Get-off support device

Abstract

A vehicle exit assistance device includes a processor, wherein the processor is configured to determine that the target approaching object is likely to pass through the lateral part of the door of the host vehicle when there is no second object between the target approaching object and the host vehicle, and to correct the predicted movement path based on the position of the edge of the second object when the second object is between the target approaching object and the host vehicle when the target approaching object is set, and to determine that the target approaching object is likely to pass through the lateral part of the door of the host vehicle when the corrected predicted movement path is a path passing through the lateral part of the door of the host vehicle, and to issue an alarm when it is determined that the target approaching object is likely to pass through the lateral part of the door of the host vehicle.

Description

Technical Field

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

[0002] As a related art, there is known an exit support device (for example, see Japanese Patent Application Laid-Open No. 2007-138457), which prevents the vehicle door from being opened when an object that may pass through the stopped vehicle is detected, thereby preventing the occupant from exiting the vehicle. In addition, as another related art, there is also known an exit support device, which issues an alarm when an object that may pass through the stopped vehicle is detected, thereby notifying the occupant of the vehicle that "there is an object that may pass through the stopped vehicle." According to such an exit support device, the safety of the occupant of the vehicle can be protected. Summary of the invention

[0003] As a related art getting-off assistance device, there is known a getting-off assistance device that uses a radio wave sensor such as a radar sensor to detect an object (approaching object) such as a vehicle approaching a stopped vehicle. The radio wave sensor outputs radio waves that are diffracted at the edge of the object. Therefore, when there is an object other than the approaching object between the approaching object and the vehicle, the radio wave (reflected wave) output from the radio wave sensor and reflected by the approaching object is sometimes diffracted at the edge of the different object. If the moving path of the approaching object is predicted based on the diffracted radio wave (reflected wave), it is possible to erroneously determine whether the approaching object is likely to pass through the lateral part of the door of the vehicle.

[0004] The present invention provides a vehicle getting-off assist device, which can accurately determine whether an approaching object is likely to pass through a lateral portion of a door of a vehicle even when there are other objects between the approaching object and the vehicle.

[0005] The technical solution of the present invention relates to a vehicle exit assist device including a radio wave sensor configured to detect an object and a processor, wherein the processor is configured to detect an object approaching a host vehicle based on a detection result of the radio wave sensor, obtain a predicted movement path of the object based on the detection result of the radio wave sensor when the object is detected, set the object as a target approaching object when the predicted movement path obtained by the processor is a path passing through a lateral portion of a door of the host vehicle, determine that the target approaching object is likely to pass through a lateral portion of the door of the host vehicle when a second object different from the target approaching object does not exist between the target approaching object and the host vehicle, and correct the predicted movement path based on a position of an edge of the second object when the second object exists between the target approaching object and the host vehicle when the target approaching object is set, determine that the target approaching object is likely to pass through a lateral portion of the door of the host vehicle when the predicted movement path corrected by the processor is a path passing through a lateral portion of the door of the host vehicle, and issue an alarm when it is determined that the target approaching object is likely to pass through a lateral portion of the door of the host vehicle.

[0006] If there are other objects between the object approaching the object and the vehicle, diffraction of the radio waves reflected by the object approaching the object may occur at the edge of the other object. If in such a case, it is determined whether the object approaching the object is likely to pass through the lateral part of the door of the vehicle based on the predicted moving path obtained based on the radio waves, errors may occur in the determination. According to the above technical solution, in the case where there are other objects between the object approaching the object and the vehicle, the predicted moving path of the object approaching the object is corrected based on the position of the edge of the other object, and based on the corrected predicted moving path, it is determined whether the object approaching the object is likely to pass through the lateral part of the door of the vehicle. Therefore, even in the case where there are other objects between the object approaching the object and the vehicle, it is possible to determine with high accuracy whether the object approaching the object is likely to pass through the lateral part of the door of the vehicle.

[0007] In the above technical solution, the processor can be configured to, when the predicted moving path obtained by the processor is a path passing through an area within a predetermined distance from the vehicle in the lateral direction of the vehicle, determine that the predicted moving path obtained by the processor is a path passing through the lateral direction of the door of the vehicle; when the predicted moving path corrected by the processor is a path passing through the area within the predetermined distance in the lateral direction of the vehicle, determine that the predicted moving path corrected by the processor is a path passing through the lateral direction of the door of the vehicle.

