Exit support device, exit support method, and program

Abstract

To provide a getting-off support device, a getting-off support method, and a program for performing suitable support for getting-off.SOLUTION: A getting-off support device 100 has a measurement unit 121, a getting-off movement detection unit 122, an outside-vehicle notification signal output unit 123, an inside-vehicle notification signal output unit 124, and a control unit 130. The measurement unit 121 measures the approach direction and the travel speed of a movable body approaching a vehicle and the distance between the vehicle and the movable body. The getting-off movement detection unit 122 detects a getting-off movement of an occupant in the vehicle. The outside-vehicle notification signal output unit 123 outputs an outside-vehicle notification signal for notifying the presence of the vehicle to the movable body. The inside-vehicle notification signal output unit 124 outputs an inside-vehicle notification signal for notifying the approach of the movable body to the occupant. When the getting-off movement is detected, the control unit 130 controls output of the outside-vehicle notification signal and inside-vehicle notification signal according to the distance to and the travel speed of the movable body.SELECTED DRAWING: Figure 2

Description

[Technical field]

[0001] The present invention relates to a vehicle exit assistance device, a vehicle exit assistance method, and a program. [Background technology]

[0002] 2. Description of the Related Art There has been proposed a vehicle exit assistance device for ensuring the safety of a person inside a vehicle when exiting the vehicle after the vehicle has been stopped.

[0003] For example, the disembarking support device described in Patent Document 1 issues an alarm or restricts door opening if an approaching object is detected when an occupant of the vehicle is detected disembarking. This disembarking support device uses an electronic outer mirror when an obstruction is present when the vehicle is parked or stopped, and uses a rear side radar when no obstruction is present. This disembarking support device also executes a disembarking restriction operation that includes an alarm operation that issues an alarm for the door of the vehicle and a door opening restriction operation that restricts the opening of the door. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] JP 2020-093567 A Summary of the Invention [Problem to be solved by the invention]

[0005] However, the above-mentioned technology issues an alarm or restricts the opening of the door when it detects a moving object approaching the vehicle, but the state of the moving object and the situation of the vehicle vary widely.

[0006] The present invention has been made to solve the above-mentioned problems, and provides a vehicle disembarking assistance device, a vehicle disembarking assistance method, and a program for performing suitable vehicle disembarking assistance. [Means for solving the problem]

[0007] The disembarking assistance device according to the present invention has a measurement unit, a disembarking action detection unit, an outside vehicle notification signal output unit, an inside vehicle notification signal output unit, and a control unit. The measurement unit measures the approach direction and moving speed of a moving object approaching the vehicle, and the distance between the vehicle and the moving object. The disembarking action detection unit detects the disembarking action of a passenger in the vehicle. The outside vehicle notification signal output unit outputs an outside vehicle notification signal to notify the moving object of the presence of the vehicle. The inside vehicle notification signal output unit outputs an inside vehicle notification signal to notify the passenger of the approach of the moving object. When the control unit detects the disembarking action, it controls the output of the outside vehicle notification signal and the inside vehicle notification signal according to the distance and moving speed of the moving object.

[0008] The disembarking assistance method according to the present invention includes a measuring step, a disembarking action detection step, an outside-vehicle notification signal output step, an inside-vehicle notification signal output step, and a control step. The measuring step measures the approach direction and moving speed of a moving object approaching the vehicle, and the distance between the vehicle and the moving object. The disembarking action detection step detects a disembarking action of a passenger in the vehicle. The outside-vehicle notification signal output step outputs an outside-vehicle notification signal to notify the moving object of the presence of the vehicle. The inside-vehicle notification signal output step outputs an inside-vehicle notification signal to notify the passenger of the approach of the moving object. The control step, when the disembarking action is detected, controls the output of the outside-vehicle notification signal and the inside-vehicle notification signal according to the distance and moving speed of the moving object.

[0009] The program according to the present invention causes a computer to execute a display control method, and the disembarking assistance method includes a measurement step, a disembarking action detection step, an outside-vehicle notification signal output step, an inside-vehicle notification signal output step, and a control step. The measurement step measures the approach direction and moving speed of a moving object approaching the vehicle, and the distance between the vehicle and the moving object. The disembarking action detection step detects a disembarking action of a passenger in the vehicle. The outside-vehicle notification signal output step outputs an outside-vehicle notification signal to notify the moving object of the presence of the vehicle. The inside-vehicle notification signal output step outputs an inside-vehicle notification signal to notify the passenger of the approach of the moving object. The control step controls output of the outside-vehicle notification signal and the inside-vehicle notification signal according to the distance and moving speed of the moving object when the disembarking action is detected. Effect of the Invention

[0010] According to the present invention, it is possible to provide a vehicle disembarking assistance device, a vehicle disembarking assistance method, and a program for performing suitable vehicle disembarking assistance. [Brief description of the drawings]

[0011] [Figure 1] 1 is a diagram showing a vehicle according to an embodiment; [Diagram 2] 1 is a block diagram of a vehicle exit support device according to a first embodiment. [Diagram 3] 4 is a flowchart of the exit assistance device according to the first embodiment. [Figure 4] FIG. 2 is a diagram showing an example of a situation in which the disembarking support device according to the first embodiment operates; [Diagram 5] FIG. 11 is a block diagram of a vehicle exit support device according to a second embodiment. [Figure 6] 11 is a flowchart of a vehicle exit support device according to a second embodiment. [Figure 7] FIG. 11 is a diagram showing an example of a situation in which the disembarking support device according to the second embodiment operates; [Figure 8] FIG. 11 is a block diagram of a vehicle exit support device according to a third embodiment. [Figure 9]13 is a flowchart of a vehicle exit support device according to a third embodiment. [Figure 10] 13 is a flowchart of a vehicle exit support device according to a fourth embodiment. [Figure 11] FIG. 13 is a diagram showing an example of a situation in which the disembarking support device according to the fourth embodiment operates; [Figure 12] 13 is a flowchart of a vehicle exit support device according to a fifth embodiment. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0012] The present invention will be described below through the embodiments of the invention, but the invention according to the claims is not limited to the following embodiments. In addition, not all of the configurations described in the embodiments are necessarily essential as means for solving the problems. For clarity of explanation, the following description and drawings are omitted and simplified as appropriate. In each drawing, the same elements are given the same reference numerals, and duplicate explanations are omitted as necessary.

