Vehicle control devices

Abstract

To provide a vehicular control device that enables a control target region in which predetermined control is performed to be set to a region suitable for a driver while suppressing an increase in an operation burden of the driver.SOLUTION: A BSM-ECU (BSM-ECU (left) 60L, BSM-ECU (right) 60R) sets first an alarm area to an alarm area of an alarm area "large" or alarm area "small" (step S2 or step S3), and determines whether a user key is an elderly key (step S4). When the user key is a non-elderly key (step S4: NO), the BSM-ECU does not increase the alarm area (step S6). When the user key is the elderly key (step S4: YES), the BSM-ECU increases the alarm area (step S7).SELECTED DRAWING: Figure 4

Description

[[Technical Field]]

[0001] The present invention relates to a vehicle control device that provides driving assistance to a driver. [[Background Art]]

[0002] Conventionally, vehicles are provided with vehicle control devices that provide driving assistance to drivers, and as a function for providing driving assistance to drivers, there is, for example, a blind spot monitor (BSM) function (see, for example, Patent Document 1). The BSM function is a driving assistance function that assists the driver in making decisions when changing lanes. It monitors other vehicles traveling behind the host vehicle in adjacent lanes adjacent to the traveling lane of the host vehicle, and when another vehicle that the driver should pay attention to (hereinafter referred to as a "target vehicle for attention") is detected, this function alerts the driver by, for example, turning on or blinking an indicator arranged on the door mirror. The target vehicle for attention is, for example, another vehicle that is not reflected or is difficult to be reflected in the side mirror of the host vehicle (which is or tends to be in the blind spot of the side mirror of the host vehicle), and another vehicle that is predicted to enter the blind spot area from the rear side within a set time. [[Prior Art Literature]] [[Patent Literature]]

[0003] [[Patent Document 1]] Japanese Unexamined Patent Application Publication No. 2020-121575 [[Summary of the Invention]] [[Problem to be Solved by the Invention]]

[0004] With the BSM function, the driver can select and set the alarm timing for alerting the driver by turning on or blinking an indicator or the like from a plurality of levels through meter customization or the like.

[0005] Incidentally, the appropriate timing for warnings from the BSM function largely depends on the driver's driving skill. For example, younger drivers tend to have a relatively fast reaction time, so if the warning is too early, they may find the warning annoying. On the other hand, older drivers generally have a slower reaction time than younger drivers, so it is preferable to warn older drivers earlier than younger drivers to make them aware of the presence of a vehicle requiring attention.

[0006] When a vehicle is used by multiple people, the driver who is about to start driving must set the appropriate alarm timing for themselves each time they start driving. This places a significant burden on the driver in terms of setting the alarm timing, and there is also the problem that they may forget to set the alarm timing to suit themselves.

[0007] The object of the present invention is to provide a vehicle control device that makes it possible to set the control target area in which predetermined control is performed to be suitable for the driver while suppressing an increase in the driver's operational burden. [Means for solving the problem]

[0008] To achieve the above objective, the vehicle control device according to the present invention is a vehicle control device that performs predetermined control based on the presence of another vehicle to the rear and side of its own vehicle, and comprises: determination means for determining whether the user's portable device is a predetermined portable device; and setting means for performing setting processing related to the control target area such that if the user's portable device is not the predetermined portable device, the control target area for performing the predetermined control becomes a first control target area, and if the user's portable device is the predetermined portable device, the control target area becomes a second control target area different from the first control target area. The controlled area includes a first area relating to the blind spot of the door mirrors provided on the vehicle, and a second area relating to the entry of the other vehicle into the first area within a set time, and the second area changes depending on the vehicle speed of the vehicle and the vehicle speed of the other vehicle. It is characterized by the following.

[0009] This configuration allows the system to determine whether the user's portable device is a predetermined device and set the control target area for predetermined control accordingly. If the user's portable device is not a predetermined device, it becomes a first control target area; if it is a predetermined device, it becomes a second control target area. This makes it possible to set the control target area to suit the user while minimizing the increase in the user's operational burden. For example, predetermined control can be performed earlier for one user, while for another user, the hassle of unnecessary predetermined control interventions can be reduced. Furthermore, with respect to the first and second regions, predetermined controls can be appropriately performed according to the type of user's handheld device.

[0010] Furthermore, the setting means may perform the setting process such that the second control target area is set to be wider than the first control target area.

[0011] With this configuration, when the user's portable device is a designated portable device, the predetermined control becomes easier to perform compared to when the user's portable device is a portable device other than the designated one, thereby enhancing driver assistance for users who use the designated portable device as their portable device. [Effects of the Invention]

[0014] According to the present invention, the control target area is set such that it determines whether the user's portable device is a predetermined portable device and performs predetermined control, becoming a first control target area if the user's portable device is not a predetermined portable device, and a second control target area if it is a predetermined portable device. This makes it possible to set the control target area to suit the user while suppressing an increase in the user's operational burden, for example, by performing predetermined control earlier for one user and reducing the hassle of intervention by predetermined control that is unnecessary for another user. [Brief explanation of the drawing]

