Control device

Abstract

To notify an occupant of an own vehicle of approach of another vehicle to the own vehicle while reducing troublesomeness felt by the occupant.SOLUTION: A control device includes: an acquisition unit for acquiring state information on an approaching state of another vehicle approaching behind an own vehicle to the own vehicle; and a control unit for prohibiting notification by a notification unit when notification conditions are met such that approach of the other vehicle to the own vehicle is notified to an occupant of the own vehicle through the notification unit based on the acquired state information and the other vehicle becomes the same vehicle that has been notified immediately prior to approach to the own vehicle.SELECTED DRAWING: Figure 1

Description

[Technical Field]

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

[0002] Patent Document 1 discloses a technique that can appropriately notify a driver of an approaching vehicle behind. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Laid-Open No. 2017-129980 Summary of the Invention [Problem to be solved by the invention]

[0004] However, with the technology of Patent Document 1, if the driver is notified and then the vehicle behind moves away from the vehicle, and then the notification is made again when the vehicle behind approaches the vehicle, the driver may find the notification annoying.

[0005] Therefore, an object of the present disclosure is to provide a control device that can notify occupants of a vehicle of the approach of another vehicle to the vehicle while reducing the inconvenience felt by the occupants of the vehicle. [Means for solving the problem]

[0006] The control device according to claim 1 comprises: As a result of detection by a detection device capable of detecting the situation behind the vehicle, Status information regarding the approach status of another vehicle approaching the host vehicle from behind the host vehicle and situation information regarding a situation behind the vehicle. and a control unit that prohibits the notification unit from notifying an occupant of the host vehicle of the approach of the other vehicle to the host vehicle when a notification condition for notifying an occupant of the host vehicle of the approach of the other vehicle to the host vehicle through a notification unit is met based on the acquired state information and the other vehicle is the same as the vehicle that was previously notified of its approach to the host vehicle, Based on the acquired situation information, the control unit detects the number of lanes on the road on which the host vehicle and the other vehicle are traveling and the lateral position of the other vehicle on the road, and if the other vehicle is traveling on a different lane from the host vehicle based on the detected number of lanes and lateral position, excludes the other vehicle from the list of vehicles to be notified by the notification unit.

[0007] In the control device according to claim 1, the acquisition unit acquires status information. Then, based on the status information acquired by the acquisition unit, the control unit prohibits the notification unit from making a notification when a notification condition is met and the other vehicle is the same as the vehicle that was previously notified of its approach to the host vehicle. This allows the control device to notify the occupants of the host vehicle of the approach of another vehicle while reducing the inconvenience felt by the occupants of the host vehicle.

[0008] A control device according to claim 2 is the control device according to claim 1, wherein the notification conditions include a first notification condition and a second notification condition, and the control unit: before During the execution of notification in response to the establishment of one of the first notification condition and the second notification condition, Growth If the other of the first notification condition and the second notification condition, which has not been established in the past, is established, In a notification mode different from a normal notification executed when only one of the first notification condition or the second notification condition is satisfied, The notification unit is caused to issue a notification.

[0009] In the control device according to claim 2, the notification conditions include a first notification condition and a second notification condition. The control unit causes the notification unit to issue a notification when one of the first notification condition and the second notification condition is satisfied when there is no history of both the first notification condition and the second notification condition being satisfied. Furthermore, while the control unit is issuing a notification in response to the satisfaction of one of the first notification condition and the second notification condition, if the other of the first notification condition and the second notification condition, which has no history of being satisfied, is satisfied, the control unit causes the notification unit to issue a notification. This allows the control device to determine whether to issue a notification based on the history of when each notification condition is satisfied.

[0010] The control device of claim 3 is the same as claim 2, wherein the control unit satisfies the first notification condition when the other vehicle approaches within a predetermined area behind the host vehicle, and satisfies the second notification condition when the relative collision time divided by the relative speed between the host vehicle and the other vehicle is equal to or less than a predetermined value.

[0011] In the control device according to claim 3, the control unit satisfies the first notification condition when the other vehicle approaches within a predetermined area behind the host vehicle. The control unit also satisfies the second notification condition when the relative collision time divided by the relative speed between the host vehicle and the other vehicle is equal to or less than a predetermined value. This allows the control device to satisfy each notification condition when the possibility of the other vehicle colliding with the host vehicle increases.

