Control device

Abstract

To provide a control device capable of improving safety at the time of getting-off of an occupant more than before.SOLUTION: A control device 10 is mounted on a vehicle 1. The control device 10 includes an attention degree estimation unit 11 and a getting-off restriction unit 12. The attention degree estimation part 11 estimates an attention degree of an occupant relative to an object approaching the vehicle 1 based on detection results of at least one of an occupant sensor 3 for detecting movements of the occupant of the vehicle 1 or a vehicle sensor 4 for detecting a state of the vehicle 1. When the attention degree of the occupant estimated by the attention degree estimation part 11 is lower than a predetermined threshold value, the getting-off restriction unit 12 causes at least one of a door opening / closing device 6, an audio output device 7, and an image display device 8 mounted on the vehicle 1 to perform getting-off restriction operation.SELECTED DRAWING: Figure 1

Description

[Technical field]

[0001] The present disclosure relates to a control device mounted on a vehicle. [Background technology]

[0002] There is a known invention relating to a vehicle disembarking support device that can more reliably detect an object approaching the vehicle to increase the safety of passengers when disembarking (see Patent Document 1 below). The vehicle disembarking support device described in Patent Document 1 includes an approaching object detection unit, a vehicle disembarking restriction unit, a vehicle disembarking action detection unit, a control unit, and a plurality of first detection units.

[0003] The approaching object detection unit is configured to detect an approaching object approaching the host vehicle from the rear side. The alighting restriction unit is configured to execute an alighting restriction operation that is an operation including an alarm operation that is an operation of issuing an alarm for a door equipped in the host vehicle and / or a door-opening restriction operation that is an operation of restricting the opening of the door. The alighting operation detection unit is configured to detect an alighting operation that is an operation of an occupant of the host vehicle attempting to alight from the vehicle.

[0004] The control unit is configured to execute a disembarking restriction control, which is a control for causing the disembarking restriction unit to execute the disembarking restriction operation for at least the door closest to the approaching object when the approaching object is detected by the approaching object detection unit when the disembarking action is detected by the disembarking action detection unit. The first detection unit is configured to detect an object present in the vicinity of the host vehicle. At least two of the first detection units are also second detection units configured to detect the approaching object approaching the host vehicle from the rear side.

[0005] The control unit determines whether a first state, in which an obstruction that is an object that hinders detection of the approaching object is present behind the vehicle, is established when the vehicle is parked or stopped based on a detection result by at least one of the first detection units. When it is determined that the first state is established, the control unit is configured to use, as the approaching object detection unit, a third detection unit, which is the second detection unit that is preset to be used as the approaching object detection unit in the first state, among the second detection units, as the approaching object detection unit.

[0006] The control unit determines whether a second state in which the obstacle is not present behind the vehicle is established when the vehicle is parked or stopped based on a detection result by at least one of the first detection units. When it is determined that the second state is established, the control unit is configured to use, as the approaching object detection unit, a fourth detection unit, which is the second detection unit that is preset to be used as the approaching object detection unit in the second state, among the second detection units, when the control unit determines that the second state is established. [Prior art documents] [Patent documents]

[0007] [Patent Document 1] JP 2020-093567 A Summary of the Invention [Problem to be solved by the invention]

[0008] The conventional disembarking support device detects an approaching object using a third detection unit that is an electronic outer mirror in a first state in which an obstacle is present behind the vehicle, and detects the approaching object using a fourth detection unit that is a rear-side radar in a second state in which no obstacle is present behind the vehicle (Patent Document 1, paragraph 0016). However, with this conventional disembarking support device, for example, the electronic outer mirror used in the first state cannot detect an approaching object due to the influence of heavy rain, thick fog, nighttime, backlighting, etc., and there is a risk that the safety of the occupants when disembarking may be reduced.

[0009] The present disclosure provides a control device that can improve safety when passengers get off a vehicle compared to conventional methods. [Means for solving the problem]

[0010] One aspect of the present disclosure is a control device mounted on a vehicle, comprising: an attention level estimation unit that estimates the level of attention of an occupant regarding an approaching object approaching the vehicle based on the detection results of at least one of an occupant sensor that detects the movement of an occupant of the vehicle or a vehicle sensor that detects the state of the vehicle; and an alighting restriction unit that causes at least one of a door opening / closing device, an audio output device, and an image display device mounted on the vehicle to perform an alighting restriction operation if the level of attention estimated by the attention level estimation unit is lower than a predetermined threshold value. Effect of the Invention

[0011] According to the present disclosure, a control device can be provided that can improve safety when occupants disembark compared to conventional methods by causing at least one of a door opening / closing device, an audio output device, and an image display device to execute an disembarkation restriction operation in response to a decrease in the occupant's level of attention. [Brief description of the drawings]

[0012] [Figure 1] FIG. 2 is a functional block diagram illustrating an embodiment of a control device according to the present disclosure. [Diagram 2] 2 is a plan view showing an example of an approaching object approaching a vehicle equipped with the control device shown in FIG. 1; [Diagram 3] FIG. 2 is a flow chart for explaining the operation of the control device in FIG. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0013] DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of a vehicle control device according to the present disclosure will now be described with reference to the accompanying drawings. Fig. 1 is a functional block diagram showing an embodiment of a control device according to the present disclosure.

[0014] The control device 10 of this embodiment is an electronic control unit (ECU) mounted on a vehicle 1 such as a gasoline vehicle, a diesel vehicle, a natural gas vehicle, a hybrid vehicle, an electric vehicle, a fuel cell vehicle, or a hydrogen engine vehicle. Although not shown, the control device 10 is configured by one or more microcontrollers including, for example, an input / output unit, a central processing unit (CPU), a memory, and a timer.

[0015] The vehicle 1 is equipped with, for example, an external sensor 2, an occupant sensor 3, a vehicle sensor 4, a car navigation system (CNS) 5, a door opening / closing device 6, an audio output device 7, and an image display device 8. Although not shown, the vehicle 1 also includes a drive system, a steering system, a braking system, and a control system for driving, turning, decelerating, and stopping the vehicle 1.

[0016] The external sensor 2 includes, for example, a millimeter wave radar, a monocular camera, a stereo camera, a LiDAR, an ultrasonic sensor, a road-to-vehicle communication device, an inter-vehicle communication device, an illuminance sensor, a raindrop sensor, a humidity sensor, etc. The external sensor 2 detects objects around the vehicle 1 including roads, white lines, signs, traffic signals, vehicles, pedestrians, and obstacles, as well as the surrounding environment including illuminance, rainfall, humidity, and visibility of obstacles, and outputs the detected information to the control device 10.

[0017] The occupant sensor 3 includes, for example, a seating sensor, a motion capture system, an eye tracker, a face authentication system, a voice recognition system, a seat belt sensor, etc. The occupant sensor 3 detects, for example, a preparatory movement for getting off, which is a movement of an occupant when getting off the vehicle 1, the age of the occupant, etc., and outputs the detection result to the control device 10. The preparatory movement for getting off detected by the occupant sensor 3 includes, for example, a movement of the line of sight and body toward the door, a speech related to the occupant getting off, and fastening and unfastening a seat belt, etc.

