Getting-off support device, getting-off support method, and program

Abstract

To provide a getting-off support device that preferably supports getting-off.SOLUTION: In a getting-off support device, a measurement unit measures an approaching direction of a moving body that approaches an own vehicle which is at a halt, a moving speed of the moving body, and a distance of the own vehicle from the moving body. A door detection unit detects a type, a position, and a motion of a door of the own vehicle. An in-vehicle notification signal output unit notifies an occupant of the approach of the moving body using an in-vehicle notification signal. A getting-off operation detection unit detects a getting-off operation of the occupant from the own vehicle. A right notification signal output unit notifies the moving body, which approaches the right side of the own vehicle, of existence of the own vehicle using a right notification signal. A left notification signal output unit notifies the moving body, which approaches the left side of the own vehicle, of existence of the own vehicle using a left notification signal. A control unit detects the getting-off operation, and controls output of the notification signal and the in-vehicle notification signal according to the type of the door when a position of a door through which the occupant gets off is consistent with a side face where the moving body approaches.SELECTED DRAWING: Figure 5

Description

[Technical field]

[0001] The present invention relates to a vehicle exit assistance device, a vehicle exit assistance method, and a program. [Background technology]

[0002] Disembarkation to ensure safety for people inside the vehicle when exiting the vehicle after the vehicle has been stopped Assistive devices have been proposed.

[0003] For example, the disembarking assistance device described in Patent Document 1 detects a disembarking action by an occupant of the vehicle. If an object approaching the vehicle is detected when the driver exits the vehicle, an alarm will be issued and door opening restrictions will be implemented. The support device turns on the electronic outer mirror when an obstacle is present while the vehicle is parked or stopped. When there is no obstruction, the rear side radar is used. Restricting an alarm operation for issuing an alarm about a door provided in the vehicle and restricting the opening of the door An alighting restriction operation, which is an operation including a door opening restriction operation, is executed. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] JP 2020-093567 A Summary of the Invention [Problem to be solved by the invention]

[0005] However, the above-mentioned technology does not issue an alarm when it detects a moving object approaching the vehicle. The system performs actions such as restricting the opening of doors and preventing accidents, but the state of the moving object and the vehicle itself vary. There are many.

[0006] The present invention has been made to solve the above-mentioned problems, and provides a vehicle exit assistance system that provides a suitable exit assistance system. The present invention provides an alighting assistance device, a alighting assistance method, and a program. [Means for solving the problem]

[0007] The exit support device according to the present invention includes a measurement unit, a door detection unit, an exit action detection unit, and a right notification signal output unit. The measurement unit has a left notification signal output unit, a left notification signal output unit, an in-vehicle notification signal output unit, and a control unit. The approach direction, moving speed, and relative position of the vehicle when the vehicle is stopped are calculated. The door detection unit measures the position and movement of the vehicle's doors, as well as the type of door. The exit action detection unit detects whether the vehicle door is a sliding door or a swing door. The right notification signal output unit detects the exit action of passengers exiting the vehicle through the door. The right notification signal is sent to notify a moving object approaching the right side of the vehicle of the presence of the vehicle. The left notification signal output unit notifies a moving object approaching the left side of the vehicle of the presence of the vehicle. The vehicle interior notification signal output unit outputs a left notification signal to notify a passenger of the vehicle interior notification signal. The control unit outputs a vehicle interior notification signal to notify the driver of the approach. When the position of the door through which the passenger disembarks coincides with the side of the vehicle approaching, When the action is linked to a swing door, the notification signal is output after the in-car notification signal, and the exit action is When linking to the Ride Door, the vehicle notification signal is displayed on the side before or at the same time as the notification signal. The corresponding output is generated.

[0008] The display control method according to the present invention includes a measurement step, a door detection step, and an alighting action detection step. step, right notification signal output step, left notification signal output step, in-vehicle notification signal output step, and The measurement step includes a step of measuring a distance between the host vehicle and a vehicle approaching the host vehicle when the host vehicle is stopped. The door detection stage measures the approach direction, moving speed, and distance between the vehicle and the moving object. The map displays the position and movement of the vehicle's doors, and whether the door is a sliding door or not. The step of detecting a vehicle exit action is performed by identifying and detecting whether a passenger in the vehicle is entering through the door. The right notification signal output step detects a vehicle getting off from the right side of the vehicle. A right notification signal is output to notify an approaching moving object of the presence of the vehicle. The signal output step is for notifying a moving object approaching the left side of the vehicle of the presence of the vehicle. The in-vehicle notification signal output step notifies a passenger of the approach of the moving body. The control step is performed when the vehicle exit action is detected. When the position of the door through which the passenger gets off coincides with the side of the vehicle approaching, When the vehicle action is linked to the swing door, the vehicle notification signal is output after the notification signal, and the exit action is When linking to a sliding door, the vehicle interior notification signal is sent to the side before or at the same time as the notification signal. The control circuit 10 controls the output in response to the

[0009] The program according to the present invention causes a computer to execute a display control method, The display control method includes a measurement step, a door detection step, a disembarking action detection step, and a right notification signal. A step for outputting a left notification signal, a step for outputting a vehicle interior notification signal, and a control step. The measurement step includes a step of detecting a proximity of a moving object approaching the vehicle when the vehicle is stopped. The door detection step measures the approach direction, the moving speed, and the distance between the vehicle and the moving object. The position and movement of both doors, and whether the door is a sliding or swinging door The step of detecting an alighting action of the vehicle includes the step of identifying and detecting whether a passenger in the vehicle is alighting from a door. The right notification signal output step detects a vehicle approaching the right side of the vehicle. The left notification signal output step outputs a right notification signal to notify the driver of the presence of the vehicle. The left notification signal is used to notify a moving object approaching the left side of the vehicle of the presence of the vehicle. The in-vehicle notification signal output step outputs a signal to notify passengers of the approach of the moving object. The control step is performed when the exit action is detected and When the position of the door through which the passenger disembarks coincides with the side of the vehicle approaching, the disembarking operation is smooth. When the vehicle is linked to the sliding door, the vehicle notification signal is output after the notification signal, and the exit action is performed using the sliding door. When the vehicle is connected to the vehicle, the vehicle notification signal is sent to the side before or at the same time as the notification signal. Controls the output. Effect of the Invention

[0010] According to the present invention, a vehicle disembarking assistance device, a vehicle disembarking assistance method, and a program for providing suitable vehicle disembarking assistance can be provided. [Brief description of the drawings]

