Vehicle disembarkation assistance device, vehicle disembarkation assistance method, vehicle disembarkation assistance program, and recording medium

Abstract

To provide a technology that can suppress unnecessary activation of the disembarking assistance function more effectively than before. [Solution] The disembarkation support device (500) is configured to assist occupants in disembarking from a vehicle. This disembarkation support device includes a distance acquisition unit (501), a predicted time acquisition unit (503), a threshold setting unit (504), and an operation determination unit (505). The distance acquisition unit acquires the distance between the vehicle and a moving object approaching the vehicle from behind. The predicted time acquisition unit acquires the predicted arrival time that is expected to be required for the moving object to reach the vehicle. The threshold setting unit sets a time threshold according to the distance acquired by the distance acquisition unit. The operation determination unit determines whether to activate disembarkation support, including an alert to the occupant, based on whether the predicted arrival time is less than or equal to the time threshold.

Description

Technical Field

[0001] The present disclosure relates to a disembarkation support device, a disembarkation support method, and a disembarkation support program for assisting a passenger's disembarkation from a vehicle, as well as a computer-readable non-transitory tangible recording medium recording such a disembarkation support program.

Background Art

[0002] Devices for ensuring the safety of a passenger disembarking from a vehicle have been conventionally known in various ways (see, for example, Patent Document 1). The opening safety device for an automobile door described in Patent Document 1 includes a stop detection means, an approaching vehicle detection means, an alarm means, and a door opening lock means. The stop detection means detects that the automobile has stopped. The approaching vehicle detection means detects the presence or absence of an approaching vehicle. The alarm means issues an alarm to the operator of the door when the automobile has stopped and an attempt is being made to start the door opening operation and it is detected that there is an approaching vehicle. The door opening lock means makes it impossible to open the door when an alarm is issued from the alarm means.

[0003] Specifically, the opening safety device for an automobile door described in Patent Document 1 calculates the distance and approaching speed to a vehicle behind by pulse output from a detection unit and reception of reflected pulses. Then, from these values, the device calculates the approaching time required until the vehicle behind passes, and when it is determined that this approaching time is within 10 seconds, the alarm device is activated to alert the person attempting to open the door. As a result, it is possible to know that a vehicle is approaching and wait for a while before opening the door. Further, by not only issuing an alarm but also making it impossible to open the door, safety is further improved.

Prior Art Documents

Patent Documents

[0004]

Patent Document 1

Summary of the Invention

[0005] In this type of exit assistance system, the detection accuracy of distance, speed, etc., of moving objects approaching the vehicle from behind (e.g., a vehicle behind) tends to decrease as the distance increases. Therefore, a large detection error at long distances may cause unnecessary activation of exit assistance functions such as alarms and door locks.

[0006] This disclosure has been made in view of the circumstances illustrated above. Specifically, the present invention provides, for example, a technology that can suppress the unnecessary operation of the disembarking assistance function more effectively than in the conventional method. [Means for solving the problem]

