Vehicle disembarkation assistance device, vehicle disembarkation assistance method, and program

Abstract

To provide a getting-off support device that preferably supports getting-off.SOLUTION: In a getting-off support device, a measurement unit measures an approaching direction of a moving body that approaches an own vehicle which is at a halt, a moving speed of the moving body, and a distance of the own vehicle from the moving body. A door detection unit detects a type, a position, and a motion of a door of the own vehicle. An in-vehicle notification signal output unit notifies an occupant of the approach of the moving body using an in-vehicle notification signal. A getting-off operation detection unit detects a getting-off operation of the occupant from the own vehicle. A right notification signal output unit notifies the moving body, which approaches the right side of the own vehicle, of existence of the own vehicle using a right notification signal. A left notification signal output unit notifies the moving body, which approaches the left side of the own vehicle, of existence of the own vehicle using a left notification signal. A control unit detects the getting-off operation, and controls output of the notification signal and the in-vehicle notification signal according to the type of the door when a position of a door through which the occupant gets off is consistent with a side face where the moving body approaches.SELECTED DRAWING: Figure 5

Description

Technical Field

[0001] The present invention relates to a disembarking assistance device, a disembarking assistance method, and a program.

Background Art

[0002] A disembarking assistance device has been proposed to ensure the safety of a person inside a vehicle when getting out of the vehicle after the vehicle has stopped. For example, when a disembarking operation by an occupant of the host vehicle is detected, the disembarking assistance device described in Patent Document 1 executes an alarm or a door opening restriction when an approaching object to the host vehicle is detected. This disembarking

[0003] assistance device uses an electronic outer mirror when there is an obstacle when the host vehicle is parked or stopped, and uses a rear side radar when there is no obstacle. Further, this disembarking assistance device performs a disembarking restriction operation including an alarm operation which is an operation of issuing an alarm about a door provided in the host vehicle and an opening restriction operation which is an operation of restricting the opening of the door. [[ID=**30**]]

Prior Art Documents

Patent Documents

[0004]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0005] However, the above-described technology performs operations such as issuing an alarm or restricting the opening of the door when a moving object approaching the host vehicle is detected, but the state of the moving object and the situation of the host vehicle are various.

[0006] It should be noted that in the original text, there is a tag "**30**" which seems to be a mislabeling. I have translated it as "

Prior Art Documents

[0007] The vehicle disembarkation support device according to the present invention comprises a measurement unit, a door detection unit, a vehicle disembarkation operation detection unit, and a right notification signal output unit. It has a power unit, a left notification signal output unit, an in-vehicle notification signal output unit, and a control unit. The measurement unit is for when the vehicle itself When stationary, the approach direction, speed, and relative movement of a moving object approaching the vehicle. It measures the distance to the body. The door detection unit detects the position and movement of the vehicle's door, as well as the type of door. It identifies and detects whether the vehicle has a sliding door or a swing door. The vehicle exit motion detection unit detects the vehicle The system detects the disembarking action of passengers exiting the doors on both sides. Right notification signal output unit. This is a right notification signal used to notify a moving object approaching to the right of the vehicle of the vehicle's presence. Output. The left notification signal output unit alerts a moving object approaching the left side of the vehicle to the presence of the vehicle. It outputs a left notification signal to inform passengers of the moving object. The in-vehicle notification signal output unit outputs a left notification signal to passengers of the moving object. It outputs an in-vehicle notification signal to notify of approach. The control unit, when it detects an exiting motion, Furthermore, if the position of the door from which the passenger disembarks coincides with the side of the moving object that is approaching, disembarkation When the action is linked to the swing door, an in-vehicle notification signal is output after the notification signal, and the exit action is linked to the swing door. When linked to the ride door, the in-car notification signal is displayed on the side before or simultaneously with the notification signal. Output accordingly.

[0008] The display control method according to the present invention includes a measurement step, a door detection step, and a disembarking operation detection step. Step, right notification signal output step, left notification signal output step, in-vehicle notification signal output step, and The system includes a control step. The measurement step involves approaching the vehicle while the vehicle is stopped. The system measures the approaching direction, speed, and distance between the vehicle and the moving object. The top of the screen displays the position and movement of the vehicle's doors, and whether the doors are sliding doors or not. Identify and detect whether it is a passenger getting off the door. The disembarkation action detection step is when a passenger in the vehicle is getting off the door. The disembarking action is detected, which is the action of getting out of the vehicle. The right notification signal output step is performed on the right side of the vehicle. It outputs a right notification signal to notify approaching moving objects of the vehicle's presence. The signal output step is to notify a moving object approaching to the left of the vehicle of the vehicle's presence. The left notification signal is output. The in-vehicle notification signal output step is when the moving object approaches the passenger. It outputs an in-vehicle notification signal to notify the driver. The control step is performed when an exiting action is detected. Furthermore, if the position of the door from which the passengers disembark coincides with the side of the moving object that is approaching, When the vehicle operation is linked to the swing door, an in-vehicle notification signal is output after the notification signal, and the exit operation is When linked to a sliding door, the in-vehicle notification signal is sent to the side either before or simultaneously with the notification signal. This controls the output to correspond to the value.

[0009] The program according to the present invention causes a computer to execute a display control method, The above display control method includes a measurement step, a door detection step, a disembarking motion detection step, and the right notification signal. No. output step, left notification signal output step, in-vehicle notification signal output step, and control step It has a . The measurement step is to measure the contact of a moving object approaching the vehicle while the vehicle is stopped. Measure the near direction, moving speed, and the distance between the host vehicle and the moving object. The door detection step is for the host vehicle Identify and detect the positions and movements of both doors of the vehicle, and whether the type of the door is a sliding door or a swing door The getting-off operation detection step detects a getting-off operation, which is an operation in which a passenger in the host vehicle gets off from the door The right notification signal output step outputs a right notification signal for notifying the presence of the host vehicle to a moving object approaching the right side of the host vehicle The left notification signal output step outputs a left notification signal for notifying the presence of the host vehicle to a moving object approaching the left side of the host vehicle The in-vehicle notification signal output step outputs an in-vehicle notification signal for notifying the approaching of the moving object to the passenger The control step controls to output an in-vehicle notification signal after the notification signal when the getting-off operation is associated with a swing door, and to output an in-vehicle notification signal corresponding to the side face before or simultaneously with the notification signal when the getting-off operation is associated with a sliding door, when the getting-off operation is detected and the position of the door through which the passenger gets off coincides with the side face where the moving object approaches The control step controls to output an in-vehicle notification signal after the notification signal when the getting-off operation is associated with a swing door, and to output an in-vehicle notification signal corresponding to the side face before or simultaneously with the notification signal when the getting-off operation is associated with a sliding door, when the getting-off operation is detected and the position of the door through which the passenger gets off coincides with the side face where the moving object approaches The control step controls to output an in-vehicle notification signal after the notification signal when the getting-off operation is associated with a swing door, and to output an in-vehicle notification signal corresponding to the side face before or simultaneously with the notification signal when the getting-off operation is associated with a sliding door, when the getting-off operation is detected and the position of the door through which the passenger gets off coincides with the side face where the moving object approaches The control step controls to output an in-vehicle notification signal after the notification signal when the getting-off operation is associated with a swing door, and to output an in-vehicle notification signal corresponding to the side face before or simultaneously with the notification signal when the getting-off operation is associated with a sliding door, when the getting-off operation is detected and the position of the door through which the passenger gets off coincides with the side face where the moving object approaches The control step controls to output an in-vehicle notification signal after the notification signal when the getting-off operation is associated with a swing door, and to output an in-vehicle notification signal corresponding to the side face before or simultaneously with the notification signal when the getting-off operation is associated with a sliding door, when the getting-off operation is detected and the position of the door through which the passenger gets off coincides with the side face where the moving object approaches The control step controls to output an in-vehicle notification signal after the notification signal when the getting-off operation is associated with a swing door, and to output an in-vehicle notification signal corresponding to the side face before or simultaneously with the notification signal when the getting-off operation is associated with a sliding door, when the getting-off operation is detected and the position of the door through which the passenger gets off coincides with the side face where the moving object approaches