[0011] [Figure 1] 1 is a diagram showing a vehicle according to an embodiment; [Diagram 2] 1 is a block diagram of a vehicle exit support device according to a first embodiment. [Diagram 3] 4 is a flowchart of the exit assistance device according to the first embodiment. [Figure 4]FIG. 2 is a diagram showing an example of a situation in which the disembarking support device according to the first embodiment operates; [Diagram 5] FIG. 11 is a block diagram of a vehicle exit support device according to a second embodiment. [Figure 6] 11 is a flowchart of a vehicle exit support device according to a second embodiment. [Figure 7] FIG. 11 is a diagram showing an example of a situation in which the disembarking support device according to the second embodiment operates; [Figure 8] FIG. 11 is a block diagram of a vehicle exit support device according to a third embodiment. [Figure 9] 13 is a flowchart of a vehicle exit support device according to a third embodiment. [Figure 10] 13 is a flowchart of a vehicle exit support device according to a fourth embodiment. [Figure 11] FIG. 13 is a diagram showing an example of a situation in which the disembarking support device according to the fourth embodiment operates; [Figure 12] 13 is a flowchart of a vehicle exit support device according to a fifth embodiment. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0012] The present invention will be described below through the embodiments of the invention. The present invention is not limited to the following embodiments. Furthermore, all of the configurations described in the embodiments do not solve the problems. It is not necessarily essential to provide a solution. In the drawings, the same elements are omitted or simplified as appropriate. The elements are given the same reference numerals, and repeated explanations are omitted as necessary.

[0013] <Embodiment 1> FIG. 1 is a diagram illustrating a host vehicle 900 according to the first embodiment. 9 is an embodiment of a vehicle equipped with the disembarking assistance device according to the present invention. It is a passenger vehicle capable of carrying about seven passengers.

[0014] The vehicle 900 has a right front door 902R, The vehicle has a left front door 902L, a right rear door 903R and a left rear door 903L. The R and left front doors 902L are swing-type doors that rotate around a fulcrum provided at the front to open. The right rear door 903R and the left rear door 903L are attached to the body of the host vehicle 900. A sliding door that opens by sliding toward the rear of the vehicle along a set rail. be.

[0015] In addition, the host vehicle 900 notifies vehicles and pedestrians present around the host vehicle 900 of the presence of the host vehicle 900. Right front lamp 901R and left front lamp 901L are external warning devices to make the driver aware of the vehicle's presence. The right rear lamp 904R and the left rear lamp 904L are provided. The left front lamp 901L, the right rear lamp 904R and the left rear lamp 904L are collectively referred to as the outside warning lamp. It may be referred to as device 142.

[0016] A right front lamp 901R, a left front lamp 901L, a right rear lamp 904R and a left rear lamp 90 4L is an embodiment of the vehicle exterior warning device 142. The vehicle exterior warning device 142 is, for example, The vehicle exterior warning device 142 may be a headlight or a hazard lamp. The vehicle exterior warning device 142 may be a rake lamp. The vehicle exterior warning device 142 is not limited to a light emitting device. The device 142 may be, for example, a speaker that emits sound having directionality.

[0017] The vehicle 900 also includes a vehicle exit support device 100, a distance measurement sensor 140, and a camera 141. The dismounting support device 100 is communicably connected to a distance measuring sensor 140, a camera 141, etc. The device provides assistance for the disembarking action of the user disembarking from the vehicle 900. The vehicle dismounting support device 100 may be installed at any location of the vehicle 900. 0 communication network (such as CAN (Controller Area Network)). The details of the disembarking support device 100 will be described later.

[0018] The distance measurement sensor 140 detects objects present around the vehicle 900 and The distance sensor 140 generates distance measurement data as data on the position and distance of the detected object. are installed in front and rear of the vehicle 900, The vehicle 900 detects a moving object approaching the vehicle 900.

[0019] The camera 141 is installed so as to be able to capture the scenery inside the vehicle 900. For example, the sensor 902 is installed at an arbitrary position on the windshield inside the vehicle interior of the host vehicle 900. The camera 141 captures the passenger's exiting behavior in the vehicle and stores the image data of the captured image. The information is supplied to the disembarking assistance device 100.

[0020] Next, the configuration of the disembarking support device 100 will be described with reference to FIG. FIG. 1 is a block diagram of a vehicle exit support device 100 according to a first embodiment. The measurement unit 121, the exit action detection unit 122, the outside notification signal output unit 123, the inside notification signal The vehicle exit support device 100 includes a signal output unit 124, a control unit 130, and a storage unit 132. These components are communicatively connected via a communication bus 110.

[0021] The measurement unit 121 receives distance measurement data from the distance measurement sensor 140. , the approach direction, moving speed, and distance between the vehicle 900 and the moving object are calculated. The measurement unit 121 may also identify the type of the moving object. The determination unit 121 distinguishes whether the moving object is a car, a motorcycle, a pedestrian, etc. The measurement unit 121 supplies the measurement data, which is the result of the measurement, to the control unit 130.

[0022] The exit action detection unit 122 detects an exit action of a passenger in the vehicle 900. First, the getting-off action detection unit 122 acquires image data from the camera 141 and The exit action of the passenger is detected from the data. This is a motion of trying to get out of the vehicle 900. The getting-off motion detection unit 122 detects the getting-off motion. When the user issues a disembarking command, the control unit 130 is provided with a signal indicating that the disembarking command has been detected. When the state of the door lock and the door handle can be detected, the exit action detection unit 122 The unlocking or operation of the door handle may be detected as the exit action.

[0023] The vehicle exterior notification signal output unit 123 outputs a vehicle exterior notification signal to notify a moving object of the presence of the vehicle 900. The outside notification signal output unit 123 receives an instruction from the control unit 130. In response to the received instruction, the vehicle issues a warning to moving objects existing around the vehicle 900. For this purpose, a signal instructing the vehicle exterior warning device 142 to turn on or blink the lamp is output to the vehicle exterior warning device 142. do.

[0024] The in-vehicle notification signal output unit 124 outputs an in-vehicle notification signal to notify passengers of the approach of a moving object. The in-vehicle notification signal output unit 124 receives an instruction from the control unit 130 and outputs a In response to the received instruction, the speaker will be activated to warn passengers who are disembarking. The vehicle interior warning device 143 outputs a signal to the vehicle interior warning device 143 to instruct the vehicle interior warning device 143 to The warning given by 3 to passengers may be to encourage caution regarding disembarking actions, or It may also be a warning not to drive.

[0025] The control unit 130 includes, for example, a CPU (Central Processing Unit), an MPU (Micro Processor It includes a processor such as a Graphics Processing Unit (GPU) or a Graphics Processing Unit (GPU), The control unit 130 performs control processing and calculation processing according to the program. 100 receives data or signals from each of the components, and converts the received data or signals into The notification signal is output from the outside vehicle notification signal output unit 123 or the inside vehicle notification signal output unit 124. Give instructions for the procedure.