[0015] [Figure 1] This is a configuration diagram showing the configuration of a vehicle control device according to one embodiment of the present invention. [Figure 2]This is an explanatory diagram illustrating the warning area for other vehicles, which is provided by the blind spot monitor (BSM) function of the vehicle control device shown in Figure 1. [Figure 3] This is an explanatory diagram to show the relationship between the alarm area in Figure 2 when using a non-elderly key and the alarm area in Figure 2 when using an elderly key. [Figure 4] This flowchart shows the processing procedures for setting the alarm area and processing the alarm, which are performed by the vehicle control device shown in Figure 1. [Figure 5] This is an explanatory diagram illustrating the warning area for other vehicles in the Rear Cross Traffic Alert (RCTA) function in a modified configuration. [Figure 6] This is an explanatory diagram to show the relationship between the alarm area in Figure 5 when it is not an elderly key and the alarm area in Figure 5 when it is an elderly key. [Modes for carrying out the invention]

[0016] In the following, a vehicle control device 10 according to one embodiment of the present invention will be described with reference to the attached drawings.

[0017] The vehicle control device 10 according to this embodiment has the configuration shown in Figure 1 and has a blind spot monitor (BSM) function. In this embodiment, a key (corresponding to the "portable device" of the present invention) is provided for locking (locking the vehicle doors) and unlocking (unlocking the vehicle doors) the doors of a vehicle 1 equipped with a vehicle control device 10. This key has information about the elderly person set on it (hereinafter, as appropriate, it will be referred to as the "elderly person key"; corresponding to the "predetermined portable device" of the present invention), and a key (hereinafter, as appropriate, it will be referred to as the "non-elderly person key") does not have information about the elderly person set on it. The keys (elderly person key, non-elderly person key) can communicate wirelessly with the body ECU 20 (see Figure 1) provided in the vehicle control device 10.

[0018] First, an alarm area for alarming other vehicles 2 and 3 by the BSM function will be described with reference to FIG. 2 and FIG. 3.

[0019] As shown in FIG. 2, the alarm areas include an alarm area WR for alarming another vehicle 2 behind and on the right side of a vehicle (own vehicle) 1 equipped with a vehicle control device 10 (hereinafter referred to as "right rear alarm area"), and an alarm area WL for alarming another vehicle 3 behind and on the left side of the own vehicle 1 (hereinafter referred to as "left rear alarm area"). The right rear alarm area WR includes an area WR1 where another vehicle 2 behind and on the right side is not or is hardly reflected in the right door mirror 1R (which is or is likely to be a blind spot of the side mirror of the own vehicle) (hereinafter referred to as "right rear blind spot alarm area"), and an area WR2 where another vehicle 2 predicted to enter the right rear blind spot alarm area WR1 from the right rear within a set time T(s) exists (hereinafter referred to as "right rear set time alarm area"). The left rear alarm area WL includes an area WL1 where another vehicle 3 behind and on the left side is not or is hardly reflected in the left door mirror 1L (which is or is likely to be a blind spot of the side mirror of the own vehicle) (hereinafter referred to as "left rear blind spot alarm area"), and an area WL2 where another vehicle 3 predicted to enter the left rear blind spot alarm area WL1 from the left rear within a set time T(s) exists (hereinafter referred to as "left rear set time alarm area").

[0020] In the following description, since the same explanation can be applied to the right rear warning area WR, the right rear blind spot warning area WR1, the right rear set time warning area WR2, and the left rear warning area WL, the left rear blind spot warning area WL1, and the left rear set time warning area WL2, the description will be collectively given as the warning area W, the blind spot warning area W1, and the set time warning area W2. The warning area W, the right rear warning area WR, and the left rear warning area WL correspond to the "control target region" in the present invention. In addition, the blind spot warning area W1, the right rear blind spot warning area WR1, and the left rear blind spot warning area WL1 correspond to the "first region" in the present invention. Furthermore, the set time warning area W2, the right rear set time warning area WR2, and the left rear set time warning area WL2 correspond to the "second region" in the present invention.

[0021] The blind spot warning area W1 of the warning area W is an area surrounded by a first line segment extending from a point, for example, 0.5 m away from the side surface of the vehicle 1 to a point, for example, 3.5 m away from the side surface of the vehicle 1, and a second line segment orthogonal to the first line segment extending from a point D1 m forward of the rear bumper (in the present embodiment, D1 is, for example, 1 m and is a fixed value) to a point D2 m rearward of the rear bumper. The set time warning area W2 of the warning area W is an area surrounded by a third line segment extending from a point, for example, 0.5 m away from the side surface of the vehicle 1 to a point, for example, 3.5 m away from the side surface of the vehicle 1, and a fourth line segment orthogonal to the third line segment extending from a point D2 m rearward of the rear bumper to a point that is further rearward from said rear point by a distance corresponding to the set time T(s). The blind spot warning area W1 is a fixed area that does not depend on the vehicle speed of the host vehicle 1 and the vehicle speeds of other vehicles 2 and 3, whereas the set time warning area W2 is an area that changes depending on the vehicle speed of the host vehicle 1 and the vehicle speeds of other vehicles 2 and 3.