[0007] In one aspect of this disclosure, a disembarkation assistance device (500) configured to assist occupants disembarking from a vehicle (Vs) is: A distance acquisition unit (501) acquires the distance (D) between a moving object (M) approaching the vehicle from the rear and the vehicle, A prediction time acquisition unit (503) acquires the predicted arrival time that is predicted to be required for the moving object to reach the vehicle, An operation determination unit (505) determines whether or not the predicted arrival time falls below a time threshold, which determines whether to activate disembarkation assistance, including an alert to the occupant. A threshold setting unit (504) sets the time threshold according to the distance acquired by the distance acquisition unit, It is equipped with. In another aspect of this disclosure, a disembarkation assistance method for assisting occupants to disembark from a vehicle (Vs) includes the following steps or processes: The distance (D) between the vehicle and a moving object (M) approaching the vehicle from behind is obtained. The predicted arrival time, which is estimated to be required for the moving object to reach the vehicle, is obtained. The system determines whether to activate disembarkation assistance, including warning the occupant, based on whether the predicted arrival time falls below a time threshold. The time threshold is set according to the distance obtained. In yet another aspect of this disclosure, an alighting assistance program performed by an alighting assistance device (500) configured to assist occupants alighting from a vehicle (Vs) includes, as a process performed by the alighting assistance device, A process to obtain the distance (D) between a moving object (M) approaching the vehicle from behind and the vehicle, A process for obtaining the predicted arrival time that is estimated to be required for the moving object to reach the vehicle, The process of determining whether the predicted arrival time falls below a time threshold determines whether the disembarkation assistance, including an alert to the occupant, is activated. A process to set the time threshold according to the acquired distance, Includes. In yet another aspect of this disclosure, a computer-readable non-transitional substantial recording medium recording a disembarkation assistance program performed by a disembarkation assistance device (500) configured to assist occupants disembarking from a vehicle (Vs) includes, as processing included in the disembarkation assistance program: A process to obtain the distance (D) between a moving object (M) approaching the vehicle from behind and the vehicle, A process for obtaining the predicted arrival time that is estimated to be required for the moving object to reach the vehicle, The process of determining whether the predicted arrival time falls below a time threshold determines whether the disembarkation assistance, including an alert to the occupant, is activated. A process to set the time threshold according to the acquired distance, Includes.

[0008] In addition, each element in the application documents may be denoted by a reference numeral in parentheses. However, such reference numerals merely indicate one example of the correspondence between the element and the specific means described in the embodiments below. Therefore, this disclosure is not limited in any way by the notation of the above reference numerals. [Brief explanation of the drawing]

[0009] [Figure 1] It is a schematic diagram showing a state where another vehicle is approaching from the right rear of the vehicle to which the present disclosure is applicable. [Figure 2] It is a block diagram showing a schematic device configuration of the in-vehicle system shown in FIG. 1. [Figure 3] It is a block diagram showing a schematic functional configuration of the getting-off assistance device realized by the control unit shown in FIG. 2. [Figure 4] It is a graph showing an overview of the setting of the time threshold by the threshold setting unit shown in FIG. 3. [Figure 5] It is a flowchart showing an overview of an operation example of the getting-off assistance device shown in FIG. 3. [Figure 6] It is a schematic diagram showing an overview of the operation of the in-vehicle system according to a modification example. [Figure 7] It is a schematic diagram showing an overview of the operation of the in-vehicle system according to another modification example.

MODE FOR CARRYING OUT THE INVENTION

[0010] (Embodiment) Hereinafter, exemplary embodiments or specific examples of the present disclosure will be described with appropriate reference to the drawings. Note that the following embodiments, their modification examples, and the descriptions of the respective drawings are schematized or simplified for the purpose of briefly explaining the content of the present disclosure, and the content of the present disclosure is not limited thereby. Needless to say, the descriptions of the respective drawings do not necessarily match the specific device configuration actually manufactured and sold. That is, the present disclosure should not be construed restrictively by the descriptions of the respective drawings and the descriptions of the device configuration, its function, or operation described below corresponding thereto, unless the applicant explicitly limits it during the filing process of the present application.

[0011] (In-Vehicle System Configuration) First, referring to FIG. 1, the in-vehicle system 1 is configured to perform various operations in such a vehicle by being mounted on the vehicle. Hereinafter, the vehicle on which the in-vehicle system 1 according to the present embodiment is mounted is referred to as the host vehicle Vs.

[0012] The host vehicle Vs is a so-called ordinary motor vehicle capable of traveling on a road and has a box-shaped vehicle body Vs1. Doors Vs2 are provided on the left and right side surfaces of the vehicle body Vs1. In the specific example shown in FIG. 1, on the right side surface of the vehicle body Vs1, two front and rear doors Vs2 are provided as swing doors, that is, hinge-type doors. Also, on the left side surface of the vehicle body Vs1, one door Vs2 is provided as a slide door. However, as will be described later, the present disclosure is not limited to such a structure.

