Vehicle control device

Abstract

To provide a vehicle control device which is the device for starting right-side notification processing to allow a speaker arranged on a right side in a cabin to reproduce notification sound when a predetermined right-side notification condition is established since there is a probability to collide with a rear-side approaching target when a right door of a vehicle is opened, and starting left-side notification processing to allow a speaker arranged on a left side in the cabin to reproduce notification sound when a predetermined left-side notification condition is established since there is a probability to collide with a rear-side approaching target when a left door is opened, and also is the vehicle control device for appropriately performing notification processing so as to allow each crewman to correctly recognize a content of the notification sound even when the one notification condition is established during the performance of the notification processing caused by the establishment of the other notification condition is established.SOLUTION: When one notification condition is established during the performance of notification processing caused by the establishment of the other notification condition, the other notification processing is stopped and also the one notification processing is started.SELECTED DRAWING: Figure 4

Description

[Technical field]

[0001] The present invention relates to a vehicle control device that performs a process of informing an occupant of a vehicle of a target approaching the vehicle from behind. [Background technology]

[0002] One of these types of vehicle control devices (hereinafter also referred to as the "conventional device") is equipped with a sensor that detects a target approaching the right side of the vehicle from behind (a target approaching on the right), and a sensor that detects a target approaching the left side of the vehicle from behind (a target approaching on the left). In addition, the conventional device is equipped with four lighting devices (lamps) as an alarm means. Each of the lighting devices is disposed near the interior operating handle (inside handle) of each of the four doors equipped in the vehicle.

[0003] The conventional device executes a warning process when there is a high possibility that the vehicle door will collide with either an approaching target on the right or an approaching target on the left when the vehicle occupant opens the door. More specifically, when an approaching object on the right is detected, if the vehicle occupant attempts to open a door on the right side of the vehicle (i.e., the right front door and / or the right rear door), the conventional device controls a lamp disposed near an inside handle corresponding to the door so that the lamp is turned on in a warning state (e.g., a blinking state). Similarly, when an approaching object on the left is detected, if the vehicle occupant attempts to open a door on the left side of the vehicle (i.e., the left front door and / or the left rear door), the conventional device controls a lamp disposed near an inside handle corresponding to the door so that the lamp is turned on in a warning state (e.g., see Patent Document 1). [Prior art documents] [Patent documents]

[0004] [Patent Document 1] JP 2005-247067 A Summary of the Invention

[0005] However, there is a risk that the meaning (intention) of the lamp that has been turned on as a notification state by the notification process may not be understood by the occupants. Therefore, when the notification process is executed, a sound (notification sound) indicating that there is a target approaching the vehicle from behind may be reproduced from a speaker disposed in the vehicle cabin.

[0006] For example, when the notification process is executed when an occupant tries to open the right door on the right side of the vehicle, it is possible to play a notification sound from a speaker arranged on the right side of the vehicle interior (right speaker). This allows the occupant who is trying to open the right door (i.e., the occupant sitting in the seat on the right side of the vehicle interior) to recognize the approach of an approaching target on the right side by the notification sound played from the right speaker.

[0007] Incidentally, when a notification process is being executed for an "occupant attempting to open the right door," a situation may occur in which a notification process should be started for an "occupant attempting to open the left door on the left side of the vehicle." That is, when a notification process for one of an approaching target on the right or an approaching target on the left is being executed, a state in which a notification process for the other of an approaching target on the right or an approaching target on the left (hereinafter also referred to as an "opposite direction notification state") may occur.

[0008] If the notification process is not executed properly when an opposite direction notification condition occurs, there is a risk that an occupant attempting to open the right door and / or an occupant attempting to open the left door will not be able to correctly recognize the presence of an approaching target to the right and / or a target approaching to the left.

[0009] Therefore, one object of the present invention is to provide a vehicle control device that can appropriately execute notification processing even when a reverse direction warning state occurs.

[0010] A vehicle control device for achieving the above object (hereinafter also referred to as the "device of the present invention") includes a target sensor, an opening motion sensor, a right speaker, a left speaker, and a control unit.

[0011] The target sensors (right angle radar 42 and left angle radar 43) are A "right approaching target" which is a target approaching the right side area of ​​the vehicle (10) from behind the vehicle, and a "left approaching target" which is a target approaching the left side area of ​​the vehicle from behind the vehicle are detected.

[0012] The opening operation sensors (lever sensors 21a to 24a) are The system detects a "right opening action", which is an action by an occupant in the vehicle cabin to open the right door (right front door 21 and right rear door 23) on the right side of the vehicle, and a "left opening action", which is an action by an occupant in the vehicle cabin to open the left door (left front door 22 and left rear door 24) on the left side of the vehicle.

[0013] The right speakers (the right front speaker 45 and the right rear speaker 47) are It is disposed on the right side of the vehicle interior.

[0014] The left speakers (front left speaker 46 and rear left speaker 48) The light source 11 is disposed on the left side of the vehicle interior.

[0015] The control unit (vehicle control ECU 30) When the "right warning condition" is satisfied, which includes that the approaching target to the right is detected by the target sensor (condition (3a)) and the right opening operation is detected by the opening operation sensor (condition (2a)), a "right warning process" is started which causes the right speaker to play a predetermined warning sound (step 440 in FIG. 4).

