Vehicle control device

Abstract

This vehicle control device (1) controls onboard devices (5, 6, 7) on the basis of a two-wheeled vehicle (12) that is traveling in the surroundings of a vehicle (10). The vehicle control device (1) comprises: a detection unit (2) that detects the travel state of the two-wheeled vehicle (12) and also detects meandering on the basis of the tilt of the vehicle body of the two-wheeled vehicle (12); and a control unit (3) that executes warning control that encourages a passenger of the vehicle (10) to be cautious of the two-wheeled vehicle (12) when the detection unit (2) has detected meandering on the basis of the tilt of the vehicle body of the two-wheeled vehicle (12).

Description

Vehicle control device

[0001] The present invention relates to a vehicle control device that controls an in-vehicle device based on the situation around the vehicle.

[0002] In a vehicle control device that controls an on-board device, there is known a technology that improves the running stability and safety of a vehicle by implementing control according to the surrounding conditions. For example, there is known a technology that predicts a cutting-in behavior of a motorcycle traveling ahead in a different lane while implementing a control to follow a preceding vehicle, and increases or decreases the following speed. The cutting-in behavior of a motorcycle can be determined, for example, based on the inclination of the motorcycle captured by a camera (see Patent Document 1).

[0003] Japanese Patent Application Laid-Open No. 2012-224316

[0004] Cutting in is not the only type of motorcycle behavior that poses a high risk to a vehicle. For example, aggressive driving, such as approaching a vehicle from behind or to the side while snaking through multiple lanes, poses a threat to the safe driving of the vehicle. Existing technology does not adequately consider how to deal with such motorcycle threats, and there is room for improvement in terms of vehicle driving stability and safety.

[0005] One of the objects of the present invention has been devised in light of the above-mentioned problems, and is to provide a vehicle control device that can improve the running stability and safety of a vehicle. However, in addition to this object, another object of the present invention is to achieve effects derived from the respective configurations shown in the "Mode for Carrying Out the Invention" below, which cannot be obtained by conventional techniques.

[0006] The disclosed vehicle control device can be realized as the following disclosed aspects (application examples) and solves at least part of the above-mentioned problems. Each of the aspects from aspect 2 onwards is an aspect that can be selected as an additional aspect, and each of the aspects from aspect 2 onwards is an aspect that can be omitted. None of the aspects from aspect 2 onwards discloses an aspect or configuration that is essential to the present invention.

[0007] Aspect 1. The disclosed vehicle control device controls an on-vehicle device based on a two-wheeled vehicle traveling around the host vehicle, and includes a detection unit that detects the traveling state of the two-wheeled vehicle and detects meandering based on the tilt of the body of the two-wheeled vehicle, and a control unit that, when the detection unit detects the meandering based on the tilt of the body of the two-wheeled vehicle, executes warning control to alert an occupant of the host vehicle to be wary of the two-wheeled vehicle.

[0008] Aspect 2. In the aspects including Aspect 1 described above, it is preferable that the control unit changes the output of the warning control based on the traveling state detected by the detection unit. For example, the control unit may change the size (display area) or color of the display that calls for caution against the motorcycle. Furthermore, the control unit may change the tone, voice, or volume of the display that calls for caution against the motorcycle.

[0009] Aspect 3. In the aspects including Aspect 1 described above, it is preferable that the control unit changes the timing for starting the warning control based on the driving state detected by the detection unit. For example, the control unit may change a threshold value for an area related to the warning control start condition (an area defined so that the warning control is started when a detection object enters the area) or a TTC (Time To Collision, the time obtained by dividing the distance to the detection object by its relative speed).

[0010] Aspect 4. In the aspect including Aspect 1 described above, it is preferable that the control unit increases the steering reaction force in a direction in which the host vehicle approaches the two-wheeled vehicle, based on the traveling state detected by the detection unit.

[0011] According to the disclosed vehicle control device, by implementing warning control when meandering is detected based on the tilt of the two-wheeled vehicle body, it is possible to encourage caution against dangerous two-wheeled vehicles and improve the vehicle's driving stability and safety.

[0012] FIG. 1 is a block diagram of a vehicle to which a vehicle control device according to an embodiment is applied. FIG. 2 is a diagram illustrating the display contents of a meter display. FIG. 3 is a diagram illustrating an area related to motorcycle warning control. (A) to (F) are tables illustrating warning points and their total values ​​related to motorcycle warning control. (A) to (D) are diagrams illustrating information displayed on the meter display. FIG. 4 is a flowchart relating to the control of a vehicle control device. FIG. 5 is a flowchart relating to the control of a vehicle control device. FIG. 6 is a modified example of the flowchart shown in FIG.

