Vehicle control system, vehicle control method, and vehicle control program

Abstract

This invention relates to a vehicle control system, a vehicle control method, and a vehicle control program. A vehicle control system includes: a detector configured to detect the location of an object near the vehicle; a notification device configured to warn an occupant; and a warning controller configured to control the notification device such that the notification device warns the occupant based on detection results provided from the detector, wherein the warning controller causes the notification device to warn the occupant when the detected object's location is within warning areas set on both sides of the vehicle, and wherein when the vehicle's current road includes the current lane in which the vehicle is traveling and an adjacent lane or a branch lane branching from the current lane, the warning controller changes the warning area on one side of the adjacent lane or branch lane based on the shape of the target road in which the vehicle intends to travel.

Description

Technical Field

[0001] This invention relates to a vehicle control system, a vehicle control method, and a vehicle control program. Background Technology

[0002] In recent years, 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 of autonomous driving technologies and driver assistance systems are underway to further improve traffic safety and convenience.

[0003] Examples of this technology aim to warn drivers of objects near their vehicles, thereby providing driving assistance. For instance, Patent Document 1 discloses a computer device for displaying images captured by rear-side cameras (capturing the left and right rear sides of the vehicle) and side-side cameras (capturing the left and right sides of the vehicle) on a display device. When a vehicle is detected approaching an intersection, the computer device switches the images displayed on the display device. Specifically, before detecting that a vehicle is approaching an intersection, the computer device displays the image captured by the rear-side cameras on the display device. When a vehicle is detected approaching an intersection, the computer device displays both the image captured by the rear-side cameras and the image captured by the side-side cameras on the display device.

[0004] Existing technical documents

[0005] Patent documents

[0006] Patent Document 1: JP2022-521441A Summary of the Invention

[0007] The task to be accomplished by this invention

[0008] In the computer device of Patent Document 1, when a vehicle is detected approaching an intersection, a rear image captured by a rear-side camera and left and right images captured by side cameras are all displayed on a display device. Therefore, displaying a large amount of information unnecessary for the vehicle occupants to cross the intersection makes it difficult for them to easily recognize the situation at the intersection, even when looking at the display device. Therefore, compared to the device in Patent Document 1, there is a need for technology that can more appropriately warn occupants of approaching objects.

[0009] The present invention has been made in view of the problems of the prior art, and one object of the present invention is to provide a vehicle control system for warning occupants of approaching a vehicle, which can appropriately warn occupants of approaching a vehicle, thereby promoting the further development of sustainable transportation systems.

[0010] means of completing the task

[0011] As a solution to the aforementioned tasks, one aspect of the present invention provides a vehicle control system comprising: a detector configured to detect the position of an object near the vehicle; a notifier configured to warn occupants in the vehicle; and a warning controller configured to control the notifier such that the notifier warns the occupants based on detection results provided by the detector, wherein the warning controller causes the notifier to warn the occupants when the position of an object detected by the detector is within warning areas set on the left and right sides of the vehicle, and wherein when the current road in which the vehicle is traveling includes the current lane in which the vehicle is currently traveling and an adjacent lane or a branch lane branching from the current lane, the warning controller changes the warning area on one side of the adjacent lane or branch lane based on the shape of the target road in which the vehicle intends to travel. Another aspect of the present invention provides a vehicle control method for controlling a vehicle control system. Yet another aspect of the present invention provides a vehicle control program for causing a computer to execute the vehicle control method.

[0012] Beneficial effects

[0013] The above-described embodiments of the present invention provide a vehicle control system for warning occupants of a vehicle that are approaching the vehicle, which can appropriately warn occupants that they are approaching the vehicle. Attached Figure Description

[0014] Figure 1 This is a block diagram showing a general 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 arrangement of sensors and the detection area of ​​a detector installed on a vehicle according to an embodiment; Figure 3 This is a diagram showing the warning zones set up when vehicles are traveling at and around intersections; Figure 4 This is a diagram showing the warning zones set up when vehicles are traveling at and around intersections; Figure 5 This is a diagram showing the warning zones set up when vehicles are traveling at and around intersections; Figure 6 This is a diagram showing the warning zones set up when vehicles are traveling at and around intersections; Figure 7 This is a diagram showing the warning area set up when a vehicle is traveling along a curve; Figure 8 This is a flowchart of the current road recognition operation; Figure 9 This is a flowchart of the warning area change operation; and Figure 10 This is a flowchart of the warning operation. Detailed Implementation

[0015] 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 designation terms such as front, rear, left, and right refer to their corresponding directions in the vehicle 3 on which the vehicle control system 1 is installed. The user vehicle 3 on which the vehicle control system 1 is installed is also referred to as "user vehicle 3".

[0016] <Vehicle 3>

[0017] Figure 1 This is a block diagram illustrating a general 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).

[0018] like Figure 1 As 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, an external sensor 11, a vehicle sensor 12, an HMI 13 (human-machine interface), and a control unit 15. The external sensor 11 is an example of a detector 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 alerts the occupants of the user vehicle 3. The vehicle control system 1 of this embodiment includes detectors (external sensor 11), vehicle sensors 12, a notification device (HMI 13), and control unit 15.

[0019] 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.

[0020] 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 against a brake rotor and an electric cylinder that supplies hydraulic pressure to the brake caliper.

[0021] Steering device 7 is a device that rotates the wheels to change their steering angle. For example, steering device 7 includes a rack and pinion mechanism connected to the wheels and an electric motor that drives the rack and pinion mechanism.

[0022] Navigation device 8 is a device that provides user vehicle 3 with route information about traveling to its destination. Navigation device 8 stores map information. Navigation device 8 determines the current location 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 location 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.

[0023] The driver control element 9 is a device that receives driving operations performed by occupants (hereinafter referred to as "occupants") 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 occupants in the user vehicle 3; an acceleration control element 23 (e.g., an accelerator pedal) that receives acceleration operations performed by the user vehicle 3; and a deceleration control element 24 (e.g., a brake pedal) that receives deceleration operations performed by the occupants in the user vehicle 3.

[0024] External sensor 11 is a device for acquiring information about the surrounding environment of user vehicle 3. External sensor 11 includes multiple cameras 26, multiple radars 27, and multiple lidar 28. Each of the cameras 26 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 of the radars 27 emits radio waves, such as millimeter electromagnetic waves, into the surrounding environment of user vehicle 3 and detects the location of objects present near user vehicle 3 by acquiring the reflected electromagnetic waves. Each lidar 28 illuminates the surrounding environment 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.

