Vehicle control device and control method

Abstract

To provide a vehicle control device that can suppress excessive warnings that may be bothersome to vehicle occupants. [Solution] The control unit 31 of the control device 30 is configured to perform vehicle operation control, which controls the operation of the vehicle 1 based on the detection results of a sensor that detects objects present around the vehicle, and to issue an alarm to the occupant via an alarm device provided by the vehicle 1, based on the detection results of the sensor. The control unit 31 does not suppress the alarm when the power to the vehicle 1 is on and the above-mentioned vehicle operation control is not in progress, and suppresses the alarm in accordance with the occupant's operation when the above-mentioned vehicle operation control is in progress.

Description

Technical Field

[0001] The present invention relates to a vehicle control device and a control method.

Background Art

[0002] In recent years, in order to make cities and human settlements inclusive, safe, resilient and sustainable, improvement of traffic safety has been demanded. From the viewpoint of improving traffic safety, for example, the development of driving support technologies and autonomous driving technologies for vehicles has been promoted.

[0003] As an example of a driving support technology, in Patent Document 1 below, when a vehicle control ECU determines that there is an object to be warned, if parking support control is being executed, both an alarm sound warning using an alarm sound generating device and a display warning using a display device are performed. A technology is disclosed.

Prior Art Documents

Patent Documents

[0004]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0005] However, in the above prior art, there are cases where excessive warnings that can bother the vehicle occupants are given, and there is room for improvement in this regard.

[0006] The present invention provides a vehicle control device and a control method capable of suppressing excessive warnings that can bother the vehicle occupants.

Means for Solving the Problems

[0007] One aspect of the present invention is a vehicle control device that controls the vehicle including a sensor that detects an object existing around the vehicle, The vehicle control device comprises a control unit, The control unit, Based on the detection results of the aforementioned sensors, vehicle motion control controls the operation of the vehicle, Based on the detection results of the aforementioned sensor, the vehicle provides an alarm to the occupants via its alarm system, Configured to be executable, When the vehicle's power is on and the vehicle's operation is not being controlled, the alarm is not suppressed. During the vehicle operation control, the alarm is suppressed in accordance with the occupant's operation. It is a vehicle control device.

[0008] Another aspect of the present invention is, A control method performed by a computer that controls a vehicle equipped with sensors for detecting objects present in the vicinity of the vehicle, The aforementioned computer, Based on the detection results of the aforementioned sensors, vehicle motion control controls the operation of the vehicle, Based on the detection results of the aforementioned sensor, the vehicle provides an alarm to the occupants via its alarm system, Configured to be executable, The aforementioned computer, When the vehicle's power is on and the vehicle's operation is not being controlled, the alarm is not suppressed. During the vehicle operation control, the alarm is suppressed in accordance with the occupant's operation. This is a control method for performing processing. [Effects of the Invention]

[0009] According to the present invention, it is possible to provide a vehicle control device and control method that can suppress excessive warnings that may be bothersome to vehicle occupants. This will ultimately improve traffic safety and contribute to the development of a sustainable transportation system. [Brief explanation of the drawing]

[0010] [Figure 1]FIG. 1 is a block diagram showing a schematic configuration of a vehicle 1 including a control device 30 according to an embodiment of the present invention. [Figure 2] FIG. 2 is a diagram (part 1) showing an example of a display screen that the control device 30 can display on the touch panel 22. [Figure 3] FIG. 3 is a diagram (part 2) showing an example of a display screen that the control device 30 can display on the touch panel 22. [Figure 4] FIG. 4 is a diagram (part 3) showing an example of a display screen that the control device 30 can display on the touch panel 22. [Figure 5] FIG. 5 is a diagram (part 4) showing an example of a display screen that the control device 30 can display on the touch panel 22. [Figure 6] FIG. 6 is a flowchart (part 1) showing an example of parking support control processing performed by the control device 30. [Figure 7] FIG. 7 is a flowchart (part 2) showing an example of parking support control processing performed by the control device 30. [Figure 8] FIG. 8 is a flowchart showing an example of alarm processing performed by the control device 30.

MODE FOR CARRYING OUT THE INVENTION

[0011] Hereinafter, an embodiment of a vehicle control device and a control method of the present invention will be described in detail with reference to the drawings. Note that the following embodiments do not limit the present invention, and all elements described in the following embodiments are not necessarily essential to the present invention. Hereinafter, the same or similar elements may be denoted by the same or similar reference numerals, and the description thereof may be omitted or simplified. Also, hereinafter, unless otherwise specified, each direction of front and rear, left and right, and up and down will be described according to the direction seen from the occupant of the vehicle (vehicle 1 described later) of the present embodiment.

[0012] [1. Vehicle] FIG. 1 is a block diagram showing a schematic configuration of a vehicle 1 including a control device 30 according to an embodiment of the present invention. The vehicle 1 according to the present embodiment shown in FIG. 1 is an automobile including a drive source (not shown) and wheels (not shown) including drive wheels driven by the power of the drive source and steerable steering wheels. As an example, the vehicle 1 can be a four-wheel automobile having a pair of left and right front wheels and rear wheels respectively.

[0013] The drive source of the vehicle 1 may be an electric motor, an internal combustion engine such as a gasoline engine or a diesel engine, or a combination of an electric motor and an internal combustion engine. Further, the drive source of the vehicle 1 may drive a pair of left and right front wheels, a pair of left and right rear wheels, or each of the four wheels of the pair of left and right front wheels and rear wheels. Either one of the front wheels and rear wheels of the vehicle 1 may be a steerable steering wheel, or both may be steerable steering wheels.

[0014] The vehicle 1 further includes a sensor group 10, a navigation device 20, a control device 30, an EPS system 40 (EPS: Electric Power Steering), a communication unit 70, a driving force control system 50, a braking force control system 60, and an alarm device 90.

[0015] The sensor group 10 includes an external sensor 11 that acquires external information for recognizing the periphery of the vehicle 1 and a vehicle sensor 12 that acquires information about the vehicle 1 (hereinafter also referred to as "vehicle information"). Information (or detection values) acquired by each sensor included in the sensor group 10 is output to the control device 30 and used for control of the operation of the vehicle 1 (hereinafter also referred to as "vehicle operation control") by the control device 30.

[0016] The external sensor 11 is composed of, for example, a camera 111, a sonar 112, and a radar 113. The camera 111 captures images of the area around the vehicle 1, including the area in front of the vehicle 1, and outputs the image data of the obtained surrounding images to the control device 30. Such image data is an example of external information. As the camera 111, for example, a digital camera using an image sensor such as a CCD (Charge Coupled Device) or CMOS (Complementary Metal Oxide Semiconductor) can be used.

[0017] More specifically, the camera 111 includes, for example, a front camera 111a, a rear camera 111b, and a side camera 111c. The front camera 111a is, for example, mounted on the top of the front windshield or front grille of the vehicle 1 and captures the scenery in front of the vehicle 1. The rear camera 111b is, for example, mounted near the license plate (in other words, the vehicle registration number plate) attached to the rear of the vehicle 1 and captures the scenery behind the vehicle 1. The side cameras 111c are, for example, mounted on the left and right side mirrors and capture the scenery to the sides of the vehicle 1 (i.e., the left and right sides).

