Vehicle control device

Abstract

To provide a vehicle control device with a function for, when a blur occurs on glass of an own vehicle and a contact risk between a target located in an area facing the glass and the own vehicle is high, enabling a driver of the own vehicle to visually recognize the target in an early stage.SOLUTION: A vehicle control device 1 comprises: a surrounding sensor; a window opening device which moves window glass down; and a blur sensor 25 which detects a blur which occurs on the window glass of an own vehicle. The device is constituted to detect the presence of a visual field defective area as an area which cannot be visually recognized by a driver of the own vehicle around the own vehicle on the basis of information acquired from the blur sensor 25 and to execute window opening processing for controlling the opening device so that a window facing the visual field defective area is opened and notification processing for controlling a notification device 30 so that a predetermined alarm is raised to the driver when it is determined that a contact risk between a target located in the visual field defective area and the own vehicle is high on the basis of information acquired from the surrounding sensor.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present invention relates to a vehicle control device that controls a host vehicle so as to reduce the risk of contact between the host vehicle and a target. [Background technology]

[0002] A vehicle control device has been proposed that controls a vehicle to reduce the risk of contact between the vehicle and a target (see, for example, Patent Document 1 below). The vehicle control device of Patent Document 1 (hereinafter referred to as the "conventional device") predicts the time until contact between the vehicle and a target located around the vehicle based on the distance between the vehicle and the target and the relative speed between the two, and issues a predetermined warning to the driver if the predicted time is equal to or less than a threshold. This allows the driver to quickly initiate driving operations to avoid contact between the vehicle and the target, reducing the risk of contact between the two. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Publication No. 2023-101773 Summary of the Invention

[0004] However, when a vehicle's window glass (door glass) is partially or entirely fogged, it is difficult for the driver to see an object approaching the vehicle from the side. Even if the object is detected based on information acquired by an onboard radar (e.g., millimeter-wave radar or ultrasonic sensor) and an alarm is issued to reduce the risk of collision between the object and the vehicle, the driver cannot see the object, which may cause confusion. The conventional device described above has a function to blow air toward the windshield of the vehicle to defog the windshield when it detects fogging on the windshield. However, this function is not effective in defogging the door glass. Even if air is blown toward both the windshield and the door glass, it takes a certain amount of time from the start of the air blowing until the door glass is defogged. Therefore, in a highly urgent situation, such as when a target is suddenly approaching the vehicle, the target may be very close to the vehicle by the time the driver is able to see it.

[0005] One of the objects of the present invention is to provide a vehicle control device that has a function that enables the driver of a vehicle to quickly see an object located in the area facing the vehicle's glass when the glass of the vehicle is fogged and there is a high risk of contact between the vehicle and the object.

[0006] In order to solve the above problems, the vehicle control device (1) of the present invention comprises: surrounding sensors (21, 22, 23) for acquiring information about targets (MO) located around the host vehicle (V0); a window opening device (40) that lowers window glasses (DGR, DGL) of the vehicle to open windows (WR, WL); a fogging sensor (25) for detecting fogging on the window glass; a processor (10) configured to: detect, based on information acquired from the fogging sensor, the presence of a poor visibility area (INVR, INVL) around the host vehicle, which is an area that is difficult for a driver of the host vehicle to see; and, when predetermined conditions (TTC≦TTCwop, TTC≦TTCalt) for determining that there is a high risk of contact between the host vehicle and an object located in the poor visibility area are met based on information acquired from the surroundings sensor, execute a window opening process for controlling the opening device to open a window facing the poor visibility area, and an alarm process for controlling an alarm device (30) to issue a predetermined alarm to the driver; Equipped with.

[0007] When the window glass of a vehicle is fogged, it becomes difficult for the driver to see objects outside the window. The vehicle control device according to the present invention opens the window when there is an area (poor visibility area) where the driver has difficulty seeing due to the fogged window glass and there is a high risk of the vehicle coming into contact with an object located within the poor visibility area. This allows the driver to see the object relatively quickly compared to conventional devices that blow air toward the window glass to defog it.

