Vehicle control device and control method

Abstract

Provided is a vehicle control device capable of suppressing an excessive alarm that may cause an occupant of a vehicle to be boring. A control unit (31) of a control device (30) is configured so as to be able to execute: vehicle operation control for controlling the operation of a vehicle (1) on the basis of a detection result of a sensor that detects an object present in the vicinity of the vehicle; and performing an alarm to the occupant via an alarm device provided in the vehicle (1) on the basis of the detection result of the sensor. The control unit (31) does not suppress the alarm when the power of the vehicle (1) is turned on and is not in the vehicle operation control, and suppresses the alarm in response to an operation by an occupant during the vehicle operation control.

Description

Technical Field

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

[0002] In recent years, there has been a demand to improve transportation safety in order to make cities and human settlements more inclusive, safe, resilient, and sustainable. From the perspective of improving transportation safety, the development of technologies such as driver assistance systems and autonomous driving technologies is being promoted.

[0003] As an example of driving assistance technology, the following technology is disclosed in Patent Document 1: when the vehicle control ECU determines that there is an object target that can be warned, if it is in the process of executing parking assistance control, it executes two types of alarms: an audible alarm using an alarm sound generation device and a display alarm using a display device.

[0004] Existing technical documents

[0005] Patent documents

[0006] Patent Document 1: Japanese Patent Application Publication No. 2023-139350 Summary of the Invention

[0007] The problem that the invention aims to solve

[0008] However, in the aforementioned prior art, there are sometimes excessive alarms that may annoy vehicle occupants, and there is room for improvement in this regard.

[0009] The present invention provides a vehicle control device and control method capable of suppressing excessive alarms that may annoy vehicle occupants.

[0010] Methods for solving problems

[0011] One aspect of the present invention is a vehicle control device that controls a vehicle, the vehicle being equipped with sensors for detecting objects present in the vicinity of the vehicle, wherein...

[0012] The vehicle control device includes a control unit.

[0013] The control unit is configured to perform the following processing:

[0014] Vehicle motion control, which controls the movement of the vehicle based on the detection results of the sensors; and

[0015] Based on the detection results of the sensors, an alarm is issued to the occupants via the vehicle's alarm system.

[0016] The control unit does not suppress the alarm when the vehicle's power is on but the vehicle is not under motion control.

[0017] In the vehicle motion control, the control unit suppresses the alarm in response to the occupant's operation.

[0018] Another aspect of the present invention is a control method performed by a computer controlling a vehicle, wherein the vehicle is equipped with sensors for detecting objects present in the vicinity of the vehicle, wherein...

[0019] The computer is configured to perform the following processes:

[0020] Vehicle motion control, which controls the movement of the vehicle based on the detection results of the sensors; and

[0021] Based on the detection results of the sensors, an alarm is issued to the occupants via the vehicle's alarm system.

[0022] The computer performs the following processing:

[0023] The alarm is not suppressed when the vehicle is powered on but not under vehicle motion control; and

[0024] In the vehicle motion control, the alarm is suppressed in response to the occupant's actions.

[0025] Invention Effects

[0026] According to the present invention, a vehicle control device and method are provided that can suppress excessive alarms that may annoy vehicle occupants. This improves traffic safety and contributes to the development of sustainable transportation systems. Attached Figure Description

[0027] Figure 1 This is a block diagram showing the schematic structure of a vehicle 1 equipped with a control device 30 according to an embodiment of the present invention.

[0028] Figure 2 This is a diagram (one example) showing a display screen that the control device 30 can display on the touch panel 22.

[0029] Figure 3 This is a second example of a display screen that the control device 30 can display on the touch panel 22.

[0030] Figure 4 This is a third example of a display screen that the control device 30 can display on the touch panel 22.

[0031] Figure 5 Figure 4 shows an example of a display screen that the control device 30 can display on the touch panel 22.

[0032] Figure 6 This is a flowchart (one) illustrating an example of parking assist control processing performed by control device 30.

[0033] Figure 7 This is a flowchart (second example) illustrating an example of parking assist control processing performed by control device 30.

[0034] Figure 8 This is a flowchart illustrating an example of alarm processing performed by control device 30.

[0035] Explanation of reference numerals in the attached figures

[0036] 1 vehicle

[0037] 11 External Sensors

[0038] 22. Touch panel (display device, alarm device)

[0039] 23. Speakers (alarm devices)

[0040] 30. Control device (vehicle control device)

[0041] 31 Control Department

[0042] 90 Alarm Device

[0043] 91 MID (Alarm Device)

[0044] 92. Buzzer (alarm device)

[0045] 111a Front-facing camera

[0046] 111b rear camera

[0047] 111c Side Camera

[0048] DL Left side display area (first display area)

[0049] The right-hand display area of ​​the DR (second display area)

[0050] GA alarm image

[0051] PS1 overhead view (second image)

[0052] PS3 orientation image (first image). Detailed Implementation

[0053] Hereinafter, an embodiment of the vehicle control device and control method of the present invention will be described in detail with reference to the accompanying drawings. Furthermore, the following embodiments do not limit the present invention, and not all elements described in the following embodiments are necessarily essential elements of the present invention. The same or similar reference numerals will be used to label the same or similar elements in the accompanying drawings, and their descriptions may sometimes be omitted or simplified appropriately. In addition, unless otherwise specified, the front-rear, left-right, and up-down directions will be described according to the direction observed from the occupants of the vehicle of this embodiment (vehicle 1 described later).

[0054] [1. Vehicle]

[0055] Figure 1 This is a block diagram showing the schematic structure of a vehicle 1 equipped with a control device 30 according to an embodiment of the present invention. Figure 1 The vehicle 1 shown in this embodiment is an automobile with a drive source and wheels (neither shown), the wheels including drive wheels driven by the power of the drive source and steering wheels capable of steering. As an example, vehicle 1 may be a four-wheeled automobile with a pair of front wheels on the left and right and a pair of rear wheels on the left and right.

[0056] The drive source of vehicle 1 can be an electric motor, an internal combustion engine such as a gasoline engine or a diesel engine, or a combination of an electric motor and an internal combustion engine. Furthermore, the drive source of vehicle 1 can drive the left and right front wheels, the left and right rear wheels, or all four wheels (left and right front wheels and left and right rear wheels). Either the front wheels or the rear wheels of vehicle 1 can be steering wheels, or both can be steering wheels.

[0057] In addition, vehicle 1 is equipped with sensor group 10, navigation device 20, control device 30, EPS (Electric Power Steering) system 40, communication unit 70, drive force control system 50, braking force control system 60, and alarm device 90.

[0058] The sensor group 10 comprises an external sensor 11 for acquiring external information about the surroundings of the vehicle 1 and a vehicle sensor 12 for acquiring information related to the vehicle 1 (hereinafter also referred to as "vehicle information"). The information acquired by each sensor in the sensor group 10 (in other words, the detection values) is output to the control device 30 for the control device 30 to control the movement of the vehicle 1 (hereinafter also referred to as "vehicle movement control").

