Vehicle control device

Abstract

To suppress movable components from contacting obstacles when executing specific processing.SOLUTION: A cockpit DC can execute processing to perform a light show by outputting music from a speaker and operating movable components. The cockpit DC can also execute processing (step S2) to detect obstacles present around a vehicle. When an obstacle is detected within a detection range corresponding to the movable range of the movable components, the cockpit DC outputs music from the speaker without operating the movable components (step S3) when performing the light show.SELECTED DRAWING: Figure 3

Description

[Technical Field]

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

[0002] The vehicle described in Patent Document 1 is equipped with a tailgate that is pivotally supported on the vehicle so that it can be opened and closed by rotating, a position identification means that identifies the position at which the end of the tailgate is farthest from the vehicle when it rotates, and a notification means that notifies the user of the position identified by the position identification means.As a result, the vehicle described in Patent Document 1 allows the user to know in advance the possibility of contact with an obstacle before opening the tailgate, thereby avoiding contact with the obstacle when opening the tailgate. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Publication No. 2023-150030 Summary of the Invention [Problem to be solved by the invention]

[0004] Some vehicle control devices are equipped with a light show function that controls the operation of parts such as doors in time with music played from speakers to entertain users and spectators. In such cases, since the user does not manually operate parts such as doors, even if the position identified by the position identifying means is notified, it may not be possible to avoid contact with an obstacle when opening the door. [Means for solving the problem]

[0005] A vehicle control device for solving the above problem is applied to a vehicle equipped with a speaker and a movable part, and is capable of executing a specific process that outputs music from the speaker and operates the movable part, and an obstacle detection process that detects obstacles present around the vehicle, and if an obstacle is detected within a detection range corresponding to the movable range of the movable part in the obstacle detection process, the specific process outputs music from the speaker without operating the movable part. [Effects of the Invention]

[0006] According to the above configuration, it is possible to prevent the movable parts from coming into contact with an obstacle when the specific process is executed. [Brief explanation of the drawings]

[0007] [Figure 1] FIG. 1 is a diagram schematically illustrating the configuration of a vehicle control device. [Figure 2] FIG. 2 is a diagram showing the obstacle detection range corresponding to the movable range of each movable part. [Figure 3] FIG. 3 is a flowchart showing the operation stop process during a light show in the first embodiment. [Figure 4] FIG. 4 is a flowchart showing the operation stop process during a light show in the second embodiment. DETAILED DESCRIPTION OF THE INVENTION

[0008] (First embodiment) A first embodiment of the present invention will be described below with reference to FIGS. <Control device configuration> First, the configuration of the control device of this embodiment will be described with reference to Fig. 1. As shown in Fig. 1, a vehicle 100 is equipped with on-board devices such as a driving assistance DC 200, a cockpit DC 300, and a body DC 400. Note that "DC" is an abbreviation for Domain Controller. These on-board devices are connected to each other so that they can communicate with each other. The driving assistance DC 200, the cockpit DC 300, and the body DC 400 constitute a vehicle control device 500.

[0009] The Driving Assistance DC200 is an electronic control unit that provides driving assistance functions such as automatic braking and sudden acceleration prevention. The Cockpit DC300 is an electronic control unit that provides multimedia-related functions such as navigation and audio. The Body DC400 is an electronic control unit that controls various electrical components such as lights, doors, and mirrors.

[0010] <Configuration of driving assistance DC> The driving assistance DC 200 is electrically connected to the camera sensor device 10 and the sonar sensor device 20.

[0011] 2, the camera sensor device 10 includes a front camera 11, a rear camera 12, a left camera 13, and a right camera 14. In the following description, the front camera 11, the rear camera 12, the left camera 13, and the right camera 14 may be collectively referred to as "camera 15."

