Control apparatus for vehicle and control method

Abstract

To optimize execution or suppression of a notification to a driver.SOLUTION: A control apparatus for a vehicle comprises: a first notification unit that, upon detecting a moving object approaching a predetermined region on a traveling path of a host vehicle, notifies a driver of the approach of the moving object; a second notification unit that, upon detecting a stationary object present in a predetermined region on the travel path, notifies the driver of the approach to the stationary object; and a notification suppression unit that suppresses the notification by the first notification unit if an attribute of the mobile object is a first attribute in a case where a stationary object has been detected and a specific condition holds, the specific condition being that the mobile object is detected at a location farther than the stationary object, and suppresses the notification by the first notification unit only when the stationary object is detected over a predetermined range in the width direction of the host vehicle in a case where the attribute of the mobile object is a second attribute different from that of the first attribute.SELECTED DRAWING: Figure 5

Description

[Technical field]

[0001] The present disclosure relates to a vehicle control device and a control method. [Background technology]

[0002] For example, Patent Document 1 discloses a device that, when it detects an object approaching the vehicle from behind and an obstruction behind the vehicle, suppresses the activation of an alarm that notifies the driver of the vehicle of the presence of the approaching object if the approaching object is farther away from the vehicle than the obstruction. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] JP 2017-013756 A Summary of the Invention

[0004] For example, when the approaching object is another vehicle and there is a stationary object between the other vehicle and the vehicle, the possibility that the other vehicle will pass through the stationary object and approach the vehicle is low. In such a case, an alarm to inform the driver of the vehicle of the approach of the other vehicle is unnecessary. However, when the approaching object is a pedestrian, depending on the obstruction state of the stationary object, the pedestrian may approach the vehicle while avoiding the stationary object. In other words, if the alarm is uniformly suppressed only when there is a stationary object between the vehicle and the approaching object, there may be cases where the suppression of the alarm is inappropriate depending on the relationship between the attribute of the approaching object (moving object) and the obstruction state of the stationary object.

[0005] The technology disclosed herein aims to optimize the implementation or suppression of notifications to drivers based on the relationship between the attributes of moving objects and the occlusion state of stationary objects.

[0006] The vehicle control device of the present disclosure includes: a first notification means for notifying a driver of the host vehicle of the approach of a moving object when a first detection means detects a moving object approaching a predetermined area from outside the predetermined area toward a predetermined area in the travel path of the host vehicle and the distance from the host vehicle is within a predetermined range; a second notification means for notifying the driver of an approach to a stationary object when a stationary object that exists in a predetermined area on the travel path and is within a predetermined distance from the vehicle is detected by a second detection means; The vehicle is equipped with a notification suppression means that, when a specific condition is met in which the second detection means detects the stationary object and the first detection means detects the moving object farther away from the vehicle than the stationary object, suppresses the notification by the first notification means if the attribute of the moving object is a first attribute, and suppresses the notification by the first notification means only if the second detection means detects the stationary object over a predetermined range in the width direction of the vehicle if the attribute of the moving object is a second attribute different from the first attribute.

[0007] The vehicle control method of the present disclosure includes: when a first detection means detects a moving object approaching a predetermined area in a travel path of the host vehicle and the distance from the host vehicle is within a predetermined range from the predetermined area, a first notification is performed to notify a driver of the host vehicle of the approach of the moving object; when a stationary object that is present in a predetermined area on the travel path and that is within a predetermined distance range from the vehicle is detected by a second detection means, a second notification is performed to notify the driver of an approach to the stationary object; When a specific condition is met in which the second detection means detects the stationary object and the first detection means detects the moving object farther away from the vehicle than the stationary object, the first notification is suppressed if the attribute of the moving object is a first attribute, and the first notification is suppressed only if the attribute of the moving object is a second attribute different from the first attribute, when the second detection means detects the stationary object over a predetermined range in the width direction of the vehicle. [Brief description of the drawings]

