Vehicle control system

Abstract

The present application relates to a vehicle control system. The vehicle control system includes an alarm controller for warning a driver of a vehicle. The alarm controller estimates a visible distance W at which the driver can visually recognize an object at a predetermined interval, and calculates an object distance X between the vehicle and the object ahead in a traveling direction of the vehicle. The alarm controller can perform control to provide a first type of alarm when the object distance X is less than or equal to a sensing distance S (X≤S) and less than the visible distance W (X

Description

Technical Field

[0001] This invention relates to a vehicle control system. Background Technology

[0002] In recent years, many positive efforts have been made to provide sustainable transportation systems that take into account vulnerable groups among traffic participants. To achieve this goal, research and development are underway on autonomous driving technologies and driver assistance systems to further improve traffic safety and convenience.

[0003] One example of this technology aims to provide driving assistance by warning the driver of objects near the vehicle. For instance, Patent Document 1 discloses a control device that vibrates the steering wheel of a vehicle when another vehicle is traveling in front of it. The control device in Patent Document 1 changes the intensity of the steering wheel vibration based on the distance between the user's vehicle and other vehicles. The driver of the vehicle can perceive the distance based on the intensity of the steering wheel vibration.

[0004] Existing technical documents

[0005] Patent documents

[0006] Patent Document 1: WO2020 / 235305A Summary of the Invention

[0007] The task to be accomplished by this invention

[0008] Typically, drivers identify the presence of objects such as other vehicles or fallen objects by visually confirming their location. In vehicles equipped with the control device of Patent Document 1, the driver first identifies the presence of another vehicle through steering wheel vibration, and then visually confirms the other vehicle to determine its location. However, the driver's visibility distance may be shortened due to fatigue. Therefore, even if the driver of a vehicle equipped with the control device of Patent Document 1 identifies the presence of another vehicle through steering wheel vibration, the shortened visibility distance may make it difficult for the driver to visually confirm the location of the other vehicle. Therefore, there is a need for a technology that can appropriately warn a driver whose visibility distance has decreased due to fatigue or other reasons that an object is approaching the vehicle.

[0009] The present invention is made in view of the problems existing in the prior art, and one object of the present invention is to provide a vehicle control system for warning a driver whose visibility distance has decreased relative to normal conditions that an object is approaching the vehicle, which can correctly warn the driver that an object is approaching the vehicle, thereby promoting the further development of sustainable transportation systems.

[0010] means of completing the task

[0011] As a solution to the aforementioned task, one aspect of the present invention provides a vehicle control system comprising: a surrounding information acquirer for detecting information on objects near the vehicle; a notification device for alerting a driver in the vehicle; and an alarm controller for controlling the notification device such that the notification device alerts the driver based on detection results from the surrounding information acquirer, wherein the surrounding information acquirer detects information on an object at a distance less than or equal to a sensing distance in the direction of travel of the vehicle, wherein the alarm controller is configured to: estimate at predetermined intervals the visible distance at which the driver of the vehicle can visually identify the object; and calculate the object distance between the object and the vehicle based on the detection results of the surrounding information acquirer, wherein when the object distance is less than or equal to the sensing distance and less than the visible distance, the alarm controller causes the notification device to provide a first type of alarm, and wherein when the object distance is less than or equal to the sensing distance and greater than or equal to the visible distance, the alarm controller causes the notification device to provide a second type of alarm that is stronger than the first type of alarm.

[0012] Invention Effects

[0013] The above embodiments of the present invention aim to provide a vehicle control system that can appropriately warn the driver of objects approaching the vehicle when their visibility distance is reduced compared to normal conditions. Attached Figure Description

[0014] Figure 1 This is a block diagram illustrating the overall configuration of a vehicle equipped with a vehicle control system according to an embodiment of the present invention; Figure 2 This is a diagram showing the status log table; Figure 3 This diagram illustrates the alarm provided by the alarm controller when a vehicle approaches another vehicle traveling in front of it. Figure 4 This is a flowchart of the state recognition operation; Figure 5 This is a flowchart of the warning operation; Figure 6 This is a diagram showing that when the object is at a distance greater than or equal to the visible distance and less than or equal to the sensing distance, and the alarm controller has not provided a second type of alarm since the object was detected, the alarm controller provides a second type of alarm. Figure 7 This is a diagram showing an object being within visual range and the alarm controller providing a first-class alarm; Figure 8 This is a diagram illustrating that when an object is at a distance greater than or equal to the current visual distance but less than the current visual distance within a predetermined time period, the alarm controller provides a first-type alarm; and Figure 9This is a diagram showing that the alarm controller provides a first type of alarm and a second type of alarm when a certain period of time has passed while the distance to the object is greater than or equal to the visual distance.

[0015] Glossary

[0016] 1. Vehicle Control System

[0017] 3. User vehicles, vehicles

[0018] 10. Driver Sensors (Driver Information Acquisition Devices)

[0019] 11. External sensors (surrounding information acquirers)

[0020] 13 HMI (Notifier)

[0021] 43 Surroundings Identifier

[0022] 45 Driver Assistance Controller

[0023] 46 Alarm Controller

[0024] D Alarm Distance

[0025] S Sensing distance

[0026] Ta time threshold

[0027] Tb time threshold

[0028] TW Alert Period

[0029] W Visible distance

[0030] X Object Distance Detailed Implementation

[0031] Embodiments of the vehicle control system 1 of the present invention will be described with reference to the accompanying drawings. In the drawings and the following description, directional terms such as front, rear, left, and right refer to the corresponding directions of the vehicle 3 equipped with the vehicle control system 1. The user vehicle 3 equipped with the vehicle control system 1 is also referred to as "user vehicle 3".

[0032] <Vehicle 3>

[0033] Figure 1 This is a block diagram illustrating the overall configuration of a vehicle 3 equipped with a vehicle control system 1. For example, the user vehicle 3 is a car. In other embodiments, the user vehicle 3 may be a vehicle other than a car (e.g., a two-wheeled vehicle).

[0034] like Figure 1As shown, the user vehicle 3 includes a drive unit 5, a braking unit 6, a steering unit 7, a navigation unit 8, a driver control element 9, a driver sensor 10, an external sensor 11, a vehicle sensor 12, an HMI 13 (human-machine interface), and a control unit 15. The driver sensor 10 is an example of a driver information acquirer that detects information about the driver's condition. The external sensor 11 is an example of a surrounding information acquirer that detects the location of objects present in or near the user vehicle 3. The HMI 13 is an example of a notification device that warns the driver of the user vehicle 3. The vehicle control system 1 of this embodiment includes a driver information acquirer (driver sensor 10), a surrounding information acquirer (external sensor 11), a vehicle sensor 12, a notification device (HMI 13), and a control unit 15.

[0035] The drive unit 5 is a device that provides driving force to the user vehicle 3. The drive unit 5 includes a drive source that generates driving force to propel the user vehicle 3. For example, the drive source is configured as an internal combustion engine and / or an electric motor.

[0036] Braking device 6 is a device that provides braking force to user vehicle 3. For example, braking device 6 includes a brake caliper that presses the brake pads against the brake rotor and an electric cylinder that supplies hydraulic pressure to the brake caliper.

[0037] The steering mechanism 7 is a device that rotates the wheels to change their steering angle. For example, the steering mechanism 7 includes a rack and pinion mechanism connected to the wheels and an electric motor that drives the rack and pinion mechanism.

