Getting-off support device and program

Abstract

To reduce troublesomeness to issue a report to a crewman by adjusting an output state of report contents when terminating a getting-off support based on the state of the crewman existing in a vehicle.SOLUTION: A getting-off support device 10 includes a control section 11 for performing getting-off support control to protect a crewman by warning when a mobile body T approaching a vehicle 1 exists and also a door 4 is opened when the crewman gets-off the vehicle. The control section is configured to: determine whether the crewman exists inside the vehicle when the getting-off support control is terminated; perform output control to output a report contents to report that the getting-off support control is to be terminated when existence of the crewman is determined; and not to perform the output control when absence of the crewman is determined.SELECTED DRAWING: Figure 3

Description

[Technical Field]

[0001] The present invention relates to a vehicle exit assistance device and a program for protecting an occupant when the occupant exits a vehicle. [Background technology]

[0002] There is known a vehicle dismounting support device that outputs a predetermined notification content from a notification unit if a moving object is approaching the vehicle when an occupant dismounts from the vehicle. Patent Document 1 describes a vehicle dismounting support device that includes an exterior sensor that detects the state outside the vehicle, an interior sensor that detects the state inside the vehicle, and a door sensor that detects whether the doors are open or closed, and a control unit that outputs the notification content if a moving object is present based on the detection values ​​of each sensor, and ends the output of the notification content if the moving object is no longer present.

[0003] According to this disembarkation assistance device, when the number of times the notification content is issued after the door is last opened is equal to or exceeds a reference number, the output of the notification content is limited, thereby reducing the annoyance of the alarm given to the occupants. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] Japanese Patent Publication No. 2023-096767 Summary of the Invention [Problem to be solved by the invention]

[0005] According to the technology described in Patent Document 1, a method for outputting a notification informing the driver of the end of dismount assistance in accordance with the presence of an occupant in the vehicle when dismount assistance is to be ended has not yet been proposed.

[0006] The present invention aims to provide a vehicle dismounting assistance device and program that can adjust the output of notification content when dismounting assistance is terminated based on the presence or absence of an occupant in the vehicle. [Means for solving the problem]

[0007] One aspect of the present invention is A vehicle dismounting support device comprising: a control unit that executes dismounting support control to protect the occupant by issuing a warning when a moving object is approaching the vehicle and a door is in an open state when the occupant dismounts from the vehicle, wherein the control unit determines whether the occupant is present in the vehicle when terminating the dismounting support control, and if it determines that the occupant is present, executes output control to output to an output unit notification content notifying that the dismounting support control will be terminated, and if it determines that the occupant is not present, does not execute the output control. [Effects of the Invention]

[0008] According to the present invention, the output of the notification content when disembarkation assistance is terminated can be adjusted based on the presence or absence of an occupant in the vehicle, thereby reducing the annoyance of the notification to the occupant. [Brief explanation of the drawings]

[0009] [Figure 1] 1 is a block diagram showing a configuration of a vehicle dismounting support device according to an embodiment. [Figure 2] FIG. 2 is a plan view showing a state in which a moving object is approaching the vehicle 1. [Figure 3] 3 is a flowchart showing a process flow of a vehicle dismounting support method executed by the vehicle dismounting support device. DETAILED DESCRIPTION OF THE INVENTION

[0010] 1, vehicle 1 is equipped with a dismounting support device 10 that performs dismounting support control to protect occupants by restricting the opening and closing operation of doors 4 when the occupants dismount. Dismounting support device 10 controls doors 4 provided on vehicle 1 based on detection values ​​from a detection unit 2 that detects the environment around vehicle 1. For example, when there is a moving object approaching vehicle 1, dismounting support device 10 is configured to restrict the opening and closing operation of doors 4 to protect occupants, and to output a predetermined notification from output unit 3 to alert the occupants.

[0011] The vehicle 1 may be a manually driven vehicle or an automatically driven vehicle. The vehicle 1 may be an internal combustion engine vehicle or an electric vehicle. The vehicle 1 may be a hybrid vehicle having an internal combustion engine and an electric motor.