[0026] For example, when the control unit 130 receives measurement data from the measurement unit 121, From this, it is determined whether or not a moving object is approaching the vehicle 900. When a signal indicating that a dismounting action has been detected is received from the vehicle action detection unit 122, the received signal In response to the signal, the outside vehicle notification signal output unit 123 or the inside vehicle notification signal output unit 124 is instructed. That is, when the control unit 130 detects a dismounting action, the control unit 130 determines whether the moving object is in a position to dismount. The output of the outside vehicle notification signal and the inside vehicle notification signal is controlled according to the distance and the moving speed.

[0027] More specifically, for example, the control unit 130 may detect the distance and moving speed of an approaching moving object. From the calculated time, the control unit 130 estimates the time until the moving object reaches the vehicle 900. If the estimated time is equal to or greater than a preset threshold, it is determined that a vehicle exterior notification signal is to be output. The control unit 130 makes this determination based on the time it takes for the moving object to reach the host vehicle 900. When comparing the time required for passengers to disembark with the time required for passengers to disembark, This is because the distance between the vehicle and the seat is sufficiently short that passengers can disembark with plenty of time. 30 outputs an in-vehicle notification signal together with an outside-vehicle notification signal when the estimated time is less than a threshold value. The control unit 130 makes this determination when a moving object reaches the host vehicle 900. The time it takes for passengers to disembark is compared to the time it takes for passengers to disembark. This is because it is considered that the vehicle is not in a state where the passenger can get off the vehicle. The reason for determining whether to output the signal is to ensure the safety of passengers in the vehicle. 30 controls the outside vehicle notification signal output unit 123 and the inside vehicle notification signal output unit 30 according to the results of these judgments. The control unit 124 gives appropriate instructions.

[0028] Here, the threshold is set based on the time it takes for a passenger to get off the vehicle. Assume that the average time from when a passenger starts disembarking to when he or she completes disembarking is 15 seconds. In that case, the threshold value is set to, for example, 30 seconds, which is longer than 15 seconds, taking into account a safety factor. The threshold value may be a fixed value or may be set according to a predetermined condition (e.g., the position of the door). Or, a plurality of values ​​may be set according to the type of door, etc.

[0029] The storage unit 132 is a non-volatile memory such as a flash memory or a solid state drive (SSD). The storage unit 132 is a storage device including a functional memory. The storage unit 132 stores a program executed as a function of the DR control unit 130. It may include a volatile memory such as AM (Dynamic Random Access Memory), in which case The storage unit 132 may have a function for temporarily storing processing data and the like.

[0030] Next, the configuration connected to the dismounting support device 100 will be described. The distance measuring sensor 140, the camera 141, the vehicle exterior warning device 142, and the vehicle interior warning device 143 The vehicle getting off assistance device 100 and these components are connected to each other so as to be able to communicate with each other. Alternatively, they may be connected via a network line such as a CAN.

[0031] The distance measurement sensor 140 is communicably connected to the measurement unit 121 and transmits the generated distance measurement data to the measurement unit 121. The distance measurement sensor 140 supplies image data as distance measurement data to the distance measurement sensor 121. The distance measurement sensor 140 generates the distance every second. The distance measurement sensor 140 may be, for example, a sensor called TOF (Time of Flight). The radar uses millimeter waves, and sonar, etc. The distance measuring sensor 140 may be a stage sensor that captures images of a common scene from separate positions. It may be a Leo camera.

[0032] The camera 141 is communicably connected to the getting-off action detection unit 122 and displays an image related to the captured image. The camera 141 supplies the image data to the getting-off action detection unit 122. The image data is generated every minute of a minute and the generated image data is supplied to the getting-off action detection unit 122.

[0033] The vehicle exterior warning device 142 is communicably connected to the vehicle exterior notification signal output unit 123 and outputs a vehicle exterior notification signal The vehicle exterior warning device 142 operates in response to an instruction from the output unit 123. , left front lamp 901L, right rear lamp 904R and left rear lamp 904L. Depending on the content of the instruction, the device 142 may cause all of the constituent lamps to light up or flash. In addition, the vehicle exterior warning device 142 turns on or off some of the lamps that make up the device in response to the instruction. In addition, the vehicle exterior warning device 142 can be used as a hazard lamp (blinker lamp). When the vehicle 900 is stopped on the shoulder of the road, the hazard lights are turned on to distinguish from the hazard lights when the vehicle 900 is stopped on the shoulder of the road. The flashing light pattern of the LED may be different.

[0034] The vehicle interior warning device 143 is communicably connected to the vehicle interior notification signal output unit 124 and outputs a vehicle interior notification signal The vehicle interior warning device 143 operates in response to an instruction from the output unit 124. That is, the vehicle interior warning device 143 responds to an instruction from the vehicle interior notification signal output unit 124. In response, a voice is output to alert the passenger who is disembarking.

[0035] Next, a process executed by the vehicle getting-off support device 100 will be described with reference to FIG. 3 is a flowchart of the disembarking support device 100 according to the first embodiment. The chart shows the process executed by the control unit 130. The low chart starts, for example, when the host vehicle 900 comes to a stop.

[0036] First, the control unit 130 detects in the measurement unit 121 the approach direction, moving speed, and Then, the measurement of the distance between the vehicle and the moving object is started (step S101), and the measurement of the distance between the vehicle and the moving object is started (step S102). Proceed to.

[0037] In step S102, the control unit 130 detects the disembarking behavior of the passenger by the disembarking behavior detection unit 122. The disembarking action detection unit 122 determines whether or not a passenger's disembarking action has been detected (step S102). When it is determined that the dismounting action has been detected (step S102: YES), the control unit 130 On the other hand, if the disembarking action detection unit 122 detects that the passenger has disembarked, the flow proceeds to step S103. If not (step S102: NO), the control unit 130 returns to step S102.

[0038] In step S103, the control unit 130 receives the data as a result of the measurement by the measurement unit 121. It is determined from the data whether the approach of a moving object has been detected (step S103). When it is determined that the proximity is detected (step S103: YES), the control unit 130 On the other hand, if it is not determined that the approach of the moving object is detected (step S103: If NO, the control unit 130 returns to step S102.