[0038] Navigation device 8 is a means of providing user vehicle 3 with route information about traveling to its destination. Navigation device 8 stores map information. Navigation device 8 determines the current position of user vehicle 3 based on GNSS signals received from satellites (e.g., GPS signals). Navigation device 8 generates a route plan for user vehicle 3. Navigation device 8 can display the current position of user vehicle 3, the route plan, and a map of the area where user vehicle 3 is located and its surroundings on a touchscreen 32, which will be described later.

[0039] The driver control element 9 is a device for receiving driving operations performed by the driver (hereinafter referred to as "driver") in the user vehicle 3. The driver control element 9 includes: a steering control element 22 (e.g., a steering wheel) that receives steering operations performed by the driver in the user vehicle 3; an acceleration control element 23 (e.g., an accelerator pedal) that receives acceleration operations performed by the driver in the user vehicle 3; and a deceleration control element 24 (e.g., a brake pedal) that receives deceleration operations performed by the driver in the user vehicle 3.

[0040] The driver sensor 10 is a device for detecting the driver's condition. The driver sensor 10 includes a driver monitoring camera 25 and a biometric sensor 26. The driver monitoring camera 25 captures images of the driver.

[0041] Biometric sensor 26 may include an electrostatic sensor mounted on steering control element 22 to detect the driver's contact with the element. Biometric sensor 26 may also be a heart rate sensor, a respiration sensor, a pressure sensor, and / or an electroencephalogram (EEG) sensor mounted in the driver's seat. The heart rate sensor is positioned to correspond to the driver's heart to detect the driver's heart rate. The heart rate sensor can be any type of heart rate sensor, such as a touch-sensitive, optical, or EEG-type heart rate sensor. The respiration sensor is positioned to correspond to the driver's lungs to detect the driver's breathing rate and depth. The respiration sensor may include a pressure sensor to detect pressure applied by the driver and may be configured to detect breathing rate and depth based on pressure changes applied to the pressure sensor due to the driver's breathing movements. The EEG sensor is positioned facing the driver's head and includes a magnetic sensor to detect magnetic signals associated with the driver's brain cell activity; the EEG sensor is configured to calculate the driver's brain waves based on the magnetic signals detected by the magnetic sensor. Furthermore, biometric sensor 26 may be a blood pressure sensor. Biometric sensor 26 is not limited to these sensors; it can be any sensor that detects biometric information, such as the driver's blood flow.

[0042] External sensor 11 is a device for acquiring information about the surroundings of user vehicle 3. External sensor 11 includes multiple cameras 27, multiple radars 28, and multiple lidar 29. Each camera 27 captures images containing objects present near user vehicle 3 (such as nearby vehicles (including vehicles in front), motorcycles, and pedestrians) and road components indicating the shape of the road (such as lane markings). Each radar 28 emits radio waves, such as millimeter electromagnetic waves, around user vehicle 3 and detects the location of objects present near user vehicle 3 by acquiring the reflected electromagnetic waves. Each lidar 29 illuminates the surroundings of user vehicle 3 with light, such as infrared light, and detects the location of objects present near user vehicle 3 by acquiring the reflected light.

[0043] Figure 1 The vehicle sensor 12 shown is a sensor device for detecting the driving status of the user vehicle 3. The vehicle sensor 12 includes a speed sensor 30 for detecting the speed of the user vehicle 3 and an acceleration sensor 31 for detecting the acceleration and deceleration of the vehicle 3.

[0044] HMI 13 is a device that alerts the driver and receives input from the driver. HMI 13 includes a touchscreen 32, an audio output device 33, and a display 34 (display device, not shown). The touchscreen 32 displays various interfaces to the driver and receives input from occupants on these interfaces. The audio output device 33 outputs audio assistance information, alarm sounds, and similar audio messages. The display 34 can indicate vehicle speed, tachometer readings, and driver assistance information.

[0045] <Control Device 15>

[0046] The control device 15 is a computer including a processor 41 and a memory 42 communicatively connected to the processor 41. The processor 41 may include at least one of, for example, a CPU, GPU, or MPU as a core component. The memory 42 stores programs and various data executable by the processor 41. The memory 42 stores a status record table 42A (…). Figure 2 The data is stored in the memory 42. The memory 42 may include at least one of volatile memory and non-volatile memory. The volatile memory may be, for example, DRAM or SRAM. The non-volatile memory may be an SSD, flash memory, disk storage device, or optical disk storage device. At least a portion of the control device 15 may be implemented in hardware such as an LSI, ASIC, or FPGA, or in a combination of software and hardware. The control device 15 may be configured as a single piece of hardware or as multiple pieces of hardware capable of communicating with each other.

[0047] Figure 2 This is a diagram showing the status log table 42A. (See diagram below.) Figure 2 As shown, the status record table 42A is a set of records related to the storage time T, object distance X (i.e., the distance between user vehicle 3 and the object in front of user vehicle 3), driver's estimated visibility distance W, the true value indicating whether object distance X is less than or equal to visibility distance W ("T" if visibility distance W ≤ object distance X, "F" if visibility distance W > object distance X), and information indicating whether a second type of alarm has been provided ("T" or "F").

[0048] The control unit 15 includes a surrounding detector 43, a driving controller 44, a driver assistance controller 45, and an alarm controller 46 as functional units. The processor 41 implements the surrounding detector 43, the driving controller 44, the driver assistance controller 45, and the alarm controller 46 by executing programs stored in the memory 42.

[0049] The surroundings identifier 43 identifies the environment around the user vehicle 3 based on information acquired by the external sensor 11. For example, the surroundings identifier 43 detects the position of objects (such as other vehicles, pedestrians, and fallen objects) in front of the user vehicle 3 based on the detection results provided by the external sensor 11. In addition, the surroundings identifier 43 detects the shape of the road around the user vehicle 3 based on the detection results provided by the external sensor 11.

[0050] The driving controller 44 controls the driving of the user vehicle 3 in response to the driver's driving operation on the driver control element 9. For example, the driving controller 44 controls the steering device 7 in response to the driver's steering operation on the steering control element 22 to turn the user vehicle 3. The driving controller 44 controls the drive unit 5 in response to the driver's acceleration operation on the acceleration control element 23 to accelerate the user vehicle 3. The driving controller 44 controls the braking device 6 in response to the driver's deceleration operation on the deceleration control element 24 to decelerate the user vehicle 3. Furthermore, when controlling the steering device 7 to turn the user vehicle 3, the driving controller 44 performs steering signal control, such as activating the steering signal.

[0051] The driver assistance controller 45 performs advanced driver assistance control based on the recognition results from the external sensor 11, that is, control of the advanced driver assistance system (ADAS) of the user vehicle 3. Advanced driver assistance control corresponds to SAE levels 1 to 2 of driving automation. When advanced driver assistance control is executed, the driver remains the primary operator of the vehicle 3 and has driving authority over the vehicle 3.

[0052] The vehicle control system 1 calculates the distance (referred to as "object distance X") between the user vehicle 3 and the object in front of the user vehicle 3 based on the position of the object detected by the surrounding recognition device 43, and performs a state recognition operation to estimate the driver's visibility distance W. The alarm controller 46 performs a warning operation to warn the driver based on the object distance X and visibility distance W detected and estimated in the state recognition operation.