[0008] In one aspect of the present invention, there is provided a vehicle control device, The processor predicts the time until contact between the vehicle and a target in the poor visibility area, and starts the notification process when the predicted time (TTC) becomes equal to or less than a predetermined first threshold (TTCalt), and starts the window opening process when the predicted time becomes equal to or less than a second threshold (TTCwop) obtained by adding a predetermined time (twop) to the first threshold.

[0009] According to this method, the window starts to open before the alarm is issued, thereby improving the visibility around the window at or within a short period of time around the time the alarm is issued.

[0010] In a vehicle control device according to another aspect of the present invention, The predetermined time is determined in advance based on the time required for the window to transition from a fully closed state to a fully open state.

[0011] In this case, the processor can obtain the time required for the window to transition from a fully closed state to a fully open state based on the moving speed (known physical quantity) of the window glass when the window is opened by the window opening device. This makes it relatively easy to determine the timing for opening the window.

[0012] The predetermined time is determined based on the distance between the vehicle and the target and the position of the fog on the window glass.

[0013] In a vehicle control device according to another aspect of the present invention, A driver sensor (26) is provided for detecting the eye height position of the driver, The processor assigns a larger value to the predetermined time period as the driver's eye height decreases.

[0014] According to this, the timing of opening the window is determined according to the height of the driver's eyes. Therefore, when the entire window glass (or at least the upper part) is fogged up, the visibility on the window side is improved at approximately the same time that an alarm is issued to the driver.

[0015] In a vehicle control device according to another aspect of the present invention, The processor executes a voice notification process that controls the notification device so that a predetermined voice is emitted to call attention to an object located outside the window to be opened at the time of starting the window opening process or while the window opening process is being executed.

[0016] This allows an audio message to be emitted early to alert the driver to objects outside the window, further improving the safety of the vehicle and its surroundings. [Brief explanation of the drawings]

[0017] [Figure 1] FIG. 1 is a block diagram of a vehicle control device according to an embodiment of the present invention. [Figure 2] FIG. 2 is a front view of the side door. [Figure 3] FIG. 3 is a plan view showing a poor visibility area. [Figure 4] FIG. 4 is a graph showing the timing at which the side windows are opened and the timing at which an alarm is issued. [Figure 5] FIG. 5 is a flowchart of a program executed by the CPU to realize the door glass opening function. [Figure 6] FIG. 6 is a plan view showing a poor visibility area according to a modified example of the present invention. DETAILED DESCRIPTION OF THE INVENTION

[0018] (Summary) As shown in FIG. 1, a vehicle control device 1 according to one embodiment of the present invention is applied to a vehicle V0 (hereinafter referred to as "host vehicle") equipped with an automatic driving function. The vehicle control device 1 has an alarm function that issues a predetermined alarm to the driver when there is a high risk of contact between the host vehicle and a target object while the automatic driving function is disabled (when the driver is performing driving operations). The vehicle control device 1 also has a door glass opening function that opens the door glass when the door glass of the host vehicle is fogged and there is a high risk of contact between the host vehicle and a target object located in a predetermined area facing the door glass.

[0019] (Specific configuration) As shown in FIG. 1, the vehicle control device 1 includes an ECU 10, an on-vehicle sensor 20, an alarm device 30, and a power window device 40.

[0020] The ECU 10 is a processor mounted on the vehicle, and includes a microcomputer equipped with a CPU 10a, a ROM 10b, a LAM 10c, etc. The ECU 10 is connected to other ECUs via a CAN (Controller Area Network).

[0021] The on-board sensor 20 includes a surrounding sensor that acquires information about targets present around the vehicle. For example, the on-board sensor 20 includes a millimeter wave radar 21, an ultrasonic sensor 22, and a camera 23 as surrounding sensors.

