Reverse running suppression device, reverse running suppression program, and reverse running suppression method

Abstract

To enable a driver of a vehicle to grasp revere running of the vehicle even in a situation that e.g., noise is being generated.SOLUTION: A reverse running suppression device is applied to a vehicle loading thereon a detection sensor for detecting information relating to a direction of travel and headlights. The reverse running suppression device executes reverse running determination processing (S11) of determining whether or not the vehicle is reversely running based on the information from the detection sensor. The reverse running suppression device executes irradiation processing (S51-S54) of changing how to control light emitted from the headlights between a case where it is determined by the reverse running determination processing that the vehicle is reversely running and a case where it is determined by the reverse running determination processing that the vehicle is not reversely running.SELECTED DRAWING: Figure 2

Description

[Technical Field]

[0001] The present invention relates to a reverse running prevention device, a reverse running prevention program, and a reverse running prevention method. [Background technology]

[0002] The technology disclosed in Patent Document 1 includes a plurality of irregularities arranged in a predetermined section of a road to impart a specific vibration pattern to the vehicle when it is traveling. The technology disclosed in Patent Document 1 also includes a vehicle equipped with a microphone, a speaker, and a control device. The microphone detects sounds around the vehicle. The speaker outputs sound to the interior of the vehicle. The control device determines whether the vehicle is traveling in a reverse direction, which is opposite to a predetermined forward direction for traveling along the road. That is, the control device determines whether the vehicle is traveling in the wrong direction. Specifically, the control device uses the microphone to capture sounds generated between the vehicle's tires and the road surface as the vehicle travels along the above-mentioned predetermined section. Next, the control device determines that the vehicle is traveling in the wrong direction if the sound captured by the microphone matches predetermined pattern information for sounds generated in the predetermined section when the vehicle is traveling in the wrong direction. If the control device determines that the vehicle is traveling in the wrong direction, it outputs a warning sound from the speaker to the interior of the vehicle to notify the driver that the vehicle is traveling in the wrong direction. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] International Publication No. 2017 / 168633 Summary of the Invention [Problem to be solved by the invention]

[0004] In the technology disclosed in Patent Document 1, for example, the warning sound from the speaker may be drowned out by the noise of the vehicle while it is traveling, which may result in the driver of the vehicle not realizing that the vehicle is traveling in the wrong direction. [Means for solving the problem]

[0005] The reverse-running suppression device for solving the above problems is applied to a vehicle (100) equipped with detection sensors (74, 75, 76) that detect information related to the direction of travel and headlights (60), and executes a reverse-running determination process (S11) that determines whether the vehicle is running in the wrong direction based on information from the detection sensors, and an illumination process (S51 to S54) that changes the way in which light emitted from the headlights is controlled depending on whether the reverse-running determination process determines that the vehicle is running in the wrong direction or not.

[0006] A reverse-running prevention program for solving the above problems is applied to a reverse-running prevention device of a vehicle equipped with a detection sensor and headlights that detect information related to the direction of travel, and causes the reverse-running prevention device to execute a reverse-running determination process that determines whether the vehicle is running in the wrong direction based on information from the detection sensor, and an illumination process that changes the way in which light emitted from the headlights is controlled depending on whether the reverse-running determination process determines that the vehicle is running in the wrong direction or not.

[0007] A reverse-running prevention method for solving the above problem involves a reverse-running prevention device of a vehicle equipped with a detection sensor and headlights that detect information related to the direction of travel, which executes a reverse-running determination process that determines whether the vehicle is running in the wrong direction based on information from the detection sensor, and an illumination process that changes the way in which light emitted from the headlights is controlled depending on whether the reverse-running determination process determines that the vehicle is running in the wrong direction or not.

[0008] According to the above configuration, the way in which the light emitted from the headlights is controlled is changed depending on whether the vehicle is traveling in the wrong direction or not. Therefore, the driver of the vehicle can recognize that the vehicle is traveling in the wrong direction by visually recognizing the difference in the control of the light emitted from the headlights. This allows the driver of the vehicle to recognize that the vehicle is traveling in the wrong direction even when, for example, noise is being generated. [Brief explanation of the drawings]

[0009] [Figure 1] FIG. 1 is a schematic diagram of a vehicle. [Figure 2] FIG. 2 is a flowchart showing reverse running suppression control. [Figure 3] FIG. 3 is an explanatory diagram of a vehicle traveling on a specific road. [Figure 4] FIG. 4 is an explanatory diagram of a vehicle traveling on a public road. DETAILED DESCRIPTION OF THE INVENTION

[0010] <Vehicle Overview> An embodiment of the present invention will be described below with reference to Figures 1 to 4. First, a general configuration of a vehicle 100 will be described. Note that the following description will be based on the up / down, front / rear, left / right of the vehicle 100. Here, the up / down, front / rear, left / right of the vehicle 100 are directions when viewed from the driver sitting in the driver's seat of the vehicle 100.

[0011] As shown in FIG. 1, a vehicle 100 includes a powertrain system 10, a steering system 20, and a brake system 30. The powertrain system 10 includes an engine, a motor generator, a transmission, etc. The engine is capable of transmitting power to the drive wheels of the vehicle 100 via the transmission. The motor generator is also capable of transmitting power to the drive wheels of the vehicle 100 via the transmission.