[0025] Figure 2 The arrangement and detection area of ​​the radar 27 (detector) installed on the user vehicle 3 are shown. (As shown) Figure 2 As shown, the multiple radars 27 included in the external sensor 11 include: left and right first radars 27A (first sensors) located on the left and right sides of the rear of the user vehicle 3, and left and right second radars 27B (second sensors) located on the left and right sides of the front of the user vehicle 3 (in front of the left and right first radars 27A). The left and right first radars 27A and the left and right second radars 27B detect the position of an object. In the following description, an example of the vehicle control system 1 detecting the position of an object by using multiple radars 27 will be described. The vehicle control system 1 can use one or more of multiple cameras 26, multiple radars 27, or multiple lidars 28 to detect the position of an object.

[0026] 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.

[0027] HMI 13 is a device that warns occupants and receives their input. HMI 13 includes a touchscreen 32, an audio output device 33, and an indicator (display device, not shown). The indicator (display device) may be mounted in or around the side mirror. The touchscreen 32 displays various screens to the occupants and receives their input on these screens. The audio output device 33 outputs audio assistance information, warning sounds, and similar audio messages.

[0028] <Control Device 15>

[0029] Control device 15 is a computer including processor 41 and memory 42 communicatively connected to processor 41. Processor 41 may include at least one of, for example, CPU, GPU, or MPU as a core element. Memory 42 stores programs and various data executable by processor 41. Memory 42 may include at least one of volatile memory and non-volatile memory. Volatile memory may be, for example, DRAM or SRAM. Non-volatile memory may be SSD, flash memory, disk storage device, or optical disk storage device. At least a portion of control device 15 may be implemented by hardware such as LSI, ASIC, or FPGA, or by a combination of software and hardware. Control device 15 may be configured as a single piece of hardware or multiple pieces of hardware capable of communicating with each other.

[0030] The control device 15 includes a driving controller 43, an ambient environment detector 44, and a warning controller 45 as functional units. The processor 41 implements the driving controller 43, the ambient environment detector 44, and the warning controller 45 by executing a program stored in the memory 42. The memory 42 can be used as a non-transitory computer-readable storage medium for storing a vehicle control program that causes the control device 15 (computer) to execute a vehicle control method for controlling the vehicle control system 1.

[0031] The driving controller 43 controls the movement of the user vehicle 3 in response to the driver's driving operation on the driver control element 9. For example, the driving controller 43 controls the steering device 7 in response to the driver's steering operation on the steering control element 22, which steers the user vehicle 3, thereby causing the user vehicle 3 to turn. The driving controller 43 controls the drive device 5 in response to the driver's acceleration operation on the acceleration control element 23, which accelerates the user vehicle 3, thereby causing the user vehicle 3 to accelerate. The driving controller 43 controls the braking device 6 in response to the driver's deceleration operation on the deceleration control element 24, which decelerates the user vehicle 3, thereby causing the user vehicle 3 to decelerate. Furthermore, when controlling the steering device 7 to steer the user vehicle 3, the driving controller 43 performs steering signal control, such as activating the steering signal.

[0032] The surrounding environment recognizer 44 identifies the surrounding environment of the user vehicle 3 based on information acquired by the external sensor 11. For example, the surrounding environment recognizer 44 detects the position of objects (such as other vehicles and pedestrians) in front of the user vehicle 3 based on the detection results provided by the external sensor 11. In addition, the surrounding environment recognizer 44 detects the shape of the road around the user vehicle 3 based on the detection results provided by the external sensor 11.

[0033] When the location of an object detected by external sensor 11 is within warning zone D, warning controller 45 performs a warning operation to alert the occupants to HMI 13. Furthermore, warning controller 45 performs a current road recognition operation and a warning zone change operation to modify (change) warning zone D based on the shape of the current road (i.e., the road on which user vehicle 3 is traveling). During the current road recognition operation, warning controller 45 determines whether warning zone D needs to be changed based on the shape of the target road (i.e., the road on which user vehicle 3 intends to travel). Then, when it is determined that warning zone D needs to be changed during the current road recognition operation, warning controller 45 performs a warning zone change operation to change warning zone D based on the shape of the target road on which user vehicle 3 intends to travel. The following describes how warning controller 45 can set warning zone D on each side.

[0034] <Settings for Warning Zone D>

[0035] like Figure 2 As shown, the warning controller 45 can set any area within the left and right first detection areas RA, in which the left and right first radars 27A can detect the location of an object, and any area within the left and right second detection areas RB, in which the left and right second radars 27B can detect the location of an object, as a warning area D. For example, the warning controller 45 can set an area within the first detection area RA (e.g., first area B1) detectable by the corresponding first radar 27A as the warning area D on each side. The warning controller 45 can also set an area within the second detection area RB (e.g., second area B2) detectable by the corresponding second radar 27B as the warning area D on each side. Furthermore, the warning controller 45 can set a second area B3 as the warning area D on each side, the second area including the area within the first detection area RA (e.g., first area B1) and the area within the second detection area RB (e.g., area B2).

[0036] The warning controller 45 can set a distance threshold for the first radar 27A or the second radar 27B. The area within is set as the warning area D on each side. Distance threshold. It can be based on the angle relative to the front-rear direction (i.e., the longitudinal direction of user vehicle 3). And the angle of change The function of distance threshold. Define the boundary of the warning area D. The warning controller 45 can adjust the distance threshold. To modify the warning region D. For example, warning controller 45 can increase the distance threshold. To expand the warning area D. Additionally, the warning controller 45 can reduce the distance threshold. To reduce the warning area D.

[0037] <Changes to Warning Area D>

[0038] The lane adjacent to and extending in the same direction as the current lane L1 on which user vehicle 3 is traveling is called the "adjacent lane L2". The lane branching off from the current lane L1 at a fork in the road is called the "branch lane L3" (see [link]). Figure 3 ).

[0039] When the current road in which user vehicle 3 is traveling includes the current lane L1 and the adjacent lane L2 or branch lane L3, and the target road that user vehicle 3 intends to travel on is a "directionally variable road" that can extend in a different direction than the current road, the warning controller 45 changes the warning area D based on the shape of the target road that user vehicle 3 intends to travel on. Such directionally variable roads include intersections, crossroads, and curves.

[0040] When user vehicle 3 is traveling on a road that continues in one direction without bending or curving (i.e., a straight road), warning controller 45 sets the first area B1 (also known as "normal warning area D1") within the first detection area RA of the corresponding radar in the first radar 27A (first sensor) as the warning area D on each side.