[0016] Similarly, the control unit When the "left warning condition" is satisfied, which includes that the approaching target on the left is detected by the target sensor (condition (3b)) and the left opening operation is detected by the opening operation sensor (condition (2b)), a "left warning process" is started which causes the left speaker to play a predetermined warning sound (step 440 in FIG. 4).

[0017] Furthermore, the control unit When one of the right side notification condition and the left side notification condition is satisfied while one of the right side notification process and the left side notification process is being executed due to the satisfaction of the other of the right side notification condition and the left side notification condition, Execution of one of the right direction warning process and the left direction warning process is stopped (step 435 in FIG. 4), and the other of the right direction warning process and the left direction warning process is started.

[0018] For example, if a right-side opening operation is detected when an approaching target exists on the right side, a right-side notification process is executed. That is, the playback of a notification sound by the right speaker is started. If a target exists on the left side and a left-side opening operation is detected while this right-side notification process is being executed (that is, while the notification sound is being played by the right speaker), the right-side warning process is stopped and the left-side notification process is started. That is, the playback of the notification sound by the right speaker is stopped and the playback of the notification sound by the left speaker is started.

[0019] Therefore, an occupant who performs a left-side opening operation can understand the content of the notification (for example, that it is dangerous to open the door because a target is approaching) from the notification sound played by the left speaker. Furthermore, an occupant who performs a right-side opening operation can understand the content of the notification from the notification sound played from the left speaker even if the playback of the notification sound from the right speaker is stopped midway.

[0020] Therefore, according to the device of the present invention, even if an opposite direction warning state occurs, an occupant attempting to open the right door and / or an occupant attempting to open the left door can correctly recognize the presence of an approaching target to the right and / or a target approaching to the left.

[0021] In the above description, in order to facilitate understanding of the present invention, the names and / or symbols used in the embodiments described below are added in parentheses to the configurations of the invention corresponding to those embodiments. However, each component of the present invention is not limited to the embodiments defined by the names and / or symbols. Other objects, other features, and associated advantages of the present invention will be easily understood from the description of the embodiments of the present invention described below with reference to the drawings. [Brief description of the drawings]

[0022] [Figure 1] 1 is a schematic diagram of a vehicle (this vehicle) on which a vehicle control device (this control device) according to an embodiment of the present invention is mounted. [Diagram 2] FIG. 2 is a block diagram of the present control device. [Diagram 3] FIG. 2 is a diagram showing an example of a target approaching the vehicle on the right and on the left. [Figure 4] 4 is a flowchart showing a disembarking warning execution processing routine executed by the control device. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0023] (composition) A vehicle control device (hereinafter also referred to as "this control device") according to an embodiment of the present invention will be described below with reference to the drawings. This control device is applied to a vehicle 10 shown in Fig. 1. The vehicle 10 includes a right front door 21, a left front door 22, a right rear door 23, and a left rear door 24 as doors used by passengers to get on and off the vehicle (hereinafter also referred to as "boarding and alighting doors").

[0024] 2, which is a block diagram of the present control device, the present control device includes a vehicle control ECU 30, which is an electronic control unit (ECU). The vehicle control ECU 30 will hereinafter also be referred to simply as ECU 30.

[0025] The ECU 30 includes, as its main components, a microcomputer equipped with a CPU 31, a non-volatile memory 32, and a RAM 33. The CPU 31 sequentially executes predetermined programs (routines) to read data, perform numerical calculations, and output the results of the calculations.

[0026] The non-volatile memory 32 includes a ROM and a readable / writable flash memory. The non-volatile memory 32 stores programs executed by the CPU 31 and lookup tables (maps) referenced when the programs are executed. The RAM 33 temporarily stores data referenced by the CPU 31.

[0027] The ECU 30 is connected to a vehicle speed sensor 41, a right angle radar 42, a left angle radar 43, a display 44, a right front speaker 45, a left front speaker 46, a right rear speaker 47, and a left rear speaker 48. The vehicle speed sensor 41 detects a vehicle speed Vt, which is the magnitude of the traveling speed of the vehicle 10, and outputs a signal indicative of the vehicle speed Vt to the ECU 30.

[0028] (Configuration: Millimeter wave radar device) 1, the right angle radar 42 is disposed at the right rear corner of the vehicle 10. The left angle radar 43 is disposed at the left rear corner of the vehicle 10. The area in which the right angle radar 42 can detect targets is generally represented by the angle between straight lines L1a and L1b. The area in which the left angle radar 43 can detect targets is generally represented by the angle between straight lines L2a and L2b.

[0029] The front-to-rear direction of the vehicle 10 is defined as the x-axis, and the left-to-right direction of the vehicle 10 (vehicle width direction) is defined as the y-axis. That is, the x-axis and y-axis are perpendicular to each other. The front end of the vehicle 10, which is the center point in the left-to-right direction, is the origin where x=0 and y=0. The x-coordinate is a positive value in the forward direction of the vehicle 10, and a negative value in the rearward direction of the vehicle 10. The y-coordinate is a positive value in the right direction in the traveling direction when the vehicle 10 moves forward, and a negative value in the left direction in the traveling direction when the vehicle 10 moves forward.

[0030] Each of the right angle radar 42 and the left angle radar 43 is a millimeter wave radar device and includes a radar transmitter, a radar receiver, and a radar control unit. The radar transmitter transmits millimeter waves (i.e., electromagnetic waves with frequencies ranging from 30 GHz to 300 GHz) as radar transmission waves in response to an instruction from the radar control unit.

