Vehicle control system

Abstract

To suppress unwanted actuation of vehicle control in a case where a vehicle is being stopped or traveling on water's edge.SOLUTION: A vehicle control device comprises: a periphery sensor 12 for detecting a target being present in the periphery of a vehicle; and a control unit 10 capable of executing vehicle control including at least one of getting-off support control for supporting safety getting-off of a passenger of the vehicle being stopped in a case where an approaching target which is a target approaching the vehicle is detected by the periphery sensor 12, and collision avoidance support control for supporting avoidance of collision with the approaching target during stop or travel. In a case where a predetermined partial wave condition, which is established in a case where the detected target is a partial wave that is a wave constituting a part of water surface waves of seawater, is established for the approaching target, even if an execution condition of the vehicle control is established for the approaching target, the control unit 10 does not execute or suppresses the vehicle control corresponding to the execution condition.SELECTED DRAWING: Figure 3

Description

Technical Field

[0001] The present invention relates to a vehicle control device capable of executing vehicle control including at least one of alighting assistance control and collision avoidance assistance control.

Background Art

[0002] Conventionally, when a target object approaching the vehicle (a target object approaching the vehicle) is detected by a surrounding sensor, a vehicle control device capable of executing vehicle control including alighting assistance control and / or collision avoidance assistance control is known. For example, Patent Document 1 describes a rear pre-crash safety system capable of executing control to alert a driver when a target object approaching the vehicle from behind the vehicle is detected.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

[0004] By the way, at the shoreline (typically, a sandy beach), the surface waves of the seawater intermittently rush towards the shore. Therefore, when the vehicle is stopped or traveling at the shoreline, the vehicle control device may recognize a part of the approaching surface wave as a target object (i.e., the target object for vehicle control) and execute unnecessary vehicle control.

[0005] The present invention has been made to address the above-described problems. That is, one of the objects of the present invention is to provide a vehicle control device capable of suppressing unnecessary operation of vehicle control when the vehicle is stopped or traveling at the shoreline.

[0006] The vehicle control device according to the present invention (hereinafter referred to as "the device of the present invention") a surrounding sensor that detects target objects existing around the vehicle, When the surrounding sensors detect an approaching target that is approaching the vehicle, the control unit is capable of performing vehicle control including at least one of the following: disembarkation support control to assist in the safe disembarkation of occupants of the vehicle while it is stopped, and collision avoidance support control to assist in avoiding a collision with the approaching target while the vehicle is stopped or in motion. It is equipped with. The control unit is If a predetermined partial wave condition is met for the approaching target, which is a partial wave that constitutes a part of the surface waves of the seawater, the vehicle control execution condition corresponding to the execution condition is not executed or is suppressed, even if the execution condition for the vehicle control is met for the approaching target.

[0007] The control unit of the present invention is configured such that, if a partial wave condition is met for an approaching target detected by a surrounding sensor, it will not execute or will suppress the vehicle control (i.e., the vehicle control corresponding to the execution condition) even if the execution condition for vehicle control is met for the approaching target. Here, the partial wave condition is a condition that is met when the target is a partial wave (a wave that constitutes part of a surface wave of seawater). With this configuration, it is possible to suppress unnecessary operation of the vehicle control when the vehicle is stopped or driving at the waterline. Note that if the vehicle control is disembarking support control, "execution condition" means the execution condition for disembarking support control, and "vehicle control corresponding to the execution condition" means disembarking support control. On the other hand, if the vehicle control is collision avoidance support control, "execution condition" means the execution condition for collision avoidance support control, and "vehicle control corresponding to the execution condition" means collision avoidance support control.

[0008] In one aspect of the present invention, The detection area of ​​the aforementioned ambient sensor has multiple sets of areas, each including a roughly rectangular first area, a roughly rectangular second area, and a roughly rectangular third area. In any pair, the second long side of the second region is longer than the first long side of the first region, and the second region is positioned further away from the vehicle than the first region, such that the entire first long side of the pair of first long sides of the first region that is further away from the vehicle contacts the second long side of the pair of second long sides of the second region that is closer to the vehicle; the third long side of the third region is longer than the second long side, and the third region is positioned further away from the vehicle than the second region, such that the entire second long side of the pair of second long sides of the second region that is further away contacts the third long side of the pair of third long sides of the third region that is closer to the vehicle; The control unit is In any pair, In the first case, where a predetermined surface wave condition is met at present when surface waves are present in at least one of the first, second, or third regions, and a specific target that satisfies a predetermined specific condition that is met when the target may be a partial wave is present, it is determined that the partial wave condition is met for that specific target present in the first region. In the second case, where the water surface wave condition is met at any point in the past within a predetermined past period from a past point in time to the present, and the specific target is located in the second or third region at that point in time, and the specific target that was located in the second or third region at that point in time is now located in the first region, it is determined that the partial wave condition is met for the specific target located in the first region. The system is configured to determine that the water surface wave condition is met in any of the following cases, namely, when a predetermined first number or more of the specified targets are present in the first region; when a predetermined second number or more of the specified targets are present in the second region and a predetermined third number or more of the specified targets are consecutively present such that the adjacent distance (distance to the adjacent specified target) is less than or equal to a predetermined second region distance threshold; or when a predetermined fourth number or more of the specified targets are present in the third region and a predetermined fifth number or more of the specified targets are consecutively present such that the adjacent distance is less than or equal to a predetermined third region distance threshold.