[0013] The disclosed vehicle control device is applied to vehicles such as automobiles and motorcycles, and controls an in-vehicle device based on the surrounding conditions of the vehicle. The surrounding conditions include, for example, the presence (state) and movement of other vehicles, obstacles, objects, people, etc. Information about the surrounding conditions of the vehicle may be detected by, for example, a detection means (camera, laser radar, millimeter-wave radar) mounted on the vehicle, or may be acquired from an external traffic management system or another vehicle via a network.

[0014] Specific examples of the in-vehicle devices controlled by the vehicle control device include display devices (meter displays, navigation displays, head-up displays, projectors, side mirror monitors, rearview mirror monitors), audio devices (speakers, woofers, headphones), power steering devices, drive devices (engines, motors), braking devices, transmissions, etc. The vehicle control device of this embodiment controls the in-vehicle devices based on two-wheeled vehicles traveling around the host vehicle.

[0015] The vehicle control device may not only control the occupants of the vehicle itself, but also control the occupants of other vehicles and motorcycles in the vicinity. For example, the vehicle control device may control not only display devices and audio devices provided inside the vehicle itself, but also display devices and audio devices provided facing the exterior of the vehicle. The vehicle control device may also control wireless communication devices that transmit and receive information to and from other vehicles and motorcycles in the vicinity and a server via a wireless communication network. For example, the vehicle control device may not only control the occupants of the vehicle itself to be notified of the presence of a highly dangerous motorcycle, but also control the occupants of other vehicles and motorcycles in the vicinity.

[0016] 1 is a block diagram showing the configuration of a vehicle 10 (host vehicle) to which a vehicle control device 1 according to an embodiment is applied. The vehicle 10 is provided with a camera 4, a meter display 5, a speaker 6, and a power steering device 7. The camera 4 is an imaging device that is an example of an input device that inputs information to the vehicle control device 1. The camera 4 is provided in a position that allows it to capture images of the surroundings of the vehicle 10, for example, one camera each on the front, rear, left, and right sides of the vehicle 10. Images captured by the camera 4 are transmitted to the vehicle control device 1.

[0017] The meter display 5, the speaker 6, and the power steering device 7 are each an on-board device mounted on the vehicle 10 and are examples of output devices controlled by the vehicle control device 1. The meter display 5 is a display device that outputs visual information related to the driving state of the vehicle 10 and is provided, for example, in front of the driver's seat. The speaker 6 is an audio device that outputs voice and music and is provided, for example, on the instrument panel or a side door. The power steering device 7 is a device that reduces the driver's effort in steering by adding an assist force (assist torque) to the steering force of the manual steering and the driving force of the steering angle adjustment mechanism (steering device). The power steering device 7 includes, for example, an electric power steering device and a hydraulic power steering device.

[0018] 2 is a diagram showing the display contents of the meter display 5. A speedometer indicating the traveling speed of the vehicle 10 and a power meter indicating the output are displayed on both the left and right sides of the meter display 5. An information area 8 is provided in the center between the speedometer and the power meter. The information area 8 can display information indicating the situation around the vehicle 10, information indicating the operating status of on-board devices, information detected by various sensors, etc.

[0019] The vehicle control device 1 is a computer (electronic control device) that incorporates a processor (arithmetic processing unit) and memory (storage device). The vehicle control device 1 acquires information about at least a two-wheeled vehicle 12 (see FIG. 3 ) traveling around the vehicle 10 from images captured by the camera 4, and controls the on-board devices based on the two-wheeled vehicle 12. The contents of control by the vehicle control device 1 (control program) are stored in the memory and are read into the processor and executed as appropriate.

[0020] The vehicle control device 1 includes a detection unit 2 and a control unit 3. These elements are shown by conveniently classifying the functions included in the vehicle control device 1, and can be realized by software (programs) or hardware (electronic control circuits). These elements may be integrated into one piece of software or hardware, or may be distributed across multiple pieces of software and hardware.