Advantages of the Invention

[0010] According to the present invention, it is possible to provide a getting-off assistance device, a getting-off assistance method, and a program for performing suitable getting-off assistance

Brief Description of the Drawings

Brief Description of the Drawings

[0011] [Figure 1] [[ID=三十九]] [Figure 2] [Figure 3] [Figure 4]This figure shows an example of the operation of the disembarking assistance device according to Embodiment 1. [Figure 5] This is a block diagram of the disembarking assistance device according to Embodiment 2. [Figure 6] This is a flowchart of the disembarking assistance device according to Embodiment 2. [Figure 7] This figure shows an example of the situation in which the disembarking assistance device according to Embodiment 2 operates. [Figure 8] This is a block diagram of the disembarking assistance device according to Embodiment 3. [Figure 9] This is a flowchart of the disembarking assistance device according to Embodiment 3. [Figure 10] This is a flowchart of the disembarking assistance device according to Embodiment 4. [Figure 11] This figure shows an example of the situation in which the disembarking assistance device according to Embodiment 4 operates. [Figure 12] This is a flowchart of the disembarking assistance device according to Embodiment 5. [Modes for carrying out the invention]

[0012] The present invention will be described below through embodiments of the invention, but the invention as claimed in the patent claims is... The embodiments are not limited to those described below. Furthermore, all configurations described in the embodiments address the problem. It is not necessarily essential as a means of solving the problem. For clarification of the explanation, please refer to the following: The drawings have been omitted and simplified as appropriate. Elements are assigned the same code, and redundant explanations have been omitted where necessary.

[0013] <Embodiment 1> Figure 1 shows the vehicle 900 according to Embodiment 1. The vehicle 900 is according to Embodiment 1. This is one embodiment of a vehicle equipped with a disembarking assistance device of the form described above. The vehicle 900 is It is a passenger car that can carry about seven passengers.

[0014] Vehicle 900 has a right front door 902R that allows passengers to get in and out of vehicle 900. It has a left front door 902L, a right rear door 903R, and a left rear door 903L. Right front door 902 The R and left front door 902L open by rotating around a pivot point located at the front. It is an ing door. The right rear door 903R and the left rear door 903L are located on the body of the vehicle 900. The sliding doors open by sliding along the rails provided to the rear of the vehicle body. be.

[0015] Furthermore, vehicle 900 will not allow vehicles, pedestrians, etc., in the vicinity of vehicle 900 to see vehicle 900. The right front lamp 901R and the left front lamp 901L are external warning devices designed to make the vehicle's presence known. It has a right rear lamp 904R and a left rear lamp 904L. That is, a right front lamp 901R, The left front lamp 901L, the right rear lamp 904R, and the left rear lamp 904L are collectively referred to as external warning lights. It may be referred to as device 142.

[0016] Right front lamp 901R, left front lamp 901L, right rear lamp 904R and left rear lamp 90 4L is one embodiment of the external warning device 142. The external warning device 142 is, for example, the vehicle itself 900 hazard lights may also be used. In addition, the external warning device 142 may be headlights or blue lights. A rake lamp may also be used. In addition, the external warning device 142 emits a different light than the lamps described above. It may also be a light device. Furthermore, the exterior warning device 142 is not limited to a light-emitting device. The component 142 may be, for example, a speaker that emits directional sound.

[0017] Furthermore, the vehicle 900 is equipped with a disembarking support device 100, a distance measuring sensor 140, and a camera 141. The disembarking assistance device 100 is connected to the distance measuring sensor 140 and camera 141, etc., so as to communicate with the vehicle This device provides assistance for the disembarking action of users getting off the 900. Disembarking assistance device 1 00 can be installed at any location on the vehicle 900. The disembarking support device 100 is installed on the vehicle 90 It may be connected to a communication network (such as CAN (Controller Area Network)). Details of the disembarking assistance device 100 will be described later.

[0018] The distance measuring sensor 140 detects objects present around the vehicle 900, and also detects... Distance measurement data is generated as data relating to the position and distance of the object. Distance measurement sensor 140 These are installed at the front and rear of the vehicle 900, respectively. It detects a moving object that is present and approaching its own vehicle 900.

[0019] Camera 141 is installed to capture the interior view of vehicle 900. For example, it is installed at any position on the windshield inside the vehicle 900. Camera 141 captures the passenger's disembarking motion inside the vehicle, and the image data of the captured images is It is supplied to the disembarking assistance device 100.

[0020] Next, with reference to Figure 2, the configuration of the disembarking assistance device 100 will be described. Figure 2 shows the configuration of the device. This is a block diagram of the disembarking support device 100 according to Form 1. The main components of the disembarking support device 100 are The components include a measurement unit 121, alighting motion detection unit 122, an external notification signal output unit 123, and an internal notification signal. It has an output unit 124, a control unit 130, and a storage unit 132. Furthermore, the disembarking support device 100 These components are connected via the communication bus 110 in a manner that allows for communication as appropriate.

[0021] The measurement unit 121 receives distance measurement data from the distance measuring sensor 140, and the received distance measurement data From this, the approach direction, movement speed, and movement relative to the vehicle 900 of the moving object approaching the vehicle 900 are determined. The distance to the body is measured. The measuring unit 121 may also identify the type of moving object. For example, The identification unit 121 identifies whether the moving object is a car, a motorcycle, a pedestrian, etc. That's also good. The measurement unit 121 supplies the measurement data, which is the result of the measurement, to the control unit 130.

[0022] The disembarking motion detection unit 122 detects the disembarking motion of a passenger in the vehicle 900. In this unit, the disembarking motion detection unit 122 acquires image data from the camera 141, and the acquired image data The system detects the passenger's disembarking motion from the data. Disembarking motion refers to, for example, when a passenger exits one of the doors. This is an action to exit the vehicle 900. The disembarking action detection unit 122 detects the disembarking action. If this occurs, a signal indicating that a disembarking operation has been detected is supplied to the control unit 130. If the exit motion detection unit 122 can detect the status of the door lock or door handle, then the door Unlocking the vehicle or operating the door handle may be detected as an exiting action.