[0012] The steering system 20 includes a rack and pinion type electric steering device. The steering system 20 can change the direction of the steered wheels of the vehicle 100 by controlling a rack and pinion (not shown).

[0013] The brake system 30 includes a so-called friction brake device that brakes the wheels of the vehicle 100 by friction force. In this embodiment, an example of the friction brake device is a so-called disc brake.

[0014] As shown in FIG. 1, the vehicle 100 is equipped with a speaker 40 and a display 50. The speaker 40 is located near the driver's seat of the vehicle 100. The speaker 40 is a device for outputting sound into the interior of the vehicle 100. The display 50 is located near the driver's seat of the vehicle 100. The display 50 is capable of displaying various types of information.

[0015] As shown in FIG. 1, the vehicle 100 is equipped with two headlights 60. One of the two headlights 60 is attached to the right end of the front end of the vehicle 100. The other of the two headlights 60 is attached to the left end of the front end of the vehicle 100. The headlight 60 emits light to an area in front of the vehicle 100. The headlight 60 is capable of changing the range of light irradiation. This type of headlight 60 is sometimes referred to as a variable light distribution headlamp. Also, FIG. 1 shows only one headlight 60 as a representative example.

[0016] 1, the vehicle 100 is equipped with an accelerator operation amount sensor 71, a vehicle speed sensor 72, a brake operation amount sensor 73, and a steering angle sensor 74. The vehicle 100 also is equipped with an exterior camera 75, a GNSS receiver 76, an illuminance sensor 77, and a changeover switch 78.

[0017] The accelerator operation amount sensor 71 detects the accelerator operation amount ACC, which is the amount of operation of the accelerator pedal operated by the driver. The vehicle speed sensor 72 detects the vehicle speed SP, which is the speed of the vehicle 100. The brake operation amount sensor 73 detects the brake operation amount BRA, which is the amount of operation of the brake pedal operated by the driver. The steering angle sensor 74 detects the steering angle SA, which is the angular position of the steering wheel operated by the driver.

[0018] The exterior camera 75 is located near the driver's seat of the vehicle 100. The exterior camera 75 captures an image of the area around the vehicle 100 that is in front of the vehicle 100, and detects the image as an exterior image PO.

[0019] The GNSS receiver 76 detects position coordinates PC, which are the coordinates of the point where the vehicle 100 is located, by communicating with a GNSS satellite (not shown). Note that "GNSS" is an abbreviation for Global Navigation Satellite System. In this embodiment, the steering angle sensor 74, the exterior camera 75, and the GNSS receiver 76 are examples of detection sensors that detect information related to the traveling direction of the vehicle 100.

[0020] The illuminance sensor 77 detects the illuminance IL that indicates the brightness of the location where the vehicle 100 is located. The changeover switch 78 is a switch that allows the driver of the vehicle 100 to turn the headlights 60 on and off.

[0021] 1, the vehicle 100 is equipped with a control device 90. The control device 90 acquires various pieces of information from an accelerator operation amount sensor 71, a vehicle speed sensor 72, a brake operation amount sensor 73, and a steering angle sensor 74. The control device 90 also acquires various pieces of information from an exterior camera 75, a GNSS receiver 76, an illuminance sensor 77, and a selector switch 78.

[0022] The control device 90 includes an execution device 91 and a storage device 92. An example of the execution device 91 is a CPU. The storage device 92 includes a read-only ROM, a readable / writable volatile RAM, and a readable / writable non-volatile storage. The storage device 92 stores various programs and various data in advance. Specifically, the storage device 92 stores a control program 92A in advance as one of the various programs. The storage device 92 also stores map data DM in advance as one of the various data. The map data DM includes information about roads. The execution device 91 executes the control program 92A stored in the storage device 92 to perform various processes described below. In other words, the execution device 91 executes the control program 92A stored in the storage device 92 to perform various processes related to a reverse-driving suppression method. In this embodiment, the control device 90 is an example of a reverse-driving suppression device. The control program 92A is an example of a reverse-driving suppression program.

[0023] The execution unit 91 of the control device 90 calculates a vehicle required driving force, which is a required value of driving force necessary for the vehicle 100 to travel, based on the accelerator operation amount ACC and the vehicle speed SP. The execution unit 91 then controls the powertrain system 10 by outputting a control signal to the powertrain system 10 in accordance with the vehicle required driving force. The execution unit 91 also controls the steering system 20 by outputting a control signal to the steering system 20 in accordance with the steering angle SA. The execution unit 91 also controls the brake system 30 by outputting a control signal to the brake system 30 in accordance with the brake operation amount BRA. The execution unit 91 also controls the speaker 40 by outputting a control signal to the speaker 40. The execution unit 91 controls the display 50 by outputting a control signal to the display 50. The execution unit 91 controls the headlights 60 by outputting a control signal to the headlights 60.

[0024] <Reverse driving prevention control> Next, with reference to Fig. 2, the reverse running suppression control executed by the control device 90 will be described. This reverse running suppression control is a control for suppressing reverse running of the vehicle 100. In this embodiment, the execution device 91 of the control device 90 starts the reverse running suppression control at each predetermined control cycle. Hereinafter, the direction in which the vehicle 100 should travel on the target road is referred to as the forward direction DA. Furthermore, the direction opposite to the forward direction DA is referred to as the reverse direction DB.