[0012] The door 4 is provided so as to be freely opened and closed to allow occupants to get in and out of the vehicle 1. At least one door 4 is provided in the vehicle 1. When the door 4 is locked by the door lock 4C, it is in a locked state. When the door 4 is unlocked by the door lock 4C, it is in an unlocked state. The door lock 4C is switched between a locked state and an unlocked state based on the operation of the occupant.

[0013] When the door 4 starts to open in an unlocked state, the door latch is released. The door latch is maintained in a latched state by, for example, a latch drive unit 4B. The latch drive unit 4B is an actuator that operates based on the operation of an occupant. The door latch may be configured to automatically release (unlatched state) based on the operation of an occupant. The door latch may be configured to automatically fasten (latched state) based on the operation of an occupant. The door latch may be configured to automatically change from a semi-latched state to a latched state based on the operation of an occupant.

[0014] The door 4 may be configured so that its opening and closing operation is automatically controlled. For example, the door 4 is configured as a power sliding door (PSD) that slides horizontally in the vehicle to open and close automatically. The power sliding door is driven by a door drive unit 4A, and its opening and closing operation is controlled by the disembarkation support device 10. For example, the power sliding door automatically slides in the opening direction after the door latch is released.

[0015] The power sliding door stops at the stop position of the opening operation and is maintained in the open state. For example, the power sliding door is automatically closed from the open state based on the operation of the occupant. When the power sliding door is in the stop position of the closing operation, the door latch automatically locks, completing the closing operation. The door 4 may be configured to automate or semi-automate normal opening and closing operations, in addition to being a power sliding door.

[0016] The detection unit 2 is linked to the operation of the door 4 and outputs detection values ​​required for disembarkation support control to the disembarkation support device 10. The detection unit 2 is configured to detect, for example, detection values ​​related to the outside of the vehicle and detection values ​​related to passengers getting in and out. The detection unit 2 is provided with, for example, an exterior camera 2A that captures images of the environment around the vehicle 1. The exterior camera 2A is installed at a position and angle that allows it to capture images of moving objects approaching the door 4 within its imaging range.

[0017] The exterior camera 2A may be used in a drive recorder, or may be used for other driving assistance control such as automatic braking that is different from the dismounting assistance control. One or more exterior cameras 2A may be provided depending on the number of doors 4. The exterior camera 2A outputs vehicle exterior image data to the dismounting assistance device 10.

[0018] The detection unit 2 is equipped with a LIDAR device 2B and a radar device 2C that detect objects around the vehicle 1. The environment around the vehicle 1 may be detected not only by the exterior camera 2A, but also by the LIDAR device 2B and the radar device 2C. The LIDAR device 2B scans a scanning range with laser light and receives reflected light to obtain three-dimensional data of the environment around the vehicle 1. The LIDAR device 2B outputs the detection value to the dismounting support device 10. The radar device 2C detects objects around the vehicle 1 by emitting radar waves and receiving reflected waves. The radar device 2C outputs the detection value to the dismounting support device 10.

[0019] The detection unit 2 includes a vehicle sensor 2D that detects detection values ​​related to passengers getting in and out of the vehicle. The vehicle sensor 2D includes, for example, an in-vehicle camera 2E that captures images of the interior of the vehicle. The in-vehicle camera 2E is installed in an imaging range within the vehicle at a position that captures images of each seat provided in the vehicle 1. The in-vehicle camera 2E captures images of passengers seated in each seat. The in-vehicle camera 2E outputs the in-vehicle imaging data to the disembarkation support device 10.

[0020] The vehicle sensor 2D includes a door sensor 2F that detects the open / closed state of the door 4. The door sensor 2F detects, for example, an unlatched state of the door 4. The door sensor 2F may detect the opening degree of the door 4. For example, the door sensor 2F monitors the driving state of the latch drive unit 4B and detects the open state and closed state of the latch drive unit 4B. The door sensor 2F monitors, for example, the driving state of the door drive unit 4A and detects the opening degree of the door 4. For example, the opening degree of the door 4 is 0% in the closed state and 100% in the completely open state. The door sensor 2F outputs the detection value to the disembarkation support device 10.