[0012] The front camera 11 is attached to the center of the front end of the vehicle 100 so as to capture images of the scenery in front of the vehicle 100. The rear camera 12 is attached to the center of the rear end of the vehicle 100 so as to capture images of the scenery behind the vehicle 100. The left camera 13 is attached to the left end of the vehicle 100 so as to capture images of the scenery on the left side of the vehicle 100. The right camera 14 is attached to the right end of the vehicle 100 so as to capture images of the scenery on the right side of the vehicle 100.

[0013] 1, the camera sensor device 10 is electrically connected to the driving assistance DC 200. The driving assistance DC 200 can acquire information about an image of the surroundings of the vehicle 100 captured by the camera 15 via the camera sensor device 10.

[0014] 2, the sonar sensor device 20 is equipped with a first clearance sonar 21 to a twelfth clearance sonar 32. In the following description, the first clearance sonar 21 to the twelfth clearance sonar 32 are collectively referred to as the "clear sonar 33." The clearance sonar 33 emits ultrasonic waves in a predetermined direction and receives the ultrasonic waves reflected by an object.

[0015] The first clearance sonar 21 is attached to the vehicle 100 so as to emit ultrasonic waves from the front left end of the vehicle 100 to the left front. The second clearance sonar 22 is attached to the vehicle 100 so as to emit ultrasonic waves from the front left end of the vehicle 100 forward. Similarly, the third clearance sonar 23 is attached to the vehicle 100 so as to emit ultrasonic waves from the front right end of the vehicle 100 to the right front, and the fourth clearance sonar 24 is attached to the vehicle 100 so as to emit ultrasonic waves from the front right end of the vehicle 100 to the front. The fifth clearance sonar 25 is attached to the vehicle 100 so as to emit ultrasonic waves from the rear left end of the vehicle 100 to the left rear, and the sixth clearance sonar 26 is attached to the vehicle 100 so as to emit ultrasonic waves from the rear left end of the vehicle 100 to the rear. The seventh clearance sonar 27 is attached to the vehicle 100 so as to emit ultrasonic waves from the rear right end of the vehicle 100 to the right rear, and the eighth clearance sonar 28 is attached to the vehicle 100 so as to emit ultrasonic waves from the rear right end of the vehicle 100 to the rear. The ninth clearance sonar 29 is attached to the vehicle 100 so as to emit ultrasonic waves to the left from the front left end of the vehicle 100, and the tenth clearance sonar 30 is attached to the vehicle 100 so as to emit ultrasonic waves to the left from the rear left end of the vehicle 100. The eleventh clearance sonar 31 is attached to the vehicle 100 so as to emit ultrasonic waves to the right from the front right end of the vehicle 100, and the twelfth clearance sonar 32 is attached to the vehicle 100 so as to emit ultrasonic waves to the right from the rear right end of the vehicle 100.

[0016] 1, the sonar sensor device 20 is electrically connected to the driving assistance DC 200. The sonar sensor device 20 transmits information relating to the ultrasonic waves emitted by the clearance sonar 33 and the ultrasonic waves received by the clearance sonar 33 to the driving assistance DC 200. The driving assistance DC 200 can acquire information relating to objects present around the vehicle 100 based on the information received from the sonar sensor device 20.

[0017] <Cockpit DC Configuration> The cockpit DC 300 is electrically connected to a display 41 , a speaker 42 , and an operation unit 43 of the vehicle 100 .

[0018] The display 41 includes a display unit (not shown) that can display various types of information. The display 41 displays various types of information on the display unit based on instructions from the cockpit DC300.

[0019] The speaker 42 is configured to be able to output sound. In this specification, the term "sound" is intended to include not only a single tone but also any voice or music. The speaker 42 outputs sound based on instructions from the cockpit DC 300.

[0020] The operation unit 43 is configured to be capable of performing various operations. The operation unit 43 may be a touch panel type operation unit integrated with the display 41, or may be an operation unit independent of the display 41. The cockpit DC300 is configured to be able to input an operation signal indicating that the operation unit 43 has been operated. The cockpit DC300 can execute various controls based on the operation signal input from the operation unit 43.