[0025] As shown in FIG. 2, when the execution unit 91 of the control device 90 starts reverse-running prevention control, it executes the process of step S11. In step S11, the execution unit 91 determines whether the vehicle 100 is traveling in the reverse direction DB on the road on which the vehicle 100 is located, i.e., whether the vehicle 100 is traveling in the wrong direction. For example, the execution unit 91 determines whether the vehicle 100 is traveling in the wrong direction as follows. First, the execution unit 91 identifies the reverse direction DB of the road on which the vehicle 100 is located at the start of the current reverse-running prevention control based on the position coordinate PC at the start of the current reverse-running prevention control and the map data DM. Next, the execution unit 91 acquires time-series data of the position coordinate PC from the start of the current reverse-running prevention control until a predetermined specified period ago. Then, the execution unit 91 determines that the vehicle 100 is traveling in the wrong direction if the position coordinate PC is moving in the wrong direction DB on the road. As a specific example, it is assumed that a vehicle 100A, which represents the vehicle 100 at a certain point in time, is traveling in the wrong direction, as indicated by the two-dot chain line in FIG. 3. In such a situation, the execution device 91 determines that the vehicle 100 is traveling in the wrong direction. An example of the specified period is several seconds. In this embodiment, the processing of step S11 is an example of a wrong-way driving determination process. As shown in FIG. 2, if the execution device 91 determines in step S11 that the vehicle 100 is traveling in the wrong direction (S11: YES), the execution device 91 proceeds to step S12.

[0026] In step S12, the executing device 91 determines whether the vehicle 100 is located on a predetermined specific road RI. Here, examples of the specific road RI include national expressways and expressways. For example, the executing device 91 determines whether the vehicle 100 is located on a specific road RI at the start of the current wrong-way running prevention control based on the position coordinates PC and map data DM at the start of the current wrong-way running prevention control. In the present embodiment, the processing of step S12 is an example of a position determination process. If the executing device 91 determines in step S12 that the vehicle 100 is located on a specific road RI (S12: YES), the executing device 91 proceeds to step S31. In other words, if the executing device 91 determines in step S11 that the vehicle 100 is traveling in the wrong direction and also determines in step S12 that the vehicle 100 is located on a specific road RI, the executing device 91 proceeds to step S31.

[0027] In step S31, the execution device 91 determines whether a predetermined specific sign SI is present around the vehicle 100. Here, the specific sign SI is predetermined as a sign indicating the direction in which the vehicle 100 should travel. As shown in FIGS. 3 and 4 , the specific sign SI includes, for example, a first sign SIA, a second sign SIB, a third sign SIC, and a fourth sign SID. As shown in FIG. 3 , the first sign SIA is an arrow indicating the forward direction DA for the target road. The second sign SIB is a sign bearing a message visible to the driver of the vehicle 100 when the vehicle 100 is traveling in the wrong direction. In other words, the second sign SIB is installed so that the portion bearing the message faces the forward direction DA. The message of the second sign SIB is something like "Wrong way!" As shown in FIG. 4 , the third sign SIC is a sign located at the exit of a one-way road and indicating that the vehicle 100 is prohibited from entering the road. The third sign SIC is located above the ground of the road by a certain distance via a support pole (not shown). The fourth sign SID is located at the exit of the one-way road and is a white line indicating that the vehicle 100 must stop at the exit of the road. The fourth sign SID is painted on the ground of the road.

[0028] In step S31, for example, the execution device 91 determines whether or not a specific sign SI is present around the vehicle 100 as follows. First, the execution device 91 acquires a vehicle exterior image PO at the start of the current reverse running prevention control. Then, the execution device 91 analyzes the acquired vehicle exterior image PO to determine whether or not a specific sign SI is present around the vehicle 100. In this embodiment, the processing of step S31 is an example of a sign determination process. As shown in FIG. 2, if the execution device 91 determines in step S31 that a specific sign SI is present around the vehicle 100 (S31: YES), the execution device 91 proceeds to step S51. In other words, if the execution device 91 determines in step S11 that the vehicle 100 is running in the wrong direction and determines in step S31 that a specific sign SI is present around the vehicle 100, the execution device 91 proceeds to step S51.

[0029] In step S51, the execution unit 91 executes a first illumination process. Specifically, the execution unit 91 controls the headlights 60 by outputting a control signal to the headlights 60 so that the specific sign SI is located within the illumination range of the light from the headlights 60. At this time, the execution unit 91 increases the luminous intensity of the light irradiated onto the area where the specific sign SI is present compared to the luminous intensity of the light irradiated onto the area where the specific sign SI is not present. Furthermore, in this embodiment, the execution unit 91 increases the absolute value of the difference between the luminous intensity of the light irradiated onto the area where the specific sign SI is present and the luminous intensity of the light irradiated onto the area where the specific sign SI is not present, as the illuminance IL decreases. In other words, when the illuminance IL is a first value, the execution unit 91 increases the absolute value of the difference between the luminous intensity of the light irradiated onto the area where the specific sign SI is present and the luminous intensity of the light irradiated onto the area where the specific sign SI is not present, compared to when the illuminance IL is a second value higher than the first value. Furthermore, the execution unit 91 blinks the light from the headlights 60 by outputting a control signal to the headlights 60. At this time, the execution device 91 shortens the blinking cycle of the light from the headlights 60 as the illuminance IL decreases. In other words, when the illuminance IL is a first value, the execution device 91 shortens the blinking cycle of the light from the headlights 60 compared to when the illuminance IL is a second value that is higher than the first value. By the processing of step S51, the specific sign SI is illuminated more brightly and intermittently than other objects. Note that the execution device 91 continues to make a positive determination in step S31 during the repeatedly executed reverse running prevention control, and continues the processing of step S51. After step S51, the execution device 91 ends the current reverse running prevention control.