[0041] Figure 3 and Figure 4 This is a diagram showing a warning zone D on one side of a road at a fork in the road. (See diagram below.) Figure 3 and Figure 4 As shown, another vehicle 4 traveling in front of user vehicle 3 in the current lane L1 can travel along branch lane L3 at the fork point and then change its route back to the current lane L1. In this case, because the other vehicle 4 traveling in front of user vehicle 3 is temporarily traveling along branch lane L3, the other vehicle 4 can travel next to or diagonally in front of user vehicle 3 on the side where branch lane L3 exists (referred to as the "branch lane side"). Therefore, when user vehicle 3 travels through the fork, the warning controller 45 modifies the warning area D on the branch lane side, as described below.

[0042] When user vehicle 3 is traveling at a fork in the road, warning controller 45 can change the warning area D on one side of the branch lane from the normal warning area D1 (including the first area B1 within the first detection area RA of the corresponding first radar 27A) to warning area DA1 (the second area). In this case, warning controller 45 changes warning area D by switching between normal warning area D1 (first area B1) and warning area DA1 (second area). By changing warning area D from normal warning area D1 to warning area DA1, warning controller 45 expands warning area D to increase its area.

[0043] The warning controller 45 can change the warning area D on the branch lane side from the normal warning area D1 to a warning area (not shown) that includes a portion of area B2 located ahead of the normal warning area D1 at the branch point of an intersection, without changing its area size. The warning controller 45 can also change the warning area at the intersection by changing it from the normal warning area D1 to one with an increased distance threshold on the branch lane side. The warning area DA2 is used to expand the warning area D.

[0044] Figure 5 and Figure 6 Warning zones D are shown on each side of the intersection where the road changes direction. Figure 5 and Figure 6 In the intersection shown, the current road that user vehicle 3 traveled before entering the intersection includes the adjacent lane L2. Figure 5 and Figure 6 The warning area DB on each side of the user vehicle 3 when it is traveling through the intersection and another vehicle 4 is already traveling in the adjacent lane L2 before entering the intersection is traveling alongside the user vehicle 3.

[0045] Figure 5 This illustrates a scenario where user vehicle 3 enters the intersection before another vehicle 4 does. (Example:) Figure 5 As shown, the wheels of user vehicle 3 are turning at the intersection. Then, another vehicle 4 can approach user vehicle 3. Furthermore, at the intersection, both user vehicle 3 and the other vehicle 4 reduce their speed. Therefore, even when an object such as the other vehicle 4 approaches the side of user vehicle 3, contact between user vehicle 3 and the object such as the other vehicle 4 is unlikely to occur. Therefore, for example, in Figure 5At the intersection shown, when an object such as another vehicle 4 is located at the boundary of the normal warning zone D1 of user vehicle 3, it can be considered unnecessary to warn the occupants that the object is within the normal warning zone D1. In this case, the occupants may be excessively warned that the object is approaching user vehicle 3 when they are warned that the object is within the normal warning zone D1. Furthermore, at intersections or curves, warning the occupants via both visual displays and audible alarms when the wheels turn may be excessive.

[0046] Therefore, as Figure 5 As shown, the warning controller 45 changes the warning zone D on the side of the adjacent lane L2 from the normal warning zone D1 to a reduced warning zone DB. Furthermore, when the wheels are turning at an intersection, the warning controller 45 can avoid (e.g., via audible alarm) warninging the occupants. This feature allows the warning controller 45 to suppress excessive warnings indicating that an object is approaching the user vehicle 3. In other words, the warning controller 45 can appropriately warn the occupants of an approaching object. It should be noted that the warning controller 45 can also reduce the distance threshold on the side of the adjacent lane L2. This will change the warning region D from the normal warning region D1 to the reduced warning region DB.

[0047] Figure 6 This illustrates a scenario where user vehicle 3 enters the intersection after another vehicle 4 has entered. For example... Figure 6 As shown, when the wheels of user vehicle 3 turn at the intersection, another vehicle 4 approaches one side of user vehicle 3. Furthermore, at the intersection, both user vehicle 3 and the other vehicle 4 reduce their speed. Therefore, even when an object such as the other vehicle 4 approaches one side of user vehicle 3, contact between user vehicle 3 and the object such as the other vehicle 4 is unlikely to occur. Therefore, for example, in... Figure 6 At the intersection shown, when an object such as another vehicle 4 is located at the boundary of the normal warning zone D1 of user vehicle 3, it can be considered unnecessary to warn the occupants that the object is within the normal warning zone D1. In this case, the occupants may be excessively warned that the object is approaching user vehicle 3 when they are warned that the object is within the normal warning zone D1. Furthermore, at intersections or curves, warning the occupants via both visual displays and audible alarms when the wheels turn may be excessive.

[0048] Therefore, as Figure 6As shown, the warning controller 45 changes the warning zone D on the side of the adjacent lane L2 from the normal warning zone D1 to a reduced warning zone DB. Furthermore, when the wheels are turning at an intersection, the warning controller 45 can avoid (e.g., via audible alarm) warninging the occupants. This feature allows the warning controller 45 to suppress excessive warnings indicating that an object is approaching the user vehicle 3. In other words, the warning controller 45 can appropriately warn the occupants of an approaching object. It should be noted that the warning controller 45 can also reduce the distance threshold on the side of the adjacent lane L2. This will change the warning region D from the normal warning region D1 to the reduced warning region DB.

[0049] For reference Figure 5 and Figure 6 When the user vehicle 3 is traveling on a road that includes an adjacent lane L2 before entering an intersection, the warning controller 45 reduces the warning area D on the side of the adjacent lane L2 to a warning area DB. This allows the warning controller 45 to suppress excessive warnings indicating that an object such as another vehicle 4 is approaching the user vehicle 3. In other words, the warning controller 45 can appropriately warn the occupants when an object approaches.

[0050] Figure 5 and Figure 6 The image shows user vehicle 3 turning right at an intersection. When user vehicle 3 turns left at the intersection, the warning controller 45 also changes the warning area D in the same way as when user vehicle 3 turns right at the intersection.

[0051] In some cases, the current road that user vehicle 3 is traveling on before entering an intersection includes two adjacent lanes L2 to the left and right of the current road L1. In this case, the warning controller 45 can change each of the left and right warning zones D to a warning zone DB reduced from the normal warning zone D1. When user vehicle 3 is on the current road before entering an intersection and there is an adjacent lane L2 to the left of the current lane L1, the warning controller 45 can change the left warning zone D to a warning zone DB reduced from the normal warning zone D1. When user vehicle 3 is on the current road before entering an intersection and there is an adjacent lane L2 to the right of the current lane L1, the warning controller 45 can change the right warning zone D to a warning zone DB reduced from the normal warning zone D1.