[0023] The external notification signal output unit 123 is used to notify a moving object of the presence of the vehicle 900. It outputs an external notification signal. The external notification signal output unit 123 receives instructions from the control unit 130. And, in accordance with the instructions received, it issues a warning to any moving objects in the vicinity of its own vehicle 900. A signal is output to the external warning device 142 that instructs the lamp to turn on or flash for a specific purpose. do.

[0024] The in-vehicle notification signal output unit 124 notifies passengers of the approach of a moving object. It outputs a signal. The in-vehicle notification signal output unit 124 receives instructions from the control unit 130 and The speaker is activated to warn passengers who are disembarking in accordance with the received instructions. A signal instructing the vehicle to perform the action is output to the in-vehicle warning device 143. The warnings given by 3 to the passengers may be to draw attention to the disembarking process, or It may also be a warning against driving.

[0025] The control unit 130 includes, for example, a CPU (Central Processing Unit) and an MPU (Microprocessor). Includes a processor such as a graphics processing unit (P) or a graphics processing unit (GPU), and a predetermined Control processing and calculation processing are performed according to the program. The control unit 130 is a disembarking support device. 100 receives data or signals from each of its components, and the received data or signals Then, a notification signal is output to the external notification signal output unit 123 or the internal notification signal output unit 124. Give instructions to do so.

[0026] For example, when the control unit 130 receives measurement data from the measurement unit 121, the received data From this, it is determined whether the moving object is approaching the vehicle 900. The control unit 130 also determines whether When the vehicle motion detection unit 122 receives a signal indicating that it has detected a vehicle disembarking motion, the received signal Depending on the number, an instruction is given to the external notification signal output unit 123 or the in-vehicle notification signal output unit 124. It determines whether or not to do so. In other words, when the disembarking motion is detected, the control unit 130 determines the distance of the moving body The output of external and internal notification signals is controlled according to the departure and movement speed.

[0027] More specifically, for example, the control unit 130 considers the distance and speed of the approaching moving object, Then, the time it takes for this moving object to reach the vehicle 900 is estimated. Furthermore, the control unit 130 The system decides to output an external notification signal if the estimated time exceeds a preset threshold. The control unit 130 makes this determination based on the time it takes for the moving object to reach its own vehicle 900. When comparing this with the prescribed time required for passengers to disembark, the prescribed time required for disembarkation is considered to be the better option. This is because the distance is sufficiently short, and passengers are expected to be able to disembark with ample time. Also, control unit 1 30 outputs an in-vehicle notification signal along with an external notification signal when the estimated time is below a threshold. The control unit 130 makes this determination when the moving object reaches its own vehicle 900. When comparing the time until boarding with the prescribed time required for passengers to disembark, passengers have ample time. This is because it is not considered a situation in which one can disembark. Furthermore, the control unit 130 will send an in-vehicle notification message The decision to output a signal is made to ensure the safety of the passengers inside the vehicle. Control Unit 1 30 outputs an external notification signal output unit 123 and an internal notification signal output unit based on the results of these decisions. Give instructions to Section 124 as appropriate.

[0028] Here, the threshold is set from the time it takes for a passenger to disembark. For example, generally, boarding Assume the average time from when a person begins to disembark until they have completed the disembarking process is 15 seconds. In that case, the threshold, taking a safety factor into consideration, would be, for example, 30 seconds, which is longer than 15 seconds. The threshold is set as follows. Note that the threshold may be a constant value, or it may be a predetermined condition (for example, the position of the door). Multiple values ​​may be set depending on the type of door, etc.

[0029] The memory unit 132 is a non-volatile memory such as flash memory or SSD (Solid State Drive). It is a storage device that includes variable memory. The storage unit 132 is controlled, for example, by the control unit 130 or The memory unit 132 stores the program that will be executed as a function of the main unit 130. In addition, the memory unit 132 is DR It may also include volatile memory such as AM (Dynamic Random Access Memory), in which case... The storage unit 132 may also have a function for temporarily storing processing data, etc.

[0030] Next, we will describe the configuration connected to the disembarking assistance device 100. Disembarking assistance device 100 This includes the distance measuring sensor 140, camera 141, exterior warning device 142, and interior warning device 143. They are connected in a communication-enabled manner. The disembarking assistance device 100 and these components are connected individually. Alternatively, the connection may be made via a network line such as CAN.

[0031] The distance measuring sensor 140 is connected to the measurement unit 121 in a communication manner, and the generated distance measurement data is sent to the measurement unit It supplies to 121. The distance measuring sensor 140, for example, stores image data as distance measuring data for 30 minutes. It is generated every second. The distance measuring sensor 140 is, for example, LIDAR (Light Detection and Radar). It may also be a sensor called a nging. The distance measuring sensor 140 may also be, for example, a TOF (Tim Sensors such as those called (e of Flight), millimeter-wave radar, or sonar that utilize millimeter waves. It may be present. Also, the distance measuring sensor 140 captures a common landscape from separated positions. A Leo camera would also be acceptable.

[0032] Camera 141 is connected to the disembarking motion detection unit 122 in a communicative manner, and the image of the captured image is displayed. Image data is supplied to the disembarking motion detection unit 122. Camera 141, for example, stores image data for 30 The generated image data is sent every minute of a second and supplied to the disembarking motion detection unit 122.

[0033] The external warning device 142 is connected to the external notification signal output unit 123 in a communicative manner, and the external notification signal It operates in accordance with instructions from the output unit 123. The external warning device 142 controls the right front lamp 901R Includes left front lamp 901L, right rear lamp 904R, and left rear lamp 904L. Exterior warning The device 142 can turn on or flash all of its constituent lamps according to the instructions. Furthermore, the external warning device 142 illuminates or lights up some of its constituent lamps according to the content of the instruction. It can be destroyed. Also, the external warning device 142 is used in conjunction with the hazard lights (turn signals). If so, to distinguish it from the flashing hazard lights when stopping your own vehicle 900 on the shoulder of the road, You can also vary the flashing patterns of the lights.

[0034] The in-vehicle warning device 143 is connected to the in-vehicle notification signal output unit 124 in a communicative manner, and the in-vehicle notification signal It operates in response to instructions from the output unit 124. In one embodiment, the in-vehicle warning device 143 is a speaker -Includes a car. That is, the in-vehicle warning device 143 responds to instructions from the in-vehicle notification signal output unit 124. Accordingly, the system emits an audio alert to passengers who are in the process of disembarking.

[0035] Next, with reference to Figure 3, the processes performed by the disembarking assistance device 100 will be explained. Figure 3 is This is a flowchart of the disembarking assistance device 100 according to Embodiment 1. The flowchart is shown in Figure 3. The chart shows the processes performed by the control unit 130. Also, the following is shown in Figure 3. The low chart starts, for example, when vehicle 900 comes to a stop.