[0022] In this embodiment, there are four types of alarm areas W: (1) an alarm area of ​​the "small" alarm area, (2) an alarm area of ​​the "large" alarm area that includes the "small" alarm area and is wider than the "small" alarm area, (3) an expanded alarm area of ​​the "small" alarm area, and (4) an expanded alarm area of ​​the "large" alarm area.

[0023] Alarm area WA (small) of alarm area "small" is used when the door of vehicle 1 is unlocked using a key used by the user to unlock the door lock (hereinafter referred to as "user key") that is a non-elderly key, while the enlarged alarm area WB (small) of alarm area "small" is used when the user key is an elderly key. An example of the relationship between the former and the latter is shown in Figure 3(a) and Figure 3(b). Alarm Area "Large" Alarm Area WA (Large) is used when the user key is a non-elderly key, and the expanded Alarm Area "Large" Alarm Area WB (Large) is used when the user key is an elderly key. An example of the relationship between the former and the latter is shown in Figure 3(a) and Figure 3(b).

[0024] In this embodiment, in the alarm area WA(small) of the alarm area "small", the set distance D (=D1+D2) of the blind spot alarm area WA1(small) is set to 4(m), and the set time T of the set time alarm area WA2(small) is set to 3(s). Furthermore, in the expanded alarm area WB(small) of the alarm area "small", the set distance D (=D1+D2) of the blind spot expanded alarm area WB1(small) is set to 6(m) by adding 2(m) to the set distance D=4(m) of the blind spot alarm area WA1(small) of the alarm area WA(small) of the alarm area "small", and the set time T of the expanded alarm area WB2(small) for set time is set to 4(s) by adding 1(s) to the set time T=3(s) of the set time alarm area WA2(small) of the alarm area WA(small) of the alarm area "small".

[0025] Furthermore, in the large alarm area WA(large), the set distance D (=D1+D2) for the blind spot alarm area WA1(large) is set to 7(m), which is greater than the set distance D=4(m) for the blind spot alarm area WA1(small) in the small alarm area WA(small), and the set time T for the set time alarm area WA2(large) is set to 5(s), which is greater than the set time T=3(s) for the set time alarm area WA2(small) in the small alarm area WA(small). Furthermore, in the expanded alarm area WB(large) of the alarm area "large", the set distance D (=D1+D2) of the blind spot expanded alarm area WB1(large) is set to 9(m) by adding 2(m) to the set distance D=7(m) of the blind spot alarm area WA1(large) of the alarm area WA(large) of the alarm area "large", and the set time T of the expanded alarm area WB2(large) for set time is set to 6(s) by adding 1(s) to the set time T=5(s) of the set time alarm area WA2(large) of the alarm area WA(large) of the alarm area "large". Note that the set distance D (=D1+D2) and set time T for the "small" alarm area, the "large" alarm area, the expanded "small" alarm area, and the expanded "large" alarm area are examples only, and other values ​​may be used.

[0026] Next, the device configuration of the vehicle control device 10 will be explained with reference to Figure 1. The vehicle control device 10 is mounted on the vehicle 1 and, as shown in Figure 1, comprises a body ECU 20, a meter ECU 30, a CVT-ECU 40, a VSC-ECU 50, a BSM-ECU (left) 60L, and a BSM-ECU (right) 60R. ECUs 20, 30, 40, 50, and 60L are each connected to a CAN (Controller Area Network) 70 and communicate with each other, while ECUs 60L and 60R are connected to a local CAN 71 and communicate with each other.

[0027] The body ECU 20 has a CPU (not shown) that performs various controls and calculations, and a memory (not shown) that stores various programs and data, and is an ECU for controlling the operation of on-board electrical components of the vehicle 1, such as the doors and left and right turn lamps. In this embodiment, the body ECU 20, for example, acquires key information of the key used to unlock the door (this key information includes information indicating whether or not the elderly setting is set (hereinafter referred to as "elderly setting presence / absence information")) and transmits it to the BSM-ECU (left) 60L, and also transmits left and right turn switch information indicating whether the left and right turn lamp switches are on or off to the BSM-ECU (left) 60L, etc.

[0028] The meter ECU 30 has a CPU (not shown) that performs various controls and calculations, and a memory (not shown) that stores various programs and data, and is an ECU for controlling various parts of the meter panel of the vehicle 1. The meter panel is equipped with instruments that display vehicle speed and engine speed, as well as displays such as liquid crystal displays for displaying various information. In this embodiment, for example, the meter ECU 30 displays a warning area setting area on the display screen of a display such as a liquid crystal display for the user (driver, etc.) to set a "large" or "small" warning area, and transmits the warning area size information ("large" warning area, "small" warning area) of the warning area selected by the user using the warning area setting area to the BSM-ECU (left) 60L, etc. The meter ECU 30 also receives buzzer sounding command information from the BSM-ECU (left) 60L that commands the execution of a warning when another vehicle is present in the warning area, and based on the reception of the buzzer sounding command information, it processes outputting a buzzer sound from a speaker (not shown) connected to the meter ECU 30.

[0029] The CVT-ECU40 is an ECU for controlling the operation of a continuously variable transmission, and includes a CPU (not shown) that performs various controls and calculations, and a memory (not shown) that stores various programs and data. In this embodiment, the CVT-ECU40 transmits shift position information, such as the shift position (P (Parking: parked, engine started), N (Neutral: no power transmission), D (Drive: normal driving), S (Sport: sporty driving, driving on slopes or in mountainous areas), R (Reverse: reverse)) to the BSM-ECU (left)60L, etc.