[0008] [Figure 1] 1 is a schematic diagram showing a hardware configuration of a vehicle to which a control device according to an embodiment of the present invention is applied; [Diagram 2] 1A is a schematic diagram showing an example of the positions of a rear camera, a left rear side radar sensor, and a right rear side radar sensor mounted on a vehicle, and FIG. 1B is a schematic diagram showing an example of the positions of a left rear side sonar sensor, a left rear sonar sensor, a right rear sonar sensor, and a right rear side sonar sensor mounted on a vehicle. [Diagram 3] FIG. 2 is a schematic diagram showing a software configuration of the control device according to the present embodiment. [Figure 4] 11 is a schematic overhead view illustrating a case in which the execution conditions for a stationary object alarm and a moving object alarm are met simultaneously. FIG. [Diagram 5] 5 is a flowchart illustrating a flow of warning control and warning suppression processing by the control device according to the present embodiment. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0009] Hereinafter, a vehicle control device and a control method according to the present embodiment will be described with reference to the drawings.

[0010] [Hardware configuration] 1 is a schematic diagram showing a hardware configuration of a vehicle VH to which a control device according to this embodiment is applied. In the following, the vehicle VH may be referred to as a host vehicle when it is necessary to distinguish the vehicle VH from other vehicles.

[0011] The vehicle VH has an ECU (Electronic Control Unit) 10. The ECU 10 includes a CPU (Central Processing Unit) 11, a ROM (Read Only Memory) 12, a RAM (Random Access Memory) 13, and an interface device 14. The CPU 11 is a processor that executes various programs stored in the ROM 12. The ROM 12 is a non-volatile memory that stores data and the like required for the CPU 11 to execute the various programs. The RAM 13 is a volatile memory that provides a working area in which the various programs are expanded when the CPU 11 executes them. The interface device 14 is a communication device for communicating with an external device.

[0012] The ECU 10 is a central device that performs driving assistance control, etc. Driving assistance control is a concept that includes automatic driving control. The ECU 10 is communicatively connected to a drive unit 20, a steering unit 21, a braking unit 22, a transmission 23, an internal sensor unit 30, an external sensor unit 40, an HMI (Human Machine Interface) 60, etc.

[0013] The drive device 20 generates a drive force to be transmitted to the drive wheels of the vehicle VH. Examples of the drive device 20 include an electric motor and an engine. In this embodiment, the vehicle VH may be any of a hybrid vehicle (HEV), a plug-in hybrid vehicle (PHEV), a fuel cell vehicle (FCEV), an electric vehicle (BEV), and an engine vehicle. The steering device 21 applies a steering force to the wheels of the vehicle VH. The braking device 22 applies a braking force to the wheels of the vehicle VH. The transmission 23 changes the rotational power output from the drive device 20 at a predetermined gear ratio and transmits it to the drive wheels.

[0014] The internal sensor device 30 is a type of sensor that detects the state of the vehicle VH. Specifically, the internal sensor device 30 includes a vehicle speed sensor 31, an accelerator sensor 32, a brake sensor 33, a steering angle sensor 34, and a shift sensor 35. The internal sensor device 30 transmits the state of the vehicle VH detected by each of the sensors 31 to 35 to the ECU 10 at a predetermined cycle.

[0015] The vehicle speed sensor 31 detects the traveling speed of the vehicle VH (hereinafter, vehicle speed). The accelerator sensor 32 detects the amount of operation of an accelerator pedal (not shown) by the driver. The brake sensor 33 detects the amount of operation of a brake pedal (not shown) by the driver. The steering angle sensor 34 detects the rotation angle of a steering wheel or steering shaft (not shown) of the vehicle VH, i.e., the steering angle. The shift sensor 35 detects the shift position of the transmission 23 (parking P, reverse R, neutral N, drive D, etc.).

[0016] The external sensor device 40 is a type of sensor that recognizes target information related to targets present behind and to the sides of the vehicle VH. Specifically, the external sensor device 40 includes a rear camera 41, a left rear side radar sensor 42L, a right rear side radar sensor 42R, a left rear side sonar sensor 43L1, a right rear side sonar sensor 43R1, a left rear sonar sensor 43L2, and a right rear sonar sensor 43R2. Examples of target information include moving objects such as other vehicles and pedestrians, and stationary objects such as walls and poles. The external sensor device 40 repeatedly transmits the acquired target information to the ECU 10 every time a predetermined time has elapsed.