[0018] The vehicle sensor 4 includes various sensors for detecting the state of the vehicle, such as a wheel speed sensor, an acceleration sensor, a shift position sensor, etc., and detects the vehicle state including the speed, acceleration, and shift position of the transmission of the vehicle 1, as well as abnormalities of the vehicle 1. Abnormalities of the vehicle 1 detected by the vehicle sensor 4 include, for example, abnormalities in tire pressure, remaining fuel, the engine, the ABS (Anti-Lock Brake System), airbags, brakes, oil pressure, the battery, water temperature, etc.

[0019] The vehicle sensor 4 includes, for example, a door lever sensor, a door switch, a touch sensor, and the like, and detects the operation of the door lever and the door switch by the occupant, as well as the exit operation including the contact of the occupant's hand with the door lever or the door switch, etc. The vehicle sensor 4 outputs the detected vehicle state and the exit operation to the control device 10.

[0020] The CNS 5 includes, for example, a map information storage device, a route calculation device, a vehicle-to-vehicle communication device, a road-to-vehicle communication device, and a Global Navigation Satellite System (GNSS) receiver. The CNS 5 also includes, for example, an input device for an occupant of the vehicle 1 to input a destination. The CNS 5 outputs, for example, point information on a map based on position information of the vehicle 1 and route information from the current position of the vehicle 1 to the destination to the control device 10.

[0021] The door opening and closing device 6 includes, for example, one or more actuators and a power transmission mechanism, and automatically locks and unlocks hinged doors, sliding doors, or doors of other opening and closing types of the vehicle 1 based on a control signal input from the control device 10. The audio output device 7 is, for example, a speaker provided in the passenger compartment of the vehicle 1, and outputs warning sounds and audio guidance based on a control signal input from the control device 10.

[0022] The image display device 8 is, for example, a liquid crystal display device, an organic EL display device, or a head-up display, and displays an image based on a control signal input from the control device 10. The image display device 8 may also include an input device such as a touch panel or an operation button. An occupant of the vehicle 1 can input information such as a destination to the CNS 5 via the input device of the image display device 8, for example.

[0023] The control device 10 of this embodiment is mounted on the vehicle 1 and functions as an alighting support device that supports the alighting of an occupant of the vehicle 1. The control device 10 includes an attention level estimation unit 11 and an alighting restriction unit 12. The control device 10 can also include at least one of an approaching object detection unit 13, an alighting action detection unit 14, an occupant behavior detection unit 15, a vehicle state detection unit 16, an alighting environment detection unit 17, an arrival prediction unit 18, and an operation determination unit 19, for example.

[0024] 1 are functional blocks showing functions of the control device 10 that are realized, for example, by a CPU constituting the control device 10 executing a program stored in a memory constituting the control device 10. Each function of the control device 10 other than the attention level estimation unit 11 and the alighting restriction unit 12 may be realized, for example, by an ECU or a microcontroller separate from the control device 10.

[0025] Hereinafter, the operation of each part of the control device 10 will be described with reference to Fig. 2 and Fig. 3. Fig. 2 is a plan view showing a state in which the vehicle 1 equipped with the control device 10 is parked at the side of the road. Fig. 3 is a flow diagram explaining the operation of the control device 10. For example, when the start switch of the vehicle 1 is turned on, the control device 10 repeatedly executes the processing flow shown in Fig. 3 at a predetermined cycle.

[0026] 3, the control device 10 first executes a process P1 for determining whether the vehicle 1 is stopped or not. In this process P1, the vehicle state detection unit 16 of the control device 10 determines whether the vehicle 1 is stopped or not based on the detection results input from, for example, a wheel speed sensor and an acceleration sensor included in the vehicle sensor 4.

[0027] More specifically, the vehicle state detection unit 16 determines that the vehicle 1 is stopped when the speed of the vehicle 1 estimated based on the rotation speed of the wheels of the vehicle 1, which is the detection result of a wheel speed sensor, falls below a first threshold value for determining whether the vehicle is stopped. The vehicle state detection unit 16 may also determine that the vehicle 1 is stopped based on the detection result of a shift position sensor included in the vehicle sensor 4. The vehicle state detection unit 16 also detects, for example, the stop time, which is the time during which the vehicle 1 is stopped.

[0028] When the vehicle state detection unit 16 determines in process P1 that the vehicle 1 is not stopped (NO), the control device 10 executes process P2 to determine whether the vehicle 1 is about to stop. In process P2, the vehicle state detection unit 16 determines that the vehicle 1 is about to stop when, for example, the speed of the vehicle 1 drops below a second threshold value that is higher than a first threshold value for determining whether the vehicle is stopped.

[0029] Furthermore, the vehicle state detection unit 16 may determine that the vehicle 1 is about to stop based on, for example, traffic signals, road signs, and road markings detected by the external sensor 2, or map information of the travel route of the vehicle 1 input from the CNS 5. In process P2, when the vehicle state detection unit 16 determines that the vehicle 1 is not about to stop (NO), the control device 10 ends the process flow shown in FIG.

[0030] On the other hand, when the vehicle state detection unit 16 determines in process P1 that the vehicle is stopped (YES), or when the occupant behavior detection unit 15 determines in process P2 that the vehicle is about to stop (YES), the control device 10 executes process P3 for detecting the disembarking environment. In process P3, the control device 10 detects the disembarking environment, for example, by the disembarking environment detection unit 17. The disembarking environment includes, for example, the illuminance and weather around the vehicle 1, the state of the vehicle 1 waiting at a traffic light, the traffic conditions around the vehicle 1 including congestion, and location information relating to the stopping position of the vehicle 1.

[0031] More specifically, the disembarking environment detection unit 17 detects the illuminance around the vehicle 1 based on the detection result of the external sensor 2 such as an illuminance sensor. The disembarking environment detection unit 17 also estimates the weather around the vehicle 1, such as sunny, cloudy, rainy, snowy, or foggy, based on the detection result of the external sensor 2 such as a raindrop sensor, a monocular camera, or a stereo camera, or the operating state of the wipers and fog lamps of the vehicle 1.

[0032] The disembarking environment detection unit 17 also estimates the visibility of the approaching object O based on, for example, the detection result of the external sensor 2 or weather information received by a receiver mounted on the vehicle 1. The disembarking environment detection unit 17 also detects the state of the vehicle 1 waiting for a traffic light by recognizing the display of a traffic signal ahead of the vehicle 1, for example, based on the detection result of the external sensor 2 that detects objects around the vehicle 1 or on road-to-vehicle communication, and detects the traffic conditions around the vehicle 1.

[0033] The disembarking environment detection unit 17 detects location information of the stopping position of the vehicle 1, such as a parking lot, a rotary in front of a station, a road shoulder, on a road, etc. The location information of the stopping position of the vehicle 1 may be accurate location information based on high-precision three-dimensional map information of the CNS 5.

[0034] When the process P3 for detecting the disembarking environment is completed, the control device 10 executes a process P4 for determining whether or not the occupant has disembarked. In this process P4, the disembarking action detection unit 14 of the control device 10 detects the disembarking action of the occupant of the vehicle 1 based on, for example, the detection result of the occupant sensor 3 or the vehicle sensor 4. Here, the disembarking action is, for example, a behavior that the occupant of the vehicle 1 takes before disembarking.