[0012] The control device according to claim 4 is the same as claim 1, wherein the control unit satisfies the notification condition when the approach state of the other vehicle to the host vehicle is in a predetermined state and the vehicle speed of the host vehicle is equal to or greater than a predetermined value.

[0013] In the control device according to claim 4, the control unit satisfies the notification condition when the approaching state of another vehicle to the host vehicle is in a predetermined state and the vehicle speed of the host vehicle is equal to or greater than a predetermined value. This makes it possible for the control device to prevent notification from being performed on roads where the vehicle speed of the host vehicle is less than the predetermined value, such as public roads.

[0014] The control device of claim 5 is in claim 4, wherein the control unit satisfies the notification condition at the timing when the vehicle speed becomes equal to or greater than the predetermined value after the other vehicle's approach to the host vehicle has reached a predetermined state and the vehicle speed becomes equal to or greater than a predetermined value, and does not satisfy the notification condition at the timing when the vehicle speed becomes less than the predetermined value after the other vehicle's approach to the host vehicle has reached a predetermined state and the vehicle speed becomes equal to or greater than a predetermined value.

[0015] In the control device according to claim 5, when the vehicle speed becomes equal to or greater than a predetermined value after the other vehicle's approach to the host vehicle has reached a predetermined state, the control unit satisfies the notification condition at the timing when the vehicle speed becomes equal to or greater than the predetermined value. Furthermore, when the other vehicle's approach to the host vehicle has reached the predetermined state and the vehicle speed has become equal to or greater than the predetermined value, the control unit does not satisfy the notification condition at the timing when the vehicle speed becomes less than the predetermined value. This allows the control device to determine whether the notification condition is satisfied or not, taking into account the other vehicle's approach to the host vehicle and the vehicle speed of the host vehicle. [Effects of the Invention]

[0016] As described above, the control device according to the present disclosure can notify the occupants of the host vehicle of the approach of another vehicle to the host vehicle while reducing the inconvenience felt by the occupants of the host vehicle. [Brief explanation of the drawings]

[0017] [Figure 1] FIG. 2 is a block diagram showing the hardware configuration of a vehicle. [Figure 2] FIG. 2 is a block diagram showing an example of a functional configuration of a control device. [Figure 3] 10 is a first flowchart showing the flow of a decision process. [Figure 4] 10 is a second flowchart showing the flow of the decision process. [Figure 5] 10 is a third flowchart showing the flow of the decision process. DETAILED DESCRIPTION OF THE INVENTION

[0018] (First embodiment) First, a first embodiment of a vehicle 10 according to the present embodiment will be described. 1 is a block diagram showing the hardware configuration of a vehicle 10. The vehicle 10 is an example of a "host vehicle."

[0019] As shown in FIG. 1, a vehicle 10 includes a control device 20, an ECU (Electronic Control Unit) 30, a sensor 40, a monitor 41, and a speaker .

[0020] The control device 20 includes a CPU (Central Processing Unit) 21, a ROM (Read Only Memory) 22, a RAM (Random Access Memory) 23, a storage unit 24, an in-vehicle communication I / F (Interface) 25, an input / output I / F 26, and a wireless communication I / F 27. The CPU 21, the ROM 22, the RAM 23, the storage unit 24, the in-vehicle communication I / F 25, the input / output I / F 26, and the wireless communication I / F 27 are connected to each other via an internal bus 28 so as to be able to communicate with each other.

[0021] The CPU 21 is a central processing unit that executes various programs and controls each part. That is, the CPU 21 reads programs from the ROM 22 or the storage unit 24 and executes the programs using the RAM 23 as a work area. The CPU 21 controls each of the above components and performs various arithmetic processing in accordance with the programs recorded in the ROM 22 or the storage unit 24.

[0022] The ROM 22 stores various programs and various data. The RAM 23 serves as a working area for temporarily storing programs or data.

[0023] The storage unit 24 is configured by a storage device such as an eMMC (embedded Multi Media Card) or a UFS (Universal Flash Storage), and stores various programs and various data. The storage unit 24 stores a control program 24A for causing the CPU 21 to execute a determination process, which will be described later.