[0018] The sonar 112 emits sound waves around the vehicle 1 (for example, in front of, behind, and to the sides of the vehicle 1) and receives reflected sound from objects (in other words, targets) present around the vehicle 1 to detect the distance and direction from the vehicle 1 to the object, and outputs the detection results to the control device 30. The detection results from the sonar 112 are another example of external information.

[0019] The radar 113 emits radio waves around the vehicle 1, including in front of the vehicle 1, and detects the distance and direction to objects (i.e., targets) present around the vehicle 1 by receiving reflected waves. For example, a millimeter-wave radar can be used as the radar 113. The detection results by the radar 113 are another example of external information.

[0020] Furthermore, the external sensor 11 may be configured to include LiDAR (Light Detection And Ranging) in place of or in addition to sonar 112 and radar 113. In this case, the LiDAR emits laser light around the vehicle 1, including in front of the vehicle 1, and detects the distance and direction from the vehicle 1 to the object by receiving reflected light from the object present around the vehicle 1 (i.e., a target).

[0021] The vehicle sensor 12 includes, for example, a wheel sensor 121, a vehicle speed sensor 122, an inertial measurement unit 123 (IMU), an occupant camera 124, an operation detection unit 125, a steering touch sensor 126, and a shift position sensor 127.

[0022] The wheel sensor 121 detects the rotation angle of one or more of the wheels of the vehicle 1. For example, the wheel sensor 121 detects the rotation angles of the left rear wheel and the right rear wheel. The wheel sensor 121 can be, for example, an angle sensor or a displacement sensor.

[0023] The vehicle speed sensor 122 detects the vehicle speed VP, which is the vehicle's travel speed (in other words, the vehicle's movement speed). For example, the vehicle speed sensor 122 detects the vehicle speed VP based on the rotation speed of the countershaft of the vehicle 1.

[0024] The inertial measurement device 123 detects the angular velocities in the pitch, roll, and yaw directions of the vehicle 1, as well as the accelerations in the longitudinal, lateral, and vertical directions of the vehicle 1. The vehicle sensor 12 may also include, instead of the inertial measurement device 123, an acceleration sensor that detects acceleration in a predetermined direction of the vehicle 1, or a gyro sensor that detects angular velocity in a predetermined direction of the vehicle 1.

[0025] The occupant camera 124 is a digital camera that captures images of the interior of vehicle 1 and outputs the image data of the interior images obtained to the control device 30. For example, the occupant camera 124 can be a so-called "driver monitor camera" that is positioned to capture images of the head of an occupant (hereinafter also referred to as "driver") seated in the driver's seat of vehicle 1 from the front (in other words, to capture images of the face). Similar to camera 111, the occupant camera 124 can be a digital camera that uses an image sensor such as a CCD or CMOS.

[0026] The operation detection unit 125 detects operations performed by an occupant (e.g., the driver) using the operation input unit 129 and outputs the detected operations to the control device 30. The operation input unit 129 may include, for example, an operation button that accepts an operation corresponding to a request to execute parking assist control (described later), as well as a shift switch or shift lever for selecting the shift position of the vehicle 1. The operation input unit 129 may also include an operation button that accepts an alarm suppression operation and / or suppression release operation (for example, an operation button that replaces the alarm suppression button RB described later), or an operation button that accepts an operation corresponding to a request to terminate parking assist control (for example, an operation button that replaces the cancel button CB described later). Note that some or all of the operation input unit 129 may be shared with the touch panel 22 described later.

[0027] The steering touch sensor 126 detects whether the steering wheel 46 of the vehicle 1 is being properly gripped and outputs the detection result to the control device 30. For example, the steering touch sensor 126 can be implemented using a capacitive sensor. In this case, the capacitive sensor is installed in the part that the driver touches when the steering wheel 46 is being properly gripped.

[0028] The shift position sensor 127 detects the shift position of the vehicle 1 and outputs the detection result to the control device 30. For example, the shift position sensor 127 detects whether the shift position of the vehicle 1 is "P (parking)" for parking, "D (drive)" for forward driving, "R (reverse)" for reverse driving, or "N (neutral)". In addition, if the vehicle 1 can take on a shift position other than "P", "D", "R", and "N" (for example, "B (brake)"), the shift position sensor 127 may also detect whether the vehicle is in that other shift position.

[0029] The navigation device 20 is comprised of, for example, a GNSS receiver 21 (GNSS: Global Navigation Satellite System), a touch panel 22, and a speaker 23. The navigation device 20 also has a storage unit (not shown) made of flash memory or the like. The storage unit of the navigation device 20 stores a map information database (DB) 24 as an example of map information.

[0030] The map information database 24 is composed of road network information. Road network information is information that represents each road by a combination of nodes and links (also called "paths") that connect the nodes. Each node in the road network information represents a characteristic point on the road, such as an intersection, a bend, or a dead end. In the road network information, each node is set with information such as the location corresponding to that node (for example, coordinates that can identify a specific point on the map, such as latitude and longitude). In addition, in the road network information, each link is set with information such as the nodes at both ends of the link, the road corresponding to the link, the link length, the number of lanes, the direction of travel, and the road type.

[0031] The GNSS receiver 21 determines the current position of the vehicle 1 (for example, the latitude and longitude of the location where the vehicle 1 is located) based on signals received from GNSS satellites. Alternatively, the navigation device 20 may acquire detection results from vehicle sensors 12 (for example, wheel sensors 121 and vehicle speed sensors 122) via the control device 30 and determine or supplement the current position of the vehicle 1 using an INS (Inertial Navigation System) that utilizes the detection values ​​from the vehicle sensors 12.

[0032] The touch panel 22 is composed of a combination of a display device, such as an LCD or OLED (Organic Light Emitting Diode), and a pointing device (such as a touchpad). The speaker 23 outputs various guidance information to the occupants by voice.

[0033] For example, the navigation device 20 searches for a route from the vehicle 1's current location to a destination set by the driver using the touch panel 22, by referring to the map information database 24. Then, based on the searched route, the navigation device 20 provides route guidance using the touch panel 22 and speaker 23.

[0034] Furthermore, the navigation device 20 may cause the touch panel 22 to display predetermined information in accordance with instructions from the control device 30. For example, the navigation device 20 may cause the touch panel 22 to display the display screens illustrated in Figures 2 to 5 in accordance with instructions from the control device 30. In addition, the navigation device 20 may output predetermined information to the control device 30, such as information indicating the current location of the identified vehicle 1 or information indicating the operation received via the touch panel 22.