[0052] When user vehicle 3 plans to turn right or left at an intersection, warning controller 45 can reduce the warning area D on the side where user vehicle 3 will turn. When user vehicle 3 plans to drive through the intersection, warning controller 45 does not need to change the warning area D (it usually keeps its warning area D1 unchanged).

[0053] When user vehicle 3 is traveling on the current road before entering the intersection, including the right-turn lane as an adjacent lane L2, and user vehicle 3 plans to turn right, the warning controller 45 can regard the side where the right-turn lane is located as the side of the adjacent lane L2, and change the warning area D on the right-turn lane side from the normal warning area D1 to the reduced warning area DB.

[0054] When user vehicle 3 is traveling on the current road before entering the intersection, including the left-turn lane as an adjacent lane L2, and user vehicle 3 plans to turn left, the warning controller 45 can regard the side where the left-turn lane is located as the side of the adjacent lane L2, and change the warning area D on the side of the left-turn lane from the normal warning area D1 to the reduced warning area DB.

[0055] Figure 7 This is a diagram showing the warning area D that changes on each side of a curve including adjacent lane L2. (See diagram below.) Figure 7 As shown, when user vehicle 3 is traveling on a curve including adjacent lane L2, user vehicle 3 and another vehicle 4 traveling in adjacent lane L2 may come close to each other. When the warning controller 45 does not change the warning area D in the curve (i.e., using the normal warning area D1 as the warning area D on each side), the occupant is warned when an object such as another vehicle 4 is located at the boundary of one of the normal warning areas D1 of user vehicle 3. In this case, the occupant may be excessively warned of an object approaching user vehicle 3.

[0056] Therefore, as Figure 7 As shown, when user vehicle 3 is traveling along a curve that includes adjacent lane L2, warning controller 45 changes the warning zone D on the adjacent lane side from the normal warning zone D1 to a reduced warning zone DC. This feature allows warning controller 45 to suppress excessive warnings indicating that an object is approaching user vehicle 3 when the user vehicle is traveling on a curve that includes adjacent lane L2. In other words, warning controller 45 can appropriately warn occupants of an approaching object.

[0057] Operation of Warning Controller 45

[0058] Next, refer to Figures 8 to 10 This will describe the current road recognition operation performed by the vehicle control system 1. Figure 8 Warning area change operation ( Figure 9 ) and warning operations ( Figure 10 ).

[0059] <Current Road Recognition Operation>

[0060] Figure 8This is a flowchart of the current road recognition operation. When the main power of user vehicle 3 is turned on, vehicle control system 1 performs the current road recognition operation at predetermined time intervals (e.g., 10ms).

[0061] In the current road recognition operation, firstly, external sensor 11 acquires information about the surrounding environment of user vehicle 3 (user vehicle surrounding environment information) (step ST1). Next, the surrounding environment recognizer 44 identifies the shape of the road based on the surrounding environment information acquired by external sensor 11 (step ST2). Specifically, the surrounding environment recognizer 44 identifies the shape of the current road that user vehicle 3 is currently traveling on, as well as the shape of the road existing at a predetermined distance ahead of the current road in the direction of travel (i.e., the target road that user vehicle 3 intends to travel on). The surrounding environment recognizer 44 identifies the following types of road shapes: straight roads, forks and merging points, crossroads, curves, current lane L1, adjacent lane L2, right-turn lane adjacent to current lane L1, and left-turn lane adjacent to current lane L1.

[0062] Next, the warning controller 45 determines, based on the recognition result of the surrounding environment recognizer 44, whether the road ahead of the user vehicle 3 in its driving direction is a road with a specific road shape (step ST3). A road with a specific road shape refers to a "direction-changeable road," including forks, intersections, and curves containing adjacent lanes L2. The warning controller 45 determines that the road ahead of the user vehicle 3 in its driving direction is a road with a specific road shape when the recognition result from the surrounding environment recognizer 44 satisfies at least one of the following conditions Q1 to Q3 (yes in step ST3). The warning controller 45 determines that the road ahead of the user vehicle 3 in its driving direction is not a road with a specific road shape when the recognition result from the surrounding environment recognizer 44 does not satisfy any of the following conditions Q1 to Q3 (no in step ST3).

[0063] -Condition Q1: The road ahead of user vehicle 3 in the direction of travel is a fork in the road.

[0064] -Condition Q2: The current road that user vehicle 3 is currently traveling on includes adjacent lane L2, and the road ahead of user vehicle 3 in the direction of travel is an intersection.

[0065] -Condition Q3: The current road that user vehicle 3 is currently traveling on includes the adjacent lane L2, and the road ahead of user vehicle 3 in the direction of travel is a curve.

[0066] When it is determined that the road ahead in the direction of travel of user vehicle 3 is a road with a specific road shape (yes in step ST3), the warning controller 45 performs a warning area change operation to modify the warning area D based on the shape of the target road that user vehicle 3 intends to travel on (step ST4).

[0067] In step ST3, when it is determined that the road ahead in the direction of travel of user vehicle 3 is not a road with a specific road shape (No in step ST3), the warning controller 45 determines whether user vehicle 3 has already passed a road with a specific road shape (step ST5). In step ST5, the warning controller 45 determines whether the following condition Q4 is met. When it is determined that the following condition Q4 is not met, the warning controller 45 determines that the vehicle has already passed a road with a specific road shape (Yes in step ST5). When it is determined that the following condition Q4 is met, the warning controller 45 determines that the vehicle has not yet passed a road with a specific road shape (No in step ST5).

[0068] -Condition Q4: User vehicle 3 is currently traveling on a curve that does not include the adjacent lane L2, or is currently traveling on a straight road.

[0069] When it is determined that the user vehicle has passed through a road with a specific shape (yes in step ST5), the warning controller 45 sets the warning area D to the normal warning area D1 (step ST6) and ends the current road recognition operation. When it is determined that the user vehicle has passed through a road with a specific shape (yes in step ST5), the user vehicle 3 is currently traveling on a curve or straight road that does not include the adjacent lane L2, and the warning area D is set to the normal warning area D1 (step ST6).