[0024] The in-vehicle communication I / F 25 is an interface for connecting to the ECU 30. The interface uses a communication standard based on the CAN protocol. The in-vehicle communication I / F 25 is connected to an external bus 29. Although not shown in the figure, multiple ECUs 30 are provided for each function of the vehicle 10.

[0025] The input / output I / F 26 is an interface for communicating with a sensor 40, a monitor 41, and a speaker 42 mounted on the vehicle 10.

[0026] The sensor 40 is a detection device that detects the state of the vehicle 10 and the state outside the vehicle 10. The sensor 40 includes, for example, a vehicle speed sensor 40A and a millimeter wave sensor 40B.

[0027] The vehicle speed sensor 40A is a sensor for detecting the vehicle speed of the vehicle 10 and is provided, for example, on a wheel. The millimeter wave sensor 40B is a sensor for detecting a rear vehicle approaching from behind the vehicle 10 and is provided at least at the rear of the vehicle 10. The millimeter wave sensor 40B is used to detect a rear vehicle by transmitting a transmission wave to the rear of the vehicle 10 and receiving a reflected wave from an object behind. The rear vehicle is an example of an "other vehicle."

[0028] The monitor 41 is a liquid crystal monitor provided on an instrument panel, a meter panel, or the like, for displaying operation suggestions related to functions of the vehicle 10 and images explaining the functions. The monitor 41 may be provided as a touch panel that also has an input function.

[0029] The speaker 42 is provided on the instrument panel, the center console, the front pillar, the dashboard, or the like, and is a device for outputting audio and the like that suggests operations related to functions of the vehicle 10 and explains the functions. The monitor 41 and the speaker 42 are examples of an "alert unit."

[0030] The wireless communication I / F 27 is a wireless communication module for communicating with the outside world, and uses communication standards such as 5G, LTE, and Wi-Fi (registered trademark).

[0031] Next, the functional configuration of the control device 20 will be described. FIG. 2 is a block diagram showing an example of the functional configuration of the control device 20.

[0032] 2, the CPU 21 of the control device 20 has, as functional components, an acquisition unit 21A and a control unit 21B. Each functional component is realized by the CPU 21 reading and executing a control program 24A stored in the storage unit 24.

[0033] The acquisition unit 21A acquires state information regarding the approach state of a following vehicle approaching the rear of the vehicle 10 to the vehicle 10. As an example, the acquisition unit 21A acquires the detection result of the millimeter wave sensor 40B as the state information.

[0034] Based on the state information acquired by the acquisition unit 21A, the control unit 21B determines whether or not a notification condition for notifying the occupants of the vehicle 10 of the approach of a rear vehicle to the vehicle 10 via the monitor 41 and the speaker 42 is met. In the first embodiment, the control unit 21B meets the notification condition when the rear vehicle approaches to a predetermined area behind the vehicle 10. For example, the control unit 21B uses the inter-vehicle distance between the vehicle 10 and the rear vehicle as a detection result of the millimeter wave sensor 40B to determine whether or not the rear vehicle has approached to a predetermined area behind the vehicle 10. Then, the control unit 21B meets or fails to meet the notification condition depending on the determination of whether or not the rear vehicle has approached to a predetermined area behind the vehicle 10.

[0035] Furthermore, the control unit 21B identifies the following vehicle based on the status information acquired by the acquisition unit 21A. For example, the control unit 21B periodically performs an identification process, such as tracking the behavior of the following vehicle traveling directly behind the vehicle 10 or detecting an object, based on the detection result of the millimeter wave sensor 40B. Then, the control unit 21B identifies the identity of the following vehicle based on the similarity of the feature amounts between the result of one identification process and the result of an identification process executed immediately before the one identification process.

[0036] Then, based on the state information acquired by the acquisition unit 21A, if the notification condition is met and the identified rear vehicle is different from the vehicle that was previously notified of its approach to the vehicle 10 (hereinafter referred to as the "previous vehicle"), the control unit 21B causes the monitor 41 and the speaker 42 to issue a notification. In this case, as the notification, the monitor 41 displays a predetermined image and the speaker 42 outputs a predetermined sound.