[0021] <Body DC Configuration> The body DC400 includes a light control unit 50, a door control unit 60, and a mirror control unit 70.

[0022] As shown in FIG. 2, the light control unit 50 is electrically connected to various lights of the vehicle 100, including a left headlight 51, a right headlight 52, a left blinker 53, a right blinker 54, a left taillight 55, and a right taillight 56. In the following description, the various lights including the lights 51 to 56 are collectively referred to as "lights 57." The lights 57 are configured to be able to blink. The light control unit 50 blinks the lights 57 based on an instruction from the body DC 400.

[0023] The left headlight 51 is attached to the left front end of the vehicle 100. The right headlight 52 is attached to the right front end of the vehicle 100. The left turn signal 53 is attached to the front left end of the vehicle 100. The right turn signal 54 is attached to the rear left end of the vehicle 100. The left tail light 55 is attached to the left rear end of the vehicle 100. The right tail light 56 ​​is attached to the right rear end of the vehicle 100.

[0024] The door control unit 60 is electrically connected to various doors of the vehicle 100, including the first door 61 to the fourth door 64. In the following description, the various doors, including the first door 61 to the fourth door 64, are collectively referred to as "doors 65." The doors 65 are configured to be able to be opened and closed manually, and also configured to be able to be opened and closed under the control of the door control unit 60. The door control unit 60 opens and closes the doors 65 based on instructions from the body DC400. The doors 65 are an example of movable parts of the vehicle 100.

[0025] The first door 61 is pivotally supported at the front left of the vehicle 100 so as to be able to rotate and open / close relative to the vehicle 100. The second door 62 is pivotally supported at the front right of the vehicle 100 so as to be able to rotate and open / close relative to the vehicle 100. The third door 63 is pivotally supported at the rear left of the vehicle 100 so as to be able to rotate and open / close relative to the vehicle 100. The fourth door 64 is pivotally supported at the rear right of the vehicle 100 so as to be able to rotate and open / close relative to the vehicle 100.

[0026] The mirror control unit 70 is electrically connected to a left side mirror 71 and a right side mirror 72 of the vehicle 100. In the following description, the left side mirror 71 and the right side mirror 72 are collectively referred to as "side mirrors 73." The side mirrors 73 are configured to be rotatable under the control of the mirror control unit 70. The mirror control unit 70 rotates the side mirrors 73 based on instructions from the body DC400. The side mirrors 73 are an example of movable parts of the vehicle 100.

[0027] The left side mirror 71 is pivotally supported on the first door 61 at the front left side of the vehicle 100. The right side mirror 72 is pivotally supported on the second door 62 at the front right side of the vehicle 100.

[0028] <Processing when running a light show> The control device 500 is capable of performing a light show execution process for causing the vehicle 100 to perform a light show. The light show is performed in a manner in which music is output from the speaker 42 according to a predetermined program pattern and various electrical components of the vehicle 100 are operated.

[0029] The light show execution process can be executed in response to an operation of the operation unit 43. The cockpit DC300 performs control to execute a light show by performing the light show execution process based on an operation signal input from the operation unit 43. In this embodiment, the light show execution process corresponds to a specific process.

[0030] In the light show execution process, the cockpit DC300 controls the speaker 42 to output predetermined music. Furthermore, in the light show execution process, the cockpit DC300 outputs information to the body DC400 instructing the operation of various electrical components of the vehicle 100 at predetermined timings during the execution of the light show. Examples of information instructing the operation of various electrical components of the vehicle 100 include information instructing the blinking of the lights 57, information instructing the operation of the doors 65, and information instructing the operation of the side mirrors 73. The body DC400 operates the various electrical components of the vehicle 100 based on the information input from the cockpit DC300. That is, in the light show execution process, the control device 500 operates various movable parts including the doors 65 and the side mirrors 73 and controls the blinking of the lights 57 of the vehicle 100. Furthermore, the cockpit DC300 controls the display 41 to execute an in-execution notification informing the user that a light show is currently being executed upon the start of the light show.