[0013] <Embodiment 1> 1 is a diagram showing a host vehicle 900 according to the first embodiment. The host vehicle 900 is one embodiment of a vehicle equipped with a disembarking support device according to the present embodiment. The host vehicle 900 is a passenger car capable of carrying about seven passengers.

[0014] The host vehicle 900 has a right front door 902R, a left front door 902L, a right rear door 903R, and a left rear door 903L as doors through which passengers can get on and off the host vehicle 900. The right front door 902R and the left front door 902L are swing doors that open while rotating around a fulcrum provided at the front. The right rear door 903R and the left rear door 903L are slide doors that open by sliding toward the rear of the vehicle body along a rail provided on the vehicle body of the host vehicle 900.

[0015] The host vehicle 900 also has a right front lamp 901R, a left front lamp 901L, a right rear lamp 904R, and a left rear lamp 904L, which are vehicle exterior warning devices for making vehicles, pedestrians, and the like present around the host vehicle 900 aware of the presence of the host vehicle 900. That is, the right front lamp 901R, the left front lamp 901L, the right rear lamp 904R, and the left rear lamp 904L may be collectively referred to as the vehicle exterior warning device 142.

[0016] The right front lamp 901R, the left front lamp 901L, the right rear lamp 904R, and the left rear lamp 904L are one embodiment of the vehicle exterior warning device 142. The vehicle exterior warning device 142 may be, for example, a hazard lamp of the vehicle 900. The vehicle exterior warning device 142 may also be a headlight or a brake lamp. The vehicle exterior warning device 142 may also be a light-emitting device different from the lamps described above. The vehicle exterior warning device 142 is not limited to a light-emitting device. The vehicle exterior warning device 142 may be, for example, a speaker that emits a directional sound.

[0017] The vehicle 900 also has a dismounting support device 100, a distance measuring sensor 140, and a camera 141. The dismounting support device 100 is communicably connected to the distance measuring sensor 140, the camera 141, etc., and provides support for a dismounting action, which is an action of a user dismounting from the vehicle 900. The dismounting support device 100 may be installed at any location of the vehicle 900. The dismounting support device 100 may be connected to a communication network (e.g., a Controller Area Network (CAN)) of the vehicle 900. Details of the dismounting support device 100 will be described later.

[0018] The distance measuring sensor 140 detects objects present around the vehicle 900 and generates distance measurement data as data relating to the position and distance of the detected objects. The distance measuring sensors 140 are installed in front and behind the vehicle 900, respectively, and detect moving objects present in front and behind the vehicle 900 and approaching the vehicle 900.

[0019] Camera 141 is installed so as to be able to capture an image of the scenery inside the cabin of vehicle 900. For example, camera 141 is installed at an arbitrary position on the windshield inside the cabin of vehicle 900. Camera 141 captures an image of a passenger getting off the vehicle inside the cabin, and supplies image data of the captured image to vehicle getting off support device 100.

[0020] Next, the configuration of the alighting support device 100 will be described with reference to Fig. 2. Fig. 2 is a block diagram of the alighting support device 100 according to the first embodiment. The alighting support device 100 mainly includes a measurement unit 121, a dismounting action detection unit 122, an outside-vehicle notification signal output unit 123, an inside-vehicle notification signal output unit 124, a control unit 130, and a storage unit 132. These components of the alighting support device 100 are connected to each other via a communication bus 110 so as to be able to communicate with each other as appropriate.

[0021] The measurement unit 121 receives distance measurement data from the distance measurement sensor 140, and measures the approach direction, moving speed, and distance between the vehicle 900 and the moving object of a moving object approaching the vehicle 900 from the received distance measurement data. The measurement unit 121 may also identify the type of moving object. For example, the measurement unit 121 may identify whether the moving object is a car, a motorcycle, a pedestrian, etc. The measurement unit 121 supplies the measurement data, which is the measurement result, to the control unit 130.

[0022] The alighting action detection unit 122 detects the alighting action of a passenger in the vehicle 900. Specifically, the alighting action detection unit 122 acquires image data from the camera 141, and detects the alighting action of the passenger from the acquired image data. The alighting action is, for example, an action of a passenger attempting to get out of the vehicle 900 through any of the doors. When the alighting action detection unit 122 detects the alighting action, it supplies a signal indicating that the alighting action has been detected to the control unit 130. Note that, when the alighting action detection unit 122 can detect the state of the door lock or the door handle, it may detect the release of the door lock or the operation of the door handle as the alighting action.

[0023] The outside-vehicle notification signal output unit 123 outputs an outside-vehicle notification signal for notifying a moving object of the presence of the vehicle 900. The outside-vehicle notification signal output unit 123 receives an instruction from the control unit 130, and outputs a signal to the outside-vehicle warning device 142 instructing the device to turn on or blink a lamp in order to warn a moving object existing around the vehicle 900 in response to the received instruction.

[0024] The in-vehicle notification signal output unit 124 outputs an in-vehicle notification signal for notifying passengers of the approach of a moving object. The in-vehicle notification signal output unit 124 receives an instruction from the control unit 130, and outputs a signal to the in-vehicle warning device 143 to instruct the speaker to operate in order to warn passengers who are getting off the vehicle in response to the received instruction. The warning given to the passengers by the in-vehicle warning device 143 may be a warning to caution against getting off the vehicle, or a warning not to get off the vehicle.

[0025] The control unit 130 includes a processor such as a CPU (Central Processing Unit), an MPU (Micro Processing Unit), or a GPU (Graphics Processing Unit), and performs control processing and arithmetic processing according to a predetermined program. The control unit 130 receives data or signals from each component of the disembarkation support device 100, and issues an instruction to output a notification signal to the outside-vehicle notification signal output unit 123 or the inside-vehicle notification signal output unit 124 based on the received data or signals.

[0026] For example, when the control unit 130 receives measurement data from the measurement unit 121, it determines from the received data whether or not a moving object is approaching the vehicle 900. Furthermore, when the control unit 130 receives a signal indicating that a getting-off action has been detected from the getting-off action detection unit 122, it determines whether or not to give an instruction to the outside-vehicle notification signal output unit 123 or the inside-vehicle notification signal output unit 124 in accordance with the received signal. That is, when the control unit 130 detects a getting-off action, it controls the output of the outside-vehicle notification signal and the inside-vehicle notification signal in accordance with the distance and the moving speed of the moving object.