[0037] Furthermore, when the notification condition is met based on the state information acquired by the acquisition unit 21A and the identified rear vehicle is the same as the immediately preceding vehicle, the control unit 21B prohibits notification by the monitor 41 and the speaker 42. In other words, in this case, notification by the monitor 41 and the speaker 42 is not executed.

[0038] 3 is a first flowchart showing the flow of a decision process performed by the control device 20 to determine whether to notify the occupants of the approach of a vehicle behind the vehicle 10. The decision process is performed by the CPU 21 reading the control program 24A from the storage unit 24, expanding it into the RAM 23, and executing it.

[0039] 3, the CPU 21 acquires state information, and then the CPU 21 proceeds to step S11.

[0040] In step S11, the CPU 21 determines whether the notification condition is met based on the state information acquired in step S10, and if it is determined that the notification condition is met (step S11: YES), the process proceeds to step S12. On the other hand, if the CPU 21 does not determine that the notification condition is met (step S11: NO), the process ends.

[0041] In step S12, the CPU 21 determines whether the rear vehicle is different from the immediately preceding vehicle based on the state information acquired in step S10, and if it is determined that the rear vehicle is different from the immediately preceding vehicle (step S12: YES), the CPU 21 proceeds to step S13. On the other hand, if the CPU 21 does not determine that the rear vehicle is different from the immediately preceding vehicle (step S12: NO), the CPU 21 ends the determination process.

[0042] In step S13, the CPU 21 makes the monitor 41 and the speaker 42 give the notification, and then the CPU 21 returns to step S10.

[0043] As described above, in the control device 20 according to the first embodiment, the CPU 21 acquires state information. Then, based on the acquired state information, if the notification condition is met and the rear vehicle is the same as the immediately preceding vehicle, the CPU 21 prohibits notification by the monitor 41 and the speaker 42. In this way, the control device 20 can notify the occupants of the vehicle 10 of the approach of a rear vehicle to the vehicle 10 while reducing the inconvenience felt by the occupants of the vehicle 10.

[0044] Here, the vehicle 10 described above is driven under manual driving control, in which the vehicle travels based on the driving operation of the occupant (driver). However, the vehicle 10 is not limited to this, and may be driven under automatic driving control, in which acceleration / deceleration, braking, steering, and the like are automatically performed, and the vehicle travels under this automatic driving control (a so-called automatically driven vehicle). In this case, even while the automatically driven vehicle 10 is performing automatic driving control, the control device 20 described above can notify the occupant of the approach of a vehicle behind the vehicle 10 while reducing the inconvenience felt by the occupant.

[0045] (Second embodiment) Next, a second embodiment of the vehicle 10 according to the present invention will be described while omitting or simplifying parts that overlap with the above embodiment.

[0046] In the second embodiment, the notification conditions include a first notification condition and a second notification condition. The control unit 21B satisfies the first notification condition when the following vehicle approaches within a predetermined area behind the vehicle 10. The control unit 21B also satisfies the second notification condition when a relative collision time, so-called TTC (Time to Collision), divided by the relative speed between the vehicle 10 and the following vehicle is equal to or less than a predetermined value. For example, the control unit 21B calculates the TTC between the vehicle 10 and the following vehicle using the inter-vehicle distance and relative speed between the vehicle 10 and the following vehicle as detection results of the millimeter wave sensor 40B. When the control unit 21B satisfies each notification condition, the control unit 21B associates the satisfied notification condition with the corresponding following vehicle and stores a history of when the notification condition is satisfied (hereinafter referred to as "satisfaction history") in the storage unit 24.

[0047] Here, when any of the notification conditions is met, the control unit 21B performs a history determination as to whether or not to notify the occupants of the approach of a vehicle behind the vehicle 10, based on the fulfillment history stored in the storage unit 24. Specifically, when one of the first notification condition and the second notification condition is met and there is no fulfillment history for both the first notification condition and the second notification condition, the control unit 21B makes a determination of "OK" in the history determination. Furthermore, when there is no fulfillment history for one of the fulfilled notification conditions and a notification is being executed in response to the fulfillment of the other notification condition, the control unit 21B makes a determination of "OK" in the history determination. Note that the control unit 21B makes a determination of "NG" in the history determination in cases other than the above two cases.

