in this example, Fig. 11B As shown, when the approaching vehicle 200A approaches the vehicle 100 and the predicted arrival time TTC is shortened to the predetermined predicted arrival time TTC_T, the predicted moving path R200 intersects the approaching area AN, or when the predicted arrival time TTC is less than the predetermined predicted arrival time TTC_T, the moving path condition C_R is determined to be met.

[0107] When determining that the movement path condition C_R is satisfied, the vehicle getting off assistance device 10 sets the approaching vehicle 200A for which the movement path condition C_R is satisfied as the target approaching vehicle 200T.

[0108] Furthermore, when the movement path condition C_R is satisfied, the vehicle getting off assistance device 10 determines whether the overlap amount LAP is equal to or larger than a predetermined overlap amount LAP_T.

[0109] like Fig. 12A As shown, when the overlap amount LAP is equal to or larger than the predetermined overlap amount LAP_T, the vehicle getting off assistance device 10 determines that the target approaching vehicle 200T may stop in front of the target stopped vehicle 300T, and determines that the prohibition condition C_S is satisfied.

[0110] In other words, when the moving path condition C_R is satisfied, when there is a vehicle stopped next to the host vehicle 100, namely the target stopped vehicle 300T, and when the difference between "the distance in the lateral direction Y from the host vehicle 100 to the target stopped vehicle 300T" and "the distance in the lateral direction Y from the host vehicle 100 to the target approaching vehicle 200T" is less than a predetermined value, the getting off assistance device 10 determines that the target approaching vehicle 200T is likely to stop in front of the target stopped vehicle 300T, and determines that the prohibition condition C_S is satisfied.

[0111] On the other hand, Fig. 12B As shown, when the overlap amount LAP is smaller than the predetermined overlap amount LAP_T, the vehicle exit assistance device 10 determines that the target approaching vehicle 200T may pass between the target stopped vehicle 300T and the host vehicle 100 and determines that the prohibition condition C_S does not hold.

[0112] In other words, when the moving path condition C_R is satisfied, in the case where there is a vehicle stopped next to the host vehicle 100, namely the target stopped vehicle 300T, and in the case where the difference between "the distance in the lateral direction Y from the host vehicle 100 to the target stopped vehicle 300T" and "the distance in the lateral direction Y from the host vehicle 100 to the target approaching vehicle 200T" is greater than a predetermined value, the getting off assistance device 10 does not determine that the target approaching vehicle 200T is likely to stop in front of the target stopped vehicle 300T, and therefore does not determine that the prohibition condition C_S is satisfied.

[0113] As long as the object approaching vehicle 200T and the object stopped vehicle 300T overlap slightly in the lateral direction Y, the object approaching vehicle 200T should stop in front of the object stopped vehicle 300T when approaching the object stopped vehicle 300T regardless of the degree of overlap. Therefore, the predetermined overlap amount LAP_T can be set to zero. However, considering that even at the time when the object approaching vehicle 200T is traveling at a relatively far rear position away from the main vehicle 100, the object approaching vehicle 200T overlaps with the object stopped vehicle 300T in the lateral direction Y, and then the object approaching vehicle 200T approaches the main vehicle 100 in the lateral direction Y and may no longer overlap with the object stopped vehicle 300T in the lateral direction Y, and that it is difficult to obtain an extremely accurate overlap amount LAP, in order to ensure safety, in this example, the predetermined overlap amount LAP_T is set to an amount greater than zero.

[0114] In addition, when the overlap amount LAP is a negative value, it is determined that the overlap amount LAP is smaller than the predetermined overlap amount LAP_T.

[0115] When the prohibition condition C_S is not satisfied when the movement path condition C_R is satisfied, the vehicle getting off support device 10 determines that the warning condition C_A is satisfied and issues a warning.

[0116] On the other hand, when the prohibition condition C_S is satisfied, even if the movement path condition C_R is satisfied, the vehicle getting off assistance device 10 does not determine that the warning condition C_A is satisfied, and therefore does not issue a warning.

[0117] In this example, the vehicle getting off support device 10 may be configured to determine that the alarm condition C_A is satisfied when the prohibition condition C_S is not satisfied when the movement path condition C_R is satisfied, but to determine that the alarm condition C_A is satisfied when an operation by an occupant of the host vehicle 100 to open the door 100D of the host vehicle 100 on the side where the target approaching vehicle 200T is predicted to pass is detected when the movement path condition C_R is satisfied and the prohibition condition C_S is not satisfied. The operation to open the door 100D of the host vehicle 100 is an operation to unlock the door 100D and an operation to actually open the door 100D.

[0118] According to the vehicle getting off assistance device 10 , when there is a target stopped vehicle 300T and the target approaching vehicle 200T may stop in front of the target stopped vehicle 300T, no warning is issued, thereby avoiding issuance of unnecessary warnings.

[0119] <Specific operation of the vehicle getting off support device>

[0120] Next, the specific operation of the vehicle exit assisting device 10 will be described. The CPU of the ECU 90 of the vehicle exit assisting device 10 executes the following operation at a predetermined time period: Fig.13 The routine shown.