[0035] The disembarking actions include, for example, a preparatory disembarking action and a disembarking operation. The preparatory disembarking actions include, for example, an occupant of the vehicle 1 removing a seat belt, an occupant's eye movement when opening the door, a weight shift or body movement, and a keyword such as "I'm getting off" or a greeting that the occupant utters when getting off. The disembarking operation includes, for example, an occupant's hand contact with or operation of a door switch or door lever. Such disembarking actions are detected by the occupant sensor 3 or the vehicle sensor 4, and the disembarking action detection unit 14 determines whether or not a disembarking action has been performed based on the detection result of at least one of the occupant sensor 3 and the vehicle sensor 4.

[0036] The alighting action detection unit 14 detects the alighting action including the preliminary alighting action of the occupant as described above, so that it becomes possible to predict the occupant alighting earlier. In addition, the alighting action detection unit 14 predicts, for example, the time until the occupant of the vehicle 1 alights or the time until the door of the vehicle 1 is opened based on the detected alighting action, and outputs the predicted time to the attention level estimation unit 11 and the arrival prediction unit 18.

[0037] In process P4, when the disembarking environment detection unit 17 determines that the occupant has not disembarked (NO), the control device 10 ends the process flow shown in Fig. 3. On the other hand, in process P4, when the disembarking environment detection unit 17 determines that the occupant has disembarked (YES), the control device 10 executes process P5 for determining the presence or absence of an approaching object O.

[0038] In this process P5, the control device 10 determines the presence or absence of an approaching object O, for example, by the approaching object detection unit 13. The approaching object detection unit 13 detects the approaching object O approaching the vehicle 1, for example, based on the detection result of the external sensor 2 that detects objects around the vehicle 1. More specifically, as shown in Fig. 2, the approaching object detection unit 13 detects an object approaching the disembarking area A of the vehicle 1 from the rear side of the parked vehicle 1 as the approaching object O, based on the detection result of the external sensor 2.

[0039] Here, rear side means, for example, the rear of both the left and right sides of the vehicle 1. The disembarking area A is, for example, an area where the doors of the vehicle 1 are opened and closed, and an area where the occupants of the vehicle 1 get on and off the vehicle 1, and is set on the left and right sides or around the vehicle 1 depending on the structure and position of the doors. The disembarking area A can be set, for example, adjacent to each door of the vehicle 1. The approaching object detection unit 13 detects the approaching object O by, for example, calculating the position, speed, and moving direction of the object around the vehicle 1 based on the detection result of the external sensor 2.

[0040] The objects detected as the approaching object O by the approaching object detection unit 13 include, for example, vehicles including automobiles, motorcycles, and bicycles, as well as moving bodies other than vehicles such as pedestrians and animals. Furthermore, the approaching object detection unit 13 may detect, as the approaching object O, an object approaching the disembarking area A whose arrival margin time, which is the time it takes to reach the disembarking area A, is shorter than a predetermined time threshold. The arrival margin time can be calculated in the same way as the time to collision (TTC). The approaching object detection unit 13 outputs approaching object information such as the position, speed, predicted course, and arrival margin time for each disembarking area A of the approaching object O to the arrival prediction unit 18.

[0041] In process P5, when the approaching object detection unit 13 determines that there is no approaching object O (NO), the control device 10 executes process P6 for determining the attention level of the occupant of the vehicle 1. In this process P6, the occupant behavior detection unit 15 of the control device 10 detects, based on the detection result of the occupant sensor 3, at least one of the type of occupant getting off the vehicle 1 and the distracted behavior of the occupant when the attention level of the occupant decreases.

[0042] More specifically, the occupant behavior detection unit 15 estimates the age of the occupant whose dismounting action has been detected based on the detection result of the occupant sensor 3, such as a face recognition system or an in-vehicle camera. The occupant behavior detection unit 15 also classifies the occupant whose dismounting action has been detected into an age category, such as infant, child, minor, adult, or elderly, based on the estimated age. The occupant behavior detection unit 15 outputs, for example, the estimated age or age category to the attention level estimation unit 11 as the dismounting occupant type. The occupant behavior detection unit 15 also detects the type of the dismounting occupant, such as a driver or a passenger, based on the seating position of each occupant detected by the occupant sensor 3 or the vehicle sensor 4, and outputs the type to the attention level estimation unit 11 as the dismounting occupant type.

[0043] The occupant behavior detection unit 15 detects distracted behavior of the occupants of the vehicle 1 when their attention level is reduced, for example, based on the detection result of at least one of the occupant sensor 3 and the vehicle sensor 4. Here, the distracted behavior includes, for example, insufficient safety confirmation of the occupants getting off the vehicle 1 and getting off while the occupants are talking to each other. More specifically, the occupant behavior detection unit 15 detects, for example, that the face or line of sight of the occupant is not directed toward the mirror of the vehicle 1 or the rear side of the vehicle 1 immediately before or during the getting off action as insufficient safety confirmation of the occupants getting off, and outputs the detection result to the attention level estimation unit 11. The occupant behavior detection unit 15 also detects the getting off action of each occupant of the vehicle 1 and whether or not they are talking, detects the getting off action of the occupants while they are talking to each other, and outputs the detection result to the attention level estimation unit 11.

[0044] The attention level estimation unit 11 estimates the level of attention of the occupant with respect to an approaching object O approaching the vehicle 1, based on, for example, at least one of the detection results of the occupant sensor 3 that detects the behavior of the occupant of the vehicle 1 or the vehicle sensor 4 that detects the state of the vehicle 1. Note that in process P6, although it has been determined in the previous process P5 that there is no approaching object O, the attention level estimation unit 11 estimates the level of attention of the occupant with respect to the approaching object O in the same manner as in the case where it has been determined in the previous process P5 that there is an approaching object O.

[0045] More specifically, the attention level estimation unit 11 estimates the occupant's attention level to an approaching object O based on information input from at least one of the disembarking action detection unit 14, the occupant behavior detection unit 15, the vehicle state detection unit 16, or the disembarking environment detection unit 17. The attention level estimation unit 11 receives, for example, the occupant's disembarking action as described above from the disembarking action detection unit 14 and at least one of the disembarking occupant type or distracted behavior as described above from the occupant behavior detection unit 15.

[0046] The information input from the vehicle state detection unit 16 to the attention level estimation unit 11 includes the following information detected by the vehicle state detection unit 16. For example, based on the detection result of the vehicle sensor 4, the vehicle state detection unit 16 detects that the vehicle 1 is about to stop, that the vehicle 1 is stopped, the elapsed time since the vehicle 1 stopped, the shift position of the vehicle 1, an abnormality of the vehicle 1, and the like, and outputs the information to the attention level estimation unit 11. Note that the abnormality of the vehicle 1 detected by the vehicle state detection unit 16 includes, for example, an abnormality related to tire pressure, remaining gasoline, oil pressure, battery, coolant, etc., a collision between the vehicle 1 and an obstacle, an emergency stop due to the operation of an automatic emergency brake (AEB), etc.

