Vehicle control device

Abstract

To provide a vehicle control device capable of appropriately performing a notification in response to a type of an object.SOLUTION: A control device of a vehicle 1 includes a processor. The processor performs: acquiring object information related to an object which exists in the periphery of the vehicle 1 and has a possibility to move; calculating a distance between the vehicle 1 and the object based on the object information; identifying a type of the object based on the object information; setting a detection range to notify a user of an approach of the object based on the type of the object; and notifying the user of the approach of the object when the distance between the vehicle 1 and the object is within the detection range.SELECTED DRAWING: Figure 1

Description

[Technical Field]

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

[0002] Patent Document 1 discloses a technology that calculates the time it takes for a moving object to reach the vehicle based on the speed and distance of the moving object on the left and right sides of the vehicle, which is information obtained from a radar device, and if the time is shorter than the safe passing time preset for the vehicle, an alarm sounds to alert the driver. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Laid-Open No. 2001-341598 Summary of the Invention [Problem to be solved by the invention]

[0004] However, in the above-mentioned Patent Document 1, since the notification is determined regardless of the type of moving object, it is difficult to predict the movement of the moving object, and there are cases where the notification is not appropriate.

[0005] The present disclosure has been made in view of the above, and aims to provide a vehicle control device that can appropriately notify a user of an object according to its type. [Means for solving the problem]

[0006] In order to solve the above-mentioned problems and achieve the objectives, the vehicle control device of the present disclosure is a vehicle control device equipped with a processor, wherein the processor acquires object information regarding movable objects present in the vicinity of the vehicle, calculates the distance between the vehicle and the object based on the object information, identifies the type of the object based on the object information, sets a detection range for notifying the user of the approach of the object based on the type of object, and notifies the user of the approach of the object when the distance between the vehicle and the object falls within the detection range. [Effects of the Invention]

[0007] According to the present disclosure, it is possible to provide an effect of making appropriate notifications depending on the type of moving body. [Brief explanation of the drawings]

[0008] [Figure 1] FIG. 1 illustrates a functional configuration of a vehicle according to an embodiment. [Figure 2] FIG. 2 is a diagram illustrating an example of the notification distance information stored in the notification distance information storage unit according to an embodiment. [Figure 3] FIG. 3 is a flowchart showing an outline of a process executed by an ECU of a vehicle according to one embodiment. [Figure 4] FIG. 4 is a diagram showing the positional relationship between an object and a vehicle when the object type is a person. [Figure 5] FIG. 5 is a diagram schematically illustrating a detection range set by the setting unit when the object type is a person. [Figure 6] FIG. 6 is a diagram schematically showing the detection range set by the setting unit when the type of object is a motorcycle. DETAILED DESCRIPTION OF THE INVENTION

[0009] Hereinafter, a vehicle control device according to an embodiment of the present disclosure will be described with reference to the drawings. Note that the present disclosure is not limited to the following embodiment. In the following description, the same parts are denoted by the same reference numerals.

[0010] [Vehicle functional configuration] Fig. 1 illustrates a functional configuration of a vehicle according to one embodiment. Vehicle 1 shown in Fig. 1 is realized using a hybrid vehicle (HV), a plug-in hybrid vehicle (PHV), a plug-in hybrid electric vehicle (PHEV), a fuel cell electric vehicle (FCEV), or the like. Vehicle 1 includes at least a detection device 2, a notification device 3, a storage unit 4, and an electronic control unit (ECU) 5.

[0011] The detection device 2 detects an object located around the vehicle 1, and outputs the detection result as object information to the ECU 5. The detection device 2 includes a detection radar 21 and a camera 22.

[0012] A plurality of detection radars 21 are provided on the front, rear, left and right sides of the vehicle 1. The detection radars 21 detect the distance to and shape of an object present around the vehicle 1 by irradiating the object with a laser, and output the detection results as object information to the ECU 5. Here, the object is a moving object. The moving object may be a stroller, a person, a bicycle, an electric kick scooter, a motorcycle, another vehicle, etc. The detection radar 21 is configured using a 3D-LiDAR, a millimeter wave sensor, an infrared sensor, etc.

[0013] A plurality of cameras 22 are provided on the front, rear, left and right sides of the vehicle 1, on the door mirrors of the vehicle 1, and inside the vehicle 1. The cameras 22 capture images of the surroundings of the vehicle 1 to capture images of objects present around the vehicle 1, thereby generating image data, and output this image data to the ECU 5 as object information. The cameras 22 are configured using an optical system including one or more lenses, and a CCD (Charge Coupled Device) image sensor or a CMOS (Complementary Metal Oxide Semiconductor) image sensor or the like that receives the subject image formed by the optical system to generate image data.