[0021] The vehicle sensor 2D includes a door lock switch 2G that selects between a locked state and an unlocked state of the door 4. The door lock switch 2G is, for example, a switch that accepts an operation to operate a door lock 4C that drives the lock of the door 4. The door lock switch 2G accepts a lock operation to place the door lock 4C in a locked state. The door lock switch 2G accepts an unlock operation to place the door lock 4C in an unlocked state. The door lock switch 2G outputs an operation state including the lock operation and the unlock operation to the door 4 and the vehicle exit support device 10.

[0022] The vehicle sensor 2D includes a door switch 2H that controls the opening and closing of the door 4. The door switch 2H is a switch that receives, for example, an operation to start the opening operation of the door 4, an operation to start the closing operation of the door 4, and an operation to stop the opening and closing operation of the door 4. The door switch 2H includes an interior switch provided on the interior side of the vehicle and an exterior switch provided on the exterior side of the vehicle. The exterior switch is, for example, a door handle.

[0023] The door switch 2H is linked to, for example, the door drive unit 4A and the latch drive unit 4B. When the door 4 is in a closed state, an occupant unlocks the door and operates the door switch 2H to drive the latch drive unit 4B and the door drive unit 4A and start the opening operation of the door 4. The door switch 2H is configured to accept, for example, an open operation, a close operation, and a stop operation. When the open operation is selected, the door switch 2H opens the door 4.

[0024] The door lock switch 2G and the door switch 2H may be configured to operate based on a predetermined gesture by the occupant made to the in-vehicle camera 2E or a motion sensor (not shown) provided in the vehicle 1. The door lock switch 2G and the door switch 2H may be configured to operate based on voice recognition by the occupant. The door lock switch 2G and the door switch 2H may be configured to operate based on the operation of a remotely operable smart key.

[0025] The smart key may be implemented by an application program installed on an information processing terminal device such as a smartphone carried by the occupant. The door lock switch 2G and the door switch 2H may be configured to be operated by a occupant carrying the smart key touching a predetermined position on the door 4.

[0026] If the door switch 2H is not operated to stop the door 4 while it is in the opening operation to the stop position, it moves to the stop position and stops at the stop position. If the door switch 2H is operated to stop the door 4 while it is in the opening operation, it stops. If the door switch 2H is operated to stop the door 4 while the door 4 is in the open position and a closing operation is selected, the door switch 2H closes the door 4. If the door switch 2H is not operated to stop the door 4 while it is in the closing operation to the closed position, it moves to the closed position and stops at the closed position. If the door 4 is in the closing operation, it stops based on the stop operation of the door switch 2H. The door switch 2H outputs the operation status to the dismounting support device 10.

[0027] The vehicle sensor 2D includes a vehicle switch 2I that switches the travelable state of the vehicle 1. For example, if the vehicle 1 is an internal combustion engine vehicle, the vehicle switch 2I is a starter switch (ignition switch: IG switch) that starts or stops the engine. If the vehicle 1 is an electric vehicle, the vehicle switch 2I is a switch that starts or stops the power supply device.

[0028] When the vehicle switch 2I is operated to the on state, it puts the vehicle 1 into a state where it can travel. When the vehicle switch 2I is operated to the off state while the vehicle 1 is in the on state, it puts the vehicle 1 into a state where it cannot travel. The vehicle switch 2I outputs the operation state to the dismounting support device 10.

[0029] The vehicle sensor 2D includes a seating sensor 2J that detects the seating state of an occupant. For example, when an occupant is seated in a seat provided in the vehicle 1, the seating sensor 2J outputs a detection value of the seating state. When an occupant is not seated, the seating sensor 2J outputs a detection value of the non-seated state. The seating sensor 2J outputs an operation state to the dismounting support device 10.

[0030] The vehicle sensor 2D is equipped with a buckle switch 2K that detects the fastening state of the seat belt buckle. The buckle switch 2K detects whether the seat belt buckle is fastened to the receiving part or whether the seat belt buckle is detached from the receiving part. The buckle switch 2K outputs the operation state to the dismounting support device 10.