[0036] First, the control unit 130 receives the measurement unit 121 to determine the approach direction and speed of the moving object approaching the vehicle. and start measuring the distance between the vehicle and the moving object (step S101) step S102 Proceed.

[0037] In step S102, the control unit 130 detects when the passenger disembarks. It is determined whether or not an action has been detected (step S102). The disembarking action detection unit 122 determines whether or not an action has been detected by the passenger If it is determined that a disembarking action has been detected (step S102: YES), the control unit 130 will Proceed to step S103. Meanwhile, the disembarking motion detection unit 122 determines that it has detected the passenger disembarking. If not (step S102: NO), the control unit 130 returns to step S102.

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

[0039] In step S104, the control unit 130 determines the distance and speed of the approaching moving object. From this, we estimate the estimated time Te, which is the time it takes for this moving object to reach our own vehicle 900. The control unit 130 also compares this estimated time Te with a preset threshold Tth. The control unit 130 then determines whether the estimated time Te is greater than or equal to the threshold Tth (step S104). ). If it is determined that the estimated time Te is greater than or equal to the threshold Tth (Step S104: YES) Then the control unit 130 proceeds to step S105. Meanwhile, if the estimated time Te is greater than or equal to the threshold Tth If it is not determined that (step S104: NO), the control unit 130 proceeds to step S106. move on.

[0040] Here, for example, if the threshold Tth is set to 30 seconds, and the vehicle 900 is Let's explain the case where the vehicle stops on a public road and passengers disembark. In this case, the control unit 130 If it is determined that a disembarking motion has been detected, then it will determine whether or not a moving object approaching the vehicle 900 has been detected. Further determination is made. Here, for example, suppose the distance sensor 140 has detected the approach of a bicycle. In this case, the measuring unit 121 receives distance measurement data from the distance measuring sensor 140 and the vehicle 90 For example, imagine a bicycle approaching point 0, 100 meters away, and traveling at 10 kilometers per hour. The control unit 130 measures the distance to the bicycle and the bicycle's speed. Therefore, we estimate the time it takes for the bicycle to reach its own vehicle 900 to be 36 seconds (Te=(100 / 10 (000 / 3600) = 36). Furthermore, the control unit 130 calculates the estimated time Te = 3 Compare 6 with the threshold Tth=30. In this case, the estimated time Te is greater than or equal to the threshold Tth. Yes. Therefore, the control unit 130 proceeds to step S105.

[0041] In step S105, the control unit 130 sends an external notification signal to the external notification signal output unit 123. An instruction is given to output a number (step S105). The external notification signal output unit 123 is In response to instructions from the control unit 130, the signal to the external warning device 142 to perform a warning operation. The vehicle 900 outputs a signal. As a result, vehicle 900 will signal to any moving object approaching vehicle 900. The control unit 130 performs an action to issue a warning. After performing the above processing, step S107 Proceed to [the next location].

[0042] In step S106, the control unit 130 sends an external notification signal to the external notification signal output unit 123. The system issues an instruction to output a number, and also sends an in-vehicle notification signal to the in-vehicle notification signal output unit 124. An instruction is given to output (step S106). The external notification signal output unit 123 controls Upon receiving instructions from unit 130, a signal is sent to the external warning device 142 to perform a warning operation. It outputs a signal. This causes vehicle 900 to warn any moving objects approaching it. It performs the necessary actions. The in-vehicle notification signal output unit 124 also receives instructions from the control unit 130. In response, a signal is output to the in-vehicle warning device 143 to perform a warning action. Vehicle 900 warns its occupants that a moving object is approaching it. The control unit 130 performs the above-described process and then proceeds to step S107.

[0043] In step S107, the control unit 130 determines whether or not to terminate the series of processes. (Step S107). The decision of whether or not to terminate the series of processes is made, for example, by the control unit 130, This may be done by detecting whether the vehicle 900 is stationary or moving. When the control unit 130 detects that the vehicle 900 has started moving, it performs a series of actions. The determination of whether or not to terminate the process is made by, for example, the control unit. 130 detects that it has received an operation from the user instructing it to stop processing. It is also acceptable to do so. Furthermore, the determination of whether or not to terminate the series of processes is made by, for example, the control unit 130, the vehicle This may be due to the fact that no passengers were detected inside the vehicle of car 900. If it is not determined that the process should be terminated (step S107: NO), the control unit 130 proceeds to step S Return to step 102 and continue processing. On the other hand, if it is determined that the series of processes is finished (step S1 07:YES), the control unit 130 terminates the series of processes.

[0044] The above describes the method of assisting a passenger to disembark that the disembarkation assistance device 100 performs in Embodiment 1. As described above, when the disembarking assistance device 100 detects a disembarking motion, it adjusts the distance of the moving body. The system also controls the output of external and internal notification signals according to the vehicle speed. (Disembarkation assistance) If the time it takes for the moving object to reach its own vehicle 900 is relatively long, the device 100 will... To issue warnings to moving objects outside while promptly encouraging passengers to disembark: It does not issue a warning to suppress the disembarking motion. On the other hand, the disembarking support device 100 detects when the moving body is the vehicle 9 If the time to reach 00 is relatively short, a warning will be issued to moving objects outside the vehicle. At the same time, passengers will be notified of the approaching moving object and asked to be careful.

[0045] Next, referring to Figure 4, here is an example of a situation in which the disembarking support device 100 performs the disembarking support method described above. This will be explained. Figure 4 shows an example of the situation in which the disembarking assistance device according to Embodiment 1 is in operation. The diagrams are shown. Figure 4 is a view of the road from above. Figure 4 shows the vehicle on the road. This includes both vehicles 900, other vehicles 910, other vehicles 920, and pedestrians 930. Vehicle 900 is on the road. The vehicle is stopped at the side of the road. Also, inside vehicle 900, passengers are attempting to get out of the vehicle. That is what they say.

[0046] Other vehicle 910 is approaching vehicle 900 from behind. (See Figure 4) In this situation, the distance between vehicle 910 and vehicle 900 is distance D10. Also, as shown in Figure 4... In this situation, vehicle 910 is approaching vehicle 900 at a speed of V10.

[0047] Other vehicle 920 is in the opposite lane of the lane where vehicle 900 is stopped, and is in close proximity to vehicle 900. It is traveling along the road. In the situation shown in Figure 4, the distance between other vehicle 920 and its own vehicle 900 is The distance is D20. Also, in the situation shown in Figure 4, the other vehicle 920 is moving at a speed of V20. It is.

[0048] Pedestrian 930 is walking on the sidewalk on the side where vehicle 900 is stopped. (See Figure 4) In this situation, the distance between pedestrian 930 and vehicle 900 is distance D30. Also, as shown in Figure 4... In this situation, pedestrian 930 is approaching vehicle 900 at a speed of V30.