[0027] More specifically, for example, the control unit 130 estimates the time until the approaching moving object reaches the vehicle 900 from the distance and moving speed of the moving object. Furthermore, the control unit 130 judges to output the outside-vehicle notification signal when the estimated time is equal to or greater than a preset threshold value. The control unit 130 judges in this way because, when the time until the moving object reaches the vehicle 900 is compared with the predetermined time required for the passenger to get off, it is considered that the predetermined time required for the passenger to get off is sufficiently short, and the passenger can get off with plenty of time. Furthermore, the control unit 130 judges to output the inside-vehicle notification signal together with the outside-vehicle notification signal when the estimated time is less than the threshold value. The control unit 130 judges in this way because, when the time until the moving object reaches the vehicle 900 is compared with the predetermined time required for the passenger to get off, it is considered that the passenger cannot get off with plenty of time. The control unit 130 judges to output the inside-vehicle notification signal in order to ensure the safety of the passengers in the vehicle. Depending on the results of these determinations, the control unit 130 gives appropriate instructions to the outside-vehicle notification signal output unit 123 and the inside-vehicle notification signal output unit 124.

[0028] Here, the threshold value is set based on the time it takes for a passenger to get off the vehicle. For example, it is generally assumed that the average time from when a passenger starts to get off the vehicle until he or she finishes getting off is 15 seconds. In this case, the threshold value is set to, for example, 30 seconds, which is longer than 15 seconds, taking into consideration a safety factor. The threshold value may be a fixed value, or multiple values ​​may be set according to predetermined conditions (for example, the position or type of door, etc.).

[0029] The storage unit 132 is a storage device including a non-volatile memory such as a flash memory or a solid state drive (SSD). The storage unit 132 stores, for example, a program executed by the control unit 130 or as a function of the control unit 130. The storage unit 132 may also include a volatile memory such as a dynamic random access memory (DRAM), and in that case, the storage unit 132 may have a function for temporarily storing processing data and the like.

[0030] Next, the components connected to the dismounting support device 100 will be described. The dismounting support device 100 is communicatively connected to a distance measuring sensor 140, a camera 141, an outside warning device 142, and an inside warning device 143. The dismounting support device 100 and these components may be connected individually or via a network line such as a CAN.

[0031] The distance measurement sensor 140 is communicably connected to the measurement unit 121 and supplies the generated distance measurement data to the measurement unit 121. For example, the distance measurement sensor 140 generates image data as distance measurement data every 1 / 30th of a second. The distance measurement sensor 140 may be, for example, a sensor called LIDAR (Light Detection and Ranging). The distance measurement sensor 140 may also be, for example, a sensor called TOF (Time of Flight), a millimeter wave radar using millimeter waves, or a sonar. The distance measurement sensor 140 may also be a stereo camera that captures an image of a common scene from separate positions.

[0032] Camera 141 is communicably connected to dismounting action detection unit 122 and supplies image data relating to a captured image to dismounting action detection unit 122. Camera 141 generates image data every 1 / 30th of a second, for example, and supplies the generated image data to dismounting action detection unit 122.

[0033] The vehicle exterior warning device 142 is communicably connected to the vehicle exterior notification signal output unit 123 and operates according to an instruction from the vehicle exterior notification signal output unit 123. The vehicle exterior warning device 142 includes a right front lamp 901R, a left front lamp 901L, a right rear lamp 904R, and a left rear lamp 904L. The vehicle exterior warning device 142 can turn on or blink all of the lamps constituting the device 142 according to the content of the instruction. The vehicle exterior warning device 142 can also turn on or blink some of the lamps constituting the device 142 according to the content of the instruction. In addition, when the vehicle exterior warning device 142 is also used as a hazard lamp (blinker lamp), the light emission pattern of the hazard blinking may be made different to distinguish it from the hazard blinking when the vehicle 900 is stopped on the roadside.

[0034] The in-vehicle warning device 143 is communicably connected to the in-vehicle notification signal output unit 124 and operates in response to an instruction from the in-vehicle notification signal output unit 124. The in-vehicle warning device 143 includes a speaker as one embodiment. That is, in response to an instruction from the in-vehicle notification signal output unit 124, the in-vehicle warning device 143 outputs a sound to alert a passenger who is getting off the vehicle.

[0035] Next, a process executed by the get-off support device 100 will be described with reference to Fig. 3. Fig. 3 is a flowchart of the get-off support device 100 according to the first embodiment. The flowchart shown in Fig. 3 illustrates a process executed by the control unit 130. The flowchart shown in Fig. 3 starts, for example, when the host vehicle 900 stops.

[0036] First, the control unit 130 causes the measurement unit 121 to start measuring the approach direction, moving speed, and distance between the host vehicle and the moving object of a moving object approaching the host vehicle (step S101), and the process proceeds to step S102.

[0037] In step S102, the control unit 130 determines whether the disembarking action detection unit 122 has detected the disembarking action of the passenger (step S102). If the disembarking action detection unit 122 determines that the disembarking action of the passenger has been detected (step S102: YES), the control unit 130 proceeds to step S103. On the other hand, if the disembarking action detection unit 122 does not determine that the disembarking action of the passenger has been detected (step S102: NO), the control unit 130 returns to step S102.

[0038] In step S103, the control unit 130 determines whether or not the approach of a moving object has been detected based on the data obtained as a result of measurement by the measurement unit 121 (step S103). If it is determined that the approach of a moving object has been detected (step S103: YES), the control unit 130 proceeds to step S104. On the other hand, if it is determined that the approach of a moving object has not been detected (step S103: NO), the control unit 130 returns to step S102.

[0039] In step S104, the control unit 130 estimates an estimated time Te, which is the time it takes for the approaching moving object to reach the vehicle 900, from the distance and moving speed of the moving object. The control unit 130 also compares the estimated time Te with a preset threshold value Tth. The control unit 130 then determines whether the estimated time Te is equal to or greater than the threshold value Tth (step S104). If the control unit 130 determines that the estimated time Te is equal to or greater than the threshold value Tth (step S104: YES), the control unit 130 proceeds to step S105. On the other hand, if the control unit 130 does not determine that the estimated time Te is equal to or greater than the threshold value Tth (step S104: NO), the control unit 130 proceeds to step S106.