[0031] The vehicle 1 includes an output unit 3 that operates in conjunction with the dismounting support device 10. The output unit 3 is controlled by the dismounting support device 10 and outputs notification content related to dismounting support control. The output unit 3 includes, for example, a speaker 3A that outputs the notification content linked to the dismounting support device 10 by voice. The speaker 3A may be configured to output the voice of an audio device, a radio device, or a navigation device. The notification content includes, for example, a warning notifying of the approach of a moving object outside the vehicle and a notification of the end of dismounting support control.

[0032] The output unit 3 includes a display unit 3B that outputs notification content linked to the dismounting support device 10 as a display image. The display unit 3B may be configured to output display images related to an audio device, a radio device, a navigation device, or a meter device. The display image includes, for example, a warning notifying the driver of an approaching moving object outside the vehicle, or a notification that dismounting support control has ended. The display unit 3B may be an indicator provided on a door mirror or a meter device. The indicator may be configured to display a warning notifying the driver of an approaching moving object outside the vehicle.

[0033] The display unit 3B may be configured, for example, as a touch panel that accepts touch operations by the occupant. In this case, the display unit 3B may also be configured as an input unit that accepts operations by the occupant. The display unit 3B may be configured to display a display image that accepts an operation to open or close the door 4, and to accept the operation to open or close the door 4 by the occupant. When accepting an operation to open or close the door 4, the display unit 3B may display an image captured by the exterior camera 2A.

[0034] The dismounting assistance device 10 includes a control unit 11 that controls the opening and closing of the door 4 and executes dismounting assistance control for protecting occupants, and a storage unit 12 that stores data. The control unit 11 is configured with at least one hardware processor such as a CPU (Central Processing Unit). The control unit 11 may be configured such that one or more processors, such as a processor for opening control of the door 4 and a processor for dismounting assistance control, work together. The control unit 11 may also be configured as an integrated unit in a single processor.

[0035] The storage unit 12 is configured by a non-transitory storage medium such as a hard disk drive (HDD), a solid state disk (SSD), etc. The storage unit 12 stores computer programs and data necessary for dismount assistance control.

[0036] The control unit 11 recognizes the start of opening of the door 4 based on the detection value of the vehicle sensor 2D. The control unit 11 changes the door lock 4C from a locked state to an unlocked state based on the occupant's operation to release the door lock switch 2G. The control unit 11 changes the latch drive unit 4B from a latched state to an unlatched state based on the occupant's operation to open the door switch 2H. The opening operation of the door switch 2H may be recognized by recognizing a predetermined operation by the occupant or by recognizing the occupant's contact with the door handle.

[0037] After the latch driver 4B is set to the unlatched state, the control unit 11 controls the door driver 4A to move the door 4 in the movement direction, thereby increasing the opening degree of the door 4. The control unit 11 may control the door driver 4A to automatically move the door 4 in the movement direction. The control unit 11 may be configured to control the door driver 4A to power assist the occupant's operation in the movement direction of the door 4. When the door 4 reaches the stop position, the control unit 11 stops the door driver 4A and stops the door 4 at the stop position.

[0038] When a stopping operation is performed while the door 4 is reaching the stop position, the control unit 11 stops the door drive unit 4A and stops the door 4. When a closing operation is performed while the door 4 is stopped at the stop position, the control unit 11 controls the door drive unit 4A to move the door 4 to the closed position. When the door 4 reaches the closed position, the control unit 11 controls the latch drive unit 4B to put it in a latched state, and puts the door 4 in a closed state. The control unit 11 executes dismounting assistance control to protect the occupants when the door 4 is opened or closed. For example, when there is a moving object approaching the vehicle 1 and the door 4 is in an open state, the control unit 11 executes dismounting assistance control to protect the occupants by issuing a warning.

[0039] The control unit 11 executes control to open the door 4 and also executes dismount support control. The control unit 11 determines whether or not opening of the door 4 will start when the vehicle 1 is stopped. When the control unit 11 acquires a detection value indicating the open state of the door sensor 2F, it determines that opening of the door 4 will start, and starts dismount support control.

