WO2013121570A1 - Approaching moving body assistance device - Google Patents

Approaching moving body assistance device Download PDF

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Publication number
WO2013121570A1
WO2013121570A1 PCT/JP2012/053727 JP2012053727W WO2013121570A1 WO 2013121570 A1 WO2013121570 A1 WO 2013121570A1 JP 2012053727 W JP2012053727 W JP 2012053727W WO 2013121570 A1 WO2013121570 A1 WO 2013121570A1
Authority
WO
WIPO (PCT)
Prior art keywords
approaching
level
moving body
host vehicle
vehicle
Prior art date
Application number
PCT/JP2012/053727
Other languages
French (fr)
Japanese (ja)
Inventor
川真田　進也
修 尾崎
琢也 上撫
Original Assignee
トヨタ自動車株式会社
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by トヨタ自動車株式会社 filed Critical トヨタ自動車株式会社
Priority to PCT/JP2012/053727 priority Critical patent/WO2013121570A1/en
Publication of WO2013121570A1 publication Critical patent/WO2013121570A1/en

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
    • B60Q1/00—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor
    • B60Q1/02—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to illuminate the way ahead or to illuminate other areas of way or environments
    • B60Q1/04—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to illuminate the way ahead or to illuminate other areas of way or environments the devices being headlights
    • B60Q1/18—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to illuminate the way ahead or to illuminate other areas of way or environments the devices being headlights being additional front lights
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
    • B60Q1/00—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor
    • B60Q1/02—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to illuminate the way ahead or to illuminate other areas of way or environments
    • B60Q1/24—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to illuminate the way ahead or to illuminate other areas of way or environments for lighting other areas than only the way ahead
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R16/00—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for
    • B60R16/02—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for electric constitutive elements
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/16—Anti-collision systems
    • G08G1/166—Anti-collision systems for active traffic, e.g. moving vehicles, pedestrians, bikes
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
    • B60Q2300/00—Indexing codes for automatically adjustable headlamps or automatically dimmable headlamps
    • B60Q2300/40—Indexing codes relating to other road users or special conditions
    • B60Q2300/45—Special conditions, e.g. pedestrians, road signs or potential dangers

Definitions

  • the present invention relates to an approaching moving body support apparatus for an approaching moving body that is present in front of the host vehicle and approaches the host vehicle.
  • Patent Document 1 Conventionally, as a driving assistance device at an intersection, a technique has been proposed that prompts the driver for left and right safety by displaying left and right nose view images on a monitor when a vehicle once starts to enter a stopped intersection ( Patent Document 1).
  • Patent Document 2 a technique has been proposed in which a warning is given to the outside of the vehicle by turning on a headlamp when the vehicle once enters the vicinity of a stop position or an intersection where there is no signal.
  • Patent Document 2 Moreover, in order to notify the pedestrian of the presence of the own vehicle, a technique for lighting a headlamp has been proposed (see Patent Documents 3 and 4).
  • the present invention has been made in view of the above, and an object thereof is to propose an approaching moving body support apparatus that can sufficiently alert the approaching moving body of the presence of the host vehicle. .
  • an approaching mobile body support apparatus is a mobile body detection unit that is located in front of the host vehicle and detects an approaching mobile body approaching the host vehicle.
  • an illuminating means provided in front of the host vehicle, separately from a headlamp provided toward the front of the host vehicle, and capable of visually recognizing at least a part in a vehicle width direction view, and the illumination Control means for performing illumination enhancement level change control for changing the illumination enhancement level of the means, wherein the control means raises the illumination enhancement level when the approaching moving body is detected.
  • the illumination unit is provided in front of the vehicle with respect to the front door panel.
  • the approaching mobile body support apparatus further includes vehicle speed detection means for detecting the host vehicle speed of the host vehicle, wherein the control means changes the illumination enhancement level when the detected host vehicle speed is less than a predetermined speed. It is preferable to perform control.
  • the approaching mobile body support apparatus further includes illuminance detection means for detecting illuminance outside the host vehicle, and the control means is configured such that the illumination is higher when the detected illuminance is higher than when it is lower. It is preferable to increase the emphasis level.
  • the mobile body detection means is provided in front of the front door panel, and when the detection wave output at least in the vehicle width direction is reflected by the approaching mobile body. It is preferable to detect the approaching moving body based on the reflected wave.
  • the approaching mobile body support apparatus further includes own vehicle state detecting means for detecting the state of the own vehicle, and changing the illumination enhancement level according to the state of the own vehicle.
  • the control means acquires mobile body information including at least one of the attributes of the approaching mobile body and an approach speed with respect to the host vehicle based on a detection result of the mobile body detection means. And it is preferable to change the said illumination emphasis level according to the said mobile body information.
  • the approaching mobile body support apparatus further includes a recognition state detection unit that detects a recognition state of the driver of the host vehicle with respect to the approaching mobile body, and the illumination according to the detected recognition state of the driver. It is preferable to change the emphasis level.