[0047] Furthermore, the information input from the alighting environment detection unit 17 to the attention level estimation unit 11 includes the alighting environment detected by the alighting environment detection unit 17. The alighting environment detection unit 17 detects the alighting environment based on information input from at least one of the external sensor 2, the vehicle sensor 4, and the CNS 5, as described above. As described above, the alighting environment includes, for example, the illuminance and weather around the vehicle 1, the state of the vehicle 1 waiting at a traffic light, the traffic conditions around the vehicle 1 including congestion, and location information related to the position where the vehicle 1 is stopped.

[0048] For example, when the attention level estimation unit 11 detects an alighting action immediately before the vehicle 1 stops, or when the time from when the vehicle 1 stops to when the alighting action is detected is shorter than a predetermined threshold, the attention level estimation unit 11 estimates the occupant's attention level to the approaching object O to be low. In addition, the attention level estimation unit 11 estimates the occupant's attention level to the approaching object O based on, for example, the detection result of the occupant's age or age category or distracted behavior by the occupant behavior detection unit 15. More specifically, the attention level estimation unit 11 estimates the occupant's attention level to the approaching object O to be low when, for example, the age category of the occupant whose alighting action was detected is an infant or child, and distracted behavior indicating a decrease in attention to the surroundings of the vehicle 1, such as moving around inside the vehicle 1, is detected.

[0049] Here, the attention level estimation unit 11 estimating the occupant's attention level to be low means, for example, setting the occupant's attention level to a lower level or value. More specifically, the occupant's attention level can be expressed, for example, by a level such as high, medium, or low, or a value from 0 to 100. For example, while the vehicle 1 is traveling, the attention level estimation unit 11 sets the attention level of each occupant to a predetermined initial value, and while the vehicle 1 is stopped or immediately before it is stopped, lowers the attention level of an occupant who meets the above-mentioned conditions for estimating the attention level to be low.

[0050] In addition, the attention level estimation unit 11 estimates the occupant's attention level to be low when, for example, the occupant whose disembarking action has been detected does not visually check the room mirror, side mirror, or rear side of the vehicle 1, and therefore does not sufficiently check for safety regarding the approaching object O. In addition, the attention level estimation unit 11 estimates the occupant's attention level to the approaching object O based on, for example, the recognition result of the traffic signal display by the disembarking environment detection unit 17 and the detection result of the shift position of the vehicle 1 by the vehicle state detection unit 16.

[0051] More specifically, when the vehicle 1 is stopped, the shift position is not in the P range, and the traffic light is red (progress prohibited), the attention level estimation unit 11 estimates the occupant's attention level to the approaching object O to be low. In such a situation, an occupant getting off the vehicle 1 will get off in a hurry before the traffic light turns green (passage permitted), so the attention level of the occupant to the approaching object O is estimated to be low.

[0052] Furthermore, when the traffic situation around the vehicle 1 is congested, the attention level estimation unit 11 estimates the occupant's attention to the approaching object O to be low. In such a situation, an occupant who gets off the vehicle 1 hurries to get off the vehicle 1 before the temporarily stopped vehicle 1 starts moving forward, and because blind spots are created by the vehicles in front and behind the vehicle 1, the attention level of the occupant to the approaching object O is estimated to be low.

[0053] Furthermore, for example, when the vehicle state detection unit 16 detects an abnormality in the vehicle 1, the attention level estimation unit 11 estimates the occupant's attention level to the approaching object O to be lower than when the vehicle state detection unit 16 does not detect an abnormality in the vehicle 1. The abnormalities in the vehicle 1 detected by the vehicle state detection unit 16 include abnormalities in the tire pressure, remaining fuel, engine, ABS, airbag, brake, hydraulic pressure, battery, water temperature, and the like of the vehicle 1 detected by the vehicle sensor 4. This is because when such an abnormality in the vehicle 1, such as a drop in tire pressure, is detected, the driver of the vehicle 1 pays attention to the location of the abnormality, such as the tires, and his / her attention to the approaching object O decreases.

[0054] Furthermore, for example, when the vehicle state detection unit 16 detects contact between the vehicle 1 and another vehicle or object, the attention level estimation unit 11 estimates the occupant's attention level to the approaching object O to be lower than when no contact is detected. This is because when contact between the vehicle 1 and another vehicle or object is detected, the occupant of the vehicle 1 turns his / her attention to the contacted vehicle or object or the contact point of the vehicle 1, and the occupant's attention to the approaching object O decreases.

[0055] Furthermore, for example, when the vehicle state detection unit 16 detects AEB operation or sudden deceleration of the vehicle 1, the attention level estimation unit 11 estimates the occupant's attention level to the approaching object O to be lower than when AEB operation and sudden deceleration of the vehicle 1 are not detected. This is because even when the AEB operation or sudden deceleration of the vehicle 1 occurs, the occupant of the vehicle 1 will be attentive to the other vehicle or object that caused the operation, or to whether or not there is contact between the vehicle 1 and them, and their attention to the approaching object O will decrease.

[0056] Here, the vehicle state detection unit 16 detects the operation of AEB, sudden deceleration, and contact between the vehicle 1 and another vehicle or object, for example, based on the detection result of the vehicle sensor 4. The vehicle state detection unit 16 detects, for example, a deceleration of about 0.4 [G] to 0.6 [G], which is higher than the normal deceleration of the vehicle 1, as sudden deceleration. In addition, the vehicle state detection unit 16 may detect the operation of AEB when it detects a deceleration of 0.6 [G] or more, which is higher than the deceleration of sudden deceleration caused by the driver of the vehicle 1. In addition, the vehicle state detection unit 16 may detect the contact or collision between the vehicle 1 and another vehicle or object, when it detects a deceleration higher than the deceleration at which the operation of AEB is detected.

[0057] Furthermore, the lower the illuminance around the vehicle 1 detected by the disembarking environment detection unit 17, the lower the attention level estimation unit 11 estimates the occupant's attention level to the approaching object O. Furthermore, the shorter the visibility of obstacles around the vehicle 1 estimated by the disembarking environment detection unit 17, the lower the attention level estimation unit 11 estimates the occupant's attention level to the approaching object O. Such a decrease in illuminance around the vehicle 1 or a decrease in visibility is due to a disembarking environment such as night, cloudy weather, rain, snow, or fog, and the visibility of the approaching object O decreases, so the occupant's attention level to the approaching object O is estimated to be low.

[0058] Furthermore, for example, when the disembarking environment detection unit 17 detects a strong wind having a predetermined wind speed or more outside the vehicle 1, the attention level estimation unit 11 estimates the occupant's attention level to the approaching object O to be low. This is because the opening and closing of the doors of the vehicle 1 and the occupant's disembarking are affected by the strong wind, and the occupant's attention is directed to the doors and the disembarking area A, decreasing the occupant's attention to the approaching object O.

[0059] Furthermore, the attention level estimation unit 11 estimates a lower level of attention of the occupant to the approaching object O, for example, as the degree of difficulty of getting off determined by the alighting environment detection unit 17 is higher. As described above, the alighting environment detection unit 17 detects the stopping position of the vehicle 1 based on, for example, the output of the CNS 5 mounted on the vehicle 1, and determines the degree of difficulty of getting off based on the stopping position. The degree of difficulty of getting off determined by the alighting environment detection unit 17 is, for example, lowest for a parking lot, followed by a roundabout in front of a station, the shoulder of a road, on a road, and on a highway, in that order. This is because getting off on the shoulder of a highway or on the highway involves the danger of other vehicles traveling at high speed.