[0022] The millimeter-wave radar 21 includes a transmitter / receiver and a signal processor. The transmitter / receiver emits millimeter-wave radio waves (hereinafter referred to as "millimeter waves") around the vehicle and receives millimeter waves (reflected waves) reflected by three-dimensional objects located within the emitted area. The signal processor acquires various information about each reflection point of the millimeter waves based on physical quantities related to the emitted waves and the reflected waves. For example, the signal processor calculates the position (relative position (distance and direction)) of each reflection point relative to the vehicle. The signal processor also calculates the speed of each reflection point relative to the vehicle (change per unit time in the distance between the vehicle and the reflection point (relative speed)). The signal processor then provides the calculation results (reflection point distribution data (data including relative positions and relative speeds)) to the ECU 10.

[0023] The ultrasonic sensor 22 intermittently emits ultrasonic waves around the vehicle and receives the ultrasonic waves reflected by three-dimensional objects (reflected waves). Based on the time from when the ultrasonic waves are transmitted until when the reflected waves are received, the ultrasonic sensor 22 recognizes the distance between the vehicle and each reflection point of the ultrasonic waves, the relative position (direction) of each reflection point with respect to the vehicle, and the like, and transmits the recognition results to the ECU 10.

[0024] The camera 23 includes an imaging device and an image analysis device. The imaging device has a built-in imaging element, such as a charge coupled device (CCD) or a CIS (CMOS image sensor). The imaging devices are installed at the front, rear, left side, and right side of the host vehicle. The imaging devices capture images of the surrounding area of ​​the host vehicle at a predetermined frame rate and acquire image data. The imaging device provides each image data to the image analysis device. The image analysis device analyzes the acquired image data and acquires information about targets present around the host vehicle from the images. For example, the image analysis device recognizes moving objects (other vehicles, pedestrians, etc.) located to the side of the host vehicle and transmits the recognition results to the ECU 10.

[0025] The on-board sensors 20 further include a driving operation sensor 24. The driving operation sensor 24 includes a steering wheel sensor that detects the rotation angle position of the steering wheel. The driving operation sensor 24 also includes an accelerator pedal sensor and a brake pedal sensor that detect the depression depth of the accelerator pedal and the brake pedal, respectively. These sensors provide various detection results to the ECU 10.

[0026] The on-board sensor 20 also includes a fogging sensor 25. The fogging sensor 25 includes multiple imaging devices and an image analysis device. These imaging devices are, for example, built into the dashboard and directed toward the left and right door glass DGR, DGL of the front seats, respectively. Each imaging device captures the door glass DGR, DGL and the area outside thereof at a predetermined frame rate and provides the image data obtained to the image analysis device. The image analysis device analyzes the image data obtained from each imaging device to obtain (calculate) fogging information FR, FL including the degree of fogging (condensation, dust adhesion, etc.) occurring on the door glass DGR, DGL (fogging degree FDR, FDL) and the area of ​​the door glass DGR, DGL where fogging has occurred (fogging area FAR, FAL). Note that, for example, the image analysis device calculates the degree of fogging based on the clarity of the view outside the door glass. The image analysis device provides the calculation results (fogging information FR, FL) to the ECU 10.

[0027] Additionally, the on-board sensors 20 include a driver sensor 26. The driver sensor 26 includes an imaging device and an image analysis device. The imaging device is, for example, incorporated in an instrument panel and directed toward the driver's seat. The imaging device photographs the driver's face at a predetermined frame rate and provides the image data obtained to the image analysis device. The image analysis device analyzes the image data obtained from the imaging device to detect the position and direction (gaze) of the driver's eyes. The image analysis device then provides the calculation results to the ECU 10.

[0028] The notification device 30 includes an image display device and an audio device. The image display device is disposed, for example, on an instrument panel (near the speed display device). The image display device displays an image in accordance with a command received from the ECU 10. The audio device reproduces sound in accordance with a command received from the ECU 10.

[0029] As shown in FIG. 2, the power window device 40 is incorporated in the side door of the vehicle. The power window device 40 includes a door glass DGR (DGL), a regulator RG, an electric motor M, and a drive circuit DC. The door glass DGR (DGL) is guided by a groove-shaped member (glass run rail) incorporated in the door frame (window frame) of the side door and supported so as to be slidable in the vertical direction (allowing the window to be opened and closed). The regulator RG is installed inside the door panel (below the door glass DGR (DGL)) and has a glass support part that supports the lower end of the door glass DGR (DGL). The regulator RG also has an input shaft (rotating shaft) and a mechanism that converts the rotational motion of the input shaft into linear motion (up and down movement) of the glass support part. The electric motor M (output shaft) is connected to the input shaft of the regulator RG via a reduction gear. The drive circuit DC rotates the electric motor M forward or reverse in response to a command (a command to open the window or a command to close the window) received from the ECU 10.