[0039] In step S104, the control unit 130 detects the distance and the moving speed of the approaching moving object. From this, an estimated time Te, which is the time it will take for this moving object to reach the host vehicle 900, is estimated. The control unit 130 also compares the estimated time Te with a preset threshold value Tth. Then, the control unit 130 determines whether the estimated time Te is equal to or greater than the threshold value Tth (step S104 When it is determined that the estimated time Te is equal to or greater than the threshold value Tth (step S104: YES), On the other hand, if the estimated time Te is equal to or greater than the threshold value Tth, the control unit 130 proceeds to step S105. If it is not determined that the saturation is to be detected (step S104: NO), the control unit 130 proceeds to step S106. move on.

[0040] Here, for example, if the threshold value Tth is set to 30 seconds, and the host vehicle 900 is A case will be described in which the vehicle stops on a general road and passengers get off. In this case, the control unit 130 When it is determined that the dismounting action has been detected, it is determined whether or not a moving object approaching the vehicle 900 has been detected. Here, for example, if the distance measurement sensor 140 detects the approach of a bicycle, In this case, the measurement unit 121 receives distance measurement data from the distance measurement sensor 140 and For example, a bicycle approaching 0 is 100 meters away and is approaching at 10 kilometers per hour. The control unit 130 measures the distance to the bicycle and the speed at which the bicycle is moving. From this, the time it takes for the bicycle to reach the vehicle 900 is estimated to be 36 seconds (Te=(100 / 10 000 / 3600)=36). Furthermore, the control unit 130 calculates the estimated time Te=3 6 is compared with the threshold value Tth=30. In this case, if the estimated time Te is equal to or greater than the threshold value Tth, Therefore, the control unit 130 proceeds to step S105.

[0041] In step S105, the control unit 130 outputs the vehicle exterior notification signal to the vehicle exterior notification signal output unit 123. The outside-vehicle notification signal output unit 123 issues an instruction to output the outside-vehicle notification signal (step S105). A signal for performing a warning operation on the vehicle exterior warning device 142 upon receiving an instruction from the control unit 130. As a result, the vehicle 900 outputs a signal to the moving object approaching the vehicle 900. After performing the above-mentioned processing, the control unit 130 performs an operation for issuing a warning. Proceed to.

[0042] In step S106, the control unit 130 outputs the vehicle exterior notification signal to the vehicle exterior notification signal output unit 123. The vehicle notification signal output unit 124 outputs a vehicle notification signal to the vehicle notification signal output unit 124. The outside-vehicle notification signal output unit 123 outputs the control signal (step S106). 130, and sends a signal to the vehicle exterior warning device 142 to perform a warning operation. As a result, the host vehicle 900 issues a warning to a moving object approaching the host vehicle 900. The vehicle interior notification signal output unit 124 also receives instructions from the control unit 130. Upon receiving the signal, the vehicle interior warning device 143 outputs a signal for performing a warning operation. The vehicle 900 warns the passenger that a moving object is approaching the vehicle 900. After the control unit 130 has performed the above-mentioned processing, the process proceeds to step S107.

[0043] In step S107, the control unit 130 determines whether or not to end the series of processes. (Step S107). The control unit 130 determines whether or not to end the series of processes. This may be done by detecting whether the vehicle 900 is stationary or moving. In this case, when the control unit 130 detects that the vehicle 900 has started to move, the control unit 130 executes a series of processes. The determination as to whether or not to end the series of processes is made by, for example, the control unit. 130 detects that a user operation to instruct the processing to be stopped has been received. In addition, the determination as to whether or not to end the series of processes may be made by the control unit 130, for example. This may be due to the fact that no passenger is detected in the vehicle cabin of 900. When it is not determined that the process is to be ended (step S107: NO), the control unit 130 returns to step S On the other hand, if it is determined that the series of processes is to be ended (step S1 07: YES), the control unit 130 ends the series of processes.

[0044] The above describes the vehicle getting-off support method executed by the vehicle getting-off support device 100 in the first embodiment. As described above, when the dismounting operation is detected, the dismounting support device 100 The output of the vehicle exterior notification signal and vehicle interior notification signal is controlled according to the vehicle speed. When the time it takes for the moving object to reach the vehicle 900 is relatively long, the device 100 To warn other moving objects and encourage passengers to disembark quickly, On the other hand, the vehicle dismounting support device 100 does not issue a warning to suppress the dismounting operation when the moving object is the vehicle itself 9. If the time it takes to reach 00 is relatively short, a warning will be issued to moving objects outside the vehicle. At the same time, the system notifies passengers of the approach of a moving object and urges them to be careful.

[0045] Next, referring to FIG. 4, an example of a situation in which the dismounting support device 100 executes the above-described dismounting support method will be described. FIG. 4 shows an example of a situation in which the exit support device according to the first embodiment operates. FIG. 4 is a diagram showing a road observed from above. FIG. 4 shows a vehicle on the road. The vehicle 900 includes another vehicle 910, another vehicle 920, and a pedestrian 930. The vehicle is stopped at the side of the road. In addition, the passengers in the vehicle 900 are trying to get out of the vehicle. It states that:

[0046] Another vehicle 910 is approaching the vehicle 900 from behind. In this situation, the distance between the other vehicle 910 and the host vehicle 900 is a distance D10. In this situation, another vehicle 910 is approaching the host vehicle 900 at a speed V10.

[0047] Another vehicle 920 is approaching the host vehicle 900 in the oncoming lane of the lane in which the host vehicle 900 is stopped. In the situation shown in FIG. 4, the other vehicle 920 is traveling at a distance of 100 meters from the host vehicle 900. In the situation shown in FIG. 4, the other vehicle 920 moves at a speed of V20. is.

[0048] A pedestrian 930 is walking on the sidewalk on the side where the vehicle 900 is stopped. In this situation, the distance between the pedestrian 930 and the vehicle 900 is D30. In this situation, a pedestrian 930 approaches the host vehicle 900 at a speed V30.

[0049] In the above-mentioned situation, the vehicle dismounting support device 100 mounted on the vehicle 900 The vehicle 910 detects other vehicles 920, 910, and pedestrians 930 that are moving objects in the vicinity of the vehicle 910. The disembarking support device 100 detects the location of each moving object, , the moving speed, and the distance between the vehicle 900 and the moving object.

[0050] In the example shown in FIG. 4, the time it takes for the other vehicle 910 to reach the host vehicle 900 is equal to the threshold Tth In this case, the vehicle dismounting support device 100 notifies the other vehicle 910 of the dismounting operation. It issues a warning signal for

[0051] In the example shown in FIG. 4, the dismounting support device 100 determines, based on the position and moving direction of the other vehicle 920, It is not determined that the other vehicle 920 is approaching the vehicle 900. In this case, the vehicle dismounting support device 10 0 does not issue a warning signal to notify other vehicles 920 of the disembarking operation.