[0030] On the other hand, if the execution device 91 determines in step S31 that no specific sign SI exists around the vehicle 100 (S31: NO), the execution device 91 proceeds to step S52.

[0031] In step S52, the execution device 91 executes the second illumination process. Specifically, the execution device 91 outputs a control signal to the headlights 60 to blink the light from the headlights 60. At this time, the execution device 91 shortens the blinking cycle of the light from the headlights 60 as the illuminance IL becomes lower. In other words, when the illuminance IL is a first value, the execution device 91 shortens the blinking cycle of the light from the headlights 60 compared to when the illuminance IL is a second value higher than the first value. By the process of step S52, the front of the vehicle 100 is intermittently illuminated. Note that, if the execution device 91 continues to make a negative determination in step S31 during the repeatedly executed reverse running prevention control, it continues the process of step S52. After step S52, the execution device 91 ends the current reverse running prevention control.

[0032] On the other hand, if the execution device 91 determines in step S11 that the vehicle 100 is not traveling in the wrong direction (S11: NO), the execution device 91 proceeds to step S16. Therefore, the execution device 91 changes the method of subsequent processing depending on the determination result of the wrong direction determination processing in step S11.

[0033] In step S16, the execution device 91 determines whether or not there is a possibility that the vehicle 100 will run in the wrong direction. For example, the execution device 91 determines whether or not there is a possibility that the vehicle 100 will run in the wrong direction as follows. First, the execution device 91 identifies the wrong direction DB of the road on which the vehicle 100 is located at the start of the current wrong-way running prevention control, based on the position coordinate PC and map data DM at the start of the current wrong-way running prevention control. Next, the execution device 91 identifies a change in the traveling direction of the vehicle 100 based on time-series data of the outside-vehicle image PO, the position coordinate PC, and the steering angle SA from the start of the current wrong-way running prevention control until a predetermined specified period ago. Then, the execution device 91 determines that there is a possibility that the vehicle 100 will run in the wrong direction if the traveling direction of the vehicle 100 has changed toward the wrong direction DB of the road. As a specific example, it is assumed that a vehicle 100B, which represents the vehicle 100 at a certain point in time, is about to run in the wrong direction, as indicated by the dashed dotted line in FIG. 3. In such a situation, the execution device 91 determines that there is a possibility that the vehicle 100 will run in the wrong direction. An example of the specified period is about several seconds. In this embodiment, the processing of step S16 is an example of a wrong-way running prediction processing. As shown in FIG. 2, if the execution device 91 determines in step S16 that there is a possibility that the vehicle 100 will run in the wrong direction (S16: YES), the execution device 91 proceeds to the processing of step S41.

[0034] Furthermore, in step S12 described above, if the execution device 91 determines that the vehicle 100 is not located on the specific road RI (S12: NO), the execution device 91 advances the process to step S41.

[0035] In step S41, the executing device 91 determines whether a predetermined specific sign SI is present around the vehicle 100. The processing of step S41 is the same as the processing of step S31 described above. In this embodiment, the processing of step S41 is an example of a sign determination processing. If the executing device 91 determines in step S41 that a specific sign SI is present around the vehicle 100 (S41: YES), the executing device 91 proceeds to step S53. Therefore, if the executing device 91 determines by the processing of step S16 that there is a possibility that the vehicle 100 is traveling in the wrong direction and also determines by the processing of step S41 that a specific sign SI is present around the vehicle 100, the executing device 91 proceeds to step S53.

[0036] In step S53, the execution unit 91 executes a third illumination process. Specifically, the execution unit 91 controls the headlights 60 by outputting a control signal to the headlights 60 so that the specific indicator SI is located within the illumination range of the light from the headlights 60. At this time, the execution unit 91 increases the luminous intensity of the light irradiated onto the area where the specific indicator SI is present compared to the luminous intensity of the light irradiated onto the area where the specific indicator SI is not present. In this embodiment, the execution unit 91 increases the absolute value of the difference between the luminous intensity of the light irradiated onto the area where the specific indicator SI is present and the luminous intensity of the light irradiated onto the area where the specific indicator SI is not present, as the illuminance IL decreases. In other words, when the illuminance IL is a first value, the execution unit 91 increases the absolute value of the difference between the luminous intensity of the light irradiated onto the area where the specific indicator SI is present and the luminous intensity of the light irradiated onto the area where the specific indicator SI is not present, compared to when the illuminance IL is a second value higher than the first value. By the process of step S53, the specific indicator SI is illuminated more brightly than other objects. If the execution device 91 continues to make a positive determination in step S41 during the repeatedly executed reverse running suppression control, the execution device 91 continues the processing of step S53. After step S53, the execution device 91 ends the current reverse running suppression control.