[0021] The detection unit 2 detects information relating to the situation around the vehicle 10. The information detected by the detection unit 2 includes information about other vehicles 11 and two-wheeled vehicles 12 (see FIG. 3) traveling around the vehicle 10. The detection unit 2 has the function of detecting at least the traveling state of the two-wheeled vehicle 12, and detecting meandering based on the tilt of the body of the two-wheeled vehicle 12. The detection unit 2 of this embodiment has the function of detecting the following information relating to the traveling state of the two-wheeled vehicle 12 by applying known image processing to the image captured by the camera 4: - Separation distance - Speed ​​(longitudinal speed, lateral speed, absolute speed, relative speed) - Occupant status (number of occupants, whether or not a helmet is worn) - Snaking status (body tilt, roll angle) - Amount of change in traveling speed (acceleration) - Degree of lateral sway

[0022] The control unit 3 performs control based on the information detected by the detection unit 2. For example, when a high-risk motorcycle 12 is found near the vehicle 10, the control unit 3 performs motorcycle warning control (warning control) to warn the motorcycle 12. For example, when the detection unit 2 detects that the motorcycle 12 is meandering based on the tilt of the body of the motorcycle 12, the control unit 3 performs motorcycle warning control. The risk level of the motorcycle 12 is determined based on, for example, the state of the occupant of the motorcycle 12 and the driving state of the motorcycle 12. When a low-risk motorcycle 12 or another vehicle 11 other than the motorcycle 12 is present near the vehicle 10, normal warning control is performed, which is warning control with a lower level of urgency and warning compared to motorcycle warning control.

[0023] The motorcycle warning control includes a host vehicle motorcycle warning control in which a warning is issued to the occupants of the vehicle 10, and a nearby vehicle motorcycle warning control in which a warning is issued to the occupants of other vehicles 11 (including the motorcycle 12). In this embodiment, the former control will be described in detail. The latter control includes a direct warning control in which a warning is issued directly to the outside of the vehicle 10, and an indirect warning control in which a warning is issued indirectly via a wireless communication network.

[0024] 3 is a diagram for explaining control areas related to the motorcycle warning control and the normal warning control. In FIG. 3, a first region R １ represents the area of ​​the other vehicle 11 related to the start condition of the normal warning control, and the second area R ２ represents the region of the motorcycle 12 related to the start condition of the motorcycle warning control. １ and the second region R ２ The width of the second region R is set to be narrower than the range (for example, a range of about 100 meters in radius) in which the detection unit 2 can detect other vehicles 11 and motorcycles 12. ２ is the first region R １ It is set as a wide area that completely encompasses the

[0025] In the normal warning control, when the detection unit 2 detects another vehicle 11 (including a two-wheeled vehicle 12 with a low risk of danger), the other vehicle 11 is within the first region R １ The condition is that the vehicle enters the first region R.１ is set as a rectangular range of several tens of meters in the front-rear direction and several meters in the left-right direction, with the vehicle 10 at the center. On the other hand, the motorcycle warning control is performed when the detection unit 2 detects a motorcycle 12 that is highly dangerous and the motorcycle 12 is within the first region R １ The second region R ２ This allows the high-risk motorcycle 12 to be treated as an object requiring early vigilance over a wider range than other vehicles 11. Therefore, the rider is urged to be on guard for the high-risk motorcycle 12 at an earlier timing than for other vehicles 11.

[0026] The content of the motorcycle warning control can be changed depending on the danger level of the motorcycle 12. Specific details will be described later. The danger level of the motorcycle 12 can be evaluated based on the state of the riders on the motorcycle 12 and the driving state of the motorcycle 12, and can be evaluated based on at least one of the following, for example: the number of riders on the motorcycle 12, whether the riders are wearing helmets, the acceleration of the motorcycle 12, the swaying of the motorcycle 12, and the meandering (degree of meandering) of the motorcycle 12.

[0027] Similarly, the timing to start the motorcycle warning control can be changed depending on the degree of danger of the motorcycle 12. For example, the higher the degree of danger of the motorcycle 12, the closer the second region R ２ On the other hand, the lower the risk of the motorcycle 12, the shorter the second range R ２ is reduced to the first region R １ It may be closer to the size of

[0028] 4A to 4F are tables illustrating warning points, which are index values ​​that quantify the degree of danger of the motorcycle 12. The control unit 3 calculates warning points for each detection target and their total value based on the information detected by the detection unit 2. The control unit 3 also evaluates the danger of each detection target based on the total value of the warning points and determines the content of motorcycle warning control. If there are multiple detection targets, the content of motorcycle warning control is determined based on the highest total value.