  • the approaching mobile body support device further comprising: a recognition state detection unit that detects a recognition state of the driver of the host vehicle with respect to the approaching mobile body, and an indicator that provides information to the driver,
  • the control means determines the degree of danger of the host vehicle according to the state of the host vehicle, performs display enhancement level change control for changing the display enhancement level of the indicator, and the driver
  • the risk level of the host vehicle is high, the display highlight level is not increased as compared with the case where the risk level of the host vehicle is low. It is preferable to raise.
  • the approaching mobile body support device further comprising: a recognition state detection unit that detects a recognition state of the driver of the host vehicle with respect to the approaching mobile body, and an indicator that provides information to the driver
  • the control means obtains moving body information including at least one of the approaching moving body and an approach speed with respect to the host vehicle based on the detection result of the moving body detecting means, and according to the moving body information,
  • performing display enhancement level change control for changing the display enhancement level of the indicator, and when the driver recognizes the approaching moving body
  • the danger level of the approaching moving body is high, the illumination enhancement level is raised and the display enhancement level is not raised compared to the case where the danger level of the approaching moving body is low. It is preferred.
  • the illumination enhancement level is increased, so that the recognition degree of the host vehicle can be increased with respect to the approaching mobile body, There is an effect that it is possible to sufficiently alert the approaching moving body of the presence of the host vehicle.
  • FIG. 1 is a diagram illustrating a schematic configuration example of an approaching mobile body support apparatus according to the embodiment.
  • FIG. 2 is a diagram showing a moving body detection unit and an illumination unit.
  • FIG. 3 is a diagram showing a moving body detection unit and an illumination unit.
  • FIG. 4 is a diagram for explaining the illumination enhancement level.
  • FIG. 5 is an operation explanatory diagram.
  • FIG. 6 is a flowchart of the approaching mobile body support method according to the first embodiment.
  • FIG. 7 is a flowchart of the approaching mobile body support method according to the second embodiment.
  • FIG. 8 is a flowchart of the approaching mobile body support method according to the third embodiment.
  • FIG. 9 is a diagram illustrating another schematic configuration example of the approaching mobile body support apparatus according to the embodiment.
  • FIG. 1 is a diagram illustrating a schematic configuration example of an approaching mobile body support apparatus according to the embodiment.
  • FIG. 2 is a diagram showing a moving body detection unit and an illumination unit.
  • FIG. 3 is a diagram
  • FIG. 10 is a flowchart of the approaching mobile body support method according to the fourth embodiment.
  • FIG. 11 is a diagram illustrating another schematic configuration example of the approaching mobile body support apparatus according to the embodiment.
  • FIG. 12 shows an indicator.
  • FIG. 13 is a flowchart of the approaching mobile body support method according to the fifth embodiment.
  • FIG. 14 is a flowchart of the approaching mobile body support method according to the sixth embodiment.
  • FIG. 1 is a diagram illustrating a schematic configuration example of an approaching mobile body support apparatus according to the embodiment.
  • FIG. 2 is a diagram showing a moving body detection unit and an illumination unit.
  • FIG. 3 is a diagram showing a moving body detection unit and an illumination unit.
  • FIG. 4 is a diagram for explaining the illumination enhancement level.
  • FIG. 5 is an operation explanatory diagram. 2 is a view of the host vehicle 100 as viewed from above, and FIG. 3 is a perspective view of the host vehicle 100 as viewed from the front of the vehicle. Further, FIG. 5 schematically shows the host vehicle 100. As shown in FIG.
  • the approaching mobile body support device 1-1 is mounted on the host vehicle 100 and includes a nasal sensor 3, a support ECU (Electronic Control Unit) 8, and a front side light 9.
  • the vehicle speed sensor 2, the illuminance sensor 4, the accelerator sensor 5, the brake pressure sensor 6, and the direction indication sensor 7 are further configured.
  • the support ECU 8 and other devices such as the nasal sensor 3 are electrically connected by a communication system represented by a CAN communication system, for example.
  • the vehicle speed sensor 2 is vehicle speed detection means and is also one of the own vehicle state detection means for detecting the state of the own vehicle 100.
  • the vehicle speed sensor 2 detects the host vehicle speed V [km / h], which is the speed of the host vehicle 100, and the detected host vehicle speed V is input to the support ECU 8.
  • the vehicle speed sensor 2 is provided on a rotating body on a power transmission path that transmits power generated by a power source (for example, an engine, a motor, etc.) such as a differential gear or an output shaft (not shown) to drive wheels (for example, front wheels FT).
  • the vehicle speed V is detected based on the rotational speed of the rotating body.
  • the vehicle speed sensor 2 may be a wheel speed sensor provided on each wheel.
  • the vehicle speed V is detected based on the wheel speed detected by each wheel speed sensor.
  • the vehicle speed sensor 2 may be a sensor that detects position data of the host vehicle 100 typified by GPS. In this case, the host vehicle speed V is detected based on the detected change in the position data of the host vehicle 100. .