[0013] The in-vehicle system 1 is configured to perform various operations of the host vehicle Vs including an alarm operation based on the detection result of an object around the host vehicle Vs using the object detection sensor 2. The object detection sensor 2 is, for example, a camera, a radar sensor, or the like. In the present embodiment, the in-vehicle system 1 is configured to realize a disembarkation support function for assisting a passenger of the host vehicle Vs to get off the vehicle. The disembarkation support function refers to a function of issuing an alarm or preventing the door opening operation when a passenger tries to open the door Vs2. The prevention of the door opening operation is, for example, door locking, stopping or prohibiting the door opening operation in an electric door.

[0014] Specifically, the in-vehicle system 1 includes a pair of left and right object detection sensors 2 at the rear end of the vehicle body Vs1 in order to detect a moving object M (for example, another vehicle Vt) approaching the host vehicle Vs from behind or diagonally behind the host vehicle Vs. And when the in-vehicle system 1 detects a moving object M approaching the host vehicle Vs from behind or diagonally behind the host vehicle Vs, it is configured to execute a disembarkation support operation according to the approaching mode. Note that the other vehicle Vt may be a two-wheeler such as a motorcycle, a light vehicle such as a bicycle, or a small electric vehicle such as an electric kick scooter in addition to an automobile. Also, the moving object M is not limited to the other vehicle Vt and may be a pedestrian.

[0015] The approach mode includes an approach distance D, which is the distance between the vehicle Vs and the moving object M. The approach distance D is the distance between a reference position Vs3 on the vehicle Vs and the moving object M in the direction of travel of the vehicle Vs. That is, the approach distance D is the shortest distance between a virtual straight line extending parallel to the vehicle width direction from the reference position Vs3 and the moving object M. In this embodiment, the reference position Vs3 is the rearmost position of the vehicle body Vs1.

[0016] Referring to Figure 2, the in-vehicle system 1 includes, in addition to the object detection sensor 2, a driving state sensor 3, a door operation sensor 4, a control unit 5, an alarm device 6, and a door opening / closing mechanism 7. The object detection sensor 2, the driving state sensor 3, and the door operation sensor 4 are connected to the control unit 5 via an in-vehicle network so that their outputs are input to the control unit 5. The control unit 5 is also connected to the alarm device 6 and the door opening / closing mechanism 7 via the in-vehicle network so that information or signals can be exchanged.

[0017] In this embodiment, the object detection sensor 2 is a radar sensor configured to detect objects around the vehicle Vs based on the transmission and reception results of radar waves, which are radio waves in the millimeter wave band. For the sake of simplicity in the illustration, in Figure 2, multiple object detection sensors 2 are collectively shown as a single block.

[0018] The driving state sensor 3 is designed to detect various quantities related to the driving state of the vehicle Vs. "Driving state" includes the driving operation state and the driving behavior state of the vehicle Vs. "Driving operation state" refers to the state of driving operation input to the vehicle Vs by the occupants of the vehicle Vs (i.e., typically the driver) or the vehicle control ECU, and includes, for example, accelerator opening, brake operation amount, steering amount, shift range, etc. ECU is an abbreviation for Electronic Control Unit. "Driving behavior state" refers to the state related to the motion or behavior of the vehicle Vs, and includes, for example, vehicle speed, acceleration, yaw rate, etc. In other words, the driving state sensor 3 is a general term for well-known on-board sensors such as accelerator position sensors, shift position sensors, vehicle speed sensors, and yaw rate sensors.

[0019] A door operation sensor 4 is provided for each door Vs2 to detect the opening state of the door Vs2 by the occupant of the vehicle Vs. Specifically, the door operation sensor 4 has a configuration as a touch sensor or operation amount sensor that detects the operation state of the operating part (e.g., an inner door handle) that the occupant operates to open the door Vs2 from the inside of the vehicle body Vs1. The door operation sensor 4 generates a door operation signal and outputs it to the control unit 5 when the occupant's hand touches the operating part or starts operating the operating part.