[0029] 4A is a table illustrating the relationship between the number of occupants of the motorcycle 12 and the warning points. When there is one occupant, the warning point for the number of occupants is 0. When there are two occupants, the warning point is 1, and when there are three or more occupants, the warning point is 2. Note that the warning points may be increased or decreased depending not only on the number of occupants but also on their physique and age (adult, child).

[0030] 4B is a table illustrating the relationship between the helmet wearing status of the rider of the motorcycle 12 and the warning points. If the rider is wearing a helmet, the warning point for the helmet wearing status is 0. If the rider is not wearing a helmet, the warning point is 1. Note that the warning points may be increased or decreased depending on the type of helmet (full-face type, half-helmet type).

[0031] 4(C) is a table illustrating the relationship between the acceleration (amount of change in speed per unit time) of the two-wheeled vehicle 12 and the warning point. When the acceleration of the two-wheeled vehicle 12 is small (less than the first acceleration), the warning point for acceleration is 0. When the acceleration is medium (greater than the first acceleration and less than the second acceleration), the warning point is 1, and when the acceleration is large (greater than the second acceleration), the warning point is 2. The values ​​of the first acceleration and the second acceleration may be fixed values ​​that are set in advance, or may be variable values ​​that are set depending on the traveling state of the vehicle 10 and the position of the two-wheeled vehicle 12.

[0032] 4(D) is a table illustrating the relationship between the sway of the two-wheeled vehicle 12 (lateral speed, amount of lateral position change per unit time) and the warning point. When the sway of the two-wheeled vehicle 12 is small (lateral speed is less than a first speed), the warning point for the sway is 0. When the sway is medium (lateral speed is equal to or greater than a first speed and less than a second speed), the warning point is 1, and when the acceleration is high (lateral speed is equal to or greater than a second speed), the warning point is 2. The values ​​of the first speed and the second speed may be fixed values ​​set in advance, or may be variable values ​​set depending on the traveling state of the vehicle 10 and the position of the two-wheeled vehicle 12.

[0033] 4(E) is a table illustrating the relationship between the meandering (body tilt, roll angle) of the two-wheeled vehicle 12 and the warning point. When the meandering of the two-wheeled vehicle 12 is small (the roll angle is less than a first angle and the body tilt is small), the warning point for the meandering is 0. When the meandering is medium (the roll angle is equal to or greater than a first angle and less than a second angle and the body tilt is medium), the warning point is 1, and when the meandering is large (the roll angle is equal to or greater than a second angle and the body tilt is large), the warning point is 2.

[0034] The values ​​of the first angle and the second angle may be preset fixed values ​​or variable values ​​set according to the traveling state of the vehicle 10 and the position of the motorcycle 12. Furthermore, the warning point may be added or subtracted according to various parameters, such as the roll angle, roll angular velocity, steering angle, steering angular velocity, and vehicle speed. Detection of meandering based on the tilt of the vehicle body (roll angle) can be determined immediately from the instantaneous posture of the motorcycle 12, and is suitable for highly immediate risk assessment. That is, a determination based on sway (lateral position change) as shown in FIG. 4(D) requires checking the movement of the motorcycle 12 over a certain time span, which takes time to determine the risk. In contrast, a determination based on the tilt of the vehicle body (roll angle) can be performed in a short time.

[0035] 4(F) is a table illustrating the relationship between the total value of the warning points and the contents of motorcycle warning control. If the total value of the warning points is 0, the motorcycle 12 is evaluated as being at a low risk, and motorcycle warning control is not implemented. On the other hand, if the total value of the warning points is 1 or more, the motorcycle 12 is evaluated as being at a high risk, and motorcycle warning control is implemented. Motorcycle warning control includes multiple control contents that vary in the strength of the warning call to the rider.

[0036] If the total value of the warning points is 1 to 2, the control details of level 1, which calls for the least amount of caution, are implemented. If the total value of the warning points is 3 to 4, the control details of level 2, which calls for a slightly stronger amount of caution, are implemented, and if the total value of the warning points is 5 or more, the control details of level 3, which calls for the most severe amount of caution, are implemented. The range of total values ​​of the warning points corresponding to each level can be changed as appropriate.