[0060] In process P6 shown in Fig. 3, the attention level estimation unit 11 outputs the estimated attention level of the occupant to the operation determination unit 19. When the attention level of the occupant input from the vehicle state detection unit 16 is higher than a predetermined attention level or a predetermined threshold value of attention level, the operation determination unit 19 determines that the attention level of the occupant is not low (NO). In this case, the control device 10 ends the process flow shown in Fig. 3 without executing an attention call or an alighting restriction such as a door opening restriction by the operation determination unit 19 and the alighting restriction unit 12.

[0061] In this way, if the approaching object O is not detected in the above-mentioned process P5 and the occupant's level of caution is high in the above-mentioned process P6, disembarking restrictions such as warnings and door opening restrictions are not executed. Therefore, it is possible to eliminate the inconvenience to the occupant caused by unnecessary disembarking restrictions when disembarking while ensuring safety. Furthermore, since it is confirmed in the above-mentioned process P6 that the occupant disembarking from the vehicle 1 has a sufficient level of caution regarding the approaching object O, the safety of the occupant disembarking from the vehicle 1 can be improved even in the unlikely event that the approaching object O cannot be detected by the external sensor 2.

[0062] On the other hand, in the above-mentioned process P6, when the degree of attention of the occupant input from the vehicle state detection unit 16 is equal to or lower than the predetermined attention level or the threshold value of the predetermined attention level, the operation determination unit 19 determines that the degree of attention of the occupant is low (YES). In this case, the control device 10 executes the attention calling process P7 as a disembarkation restriction.

[0063] In this process P7, the activation determination unit 19 determines the content of the attention-calling activation action based on the level or numerical value of the occupant's attention level input from the attention level estimation unit 11. More specifically, the activation determination unit 19 determines the content of the attention-calling activation action by at least one of the audio output device 7 and the image display device 8, for example. The attention-calling activation action by the audio output device 7 includes, for example, output of a warning sound or voice that calls attention to the approaching object O. Furthermore, the attention-calling activation action by the image display device 8 includes display of an image or text that calls attention to the approaching object O. Furthermore, the attention-calling activation action may include, for example, vibration of the steering wheel or seat of the vehicle 1 by a vibration generating device not shown.

[0064] The activation determination unit 19 determines the warning sound or voice to be output by the audio output device 7 and the image or text to be displayed by the image display device 8, depending on, for example, the level or numerical value of the occupant's attention level input from the attention level estimation unit 11. More specifically, when the level or numerical value of the occupant's attention level is lower than a predetermined level or numerical value, the activation determination unit 19 selects, for example, an attention calling activation action that maximizes the size, output time, and output frequency of the warning sound or voice, or the image or text.

[0065] On the other hand, when the level or value of the occupant's attention is higher than a predetermined level or value, the operation determination unit 19 selects, for example, an attention-calling activation action that minimizes the warning sound or voice, or the size, output time, and output frequency of the image or character. Also, when the level or value of the occupant's attention is equal to or lower than a minimum level or a lower limit, the operation determination unit 19 may determine the door opening restriction by the door opening / closing device 6 as the attention-calling activation action. The operation determination unit 19 outputs the determined or selected attention-calling activation action to the disembarkation restriction unit 12.

[0066] 3, the alighting restriction unit 12 outputs a control signal for implementing the attention-calling activation action as the alighting restriction input from the operation determination unit 19 to at least one of the door opening / closing device 6, the audio output device 7, and the image display device 8. As a result, the attention-calling activation action selected or determined by the operation determination unit 19 is executed by at least one of the door opening / closing device 6, the audio output device 7, and the image display device 8. Thereafter, the control device 10 ends the processing flow shown in FIG. 3.

[0067] On the other hand, when the approaching object detection unit 13 determines that an approaching object O is present (YES) in the above-mentioned process P5 shown in Fig. 3, the control device 10 executes a process P8 for predicting the disembarking conditions. In this process P8, the arrival prediction unit 18 of the control device 10 predicts the disembarking conditions based on, for example, the disembarking action of the occupant of the vehicle 1 input from the disembarking action detection unit 14. The disembarking conditions include, for example, the disembarking area A where the occupant of the vehicle 1 disembarks, and the disembarking time when the open door of the vehicle 1 or the occupant is present in the disembarking area A. After completing the process P8 for predicting the disembarking conditions, the control device 10 executes a process P9 for calculating the arrival certainty.

[0068] In this process P9, the arrival prediction unit 18 of the control device 10 predicts the arrival of the approaching object O at the disembarking area A where the occupant disembarks, for example, based on the disembarking conditions predicted in the previous process P8 and the approaching object information input from the approaching object detection unit 13. In addition, the arrival prediction unit 18 calculates a certainty that the approaching object O will arrive at the predicted disembarking area A at the predicted disembarking time, based on the disembarking conditions and the approaching object information. For example, if the approaching object O passes through the predicted disembarking area A by the predicted disembarking time, or if the approaching object O is a predetermined distance away from the disembarking area A at the predicted disembarking time, the arrival certainty calculated by the arrival prediction unit 18 becomes low.

[0069] On the other hand, when the approaching object O is predicted to arrive at the predicted drop-off area A at the predicted drop-off time, or when the approaching object O is predicted to be closer than a predetermined distance from the drop-off area A at the predicted drop-off time, the arrival certainty calculated by the arrival prediction unit 18 becomes high. Also, when the approaching object O is detected in a low-accuracy area where the detection accuracy is lower than a predetermined accuracy, such as near the outer edge of the detection range of the external sensor 2, the arrival certainty calculated by the arrival prediction unit 18 becomes low.

[0070] The arrival certainty is an index representing the possibility that the approaching object O will reach the predicted drop-off area A at the predicted drop-off time. The higher the arrival certainty, the higher the possibility that the approaching object O will reach the predicted drop-off area A at the predicted drop-off time, and the lower the arrival certainty, the lower the possibility that the approaching object O will reach the predicted drop-off area A at the predicted drop-off time. The arrival certainty can be made higher, for example, as the number of times the approaching object O is detected increases when detection of the approaching object O is repeated at a predetermined cycle.

[0071] In addition, the arrival certainty degree can be increased, for example, as the number of times that the arrival margin time of the approaching object O to the predicted disembarking area A continues to be equal to or less than a predetermined value when the detection of the approaching object O is repeated at a predetermined cycle increases. In addition, the arrival certainty degree can be increased when multiple sensors of the external sensor 2 detect the approaching object O, and can be decreased when only one sensor of the external sensor 2 detects the approaching object O.

[0072] Furthermore, the arrival prediction unit 18 may calculate an alighting certainty, which is an index of the possibility that an occupant of the vehicle 1 will alight, in response to the alighting action input from the alighting action detection unit 14. For example, when the alighting action input to the arrival prediction unit 18 is an alighting operation that is directly connected to alighting, such as an occupant operating a door switch or door lever, the alighting certainty calculated by the arrival prediction unit 18 is high. On the other hand, when the alighting action input to the arrival prediction unit 18 is a preparatory action for alighting that is not directly connected to alighting, such as an occupant's eye movement, weight shift, or body movement, the alighting certainty calculated by the arrival prediction unit 18 is low.