[0059] The external sensor 11 includes, for example, a camera 111, a sonar 112, and a radar 113. The camera 111 captures images of the surroundings of the vehicle 1, including the area in front of the vehicle 1, and outputs the obtained image data of the surroundings to the control device 30. This image data is an example of external information. As the camera 111, a digital camera utilizing imaging elements such as CCD (Charge Coupled Device) or CMOS (Complementary Metal Oxide Semiconductor) can be used, for example.

[0060] More specifically, the camera 111 includes, for example, a front camera 111a, a rear camera 111b, and a side camera 111c. The front camera 111a is, for example, positioned above the windshield or front grille of the vehicle 1, to capture the view in front of the vehicle 1. The rear camera 111b is, for example, positioned near the license plate (in other words, the vehicle registration number plate) at the rear of the vehicle 1, to capture the view behind the vehicle 1. The side cameras 111c are, for example, positioned in the left and right side mirrors, to capture the view to the sides (i.e., left and right) of the vehicle 1.

[0061] Sonar 112 emits sound waves to the periphery of vehicle 1 (e.g., in front, behind, and to the sides of vehicle 1) and receives reflected sound from objects (in other words, target objects) present in the periphery of vehicle 1, thereby detecting the distance from vehicle 1 to the object, the object's orientation, etc., and outputs the detection results to control device 30. The detection results of sonar 112 are another example of external information.

[0062] Radar 113 emits radio waves to the area surrounding vehicle 1, including the area in front of vehicle 1, and receives reflected waves from objects (i.e., target objects) present in the area surrounding vehicle 1, thereby detecting the distance and orientation of the object. For example, millimeter-wave radar can be used as radar 113. The detection results of radar 113 are another example of external information.

[0063] Furthermore, the external sensor 11 may be configured to replace sonar 112 and radar 113 by including LiDAR (Light Detection and Ranging), or to include LiDAR in addition to sonar 112 and radar 113. In this case, the LiDAR emits laser light into the periphery of vehicle 1, including the area in front of vehicle 1, and receives reflected light from objects (i.e., target objects) present in the periphery of vehicle 1, thereby detecting the distance from vehicle 1 to the object, the orientation of the object, etc.

[0064] The vehicle sensor 12 may include, for example, a wheel sensor 121, a vehicle speed sensor 122, an inertial measurement unit (IMU) 123, an occupant camera 124, an operation detection unit 125, a steering device touch sensor 126, and a gear position sensor 127.

[0065] Wheel sensor 121 detects the rotation angle of one or more wheels of vehicle 1. For example, wheel sensor 121 detects the rotation angle of the left rear wheel and the right rear wheel respectively. As wheel sensor 121, for example, an angle sensor, a displacement sensor, etc. can be used.

[0066] Vehicle speed sensor 122 detects the vehicle speed VP (in other words, the vehicle body's moving speed). For example, vehicle speed sensor 122 detects vehicle speed VP based on the rotational speed of the secondary shaft of vehicle 1.

[0067] The inertial measurement unit 123 detects the angular velocities of the vehicle 1 in the pitch, roll, and yaw directions, as well as the accelerations of the vehicle 1 in the longitudinal, lateral, and vertical directions. Alternatively, the vehicle sensor 12 may be configured to replace the inertial measurement unit 123 by including an accelerometer sensor that detects the acceleration of the vehicle 1 in a specified direction, or a gyroscope sensor that detects the angular velocity of the vehicle 1 in a specified direction.

[0068] The occupant camera 124 is a digital camera used to capture images of the interior of vehicle 1 and outputs the obtained image data of the interior to the control device 30. For example, the occupant camera 124 can be configured as a so-called "driver monitoring camera," which can capture the head (in other words, capture the face) of the occupant (hereinafter also referred to as "driver") sitting in the driver's seat of vehicle 1 from the front. As with camera 111, the occupant camera 124 can be a digital camera utilizing imaging elements such as CCD or CMOS.

[0069] The operation detection unit 125 detects operations performed by an occupant (e.g., the driver) using the operation input unit 129 and outputs the detected operations to the control device 30. The operation input unit 129 may include, for example, an operation button for receiving operations corresponding to execution requests for parking assist control (described later), a gear switch or gear shift lever for selecting the gear position of the vehicle 1. Furthermore, the operation input unit 129 may include operation buttons for receiving alarm suppression and / or suppression cancellation operations (e.g., an operation button replacing the alarm suppression button RB described later), and may also include operation buttons for receiving operations corresponding to end requests for parking assist control (e.g., an operation button replacing the cancel button CB described later). Additionally, part or all of the operation input unit 129 may be shared with the touch panel 22 described later.

[0070] The steering system touch sensor 126 detects whether the steering system 46 of the vehicle 1 is properly held and outputs the detection result to the control device 30. For example, the steering system touch sensor 126 is implemented by an electrostatic capacitance sensor or the like. In this case, the electrostatic capacitance sensor is located at the part that the driver touches when the steering system 46 is properly held.

[0071] The gear position sensor 127 detects the gear position of the vehicle 1 and outputs the detection result to the control device 30. For example, the gear position sensor 127 detects which gear the vehicle 1 is in: "P" (Park), "D" (Drive), "R" (Reverse), or "N" (Neutral). In addition, if the vehicle 1 may be in a gear other than "P", "D", "R", and "N" (e.g., "B" (Brake)), the gear position sensor 127 can also detect whether it is in that other gear.

[0072] The navigation device 20 includes, for example, a GNSS (Global Navigation Satellite System) receiver 21, a touch panel 22, and a speaker 23. Additionally, the navigation device 20 has a storage unit (not shown) made of flash memory or the like. The storage unit of the navigation device 20 stores a map information database (DB) 24, such as map information.

[0073] The map information database 24 is composed of road network information. Road network information represents information about each road through combinations of nodes and road segments (also called "routes") connecting the nodes. Each node in the road network information represents a feature point on the road, such as an intersection, a corner, or a terminus. Each node in the road network information is configured with information such as the location corresponding to that node (e.g., coordinates that determine a point on the map, such as latitude and longitude). Furthermore, each road segment in the road network information includes information such as the nodes at both ends of the segment, the road corresponding to that segment, the segment length, the number of lanes, the direction of travel, and the road type.

[0074] The GNSS receiver 21 determines the current position of vehicle 1 (e.g., the latitude and longitude of the location of vehicle 1) based on signals received from GNSS satellites. In addition, the navigation device 20 can also obtain the detection results of vehicle sensors 12 (e.g., wheel sensors 121, vehicle speed sensors 122) via the control device 30, and determine or supplement the current position of vehicle 1 by using the INS (Inertial Navigation System) that utilizes the detection values ​​of vehicle sensors 12.

[0075] The touch panel 22 is configured, for example, by combining a display device such as a liquid crystal display or an OLED (Organic Light Emitting Diode) with a pointing device (such as a touchpad). The speaker 23 outputs various guidance information to the occupants via voice.