[0030] (Alarm function) When the ignition switch is on, the ECU 10 periodically acquires various pieces of information from the millimeter-wave radar 21, the ultrasonic sensor 22, and the camera 23 and integrates the acquired information to acquire fusion information. Based on the fusion information, the ECU 10 recognizes a moving object MO located to the side of the host vehicle (the area facing the door glass). Based on the fusion information, the ECU 10 also acquires a distance Δd between the moving object MO and the host vehicle and a relative speed rv of the moving object MO relative to the host vehicle. Based on information acquired from the driving operation sensor 24, the ECU 10 periodically acquires a predicted path TR of the host vehicle. Based on the distance Δd, the relative speed rv, and the predicted path TR, the ECU 10 calculates (predicts) a time TTC until contact between the moving object MO and the host vehicle. If the time TTC is equal to or less than a threshold TTCalt, the ECU 10 executes the following notification process to reduce the risk of contact between the host vehicle and the moving object MO.

[0031] The ECU 10 transmits a predetermined warning command to the notification device 30 to prompt the driver to initiate evasive action to avoid contact between the host vehicle and the moving object MO. The image display device of the notification device 30 displays, for example, an "icon representing a brake pedal" and an "icon representing a steering wheel" as images corresponding to the warning command. The ECU 10 may calculate the direction in which the steering wheel should be turned based on the relative positions of the host vehicle and the moving object MO, and display an image corresponding to the calculation result (an icon indicating the direction in which the steering wheel should be turned) on the image display device. The audio device of the notification device 30 also reproduces, for example, a voice saying "Please begin evasive action" as a voice corresponding to the warning command.

[0032] (Door glass opening function) When the ignition switch is in an on state, the ECU 10 periodically acquires fogging information FR, FL from the fogging sensor 25. When the fogging degree FDR (FDL) exceeds the threshold FDth, the ECU 10 acquires the area outside the door glass DGR (DGL) within the area between the front and rear ends of the fogging area FAR (FAL) in a plan view and a predetermined point on the driver's seat (the center of the driver's face acquired by the driver sensor 26) as a poor visibility area INVR (INVL) (see FIG. 3). If a moving object MO is present within the poor visibility area INVR (INVL), the driver may have difficulty visually recognizing the moving object MO. Therefore, as described below, when a predetermined condition is met, the ECU 10 lowers the door glass DGR (DGL) and opens the right (left) side window WR (WL), thereby transitioning to a state in which the driver can visually recognize the moving object MO.

[0033] Here, for example, when the lower half of the door glass DGR (DGL) is in the fogged region FAR (FAL), the driver will have difficulty visually recognizing targets in the poor visibility region INVR (INVL) that are relatively close to the host vehicle, but will likely be able to recognize targets in the region relatively far from the host vehicle. In this case, there is little need to fully open the side window WR (WL) to improve visibility to the right (left) of the host vehicle. Instead, the visibility to the right (left) will be improved if the door glass DGR (DGL) is lowered to the extent that the upper end of the fogged region FAR (FAL) is retracted into the door panel. On the other hand, for example, when the upper half of the door glass DGR (DGL) is in the fogged region FAR (FAL), the driver will have difficulty visually recognizing targets in the poor visibility region INVR (INVL) that are relatively far from the host vehicle, but will likely be able to recognize targets in the region relatively close to the host vehicle. In this case, if the door glass DGR (DGL) is lowered to improve visibility to the right (left) of the vehicle, the fogged area FAR (FAL) will also lower during this process. Therefore, the driver temporarily has difficulty viewing objects in an area relatively close to the vehicle. Visibility to the right (left) is improved when the side window WR (WL) is fully opened. Therefore, when the door glass DGR (DGL) is fogged, the ECU 10 executes a process to open the side window WR (WL) to an extent that the driver can view a moving object MO in the poor visibility area INVR (INVL). Specifically, the ECU 10 determines a target value for the opening degree of the side window WR (WL) (the amount of lowering of the door glass DGR (DGL)) based on the position (top and bottom) of the fogged area FAR (FAL) and the distance Δd between the vehicle and the moving object MO. For example, the ECU 10 refers to a map (database) that defines the relationship between the position (upper and lower ends) and distance Δd of the fog area FAR (FAL) and the target value Δdwt of the descent amount Δdw of the door glass DGR (DGL) to obtain a target value Δdwt corresponding to the current situation. Next, the ECU 10 obtains a value obtained by dividing the descent amount Δdw by the descent speed vg of the door glass DGR (DGL) as the time twop (=Δdwt / vg). The descent speed vg is measured in advance and stored in the ROM 10b.