[0020] The control unit 5 is configured to control the operation of the alarm device 6 and the door opening / closing mechanism 7 based on the detection results from the object detection sensor 2, the operating state sensor 3, and the door operation sensor 4. The alarm device 6 includes an audio output device that generates an alarm sound, and a visual output device that performs display or illumination for the alarm. The door opening / closing mechanism 7 includes at least a door lock mechanism to prevent the door Vs2 from opening, but may also include an electric opening / closing mechanism for electrically opening and closing the door Vs2.

[0021] In this embodiment, the control unit 5 has a configuration as an in-vehicle microcomputer equipped with a processor such as a CPU and memory such as ROM. The memory is a computer-readable, non-transitional, tangible recording medium, and includes RAM and non-volatile memory. The non-volatile memory includes at least ROM, but may also include non-volatile rewritable memory. Non-volatile rewritable memory is a storage device that allows information to be rewritten while the power is on, but keeps information unrewritable when the power is off, and is, for example, flash memory. The non-volatile memory stores various data necessary for executing the computer program, such as initial values, maps, and lookup tables.

[0022] (Disembarking assistance device) Thus, the control unit 5 is configured to perform disembarkation assistance operations by having the processor read and execute a computer program from non-volatile memory. Figure 3 shows an example of the functional block configuration of the disembarkation assistance device 500, which is realized when the processor provided in the control unit 5 shown in Figure 2 reads and executes the disembarkation assistance program, which is a computer program, from non-volatile memory.

[0023] As shown in Figure 3, the disembarkation support device 500, configured to assist occupants disembarking from the vehicle Vs, includes a distance acquisition unit 501, a speed acquisition unit 502, a predicted time acquisition unit 503, a threshold setting unit 504, and an operation determination unit 505, as a functional configuration realized by executing a computer program. These will be described in order below.

[0024] The distance acquisition unit 501 acquires the approach distance D based on the output of the object detection sensor 2, which is a radar sensor. The speed acquisition unit 502 acquires the relative speed of the moving object M with respect to the vehicle Vs based on the output of the object detection sensor 2. The predicted time acquisition unit 503 acquires the predicted arrival time, or TTC, which is the time it is predicted that will take for the moving object M to reach the vehicle Vs. TTC stands for Time To Collision. In this embodiment, TTC is the time it is predicted that will take for the approach distance D to become 0.

[0025] The threshold setting unit 504 is configured to set a time threshold. The time threshold is a threshold used to determine the start or end of the disembarkation assistance operation. The operation determination unit 505 determines whether or not the TTC (Time To Control) falls below the time threshold to determine whether or not the disembarkation assistance operation is performed.

[0026] In this embodiment, the threshold setting unit 504 sets a time threshold according to the approach distance D acquired by the distance acquisition unit 501. Specifically, the threshold setting unit 504 sets a lower time threshold when the approach distance D is large, i.e., when the moving object M is far from the vehicle Vs, than when the approach distance D is small, i.e., when the moving object M is close to the vehicle Vs.

[0027] Figure 4 shows an example of setting time thresholds. In Figure 4, the activation start threshold THs is a time threshold for determining the start of the disembarkation assistance. That is, the activation determination unit 505 determines the start of disembarkation assistance when the TTC falls below the activation start threshold THs after exceeding the activation start threshold THs. On the other hand, the activation end threshold THe is a time threshold for determining the end of the disembarkation assistance. That is, the activation determination unit 505 determines the end of disembarkation assistance when the TTC exceeds the activation end threshold THe, and in order to suppress control hunting, the activation end threshold THe is set to a larger value than the activation start threshold THs.

[0028] As shown in Figure 4, in this embodiment, the activation start threshold THs is set to a smaller value in the long-distance region, i.e., the region where the approach distance D is large, than in the short-distance region, i.e., the region where the approach distance D is small. Similarly, the activation end threshold THe is also set to a smaller value in the long-distance region, i.e., the region where the approach distance D is large, than in the short-distance region, i.e., the region where the approach distance D is small. In other words, the threshold setting unit 504 makes the time threshold for the second distance, where the approach distance D is included in the long-distance region, smaller than the time threshold for the first distance, where the approach distance D is included in the short-distance region. Note that, as will be described later, the manner in which the time threshold is set is not limited to that shown in the graph of Figure 4.