[0040] Here, for example, a case will be described in which the threshold value Tth is set to 30 seconds, the vehicle 900 stops on a general road, and the passenger gets off. In this case, when the control unit 130 determines that a dismounting action has been detected, it further determines whether or not a moving object approaching the vehicle 900 has been detected. Here, for example, it is assumed that the distance measurement sensor 140 has detected the approach of a bicycle. In this case, the measurement unit 121 receives distance measurement data from the distance measurement sensor 140 and measures that the bicycle approaching the vehicle 900 is, for example, 100 meters away and is approaching at a speed of 10 kilometers per hour. The control unit 130 estimates the time for the bicycle to reach the vehicle 900 from the distance to the bicycle and the moving speed of the bicycle to be 36 seconds (Te=(100 / 10000 / 3600)=36). Furthermore, the control unit 130 compares the calculated estimated time Te=36 with the threshold value Tth=30. In this case, the estimated time Te is equal to or greater than the threshold value Tth. Therefore, the control unit 130 proceeds to step S105.

[0041] In step S105, the control unit 130 instructs the vehicle exterior notification signal output unit 123 to output a vehicle exterior notification signal (step S105). In response to the instruction from the control unit 130, the vehicle exterior notification signal output unit 123 outputs a signal for performing a warning operation to the vehicle exterior warning device 142. This causes the host vehicle 900 to perform an operation for issuing a warning to a moving object approaching the host vehicle 900. After performing the above-mentioned processing, the control unit 130 proceeds to step S107.

[0042] In step S106, the control unit 130 instructs the outside-vehicle notification signal output unit 123 to output an outside-vehicle notification signal, and instructs the inside-vehicle notification signal output unit 124 to output an inside-vehicle notification signal (step S106). The outside-vehicle notification signal output unit 123 receives an instruction from the control unit 130 and outputs a signal for performing a warning operation to the outside-vehicle warning device 142. This causes the host vehicle 900 to perform an operation for issuing a warning to the moving object approaching the host vehicle 900. Also, the inside-vehicle notification signal output unit 124 receives an instruction from the control unit 130 and outputs a signal for performing a warning operation to the inside-vehicle warning device 143. This causes the host vehicle 900 to perform an operation for issuing a warning to the passenger that a moving object is approaching the host vehicle 900. After the control unit 130 performs the above-mentioned processing, the process proceeds to step S107.

[0043] In step S107, the control unit 130 judges whether or not to end the series of processes (step S107). The judgment of whether or not to end the series of processes may be performed, for example, by the control unit 130 detecting whether the vehicle 900 is in a stopped state or a moving state. In this case, when the control unit 130 detects that the vehicle 900 has started moving, the control unit 130 judges that the series of processes is to be ended. The judgment of whether or not to end the series of processes may also be performed, for example, by the control unit 130 detecting that the user has accepted an operation to instruct the process to be stopped. The judgment of whether or not to end the series of processes may also be performed, for example, by the control unit 130 detecting that a passenger is no longer detected in the vehicle cabin of the vehicle 900. When the control unit 130 does not judge that the series of processes is to be ended (step S107: NO), the control unit 130 returns to step S102 and continues the process. On the other hand, when the control unit 130 judges that the series of processes is to be ended (step S107: YES), the control unit 130 ends the series of processes.

[0044] The above has described the disembarking support method executed by the disembarking support device 100 in the first embodiment. As described above, when the disembarking support device 100 detects a disembarking operation, it controls the output of the outside-vehicle notification signal and the inside-vehicle notification signal according to the distance and moving speed of the moving object. When the time until the moving object reaches the vehicle 900 is relatively long, the disembarking support device 100 issues a warning to the moving object outside the vehicle, but does not issue a warning to suppress the disembarking operation in order to encourage the passenger to disembark quickly. On the other hand, when the time until the moving object reaches the vehicle 900 is relatively short, the disembarking support device 100 issues a warning to the moving object outside the vehicle, while notifying the passenger of the approach of the moving object to encourage caution.

[0045] Next, an example of a situation in which the dismounting support device 100 executes the above-mentioned dismounting support method will be described with reference to Fig. 4. Fig. 4 is a diagram showing an example of a situation in which the dismounting support device according to the first embodiment operates. Fig. 4 is a diagram of a road observed from above. Fig. 4 includes the subject vehicle 900, another vehicle 910, another vehicle 920, and a pedestrian 930 that exist on the road. The subject vehicle 900 is in a state of being stopped at the edge of the road. Also, inside the subject vehicle 900, a passenger is about to get off the vehicle.

[0046] Another vehicle 910 is approaching the host vehicle 900 from behind the host vehicle 900. In the situation shown in Fig. 4, the distance between the other vehicle 910 and the host vehicle 900 is a distance D10. Also, in the situation shown in Fig. 4, the other vehicle 910 is approaching the host vehicle 900 at a speed V10.

[0047] Another vehicle 920 is traveling close to the host vehicle 900 in the oncoming lane where the host vehicle 900 is stopped. In the situation shown in Fig. 4, the distance between the other vehicle 920 and the host vehicle 900 is distance D20. Also, in the situation shown in Fig. 4, the other vehicle 920 is moving at a speed V20.

[0048] A pedestrian 930 is walking on the sidewalk on the side where the host vehicle 900 is stopped. In the situation shown in Fig. 4, the distance between the pedestrian 930 and the host vehicle 900 is distance D30. Also, in the situation shown in Fig. 4, the pedestrian 930 is approaching the host vehicle 900 at a speed V30.

[0049] In the above-mentioned situation, the dismounting support device 100 mounted on the host vehicle 900 detects other vehicles 920, 910, and pedestrians 930 that are moving objects present around the host vehicle 900. Then, the dismounting support device 100 measures the position of each moving object, the approaching direction of the moving object, the moving speed, and the distance between the host vehicle 900 and the moving object.

[0050] 4, it is assumed that the time it takes for the other vehicle 910 to reach the host vehicle 900 is equal to or greater than the threshold value Tth. In this case, the vehicle dismounting support device 100 issues a warning signal to notify the other vehicle 910 of a dismounting operation.

[0051] 4, the dismounting support device 100 does not determine that the other vehicle 920 is approaching the host vehicle 900 based on the position and moving direction of the other vehicle 920. In this case, the dismounting support device 100 does not issue a warning signal to notify the other vehicle 920 of the dismounting operation.