[0031] The radar receiver includes multiple receiving antennas (not shown). When the receiving antennas receive a reflected wave (radar reflected wave) generated by the radar transmission wave being reflected by a target, the radar receiver outputs information about the radar reflected wave (reflected wave information) to the radar control unit.

[0032] The radar control unit executes a "radar target detection process" using the reflected wave information every time a predetermined time has elapsed. The radar target detection process is a process for detecting targets based on the intensity, frequency, and phase of the radar reflected wave received by each receiving antenna, as well as the time from the transmission of the radar transmission wave to the reception of the radar reflected wave. The targets detected by each of the right angle radar 42 and the left angle radar 43 are hereinafter also referred to as "radar-detected targets."

[0033] When the radar control unit executes the radar target detection process, it transmits "radar target information" to the ECU 30. If a radar-detected target is detected, the radar target information includes the identifier, position, and speed of the radar-detected target (more specifically, the relative position and relative speed with respect to the vehicle 10). If multiple radar-detected targets are detected, the radar target information includes the identifier, position, and speed of each of the radar-detected targets.

[0034] The position of the radar-detected target is represented by a combination of a vertical position Dx, which is an x-coordinate value, and a horizontal position Dy, which is a y-coordinate value. More specifically, the vertical position Dx and the horizontal position Dy represent the center position (hereinafter also referred to as the "representative position") between the right and left ends of the radar-detected target detected by either the right-angle radar 42 or the left-angle radar 43. The speed of the radar-detected target is represented by a combination of a vertical velocity Vx, which is the amount of change in the vertical position Dx per unit time, and a horizontal velocity Vy, which is the amount of change in the horizontal position Dy per unit time.

[0035] (Configuration: Display and speaker) The display 44 is a liquid crystal display (LCD) disposed in an instrument panel (not shown) of the vehicle 10. The characters, figures, and the like displayed on the display 44 are controlled by the ECU 30.

[0036] 1, the right front speaker 45 is disposed on the interior side of the right front door 21. The left front speaker 46 is disposed on the interior side of the left front door 22. The right rear speaker 47 is disposed on the interior side of the right rear door 23. The left rear speaker 48 is disposed on the interior side of the left rear door 24.

[0037] Hereinafter, the right front speaker 45 and the right rear speaker 47 (i.e., speakers disposed on the right side of the passenger compartment of the vehicle 10) will be collectively referred to as the "right speaker". Similarly, the left front speaker 46 and the left rear speaker 48 (i.e., speakers disposed on the left side of the passenger compartment of the vehicle 10) will be collectively referred to as the "left speaker". The warning sounds, voice messages, etc. reproduced by each of the right speaker and the left speaker are controlled by the ECU 30.

[0038] (Configuration: Boarding door) The right front door 21 is attached to the body 10a of the vehicle 10 via a hinge portion (not shown) so as to be able to be opened and closed. In other words, the right front door 21 is a swing door. The right front door 21 has a built-in right front latch mechanism 51 as shown in FIG. 2. The state of the right front latch mechanism 51 can be switched between a "latched state" and an "unlatched state."

[0039] When the right front door 21 is open and the right front latch mechanism 51 is in an unlatched state, if an occupant of the vehicle 10 closes the right front door 21, the right front latch mechanism 51 becomes latched. More specifically, a latch provided in the right front latch mechanism 51 and a right front striker (neither shown) disposed on the vehicle body 10a engage with each other, thereby maintaining the right front door 21 in a closed state.

[0040] When the right front door 21 is in a closed state (i.e., when the right front latch mechanism 51 is in a latched state), if either the inside lever arranged on the interior side of the right front door 21 or the door lever arranged on the exterior side of the right front door 21 is operated by an occupant, the right front latch mechanism 51 becomes unlatched.

[0041] More specifically, a lever sensor 21a is disposed near the inside lever of the right front door 21. When this inside lever is operated by an occupant, a detection signal (specifically, a high-level signal) is output from the lever sensor 21a to the ECU 30. The ECU 30 acquires the operation states of the inside lever and the door lever based on the detection signal received from the lever sensor 21a and a detection signal received from a lever sensor (not shown) that detects the operation state of the door lever of the right front door 21.

[0042] When the inside lever and / or door lever of the right front door 21 is operated, the ECU 30 actuates the electric actuator 51a of the right front latch mechanism 51 to release the engagement between the latch of the right front latch mechanism 51 and the right front striker of the vehicle body 10a (i.e., the right front latch mechanism 51 is in an unlatched state). As a result, the right front door 21 becomes openable. The operation of the inside lever by the occupant to open the boarding / exiting door is hereinafter also referred to as the "interior door opening operation."

[0043] In addition, when the "opening prohibition processing" described below is executed by the ECU 30, even if an interior door opening operation is performed on the right front door 21 (i.e., even if the inside lever of the right front door 21 is operated by an occupant), operation of the electric actuator 51a is prohibited, and thus the right front door 21 is maintained in a closed state.

[0044] The left front door 22 has a structure similar to that of the right front door 21. A left front latch mechanism 52 built into the left front door 22 is switched between a "latched state" and an "unlatched state."