  • the nasal stick sensor 3 is a moving body detection means, and is present at the front side of the own vehicle 100 and detects at least the approaching moving body T approaching the own vehicle 100. As shown in FIGS. 2 and 3, the nasal sensor 3 is located in front of the left and right front door panels 101L and 101R, in the present embodiment, on the front-rear center line extending from the vehicle center in the vehicle front-rear direction and on the front grille 102. Is provided.
  • the nasal sensor 3 includes an output unit (not shown) that outputs detection waves such as electromagnetic waves, infrared rays, and lasers, and a reception unit (not shown) that receives reflected waves of the detection waves.
  • the nasal sensor 3 outputs detection waves respectively in the vehicle width direction, in this embodiment, the vehicle left front side and the vehicle right front side, and left and right detection areas SEL and SER (shown in FIG. 2) that are areas where the detection waves reach.
  • the position, distance, and shape between the object and the host vehicle 100 are detected by receiving the reflected wave reflected by the object existing within the two-dot chain line). Since the nasal sensor 3 periodically outputs detection waves, the moving direction of the object relative to the host vehicle 100 and the approach speed VS can be detected based on a change in the distance between the detected object and the host vehicle 100. . Therefore, an object that approaches the host vehicle 100 among the objects can be detected as the approaching moving body T.
  • the nasal sensor 3 is input to the support ECU 8. Since the nasal sensor 3 is provided in front of the left and right front door panels 101L and 101R of the host vehicle 100, when the host vehicle 100 enters the intersection C from a road that is shielded by walls in the vehicle width direction. In addition, the approaching moving body T present at the intersection C can be detected by the nasal sensor 3 before the driver D. As described above, the nasal sensor 3 is preferably in the forefront of the vehicle, but is preferably provided in front of the vehicle at least in front of the front wheels FT.
  • the front side means that it includes the left and right sides of the vehicle, that is, the vehicle width direction, and may further include the front of the vehicle.
  • the illuminance sensor 4 is an illuminance detection means, and as shown in FIG. 1, detects the illuminance L outside the host vehicle 100, and the detected illuminance L is input to the support ECU 8.
  • the illuminance sensor 4 only needs to be able to detect the brightness outside the host vehicle 100, and is not limited to the one that detects the illuminance L, but may be one that detects luminance, luminous intensity, and the like.
  • the illuminance L may be detected based on the date and time.
  • the accelerator sensor 5 is an acceleration intention detection unit that detects the degree of acceleration intention of the driver D, and is one of the own vehicle state detection units that detects the state of the host vehicle 100.
  • the accelerator sensor 5 detects the amount of depression of the accelerator pedal 10 operated by the driver D to accelerate the host vehicle 100, that is, the accelerator opening A, and the detected accelerator opening A is input to the support ECU 8. Is done.
  • the brake pressure sensor 6 is a deceleration intention detection unit that detects the degree of the driver D's intention to decelerate, and is one of the own vehicle state detection units that detects the state of the host vehicle 100.
  • the brake pressure sensor 6 generates a brake pressure Bp (hydraulic pressure for generating a braking force by a brake device (not shown)) generated in response to depression of the brake pedal 11 operated by the driver D to decelerate the host vehicle 100.
  • the detected brake pressure Bp is input to the support ECU 8.
  • the direction indicating sensor 7 is a turning direction intention detecting means for detecting the intention of the driver D in the turning direction, and is one of the own vehicle state detecting means for detecting the state of the own vehicle 100. As shown in FIGS. 2 and 3, the direction indicating sensor 7 operates a direction indicating lever 12 that outputs an instruction for blinking the left and right turn signals 103 ⁇ / b> L and 103 ⁇ / b> R provided on the left and right sides of the host vehicle 100.
  • the driver D detects the planned turning direction of the driver D, and the detected planned turning direction is input to the support ECU 8.
  • the direction indication lever 12 is not limited, and a switch, voice recognition, or the like may be used.
  • the support ECU 8 is a control means, and performs illumination enhancement level change control for changing the illumination enhancement level of the front side light 9. Further, as shown in FIG. 1, the support ECU 8 has at least functions as an intersection estimation unit 81, an illumination enhancement level determination unit 82, and a front side light control unit 83.
  • the intersection estimation unit 81 estimates that the host vehicle 100 enters the intersection C, particularly a stop intersection. In this embodiment, the intersection estimation unit 81 estimates that the host vehicle 100 enters the intersection C based on the host vehicle speed V.
  • the illumination enhancement level determination unit 82 is based on information input to the support ECU 8, in the present embodiment, whether or not the approaching moving body T is detected, and the illuminance L.
  • the illumination enhancement level X of the direction light 9R is determined.
  • the front side light control unit 83 determines the left illumination enhancement level XL, which is the illumination enhancement level X for the determined left front side light 9L, and the right illumination enhancement level XR, which is the illumination enhancement level X for the right front side light 9R.