[0035] The control device 30 is a computer that comprehensively controls the entire vehicle 1, and includes, for example, a processor that performs various calculations, a storage unit having a non-transient storage medium (e.g., flash memory) that stores various information, and an input / output unit that controls the input and output of data between the inside and outside of the control device 30 (none of which are shown). For example, the control device 30 can be realized by one ECU (Electronic Control Unit) or by multiple ECUs working together. The control device 30 will be described later, so its explanation here is omitted.

[0036] The EPS system 40 is comprised of, for example, a steering angle sensor 41, a torque sensor 42, an EPS motor 43, a resolver 44, and an EPS ECU 45.

[0037] The steering angle sensor 41 detects the steering angle θst of the steering 46 and outputs information indicating the detected steering angle θst to the EPS ECU 45. The torque sensor 42 detects the steering torque TQ, which is the torque applied to the steering 46 of the vehicle 1, and outputs information indicating the detected steering torque TQ to the EPS ECU 45.

[0038] The EPS motor 43 assists the driver's operation of the steering wheel 46 by applying a driving force or reaction force to the steering column 47, which is connected to the steering wheel 46, according to instructions from the EPS ECU 45. The resolver 44 detects the rotation angle θm of the EPS motor 43 and outputs information indicating the detected rotation angle θm to the EPS ECU 45.

[0039] The EPS ECU 45 is a computer that controls the EPS system 40 (e.g., EPS motor 43), and is implemented by one or more ECUs. For example, it includes a processor that performs various calculations, a storage unit having a non-transient storage medium for storing various information, and an input / output unit that controls the input and output of data between the inside and outside of the EPS ECU 45 (none of which are shown in the figure). For example, the EPS ECU 45 controls the EPS system 40 (e.g., EPS motor 43) based on the steering angle θst detected by the steering angle sensor 41, the steering torque TQ detected by the torque sensor 42, and the rotation angle θm detected by the resolver 44. The EPS ECU 45 can also control the EPS system 40 according to instructions from the control device 30.

[0040] Furthermore, the EPS system 40 (e.g., EPS ECU 45) may output to the control device 30 information indicating the steering angle θst detected by the steering angle sensor 41, the steering torque TQ detected by the torque sensor 42, and the rotation angle θm detected by the resolver 44. In addition, the EPS system 40 (e.g., EPS ECU 45) may output to the control device 30 information indicating the steering speed ω of the steering 46. In this case, the steering speed ω can be obtained, for example, by differentiating the steering angle θst with respect to time.

[0041] The drive force control system 50 includes a drive ECU 51 and is configured to control the drive force of the vehicle 1. The drive ECU 51 is a computer that controls the drive force control system 50 and is implemented by one or more ECUs, and includes, for example, a processor that performs various calculations, a storage unit having a non-transient storage medium for storing various information, and an input / output unit that controls the input and output of data between the inside and outside of the drive ECU 51 (none of which are shown). For example, the drive ECU 51 controls the power output from the drive source of the vehicle 1 based on the operation of the accelerator pedal 52 provided on the vehicle 1. The drive ECU 51 can also control the drive force control system 50 (for example, the drive source) according to instructions from the control device 30.

[0042] The braking force control system 60 includes a braking ECU 61 and is configured to control the braking force of the vehicle 1. The braking ECU 61 is a computer that controls the braking force control system 60 and is implemented by one or more ECUs, and includes, for example, a processor that performs various calculations, a storage unit having a non-transient storage medium for storing various information, and an input / output unit that controls the input and output of data between the inside and outside of the braking ECU 61 (none of which are shown). For example, the braking ECU 61 controls the braking force of the vehicle 1 by controlling the brake device (not shown) provided in the vehicle 1 based on the operation of the brake pedal 62 provided in the vehicle 1. Here, the brake device includes, for example, a brake caliper, a cylinder that transmits hydraulic pressure to the brake caliper, and an electric motor that generates hydraulic pressure in the cylinder. The braking ECU 61 controls the electric motor of the brake device so that a braking force is generated in accordance with the operation of the brake pedal 62. The braking ECU 61 can also control the braking force control system 60 (e.g., the brake device) according to instructions from the control device 30.

[0043] The communication unit 70 is a communication interface that communicates with the external device 2 according to the control of the control device 30. That is, the control device 30 can communicate with the external device 2 via the communication unit 70. Examples of the external device 2 include the driver's terminal device (e.g., a smartphone) and a server device managed by the manufacturer of the vehicle 1. For communication between the vehicle 1 and the external device 2, for example, a mobile communication network such as a cellular line, Wi-Fi (registered trademark), or Bluetooth (registered trademark) can be used.

[0044] The alarm device 90 is a device that provides an alarm to the occupant (e.g., the driver) in accordance with the control of the control device 30. The alarm device 90 is composed of, for example, a MID 91 (MID: Multi-Information Display) and a buzzer 92.

[0045] The MID91 is composed of a display device such as a liquid crystal display or an OLED, and is installed in a position visible to the driver (for example, in the instrument panel of vehicle 1). For example, the MID91 displays a predetermined warning image according to instructions from the control device 30. The MID91 may be shared with the touch panel 22 described above. In other words, "MID91" and "touch panel 22" in the following description may be read interchangeably.

[0046] The buzzer 92 is configured to output a predetermined alarm sound. For example, the buzzer 92 outputs a predetermined alarm sound according to instructions from the control device 30. The buzzer 92 may be shared with the speaker 23 mentioned above. In other words, "buzzer 92" and "speaker 23" in the following description may be read interchangeably.

[0047] [2. Control device] The control device 30 includes a control unit 31, which is a functional unit realized by the processor executing a program stored in the storage unit of the control device 30.

[0048] The control unit 31 is configured to perform vehicle operation control, which controls the operation of the vehicle 1 based on the detection results of the external sensor 11 (e.g., sonar 112). Here, vehicle operation control is, for example, a control of the steering of the vehicle 1 by the control unit 31 (i.e., the control device 30). Alternatively, vehicle operation control may be a control of the braking force and / or driving force of the vehicle 1 by the control unit 31. In other words, vehicle operation control may be a driver assistance control in which the steering, braking force, or driving force of the vehicle 1 is controlled by the control unit 31. An example of such a driver assistance control is parking assistance control. Here, parking assistance control is, for example, a control that moves the vehicle 1 from its current position to a target parking position set by the driver by automatic steering, and parks the vehicle 1 at the target parking position.

[0049] The following describes an example in which the vehicle operation control that the control unit 31 can perform is parking assistance control, but it should be noted that this is not the only example. The control unit 31 performs parking assistance control, for example, when the operation detection unit 125 detects an operation corresponding to a request to perform parking assistance control (for example, pressing a predetermined operation button included in the operation input unit 129).

[0050] Furthermore, the control unit 31 is configured to issue an alarm to the occupants via the alarm device provided by the vehicle 1 (hereinafter also simply referred to as "alarm") based on the detection results of the external sensor 11 (e.g., sonar 112). Examples of the alarm device provided by the vehicle 1 include a touch panel 22, a speaker 23, a MID 91, or a buzzer 92.