[0045] The ECU 30 acquires the operation state of an inside lever disposed on the inside of the left front door 22 based on a detection signal output from a lever sensor 22a disposed near the inside lever. In addition, the ECU 30 acquires the operation state of a door lever disposed on the outside of the left front door 22 based on a detection signal output from a lever sensor (not shown).

[0046] When the inside lever and / or door lever of the left front door 22 is operated, the ECU 30 activates the electric actuator 52a of the left front latch mechanism 52 to release the engagement between the latch of the left front latch mechanism 52 and a left front striker (neither shown) of the vehicle body 10a. That is, the left front latch mechanism 52 transitions from a latched state to an unlatched state. As a result, the left front door 22 becomes openable.

[0047] When the opening prohibition process is executed by the ECU 30, the operation of the electric actuator 52a is prohibited even if an operation to open the left front door 22 is performed, so that the left front door 22 is maintained in a closed state.

[0048] The right rear door 23 is attached so as to be movable in the front-rear direction of the vehicle body 10a while being guided by a rail provided on the vehicle body 10a. In other words, the right rear door 23 is a sliding door. The right rear door 23 incorporates a right rear lock mechanism 53. The state of the right rear lock mechanism 53 can be switched between a "locked state" and an "unlocked state."

[0049] When the right rear door 23 is open and the right rear locking mechanism 53 is in an unlocked state, if an occupant of the vehicle 10 closes the right rear door 23, the right rear locking mechanism 53 enters a locked state. More specifically, a latch provided in the right rear locking mechanism 53 and a right rear striker (neither shown) disposed on the vehicle body 10a engage with each other, thereby maintaining the right rear door 23 in a closed state.

[0050] When the right rear door 23 is in a closed state (i.e., when the right rear locking mechanism 53 is in a locked state), if either the inside lever arranged on the inside of the right rear door 23 or the door lever arranged on the outside of the right rear door 23 is operated by an occupant, the right rear locking mechanism 53 becomes in an unlocked state.

[0051] More specifically, a lever sensor 23a is disposed near the inside lever of the right rear door 23. When this inside lever is operated by an occupant, a detection signal (i.e., a high-level signal) is output from the lever sensor 23a to the ECU 30. The ECU 30 acquires the operation states of the inside lever and the door lever based on the detection signal received from the lever sensor 23a and a detection signal received from a lever sensor (not shown) that detects the operation state of the door lever.

[0052] When the inside lever and / or door lever of the right rear door 23 is operated, the ECU 30 actuates the electric actuator 53a of the right rear lock mechanism 53 to release the engagement between the latch of the right rear lock mechanism 53 and the right rear striker of the vehicle body 10a. As a result, the right rear door 23 becomes openable.

[0053] When the opening prohibition process is executed by the ECU 30, the operation of the electric actuator 53a is prohibited even if an interior door opening operation is performed on the right rear door 23, so that the right rear door 23 is maintained in the closed state.

[0054] The left rear door 24 has a structure similar to that of the right rear door 23. The state of a left rear lock mechanism 54 built into the left rear door 24 can be switched between a "locked state" and an "unlocked state."

[0055] The ECU 30 acquires the operation state of an inside lever disposed on the inside of the left rear door 24 based on a detection signal output from a lever sensor 24a disposed near the inside lever. In addition, the ECU 30 acquires the operation state of a door lever disposed on the outside of the left rear door 24 based on a detection signal output from a lever sensor (not shown).

[0056] When the inside lever and / or door lever of the left rear door 24 is operated, the ECU 30 activates the electric actuator 54a of the left rear lock mechanism 54 to release the engagement between the latch of the left rear lock mechanism 54 and a left rear striker (neither shown) of the vehicle body 10a. That is, the left rear lock mechanism 54 transitions from a locked state to an unlocked state. As a result, the left rear door 24 becomes openable.

[0057] When the opening prohibition process is executed by the ECU 30, the operation of the electric actuator 54a is prohibited even if an interior door opening operation is performed on the left rear door 24, and thus the left rear door 24 is maintained in a closed state. For convenience, each of the lever sensors 21a to 24a is also referred to as an "opening operation sensor."

[0058] (Disembarkation warning process) Next, a description will be given of the "disembarkation warning process" executed by the ECU 30. When the vehicle 10 is stopped and an occupant opens the boarding / exit door, if there is a high possibility of a collision between an object approaching the vehicle 10 from the rear side and the open boarding / exit door or the occupant disembarking from the vehicle 10, the ECU 30 executes the disembarkation warning process to warn the occupant about to open the boarding / exit door.

[0059] The direction of the right or left boarding door that the occupant is trying to open (i.e., performing the interior door opening operation) is hereinafter also referred to as the “specific direction.” As the exit warning process, the ECU 30 executes an opening prohibition process for the boarding door that the occupant is trying to open, and a process for playing an “alert sound” from the speaker on the specific direction side (i.e., one of the right speaker and the left speaker).

[0060] In this embodiment, the notification voice is a voice message that informs the driver that the door is controlled not to open even if an interior door opening operation is performed because a moving object is approaching the vehicle 10 from behind. When the ECU 30 executes the exit warning process, it displays on the display 44 a symbol indicating that the exit warning process is being executed.