  • the light output from the left front side light 9L and the right front side light 9R is controlled.
  • the illumination enhancement level X is, for example, level 0 to level 10, level 0 is only lighting, level 1 to level 10 is blinking, and level 1 to level 10 It is assumed that the corresponding blinking speed (1 to 10) becomes faster toward level 10.
  • the lighting enhancement level X increases in blinking speed as the level increases, and the recognition degree of the host vehicle 100 by the approaching moving body T is improved.
  • the approaching moving body T includes a pedestrian, a bicycle operated by a human, a light vehicle such as an electric cart, a horse, a carriage, and a surrounding vehicle with respect to the own vehicle 100 driven by a human, and the front side light 9 is output.
  • the hardware configuration of the support ECU 8 includes a CPU (Central Processing Unit) that mainly performs arithmetic processing, a memory for storing programs and information (RAM such as SRAM, ROM (Read Only Memory) such as EEPROM), an input / output interface, and the like.
  • RAM Central Processing Unit
  • ROM Read Only Memory
  • the support ECU 8 is electrically connected to a drive source (not shown) mounted on the host vehicle 100, such as an engine ECU that controls the engine, a brake ECU that controls the brake device, a steering ECU that controls the steering assist amount, and the like.
  • a drive source mounted on the host vehicle 100, such as an engine ECU that controls the engine, a brake ECU that controls the brake device, a steering ECU that controls the steering assist amount, and the like.
  • the vehicle speed V, the accelerator opening A, the brake pressure Bp, and the like may be values acquired by these ECUs.
  • the front side light 9 is illumination means, and is provided in front of the host vehicle 100 separately from the left and right headlamps 104L and 104R provided toward the front of the host vehicle 100, as shown in FIGS. Are different.
  • the front side light 9 can be at least partially visible in the vehicle width direction view, in this embodiment, at least a part of the left front side light 9L that can be visually recognized in the vehicle left front side view and the vehicle right side view.
  • the right front side light 9R is formed.
  • the left and right front side lights 9L and 9R are provided in front of the left and right front door panels 101L and 101R, and the left front side light 9L extends from the front bumper 105 to the left front fender 106L.
  • the front side light 9 is provided so as to straddle from the front bumper 105 to the right front fender 106R.
  • the front side light 9 is formed by arranging a plurality of light sources (for example, LEDs) in a band shape, and the light output by the support ECU 8, that is, the lighting method is controlled.
  • the left and right front side lights 9L and 9R output light to the left front side of the vehicle and the right front side of the vehicle, respectively, and left and right output areas LEL and LER (1 shown in FIG. 5). It is possible to make the approaching moving body T existing in the dotted line) recognize the existence of the host vehicle 100.
  • the left and right front side lights 9L and 9R enter the intersection C before the driver D. Therefore, most of the intersection road R2 that intersects the road R1 at the intersection C becomes the left and right output areas LEL and LER.
  • the driver visual recognition area DE (dotted line in the figure) that can be visually recognized by the driver D is limited by the walls W1 and W2 and is one of the vehicles in front of the host vehicle 100. Only the portion where the road R1 and the intersection road R2 intersect among the intersections, that is, the intersection C, is visible.
  • the driver D can approach the vehicle even if there is an approaching moving body T such as a pedestrian T1, a light vehicle T2, and a surrounding vehicle T3 other than the intersection C, in this case, a portion of the intersection road R2 that intersects the road R1.
  • an approaching moving body T such as a pedestrian T1, a light vehicle T2, and a surrounding vehicle T3 other than the intersection C
  • the approaching moving body T cannot be visually recognized, and the presence of the approaching moving body T cannot be recognized.
  • the left and right output areas LEL and LER can include the outside of the driver visual recognition area DE, particularly the road R1 side of the intersection road R2, the approaching moving body T that cannot be visually recognized by the driver D is within the left and right recognition areas LEL and LER.
  • the own vehicle 100 is visually recognized by the approaching moving body T by the left and right front side lights 9L and 9R, and the approaching moving body T can recognize the existence of the own vehicle 100.
  • the front side light 9 is provided so that a part is located in the area
  • FIG. 6 is a flowchart of the approaching mobile body support method according to the first embodiment.
  • the support ECU 8 repeatedly executes the approaching mobile body support method for each preset control cycle.
  • the support ECU 8 acquires information as shown in FIG. 6 (step ST101).
  • the support ECU 8 acquires the host vehicle speed V and the illuminance L in the present embodiment.
  • the intersection estimation unit 81 of the support ECU 8 determines whether or not the own vehicle speed V is less than the predetermined vehicle speed VT (step ST102).
  • the intersection estimation unit 81 determines whether or not the host vehicle 100 enters the intersection C by determining whether or not the host vehicle speed V is less than the predetermined vehicle speed VT.
  • the predetermined vehicle speed VT is a predicted value of the host vehicle speed V when the host vehicle 100 enters the intersection C, in particular, a stop intersection, and is about 10 km / h, for example.