[0052] In the example shown in FIG. 4, the time it takes for the pedestrian 930 to reach the host vehicle 900 is equal to or shorter than the threshold Tth In this case, the dismounting support device 100 notifies the pedestrian 930 of the dismounting operation. The system will emit a warning signal to alert passengers that a moving object is approaching. At this time, the warning signal is issued so that the pedestrian 930 is not surprised by the warning signal. For example, you may lower the volume of your horn or the brightness of your lights. When the vehicle assistance device 100 detects that the moving object is a pedestrian, the vehicle assistance device 100 In addition, a voice message may be issued to notify the driver that a pedestrian 930 is approaching.

[0053] The disembarking support device 100 has a function as a computer, which is a calculation device. In addition, the dismounting support device 100 executes the program stored in the storage unit 132 by the program of the control unit 130. The above-mentioned components can be implemented by the processor. Each component of the support device 100 is limited to being realized by software programs. It is realized by any combination of hardware and software, etc. Each component of the dismounting support device 100 may be implemented using, for example, an FPGA (field-programmable gate array). Programmable gate arrays (SOCs), SOCs (System on a chips), microcomputers, etc. Alternatively, the above may be realized using a programmable integrated circuit. A program consisting of the above components may be realized. The same applies to the embodiment.

[0054] The first embodiment has been described above. The device 100 is installed so as to be detachable from the system of the vehicle 900, and is an independent unit. The vehicle getting-off support device 100 may be configured as a system of the vehicle 900. According to the first embodiment, the vehicle exit assistance device 100 may be configured as a part of the vehicle exit assistance device 100 that provides suitable vehicle exit assistance. It is possible to provide an assistance device, a disembarking assistance method, and a program.

[0055] <Embodiment 2> Next, a second embodiment will be described. The second embodiment is a process performed by the control unit 130 and a vehicle interior. The signal output by the notification signal output unit 124 is different from that in the first embodiment. FIG. 2 is a block diagram of such a vehicle exit assistance device.

[0056] In the present embodiment, the in-vehicle notification signal output unit 124 is configured as an in-vehicle warning device 143, and is configured to output a door The door control ECU is connected to the vehicle door control ECU so as to be able to output a predetermined signal to the vehicle door control ECU. The control device includes a door lock, which monitors the door's open / close status and position, and also The door control ECU controls the locking device and the opening and closing of the sliding doors. Control.

[0057] The in-vehicle notification signal output unit 124 receives an instruction from the control unit 130 and outputs the notification signal to the door control ECU. For example, the vehicle interior notification signal output unit 12 may output an instruction to operate a door lock device. 124 may output an instruction to stop the movement of the sliding door.

[0058] In this embodiment, the control unit 130 sets the estimated time until the vehicle 900 is reached as a threshold When the moving object, which was equal to or greater than the preset limit distance, moves at a preset limit speed within a preset limit distance, If the number of the vehicle interior notification signals is equal to or greater than the number of the vehicle interior notification signals, the control unit 13 0 is an in-vehicle notification signal to indicate that disembarking is dangerous due to an approaching moving object. Can supply.

[0059] The disembarking assistance method according to the second embodiment will be described with reference to FIG. 6 is a flowchart of the disembarking support device according to the second embodiment. The process after step S105 is different from the flowchart shown in FIG. When S105 ends, the control unit 130 proceeds to step S108.

[0060] In step S108, the control unit 130 determines whether the distance Dm of the moving object being measured is The distance is shorter than the set limit distance Dref and the speed Vm of the moving body is equal to or faster than the limit speed Vth. If it is determined that the above condition is satisfied, If not (step S108: NO), the control unit 130 proceeds to step S107. When it is determined that the above-mentioned condition is satisfied (step S108: YES), the control unit 130 Proceed to step S109.

[0061] The above processing will be described with a concrete example. The limit distance Dref for a moving object is set to 20 meters, and the limit speed of the moving object is Assume that the speed Vth is set to 10 kilometers per hour. A moving object approaching at a speed of 10 kilometers per hour or more within a distance of 20 meters will cause a descent. Therefore, the exit support device 100 is set to the above condition. It is assumed that

[0062] In this case, the measurement unit 121 determines, for example, from the distance measurement data supplied from the distance measurement sensor 140 The distance and speed of a moving object approaching the vehicle 900 are measured. When the distance Vm falls below the limit distance Dref of 20, the control unit 130 controls the moving speed Vm The control unit 130 compares the speed with the limit speed Vth of 10 kilometers per hour. If the moving speed Vm of the moving object is 10 kilometers per hour or more, the above conditions are met. Then, the process proceeds to step S109.

[0063] In step S109, the control unit 130 outputs an in-vehicle notification signal to the in-vehicle notification signal output unit 124. In response to this, the exit support device 10 issues an instruction to output a signal (step S109). 0 indicates that passengers should disembark if there is a moving object approaching at a speed greater than a certain level. Alternatively, the disembarking assistance device 100 can prompt the passenger to be careful in disembarking the vehicle. As a result, the dismounting support device 100 can suppress the passenger from dismounting safely. When the control unit 130 finishes the above-mentioned processing, the process proceeds to step S107. nothing.

[0064] FIG. 7 is a diagram illustrating an example of a situation in which the disembarking support device according to the second embodiment operates. In FIG. 7, another vehicle 910 is approaching the host vehicle 900 at a speed of V10. The vehicle 910 is approaching within a distance Dref. Therefore, the disembarking assistance device 100 At this time, the vehicle 900 controls the door operation. In this way, the vehicle exit assistance device 100 can automatically limit the number of vehicles that can be exited, or can lock the doors. This can prevent the safety of the operation from being reduced.

[0065] The second embodiment has been described above. According to the second embodiment, a suitable disembarkation assistance is provided. It is possible to provide a vehicle alighting assistance device, a vehicle alighting assistance method, and a program.

[0066] <Embodiment 3> Next, a third embodiment will be described. FIG. 8 shows a brake of the exit support device according to the third embodiment. FIG. 8 is a block diagram of a vehicle exit support device 200 according to a third embodiment. The vehicle exit support device 200 uses a right notification signal output unit instead of the vehicle exterior notification signal output unit 123. The vehicle getting off support device 200 further includes a left notification signal output unit 123R and a left notification signal output unit 123L. It has a door detection unit 125.

[0067] The right notification signal output unit 123R receives an instruction from the control unit 130 and In response, the vehicle 900 notifies the moving object approaching the right side of the vehicle 900 of the presence of the vehicle 900. More specifically, the right notification signal output unit 123R outputs a vehicle exterior notification signal for The signal for operating the right front lamp 901R and the right rear lamp 904R of the notification device 142 is A signal is output to the vehicle exterior warning device 142.