[0052] In the example shown in FIG. 4, it is assumed that the time it takes for the pedestrian 930 to reach the vehicle 900 is less than the threshold value Tth. In this case, the dismounting support device 100 issues a warning signal to notify the pedestrian 930 of the dismounting action, and also issues a warning signal to passengers in the vehicle indicating that a moving object is approaching. In addition, at this time, for example, the volume of the horn or the light intensity may be reduced so that the pedestrian 930 is not surprised by the warning signal. In this case, when the dismounting support device 100 detects that the moving object is a pedestrian, it may issue a voice message to the passengers notifying that the pedestrian 930 is approaching.

[0053] The dismounting support device 100 has a function as a computer, which is a calculation device. The dismounting support device 100 can realize the functions of the above-mentioned components by the processor of the control unit 130 executing a program stored in the storage unit 132. Each component of the dismounting support device 100 may be realized by any combination of hardware and software, without being limited to being realized by software using a program. Each component of the dismounting support device 100 may be realized by using an integrated circuit programmable by a user, such as a field-programmable gate array (FPGA), a system on a chip (SOC), or a microcomputer. In this case, the integrated circuit may be used to realize a program composed of each of the above-mentioned components. This is also true for other embodiments described later.

[0054] The first embodiment has been described above. The dismounting support device 100 mounted on the vehicle 900 is installed so as to be detachable from the system of the vehicle 900, and may be configured as an independent, stand-alone device. The dismounting support device 100 may also be configured as a part of the system of the vehicle 900. According to the first embodiment, it is possible to provide a dismounting support device, a dismounting support method, and a program that perform suitable dismounting support.

[0055] <Embodiment 2> Next, a description will be given of a second embodiment. The second embodiment differs from the first embodiment in the processing of the control unit 130 and the signal output from the in-vehicle notification signal output unit 124. Fig. 5 is a block diagram of a vehicle exit support device according to the second embodiment.

[0056] In the present embodiment, the in-vehicle notification signal output unit 124 is connected to the door control ECU as the in-vehicle warning device 143 so as to be able to output a predetermined signal to the door control ECU. The door control ECU is a control device included in the vehicle 900, and monitors the open / closed state of the doors and the positions of the doors, and controls the door locking device. The door control ECU also controls the opening and closing operations of the sliding doors.

[0057] The in-vehicle notification signal output unit 124 may output, for example, an instruction to operate a door lock device to the door control ECU upon receiving an instruction from the control unit 130. The in-vehicle notification signal output unit 124 may also output an instruction to stop the movement of the sliding door.

[0058] In this embodiment, the control unit 130 determines to output an in-vehicle notification signal when a moving object whose estimated time to reach the vehicle 900 is equal to or longer than a threshold value is traveling at a preset limit speed or higher within a preset limit distance. In this case, the control unit 130 can supply an in-vehicle notification signal to indicate that it is dangerous to get off the vehicle because a moving object is approaching.

[0059] The disembarking support method according to the second embodiment will be described with reference to Fig. 6. Fig. 6 is a flowchart of the disembarking support device according to the second embodiment. The flowchart shown in Fig. 6 differs from the flowchart shown in Fig. 3 in the processing after step S105. That is, when step S105 ends, the control unit 130 proceeds to step S108.

[0060] In step S108, the control unit 130 determines whether the distance Dm of the moving object being measured is less than the preset limit distance Dref and the speed Vm of the moving object is equal to or greater than the limit speed Vth (step S108). If it is determined that the above-mentioned condition is not met (step S108: NO), the control unit 130 proceeds to step S107. On the other hand, if it is determined that the above-mentioned condition is met (step S108: YES), the control unit 130 proceeds to step S109.

[0061] The above-mentioned process will be described with a concrete example. For example, it is assumed that the limit distance Dref for a moving object approaching the stopped vehicle 900 is set to 20 meters, and the limit speed Vth of the moving object is set to 10 kilometers per hour. In other words, a moving object approaching the vehicle 900 at a speed of 10 kilometers per hour or faster within a distance of 20 meters from the vehicle 900 may come into contact with a passenger getting off. Therefore, it is assumed that the above conditions are set in the dismounting support device 100.

[0062] In this case, the measurement unit 121 measures, for example, the distance and moving speed of a moving object approaching the vehicle 900 from the distance measurement data supplied from the distance measurement sensor 140. When the distance to the moving object falls below the limit distance Dref of 20, the control unit 130 compares the moving speed Vm of the moving object with the limit speed Vth of 10 kilometers per hour. When the moving speed Vm of the moving object is 10 kilometers per hour or more, the control unit 130 determines that the above-mentioned condition is satisfied, and proceeds to step S109.

[0063] In step S109, the control unit 130 instructs the in-vehicle notification signal output unit 124 to output an in-vehicle notification signal (step S109). As a result, when there is a moving object approaching at a predetermined speed or faster, the disembarkation support device 100 can urge the passenger to be careful when disembarking. Alternatively, the disembarkation support device 100 can suppress the passenger from disembarking. As a result, the disembarkation support device 100 can suppress a decrease in the safety of the passenger's disembarking. When the control unit 130 finishes the above-mentioned processing, the process proceeds to step S107.

[0064] Fig. 7 is a diagram showing an example of a situation in which the dismounting support device according to the second embodiment operates. In Fig. 7, another vehicle 910 approaches the host vehicle 900 at a speed V10, and the other vehicle 910 approaches within a distance Dref. Therefore, the dismounting support device 100 issues an in-vehicle warning to alert passengers. At this time, the host vehicle 900 may restrict the operation of the doors or lock the doors. This allows the dismounting support device 100 to suppress a decrease in the safety of the dismounting operation.

[0065] The above describes the embodiment 2. According to the embodiment 2, it is possible to provide a vehicle disembarking assistance device, a vehicle disembarking assistance method, and a program for performing suitable vehicle disembarking assistance.

[0066] <Embodiment 3> Next, a third embodiment will be described. FIG. 8 is a block diagram of a vehicle alighting support device according to the third embodiment. FIG. 8 shows a block diagram of a vehicle alighting support device 200 according to the third embodiment. The vehicle alighting support device 200 has a right notification signal output unit 123R and a left notification signal output unit 123L instead of the vehicle exterior notification signal output unit 123. The vehicle alighting support device 200 also has a door detection unit 125.