[0040] When the control unit 11 acquires a detection value indicating the unlocked state of the door lock switch 2G, it determines that the opening of the door 4 will start, and starts dismount support control. When the control unit 11 acquires a detection value indicating that the opening operation of the door switch 2H will start based on the operation of the occupant, it determines that the opening of the door 4 will start, and starts dismount support control. When the control unit 11 acquires a detection value indicating that the opening operation of the door switch 2H will start, it determines that the opening of the door 4 will start, and starts dismount support control.

[0041] The control unit 11 starts dismounting assistance control based on the detection value of the vehicle sensor 2D when the door 4 starts to open. The control unit 11 determines whether or not there is a moving object approaching the vehicle 1 based on the detection value obtained by detecting the environment around the vehicle 1 when the occupant dismounts.

[0042] 2, the vehicle 1 is performing an operation to open the door 4. In this state, the exterior camera 2A captures an image of the environment around the vehicle 1. A plurality of exterior cameras 2A may be provided so that the environment around the vehicle 1 can be captured within an imaging range. The exterior camera 2A may be a panoramic camera capable of capturing an image of the environment around the vehicle 1.

[0043] The control unit 11 analyzes the image data captured by the exterior camera 2A and determines whether or not there is a moving object T approaching the vehicle 1. The moving object T includes, for example, other four-wheeled vehicles, motorcycles, bicycles, and other traffic participants. The control unit 11 is configured to recognize the environment around the vehicle 1 and to recognize moving objects approaching the vehicle 1, for example, by performing machine learning such as deep learning using captured images in advance as training data.

[0044] The control unit 11 compares multiple pieces of imaging data obtained by capturing images of the same direction in a chronological order, and extracts a moving object T from the imaging data. Among the moving objects T, the control unit 11 extracts a moving object T that may approach a passenger getting off through the door 4. The control unit 11 calculates the future position of the moving object T based on the relative distance between the position of the vehicle 1 and the moving object T, the relative movement direction of the moving object T, and the relative speed of the moving object T, and extracts the moving object T that will approach the vehicle 1. If the control unit 11 determines that there is a moving object approaching the vehicle 1 among the extracted moving objects T, it executes disembarkation assistance control.

[0045] The control unit 11 may recognize an approaching moving object T based on the detection values ​​of the LIDAR device 2B and the radar device 2C. The control unit 11 may improve the recognition accuracy of the moving object T by performing a fusion process that combines the determination result of the moving object T based on the imaging data and the determination result of the moving object T based on the detection values ​​of the LIDAR device 2B and the radar device 2C.

[0046] For example, when the automatic opening operation of the door 4 is being performed, the control unit 11 controls the door drive unit 4A to stop the opening operation of the door 4. The control unit 11 stops the opening operation of the door 4 and outputs predetermined notification content to warn the occupants from the output unit 3. For example, the control unit 11 outputs notification content based on voice that warns of the approach of the moving object T or notification content based on an alarm sound from the speaker 3A. The control unit 11 may increase the volume of the notification content or the alarm sound as the relative distance between the vehicle 1 and the moving object T decreases.

[0047] The control unit 11 outputs the notification content from the speaker 3A and outputs a display image to the display unit 3B to warn of the approaching moving object T. The control unit 11 may output a display image to warn of the approaching moving object T, such as by displaying an image captured by the outside camera 2A on the display unit 3B and highlighting the approaching moving object T. The control unit 11 may output a flashing display of an image such as a color or text to warn of the approaching moving object T on the display unit 3B. The control unit 11 may output a display to warn of the approaching moving object T on the display unit 3B (indicator) provided on the door mirror.

[0048] If the control unit 11 recognizes a moving object approaching the vehicle 1 before determining that the door 4 has started to open, it may start disembarkation assistance control, stop accepting the occupant's operation to open the door 4, and prevent the door 4 from opening.

[0049] The control unit 11 resumes the opening operation of the door 4 when the danger of the moving object T to the occupant becomes equal to or less than a standard. For example, when the recognized moving object T moves away from the vehicle 1 and the relative distance between the moving object T and the vehicle 1 becomes equal to or greater than a predetermined value, the control unit 11 resumes the opening operation of the door 4 and opens the door 4. When the danger of the moving object T to the occupant becomes equal to or less than a standard, the control unit 11 may accept the occupant's operation to open the door 4. After the occupant gets out of the vehicle, when the control unit 11 detects a closing operation of the door 4, it closes the door 4 and sets the door 4 to a closed state.