[0031] After that, the cockpit DC 300 ends the light show by ending the light show execution process when the predetermined program pattern ends. At this time, the cockpit DC 300 controls the speaker 42 to stop outputting the predetermined music. The cockpit DC 300 also controls the display 41 to end the notification that the light show is running.

[0032] <Deactivation of moving parts during a light show> When the light show is executed, the control device 500 performs a light show execution operation stop process that stops the operation of movable parts included in the various electrical components of the vehicle 100. The light show execution operation stop process is executed for a certain period while the light show is being executed.

[0033] As shown in FIG. 3, in the light show operation stop processing, the control device 500 checks whether an obstacle is present within the detection range corresponding to each movable part (step S1). The processing of step S1 in the light show operation stop processing corresponds to an obstacle detection processing for detecting an obstacle present around the vehicle 100. Specifically, the driving assistance DC 200 outputs information about an image of the surroundings of the vehicle 100 captured by the camera 15 and acquired via the camera sensor device 10 to the cockpit DC 300. The driving assistance DC 200 also outputs information about objects present around the vehicle 100 acquired based on information received from the sonar sensor device 20 to the cockpit DC 300. The cockpit DC 300 then detects obstacles around the vehicle 100 based on the information input from the driving assistance DC 200, thereby determining whether an obstacle is present within the detection range corresponding to each movable part.

[0034] As shown in FIG. 2, the cockpit DC300 individually determines whether an obstacle is present within a detection range preset for each movable part. For example, the cockpit DC300 determines whether an obstacle is present within a detection range A1 corresponding to the first door 62. Similarly, the cockpit DC300 individually determines whether an obstacle is present within each of a detection range A2 corresponding to the second door 62, a detection range A3 corresponding to the third door 63, and a detection range A4 corresponding to the fourth door 64. Each of the detection ranges A1 to A4 is set according to the movable range of each of the doors 61 to 64. More specifically, the detection range A1 is set to include the entire movable range of the first door 61. Similarly, the detection range A2 is set to include the entire movable range of the second door 62, the detection range A3 is set to include the entire movable range of the third door 63, and the detection range A4 is set to include the entire movable range of the fourth door 64.

[0035] Furthermore, the cockpit DC300 individually determines whether an obstacle is present within each of the detection ranges B1 corresponding to the left side mirror 71 and B2 corresponding to the right side mirror 72. The detection ranges B1 and B2 are set according to the movable ranges of the respective side mirrors 71 and 72. More specifically, the detection range B1 is set to include the entire movable range of the left side mirror 71. In particular, because the left side mirror 71 is rotatable relative to the first door 61, the detection range B1 is configured to include the entire maximum movable range of the left side mirror 71, taking into account the movable range of the first door 61. Similarly, the detection range B2 is set to include the entire movable range of the right side mirror 72. In particular, because the right side mirror 72 is rotatable relative to the second door 62, the detection range B2 is configured to include the entire maximum movable range of the right side mirror 72, taking into account the movable range of the second door 62.

[0036] 3, the cockpit DC300 releases the suspension of operation instructions for movable parts for which it has determined that no obstacle exists within the corresponding detection range (step S2). That is, when it has determined that no obstacle exists within the detection range corresponding to a predetermined movable part, the cockpit DC300 is able to output, to the body DC400, information instructing the operation of the movable part for which it has determined that no obstacle exists, in the light show execution process.

[0037] Next, the cockpit DC300 controls the moving parts for which it has determined that an obstacle exists within the corresponding detection range to stop issuing operation instructions (step S3). That is, when it has determined that an obstacle exists within the detection range corresponding to a predetermined moving part, the cockpit DC300 does not output, to the body DC400, information instructing the operation of the moving part for which it has determined that an obstacle exists, in the light show execution process.