[0067] The right notification signal output unit 123R receives an instruction from the control unit 130, and in response to the received instruction, outputs an outside-vehicle notification signal for notifying a moving object approaching the right side of the vehicle 900 of the presence of the vehicle 900. More specifically, the right notification signal output unit 123R outputs to the outside-vehicle warning device 142 a signal for operating a right front lamp 901R and a right rear lamp 904R of the outside-vehicle warning device 142.

[0068] The left notification signal output unit 123L receives an instruction from the control unit 130, and in response to the received instruction, outputs an outside-vehicle notification signal for notifying a moving object approaching the left side of the vehicle 900 of the presence of the vehicle 900. More specifically, the left notification signal output unit 123L outputs to the vehicle outside warning device 142 a signal for operating the left front lamp 901L and the left rear lamp 904L of the vehicle outside warning device 142.

[0069] The door detection unit 125 detects the position and movement of a door of the host vehicle. For example, the door detection unit 125 may detect the door based on image data acquired from the camera 141. The door detection unit 125 may also acquire data related to the position and movement of the door from a door control ECU. When the door detection unit 125 detects the position and movement of the door, it supplies a signal indicating that the position and movement of the door have been detected to the control unit 130.

[0070] In this embodiment, when the control unit 130 detects an alighting operation and the position of the door through which the passenger gets off coincides with the side surface to which the moving body approaches, the control unit 130 controls to output a notification signal corresponding to that side surface. That is, the control unit 130 determines which side surface of the vehicle 900 the moving body is approaching from the measurement data acquired from the measurement unit 121. The control unit 130 also detects the side from which the passenger is about to get off from the data related to the alighting operation acquired from the alighting operation detection unit 122, the data acquired from the door detection unit 125, or data acquired from both. Then, the control unit 130 compares the position of the door through which the passenger gets off and the side surface to which the moving body approaches, and when they coincide, issues an instruction to the right notification signal output unit 123R or the left notification signal output unit 123L so that the vehicle exterior warning device 142 on the corresponding side is activated.

[0071] The in-vehicle notification signal output unit 124 in this embodiment may be configured to compare the position of the door through which the passenger is about to get off with the direction in which the moving object is approaching, and to issue a warning that a moving object is approaching to the door on the side where the passenger is about to get off. The in-vehicle notification signal output unit 124 may also be configured to output a message to the passenger recommending that the passenger use the door on the side where the moving object is not approaching.

[0072] Next, a process executed by the get-off support device 200 according to the third embodiment will be described with reference to Fig. 9. Fig. 9 is a flowchart of the get-off support device according to the third embodiment. The flowchart shown in Fig. 9 illustrates the process executed by the control unit 130. The flowchart shown in Fig. 9 starts, for example, when the host vehicle 900 stops.

[0073] First, the control unit 130 causes the measurement unit 121 to start measuring the approach direction, moving speed, and distance between the host vehicle and the moving object of a moving object approaching the host vehicle (step S201), and the process proceeds to step S202.

[0074] In step S202, the control unit 130 determines whether the disembarking action detection unit 122 has detected the disembarking action of the passenger (step S202). If the disembarking action detection unit 122 determines that the disembarking action of the passenger has been detected (step S202: YES), the control unit 130 proceeds to step S203. On the other hand, if the disembarking action detection unit 122 does not determine that the disembarking action of the passenger has been detected (step S202: NO), the control unit 130 repeats step S202.

[0075] In step S203, the control unit 130 determines whether or not the approach of a moving object has been detected based on the data obtained as a result of measurement by the measurement unit 121 (step S203). If it is determined that the approach of a moving object has been detected (step S203: YES), the control unit 130 proceeds to step S204. On the other hand, if it is determined that the approach of a moving object has not been detected (step S203: NO), the control unit 130 returns to step S202.

[0076] In step S204, the control unit 130 determines whether or not the door related to the dismounting operation matches the approaching direction of the moving object (step S204). If it is determined that the door related to the dismounting operation matches the approaching direction of the moving object (step S204: YES), the control unit 130 proceeds to step S205. On the other hand, if it is not determined that the door related to the dismounting operation matches the approaching direction of the moving object (step S204: NO), the control unit 130 returns to step S202.

[0077] In step S205, the control unit 130 determines whether the distance Dm of the approaching moving object is less than the distance Dth, which is a preset threshold distance (step S205). If the control unit 130 determines that the distance Dm of the approaching moving object is less than the distance Dth (step S205: YES), the control unit 130 proceeds to step S206. On the other hand, if the control unit 130 does not determine that the distance Dm of the approaching moving object is less than the distance Dth (step S205: NO), the control unit 130 returns to step S202.

[0078] In step S206, the control unit 130 performs a process of outputting an in-vehicle notification signal and an outside-vehicle notification signal (step S206). More specifically, the control unit 130 causes the in-vehicle notification signal output unit 124 to output an in-vehicle notification signal. The control unit 130 also issues an instruction to output a notification signal to the notification signal output unit (i.e., either or both of the right notification signal output unit 123R and the left notification signal output unit 123L) corresponding to the side where the condition in step S204 is met. This causes the dismounting support device 200 to drive the outside-vehicle warning device 142 corresponding to the side where the moving object is approaching. When the above-mentioned process is completed, the control unit 130 proceeds to step S207.

[0079] Next, in step S207, the control unit 130 determines whether or not to end the series of processes (step S207). The process executed by the control unit 130 here is equivalent to the process shown as step S107 in the flowchart of Fig. 3. Therefore, the following description will be omitted.

[0080] The above has described the disembarking support method executed by the disembarking support device 200 in the third embodiment. As described above, when the disembarking action is detected, the disembarking support device 200 performs processing to activate a warning device if the position of the door related to the disembarking action coincides with the approaching direction of the moving body. This allows the disembarking support device 200 in this embodiment to efficiently execute disembarking support. That is, according to this embodiment, it is possible to provide a disembarking support device, a disembarking support method, and a program that perform suitable disembarking support.

[0081] <Fourth embodiment> Next, a fourth embodiment will be described. The configuration of the exit support device 200 according to the fourth embodiment is similar to that shown in Fig. 8. However, the fourth embodiment differs from the third embodiment in the function of the door detection unit 125 and the function of the control unit 130 corresponding thereto.