[0070] When it is determined that the user vehicle has not yet passed through a road with a specific shape (No in step ST5), the warning controller 45 ends the current road recognition operation without changing the warning area D. When it is determined that the user vehicle has not yet passed through a road with a specific shape (No in step ST5), the user vehicle 3 is currently traveling on a road with a specific shape. Before the user vehicle 3 travels on a road with a specific shape, the warning controller 45 performs the operations of steps ST3 and ST4, thereby normally changing the warning area D to an area different from the normal warning area D1 (e.g., Figure 3 and Figure 4 Warning area DA1 or warning area DA2 in Figure 5 and Figure 6 Warning area DB in Figure 7 Warning area DC in the middle.

[0071] like Figures 3 to 7As shown, since user vehicle 3 is currently traveling on a road with a specific shape, warning controller 45 needs to maintain the warning area D that has already changed before traveling on the road with the specific shape (i.e., not change the current warning area D). Therefore, when it is determined that the user vehicle has not yet passed through the road with the specific road shape (step ST5 is no), warning controller 45 ends the current road recognition operation without changing the warning area D.

[0072] When the warning controller 45 determines in step ST5 whether the vehicle has passed through a road with a specific road shape, the basis for this determination may be (i) the detection results from the external sensor 11 (the identification results from the surrounding environment identifier 44), (ii) the current position of the user vehicle 3 identified by the navigation device 8 and map information, or (iii) whether a predetermined time has elapsed or a predetermined distance has been traveled since the warning area D was changed to a different area from the normal warning area D1 during the operation of step ST4.

[0073] <Warning Area Change Operation>

[0074] Figure 9 This is a flowchart of the warning area change operation. Vehicle control system 1 executes the above reference in step ST4. Figure 8 The warning area change operation of the current road recognition operation.

[0075] In the warning area change operation, firstly, the warning controller 45 determines whether the target road that the user vehicle 3 intends to travel on is a fork in the road, a crossroads, or a curve (step ST11).

[0076] In step ST11, when it is determined that the target road that user vehicle 3 intends to travel on is a fork in the road, the warning controller 45 changes the warning zone D on the side of branch lane L3 from the normal warning zone D1, as shown in the reference above. Figure 3 and Figure 4 As described in (step ST12). For example... Figure 3 and Figure 4 As shown, in step ST12, the warning controller 45 can change the warning area D from the normal warning area D1 to a larger distance threshold on one side of the branch lane. The warning controller 45 can also change the warning area D by switching between the normal warning area D1 (first area B1) and the warning area DA1 (second area B3). Furthermore, the warning controller 45 can expand the warning area D by changing it from the normal warning area D1 to the warning area DA1, thereby increasing the area of ​​the warning area D.

[0077] In step ST11, when it is determined that the target road for the user vehicle 3 is an intersection, the warning controller 45 obtains the driving direction of the user vehicle 3 at the intersection based on the control of the driving controller 43 or the route plan generated by the navigation device 8 (step ST13). The warning controller 45 can also obtain the driving direction of the user vehicle 3 at the intersection based on the control of the steering device 7 from the driving controller 43. The warning controller 45 can also obtain the driving direction of the user vehicle 3 at the intersection based on the occupant's operation of a turn signal (not shown). Furthermore, the warning controller 45 can obtain the driving direction of the user vehicle 3 at the intersection based on the route plan generated by the navigation device 8.

[0078] Next, the warning controller 45 determines whether the user vehicle 3 intends to turn right or left at the intersection (step ST14). When it is determined that the user vehicle 3 intends to drive straight through the intersection (step ST14 is no), the warning controller 45 ends the warning area change operation without modifying the warning area D.

[0079] When it is determined that user vehicle 3 intends to turn right or left at the intersection (yes in step ST14), the warning controller 45 changes the warning area D on the adjacent lane L2 side from the normal warning area D1 to a reduced warning area DB, as shown above. Figure 5 and Figure 6 The procedure (step ST15) is then completed, and the warning area change operation is terminated.

[0080] In some cases, the current road that user vehicle 3 is traveling on before entering an intersection may include the adjacent lane L2 to the left or right of the current lane L1. In this case, in step ST15, the warning controller 45 may change the left or right warning area D to a warning area DB that is reduced from the normal warning area D1. When user vehicle 3 is traveling on the current road before entering an intersection and includes the adjacent lane L2 to the left of the current lane L1, in step ST15, the warning controller 45 may change the left warning area D to a warning area DB that is reduced from the normal warning area D1. When user vehicle 3 is traveling on the current road before entering an intersection and includes the adjacent lane L2 to the right of the current lane L1, in step ST15, the warning controller 45 may change the right warning area D to a warning area DB that is reduced from the normal warning area D1.

[0081] When user vehicle 3 is traveling on the current road before entering the intersection, which includes a right-turn lane as an adjacent lane L2 and user vehicle 3 intends to turn right, in step ST15, the warning controller 45 can determine that the side with the right-turn lane is the side with the adjacent lane L2, and change the warning area D of the right-turn lane side from the normal warning area D1 to the reduced warning area DB.

[0082] When user vehicle 3 is traveling on the current road before entering the intersection, which includes a left-turn lane as an adjacent lane L2 and user vehicle 3 intends to turn left, in step ST15, the warning controller 45 can determine that the side with the left-turn lane is the side with the adjacent lane L2, and change the warning area D on the left-turn lane side from the normal warning area D1 to the reduced warning area DB.

[0083] In step ST11, when it is determined that the target road that user vehicle 3 intends to travel on is a curve, the warning controller 45 changes the warning zone D on the side of branch lane L3 to a warning zone DC that is reduced from the normal warning zone D1, as shown in the reference above. Figure 7 The procedure described in step ST16 is then completed, and the warning area change operation is terminated. Figure 7 As shown, when user vehicle 3 is traveling along a curve including adjacent lane L2, in step ST16, the warning controller 45 changes the warning area D on the adjacent lane side to a warning area DC that is reduced from the normal warning area D1.

[0084] <Warning Operation>

[0085] Figure 10 This is a flowchart of the warning operation. When the main power of user vehicle 3 is turned on, vehicle control system 1 executes a warning operation at predetermined time intervals (e.g., 10ms).

[0086] In the warning operation, firstly, the external sensor 11 acquires information about the surrounding environment of the user vehicle 3, and then the surrounding environment recognizer 44 detects the position of objects around the user vehicle 3 based on the surrounding environment information acquired by the external sensor 11 (step ST21).

[0087] Next, the warning controller 45 determines whether an object exists within the warning area D based on the location of the object detected in step ST21 (step ST22). When it is determined that no object exists within the warning area D (step ST22 is negative), the warning controller 45 terminates the warning operation.