[0037] The motorcycle warning control of this embodiment includes the following three types of control: Display control of the meter display 5; Sound control of the speaker 6; Steering reaction force control of the power steering device 7. Display control and sound control are included in each of the control contents of levels 1 to 3, and are set so that the higher the level, the stronger the control intensity. Steering reaction force control is included in the control contents of a relatively high level, and is set to be included only in the motorcycle warning control of level 3, for example. Steering reaction force control is a control that increases the steering reaction force to suppress steering of the vehicle 10 in a direction that approaches the motorcycle 12, which is a high risk. By implementing steering reaction force control, steering operation in the direction of approaching the motorcycle 12 becomes heavier, making it easier to avoid unintended contact between the vehicle 10 and the motorcycle 12.

[0038] 5A to 5D are diagrams for explaining information displayed on the meter display 5. FIG. 5A is an example of the display in the information area 8 during normal warning control. FIG. 5B to 5D are examples of the display in the information area 8 during motorcycle warning control at levels 1 to 3. In the center of the information area 8, an image is displayed that simulates a bird's-eye view of the vehicle 10 from above behind the vehicle. In normal warning control, the first area R １ An icon corresponding to the other vehicle 11 or motorcycle 12 present inside the area is displayed at the corresponding position on the image. At this time, sound control of the speaker 6 and steering reaction force control of the power steering device 7 are not performed.

[0039] In level 1 motorcycle warning control, compared to normal warning control, information is displayed that encourages caution somewhat more strongly. For example, as shown in FIG. 5B , the outline of an icon corresponding to a high-risk motorcycle 12 is highlighted in yellow, and an arrow indicating the direction of travel of the motorcycle 12 is displayed. The size of the icon (the area where the warning is displayed) may be enlarged. Additionally, sound control is implemented, in which a low-volume warning sound (e.g., an intermittent sound with a relatively long silent period) is emitted from the speaker 6, and a corresponding mark is displayed. In this case, steering reaction force control of the power steering device 7 is not implemented.

[0040] In level 2 motorcycle warning control, information is displayed that urges greater vigilance than in level 1 motorcycle warning control. For example, as shown in FIG. 5C , the outline of an icon corresponding to a highly dangerous motorcycle 12 is highlighted in red, and an enlarged arrow indicating the direction of travel of the motorcycle 12 is displayed. The size of the icon (the area where the warning is displayed) may be further enlarged. Additionally, sound control is implemented to emit a relatively loud warning sound (e.g., an intermittent sound with a relatively short silent period) from the speaker 6, and a corresponding mark is displayed. In this case, steering reaction force control of the power steering device 7 is not implemented.

[0041] Level 3 motorcycle warning control displays information that urges greater vigilance than Level 2 motorcycle warning control. For example, as shown in FIG. 5(D), an icon corresponding to a highly dangerous motorcycle 12 is displayed in a larger, more highlighted form, with an arrow indicating the direction of travel of the motorcycle 12 and an area corresponding to the direction of travel displayed in color. Also, along the top and bottom edges of the information area 8, patterns resembling barricade tape (restrictive lines) are drawn. Furthermore, sound control is implemented to sound a loud, strong warning sound (e.g., a continuous sound with no silent periods) from the speaker 6, and steering reaction force control is implemented for the power steering device 7, with corresponding marks also displayed.

[0042] 6 is a flowchart relating to the determination of the start conditions for normal warning control and motorcycle warning control. The control shown in this flowchart is repeatedly performed at a predetermined cycle when the main power supply of the vehicle 10 is turned on. Steps A1 to A5 mainly correspond to the control when another vehicle 11 is present around the vehicle 10, and steps A6 to A15 mainly correspond to the control when a motorcycle 12 is present around the vehicle 10.

[0043] In step A1, the detection unit 2 detects information about the situation around the vehicle 10 based on the image captured by the camera 4. In step A2, it is determined whether or not a two-wheeled vehicle 12 is present around the vehicle 10. If a two-wheeled vehicle 12 is present, the process proceeds to step A6, and if not, the process proceeds to step A3. In step A3, it is determined whether or not another vehicle 11 other than the two-wheeled vehicle 12 is present around the vehicle 10. If another vehicle 11 is present, the process proceeds to step A4, and if not, the control for this cycle ends.