[0051] More specifically, the control unit 31, for example, based on detection results from the sonar 112, if it detects an object that could collide with the vehicle 1 (for example, an object located within a predetermined distance from the vehicle 1), outputs a predetermined alarm sound from the buzzer 92 and / or speaker 23, or displays a predetermined alarm image on the MID 91 and / or touch panel 22. This attracts the driver's attention, encourages driving that avoids collisions between the vehicle 1 and objects in its vicinity, and improves the safety of the vehicle 1.

[0052] Incidentally, from the driver's perspective, during parking assist control, the control of the vehicle 1's movement is entrusted to the control device 30. If a warning is issued under these circumstances, it can be annoying to the driver. In other words, such a warning can be an excessive warning that can be annoying to the driver (i.e., the occupants).

[0053] Therefore, the control unit 31 suppresses the alarm in response to the driver's operation during parking assist control. Hereinafter, the operation to suppress the alarm will also be referred to as the "alarm suppression operation". The alarm suppression operation can be, for example, an operation on the alarm suppression button RB in the ON mode RB1, which will be described later.

[0054] For example, if an alarm suppression operation is performed during parking assistance control, the control unit 31 will prevent the above-mentioned alarm sound from being output even if an object that could collide with the vehicle 1 is detected by the external sensor 11 during said parking assistance control. Alternatively, if an alarm suppression operation is performed during parking assistance control, the control unit 31 may prevent the above-mentioned alarm image from being displayed even if an object that could collide with the vehicle 1 is detected by the external sensor 11 during said parking assistance control. Or, if an alarm suppression operation is performed during parking assistance control, the control unit 31 may display the alarm image but prevent the alarm sound from being output if an object that could collide with the vehicle 1 is detected by the external sensor 11 during said parking assistance control.

[0055] On the other hand, when the power supply (e.g., ignition power) of the vehicle 1 is on and parking assist control is not in progress, in other words, when the vehicle 1 is being driven manually by the driver, the control unit 31 outputs an alarm sound or displays an alarm image when an object that could collide with the vehicle 1 is detected by the external sensor 11. Furthermore, if no alarm suppression operation is performed during parking assist control, the control unit 31 will also output an alarm sound or display an alarm image during parking assist control, just as it would during normal operation, when an object that could collide with the vehicle 1 is detected by the external sensor 11.

[0056] In this way, the control device 30 can suppress alarms in response to alarm suppression operations during parking assist control, thereby preventing excessive alarms that could be bothersome to the driver from being issued during parking assist control. Furthermore, because the control device 30 suppresses alarms in response to alarm suppression operations, it can issue alarms as appropriate even during parking assist control if the driver desires them. Moreover, since the control device 30 can suppress alarms only during parking assist control, it can issue alarms as appropriate to attract the driver's attention when vehicle 1 is being driven manually.

[0057] Based on the above, the control device 30 makes it possible to suppress excessive warnings that could annoy the occupants while preventing a decrease in the safety of the vehicle 1. In turn, it can improve traffic safety and contribute to the development of a sustainable transportation system.

[0058] Furthermore, it is possible that the driver may accidentally perform the alarm suppression operation. For this reason, it is preferable to be able to appropriately release the alarm suppression in response to the driver's operation. Therefore, the control unit 31 may return to a state where the alarm is not suppressed (in other words, a state in which the alarm can be issued as usual) when a predetermined suppression release operation is performed while the system is in a state where the alarm is suppressed in response to the alarm suppression operation. In this way, even after the system has entered a state where the alarm is suppressed in response to the alarm suppression operation, the system can return to a state where the alarm is not suppressed again if the driver wishes, and the alarm can be issued as appropriate. The suppression release operation can be, for example, an operation on the alarm suppression button RB in the off mode RB2 described later.

[0059] Furthermore, the control unit 31 may be configured to revert to a state where the alarm is not suppressed when the power to vehicle 1 is turned off or turned on. In other words, the control unit 31 may reset the alarm suppression setting to the initial value of "do not suppress alarm" in conjunction with the turning on or off of the power to vehicle 1. This makes it possible to avoid the alarm continuing to be suppressed even after the power to vehicle 1 is turned on or off against the driver's intention.

[0060] Furthermore, the control unit 31 may be configured to return to a state where the alarm is not suppressed when manual driving is started in the vehicle 1 while the alarm is suppressed. In this way, it becomes possible to return to a state where the alarm is not suppressed without requiring a suppression release operation when manual driving is started, thereby improving convenience for the driver.

[0061] [3. Example of display screen due to parking assist control] The control performed by the control device 30 (for example, the control unit 31) will be explained in more detail below using an example of a display screen that the control device 30 (for example, the control unit 31) can display on the touch panel 22.

[0062] Figure 2 is a diagram (1) showing an example of a display screen that the control device 30 can display on the touch panel 22. Figure 3 is a diagram (2) showing an example of a display screen that the control device 30 can display on the touch panel 22. Figure 4 is a diagram (3) showing an example of a display screen that the control device 30 can display on the touch panel 22. Figure 5 is a diagram (4) showing an example of a display screen that the control device 30 can display on the touch panel 22.

[0063] The display screen PS shown in Figure 2 is an example of a display screen that appears when setting a target parking position used for parking assist control. Hereafter, the display screen PS used when setting a target parking position used for parking assist control will also be referred to as the "target position setting screen". The display screens PS shown in Figures 3 to 5 are examples of display screens that appear while moving to the target parking position using parking assist control. Hereafter, the display screen PS that appears while moving to the target parking position using parking assist control will also be referred to as the "parking assist control screen".

[0064] As shown in Figures 2 to 5, for example, the touch panel 22 has a rectangular, horizontally elongated display area 22a. The display area 22a is divided into a right-side display area DR and a left-side display area DL. Different images are displayed in the right-side display area DR and the left-side display area DL. Each display screen PS is realized by displaying a predetermined image in the right-side display area DR and the left-side display area DL, respectively. Note that the left-side display area DL is an example of a first display area, and the right-side display area DR is an example of a second display area.

[0065] (3-1. Images that may be displayed in the right-hand display area) First, let's explain the images that can be displayed in the right-hand display area DR. As shown in Figure 2, in the case of the display screen PS (i.e., the target position setting screen) used when setting the target parking position, the right-hand display area DR displays, for example, an overhead image PS1, a target parking position image GP, a group of adjustment buttons BG, a confirmation button BK, and a reset button BR.

[0066] The overhead view image PS1 is an image of vehicle 1 and its surroundings viewed from directly above, and is an example of the second image. The overhead view image PS1 is generated, for example, based on images obtained from the front camera 111a, the rear camera 111b, and the side camera 111c. The overhead view image PS1 also includes a vehicle image GF1 as an image representing vehicle 1. As an example, the right-hand display area DR displays an overhead view image PS1 with the vehicle image GF1 positioned approximately in the center. By displaying such an overhead view image PS1, it becomes possible to guide the driver to the surroundings of vehicle 1 in an easy-to-understand manner.