[0050] The control unit 11 determines whether a cause for stopping the functions of the vehicle 1 is established based on a detection value at which the functions of the vehicle 1 are stopped when the door 4 is closed. For example, the control unit 11 determines that a cause for stopping the functions of the vehicle 1 is established when the vehicle switch 2I is turned off and a predetermined time (e.g., three minutes) has elapsed. Even if the predetermined time has not elapsed since the vehicle switch 2I was turned off, the control unit 11 determines that a cause for stopping the vehicle 1 is established when the control unit 11 detects a closing operation of the door lock switch 2G after the door 4 is closed.

[0051] The control unit 11 stops the dismounting support control when it determines that a cause for stopping the vehicle 1 has been established. After the control unit 11 stops the dismounting support control, the control unit 11 resumes the dismounting support control when the vehicle switch 2I is turned on or when the control unit 11 detects that the door lock switch 2G is opened.

[0052] When the vehicle dismount assistance control is stopped, the control unit 11 executes output control for outputting notification content notifying that the dismount assistance control will be terminated to the output unit 3. For example, the control unit 11 outputs a sound notifying that the dismount assistance control will be terminated from the speaker 3A. For example, the control unit 11 outputs a display image notifying that the dismount assistance control will be terminated to the display unit 3B.

[0053] When the control unit 11 determines that there is no occupant in the vehicle 1 after the end of the dismounting assistance control, the control unit 11 does not need to execute the output control. When the control unit 11 ends the dismounting assistance control, the control unit 11 determines whether there is an occupant in the vehicle 1 based on the detection value of the vehicle sensor 2D.

[0054] The control unit 11 determines whether or not an occupant is present in the vehicle 1, for example, based on image data captured by the in-vehicle camera 2E. The control unit 11 is configured to be able to recognize an occupant present in the vehicle 1, for example, based on machine learning such as deep learning that uses images captured in advance inside the vehicle 1 as training data. When the control unit 11 determines that an occupant is present based on the image data, it outputs to the output unit 3 a notification content notifying that the dismounting assistance control will be terminated. When the control unit 11 determines that no occupant is present based on the image data, it does not execute output control to notify that the dismounting assistance control will be terminated.

[0055] The control unit 11 determines whether or not an occupant is present in the vehicle 1 based on, for example, the detection value of the seating sensor 2J. When the seating sensor 2J detects an occupant, the control unit 11 determines that an occupant is present in the vehicle 1, and outputs notification content to the output unit 3 for notifying that the dismounting assistance control will be terminated. The control unit 11 outputs the notification content to terminate the dismounting assistance control from the speaker 3A based on audio. The control unit 11 outputs the notification content to terminate the dismounting assistance control from the display unit 3B based on a display image. When the seating sensor 2J does not detect an occupant, the control unit 11 determines that an occupant is not present in the vehicle 1, and does not execute output control for notifying that the dismounting assistance control will be terminated.

[0056] The control unit 11 determines whether or not an occupant is present in the vehicle 1 based on, for example, the detection value of the buckle switch 2K. When the buckle switch 2K is in the on state, the control unit 11 determines that an occupant is present in the vehicle 1, and outputs notification content notifying that the dismounting assistance control will be terminated to the output unit 3. The control unit 11 outputs the notification content notifying that the dismounting assistance control will be terminated from the speaker 3A based on audio. The control unit 11 outputs the notification content notifying that the dismounting assistance control will be terminated from the display unit 3B based on a display image. When the buckle switch 2K is in the off state, the control unit 11 determines that an occupant is not present in the vehicle 1, and does not execute output control to notify that the dismounting assistance control will be terminated.