[0061] In the following description, each of the right front door 21 and the right rear door 23 will also be referred to as a "right door," and each of the left front door 22 and the left rear door 24 will also be referred to as a "left door." In addition, an action of an occupant attempting to open either the right front door 21 or the right rear door 23 from inside the vehicle cabin (i.e., an interior door-opening operation for the right door) will also be referred to as a "right-opening operation." An action of an occupant attempting to open either the left front door 22 or the left rear door 24 from inside the vehicle cabin (i.e., an interior door-opening operation for the left door) will also be referred to as a "left-opening operation."

[0062] Furthermore, a radar-detected target that is the subject of the disembarking warning process and that approaches the right side area of ​​the vehicle 10 from the rear of the vehicle 10 is also referred to as a "right approaching target." The right approaching target can also be said to be a radar-detected target that has a high possibility of colliding with an occupant disembarking from the right door or the right door if the occupant opens the right door.

[0063] Similarly, a radar-detected target that is the subject of the disembarking warning process and that is approaching the left side area of ​​the vehicle 10 from the rear of the vehicle 10 is also referred to as a "left approaching target." It can also be said that a left approaching target is a radar-detected target that has a high possibility of colliding with the left door or with an occupant disembarking through the left door if the occupant opens the left door.

[0064] For example, when the vehicle 10 is stopped and the ECU 30 detects that the occupant is performing an operation to open the right front door 21 to the right based on the detection signal of the lever sensor 21a and there is an approaching target on the right, the ECU 30 executes an opening prohibition process for the right front door 21 and causes the right speaker to play an alert sound. In this case, the specific direction is the right.

[0065] Similarly, when the ECU 30 detects that an occupant is opening the left rear door 24 to the left based on the detection signal from the lever sensor 24a while the vehicle 10 is stopped and there is an approaching target on the left, the ECU 30 executes an opening prohibition process for the left rear door 24 and causes the left speaker to play an alert sound. In this case, the specific direction is the left.

[0066] The dismounting attention calling process executed when the specific direction is to the right is also referred to as a “rightward notification process” for convenience. Similarly, the dismounting attention calling process executed when the specific direction is to the left is also referred to as a “leftward notification process” for convenience.

[0067] In other words, the ECU 30 starts the right warning process when the following conditions (1), (2a), and (3a) are all satisfied. Condition (1): Vehicle 10 is stopped. Condition (2a): A right-side opening operation is detected (that is, an interior door opening operation is being performed on either the right front door 21 or the right rear door 23). Condition (3a): An approaching target is detected to the right.

[0068] Similarly, the ECU 30 starts the left warning process when the following conditions (1), (2a), and (3a) are all satisfied. Condition (1): Vehicle 10 is stopped. Condition (2b): A left-side opening operation is detected (that is, an interior door opening operation is being performed on either the left front door 22 or the left rear door 24). Condition (3b): An approaching target is detected on the left.

[0069] The condition that is satisfied when conditions (1), (2a), and (3a) are all satisfied is also referred to as the “right warning condition” for convenience. Similarly, the condition that is satisfied when conditions (1), (2b), and (3c) are all satisfied is also referred to as the “left warning condition” for convenience.

[0070] The target approaching to the right and the target approaching to the left will be described with reference to Fig. 3 which shows a state in which the vehicle 10 is stopped on the road shoulder. In this embodiment, the target approaching to the right is a radar-detected target which satisfies both of the following conditions (4a) and (5a). Condition (4a): The position represented by the vertical position Dx and the horizontal position Dy (i.e., the representative position) is included in the right target region RtR described below. Condition (5a): The traveling direction represented by the longitudinal velocity Vx and the lateral velocity Vy intersects with the right decision line LtR described below.

[0071] The right determination line LtR, represented by a thick line in Fig. 3, is a line segment connecting points Pt1 and Pt2. Point Pt1 is located at the rear right corner of the vehicle 10. Point Pt2 is a point shifted to the right from point Pt1 by a predetermined length Dt parallel to the y axis. That is, point Pt2 has the same x coordinate value as point Pt1 and a y coordinate value that is larger by the length Dt than point Pt1.

[0072] The right target region RtR is a trapezoidal region with vertices Pt1, Pt2, Pr1, and Pr2. Point Pr1 has an x-coordinate value smaller than point Pt1 by a predetermined length Du and a y-coordinate value smaller than point Pt1 by a predetermined length Dr. Point Pr2 has an x-coordinate value smaller than point Pt2 by a length Du and a y-coordinate value larger than point Pt2 by a length Dr.

[0073] The direction of travel of a radar-detected target is equal to the direction of a vector (velocity vector) obtained as the sum of a vector parallel to the x-axis and whose length is equal to the longitudinal velocity Vx, and a vector parallel to the y-axis and whose length is equal to the lateral velocity Vy.

[0074] 3 is a representative position of the other vehicle 61. An arrow A1 represents a velocity vector of the other vehicle 61. In addition, a dashed dotted line Ld1 represents the direction of the arrow A1.

[0075] As can be seen from FIG. 3, the point Pd1 is included in the right target region RtR. That is, the other vehicle 61 satisfies the condition (4a). In addition, the dashed dotted line Ld1 (i.e., the traveling direction of the other vehicle 61) intersects with the right determination line LtR. That is, the other vehicle 61 satisfies the condition (5a). Therefore, the other vehicle 61 is an approaching target on the right.