[0088] When an object is detected within warning area D (yes in step ST22), warning controller 45 uses a visual display on touchscreen 32 of HMI 13 to warn the occupants (step ST23) and determines whether user vehicle 3 intends to change lanes toward the object (step ST24). In step ST23, warning controller 45 may display an icon or indicator (display device) indicating the object on touchscreen 32. In step ST24, warning controller 45 may detect the current lane change already made by user vehicle 3 based on the control of driving controller 43 or the route plan generated by navigation device 8, and determine whether user vehicle 3 intends to change lanes toward the object.

[0089] When it is determined that user vehicle 3 does not intend to change lanes toward the object (No in step ST24), the warning controller 45 ends the warning operation.

[0090] When it is determined that user vehicle 3 intends to change lanes toward the object (yes in step ST24), the warning controller 45 causes HMI 13 to generate an audio alarm (step ST25) and ends the warning operation. In step 25, the warning controller 45 can generate an alarm sound from the audio output device 33.

[0091] <Effects of the Invention>

[0092] The effects achieved by the vehicle control system 1 will be described.

[0093] When the current road that user vehicle 3 is traveling on includes the current lane L1 that the vehicle is currently traveling on and the adjacent lane L2 or the branch lane L3 that branches off from the current lane L1 (yes in step ST3), the warning controller 45 changes the warning area D on the side of the adjacent lane L2 or the branch lane L3 based on the shape of the target road that user vehicle 3 intends to travel on.

[0094] This configuration enables the warning controller 45 to change the warning zone D to an appropriate warning zone D, which provides the vehicle control system 1 for warning occupants of approaching the vehicle, thus appropriately warning occupants of approaching the vehicle.

[0095] The warning controller 45 will set a distance threshold from the detector. The area within is set as warning area D, and the distance threshold is changed. This allows the warning area to be changed (step ST12). This enables the warning controller 45 to easily modify the warning area D.

[0096] The warning controller 45 is capable of selecting either a first region B1, which is included within the detection area RA of the left and right first radars 27A (first sensors), or a second region B3, which is included within the detection area RA of the left and right first radars 27A (first sensors) and the left and right second radars 27B (second sensors), as the warning region D, and is configured to change the warning region D to an appropriate warning region D by switching between the first region B1 and the second region B3 (step ST12). This enables the warning controller 45 to change the warning region D to an appropriate warning region D.

[0097] When the current road in which user vehicle 3 is traveling includes the current lane L1 and the adjacent lane L2 or the branch lane L3 branching off from the current lane L1, and the shape of the target road is a fork in the road, a crossroads, or a curve (yes in step ST3), the warning controller 45 changes the warning area D on the side of the adjacent lane L2 or the branch lane L3 based on the shape of the target road in which user vehicle 3 intends to travel (steps ST12, ST15, ST16). This allows the warning controller 45 to change the warning area D to an appropriate warning area D.

[0098] When the target road that user vehicle 3 intends to travel on is a forked intersection, the warning controller 45 changes the warning area D on the side of the branch lane L3 of the current lane L1 to a second area B3 that includes the area B2 in front of the current warning area (step ST12). This allows the warning controller 45 to change the warning area D to an appropriate warning area D at the fork intersection.

[0099] When the target road that user vehicle 3 intends to travel on is a forked intersection, the warning controller 45 expands the warning area D on one side of the branch lane L3 that branches off from the current lane L1, thereby increasing its area size (step ST12). This allows the warning controller 45 to change the warning area D to an appropriate warning area D at the forked intersection.

[0100] When the target road that user vehicle 3 intends to travel on is a forked intersection, the warning controller 45 extends the warning area D on the side of the branch lane L3 that branches off from the current lane L1. This allows the warning controller 45 to change the warning area D to an appropriate warning area D at the fork intersection.

[0101] When user vehicle 3 intends to travel on a road that is an intersection, the current road includes the current lane L1 and the adjacent lane L2, and the vehicle intends to turn right or left at the intersection (yes in step ST14), the warning controller 45 reduces the warning area on the side of the adjacent lane L2. This allows the warning controller 45 to change the warning area D at the intersection to an appropriate warning area D.

[0102] When user vehicle 3 intends to travel on a road that is an intersection and the current road includes the current lane L1 and the adjacent lane, which is a right-turn lane, and the vehicle intends to turn right at the intersection (yes in step ST14), the warning controller 45 reduces the warning area D on the right-turn lane side. This allows the warning controller 45 to change the warning area D to an appropriate warning area D.

[0103] When the target road that user vehicle 3 intends to travel on is an intersection and the current road includes the current lane L1 and the adjacent lane, which is a left-turn lane, and user vehicle 3 intends to turn left at the intersection (yes in step ST14), the warning controller 45 reduces the warning area D on the left-turn lane side. This allows the warning controller 45 to change the warning area D to an appropriate warning area D at the intersection.

[0104] When the target road that user vehicle 3 intends to travel on is an intersection and user vehicle 3 intends to travel straight through the intersection, the warning controller 45 does not change the warning area D. This allows the warning controller 45 to set the warning area D to the appropriate warning area D at the intersection.

[0105] When the target road that user vehicle 3 intends to travel on is a curve and the current road includes the current lane L1 and the adjacent lane L2, the warning controller 45 reduces the warning area D on the adjacent lane side. This allows the warning controller 45 to set the warning area D to the appropriate warning area D at the curve.

[0106] The warning controller 45 causes HM113 to warn the occupants via visual warning (step ST23) and also causes HM113 to warn the occupants via audible warning (step ST25). This enables the warning controller 45 to appropriately warn the occupants of the object.

[0107] The embodiments of the present invention described above can be described as follows.

[0108] In some embodiments, the vehicle control system 1 includes: an external sensor 11 (detector) for detecting the position of an object near the user vehicle 3; an HMI 13 (notifier) ​​for warning occupants in the user vehicle 3; and a warning controller 45 for controlling the HMI 13 such that the HMI 13 warns the occupants based on the detection results provided by the external sensor 11, wherein when the position of an object detected by the external sensor 11 is within a warning area D set on the left and right sides of the user vehicle 3 (yes in step ST22), the warning controller 45 causes the HMI 13 to warn the occupants (step ST23), and wherein when the current road in which the user vehicle 3 is traveling includes the current lane L1 in which the user vehicle 3 is currently traveling, and an adjacent lane L2 adjacent to the current lane L1 or a branch lane L3 branching from the current lane L1 (yes in step ST3), the warning controller 45 changes the warning area D on one side of the adjacent lane L2 or the branch lane L3 based on the shape of the target road in which the user vehicle 3 intends to travel (step ST4).