[0057] The control unit 11 determines whether or not an occupant is present in the vehicle 1 based on, for example, a detection value of the door lock switch 2G. The control unit 11 determines whether or not an occupant is present in the vehicle 1 based on a detection value of the door lock switch 2G being operated from outside the vehicle 1 and a detection value of the door lock switch 2G being operated from inside the vehicle 1. The control unit 11 acquires a detection value of the door lock switch 2G being operated from outside the vehicle 1 based on, for example, a key operation such as a smart key. The control unit 11 acquires a detection value of the door lock switch 2G being operated from inside the vehicle 1 based on, for example, the operation of the door lock switch 2G provided inside the vehicle.

[0058] When the door lock switch 2G is operated from inside the vehicle 1, the control unit 11 determines that an occupant is present in the vehicle 1 and outputs notification content notifying that the dismount assistance control will be terminated to the output unit 3. The control unit 11 outputs the notification content notifying that the dismount assistance control will be terminated from the speaker 3A based on audio. The control unit 11 outputs the notification content notifying that the dismount assistance control will be terminated from the display unit 3B based on a display image. When the door lock switch 2G is operated from outside the vehicle 1 and the door locks 4C of all the doors 4 are locked, the control unit 11 determines that no occupant is present in the vehicle 1 and does not execute output control to notify that the dismount assistance control will be terminated.

[0059] The control unit 11 determines whether or not an occupant is present in the vehicle 1 based on at least one of the analysis results of the image data captured by the in-vehicle camera 2E, the detection value of the seat occupancy sensor 2J, the detection value of the buckle switch 2K, and the detection value of the door lock switch 2G being operated from outside the vehicle 1. The control unit 11 may execute fusion processing based on a combination of two or more of the analysis results of the image data captured by the in-vehicle camera 2E, the detection value of the seat occupancy sensor 2J, the detection value of the buckle switch 2K, and the detection value of the door lock switch 2G being operated from outside the vehicle 1, to determine whether or not an occupant is present in the vehicle 1. When the detection value of the door lock switch 2G being operated from outside the vehicle 1 is detected, the control unit 11 may determine whether or not an occupant is present in the vehicle 1 regardless of the other detection values.

[0060] 3 shows a processing flow of a dismounting support method executed in dismounting support device 10. The dismounting support method is executed based on a computer program installed in a computer mounted on dismounting support device 10. The computer program causes dismounting support device 10 to execute the following processes.

[0061] The control unit 11 determines whether the door 4 is open or not, or whether the door lock 4C of the door 4 is released or not (step S100). If the control unit 11 determines that the door 4 is open or that the door lock 4C is released, it starts dismounting assistance control (step S102). The control unit 11 determines whether a moving object is approaching the vehicle 1 based on a detection value related to the moving object (step S104).

[0062] If the control unit 11 determines that a moving object is approaching, it outputs notification content such as an indicator for warning of the approach of the moving object T to the display unit 3B provided on the door mirror as a primary notification (step S105). It then determines whether the vehicle 1 is an e-latch equipped vehicle or whether the vehicle 1 is a PSD vehicle (step S106). If the determination in step S106 is negative, the control unit 11 proceeds to the process of step S112.

[0063] If the determination in step S106 is affirmative, the control unit 11 determines whether or not an operation to open the door 4 has been performed (step S108). If the control unit 11 determines that an operation to open the door 4 has been performed, it executes control to suppress the opening operation of the door 4 and outputs, from the output unit 3, notification content notifying the approach of a moving object and notification content notifying that door control will be performed (step S110).

[0064] The notification may include, for example, blinking an indicator on the display unit 3B provided on the door mirror, outputting a display image on the display unit 3B provided on the meter device, outputting an alarm sound or voice notification from the speaker 3A, etc. The alarm sound may be, for example, an intermittent buzzer sound that sounds a predetermined number of times (for example, twice).

[0065] If the control unit 11 determines that the door 4 has not been opened, the process proceeds to step S116. The control unit 11 determines whether the door 4 is open (step S112). If the door 4 is open, the control unit 11 outputs notification content notifying the approach of a moving object as a secondary notification (step S114).