[0037] On the other hand, if the execution device 91 determines in step S16 that there is no possibility that the vehicle 100 will run in the wrong direction (S16: NO), the execution device 91 advances the process to step S54.

[0038] Furthermore, in the above-described step S41, if the execution device 91 determines that no specific sign SI exists around the vehicle 100 (S41: NO), the execution device 91 advances the processing to step S54.

[0039] In step S54, the execution device 91 executes a fourth illumination process. Specifically, the execution device 91 controls the headlights 60 in accordance with the operation state of the selector switch 78 by the driver of the vehicle 100 by outputting a control signal to the headlights 60. For example, when the selector switch 78 is turned on, the execution device 91 causes the headlights 60 to emit light. Furthermore, for example, when the selector switch 78 is turned off, the execution device 91 causes the headlights 60 not to emit light. In this embodiment, the first illumination process in step S51, the second illumination process in step S52, the third illumination process in step S53, and the fourth illumination process in step S54 are examples of illumination processes that change the way in which light emitted from the headlights 60 is controlled. After step S54, the execution device 91 ends the current reverse-running suppression control.

[0040] <Operation of this embodiment> As shown by the two-dot chain line in FIG. 3 , for example, assume that a vehicle 100A, representing the vehicle 100 at a certain point in time, is traveling in the opposite direction DB on a specific road RI, i.e., the vehicle 100A is traveling the wrong way. Furthermore, assume that a predetermined specific sign SI is present around the vehicle 100A. In this case, as shown in FIG. 2 , in the wrong-way running determination process of step S11 of the wrong-way running prevention control, the execution unit 91 of the control device 90 determines that the vehicle 100 is traveling the wrong way. Subsequently, in the position determination process of step S12, the execution unit 91 determines that the vehicle 100 is located on a predetermined specific road RI. Furthermore, in the sign determination process of step S31, the execution unit 91 determines that a predetermined specific sign SI is present around the vehicle 100. Then, in step S51, the execution unit 91 executes a first illumination process. Specifically, in the first illumination process of step S51, the execution unit 91 controls the headlights 60 so that the specific sign SI is located within the illumination range of light from the headlights 60. The execution device 91 also causes the light from the headlights 60 to blink.

[0041] In contrast to this, for example, suppose that the vehicle 100 is traveling in the forward direction DA on the specific road RI. When the vehicle 100 is not traveling in the wrong direction, the execution device 91 executes the fourth illumination process of step S54. Specifically, in the fourth illumination process of step S54, the execution device 91 controls the headlights 60 in accordance with the operation state of the selector switch 78 by the driver of the vehicle 100. For example, when the selector switch 78 is turned on, the execution device 91 causes the headlights 60 to emit light. Furthermore, for example, when the selector switch 78 is turned off, the execution device 91 does not cause the headlights 60 to emit light.

[0042] <Effects of this embodiment> (1) According to this embodiment, the manner in which the light emitted from the headlights 60 is controlled is changed depending on whether the vehicle 100 is traveling in the wrong direction or not. Therefore, the driver of the vehicle 100 can recognize that the vehicle 100 is traveling in the wrong direction by visually recognizing the difference in the control of the light emitted from the headlights 60. As a result, even in a situation in which noise is being generated as the vehicle 100 travels, for example, the driver of the vehicle 100 can recognize that the vehicle 100 is traveling in the wrong direction.

[0043] (2) As described above, if the execution device 91 determines in step S11 that the vehicle 100 is traveling in the wrong direction and determines in step S31 that a specific sign SI is present around the vehicle 100, the execution device 91 proceeds to step S51. Then, in the first illumination process of step S51, the execution device 91 controls the headlights 60 so that the specific sign SI is located within the illumination range of the light from the headlights 60. As a result, as shown by the two-dot chain line in FIG. 3 , in the vehicle 100 traveling in the wrong direction on the specific road RI, the light from the headlights 60 is illuminated onto the specific sign SI. Therefore, the driver of the vehicle 100 can easily visually recognize the specific sign SI, which indicates the direction in which the vehicle 100 should travel. As a result, the driver of the vehicle 100 can recognize that the vehicle 100 is traveling in the wrong direction by visually recognizing the specific sign SI.

[0044] (3) In the first illumination process of step S51, the execution device 91 increases the luminous intensity of the light illuminated onto the area where the specific sign SI is present compared to the luminous intensity of the light illuminated onto the area where the specific sign SI is not present. Therefore, compared to when the luminous intensity of the light illuminated onto the area where the specific sign SI is present and the luminous intensity of the light illuminated onto the area where the specific sign SI is not present are the same, the specific sign SI becomes more noticeable, making it easier for the driver of the vehicle 100 to see the specific sign SI.