[0121] Therefore, when the predetermined timing is reached, the CPU Fig.13 The process starts at step 1300 and proceeds to step 1305 to determine whether the approaching vehicle 200A is detected.

[0122] When the CPU determines "yes" in step 1305, the CPU proceeds to step 1310 to obtain the predicted movement path R200. Next, the CPU proceeds to step 1315 to obtain the predicted arrival time TTC. Next, the CPU proceeds to step 1320 to determine whether there is a stopped vehicle 300S.

[0123] When the CPU determines “yes” in step 1320, the CPU proceeds to step 1325 to obtain the overlap amount LAP. In addition, at this time, the CPU sets the stopped vehicle 300S as the target stopped vehicle 300T. Then, the CPU proceeds to step 1330.

[0124] On the other hand, when the CPU makes a “No” determination in step 1320, the CPU directly proceeds to step 1330.

[0125] When the process proceeds to step 1330 , the CPU determines whether or not the predicted movement path R200 intersects the right approach line LN_R or the left approach line LN_L.

[0126] When the CPU makes a “YES” determination in step 1330, the CPU advances the process to step 1335 to determine whether the predicted arrival time TTC is equal to or less than the predetermined predicted arrival time TTC_T.

[0127] When the CPU makes a “YES” determination at step 1335, the CPU proceeds to step 1340 to determine whether the overlap amount LAP is equal to or greater than a predetermined overlap amount LAP_T. That is, the CPU determines whether the prohibition condition C_S is satisfied.

[0128] In addition, the CPU determines "No" in step 1320 and therefore does not execute the processing of step 1325. Therefore, in step 1335, when the overlap amount LAP is not obtained, it is determined that the overlap amount LAP is less than the predetermined overlap amount LAP_T (ie, it is determined "No" in step 1340).

[0129] When the CPU determines "yes" in step 1340, the processing directly proceeds to step 1395 and temporarily ends this routine. Therefore, in this case, since the prohibition condition C_S is satisfied, the alarm condition C_A is not satisfied, and therefore, the alarm is not issued.

[0130] On the other hand, when the CPU determines "No" in step 1340, the prohibition condition C_S is not satisfied, and therefore the CPU determines that the alarm condition C_A is satisfied, and proceeds to step 1345 to issue an alarm. Next, the CPU proceeds to step 1395 to temporarily terminate this routine.

[0131] In addition, when the CPU determines "No" in step 1305, step 1330 or step 1335, the processing proceeds to step 1395 and temporarily ends this routine. At this time, when the CPU implements an alarm, it ends the implementation of the alarm.

[0132] The above is the specific operation of the vehicle getting off support device 10 .

[0133] In addition, the present invention is not limited to the above-described embodiment, and various modifications can be adopted within the scope of the present invention.< / ecu>

Claims

1. A vehicle exit support device, configured to be mounted on a vehicle and comprising a processor, The processor is configured as follows: Detecting an approaching object based on the surrounding information acquired by the surrounding information detection device, obtaining information about the approaching object based on radio wave information, wherein the information about the approaching object includes at least a relative position relative to the host vehicle, a longitudinal distance relative to the host vehicle, a relative speed of the approaching object, and a traveling direction of the approaching object; predicting a movement path of the approaching object as a predicted movement path based on the acquired information about the approaching object, When the moving path condition is satisfied and the prohibition condition is not satisfied, an alarm is issued when there is an approaching object approaching the host vehicle and the predicted moving path is a path passing by the side of the door of the host vehicle, When the prohibition condition is satisfied, the warning is not issued even if it is determined that the movement path condition is satisfied. It is characterized in that In the presence of a stopped object next to the vehicle, the prohibition condition includes the following condition: a difference obtained by subtracting a distance between a portion of the vehicle laterally close to the approaching object and a portion of the approaching object farther away from the vehicle in the laterally, i.e., the approaching object distance, from a distance between a portion of the vehicle laterally close to the approaching object and a portion of the approaching object laterally away from the vehicle in the laterally, i.e., the stopping object distance, from a distance between a portion of the vehicle laterally close to the stopping object and a portion of the stopping object laterally close to the vehicle in the laterally, i.e., the approaching object distance, i.e., the stopping object distance, is greater than a predetermined value, and the approaching object distance and the stopping object distance are obtained by the getting off assistance device based on the surrounding information.

2. The vehicle getting-off support device according to claim 1, It is characterized in that The processor is configured to detect, as the approaching object, the object approaching the host vehicle and the predicted movement path passing through an area within a predetermined distance in a lateral direction from the host vehicle.

3. The vehicle getting-off support device according to claim 1, It is characterized in that The processor is configured to detect an object stopped in a predetermined area beside the host vehicle as the stopped object.

4. The vehicle getting-off support device according to claim 2, It is characterized in that The processor is configured to detect an object stopped in a predetermined area beside the host vehicle as the stopped object.

5. The vehicle getting-off assisting device according to any one of claims 1 to 4, It is characterized in that The movement path condition includes a condition that a time required for the approaching object to pass by the door of the host vehicle is predicted to be equal to or less than a predetermined time.

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