[0008] Since the object approaching the target is a factor that determines whether to issue an alarm, in order to appropriately determine whether to issue an alarm, the object determined as the object approaching the target may be an object whose predicted moving path is a path that passes through an area within a certain distance from the vehicle in the lateral direction. According to the above configuration, an object that approaches the vehicle and whose predicted moving path is a path that passes through an area within a predetermined distance from the vehicle in the lateral direction is detected as an approaching object. Therefore, it is possible to more appropriately determine whether to issue an alarm.

[0009] In the above technical solution, the processor can be configured to set the object as the object approaching the object when the predicted moving path obtained by the processor is a path passing through the lateral part of the door of the vehicle when the predicted time required for the object to reach the lateral part of the door of the vehicle is less than a predetermined time.

[0010] According to the above configuration, when the time predicted until the target approaching object passes the lateral position of the door of the host vehicle is less than the predetermined time, the moving path condition is satisfied. Instead of issuing an alarm when the target approaching object moves in a place far away from the host vehicle, an alarm is issued after the target approaching object approaches the host vehicle. In other words, an alarm can be issued more appropriately.

[0011] The components of the present invention are not limited to the embodiments of the present invention described below with reference to the drawings. Other objects, other features, and additional advantages of the present invention will be easily understood from the description of the embodiments of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0012] 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:

[0013] Figure 1 It is a diagram showing a vehicle getting off assisting device according to an embodiment of the present invention and a vehicle (host vehicle) equipped with the vehicle getting off assisting device.

[0014] Figure 2 It is a diagram showing the vehicle.

[0015] Figure 3A The diagram shows a situation in which there is a vehicle (approaching vehicle) approaching the host vehicle from behind.

[0016] Figure 3B The figure shows a situation in which the approaching vehicle is about to pass the lateral side of the host vehicle.

[0017] Figure 4 This is a diagram showing a situation in which another vehicle exists between the vehicle approaching the host vehicle from behind (approaching vehicle) and the host vehicle.

[0018] Figure 5 The diagram shows the state of radio waves (reflected waves) reflected by a vehicle (approaching vehicle) approaching the host vehicle from behind in a situation where another vehicle exists between the host vehicle and the vehicle.

[0019] Figure 6 The diagram shows a predicted movement path obtained based on radio waves (reflected waves) reflected by a vehicle (approaching vehicle) approaching the host vehicle from behind, in a situation where another vehicle exists between the host vehicle and the vehicle.

[0020] Fig. 7A The diagram shows a situation in which a vehicle (approaching vehicle) approaching the host vehicle from behind is detected.

[0021] Figure 7B It is a diagram showing the traveling direction of an approaching vehicle and the longitudinal distance between the approaching vehicle and the host vehicle.

[0022] Figure 7C 1 is a diagram showing a predicted movement path approaching the left front corner of the vehicle.

[0023] Figure 8 It is a diagram showing a close area.

[0024] Fig. 9 : is a figure which shows the approach line which is a approach area.

[0025] Fig. 10A This is a diagram showing a predicted movement path of the left front corner of the approaching vehicle obtained in a situation where no other vehicle exists between the vehicle approaching the host vehicle from behind (approaching vehicle) and the host vehicle.

[0026] Fig. 10B This is a diagram showing a predicted movement path of the left front corner of the approaching vehicle obtained in a situation where another vehicle exists between the approaching vehicle and the host vehicle.

[0027] Fig.11 It is a diagram showing the longitudinal distance and lateral distance of the approaching vehicle, the longitudinal distance and lateral distance of other vehicles between the approaching vehicle and the vehicle, and the approach angle of the approaching vehicle, etc., obtained when there are other vehicles between the vehicle approaching the vehicle from behind (approaching vehicle) and the vehicle itself.

[0028] Fig.12 The diagram shows a corrected predicted movement path of the left front corner of the approaching vehicle in a situation where another vehicle exists between the vehicle approaching the host vehicle from behind (approaching vehicle) and the host vehicle.

[0029] Fig.13The diagram shows the positional relationship between the corrected predicted movement path of the left front corner of the approaching vehicle and the approach line in a situation where another vehicle exists between the vehicle approaching the host vehicle from behind (approaching vehicle) and the host vehicle.