  • the predetermined vehicle speed VT may be set in advance or may be set by the driver D.
  • the illumination enhancement level determination unit 82 of the support ECU 8 sets the left and right illumination enhancement levels XL and XR as reference levels. (Step ST103).
  • the illumination enhancement level determination unit 82 displays the left and right front side lights 9L and 9R at least before the approaching moving body T is detected by the nasal sensor 3.
  • the left and right illumination enhancement levels XL and XR are set to the reference level.
  • the reference level is level 0, which is a level at which the left and right front side lights 9L and 9R are simply turned on.
  • the front side light control unit 83 of the support ECU 8 controls the left and right front side lights 9L and 9R to the reference level (step ST104).
  • the front side light control unit 83 controls the left and right front side lights 9L and 9R so as to be lit up, which is the reference level that is the set left and right illumination enhancement levels XL and XR, in this embodiment, level 0. Therefore, since the left and right front side lights 9L and 9R are turned on when the host vehicle 100 enters the intersection C, the left and right front side lights 9L and 9R are present to the existence other than the approaching moving body T present at the intersection C, for example, a pedestrian who has stopped. Also, the presence of the vehicle 100 at the intersection C can be alerted.
  • the illumination enhancement level determination unit 82 determines whether or not the approaching moving body T has been detected (step ST105). Here, it is determined whether or not the approaching moving body T has been detected by at least one of the left and right front sides by the nostril sensor 3.
  • the illumination enhancement level determination unit 82 determines the left and right illumination enhancement levels XL and XR to be leveled up (step ST106).
  • the illumination enhancement level determination unit 82 determines the left and right illumination enhancement levels XL and XR based on the detection direction in which the approaching moving body T is detected. For example, when the approaching moving body T is detected only at the left front side of the host vehicle 100, the left illumination enhancement level XL is determined as a level-up target, and the approaching moving body T is detected only at the right front side of the host vehicle 100.
  • the right illumination enhancement level XR is determined as a target for level up, and when the approaching moving body T is detected at the left and right front sides of the host vehicle 100, the left and right illumination enhancement levels XL and XR are increased. Decide as a target. In addition, when it determines with the illumination emphasis level determination part 82 not detecting the approaching moving body T (step ST105 negative), the present control period will be complete
  • the illumination enhancement level determination unit 82 increases the left and right illumination enhancement levels XL and XR based on the illuminance L (step ST107).
  • the illumination enhancement level determination unit 82 raises the left and right illumination enhancement levels XL and XR for which the above-described level increase has been determined from the reference level based on the illuminance L, that is, increases the illumination enhancement level X.
  • the amount of increase is changed based on the illuminance L.
  • the illumination enhancement level X is increased compared to when the illuminance L is low.
  • the illumination enhancement level determination unit 82 reduces the amount of increase with respect to the reference level, and when the illuminance L is high, that is, when the outside of the host vehicle 100 is bright, the reference. Increase the amount of up against the level.
  • the illumination enhancement level determination unit 82 increases the illumination enhancement level X from level 0 to level 3 when the illuminance L is low, and increases the illumination enhancement level X from level 0 to level 6 when the illuminance L is high.
  • the illuminance L may be determined based on whether it is higher than the reference illuminance. Further, the increase amount with respect to the illuminance L may be increased as the illuminance L increases. Further, when the illuminance L is sufficiently low, the reference level may be maintained.
  • the front side light control unit 83 performs illumination enhancement level change control of the left and right front side lights 9L and 9R with the left and right illumination enhancement levels XL and XR increased (step ST108).
  • the front side light control unit 83 becomes the left illumination enhancement level XL in which the left front side light 9L is increased with respect to only the left front side light 9L.
  • the illumination enhancement level change control is performed and only the right illumination enhancement level XR is increased, the right illumination enhancement level XR with the right front side light 9R is increased with respect to only the right front side light 9R.
  • the lighting enhancement level change control is performed and both the left and right illumination enhancement levels XL and XR are raised, the left and right front side lights 9L and 9R are raised with respect to both the left and right front side lights 9L and 9R.
  • the illumination enhancement level change control is performed so that the illumination enhancement levels XL and XR are obtained.
  • the support ECU 8 When the intersection estimation unit 81 determines that the host vehicle speed V is equal to or higher than the predetermined vehicle speed VT (No in step ST102), the support ECU 8 resets the control (step ST109), ends the current control cycle, Shift to the control cycle.
  • the support ECU 8 if it is estimated that the host vehicle 100 does not enter the intersection C, the support ECU 8 does not perform the approaching mobile body support method.
  • the approaching mobile body support method is terminated. Therefore, the illumination enhancement level change control of the front side light 9 can be performed only when it is necessary to alert the presence of the host vehicle 100 to the approaching moving body T such as the intersection C and suppress unnecessary alerting. be able to.
  • the illumination enhancement level X of the front side light 9 is increased and the approaching movement is performed.