[0030] The VSC-ECU50 is an ECU for preventing skidding of vehicle 1, and includes a CPU (not shown) that performs various controls and calculations, and a memory (not shown) that stores various programs and data. In this embodiment, the VSC-ECU50 transmits vehicle speed information, which indicates the vehicle speed of vehicle 1 detected by a vehicle speed sensor (not shown) connected to the VSC-ECU50, to the BSM-ECU (left)60L, for example.

[0031] The BSM-ECU (left) 60L is an ECU that controls the operation of the BSM function and has a CPU (not shown) that performs various controls and calculations, and a memory (not shown) that stores various programs and data. It is connected to the left rear radar sensor 61L (see Figure 2) and the left door mirror indicator 62L which is built into the left door mirror 1L (see Figure 2).

[0032] The BSM-ECU (right) 60R is an ECU that controls the operation of the BSM function and has a CPU (not shown) that performs various controls and calculations, and a memory (not shown) that stores various programs and data. It is connected to the right rear radar sensor 61R (see Figure 2) and the right door mirror indicator 62R which is built into the right door mirror 1R (see Figure 2).

[0033] Key information, including whether or not elderly driver settings are enabled, left / right turn switch information, warning area size information, shift position information, and vehicle speed information, received by the BSM-ECU (left) 60L from other ECUs, is transmitted from the BSM-ECU (left) 60L to the BSM-ECU (right) 60R.

[0034] In this embodiment, the respective memories (not shown) of the BSM-ECU (left) 60L and BSM-ECU (right) 60R store key information including the latest alarm area size information (alarm area "large", alarm area "small") and the latest information on whether or not elderly settings are enabled.

[0035] The left door mirror indicator 62L is used to warn the driver of other vehicles in the left rear warning area WL (see Figure 2), and the right door mirror indicator 62R is used to warn the driver of other vehicles in the right rear warning area WR (see Figure 2).

[0036] As shown in Figure 2, the right rear radar sensor 61R is installed at the right rear corner of the vehicle body 1 and consists of a millimeter-wave radar device. Based on the reflected millimeter waves it transmits, it detects objects and calculates object information such as the distance from the vehicle 1 to the detected object, the relative speed of the object with respect to the vehicle 1, and the orientation of the object with respect to the vehicle 1. The acquired object information is then transmitted to the BSM-ECU (right) 60R. The right rear radar sensor 61R has an object detection area that is within a predetermined angle to the left and right, centered on the radar axis that extends diagonally to the rear right from the right rear corner. This object detection area includes the right rear warning area WR (right rear blind spot warning area WR1, right rear set time warning area WR2).

[0037] As shown in Figure 2, the left rear radar sensor 61L is installed at the left rear corner of the vehicle body 1 and consists of a millimeter-wave radar device. Based on the reflected millimeter waves it transmits, it detects objects and calculates object information such as the distance from the vehicle 1 to the detected object, the relative speed of the object to the vehicle 1, and the orientation of the object to the vehicle 1, and transmits the acquired object information to the BSM-ECU (left) 60L. The left rear radar sensor 61L has an object detection area that is within a predetermined angle to the left and right, centered on the radar axis that extends diagonally to the left rear from the left rear corner. This object detection area includes the left rear warning area WL (left rear blind spot warning area WL1, left rear set time warning area WL2).

[0038] In this embodiment, the BSM-ECU (left) 60L and BSM-ECU (right) 60R perform alarm area setting processing and alarm processing, respectively. The alarm area setting process performed in the BSM-ECU (left) 60L is performed in the following cases: (Alarm area setting process 1) when the door lock is unlocked and key information including whether or not elderly driver settings are enabled is received from the body ECU 20 and the key information is stored in memory (not shown); (Alarm area setting process 2) when the door lock is unlocked and key information including whether or not elderly driver settings are enabled is received from the body ECU 20 and the key information is stored in memory (not shown), and then the user selects either a "large" or "small" alarm area and receives alarm area size information from the meter ECU 30 and stores the alarm area size information in memory (not shown). The alarm area setting process performed in the BSM-ECU (right) 60R is performed in the following cases: (Alarm area setting process 1) when the door lock is unlocked and key information including whether or not elderly person settings are enabled is received from the body ECU 20 via the BSM-ECU (left) 60L and the key information is stored in memory (not shown); (Alarm area setting process 2) when the door lock is unlocked and key information including whether or not elderly person settings are enabled is received from the body ECU 20 via the BSM-ECU (left) 60L and the key information is stored in memory (not shown), and then the user selects either a "large" or "small" alarm area and receives alarm area size information from the meter ECU 30 and stores the alarm area size information in memory (not shown).