[0044] In step A4, the other vehicle 11 determined to be present in step A3 is detected in the first region R １ It is determined whether the other vehicle 11 is inside the first region R １ If the other vehicle 11 is within the first area R, the process proceeds to step A5, and the control unit 3 executes normal warning control. In the normal warning control, an icon corresponding to the other vehicle 11 is displayed in the information area 8 of the meter display 5. On the other hand, if the other vehicle 11 is within the first area R １ If it is not inside, the control for this cycle ends.

[0045] In step A6, the detection unit 2 detects the state of the rider and the riding state of the two-wheeled vehicle 12 determined to be present in step A2. The following steps A7 to A11 are condition determination steps for determining whether the risk level of the two-wheeled vehicle 12 is low or high. In step A7, it is determined whether there is one rider. If there is one rider, the process proceeds to step A8, and if there are two or more riders, the process proceeds to step A14.

[0046] In step A8, it is determined whether the rider is wearing a helmet. If the rider is wearing a helmet, the process proceeds to step A9. If the rider is not wearing a helmet, the process proceeds to step A14. In step A9, it is determined whether the acceleration of the motorcycle 12 is small (less than the first acceleration). If the acceleration is small, the process proceeds to step A10. If not, the process proceeds to step A14.

[0047] In step A10, it is determined whether the wobbling of the two-wheeled vehicle 12 is small (the speed in the left-right direction is less than a first speed). If the wobbling is small, the process proceeds to step A11; if not, the process proceeds to step A14. In step A11, it is determined whether the meandering is small (the roll angle is less than a first angle) based on the inclination of the body of the two-wheeled vehicle 12. If the meandering is small, the process proceeds to step A12; if not, the process proceeds to step A14.

[0048] The fact that the control proceeds to step A12 means that the control unit 3 has determined that the risk of the two-wheeled vehicle 12 is low. １ It is determined whether the two-wheeled vehicle 12 is inside the first region R １ If the motorcycle 12 is located inside the first area R, the process proceeds to step A13, where the control unit 3 executes normal warning control. In the normal warning control, for example, as shown in FIG. 5A, an icon corresponding to the motorcycle 12 is displayed in the information area 8 of the meter display 5. On the other hand, if the motorcycle 12 is located inside the first area R, the process proceeds to step A14. １ If it is not inside, the control for this cycle ends.

[0049] On the other hand, the fact that the control proceeds to step A14 means that the control unit 3 has determined that the motorcycle 12 is in a high risk of danger. ２ It is determined whether the two-wheeled vehicle 12 is inside the second region R ２ If the vehicle is inside the warning zone, the process proceeds to step A15, where the control unit 3 executes motorcycle warning control. In the motorcycle warning control, the vehicle is urged to be more vigilant than in the normal warning control, as shown in Figures 5(B) to 5(D), for example.

[0050] 7 and 8 are flowcharts for changing the content of motorcycle warning control depending on the degree of danger of the motorcycle 12. The control shown in this flowchart is implemented, for example, in step A15 of FIG. 6 (when it is decided to implement motorcycle warning control). In step B1 of FIG. 7, the value of variable P, which corresponds to the warning point, is reset to 0. In the following steps B2 to B5, the number of occupants is classified into three categories: "one, two, other (three or more)," and "0, 1, 2" is added to the value of variable P in each case. In steps B6 and B7, the helmet status of the occupant is classified into two categories: "with helmet, other (no helmet)," and "0, 1" is added to the value of variable P in each case.

[0051] In steps B8 to B11, the magnitude of the acceleration of the two-wheeled vehicle 12 is classified into three categories: "small, medium, other (large)," and "0, 1, 2" is added to the value of the variable P in each case. In steps B12 to B15, the magnitude of the sway of the two-wheeled vehicle 12 is classified into three categories: "small, medium, other (large)," and "0, 1, 2" is added to the value of the variable P in each case. In steps B16 to B19, the magnitude of the meandering of the two-wheeled vehicle 12 is classified into three categories: "small, medium, other (large)," and "0, 1, 2" is added to the value of the variable P in each case.

[0052] In step B20 shown in Figure 8, it is determined whether the value of variable P is equal to or greater than 1 and equal to or less than 2. If this condition is met, the process proceeds to step B22, where the control unit 3 implements level 1 motorcycle warning control. If the condition of step B20 is not met, the process proceeds to step B21. In step B21, it is determined whether the value of variable P is equal to or greater than 3 and equal to or less than 4. If this condition is met, the process proceeds to step B23, where the control unit 3 implements level 2 motorcycle warning control. If the condition of step B21 is not met, the process proceeds to step B24, where the control unit 3 implements level 3 motorcycle warning control.