[0073] After the process P9 shown in Fig. 3 is completed, the control device 10 executes a process P10 for determining the degree of attention of the occupant of the vehicle 1. This process P10 is similar to the process P6 described above, but the approaching object O is detected by the approaching object detection unit 13 in the process P5 described above. Therefore, the degree of attention of the occupant regarding the approaching object O is set lower than in the process P6 when the approaching object O is not detected in the process P5 described above. Furthermore, the shorter the time to arrival calculated by the approaching object detection unit 13, the lower the attention level estimation unit 11 estimates the degree of attention of the occupant regarding the approaching object O.

[0074] Also, in this process P10, the attention level estimation unit 11 outputs the estimated attention level of the occupant to the operation determination unit 19, similarly to the above-mentioned process P6. When the attention level of the occupant input from the vehicle state detection unit 16 is equal to or lower than a predetermined attention level or a predetermined threshold value of attention level, the operation determination unit 19 determines that the attention level of the occupant is low (YES). In this case, the control device 10 executes a process P11 for reducing the threshold value X of the achievement certainty level, and then executes a process P12 for determining the achievement certainty level.

[0075] In process P11, the operation judgment unit 19 reduces the threshold value X of the arrival certainty used in the arrival certainty determination process P12 in accordance with the occupant's attention level input from the attention level estimation unit 11. That is, the lower the occupant's attention level to the approaching object O, the smaller the threshold value X of the arrival certainty level. Note that in the above-mentioned process P10, as in the above-mentioned process P6, for example, the more conditions for estimating the occupant's attention level to be low are satisfied, the lower the occupant's attention level is estimated to be.

[0076] On the other hand, in the above-mentioned process P10, when the occupant's attention level input from the vehicle state detection unit 16 is higher than the predetermined attention level or the predetermined threshold value of the attention level, the operation determination unit 19 determines that the occupant's attention level is not low (NO). In this case, the control device 10 executes the arrival confidence level determination process P12 without executing the process P11 for reducing the threshold value X of the arrival confidence level. Therefore, the threshold value X of the arrival confidence level is not decreased from the initial value.

[0077] In the arrival certainty degree determination process P12, the operation determination unit 19 determines whether or not the arrival certainty degree calculated in the above-mentioned process P9 is equal to or greater than a threshold value X. In this process P12, if the operation determination unit 19 determines that the arrival certainty degree is less than the threshold value X (NO), it executes the above-mentioned attention calling process P7 and ends the process flow shown in Fig. 3. On the other hand, in this process P12, if the operation determination unit 19 determines that the arrival certainty degree is equal to or greater than the threshold value X (YES), it executes the door opening restriction process P13 as an alighting restriction. Note that the threshold value X of the arrival certainty degree may be different between when determining whether to execute the door opening restriction and when determining whether to execute the attention calling.

[0078] In this door-opening restriction process P13, the operation determination unit 19 determines the content of the door-opening restriction operation as a disembarking restriction based on the level or numerical value of the occupant's attention level input from the attention level estimation unit 11. More specifically, the operation determination unit 19 determines, for example, the door-opening restriction operation by the door opening / closing device 6. The operation determination unit 19 determines the door-opening restriction operation depending on, for example, the level of arrival certainty that the approaching object O will arrive at the disembarking area A and the arrival margin time.

[0079] More specifically, for example, it is assumed that the arrival confidence level is higher than the first threshold value, or the arrival margin time is shorter than the first threshold value. In this case, the operation determination unit 19 determines a first door-opening restriction operation for maintaining the door of the vehicle 1 closed by the door opening / closing device 6, regardless of the operation of a door switch or door lever by an occupant of the vehicle 1. This first door-opening restriction operation includes, for example, an attention-calling operation by at least one of the audio output device 7 and the image display device 8.

[0080] Also, for example, a case is assumed in which the arrival certainty is lower than the first threshold value and higher than the second threshold value, or the arrival margin time is longer than the first threshold value and shorter than the second threshold value. In this case, the operation determination unit 19 determines a second door-opening restriction operation that delays the opening of the door of the vehicle 1 by the door opening / closing device 6 from normal times, or stops the door during the door-opening operation, for example, after the occupant of the vehicle 1 operates a door switch or a door lever. Here, the delay time of the door opening may be varied depending on, for example, the arrival certainty, the arrival margin time, or the occupant's attention level. Also, the second door-opening restriction operation may include an attention-calling activation operation by at least one of the audio output device 7 and the image display device 8.

[0081] Also, for example, a case is assumed in which the arrival confidence level is lower than the second threshold value, or the arrival margin time is longer than the second threshold value. In this case, the operation determination unit 19 determines a third disembarking restriction operation for issuing a warning by at least one of the audio output device 7 and the image display device 8. The warning by the audio output device 7 includes, for example, output of a warning sound or voice for warning the driver about the approaching object O. Furthermore, the warning activation operation by the image display device 8 includes display of an image or text for warning the driver about the approaching object O.

[0082] The operation determination unit 19 further outputs the door-opening restriction operation as the determined alighting restriction to the alighting restriction unit 12. The alighting restriction unit 12 outputs a control signal for realizing the door-opening restriction operation as the alighting restriction input from the operation determination unit 19 to at least one of the door opening / closing device 6, the audio output device 7, and the image display device 8. As a result, the door-opening restriction operation selected or determined by the operation determination unit 19 is executed by at least one of the door opening / closing device 6, the audio output device 7, and the image display device 8. Thereafter, the control device 10 ends the processing flow shown in Fig. 3 and repeats it at a predetermined cycle.

[0083] As described above, the control device 10 of this embodiment is mounted on the vehicle 1, and includes the attention level estimation unit 11 and the alighting restriction unit 12. The attention level estimation unit 11 estimates the attention level of the occupant with respect to an approaching object O approaching the vehicle 1 based on at least one of the detection results of the occupant sensor 3 that detects the behavior of the occupant of the vehicle 1 and the vehicle sensor 4 that detects the state of the vehicle 1. When the attention level of the occupant estimated by the attention level estimation unit 11 is lower than a predetermined threshold value, the alighting restriction unit 12 causes at least one of the door opening / closing device 6, the audio output device 7, and the image display device 8 mounted on the vehicle 1 to execute an alighting restriction operation.

[0084] With such a configuration, the control device 10 of the present embodiment can estimate the degree of caution of the occupant getting off the vehicle 1 with respect to the approaching object O by the caution degree estimation unit 11. Therefore, even if the vehicle sensor 4 cannot detect the approaching object O due to the influence of heavy rain, thick fog, nighttime, backlight, or the like, at least one of the door opening / closing device 6, the audio output device 7, and the image display device 8 can be caused to execute a disembarking restriction operation in response to a decrease in the occupant's caution degree. This prevents the occupant of the vehicle 1 from carelessly getting off, and prevents the occupant from coming into contact with the approaching object O when getting off the vehicle 1. In addition, the occupant of the vehicle 1 is prevented from carelessly opening the door, and contact between the door of the vehicle 1 and the approaching object O can also be prevented. Therefore, according to the control device 10 of the present embodiment, it is possible to improve the safety of the occupant getting off the vehicle 1 compared to the conventional case.