  • the recognition degree of the own vehicle 100 with respect to the body T can be increased. Accordingly, since it is possible to sufficiently alert the approaching moving body T to the existence of the host vehicle 100, it is possible to suppress the occurrence of an accident at the intersection C. Further, only the illumination enhancement levels XL and XR of the left and right front side lights 9L and 9R corresponding to the detection direction in which the approaching moving body T is detected are raised, and the front side light 9 corresponding to the detection direction in which the approaching moving body T is not detected.
  • the illumination enhancement level X is not increased, the approaching moving body T is present on the left and right front sides, and the side that requires alerting can be surely alerted, and the approaching moving body T does not exist. Inadvertently alerting a side that does not require alerting can be suppressed. Further, even if the illumination enhancement level change control is performed when the illuminance L is low, the illumination enhancement level X can be suppressed from being increased, and excessive alerting to the approaching moving body T can be suppressed. Even if the illumination enhancement level change control is performed when L is high, it is possible to suppress a reduction in the recognition degree of the host vehicle 100 with respect to the approaching mobile body T due to the low illumination enhancement level X. It is possible to suppress the fact that sufficient alerting cannot be performed.
  • the approaching mobile body support apparatus 1-2 according to the second embodiment will be described. Since the basic configuration of the approaching mobile body support apparatus 1-2 according to the second embodiment is the same as that of the approaching mobile body support apparatus 1-1 according to the first embodiment, description of the configuration is omitted.
  • the approaching mobile body support apparatus 1-2 according to the second embodiment is based on the host vehicle risk level Y, which is the risk level of the host vehicle 100 with respect to the approaching mobile body T, according to the state of the host vehicle 100.
  • the illumination enhancement level change control for changing the illumination enhancement level X is performed.
  • FIG. 7 is a flowchart of the approaching mobile body support method according to the second embodiment.
  • the basic procedure of the approaching mobile body support method according to the second embodiment is the same as that of the approaching mobile body support method according to the first embodiment, the description is omitted or simplified depending on the procedure.
  • the support ECU 8 acquires information as shown in FIG. 7 (step ST201).
  • the support ECU 8 acquires the host vehicle speed V, the illuminance L, the accelerator opening A, and the brake pressure Bp in the present embodiment.
  • the intersection estimation unit 81 determines whether or not the own vehicle speed V is less than the predetermined vehicle speed VT (step ST202).
  • the illumination enhancement level determination unit 82 sets the left and right illumination enhancement levels XL and XR as reference levels. (Step ST203).
  • the front side light control unit 83 controls the left and right front side lights 9L and 9R to the reference level (step ST204).
  • the illumination enhancement level determination unit 82 determines whether or not the approaching moving body T has been detected (step ST205). Next, if it determines with the illumination emphasis level determination part 82 having detected the approaching moving body T (step ST205 affirmation), it will determine the left and right illumination emphasis levels XL and XR which level up (step ST206).
  • the illumination enhancement level determination unit 82 increases the left and right illumination enhancement levels XL and XR based on the illuminance L and the vehicle risk Y (step ST207).
  • the illumination enhancement level determination unit 82 determines the vehicle risk determined based on the vehicle speed V, the accelerator opening A, and the brake pressure Bp from which the left and right illumination enhancement levels XL and XR for which the level up has been determined are acquired.
  • the level is raised from the reference level, that is, the illumination enhancement level X is raised.
  • the increase amount is changed based on the illuminance L and the own vehicle risk level Y.
  • the illumination enhancement level X When the illuminance L is high, the illumination enhancement level X is increased compared to the case where the illuminance L is low, and when the own vehicle risk level Y is high, the illumination enhancement level X is increased compared to the case where the own vehicle risk level Y is low.
  • the illumination enhancement level determination unit 82 reduces the increase amount with respect to the reference level when the illuminance L is low, increases the increase amount with respect to the reference level when the illuminance L is high, and increases the reference level when the own vehicle risk level Y is low. If the vehicle risk level Y is high, the up amount with respect to the reference level is increased.
  • the host vehicle risk level Y is determined to be high when the host vehicle speed V is high and low when the host vehicle speed V is low.
  • the host vehicle risk level Y may be determined as high or low depending on whether the host vehicle speed V is faster than the reference vehicle speed.
  • the host vehicle risk level Y is determined to be high when the accelerator opening A is large and low when the accelerator opening A is small. This is because when the accelerator opening A is large, it is considered that the driver D intends to accelerate the host vehicle 100 even at the intersection C, and the host vehicle risk Y is determined to be high.
  • the host vehicle risk level Y may be determined as high or low depending on whether the accelerator opening A is larger than the reference opening, or may be determined as low only when the accelerator opening A is 0 degrees.
  • the host vehicle risk level Y is determined to be high when the brake pressure Bp is small and low when the brake pressure Bp is large. This is because when the brake pressure Bp is small, it is considered that the driver D is less willing to decelerate the host vehicle 100 at the intersection C, and the host vehicle risk Y is determined to be high.