[0076] For example, the navigation device 20 refers to the map information database 24 to search for a route from the current location of the vehicle 1 to the destination set by the driver using the touch panel 22. Then, based on the searched route, the navigation device 20 provides route guidance using the touch panel 22 and the speaker 23.

[0077] Additionally, the navigation device 20 can also cause the touch panel 22 to display a specified information according to instructions from the control device 30. For example, the navigation device 20 can also cause the touch panel 22 to display a specified information according to instructions from the control device 30. Figures 2-5 The illustrated display screen is shown on the touch panel 22. Furthermore, the navigation device 20 may output, for example, specified information such as information indicating the current location of the determined vehicle 1 and information indicating the operation received via the touch panel 22 to the control device 30.

[0078] The control device 30 is, for example, a computer that controls the entire vehicle 1, and includes a processor for performing various calculations, a storage unit with a non-temporary storage medium (e.g., flash memory) for storing various information, and an input / output unit for controlling the input and output of internal and external data of the control device 30 (all not shown). For example, the control device 30 may be implemented by a single ECU (Electronic Control Unit), or by multiple ECUs working together. The control device 30 will be described later, so its description is omitted here.

[0079] The EPS system 40 is configured, for example, to include a steering angle sensor 41, a torque sensor 42, an EPS motor 43, a rotary transformer 44, and an EPS ECU 45.

[0080] Steering angle sensor 41 detects the steering angle θst of steering device 46 and outputs information indicating the detected steering angle θst to EPS ECU 45. Torque sensor 42 detects the torque applied to steering device 46 of vehicle 1, i.e., steering torque TQ, and outputs information indicating the detected steering torque TQ to EPS ECU 45.

[0081] The EPS motor 43 assists the driver in operating the steering device 46 by applying driving or reaction force to the steering column 47 connected to the steering device 46 according to instructions from the EPS ECU 45. The rotary transformer 44 detects the rotation angle θm of the EPS motor 43 and outputs information representing the detected rotation angle θm to the EPS ECU 45.

[0082] The EPS ECU 45 is, for example, a computer that controls the EPS system 40 (e.g., the EPS motor 43). It includes a processor for performing various calculations, a storage unit with a non-temporary storage medium for storing various information, and an input / output unit for controlling the input and output of internal and external data of the EPS ECU 45 (all not shown). It is implemented by one or more ECUs. For example, the EPS ECU 45 controls the EPS system 40 (e.g., the EPS motor 43) based on the steering angle θst detected by the steering angle sensor 41, the steering torque TQ detected by the torque sensor 42, and the rotation angle θm detected by the rotary transformer 44. The EPS ECU 45 can also control the EPS system 40 according to instructions from the control device 30.

[0083] Additionally, the EPS system 40 (e.g., EPS ECU 45) can also output information representing the steering angle θst detected by the steering angle sensor 41, the steering torque TQ detected by the torque sensor 42, and the rotation angle θm detected by the rotary transformer 44 to the control device 30. Furthermore, the EPS system 40 (e.g., EPS ECU 45) can also output information representing the steering speed ω of the steering device 46 to the control device 30. In this case, the steering speed ω is obtained, for example, by time differentiation of the steering angle θst.

[0084] The drive force control system 50 includes a drive ECU 51 and is configured to control the drive force of the vehicle 1. The drive ECU 51 is, for example, a computer that controls the drive force control system 50, and includes a processor for performing various calculations, a storage unit with a non-temporary storage medium for storing various information, and an input / output unit for controlling the input and output of internal and external data of the drive ECU 51 (all not shown), and is implemented by one or more ECUs. For example, the drive ECU 51 controls the power output from the drive source of the vehicle 1 based on the operation of the accelerator pedal 52 provided on the vehicle 1. Furthermore, the drive ECU 51 can also control the drive force control system 50 (e.g., the drive source) according to instructions from the control device 30.

[0085] The braking force control system 60 includes a braking ECU 61 and is configured to control the braking force of the vehicle 1. The braking ECU 61 is, for example, a computer that controls the braking force control system 60, and includes a processor for performing various calculations, a storage unit with a non-temporary storage medium for storing various information, and an input / output unit for controlling the input and output of internal and external data of the braking ECU 61 (all not shown), and is implemented by one or more ECUs. For example, the braking ECU 61 controls the braking force of the vehicle 1 by controlling the braking device (not shown) provided by the vehicle 1 based on the operation of the brake pedal 62 provided on the vehicle 1. Here, the braking device includes, for example, a brake caliper, a hydraulic cylinder that transmits hydraulic pressure to the brake caliper, and an electric motor that generates hydraulic pressure in the hydraulic cylinder. Furthermore, the braking ECU 61 controls the electric motor of the braking device to generate braking force corresponding to the operation of the brake pedal 62. In addition, the braking ECU 61 can also control the braking force control system 60 (e.g., the braking device) according to instructions from the control device 30.

[0086] The communication unit 70 is a communication interface used for communication between the control device 30 and the external device 2. That is, the control device 30 can communicate with the external device 2 via the communication unit 70. Examples of the external device 2 include, for instance, a driver's terminal device (e.g., a smartphone) or a server device managed by the manufacturer of the vehicle 1. Furthermore, communication between the vehicle 1 and the external device 2 can utilize mobile communication networks such as cellular lines, Wi-Fi, or Bluetooth.

[0087] The alarm device 90 is a device that issues an alarm to the occupant (e.g., the driver) under the control of the control device 30. The alarm device 90 is configured, for example, to include a MID (Multi-Information Display) 91 and a buzzer 92.

[0088] The MID91 consists of a display device such as an LCD or OLED, and is located in a position that the driver can visually perceive (e.g., in the instrument panel of vehicle 1). For example, the MID91 displays a prescribed warning image according to instructions from the control device 30. Furthermore, the MID91 can also be used in conjunction with the aforementioned touch panel 22. That is, in the following description, "MID91" and "touch panel 22" can be used interchangeably.

[0089] The buzzer 92 is configured to output a predetermined alarm sound. For example, the buzzer 92 outputs a predetermined alarm sound according to the instruction from the control device 30. Furthermore, the buzzer 92 can also be shared with the speaker 23 described above. That is, in the following description, "buzzer 92" and "speaker 23" can be used interchangeably.

[0090] [2. Control device]

[0091] The control device 30 may include a control unit 31, which is a functional unit implemented by a processor executing a program stored in the storage unit of the control device 30.

[0092] The control unit 31 is configured to perform vehicle motion control based on the detection results of the external sensor 11 (e.g., sonar 112). Here, vehicle motion control may include, for example, controlling the steering of the vehicle 1 via the control unit 31 (i.e., control device 30). Alternatively, vehicle motion control may also include controlling the braking force and / or driving force of the vehicle 1 via the control unit 31. In other words, vehicle motion control may also be a driver assistance control that controls the steering, braking force, or driving force of the vehicle 1 via the control unit 31. As an example of such driver assistance control, parking assist control can be given. Here, parking assist control, for example, involves automatically steering the vehicle 1 from its current position to a target parking position set by the driver, thereby parking the vehicle 1 in that target parking position.