[0049] In the situation described above, the disembarking assistance device 100 mounted on the vehicle 900 The system detects other moving objects in the vicinity, namely other vehicles 920, other vehicles 910, and pedestrians 930. The disembarking support device 100 then determines the position of each moving object and the moving object It measures the speed of movement and the distance between the vehicle 900 and the moving object.

[0050] In the example shown in Figure 4, the time it takes for another vehicle 910 to reach the same vehicle 900 is the threshold Tth. The above is the case. In this case, the disembarkation support device 100 notifies the other vehicle 910 of the disembarkation operation. It emits a warning signal.

[0051] In the example shown in Figure 4, the disembarking support device 100 is located relative to the position and direction of movement of the other vehicle 920. The system does not determine that another vehicle 920 is approaching its own vehicle 900. In this case, the disembarkation support device 10 0 means that no warning signal is sent to other vehicles 920 to notify them of the disembarking action.

[0052] In the example shown in Figure 4, the time it takes for pedestrian 930 to reach vehicle 900 is the threshold Tth. It is assumed to be less than [a certain value]. In this case, the disembarkation support device 100 notifies the pedestrian 930 of the disembarkation action. It emits a warning signal and indicates to the occupants inside the vehicle that a moving object is approaching. It will emit a warning signal. Also, at this time, care will be taken to ensure that pedestrians 930 are not startled by the warning signal. For example, you could lower the volume of the horn or reduce the brightness of the headlights. If the vehicle support device 100 detects that the moving object is a pedestrian, it will alert the occupant. It is also permissible to issue an audio message notifying the driver that pedestrian 930 is approaching.

[0053] Furthermore, the disembarking assistance device 100 also functions as a computer, which is a processing unit. Furthermore, the disembarking assistance device 100 controls the program stored in the memory unit 132 in the control unit 130. The sesser can perform the functions related to the above-mentioned components. Each component of the support device 100 is limited to being implemented by software through a program. It is achieved through a combination of either hardware or software. It is also possible that each component of the disembarking assistance device 100 is, for example, an FPGA (field-programmed A gate array, SOC (System on a chip), or microcontroller, etc., which the user programmers This may be implemented using a ramming integrated circuit. In this case, this integrated circuit is used to A program consisting of the components listed below may be implemented. This is related to the other methods described later. The same applies to the embodiment.

[0054] The first embodiment has been described above. Device 100 is detachably installed from the system of the vehicle 900 and is an independent, standalone unit. It may be configured as a device. Also, the disembarkation support device 100 is part of the system of the vehicle 900. It may be configured as part of the same. According to Embodiment 1, a suitable disembarking support We can provide assistance devices, disembarking assistance methods, and programs.

[0055] <Embodiment 2> Next, Embodiment 2 will be described. Embodiment 2 involves the processing of the control unit 130 and the interior The signal output by the notification signal output unit 124 differs from that of Embodiment 1. Figure 5 shows the signal output by Embodiment 2. This is a block diagram of the disembarking assistance device.

[0056] In this embodiment, the in-vehicle notification signal output unit 124 is an in-vehicle warning device 143, and is a door It is connected to the control ECU so that it can output a predetermined signal. The door control ECU is connected to the vehicle 9 A control device owned by 00, which monitors the open / closed state and position of the door, and also the door It controls the locking mechanism. The door control ECU also controls the opening and closing operations of the sliding door. Control.

[0057] The in-vehicle notification signal output unit 124, upon receiving instructions from the control unit 130, sends a notification signal to the door control ECU. For example, it can output an instruction to activate the door locking device. Also, the in-vehicle notification signal output unit... 124 may output an instruction to stop the movement of the sliding door.

[0058] In this embodiment, the control unit 130 determines the estimated time until the vehicle 900 reaches the threshold. The moving object, having exceeded the above limits, reaches a predetermined limit speed within a predetermined limit distance. If the above conditions are met, it is decided to output an in-vehicle notification signal. In this case, control unit 13 0 is an in-vehicle notification signal indicating that it is dangerous to disembark due to an approaching moving object. It can be supplied.

[0059] The method for assisting passengers to disembark in Embodiment 2 will be described with reference to Figure 6. This is a flowchart of the disembarking assistance device for form 2. The flowchart shown in Figure 6 is The process after step S105 differs from the flowchart shown in Figure 3. That is, step When step S105 is completed, the control unit 130 proceeds to step S108.

[0060] In step S108, the control unit 130 determines that the distance Dm of the moving object being measured is predetermined If the distance is less than the set limit distance Dref, and the velocity Vm of the moving object is less than or equal to the limit velocity Vth, Determine whether it is above or below (step S108). Determine if the above conditions are met. If not (step S108: NO), the control unit 130 proceeds to step S107. If it is determined that the conditions described above are met (step S108: YES), the control unit 130 Proceed to step S109.

[0061] Let's explain the above process with a specific example. For example, when a vehicle approaches the stationary vehicle 900... The limit distance Dref for moving objects is set to 20 meters, and the limit speed of the moving object is... Let's assume that the speed Vth was set to 10 kilometers per hour. That is, from the vehicle's 900 A moving object approaching at a speed of 10 kilometers per hour or more within a distance of 20 meters will be subject to the following conditions: There is a possibility of contact with the passengers entering the vehicle. Therefore, the disembarking assistance device 100 is set to meet the above conditions. It is assumed that it is.

[0062] In this case, the measuring unit 121 uses the distance measurement data supplied from the distance measuring sensor 140 to determine, for example, The distance and speed of a moving object approaching vehicle 900 are measured. If the movement speed Vm falls below the limit distance Dref of 20, the control unit 130 will set the movement speed Vm of the moving body. Then, it compares this to the limit speed Vth, which is 10 kilometers per hour. Then the control unit 130 moves The above conditions are met when the moving speed Vm of the moving object is 10 kilometers per hour or more. The determination is made, and the process proceeds to step S109.

[0063] In step S109, the control unit 130 sends an in-vehicle notification signal output unit 124 to the in-vehicle notification signal output unit 124. An instruction is given to output a number (step S109). This causes the disembarking support device 10 0 means that if there is a moving object approaching at a predetermined speed or higher, the passenger will be instructed to disembark. It can draw attention during operation. Alternatively, the disembarkation support device 100 assists the passenger's disembarkation. This allows for the suppression of the disembarking motion performed by the passenger. This suppresses a decrease in overall performance. After completing the above processing, the control unit 130 proceeds to step S107. nothing.

[0064] Figure 7 shows an example of the operation of the disembarking assistance device according to Embodiment 2. In 7, other vehicle 910 is approaching vehicle 900 at speed V10, and other Vehicle 910 is approaching within a distance of less than Dref. Therefore, the disembarkation support device 100 will board the vehicle. An in-vehicle warning is issued to alert the occupants. At this time, vehicle 900 controls the operation of the doors. The door lock may be activated. This allows the exit assistance device 100 to move the vehicle exiting. This can help prevent a decrease in safety during production.

[0065] Embodiment 2 has been described above. According to Embodiment 2, suitable disembarkation assistance is provided. We can provide a vehicle disembarking assistance device, a vehicle disembarking assistance method, and a program.