[0017] Hereinafter, when it is not necessary to distinguish between the left rear side radar sensor 42L and the right rear side radar sensor 42R, these are also referred to as "rear radar sensor 42". Also, when it is not necessary to distinguish between the left rear side sonar sensor 43L1, the right rear side sonar sensor 43R1, the left rear sonar sensor 43L2, and the right rear sonar sensor 43R2, these are also referred to as "sonar sensor 43". The rear camera 41 and the rear radar sensor 42 are an example of the "first detection means" of the present disclosure, and the sonar sensor 43 is an example of the "second detection means" of the present disclosure. Although not shown, the external sensor device 40 may further include a front camera, a front radar sensor, a front side radar sensor, a front sonar sensor, a front side sonar sensor, etc.

[0018] The rear camera 41 is, for example, a stereo camera or a monocular camera, and a digital camera having an imaging element such as a CMOS or a CCD can be used. The rear camera 41 captures an image of the rear of the vehicle VH and acquires target information behind the vehicle VH by processing the captured image data. The target information is information that indicates the type of target detected behind the vehicle VH, the relative distance between the vehicle VH and the target, the relative speed between the vehicle VH and the target, etc. The type of target may be recognized by machine learning such as pattern matching, for example.

[0019] The rear radar sensor 42 detects a target present in the rear area of ​​the vehicle VH. The rear radar sensor 42 includes a millimeter wave radar and / or a lidar. The millimeter wave radar emits radio waves (millimeter waves) in the millimeter wave band and receives millimeter waves (reflected waves) reflected by a target present within the emission range. The millimeter wave radar acquires the relative distance between the vehicle VH and the target, the relative speed between the vehicle VH and the target, etc. based on the phase difference between the transmitted millimeter wave and the received reflected wave, the attenuation level of the reflected wave, and the time from transmitting the millimeter wave to receiving the reflected wave, etc. The lidar sequentially scans a pulsed laser light having a shorter wavelength than the millimeter wave in multiple directions and receives the reflected light reflected by the target to acquire the shape of the target detected behind the vehicle VH, the relative distance between the vehicle VH and the target, the relative speed between the vehicle VH and the target, etc.

[0020] The sonar sensor 43 is a well-known sensor that uses ultrasonic waves. The sonar sensor 43 emits ultrasonic waves to a predetermined range behind the vehicle VH. The sonar sensor 43 receives waves reflected by a target present within the ultrasonic wave emission range, and detects the presence or absence of a target and the distance between the vehicle VH and the target based on the time from transmission to reception of the ultrasonic waves. The sonar sensor 43 can detect a target located approximately in front of the vehicle VH by emitting highly directional ultrasonic waves.

[0021] FIG. 2(A) is a schematic diagram showing an example of the vehicle mounting positions of the rear camera 41, the left rear side radar sensor 42L, and the right rear side radar sensor 42R. As shown in FIG. 2(A), the rear camera 41 is provided in the approximate center of the vehicle width direction of the rear bumper of the vehicle VH. The imaging area A of the rear camera 41 is a wide-angle area that spreads from the approximate center of the vehicle width direction of the rear bumper toward the rear of the vehicle VH. The left rear side radar sensor 42L is provided at the left end of the rear bumper, and the right rear side radar sensor 42R is provided at the right end of the rear bumper. The detection area BL of the left rear side radar sensor 42L is a wide-angle area that spreads from the left end of the rear bumper toward the left rear side. The detection area BR of the right rear side radar sensor 42R is a wide-angle area that spreads from the right end of the rear bumper toward the right rear side.