[0067] The target parking position image GP is an image that indicates the target parking position. For example, the target parking position image GP is a frame image that shows the outline of the target parking position and is superimposed on the overhead view image PS1. Also, as shown in Figure 2, in the display screen PS when setting the target parking position, the image representing vehicle 1 may be displayed in a semi-transparent state within the frame represented by the target parking position image GP. In this way, it becomes possible to clearly guide the driver to what will happen when vehicle 1 is parked at the target parking position indicated by the target parking position image GP.

[0068] The adjustment button group BG is a group of buttons for adjusting the position and angle of the target parking position image GP. For example, the adjustment button group BG consists of an up button BG1, a down button BG2, a left button BG3, a right button BG4, a left rotation button BG5, and a right rotation button BG6. As an example, the adjustment button group BG is positioned below the vehicle image GF1 in the overhead view image PS1.

[0069] For example, by tapping the up button BG1, the driver can move the target parking position image GP upwards by a predetermined amount within the right-hand display area DR. Similarly, by tapping the down button BG2, left button BG3, or right button BG4, the driver can move the target parking position image GP in the direction corresponding to the tapped button by a predetermined amount within the right-hand display area DR. In addition, for example, by tapping the left rotation button BG5, the driver can rotate the target parking position image GP counterclockwise by a predetermined angle within the right-hand display area DR. Similarly, by tapping the right rotation button BG6, the driver can rotate the target parking position image GP clockwise by a predetermined angle within the right-hand display area DR.

[0070] The Confirm button BK is used to set the position indicated by the target parking position image GP as the target parking position. For example, the driver can adjust the position of the target parking position image GP in the right-hand display area DR using the adjustment button group BG, and then tap the Confirm button BK to set the desired position as the target parking position. The Reset button BR is used to return the target parking position image GP to its original position and angle.

[0071] On the other hand, as shown in Figures 3 to 5, in the case of the display screen PS (i.e., the screen during parking assistance control) that is displayed while moving to the target parking position using parking assistance control, the right-hand display area DR displays a driving trajectory image TR that shows the driving path of vehicle 1 as it moves from its current position to the target parking position, instead of, for example, the adjustment button group BG.

[0072] (3-2. Images that may be displayed in the left-hand display area) Next, we will describe the images that may be displayed in the left-hand display area DL. As shown in Figure 2, in the case of the display screen PS (i.e., the target position setting screen) used when setting the target parking position, the left-hand display area DL displays, for example, a 3D image PS2 that virtually shows the space including vehicle 1 and its surroundings. Also, as shown in Figure 2, the 3D image PS2 may include the target parking position image GP.

[0073] The viewpoint position of the 3D image PS2 is set so that the 3D image PS2 includes the scenery in a predetermined direction from the vehicle 1. For example, as shown in Figure 2, if the position indicated by the target parking position image GP is to the left of the vehicle 1, the viewpoint position of the 3D image PS2 is set so that it includes the scenery to the left of the vehicle 1. As another example, if the position indicated by the target parking position image GP is to the right of the vehicle 1, the viewpoint position of the 3D image PS2 is set so that it includes the scenery to the right of the vehicle 1. By displaying such a 3D image PS2, it is possible to guide the driver in an easy-to-understand manner to the direction in which the target parking position exists.

[0074] On the other hand, as shown in Figures 3 to 5, in the case of the display screen PS (i.e., the screen during parking assistance control) that is displayed while moving to the target parking position by parking assistance control, the right-hand display area DR displays, for example, a directional image PS3 showing the scenery in a predetermined direction as seen from the vehicle 1, instead of a 3D image PS2. Also, as shown in Figures 3 to 5, the directional image PS3 may include a target parking position image GP and a driving trajectory image TR.

[0075] For example, when vehicle 1 is moving in reverse, a rear view image of vehicle 1, generated based on the rear image obtained by the rear camera 111b, is displayed as the direction image PS3. Similarly, when vehicle 1 is moving forward, a front view image of vehicle 1, generated based on the front image obtained by the front camera 111a, is displayed as the direction image PS3. By displaying such a direction image PS3, it becomes possible to clearly guide the driver about the direction in which vehicle 1 is moving.

[0076] In this way, during parking assistance control (i.e., while moving to the target parking position), the control device 30 displays a directional image PS3 (i.e., a front view image or a rear view image) in the left display area DL, in addition to the overhead image PS1 displayed in the right display area DR. This makes it possible to guide the driver not only about the surroundings of the vehicle 1 but also about the direction of travel of the vehicle 1 in an easy-to-understand manner.

[0077] Furthermore, during parking assistance control, the control device 30 displays the alarm suppression button RB in the left display area DL, as shown in Figures 3 to 5. The alarm suppression button RB is a button that accepts alarm suppression and suppression release operations, and also functions as an icon that informs the driver whether the alarm is suppressed or not.

[0078] The alarm suppression button RB is displayed only during parking assist control and is not displayed when parking assist control is not in operation (for example, during manual driving). Therefore, the control device 30 (for example, the control unit 31) hides the alarm suppression button RB when parking assist control is terminated. This makes it possible to accept alarm suppression operations only during parking assist control.

[0079] More specifically, the alarm suppression button RB is configured as an image resembling a buzzer 92, for example, and can take on two display modes: ON mode RB1, illustrated in Figure 3, and OFF mode RB2, illustrated in Figures 4 and 5. Here, ON mode RB1 is a display mode that indicates a state in which the alarm is not suppressed, and more specifically, a display mode that indicates a state in which an alarm sound may be output. On the other hand, OFF mode RB2 is a display mode that indicates a state in which the alarm is suppressed, and more specifically, a display mode that indicates a state in which no alarm sound is output.

[0080] For example, when the driver taps the alarm suppression button RB in ON mode RB1 as illustrated in Figure 3, the control device 30 accepts the operation as an alarm suppression operation, puts the system in an alarm suppression state, and switches the display of the alarm suppression button RB to OFF mode RB2 as illustrated in Figure 4 or Figure 5. When the system is in an alarm suppression state, in other words, when the alarm suppression button RB in OFF mode RB2 is displayed, the control device 30 does not output an alarm sound from the buzzer 92 or the like, even if an object that could collide with the vehicle 1 is detected by the external sensor 11.

[0081] Furthermore, when the driver taps the alarm suppression button RB in the off mode RB2, as illustrated in Figure 4 or Figure 5, the control device 30 accepts this operation as a suppression release operation, deactivating the alarm and switching the display of the alarm suppression button RB to the on mode RB1, as illustrated in Figure 3. When the alarm is deactivated, in other words, when the alarm suppression button RB in the on mode RB1 is displayed, the control device 30 outputs an alarm sound from the buzzer 92 or the like when the external sensor 11 detects an object that could collide with the vehicle 1.

[0082] The control device 30 can clearly indicate to the driver whether or not the alarm is suppressed by displaying the alarm suppression button RB. Furthermore, since the control device 30 suppresses the alarm in response to the operation of the alarm suppression button RB, the alarm can be suppressed with intuitive and easy operation for the driver, improving operability. In addition, by displaying the alarm suppression button RB in the left display area DL, it is possible to display the alarm suppression button RB while ensuring the visibility of the overhead image PS1 displayed in the right display area DR.