[0029] (Operation overview) The following describes the operation of the device configuration according to this embodiment (i.e., the disembarking assistance device 500), along with the effects achieved by the device configuration and the methods and programs executed thereunder. In the following description, the device configuration according to this embodiment, and the methods and programs executed thereunder, may be collectively referred to as "this embodiment."

[0030] The driving state sensor 3 detects the driving state of the vehicle Vs. When the vehicle Vs is stopped, that is, when the vehicle speed is 0 km / h and the stopped state is maintained by the brakes being applied and / or the parking position, it becomes possible for occupants to disembark from the vehicle Vs. When such a disembarkation-possible state is reached, the control unit 5 performs disembarkation assistance operations based on the detection result of a moving object M by the object detection sensor 2 and the detection result of the operating state of the operating part by the door operation sensor 4.

[0031] Figure 5 shows a flowchart of the routine corresponding to the disembarkation assistance program. In this flowchart, "S" is an abbreviation for "step". The processor and non-volatile memory provided in the control unit 5 will hereinafter simply be referred to as "processor" and "non-volatile memory". The processor reads the disembarkation assistance program according to this embodiment from the non-volatile memory and starts it at predetermined time intervals (for example, 10 msec) to execute the disembarkation assistance method according to this embodiment.

[0032] When such a program is started, the processor first executes the process in step 101. In step 101, the processor determines whether the vehicle Vs is stopped, i.e., in a state where passengers can disembark. If it is not stopped (i.e., step 101 = NO), the processor skips all processes from step 102 onward and terminates this routine. On the other hand, if it is stopped (i.e., step 101 = YES), the processor proceeds to step 102.

[0033] In step 102, the processor determines whether a moving object M approaching the vehicle Vs is detected behind or diagonally behind the vehicle Vs. If no approaching moving object M is detected (i.e., step 102 = NO), the processor skips all processing from step 103 onwards and terminates this routine. On the other hand, if an approaching moving object M is detected (i.e., step 102 = YES), the processor proceeds to steps 103 to 107.

[0034] In step 103, the processor obtains the approach distance D. In step 104, the processor obtains the relative velocity of the moving object M with respect to the vehicle Vs. At this time, since the vehicle Vs is stationary, this relative velocity corresponds to the moving velocity of the moving object M. In step 105, the processor obtains, i.e., calculates, the time to traffic congestion (TTC). Since the methods for calculating distance, relative velocity, and TTC are already publicly known or widely known at the time of filing this application, a detailed explanation of these is omitted.

[0035] In step 106, the processor sets the activation start threshold THs and the activation end threshold THe based on the proximity distance D obtained in step 103. In step 107, the processor determines whether the TTC is less than or equal to the activation start threshold THs.

[0036] If the TTC is below the activation threshold THs (i.e., step 107 = YES), the processor executes the process in step 108 and then terminates this routine. In step 108, the processor executes the disembarkation assistance operation. If the result of the previous determination in step 107 was NO and the process in step 108 is executed this time, the process in step 108 corresponds to the start of the disembarkation assistance operation. On the other hand, if the TTC exceeds the activation threshold THs (i.e., step 107 = NO), the processor proceeds to step 109.

[0037] In step 109, the processor determines whether or not the disembarkation assistance operation is currently being performed. If the disembarkation assistance operation is not currently being performed (i.e., step 109 = NO), the processor skips all processing from step 110 onward and terminates this routine. On the other hand, if the disembarkation assistance operation is currently being performed (i.e., step 109 = YES), the processor proceeds to step 110.