  • the host vehicle risk level Y may be determined as high or low depending on whether or not the brake pressure Bp is smaller than the reference pressure, or may be determined as high only when the brake pressure Bp is zero.
  • the illumination enhancement level determination unit 82 increases the illumination enhancement level X when the host vehicle risk level Y is high by two levels from the illumination enhancement level X when the host vehicle risk level Y is low, the illuminance L is Low, when the own vehicle risk level Y is low, the level 3 and the illuminance L are low, and when the own vehicle risk level Y is high, the level is raised to the level 5 from the reference level, the illuminance L is high, and the own vehicle risk level Y is low Increases from the reference level to level 8 when level 6, illuminance L is high, and own vehicle risk Y is high.
  • the front side light control unit 83 performs illumination enhancement level change control of the left and right front side lights 9L and 9R with the left and right illumination enhancement levels XL and XR being increased (step ST208).
  • the intersection estimation unit 81 determines that the host vehicle speed V is equal to or higher than the predetermined vehicle speed VT (No in step ST202)
  • the support ECU 8 resets the control (step ST209), ends the current control cycle, Shift to the control cycle.
  • the approaching mobile body support apparatus 1-2 has the same effects as those of the first embodiment, and when the host vehicle risk level Y is high, the host vehicle risk level Y is low. Since the lighting emphasis level X is increased in comparison, the recognition degree can be increased according to the own vehicle risk level Y with respect to the approaching moving body T, so that the approaching moving body T is further alerted to the presence of the own vehicle 100. Well done.
  • the host vehicle risk level Y is determined based on the three conditions of the host vehicle speed V, the accelerator opening A, and the brake pressure Bp.
  • the amount of increase of the illumination enhancement level X may be increased every time it is determined that the host vehicle speed V is fast, the accelerator opening A is large, and the brake pressure Bp is small. For example, if any one of the illuminance L is high, the own vehicle speed V is fast, the accelerator opening A is large, and the brake pressure Bp is small, the level is increased to 8 and the illuminance L is high and the own vehicle speed. If V is fast, the accelerator opening A is large, or the brake pressure Bp is small, it may be increased to level 9.
  • priority may be set for the host vehicle speed V, the accelerator opening A, and the brake pressure Bp, and the increase amount of the illumination enhancement level X may be set based on the result of a condition with high priority. For example, if two priority criteria for the accelerator opening A and the brake pressure Bp are set higher than the vehicle speed V, and the accelerator opening A is small and the brake pressure Bp is large, even if the vehicle speed V is high, It may be determined that the host vehicle risk level Y is low, and the amount of increase of the lighting enhancement level X may be smaller than the amount of increase in the case of high.
  • the accelerator opening A is small, and the brake pressure Bp is large, the accelerator opening A is small and the brake pressure Bp is large.
  • the host vehicle speed V, the accelerator opening A, and the brake pressure Bp are used to determine the state of the host vehicle 100.
  • the planned turning direction of the driver D detected by the direction indicator sensor 7 is determined. It may be used.
  • the illumination enhancement level determination unit 82 increases the amount when the level is increased from the reference level depending on whether or not the detection direction in which the approaching moving body T is detected matches the planned turning direction of the driver D. To change. When the detection direction matches the planned turning direction, the illumination enhancement level X is lowered compared to the case where the detection direction and the planned turning direction do not match.
  • the level 5 is increased, and when the illuminance L is high and the detection direction does not match the planned turning direction, the level is increased to the level 6.
  • the left and right turn signals 103L, 103R on the side where the approaching moving body T exists is lit or blinking, so that the approaching moving body T is the host vehicle 100. It is easy to notice. Therefore, in this case, unnecessary dazzling to the approaching moving body T can be suppressed by lowering the illumination enhancement level X. In addition, it is possible to suppress unnecessary alerting to the approaching moving body T.
  • the illumination enhancement level X may be increased as compared to the matching direction. May be up.
  • an approaching mobile body support apparatus 1-3 according to Embodiment 3 will be described. Since the basic configuration of the approaching mobile body support apparatus 1-3 according to Embodiment 3 is the same as that of the approaching mobile body support apparatus 1-1 according to Embodiment 1, the description of the configuration is omitted. According to the moving body information of the approaching mobile body T based on the detection result of the nasal sensor 3, the approaching mobile body support apparatus 1-3 according to the third embodiment uses the risk of the approaching mobile body T in this embodiment. Illumination emphasis level change control for changing the illumination emphasis level X in accordance with a certain moving object risk level Z is performed.
  • FIG. 8 is a flowchart of the approaching mobile body support method according to the third embodiment.
  • the basic procedure of the approaching mobile body support method according to Embodiment 3 is the same as that of the approaching mobile body support method according to Embodiments 1 and 2, description thereof will be omitted or simplified depending on the procedure.
  • the support ECU 8 acquires information (step ST301).
  • the support ECU 8 acquires the host vehicle speed V and the illuminance L in the present embodiment.