[0083] Furthermore, as mentioned above, the control device 30 may display a warning image if an object that could collide with the vehicle 1 is detected by the external sensor 11. For example, if an object that could collide with the vehicle 1 is detected by the external sensor 11 during parking assist control, the control device 30 displays the warning image GA shown in Figure 5 on the touch panel 22 (for example, the left display area DL).

[0084] Furthermore, even when the control device 30 is in a state where alarms are suppressed, the alarm image GA is still displayed. This makes it possible to attract the driver's attention by displaying the alarm image GA, while avoiding the annoyance caused by the output of an alarm sound. Therefore, it is possible to suppress excessive alarms that could annoy the driver while suppressing a decrease in the safety of the vehicle 1.

[0085] Furthermore, as shown in Figures 3 to 5, the control device 30 may display a cancel button CB on the touch panel 22 (for example, the left display area DL) during parking assistance control (for example, while moving to the target parking position). Here, the cancel button CB is a button for accepting an operation equivalent to a request to terminate parking assistance control, or in other words, a button for instructing a switch to manual driving. For example, when the driver taps the cancel button CB, the control device 30 terminates (in other words, interrupts) the ongoing parking assistance control and switches the driving mode of the vehicle 1 to manual driving.

[0086] [4. Processing Procedure by Control Device] Next, the processing procedure by the control device 30 will be described. First, an example of the parking assistance control processing performed by the control device 30 will be described. Figure 6 is a flowchart (part 1) showing an example of the parking assistance control processing performed by the control device 30. Figure 7 is a flowchart (part 2) showing an example of the parking assistance control processing performed by the control device 30.

[0087] (4-1. Parking Assist Control Processing) As shown in Figure 6, in the parking assistance control process, the control device 30 first determines whether or not a request to start parking assistance control has been received (step S1). If it is determined that a request to start parking assistance control has been received (step S1: YES), the control device 30 displays the target position setting screen shown in Figure 2 on the touch panel 22 (step S2).

[0088] Next, the control device 30 determines whether or not a target parking position setting operation has been performed (for example, an operation on the confirmation button BK shown in Figure 2) (step S3). If it is determined that a target parking position setting operation has been performed (step S3: YES), the control device 30 sets the target parking position (step S4), displays the parking assistance control screen shown in Figure 3 etc. on the touch panel 22 (step S5), and starts parking assistance control (i.e., moving to the target parking position) (step S6).

[0089] Next, the control device 30 determines whether or not the alarm suppression button RB has been operated (step S7). If it determines that there has been no operation on the alarm suppression button RB (step S7: NO), the control device 30 proceeds to the process shown in step S11 in Figure 7.

[0090] On the other hand, if it is determined that the alarm suppression button RB has been operated (step S7: YES), the control device 30 determines whether the alarm sound suppression flag is off or off (step S8). Here, the alarm sound suppression flag is a flag that indicates whether or not the alarm is suppressed; if it is on, it indicates that the alarm is suppressed, and if it is off, it indicates that the alarm is not suppressed.

[0091] Then, if it is determined that the alarm sound suppression flag is off (step S8: YES), the control device 30 turns on the alarm sound suppression flag and displays the alarm suppression button RB in the off state RB2 (step S9), and proceeds to the process of step S11 shown in Figure 7.

[0092] On the other hand, if the alarm sound suppression flag is determined to be ON (step S8: NO), the control device 30 turns off the alarm sound suppression flag and displays the alarm suppression button RB in the ON state RB1 (step S10), and proceeds to the process of step S11 shown in Figure 7.

[0093] In step S11 of Figure 7, the control device 30 determines whether or not vehicle 1 has reached the target parking position (step S11). If it determines that vehicle 1 has reached the target parking position (step S11: YES), the control device 30 proceeds to step S13.

[0094] On the other hand, if it is determined that vehicle 1 has not reached the target parking position (step S11: NO), the control device 30 determines whether or not there has been a request to terminate the parking assistance control, that is, whether or not the cancel button CB has been tapped (step S12). If it is determined that there has been no request to terminate the parking assistance control (step S12: NO), the control device 30 returns to the process of step S7 shown in Figure 6.

[0095] On the other hand, if the control device 30 determines that a request to terminate the parking assist control has been received (step S12: YES), the control device 30 terminates the parking assist control and the display of the parking assist control screen, and hides the alarm suppression button RB (step S13). In this way, the control device 30 can clearly indicate to the driver that it is no longer possible to suppress the alarm by hiding the alarm suppression button RB that was displayed on the touch panel 22 in response to terminating (or interrupting) the parking assist control.

[0096] Then, the control device 30 turns off the alarm sound suppression flag (step S14), and terminates the series of processes shown in Figures 6 and 7. In this way, when the driving mode of the vehicle 1 is switched to manual driving, the control device 30 turns off the alarm sound suppression flag, thereby enabling the output of subsequent alarm sounds.

[0097] (4-2. Alarm Handling) Next, an example of alarm processing performed by the control device 30 will be described. Figure 8 is a flowchart of an example of alarm processing performed by the control device 30. As shown in Figure 8, in alarm processing, the control device 30 first determines whether or not an object that may collide with the vehicle 1 has been detected (step S21).

[0098] If it is determined that an object that could potentially collide with vehicle 1 has been detected (step S21: YES), the control device 30 determines whether the alarm sound suppression flag is off or not (step S22).

[0099] If the alarm sound suppression flag is determined to be off (step S22: YES), the control device 30 displays the alarm image GA on the touch panel 22 and outputs an alarm sound via the buzzer 92 (step S23), ending the series of processes shown in Figure 8. In this case, it is possible to strongly attract the driver's attention using both the alarm sound and the alarm image GA.

[0100] On the other hand, if the alarm sound suppression flag is determined to be ON (step S22: NO), the control device 30 does not output an alarm sound, displays the alarm image GA on the touch panel 22 (step S24), and terminates the series of processes shown in Figure 8.

[0101] Thus, even when the control device 30 is performing parking assist control and suppressing the output of warning sounds, if an object that may collide with the vehicle 1 is detected, it will display a warning image GA. This makes it possible to attract the driver's attention by displaying the warning image GA while suppressing the output of excessive warning sounds that may bother the driver.

[0102] As described above, the control device 30 of this embodiment does not suppress alarms when the vehicle 1 is powered on but not in vehicle operation control mode (for example, parking assist control mode), and it can suppress alarms in response to the occupant's operation when vehicle operation control mode is in effect. This makes it possible to suppress alarms in response to the occupant's operation mode when the control device 30 is controlling the operation of the vehicle 1, thereby suppressing excessive alarms that could be bothersome to the occupant while preventing a decrease in the safety of the vehicle 1. Ultimately, this can improve traffic safety and contribute to the development of a sustainable transportation system.