[0038] Then, the cockpit DC300 causes the display 41 to issue an operation stop notification, which is a notification regarding the movable part for which an operation instruction has been stopped (step S4). Specifically, the cockpit DC300 causes the display 41 to display that the operation of a predetermined movable part has been stopped due to the presence of an obstacle within the detection range corresponding to the movable part. At this time, if there is no movable part for which an operation instruction has been stopped, the operation stop notification is not issued.

[0039] Thereafter, the cockpit DC300 determines whether the light show has ended (step S5). If the light show has not ended (step S5: NO), the cockpit DC300 waits for a certain period of time (step S6) and then repeats the processing from step S1 onwards. On the other hand, if the light show has ended (step S5: YES), the cockpit DC300 ends the operation stop processing during light show execution. Note that, upon completion of the operation stop processing during light show execution, the cockpit DC300 cancels the stop of operation instructions to the movable parts for which operation instructions have been stopped, and controls to end the operation stop notification.

[0040] <Operation of the First Embodiment> In the light show execution process described above, music can be output from the speaker 42, various movable parts of the vehicle 100 can be operated, and the lights 57 of the vehicle 100 can be made to blink.

[0041] In addition, in the operation stop process during light show execution, if an obstacle is detected within the detection range corresponding to each movable part, the operation instruction for the movable part in which the obstacle was detected is stopped. At this time, in the light show execution process, music is output from the speaker 42 without operating the movable part in which the obstacle was detected.

[0042] In particular, suppose that during the light show operation stop process, an obstacle is detected within the detection range corresponding to some of the moving parts, but no obstacle is detected within the detection range corresponding to another moving part different from the detected part. In this case, during the light show operation stop process, the operation instruction for the moving part for which an obstacle is detected is stopped, while the operation instruction for the other moving parts for which no obstacle is detected is not stopped. In this case, during the light show execution process, music is output from speaker 42 without operating the moving part for which an obstacle is detected, and the other moving part for which no obstacle is detected is operated. In this example, the moving part for which an obstacle is detected corresponds to the first moving part, and the other moving part for which no obstacle is detected corresponds to the second moving part.

[0043] <Effects of the first embodiment> The effects of this embodiment will be described. (1-1) When performing a light show, if an obstacle is detected within the detection range corresponding to a specified movable part, the operation instruction to the movable part is stopped, thereby preventing the movable part from coming into contact with the obstacle.

[0044] (1-2) In the operation stop process during the light show, even if an obstacle is detected within the detection range corresponding to some of the movable parts, the operation instruction to the movable parts for which no obstacle is detected within the corresponding detection range is not stopped. In this way, even if an obstacle is detected within the detection range corresponding to some of the movable parts, the operation of another movable part different from some of the movable parts can be combined with the output of music to entertain users and spectators.

[0045] (1-3) The light show can combine the output of music, the movement of moving parts, and the flashing of lights to entertain users and onlookers. (1-4) The display 41 displays a notice of stoppage of operation for the moving parts for which operation instructions have been stopped, thereby preventing the moving parts from not operating during the light show, causing discomfort to users and spectators.

[0046] (1-5) In the operation stop process during a light show, a determination is made at regular intervals during the light show as to whether or not an obstacle is present within the detection range corresponding to each moving part. The operation command for a moving part for which it is determined that an obstacle is present within the corresponding detection range is stopped, and the operation command for a moving part for which it is determined that no obstacle is present within the corresponding detection range is resumed. Therefore, even if a new obstacle is detected within the detection range of a moving part during the light show, the moving part can be prevented from coming into contact with the obstacle. Furthermore, if an obstacle within the detection range of a moving part is removed during the light show, the operation of that moving part can be combined thereafter to entertain users and spectators.

[0047] (Second embodiment) Next, a second embodiment of the present invention will be described with reference to FIG. <Operation Stop Processing During Light Show in Second Embodiment> The control device 500 performs a light show execution operation stop process at the start of the light show.