[0053] Figure 3 This diagram illustrates an alarm provided by the alarm controller 46 when user vehicle 3 approaches another vehicle 4 traveling in front of vehicle 3. Figure 3 In the process, user vehicle 3 approaches another vehicle 4 from time T1 to time T4. Figure 3 In this context, user vehicle 3, operating between times T1 and T4, is designated as 3T1 to 3T4. Figure 3 In the diagram, the object distance X is the distance between another vehicle 4 and the user vehicle 3.

[0054] As described below, Figure 3The scenario is illustrated from time T1 to time T4, where the visible distance W becomes shorter than the sensing distance S (visible distance W < sensing distance S) due to driver fatigue or other reasons. The sensing distance S is the maximum distance between the user vehicle 3 and an object in front of the vehicle 3, which needs to provide an alert to the driver. The ambient information acquirer (external sensor 11) cannot detect objects within a predetermined lower limit distance (e.g., 1 cm) in front of the user vehicle 3. When the object distance X is greater than or equal to the lower limit distance and less than or equal to the sensing distance S, the alarm controller 46 can provide an alert. The sensing distance S can also be the upper limit of the object distance X that the ambient information acquirer (external sensor 11) can detect in front of the user vehicle 3. The sensing distance S can vary depending on the speed of the user vehicle 3.

[0055] At time T1, since the distance X between the user vehicle 3T1 and the object is large enough, the alarm controller 46 does not warn the driver about the other vehicle 4, and the corresponding interface displayed on the display 34 does not show an icon representing the other vehicle 4.

[0056] At time T2, the object distance X between the user vehicle 3T2 and another object is equal to the sensing distance S (object distance X = sensing distance S), and the object distance X is greater than the visible distance W (visible distance W < object distance X). When the object distance X is less than or equal to the sensing distance S and greater than the lower limit distance, the alarm controller 46 provides an alarm.

[0057] At time T2, when the object distance X equals the sensing distance S (object distance X = sensing distance S), the driver needs to pay attention to the object. At time T2, since the object distance X is greater than the visible distance W (visible distance W < object distance X), the driver may not notice the other vehicle 4. Therefore, the alarm controller 46 displays a second type of alarm on the display 34 throughout the alarm period Tw. Subsequently, at time T3, for the user vehicle 3T3, the alarm controller 46 has ended the second type of alarm and is providing a first type of alarm displayed on the display 34. As a first type of alarm, the alarm controller 46 displays an icon 34A representing the other vehicle 4 in a simplified style on the display 34. As a second type of alarm, the alarm controller 46 displays an icon 34B representing the other vehicle 4 on the display 34.

[0058] At time T3, since the object distance X is less than or equal to the visible distance W (object distance X ≤ visible distance W), the driver will typically visually recognize the other vehicle 4. Therefore, the alarm controller 46 provides a first-type alarm instead of a second-type alarm and continues to provide it.

[0059] At time T4, the object distance X is less than or equal to the alarm distance D (e.g., 10m). The alarm distance D is shorter than the sensing distance S (alarm distance D < sensing distance S). When the object distance X becomes less than or equal to the alarm distance D, the alarm controller 46 displays a third-class alarm on the display 34. As a third-class alarm, the alarm controller 46 displays an icon 34C on the display 34 indicating another vehicle 4.

[0060] The second and third types of alarms are intensified compared to the first type of alarm. Intensification means a higher degree of intensity that attracts attention. The third type of alarm can be more intensified than the second type of alarm. Alternatively, the third type of alarm can be the same as the second type of alarm. The degree of intensification of the second type of alarm can differ from the degree of intensification of the third type of alarm.

[0061] like Figure 3 As shown, when the alarm controller 46 provides an alarm by displaying icons 34A to 34C representing another vehicle 4 (object) on the display 34, the alarm can be enhanced by at least one of the following operations: increasing the size of the icon, increasing its brightness, shortening the duration of brightness changes or flashing, or changing the icon hue from a cool color to a warm color.

[0062] Alarm controller 46 can provide first-class, second-class, and third-class alarms in audio form. In this case, alarm controller 46 can amplify the alarm by at least one of the following operations: increasing the intensity of the sound generated from audio output device 33; increasing the frequency of the sound; repeating the sound with a short repetition period; or shortening the period of change of sound intensity or frequency.

[0063] In other cases, the alarm controller 46 may generate vibrations in the steering control element 22 to provide first-class, second-class, and third-class alarms. In this case, the alarm controller 46 may amplify the alarm by at least one of the following operations: increasing the vibration intensity, increasing the vibration frequency, generating vibrations repeatedly with a shorter repetition period, or shortening the cycle period of the change in vibration intensity or frequency.

[0064] Operation of Alarm Controller 46

[0065] Next, refer to Figures 4 to 8 This will describe the state recognition operation performed by the vehicle control system 1. Figure 4 ) and warning operations ( Figure 5 ).

[0066] <Status Recognition Operation>

[0067] Figure 4This is a flowchart of the status recognition operation. When the main power of user vehicle 3 is turned on, vehicle control system 1 performs status recognition operations at predetermined time intervals. Each interval for performing the status recognition operation can be a time interval (e.g., 10ms) or an interval based on the distance traveled by user vehicle 3 (e.g., every 1m traveled by user vehicle 3).

[0068] In the state recognition operation, firstly, the external sensor 11 acquires information about the surroundings of the user vehicle 3 (user vehicle surroundings information) (step ST1). Next, the driver sensor 10 detects information about the driver's condition (driver condition information), and the alarm controller 46 estimates the driver's line of sight W based on the driver condition information detected by the driver sensor 10 (step ST2).

[0069] In step ST2, the alarm controller 46 can estimate the direction of the driver's gaze based on an image of the driver captured by the driver sensor 10, and estimate the visible distance W based on the estimated gaze direction. For example, the alarm controller 46 can estimate the time the driver gazes at a distant point in front of the user vehicle 3 per unit time (e.g., one minute). The visible distance W can be estimated such that the shorter the estimated time per unit time, the shorter the visible distance W becomes. Furthermore, the alarm controller 46 can use a heart rate sensor as the driver sensor 10 and estimate the visible distance W such that the visible distance W decreases as the driver's heart rate decreases. In some cases, the alarm controller 46 can use a respiratory sensor as the driver sensor 10 and estimate the visible distance W such that the visible distance W decreases as the driver's breathing rate decreases or as the driver's breathing becomes shallower. In other cases, the alarm controller 46 can use an electroencephalogram (EEG) sensor as the driver sensor 10 and estimate the visible distance W such that the visible distance W increases as the activity of the driver's brain cells increases.

[0070] In step ST2, the alarm controller 46 may estimate the driver's visibility distance W of the user vehicle 3 based on at least one of the driver's continuous driving time, the amount of vehicle control by the driver, the driving assistance time during which the driver assistance controller 45 provides driving assistance to the driver, and the amount of vehicle control performed by the driver assistance controller 45. The alarm controller 46 may estimate the visibility distance W such that the visibility distance W decreases as the driver's continuous driving time increases, as the amount of vehicle control by the driver increases, as the driving assistance time during which the driver assistance controller 45 provides driving assistance to the driver increases, or as the amount of vehicle control by the driver assistance controller 45 increases.

[0071] Next, the alarm controller 46 determines whether the visual distance W estimated in step ST2 is less than or equal to the sensing distance S (visible distance W ≤ sensing distance S) (step ST3). When the alarm controller 46 determines that the visual distance W is greater than the sensing distance S (sensing distance S < visual distance W) (no in step ST3), the driver can generally visually identify an object located further away from the user vehicle 3 than the sensing distance S (sensing distance S < object distance X). Therefore, the alarm controller 46 stops providing the current alarm (step ST4) and ends the state recognition operation. In some cases, when the alarm controller 46 provides a second or third type of alarm, the alarm controller 46 can switch the alarm type to a first type of alarm to provide a first type of alarm instead of stopping providing the current alarm in step ST4.