[0045] (4) In the first illumination process of step S51, the executing device 91 increases the absolute value of the difference between the luminous intensity of the light illuminated onto the area where the specific sign SI is present and the luminous intensity of the light illuminated onto the area where the specific sign SI is not present, as the illuminance IL decreases. In other words, when the illuminance IL is a first value, the executing device 91 increases the absolute value of the difference between the luminous intensity of the light illuminated onto the area where the specific sign SI is present and the luminous intensity of the light illuminated onto the area where the specific sign SI is not present, compared to when the illuminance IL is a second value higher than the first value. Therefore, even if the location where the vehicle 100 is located is relatively dark, the larger absolute value of the difference in the luminous intensity of the light as described above increases the likelihood that the driver of the vehicle 100 can see the specific sign SI.

[0046] (5) As described above, the execution device 91 proceeds to step S51 on the condition that the execution device 91 has determined in the processing of step S11 that the vehicle 100 is traveling in the wrong direction. Then, in the first illumination processing of step S51, the execution device 91 blinks the light from the headlights 60. Therefore, the light of the headlights 60 blinks regardless of the operation of the selector switch 78 by the driver of the vehicle 100. In other words, the headlights 60 flash regardless of the operation of the selector switch 78 by the driver of the vehicle 100. If the light of the headlights 60 blinks in this way regardless of the driver's intention, the driver of the vehicle 100 can recognize that an abnormal situation is occurring in the vehicle 100 by visually recognizing the blinking light of the headlights 60. In other words, the driver of the vehicle 100 can recognize that the vehicle 100 is traveling in the wrong direction by visually recognizing the blinking light of the headlights 60.

[0047] Furthermore, for example, a driver of another vehicle located around the vehicle 100 can see the vehicle 100 traveling in the wrong direction by visually checking the blinking of the headlights 60 of the vehicle 100. This allows the driver of the other vehicle to recognize the presence of the vehicle 100 traveling in the wrong direction.

[0048] In the second illumination process of step S52, the execution unit 91 also blinks the light from the headlights 60. Therefore, in the second illumination process of step S52, the same effect as above can be obtained.

[0049] (6) If the headlights 60 of the vehicle 100 are flashing when the vehicle 100 is located on a road other than the specified road RI, such as a general road, pedestrians and others located near the general road may feel annoyed.

[0050] In this regard, if the execution device 91 determines in the processing of step S11 that the vehicle 100 is traveling the wrong way and determines in the processing of step S12 that the vehicle 100 is located on a specific road RI, the execution device 91 proceeds to the processing of step S31 and subsequent steps. In other words, if the execution device 91 determines in the processing of step S11 that the vehicle 100 is traveling the wrong way and determines in the processing of step S12 that the vehicle 100 is located on a specific road RI, the execution device 91 causes the light from the headlights 60 to flash. Therefore, the fact that the vehicle 100 is located on a specific road RI, such as a national expressway, is a necessary condition for the flashing of the light from the headlights 60. This makes it possible to prevent pedestrians and the like from feeling annoyed by the flashing light of the headlights 60.

[0051] (7) In the first illumination process of step S51, the execution device 91 shortens the blinking cycle of the light from the headlights 60 as the illuminance IL decreases. In other words, when the illuminance IL is a first value, the execution device 91 shortens the blinking cycle of the light from the headlights 60 compared to when the illuminance IL is a second value that is higher than the first value. Therefore, even if the location where the vehicle 100 is located is relatively dark and the driver of the vehicle 100 has difficulty in seeing the surroundings, for example, the driver can more reliably recognize that the vehicle 100 is traveling the wrong way because the blinking cycle of the light of the headlights 60 becomes shorter.

[0052] Furthermore, even if the location where vehicle 100 is located is relatively dark and drivers of other vehicles located around vehicle 100 have difficulty seeing their surroundings, the drivers of the other vehicles can easily find vehicle 100 because the blinking cycle of headlights 60 becomes shorter. This allows drivers of other vehicles to more reliably recognize the presence of vehicle 100 traveling the wrong way.

[0053] (8) As shown by the dashed-dotted line in FIG. 3, assume that vehicle 100B, which represents vehicle 100 at a certain point in time, is about to travel the wrong way. In this case, as shown in FIG. 2, if the execution device 91 determines in step S16 that there is a possibility that vehicle 100 will travel the wrong way and determines in step S41 that a specific sign SI is present around vehicle 100, the execution device 91 proceeds to step S53. Then, in the third illumination process of step S53, the execution device 91 controls the headlights 60 so that the specific sign SI is located within the illumination range of light from the headlights 60. As a result, as shown by the dashed-dotted line in FIG. 3, in vehicle 100 that is about to travel the wrong way on a specific road RI, light from the headlights 60 is illuminated onto the specific sign SI. Therefore, the driver of vehicle 100 can easily see the specific sign SI, which indicates the direction in which vehicle 100 should travel. As a result, the driver of the vehicle 100 can visually recognize the specific sign SI and understand that the vehicle 100 is about to run in the wrong direction before the vehicle 100 actually runs in the wrong direction.

[0054] 4, even when the vehicle 100 is traveling the wrong way on a road other than the specific road RI, for example, a so-called general road, the light from the headlights 60 is irradiated onto the specific sign SI. Therefore, the same effect as above can be obtained even when the vehicle 100 is about to travel the wrong way on a general road.

[0055] <Example of change> This embodiment can be modified as follows: This embodiment and the following modifications can be combined and implemented within the scope of technical compatibility.