[0034] Alternatively, for simplicity, the ECU 10 may acquire the time required for the upper end of the fogged area FAR (FAL) to reach the upper end of the door panel from the point at which the door glass DGR (DGL) starts to descend, regardless of the position of the moving object MO, as the time twop. Specifically, the ECU 10 may acquire the distance between the upper ends of the fogged area FAR (FAL) and the upper end of the fogged area FAR (FAL) as the target value Δdwt, based on the fogging information FR (FL) acquired from the fogging sensor 25.

[0035] As described above, the ECU 10 sequentially calculates the time TTC until contact between the host vehicle and the moving object MO, and controls the notification device 30 to issue a predetermined warning at time Talt when the time TTC becomes equal to or less than the threshold TTCalt (see FIG. 4). If the door glass DGR (DGL) is fogged, the ECU 10 starts a process of lowering the door glass DGR (DGL) (window opening process) at a predetermined timing (time Twop) before the timing (time Talt) when the warning is issued. Specifically, the ECU 10 acquires a value obtained by adding the time Twop to the threshold TTCalt as the threshold TTCwop. The ECU 10 causes the power window device 40 to start lowering the door glass DGR (DGL) at time Twop when the time TTC decreases and becomes equal to or less than the threshold TTCwop. Then, at the time Talt when the time TTC becomes equal to or less than the threshold TTCalt, the ECU 10 causes the power window device 40 to stop lowering the door glass DGR (DGL) and causes the alarm device 30 to issue a predetermined alarm.

[0036] However, under circumstances where opening the side window WR (WL) is likely to cause some kind of disruption to driving operation, the ECU 10 disables the door glass opening function. For example, when the ECU 10 detects that the amount of rain exceeds a threshold (heavy rain) based on the output of a sensor (not shown), the ECU 10 disables the door glass opening function. Also, for example, when the ECU 10 detects that the amount of wind exceeds a threshold (strong wind) based on the output of a sensor (not shown), the ECU 10 disables the door glass opening function.

[0037] Next, with reference to FIG. 5, a process (program PL1) executed by the CPU 10a (hereinafter simply referred to as "CPU") of the ECU 10 to realize the door glass opening function will be specifically described.

[0038] The CPU executes the program PL1 at a predetermined cycle. The CPU starts execution of the program PL1 from step 100 and proceeds to step 101.

[0039] In step 101, the CPU acquires fogging information FR (FL) from the fogging sensor 25 and determines whether fogging has occurred on the right (left) door glass DGR (DGL) based on the fogging information. If the CPU determines that fogging has occurred on the right (left) door glass DGR (DGL) (101: Yes), the CPU proceeds to step 102. On the other hand, if the CPU does not determine that fogging has occurred on the right (left) door glass DGR (DGL) (101: No), the CPU proceeds to step 108, where it ends execution of the program PR1.

[0040] In step 102, the CPU acquires (specifies) the poor visibility area INVR (INVL) based on the information acquired from the fogging sensor 25 and the driver sensor 26. Next, the CPU proceeds to step 103.