[0048] 4, in the operation stop process during light show execution, the control device 500 checks whether there is an obstacle within the detection range corresponding to each movable part, as in the first embodiment (step S11). Next, the cockpit DC 300 controls the movable part for which it has determined that there is an obstacle within the corresponding detection range to stop the operation instruction (step S12). Subsequently, the cockpit DC 300 controls the display 41 to execute an operation stop notification (step S13).

[0049] Then, the cockpit DC 300 waits until the light show ends (step S14). After that, the cockpit DC 300 ends the operation stop processing during light show execution. Note that, with the end of the operation stop processing during light show execution, the cockpit DC 300 cancels the stop of operation instructions to the movable parts for which operation instructions have been stopped, and controls to end the operation stop notification.

[0050] <Actions and Effects of the Second Embodiment> (2-1) In the operation stop process during a light show according to the second embodiment, the system determines whether or not an obstacle is present within the detection range corresponding to each movable part at the start of the light show, and then waits until the light show ends. This simplifies the process for stopping the operation instruction to each movable part compared to when the system repeatedly determines whether or not an obstacle is present within the detection range corresponding to each movable part at regular intervals or each time each movable part is operated.

[0051] <Example of change> This embodiment can be modified and implemented as follows. This embodiment and the following modified examples can be implemented in combination with each other within the scope of technical compatibility.

[0052] The running notification may be interrupted or terminated when the operation stop notification is executed on the display 41. Furthermore, when the operation stop notification is executed on the display 41, the operation stop notification and the running notification may be executed in parallel.

[0053] The running notification and the stopped operation notification may be displayed on separate displays. The display 41 that issues the operation stop notification is not limited to a display provided in the vehicle 100, but may be, for example, a display on a mobile device held by the user. In this case, the cockpit DC300 may provide information about the moving part whose operation instruction has been stopped to the display of the mobile device held by the user via a wireless network.

[0054] The notification of operation stoppage and the notification of operation in progress are not limited to being displayed on the display 41, but may be given by, for example, audio output from the speaker 42 or blinking of the light 57. The operation unit 43 is not limited to being provided in the vehicle 100, and may be, for example, an operation unit of a mobile device carried by the user. In this case, the cockpit DC300 may be configured to execute a light show when it receives information indicating that the operation unit of the mobile device carried by the user has been operated via a wireless network.

[0055] The number and positions of the cameras 15 and the clearance sonar 33 may be changed as appropriate. Furthermore, the camera sensor device 10 and the sonar sensor device 20 are not limited to those connected to the driving assistance DC200, but may also be those connected to the cockpit DC300 or the body DC400, or a combination thereof. In this case, the cockpit DC300 may detect obstacles around the vehicle 100 based on information input from the camera sensor device and the sonar sensor device connected to the cockpit DC300 or the body DC400.

[0056] The cockpit DC300 may be configured to detect obstacles around the vehicle 100 based on either information about an image of the surroundings of the vehicle 100 or information about objects present around the vehicle 100.

[0057] The method of detecting obstacles around the vehicle 100 may be changed as appropriate. For example, instead of the cockpit DC300, the driving assistance DC200 or the body DC400 may detect obstacles around the vehicle 100. In this case, the driving assistance DC200 or the body DC400 outputs the obstacle detection results to the cockpit DC300. The cockpit DC300 may then stop or cancel operation commands to each moving part based on the detection results input from the driving assistance DC200 or the body DC400.

[0058] When the cockpit DC300 determines that an obstacle is present within a detection range corresponding to a predetermined moving part, the cockpit DC300 may output ignore instruction information to the body DC400 to instruct the body DC400 to ignore an operation instruction to the predetermined moving part. In this case, when the body DC400 receives operation instruction information to operate the predetermined moving part after receiving ignore instruction information for the predetermined moving part, the body DC400 may stop the operation of the predetermined moving part by ignoring the operation instruction information.