[0009] According to one aspect of the present invention, the control unit determines, in either the first or second case, that a partial wave condition is met for a specific target (a target that satisfies specific conditions) currently located in the first region. Here, "first case" means "the water surface wave condition (a condition that is met when a water surface wave exists in at least one of the first to third regions) is met at the present time, and the specific target is currently located in the first region." On the other hand, "second case" means "the water surface wave condition was met at any point in the past, the specific target was located in the second or third region at that point, and the specific target that was located in the second or third region at that point is currently located in the first region." In these cases, the possibility that the specific target located in the first region is a target other than a partial wave (for example, other vehicles, bicycles, and pedestrians) is extremely low. Therefore, this configuration allows for accurate determination of whether or not a specific target is a partial wave. Therefore, unnecessary operation of the vehicle control system can be suppressed, and vehicle control can be properly executed for targets that should be targeted by the vehicle control system (in other words, failure to operate the vehicle control system can be suppressed).

[0010] In one aspect of the present invention, The aforementioned ambient sensor is a radar sensor. The control unit is The system is configured to determine that the specific conditions are met for a target if the relative speed of the target to the vehicle is below a predetermined speed threshold, the radar cross-sectional area of ​​the target is below a predetermined cross-sectional area threshold, and the detection time, which is the time during which the same target is continuously detected by the surrounding sensor, is above a predetermined time threshold.

[0011] According to one aspect of the present invention, by appropriately setting the speed threshold, cross-sectional area threshold, and time threshold, the probability of specific conditions being met for at least other vehicles can be made extremely low. With this configuration, other vehicles are more easily excluded from the specific target, and thus the accuracy of determining whether or not a target is a partial wave can be further improved.

[0012] In the above description, in order to aid in understanding the invention, the reference numerals used in the embodiments are indicated in parentheses for the constituent elements of the invention corresponding to the embodiments. However, the constituent elements of the invention are not limited to the embodiments defined by the aforementioned reference numerals. [Brief explanation of the drawing]

[0013] [Figure 1] This is a schematic diagram of a vehicle control device according to an embodiment of the present invention. [Figure 2] This diagram illustrates the partial wave conditions for disembarking assistance control. [Figure 3] This flowchart shows the routines executed by the CPU of the vehicle control ECU. [Figure 4] This is a flowchart showing the partial wave condition determination process within the routine. [Figure 5] This is a flowchart showing the water surface wave condition determination process, which is part of the routine. [Figure 6] This diagram illustrates the positional relationship between the vehicle and the first to third regions when the vehicle control type is FCTA. [Modes for carrying out the invention]

[0014] (composition) Hereinafter, a vehicle control device according to an embodiment of the present invention (hereinafter also referred to as "the present embodiment device") will be described with reference to the drawings. The present embodiment device is mounted on a vehicle. As shown in FIG. 1, the present embodiment device includes a vehicle control ECU 10, and a vehicle speed sensor 11, a radar sensor 12, a door open / close sensor 13, a side mirror indicator 20, a meter panel 21, a buzzer 22, and a speaker 23 connected thereto. The vehicle control ECU 10 includes a microcomputer as a main part. The microcomputer includes a CPU, a ROM, a RAM, and an interface (I / F), etc., and the CPU realizes various functions by executing instructions (programs, routines) stored in the ROM. Hereinafter, the vehicle on which the present embodiment device is mounted is referred to as "the host vehicle V".

[0015] The vehicle speed sensor 11 generates a signal corresponding to the traveling speed (vehicle speed) of the host vehicle V. The ECU 10 acquires the signal generated by the vehicle speed sensor 11 and calculates the vehicle speed based on the signal.

[0016] The radar sensor 12 (surrounding sensor) includes the radar sensors 12rl and 12rr (see FIG. 2), and the radar sensors 12fl and 12fr (see FIG. 6). The radar sensors 12rl and 12rr are respectively provided at the left and right corner portions of the rear end of the host vehicle V. The radar sensors 12fl and 12fr are respectively provided at the left and right corner portions of the front end of the host vehicle V. The radar sensor 12 irradiates radio waves in the millimeter wave band around the host vehicle V. Specifically, the radar sensor 12rl irradiates radio waves directly behind and to the left rear side of the host vehicle V, the radar sensor 12rr irradiates radio waves directly behind and to the right rear side of the host vehicle V, the radar sensor 12fl irradiates radio waves in front of and to the left front side of the host vehicle V, and the radar sensor 12fr irradiates radio waves in front of and to the right front side of the host vehicle V. When a three-dimensional object exists within the irradiation range of the radio waves, the radar sensor 12 receives the reflected wave from the three-dimensional object. The radar sensor 12 calculates the presence or absence of a three-dimensional object and the relative relationship between the host vehicle V and the three-dimensional object (the position and relative speed of the three-dimensional object with respect to the host vehicle V, etc.) based on the irradiation timing and reception timing of the radio waves, etc. In other words, the radar sensor 12 detects three-dimensional objects existing around the host vehicle V. Hereinafter, the three-dimensional object detected by the radar sensor 12 is referred to as a "target". The radar sensor 12 outputs this information regarding the target as target information to the ECU 10.