[0039] The BSM-ECU (left) 60L and BSM-ECU (right) 60R, in their respective alarm area setting processes, determine whether to set the alarm area to a "large" or "small" alarm area based on alarm area size information stored in memory (not shown). If the alarm area size information indicates a "large" alarm area, the alarm area is set to a "large" alarm area; if the alarm area size information indicates a "small" alarm area, the alarm area is set to a "small" alarm area (first stage alarm area setting process). In the first stage of alarm area setting process, if alarm area setting process 2 is used, the alarm area of ​​"Large" or "Small" newly set by the user after the door lock is released will be set as the alarm area. If alarm area setting process 1 is used, the alarm area of ​​"Large" or "Small" most recently set by the user before the door lock is released will be set as the alarm area.

[0040] In the alarm area setting process, BSM-ECU (left) 60L and BSM-ECU (right) 60R, respectively, after the first stage of the alarm area setting process described above, determine whether the user key is an elderly person key based on the elderly person setting information stored in memory (not shown). If the user key is an elderly person key, expand the alarm area set in the first stage of the alarm area setting process. If the key is not an elderly person key (non-elderly person key), case The alarm area will not be expanded (second stage alarm area setting process). In the second stage of the alarm area setting process, the user is not required to perform any additional operations other than unlocking the door lock, which is something they would normally need to do.

[0041] Here, if the alarm area size information stored in memory (not shown) indicates a "small" alarm area, and the elderly setting presence / absence information stored in memory (not shown) indicates a non-elderly key, then the alarm area is set to a "small" alarm area in the first stage of alarm area setting process, is not expanded in the second stage of alarm area setting process, and the "small" alarm area (see Figure 3(a)) is used in the alarm processing. Furthermore, if the alarm area size information stored in memory (not shown) indicates a "small" alarm area, and the elderly setting presence / absence information stored in memory (not shown) indicates an elderly key, the alarm area is set to a "small" alarm area in the first stage of alarm area setting processing, and then in the second stage of alarm area setting processing, the "small" alarm area is expanded and set to an expanded "small" alarm area, and the expanded "small" alarm area (see Figure 3(b)) is used in alarm processing.

[0042] Furthermore, if the alarm area size information stored in memory (not shown) indicates a "large" alarm area, and the elderly setting information stored in memory (not shown) indicates a non-elderly key, the alarm area will be set to a "large" alarm area in the first stage of alarm area setting processing, will not be expanded in the second stage of alarm area setting processing, and the "large" alarm area (see Figure 3(a)) will be used in the alarm processing. Furthermore, if the alarm area size information stored in memory (not shown) indicates a "large" alarm area, and the elderly setting presence / absence information stored in memory (not shown) indicates an elderly key, the alarm area is set to a "large" alarm area in the first stage of alarm area setting process, and then in the second stage of alarm area setting process, the "large" alarm area is expanded and set to an expanded "large" alarm area, and the expanded "large" alarm area (see Figure 3(b)) is used in the alarm processing.

[0043] The BSM-ECU (left) 60L and BSM-ECU (right) 60R, respectively, detect other vehicles within the warning area set in the warning area setting process during warning processing and warn the driver of other vehicles within the warning area. This warning processing is executed when certain conditions are met, such as the shift position being anything other than "R" and the vehicle speed being 16 km / h or higher.

[0044] To further explain, the BSM-ECU (right) 60R, in processing warnings, determines whether there is another vehicle whose body is even partially inside the right rear blind spot warning area WR1 of the right rear warning area WR, based on the object information (distance from the vehicle 1 to the detected object, the orientation of the object relative to the vehicle 1, etc.) supplied from the right rear radar sensor 61R. If the BSM-ECU (right) 60R determines that such another vehicle is present, it illuminates the right door mirror indicator 62R when the right turn lamp switch is off, and flashes the right door mirror indicator 62R when the right turn lamp switch is on, and also transmits buzzer activation command information to the meter ECU 30 via the BSM-ECU (left) 60L. Upon receiving the buzzer activation command information, the meter ECU 30 outputs a buzzer sound from a speaker (not shown) connected to the meter ECU 30.

[0045] Furthermore, in processing warnings, the BSM-ECU (right) 60R determines whether there is another vehicle that is expected to enter the right rear blind spot warning area WR1 from the right rear within the set time of the right rear warning area WR2 for the set time of the right rear warning area WR2, based on object information supplied from the right rear radar sensor 61R (distance from the vehicle 1 to the detected object, the relative speed of the object to the vehicle 1, and the bearing of the object to the vehicle 1, etc.). If the BSM-ECU (right) 60R determines that such another vehicle is present, it illuminates the right door mirror indicator 62R when the right turn lamp switch is off, and flashes the right door mirror indicator 62R when the right turn lamp switch is on, and also transmits buzzer activation command information to the meter ECU 30 via the BSM-ECU (left) 60L. Upon receiving the buzzer activation command information, the meter ECU 30 outputs a buzzer sound from a speaker (not shown) connected to the meter ECU 30.

[0046] Furthermore, in processing warnings, the BSM-ECU (left) 60L determines whether or not there is another vehicle whose body is partially inside the left rear blind spot warning area WL1 of the left rear warning area WL, based on object information supplied from the left rear radar sensor 61L. If the BSM-ECU (left) 60L determines that such another vehicle is present, it illuminates the left door mirror indicator 62L when the left turn lamp switch is off, and flashes the left door mirror indicator 62L when the left turn lamp switch is on, and also transmits buzzer activation command information to the meter ECU 30. Upon receiving the buzzer activation command information, the meter ECU 30 outputs a buzzer sound from a speaker (not shown) connected to the meter ECU 30.