[0041] In step 103, the CPU determines whether or not a moving object MO exists in the poor visibility area INVR (INVL) based on the fusion information. If the CPU determines that a moving object MO exists in the poor visibility area INVR (INVL) (103: Yes), the CPU proceeds to step 104. On the other hand, if the CPU does not determine that a moving object MO exists in the poor visibility area INVR (INVL) (103: No), the CPU proceeds to step 108.

[0042] The CPU determines (acquires) the time twop based on the fusion information and the fogging information FR (FL) in step 104. Next, the CPU proceeds to step 105.

[0043] In step 105, the CPU acquires the time TTC until contact between the host vehicle and the moving object MO based on the fusion information and information acquired from the driving operation sensor 24, and determines whether the time TTC is equal to or less than a threshold TTCwop. If the CPU determines that the time TTC is equal to or less than the threshold TTCwop (105: Yes), the CPU proceeds to step 106. On the other hand, if the CPU does not determine that the time TTC is equal to or less than the threshold TTCwop (105: No), the CPU returns to step 105.

[0044] In step 106, the CPU determines whether the situation is such that opening the side window WR (WL) is unlikely to interfere with driving. If the CPU determines that the situation is such that opening the side window WR (WL) is unlikely to interfere with driving (106: Yes), the CPU proceeds to step 107. On the other hand, if the CPU does not determine that the situation is such that opening the side window WR (WL) is unlikely to interfere with driving (106: No), the CPU proceeds to step 108.

[0045] The CPU controls the power window device 40 so as to open the side window WR (WL) in step 107. Next, the CPU proceeds to step 108, where it ends the execution of the program PR1.

[0046] In addition, the CPU executes a program PR2 (not shown) at a predetermined interval in parallel with the execution of the program PR1. The program PR2 includes a step of controlling the alarm device 30 to issue a predetermined alarm when the time TTC is equal to or less than the threshold TTCalt.

[0047] (effect) When the door glass DGR (DGL) of the vehicle is fogged, it becomes difficult for the driver to see a moving object MO outside the side window WR (WL). The vehicle control device 1 according to this embodiment opens the side window WR (WL) when there is an area (poor visibility area INVR (INVL)) where the driver has difficulty seeing due to the fogged door glass DGR (DGL) and there is a high risk of contact between the vehicle and a moving object MO located within the poor visibility area INVR (INVL). This allows the driver to see the moving object MO relatively quickly compared to conventional devices that remove fog by blowing air toward the door glass DGR (DGL).

[0048] <Variation 1> In the above embodiment, the fogging sensor 25 detects the fogging degree FDR (FDL) of the door glass DGR (DGL) based on the clarity of the image outside the door glass DGR (DGL). Alternatively, the fogging degree FDR (FDL) may be detected (predicted) based on other physical quantities. For example, the lower the sunlight intensity, the more difficult it is for the door glass DGR (DGL) to warm up, making the door glass DGR (DGL) more likely to fogging. Furthermore, in rainy weather, the humidity increases, making the door glass DGR (DGL) more likely to fogging. Furthermore, the lower the outside temperature, the more easily the door glass DGR (DGL) cools, making the door glass DGR (DGL) more likely to fogging. Furthermore, when the outside temperature is high and cool air from an air conditioning unit is blown onto the door glass DGR (DGL), the door glass DGR (DGL) is more likely to fogging. In addition, the higher the vehicle speed, the more the door glass DGR (DGL) is cooled by the wind while traveling, making it more likely for the door glass DGR (DGL) to fog up.Furthermore, the more passengers there are, the more they breathe and sweat, which increases the humidity inside the vehicle, making it more likely for the door glass DGR (DGL) to fog up.