[0030] Fig.14 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

[0031] Hereinafter, a vehicle getting-off assisting device according to an embodiment of the present invention will be described with reference to the accompanying drawings. Figure 1 2 shows a vehicle getting-off assist device 10 according to an embodiment of the present invention. The vehicle getting-off assist device 10 is mounted on a vehicle (host vehicle 100).

[0032] 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.

[0033] In the drawings, reference numeral X indicates a longitudinal direction based on the vehicle 100, and reference numeral Y indicates a lateral direction (vehicle lateral direction) based on 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.

[0034] In this example, each door 100D is a swinging (pivoting (rotating around a pivot)) door. Therefore, each door 100D is mounted on the vehicle body 100B of the vehicle 100 so that it can swing (pivot) around a pivot axis extending vertically at its front portion. In addition, one or more of the doors 100D may be a sliding (sliding) door.

[0035] Hereinafter, the right front door 100D_RF and the right rear door 100D_RR are both referred to as "right door 100D_R", and the left front door 100D_LF and the left rear door 100D_LR are both referred to as "left door 100D_L".

[0036] <ECU>

[0037] The vehicle exit support device 10 includes an ECU 90. ECU is an abbreviation of 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, and routines stored in the ROM.

[0038] <Alarm devices, etc.>

[0039] The vehicle 100 is equipped with an alarm device 21 and a door lock device 22 .

[0040] <Alarm device>

[0041] 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.

[0042] <Door lock device>

[0043] The door lock device 22 is a device for locking (locking) each vehicle door 100D and unlocking each vehicle door 100D. The door lock device 22 is electrically connected to the ECU 90. The ECU 90 can control the operation of the door lock device 22.

[0044] <Surrounding information detection device, etc.>

[0045] 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 .

[0046] <Surrounding information detection device>

[0047] The surrounding information detection device 30 is a device for detecting information about the surroundings of the vehicle 100, and in this example, includes a radio wave sensor 31 and an image sensor 32. The radio wave sensor 31 is, for example, a radar sensor (millimeter wave radar, etc.). The image sensor 32 is, for example, a camera. In addition, the surrounding information detection device 30 may also include an acoustic wave sensor such as an ultrasonic sensor (clearance sonar), and an optical sensor such as a laser radar (LiDAR).

[0048] The radio wave sensor 31 is electrically connected to the ECU 90. The radio wave sensor 31 transmits radio waves and receives radio waves (reflected waves) reflected by an object. The radio wave sensor 31 transmits information (detection results) related to the transmitted radio waves and the received radio waves (reflected waves) to the ECU 90. In other words, the radio wave sensor 31 detects objects present in the vicinity of the vehicle 100, and transmits information (detection results) related to the detected objects to the ECU 90. The ECU 90 can obtain information (object information I_O) related to objects present in the vicinity of the vehicle 100 based on the information (radio wave information I_R). In this example, the objects detected by the radio wave sensor 31 are vehicles, automatic two-wheeled vehicles (motorcycles), bicycles, pedestrians, etc.

[0049] The image sensor 32 is also electrically connected to the ECU 90. The image sensor 32 captures the surroundings of the host vehicle 100 and transmits information related to the captured image to the ECU 90. The ECU 90 can obtain information related to the surroundings of the host vehicle 100 (surrounding information I_S) based on the information (image information I_C).

[0050] <Door opening and closing detection device>

[0051] The door opening and closing detection device 41 is a device for detecting whether each door 100D is open 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 open or closed, and sends information related to the detection result to the ECU 90. The ECU 90 can recognize whether each door 100D is open or closed based on the information.

[0052] <Door lock operating device>

[0053] The door lock operating device 42 is a device for locking and unlocking the vehicle 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 operating device 42 .

[0054] 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 based on the information, thereby locking and unlocking the vehicle door 100D. Therefore, the occupant of the vehicle 100 can lock and unlock each vehicle door 100D through the door lock device 22 by operating the door lock operation device 42.

[0055] <Overview of the operation of the vehicle getting off support device>

[0056] Next, the outline of the operation of the vehicle getting off support device 10 will be described.

[0057] In the following, although the operation of the getting-off assist device 10 is described when the object approaching the host vehicle 100 is a vehicle approaching the host vehicle 100 from the rear, 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, in the following, although the operation of the getting-off assist device 10 is described when the object approaching the host vehicle 100 is a vehicle, 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 two-wheeled motor vehicle, a bicycle, or a pedestrian.