[0047] Furthermore, in processing warnings, the BSM-ECU (left) 60L determines, based on object information supplied from the left rear radar sensor 61L, whether or not there is another vehicle that is expected to enter the left rear blind spot warning area WL1 from the left rear within the set time of the left rear warning area WL2 for the set time of the left rear warning area WL. If the BSM-ECU (left) 60L determines that such another vehicle is present, it illuminates the left door mirror indicator 62L when the left turn lamp switch is off, and flashes the left door mirror indicator 62L when the left turn lamp switch is on, and also transmits buzzer activation command information to the meter ECU 30. Upon receiving the buzzer activation command information, the meter ECU 30 outputs a buzzer sound from a speaker (not shown) connected to the meter ECU 30.

[0048] Next, the procedures for setting the alarm area and processing the alarm in the BSM-ECU (left) 60L and BSM-ECU (right) 60R will be explained with reference to Figure 4.

[0049] The BSM-ECU (BSM-ECU (left) 60L, BSM-ECU (right) 60R) performs the steps S1 to S6 corresponding to the alarm area setting process described above (first stage alarm area setting process, second stage alarm area setting process). The BSM-ECU (BSM-ECU (left) 60L, BSM-ECU (right) 60R) determines whether to set the alarm area to a "large" alarm area or a "small" alarm area (step S1).

[0050] If it is determined that the alarm area should be set to the "Large" alarm area (Step S1: Large), the BSM-ECU (BSM-ECU (Left) 60L, BSM-ECU (Right) 60R) sets the alarm area (blind spot alarm area and set time alarm area) to the "Large" alarm area (blind spot alarm area and set time alarm area corresponding to the "Large" alarm area) (Step S2), and proceeds to the process in Step S4.

[0051] On the other hand, if it is determined that the alarm area should be set to the alarm area of ​​"small" alarm area (step S1: small), the BSM-ECU (BSM-ECU (left) 60L, BSM-ECU (right) 60R) sets the alarm area (blind spot alarm area and set time alarm area) to the alarm area of ​​"small" alarm area (blind spot alarm area and set time alarm area corresponding to the alarm area of ​​"small" alarm area) (step S3), and proceeds to step S4.

[0052] The BSM-ECU (BSM-ECU (left) 60L, BSM-ECU (right) 60R) determines whether the user key is an elderly person's key (step S4).

[0053] If it is determined that the user key is an elderly person's key (Step S4: YES), the BSM-ECU (BSM-ECU (left) 60L, BSM-ECU (right) 60R) expands the alarm area (blind spot alarm area and set time alarm area) to create an expanded alarm area (blind spot expanded alarm area and set time expanded alarm area) (Step S5), and proceeds to Step S7. Here, if in step S2 the alarm area was set to the "Large" alarm area (the blind spot alarm area and the set time alarm area corresponding to the "Large" alarm area), the alarm area is expanded in step S5 from the "Large" alarm area (the blind spot alarm area and the set time alarm area corresponding to the "Large" alarm area) to the "Large" expanded alarm area (the blind spot expanded alarm area and the set time expanded alarm area corresponding to the expanded alarm area of ​​the "Large" alarm area). Furthermore, if in step S2 the alarm area was set to the alarm area of ​​the "small" alarm area (the blind spot alarm area and the set time alarm area corresponding to the alarm area of ​​the "small" alarm area), the alarm area will be expanded in step S5 from the alarm area of ​​the "small" alarm area (the blind spot alarm area and the set time alarm area corresponding to the alarm area of ​​the "small" alarm area) to the expanded alarm area of ​​the "small" alarm area (the expanded blind spot alarm area and the expanded alarm area for the set time corresponding to the expanded alarm area of ​​the "small" alarm area).

[0054] On the other hand, if it is determined that the user key is a key for a non-elderly person (Step S4: NO), the BSM-ECU (BSM-ECU (left) 60L, BSM-ECU (right) 60R) does not expand the alarm area (blind spot alarm area and set time alarm area) (Step S6), and proceeds to Step S7. Here, if in step S2 the alarm area was set to the "Large" alarm area (the blind spot alarm area and the set time alarm area corresponding to the "Large" alarm area), the alarm area will not be expanded by the processing in step S6 and will remain the "Large" alarm area (the blind spot alarm area and the set time alarm area corresponding to the "Large" alarm area). Furthermore, if in step S2 the alarm area was set to the "small" alarm area (the blind spot alarm area and the set time alarm area corresponding to the "small" alarm area), the alarm area will not be expanded by the processing in step S6 and will remain the "small" alarm area (the blind spot alarm area and the set time alarm area corresponding to the "small" alarm area).