[0049] Therefore, the fogging sensor 25 may include a sensor (environmental sensor) that acquires weather (illumination), humidity and temperature inside and outside the vehicle, and setting information of the air conditioning system (air conditioner) (set temperature, air volume, wind direction, etc.), and estimate the fogging degree FDR (FDL) of the door glass DGR (DGL) based on the results of these detections. In addition to the above-mentioned environmental sensor, a vehicle speed sensor that detects the vehicle speed of the host vehicle may be provided, and the fogging degree FDR (FDL) may be estimated based on the vehicle speed. In this case, the fogging sensor 25 may be configured so that the fogging degree FDR (FDL) decreases as the vehicle speed of the host vehicle increases. The fogging sensor 25 may also include a sensor that detects the number of occupants, and estimate the fogging degree FDR (FDL) based on the number of occupants. In this case, the fogging sensor 25 may be configured so that the fogging degree FDR (FDL) increases as the number of occupants increases. As described above, when the fogging degree FDR (FDL) is estimated based on the outputs of the environmental sensor, the vehicle speed sensor, etc., it is difficult to estimate the position and size of the fogging area FAR (FAl). Therefore, in this case, it is preferable to set the poor visibility area INVR (INVL) and the time twop by assuming that the entire door glass DGR (DGL) is fogging. Then, the ECU 10 controls the power window device 40 so that the door glass DGR (DGL) is fully opened from the time TWop when the time TTC becomes equal to or less than the threshold TTCwop.

[0050] <Variation 2> For example, when the driver's eyes are at a relatively low position, there is a high possibility that the driver will be able to see the moving object MO when the amount of descent of the door glass DGR (DGL) becomes relatively large. Therefore, the ECU 10 acquires the height position of the driver's eyes from the driver sensor 26. Alternatively, the height position of the driver's eyes may be estimated based on information (seat height) acquired from a driver's seat sensor (seat height sensor), not shown. The ECU 10 may then determine the timing to lower the door glass DGR (DGL) according to the height position of the driver's eyes. In other words, the lower the height position of the driver's eyes, the greater the value assigned to the time twop.

[0051] <Variation 3> At the time Twop when the door glass DGR (DGL) starts to open, the ECU 10 may control the alarm device 30 (perform audio alarm processing) so that a predetermined sound (a sound to alert the driver of the vehicle to a moving object MO to the side of the vehicle) is emitted.

[0052] <Variation 4> As shown in FIG. 6, the ECU 10 may acquire, as the current poor visibility area INVR (INVL), the logical sum of the areas through which the poor visibility area INVR (INVL) passed within a predetermined period T (t0, t0-Δdt, t0-2×Δdt) immediately before the current time t0 (the poor visibility areas detected within the period T). [Explanation of symbols]

[0053] 1... vehicle control device, 10... ECU, 20... vehicle-mounted sensor, 30... alarm device, 40... power window device

Claims

1. a surroundings sensor for acquiring information about targets located around the host vehicle; a window opening device that lowers a window glass of the vehicle to open the window; a fogging sensor for detecting fogging on the window glass; a processor configured to detect, based on information acquired from the fogging sensor, the presence of a poor visibility area around the host vehicle, which is an area that is difficult for the driver of the host vehicle to see, and, when a predetermined condition for determining, based on information acquired from the surroundings sensor, that there is a high risk of contact between the host vehicle and an object located in the poor visibility area, execute a window opening process for controlling the opening device to open a window facing the poor visibility area, and an alarm process for controlling an alarm device to issue a predetermined alarm to the driver; A vehicle control device comprising:

2. 2. The vehicle control device according to claim 1, The processor is configured to predict the time until contact between the vehicle and an object in the poor visibility area, start the notification process when the predicted time becomes equal to or less than a predetermined first threshold, and start the window opening process when the predicted time becomes equal to or less than a second threshold obtained by adding a predetermined time to the first threshold.

3. 3. The vehicle control device according to claim 2, The vehicle control device, wherein the predetermined time is determined in advance based on the time required for the window to transition from a fully closed state to a fully open state.

4. 3. The vehicle control device according to claim 2, A driver sensor is provided to detect the eye height of the driver, The vehicle control device, wherein the processor is configured to assign a larger value to the predetermined time period as the driver's eye height is lower.

5. 5. The vehicle control device according to claim 1, The vehicle control device is configured such that the processor executes a voice notification process that controls the notification device so that a predetermined voice is emitted to call attention to an object located outside the window to be opened at the time of starting the window opening process or while the window opening process is being executed.

Images