[0058] Furthermore, although the operation of the getting-off assist device 10 when the object between the vehicle approaching the vehicle 100 from behind and the vehicle 100 is a vehicle is described below, the getting-off assist device 10 also operates in the same manner when the object between the vehicle approaching the vehicle 100 from behind and the vehicle 100 is another object such as a two-wheeled motor vehicle, a bicycle, or a pedestrian.

[0059] like Figure 3A As shown, sometimes the vehicle 200 approaches the stopped host vehicle 100 from behind toward the door 100D of the host vehicle 100. Figure 3B As shown, such a vehicle 200 (approaching vehicle 200A) sometimes passes by the lateral 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 passengers including the driver of the host vehicle 100 can be notified of the situation that "the approaching vehicle 200A may collide with the door 100D". If the passengers receive the alarm and stop opening the door 100D, the collision between the approaching vehicle 200A and the door 100D can be avoided.

[0060] Therefore, in order to avoid a collision between the approaching vehicle 200A and the door 100D of the host vehicle 100, the moving path of the approaching vehicle 200A is predicted, and an alarm is issued when it is determined that the approaching vehicle 200A may pass through the lateral area of ​​the host vehicle 100 based on the predicted moving path (predicted moving path).

[0061] The vehicle exit assisting device 10 predicts the movement path of the approaching vehicle 200A based on the radio wave information I_R obtained based on the information provided by the radio wave sensor 31 , and determines whether the approaching vehicle 200A is likely to pass through the lateral area of ​​the door 100D of the host vehicle 100 based on the predicted movement path (predicted movement path).

[0062] On the other hand, Figure 4As shown in FIG. 1 , sometimes another vehicle 300 is stopped between the approaching vehicle 200A and the host vehicle 100. When there is such a stopped vehicle 300 (stopped vehicle 300S), as shown in FIG. Figure 5 As shown, the radio wave (reflected wave) transmitted from the radio wave sensor 31 and reflected by the approaching vehicle 200A may sometimes be reflected by the edge of the stopped vehicle 300S (at Figure 5 In the example shown, the diffraction is caused by the right front corner 300C_R of the stopped vehicle 300S. Figure 6 As shown, the predicted movement path of the approaching vehicle 200A obtained based on the radio wave will deviate from the true predicted movement path of the approaching vehicle 200A. If the true predicted movement path of the approaching vehicle 200A cannot be obtained, it is impossible to accurately predict whether the approaching vehicle 200A is likely to pass through the lateral part of the door 100D of the host vehicle 100. As a result, unnecessary alarms may be issued or necessary alarms may not be issued.

[0063] Therefore, the vehicle getting off assistance device 10 determines whether the approaching vehicle 200A is likely to pass through the lateral portion of the door 100D of the host vehicle 100 based on the radio wave information I_R as follows.

[0064] The vehicle exit assisting device 10 performs processing for detecting the approaching vehicle 200A based on the radio wave information I_R. Fig. 7A 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 radio wave information I_R.

[0065] When detecting the approaching vehicle 200A, 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.

[0066] The relative position P200 of the approaching vehicle 200A is the position of the approaching vehicle 200A relative to the host vehicle 100. Figure 7B As shown in FIG. 1 , the longitudinal distance D2_X of the approaching vehicle 200A is the distance from the host vehicle 100 to the approaching vehicle 200A in the longitudinal direction X. 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 7B 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 .

[0067] 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 .

[0068] In this example, if Figure 7C As shown, the vehicle exit assisting device 10 predicts the movement path of the corner (target portion P_T) on the side close to the host vehicle 100 in the lateral direction Y, of the right front corner 200C_R and the left front corner 200C_L of the approaching vehicle 200A, 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 in a predetermined calculation cycle while the approaching vehicle 200A is detected.

[0069] The predicted movement path R200 is a path along which the object portion P_T moves when the approaching vehicle 200A is assumed to maintain the travel direction D200 at the time when the movement path R200 is obtained. Figure 7C In the illustrated example, the approaching vehicle 200A is traveling on the right side of the host vehicle 100 in the lateral direction Y, so the target portion P_T is the left front corner 200C_L of the approaching vehicle 200A.