[0053] [3. Effects] (1) The vehicle control device 1 of this embodiment controls on-board devices (meter display 5, speaker 6, power steering device 7) based on a two-wheeled vehicle 12 traveling around the host vehicle 10, and includes a detection unit 2 and a control unit 3. The detection unit 2 detects the traveling state of the two-wheeled vehicle 12 and detects meandering based on the tilt of the body of the two-wheeled vehicle 12. When the detection unit 2 detects meandering of the two-wheeled vehicle 12 based on the tilt of the body, the control unit 3 implements two-wheeled vehicle warning control that prompts the occupant of the host vehicle 10 to be wary of the two-wheeled vehicle 12.

[0054] The control unit 3 can display an alarm on the meter display 5 and output an alarm sound from the speaker 6. For example, if a motorcycle 12 is tailgating the host vehicle 10, the control unit 3 can immediately evaluate the danger level of the motorcycle 12 and notify the occupant of the host vehicle 10. In this way, the occupant of the host vehicle 10 can be made aware of the presence of a highly dangerous motorcycle 12 in a quick and easy-to-understand manner, thereby improving the driving stability and safety of the host vehicle 10.

[0055] The detection unit 2 can detect meandering based on the inclination (roll angle) of the body of the two-wheeled vehicle 12. For example, the detection unit 2 detects the roll angle of the two-wheeled vehicle 12 based on an image captured by the camera 4. If the roll angle is equal to or greater than a first angle, the control unit 3 determines that the meandering is not small and implements two-wheeled vehicle warning control. In this way, by determining whether or not to implement two-wheeled vehicle warning control based on the inclination (roll angle) of the body, the degree of meandering of the two-wheeled vehicle 12 can be determined accurately in a short time. This can further improve the driving stability and safety of the host vehicle 10.

[0056] (2) The control unit 3 can change the output of the motorcycle warning control based on the driving state detected by the detection unit 2. For example, the control unit 3 can change the display area and color of the warning displayed on the meter display 5, and can change the tone and volume of the warning sound output from the speaker 6. This configuration can efficiently and reliably alert the occupants of the vehicle 10 to the presence of a highly dangerous motorcycle 12, further improving the driving stability and safety of the vehicle 10.

[0057] (3) The control unit 3 can change the timing for starting the motorcycle warning control based on the running state detected by the detection unit 2. For example, the second region R ２ may be increased as the danger level of the motorcycle 12 increases. With this configuration, the higher the detected danger level of the motorcycle 12, the earlier the motorcycle warning control is initiated to alert the occupants of the host vehicle 10, thereby further improving the driving stability and safety of the host vehicle 10.

[0058] (4) The control unit 3 can increase the steering reaction force in a direction in which the host vehicle 10 approaches the motorcycle 12 based on the traveling state detected by the detection unit 2. For example, as shown in FIG. 5(D) and FIGS. 7 and 8, the control unit 3 can control the steering reaction force of the power steering device 7 in level 3 motorcycle warning control. This configuration can suppress steering of the host vehicle 10 in a direction in which the host vehicle 10 approaches the motorcycle 12, thereby preventing the host vehicle 10 and the motorcycle 12 from approaching or coming into contact with each other. This can further improve the traveling stability and safety of the host vehicle 10 and other vehicles 11 in the vicinity.

[0059] [4. Other] The above-described embodiments are merely illustrative and are not intended to exclude various modifications or applications of techniques not explicitly described in the present embodiments. Each configuration of the present embodiments can be modified in various ways without departing from the spirit of the present embodiments. Furthermore, each configuration of the present embodiments can be selected as needed, or can be appropriately combined with various configurations included in known techniques.

[0060] In the above embodiment, the motorcycle 12 is in the second region R ２ However, the condition for starting the motorcycle warning control is not limited to this. The same applies to the condition for starting the normal warning control. For example, the TTC for the detected objects around the vehicle 10 may be calculated, and the motorcycle warning control or the normal warning control may be started based on the TTC value.

