Control device of vehicle

Abstract

To provide a control device of a vehicle which suppresses unnecessary notification for prompting start of an own vehicle.SOLUTION: A control device 20 of a vehicle includes a preceding vehicle start notification function which detects start of a preceding vehicle during stopping of an own vehicle and prompts start of the own vehicle and determines whether the preceding vehicle start notification function is suppressed or not based on physical relationship between a cut of a curbstone and the preceding vehicle or physical relationship between a cross walk and the preceding vehicle. The preceding vehicle start notification is suppressed according to the physical relationship between the cut of the curbstone and the preceding vehicle or the physical relationship between the cross walk and the preceding vehicle to be capable of suppressing unnecessary notification.SELECTED DRAWING: Figure 4

Description

Technical Field

[0001] The present invention relates to a control device for a vehicle.

Background Art

[0002] Conventionally, a device for controlling a vehicle to assist a driver in driving has been known. Patent Document 1 discloses a driving support device including a notification unit that performs start notification for prompting the start of the host vehicle when the start of the preceding vehicle is detected while the host vehicle is stopped. The driving support device of Patent Document 1 determines whether the situation around the host vehicle corresponds to an unnecessary situation where start notification is unnecessary, and suppresses the start notification when it is determined that it corresponds to an unnecessary situation, thereby suppressing unnecessary notifications. Specifically, when there is a pedestrian crossing or when the preceding vehicle turns right or left at an intersection and enters the priority side road from a non-priority road, the start notification is suppressed.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] However, there are situations where notification is unnecessary even outside the situations assumed by Patent Document 1, and there is room for improvement. An object of the present invention is to suppress unnecessary notifications for prompting the start of the host vehicle.

Means for Solving the Problems

[0005] The vehicle control device of the present invention is provided with a leading vehicle start notification function that detects that the leading vehicle has started while the host vehicle is stopped and prompts the host vehicle to start, and determines whether to suppress the leading vehicle start notification function according to the positional relationship between the curb cut and the leading vehicle. The vehicle control device of the present invention is provided with a leading vehicle start notification function that detects that the leading vehicle has started while the host vehicle is stopped and prompts the host vehicle to start, and determines whether to suppress the leading vehicle start notification function according to the positional relationship between the crosswalk and the leading vehicle.

Effects of the Invention

[0006] According to the present invention, unnecessary notifications for prompting the start of the host vehicle can be suppressed.

Brief Description of the Drawings

[0007]

Figure 1

Figure 2

Figure 3

Figure 4

Embodiments for Carrying Out the Invention

[0008] The vehicle control device 20 according to the embodiment of the present invention is provided with a leading vehicle start notification function that detects that the leading vehicle 50 has started while the host vehicle is stopped and prompts the host vehicle to start, and determines whether to suppress the leading vehicle start notification function according to the positional relationship between the curb cut 61 of the curb 60 and the leading vehicle 50. The vehicle control device 20 according to the embodiment of the present invention is provided with a leading vehicle start notification function that detects that the leading vehicle 50 has started while the host vehicle is stopped and prompts the host vehicle to start, and determines whether to suppress the leading vehicle start notification function according to the positional relationship between the crosswalk 70 and the leading vehicle 50. By suppressing the preceding vehicle start notification function according to the positional relationship between the notch 61 of the curb 60 and the preceding vehicle 50 or the positional relationship between the crosswalk 70 and the preceding vehicle 50, unnecessary notifications can be suppressed.

Embodiment

[0009] (First Embodiment) Hereinafter, a vehicle control device according to the present invention will be described with reference to the drawings. FIG. 1 is a diagram showing a schematic configuration of the vehicle 1. Note that the vehicle 1 is equipped with devices that a general vehicle has, and the illustration and description of these devices are omitted.

[0010] The vehicle 1 according to the embodiment includes a power unit 10, a control device 20, a surrounding recognition sensor 30, a notification device 40, and the like. The power unit 10 is a drive source for driving the vehicle 1. The power unit 10 can use, for example, an engine as an internal combustion engine, a motor as an electric motor, power obtained by combining an engine and a motor, and the like.