[0066] <Embodiment 3> Next, Embodiment 3 will be described. Figure 8 shows the disembarking assistance device according to Embodiment 3. This is a block diagram. Figure 8 shows a block diagram of the disembarking assistance device 200 according to Embodiment 3. The vehicle exit support device 200 replaces the vehicle external notification signal output unit 123 with a right notification signal output. It has section 123R and left notification signal output section 123L. The disembarking support device 200 also has It has a door detection unit 125.

[0067] The right notification signal output unit 123R receives instructions from the control unit 130 and responds to the received instructions. Accordingly, the vehicle 900 notifies the moving object approaching to its right side of the vehicle 900 of the presence of the vehicle 900. It outputs an external notification signal for external vehicle warnings. More specifically, the right notification signal output unit 123R outputs an external vehicle warning signal. The signaling device 142 provides a signal for the operation of the right front lamp 901R and the right rear lamp 904R. The code is output to the external warning device 142.

[0068] The left notification signal output unit 123L receives instructions from the control unit 130 and responds to the received instructions. Accordingly, the system notifies a moving object approaching to the left of vehicle 900 of the presence of vehicle 900. It outputs an external notification signal for external vehicle warnings. More specifically, the left notification signal output unit 123L outputs an external vehicle warning signal. The signal for the operation of the left front lamp 901L and the left rear lamp 904L of the signaling device 142 The code is output to the external warning device 142.

[0069] The door detection unit 125 detects the position and movement of the vehicle's doors. For example, the door detection unit 1 25 can detect doors based on image data acquired from camera 141. The unit 125 may acquire data regarding the position and movement of the door from the door control ECU. The door detection unit 125 detects the position and movement of the door. A signal indicating that this has been done is supplied to the control unit 130.

[0070] In this embodiment, the control unit 130 detects a disembarking motion and the passenger When the position of the door from which the passenger disembarks coincides with the side from which the moving object approaches, the corresponding side It controls the output of a notification signal. In other words, the control unit 130 acquires from the measurement unit 121. Based on the measurement data, it is determined which side of the vehicle 900 is closer to the direction in which the moving object is approaching. The control unit 130 also receives data related to the disembarking operation from the disembarking operation detection unit 122. Alternatively, data obtained from the door detection unit 125 or from both, The control unit 130 detects which side the passenger is attempting to disembark from. The position of the door and the side the moving object is approaching are compared, and if they match, the corresponding side The external warning device 142 operates as follows: the right notification signal output unit 123R or the left notification signal output unit Issue instructions to power unit 123L.

[0071] In this embodiment, the in-vehicle notification signal output unit 124 is used when a passenger is about to get off the vehicle. By comparing the door position with the direction from which the moving object is approaching, the door on the side the passenger is trying to disembark from is located. A may be set to issue a warning that a moving object is approaching. Also, the in-vehicle notification system The output unit 124 instructs the passenger to use the door on the side where the moving object is not approaching. It may also be configured to output recommended messages.

[0072] Next, referring to Figure 9, the process performed by the disembarking support device 200 according to Embodiment 3 will be described below. Let me explain. Figure 9 is a flowchart of the disembarking assistance device according to Embodiment 3. Figure 9 The flowchart shown illustrates the processes executed by the control unit 130. The flowchart shown in Figure 9 starts, for example, when the vehicle 900 stops.

[0073] First, the control unit 130 receives the measurement unit 121 to determine the approach direction and speed of the moving object approaching the vehicle. and start measuring the distance between the vehicle and the moving object (step S201) step S202 Proceed.

[0074] In step S202, the control unit 130 detects when the passenger disembarks. It is determined whether or not an action has been detected (step S202). The disembarking action detection unit 122 determines whether or not an action has been detected by the passenger If it is determined that a disembarking action has been detected (step S202: YES), the control unit 130 will Proceed to step S203. Meanwhile, the disembarkation motion detection unit 122 determines that it has detected the passenger disembarking. If not (step S202: NO), the control unit 130 repeats step S202.

[0075] In step S203, the control unit 130 receives the data measured by the measurement unit 121. From the data, it is determined whether or not the approach of a moving object has been detected (step S203). If it is determined that proximity has been detected (step S203: YES), the control unit 130 steps Proceed to S204. On the other hand, if it is not determined that the approach of a moving object has been detected (step S203: NO), the control unit 130 returns to step S202.

[0076] In step S204, the control unit 130 controls the door for the disembarking operation and the approach of the moving body. Determine whether the direction matches (step S204). The door involved in the disembarking operation and the moving If it is determined that the direction of approach of the moving body matches (step S204: YES), the control unit 13 If 0, proceed to step S205. Meanwhile, the door involved in the disembarking operation and the approaching direction of the moving body are the same. If it is not determined that it will proceed (step S204: NO), the control unit 130 proceeds to step S202 Return to the previous page.

[0077] In step S205, the control unit 130 determines that the distance Dm of the approaching moving object is predetermined. It is determined whether the distance is less than a predetermined threshold distance, Dth (step S205). If it is determined that the distance Dm of the approaching moving object is less than the distance Dth (Step S205: Y ES), the control unit 130 proceeds to step S206. Meanwhile, the approaching moving object is at a distance Dm If it is not determined that the distance Dth is less than (step S205: NO), the control unit 130 Return to step S202.

[0078] In step S206, the control unit 130 outputs an in-vehicle notification signal and an out-of-vehicle notification signal. The control unit 130 performs the process to cause (step S206). More specifically, the control unit 130 sends an in-vehicle notification signal The control unit 130 outputs an in-vehicle notification signal to the output unit 124. The notification signal output unit corresponding to the side where the conditions in 04 are met (i.e., the right notification signal output unit 1) To 23R or the left notification signal output unit 123L (either one or both), a notification signal The system issues an instruction to output the following: As a result, the disembarking support device 200 will turn towards the side where the moving object is approaching. The corresponding external warning device 142 is activated. Once the above process is completed, the control unit 130 Proceed to step S207.

[0079] Next, in step S207, the control unit 130 determines whether or not to terminate the series of processes. (Step S207). The process executed by the control unit 130 here is the flowchart shown in Figure 3. This is equivalent to the process shown as step S107 in the previous section. Therefore, the following explanation is omitted. To abbreviate.

[0080] The above describes the method of assisting a passenger to disembark that the disembarkation assistance device 200 performs in Embodiment 3. As described above, when the disembarking assistance device 200 detects a disembarking motion, it assists the disembarking motion. The system activates the warning device when the position of the door and the direction of approach of the moving object coincide. As a result, the disembarking support device 200 in this embodiment can efficiently perform disembarking support. In other words, according to this embodiment, a vehicle disembarkation support device that provides suitable vehicle disembarkation support Methods and programs can be provided.

[0081] <Embodiment 4> Next, Embodiment 4 will be described. The configuration is the same as shown in Figure 8. However, in Embodiment 4, the function of the door detection unit 125 The corresponding functions of the control unit 130 differ from those of Embodiment 3.