[0038] In step 110, the processor determines whether the TTC exceeds the operation termination threshold THe. If the TTC exceeds the operation termination threshold THe (i.e., step 110 = YES), the processor proceeds to step 111. In step 111, the processor terminates the disembarkation assistance operation. On the other hand, if the TTC is less than or equal to the operation termination threshold THe (i.e., step 110 = NO), the processor skips the processing in step 111 and terminates this routine. In this case, the disembarkation assistance operation is not terminated and continues.

[0039] In this embodiment, the threshold for determining the disembarking assistance operation is set according to the approach distance D, which is the distance between the vehicle Vs and a moving object M such as another vehicle Vt. Specifically, in this embodiment, the time threshold decreases (i.e., shortens) as the distance increases. This makes it possible to effectively suppress unnecessary operation of the disembarking assistance function, which is caused by the decreased accuracy of distance and relative speed detection at long distances.

[0040] (modified version) This disclosure is not limited to the embodiments and specific examples described above. Therefore, the embodiments, etc. can be modified as appropriate. Representative modifications are described below. In the description of the modifications below, the differences from the embodiments, etc. will be mainly described. In addition, parts that are the same or equivalent to each other in the embodiments, etc. and the modifications below are denoted by the same reference numerals. Therefore, in the description of the modifications below, with respect to components that have the same reference numerals as in the embodiments, etc., the descriptions in the embodiments, etc. can be appropriately referenced unless there is a technical inconsistency or special additional explanation.

[0041] This disclosure is not limited to the specific uses or device configurations shown in the embodiments described above. For example, the vehicle Vs may be a regular passenger car or a large passenger car. In other words, there are no particular limitations on the shape or size of the vehicle body Vs1. There are also no particular limitations on the number or structure of the doors Vs2. Specifically, all doors Vs2 may be swing doors or all may be sliding doors.

[0042] The object detection sensor 2 for detecting a moving object M behind or diagonally behind the vehicle Vs is not limited to a radar sensor, but may also be a camera or an ultrasonic sensor. Alternatively, the detection of such a moving object M may be performed using so-called sensor fusion, which integrates the detection results from multiple types of sensors.

[0043] The control unit 5, in whole or in part, may be configured to include a digital circuit, such as an ASIC or FPGA, that is capable of realizing the functions or operations described above. ASIC stands for Application Specific Integrated Circuit. FPGA stands for Field Programmable Gate Array. In other words, the in-vehicle microcomputer portion and the digital circuit portion can coexist in the control unit 5.

[0044] The computer program according to this disclosure, which enables the execution of various operations, procedures, or processes described in the above embodiments, can be downloaded or upgraded via V2X communication using a communication device. V2X is an abbreviation for Vehicle to X. Alternatively, such a computer program can be downloaded or upgraded via terminal equipment installed at the manufacturing plant, repair shop, dealership, etc., of the vehicle Vs. The storage location of such a computer program may be a memory card, optical disk, magnetic disk, etc.

[0045] Thus, each of the above functional configurations and processes may be realized by a dedicated computer provided by configuring a processor and memory programmed to execute one or more functions embodied by a computer program. Alternatively, each of the above functional configurations and processes may be realized by a dedicated computer provided by configuring a processor by one or more dedicated hardware logic circuits. Alternatively, each of the above functional configurations and processes may be realized by one or more dedicated computers configured by a combination of one or more processors programmed to execute one or more functions, one or more memories, and one or more other processors configured by one or more hardware logic circuits. Furthermore, the computer program may be stored in a computer-readable non-transitional substantial storage medium as instructions to be executed by the computer. That is, each of the above functional configurations and processes can also be represented as a computer program including procedures for realizing it, or as a non-transitional substantial storage medium storing said computer program.

[0046] This disclosure is not limited to the specific functions and operating modes shown in the embodiments described above. For example, the changes in the activation start threshold THs and the activation end threshold THe in response to changes in the approach distance D are not limited to the step-like shape shown in Figure 4, but may be, for example, sigmoid curve-like. Also, the long-distance region and the short-distance region may not be parallel to the vertical axis as shown in Figure 4, but may be straight lines inclined with respect to the vertical axis.