[0093] The following describes an example of setting the vehicle motion control that the control unit 31 can perform as parking assist control, but it should be noted that the present invention is not limited thereto. Furthermore, the control unit 31 may, for example, perform parking assist control in response to the operation detection unit 125 detecting an operation corresponding to the execution request of parking assist control (e.g., pressing a predetermined operation button included in the operation input unit 129).

[0094] Furthermore, the control unit 31 is configured to execute an alarm (hereinafter also referred to as "alarm") to the occupants via an alarm device provided by the vehicle 1 based on the detection results of the external sensor 11 (e.g., sonar 112). Examples of alarm devices provided by the vehicle 1 include a touch panel 22, a speaker 23, a MID 91, or a buzzer 92.

[0095] More specifically, when the control unit 31 detects an object that may collide with the vehicle 1 (e.g., an object within a specified distance of the vehicle 1) based on the detection results of the sonar 112, for example, it outputs a specified alarm sound from the buzzer 92 and / or the speaker 23, or displays a specified alarm image on the MID 91 and / or the touch panel 22. This attracts the driver's attention, encourages driving in a manner that avoids collisions between the vehicle 1 and objects in its vicinity, and improves the safety of the vehicle 1.

[0096] However, from the driver's perspective, in parking assist control, the motion control of vehicle 1 is delegated to control device 30. When an alarm is triggered under such circumstances, it may annoy the driver. That is, such an alarm may become an excessive alarm that may annoy the driver (i.e., the occupant).

[0097] Therefore, the control unit 31 suppresses the alarm in response to the driver's operation during parking assist control. Hereinafter, the operation used to suppress the alarm will also be referred to as the "alarm suppression operation". The alarm suppression operation can be, for example, set to operation of the alarm suppression button RB of the activated form RB1, as described later.

[0098] For example, if alarm suppression is enabled in the parking assist control, even if the external sensor 11 subsequently detects an object that may collide with the vehicle 1 during the parking assist control, the control unit 31 will not output the aforementioned alarm sound. Alternatively, if alarm suppression is enabled in the parking assist control, even if the external sensor 11 subsequently detects an object that may collide with the vehicle 1 during the parking assist control, the control unit 31 will not display the aforementioned alarm image. Alternatively, if alarm suppression is enabled in the parking assist control, and the external sensor 11 subsequently detects an object that may collide with the vehicle 1 during the parking assist control, the control unit 31 may display an alarm image but will not output an alarm sound.

[0099] On the other hand, when the power supply (e.g., ignition power) of vehicle 1 is turned on and it is not in parking assist control, in other words, when vehicle 1 is normally driven manually by the driver, the control unit 31 outputs an alarm sound or displays an alarm image in response to the external sensor 11 detecting an object that may collide with vehicle 1. Furthermore, even when there is no alarm suppression operation in parking assist control, as in normal operation, the control unit 31 also outputs an alarm sound or displays an alarm image in response to the external sensor 11 detecting an object that may collide with vehicle 1.

[0100] In this way, the control device 30 suppresses the alarm in response to the alarm suppression operation during parking assist control, thereby suppressing excessive alarms that might annoy the driver during parking assist control. Furthermore, since the control device 30 suppresses the alarm in response to the alarm suppression operation, it can appropriately execute the alarm even when the driver desires it during parking assist control. Moreover, the control device 30 can suppress the alarm only during parking assist control, so that when the vehicle 1 is manually driven, it can appropriately execute the alarm to attract the driver's attention.

[0101] In summary, the control device 30 can suppress the reduction of vehicle 1's safety and suppress excessive alarms that may annoy occupants. This, in turn, improves traffic safety and contributes to the development of a sustainable transportation system.

[0102] Furthermore, the possibility that the driver might accidentally perform an alarm suppression operation is also considered. Therefore, it is preferable to be able to appropriately release the alarm suppression based on the driver's operation. Thus, the control unit 31 can also return to the state of not suppressing the alarm (in other words, the state where the alarm can be executed as normally) if a predetermined suppression release operation exists when the state of alarm suppression is entered according to the alarm suppression operation. In this way, even after the state of alarm suppression is entered according to the alarm suppression operation, the driver can return to the state of not suppressing the alarm and execute the alarm appropriately if desired. In addition, the suppression release operation can be set, for example, to the operation of the alarm suppression button RB of the closed form RB2 described later.

[0103] Furthermore, the control unit 31 can also return to the state of not suppressing the alarm if there is an operation to disconnect the power to the vehicle 1, or if there is an operation to connect the power to the vehicle 1. In other words, the control unit 31 can also reset the alarm suppression setting to an initial value such as "not suppressing the alarm" in conjunction with the connection or disconnection of the power to the vehicle 1. In this way, it is possible to avoid situations where the alarm continues to be suppressed after the power to the vehicle 1 is connected or disconnected against the driver's intention.

[0104] Alternatively, when the alarm is suppressed and manual driving begins in vehicle 1, the control unit 31 can return to the state where the alarm is not suppressed. This way, with the start of manual driving, the system can return to the state where the alarm is not suppressed without requiring a suppression deactivation operation, improving driver convenience.

[0105] [3. Example of a display screen based on parking assist control]

[0106] Hereinafter, the control performed by the control device 30 will be explained in more detail using an example of a display screen that can be displayed on the touch panel 22 using the control device 30 (e.g., the control unit 31).

[0107] Figure 2 This is a diagram (one example) showing a display screen that the control device 30 can display on the touch panel 22. Figure 3 This is a second example of a display screen that the control device 30 can display on the touch panel 22. Figure 4 This is a third example of a display screen that the control device 30 can display on the touch panel 22. Figure 5 Figure 4 shows an example of a display screen that the control device 30 can display on the touch panel 22.

[0108] Figure 2The display screen PS shown is an example of the display screen displayed when setting the target parking position for parking assist control. Hereinafter, the display screen PS for setting the target parking position for parking assist control will also be referred to as the "target position setting screen". Figures 3-5 The display screen PS shown is an example of a display screen shown during movement to the target parking position based on parking assist control. Hereinafter, the display screen PS shown during movement to the target parking position based on parking assist control will also be referred to as "the screen in parking assist control".

[0109] like Figures 2-5 As shown, for example, the touch panel 22 has a rectangular, elongated display area 22a. The display area 22a is divided into a right-side display area DR facing to the right and a left-side display area DL facing to the left. Different images are displayed in the right-side display area DR and the left-side display area DL, respectively. Each display screen PS is implemented by displaying a predetermined image in each of these right-side display areas DR and left-side display areas DL. Furthermore, the left-side display area DL is an example of a first display area, and the right-side display area DR is an example of a second display area.

[0110] (3-1. Images that can be displayed in the right-hand display area)

[0111] First, let's explain the images that can be displayed in the right-hand display area DR. For example... Figure 2 As shown, when setting the target parking position, the display screen PS (i.e., the target position setting screen) shows, for example, the overhead view PS1, the target parking position image GP, the adjustment button group BG, the confirmation button BK, and the reset button BR in the right display area DR.