[0082] The door detection unit 125 in this embodiment identifies whether the type of door of the host vehicle 900 is a swing door or a slide door. Data related to the type of door identified by the door detection unit 125 is stored in, for example, the storage unit 132. The door detection unit 125 identifies the types of each of all doors of the host vehicle 900.

[0083] Moreover, the control unit 130 in this embodiment determines which door the dismounting action is associated with. As a result, when the dismounting action is associated with a swing door, the control unit 130 determines to output a notification signal when the distance between the vehicle 900 and the moving object is less than a first distance, which is a preset threshold distance. Furthermore, when the dismounting action is associated with a sliding door, the control unit 130 determines to output a notification signal when the preset threshold distance is less than a second distance that is longer than the first distance. By being configured in this way, the dismounting support device 200 can preferably perform dismounting support.

[0084] Fig. 10 is a flowchart of the disembarking support device according to the embodiment 4. The flowchart shown in Fig. 10 differs from the flowchart shown in Fig. 9 in the process after step S204 and before step S207.

[0085] When the control unit 130 determines in step S204 that the exit door and the approach direction match (step S204: YES), the control unit 130 proceeds to step S210.

[0086] In step S210, the control unit 130 determines the type of door involved in the disembarking operation (step S210). If the type of door involved in the disembarking operation is determined to be a swing door (left side in step S210), the control unit 130 proceeds to step S211. On the other hand, if the type of door involved in the disembarking operation is determined to be a slide door (right side in step S210), the control unit 130 proceeds to step S221.

[0087] In step S211, the control unit 130 determines whether the distance Dm of the approaching moving object is less than the first distance D1, which is a preset threshold distance (step S211). If the control unit 130 determines that the distance Dm of the approaching moving object is less than the first distance D1 (step S211: YES), the control unit 130 proceeds to step S212. On the other hand, if the control unit 130 does not determine that the distance Dm of the approaching moving object is less than the first distance D1 (step S211: NO), the control unit 130 returns to step S202.

[0088] In step S212, the control unit 130 performs a process of outputting an in-vehicle notification signal and an outside-vehicle notification signal (step S212). The control unit 130 issues an instruction to output a notification signal to the notification signal output unit corresponding to the side where the condition in step S204 is met. When the above process is completed, the control unit 130 proceeds to step S207.

[0089] In step S221, the control unit 130 determines whether the distance Dm of the approaching moving object is less than the second distance D2, which is a preset threshold distance (step S221). If the control unit 130 determines that the distance Dm of the approaching moving object is less than the second distance D2 (step S221: YES), the control unit 130 proceeds to step S222. On the other hand, if the control unit 130 does not determine that the distance Dm of the approaching moving object is less than the second distance D2 (step S211: NO), the control unit 130 returns to step S202.

[0090] In step S222, the control unit 130 performs a process of outputting an in-vehicle notification signal and an outside-vehicle notification signal (step S222). The control unit 130 issues an instruction to output a notification signal to the notification signal output unit corresponding to the side where the condition in step S204 is met. When the above process is completed, the control unit 130 proceeds to step S207.

[0091] Fig. 11 is a diagram showing an example of a situation in which the dismounting support device according to the fourth embodiment operates. In Fig. 11, another vehicle 910 is approaching the right rear of the host vehicle 900 at a speed V10, and is located at a position farther than the first distance D1 and less than the second distance D2. Also, a passenger in the host vehicle 900 is about to dismount using the right front door 902R.

[0092] In the above situation, the disembarking support device 200 detects the other vehicle 910, which is a moving body, and detects that the other vehicle 910 is approaching to the right side of the vehicle 900. The disembarking support device 200 also detects the disembarking action of the passenger, and detects that the disembarking action is linked to the right front door 902R. Furthermore, the control unit 130 determines that the position (right side) of the door related to the disembarking action matches the direction (right side) of the approaching other vehicle 910. The control unit 130 also identifies that the door related to the disembarking action (right front door 902R) is a swing door. Furthermore, the control unit 130 determines whether the distance of the other vehicle 910 is less than the first distance D1.

[0093] In Fig. 11, the other vehicle 910 is present at a position farther than the first distance D1. Therefore, the dismounting support device 200 does not execute processing for activating the warning device of the host vehicle 900 in this situation. Note that the other vehicle 910 can recognize that the right swing door of the host vehicle 900 is open. Here, the host vehicle 900 and the other vehicle 910 in Fig. 11 are far enough away from each other in consideration of safety. Therefore, in Fig. 11, the passenger can perform the dismounting action without the dismounting support device 200 executing processing for issuing a warning.

[0094] However, if the other vehicle 910 moves to the position indicated by the dotted line before the disembarking operation is completed, the disembarking support device 200 performs a process different from the above process. That is, in this case, the other vehicle 910 is closer than the first distance D1 to the disembarking support device 200. Therefore, the disembarking support device 200 activates the right rear lamp 904R to issue a warning to the other vehicle 910. The disembarking support device 200 also issues a warning to the passengers notifying them of the approach of the moving object.

[0095] When the other vehicle 910 is located at the position shown in FIG. 11, that is, when the other vehicle 910 is located at a position less than the second distance D2, and the passenger is about to get off the vehicle through the right rear door 903R, which is a sliding door, the dismounting support device 200 performs a process of activating a warning device. The reason is that the open state of the sliding door is less visible from a distance than the open state of the swing door. In this way, the dismounting support device 200 sets a larger threshold distance for the dismounting action associated with the sliding door compared to the case of the swing door. This allows the dismounting support device 200 to efficiently perform dismounting support while taking safety into consideration.

[0096] The above describes the embodiment 4. According to the embodiment 4, it is possible to provide a vehicle disembarking assistance device, a vehicle disembarking assistance method, and a program that perform efficient and suitable vehicle disembarking assistance.

[0097] <Fifth Preferred Embodiment> Next, a description will be given of the fifth embodiment. The vehicle getting-off support device 200 according to the fifth embodiment differs from the fourth embodiment in the order of processing of the warning device.

[0098] In the present embodiment, the control unit 130 outputs an outside-vehicle notification signal after an inside-vehicle notification signal when the exit action is associated with a swing door, and outputs an outside-vehicle notification signal before or simultaneously with the inside-vehicle notification signal when the exit action is associated with a sliding door. This allows the exit support device 200 to issue warnings in a suitable order.