[0076] On the other hand, in this embodiment, the target approaching on the left is a radar-detected target that satisfies both of the following conditions (4b) and (5b). Condition (4b): The representative position represented by the vertical position Dx and the horizontal position Dy is included in the left target region RtL described below. Condition (5b): The traveling direction represented by the longitudinal velocity Vx and the lateral velocity Vy intersects with the left decision line LtL described below.

[0077] 3 is a line segment connecting points Pt3 and Pt4. Point Pt3 is located at the rear left corner of the vehicle 10. Point Pt4 is a point shifted to the left from point Pt3 by a length Dt parallel to the y axis. That is, point Pt4 has the same x coordinate value as point Pt3 and a y coordinate value that is smaller by the length Dt.

[0078] The left target region RtL is a trapezoidal region with vertices Pt3, Pt4, Pr3, and Pr4. Compared to point Pt3, point Pr3 has an x-coordinate value smaller by length Du and a y-coordinate value larger by length Dr. Compared to point Pt4, point Pr4 has an x-coordinate value smaller by length Du and a y-coordinate value smaller by length Dr.

[0079] 3 is a representative position of the bicycle 62. An arrow A2 represents a velocity vector of the bicycle 62. In addition, a dashed dotted line Ld2 represents the direction of the arrow A2.

[0080] As can be seen from FIG. 3, point Pd2 is included in the left target region RtL. That is, the bicycle 62 satisfies condition (4b). In addition, the dashed dotted line Ld2 (i.e., the traveling direction of the bicycle 62) intersects with the left determination line LtL. That is, the bicycle 62 satisfies condition (5b). Therefore, the bicycle 62 is an approaching target on the right.

[0081] (Disembarkation warning processing-alarm switching processing) Next, the "alert switching process" related to the dismount warning process will be described. The alert switching process is executed when one of the right and left alert conditions is satisfied while one of the right and left alert conditions is being executed due to the satisfaction of the other of the right and left alert conditions.

[0082] For example, when the right notification process is being executed (i.e., when the notification sound is being reproduced from the right speaker), if the left notification condition is satisfied, the ECU 30 stops the right notification process and starts the left notification process. That is, the ECU 30 executes a process of stopping the reproduction of the notification sound from the right speaker and starting the reproduction of the notification sound from the left speaker as the notification switching process. Similarly, when the left notification process is being executed, if the right notification condition is satisfied, the ECU 30 executes a process of stopping the reproduction of the notification sound from the left speaker and starting the reproduction of the notification sound from the right speaker as the notification switching process.

[0083] (Specific operation) Next, a specific operation of the ECU 30 related to the dismount warning process will be described. The CPU 31 (hereinafter, simply referred to as "CPU") of the ECU 30 executes a "dismount warning execution process routine" shown in the flowchart of FIG. 4 every time a predetermined time has elapsed.

[0084] Therefore, at an appropriate timing, the CPU starts the process from step 400 in FIG. 4 and proceeds to step 405 to determine whether or not the vehicle speed Vt is smaller than a predetermined speed threshold Vth. In this embodiment, the speed threshold Vth is set to a value close to "0." That is, the CPU determines whether or not the above-mentioned condition (1) is satisfied. If the vehicle speed Vt is equal to or greater than the speed threshold Vth, the CPU determines "No" in step 405 and proceeds directly to step 495 to end the process of this routine.

[0085] On the other hand, if the vehicle speed Vt is smaller than the speed threshold Vth, the CPU judges "Yes" in step 405 and proceeds to step 410 to judge whether an interior door opening operation is detected. Specifically, the CPU judges whether any of the inside levers of the boarding / alighting doors is being operated by an occupant based on the detection signals of the lever sensors 21a to 24a. That is, the CPU judges whether any of the above-mentioned conditions (2a) and (2b) is satisfied.

[0086] (Case A) It is assumed that neither the right nor left warning process is being executed (i.e., neither the right nor left speaker is playing a warning sound), the vehicle 10 is stopped, there is an approaching target on the left, and this routine is executed for the first time after the occupant has started the interior door opening operation on the left front door 22.

[0087] In this case, since the interior door opening operation for the left front door 22 has been detected, the CPU judges "Yes" in step 410 and proceeds to step 415 to judge whether or not an approaching target exists in the specific direction. Specifically, the CPU judges whether or not an approaching target exists that corresponds to the direction in which the interior door opening operation was performed (i.e., the specific direction) among the approaching target on the right and the approaching target on the left. That is, the CPU judges whether or not either of the above-mentioned conditions (3a) and (3b) is satisfied.

[0088] According to the above assumption, since an interior door opening operation is being performed on the left front door 22, the specific direction is to the left. Therefore, the CPU judges whether or not an approaching target exists on the left. According to the above assumption, since an approaching target exists on the left, the CPU judges "Yes" in step 415 and proceeds to step 420, where it executes an opening prohibition process for the boarding / alighting door for which an interior door opening operation has been performed.

[0089] According to the above assumption, since the interior door opening operation is being performed on the left front door 22, the CPU executes the opening prohibition process on the left front door 22. That is, even though the inside lever of the left front door 22 has been operated, the CPU does not operate the electric actuator 52a, thereby maintaining the left front door 22 in the closed state.

[0090] Next, the CPU proceeds to step 425 and determines whether or not the notification sound on the specific direction side is not being reproduced. That is, the CPU determines whether or not the notification sound is not being reproduced from the speaker on the specific direction side, of the right speaker and the left speaker.