[0048] Then, when the above history determination is "OK" and the identified rear vehicle is different from the immediately preceding vehicle, the control unit 21B causes the monitor 41 and the speaker 42 to make an announcement.

[0049] Next, the flow of the decision process in the second embodiment will be described with reference to Fig. 4, which is a second flowchart showing the flow of the decision process.

[0050] 4, the CPU 21 acquires the state information, and then the CPU 21 proceeds to step S21.

[0051] In step S21, the CPU 21 determines whether any notification condition, specifically, at least one of the first notification condition and the second notification condition, is met based on the state information acquired in step S20, and if it is determined that the condition is met (step S21: YES), the process proceeds to step S22. On the other hand, if the CPU 21 does not determine that at least one of the first notification condition and the second notification condition is met (step S21: NO), the process ends.

[0052] In step S22, the CPU 21 performs a history determination based on the establishment history stored in the storage unit 24, and if the history determination results in an "OK" determination (step S22: YES), the CPU 21 proceeds to step S23. On the other hand, if the history determination does not result in an "OK" determination (step S22: NO), the CPU 21 ends the determination process.

[0053] In step S23, the CPU 21 determines whether the rear vehicle is different from the immediately preceding vehicle based on the state information acquired in step S20, and if it is determined that the rear vehicle is different from the immediately preceding vehicle (step S23: YES), the CPU 21 proceeds to step S24. On the other hand, if the CPU 21 does not determine that the rear vehicle is different from the immediately preceding vehicle (step S23: NO), the CPU 21 ends the determination process.

[0054] In step S24, the CPU 21 makes the monitor 41 and the speaker 42 give the notification, and then the CPU 21 returns to step S20.

[0055] As described above, in the control device 20 according to the second embodiment, the notification conditions include a first notification condition and a second notification condition. When either the first notification condition or the second notification condition is met in a case where there is no history of both the first notification condition and the second notification condition being met, the CPU 21 causes the monitor 41 and the speaker 42 to issue a notification if one of the first notification condition and the second notification condition is met and the identified rear vehicle is different from the immediately preceding vehicle. Furthermore, while issuing a notification in response to the fulfillment of one of the first notification condition and the second notification condition, the CPU 21 causes the monitor 41 and the speaker 42 to issue a notification in a case where the other of the first notification condition and the second notification condition, which has no history of being met, is met and the identified rear vehicle is different from the immediately preceding vehicle. This allows the control device 20 to determine whether to cause the monitor 41 and the speaker 42 to issue a notification, taking into account the history of when each notification condition was met.

[0056] Furthermore, in the control device 20, the CPU 21 satisfies the first notification condition when the following vehicle approaches within a predetermined area behind the vehicle 10. Furthermore, the CPU 21 satisfies the second notification condition when the TTC between the vehicle 10 and the following vehicle is equal to or less than a predetermined value. As a result, the control device 20 can satisfy each notification condition when the possibility of the following vehicle colliding with the vehicle 10 increases.

[0057] (Third embodiment) Next, a third embodiment of the vehicle 10 according to the present invention will be described while omitting or simplifying parts that overlap with the above-described embodiments.

[0058] In the third embodiment, the control unit 21B establishes the notification condition when the approach state of the rear vehicle to the vehicle 10 is in a predetermined state and the vehicle speed of the vehicle 10 is equal to or greater than a predetermined value. The predetermined state is when the rear vehicle approaches to a predetermined area behind the vehicle 10, or when the TTC between the vehicle 10 and the rear vehicle is equal to or less than a predetermined value.

[0059] Next, the flow of the decision process in the third embodiment will be described with reference to Fig. 5, which is a third flowchart showing the flow of the decision process.

[0060] 5, the CPU 21 acquires state information, and then the CPU 21 proceeds to step S31.

[0061] In step S31, the CPU 21 determines whether the approach state of the rear vehicle to the vehicle 10 is in a predetermined state based on the state information acquired in step S30, and if it is determined that the approach state is in the predetermined state (step S31: YES), the CPU 21 proceeds to step S32. On the other hand, if the CPU 21 does not determine that the approach state of the rear vehicle to the vehicle 10 is in the predetermined state (step S31: NO), the CPU 21 ends the determination process.