[0082] In this embodiment, the door detection unit 125 detects when the type of door on the vehicle 900 is a swing door. It identifies whether it is a sliding door. The door detection unit 125 identifies the type of door. The data is stored, for example, in the storage unit 132. The door detection unit 125 detects the entire vehicle 900. Identify the type of each door.

[0083] Furthermore, the control unit 130 in this embodiment determines which door the disembarking operation is associated with. Therefore, when the disembarking operation is linked to the swing door, the control unit 130 controls the vehicle 900 A notification signal is output when the distance between the device and the moving object is less than a preset threshold distance, which is the first distance. It determines that... Also, when the disembarking operation is linked to the sliding door, the control unit 130 sets in advance... The system determines to output a notification signal if the defined threshold distance is less than or equal to the second distance, which is greater than the first distance. With this configuration, the disembarking support device 200 can suitably perform disembarking support. It is possible.

[0084] Figure 10 is a flowchart of the disembarkation assistance device according to Embodiment 4. The flowchart shows the process from after step S204 to before step S207, as shown in Figure 9. This differs from the flowchart shown.

[0085] In step S204, the control unit 130 determines that the exit door and the approach direction are aligned. If this is determined (step S204: YES), the control unit 130 proceeds to step S210.

[0086] In step S210, the control unit 130 determines the type of door to be used for the disembarking operation. Step S210). If the type of door involved in the disembarking operation is determined to be a swing door (Step S210) On the left side of step S210, the control unit 130 proceeds to step S211. Meanwhile, the disembarking operation If the type of door is determined to be a sliding door (right side of step S210), the control unit 13 If the result is 0, proceed to step S221.

[0087] In step S211, the control unit 130 determines that the distance Dm of the approaching moving object is predetermined. It is determined whether the distance is less than the first distance D1, which is a predetermined threshold distance (step S211). If it is determined that the distance Dm of the approaching moving object is less than the first distance D1 (step S211) YES), the control unit 130 proceeds to step S212. Meanwhile, the distance of the approaching moving object If it is not determined that the distance Dm is less than the first distance D1 (step S211: NO), the control unit 130 returns to step S202.

[0088] In step S212, the control unit 130 outputs an in-vehicle notification signal and an out-of-vehicle notification signal. The process to cause this is performed (step S212). The control unit 130 performs the condition in step S204. An instruction is issued to the notification signal output unit corresponding to the side where the items match, to output a notification signal. Once the process described above is completed, the control unit 130 moves to step S207.

[0089] In step S221, the control unit 130 determines that the distance Dm of the approaching moving object is predetermined. It is determined whether the distance is less than the second distance D2, which is a predetermined threshold distance (step S221). If it is determined that the distance Dm of the approaching moving object is less than the second distance D2 (step S221) YES), the control unit 130 proceeds to step S222. Meanwhile, the distance of the approaching moving object If the distance Dm is not determined to be less than the second distance D2 (step S211: NO), the control unit 130 returns to step S202.

[0090] In step S222, the control unit 130 outputs an in-vehicle notification signal and an out-of-vehicle notification signal. The process to cause this is performed (step S222). The control unit 130 performs the condition in step S204. An instruction is issued to the notification signal output unit corresponding to the side where the items match, to output a notification signal. Once the process described above is completed, the control unit 130 moves to step S207.

[0091] Figure 11 shows an example of the operation of the disembarking assistance device according to Embodiment 4. In Figure 11, the other vehicle 910 approaches the right rear of the vehicle 900 at a speed of V10. Furthermore, other vehicle 910 is located at a position farther than the first distance D1 and less than the second distance D2. There is a passenger in vehicle 900 who is attempting to disembark using the right front door 902R.

[0092] In the situation described above, when the disembarking support device 200 detects another vehicle 910 which is a moving object, Both systems detect that vehicle 910 is approaching from the right side of vehicle 900. The disembarkation support device 200 detects the passenger's disembarkation motion, and this disembarkation motion is directed to the right front. It detects that it is linked to door 902R. Furthermore, the control unit 130 performs the disembarking operation. It was determined that the position of the door (right side) and the direction of the approaching vehicle 910 (right side) were the same. The control unit 130 also determines that the door used for exiting (right front door 902R) is a swing door. It identifies that the distance to the other vehicle 910 is less than the first distance D1. Determine whether it exists or not.

[0093] In Figure 11, the other vehicle 910 is located at a position farther than the first distance D1. Therefore In this situation, the disembarking assistance device 200 performs the necessary processing to activate the warning device of the vehicle 900. It will not be done. Also, from the perspective of other vehicle 910, the right-side swing door of our vehicle 900 will be open. It can be recognized that the situation is as follows. Here, in Figure 11, the vehicle 900 and the other vehicle 910 are in a safe state. Considering all factors, the distance is sufficiently far. Therefore, in Figure 11, the disembarking assistance device 20 Without any warning process being triggered by a value of 0, the passenger can proceed with disembarking.

[0094] However, if another vehicle 910 moves to the position indicated by the dotted line before the disembarking process is completed... In this case, the disembarking support device 200 performs a different process from the one described above. That is, in this case, The disembarking assistance device 200 is activated when another vehicle 910 is closer than the first distance D1. The exit assistance device 200 drives the right rear lamp 904R to warn other vehicles 910 It emits a warning. The disembarkation support device 200 also warns the passengers of the approaching moving object. conduct.

[0095] Furthermore, if another vehicle 910 is located at the position shown in Figure 11, i.e., the second distance D2 is less. When the passenger is in the position shown, the passenger is entering through the right rear door 903R, which is a sliding door. If the passenger is about to disembark, the disembarkation support device 200 will activate the warning device. The reason is that the open position of a sliding door is farther away than the open position of a swing door. This is because it is difficult to see from that angle. Thus, the disembarking support device 200 is used in the case of a swing door. In comparison, the threshold distance for exiting a vehicle using a sliding door is set much higher. As a result, the disembarking assistance device 200 performs disembarking assistance efficiently while taking safety into consideration. can.

[0096] Embodiment 4 has been described above. According to Embodiment 4, efficient and suitable disembarkation is achieved. We can provide a vehicle disembarking assistance device, a vehicle disembarking assistance method, and a program that provides assistance for disembarking.

[0097] <Embodiment 5> Next, Embodiment 5 will be described. The disembarking assistance device 200 according to Embodiment 5 is The sequence of operations of the warning device differs from that of Embodiment 4.

[0098] In this embodiment, the control unit 130, when the exiting operation is linked to the swing door, provides an in-vehicle notification. After the signal, an external notification signal is output, and if the exit action is linked to the sliding door, an internal notification signal is output. The vehicle exit assistance device 20 outputs an external notification signal simultaneously with an external or internal notification signal. 0 allows warnings to be issued in a preferred order.

[0099] Figure 12 is a flowchart of the disembarkation assistance device according to Embodiment 5. - The chart shows the processing after step S211 and the processing after step S221 respectively. different.