[0017] Note that the number and installation position of the radar sensor 12 are not limited to the above. Also, the sensor for acquiring target information is not limited to the radar sensor 12. For example, instead of or in addition to the radar sensor 12, a laser radar sensor, an ultrasonic sensor, and / or a camera sensor may be used.

[0018] The door open / close sensor 13 is provided on each of the plurality of side doors of the host vehicle V. When the door open / close sensor 13 detects that the door is in the open state, it generates an open signal, and when it detects that the door is in the closed state, it generates a closed signal. The ECU 10 determines the open / closed state of the corresponding door based on the generated signals of each door open / close sensor 13.

[0019] The side mirror indicators 20 are located at predetermined positions on the left and right side mirrors of the vehicle V, and they illuminate or extinguish independently of each other. The instrument panel 21 is located in front of the driver's seat of the vehicle V (in a position visible to the driver). The buzzer 22 is built into the instrument panel 21. The speaker 23 is a component of the navigation system (not shown) and is located near a touch panel display (not shown).

[0020] (Details of operation) Next, the operation of the ECU10 will be described in detail. The ECU10 is configured to perform vehicle control, including passenger disembarkation support control and collision avoidance support control. Passenger disembarkation support control is a control that assists in the safe disembarkation of occupants of the vehicle V while it is stopped, when a rear approaching object (an object approaching the vehicle V from behind) is detected. Collision avoidance support control is a control that assists in avoiding collisions with an approaching object, whether the vehicle is stopped or in motion, when an approaching object is detected.

[0021] In this embodiment, the collision avoidance support control includes FCTA (Front Cross Traffic Alert), RCTA (Rear Cross Traffic Alert), and BSM (Blind Spot Monitor). FCTA is a control that, when an approaching object (an object approaching the vehicle V from a direction intersecting the vehicle V's direction of travel (estimated direction of travel estimated based on the shift lever position when the vehicle V is stopped)) is detected while the vehicle is stopped or moving forward at a low speed, executes a warning control to alert the driver of the vehicle V and / or a braking control to automatically apply braking force to the vehicle V. RCTA is a control that, when an approaching object is detected while the vehicle is stopped or reversing at a low speed, executes a warning control and / or a braking control. BSM is a control that, when an approaching object (more precisely, an object approaching from behind in the blind spot area of ​​the vehicle V) is detected, executes a warning control.

[0022] Incidentally, at the waterline of a coast, waves of seawater intermittently crash towards the shore. Therefore, with conventional technology, if a vehicle is stopped or moving at the waterline, some of the incoming waves may be recognized as approaching objects, potentially leading to unnecessary vehicle control being performed.

[0023] Therefore, in this embodiment, the ECU 10 determines whether or not the partial wave condition is met for an approaching target, and if it is met, it is configured not to execute vehicle control even if the execution conditions for vehicle control are met for the approaching target. Here, the partial wave condition is a condition that is met when the target is a wave that constitutes part of the surface waves of seawater (hereinafter referred to as "partial wave"). In the following, the disembarkation support control among the vehicle control will be explained as an example. In this embodiment, the ECU 10 executes alarm control as disembarkation support control.

[0024] The execution condition A for disembarking assistance control is met when all of the following conditions 1 to 3 are satisfied.

[0025] (Condition 1) Vehicle V is stationary. (Condition 2) An obstruction target has been detected. (Condition 3) The doors of vehicle V are open.

[0026] First, let's explain condition 1. The ECU 10 determines that condition 1 is met if the vehicle speed obtained from the vehicle speed sensor 11 is zero.

[0027] Next, let's explain condition 2. An obstruction target is a rearward approaching object that may obstruct the safe disembarkation of the occupants (in other words, pass to the side of the vehicle V). When the radar sensor 12 (specifically, radar sensors 12rl and 12rr) detects an object, the ECU 10 calculates the predicted time to collision (TTC) that is expected to be required for the object to contact or come closest to the vehicle V. If the TTC is less than or equal to a predetermined time threshold TTCth, the ECU 10 detects the object as an obstruction target and determines that condition 2 is met.

[0028] The TTC can be calculated as follows: If condition 1 is met, the ECU 10 sets an xy coordinate system (left xy coordinate system) with the installation position of radar sensor 12rl as the origin Orl, and an xy coordinate system (right xy coordinate system) with the installation position of radar sensor 12rr as the origin Orr (Figure 2 shows only the latter coordinate system as an example). As shown in Figure 2, the x-axis extends in the vehicle width direction (left-right direction) of the vehicle V, with the right side of the vehicle width being the +x-axis direction. The y-axis extends in the front-rear direction of the vehicle V, with the front being the +y-axis direction.

[0029] Next, the ECU10 sets the intersection line L. The intersection line is a virtual line set up for calculating the TTC and includes the left intersection line LL and the right intersection line LR. The left intersection line LL extends from the origin Orl in the -x direction, and the right intersection line LR extends from the origin Orr in the +x direction (Figure 2 shows only the right intersection line LR as an example). The lengths of the left and right intersection lines LL and LR are the same (for example, about 1.3m).