[0091] According to the above assumption, the left notification process is not being executed (i.e., the notification sound is not being reproduced from the left speaker), so the CPU judges "Yes" in step 425 and proceeds to step 430 to determine whether or not the notification sound is being reproduced in the direction opposite to the specific direction. That is, the CPU determines whether or not the notification sound is being reproduced from the speaker of the right speaker or the left speaker that is opposite to the specific direction (the right side according to the above assumption).

[0092] According to the above assumption, since the right notification process is not being executed (i.e., the notification sound is not being reproduced from the right speaker), the CPU determines "No" in step 430 and proceeds directly to step 440 to start reproduction of the notification sound for the specific direction. That is, the CPU starts reproduction of the notification sound from the speaker for the specific direction, either the right speaker or the left speaker.

[0093] According to the above assumption, since the specific direction is the left, the CPU starts reproducing the notification sound from the left speaker. Next, the CPU proceeds to step 495.

[0094] When this routine is next executed while the vehicle 10 is stopped, the left front door 22 is being operated to open the interior, and an approaching target is still present on the left, the CPU judges "Yes" in each of steps 405, 410, and 415, and then proceeds to step 425. In this case, the notification sound continues to be reproduced from the left speaker, so the CPU judges "No" in step 425 and proceeds directly to step 495. Therefore, in this case, the notification sound continues to be reproduced from the left speaker.

[0095] (Case B) It is assumed that the interior door opening operation for the left front door 22 is then completed. In addition, it is assumed that this routine is executed for the first time after the occupant starts the interior door opening operation for the right rear door 23 before the reproduction of the notification sound from the left speaker is completed. It is further assumed that the vehicle 10 continues to be stopped and that an approaching target is present on the right.

[0096] In this case, the specific direction is to the right. Therefore, after making "Yes" determinations in both steps 405 and 410, the CPU proceeds to step 415 and determines whether or not there is an approaching target to the right.

[0097] According to the above assumption, since there is an approaching target on the right, the CPU judges "Yes" in step 415 and proceeds to step 420 to perform an opening prohibition process for the right rear door 23. Next, the CPU proceeds to step 425 to determine whether or not the notification sound for the specific direction side (i.e., the right side) is not being reproduced.

[0098] According to the above assumption, the right speaker is not playing an alert sound because the interior door opening operation for the right rear door 23 has just started. Therefore, the CPU judges "Yes" in step 425 and proceeds to step 430 to determine whether an alert sound for the opposite direction (i.e., the left side) is being played.

[0099] According to the above assumption, since the playback of the notification sound from the left speaker continues, the CPU judges "Yes" in step 430 and proceeds to step 435 to stop the playback of the notification sound from the opposite direction. That is, in this case, the CPU stops the playback of the notification sound from the left speaker. Next, the CPU proceeds to step 440 to start the playback of the warning sound from the speaker on the specific direction side (i.e., the right speaker). That is, in this case, the notification switching process is executed.

[0100] (Case C) Next, it is assumed that the vehicle 10 is stopped, there is no approaching target on the right, and this routine is being executed for the first time after the occupant starts the interior door opening operation on the right front door 21.

[0101] In this case, the CPU judges "Yes" in each of steps 405 and 410 and proceeds to step 415 to judge whether or not there is an approaching target on the right. According to the above-mentioned assumption, since there is no approaching target on the right, the CPU judges "Yes" in step 415 and proceeds to step 445 to execute the "release process" for the boarding / alighting door for which the interior door opening operation has been performed.

[0102] Specifically, the CPU controls the actuator associated with the boarding / deboarding door for which the interior door-opening operation has been performed to make the door openable. According to the above-mentioned assumption, since the boarding / deboarding door for which the interior door-opening operation has been performed is the right front door 21, the CPU controls the electric actuator 51a of the right front door 21 to make the right front door 21 openable.

[0103] (Other cases) When the vehicle 10 is stopped and no interior door opening operation has been performed on any of the boarding / alighting doors (i.e., when condition (1) is met but neither condition (2a) nor condition (2b) is met), the CPU judges "Yes" in step 405, and then judges "No" in step 410 and proceeds directly to step 495.

[0104] As described above, the ECU 30 starts the right notification process when the right notification condition is satisfied, and starts the left notification process when the left notification condition is satisfied. In addition, if the left notification condition is satisfied during the execution of the right notification process (i.e., while the notification sound is being reproduced from the right speaker), the ECU 30 stops the right notification process (i.e., stops the reproduction of the notification sound from the right speaker) and then starts the left notification process.

[0105] Therefore, even if the alarm sound played by the right speaker is interrupted midway, a passenger who performs an interior door opening operation on the right door can understand the content of the alarm (i.e., that a moving object is approaching the vehicle 10 from behind and therefore the door cannot be opened) from the alarm sound played by the left speaker.

[0106] In addition, when the right door is opened, the right speaker starts reproducing the notification sound, and when the left door is opened, the left speaker starts reproducing the notification sound. Therefore, each of the occupants (i.e., the occupant who performed the right door open operation and the occupant who performed the left door open operation) can recognize that the notification sound has started reproducing due to their own operation.

[0107] Similarly, when the right warning condition is met while the left warning process is being executed (i.e., while the warning sound is being played from the left speaker), the ECU 30 stops the left warning process (i.e., stops the playback of the warning sound from the left speaker) and then starts the right warning process.