[0112] The overhead view PS1 is an image viewed from directly above the vehicle 1 and its surroundings, and is an example of a second image. The overhead view PS1 is generated, for example, based on images obtained from the front camera 111a, the rear camera 111b, and the side camera 111c. Additionally, the overhead view PS1 includes a vehicle image GF1 representing the vehicle 1. As an example, the overhead view PS1, with the vehicle image GF1 positioned approximately in the center of the right-hand display area DR, is displayed. By displaying such an overhead view PS1, the driver can be guided to easily understand the surroundings of the vehicle 1.

[0113] The target parking position image GP is an image representing the target parking position. For example, the target parking position image GP is a box image representing the outer contour of the target parking position, overlaid on the overhead image PS1. Additionally, as... Figure 2As shown, in the display screen PS when setting the target parking position, an image representing vehicle 1 can also be displayed in a semi-transparent state within the frame represented by the target parking position image GP. This allows the driver to easily understand what will happen if vehicle 1 is parked in the target parking position shown in the target parking position image GP.

[0114] The adjustment button group BG is a group of buttons used to adjust the position and angle of the target parking position image GP. For example, the adjustment button group BG consists of an up button BG1, a down button BG2, a left button BG3, a right button BG4, a left rotation button BG5, and a right rotation button BG6. As an example, the adjustment button group BG is located below the vehicle image GF1 in the overhead view PS1.

[0115] For example, by clicking the up button BG1, the driver can move the target parking position image GP upwards by a predetermined amount within the right-hand display area DR. Similarly, by clicking the down button BG2, left button BG3, or right button BG4, the driver can move the target parking position image GP in the direction corresponding to the clicked button within the right-hand display area DR by a predetermined amount. Additionally, by clicking the left rotation button BG5, the driver can rotate the target parking position image GP counterclockwise by a predetermined angle within the right-hand display area DR. Similarly, by clicking the right rotation button BG6, the driver can rotate the target parking position image GP clockwise by a predetermined angle within the right-hand display area DR.

[0116] The Confirm button BK is used to set the position shown in the target parking position image GP as the target parking position. For example, after adjusting the position of the target parking position image GP in the right display area DR using the Adjust button group BG, the driver can click the Confirm button BK to set the desired position as the target parking position. Additionally, the Reset button BR is used to return the target parking position image GP to its initial position and angle.

[0117] On the other hand, such as Figures 3-5 As shown, in the case of the display screen PS (i.e. the screen in the parking assist control) displayed during the movement to the target parking position based on the parking assist control, the right display area DR, for example, replaces the adjustment button group BG, and displays the driving trajectory image TR, which shows the driving trajectory of vehicle 1 when moving from the current position of vehicle 1 to the target parking position.

[0118] (3-2, Images that can be displayed in the left display area)

[0119] Next, we will explain the images that can be displayed in the left-hand display area DL. For example... Figure 2As shown, when the target parking position is set on the display screen PS (i.e., the target position setting screen), a three-dimensional image PS2, which virtually represents the space including vehicle 1 and its surroundings, is displayed in the left display area DL. Additionally, as... Figure 2 As shown, the 3D image PS2 can also include the target parking position image GP.

[0120] The viewpoint position of the 3D image PS2 is set in such a way that the 3D image PS2 becomes an image of the scenery including the vehicle 1 in a specified direction. As an example, such as... Figure 2 As shown, when the target parking position image GP is located to the left of vehicle 1, the viewpoint of the 3D image PS2 is set to include the scenery to the left of vehicle 1. As another example, when the target parking position image GP is located to the right of vehicle 1, the viewpoint of the 3D image PS2 is set to include the scenery to the right of vehicle 1. By displaying such a 3D image PS2, the driver can be easily guided to understand the direction in which the target parking position might be located.

[0121] On the other hand, such as Figures 3-5 As shown, in the case of the display screen PS (i.e., the screen in the parking assist control) displayed during the movement to the target parking position based on parking assist control, a directional image PS3 representing the scenery observed from vehicle 1 in a specified direction is displayed in the left display area DL, for example, instead of the three-dimensional image PS2. Additionally, as... Figures 3-5 As shown, the direction image PS3 can also include the target parking position image GP and the driving trajectory image TR.

[0122] For example, when vehicle 1 is reversing, a rear view image of vehicle 1 generated based on the rear image obtained by rear camera 111b is displayed as a directional image PS3. Conversely, when vehicle 1 is moving forward, a front view image of vehicle 1 generated based on the front image obtained by front camera 111a is displayed as a directional image PS3. By displaying such directional images PS3, the driver can be easily guided to understand the direction of travel of vehicle 1.

[0123] In this way, during parking assist control (i.e., moving towards the target parking position), in addition to the overhead view PS1 displayed in the right display area DR, the control device 30 also displays a directional image PS3 (i.e., a front view or a rear view) in the left display area DL, thereby guiding the driver to easily understand the surrounding situation of the vehicle 1 and the direction of travel of the vehicle 1.

[0124] In addition, such as Figures 3-5As shown, in parking assist control, the control device 30 displays the alarm suppression button RB on the left display area DL. The alarm suppression button RB is a button for receiving alarm suppression and suppression release operations, and also functions as an icon to inform the driver whether the alarm is suppressed or not.

[0125] The alarm suppression button RB is only displayed during parking assist control and is not displayed outside of parking assist control (e.g., during manual driving). Therefore, the control device 30 (e.g., control unit 31) sets the alarm suppression button RB to non-display mode in response to the termination of parking assist control. As a result, alarm suppression operations can be received only during parking assist control.

[0126] More specifically, the alarm suppression button RB is configured, for example, to mimic the image of a buzzer 92, and can employ... Figure 3 The illustrated opening mode RB1 and Figure 4 and Figure 5 The two display modes RB1 and RB2 are illustrated. Here, RB1 indicates that the alarm is not suppressed, or more specifically, that the alarm sound can be output. On the other hand, RB2 indicates that the alarm is suppressed, or more specifically, that the alarm sound is not output.

[0127] For example, when the driver clicks Figure 3 When the alarm suppression button RB is activated in the illustrated RB1 state, the control device 30 receives the operation as an alarm suppression operation, sets the state to alarm suppression, and switches to [a different state]. Figure 4 or Figure 5 The alarm suppression button RB in the off state RB2 is shown as an example. Furthermore, when the alarm is suppressed, in other words, when the alarm suppression button RB in the off state RB2 is displayed, even if the external sensor 11 detects an object that may collide with the vehicle 1, the control device 30 will not output an alarm sound from the buzzer 92 or the like.