[0055] The BSM-ECU (BSM-ECU (left) 60L, BSM-ECU (right) 60R) performs the processes in steps S7 to S8 corresponding to the alarm processing described above. The BSM-ECU (BSM-ECU (left) 60L, BSM-ECU (right) 60R) determines whether or not another vehicle is present within the warning area (blind spot warning area, set time warning area) set by the processing in steps S1 to S6, as described in the warning processing above (step S7). If it is determined that no other vehicle is present within the warning area (blind spot warning area, set time warning area) (step S7: NO), the process returns to step S7. On the other hand, if it is determined that another vehicle is present within the warning area (blind spot warning area, set time warning area) (step S7: YES), the BSM-ECU (BSM-ECU (left) 60L, BSM-ECU (right) 60R) issues a warning using the door mirror indicator (right / left door mirror indicator 62R, 62L), etc., as described in the warning processing above (step S8), and returns to the process of step S7.

[0056] According to the embodiment described above, the alarm area is initially set to either a "large" or "small" alarm area (step S2 or step S3). Then, it is determined whether the user key is an elderly person's key (step S4). If the user key is not an elderly person's key (step S4: NO), the alarm area is not expanded (step S6). If it is an elderly person's key (step S4: YES), the alarm area is expanded (step S7). This makes it possible to set the alarm area to suit the user while minimizing the increase in the user's operational burden. For example, an alarm can be issued earlier to one user, while another user may experience the inconvenience of unnecessary alarm interventions.

[0057] Furthermore, when the user key is designated as an elderly driver's key, alarms are more likely to be triggered compared to when the user key is designated as a non-elderly driver's key, thereby enhancing driver assistance for the elderly.

[0058] Furthermore, for both the blind spot alarm area and the set time alarm area, alarms can be appropriately triggered according to the type of user key (elderly key, non-elderly key).

[0059] Furthermore, various design modifications can be made to the aforementioned configuration within the scope of the matters described in the patent claims.

[0060] For example, in the above embodiment, the size of the alarm area set in steps S1 to S3 was described as having two stages, "large" and "small," but it is not limited to this, and may have N stages (where N is an integer of 3 or more), such as three stages: "large," "medium," and "small."

[0061] Furthermore, in the above embodiment, the distance and time added are set to the same values ​​of 1(m) and 1(s) in both cases: when expanding the alarm area of ​​the "small" alarm area to create an expanded alarm area of ​​the "small" alarm area, and when expanding the alarm area of ​​the "large" alarm area to create an expanded alarm area of ​​the "large" alarm area. However, the embodiment is not limited to this, and different values ​​may be used between the two cases, for example, 1(m) and 1(s) in the former case and 2(m) and 2(s) in the latter case.

[0062] Furthermore, in the above embodiment, the alarm area is expanded by increasing the set distance and set time by adding 1(m) and 1(s), but it is not limited to this, and for example, the alarm area may be expanded by increasing the set distance and set time by multiplying A (a value greater than 1) and B (a value greater than 1).

[0063] In the above embodiment, the BSM function was used as an example of setting the alarm area, but it is not limited to this. For example, the concept of setting the alarm area described in the above embodiment can be applied to the rear cross-traffic alert (RCTA) function, and the setting of the alarm area for the RCTA function will be explained with reference to Figures 5 and 6.

[0064] The RCTA function is a driver assistance function that assists the driver when reversing a vehicle. It monitors other vehicles 2A, 3A approaching from the right rear or left rear of the vehicle (own vehicle) 1A, and if an other vehicle that the driver should pay attention to (a vehicle requiring attention) is detected, it alerts the driver by flashing an indicator on the door mirror or sounding a buzzer. A vehicle requiring attention in the RCTA function is an other vehicle that approaches from the right rear or left rear and reaches the right rear or left rear of the own vehicle within a set time.

[0065] As shown in Figure 5, there are two warning areas: a warning area WWR that warns of another vehicle 2A approaching from the right rear of vehicle 1A (hereinafter referred to as the "right rear warning area"), and a warning area WWL that warns of another vehicle 3A approaching from the left rear of vehicle 1A (hereinafter referred to as the "left rear warning area"). Here, the object detection area of ​​the right rear radar sensor 61R includes the warning area WWR, and the object detection area of ​​the left rear radar sensor 61L includes the warning area WWL. As a right rear warning area (WWR), there is an area (hereinafter referred to as the "right rear warning area for set time") WWR1 where another vehicle 2A is expected to approach from the right rear of vehicle 1A and reach the right rear side of vehicle 1 within the set time TT(s). The left rear warning area WWL is an area (hereinafter referred to as the "left rear warning area for set time") WWL1 in which another vehicle 3A is expected to approach from the left rear of vehicle 1A and reach the left rear side of vehicle 1 within the set time TT(s).

[0066] As shown in Figure 6, there are two types of right rear warning areas (WWR): (1) the right rear warning area (WWRA) and (2) the right rear enlarged warning area (WWRB), which is an enlargement of the right rear warning area (WWRA). Similarly, there are two types of left rear warning areas (WWL): (3) the left rear warning area (for the sake of explanation, the designation "WWLA" is added) and (4) the left rear enlarged warning area (for the sake of explanation, the designation "WWLB" is added).

[0067] The setting time TT(s) for the right rear setting time warning area WWRA1 in the right rear warning area WWRA is TTR1(s), and the setting time TT(s) for the right rear setting time extended warning area WWRB1 in the right rear setting time extended warning area WWRB is TTR2(s), which is greater than the setting time TT(s) = TTR1(s) for the right rear setting time warning area WWRA1. The right rear warning area WWRA (right rear warning area WWRA1 for set time) is used when the user key is a non-elderly key, and the right rear enlarged warning area WWRB (right rear enlarged warning area WWRB1 for set time) is used when the user key is an elderly key. An example of the relationship between the former and the latter is shown in Figure 6(a) and Figure 6(b).