[0030] Next, the ECU 10 calculates the velocity vector of the target based on the target information and sets its starting point to the proximity of the target (the part of the front end of the target that is closest to the vehicle V in the x-axis direction). Note that the arrows extending from each of the multiple targets O (described later) shown in Figure 2 are arrows indicating the direction of travel of each target O, and not arrows indicating the velocity vector. If the extension of the velocity vector of the target intersects with either of the left or right intersection determination lines LL or LR, the ECU 10 calculates the "predicted time required for the target to intersect with the intersection determination line L" as TTC.

[0031] If the TTC for the left crossing detection line LL is less than or equal to TTCth, the ECU 10 detects the target as an obstruction to the left door. On the other hand, if the TTC for the right crossing detection line LR is less than or equal to TTCth, the ECU 10 detects the target as an obstruction to the right door. In these cases, the ECU 10 determines that condition 2 is met. On the other hand, if the TTC exceeds TTCth, or if the extension of the target's velocity vector does not intersect the crossing detection line L, the ECU 10 determines that condition 2 is not met.

[0032] Next, let's explain condition 3. Based on the signal obtained from the door opening / closing sensor 13, the ECU 10 determines that condition 3 is met (in other words, the occupant intends to get out of the vehicle) if the door on the side where the obstruction target was detected is open.

[0033] Next, we will explain the disembarkation assistance control (warning control). When execution condition A is met, the ECU10 performs the following processes 1 to 4 as disembarkation assistance control. (Process 1) The side mirror indicator 20 on the side where the obstruction target is detected is illuminated. (Process 2) A predetermined mark (for example, a mark indicating whether the obstruction is approaching from the left rear or the right rear) is displayed on the meter panel 21. (Process 3) Activate buzzer 22. (Process 4) The speaker 23 is made to speak a predetermined message (for example, the message "Please be careful of approaching vehicles"). The processes performed as disembarking assistance control (warning control) are not limited to the above processes; for example, the system may be configured to execute at least one of processes 1 to 4.

[0034] Next, the partial wave conditions will be explained. When the ECU10 detects a target using the surrounding sensor, it determines whether the target satisfies predetermined specific conditions. The specific conditions are met when all of the following conditions a through c are satisfied. (Condition a) The relative speed of the target to the vehicle V is below a predetermined speed threshold. (Condition b) The radar cross-sectional area of ​​the target is less than or equal to a predetermined cross-sectional area threshold. (Condition c) The target detection time (the time during which the same target is detected consecutively; lifecycle) is equal to or greater than a predetermined time threshold.

[0035] The speed threshold, cross-sectional area threshold, and time threshold described above are set to values ​​such that conditions a through c are more likely to be met when the target is a partial wave, and less likely to be met when the target is another vehicle. For this reason, the specific condition can also be described as "a condition that is met when there is a possibility that the target is a partial wave." Hereafter, a target that satisfies the specific condition will be referred to as a "specific target."

[0036] The ECU 10 sets a set of regions Rrl and a set of regions Rrr at the left rear diagonal and the right rear diagonal of the host vehicle V, respectively (in FIG. 2, only the region Rrr is illustrated). Both the region Rrl and the region Rrr are included in the detection regions of the radar sensors 12rl and 12rr. As shown in FIG. 2, the region Rrr includes a region Rrr1 (first region), a region Rrr2 (second region), and a region Rrr3 (third region). The regions Rrr1, Rrr2, and Rrr3 all have a substantially rectangular shape. In the right xy coordinate system, the region Rrr1 satisfies x1a < x < x1b and y1 < y < y0. It should be noted that x1a < 0, x1b > 0, and y0 < 0 are established. Also, x1a is larger than the length of the right intersection determination line LR. The region Rrr2 satisfies x2a < x < x2b and y2 < y < y1. It should be noted that x2a < x1a and x2b > x1b are established. The region Rrr3 satisfies x3a < x < x3b and y3 < y < y3. It should be noted that x3a < x2a and x3b > x2b are established. That is, a relationship of err1 < err2 < err3 is established among the long side err1 (first long side) of the region Rrr1, the long side err2 (second long side) of the region Rrr2, and the long side err3 (third long side) of the region Rrr3. The region Rrr2 is located at a position farther from the host vehicle V than the region Rrr1. The entire long side err1 on the -y axis direction side (the separation side away from the host vehicle V) contacts the long side err2 on the +y axis direction side (the proximity side close to the host vehicle V). Similarly, the region Rrr3 is located at a position farther from the host vehicle V than the region Rrr2. The entire long side err2 on the -y axis direction side contacts the long side err3 on the +y axis direction side. The region Rrr is provided at a position where a rear approaching target from the right rear side can be detected.

[0037] The region Rrl (not shown) includes a region Rrl1 (first region), a region Rrl2 (second region), and a region Rrl3 (third region). The region Rrl is arranged symmetrically with respect to the region Rrr with respect to the longitudinal axis A of the host vehicle V (see FIG. 2). Therefore, the description of the region Rrl is omitted.