[0047] The routine corresponding to the flowchart shown in Figure 5 may be activated when a predetermined activation condition, including a stationary state, is met. In this case, step 101 can be omitted as it is included in such activation conditions.

[0048] As shown in Figure 6, the reference position Vs3 may be the rearmost position of all doors Vs2. Alternatively, as shown in Figure 7, the reference position Vs3 may be the rearmost position of a specific door Vs2 that an occupant receiving disembarking assistance is attempting to open. Such a specific door Vs2 can be identified by the output of the door operation sensor 4 corresponding to that door Vs2. If multiple occupants are attempting to open separate doors Vs2 at different rearward positions simultaneously or nearly simultaneously, the reference position Vs3 may be set at the rearmost door Vs2.

[0049] It goes without saying that the elements constituting the above embodiments are not necessarily essential unless explicitly stated to be particularly essential or considered to be fundamentally essential. Furthermore, when numerical values ​​such as the number, numerical values, quantities, or ranges of components are mentioned, this disclosure is not limited to those specific numbers unless explicitly stated to be particularly essential or considered to be fundamentally limited to those specific numbers. Similarly, when the shape, orientation, positional relationship, etc., of components are mentioned, this disclosure is not limited to those shapes, orientations, positional relationships, etc., unless explicitly stated to be particularly essential or considered to be fundamentally limited to those specific shapes, orientations, positional relationships, etc.

[0050] Similar expressions such as "acquisition," "calculation," "estimation," "detection," and "detection" can be appropriately substituted for each other within the limits of what is technically consistent. Similarly, "exceeding the threshold" and "above the threshold" can be appropriately substituted for each other within the limits of what is technically consistent. The same applies to "below the threshold" and "below the threshold."

[0051] Modifications are not limited to the examples given above. For example, all or part of one of the modifications may be combined with all or part of another, provided that it does not conflict with the technical specifications. Furthermore, all or part of the specific examples may be combined with all or part of the modifications, provided that it does not conflict with the technical specifications. [Explanation of Symbols]

[0052] 1. In-vehicle systems 2. Object detection sensor 5. Control Unit 500 Disembarking assistance device 501 Distance acquisition part 503 Prediction Time Acquisition Unit 504 Operating timing determination unit 505 Operation determination unit D Approach distance Vs Vehicle

Claims

1. An alighting assistance device (500) configured to assist occupants alighting from a vehicle (Vs), A distance acquisition unit (501) acquires the distance (D) between a moving object (M) approaching the vehicle from the rear and the vehicle, A prediction time acquisition unit (503) acquires the predicted arrival time that is predicted to be required for the moving object to reach the vehicle, An operation determination unit (505) determines whether or not the predicted arrival time falls below a time threshold, which determines whether to activate disembarkation assistance, including an alert to the occupant. A threshold setting unit (504) sets the time threshold according to the distance acquired by the distance acquisition unit, Equipped with, A vehicle exit assistance device.

2. The threshold setting unit makes the time threshold for a second distance (where the distance is greater than the first distance) smaller than the time threshold for a first distance. The disembarking assistance device according to claim 1.

3. The threshold setting unit sets an operation start threshold and an operation end threshold that is greater than the operation start threshold as the time threshold, The operation determination unit determines that the disembarking assistance should start when the predicted arrival time falls below the operation start threshold, and determines that the disembarking assistance should end when the predicted arrival time exceeds the operation end threshold. The disembarking assistance device according to claim 1.

4. The predicted arrival time is the time it is predicted that the moving object will take to reach the reference position (Vs3) on the vehicle. The disembarking assistance device according to claim 1.

5. The distance acquisition unit acquires the distance using the radar sensor (2). The disembarking assistance device according to claim 1.