[0103] Furthermore, the control device 30 can display an alarm suppression button RB on the touch panel 22, which is an example of a display device provided by the vehicle 1, only during vehicle operation control, and can suppress the alarm in response to an operation on the alarm suppression button RB. This makes it possible to accept operations to suppress the alarm only during vehicle operation control.

[0104] Furthermore, the control device 30 can hide the alarm suppression button RB displayed on the touch panel 22 when vehicle operation control is terminated. This makes it possible to accept operations to suppress alarms only while vehicle operation control is in progress.

[0105] Furthermore, during vehicle operation control (for example, parking assist control), the first display area (for example, the left display area DL) of the display screen PS of the touch panel 22 displays a first image (for example, a front view image or a rear view image) based on an image obtained by one of the multiple cameras installed on the vehicle 1 (for example, the front camera 111a or the rear camera 111b), and the second display area (for example, the right display area DR) of the display screen PS displays a second image (for example, an overhead view image PS1) based on images obtained by multiple cameras installed on the vehicle 1 (for example, the front camera 111a, the rear camera 111b, and the side camera 111c). The control device 30 can then display the alarm suppression button RB in the first display area. This makes it possible to display the alarm suppression button RB while ensuring the visibility of the second image (i.e., the image based on images obtained by the multiple cameras) displayed in the second display area.

[0106] Furthermore, even when the control device 30 is controlling vehicle movement and suppressing the output of alarm sounds, it can display the alarm image GA in response to the detection of an object in the vicinity of the vehicle 1. This makes it possible to attract the attention of the occupants by displaying the alarm image GA, while avoiding the annoyance caused by the output of alarm sounds. Thus, it is possible to suppress excessive alarms that could annoy the occupants while suppressing a decrease in the safety of the vehicle 1.

[0107] Furthermore, the first image described above can be a rear-view image of vehicle 1 generated based on a rear-view image obtained by the rear-view camera 111b, or a front-view image of vehicle 1 generated based on a front-view image obtained by the front-view camera 111a. On the other hand, the second image described above can be an overhead view image PS1 of vehicle 1 generated based on images obtained by the rear-view camera 111b, the front-view camera 111a, and the side-view camera 111c, respectively. This makes it possible to guide the occupants to the rear of vehicle 1 with the rear-view image, or to the front of vehicle 1 with the front-view image, and to guide the occupants to the surroundings of vehicle 1 with the overhead view image PS1.

[0108] Furthermore, the control device 30 can be returned to a state where it does not suppress the alarm if the power to vehicle 1 is turned off or turned on. This makes it possible to avoid the alarm remaining suppressed even after the power to vehicle 1 is turned on or off against the occupant's intention.

[0109] Furthermore, when the control device 30 is in a state of suppressing alarms, it can return to a state where alarms are not suppressed when manual driving is started in vehicle 1. This eliminates the need to perform an operation to return to the state where alarms are not suppressed when manual driving is started, thereby improving convenience for the occupants.

[0110] Furthermore, the above-described vehicle operation control can be a parking assistance control that automatically steers the vehicle 1 to a set target parking position. This makes it possible to suppress excessive warnings that may be bothersome to the occupants while the vehicle control device is parking the vehicle to the target parking position.

[0111] Although one embodiment of the present invention has been described above, it goes without saying that the present invention is not limited to this embodiment. It is clear to those skilled in the art that various modifications or alterations can be conceived within the scope of the claims, and these will naturally also fall within the technical scope of the present invention. Furthermore, the components of the embodiments described above may be combined in any way without departing from the spirit of the invention.

[0112] Furthermore, the control method described in the above-mentioned embodiments can be realized by executing a pre-prepared program (control program) on a computer. This program is, for example, stored on a computer-readable storage medium and executed when read from the storage medium. This program may also be provided in the form of a non-volatile (non-transient) storage medium such as flash memory, or it may be provided via a network such as the Internet.

[0113] Furthermore, in the embodiment described above, the computer that executes the above program is the control device 30 included in the vehicle 1, but it is not limited to this. For example, the computer that executes this program may be included in another device (e.g., external device 2) that can communicate with the control device 30.

[0114] This specification includes at least the following: The components shown in parentheses are examples of those corresponding to the embodiments described above, but are not limited thereto.

[0115] (1) A vehicle control device (control device 30) that controls a vehicle (vehicle 1) equipped with a sensor (external sensor 11) that detects objects present in the vicinity of the vehicle, The vehicle control device includes a control unit (control unit 31), The control unit, Based on the detection results of the aforementioned sensors, vehicle motion control controls the operation of the vehicle, Based on the detection results of the aforementioned sensors, the vehicle provides an alarm to the occupants via its alarm system (touch panel 22, speaker 23, alarm device 90, MID 91, buzzer 92), Configured to be executable, When the vehicle's power is on and the vehicle's operation is not being controlled, the alarm is not suppressed. During the vehicle operation control, the alarm is suppressed in accordance with the occupant's operation. Vehicle control device.

[0116] According to (1), during vehicle operation control, when the vehicle control device controls the vehicle's movement, warnings are suppressed in response to the occupant's actions. This makes it possible to suppress excessive warnings that could annoy the occupant while preventing a decrease in vehicle safety. In turn, this can improve traffic safety and contribute to the development of a sustainable transportation system.

[0117] (2) The vehicle control device described in (1), The control unit, During the aforementioned vehicle operation control, a predetermined alarm suppression button (alarm suppression button RB) is displayed on the display device (touch panel 22) provided by the vehicle. The alarm is suppressed in response to the operation of the alarm suppression button. Vehicle control device.

[0118] According to (2), it becomes possible to accept operations to suppress the alarm only while the vehicle is under control.

[0119] (3) The vehicle control device described in (2), The control unit, upon terminating the vehicle operation control, hides the alarm suppression button that was displayed on the display device. Vehicle control device.

[0120] According to (3), it becomes possible to accept operations to suppress the alarm only while the vehicle is under control.

[0121] (4) The vehicle control device described in (2), The control unit causes the display device to display a predetermined display screen during the vehicle operation control. In the first display area (left display area DL) of the display screen, a first image (direction image PS3) is displayed, which is based on an image obtained by one of the multiple cameras (front camera 111a, rear camera 111b, side camera 111c) installed on the vehicle. In the display screen, a second display area (right-side display area DR), which is different from the first display area, is displayed, and a second image (overhead view image PS1) based on images obtained by the multiple cameras is displayed. The control unit causes the alarm suppression button to be displayed in the first display area. Vehicle control device.

[0122] According to (4), it becomes possible to display the alarm suppression button while ensuring the visibility of the second image displayed in the second display area (i.e., the image based on images obtained from multiple cameras).

[0123] (5) The vehicle control device described in (4), The aforementioned alarm is the output of a predetermined alarm sound. The control unit, When the object is detected by the sensor during the vehicle operation control, a predetermined warning image (warning image GA) is further displayed in the first display area. Even when the vehicle operation control is in progress and the output of the warning sound is suppressed, the warning image is displayed in response to the detection of the object. Vehicle control device.