[0038] The ECU10 determines that the partial wave condition is met for a specific target located in region Rrr1 if either of the following first or second conditions is met. (Condition 1) At present, the specified surface wave conditions (described below) are met, and at present, a specific target is located in region Rrr1. (Second condition) At any point t within a predetermined past period, surface wave conditions are met, a specific target is located in region Rrr2 or region Rrr3 at time t, and a specific target that was located in region Rrr2 or region Rrr3 at time t is currently located in region Rrr1.

[0039] First, let's explain the surface wave conditions. Surface wave conditions are met when at least one of the following conditions 1w through 3w is satisfied. (Condition 1w) The number of specific objects N1 within region Rrr1 is N1th (first number) or greater. (Condition 2w) The number of specific object targets N2 in region Rrr2 is N2th (second number) or greater, and the number of consecutive specific object targets N2d that satisfy distance condition 2wd (described later) is N2dth (third number) or greater. (Condition 3w) The number of specific object targets N3 within region Rrr3 is N3th (4th number) or greater, and the number of consecutive specific object targets N3d that satisfy distance condition 3wd (described later) is N3dth (5th number) or greater. Distance condition 2wd is a condition that is met when the distance d to another adjacent specific target within region Rrr2 (adjacent distance) is less than or equal to a predetermined distance threshold d2th. Distance condition 3wd is a condition that is met when the adjacent distance d within region Rrr3 is less than or equal to a predetermined distance threshold d3th. The relative magnitudes of d2th and d3th are not particularly limited.

[0040] Here, sea surface waves are surface waves mainly generated by the movement of seawater near the surface, and are generated by the restoring forces of surface tension and gravity. Sea surface waves extend in a long, narrow shape in a direction approximately perpendicular to the direction of propagation. When radio waves are emitted from the radar sensor 12 toward the sea, the radar sensor 12 detects multiple partial waves as individual targets (i.e., specific targets) based on the reflection intensity distribution of radio waves reflected from the wavefront of the sea surface wave. The position and size of each region Rrrn (n:1,2,3) described above, and each threshold N1th to N3th, as well as N2dth, N3dth, d2th, and d3th, are set to values ​​such that each of conditions 1w to 3w is likely to be met when sea surface waves are present in region Rrrn, ​​and less likely to be met when sea surface waves are not present in region Rrrn. For this reason, the sea surface wave condition can also be described as "a condition that is met when sea surface waves are present in at least one of region Rrr1, region Rrr2, or region Rrr3."

[0041] In the example of FIG. 2, two specific object markers O01 and O02 are detected in the region Rrr1, four specific object markers O11, O12, O14, and O15 and one object marker (object marker not satisfying specific conditions) O13 are detected in the region Rrr2, and seven specific object markers O21 to O27 are detected in the region Rrr3. In the region Rrr2, the adjacent distances d between the specific object marker O11 and the specific object marker O12 and between the specific object marker O14 and the specific object marker O15 are both below the distance threshold d2th, but the adjacent distance d between the specific object marker O12 and the specific object marker O14 is greater than the distance threshold d2th. Therefore, N2d = 2. In the region Rrr3, the adjacent distances d for the specific object markers O22 to O27 are all below the distance threshold d3th, but the adjacent distance d between the specific object marker O21 and the specific object marker O22 is greater than the distance threshold d3th. Therefore, N3d = 6. If N1th = 3, N2th = 4, N2dth = 3, N3th = 5, and N3dth = 4 are defined, since N1(=2) < N1th, condition 1w is not satisfied. Also, although N2(=4) ≥ N2th, since N2d < N2dth, condition 2w is not satisfied. In contrast, since N3(=7) > N3th and N3d > N3dth, condition 3w is satisfied. Therefore, in the example of FIG. 2, the ECU10 determines that the surface wave condition is satisfied (there is a surface wave in the region Rrr3).

[0042] Next, let's explain the first condition. The first condition consists of two conditions: "Condition 1a, that surface wave conditions are currently met" and "Condition 1b, that a specific target is currently located in region Rrr1." Condition 1b may be met if a bicycle or pedestrian (or possibly another vehicle) currently located in region Rrr1 satisfies the specific conditions, but the possibility of surface wave conditions being met on a road is extremely low, so the possibility of condition 1a being met is extremely low. For this reason, the possibility of the first condition being met when the specific target is not a partial wave target is extremely low. On the other hand, if the specific target is a partial wave, the possibility of the first condition being met is extremely high. Therefore, by configuring the first condition in this way, it is possible to accurately determine whether or not the specific target is a partial wave. Note that "when the first condition is met" corresponds to an example of "the first case."

[0043] Next, let's explain the second condition. The second condition consists of three conditions: "Condition 2a that surface wave conditions are met at any point t within the past period (the period from a point in the past, which is a predetermined period Tth from the present time, to the present time)", "Condition 2b that a specific target is located in region Rrr2 or region Rrr3 at time t", and "Condition 2c that a specific target that was located in region Rrr2 or region Rrr3 at time t is located in region Rrr1 at the present time". It is possible that conditions 2b and 2c are met if a bicycle or pedestrian (or possibly another vehicle) that was located in region Rrr2 or region Rrr3 at time t satisfies the specific conditions, and these specific targets are located in region Rrr1 at the present time due to their movement. However, the possibility of surface wave conditions being met on a road is extremely low, so the possibility of condition 2a being met is extremely low. For this reason, the possibility of the second condition being met when the specific target is not a partial wave target is extremely low. On the other hand, if the specific target is a partial wave, the probability of the second condition being met is extremely high. Therefore, by configuring the second condition in this way, it is possible to accurately determine whether or not the specific target is a partial wave. Also, "when the second condition is met" corresponds to an example of "the second case".