[0011] The control device 20 controls the power unit 10 and various components that make up the vehicle 1. In addition, the control device 20 of the present embodiment supports the driving of the vehicle 1 by the driver. For example, an ECU (Electronic Control Unit) is used as the control device 20. The ECU is configured to include a CPU and a memory and functions as a so-called computer. Note that the ECU is not limited to being one, and a plurality of ECUs may cooperate to be configured, or an ECU different from the ECU that controls the vehicle 1 may be used. By executing a program stored in the memory by the CPU of the ECU, the processing of the flowchart in FIG. 2 described later can be realized.

[0012] The control device 20 of the present embodiment has, as a functional configuration, a preceding vehicle start notification unit 21 and a determination unit 22. The preceding vehicle start notification unit 21 detects that the preceding vehicle has started while the host vehicle is stopped, and promotes the start of the host vehicle by notifying (preceding vehicle start notification) that the preceding vehicle has started. The preceding vehicle start notification unit 21 corresponds to an example of the preceding vehicle start notification function. Specifically, the preceding vehicle start notification unit 21 notifies the driver of the preceding vehicle start notification via the notification device 40 on the condition (inter-vehicle distance condition) that the inter-vehicle distance from the preceding vehicle that has started and detected based on the surrounding recognition sensor 30 is separated by a predetermined distance or more.

[0013] The determination unit 22 determines whether to suppress the preceding vehicle start notification by the preceding vehicle start notification unit 21 according to the positional relationship between the curb cut and the preceding vehicle, or according to the positional relationship between the crosswalk and the preceding vehicle. Specifically, when the determination unit 22 detects a curb cut ahead after the preceding vehicle has started based on the surrounding recognition sensor 30, the determination unit 22 makes the predetermined distance as the above-described inter-vehicle distance condition longer than when the curb cut is not detected. Here, the case where a curb cut is detected ahead after the preceding vehicle has started corresponds to the case where the curb cut overlaps with the preceding vehicle in a direction orthogonal to the traveling direction of the host vehicle while the preceding vehicle is stopped. Also, when the determination unit 22 detects a crosswalk ahead after the preceding vehicle has started based on the surrounding recognition sensor 30, the determination unit 22 makes the predetermined distance as the above-described inter-vehicle distance condition longer than when the crosswalk is not detected. Here, the case where a crosswalk is detected ahead after the preceding vehicle has started corresponds to the case where the crosswalk overlaps with the preceding vehicle in a direction orthogonal to the traveling direction of the host vehicle while the preceding vehicle is stopped. In this way, by the determination unit 22 making the predetermined distance of the inter-vehicle distance condition longer, the preceding vehicle start notification by the preceding vehicle start notification unit 21 is suppressed.

[0014] The surrounding recognition sensor 30 is a sensor for recognizing the surroundings of the vehicle 1. The surrounding recognition sensor 30 is used to detect the distance between the host vehicle and the preceding vehicle, or to detect the situation around the host vehicle, more specifically, the joints of the curb or the crosswalk. The surrounding recognition sensor 30 can use, for example, a lidar, a millimeter-wave radar, a camera, etc. Note that the vehicle 1 is not limited to having one surrounding recognition sensor 30, and may have a plurality of surrounding recognition sensors 30. For example, a lidar or a millimeter-wave radar may be used to detect the distance between the host vehicle and the preceding vehicle, and a camera may be used to detect the situation around the host vehicle.

[0015] The notification device 40 displays, as a preceding vehicle start notification, characters, symbols, images, etc., or emits a sound (including voice) based on an instruction from the preceding vehicle start notification unit 21 of the control device 20. The notification device 40 can use, for example, a display unit such as a display or a meter panel provided in the vehicle 1, a speaker, etc. Also, when a car navigation system is provided in the vehicle 1, the notification device 40 can use the display and speaker of the car navigation system.