[0108] Therefore, according to this control device, even if an opposite direction warning state occurs, the occupant attempting to open the right door and the occupant attempting to open the left door can each understand the presence of an approaching target (i.e., either an approaching target to the right or an approaching target to the left) and that the boarding / exiting door cannot be opened due to the presence of that target.

[0109] Although the embodiment of the vehicle control device according to the present invention has been described above, the present invention is not limited to the above embodiment, and various modifications are possible without departing from the object of the present invention. For example, in this embodiment, the target approaching on the right and the target approaching on the left are targets whose representative positions are included in either the right target region RtR or the left target region RtL. However, the target approaching on the right and the target approaching on the left may be targets whose representative positions are included in either the right target region RtR or the left target region RtL.

[0110] Additionally, in this embodiment, the right approaching target and the left approaching target are detected by the right angle radar 42 and the left angle radar 43 (i.e., a millimeter wave radar device). However, the right approaching target and the left approaching target may be detected by a device (target sensor) different from the millimeter wave radar device. For example, the right approaching target and the left approaching target may be detected by an ultrasonic sonar device. Furthermore, the right approaching target and the left approaching target may be detected based on an image acquired by an optical camera that captures an area including the right target region RtR and the left target region RtL.

[0111] In addition, the vehicle control ECU 30 according to the present embodiment executes the opening prohibition process and the notification process (i.e., either the right notification process or the left notification process) as the getting-off warning process. However, the opening prohibition process in the getting-off warning process may be omitted.

[0112] In addition, in the present embodiment, each of the rightward notification condition and the leftward notification condition includes the condition (1). However, in each of the rightward notification condition and the leftward notification condition, the condition (1) may be omitted.

[0113] In addition, the right speaker according to this embodiment includes the right front speaker 45 and the right rear speaker 47. However, one of the right front speaker 45 and the right rear speaker 47 in the right speakers may be omitted. Similarly, one of the left front speaker 46 and the left rear speaker 48 in the left speakers may be omitted.

[0114] In addition, the vehicle control ECU 30 according to this embodiment determines whether or not an interior door opening operation is being performed based on the detection signals of the lever sensors 21a to 24a (i.e., detects an interior door opening operation). However, the ECU 30 may be configured to determine whether or not an interior door opening operation is being performed by a method different from this. For example, a light emitting source and a light receiving sensor that receives light emitted by the light emitting source (transmitted light) may be disposed near the inside levers of each of the right front door 21, the left front door 22, the right rear door 23, and the left rear door 24 so that when an occupant touches the inside lever to perform an interior door opening operation, the transmitted light is blocked by the occupant's hand. In this case, the ECU 30 determines that an interior door opening operation is being performed (i.e., detects an interior door opening operation) when the light receiving sensor can no longer receive the transmitted light.

[0115] In addition, in the present embodiment, the notification sound reproduced by the right speaker when the right notification process is executed and the notification sound reproduced by the left speaker when the left notification process is executed are the same. However, these notification sounds may be different from each other.

[0116] In addition, the functions realized by the vehicle control ECU 30 according to the present embodiment may be realized by a plurality of ECUs. [Explanation of symbols]

[0117] 10...vehicle, 21...right front door, 21a...lever sensor, 22...left front door, 22a...lever sensor, 23...right rear door, 23a...lever sensor, 24...left rear door, 24a...lever sensor, 30...vehicle control ECU, 41...vehicle speed sensor, 42...right angle radar, 43...left angle radar, 44...display, 45...right front speaker, 46...left front speaker, 47...right rear speaker, 48...left rear speaker, 51...right front latch mechanism, 51a...electric actuator, 52...left front latch mechanism, 52a...electric actuator, 53...right rear lock mechanism, 53a...electric actuator, 54...left rear lock mechanism, 54a...electric actuator.

Claims

[Claim 1] a target sensor that detects a right approaching target that is a target approaching a right area of ​​the vehicle from behind the vehicle, and a left approaching target that is a target approaching a left area of ​​the vehicle from behind the vehicle; an opening operation sensor that detects a right-side opening operation, which is an operation by an occupant in a vehicle interior of the vehicle to open a right-side door located on the right side of the vehicle, and a left-side opening operation, which is an operation by an occupant in the vehicle interior of the vehicle to open a left-side door located on the left side of the vehicle; A right speaker disposed on a right side of the vehicle interior; A left speaker disposed on the left side of the vehicle interior; starting a right warning process for playing a predetermined warning sound from the right speaker when a right warning condition is satisfied, the right warning condition including the approaching target on the right being detected by the target sensor and the right opening operation being detected by the opening operation sensor; starting a left notification process for causing the left speaker to reproduce a predetermined notification sound when a left notification condition is satisfied, the left notification condition including that the approaching target on the left is detected by the target sensor and the left opening operation is detected by the opening operation sensor; A control unit; In a vehicle control device comprising: The control unit is when one of the right direction notification processing and the left direction notification processing is being executed due to the satisfaction of one of the right direction notification condition and the left direction notification condition, if the other of the right direction notification condition and the left direction notification condition is satisfied, the execution of the one of the right direction notification processing and the left direction notification processing is stopped and the other of the right direction notification processing and the left direction notification processing is started. A vehicle control device configured as above.

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