[0070] When the predicted movement path R200 is obtained, the exit assisting device 10 determines whether it is a path that passes through the lateral part of the door 100D of the host vehicle 100 based on the predicted movement path R200. In this example, the exit assisting device 10 determines whether it is a path that passes through the lateral part of the door 100D of the host vehicle 100 by determining whether the predicted movement path R200 intersects the approaching area AN when viewed from above. Figure 8 As shown, the proximity area AN includes a right proximity area AN_R and a left proximity area AN_L.

[0071] <Right side area>

[0072] 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).

[0073] 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 away from the longitudinal line NR_X1 (i.e., the right side wall 100W_R of the host vehicle 100) by a predetermined distance dN_Y to the right. Therefore, the length of the right proximity area AN_R in the lateral direction Y is a length corresponding to the predetermined distance dN_Y.

[0074] The transverse line NR_Y1 is a line extending in the transverse direction Y along the front wall 100W_F of the vehicle 100. The transverse line NR_Y2 is a line extending in the transverse direction Y along the rear wall 100W_B of the vehicle 100. In this example, the length of the right proximity area AN_R in the longitudinal direction X is the length dN_X.

[0075] <Left side area>

[0076] 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).

[0077] 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 proximity area AN_L in the lateral direction Y is a length corresponding to the predetermined distance dN_Y.

[0078] 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 proximity area AN_L in the longitudinal direction X is the length dN_X.

[0079] <Approaching the line>

[0080] In this example, if Fig. 9 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.

[0081] The right approach line LN_R is a line extending from the right side wall 100W_R of the host vehicle 100 to the right to a location at a predetermined distance dN_Y. In other words, the right approach line LN_R is an area within a predetermined distance dN_Y from the host vehicle 100 in the lateral direction Y. The left approach line LN_L is a line extending from the left side wall 100W_L of the host vehicle 100 to the left to a location at a predetermined distance dN_Y. In other words, the left approach line LN_L is an area within a predetermined distance dN_Y from the host vehicle 100 in the lateral direction Y.

[0082] 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.

[0083] Taking into account the following situations, such as "when an occupant of the present vehicle 100 opens the door 100D and gets off, the occupant may move more laterally than the top portion of the opened door 100D", "even when the approaching vehicle 200A is traveling at a position farther behind the present vehicle 100, the predicted moving path R200 may leave the present vehicle 100 by a distance longer than the minimum distance Dm, and then the approaching vehicle 200A may approach the present vehicle 100 in the lateral direction Y", and "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.

[0084] Furthermore, when the approaching vehicle 200A is detected, the getting-off assisting device 10 acquires the predicted arrival time required for the approaching vehicle 200A to reach the door 100D of the host vehicle 100 based on the radio wave information I_R. In this example, the getting-off assisting device 10 acquires 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.

[0085] The exit assisting 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 assisting 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 assisting device 10 obtains the predicted arrival time TTC according to a predetermined calculation cycle while the approaching vehicle 200A is detected.

[0086] Furthermore, when the approaching vehicle 200A is detected, the getting off assisting device 10 determines whether there is another vehicle between the approaching vehicle 200A and the host vehicle 100 based on the radio wave information I_R. While the getting off assisting device 10 detects the approaching vehicle 200A, it determines whether there is another vehicle between the approaching vehicle 200A and the host vehicle 100 at a predetermined calculation cycle.

[0087] <Establishment of movement path conditions>

[0088] Regardless of the predicted arrival time TTC, when the predicted moving path R200 intersects the proximity area AN, the getting off assistance device 10 can determine that the provisional moving path condition C_Rp is satisfied. However, in this example, when the predicted moving path R200 intersects the proximity area AN when the approaching vehicle 200A approaches the host vehicle 100 and the predicted arrival time TTC is shortened to the predetermined predicted arrival time TTC_T, or when the predicted moving path R200 intersects the proximity area AN when the predicted arrival time TTC becomes less than the predetermined predicted arrival time TTC_T, it is determined that the provisional moving path condition C_Rp is satisfied.

[0089] When determining that the provisional movement route condition C_Rp is satisfied, the vehicle getting off assistance device 10 sets the approaching vehicle 200A for which the provisional movement route condition C_Rp is satisfied as the target approaching vehicle 200T.