[0128] Additionally, when the driver clicks Figure 4 or Figure 5 When the alarm suppression button RB is turned off in the illustrated closed state RB2, the control device 30 receives the operation as a suppression release operation, sets the state to not suppress the alarm, and switches to... Figure 3 The alarm suppression button RB in the illustrated open state RB1 is displayed. Moreover, in the state where the alarm is not suppressed, in other words, when the alarm suppression button RB in the open state RB1 is displayed, the control device 30 outputs an alarm sound from the buzzer 92, etc., when the external sensor 11 detects an object that may collide with the vehicle 1.

[0129] By displaying the alarm suppression button RB, the control device 30 can easily indicate to the driver whether the alarm is suppressed. Furthermore, the control device 30 suppresses the alarm in response to operation of the alarm suppression button RB, thus enabling the alarm to be suppressed through intuitive and easy operation for the driver, improving operability. Additionally, by displaying the alarm suppression button RB in the left display area DL, the visual legibility of the overhead image PS1 displayed in the right display area DR can be ensured while displaying the alarm suppression button RB.

[0130] Furthermore, as described above, the control device 30 can display a warning image when the external sensor 11 detects an object that may collide with the vehicle 1. For example, in parking assist control, if the external sensor 11 detects an object that may collide with the vehicle 1, the control device 30 can... Figure 5 The illustrated alarm image GA is displayed on the touch panel 22 (e.g., the left display area DL).

[0131] Furthermore, the control device 30 displays the alarm image GA even when the alarm is suppressed. This allows the driver's attention to be drawn through the display of the alarm image GA, while preventing driver annoyance from the sound of the alarm. Therefore, it is possible to suppress any reduction in the safety of the vehicle 1, while also suppressing excessive alarms that could annoy the driver.

[0132] In addition, such as Figures 3-5 As shown, the control device 30 can also display the cancel button CB on the touch panel 22 (e.g., the left display area DL) during parking assist control (e.g., during movement to the target parking position). Here, the cancel button CB is a button used to receive an operation corresponding to a request to end the parking assist control; in other words, it is a button used to indicate switching to manual driving. For example, when the driver clicks the cancel button CB, the control device 30 ends (in other words interrupts) the ongoing parking assist control and switches the driving mode of the vehicle 1 to manual driving.

[0133] [4. Processing procedure of the control device]

[0134] Next, an example of the processing procedure executed by the control device 30 will be described. First, an example of the parking assist control process executed by the control device 30 will be described. Figure 6 This is a flowchart (one) illustrating an example of parking assist control processing performed by control device 30. Figure 7 This is a flowchart (second example) illustrating an example of parking assist control processing performed by control device 30.

[0135] (4-1, Parking Assist Control Processing)

[0136] like Figure 6 As shown, in the parking assist control process, the control device 30 first determines whether there is a parking assist control start request (step S1). When it is determined that there is a parking assist control start request (step S1: yes), the control device 30 causes... Figure 2 The target position setting screen is displayed on the touch panel 22 (step S2).

[0137] Next, the control device 30 determines whether there is a setting operation for the target parking position (e.g., for...). Figure 2 The operation of the decision button BK shown is shown in step S3. When it is determined that there is a target parking position setting operation (step S3: yes), the control device 30 sets the target parking position (step S4), so that... Figure 3 The parking assist control screen shown in the figure is displayed on the touch panel 22 (step S5), and the parking assist control (i.e., moving towards the target parking position) is started (step S6).

[0138] Next, the control device 30 determines whether there has been any operation on the alarm suppression button RB (step S7). When it is determined that there has been no operation on the alarm suppression button RB (step S7: No), the control device 30 proceeds to... Figure 7 The process shown in step S11.

[0139] On the other hand, when it is determined that there is an operation on the alarm suppression button RB (step S7: Yes), the control device 30 determines whether the alarm sound suppression flag is off (step S8). Here, the alarm sound suppression flag is a flag indicating whether the alarm is suppressed. If it is on, it means that the alarm is suppressed; if it is off, it means that the alarm is not suppressed.

[0140] Then, when it is determined that the alarm sound suppression flag is off (step S8: Yes), the control device 30 sets the alarm sound suppression flag to on and displays the alarm suppression button RB in the off state RB2 (step S9), entering... Figure 7 The process shown in step S11.

[0141] On the other hand, when it is determined that the alarm sound suppression flag is on (step S8: No), the control device 30 sets the alarm sound suppression flag to off and displays the alarm suppression button RB in the on state RB1 (step S10), entering... Figure 7 The process shown in step S11.

[0142] exist Figure 7 In step S11, the control device 30 determines whether vehicle 1 has reached the target parking position (step S11). When it is determined that vehicle 1 has reached the target parking position (step S11: yes), the control device 30 proceeds to step S13.

[0143] On the other hand, when it is determined that vehicle 1 has not reached the target parking position (step S11: No), the control device 30 determines whether there is a request to end the parking assist control, i.e., whether the cancel button CB has been clicked (step S12). When it is determined that there is no request to end the parking assist control (step S12: No), the control device 30 returns to the previous state. Figure 6 The process shown in step S7.

[0144] On the other hand, when it is determined that there is a request to end the parking assist control (step S12: Yes), the control device 30 ends the display of the parking assist control and the screen in the parking assist control, and sets the alarm suppression button RB to not display (step S13). In this way, in response to the end (or interruption) of the parking assist control, the control device 30 sets the alarm suppression button RB displayed on the touch panel 22 to not display, thereby prompting the driver to easily understand that the alarm cannot be suppressed.

[0145] Then, the control device 30 turns off the alarm sound suppression indicator (step S14), ending the process. Figure 6 and Figure 7 The series of processes shown. Thus, when the driving mode of the vehicle 1 is switched to manual driving, the control device 30 can subsequently output an alarm sound by turning off the alarm sound suppression indicator.

[0146] (4-2, Alarm Handling)

[0147] Next, an example of alarm processing performed by control device 30 will be described. Figure 8 This is a flowchart illustrating an example of alarm processing performed by control device 30. For example... Figure 8 As shown, in alarm processing, the control device 30 first determines whether an object that may collide with the vehicle 1 is detected (step S21).

[0148] When it is determined that an object that may collide with vehicle 1 is detected (step S21: yes), the control device 30 determines whether the alarm sound suppression flag is off (step S22).

[0149] When the alarm sound suppression flag is determined to be off (step S22: Yes), the control device 30 displays the alarm image GA on the touch panel 22 and outputs an alarm sound through the buzzer 92 (step S23) to end. Figure 8 The series of processes shown demonstrates that, in this situation, both the alarm sound and the alarm image (GA) can be used to strongly attract the driver's attention.

[0150] On the other hand, when it is determined that the alarm sound suppression flag is turned on (step S22: No), the control device 30 does not output an alarm sound, and displays the alarm image GA on the touch panel 22 (step S24), ending the process. Figure 8 The series of processes shown.

[0151] In this way, even when the parking assist control is in operation and the alarm sound is suppressed, the control device 30 will display the alarm image GA if an object that may collide with the vehicle 1 is detected. This can suppress the output of excessive alarm sounds that may annoy the driver, while attracting the driver's attention by displaying the alarm image GA.