[0061] Specifically, for a low-risk motorcycle 12 or another vehicle 11 other than a motorcycle 12, normal warning control is initiated when the TTC is within a first time period (e.g., 5 seconds). On the other hand, for a high-risk motorcycle 12, motorcycle warning control is initiated when the TTC is within a second time period (e.g., 8 seconds) that is longer than the first time period. In this way, by changing the TTC threshold to a larger value, it is possible to prompt the rider to be alert to a high-risk motorcycle 12 at an early stage.

[0062] A wide variety of types of control can be assumed to be implemented depending on the state of the occupant of the motorcycle 12. For example, in the above embodiment, a motorcycle warning control for the host vehicle, which is one type of control depending on the state of the occupant of the motorcycle 12, is implemented. However, in addition to (or instead of) this, a motorcycle warning control for another vehicle may also be implemented. Also, in the above embodiment, display control, sound control, and steering reaction force control are implemented as specific examples of motorcycle warning control for the host vehicle, but driving force control, braking force control, gear shift control, etc. may also be implemented. At least by detecting the state of the occupant of the motorcycle 12 and implementing control depending on the state of the occupant, it is possible to improve the driving stability and safety of the host vehicle 10 and other surrounding vehicles 11.

[0063] In the above embodiment, the vehicle control device 1 that selectively uses normal warning control and motorcycle warning control has been described in detail, but the vehicle control device 1 may also be configured to perform only motorcycle warning control. Furthermore, the start condition for motorcycle warning control may include at least "detection of meandering based on the tilt of the body of the motorcycle 12." This meandering may be detected based on the tilt of the body of the motorcycle 12. For example, the detection unit 2 may detect meandering when the roll angle of the motorcycle 12 is equal to or greater than a first angle.

[0064] FIG. 9 is a modified example of the flowchart shown in FIG. 6 . Steps A1 and A2 in FIG. 9 correspond to steps A1 and A2 in FIG. 6 . If a motorcycle 12 is present in step A2, the process proceeds to step A16; if not, the control for this cycle ends. In step A16, the traveling state and body inclination of the motorcycle 12 are detected. In the following step A17, it is determined whether or not meandering is detected based on the body inclination of the motorcycle 12. If the condition in step A17 is met, the process proceeds to step A18, where motorcycle warning control is implemented. On the other hand, if the condition in step A17 is not met, the control for this cycle ends. This control allows the presence or absence of meandering of the motorcycle 12 to be accurately determined in a short time and to notify the occupant of the vehicle 10, thereby improving the traveling stability and safety of the vehicle 10.

[0065] In the above embodiment, the detection of meandering based on the roll angle corresponding to the inclination of the body of the two-wheeled vehicle 12 has been described in detail, but the detection unit 2 may detect meandering by using various parameters other than the roll angle. For example, the roll angle and roll angular velocity may be used to detect meandering of the two-wheeled vehicle 12. Alternatively, the meandering of the two-wheeled vehicle 12 may be detected by using various parameters such as the steering angle, steering angular velocity, and vehicle speed in addition to the roll angle. By detecting meandering based at least on the inclination of the body of the two-wheeled vehicle 12, the risk level of the two-wheeled vehicle 12 can be immediately evaluated, and the driving stability and safety of the host vehicle 10 can be improved.

[0066] The present invention is applicable to the vehicle control device manufacturing industry and the vehicle manufacturing industry equipped with a vehicle control device.

[0067] REFERENCE SIGNS LIST 1 Vehicle control device 2 Detection unit 3 Control unit 4 Camera 5 Meter display 6 Speaker 7 Power steering device 8 Information area 10 Vehicle (own vehicle) 11 Other vehicle 12 Two-wheeled vehicle R １ First area R ２ second area

Claims

1. A vehicle control device that controls an on-board device based on a two-wheeled vehicle traveling around the host vehicle, comprising: a detection unit that detects the traveling state of the two-wheeled vehicle and detects meandering based on the inclination of the body of the two-wheeled vehicle; and a control unit that, when the detection unit detects the meandering based on the inclination of the body of the two-wheeled vehicle, performs alarm control to alert the occupant of the host vehicle to the two-wheeled vehicle.

2. A vehicle control device according to claim 1, wherein the control unit changes the output of the warning control based on the driving condition detected by the detection unit.

3. A vehicle control device according to claim 1, wherein the control unit changes the timing for starting the warning control based on the driving condition detected by the detection unit.

4. A vehicle control device according to claim 1, wherein the control unit increases the steering reaction force in a direction in which the host vehicle approaches the two-wheeled vehicle based on the running state detected by the detection unit.

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