[0016] Next, the processing by the control device 20 of this embodiment will be described with reference to the flowchart of FIG. 2. The flowchart of FIG. 2 is realized by the CPU of the ECU, which is the control device 20, executing a program stored in the memory. Also, the flowchart of FIG. 2 is started when the control device 20 is activated.

[0017] In S1, the preceding vehicle start notification unit 21 of the control device 20 determines whether the host vehicle and the preceding vehicle are stopped. Specifically, the preceding vehicle start notification unit 21 of the control device 20 detects that the host vehicle is stopped based on various sensors (for example, a vehicle speed sensor), and when the inter-vehicle distance from the preceding vehicle detected by the surrounding recognition sensor 30 does not change for a certain period of time, it determines that the host vehicle and the preceding vehicle are stopped. If it is determined that the host vehicle and the preceding vehicle are stopped, proceed to S2. On the other hand, if it is determined that the host vehicle and the preceding vehicle are not stopped, wait at S1 until it is determined that the host vehicle and the preceding vehicle are stopped.

[0018] In S2, the preceding vehicle start notification unit 21 of the control device 20 determines whether the preceding vehicle has started while the host vehicle is stopped. Specifically, the preceding vehicle start notification unit 21 of the control device 20 determines that the preceding vehicle has started when, based on various sensors (e.g., a vehicle speed sensor), it is detected that the host vehicle is stopped and the inter-vehicle distance detected by the surrounding recognition sensor 30 becomes larger than that in S1. If it is determined that the preceding vehicle has started, proceed to S3. On the other hand, if it is determined that the preceding vehicle has not started, wait at S2 until it is determined that the preceding vehicle has started.

[0019] In S3, the preceding vehicle start notification unit 21 of the control device 20 compares the inter-vehicle distance detected by the surrounding recognition sensor 30 after the preceding vehicle has started with a predetermined distance, and determines whether the inter-vehicle distance has become larger than the predetermined distance. Here, first, a first predetermined distance a is applied as the predetermined distance. If it is determined that the inter-vehicle distance has become larger than the first predetermined distance a, proceed to S4. On the other hand, if it is determined that the inter-vehicle distance is less than or equal to the first predetermined distance a, wait at S3 until it becomes larger than the first predetermined distance a.

[0020] In S4, the determination unit 22 of the control device 20 determines whether a curb cut or a crosswalk has been detected based on the surrounding recognition sensor 30. If a curb cut or a crosswalk has been detected, proceed to S5. If it is determined that a curb cut or a crosswalk has not been detected, skip S5 and proceed to S6. Here, a case where the determination unit 22 detects a curb cut or a crosswalk based on the surrounding recognition sensor 30 will be described.

[0021] FIG. 3 is a schematic diagram for explaining the positional relationship between the preceding vehicle and the curb cut and the positional relationship between the preceding vehicle and the crosswalk. Figure 3(a) is a schematic diagram showing the state in which the host vehicle (Vehicle 1) and the preceding vehicle 50 are stopped, as viewed from above. In Figure 3(a), in a view orthogonal to the traveling direction of the host vehicle, the preceding vehicle 50 overlaps with the notch 61 of the continuous curb 60, and the preceding vehicle 50 overlaps with the crosswalk 70. Note that the traveling direction of the host vehicle is indicated by arrow A, and the direction orthogonal to the traveling direction is indicated by arrow B.

[0022] Further, Figure 3(b) is a schematic diagram showing the state in which, with the host vehicle (Vehicle 1) remaining stopped as in the state of Figure 3(a), the preceding vehicle 50 starts moving in the traveling direction, as viewed from above. In Figure 3(b), due to the preceding vehicle 50 starting to move, the control device 20 of the host vehicle (Vehicle 1) can detect the notch 61 of the curb 60 on the front left side and the crosswalk 70 in front using the surrounding recognition sensor 30. Specifically, the determination unit 22 can detect the notch 61 of the curb 60 or the crosswalk 70 based on the image from the surrounding recognition sensor 30, for example, by pattern matching.