[0090] There are two cases where it is determined that the provisional moving path condition C_Rp is satisfied: Fig. 10A As shown, when there is no vehicle between the object approaching vehicle 200T and the host vehicle 100, the predicted moving path R200 intersects with the approaching area AN; Fig. 10B As shown, in a situation where the vehicle 300 exists between the target approaching vehicle 200T and the host vehicle 100, the predicted movement path R200 intersects with the approaching area AN.

[0091] from Fig. 10A It can be seen that when it is determined that the predicted movement path R200 intersects the approaching area AN when there is no vehicle between the target approaching vehicle 200T and the host vehicle 100, the predicted movement path R200 is the true movement path of the target approaching vehicle 200T.

[0092] However, from Fig. 10B It can be seen that when the predicted moving path R200 intersects with the approaching area AN when it is determined that there is a vehicle 300 between the object approaching vehicle 200T and the own vehicle 100, the predicted moving path R200 is a path obtained based on radio waves affected by diffraction, and therefore may be different from the actual moving path of the object approaching vehicle 200T.

[0093] Therefore, when determining that the provisional movement path condition C_Rp is satisfied, the vehicle exit assistance device 10 determines that there is no other vehicle between the target approaching vehicle 200T and the host vehicle 100, and determines that the target approaching vehicle 200T may pass through the lateral part of the door 100D of the host vehicle 100, and the movement path condition C_R is satisfied.

[0094] In this example, the vehicle exit assisting device 10 determines that the alarm condition C_A is satisfied when it is determined that the moving path condition C_R is satisfied, but the device may be configured to determine that the alarm condition C_A is satisfied when the moving path condition C_R is satisfied and an operation of opening the door 100D of the host vehicle 100 on the side where the target approaching vehicle 200T is predicted to pass by the occupant of the host vehicle 100 is detected. The operation for opening the door 100D of the host vehicle 100 is an operation for unlocking the door 100D and an operation for actually opening the door 100D.

[0095] The vehicle getting off assistance device 10 issues an alarm when it is determined that the alarm condition C_A is satisfied.

[0096] On the other hand, when it is determined that there is another vehicle between the target approaching vehicle 200T and the host vehicle 100, the vehicle exit assist device 10 sets the other vehicle as the target stopped vehicle 300T, and obtains the “longitudinal distance D2_X of the target approaching vehicle 200T”, “lateral distance D2_Y of the target approaching vehicle 200T”, and “longitudinal distance D3_X of the target stopped vehicle 300T” based on the radio wave information I_R (refer to Fig.11 ).

[0097] like Fig.11 As shown, the longitudinal distance D2_X of the object approaching the vehicle 200T is the distance in the longitudinal direction X between “the object portion P_T (left front corner 200C_L) of the object approaching the vehicle 200T” and “the rear wall 100W_B of the host vehicle 100”.

[0098] The lateral distance D2_Y of the target approaching vehicle 200T is the distance between the target portion P_T (left front corner 200C_L) of the target approaching vehicle 200T and the side wall of the left side wall 100W_L and the right side wall 100W_R of the host vehicle 100 that is closer to the target approaching vehicle 200T in the lateral direction Y (in the left front corner 200C_L). Fig.11 In the example shown, it is the distance in the lateral direction Y between the right side wall 100W_R)" of the vehicle 100.

[0099] In addition, the longitudinal distance D3_X of the target stopped vehicle 300T is the distance in the longitudinal direction X between “the front wall 300W_F of the target stopped vehicle 300T” and “the rear wall 100W_B of the host vehicle 100”.

[0100] In addition, Fig.11 The angle α in FIG. 1 is the approach angle θ of the target approaching vehicle 200T acquired by the vehicle exit assistance device 10 at that time. The approach angle θ of the target approaching vehicle 200T is the angle of the traveling direction D200 of the target approaching vehicle 200T relative to the longitudinal direction X.

[0101] When the longitudinal distance D2_X, the lateral distance D2_Y, and the longitudinal distance D3_X are acquired, the vehicle getting off assistance device 10 acquires the lateral distance D3_Y of the target stopped vehicle 300T through calculation based on these.