[0109] This configuration enables the warning controller 45 to change the warning zone D to an appropriate warning zone D, that is, it can provide the vehicle control system 1 to warn the occupant of approaching the vehicle, which can appropriately warn the occupant of approaching the vehicle.

[0110] In some implementations, the warning controller sets a distance threshold from the detector. The area within is set as warning area D, and the distance threshold is changed. To change the warning area (step ST12).

[0111] This configuration allows the warning controller 45 to easily modify the warning area D.

[0112] In some embodiments, the external sensor 11 includes: left and right first radars 27A (first sensors), which are mounted on the left and right sides of the user vehicle 3 for detecting the position of an object; and left and right second radars 27B (second sensors), which are mounted in front of the left and right first sensors for detecting the position of an object, wherein the warning controller 45 is capable of selecting either a first region B1 included in the detection area RA of the left and right first radars 27A (first sensors) or a second region B3 included in the detection area RA of the left and right first radars 27A (first sensors) and the left and right second radars 27B (second sensors) as a warning region D, and is configured to change the warning region D to an appropriate warning region D by switching between the first region B1 and the second region B3 (step ST12).

[0113] This configuration enables the warning controller 45 to change the warning region D to the appropriate warning region D.

[0114] In some implementations, when the current road that user vehicle 3 is traveling on includes the current lane L1 and the adjacent lane L2 or the branch lane L3 branching from the current lane L1, and the shape of the target road is a fork in the road, a crossroads, or a curve (yes in step ST3), the warning controller 45 changes the warning area D on the side of the adjacent lane L2 or the branch lane L3 based on the shape of the target road that user vehicle 3 intends to travel on (steps ST12, ST15, ST16).

[0115] This configuration enables the warning controller 45 to change the warning region D to the appropriate warning region D.

[0116] In some implementations, when the target road that user vehicle 3 intends to travel on is a forked intersection, the warning controller 45 changes the warning area D on the side of the branch lane L3 of the current lane L1 to a second area B3 that includes the area B2 in front of the current warning area (step ST12).

[0117] This configuration enables the warning controller 45 to change the warning zone D to the appropriate warning zone D at intersections.

[0118] In some implementations, when the target road that user vehicle 3 intends to travel on is a forked intersection, the warning controller 45 expands the warning area D on the side of the branch lane L3 that branches off from the current lane L1 in order to increase its area size (step ST12).

[0119] This configuration enables the warning controller 45 to change the warning zone D to the appropriate warning zone D at intersections.

[0120] In some implementations, when the target road that user vehicle 3 intends to travel on is a forked intersection, the warning controller 45 extends the warning area D on the side of the branch lane L3 that branches off from the current lane L.

[0121] This configuration enables the warning controller 45 to change the warning zone D to the appropriate warning zone D at intersections.

[0122] In some implementations, when the target road that user vehicle 3 intends to travel on is an intersection, the current road includes the current lane L1 and the adjacent lane L2, and the vehicle intends to turn right or left at the intersection (yes in step ST14), the warning controller 45 reduces the warning area on the side of the adjacent lane L2.

[0123] This configuration enables the warning controller 45 to change the warning zone D to the appropriate warning zone D at intersections.

[0124] In some implementations, when the target road that user vehicle 3 intends to travel on is an intersection and the current road includes the current lane L1 and the adjacent lane, the adjacent lane is a right-turn lane and the vehicle intends to turn right at the intersection (yes in step ST14), the warning controller 45 reduces the warning area D on the right-turn lane side.

[0125] This configuration enables the warning controller 45 to change the warning zone D to the appropriate warning zone D at intersections.

[0126] In some implementations, when the target road that user vehicle 3 intends to travel on is an intersection and the current road includes the current lane L1 and the adjacent lane, the adjacent lane is a left-turn lane and user vehicle 3 intends to turn left at the intersection (yes in step ST14), the warning controller 45 reduces the warning area D on the left-turn lane side.

[0127] This configuration enables the warning controller 45 to change the warning zone D to the appropriate warning zone D at intersections.

[0128] In some implementations, when the target road that user vehicle 3 intends to travel on is an intersection and user vehicle 3 intends to travel straight through the intersection, the warning controller 45 does not change the warning area D.

[0129] This configuration enables the warning controller 45 to set the warning zone D as the appropriate warning zone D at the intersection.

[0130] In some implementations, when the target road that user vehicle 3 intends to travel on is curved and the current road includes the current lane L1 and the adjacent lane L2, the warning controller 45 reduces the warning area D on the side of the adjacent lane.

[0131] This configuration enables the warning controller 45 to set the warning zone D to the appropriate warning zone D at curves.

[0132] In some implementations, when the location of an object detected by the external sensor 11 is within the warning area D on the left or right side of the user vehicle 3 (yes in step ST22), the warning controller 45 causes the HMI 13 to warn the occupants via a visual warning (step ST23), and when the location of an object detected by the external sensor 11 is within the warning area D on the left or right side of the user vehicle 3 and the user vehicle 3 intends to change lanes to the left or right of the presence of the object by the driver's operation (yes in step ST24), the warning controller 45 causes the HMI 13 to warn the occupants via an audible warning (step ST25).

[0133] This configuration enables the warning controller 45 to appropriately warn the occupants of the target.

[0134] In some embodiments, a vehicle control method for controlling a vehicle control system 1 is provided, wherein the vehicle control system 1 (warning system) includes an external sensor 11 (detector), an HMI 13 (notifier), and a warning controller 45, wherein the method includes the warning controller 45 performing the following operations: when the position of an object detected by the external sensor 11 (detector) is within a warning area D set on the left and right sides of the user vehicle 3 (yes in step ST22), the HMI 13 (notifier) ​​warns the occupants (step ST23); and when the current road in which the user vehicle 3 is traveling includes the current lane L1 in which the user vehicle 3 is currently traveling, and an adjacent lane L2 adjacent to the current lane L1 or a branch lane L3 branching from the current lane L1 (yes in step ST3), the warning area D on one side of the adjacent lane L2 or the branch lane L3 is changed based on the shape of the target road in which the user vehicle 3 intends to travel (step ST4).