[0062] In step S32, the CPU 21 acquires the speed of the vehicle 10 from the vehicle speed sensor 40A, and determines whether the acquired speed of the vehicle 10 is equal to or greater than a predetermined value. If it is determined that the speed is equal to or greater than the predetermined value (step S32: YES), the CPU 21 proceeds to step S33. On the other hand, if the CPU 21 does not determine that the speed of the vehicle 10 is equal to or greater than the predetermined value (step S32: NO), the CPU 21 ends the determination process.

[0063] In step S33, the CPU 21 determines whether the rear vehicle is different from the immediately preceding vehicle based on the state information acquired in step S30, and if it is determined that the rear vehicle is different from the immediately preceding vehicle (step S33: YES), the CPU 21 proceeds to step S34. On the other hand, if the CPU 21 does not determine that the rear vehicle is different from the immediately preceding vehicle (step S33: NO), the CPU 21 ends the determination process.

[0064] In step S34, the CPU 21 makes the monitor 41 and the speaker 42 give the notification, and then the CPU 21 returns to step S30.

[0065] As described above, in the control device 20 according to the third embodiment, the CPU 21 establishes the notification condition when the approach state of the rear vehicle to the vehicle 10 is in a predetermined state and the vehicle speed of the vehicle 10 is equal to or greater than a predetermined value. This makes it possible for the control device 20 to prevent notification from being performed on roads where the vehicle speed of the vehicle 10 is less than the predetermined value, such as public roads.

[0066] Here, when the approach state of the rear vehicle to the vehicle 10 is in a predetermined state, the vehicle speed of the vehicle 10 often also becomes equal to or exceeds a predetermined value. However, if the timing when the approach state becomes the predetermined state and the timing when the vehicle speed of the vehicle 10 becomes equal to or exceeds the predetermined value are different from each other, the CPU 21 determines that the notification condition is met at the following timing.

[0067] Specifically, as a function of the control unit 21B, the CPU 21 satisfies the notification condition when the vehicle speed of the vehicle 10 becomes equal to or greater than a predetermined value after the approach state of the rear vehicle to the vehicle 10 has become a predetermined state. In this case, if the identified rear vehicle is different from the immediately preceding vehicle, the CPU 21 causes the monitor 41 and the speaker 42 to issue a notification when the notification condition is satisfied.

[0068] Furthermore, as a function of the control unit 21B, the CPU 21 causes the notification condition to become unsatisfied at the timing when the vehicle speed becomes less than the predetermined value, when the approaching state of the rear vehicle to the vehicle 10 is in a predetermined state and the vehicle speed of the vehicle 10 becomes equal to or greater than a predetermined value, and then the vehicle speed becomes less than the predetermined value. In this case, the CPU 21 stops notification from the monitor 41 and the speaker 42 at the timing when the notification condition becomes unsatisfied.

[0069] With the above configuration, the control device 20 according to the third embodiment can determine whether the notification condition is met or not, taking into account the approach state of the rear vehicle to the vehicle 10 and the vehicle speed of the vehicle 10.

[0070] (others) In the above embodiment, the millimeter-wave sensor 40B is used to detect a rear vehicle, but the detection device for detecting the rear vehicle is not limited to this. For example, instead of or in addition to the millimeter-wave sensor 40B, a camera and a LIDAR (Laser Imaging Detection and Ranging) may be used to detect a rear vehicle. When a camera is used as the detection device, the CPU 21 of the control device 20 causes the camera to capture images of the rear of the vehicle 10 and identifies the identity of the rear vehicle based on information (e.g., a license plate) contained in the captured images of the front and rear. Furthermore, if the road on which the vehicle 10 is traveling has two or more lanes, it is desirable to detect the lateral position of the rear vehicle using the above detection device and exclude vehicles traveling in a different lane from the vehicle 10 from the target of the determination process.

[0071] In the above embodiment, when there is no fulfillment history for one of the fulfilled notification conditions (e.g., the first notification condition) and a notification is being executed in response to the fulfillment of the other notification condition (e.g., the second notification condition), the CPU 21 may perform the following control. In the above case, the CPU 21 may make the notification mode different from the notification executed based on the fulfillment of either notification condition (hereinafter referred to as "normal notification"). Specifically, in the above case, the CPU 21 may make the notification time longer than the normal notification, change the display content of the monitor 41 from the normal notification, or change the output content of the speaker 42 from the normal notification.