[0023] Here, the curb 60 is a block-shaped stone arranged in a row at the boundary between the roadway and the sidewalk. The notch 61 of the curb 60 is where the curb 60 disappears within a certain range, and it is assumed that there are entrances and exits to the side road or stores, etc. There are cases where the road is given to a vehicle attempting to merge into the roadway from the notch 61 of the curb 60. Also, the crosswalk 70 is an area indicated by a zebra pattern including white lines for pedestrians to cross the roadway, and when pedestrians cross, the crossing of the pedestrians must be given priority. Therefore, as shown in Figure 3(b), when the notch 61 of the curb 60 and the crosswalk 70 are detected, it is preferable to suppress the preceding vehicle start notification in order to give way to a vehicle coming out from the notch 61 of the curb 60 or to give priority to the crossing of the crosswalk 70 by pedestrians.

[0024] FIG. 3(c) is a schematic view from above of the state where the preceding vehicle 50 has further started moving in the traveling direction from the state of FIG. 3(b). In FIG. 3(c), it shows a state where the preceding vehicle 50 has passed through the crosswalk 70 and a sufficient space S has been secured between the crosswalk 70 and the preceding vehicle 50 for the host vehicle to stop. Here, if the preceding vehicle start notification is performed and the host vehicle starts moving in a state where a sufficient space S for the host vehicle to stop is not secured, depending on the traveling state of the preceding vehicle 50, the host vehicle may have to stop on the crosswalk 70. Therefore, as shown in FIG. 3(c), it is preferable that the preceding vehicle start notification is performed in a state where a sufficient space for the host vehicle to stop is secured between the crosswalk 70 and the preceding vehicle 50 and the host vehicle does not stop on the crosswalk 70. Similarly, it is preferable that the preceding vehicle start notification is performed in a state where a sufficient space for the host vehicle to stop is secured between the notch 61 of the curb 60 and the preceding vehicle 50 and the host vehicle does not stop at the notch 61 of the curb (that is, in a state where other vehicles can enter and exit from the notch 61 of the curb 60 behind the host vehicle).

[0025] Returning to the flowchart of FIG. 2, the case where the process proceeds to S5 by detecting the notch of the curb or the crosswalk in S4 will be continued to be described. In S5, the determination unit 22 of the control device 20 determines to apply a second predetermined distance b to a predetermined distance for comparison with the inter-vehicle distance in order to suppress the preceding vehicle start notification. Here, the second predetermined distance b is a distance larger than the first predetermined distance a. For the second predetermined distance b, for example, a distance that can secure a sufficient space for the host vehicle to stop between the notch 61 of the curb 60 and the preceding vehicle 50 or between the crosswalk 70 and the preceding vehicle 50 is used. Note that the second predetermined distance b1 applied when the notch 61 of the curb is detected and the second predetermined distance b2 applied when the crosswalk 70 is detected may be the same or different. When the second predetermined distance b1 and the second predetermined distance b2 are different, the relationship b1 > b2 or b1 < b2 may hold.

[0026] Subsequently, the preceding vehicle start notification unit 21 of the control device 20 determines whether or not the inter-vehicle distance detected by the surrounding recognition sensor 30 has become greater than a second predetermined distance b after the preceding vehicle starts. If the inter-vehicle distance becomes greater than the second predetermined distance b, the process proceeds to S6. If the inter-vehicle distance is less than or equal to the second predetermined distance b, the process waits in S5 until the inter-vehicle distance becomes greater than the second predetermined distance b.