[0059] When cockpit DC300 determines that an obstacle is present within the detection range corresponding to a specific moving part, it may stop issuing operation commands to both the specific moving part and other moving parts. For example, when cockpit DC300 determines that an obstacle is present within the detection range corresponding to at least some of the moving parts that can operate in the light show, it may stop issuing operation commands to all moving parts. Furthermore, when cockpit DC300 determines that an obstacle is present within the detection range corresponding to a specific moving part among the moving parts that can operate in the light show, it may stop issuing operation commands to both the specific moving part and another moving part that corresponds to the specific moving part. In this case, cockpit DC300 may not stop issuing operation commands to other moving parts that do not correspond to the specific moving part.

[0060] The detection range corresponding to each moving part may be changed as appropriate. For example, the detection range corresponding to each moving part may be the same as the range of movement of each moving part. The same detection range may be set for multiple moving parts. In this case, the detection range should be set to include all of the moving ranges of the multiple moving parts. In this case, when the cockpit DC300 determines that an obstacle is present within the detection range, it should stop issuing operation commands to all of the multiple moving parts.

[0061] The frequency of determining whether or not an obstacle is present during the operation stop process during a light show may be changed as appropriate. For example, the cockpit DC300 may determine whether or not an obstacle is present within the detection range corresponding to a moving part each time the moving part is operated during a light show before the moving part is operated.

[0062] During the light show, multiple types of music may be output from the speaker 42. In this case, the music to be output may be selected by operating the operation unit 43. There may be multiple program patterns for the light show. The program patterns for the light show may be user-configurable.

[0063] The trigger for ending the light show may be changed as appropriate. For example, the cockpit DC300 may end the light show when a predetermined time has elapsed since the start of the light show. Alternatively, the cockpit DC300 may end the light show based on an instruction from the operation unit 43.

[0064] The various electrical components operated in the light show may be changed as appropriate. For example, the back door, power windows, hood, sunroof, fuel filler cap, charging port, etc. of the vehicle 100 may be operated. Alternatively, any or all of the doors, mirrors, and lights may not be operated. In other words, in the light show, at least one moving part may be operated in accordance with the music output from the speaker 42. [Explanation of symbols]

[0065] A1 to A4...detection range B1, B2...detection range 10...camera sensor device 15...camera 20...sonar sensor device 33...clearance sonar 41...display 42...speaker 43...operation unit 50...light control unit 57...light 60...door control unit 65...door 70...mirror control unit 73...side mirror 100...vehicle 200...driving assistance DC 300...cockpit DC 400...body DC 500...control unit

Claims

1. A control device applied to a vehicle having a speaker and a moving part, a specific process of outputting music from the speaker and operating the movable part; an obstacle detection process for detecting obstacles present around the vehicle; When an obstacle is detected within a detection range corresponding to the movable range of the movable part in the obstacle detection process, music is output from the speaker without moving the movable part in the identification process. Vehicle control device.

2. the vehicle includes a first movable part and a second movable part as the movable parts; In the obstacle detection process, if an obstacle is detected within a detection range corresponding to the movable range of the first movable part, and if an obstacle is not detected within a detection range corresponding to the movable range of the second movable part, in the identification process, music is output from the speaker without operating the first movable part, and the second movable part is operated. The vehicle control device according to claim 1 .

3. The specific process further controls blinking of the vehicle's lights. The vehicle control device according to claim 1 or 2.

4. the obstacle detection process is executed when the identification process is started, In the obstacle detection process, it is determined whether or not the obstacle is present within a detection range corresponding to a movable range of each of the plurality of movable parts that operate in the specific process; In the identification process, the movable parts for which it is determined that an obstacle exists within the detection range when the identification process is started are not operated, and the movable parts for which it is determined that no obstacle exists within the detection range when the identification process is started are operated. The vehicle control device according to claim 1 .

5. A display is displayed indicating that the operation of the moving part has been stopped due to the presence of an obstacle within the detection range. The vehicle control device according to claim 1 .

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