[0022] Fig. 2(B) is a schematic diagram showing an example of the vehicle mounting positions of the left rear side sonar sensor 43L1, the left rear sonar sensor 43L2, the right rear sonar sensor 43R2, and the right rear side sonar sensor 43R1. As shown in Fig. 2(B), the left rear side sonar sensor 43L1 is provided at the left end of the rear bumper, and the right rear side sonar sensor 43R1 is provided at the right end of the rear bumper. The detection area CL1 of the left rear side sonar sensor 43L1 is a relatively narrow area extending from the left end of the rear bumper toward the left rear side. The detection area CR1 of the right rear side sonar sensor 43R1 is a relatively narrow area extending from the right end of the rear bumper toward the right rear side. The left rear sonar sensor 43L2 is provided between the left end of the rear bumper and the center in the vehicle width direction, and the right rear sonar sensor 43R2 is provided between the right end of the rear bumper and the center in the vehicle width direction. The detection area CL2 of the left rear sonar sensor 43L2 is a relatively narrow area extending from between the left end and the center of the rear bumper toward the left rear. The detection area CR2 of the right rear sonar sensor 43R2 is a relatively narrow area extending from between the right end and the center of the rear bumper toward the right rear.

[0023] Returning to Fig. 1, the HMI 60 is an interface for inputting and outputting information between the ECU 10 and the driver, and includes an input device and an output device. Examples of the input device include a touch panel, a switch, and a voice pickup microphone. Examples of the output device include a display device 61, a speaker 62, and a buzzer 63. The display device 61 is, for example, a center display, a multi-information display, a head-up display, a display of a navigation system, or the like, which are installed on an instrument panel or the like. The speaker 62 is, for example, a speaker of an audio system or a navigation system.

[0024] [Software configuration] Fig. 3 is a schematic diagram showing a software configuration of the ECU 10 according to this embodiment. As shown in Fig. 3, the ECU 10 includes a stationary object alarm control unit 100, a moving object alarm control unit 110, a shielding state determination unit 120, an alarm suppression processing unit 130, and the like as functional elements. Each of these functional elements 100 to 130 is realized by the CPU 11 of the ECU 10 reading a program stored in the ROM 12 into the RAM 13 and executing it. Note that all or a part of each of the functional elements 100 to 130 may be provided in another ECU separate from the ECU 10, or in an information processing device in a facility (such as a management center) capable of communicating with the vehicle VH.

[0025] The stationary object warning control unit 100 acquires the distance between the host vehicle VH and a stationary object present in the travel path of the host vehicle VH based on the detection result of the sonar sensor 43 while the host vehicle VH is traveling at a predetermined speed (for example, low speed), and executes a stationary object warning to notify the driver of the host vehicle VH of the approach to the stationary object when an execution condition is established in which the distance between the host vehicle VH and the stationary object is equal to or less than a predetermined value. The stationary object warning control unit 100 is an example of a "second notification means" in the present disclosure. The vehicle speed of the host vehicle VH may be acquired based on the detection result of the vehicle speed sensor 31. When the execution condition of the stationary object warning is established, the stationary object warning control unit 100 outputs an alarm sound from the speaker 62 or the buzzer 63 to alert the driver to the approach to the stationary object, and displays an alarm image on the display device 61 to alert the driver to the approach to the stationary object. Note that the stationary object warning may be only one of an alarm sound or an alarm display. When the sonar sensor 43 no longer detects a stationary object, that is, when the execution condition is no longer satisfied, the stationary object alarm control unit 100 ends the stationary object alarm.

[0026] When the moving object alarm control unit 110 detects a moving object approaching the host vehicle VH from behind while the host vehicle VH is traveling backward, the moving object alarm control unit 110 executes a moving object alarm to notify the driver of the host vehicle VH of the approach of the moving object. The moving object alarm control unit 110 is an example of a "first alarm means" in the present disclosure. Whether the host vehicle VH is marching may be determined based on whether the shift sensor 35 detects reverse R as the shift position. In this embodiment, the moving object alarm control unit 110 executes two types of moving object alarms: a rear cross traffic alert function (RCTA function) and a rear camera detection function (RCD function).