[0027] In S6, the preceding vehicle start notification unit 21 of the control device 20 notifies the driver of the preceding vehicle start notification via the notification device 40. Note that in S6, there are cases where the process proceeds from S4 to S6 and cases where the process proceeds from S5 to S6. Here, the case of proceeding from S4 to S6 means that since the notch of the curb or the crosswalk has not been detected, there is no need to suppress the preceding vehicle transmission notification. Therefore, by comparing the inter-vehicle distance with the preceding vehicle and a predetermined distance a and notifying when it becomes greater than the predetermined distance a, the preceding vehicle start notification can be quickly performed. On the other hand, the case of proceeding from S5 to S6 means that since the notch of the curb or the crosswalk has been detected, the inter-vehicle distance from the preceding vehicle is compared with a predetermined distance b that is greater than the predetermined distance a, and when it becomes greater than the predetermined distance b, the preceding vehicle start notification is performed, thereby suppressing unnecessary preceding vehicle start notifications.

[0028] Figure 4 is a timing chart for each timing when the control device 20 performs the preceding vehicle start notification. Figure 4(a) shows the inter-vehicle distance from the host vehicle to the preceding vehicle. Figure 4(b) shows the detection state of whether or not the notch of the curb has been detected. Figure 4(c) shows the detection state of whether or not the crosswalk has been detected. Figure 4(d) shows the state of the preceding vehicle start notification.

[0029] Here, the time T1 is a state in which the host vehicle and the preceding vehicle 50 are stopped as shown in FIG. 3(a) described above. Therefore, as shown in FIG. 4(d), the preceding vehicle start notification is not performed and is in an off state. Next, after the time T1, when the preceding vehicle starts while the host vehicle remains stopped, the inter-vehicle distance in FIG. 4(a) gradually increases.

[0030] Next, as shown in FIG. 3(b) described above, at time T2 and time T3, after the leading vehicle starts moving, it is in a state where it has detected the notch 61 of the curb 60 on the front left side and has detected the crosswalk 70 ahead. First, at time T2, after the leading vehicle starts moving, it is in a state where it has detected the notch of the curb as shown in FIG. 4(b). Therefore, at time T2, a predetermined distance b is applied to the predetermined distance compared with the inter-vehicle distance from the leading vehicle. Also, at time T3, after the leading vehicle starts moving, it is in a state where it has detected the crosswalk as shown in FIG. 4(c). Therefore, when the notch of the curb has not been detected, at time T3, a predetermined distance b is applied to the predetermined distance compared with the inter-vehicle distance from the leading vehicle.

[0031] Next, at time T4, the inter-vehicle distance between the host vehicle and the leading vehicle is greater than the predetermined distance a. Here, when the notch of the curb or the crosswalk has not been detected, as shown by the thin line in FIG. 4(d), the leading vehicle start notification is turned on and the leading vehicle start notification is performed. On the other hand, in FIG. 4, since the notch of the curb or the crosswalk has been detected and the predetermined distance b is applied to the predetermined distance, as shown by the thick line in FIG. 4(d), the leading vehicle start notification is not turned on and it is in a standby state. Therefore, unnecessary leading vehicle start notifications can be suppressed.

[0032] Next, at time T5, a sufficient space for the host vehicle to stop has been secured between the crosswalk and the leading vehicle as shown in FIG. 3(c) described above, and the inter-vehicle distance between the host vehicle and the leading vehicle is greater than the predetermined distance b. Therefore, as shown by the thick line in FIG. 4(d), the leading vehicle start notification is turned on and the leading vehicle start notification is performed when necessary.

[0033] As described above, the control device 20 of this embodiment has a preceding vehicle start notification unit 21 as a preceding vehicle start notification function that detects that the preceding vehicle has started while the host vehicle is stopped and prompts the host vehicle to start, and a determination unit 22 that determines whether to suppress the preceding vehicle start notification function according to the positional relationship between the curb cut and the preceding vehicle. Therefore, even in a scenario where the vehicle yields to a vehicle emerging from the curb cut, unnecessary preceding vehicle start notifications can be suppressed.

[0034] In addition, it has a vehicle-to-vehicle distance condition for activating the preceding vehicle start notification function on the condition that the vehicle-to-vehicle distance between the host vehicle and the preceding vehicle is separated by a predetermined distance or more. When the curb cut and the preceding vehicle overlap in a direction orthogonal to the traveling direction of the host vehicle, the predetermined distance is made longer than when they do not overlap. Therefore, even in a scenario where the vehicle yields to a vehicle emerging from the curb cut, when the driver of the host vehicle has not noticed the start in a situation where there is no need to yield, the start can be appropriately prompted while suppressing unnecessary preceding vehicle start notifications.