[0085] The control device 10 of this embodiment further includes a vehicle state detection unit 16 that detects the stopping of the vehicle 1 based on the detection result of the vehicle sensor 4, and an alighting action detection unit 14 that detects the alighting action of the occupant based on the detection result of the occupant sensor 3 or the vehicle sensor 4. The attention level estimation unit 11 estimates the occupant's attention level to be lower the shorter the time from when the vehicle state detection unit 16 detects the stopping of the vehicle 1 to when the alighting action detection unit 14 detects the alighting action.

[0086] With this configuration, in a situation where an occupant tries to get off the vehicle in a hurry after the vehicle 1 stops and fails to sufficiently check for safety against an approaching object O approaching the disembarking area A, the attention level estimation unit 11 estimates the occupant's attention level to be low. This makes it easier for the occupant's attention level estimated by the attention level estimation unit 11 to fall below the threshold value for the disembarking restriction unit 12 to determine whether to execute a disembarking restriction operation. As a result, in the above-mentioned situation where the safety of an occupant getting off the vehicle 1 is likely to be reduced, it is possible to make it easier to execute disembarking restriction by at least one of the door opening / closing device 6, the audio output device 7, and the image display device 8 mounted on the vehicle 1.

[0087] The control device 10 of this embodiment further includes an alighting environment detection unit 17 that recognizes traffic signal indications based on the detection results of the external sensor 2 that detects objects around the vehicle 1, and a vehicle state detection unit 16 that detects the shift position of the transmission of the vehicle 1 based on the detection results of the vehicle sensor 4. The attention level estimation unit 11 estimates the attention level of the occupant based on the recognition results of the traffic signal indications by the alighting environment detection unit 17 and the detection results of the shift position by the vehicle state detection unit 16.

[0088] With this configuration, in a situation where an occupant tries to get off the vehicle in a hurry while the vehicle 1 is stopped at a traffic light and fails to sufficiently check for safety against an approaching object O approaching the disembarking area A, the attention level estimation unit 11 can estimate the occupant's attention level to be low. This makes it easier for the occupant's attention level estimated by the attention level estimation unit 11 to fall below the threshold value for the disembarking restriction unit 12 to determine whether to execute a disembarking restriction operation. As a result, in the above-mentioned situation where the safety of an occupant getting off the vehicle 1 is likely to be reduced, it is possible to make it easier to execute disembarking restriction by at least one of the door opening / closing device 6, the audio output device 7, and the image display device 8 mounted on the vehicle 1.

[0089] The control device 10 of this embodiment further includes a vehicle state detection unit 16 that detects an abnormality in the vehicle 1 based on the detection result of the vehicle sensor 4. When the vehicle state detection unit 16 detects an abnormality in the vehicle 1, the attention level estimation unit 11 estimates the attention level of the occupants to be lower than when the vehicle state detection unit 16 does not detect an abnormality in the vehicle 1.

[0090] With this configuration, in a situation where an occupant tries to get off the vehicle 1 in a hurry to check for an abnormality occurring in the vehicle 1 and the safety check for an approaching object O approaching the disembarking area A is insufficient, the attention level estimation unit 11 can estimate the occupant's attention level to be low. This makes it easier for the occupant's attention level estimated by the attention level estimation unit 11 to fall below the threshold value for the disembarking restriction unit 12 to determine the execution of a disembarking restriction operation. As a result, in the above-mentioned situation where the safety of an occupant getting off the vehicle 1 is likely to be reduced, it is possible to make it easier to execute disembarking restriction by at least one of the door opening / closing device 6, the audio output device 7, and the image display device 8 mounted on the vehicle 1.

[0091] The control device 10 of this embodiment further includes a vehicle state detection unit 16 that detects sudden deceleration of the vehicle 1 based on the detection result of the vehicle sensor 4. When the vehicle state detection unit 16 detects sudden deceleration of the vehicle 1, the attention level estimation unit 11 estimates the attention level of the occupants to be lower than when the vehicle state detection unit 16 does not detect sudden deceleration of the vehicle 1.

[0092] With this configuration, in a situation where an occupant tries to quickly get off the vehicle 1 in order to confirm the cause of the sudden deceleration of the vehicle 1 and fails to sufficiently check the safety of an approaching object O approaching the disembarking area A, the attention level estimation unit 11 can estimate the occupant's attention level to be low. This makes it easier for the occupant's attention level estimated by the attention level estimation unit 11 to fall below the threshold value for the disembarking restriction unit 12 to determine the execution of a disembarking restriction operation. As a result, in the above-mentioned situation where the safety of an occupant getting off the vehicle 1 is likely to be reduced, it is possible to make it easier to restrict disembarking by at least one of the door opening / closing device 6, the audio output device 7, and the image display device 8 mounted on the vehicle 1.

[0093] The control device 10 of this embodiment further includes an approaching object detection unit 13 that detects an approaching object O approaching the vehicle 1 based on the detection result of the external sensor 2 that detects objects around the vehicle 1. When the approaching object detection unit 13 detects the approaching object O, the attention level estimation unit 11 sets the occupant's attention level lower than when the approaching object O is not detected.

[0094] With this configuration, in a situation where the safety of the occupants getting off the vehicle 1 to the disembarking area A may be reduced due to an approaching object O approaching the disembarking area A of the vehicle 1, the attention level estimation unit 11 can estimate the attention level of the occupants to be low. This makes it easier for the attention level of the occupants estimated by the attention level estimation unit 11 to fall below the threshold value for the disembarking restriction unit 12 to determine the execution of the disembarking restriction operation. As a result, in the above-mentioned situation where the safety of the occupants getting off the vehicle 1 may be reduced, it is possible to make it easier to execute disembarking restriction by at least one of the door opening / closing device 6, the audio output device 7, and the image display device 8 mounted on the vehicle 1.

[0095] The control device 10 of this embodiment further includes an alighting environment detection unit 17 that detects the illuminance around the vehicle 1 based on the detection result of the external sensor 2 that detects objects around the vehicle 1. The attention level estimation unit 11 estimates the occupant's attention level to be lower as the illuminance detected by the alighting environment detection unit 17 is lower.

[0096] With this configuration, for example, in a situation where the illuminance around the vehicle 1 is low, such as at night, in a tunnel, in the shade, or on a cloudy day, causing a decrease in the detection accuracy of the approaching object O by the external sensor 2, or where it is difficult for the occupant to visually check the approaching object O, the attention level estimation unit 11 can estimate the occupant's attention level to be low. This makes it easier for the occupant's attention level estimated by the attention level estimation unit 11 to fall below the threshold value for the alighting restriction unit 12 to determine the execution of the alighting restriction operation. As a result, in the above-mentioned situation where the safety of the occupant getting off the vehicle 1 is likely to be reduced, it is possible to make it easier to restrict alighting by at least one of the door opening / closing device 6, the audio output device 7, and the image display device 8 mounted on the vehicle 1.