[0027] The RCTA function is a function that notifies the driver of the host vehicle VH of the approach of another vehicle when the host vehicle VH detects another vehicle approaching from outside the left rear area of ​​the host vehicle VH based on the target information transmitted from the left rear side radar sensor 42L during backward driving of the host vehicle VH, or detects another vehicle approaching from outside the right rear area of ​​the host vehicle VH based on the target information transmitted from the right rear side radar sensor 42R. When an execution condition for detecting another vehicle approaching from the left rear and / or right rear of the host vehicle VH is established based on the detection result of the rear radar sensor 42 (42L, 42R), the moving object alarm control unit 110 outputs an alarm sound from the speaker 62 or the buzzer 63 to alert the driver of the approach of the other vehicle, and displays an alarm image on the display device 61 to alert the driver of the approach of the other vehicle. Note that the moving object alarm by the RCTA function may be only one of an alarm sound or an alarm display. When the rear radar sensor 42 (42L, 42R) no longer detects another vehicle approaching the host vehicle VH, that is, when the execution condition is no longer satisfied, the moving object alarm control unit 110 ends the moving object alarm by the RCTA function.

[0028] The RCD function is a function that notifies the driver of the host vehicle VH of the presence of a pedestrian when the rear camera 41 detects a pedestrian behind the host vehicle VH while the host vehicle VH is traveling backward. When an execution condition for detecting a pedestrian behind the host vehicle VH is established based on the detection result of the rear camera 41, the moving object alarm control unit 110 outputs an alarm sound from the speaker 62 or the buzzer 63 to alert the driver to the approach of the pedestrian, and displays an alarm image on the display device 61 to alert the driver to the approach of the pedestrian. Note that the moving object alarm by the RCD function may be only one of the alarm sound or the alarm display. When the rear camera 41 no longer detects a pedestrian behind the host vehicle VH, that is, when the execution condition is no longer established, the moving object alarm control unit 110 ends the moving object alarm by the RCD function.

[0029] Based on the detection result of the sonar sensor 43, the shielding state determination unit 120 determines whether or not the rear of the host vehicle VH is in a shielding state (a state in which other vehicles and pedestrians cannot approach the host vehicle VH by passing through) in which the rear of the host vehicle VH is shielded by a stationary object present within a predetermined distance range from the host vehicle VH. Specifically, when all sonar sensors 43 (43L1, 43L2, 43R2, 43R1) detect a stationary object, that is, when stationary objects are detected in four directions behind the host vehicle VH, the shielding state determination unit 120 determines that the rear of the host vehicle VH is in a shielding state. On the other hand, when at least one or more rear sonar sensors 43 among all sonar sensors 43 (43L1, 43L2, 43R2, 43R1) do not detect a stationary object, the shielding state determination unit 120 determines that the rear of the host vehicle VH is not in a shielding state. The shielding state determination unit 120 transmits the determination result to the warning suppression processing unit 130 described later.

[0030] The detection directions of stationary objects are not limited to four directions, and stationary objects may be detected in more directions depending on the resolution of the sonar sensor and the number of sonar sensors installed. In this case, too, if stationary objects are detected in all directions, it may be determined that the rear of the host vehicle VH is in a blocked state. In addition, it is also possible to relax the determination conditions in consideration of the detection accuracy of the sonar sensor 43. For example, if a stationary object is once detected in four directions, even if the detection of the stationary object changes to three directions thereafter, it may be determined that the rear of the host vehicle VH is in a blocked state. In addition, if the rear (directly behind) of the host vehicle VH is covered by stationary objects over a range obtained by adding a predetermined length (buffer) to the vehicle width of the host vehicle VH, it may be determined that the rear of the host vehicle VH is blocked by a wall or the like. The immediate rear of the host vehicle VH may be replaced with the traveling path direction of the host vehicle VH calculated based on the steering angle detected by the steering angle sensor 34. In addition, the detection of stationary objects behind the host vehicle VH may be detected by the rear camera 41 and / or the rear radar sensor 42.

[0031] The alarm suppression processing unit 130 is an example of the "alarm suppression means" of the present disclosure, and executes an alarm suppression process to suppress activation of either alarm depending on the obstruction state of the stationary object or the attributes of the moving object when a specific condition is satisfied in which the execution condition of a stationary object alarm and the execution condition of a moving object alarm are satisfied simultaneously. Here, the execution conditions of a stationary object alarm and a moving object alarm being satisfied simultaneously does not mean that the timing of the execution is completely the same, but that the periods during which the execution conditions of the stationary object alarm and the moving object alarm are satisfied at least partially overlap. Below, a case in which the execution conditions of a stationary object alarm and a moving object alarm are satisfied simultaneously will be described with reference to FIG. 4.