[0068] The left notification signal output unit 123L receives an instruction from the control unit 130 and In response, the vehicle 900 notifies the moving object approaching the left side of the vehicle 900 of the presence of the vehicle 900. More specifically, the left notification signal output unit 123L outputs a vehicle exterior notification signal for The left front lamp 901L and the left rear lamp 904L of the warning device 142 are operated by a signal. A signal is output to the vehicle exterior warning device 142.

[0069] The door detector 125 detects the position and movement of the door of the host vehicle. The door detector 25 can detect the door based on image data acquired from the camera 141. The unit 125 may obtain data regarding the position and movement of the door from the door control ECU. When the door detection unit 125 detects the position and movement of the door, The control unit 130 receives a signal indicating that the process has been completed.

[0070] In this embodiment, the control unit 130 detects an exit action and When the position of the door through which the passenger gets off coincides with the side on which the moving object approaches, That is, the control unit 130 controls the output of the notification signal obtained from the measurement unit 121. From the measurement data, it is determined which side of the vehicle 900 the moving object is approaching from. The control unit 130 also detects data related to the getting-off action acquired from the getting-off action detection unit 122. Or from data acquired from the door detection unit 125 or from both data acquired from the door detection unit 125, The control unit 130 detects the side where the passenger is about to get off. The position of the door that is approaching the vehicle is compared with the side that the vehicle is approaching, and if they match, the vehicle is The right notification signal output unit 123R or the left notification signal output unit 123R is connected to the vehicle exterior warning device 142 so as to operate the vehicle exterior warning device 142. The controller 123 issues an instruction to the power unit 123L.

[0071] In the present embodiment, the in-vehicle notification signal output unit 124 notifies the driver of the vehicle when the driver is about to get off the vehicle. The door position and the direction of the approaching vehicle should be compared to determine which door the passenger is about to disembark from. The vehicle may be configured to issue a warning to the driver that a moving object is approaching. The signal output unit 124 instructs the passenger to use the door on the side where the moving object is not approaching. A recommended message may be output.

[0072] Next, referring to FIG. 9, the process executed by the exit support device 200 according to the third embodiment will be described. FIG. 9 is a flowchart of the exit assistance device according to the third embodiment. The flowchart shown in FIG. 1 illustrates the process executed by the control unit 130. The flowchart shown in FIG. 9 starts, for example, when the host vehicle 900 comes to a stop.

[0073] First, the control unit 130 detects in the measurement unit 121 the approach direction, moving speed, and Then, the measurement of the distance between the vehicle and the moving object is started (step S201), and the measurement of the distance between the vehicle and the moving object is started (step S202). Proceed to.

[0074] In step S202, the control unit 130 detects the disembarking behavior of the passenger by the disembarking behavior detection unit 122. The exit action detection unit 122 determines whether or not the exit action of the passenger has been detected (step S202). When it is determined that the dismounting action has been detected (step S202: YES), the control unit 130 On the other hand, if the disembarking action detection unit 122 detects that the passenger has disembarked, the flow proceeds to step S203. If not (step S202: NO), control unit 130 repeats step S202.

[0075] In step S203, the control unit 130 receives the data as a result of the measurement by the measurement unit 121. It is determined from the data whether the approach of a moving object has been detected (step S203). When it is determined that the proximity is detected (step S203: YES), the control unit 130 On the other hand, if it is not determined that the approach of the moving object is detected (step S203: If NO, the control unit 130 returns to step S202.

[0076] In step S204, the control unit 130 detects the approach of the moving body to the door for the disembarking operation. It is determined whether the door for the exit operation and the direction of the transfer are the same (step S204). When it is determined that the approach direction of the moving object coincides with the moving object approach direction (step S204: YES), the control unit 13 0 proceeds to step S205. On the other hand, if the door for disembarking operation and the approach direction of the moving object are the same, If it is not determined that there is a match (step S204: NO), the control unit 130 proceeds to step S202. Return to.

[0077] In step S205, the control unit 130 determines whether the distance Dm of the approaching moving object is preset. It is determined whether the distance is less than the threshold distance Dth (step S205). When it is determined that the distance Dm of the approaching moving object is less than the distance Dth (step S205: Y ES), the control unit 130 proceeds to step S206. If it is not determined that the distance is less than the distance Dth (step S205: NO), the control unit 130 Then, return to step S202.

[0078] In step S206, the control unit 130 outputs an in-vehicle notification signal and an outside-vehicle notification signal. More specifically, the control unit 130 performs a process of transmitting the in-vehicle notification signal (step S206). The control unit 130 also controls the signal output unit 124 to output an in-vehicle notification signal. The notification signal output unit corresponding to the side where the condition in 04 is met (i.e., the right notification signal output unit 1 23R or the left notification signal output unit 123L) or both of them. As a result, the dismounting support device 200 outputs a command to the side to which the moving object is approaching. The corresponding vehicle exterior warning device 142 is activated. When the above-mentioned process is completed, the control unit 130 Go to step S207.

[0079] Next, in step S207, the control unit 130 determines whether or not to end the series of processes. (Step S207). The process executed by the control unit 130 is the same as that shown in the flowchart of FIG. This is the same as the process shown as step S107 in the previous example. Therefore, the following description will be omitted. Omitted.

[0080] The above describes the vehicle getting-off support method executed by the vehicle getting-off support device 200 in the third embodiment. As described above, when the dismounting operation is detected, the dismounting support device 200 When the position of the door coincides with the approaching direction of the moving object, a process is performed to activate the warning device. As a result, the dismounting support device 200 in this embodiment can efficiently perform dismounting support. That is, according to the present embodiment, a vehicle dismounting assistance device and a vehicle dismounting assistance A method and a program can be provided.

[0081] <Fourth embodiment> Next, a fourth embodiment will be described. The configuration is the same as that shown in FIG. 8. However, in the fourth embodiment, the function of the door detection unit 125 is different. Also, the corresponding functions of the control unit 130 differ from those in the third embodiment.

[0082] In the present embodiment, the door detection unit 125 detects whether the door type of the host vehicle 900 is a swing door. The door type identified by the door detection unit 125 is identified as either a sliding door or a fixed door. The data is stored in, for example, the storage unit 132. Identify each type of door.

[0083] In addition, the control unit 130 in this embodiment determines which door the disembarking action is associated with. In this way, when the disembarking action is associated with the swing door, the control unit 130 When the distance between the moving object and the sensor is less than a first distance, which is a preset threshold distance, a notification signal is output. When the disembarking action is associated with the sliding door, the control unit 130 determines that the disembarking action is associated with the sliding door. When the set threshold distance is less than a second distance which is farther than the first distance, the notification signal is output. By being configured in this manner, the dismounting support device 200 can perform dismounting support in an appropriate manner. This can be done.