[0152] As described above, the control device 30 according to this embodiment can suppress alarms when the vehicle 1 is powered on and not under vehicle motion control (e.g., under parking assist control), and suppress alarms in response to occupant operations during vehicle motion control. Therefore, the control device 30 can suppress alarms in response to occupant operations during vehicle motion control, which controls the movement of the vehicle 1, and can suppress excessive alarms that may annoy occupants while suppressing a decrease in the safety of the vehicle 1. This improves traffic safety and contributes to the development of sustainable transportation systems.

[0153] Furthermore, according to the control device 30, the alarm suppression button RB is displayed only on the touch panel 22, which is an example of a display device provided in the vehicle 1, during vehicle motion control. The alarm can be suppressed in response to receiving an operation on the alarm suppression button RB. Thus, it is possible to receive an operation for suppressing the alarm only during vehicle motion control.

[0154] Furthermore, according to the control device 30, the alarm suppression button RB displayed on the touch panel 22 can be set to not be displayed in response to the termination of vehicle motion control. Therefore, the operation for suppressing the alarm can be received only during vehicle motion control.

[0155] Furthermore, in vehicle motion control (e.g., parking assist control), the first display area (e.g., the left display area DL) of the display screen PS on the touch panel 22 displays a first image (e.g., a front view image or a rear view image) based on an image obtained from one of the multiple cameras installed on the vehicle 1 (e.g., the front camera 111a or the rear camera 111b). The second display area (e.g., the right display area DR) of the display screen PS displays a second image (e.g., a top-down view image PS1) based on images obtained from the multiple cameras installed on the vehicle 1 (e.g., the front camera 111a, the rear camera 111b, and the side camera 111c). Moreover, the control device 30 can display the alarm suppression button RB in the first display area. Thus, the alarm suppression button RB can be displayed while ensuring the visual recognizability of the second image displayed in the second display area (i.e., the image generated based on images obtained from the multiple cameras).

[0156] Furthermore, even when vehicle motion control is in progress and the alarm sound output is suppressed, the control device 30 can still display an alarm image GA in response to the detection of an object in the vicinity of the vehicle 1. Thus, the display of the alarm image GA can attract the attention of the occupants while avoiding annoyance caused by the alarm sound. Therefore, it is possible to suppress any reduction in the safety of the vehicle 1 and to suppress excessive alarms that might annoy the occupants.

[0157] Furthermore, the first image described above can be a rear view image of vehicle 1 generated based on a rear image obtained from the rear camera 111b, or a front view image of vehicle 1 generated based on a front image obtained from the front camera 111a. On the other hand, the second image described above can be a top-down view PS1 of vehicle 1 generated based on images obtained from the rear camera 111b, the front camera 111a, and the side camera 111c, respectively. Thus, it is possible to guide the occupants to the rear of vehicle 1 using the rear view image, or to guide the occupants to the front of vehicle 1 using the front view image, and to guide the occupants to the surroundings of vehicle 1 using the top-down view PS1.

[0158] Furthermore, the control device 30 can return to a state where the alarm is not suppressed if there is an operation to disconnect the power supply to the vehicle 1, or if there is an operation to turn the power supply to the vehicle 1 back on. This prevents situations where the alarm continues to be suppressed after the power supply to the vehicle 1 has been switched on or off, contrary to the occupants' intentions.

[0159] Furthermore, the control device 30 can return to a non-suppressed alarm state when manual driving begins in the vehicle 1, even when the alarm is suppressed. Thus, with the start of manual driving, the system can return to the non-suppressed alarm state without needing to do so, improving passenger convenience.

[0160] Furthermore, the aforementioned vehicle motion control can be configured as a parking assist control that brings the vehicle 1 to a predetermined target parking position via automatic steering. This allows for the suppression of excessive alarms that might annoy the occupants during parking maneuvers executed by the vehicle control device.

[0161] The foregoing has described one embodiment of the present invention, but the present invention is not limited to this embodiment. It is obvious that those skilled in the art will conceive of various modifications or alterations within the scope of the technical solution described, and it should be understood that these modifications and alterations also fall within the technical scope of the present invention. Furthermore, the constituent elements of the foregoing embodiments can be combined arbitrarily without departing from the spirit of the invention.

[0162] Furthermore, the control method described in the foregoing embodiments can be implemented by a computer executing a pre-prepared program (control program). This program is stored, for example, in a computer-readable storage medium and executed by reading it from the storage medium. Alternatively, this program can be provided in the form of storage on a non-volatile (non-transitory) storage medium such as flash memory, or via a network such as the Internet.

[0163] Furthermore, in the aforementioned embodiments, the computer executing the program is the control device 30 included in vehicle 1, but is not limited thereto. For example, the computer executing this program may also be included in other devices (such as external devices 2) capable of communicating with the control device 30.

[0164] At least the following items are described in this specification. The components corresponding to the above embodiments are shown in parentheses as examples, but are not limited thereto.

[0165] (1) A vehicle control device (control device 30) for controlling a vehicle (vehicle 1), the vehicle having a sensor (external sensor 11) for detecting objects present in the vicinity of the vehicle, wherein,

[0166] The vehicle control device includes a control unit (control unit 31).

[0167] The control unit is configured to perform the following processing:

[0168] Vehicle motion control, which controls the movement of the vehicle based on the detection results of the sensors; and

[0169] Based on the detection results of the sensors, an alarm is issued to the occupants via the vehicle's alarm devices (touch panel 22, speaker 23, alarm device 90, MID 91, buzzer 92).

[0170] The control unit does not suppress the alarm when the vehicle's power is on but the vehicle is not under motion control.

[0171] In the vehicle motion control, the control unit suppresses the alarm in response to the occupant's operation.

[0172] According to (1), the vehicle control device can suppress alarms in response to occupant actions during vehicle motion control, thereby suppressing excessive alarms that may annoy occupants while suppressing a decrease in vehicle safety. This, in turn, can improve traffic safety and contribute to the development of sustainable transportation systems.

[0173] (2) The vehicle control device according to (1), wherein,

[0174] The control unit only displays a designated alarm suppression button (alarm suppression button RB) on the vehicle's display device (touch panel 22) during vehicle motion control.

[0175] The control unit suppresses the alarm in response to receiving an operation on the alarm suppression button.

[0176] According to (2), it is possible to receive the operation for suppressing the alarm only in vehicle motion control.

[0177] (3) The vehicle control device according to (2), wherein,

[0178] In response to the termination of vehicle motion control, the control unit sets the alarm suppression button displayed on the display device to be hidden.

[0179] According to (3), it is possible to receive the operation for suppressing the alarm only in vehicle motion control.

[0180] (4) The vehicle control device according to (2), wherein,

[0181] The control unit causes the display device to display a predetermined display screen during the vehicle's motion control.

[0182] In the first display area (left display area DL) of the display screen, a first image (directional image PS3) is displayed, which is generated based on an image obtained by one of the multiple cameras (front camera 111a, rear camera 111b, and side camera 111c) installed in the vehicle.