[0100] In step S211, the distance Dm of the approaching moving object is less than the first distance D1. If the control unit 130 determines that (step S211: YES), the control unit 130 will Proceeding to step S213, the control unit 130 first outputs an in-vehicle notification signal (step S213). Then, the control unit 130 outputs an in-vehicle notification signal, and then outputs an external notification signal (ste Step S214), proceed to step S207. In other words, in this embodiment, disembarking movement If the door type corresponding to the operation is a swing door, the exit assistance device 200 will notify the outside of the vehicle. Prioritize the output of the in-vehicle notification signal over the output of the traffic signal.

[0101] On the other hand, in step S221, the distance Dm of the approaching moving object is less than the second distance D2. If the control unit 130 determines that this is the case (step S221: YES), the control unit 130 will Proceed to step S223, where the control unit 130 first outputs an external notification signal (step S2 23). Then the control unit 130 outputs an external notification signal, and then outputs an internal notification signal. (Step S224), proceed to step S207. In other words, in this embodiment, If the door type corresponding to the exit operation is a sliding door, the exit assistance device 200 will be used to assist the vehicle. Prioritize the output of the external notification signal over the output of the internal notification signal.

[0102] Embodiment 5 has been described above. The disembarking support device 200 according to Embodiment 5 is Effective and safe processing is performed. As a result, according to Embodiment 5, a more suitable descent is achieved. We can provide a vehicle exit assistance device, exit assistance method, and program for vehicle assistance.

[0103] Furthermore, the above-mentioned program uses various types of non-temporary computer-readable media. It is stored and can be supplied to a computer. Non-temporary computer-readable media is This includes various types of tangible recording media. An example of a non-temporary computer-readable medium is: Magneto-optical recording media (e.g., magneto-optical disks), CD-ROM (Read Only Memory), CD-R CD-R / W, semiconductor memory (e.g., mask ROM, PROM (Programmable ROM)) EPROM (Erasable Promo), Flash ROM, RAM (Random Access Memory) ) includes. Furthermore, the program is available in various types of temporary computer-readable media. It may be supplied to a computer. Examples of temporary computer-readable media include electrical signals and light. This includes signals and electromagnetic waves. Temporary computer-readable media include electric wires and optical fibers, etc. The program can be supplied to the computer via a wired communication channel or a wireless communication channel.

[0104] The present invention is not limited to the embodiments described above, and may be adapted as appropriate without departing from the spirit of the invention. It is possible to change it. [Explanation of Symbols]

[0105] 100 Disembarking assistance device 110 Communications Bus 121 Measuring section 122 Disembarking motion detection unit 123 External notification signal output unit 123R Right Notification Signal Output Section 123L Left notification signal output section 124 In-vehicle notification signal output unit 125 Door detection unit 130 Control Unit 132 Storage section 140 Distance measuring sensor 141 Camera 142 External warning devices 143 In-vehicle warning system 200 Disembarking assistance device 900 My vehicle 901R Right Front Lamp 901L Left front lamp 902R Right front door 902L Left front door 903R Right rear door 903L Left rear door 904R Right rear lamp 904L Left rear lamp 910 Other vehicles 920 Other vehicles 930 pedestrians

Claims

1. A measuring unit that measures the approach direction, speed, and distance between the vehicle and a moving object approaching the vehicle while the vehicle is stationary. A door detection unit that detects the position and movement of the vehicle's door, A disembarking action detection unit detects the disembarking action, which is the action of a passenger in the vehicle disembarking from the door. A right notification signal output unit outputs a right notification signal to notify a moving object approaching the right side of the vehicle of the presence of the vehicle, A left notification signal output unit outputs a left notification signal to notify a moving object approaching the left side of the vehicle of the presence of the vehicle, A control unit that, when the disembarking motion is detected and the position of the door from which the passenger disembarks coincides with the side of the moving body that is approaching, controls the output of a notification signal corresponding to the side. The vehicle includes an in-vehicle notification signal output unit that outputs an in-vehicle notification signal to notify the passenger of the approach of the moving object, The door detection unit identifies whether the type of door is a sliding door or a swing door. When the disembarking operation is associated with the swing door, the control unit outputs the notification signal after the in-vehicle notification signal. When the aforementioned exiting operation is linked to the sliding door, the notification signal is output before or simultaneously with the in-vehicle notification signal. A vehicle exit assistance device.

2. The door detection unit determines whether the type of door from which the disembarking motion detection unit detected the disembarking motion is a swing door or a sliding door. The control unit determines that when the disembarking operation is associated with the swing door, it will output the notification signal if the distance is less than the first distance. When the aforementioned disembarking operation is associated with the sliding door, it is determined that the notification signal should be output if the distance is less than the second distance, which is greater than the first distance. The disembarking assistance device according to claim 1.

3. A measurement step that measures the direction of approach, speed of movement, and distance between the vehicle and the moving object approaching the vehicle, A door detection step that identifies the position and type of the door of the vehicle, whether it is a sliding door or a swing door, and detects its movement. A disembarking action detection step for detecting a disembarking action, which is the action of a passenger in the vehicle disembarking from the door, An in-vehicle notification signal output step, which outputs an in-vehicle notification signal to notify the passenger of the approach of the moving object, A right notification signal output step includes outputting a right notification signal to notify a moving object approaching the right side of the vehicle of the presence of the vehicle, A left notification signal output step, which outputs a left notification signal to notify a moving object approaching the left side of the vehicle of the presence of the vehicle, When the disembarking motion is detected, and the position of the door from which the passenger disembarks coincides with the side of the moving body that is approaching, a notification signal corresponding to the side is output. The system includes a control step that controls the output of the notification signal after the in-vehicle notification signal when the alighting operation is associated with the swing door, and the output of the notification signal before or simultaneously with the in-vehicle notification signal when the alighting operation is associated with the sliding door. Disembarking assistance method.

4. A measurement step that measures the direction of approach, speed of movement, and distance between the vehicle and the moving object approaching the vehicle, A door detection step that identifies the position and type of the door of the vehicle, whether it is a sliding door or a swing door, and detects its movement. A disembarking action detection step for detecting a disembarking action, which is the action of a passenger in the vehicle disembarking from the door, An in-vehicle notification signal output step, which outputs an in-vehicle notification signal to notify the passenger of the approach of the moving object, A right notification signal output step includes outputting a right notification signal to notify a moving object approaching the right side of the vehicle of the presence of the vehicle, A left notification signal output step, which outputs a left notification signal to notify a moving object approaching the left side of the vehicle of the presence of the vehicle, When the disembarking motion is detected, and the position of the door from which the passenger disembarks coincides with the side of the moving body that is approaching, a notification signal corresponding to the side is output. The system includes a control step that controls the output of the notification signal after the in-vehicle notification signal when the alighting operation is associated with the swing door, and the output of the notification signal before or simultaneously with the in-vehicle notification signal when the alighting operation is associated with the sliding door. The computer will execute the disembarkation assistance procedure.

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