[0072] In the above embodiment, the monitor 41 is an example of the "notification unit," but the display device that serves as the "notification unit" is not limited to this. For example, other display devices such as a HUD (Head-Up Display) and an electronic inner mirror may also be examples of the "notification unit." Furthermore, both the monitor 41 and the speaker 42 are not necessarily examples of the "notification unit," and either the monitor 41 or the speaker 42 may be an example of the "notification unit."

[0073] In the above embodiment, the decision-making process executed by the CPU 21 by reading software (programs) may be executed by various processors other than a CPU. Examples of such processors include programmable logic devices (PLDs) such as field-programmable gate arrays (FPGAs), whose circuit configuration can be changed after fabrication, and dedicated electrical circuits such as application-specific integrated circuits (ASICs), which are processors with circuit configurations specifically designed to execute specific processes. The decision-making process may be executed by one of these various processors, or by a combination of two or more processors of the same or different types (e.g., multiple FPGAs, or a combination of a CPU and an FPGA). The hardware structure of these various processors is, more specifically, an electrical circuit that combines circuit elements such as semiconductor devices.

[0074] In the above embodiment, the control program 24A is pre-stored (installed) in the storage unit 24, but the present invention is not limited to this. The control program 24A may be provided in a form recorded on a recording medium such as a CD-ROM (Compact Disk Read Only Memory), a DVD-ROM (Digital Versatile Disk Read Only Memory), or a USB (Universal Serial Bus) memory. The control program 24A may also be downloaded from an external device via a network. [Explanation of symbols]

[0075] 10 Vehicle (own vehicle) 20 Control device 21A Acquisition Department 21B Control section 41 Monitor (alarm unit) 42 Speaker (announcement section)

Claims

1. An acquisition unit that acquires status information regarding the approach status of another vehicle approaching the rear of the host vehicle and status information regarding the situation behind the host vehicle as a detection result of a detection device that can detect the situation behind the host vehicle; a control unit that prohibits the notification unit from notifying an occupant of the host vehicle of the approach of the other vehicle to the host vehicle when a notification condition for notifying an occupant of the host vehicle of the approach of the other vehicle to the host vehicle is satisfied based on the acquired state information and the other vehicle is the same as the vehicle that was previously notified of its approach to the host vehicle; and Equipped with The control unit Detecting the number of lanes of the road on which the host vehicle and the other vehicle are traveling and the lateral position of the other vehicle on the road based on the acquired situation information; If the other vehicle is traveling in a lane different from that of the host vehicle based on the detected number of lanes and the lateral position, the other vehicle is excluded from the targets to be notified by the notification unit. Control device.

2. the notification condition includes a first notification condition and a second notification condition, The control unit When the other of the first notification condition and the second notification condition, which has not been satisfied in the history, is satisfied while the notification is being executed in response to the satisfaction of one of the first notification condition and the second notification condition, the notification unit executes the notification in a notification mode different from a normal notification executed in response to the satisfaction of only one of the first notification condition and the second notification condition. The control device according to claim 1 .

3. The control unit When the other vehicle approaches within a predetermined area behind the host vehicle, the first notification condition is satisfied, The second notification condition is satisfied when a relative collision time divided by a relative speed between the host vehicle and the other vehicle is equal to or less than a predetermined value. The control device according to claim 2 .

4. The control unit The notification condition is satisfied when the approaching state of the other vehicle to the host vehicle is in a predetermined state and the vehicle speed of the host vehicle is equal to or greater than a predetermined value. The control device according to claim 1 .

5. The control unit When the vehicle speed becomes equal to or greater than a predetermined value after the approaching state of the other vehicle to the host vehicle becomes a predetermined state, the notification condition is satisfied at the timing when the vehicle speed becomes equal to or greater than the predetermined value; When the approaching state of the other vehicle to the host vehicle is in a predetermined state and the vehicle speed becomes equal to or greater than a predetermined value, and then the vehicle speed becomes less than a predetermined value, the notification condition is not satisfied at the timing when the vehicle speed becomes less than the predetermined value. The control device according to claim 4.

Images