[0072] As referenced above Figure 3 The alarm controller 46 can display a first-class alarm, a second-class alarm, or a third-class alarm on the display 34. When an alarm is displayed on the display 34, the alarm controller 46 stops providing alarms in step ST4. When no alarm is displayed, the alarm controller 46 does not perform any operation in step ST4.

[0073] When, in step ST3, the alarm controller 46 determines that the visible distance W is less than or equal to the sensing distance S (visible distance W ≤ sensing distance S) (yes in step ST3), the alarm controller 46 detects an object present in the current lane in front of the user vehicle 3 based on the surrounding information of the user vehicle 3 obtained in step ST1 (information about the surroundings of the user vehicle 3), and calculates the object distance X (step ST5). When the visible distance W is less than or equal to the sensing distance S (visible distance W ≤ sensing distance S), the driver may not be able to visually identify the expected object. Therefore, in order to warn the driver of the object, the alarm controller 46 detects the object and calculates the object distance X in step ST5. When there is no object in the current lane, there is no need to warn the driver of any object, and therefore the alarm controller 46 does not calculate the object distance X in step ST5.

[0074] When vehicle 3 plans to change its path (e.g., change lanes), alarm controller 46, in step ST5, detects objects in the target lane that vehicle 3 intends to move toward, based on detection results (surrounding information of the user vehicle) from external sensor 11 (surrounding information acquirer), and then calculates the distance between the detected object and vehicle 3 as object distance X. Furthermore, alarm controller 46 can detect changes in the vehicle's planned path and the target lane that the vehicle intends to travel to, based on the control of steering device 7 executed by driving controller 44, the route plan generated by navigation device 8, and the operation of occupant turn signals (not shown).

[0075] Next, the alarm controller 46 determines whether the object distance X calculated in step ST5 is less than or equal to the sensing distance S (object distance X ≤ sensing distance S) (step ST6). When no object is detected in step ST5, the alarm controller 46 determines that the object distance X is greater than the sensing distance S (sensing distance S < object distance X) (no in step ST6). When the alarm controller 46 determines that the object distance X is greater than the sensing distance S (sensing distance S < object distance X) (no in step ST6), the object distance X is large enough that there is no need to warn the driver about the object. Therefore, the alarm controller 46 stops providing an alarm (step ST4) and ends the status recognition operation.

[0076] When, in step ST6, the alarm controller 46 determines that the object distance X is less than or equal to the sensing distance S (object distance X ≤ sensing distance S) (yes in step ST6), the alarm controller 46 stores the current time T, object distance X, visible distance W, and the truth value indicating whether the object distance X is less than or equal to the visible distance W ("T" if visible distance W ≤ object distance X, "F" if visible distance W > object distance X) in the status record table 42A (step ST7). Next, the alarm controller 46 begins executing the warning operation and ends the status recognition operation.

[0077] When the visible distance W is less than or equal to the sensing distance S (visible distance W ≤ sensing distance S) (yes in step ST3), the operation in step ST6 is executed. In step ST6, when the object distance X is less than or equal to the sensing distance S (object distance X ≤ sensing distance S) (yes in step ST6), both the object distance X and the visible distance W are less than or equal to the sensing distance S (object distance X ≤ sensing distance S, visible distance W ≤ sensing distance S). In this case, the alarm controller 46 performs a warning operation to warn the driver of the object (step ST8). When the visible distance W is greater than the sensing distance S (sensing distance S < visible distance W) (no in step ST3), the driver can usually visually identify the object, and therefore the alarm controller 46 does not warn the driver of the object (step ST4). When the visible distance W is less than or equal to the sensing distance S (visible distance W ≤ sensing distance S) (yes in step ST3), the driver's attention to the road ahead is usually reduced, therefore the alarm controller 46 performs a warning operation to warn the driver of the object. In this way, by performing state recognition operations, the vehicle control system 1 can prevent warning the driver of the object when no alarm is needed, and warn the driver of the object when an alarm is needed.

[0078] Alarm controller 46 performs a status recognition operation to calculate the object distance X and estimate the visible distance W. Alarm controller 46 performs the status recognition operation at predetermined intervals, meaning that the object distance X and the visible distance W can change each time the status recognition operation is performed. When step ST8 is performed in the status recognition operation, alarm controller 46 performs a warning operation. Therefore, since the status recognition operation is repeated at predetermined intervals, the warning operation is also repeatedly performed. Alarm controller 46 uses the object distance X calculated in the status recognition operation and the estimated visible distance W in the status recognition operation in the warning operation.

[0079] <Warning Operation>

[0080] Figure 5 This is a flowchart of the warning operation. For example... Figure 5 As shown, in the warning operation, the alarm controller 46 first determines whether the object distance X is greater than or equal to the visible distance W (i.e., visible distance W ≤ object distance X) (step ST11). When the alarm controller 46 determines in step ST11 that the object distance X is less than the visible distance W (object distance X < visible distance W) (no in step ST11), the alarm controller 46 then determines whether the object distance X is less than or equal to the alarm distance D (object distance X ≤ alarm distance D) (step ST12).

[0081] When the alarm controller 46 determines that the object distance X is less than or equal to the alarm distance D (object distance X ≤ alarm distance D) (yes in step ST12), the alarm controller 46 displays a third-class alarm on the display 34 (step ST13) and ends the warning operation. Figure 3 As shown, compared to the case where a second type of alert is provided when the object is closer to the user vehicle 3 than the alert distance D, this configuration can encourage the driver to more strongly recognize the presence of an object in front.

[0082] When it is determined that the object distance X is greater than the alarm distance D (alarm distance D < object distance X) (no in step ST12), the alarm controller 46 displays a first-type alarm on the display 34 (step ST14) and ends the warning operation. (See above for reference.) Figure 3 As a first-type alarm, the alarm controller 46 displays a simplified object icon 34A on the display 34. This configuration allows the driver to identify the presence of an object ahead.

[0083] When, in step ST11, the alarm controller 46 determines that the object distance X is greater than or equal to the visible distance W (i.e., the visible distance W ≤ the object distance X) (yes in step ST11), the alarm controller 46 determines whether a second type of alarm has been provided since the case where the visible distance W ≤ the object distance X was detected in the status recognition operation (step ST15). As described above, after an object is detected in the status recognition operation, the status recognition operation and the warning operation are repeated. As described later, the alarm controller 46 can determine whether a second type of alarm has been provided since the object was first detected in the status recognition operation by referring to the status record table 42A.

[0084] When the alarm controller 46 determines in step ST15 that no second type alarm has been provided since the object was first detected (no in step ST15), the alarm controller 46 displays the second type alarm on the display 34 within the alarm time period Tw (step ST16) and ends the alarm operation.