[0014] The notification device 3, under the control of the ECU 5, notifies various pieces of information related to the vehicle 1. Specifically, under the control of the ECU 5, the notification device 3 notifies a user inside the vehicle 1 of the approach of an object located around the vehicle 1. The notification device 3 is configured using a liquid crystal display or an organic electroluminescent display (EL display), a speaker, a lamp, etc.

[0015] The storage unit 4 stores various information related to the vehicle 1 and various programs executed by the vehicle 1. The storage unit 4 is configured using a hard disk drive (HDD), a solid state drive (SSD), a volatile memory, a non-volatile memory, etc. The storage unit 4 has a notification distance information storage unit 41. The notification distance information storage unit 41 stores notification distance information in which a predetermined range is set according to the type of object to notify the user of the approach of an object located around the vehicle 1 when the object approaches.

[0016] Fig. 2 is a diagram showing an example of the reported distance information stored in the reported distance information storage unit 41. The reported distance information table T1 shown in Fig. 2 stores the type of moving object, an estimated speed (km / h), and a reported distance in association with each other. For example, in the reported distance information table T1, the type of moving object, "person," is associated with an estimated speed (km / h) of "4" and a reported distance of "slow."

[0017] Returning to FIG. 1, the functional configuration of the vehicle 1 will be described further. The ECU 5 is configured using a memory and a processor having hardware such as a CPU (Central Processing Unit). The ECU 5 reads a program stored in the storage unit 4 into a work area of ​​the memory, executes the program, and controls each component through the execution of the program by the processor. As a result, the ECU 5 realizes a functional module that meets a predetermined purpose through cooperation between hardware and software. Specifically, the ECU 5 has an acquisition unit 51, a calculation unit 52, an identification unit 53, a setting unit 54, a determination unit 55, and a notification control unit 56. In one embodiment, the ECU 5 functions as a control device for the vehicle 1.

[0018] The acquisition unit 51 acquires object information relating to movable objects present around the vehicle 1 from the detection device 2.

[0019] The calculation unit 52 calculates the distance from the vehicle 1 to the object based on the object information acquired by the acquisition unit 51.

[0020] The identification unit 53 identifies the type of object based on the object information acquired by the acquisition unit 51. Specifically, the identification unit 53 identifies the type of object, which is a moving object, included in the image data based on the image data included in the object information acquired by the acquisition unit 51 and a pre-trained trained model. Here, the trained model is a neural network in which each layer has one or more nodes. The type of machine learning is not particularly limited. For example, the type of machine learning may be one in which training data and training data are prepared, in which multiple pieces of image data containing different types of moving objects are associated with type information identifying the types of the moving objects included in the image data, and the training data are input into a computational model based on a multilayer neural network for learning. Furthermore, as a machine learning method, for example, a method based on a deep neural network (DNN), which is a multilayer neural network such as a convolutional neural network (CNN) or a 3D-CNN, is used. Of course, as a machine learning technique, a technique based on a recurrent neural network (RNN) or a long short-term memory unit (LSTM) which is an extension of an RNN may be used.

[0021] The setting unit 54 sets a detection range for notifying the user based on the type of object identified by the identification unit 53.

[0022] The determination unit 55 determines whether the distance from the vehicle 1 to the object calculated by the calculation unit 52 falls within the detection range set by the setting unit .

[0023] The notification control unit 56 causes the notification device 3 to issue notification information for notifying the user of the approach of the object when the distance between the vehicle 1 and the object falls within the detection range.

[0024] [ECU5 processing] Next, a description will be given of the processing executed by the ECU 5. Fig. 3 is a flowchart showing an outline of the processing executed by the ECU 5.

[0025] 3, first, the acquisition unit 51 acquires object information relating to a potentially movable object present around the vehicle 1 from the detection device 2 (step S1). Specifically, the acquisition unit 51 acquires distance information relating to the distance from the vehicle 1 to the object detected by the detection radar 21 and image data generated by the camera 22 as the object information.

[0026] Next, the calculation unit 52 calculates the distance from the vehicle 1 to the object based on the object information acquired by the acquisition unit 51 (step S2). Specifically, the calculation unit 52 calculates the distance from the vehicle 1 to the object based on the distance information included in the object information acquired by the acquisition unit 51. In this case, the calculation unit 52 calculates the distance from the center of the vehicle 1 to the object based on the distance information.

[0027] Thereafter, the identification unit 53 identifies the type of object based on the object information acquired by the acquisition unit 51 (step S3). Specifically, the identification unit 53 identifies the type of object, which is a moving body, included in the image data based on the image data included in the object information acquired by the acquisition unit 51 and a trained model that has been trained in advance.

[0028] Next, the setting unit 54 sets a detection range for notifying the user based on the type of object identified by the identification unit 53 (step S4). After step S4, the ECU 5 proceeds to step S5.