[0102] The lateral distance D3_Y of the target stopped vehicle 300T is “the side wall of the left side wall 300W_L and the right side wall 300W_R of the target stopped vehicle 300T which is closer to the target approaching vehicle 200T in the lateral direction Y (in Fig.11 In the example shown, the right side wall 300W_R of the target stopped vehicle 300T) and the side wall of the left side wall 100W_L and the right side wall 100W_R of the host vehicle 100 that is closer to the target approaching vehicle 200T in the lateral direction Y (in Fig.11 In the example shown, it is the distance in the lateral direction Y between the right side wall 100W_R)" of the vehicle 100.

[0103] As shown in the following equation 1, the lateral distance D3_Y of the target stopped vehicle 300T is obtained by calculation based on the longitudinal distance D2_X, the lateral distance D2_Y, and the longitudinal distance D3_X.

[0104] D3_Y=D2_Y×(D3_X / D2_X)…(1)

[0105] After acquiring the lateral distance D3_Y of the target stopped vehicle 300T, the vehicle exit assistance device 10 acquires the angle β through calculation as shown in the following equation 2 based on the longitudinal distance D2_X, the lateral distance D2_Y, and the lateral distance D3_Y.

[0106] β=arctan((D2_Y-D3_Y) / D2_X)…(2)

[0107] The vehicle exit assisting device 10 obtains a predicted movement path R200 in which the obtained angle β is made close to the angle θ. The predicted movement path R200 thus obtained is, for example, Fig.12 The path shown.

[0108] As described above, the approach angle θ of the predicted movement path R200 originally obtained by the vehicle exit assisting device 10 is the angle α, but as described above, the approach angle θ obtained by the vehicle exit assisting device 10 through calculation according to Expression 2 is the angle β.

[0109] Therefore, the vehicle exit support device 10 corrects the originally obtained predicted movement path R200 by obtaining the predicted movement path R200 in which the angle β is set to the approach angle θ. In other words, the vehicle exit support device 10 corrects the predicted movement path R200 based on the position of the edge of the vehicle (the target stopped vehicle 300T) between the host vehicle 100 and the target approaching vehicle 200T.

[0110] The vehicle getting off assistance device 10 determines whether or not the corrected predicted movement path R200 (corrected predicted movement path R200_C) intersects the approach area AN.

[0111] like Fig.13 As shown, when the corrected predicted movement path R200_C does not intersect the approaching area AN, the vehicle exit assisting device 10 determines that the target approaching vehicle 200T is unlikely to pass through the lateral position of the door 100D of the host vehicle 100. Therefore, at this time, the vehicle exit assisting device 10 does not determine that the movement path condition C_R is satisfied, and also does not determine that the alarm condition C_A is satisfied. Therefore, in this case, the vehicle exit assisting device 10 does not issue an alarm.

[0112] On the other hand, when the corrected predicted movement path R200_C intersects the approach area AN, the vehicle exit assistance device 10 determines that the target approaching vehicle 200T may pass through the lateral portion of the door 100D of the host vehicle 100 and determines that the movement path condition C_R is satisfied.

[0113] As described above, the getting off assistance device 10 determines that the alarm condition C_A is satisfied when it is determined that the moving path condition C_R is satisfied, but it may also be configured such that when the moving path condition C_R is satisfied and an operation by an occupant of the host vehicle 100 to open the door 100D of the host vehicle 100 on the side through which the target approaching vehicle 200T is predicted to pass is detected, the alarm condition C_A is determined to be satisfied.

[0114] The vehicle getting off assistance device 10 issues an alarm when it is determined that the alarm condition C_A is satisfied.

[0115] In the above, the operation of the exit assistance device 10 is described by taking the case where the object between the host vehicle 100 and the target approaching vehicle 200T is a stationary vehicle as an example, but the exit assistance device 10 operates in the same manner even if the object between the host vehicle 100 and the target approaching vehicle 200T is a moving object.

[0116] According to the vehicle exit assist device 10, when there is another object (in the above example, the target stopped vehicle 300T) between the target approaching vehicle 200T and the host vehicle 100, the predicted movement path R200 is corrected based on the position of the edge of the other object, and based on the corrected predicted movement path R200, it is determined whether the target approaching vehicle 200T is likely to pass through the lateral part of the door 100D of the host vehicle 100. Therefore, even when there is another object between the target approaching vehicle 200T and the host vehicle 100, it is possible to determine with higher accuracy whether the target approaching vehicle 200T is likely to pass through the lateral part of the door 100D of the host vehicle 100.