[0124] According to (5), it is possible to attract the attention of the occupants by displaying a warning image, while avoiding the annoyance caused by the output of a warning sound. Therefore, it is possible to suppress excessive warnings that could annoy the occupants while suppressing a decrease in vehicle safety.

[0125] (6) The vehicle control device described in (4), The plurality of cameras include a rear camera (rear camera 111b) that captures images of the area behind the vehicle, a front camera (front camera 111a) that captures images of the area in front of the vehicle, and a side camera (side camera 111c) that captures images of the area to the side of the vehicle. The first image is a rear view image of the vehicle generated based on a rear image obtained by the rear camera, or a front view image of the vehicle generated based on a front image obtained by the front camera. The second image is an overhead view of the vehicle (overhead view PS1) generated based on images obtained from the rear camera, the front camera, and the side camera, respectively. Vehicle control device.

[0126] According to (6), it is possible to guide the occupants to the rear of the vehicle using a rear-view image, or to the front of the vehicle using a front-view image, and to guide the occupants to the surroundings of the vehicle using an overhead image.

[0127] (7) A vehicle control device as described in (1), The control unit returns to a state where it does not suppress the alarm when the power is turned off or when the power is turned on. Vehicle control device.

[0128] According to (7), it is possible to avoid the situation in which the alarm remains suppressed even after the vehicle's power is turned on or off against the occupant's intention.

[0129] (8) The vehicle control device described in (1), When the control unit is in a state of suppressing the alarm, if manual driving is started in the vehicle, it returns to a state where the alarm is not suppressed. Vehicle control device.

[0130] According to (8), when manual driving is initiated, it becomes possible to return to a state where the alarm is not suppressed without requiring an operation to return to a state where the alarm is not suppressed, thereby improving the convenience of the occupants.

[0131] (9) A vehicle control device as described in any of (1) to (8), The aforementioned vehicle operation control is a parking assistance control that parks the vehicle to a set target parking position by automatic steering. Vehicle control device.

[0132] According to (9), it is possible to suppress excessive warnings that may be bothersome to the occupants while the vehicle control system is parking to the target parking position.

[0133] (10) A control method performed by a computer that controls a vehicle, which is equipped with sensors for detecting objects present in the vicinity of the vehicle, The aforementioned computer, Based on the detection results of the aforementioned sensors, vehicle motion control controls the operation of the vehicle, Based on the detection results of the aforementioned sensor, the vehicle provides an alarm to the occupants via its alarm system, Configured to be executable, The aforementioned computer, When the vehicle's power is on and the vehicle is not under vehicle operation control, the alarm is not suppressed (step S14). During the vehicle operation control, the alarm is suppressed in response to the occupant's operation (step S9). A control method for performing processing.

[0134] According to (10), during vehicle operation control, when the vehicle control device controls the vehicle's movement, warnings are suppressed in response to the occupant's actions. This makes it possible to suppress excessive warnings that could annoy the occupant while preventing a decrease in vehicle safety. In turn, this can improve traffic safety and contribute to the development of a sustainable transport system. [Explanation of Symbols]

[0135] 1 vehicle 11. External sensors 22. Touch panel (display device, alarm device) 23. Speaker (alarm device) 30 Control device (vehicle control device) 31 Control Unit 90 Alarm device 91 MID (alarm device) 92 Buzzer (alarm device) 111a Front camera 111b Rear camera 111c Side Camera DL left display area (1st display area) DR Right display area (second display area) GA warning image PS1 overhead view (second image) PS3 Directional Image (First Image)

Claims

1. A vehicle control device for controlling a vehicle, which is equipped with sensors for detecting objects present in the vicinity of the vehicle, The vehicle control device comprises a control unit, The control unit, Based on the detection results of the aforementioned sensors, vehicle motion control controls the operation of the vehicle, Based on the detection results of the aforementioned sensor, the vehicle provides an alarm to the occupants via its alarm system, Configured to be executable, When the vehicle's power is on and the vehicle's operation is not being controlled, the alarm is not suppressed. During the vehicle operation control, the alarm is suppressed in accordance with the occupant's operation. Vehicle control system.

2. A vehicle control device according to claim 1, The control unit, Only during the aforementioned vehicle operation control, a predetermined alarm suppression button is displayed on the display device provided by the vehicle. The alarm is suppressed in response to the operation of the alarm suppression button. Vehicle control system.

3. A vehicle control device according to claim 2, The control unit, upon terminating the vehicle operation control, hides the alarm suppression button that was displayed on the display device. Vehicle control system.

4. A vehicle control device according to claim 2, The control unit causes the display device to display a predetermined display screen during the vehicle operation control. In the first display area of ​​the display screen, a first image is displayed based on an image obtained by one of the multiple cameras installed in the vehicle. In the second display area of ​​the aforementioned display screen, which is different from the first display area, a second image based on images obtained by the multiple cameras is displayed. The control unit causes the alarm suppression button to be displayed in the first display area. Vehicle control system.

5. A vehicle control device according to claim 4, The aforementioned alarm is the output of a predetermined alarm sound. The control unit, When the object is detected by the sensor during the vehicle operation control, a predetermined warning image is further displayed in the first display area. Even when the vehicle operation control is in progress and the output of the warning sound is suppressed, the warning image is displayed in response to the detection of the object. Vehicle control system.

6. A vehicle control device according to claim 4, The plurality of cameras include a rear camera for imaging the area behind the vehicle, a front camera for imaging the area in front of the vehicle, and a side camera for imaging the area to the side of the vehicle. The first image is a rear view image of the vehicle generated based on a rear image obtained by the rear camera, or a front view image of the vehicle generated based on a front image obtained by the front camera. The second image is an overhead view of the vehicle generated based on images obtained from the rear camera, the front camera, and the side camera, respectively. Vehicle control system.

7. A vehicle control device according to claim 1, The control unit returns to a state where it does not suppress the alarm when the power is turned off or turned on. Vehicle control system.

8. A vehicle control device according to claim 1, When the control unit is in a state of suppressing the alarm, if manual driving is started in the vehicle, it returns to a state where the alarm is not suppressed. Vehicle control system.

9. A vehicle control device according to any one of claims 1 to 8, The aforementioned vehicle operation control is a parking assistance control that parks the vehicle to a set target parking position by automatic steering. Vehicle control system.

10. A control method performed by a computer that controls a vehicle, which is equipped with sensors for detecting objects present in the vicinity of the vehicle, The aforementioned computer, Based on the detection results of the aforementioned sensors, vehicle motion control controls the operation of the vehicle, Based on the detection results of the aforementioned sensor, the vehicle provides an alarm to the occupants via its alarm system, Configured to be executable, The aforementioned computer, When the vehicle's power is on and the vehicle's operation is not being controlled, the alarm is not suppressed. During the vehicle operation control, the alarm is suppressed in accordance with the occupant's operation. A control method for performing processing.

Images