[0085] In step ST16, the alarm controller 46 stores information indicating that a second type of alarm (truth value "T") is provided in the status log table 42A, and displays the second type of alarm on the display 34 during the alarm time period Tw, and subsequently displays the first type of alarm on the display 34. Therefore, when the status log table 42A includes the stored information ("T") indicating that a second type of alarm has been provided, the alarm controller 46 has provided a second type of alarm since the object was first detected. When the status log table 42A does not include the information ("T") indicating that a second type of alarm has been provided, the alarm controller 46 has not provided a second type of alarm since the object was first detected. In step ST15, when the status log table 42A does not contain the stored information ("T") indicating that a second type of alarm has been provided, the alarm controller 46 determines, by referring to the status log table 42A, that the alarm controller 46 has not provided a second type of alarm since the object was first detected (no in step ST15).

[0086] Figure 6 As shown, when the object distance X is greater than or equal to the visible distance W (visible distance W ≤ object distance X), the alarm controller 46 has not provided a second type of alarm since the object was detected (No in step ST15). The time at this point (No in step ST15) is designated as time T11. For example... Figure 6As shown, when the object distance X is greater than or equal to the visible distance W (visible distance W ≤ object distance X), the driver may not be able to visually identify the other vehicle B11. Since the alarm controller 46 has not provided a second type of alarm since first detecting the object, the driver is unlikely to be sufficiently aware of the other vehicle B11. Therefore, in this situation (no in step ST15), the alarm controller 46 displays a second type of alarm on the display 34 during the alarm time period Tw in step ST16, and subsequently displays a first type of alarm on the display 34. The alarm time period Tw is the time interval for providing the second type of alarm.

[0087] As referenced above Figure 3 The alarm controller 46 displays an icon 34B representing an object on the display 34 as a second type of alarm. Compared to the first type of alarm, the second type of alarm reinforces the presence of the object. This feature facilitates the driver's recognition of objects ahead compared to when the first type of alarm is activated.

[0088] Providing a second type of alert makes the driver more aware of objects, thereby increasing the visibility distance W. This may result in the object distance X being shorter than the visibility distance W (object distance X < visibility distance W). Additionally, after time point T11, another vehicle 4 may approach the user's vehicle 3, causing the object distance X to become less than the visibility distance W (object distance X < visibility distance W).

[0089] Figure 7 It is shown that when the object distance X is less than the visual distance W (object distance X < visual distance W), the alarm controller 46 has already provided a first type of alarm. Figure 7 The positions of another vehicle B11 at time T11 and another vehicle B12 at time T12 are shown. At time T12 (after time T11), the object distance X becomes less than the visible distance W (object distance X < visible distance W). Figure 7 The following situations (A) to (C) are shown: (A) The visibility distance W at time T12 is substantially the same as that at time T11; (B) At time T12, the position of another vehicle B12 is closer to user vehicle 3 than at time T11; and (C) A first-class alarm is being executed.

[0090] accomplish Figure 7 The conditions for the situation shown include the following conditions 1 to 3: -Condition 1: From time T11 to T12, the visible distance W does not change significantly, and the object (other vehicle) approaches due to the acceleration of user vehicle 3 or the deceleration of the object (other vehicle), resulting in a smaller object distance X; -Condition 2: The distance X to the object does not change significantly between time T11 and time T12, and the driver pays attention to the road ahead due to a warning or similar action, resulting in an increase in the visible distance W; and -Condition 3: The distance X of the object decreases due to the acceleration of user vehicle 3 or the deceleration of the object (other vehicle), which causes the object (other vehicle) to get closer, and the visibility distance W increases due to an alarm or similar action, and at time T12, the distance X of the object becomes less than the visibility distance W (distance X of the object < visibility distance W).

[0091] When the object distance X is less than the visible distance W (object distance X < visible distance W), the alarm controller 46 executes step ST11, providing a first-type alarm (not specified in step ST11). For example... Figure 7 As shown, when the object distance X is less than the visual distance W (object distance X < visual distance W), the driver can usually visually identify the object. Therefore, when the object distance X is less than the visual distance W (object distance X < visual distance W), the alarm controller 46 performs the operation of step ST11 to provide a first-type alarm but not a second-type alarm (no in step ST11). This feature prevents the alarm controller 46 from over-providing alarms indicating the presence of an object.

[0092] When, in step ST15, the alarm controller 46 determines that a second-type alarm has been provided since the object was first detected (Yes in step ST15), the alarm controller 46 determines whether the object distance X is less than the visual distance W (object distance X < visual distance W) within a time period threshold Ta (hereinafter referred to as "time threshold Ta") from the current time (step ST17). The time threshold Ta is long enough for the driver to remember to pay attention to the object. The time threshold Ta is, for example, 10 seconds. (Refer to the above...) Figure 2 As described, the status log table 42A stores a set of records including past time points T and truth values ​​indicating whether the visible distance W is less than or equal to the object distance X (value "T" if visible distance W ≤ object distance X, value "F" if visible distance W > object distance X). The alarm controller 46 can determine, by referring to the status log table 42A, whether the object distance X is less than the visible distance W (object distance X < visible distance W) within a time threshold Ta from the current time.

[0093] Figure 8 As shown, when the object distance X is less than the visible distance W (object distance X < visible distance W) within the current time threshold Ta and the current object distance X is greater than or equal to the visible distance W (visible distance W ≤ object distance X) (time T13), the alarm controller 46 provides a first-type alarm. Time T13 is... Figure 7The time that has elapsed within the time threshold Ta after time T12 is shown. At time T12, the object distance X is less than the visible distance W (object distance X < visible distance W). At time T12, vehicle B12 moves forward (or the visible distance W at time T13 becomes shorter than the visible distance W at time T12), and at time T13, vehicle B13 has an object distance X greater than or equal to the visible distance W (visible distance W ≤ object distance X).

[0094] Therefore, time T13 is the time within the current time threshold Ta when the object distance X is less than the visible distance W (object distance X < visible distance W) (as stated in step ST17). Figure 8 As shown, at time T12, the object distance X is less than the visible distance W (object distance X < visible distance W). Therefore, at time T12, the driver can usually visually identify the object. When time T13 is within the time threshold Ta from time T12, at time T13, the driver identifies the object that was identified at time T12.

[0095] When, in step ST17, the alarm controller 46 determines that the distance X of an object is less than the visible distance W (object distance X < visible distance W) within the current time threshold Ta (yes in step ST17), the driver can typically perceive the object at that moment. Therefore, the alarm controller 46 displays (or continues to display) a first-type alarm on the display 34 (step ST14) and ends the warning operation. This feature prevents the alarm controller 46 from over-providing alarms indicating the presence of an object, compared to providing a second-type alarm.

[0096] In step ST17, when the alarm controller 46 determines that the object distance X has not become less than the visible distance W within the current time threshold Ta (object distance X < visible distance W) (no in step ST17), the alarm controller 46 determines whether the relative speed of the object relative to the user vehicle 3 is negative (relative speed < 0) (step ST18). When the relative speed of the object relative to the user vehicle 3 is negative (relative speed < 0), the object moves closer to the user vehicle 3.

[0097] As per the above reference Figure 2The status record table 42A stores a set of records including past time points T and object distance X. By referring to the status record table 42A, the alarm controller 46 can calculate the relative velocity of the object relative to the user vehicle 3. Therefore, by using the status record table 42A, the alarm controller 46 can determine whether the relative velocity of the object relative to the user vehicle 3 is negative (relative velocity < 0). Furthermore, in step ST18, the alarm controller 46 can detect the current relative velocity of the object relative to the user vehicle 3 based on information about the surroundings of the user vehicle 3 obtained by the external sensor 11 (surroundings information of the user vehicle).