[0044] In the example in Figure 2, condition 1a is met because surface waves are currently present in region Rrr3. Also, condition 1b is met because two specific targets O01 and O02 are currently present in region Rrr1. Therefore, ECU10 determines that the partial wave condition is met for specific targets O01 and O02. Note that ECU10 is configured not to check the second condition if the surface wave condition is already met.

[0045] The partial wave condition for region Rrl can be explained by replacing "rr" with "rl" in the above explanation. This concludes the explanation of the partial wave condition.

[0046] The ECU 10 determines whether the partial wave condition is met for all targets detected by the surrounding sensors. If a target satisfying execution condition A is detected, the ECU 10 determines whether the partial wave condition is met (or determined to be met) for that target. If the partial wave condition is not met, the ECU 10 determines that the target is a target for disembarkation support control and executes disembarkation support control. If the partial wave condition is met, the ECU 10 determines that the target is a partial wave and does not execute disembarkation support control. With this configuration, it is possible to suppress unnecessary operation of disembarkation support control when the vehicle V is stopped at the waterline.

[0047] (Specific operation) Next, the specific operation of ECU10 will be explained. Below, we will explain the operation of determining whether or not to perform disembarkation assistance control for an object detected in region Rrr. The CPU of ECU10 executes the routine shown in the flowcharts in Figures 3 to 5 while the vehicle V is stopped (while condition 1 is met). Note that the operation of determining whether or not to perform disembarkation assistance control for an object detected in region Rrl can be explained by replacing "rr" with "rl" in the following explanation.

[0048] When the specified timing arrives, the CPU advances the process from step 300 to step 310 in FIG. 3 and executes sub-wave condition determination. Specifically, the CPU advances the process from step 400 to step 410 in FIG. 4 and executes surface wave condition determination. That is, the CPU starts processing from step 500 in FIG. 5 and performs the following processing of steps 505 to 525. Step 505: Count the number of specific object markers N3 in area Rrr3. Step 510: Count the number of specific object markers N2 in area Rrr2. Step 515: Count the number of specific object markers N1 in area Rrr1. Step 520: Count the number of continuous specific object markers N3d that satisfy the distance condition 3wd in area Rrr3. Step 525: Count the number of continuous specific object markers N2d that satisfy the distance condition 2wd in area Rrr2.

[0049] Subsequently, the CPU advances the process to step 530 and determines whether N3≥N3th and N3d≥N3dth are satisfied. If N3≥N3th and N3d≥N3dth (S530: Yes), the CPU determines that condition 3w is satisfied and advances the process to step 535. On the other hand, if N3<N3th or N3d<N3dth (S530: No), the CPU determines that condition 3w is not satisfied and advances the process to step 540.

[0050] In step 540, the CPU determines whether N2≥N2th and N2d≥N2dth are satisfied. If N2≥N2th and N2d≥N2dth (S540: Yes), the CPU determines that condition 2w is satisfied and advances the process to step 535. On the other hand, if N2<N2th or N2d<N2dth (S540: No), the CPU determines that condition 2w is not satisfied and advances the process to step 545.

[0051] In step 545, the CPU determines whether N1≥N1th holds. If N1≥N1th (S545: Yes), the CPU determines that condition 1w holds and proceeds with the process to step 535. On the other hand, if N1<N1th (S545: No), the CPU determines that condition 1w does not hold and proceeds with the process to step 550.

[0052] In step 535, the CPU determines whether flag Xw = 0. Flag Xw is a flag related to the surface wave condition. When the surface wave condition holds, the value of flag Xw is set to 1. The value of flag Xw is maintained until the time when a period Tth (i.e., the same period as the past period) has elapsed since the time when the surface wave condition held, and is switched to 0 after the elapse of period Tth. If the surface wave condition holds again during the elapse of period Tth, the value of flag Xw is maintained until the time when period Tth has elapsed since the time when the surface wave condition held again. The value of flag Xw in the initial state is 0.

[0053] If flag Xw = 0 (S535: Yes), the CPU determines that the surface wave condition has held for the first time at the current cycle (the current time) throughout the past period, proceeds with the process to step 555, and sets the value of flag Xw to 1. Also, the CPU starts timer T and begins counting up. Then, the CPU proceeds with the process to step 560. On the other hand, if flag Xw = 1 (S535: No), the CPU determines that the surface wave condition held at an arbitrary time t within the past period, proceeds with the process to step 575, resets timer T, and starts counting up again. Then, the CPU proceeds with the process to step 560.