[0035] Further, the control device 20 of this embodiment has a preceding vehicle start notification unit 21 as a preceding vehicle start notification function that detects that the preceding vehicle has started while the host vehicle is stopped and prompts the host vehicle to start, and a determination unit 22 that determines whether to suppress the preceding vehicle start notification function according to the positional relationship between the crosswalk and the preceding vehicle. Therefore, even in a scenario where pedestrians cross the crosswalk, unnecessary preceding vehicle start notifications can be suppressed.

[0036] In addition, it has a vehicle-to-vehicle distance condition for activating the preceding vehicle start notification function on the condition that the vehicle-to-vehicle distance between the host vehicle and the preceding vehicle is separated by a predetermined distance or more. When the crosswalk and the preceding vehicle overlap in a direction orthogonal to the traveling direction of the host vehicle, the predetermined distance is made longer than when they do not overlap. Therefore, even in a scenario where pedestrians cross the crosswalk, when the driver of the host vehicle has not noticed the start in a situation where pedestrians do not cross the crosswalk, the start can be appropriately prompted while suppressing unnecessary preceding vehicle start notifications.

[0037] As described above, the embodiments according to the present invention have been explained. However, the present invention is not limited only to the above-described embodiments, and changes and the like are possible within the scope of the present invention.

[0038] In the above-described embodiments, the case where the leading vehicle starts and then detects a curb cut or a crosswalk ahead has been described. However, it is not limited to this case. For example, before the leading vehicle starts, a curb cut or a crosswalk ahead may be detected, and in the orthogonal direction view, it may be detected that the curb cut overlaps with the leading vehicle or the crosswalk overlaps with the leading vehicle. In this case, the determination unit 22 can suppress the leading vehicle start notification by increasing the predetermined distance of the inter-vehicle distance condition before the leading vehicle starts.

Explanation of Reference Numerals

[0039] 1: Vehicle (own vehicle) 10: Power unit 20: Control device 21: Leading vehicle start notification unit 22: Determination unit 30: Surrounding recognition sensor 40: Notification device 50: Leading vehicle 60: Curb 61: Cut 70: Crosswalk

Claims

1. The system is equipped with a preceding vehicle departure notification function that detects when a preceding vehicle starts moving while the vehicle is stopped and prompts the vehicle to start moving.

11. A vehicle control device comprising: a control unit for determining whether or not to suppress said preceding vehicle departure notification function according to a positional relationship between a cut in a curb and said preceding vehicle.

2. a vehicle-to-vehicle distance condition for activating the preceding vehicle departure notification function when a vehicle-to-vehicle distance between the host vehicle and the preceding vehicle is equal to or greater than a predetermined distance; 2. The vehicle control device according to claim 1, wherein when the cut of the curb and the preceding vehicle overlap when viewed in a direction perpendicular to the traveling direction of the host vehicle, the predetermined distance is made longer than when the cut of the curb and the preceding vehicle do not overlap.

3. The system is equipped with a preceding vehicle departure notification function that detects when a preceding vehicle starts moving while the vehicle is stopped and prompts the vehicle to start moving. A vehicle control device comprising: a control unit for determining whether or not to suppress a function of notifying a driver of a departure of the preceding vehicle, depending on a positional relationship between a pedestrian crossing and the preceding vehicle.

4. a vehicle-to-vehicle distance condition for activating the preceding vehicle departure notification function when a vehicle-to-vehicle distance between the host vehicle and the preceding vehicle is equal to or greater than a predetermined distance; 4. The vehicle control device according to claim 3, wherein when the crosswalk and the preceding vehicle overlap in a direction perpendicular to the traveling direction of the host vehicle, the predetermined distance is made longer than when the crosswalk and the preceding vehicle do not overlap.

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