[0084] FIG. 10 is a flowchart of the exit assistance device according to the fourth embodiment. In the flowchart, the process from after step S204 to before step S207 is shown in FIG. This differs from the flowchart shown in .

[0085] In step S204, the control unit 130 determines that the exit door and the approach direction match. If so (step S204: YES), control unit 130 proceeds to step S210.

[0086] In step S210, the control unit 130 determines the type of door related to the disembarking operation ( Step S210) When the type of the door involved in the disembarking operation is determined to be a swing door (step On the other hand, when the passenger is getting off the vehicle, the control unit 130 proceeds to step S211. When the type of the door is determined to be a sliding door (the right side of step S210), the control unit 13 0, proceed to step S221.

[0087] In step S211, the control unit 130 determines whether the distance Dm of the approaching moving object is preset. It is determined whether the distance is less than a first distance D1, which is a threshold distance set in advance (step S211). When it is determined that the distance Dm of the approaching moving object is less than the first distance D1 (step S211 If the distance to the approaching moving object is 100%, the control unit 130 advances to step S212. When it is not determined that the distance Dm is less than the first distance D1 (step S211: NO), the control unit 130 returns to step S202.

[0088] In step S212, the control unit 130 outputs an in-vehicle notification signal and an outside-vehicle notification signal. The control unit 130 performs a process of setting the condition in step S204 to "ON" (step S212). An instruction is issued to output a notification signal to the notification signal output unit corresponding to the side where the conditions match. When the above process is completed, the control unit 130 proceeds to step S207.

[0089] In step S221, the control unit 130 determines whether the distance Dm of the approaching moving object is preset. It is determined whether the distance is less than a second distance D2, which is a threshold distance set in advance (step S221). When it is determined that the distance Dm of the approaching moving object is less than the second distance D2 (step S221 If the distance to the approaching moving object is 100%, the control unit 130 proceeds to step S222. When it is not determined that the distance Dm is less than the second distance D2 (step S211: NO), the control unit 130 returns to step S202.

[0090] In step S222, the control unit 130 outputs an in-vehicle notification signal and an outside-vehicle notification signal. The control unit 130 performs a process of setting the condition in step S204 to "ON" (step S222). An instruction is issued to output a notification signal to the notification signal output unit corresponding to the side where the conditions match. When the above process is completed, the control unit 130 proceeds to step S207.

[0091] FIG. 11 is a diagram illustrating an example of a situation in which the dismount support device according to the fourth embodiment operates. In FIG. 11, another vehicle 910 approaches the right rear of the host vehicle 900 at a speed of V10. The other vehicle 910 is located at a distance farther than the first distance D1 and less than the second distance D2. Also, a passenger in the vehicle 900 is about to exit the vehicle through the right front door 902R.

[0092] In the above-mentioned situation, when the vehicle getting off assistance device 200 detects another vehicle 910 which is a moving body, In both cases, it is detected that the other vehicle 910 is approaching the right side of the host vehicle 900. The disembarking support device 200 detects the disembarking motion of the passenger, and the disembarking motion is detected by the right front The control unit 130 detects that the door 902R is connected to the door 902R. It is determined that the door position (right side) matches the direction (right side) of the approaching vehicle 910. In addition, the control unit 130 determines that the door leading to disembarkation (the right front door 902R) is a swing door. Furthermore, the control unit 130 identifies that the distance of the other vehicle 910 is less than the first distance D1. It is determined whether or not there is a

[0093] In FIG. 11, the other vehicle 910 is located at a distance farther than the first distance D1. In this situation, the vehicle dismounting support device 200 executes a process for activating a warning device of the vehicle 900. In addition, the other vehicle 910 cannot see the right swing door of the vehicle 900 from the outside. Here, the host vehicle 900 and the other vehicle 910 in FIG. Considering the safety, the distance is sufficiently far. Passengers can disembark without the system having to process any warnings.

[0094] However, if another vehicle 910 moves to the position shown by the dotted line before the disembarking action is completed, In this case, the dismounting support device 200 performs a process different from the above-mentioned process. The vehicle getting off assistance device 200 detects that the other vehicle 910 is closer than the first distance D1. The dismounting support device 200 activates the right rear lamp 904R to warn the other vehicle 910. The disembarking support device 200 also issues a warning to passengers notifying them of the approach of a moving object. conduct.

[0095] In addition, when the other vehicle 910 is present at the position of FIG. 11, that is, the distance is less than the second distance D2. When the passenger is in the right rear door 903R, which is a sliding door, If the person is about to get off the vehicle, the vehicle getting off support device 200 performs a process to activate a warning device. The reason is that the sliding door is open at a greater distance than the swing door. In this way, the exit support device 200 is difficult to see from the outside when the vehicle has a swing door. In comparison, the threshold distance is set larger for disembarking actions associated with sliding doors. As a result, the disembarking assistance device 200 can efficiently perform disembarking assistance while taking safety into consideration. can.

[0096] The fourth embodiment has been described above. According to the fourth embodiment, it is possible to efficiently and conveniently disembark. It is possible to provide an alighting assistance device, a alighting assistance method, and a program for providing assistance.

[0097] <Fifth Preferred Embodiment> Next, a fifth embodiment will be described. The disembarking support device 200 according to the fifth embodiment includes: The processing sequence of the warning device is different from that of the fourth embodiment.

[0098] In the present embodiment, when the exit action is linked to the swing door, the control unit 130 performs an in-vehicle notification. After the signal, an outside notification signal is output, and if the exit action is linked to the sliding door, an inside notification signal is output. The vehicle exit support device 20 outputs a vehicle exterior notification signal before or simultaneously with the vehicle interior notification signal. 0 allows warnings to be issued in the preferred order.

[0099] FIG. 12 is a flowchart of the vehicle exit support device according to the fifth embodiment. The chart shows the process after step S211 and the process after step S221, respectively. different.

[0100] In step S211, the distance Dm of the approaching moving object is less than the first distance D1. If the control unit 130 determines that the The process proceeds to step S213, where the control unit 130 first outputs an in-vehicle notification signal (step S213). Then, the control unit 130 outputs the vehicle interior notification signal and then outputs the vehicle exterior notification signal (step In other words, in this embodiment, When the type of door corresponding to the operation is a swing door, the vehicle exit support device 200 performs a vehicle outside notification. The output of the in-vehicle notification signal is given priority over the output of the signal.