[0029] Fig. 4 is a diagram showing the positional relationship between an object and the vehicle 1 when the object type is a person. Fig. 5 is a diagram showing a schematic diagram of a detection range set by the setting unit 54 when the object type is a person. Fig. 6 is a diagram showing a schematic diagram of a detection range set by the setting unit 54 when the object type is a motorcycle.

[0030] First, a case where the type of object identified by the identification unit 53 is a person will be described. As shown in FIG. 4, when the vehicle 1 (host vehicle) is turning left and it is predicted that the vehicle 1 will collide with a person 100, which is a moving object, the setting unit 54 sets a detection range for avoiding a collision between the vehicle 1 and the object and for notifying the user. Specifically, as shown in FIG. 4, the vehicle 1 may hit the person 100, which is a moving object, when turning left. The person 100, which is a moving object, moves at a slower speed than other moving objects. For example, the moving speed of the person 100 is predicted to be about 4 km / h. Therefore, as shown in FIG. 5, when the moving object is a person 100, the setting unit 54 sets a detection range W1 based on the notification distance information table T1 stored in the notification distance information storage unit 41 and the type of object identified by the identification unit 53.

[0031] Next, a case will be described where the type of object identified by the identification unit 53 is a motorcycle. As shown in Fig. 6, the motorcycle 101, which is a moving object, moves faster than other moving objects, such as the person 100 or a bicycle. For example, the moving speed of the motorcycle 101 is predicted to be about 20 km / h. Therefore, as shown in Fig. 6, the setting unit 54 sets a detection range W2 that is larger than the detection range W1 of the person 100 so that the approach of the motorcycle 101 can be notified even if the distance from the vehicle 1 is far, based on the notification distance information table T1 stored in the notification distance information storage unit 41 and the type of object identified by the identification unit 53.

[0032] In addition to the type of vehicle 1 and the object, the setting unit 54 may predict the traveling direction (moving direction) and moving distance of the moving object based on the line of sight and posture of the moving object, and set the detection range taking into account the traveling direction of the vehicle 1 and the moving distance of the vehicle 1. That is, when the vehicle 1 turns left, the setting unit 54 may set a large detection range if the traveling direction of the moving object is linearly moving toward the traveling direction of the vehicle 1. Of course, the setting unit 54 may set a small detection range if the traveling direction of the vehicle 1 and the moving object deviate from the traveling direction of the vehicle 1. That is, the setting unit 54 may set a detection range for notifying the user of notification information based on the predicted traveling direction (path) and moving distance of the moving object. This makes it possible to set a detection range for notifying notification information at a timing appropriate for the moving object. The setting unit 54 may set a notification range according to the type of object, which is a moving body, based on the type of object identified by the identification unit 53 and a trained model. This trained model may be a neural network in which each layer has one or more nodes, similar to the identification unit 53.

[0033] Returning to FIG. 3, the description of step S5 and subsequent steps will be continued. In step S5, the determination unit 55 determines whether the distance from the vehicle 1 to the object calculated by the calculation unit 52 falls within the detection range set by the setting unit 54. If the determination unit 55 determines that the distance from the vehicle 1 to the object calculated by the calculation unit 52 falls within the detection range set by the setting unit 54 (step S5: Yes), the ECU 5 proceeds to step S6. On the other hand, if the determination unit 55 determines that the distance from the vehicle 1 to the object calculated by the calculation unit 52 does not fall within the detection range set by the setting unit 54 (step S5: No), the ECU 5 proceeds to step S7.

[0034] In step S6, when the distance between the vehicle 1 and the object falls within the detection range, the notification control unit 56 causes the notification device 3 to issue notification information for notifying the user of the approach of the object. This allows the user to recognize the object, which is a moving body approaching the vehicle 1. After step S6, the ECU 5 terminates this process.

[0035] In step S7, the determination unit 55 determines whether the detection device 2 is detecting a potentially movable object present in the vicinity of the vehicle 1. For example, the determination unit 55 determines whether the detection device 2 is detecting object information. In this case, the determination unit 55 determines that the detection device 2 is detecting an object when it is detecting object information, and determines that the detection device 2 is not detecting an object when it is not detecting object information. If the determination unit 55 determines that the detection device 2 is detecting a potentially movable object present in the vicinity of the vehicle 1 (step S7: Yes), the ECU 5 returns to step S1. On the other hand, if the determination unit 55 determines that the detection device 2 is not detecting a potentially movable object present in the vicinity of the vehicle 1 (step S7: No), the ECU 5 ends this process.

[0036] According to the embodiment described above, the notification control unit 56 notifies the user of the approach of an object when the distance between the vehicle 1 and the object falls within the detection range set by the setting unit 54, so that an appropriate notification can be made depending on the type of object.