[0098] Figure 9 As shown, when the object distance X remains greater than or equal to the visible distance W (visible distance W ≤ object distance X) for a period of time, the alarm controller 46 provides a second type of alarm. Time T14 and time T15 are after time T13. At time T14, the relative speed of another vehicle B14 relative to user vehicle 3 is negative (relative speed < 0). Time T15 is the time elapsed since time T13 at least after a time period threshold Tb (hereinafter referred to as "time threshold Tb"). Time threshold Tb is greater than time threshold Ta (time threshold Tb > time threshold Ta).

[0099] When the alarm controller 46 determines in step ST18 that the relative speed of the object relative to the user vehicle 3 is negative (relative speed < 0) (yes in step ST18), the alarm controller 46 displays a second type of alarm on the display 34 during the alarm time period Tw (step ST16), and then ends the warning operation. When the alarm controller 46 determines in step ST18 that the relative speed of the object relative to the user vehicle 3 is negative (relative speed < 0) (yes in step ST18), such as... Figure 9 As shown, the object distance X is greater than or equal to the visible distance W (visible distance W ≤ object distance X), therefore the driver does not recognize the other vehicle B14, and the other vehicle B14 is approaching the user vehicle 3. Therefore, the alarm controller 46 provides a second type of alarm, enabling the driver to recognize the other vehicle B14. When the alarm controller 46 determines that the relative speed of the object relative to the user vehicle 3 is negative (relative speed < 0) (yes in step ST18) while providing the first type of alarm during the operation of step ST18, the alarm controller 46 changes the type of alarm displayed on the display 34 (notifier) ​​from the first type of alarm to the second type of alarm.

[0100] When the alarm controller 46 determines in step ST18 that the relative speed of the object relative to the user vehicle 3 is not negative (relative speed ≥ 0) (no in step ST18), the alarm controller 46 determines whether the object distance X has been continuously greater than or equal to the visible distance W (visible distance W ≤ object distance X) for a time threshold Tb or longer (step ST19).

[0101] As referenced above Figure 8 As stated, at time T13 (when determined to be yes in step ST17), the driver can typically identify the other vehicle 4. Time T15 is at least a time threshold Tb after time T13. At time T15, the object distance X has been continuously greater than or equal to the visible distance W (visible distance W ≤ object distance X) for a time threshold Tb or longer (step ST19). When the object distance X has been continuously greater than or equal to the visible distance W (visible distance W ≤ object distance X) for a time threshold Tb or longer, the driver has not seen the object for a time threshold Tb or longer and is unlikely to identify the object's presence.

[0102] When the alarm controller 46 determines in step ST19 that the object distance X has been continuously greater than or equal to the visible distance W (visible distance W ≤ object distance X) for a time threshold Tb or longer (yes in step ST19), the alarm controller 46 displays a second type of alarm on the display 34 for the alarm time period Tw (step ST16) and ends the warning operation. When the alarm controller 46 determines that the object distance X is currently greater than or equal to the visible distance W and has been continuously greater than or equal to the visible distance W (visible distance W ≤ object distance X) for a time threshold Tb or longer (yes in step ST19) while displaying a first type of alarm on the display 34 (notifier), the alarm controller 46 changes the type of alarm displayed on the display 34 (notifier) ​​from the first type of alarm to the second type of alarm.

[0103] When the alarm controller 46 determines in step ST19 that the object distance X has not been continuously greater than or equal to the visible distance W (visible distance W ≤ object distance X) for a time threshold Tb or longer (no in step ST19), the alarm controller 46 terminates the warning operation without changing the type of alarm displayed on the display 34 (step ST20). In some cases, the order of steps ST17 to ST19 can be changed.

[0104] <Invention Effects>

[0105] The effects achieved by the vehicle control system 1 will be described.

[0106] When the object distance X is less than or equal to the sensing distance S (object distance X ≤ sensing distance S) and also greater than or equal to the viewing distance W (viewing distance W ≤ object distance X), the alarm controller 46 can display an enhanced second-class alarm on the display 34 of the HMI 13. Figure 5(Steps ST15 and ST16 in the above steps). Therefore, when the object distance X is less than or equal to the sensing distance S (object distance X ≤ sensing distance S) (meaning the driver expects to identify the object) and the object distance X is greater than or equal to the visible distance W (visible distance W ≤ object distance X) (meaning the driver is unlikely to visually identify the object), the vehicle control system 1 displays a second-type warning on the display 34 of the HMI 13. This configuration allows the vehicle control system 1 to appropriately warn the driver that an object is approaching the vehicle 3 when its visible distance W has become shorter than normal.

[0107] When the state changes from an object distance X greater than or equal to the visible distance W (object distance X ≥ visible distance W) to an object distance X less than the visible distance W (object distance X < visible distance W), the alarm controller 46 displays a first-class alarm on the display 34 of the HMI 13. Figure 5 (Steps ST11 and ST14 in the original text). Therefore, when the state where the object distance X is greater than or equal to the visible distance W (object distance X ≥ visible distance W) (meaning it is assumed that the driver cannot visually identify the object) changes to the state where the object distance X is less than the visible distance W (object distance X < visible distance W) (meaning it is assumed that the driver can visually identify the object), the alarm controller 46 provides a first-type alarm instead of a second-type alarm. When the object distance X is less than the visible distance W (object distance X < visible distance W), this feature prevents the alarm controller 46 from over-providing alarms indicating the presence of an object.

[0108] When the state of object distance X being less than the visible distance W (object distance X < visible distance W) changes to the state of object distance X being greater than or equal to the visible distance W (visible distance W ≤ object distance X), the alarm controller 46 provides a first type of alarm. Figure 5 (Steps ST17 and ST14 in the text). Therefore, when the object distance X is greater than or equal to the visible distance W (visible distance W ≤ object distance X) (meaning it is assumed that the driver cannot easily visually identify the object), but the driver has identified the object (remembered its existence) because the object distance X was previously less than the visible distance W (object distance X < visible distance W), the alarm controller 46 provides a first-class alarm that is less intense than the second-class alarm. This feature prevents the alarm controller 46 from over-providing alarms indicating the presence of an object.

[0109] When the object distance X is less than or equal to the sensing distance S (object distance X ≤ sensing distance S) and greater than or equal to the visible distance W (visible distance W ≤ object distance X), the alarm controller 46 displays a second type of alarm on the HMI 13 (notifier) ​​within the alarm time period Tw. Figure 5Steps ST15, ST18, ST19, and ST16 in the above steps. This configuration (whereby after providing a second type of alarm within the alarm time period Tw, the alarm controller 46 changes the alarm type from the second type to the first type) prevents the alarm controller 46 from providing the second type of alarm for an extended period. This feature prevents the alarm controller 46 from excessively providing alarms indicating the presence of an object.

[0110] When the object distance X is greater than or equal to the visible distance W (visible distance W ≤ object distance X), the alarm controller 46 provides a first-type alarm displayed on the HMI 13 (notifier), and the relative speed of the object relative to the vehicle 3 becomes negative, the alarm controller 46 changes the type of alarm displayed on the HMI 13 (notifier) ​​from the first-type alarm to the second-type alarm. Figure 5 (Steps ST18 and ST16 in the text). When it is assumed that the driver cannot visually recognize an object and the object is approaching the user vehicle 3 (meaning that the driver needs to be warned that an object is approaching), this configuration can appropriately encourage the driver to recognize the approaching object.