[0101] On the other hand, in step S221, the distance Dm of the approaching moving object is less than the second distance D2. If the control unit 130 determines that the Proceeding to step S223, the control unit 130 first outputs an outside-vehicle notification signal (step S2 23). Then, the control unit 130 outputs the outside-vehicle notification signal and then outputs the inside-vehicle notification signal. (Step S224), and proceed to Step S207. In other words, in this embodiment, When the type of door corresponding to the dismounting operation is a sliding door, the dismounting support device 200 To give priority to output of a vehicle exterior notification signal over output of an interior notification signal.

[0102] The fifth embodiment has been described above. The vehicle exit support device 200 according to the fifth embodiment includes: As a result, according to the fifth embodiment, a more suitable descent is achieved. It is possible to provide a vehicle disembarking assistance device, a vehicle disembarking assistance method, and a program for performing vehicle assistance.

[0103] The above-mentioned program can be implemented using various types of non-transitory computer-readable media. The non-transitory computer-readable medium may be stored in a computer readable medium and provided to a computer. , including various types of tangible storage media. Examples of non-transitory computer readable media include: Magneto-optical recording media (e.g. magneto-optical disks), CD-ROM (Read Only Memory), CD-R , CD-R / W, semiconductor memory (e.g., mask ROM, PROM (Programmable ROM) , EPROM (Erasable PROM), Flash ROM, RAM (Random Access Memory) The program can also be stored in various types of temporary computer readable media. Examples of the transitory computer-readable medium include electrical signals, optical Transient computer-readable media includes electronic signals, electromagnetic waves, and the like. Transient computer-readable media includes electronic signals, electromagnetic waves, and the like. The program can be supplied to the computer via a wired communication path or a wireless communication path.

[0104] The present invention is not limited to the above-described embodiment, and may be modified as appropriate without departing from the spirit and scope of the present invention. It is possible to change it. [Explanation of symbols]

[0105] 100 Disembarkation aid 110 Communication Bus 121 Measuring section 122 Disembarking behavior detector 123 Vehicle exterior notification signal output unit 123R Right notification signal output section 123L Left notification signal output part 124 Vehicle interior notification signal output unit 125 Door detector 130 Control section 132 Storage section 140 Distance Sensor 141 Camera 142 External warning device 143 In-vehicle warning device 200 Disembarkation Assistance Device 900 Vehicle 901R Right front lamp 901L Left front lamp 902R Right front door 902L Left front door 903R Right rear door 903L Left rear door 904R Right rear lamp 904L Left rear lamp 910 Other vehicles 920 Other vehicles 930 Pedestrians

Claims

1. The approach direction, moving speed, and and a measuring unit that measures a distance between the vehicle and the moving object. a door detection unit that detects the position and movement of a door of the host vehicle; An alighting action, which is an action of a passenger in the vehicle alighting from the door, is detected. A motion detection unit; A right-side vehicle detecting device for notifying a moving object approaching the right side of the vehicle of the presence of the vehicle. a right notification signal output unit that outputs a notification signal; A left side warning device for notifying the moving object approaching the left side of the vehicle of the presence of the vehicle. a left notification signal output unit that outputs a notification signal; When the disembarking action is detected, the position of the door at which the passenger disembarks is detected. When the side to which the moving object is approaching coincides with the side, a notification signal corresponding to the side is output. A control unit for controlling the above. An in-vehicle notification signal is output to notify the passenger of the approach of the moving body. A notification signal output unit, The door detection unit determines whether the type of the door is a sliding door or a swing door. Separately, The control unit is When the exit action is associated with the swing door, the vehicle interior notification signal is sent after the notification signal. Output the number, When the disembarking action is associated with the sliding door, the vehicle is disembarked before or after the notification signal. and outputting the in-vehicle notification signal at the same time as the signal. Disembarkation assistance device.

2. The door detection unit detects whether the type of the door through which the alighting action detection unit detects the alighting action is a switch. Determine whether it is an in-door or sliding door, The control unit is When the disembarking action is associated with the swing door, if the distance is less than a first distance, The notification signal is output. When the disembarking action is associated with the sliding door, the distance is a second distance that is longer than the first distance. If the distance is less than the predetermined distance, the notification signal is output. The disembarking assistance device according to claim 1.

3. The approach direction, the moving speed, and the distance between the vehicle and the moving object approaching the vehicle A measuring step for measuring the distance; The door position and the door type of the vehicle are a sliding door or a swing door. a door detection step of identifying whether the door is open and detecting movement; An alighting action, which is an action of a passenger in the vehicle alighting from the door, is detected. A motion detection step; An in-vehicle notification signal is output to notify the passenger of the approach of the moving object. a notification signal output step; A right-side vehicle detecting device for notifying a moving object approaching the right side of the vehicle of the presence of the vehicle. a right notification signal output step of outputting a notification signal; A left side warning device for notifying the moving object approaching the left side of the vehicle of the presence of the vehicle. a left notification signal output step of outputting a notification signal; When the disembarking action is detected, the position of the door at which the passenger disembarks is detected. When the side to which the moving object is approaching coincides with the side, a notification signal corresponding to the side is output. When the exit action is associated with the swing door, the vehicle interior notification signal is sent after the notification signal. When the disembarking action is associated with the sliding door, the notification signal is output before or after the notification signal. and a control step of controlling the output of the in-vehicle notification signal simultaneously with the vehicle notification signal. How to assist with disembarking.

4. The approach direction, the moving speed, and the distance between the vehicle and the moving object approaching the vehicle A measuring step for measuring the distance; The door position and the door type of the vehicle are a sliding door or a swing door. a door detection step of identifying whether the door is open and detecting movement; An alighting action, which is an action of a passenger in the vehicle alighting from the door, is detected. A motion detection step; An in-vehicle notification signal is output to notify the passenger of the approach of the moving body. a detection signal output step; A right-side vehicle detecting device for notifying a moving object approaching the right side of the vehicle of the presence of the vehicle. a right notification signal output step of outputting a notification signal; A left side warning device for notifying the moving object approaching the left side of the vehicle of the presence of the vehicle. a left notification signal output step of outputting a notification signal; When the disembarking action is detected, the position of the door at which the passenger disembarks is detected. When the side to which the moving object is approaching coincides with the side, a notification signal corresponding to the side is output. When the exit action is associated with the swing door, the vehicle interior notification signal is sent after the notification signal. When the disembarking action is associated with the sliding door, the notification signal is output before or after the notification signal. and a control step of controlling the output of the in-vehicle notification signal simultaneously with the vehicle notification signal. The method for assisting a vehicle exit is executed by a computer.

Images