[0037] Furthermore, according to one embodiment, when the identification unit 53 identifies that the type of object is a person, the setting unit 54 sets the detection range when the type of object is a person to be smaller than the detection range when the type of object is a bicycle or a motorcycle, so that an appropriate alert can be given according to the type of object.

[0038] Furthermore, according to one embodiment, the setting unit 54 reduces the detection range for notifying the user of the approach of an object as the moving speed of the object type decreases. As a result, the notification control unit 56 notifies a person moving at a slower speed when they are closer to the vehicle 1 than an object that is a moving body moving at a faster speed, such as another vehicle or a motorcycle, and therefore can appropriately notify the user.

[0039] In the embodiment, the notification is made when the vehicle 1 is moving. However, this is not limited thereto. For example, the notification may be made to the user when the vehicle 1 is stopped and the user gets off the vehicle 1. In this case, the acquisition unit 51 acquires image data of the interior of the vehicle 1 from the camera 22 of the detection device 2 as user information related to the user getting on the vehicle 1. Then, the determination unit 55 determines whether the user getting on the vehicle 1 will get off the vehicle 1 based on the user information acquired by the acquisition unit 51. Thereafter, when the determination unit 55 determines that the user will get off the vehicle 1, the notification control unit 56 notifies the user of the approach of the moving object when the determination unit 55 determines that the user will get off the vehicle 1 and the distance between the vehicle 1 and the moving object is equal to or less than the detection range. This allows the user to recognize the moving object approaching the get-off position even when the user gets off the stopped vehicle 1, thereby enabling the user to get off safely.

[0040] According to one embodiment, the ECU 5 may predict the traveling direction of a moving object based on the object information acquired from the detection device 2. In this case, the ECU 5 predicts the traveling direction (moving direction) and traveling distance of the moving object based on the line of sight and posture of the moving object, based on the distance information detected by the detection radar 21 and the image data generated by the camera 22. The ECU 5 may then notify the user of the approach of the object when the traveling direction of the vehicle and the traveling direction of the moving object partially intersect. This allows the user to be notified of an approaching moving object when the vehicle 1 makes a left turn, for example.

[0041] In the explanation of the flowcharts in this specification, the order of processing between steps is clearly indicated using expressions such as "first," "then," and "continue," but the order of processing required to implement this embodiment is not uniquely determined by these expressions. In other words, the order of processing in the flowcharts described in this specification can be changed within a consistent range.

[0042] Further advantages and modifications will readily occur to those skilled in the art. The invention in its broader aspects is not limited to the specific details and representative embodiments shown and described above. Accordingly, various modifications may be made without departing from the spirit or scope of the general inventive concept as defined by the appended claims and their equivalents.

[0043] Although some of the embodiments of the present application have been described in detail above with reference to the drawings, these are merely examples, and the present invention can be implemented in other forms that have undergone various modifications and improvements based on the knowledge of those skilled in the art, including the aspects described in the disclosure of the present invention. [Explanation of symbols]

[0044] 1 vehicle 2. Detection device 3. Alarm device 4 Storage section 5 ECU 21 Detection radar 22 Camera 41 Notification distance information storage unit 51 Acquisition Department 52 Calculation section 53 Specific part 54 Settings 55 Judgment section 56 Notification control unit

Claims

1. A vehicle control device including a processor, The processor: Obtaining object information regarding movable objects present around the vehicle; Calculating a distance between the vehicle and the object based on the object information; Identifying the type of the object based on the object information; obtaining a moving direction of the vehicle; predicting a moving direction and a moving distance of the object based on the object information; setting a detection range for notifying a user of the approach of the object based on the type of the object, the moving direction of the object, and the moving distance of the object; When the distance between the vehicle and the object falls within a detection range, the user is notified of the approach of the object; based on the predicted moving direction and moving distance of the object, when the traveling direction of the object is moving linearly toward the moving direction of the vehicle, the detection range is set to be large, and when the traveling direction of the object deviates from the moving direction of the vehicle, the detection range is set to be small. Vehicle control device.

2. The vehicle control device according to claim 1, The processor: When the type of the object is identified as a person, the detection range when the type of the object is a person is made smaller than the detection range when the type of the object is a bicycle or a motorcycle. Vehicle control device.

3. The vehicle control device according to claim 2, The processor: The detection range is made smaller as the moving speed of the object type is slower. Vehicle control device.

4. The vehicle control device according to claim 1, The processor: acquire user information regarding a user riding in the vehicle; determining whether the user will get off the vehicle based on the user information; When it is determined that the user will get off the vehicle, and the distance between the vehicle and the object falls within the detection range, the user is notified of the approach of the object. Vehicle control device.

5. The vehicle control device according to claim 1, The processor: If a moving direction of the vehicle and a moving direction of the object partially intersect, the user is notified of the approach of the object. Vehicle control device.

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