[0099] Fig. 12 is a flowchart of the get-off support device according to the fifth embodiment. In the flowchart of Fig. 12, the process after step S211 is different from the process after step S221.

[0100] In step S211, when the control unit 130 determines that the distance Dm of the approaching moving object is less than the first distance D1 (step S211: YES), the control unit 130 proceeds to step S213, where the control unit 130 first outputs an in-vehicle notification signal (step S213). Then, after outputting the in-vehicle notification signal, the control unit 130 outputs an outside-vehicle notification signal (step S214), and proceeds to step S207. In other words, in this embodiment, when the type of door corresponding to the disembarking operation is a swing door, the disembarking support device 200 prioritizes output of the in-vehicle notification signal over output of the outside-vehicle notification signal.

[0101] On the other hand, in step S221, when the control unit 130 determines that the distance Dm of the approaching moving object is less than the second distance D2 (step S221: YES), the control unit 130 proceeds to step S223, where the control unit 130 first outputs an outside-vehicle notification signal (step S223). Then, after outputting the outside-vehicle notification signal, the control unit 130 outputs an inside-vehicle notification signal (step S224), and proceeds to step S207. In other words, in this embodiment, when the type of door corresponding to the disembarking operation is a sliding door, the disembarking support device 200 prioritizes output of the outside-vehicle notification signal over output of the inside-vehicle notification signal.

[0102] The fifth embodiment has been described above. The dismounting support device 200 according to the fifth embodiment effectively performs a process in consideration of safety. As a result, according to the fifth embodiment, it is possible to provide a dismounting support device, a dismounting support method, and a program that perform more suitable dismounting support.

[0103] The above-mentioned program can be stored and supplied to a computer using various types of non-transitory computer-readable media. The non-transitory computer-readable media include various types of tangible recording media. Examples of the non-transitory computer-readable media include magneto-optical recording media (e.g., magneto-optical disks), CD-ROM (Read Only Memory), CD-R, CD-R / W, and semiconductor memory (e.g., mask ROM, PROM (Programmable ROM), EPROM (Erasable PROM), flash ROM, and RAM (Random Access Memory)). The program may also be supplied to a computer by various types of temporary computer-readable media. Examples of the temporary computer-readable media include electric signals, optical signals, and electromagnetic waves. The temporary computer-readable media can supply the program to a computer via a wired communication path such as an electric wire and an optical fiber, or via a wireless communication path.

[0104] The present invention is not limited to the above-described embodiment, and can be modified as appropriate without departing from the spirit and scope of the present invention. [Explanation of symbols]

[0105] 100 Disembarkation aid 110 Communication Bus 121 Measuring section 122 Disembarking behavior detector 123 Vehicle exterior notification signal output unit 123R Right notification signal output section 123L Left notification signal output part 124 Vehicle interior notification signal output unit 125 Door detector 130 Control section 132 Storage section 140 Distance Sensor 141 Camera 142 External warning device 143 In-vehicle warning device 200 Disembarkation Assistance Device 900 Vehicle 901R Right front lamp 901L Left front lamp 902R Right front door 902L Left front door 903R Right rear door 903L Left rear door 904R Right rear lamp 904L Left rear lamp 910 Other vehicles 920 Other vehicles 930 Pedestrians

Claims

1. a measuring unit that measures an approach direction, a moving speed, and a distance between the vehicle and the moving object; an exit action detection unit that detects an exit action of a passenger in the vehicle; an outside-vehicle notification signal output unit that outputs an outside-vehicle notification signal for notifying the moving object of the presence of the vehicle; an in-vehicle notification signal output unit that outputs an in-vehicle notification signal for notifying the passenger of the approach of the moving object; a control unit that controls output of the outside-vehicle notification signal and the inside-vehicle notification signal in accordance with the distance and the moving speed of the moving object when the getting-off action is detected, the control unit estimates a time required for the moving object to reach the vehicle from the distance and the moving speed of the moving object, and when the estimated time is equal to or greater than a preset threshold, determines to output the outside-vehicle notification signal and the inside-vehicle notification signal when the estimated time is less than the threshold. Disembarkation assistance device.

2. the control unit determines to output the in-vehicle notification signal when the moving object, whose estimated time is equal to or greater than the threshold value, is traveling at a speed equal to or greater than a preset limit speed within a preset limit distance. The disembarking assistance device according to claim 1.

3. a measuring step of detecting a moving object approaching the host vehicle and measuring a distance between the host vehicle and the moving object and a moving speed of the moving object; a step of detecting an alighting action of a passenger in the vehicle; a vehicle exterior notification signal output step of outputting a vehicle exterior notification signal for notifying the moving object of the presence of the vehicle; an in-vehicle notification signal output step of outputting an in-vehicle notification signal for notifying the passenger of the approach of the moving object; a control step of controlling output of the outside-vehicle notification signal and the inside-vehicle notification signal in accordance with the distance and the moving speed of the moving object when the getting-off action is detected, In the control step, a time required for the moving object to reach the vehicle is estimated based on the distance and the moving speed of the moving object, and when the estimated time is equal to or greater than a preset threshold, the vehicle exterior notification signal is output, and when the estimated time is less than the threshold, the vehicle interior notification signal is output together with the vehicle exterior notification signal. How to assist with disembarking.

4. a measuring step of detecting a moving object approaching the host vehicle and measuring a distance between the host vehicle and the moving object and a moving speed of the moving object; a step of detecting an alighting action of a passenger in the vehicle; a vehicle exterior notification signal output step of outputting a vehicle exterior notification signal for notifying the moving object of the presence of the vehicle; an in-vehicle notification signal output step of outputting an in-vehicle notification signal for notifying the passenger of the approach of the moving object; a control step of controlling output of the outside-vehicle notification signal and the inside-vehicle notification signal in accordance with the distance and the moving speed of the moving object when the getting-off action is detected, In the control step, a time required for the moving object to reach the vehicle is estimated based on the distance and the moving speed of the moving object, and when the estimated time is equal to or greater than a preset threshold, the vehicle exterior notification signal is output, and when the estimated time is less than the threshold, the vehicle interior notification signal is output together with the vehicle exterior notification signal. The method for assisting a vehicle exit is executed by a computer. program.

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