[0117] <Specific operation of the vehicle disembarkation support device>

[0118] 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.14 The routine shown.

[0119] Therefore, when the predetermined timing is reached, the CPU Fig.14 The process starts at step 1400 and proceeds to step 1405 to determine whether the approaching vehicle 200A is detected.

[0120] If the CPU determines "yes" in step 1405, the CPU advances the processing to step 1410 to obtain the predicted movement path R200. Next, the CPU advances the processing to step 1415 to obtain the predicted arrival time TTC. Next, the CPU advances the processing to step 1420 to determine whether the predicted movement path R200 intersects the right approach line LN_R or the left approach line LN_L.

[0121] When the CPU makes a “YES” determination at step 1420 , the CPU advances the process to step 1425 , and determines whether or not the predicted arrival time TTC is equal to or less than a predetermined predicted arrival time TTC_T.

[0122] When the CPU makes a “YES” determination at step 1425 , the CPU proceeds to step 1430 to determine whether or not there is a stopped vehicle 300S.

[0123] If the CPU determines "yes" in step 1430, the CPU advances the process to step 1435 to correct the predicted movement path R200 acquired at the current time point as described above. Next, the CPU advances the process to step 1440 to determine whether the corrected predicted movement path R200 intersects the right approach line LN_R or the left approach line LN_L.

[0124] When the CPU makes a "yes" determination at step 1440, it determines that the alarm condition C_A is satisfied, and advances the process to step 1445 to issue an alarm. Next, the CPU advances the process to step 1495 to temporarily terminate this routine.

[0125] On the other hand, when the CPU makes a "No" determination in step 1440, it determines that the alarm condition C_A is not satisfied, and directly advances the process to step 1495, temporarily terminating the present routine. In this case, the alarm condition C_A is not satisfied, so no alarm is issued.

[0126] If the CPU makes a "No" determination at step 1430, it determines that the alarm condition C_A is satisfied, and advances the process to step 1450 to issue an alarm. Next, the CPU advances the process to step 1495 to temporarily terminate this routine.

[0127] If the CPU makes a "No" determination in step 1405, step 1420, or step 1425, the CPU advances the process to step 1495 and temporarily terminates the present routine. At this time, if the CPU is issuing an alarm, the CPU terminates the issuance of the alarm.

[0128] The above is the specific operation of the vehicle getting off support device 10 .

[0129] 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.

Claims

1. A vehicle getting off support device, characterized in that: have: an electric wave sensor configured to detect an object; and processor, The processor is configured as follows: detecting an object approaching the vehicle based on the detection result of the radio wave sensor, When the object is detected, a predicted movement path of the object is obtained based on the detection result of the radio wave sensor, When the predicted movement path obtained by the processor is a path passing through a lateral portion of a door of the host vehicle, the object is set as a target approaching object, If there is no second object different from the target approaching object between the target approaching object and the host vehicle, it is determined that the target approaching object is likely to pass through the lateral portion of the door of the host vehicle, When the target approaching object is set, if the second object is between the target approaching object and the host vehicle, the predicted movement path is corrected based on the position of the edge of the second object, When the predicted movement path corrected by the processor is a path passing through the lateral part of the door of the host vehicle, it is determined that the target approaching object is likely to pass through the lateral part of the door of the host vehicle, When it is determined that the target approaching object is likely to pass through the lateral position of the door of the host vehicle, an alarm is issued.

2. The vehicle exit assisting device according to claim 1, characterized in that: The processor is configured as follows: When the predicted movement path obtained by the processor is a path passing through an area within a predetermined distance from the host vehicle in a lateral direction of the vehicle, it is determined that the predicted movement path obtained by the processor is a path passing through a lateral direction of a door of the host vehicle, When the predicted movement path corrected by the processor is a path passing through an area within the predetermined distance in the lateral direction of the vehicle, it is determined that the predicted movement path corrected by the processor is a path passing through the lateral direction of the door of the host vehicle.

3. The vehicle getting-off support device according to claim 1 or 2, characterized in that: The processor is configured to set the object as the target approaching object when the predicted moving path obtained by the processor is a path passing through the lateral part of the door of the vehicle when the predicted time required for the object to reach the lateral part of the door of the vehicle is less than a predetermined time.

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