[0068] The setting time TT(s) for the left rear setting time warning area WWLA is TTR1(s), and the setting time TT(s) for the left rear setting time extended warning area WWLB is TTR2(s), which is greater than the setting time TT(s) = TTR1(s) for the left rear setting time warning area. The left rear warning area (WWLA) is used when the user key is a non-elderly key, and the left rear extended warning area (WWLB) is used when the user key is an elderly key.

[0069] The modified BSM-ECU (left) 60L and BSM-ECU (right) 60R perform alarm area setting and alarm processing, respectively. The BSM-ECU (left) 60L and BSM-ECU (right) 60R each set the left rear warning area WWLA and the right rear warning area WWRA as the left rear warning area and right rear warning area, respectively, during the warning area setting process (first stage warning area setting process). In the warning area setting process, the BSM-ECU (left) 60L and BSM-ECU (right) 60R each determine whether the user key is an elderly person's key or not, following the first stage warning area setting process. If it is determined that the user key is an elderly person's key, the left rear warning area WWLA and the right rear warning area WWRA are expanded, and the left rear expanded warning area and the right rear expanded warning area WWRB are set as the left rear warning area and right rear warning area. If it is determined that the user key is not an elderly person's key, the left rear warning area and the right rear warning area WWRA set in the first stage warning area setting process are left as they are (second stage warning area setting process).

[0070] The BSM-ECU (left) 60L and BSM-ECU (right) 60R, respectively, detect other vehicles within the warning area set in the warning area setting process during warning processing and warn the driver of other vehicles within the warning area. This warning processing is executed when certain conditions are met, such as the shift position being "R".

[0071] To further explain, in the warning processing, the BSM-ECU (right) 60R determines whether there is another vehicle that is expected to approach from the right rear of vehicle 1A and reach the right rear side of vehicle 1 within the set time for the right rear warning area set in the warning area setting process, based on object information supplied from the right rear radar sensor 61R (distance from vehicle 1 to the detected object, the relative speed of the object with respect to vehicle 1, and the bearing of the object with respect to vehicle 1, etc.). If the BSM-ECU (right) 60R determines that such another vehicle exists, it flashes the right door mirror indicator 62R and transmits buzzer activation command information to the meter ECU 30 via the BSM-ECU (left) 60L. Upon receiving the buzzer activation command information, the meter ECU 30 outputs a buzzer sound from a speaker (not shown) connected to the meter ECU 30.

[0072] Furthermore, in the alarm processing, the BSM-ECU (left) 60L determines, based on object information supplied from the left rear radar sensor 61L, whether there is another vehicle that is expected to approach the vehicle 1A from the left rear and reach the left rear side of the vehicle 1 within the set time for the left rear setting time alarm area of ​​the left rear alarm area set in the alarm area setting process. If the BSM-ECU (left) 60L determines that such another vehicle is present, it flashes the left door mirror indicator 62L and transmits buzzer activation command information to the meter ECU 30. Upon receiving the buzzer activation command information, the meter ECU 30 outputs a buzzer sound from a speaker (not shown) connected to the meter ECU 30.

[0073] The above transformation exampleAccording to the system, if the user key is a non-elderly key, the initially set alarm area is not expanded, but if it is an elderly key, the initially set alarm area is expanded. This makes it possible to set the alarm area to suit the user while minimizing the burden on the user's operation, for example, providing an earlier alarm for one user and reducing the inconvenience of alarm intervention for another. In addition, when the user key is an elderly key, alarms are more likely to be triggered than when the user key is a non-elderly key, thereby enhancing driver assistance for the elderly.

[0074] Furthermore, the contents described in the above embodiments and the contents described in the above modifications may be combined as appropriate.

[0075] The present invention is widely applicable to vehicle control devices that assist the driver in driving. [Explanation of Symbols]

[0076] 1: Vehicle (Own vehicle) 2,3: Other vehicles 10: Vehicle control devices 20: Body ECU 30: Meter ECU 40: CVT-ECU 50: VSC-ECU 60L:BSM-ECU (left) 60R: BSM-ECU (Right)

Claims

1. A vehicle control device that performs predetermined control based on the presence of another vehicle to the rear or side of its own vehicle, A determination means for determining whether the user's portable device is a specified portable device, Setting means to perform setting processing related to the control target area, such that if the user's portable device is not the predetermined portable device, the control target area for which the predetermined control is performed becomes the first control target area, and if the user's portable device is the predetermined portable device, the control target area becomes a second control target area different from the first control target area. Equipped with, The control target area includes a first area relating to the blind spot of the door mirrors provided on the vehicle itself, and a second area relating to the intrusion of another vehicle into the first area within a set time. The second region changes depending on the speed of the vehicle itself and the speed of the other vehicle. A vehicle control device characterized by the following.

2. The vehicle control device according to claim 1, characterized in that the setting means performs the setting process so that the second control target area is set to be wider than the first control target area.

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