[0054] In step 560, the CPU determines whether a specific target exists in at least one of region Rrr3 or region Rrr2. If a specific target exists in region Rrr3 or region Rrr2 (S560: Yes), the CPU proceeds to step 565 and sets the value of flag Xrr3,rr2 to 1. On the other hand, if a specific target does not exist in either region Rrr3 or region Rrr2 (S560: No), the CPU proceeds to step 570 and sets the value of flag Xrr3,rr2 to 0. In other words, flag Xrr3,rr2 is a flag that indicates whether a specific target exists in region Rrr3 or region Rrr2 at the time the surface wave conditions are met. If a specific target exists, the value of flag Xrr3,rr2 is set to 1, and if a specific target does not exist, the value of flag Xrr3,rr2 is set to 0. This value is used to determine whether the second condition is met (described later). When the processing in step 565 or step 570 is completed, the CPU proceeds to step 595 and terminates this routine.

[0055] In contrast, if flag Xw=0 (S550:No), the CPU determines that the surface wave condition was not met during the past period and proceeds to step 595 to terminate this routine. On the other hand, if flag Xw=1 (S550:Yes), the CPU determines that although the surface wave condition is not met at the present time, it was met at time t within the past period and proceeds to step 580. In step 580, the CPU determines whether the value Tk of timer T exceeds the value Tth.

[0056] If Tk ≤ Tth (S580: No), the CPU determines that the period Tth has not yet elapsed from time t and proceeds to step 590, continuing to count up the timer T. At this time, the values ​​of flags Xrr3 and rr2 are maintained. After that, the CPU proceeds to step 595 and terminates this routine. On the other hand, if Tk > Tth (S580: Yes), the CPU determines that the period Tth has elapsed from time t and proceeds to step 585, setting the value of flag Xw to 0 (initializing) and resetting the timer T. After that, the CPU proceeds to step 570, setting the values ​​of flags Xrr3 and rr2 to 0 (initializing) and proceeds to step 595 to terminate this routine.

[0057] Next, the CPU proceeds to step 420 in Figure 4 via step 595 to determine whether the flag Xw=1. If the flag Xw=0 (S420: No), the CPU determines that neither the first nor the second condition is met and proceeds to step 460, where it determines that the partial wave condition is not met for all detected targets.

[0058] In contrast, if flag Xw=1 (S420:Yes), the CPU proceeds to step 430 to determine whether Tk=T1. If Tk=T1 (S430:Yes), the CPU determines that condition 1a is met and proceeds to step 440 to determine whether a specific target exists in region Rrr1. If a specific target exists in region Rrr1 (S440:Yes), the CPU determines that condition 1b is met and proceeds to step 450 to determine that the partial wave condition is met for that specific target (due to the fulfillment of the first condition). On the other hand, if a specific target does not exist in region Rrr1 (S440:No), the CPU determines that condition 1b is not met and proceeds to step 460.

[0059] In contrast, if Tk=T1 (S430: No), the CPU determines that condition 2a is true and proceeds to step 470 to determine whether flags Xrr3,rr2=1. If flags Xrr3,rr2=1 (S470: Yes), the CPU determines that condition 2b is true and proceeds to step 480 to determine whether a specific target exists in area Rrr1 at the present time. If a specific target exists in area Rrr1 (S480: Yes), the CPU proceeds to step 490. In step 490, the CPU determines whether the specific target that existed in area Rrr3 or area Rrr2 at the time the values ​​of flags Xrr3,rr2 were switched from 0 to 1 is the same as the specific target that currently exists in area Rrr1. If the specific target is the same (S490: Yes), the CPU determines that condition 2c is met and proceeds to step 450, where it determines that the partial wave condition is met for that specific target (due to the fulfillment of the second condition). In step 450, the CPU determines that the partial wave condition is not met for targets other than the specific target located in region Rrr1.

[0060] On the other hand, if flags Xrr3,rr2=0 in step 470 (S470:No), if no specific target exists in area Rrr1 in step 480 (S480:No), or if the specific targets are not identical in step 490 (S490:No), the CPU determines that condition 2b and / or condition 2c are not met and proceeds to step 460.

[0061] When the processing in step 450 or step 460 is completed, the CPU proceeds to step 495 and terminates this routine.

[0062] Next, the CPU proceeds to step 320 in Figure 3 via step 495 to determine whether or not there is a target that satisfies execution condition A. If there is no target that satisfies execution condition A (S320: No), the CPU proceeds to step 395 and terminates this routine. On the other hand, if there is a target that satisfies execution condition A (S320: Yes), the CPU proceeds to step 330 to determine whether or not the partial wave condition is met for that target. If the partial wave condition is met (S330: Yes), the CPU proceeds to step 395 and terminates this routine. In other words, disembarkation assistance control is not performed. On the other hand, if the partial wave condition is not met (S330: No), the CPU proceeds to step 340 and performs disembarkation assistance control for that target. After that, the CPU proceeds to step 395 and terminates this routine.