[0032] Fig. 4(A) shows a case where the sonar sensor 43 (in the illustrated example, the right rear side sonar sensor 43R1) detects a stationary object SOJ such as a pole in one direction, and the rear radar sensor 42L detects another vehicle VO approaching from the left rear of the vehicle VH at a distance farther than the stationary object SOJ. Fig. 4(B) shows a case where the sonar sensor 43 detects stationary objects SOJ such as walls in all four directions, and the rear radar sensor 42L detects another vehicle VO approaching from the left rear of the vehicle VH at a distance farther than the stationary object SOJ. In the case shown in Fig. 4(B), the above-mentioned shielded state determination unit 120 determines that the rear of the vehicle VH is in a shielded state.

[0033] When the distance between the host vehicle VH and the moving object (other vehicle VO) is greater than the distance between the host vehicle VH and the stationary object SOJ by a predetermined value or more, the warning suppression processing unit 130 determines that the moving object is located farther away than the stationary object SOJ. Here, the distance from the host vehicle VH to the stationary object SOJ may be, for example, the distance to the stationary object SOJ located farthest from the host vehicle VH among the objects detected as the stationary object SOJ (in the example shown in FIG. 4(B), the stationary object detected by the right rear side sonar sensor 43R1). Note that the distance to the stationary object SOJ may be the average value of the distances of a plurality of stationary objects SOJ detected as the stationary object SOJ, or the distance to the stationary object SOJ located in approximately the same direction as the moving object (other vehicle VO) with respect to the host vehicle VH (in the example shown in FIG. 4(B), the stationary object detected by the left rear side sonar sensor 43L1).

[0034] 4(A) and 4(B), the other vehicle VO is farther away from the host vehicle VH than the stationary object SOJ. If there is a barrier such as a wall between the host vehicle VH and the other vehicle VO, or if there is a pole or the like between the host vehicle VH and the other vehicle VO, the other vehicle VO will not pass through them and approach the host vehicle VH. In other words, it is considered that the moving object warning by the RCTA function is unnecessary for the driver.

[0035] When the sonar sensors 43 (43L1, 43L2, 43R2, 43R1) detect a stationary object SOJ in at least one direction and the rear radar sensor 42 detects another vehicle VO farther away than the stationary object SOJ, the warning suppression processing unit 130 suppresses a moving object warning of the RCTA function by the moving object warning control unit 110. In other words, the stationary object warning by the stationary object warning control unit 100 is prioritized. This suppresses the activation of unnecessary moving object warnings for other vehicles VO that are unlikely to pass through the stationary object SOJ, making it possible to effectively prevent the driver from being annoyed.

[0036] Fig. 4(C) shows a case where the sonar sensor 43 detects stationary objects SOJ (obstructions) such as walls in all four directions, and the rear camera 41 detects a pedestrian HU approaching the host vehicle VH from behind, farther away than the stationary objects SOJ. In the case shown in Fig. 4(C), the obstruction state determination unit 120 determines that the rear of the host vehicle VH is in an obstruction state, and the host vehicle VH and the pedestrian HU are in an obstruction state by a wall, a wire mesh, or the like. In such a case, the pedestrian HU is unlikely to approach the host vehicle VH by passing through the stationary objects SOJ. In other words, it is considered that the driver does not need a moving object warning by the RCD function.

[0037] When the obstruction state determination unit 120 determines that the rear of the vehicle VH is in an obstructed state, that is, when the sonar sensors 43 (43L1, 43L2, 43R2, 43R1) detect stationary objects SOJ in all four directions and the rear camera 41 detects a pedestrian HU farther away than the stationary object SOJ, the alarm suppression processing unit 130 suppresses a moving object alarm of the RCD function by the moving object alarm control unit 110. In other words, the stationary object alarm by the stationary object alarm control unit 100 is prioritized. This suppresses the activation of unnecessary moving object alarms targeted at pedestrians HU that are unlikely to pass through the stationary object SOJ, making it possible to effectively prevent the driver from being annoyed.