[0097] The control device 10 of this embodiment further includes an alighting environment detection unit 17 that estimates the visibility of an approaching object O based on the detection result of an external sensor 2 that detects objects around the vehicle 1 or weather information received by a receiver mounted on the vehicle 1. The attention level estimation unit 11 estimates a lower attention level as the visibility estimated by the alighting environment detection unit 17 becomes shorter.

[0098] With this configuration, for example, in a situation where the visibility of the approaching object O is reduced due to the influence of rain, snow, fog, etc., and the detection accuracy of the approaching object O by the external sensor 2 is reduced, or the occupant has difficulty in visually checking the approaching object O, the attention level estimation unit 11 can estimate the occupant's attention level to be low. This makes it easier for the occupant's attention level estimated by the attention level estimation unit 11 to fall below the threshold value for the alighting restriction unit 12 to determine the execution of the alighting restriction operation. As a result, in the above-mentioned situation where the safety of the occupant getting off the vehicle 1 is likely to be reduced, it is possible to make it easier to restrict alighting by at least one of the door opening / closing device 6, the audio output device 7, and the image display device 8 mounted on the vehicle 1.

[0099] The control device 10 of this embodiment further includes an alighting environment detection unit 17 that detects the stopping position of the vehicle 1 based on the output of the car navigation system (CNS5) mounted on the vehicle 1 and determines the degree of difficulty of alighting based on the stopping position. The attention level estimation unit 11 estimates the attention level of the occupants to be lower as the degree of difficulty of alighting determined by the alighting environment detection unit 17 becomes higher.

[0100] With this configuration, for example, in a situation where the degree of difficulty of disembarking is high, such as on a highway or a road, and the safety of the occupants disembarking in the disembarking area A may be reduced, the attention level estimation unit 11 can estimate the occupants' attention level to be low. This makes it easier for the attention level of the occupants estimated by the attention level estimation unit 11 to fall below the threshold value for the disembarking restriction unit 12 to determine the execution of the disembarking restriction operation. As a result, in the above-mentioned situation where the safety of the occupants disembarking from the vehicle 1 may be reduced, it is possible to make it easier to restrict disembarking by at least one of the door opening / closing device 6, the audio output device 7, and the image display device 8 mounted on the vehicle 1.

[0101] The control device 10 of this embodiment further includes an occupant behavior detection unit 15 that detects at least one of the age of the occupant of the vehicle 1 or the distracted behavior of the occupant of the vehicle 1 when the level of attention of the occupant decreases, based on the detection result of the occupant sensor 3. The attention level estimation unit 11 estimates the level of attention of the occupant of the vehicle 1, based on the detection result of the age or the distracted behavior of the occupant of the vehicle 1 by the occupant behavior detection unit 15.

[0102] With this configuration, for example, the attention level of an occupant who is distracted by an infant or a child, or an event other than the approaching object O and neglects to check for safety, can be estimated low by the attention level estimation unit 11. This makes it easier for the attention level of the occupant estimated by the attention level estimation unit 11 to fall below the threshold value for the alighting restriction unit 12 to determine whether to execute the alighting restriction operation. As a result, when an occupant such as the one described above who is less attentive to the approaching object O alights from the vehicle 1, it is possible to easily execute alighting restriction by at least one of the door opening / closing device 6, the audio output device 7, and the image display device 8 mounted on the vehicle 1.

[0103] In the control device 10 of this embodiment, the approaching object detection unit 13 calculates an arrival margin time for the approaching object O to arrive at the drop-off area A of the vehicle 1. The attention level estimation unit 11 estimates the occupant's attention level to be lower as the arrival margin time calculated by the approaching object detection unit 13 is shorter.

[0104] With this configuration, for example, in a situation where the approaching object O approaches the disembarking area and there is a risk of the safety of the occupants disembarking in the disembarking area A being reduced, the attention level estimation unit 11 can estimate the occupants' attention levels to be low. This makes it easier for the occupants' attention levels estimated by the attention level estimation unit 11 to fall below the threshold value for the disembarking restriction unit 12 to determine the execution of the disembarking restriction operation. As a result, in the above-mentioned situation where there is a risk of the safety of the occupants disembarking from the vehicle 1 being reduced, it is possible to make it easier to execute disembarking restriction by at least one of the door opening / closing device 6, the audio output device 7, and the image display device 8 mounted on the vehicle 1.

[0105] As described above, according to this embodiment, a control device 10 can be provided that can improve safety when occupants disembark compared to conventional devices by having at least one of the door opening / closing device 6, the audio output device 7, and the image display device 8 execute an alighting restriction operation in response to a decrease in the level of attention of the occupants of the vehicle 1.

[0106] The above describes in detail an embodiment of the control device according to the present disclosure using the drawings, but the specific configuration is not limited to this embodiment, and even if there are design changes, etc., within the scope that does not deviate from the gist of the present disclosure, they are included in the present disclosure. [Explanation of symbols]

[0107] 1 vehicle 2. External Sensors 3 Occupant Sensor 4 Vehicle Sensors 5 CNS (Car Navigation System) 6 Door opening and closing device 7 Audio output devices 8 Image display devices 10 Control device 11 Attention level estimation part 12. Disembarking Restrictions 13 Approaching object detection unit 14. Disembarking behavior detector 15 Occupant behavior detection unit 16 Vehicle condition detection unit 17 Exit environment detection unit A Drop-off Area O Approaching object

Claims

1. A control device mounted on a vehicle, an attention level estimation unit that estimates an attention level of an occupant to an approaching object approaching the vehicle based on at least one of detection results of an occupant sensor that detects a movement of an occupant of the vehicle or a vehicle sensor that detects a state of the vehicle; an alighting restriction unit that causes at least one of a door opening / closing device, a sound output device, and an image display device mounted on the vehicle to execute an alighting restriction operation when the attention level estimated by the attention level estimation unit is lower than a predetermined threshold value; Equipped with A vehicle state detection unit that detects a stop of the vehicle based on a detection result of the vehicle sensor, and an alighting action detection unit that detects an alighting action of the occupant based on a detection result of the occupant sensor or the vehicle sensor, A control device characterized in that the attention level estimation unit estimates the attention level to be lower the shorter the time between when the vehicle state detection unit detects that the vehicle has stopped and when the disembarking action detection unit detects the disembarking action.

2. A control device mounted on a vehicle, an attention level estimation unit that estimates an attention level of an occupant to an approaching object approaching the vehicle based on at least one of detection results of an occupant sensor that detects a movement of an occupant of the vehicle or a vehicle sensor that detects a state of the vehicle; an alighting restriction unit that causes at least one of a door opening / closing device, a sound output device, and an image display device mounted on the vehicle to execute an alighting restriction operation when the attention level estimated by the attention level estimation unit is lower than a predetermined threshold value; Equipped with The vehicle further includes an alighting environment detection unit that recognizes a traffic signal display based on a detection result of an external sensor that detects objects around the vehicle, and a vehicle state detection unit that detects a shift position of a transmission of the vehicle based on the detection result of the vehicle sensor, A control device characterized in that the attention level estimation unit estimates the attention level based on the recognition result of the traffic signal display by the disembarking environment detection unit and the detection result of the shift position by the vehicle state detection unit.

Images