[0056] In the above embodiment, the reverse running suppression control may be modified. For example, the method of determination in the wrong-way driving determination process of step S11 may be changed. As a specific example, the execution device 91 may determine whether the vehicle 100 is driving in the wrong direction based on the outside-of-vehicle image PO.

[0057] For example, the execution device 91 may blink the light from the headlights 60 in the illumination process, regardless of the determination result of the position determination process in step S12. As a specific example, if the execution device 91 determines in step S11 that the vehicle 100 is traveling in the wrong direction (S11: YES), the execution device 91 may proceed to step S31. In other words, the position determination process may be omitted.

[0058] For example, the processing content related to the specific indicator SI in the first irradiation process of step S51 may be changed. Specifically, when the illuminance IL is less than a predetermined specified illuminance, the executing unit 91 may increase the absolute value of the difference between the luminance intensity of the light irradiated onto the area where the specific indicator SI is present and the luminance intensity of the light irradiated onto the area where the specific indicator SI is not present, compared to when the illuminance IL is equal to or greater than the specified illuminance. Also, specifically, the executing unit 91 may set the absolute value of the difference between the luminance intensity of the light irradiated onto the area where the specific indicator SI is present and the luminance intensity of the light irradiated onto the area where the specific indicator SI is not present to a constant value, regardless of the illuminance IL. Specifically, the executing unit 91 may set the luminance intensity of the light irradiated onto the area where the specific indicator SI is present to the same as the luminance intensity of the light irradiated onto the area where the specific indicator SI is not present. Also, specifically, the executing unit 91 may set the luminance intensity of the light irradiated onto the area where the specific indicator SI is present to be lower than the luminance intensity of the light irradiated onto the area where the specific indicator SI is not present. As a specific example, the execution device 91 does not have to control the headlights 60 so that the specific sign SI is located within the illumination range of the light from the headlights 60. In other words, the content of the illumination process may be changed as long as it is possible to change the way of controlling the light illuminated from the headlights 60 when the reverse-driving determination process determines that the vehicle 100 is traveling in the wrong direction and when the reverse-driving determination process determines that the vehicle 100 is not traveling in the wrong direction. Note that the above-mentioned changes may also be applied to the third illumination process in step S53.

[0059] For example, the processing content related to the blinking of the light in the first illumination processing of step S51 may be changed. Specifically, the execution device 91 may shorten the blinking cycle of the light from the headlights 60 when the illuminance IL is less than a predetermined specified illuminance compared to when the illuminance IL is equal to or greater than the specified illuminance. Also, specifically, the execution device 91 may set the blinking cycle of the light from the headlights 60 to a constant cycle regardless of the illuminance IL. Specifically, the execution device 91 does not need to control the headlights 60 to blink the light from the headlights 60. In other words, the content of the illumination processing may be changed as long as it is possible to change the way of controlling the light emitted from the headlights 60 between when the reverse-driving determination processing determines that the vehicle 100 is traveling in the wrong direction and when the reverse-driving determination processing determines that the vehicle 100 is not traveling in the wrong direction. The above-described changes may also be applied to the second illumination processing of step S52.

[0060] For example, the third illumination process of step S53 may be changed. As a specific example, the execution device 91 may control the headlights 60 to blink the light from the headlights 60 by outputting a control signal to the headlights 60. In this case, similar to the first illumination process of step S51 described above, the details of the process related to the blinking of the light may be changed. In other words, the details of the illumination process may be changed as long as it is possible to change the way of controlling the light emitted from the headlights 60 between when it is determined by the reverse-driving determination process that the vehicle 100 is traveling in the wrong direction and when it is determined by the reverse-driving determination process that the vehicle 100 is not traveling in the wrong direction.

[0061] For example, in step S51, the execution device 91 may execute another process in addition to the first irradiation process. As a specific example, the execution device 91 may output a control signal to the speaker 40 to output a sound from the speaker 40 to make the driver of the vehicle 100 aware that the first irradiation process is being executed. As another specific example, the execution device 91 may output a control signal to the display 50 to display information on the display 50 to make the driver of the vehicle 100 aware that the first irradiation process is being executed. Similarly, in step S52, the execution device 91 may execute another process such as the one described above in addition to the second irradiation process. Furthermore, in step S53, the execution device 91 may execute another process such as the one described above in addition to the third irradiation process. Furthermore, in step S54, the execution device 91 may execute another process such as the one described above in addition to the fourth irradiation process.

[0062] For example, the method of determination in the wrong-way driving prediction process in step S16 may be changed. As a specific example, the execution device 91 may determine whether or not there is a possibility that the vehicle 100 will drive in the wrong direction based on the outside-of-vehicle image PO.

[0063] For example, the wrong-way driving prediction process may be omitted. As a specific example, if the execution device 91 determines in step S11 that the vehicle 100 is not driving in the wrong direction (S11: NO), the execution device 91 may proceed to step S54.

[0064] In the above embodiment, the configuration of the vehicle 100 may be changed. For example, the vehicle 100 may include other sensors as detection sensors in addition to or instead of the steering angle sensor 74, the exterior camera 75, and the GNSS receiver 76. As a specific example, the vehicle 100 may include a LIDAR as a detection sensor. Note that "LIDAR" is an abbreviation for Laser Imaging Detection and Ranging.