[0038] Fig. 4(D) shows a case where the sonar sensor 43 (in the illustrated example, the right rear side sonar sensor 43R1) detects a stationary object SOJ such as a pole in one direction, and the rear camera 41 detects a pedestrian HU approaching the host vehicle VH from behind, farther away than the stationary object SOJ. In the case shown in Fig. 4(D), the host vehicle VH and the pedestrian HU are not completely blocked from each other. In such a case, the pedestrian HU may pass through the stationary object SOJ and approach the host vehicle VH. That is, the driver feels the need for a moving object warning by the RCD function.

[0039] Even if the rear camera 41 detects a pedestrian HU farther away than the stationary object SOJ, if the obstruction state determination unit 120 determines that the rear of the vehicle VH is not obstructed, the warning suppression processing unit 130 does not suppress the moving object warning of the RCD function by the moving object warning control unit 110. In other words, the moving object warning for pedestrians by the moving object warning control unit 110 is prioritized. This ensures that the moving object warning that the driver feels is necessary is activated, making it possible to optimize the warning.

[0040] Next, a flow of warning control and warning suppression processing by the CPU 11 of the ECU 10 will be described with reference to Fig. 5. This routine is started, for example, when the shift sensor 35 detects the reverse R as the shift position.

[0041] In step S100, the ECU 10 determines whether or not the execution condition for the stationary object alarm is satisfied based on the detection result of the sonar sensor 43. If the execution condition for the stationary object alarm is satisfied (Yes), the ECU 10 proceeds to processing of step S110. On the other hand, if the execution condition for the stationary object alarm is not satisfied (No), the ECU 10 proceeds to processing of step S170.

[0042] In step S170, the ECU 10 judges whether or not the conditions for issuing a moving object alarm are satisfied based on the detection results of the radar sensor 42 and / or the rear camera 41. If the conditions for issuing a moving object alarm are not satisfied (No), the ECU 10 returns to the judgment process of step S100. On the other hand, if the conditions for issuing a moving object alarm are satisfied (Yes), the ECU 10 proceeds to the process of step S180 and issues a moving object alarm. In this case, the ECU 10 does not issue a stationary object alarm.

[0043] In step S110, the ECU 10 determines whether or not the execution condition for a moving object alarm is satisfied based on the detection results of the rear radar sensor 42 and / or the rear camera 41. If the execution condition for a moving object alarm is not satisfied (No), the ECU 10 proceeds to the process of step S160 and executes a stationary object alarm. In this case, the ECU 10 does not execute a moving object alarm. On the other hand, if the execution condition for a moving object alarm is satisfied (Yes), the ECU 10 proceeds to the process of step S120.

[0044] In step S120, the ECU 10 determines whether the moving object detected behind the host vehicle VH is another vehicle VO approaching the host vehicle VH. If the moving object is another vehicle VO (Yes), the ECU 10 proceeds to processing of step S130. On the other hand, if the moving object is not another vehicle VO (No), that is, if the moving object is a pedestrian HU approaching the host vehicle VH from behind, the ECU 10 proceeds to processing of step S140.

[0045] In step S130, the ECU 10 determines whether the other vehicle VO is farther away from the host vehicle VH than the stationary object SOJ. If the other vehicle VO is farther away from the host vehicle VH than the stationary object SOJ (Yes), the other vehicle VO will not pass through the stationary object SOJ and approach, so a moving object warning is not necessary. In this case, the ECU 10 proceeds to the process of step S160 and executes a stationary object warning, that is, does not execute a moving object warning. On the other hand, if the other vehicle VO is not farther away than the stationary object SOJ (No), there is a possibility that the other vehicle VO will approach the host vehicle VH. In this case, the ECU 10 proceeds to the process of step S180 and executes a moving object warning.