[0135] In some embodiments, a vehicle control program is provided that causes a control device 15 (computer) to control the vehicle control system 1, wherein the vehicle control program causes a warning controller 45 to perform the following operations: when the position of an object detected by an external sensor 11 (detector) is within a warning zone D set on the left and right sides of the user vehicle 3 (yes in step ST22), the HMI 13 (notifier) ​​warns the occupants (step ST23); and when the current road in which the user vehicle 3 is traveling includes the current lane L1 in which the user vehicle 3 is currently traveling, and an adjacent lane L2 adjacent to the current lane L1 or a branch lane L3 branching from the current lane L1 (yes in step ST3), the warning zone D on one side of the adjacent lane L2 or the branch lane L3 is changed based on the shape of the target road in which the user vehicle 3 intends to travel (step ST4). 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.

[0136] Glossary

[0137] 1. Vehicle Control System

[0138] 3. Vehicles (user vehicles)

[0139] 11. External sensors (detectors)

[0140] 13 HMI (Notifier)

[0141] 27A First Radar (First Sensor)

[0142] 27B Second Radar (Second Sensor)

[0143] 45 Warning Controller

[0144] B1 First Area

[0145] B3 Second Area

[0146] D Warning Area

[0147] DC Warning Area

[0148] L1 Current Lane

[0149] L2 adjacent lanes

[0150] L3 branch lane

[0151] R Distance Threshold

[0152] RA First Detection Area

[0153] RB Second Detection Area angle.

Claims

1. A vehicle control system, the vehicle control system comprising: A detector configured to detect the location of objects near the vehicle; Notifier, the notifier being configured to warn occupants in the vehicle; as well as A warning controller is configured to control the notify device such that the notify device warns the occupant based on detection results provided from the detector. Specifically, when the location of the object detected by the detector is within a warning area set on the left and right sides of the vehicle, the warning controller causes the notifier to warn the occupant, and Wherein, when the current road on which the vehicle is traveling includes the current lane on which the vehicle is currently traveling and an adjacent lane or a branch lane branching off from the current lane, the warning controller changes the warning area on one side of the adjacent lane or the branch lane based on the shape of the target road on which the vehicle intends to travel.

2. The vehicle control system according to claim 1, wherein, The warning controller sets the area within a distance threshold from the detector as the warning area, and changes the warning area by changing the distance threshold.

3. The vehicle control system according to claim 1, wherein, The detector includes: A left first sensor and a right first sensor, the left first sensor and the right first sensor being mounted on the left and right sides of the vehicle and configured to detect the position of the object; and A left second sensor and a right second sensor are mounted in front of the left first sensor and the right first sensor, and are configured to detect the position of the object. The warning controller is capable of selecting a first region included within the detection areas of the left first sensor and the right first sensor, or a second region included within the detection areas of the left first sensor, the right first sensor, the left second sensor, and the right second sensor, as the warning region, and the warning controller is configured to change the warning region by switching the selection between the first region and the second region.

4. The vehicle control system according to claim 1, wherein, When the current road includes the current lane and the adjacent lane or the branch lane, and the target road is shaped like a fork in the road, a crossroads, or a curve, the warning controller changes the warning area on one side of the adjacent lane or the branch lane based on the shape of the target road.

5. The vehicle control system according to any one of claims 1 to 4, wherein, When the target road is shaped like a fork in the road, the warning controller changes the warning area on one side of the branch lane to a new warning area that includes the area in front of the current warning area.

6. The vehicle control system according to claim 5, wherein, When the target road is shaped like a fork in the road, the warning controller expands the warning area on one side of the branch lane to increase the size of the warning area.

7. The vehicle control system according to any one of claims 1 to 4, wherein, When the target road is shaped like a fork in the road, the warning controller expands the warning area on one side of the branch lane.

8. The vehicle control system according to any one of claims 1 to 4, wherein, When the target road is shaped like an intersection, the current road includes the current lane and the adjacent lane, and the vehicle intends to turn right or left at the intersection, the warning controller reduces the warning area on the side of the adjacent lane.

9. The vehicle control system according to claim 8, wherein, When the target road is shaped like an intersection and the current road includes the current lane and the adjacent lane, the adjacent lane being a right-turn lane, and the vehicle intends to turn right at the intersection, the warning controller reduces the warning area on the side of the right-turn lane.

10. The vehicle control system according to claim 8, wherein, When the shape of the target road is the intersection, the current road includes the current lane and the adjacent lane, the adjacent lane is a left-turn lane and the vehicle intends to turn left at the intersection, the warning controller reduces the warning area on the side of the left-turn lane.

11. The vehicle control system according to claim 8, wherein, When the target road is shaped like an intersection and the vehicle intends to travel straight through the intersection, the warning controller does not change the warning area.

12. The vehicle control system according to any one of claims 1 to 4, wherein, When the target road is a curve and the current road includes the current lane and the adjacent lane, the warning controller reduces the warning area on the side of the adjacent lane.

13. The vehicle control system according to any one of claims 1 to 4, wherein, When the detector detects that the object is located within the warning area on the left or right side of the vehicle, the warning controller causes the notifier to warn the occupant via a visual warning. Specifically, when the location of the object detected by the detector is within the warning area on the left or right side of the vehicle and the vehicle intends to change lanes to the left or right where the object is located through driver operation, the warning controller causes the notifier to warn the occupant through an audible warning.

14. A vehicle control method for a warning system used to control a vehicle, wherein, The warning system includes: a detector configured to detect the location of an object near the vehicle; a notification device configured to warn an occupant in the vehicle; and a warning controller configured to control the notification device such that the notification device warns the occupant based on detection results provided from the detector, wherein the method includes the warning controller performing the following operations: When the detector detects that the object is located within a warning area set on the left and right sides of the vehicle, the notifier warns the occupant; and When the current road in which the vehicle is traveling includes the current lane in which the vehicle is currently traveling, as well as the adjacent lane or the branch lane that branches off from the current lane, the warning area on one side of the adjacent lane or the branch lane is changed based on the shape of the target road in which the vehicle intends to travel.

15. A vehicle control program that causes a computer to control a warning system for a vehicle, wherein, The warning system includes: a detector configured to detect the location of an object near the vehicle; a notification device configured to warn occupants in the vehicle; and a warning controller configured to control the notification device such that the notification device warns the occupants based on detection results provided from the detector, wherein the vehicle control program causes the warning controller to perform the following operations: When the detector detects that the object is located within a warning area set on the left and right sides of the vehicle, the notifier warns the occupant; and When the current road in which the vehicle is traveling includes the current lane in which the vehicle is currently traveling, as well as the adjacent lane or the branch lane that branches off from the current lane, the warning area on one side of the adjacent lane or the branch lane is changed based on the shape of the target road in which the vehicle intends to travel.

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