[0183] In a second display area (right display area DR) that is different from the first display area in the display screen, a second image (overhead image PS1) generated based on images obtained from the plurality of cameras is displayed.

[0184] The control unit displays the alarm suppression button in the first display area.

[0185] According to (4), an alarm suppression button can be displayed while ensuring the visual recognizability of the second image (i.e., an image generated based on images obtained from multiple cameras) displayed in the second display area.

[0186] (5) The vehicle control device according to (4), wherein,

[0187] The alarm outputs a specified alarm sound.

[0188] When the sensor detects the object during vehicle motion control, the control unit causes the first display area to further display a predetermined alarm image (alarm image GA).

[0189] Even when the vehicle is under motion control and the alarm sound is suppressed, the control unit displays the alarm image in response to the detection of the object.

[0190] According to (5), the occupants' attention can be drawn by displaying alarm images, while avoiding annoyance caused by sounding alarms. Therefore, it is possible to suppress a decrease in vehicle safety while suppressing excessive alarms that may annoy occupants.

[0191] (6) The vehicle control device according to (4), wherein,

[0192] The plurality of cameras include a rear camera (rear camera 111b) that captures images of the rear of the vehicle, a front camera (front camera 111a) that captures images of the front of the vehicle, and a side camera (side camera 111c) that captures images of the sides of the vehicle.

[0193] The first image is a rear view of the vehicle generated based on a rear image obtained from the rear camera, or a front view of the vehicle generated based on a front image obtained from the front camera.

[0194] The second image is an overhead view (overhead image PS1) of the vehicle generated based on images obtained from the rear camera, the front camera, and the side camera, respectively.

[0195] According to (6), it is possible to guide the occupants to the rear of the vehicle through the rear view image, or to guide the occupants to the front of the vehicle through the front view image, and to guide the occupants to the surroundings of the vehicle through the overhead view image.

[0196] (7) The vehicle control device according to (1), wherein,

[0197] If an operation to disconnect the power supply occurs, or if an operation to turn the power supply on occurs, the control unit returns to a state where the alarm is not suppressed.

[0198] According to (7), it is possible to avoid situations where the alarm continues to be suppressed after the vehicle's power is turned on or off, contrary to the occupants' intentions.

[0199] (8) The vehicle control device according to (1), wherein,

[0200] When the alarm is suppressed, the control unit returns to the state of not suppressing the alarm when manual driving begins in the vehicle.

[0201] According to (8), with the start of manual driving, the operation can return to the state of not suppressing the alarm without returning to the state of not suppressing the alarm, thus improving the convenience of the occupants.

[0202] (9) The vehicle control device according to any one of (1) to (8), wherein,

[0203] The vehicle motion control is a parking assist control that uses automatic steering to bring the vehicle to a set target parking position.

[0204] According to (9), during parking to the target parking position via the vehicle control device, it is possible to suppress excessive alarms that may annoy the occupants.

[0205] (10) A control method performed by a computer controlling a vehicle, the vehicle having sensors for detecting objects present in the vicinity of the vehicle, wherein,

[0206] The computer is configured to perform the following processes:

[0207] Vehicle motion control, which controls the movement of the vehicle based on the detection results of the sensors; and

[0208] Based on the detection results of the sensors, an alarm is issued to the occupants via the vehicle's alarm system.

[0209] The computer performs the following processing:

[0210] When the vehicle is powered on but not under vehicle motion control, the alarm is not suppressed (step S14); and

[0211] In the vehicle motion control, the alarm is suppressed in response to the occupant's operation (step S9).

[0212] According to (10), the vehicle control device can suppress alarms in response to occupant actions during vehicle motion control, thereby suppressing excessive alarms that may annoy occupants while suppressing a decrease in vehicle safety. This, in turn, can improve traffic safety and contribute to the development of sustainable transportation systems.

Claims

1. A vehicle control device for controlling a vehicle, said vehicle having sensors for detecting objects present in the vicinity of said vehicle, wherein, The vehicle control device includes a control unit. The control unit is configured to perform the following processing: Vehicle motion control, which controls the movement of the vehicle based on the detection results of the sensors; and Based on the detection results of the sensors, an alarm is issued to the occupants via the vehicle's alarm system. The control unit does not suppress the alarm when the vehicle's power is on but the vehicle is not under motion control. In the vehicle motion control, the control unit suppresses the alarm in response to the occupant's operation.

2. The vehicle control device according to claim 1, wherein, The control unit only displays the designated alarm suppression button on the vehicle's display device during vehicle motion control. The control unit suppresses the alarm in response to receiving an operation on the alarm suppression button.

3. The vehicle control device according to claim 2, wherein, In response to the termination of vehicle motion control, the control unit sets the alarm suppression button displayed on the display device to be hidden.

4. The vehicle control device according to claim 2, wherein, The control unit causes the display device to display a predetermined display screen during the vehicle's motion control. In the first display area of ​​the display screen, a first image generated based on an image obtained by one of a plurality of cameras installed in the vehicle is displayed. A second display area, different from the first display area, displays a second image generated based on images obtained from the plurality of cameras. The control unit displays the alarm suppression button in the first display area.

5. The vehicle control device according to claim 4, wherein, The alarm outputs a specified alarm sound. When the sensor detects the object during vehicle motion control, the control unit further displays a prescribed alarm image in the first display area. Even when the vehicle is under motion control and the alarm sound is suppressed, the control unit displays the alarm image in response to the detection of the object.

6. The vehicle control device according to claim 4, wherein, The plurality of cameras includes a rear camera that captures images of the rear of the vehicle, a front camera that captures images of the front of the vehicle, and a side camera that captures images of the sides of the vehicle. The first image is a rear view of the vehicle generated based on a rear image obtained from the rear camera, or a front view of the vehicle generated based on a front image obtained from the front camera. The second image is an overhead view of the vehicle generated based on images obtained from the rear camera, the front camera, and the side camera, respectively.

7. The vehicle control device according to claim 1, wherein, If an operation to disconnect the power supply occurs, or if an operation to turn the power supply on occurs, the control unit returns to a state where the alarm is not suppressed.

8. The vehicle control device according to claim 1, wherein, When the alarm is suppressed, the control unit returns to the state of not suppressing the alarm when manual driving begins in the vehicle.

9. The vehicle control device according to any one of claims 1 to 8, wherein, The vehicle motion control is a parking assist control that uses automatic steering to bring the vehicle to a set target parking position.

10. A control method performed by a computer controlling a vehicle, the vehicle having sensors for detecting objects present in the vicinity of the vehicle, wherein, The computer is configured to perform the following processes: Vehicle motion control, which controls the movement of the vehicle based on the detection results of the sensors; and Based on the detection results of the sensors, an alarm is issued to the occupants via the vehicle's alarm system. The computer performs the following processing: The alarm is not suppressed when the vehicle is powered on but not under vehicle motion control; and In the vehicle motion control, the alarm is suppressed in response to the occupant's actions.

Images