[0111] When the object distance X has been greater than or equal to the visible distance W (object distance X ≥ visible distance W) for a duration of time threshold Tb or longer, the alarm controller 46 will change the alarm type displayed on HMI 13 (notifier) ​​from alarm type 1 to alarm type 2. Figure 5 (Steps ST19 and ST16 in the original text). Therefore, when the object distance X has been greater than or equal to the visible distance W (object distance X ≥ visible distance W) for a sustained period of time Tb or longer (meaning the driver is unlikely to recognize the object), the alarm controller 46 provides a second type of alarm. Thus, when the relative position between the user vehicle 3 and the object does not change significantly for a predetermined time (time threshold Tb) or longer and the driver is unlikely to recognize the object (does not remember its existence), this configuration allows the vehicle control system 1 to appropriately warn the driver of the object.

[0112] When the object distance X is less than or equal to the alarm distance D (object distance X ≤ alarm distance D), the alarm controller 46 provides a third type of alarm displayed on the HMI 13 (notifier), which is stronger than the first type of alarm. Figure 5 (Steps ST12 and ST13 in the process). Therefore, when the object distance X is less than or equal to the warning distance D (object distance X ≤ warning distance D) (meaning that the driver's recognition of the object's approach becomes more important), the system provides a third type of warning that is stronger than the first type of warning. As a result, this configuration allows the vehicle control system 1 to correctly warn the driver of the object when the object distance X is less than or equal to the warning distance D (object distance X ≤ warning distance D).

[0113] The alarm controller 46 calculates the distance X between the vehicle 3 and an object present in the current lane of the vehicle 3 based on the detection results from the external sensor 11 (surrounding information acquirer). Using this configuration, the alarm controller 46 can appropriately calculate the object distance X between the vehicle and the object.

[0114] When vehicle 3 plans to change its path, alarm controller 46 calculates the distance between vehicle 3 and an object present in the target lane that vehicle 3 intends to travel in, based on detection results from external sensor 11 (surrounding information acquirer). Using this configuration, alarm controller 46 can appropriately calculate the object distance X between the vehicle and the object when vehicle 3 plans to change its path.

[0115] The vehicle control system 1 includes a driver sensor 10 (driver information acquirer), and the alarm controller 46 estimates the visibility distance W based on the detection results from the driver sensor 10 (driver information acquirer). Using this configuration, the alarm controller 46 can appropriately estimate the visibility distance W.

[0116] The alarm controller 46 in vehicle 3 estimates the visibility distance based on at least one of the driver's continuous driving time, the amount of vehicle control by the driver, the driving assistance time during which the driving assistance controller provides driving assistance to the driver, and the amount of vehicle control performed by the driving assistance controller. This configuration allows the vehicle control system 1 to estimate the visibility distance W without using sensors for detecting the driver's condition.

[0117] The embodiments of the present invention described above can be described as follows.

[0118] In some embodiments, the vehicle control system 1 includes: an external sensor 11 (surrounding information acquirer) for detecting information about objects near the vehicle 3; an HMI 13 (notifier) ​​for alerting the driver in the vehicle 3; and an alarm controller 46 for controlling the HMI 13 such that the HMI 13 (notifier) ​​alerts the driver based on the detection results from the external sensor 11 (surrounding information acquirer), wherein the external sensor 11 (surrounding information acquirer) detects information about an object located in front of the vehicle 3 at a distance less than or equal to a sensing distance S in the direction of travel of the vehicle 3, wherein the alarm controller 46 is configured to: estimate at predetermined intervals the visible distance W at which the driver of the vehicle 3 can visually recognize the object; and calculate the object distance between the object and the vehicle 3 based on the detection results of the external sensor 11 (surrounding information acquirer), wherein when the object distance X is less than or equal to the sensing distance S (object distance X ≤ sensing distance S) and less than the visible distance W (object distance X < visible distance W), the alarm controller causes the HMI 11 to alert the driver. HMI 13 (notifier) ​​provides a first type of alarm, wherein when the object distance X is less than or equal to the sensing distance (object distance X ≤ sensing distance S) and greater than or equal to the line of sight (line of sight W ≤ object distance X), the alarm controller causes HMI 13 (notifier) ​​to provide a second type of alarm that is stronger than the first type of alarm.

[0119] In this configuration, when the object distance X is less than or equal to the sensing distance S (object distance X ≤ sensing distance S) (meaning the driver expects to recognize the object) and the object distance X is greater than or equal to the visible distance W (visible distance W ≤ object distance X) (meaning the driver is unlikely to visually recognize the object), the vehicle control system 1 displays a second-type warning on the display 34 of the HMI 13. This allows the vehicle control system 1 to appropriately warn the driver that an object is approaching the vehicle 3 when its visible distance W has become shorter than normal.

[0120] In some embodiments, when the object distance X is less than or equal to the sensing distance S (object distance X ≤ sensing distance S) and the object distance X changes from being greater than or equal to the line of sight W (line of sight W ≤ object distance X) to being less than the line of sight W (object distance X < line of sight W), the alarm controller 46 causes the HMI 13 (notifier) ​​to provide a first type of alarm ( Figure 5 Steps ST11 and ST14 in the process.

[0121] In this configuration, when the state where the object distance X is greater than or equal to the visible distance W (visible distance W ≤ object distance X) (meaning it is assumed that the driver cannot visually identify the object) changes to the state where the object distance X is less than the visible distance W (object distance X < visible distance W) (meaning it is assumed that the driver can visually identify the object), the alarm controller 46 provides a first-type alarm instead of a second-type alarm. This feature prevents the alarm controller 46 from over-providing alarms indicating the presence of an object when the object distance X is less than the visible distance W (object distance X < visible distance W).

[0122] When the object distance X is less than or equal to the sensing distance S (object distance X ≤ sensing distance S) and the object distance changes from less than the visible distance (object distance X < visible distance W) to greater than or equal to the visible distance (object distance X ≥ visible distance W), the alarm controller 46 provides a first-type alarm. Figure 5 Steps ST17 and ST14 in the text.

[0123] In this configuration, when the distance to an object changes from less than the visual distance (object distance X < visual distance W) (meaning it is assumed the driver can easily visually identify the object) to greater than or equal to the visual distance (visual distance W ≤ object distance X) (meaning it is assumed the driver cannot easily visually identify the object), the alarm controller 46 provides a first-class alarm that is less intense than the second-class alarm. This feature prevents the alarm controller 46 from over-providing alarms indicating the presence of an object.

[0124] In some embodiments, when the object distance X is less than or equal to the sensing distance S (object distance X ≤ sensing distance S) and greater than or equal to the line-of-sight distance W (line-of-sight distance W ≤ object distance X), and the alarm controller 46 has already displayed a second type of alarm on the HMI 13 (notifier) ​​within the alarm time period Tw, the alarm controller 46 changes the type of alarm provided by the HMI 13 (notifier) ​​from the second type of alarm to the first type of alarm. Figure 5 Step ST16 in the middle.

[0125] This configuration (whereby, after providing a second-type alarm for the alarm period Tw, the alarm controller 46 changes the alarm type from a second-type alarm to a first-type alarm) prevents the alarm controller 46 from providing a second-type alarm for an extended period. This feature prevents the alarm controller 46 from excessively providing alarms indicating the presence of an object.

[0126] In some embodiments, when the object distance X is less than or equal to the sensing distance S (object distance X ≤ sensing distance S) and greater than or equal to the line-of-sight distance W (line-of-sight distance W ≤ object distance X), the HMI 13 (notifier) ​​is providing a first-type alarm and the relative speed of the object relative to the vehicle 3 becomes negative, the alarm controller changes the type of alarm provided by the HMI 13 (notifier) ​​from a first-type alarm to a second-type alarm. Figure 5 Steps ST18 and ST16 in the process.