6. A method for assisting passengers to disembark from a vehicle (Vs), The distance (D) between a moving object (M) approaching the vehicle from behind and the vehicle is obtained. The predicted arrival time, which is estimated to be required for the moving object to reach the vehicle, is obtained. The system determines whether to activate disembarkation assistance, including warning the occupant, based on whether the predicted arrival time falls below a time threshold. The time threshold is set according to the distance obtained. Disembarking assistance method.

7. The time threshold is set such that the time threshold for a second distance (where the distance is greater than the first distance) is smaller than the time threshold for a first distance. The method for assisting passengers to disembark according to claim 6.

8. As the aforementioned time thresholds, an operation start threshold and an operation end threshold that is greater than the operation start threshold are set. The system determines that the disembarking assistance should start when the predicted arrival time falls below the activation start threshold, and that the disembarking assistance should end when the predicted arrival time exceeds the activation end threshold. The method for assisting passengers to disembark according to claim 6.

9. The predicted arrival time is the time it is predicted that the moving object will take to reach the reference position (Vs3) on the vehicle. The method for assisting passengers to disembark according to claim 6.

10. The distance is acquired using the radar sensor (2). The method for assisting passengers to disembark according to claim 6.

11. An alighting assistance program is performed by an alighting assistance device (500) configured to assist occupants alighting from a vehicle (Vs), The process performed by the aforementioned disembarking assistance device is: A process to obtain the distance (D) between a moving object (M) approaching the vehicle from behind and the vehicle, A process for obtaining the predicted arrival time that is estimated to be required for the moving object to reach the vehicle, The process of determining whether the predicted arrival time falls below a time threshold determines whether the disembarkation assistance, including an alert to the occupant, is activated. A process to set the time threshold according to the acquired distance, including, Vehicle disembarkation assistance program.

12. In the process of setting the time threshold, the time threshold for a second distance (where the distance is greater than the first distance) is set to be smaller than the time threshold for a first distance. The disembarkation assistance program according to claim 11.

13. In the process of setting the time threshold, an operation start threshold and an operation end threshold that is greater than the operation start threshold are set as the time threshold. In the process for determining the operation of the disembarking assistance, the operation of the disembarking assistance is determined to start when the predicted arrival time falls below the operation start threshold, and the operation of the disembarking assistance is determined to end when the predicted arrival time exceeds the operation end threshold. The disembarkation assistance program according to claim 11.

14. In the process of obtaining the predicted arrival time, the time required for the moving object to reach the reference position (Vs3) on the vehicle is obtained. The disembarkation assistance program according to claim 11.

15. In the process of acquiring the distance, the radar sensor (2) is used to acquire the distance. The disembarkation assistance program according to claim 11.

16. A computer-readable, non-transitional, tangible recording medium that records a disembarkation assistance program executed by a disembarkation assistance device (500) configured to assist occupants disembarking from a vehicle (Vs), The processing included in the aforementioned disembarkation assistance program is: A process to obtain the distance (D) between a moving object (M) approaching the vehicle from behind and the vehicle, A process for obtaining the predicted arrival time that is estimated to be required for the moving object to reach the vehicle, The process of determining whether the predicted arrival time falls below a time threshold determines whether the disembarkation assistance, including an alert to the occupant, is activated. A process to set the time threshold according to the acquired distance, including, Recording medium.

17. In the process of setting the time threshold, the time threshold for a second distance (where the distance is greater than the first distance) is set to be smaller than the time threshold for a first distance. The recording medium according to claim 16.

18. In the process of setting the time threshold, an operation start threshold and an operation end threshold that is greater than the operation start threshold are set as the time threshold. In the process for determining the operation of the disembarking assistance, the operation of the disembarking assistance is determined to start when the predicted arrival time falls below the operation start threshold, and the operation of the disembarking assistance is determined to end when the predicted arrival time exceeds the operation end threshold. The recording medium according to claim 16.

19. In the process of obtaining the predicted arrival time, the time required for the moving object to reach the reference position (Vs3) on the vehicle is obtained. The recording medium according to claim 16.

20. In the process of acquiring the distance, the radar sensor (2) is used to acquire the distance. The recording medium according to claim 16.

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