[0066] The secondary notification content includes, for example, blinking an indicator on the display unit 3B provided on the door mirror, outputting a display image on the display unit 3B provided on the meter device that notifies the driver of the approach of a moving object, outputting an alarm sound or voice notification from the speaker 3A that notifies the driver of the approach of a moving object, etc. The alarm sound may be, for example, a continuous and intermittent buzzer sound.

[0067] The control unit 11 determines whether a predetermined time (e.g., three minutes) has elapsed since the vehicle switch 2I was turned off, or whether the door lock switch 2G has been operated to the lock state (step S116). If the determination in step S116 is negative, the control unit 11 returns the process to step S104. If the determination in step S116 is positive, the control unit 11 ends the dismount assistance control (step S118).

[0068] The control unit 11 determines whether or not an occupant is present in the vehicle 1 based on the detection value related to the presence of an occupant (step S120). If the control unit 11 determines that no occupant is present in the vehicle 1, it does not execute output control for notifying that the dismount assistance control will be terminated (step S122). If the control unit 11 determines that an occupant is present in the vehicle 1, it executes output control for notifying that the dismount assistance control will be terminated (step S124).

[0069] As described above, according to the dismounting support device 10, if a moving object is present outside the vehicle 1 when the occupant dismounts, the opening operation of the door 4 can be restricted to protect the occupant. According to the dismounting support device 10, if there is no occupant in the vehicle 1 at the time of ending the dismounting support control, no notification that the dismounting support control will end is not given, so that the occupant who has dismounted from the vehicle 1 can be less annoyed by the notification.

[0070] According to the dismounting assistance device 10, when dismounting assistance is terminated, the device detects that the door lock switch 2G has been operated from outside the vehicle 1, and does not execute output control to notify the occupant that dismounting assistance control is to be terminated, thereby reducing the anxiety and annoyance felt by the occupant who operated the door lock switch 2G from outside the vehicle 1 due to the output control.

[0071] In the above-described embodiment, the computer program executed in each component of the disembarkation assistance device 10 may be provided in a form recorded on a computer-readable, portable, non-transitory recording medium such as a semiconductor memory, a magnetic recording medium, or an optical recording medium. [Explanation of symbols]

[0072] 1 vehicle 2. Detection unit 2A Exterior camera 2B Lidar Device 2C radar equipment 2D Vehicle Sensor 2E In-car camera 2F door sensor 2G Door lock switch 2H door switch 2I Vehicle switch 2J seating sensor 2K Buckle Switch 3 Output section 3A speaker 3B Display section 4-door 4A Door drive unit 4B Latch drive unit 4C Door Lock 10. Exit assistance device 11 Control section 12 Storage section T Mobile

Claims

1. a control unit that executes dismounting assistance control to protect the occupant by issuing a warning when a moving object is approaching the vehicle and the door is in an open state when the occupant dismounts from the vehicle; The control unit When terminating the dismount assistance control, it is determined whether or not the occupant is present in the vehicle; When it is determined that the occupant is present, output control is executed to output, to an output unit, notification content notifying that the dismount assistance control will be terminated; When it is determined that the occupant is not present, the output control is not executed. Disembarkation assistance device.

2. The control unit determining whether or not the occupant is present in the vehicle based on image data obtained by imaging the interior of the vehicle; The vehicle exit assistance device according to claim 1.

3. The control unit determining whether the occupant is present in the vehicle based on a detection value of a seating sensor that detects the seating state of the occupant; The vehicle exit assistance device according to claim 1.

4. The control unit determining whether or not the occupant is present in the vehicle based on a detection value of a buckle switch that detects a fastening state of a seat belt buckle provided in the vehicle; The vehicle exit assistance device according to claim 1.

5. A program installed in a vehicle dismounting assistance device that, when it is determined that there is a moving object approaching the vehicle based on a detection value obtained by detecting an environment around the vehicle when an occupant dismounts from the vehicle, executes a vehicle dismounting assistance control that restricts opening and closing operations of a door to protect the occupant, When terminating the dismount assistance control, it is determined whether or not the occupant is present in the vehicle; When it is determined that the occupant is present, output control is executed to output, to an output unit, notification content notifying that the dismount assistance control will be terminated; When it is determined that the occupant is not present, the output control is not executed. program.

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