[0046] In step S140, the ECU 10 determines whether the rear of the host vehicle VH is in an obstructed state and whether a pedestrian HU, which is a moving object, is present farther from the host vehicle VH than the stationary object SOJ. If the rear of the host vehicle VH is in an obstructed state and the pedestrian HU is present farther from the stationary object SOJ (Yes), the pedestrian HU is unlikely to pass through the stationary object and approach the host vehicle VH. In this case, the ECU 10 proceeds to processing of step S160 and executes a stationary object warning, that is, does not execute a moving object warning. On the other hand, if the rear of the host vehicle VH is not in an obstructed state or the pedestrian HU is not present farther from the stationary object SOJ (No), there is a possibility that the pedestrian HU will approach the host vehicle VH. In this case, the ECU 10 proceeds to processing of step S180 and executes a moving object warning.

[0047] The above describes the vehicle control device and control method according to the present embodiment, but the present disclosure is not limited to the above embodiment, and various modifications are possible without departing from the purpose of the present disclosure.

[0048] For example, in the above embodiment, the alarm suppression processing unit 130 has been described as suppressing both the alarm sound and the alarm display when suppressing a moving object alarm or a stationary object alarm, but may be configured to suppress only either the alarm sound or the alarm display. Also, the moving object alarm control unit 110 has been described as notifying the driver of the approach of another vehicle by the RCTA function and notifying the driver of the approach of a pedestrian by the RCD function, but the present disclosure can also be applied to a system that, when another vehicle or a pedestrian is detected, simply notifies the driver as a moving object without distinguishing between their attributes.

Claims

1. a first notification means for notifying a driver of the host vehicle of the approach of a moving object when a first detection means detects a moving object approaching a predetermined area from outside the predetermined area toward a predetermined area in the travel path of the host vehicle and the distance from the host vehicle is within a predetermined range; a second notification means for notifying the driver of an approach to a stationary object when a stationary object that exists in a predetermined area on the travel path and that is within a predetermined distance range from the vehicle is detected by a second detection means; a notification suppression means for suppressing notification by the first notification means when an attribute of the moving object is a first attribute in a case where a specific condition is established in which the second detection means detects the stationary object and the first detection means detects the moving object farther away from the host vehicle than the stationary object, and for suppressing notification by the first notification means when an attribute of the moving object is a second attribute different from the first attribute, only when the second detection means detects the stationary object over a predetermined range in a width direction of the host vehicle. Vehicle control device.

2. The vehicle control device according to claim 1, the second detection means is a sonar sensor provided at a plurality of locations in a width direction of the host vehicle, When the specific condition is satisfied and the attribute of the moving object is the second attribute, the notification suppression means suppresses notification by the first notification means only when a predetermined number or more of the plurality of sonar sensors have detected the stationary object. Vehicle control device.

3. The vehicle control device according to claim 1 or 2, The first detection means detects another vehicle and a pedestrian approaching the host vehicle as the moving object, The notification suppression means, when the moving object is the other vehicle, determines an attribute of the moving object to be the first attribute, and when the moving object is the pedestrian, determines an attribute of the moving object to be the second attribute. Vehicle control device.

4. The vehicle control device according to claim 3, The first detection means includes a radar sensor capable of detecting at least the other vehicle and a camera capable of detecting at least the pedestrian. Vehicle control device.

5. when a first detection means detects a moving object approaching a predetermined area in a travel path of the host vehicle and the distance from the host vehicle is within a predetermined range from the predetermined area, a first notification is performed to notify a driver of the host vehicle of the approach of the moving object; when a stationary object that is present in a predetermined area on the travel path and that is within a predetermined distance from the vehicle is detected by a second detection means, a second notification is performed to notify the driver of an approach to the stationary object; When a specific condition is satisfied in which the second detection means detects the stationary object and the first detection means detects the moving object farther from the host vehicle than the stationary object, if the attribute of the moving object is a first attribute, the first notification is suppressed, and if the attribute of the moving object is a second attribute different from the first attribute, the first notification is suppressed only when the second detection means detects the stationary object over a predetermined range in the width direction of the host vehicle. How to control a vehicle.

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