[0127] In this configuration, when it is assumed that the driver cannot visually recognize an object and the object is approaching the user vehicle 3, it means that the driver needs to be warned that an object is approaching. This configuration can appropriately encourage the driver to recognize the approaching object.

[0128] In some embodiments, when the object distance X is less than or equal to the sensing distance S (object distance X ≤ sensing distance S) and greater than or equal to the line-of-sight distance W (object distance X ≥ line-of-sight distance W), the HMI 13 (notifier) ​​is providing a first type of alarm and the object distance has been continuously greater than or equal to the line-of-sight distance for a time threshold Tb, the alarm controller 46 changes the type of alarm to be provided by the HMI 13 (notifier) ​​from the first type of alarm to the second type of alarm.

[0129] In this configuration, when the distance to an object X has been greater than or equal to the visible distance W (object distance X ≥ visible distance W) for a time threshold Tb or longer (meaning the driver is unlikely to recognize the object), the alarm controller 46 provides a second type of alarm. This configuration allows the vehicle control system 1 to appropriately warn the driver of an object when the driver is unlikely to recognize it.

[0130] In some embodiments, when the object distance X is less than or equal to the alarm distance D (object distance X ≤ alarm distance D < line of sight W), the alarm controller 46 causes the HMI 13 (notifier) ​​to provide a third type of alarm that is stronger than the first type of alarm. Figure 5 Steps ST12 and ST13 in the process.

[0131] In this configuration, when the object distance X is less than or equal to the warning distance D (object distance X ≤ warning distance D) (meaning that the driver's recognition of the object's approach becomes more important), the system provides a third type of warning that is stronger than the first type of warning. Therefore, when the object distance X is less than or equal to the warning distance D (object distance X ≤ warning distance D), this configuration allows the vehicle control system 1 to appropriately warn the driver of the object.

[0132] In some embodiments, the alarm controller 46 calculates the distance between the vehicle 3 and an object present in the current lane of the vehicle 3 as the object distance X based on the detection results from the external sensor 11 (surrounding information acquirer).

[0133] Using this configuration, the alarm controller 46 can appropriately calculate the object distance X between the vehicle and the object.

[0134] In some embodiments, when vehicle 3 plans to change its path, alarm controller 46 calculates the distance between vehicle 3 and objects present in the target lane that vehicle 3 intends to travel in based on detection results from external sensor 11 (surrounding information acquirer).

[0135] Using this configuration, when vehicle 3 plans to change its path, alarm controller 46 can appropriately calculate the object distance X between the vehicle and the object.

[0136] In some embodiments, the vehicle control system 1 includes a driver sensor 10 (driver information acquirer), and the alarm controller 46 estimates the visibility distance W based on the detection results from the driver sensor 10 (driver information acquirer).

[0137] Using this configuration, the alarm controller 46 can appropriately estimate the line-of-sight distance W.

[0138] In some embodiments, the vehicle control system 1 includes a driving assistance controller 45 for assisting the driver, and the alarm controller 46 in the vehicle 3 estimates the visibility distance based on at least one of the driver's continuous driving time, the amount of vehicle control by the driver, the driving assistance time during which the driving assistance controller provides driving assistance to the driver, and the amount of vehicle control performed by the driving assistance controller.

[0139] This configuration allows the vehicle control system 1 to estimate the visibility distance W without using sensors used to detect the driver's condition.

[0140] The invention has been described with reference to specific embodiments. However, it is not limited to such embodiments and can be embodied in various modifications.

Claims

1. A vehicle control system, the vehicle control system comprising: A surrounding information acquirer, wherein the surrounding information acquirer is used to detect information about objects near the vehicle; Notifier, the notifier being used to warn the driver in the vehicle; as well as An alarm controller, configured to control the notify device, thereby alerting the driver based on detection results from the ambient information receiver. The surrounding information acquirer detects information about objects located at a distance less than or equal to the sensing distance in the direction of travel of the vehicle. The alarm controller is configured as follows: Estimate the visual distance at which the driver of the vehicle can visually identify the object at predetermined intervals; and Based on the detection results from the surrounding information acquirer, the distance between the object and the vehicle is calculated. Specifically, when the distance to the object is less than or equal to the sensing distance and less than the visual distance, the alarm controller causes the notifier to provide a first type of alarm, and Specifically, when the distance to the object is less than or equal to the sensing distance and greater than or equal to the visual distance, the alarm controller causes the notifier to provide a second type of alarm that is more intense than the first type of alarm.

2. The vehicle control system according to claim 1, wherein, When the distance to the object is less than or equal to the sensing distance and the distance to the object changes from greater than or equal to the visual distance to less than the visual distance, the alarm controller causes the notifier to provide the first type of alarm.

3. The vehicle control system according to claim 1, wherein, When the distance to the object is less than or equal to the sensing distance and the distance to the object changes from less than the visual distance to greater than or equal to the visual distance, the alarm controller causes the notifier to provide the first type of alarm.

4. The vehicle control system according to claim 1, wherein, When the distance to the object is less than or equal to the sensing distance and greater than or equal to the visual distance, and the notifier has provided a second type of alarm for the alarm period, the alarm controller will change the type of alarm provided by the notifier from the second type of alarm to the first type of alarm.

5. The vehicle control system according to claim 3 or 4, wherein, When the distance to the object is less than or equal to the sensing distance and greater than or equal to the line of sight, the notifier is providing the first type of alarm, and the relative speed of the object relative to the vehicle becomes negative, the alarm controller will change the type of alarm provided by the notifier from the first type of alarm to the second type of alarm.

6. The vehicle control system according to claim 3 or 4, wherein, When the distance to the object is less than or equal to the sensing distance and greater than or equal to the visible distance, the notifier is providing the first type of alarm and the distance to the object has been continuously greater than or equal to the visible distance for a period of time threshold, the alarm controller will change the type of alarm provided by the notifier from the first type of alarm to the second type of alarm.

7. The vehicle control system according to any one of claims 1 to 4, wherein, When the distance to the object is less than or equal to the alarm distance which is smaller than the visible distance, the alarm controller causes the notifier to provide a third type of alarm that is stronger than the first type of alarm.

8. The vehicle control system according to any one of claims 1 to 4, wherein, The alarm controller calculates the distance between the vehicle and the object present in the current lane in which the vehicle is currently traveling, based on the detection results from the surrounding information acquirer.

9. The vehicle control system according to any one of claims 1 to 4, wherein, When the vehicle plans to change its route, the alarm controller calculates the distance between the vehicle and the object present in the target lane that the vehicle intends to travel in, based on the detection results from the surrounding information acquirer.

10. The vehicle control system according to any one of claims 1 to 4, further comprising a driver information acquirer for detecting information regarding the state of the driver of the vehicle. in, The alarm controller estimates the visibility distance based on the detection results from the driver information acquisition device.

11. The vehicle control system according to any one of claims 1 to 4, wherein, The vehicle includes a driving assistance controller for assisting the driver, and The alarm controller estimates the visibility distance based on at least one of the driver's continuous driving time, the amount of vehicle control by the driver, the driving assistance time during which the driving assistance controller provides driving assistance to the driver, and the amount of vehicle control performed by the driving assistance controller.

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