[0063] In addition to the alighting assistance control, the present implementation device also executes collision avoidance assistance control. The ECU 10 sets a set of regions R including a region R1 (first region), a region R2 (second region), and a region R3 (third region) at a predetermined position according to the types of these vehicle controls. FIG. 6 is a diagram illustrating the positional relationship between the host vehicle V and a set of regions Rfr when the type of vehicle control is FCTA. As shown in FIG. 6, as a coordinate system corresponding to the region Rfr, a right xy coordinate system with the installation position of the radar sensor 12fr as the origin Ofr is set. The region Rfr includes a region Rfr1 (first region), a region Rfr2 (second region), and a region Rfr3 (third region). The values of the coordinates x0 to x3 and y1a, y1b, y2a, y2b, y3a, and y3b that partition these regions are set so that the region Rfr can detect an approaching object from the right side. The relationship efr1 < efr2 < efr3 holds between the long sides efr1, efr2, and efr3. Although not shown in FIG. 6, when the type of vehicle control is FCTA, a set of regions Rfl is also set at a position where an approaching object from the left side can be detected. The region Rfl is arranged to be line-symmetric with the region Rfr with respect to the longitudinal axis A. Further, when the type of vehicle control is RCTA, a set of regions R_rcta is set at a predetermined position where approaching objects from both the left and right sides can be detected (not shown). In addition, when the type of vehicle control is BSM, a set of regions R_bsm is set at a predetermined position where a rear approaching object can be detected (not shown).

[0064] As described above, the vehicle control device according to the embodiment has been described. However, the present invention is not limited to the above embodiment, and various modifications are possible without departing from the object of the present invention.

[0065] For example, the vehicle control device may be configured to perform either exit assistance control or collision avoidance assistance control (FCTA, RCTA, BSM) as vehicle control. Furthermore, the vehicle control device may be configured to suppress vehicle control (reduce the degree of vehicle control). In addition, the vehicle control device may, in place of or in addition to warning control, perform door opening restriction control, which limits the degree of door opening, or door lock control, which locks the doors, as exit assistance control. The present invention can also be applied to vehicles operating under autonomous driving (autonomous driving control) (so-called autonomous vehicles) (typically, in configurations where braking control is performed by FCTA and / or RCTA). [Explanation of Symbols]

[0066] 10: Vehicle control ECU, 11: Vehicle speed sensor, 12: Radar sensor, 13: Door open / close sensor, 20: Side mirror indicator, 21: Instrument panel, 22: Buzzer, 23: Speaker

Claims

1. A surrounding sensor that detects targets present around the vehicle, When the surrounding sensors detect an approaching target that is approaching the vehicle, the control unit is capable of performing vehicle control including at least one of the following: disembarkation support control to assist in the safe disembarkation of occupants of the vehicle while it is stopped, and collision avoidance support control to assist in avoiding a collision with the approaching target while the vehicle is stopped or in motion. In a vehicle control device equipped with, The control unit is If a predetermined partial wave condition is met for the approaching target, which is a partial wave that constitutes a part of the surface waves of the sea, then even if the execution condition for the vehicle control is met for that approaching target, the vehicle control corresponding to the execution condition will not be executed or will be suppressed. A vehicle control device configured in such a way.

2. In the vehicle control device according to claim 1, The detection area of ​​the aforementioned ambient sensor has multiple sets of areas, each including a roughly rectangular first area, a roughly rectangular second area, and a roughly rectangular third area. In any pair, the second long side of the second region is longer than the first long side of the first region, and the second region is positioned further away from the vehicle than the first region, such that the entire first long side of the pair of first long sides of the first region that is further away from the vehicle contacts the second long side of the pair of second long sides of the second region that is closer to the vehicle; the third long side of the third region is longer than the second long side, and the third region is positioned further away from the vehicle than the second region, such that the entire second long side of the pair of second long sides of the second region that is further away contacts the third long side of the pair of third long sides of the third region that is closer to the vehicle; The control unit is In any pair, In the first case, where a predetermined surface wave condition is met at present when surface waves are present in at least one of the first, second, or third regions, and a specific target that satisfies a predetermined specific condition that is met when the target may be a partial wave is present in the first region, it is determined that the partial wave condition is met for that specific target in the first region. In the second case, where the water surface wave condition is met at any point in the past within a predetermined past period from a past point in time to the present, and the specific target is located in the second or third region at that point in time, and the specific target that was located in the second or third region at that point in time is now located in the first region, it is determined that the partial wave condition is met for the specific target located in the first region. The water surface wave condition is determined to be met in any of the following cases, namely, when a predetermined first number or more of the specified targets exist in the first region; when a predetermined second number or more of the specified targets exist in the second region and the adjacent distance (distance to an adjacent specified target) is less than or equal to a predetermined second region distance threshold, or when a predetermined fourth number or more of the specified targets exist in the third region and the adjacent distance (distance to an adjacent specified target) is less than or equal to a predetermined third region distance threshold, and a predetermined fifth number or more of the specified targets exist consecutively. A vehicle control device configured in such a way.

3. In the vehicle control device according to claim 2, The aforementioned ambient sensor is a radar sensor. The control unit is If the relative speed of the target with respect to the vehicle is below a predetermined speed threshold, the radar cross-sectional area of ​​the target is below a predetermined cross-sectional area threshold, and the detection time, which is the time during which the same target is continuously detected by the surrounding sensor, is above a predetermined time threshold, then it is determined that the specific conditions are met for the target. A vehicle control device configured in such a way.

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