[0065] For example, the vehicle 100 may not include the speaker 40. Also, for example, the vehicle 100 may not include the display 50. In other words, from the viewpoint of the execution device 91 executing the irradiation process, one or more of the speaker 40 and the display 50 may be omitted.

[0066] For example, the configuration of the control device 90 may be changed. Specifically, the control device 90 may be configured as a circuit including one or more processors that execute various processes according to a computer program (software). The control device 90 may also be configured as a circuit including one or more dedicated hardware circuits, such as an application-specific integrated circuit (ASIC), that execute at least some of the various processes, or a combination thereof. The processor includes a CPU and memory such as RAM and ROM. The memory stores program code or instructions configured to cause the CPU to execute processes. The memory, i.e., computer-readable medium, includes any medium accessible by a general-purpose or dedicated computer. [Explanation of symbols]

[0067] RI...Specific road SI...Specific sign SIA...First sign SIB...Second sign SIC...Third sign SID...Fourth sign 10...Powertrain system 20...Steering system 30...Brake system 40...Speaker 50...Display 60...Headlight 71...Accelerator operation amount sensor 72...Vehicle speed sensor 73...Brake operation amount sensor 74...Steering angle sensor 75...Exterior camera 76...GNSS receiver 77...Illuminance sensor 78...Selector switch 90...Control device 91...Execution device 92...Storage device 92A...Control program DM...Map data 100...Vehicle

Claims

1. The present invention is applied to a vehicle (100) equipped with detection sensors (74, 75, 76) for detecting information regarding the direction of travel and headlights (60), a wrong-way driving determination process (S11) for determining whether the vehicle is driving in the wrong direction based on information from the detection sensor; an illumination process (S51 to S54) for changing a method of controlling light emitted from the headlights when it is determined by the reverse-running determination process that the vehicle is traveling in the wrong direction and when it is determined by the reverse-running determination process that the vehicle is not traveling in the wrong direction; Run Reverse driving prevention device.

2. The headlight is capable of changing the light irradiation range, The detection sensor includes a camera (75) that captures an image of an area in front of the vehicle, executes a sign determination process (S31, S41) for determining whether or not a specific sign, which is predetermined as a sign indicating the direction in which the vehicle should travel, is present around the vehicle based on information from the camera; When the wrong-way driving determination process determines that the vehicle is driving in the wrong direction and the sign determination process determines that the specific sign is present around the vehicle, the headlights are controlled in the illumination process so that the specific sign is located within an illumination range of light from the headlights. The reverse running prevention device according to claim 1.

3. In the irradiation process, the luminous intensity of the light irradiated onto the area where the specific mark is present is made higher than the luminous intensity of the light irradiated onto the area where the specific mark is not present. The reverse running prevention device according to claim 2.

4. When the illuminance indicating the brightness of the location where the vehicle is located is a first value, the absolute value of the difference between the luminance of the light irradiated onto the area where the specific sign is present and the luminance of the light irradiated onto the area where the specific sign is not present is made larger in the irradiation process than when the illuminance is a second value higher than the first value. The reverse running prevention device according to claim 3.

5. When it is determined that the vehicle is traveling in the wrong direction by the wrong-way driving determination process, the light from the headlight is blinked in the illumination process. The reverse running prevention device according to claim 1 or 2.

6. Execute a position determination process (S12) to determine whether the vehicle is located on a predetermined specific road; When the wrong-way driving determination process determines that the vehicle is driving in the wrong direction and the position determination process determines that the vehicle is located on the specific road, the light from the headlight is blinked in the illumination process. The reverse running prevention device according to claim 5.

7. When the illuminance indicating the brightness of the location where the vehicle is located is a first value, the cycle of blinking of the light from the headlight is made shorter in the illumination process than when the illuminance is a second value higher than the first value. The reverse running prevention device according to claim 5.

8. Execute a wrong-way running prediction process (S16) to determine whether or not there is a possibility that the vehicle will run in the wrong direction based on information from the detection sensor; When it is determined by the wrong-way driving prediction process that there is a possibility that the vehicle will drive in the wrong direction and when it is determined by the sign determination process that the specific sign is present around the vehicle, the headlights are controlled in the illumination process so that the specific sign is located within an illumination range of light from the headlights. The reverse running suppression device according to any one of claims 2 to 4.

9. It is applied to a reverse running prevention device for a vehicle equipped with a detection sensor and headlights that detect information regarding the direction of travel, The reverse running prevention device, a wrong-way driving determination process for determining whether the vehicle is driving in the wrong direction based on information from the detection sensor; an illumination process that changes a manner of controlling light emitted from the headlights when it is determined by the reverse-running determination process that the vehicle is traveling in the wrong direction and when it is determined by the reverse-running determination process that the vehicle is not traveling in the wrong direction; Run Wrong-way driving prevention program.

10. A reverse running prevention device for a vehicle equipped with a detection sensor and headlights that detect information regarding the direction of travel, a wrong-way driving determination process for determining whether the vehicle is driving in the wrong direction based on information from the detection sensor; an illumination process that changes a manner of controlling light emitted from the headlights when it is determined by the reverse-driving determination process that the vehicle is traveling in the wrong direction and when it is determined by the reverse-driving determination process that the vehicle is not traveling in the wrong direction; Run Reverse running prevention method.

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