  • the intersection estimation unit 81 determines whether or not the own vehicle speed V is less than the predetermined vehicle speed VT (step ST302).
  • the illumination enhancement level determination unit 82 sets the left and right illumination enhancement levels XL and XR as reference levels. (Step ST303).
  • the front side light control unit 83 controls the left and right front side lights 9L and 9R to the reference level (step ST304).
  • the illumination enhancement level determination unit 82 determines whether or not the approaching moving body T has been detected (step ST305). Next, if it determines with the illumination emphasis level determination part 82 having detected the approaching moving body T (step ST305 affirmation), it will determine the left and right illumination emphasis levels XL and XR which level up (step ST306).
  • the illumination enhancement level determination unit 82 increases the left and right illumination enhancement levels XL and XR based on the illuminance L and the moving object risk level Z (step ST307).
  • the illumination enhancement level determination unit 82 uses the left and right illumination enhancement levels XL and XR for which the level up has been determined based on the moving body risk level Z and the illuminance L based on the moving body information of the approaching moving body T.
  • the level is raised from the level, that is, the illumination enhancement level X is raised.
  • the increase amount is changed based on the illuminance L and the moving object risk level Z.
  • the moving body information is based on the detection result of the nose sensor 3, and in this embodiment, includes the approach speed VS of the approaching mobile body T relative to the host vehicle 100 and the attributes of the approaching mobile body T. It is.
  • the attribute of the approaching moving body T is determined based on the shape that is the detection result of the nose sensor 3, and is divided into at least a pedestrian T1, a light vehicle T2, and a surrounding vehicle T3 as shown in FIG. Is determined.
  • the nasal sensor is used as a moving body detection unit with an in-vehicle camera that can easily detect the shape of the object (each of the left and right front sides can be imaged).
  • 3 may be used together, and when the approaching mobile body T can transmit its own individual information, the individual information receiving device that can receive the individual information, that is, a passive sensor is used in combination with the nasal sensor 3 as a mobile body detection means. It's okay. If the in-vehicle camera or the individual information receiving device can detect the approaching moving body T and can detect the moving body information, in particular, the approaching speed VS based on the detection result, it moves instead of the nose sensor 3. You may use as a body detection means.
  • the illumination enhancement level determination unit 82 reduces the increase amount with respect to the reference level when the illuminance L is low, increases the increase amount with respect to the reference level when the illuminance L is high, and increases the reference level when the moving object risk level Z is low.
  • the up amount with respect to the reference level is increased.
  • the moving object risk level Z may be determined as high or low depending on whether the approach speed VS is faster than the reference vehicle speed.
  • the moving object risk level Z is determined to be high when it is an attribute of the approaching moving object T, for example, a light vehicle T2, and low when it is a pedestrian T1 or a surrounding vehicle T3. This is because the light vehicle T2 is considered to be less likely to perform an avoidance action for avoiding a collision with the host vehicle 100 than the pedestrian T1, and the moving object risk level Z is determined to be high.
  • the surrounding vehicle T3 is considered that the driver of the surrounding vehicle T3 is usually gazing in front of the vehicle and is likely to take an avoidance action, and the moving object risk level Z is determined to be low.
  • the illumination enhancement level determination unit 82 assumes that the illumination enhancement level X when the moving object risk level Z is high is two levels higher than the illumination enhancement level X when the movement object risk level Z is low.
  • the level 3 is low, and the illuminance L is low.
  • the level is increased to the level 5 and the illuminance L is high and the mobile object risk level Z is low.
  • the amount of increase with respect to the illuminance L and the moving object risk level Z may increase as the illuminance L and the moving object risk value Z increase.
  • the front side light control unit 83 performs illumination enhancement level change control of the left and right front side lights 9L and 9R with the left and right illumination enhancement levels XL and XR increased (step ST308).
  • the intersection estimation unit 81 determines that the host vehicle speed V is equal to or higher than the predetermined vehicle speed VT (No in step ST302)
  • the support ECU 8 resets the control (step ST309), ends the current control cycle, Shift to the control cycle.
  • the approaching mobile body support apparatus 1-3 has the same effects as those of the first embodiment.
  • the mobile body risk level Z is high, the mobile body risk level Z is low. Since the lighting emphasis level X is increased in comparison, the recognition degree can be increased according to the moving body risk level Z with respect to the approaching moving body T, so that the approaching moving body T is further alerted to the presence of the host vehicle 100. Well done.
  • FIG. 9 is a diagram illustrating another schematic configuration example of the approaching mobile body support apparatus according to the embodiment.
  • the approaching mobile body support apparatus 1-4 according to Embodiment 4 emphasizes illumination according to the recognition state of the driver D of the host vehicle 100 with respect to the approaching mobile body T, and according to the line-of-sight information of the driver D in this embodiment.
  • the illumination enhancement level change control for changing the level X is performed.
  • the line-of-sight sensor 13 is a recognition state detection unit, and detects line-of-sight information of the driver D of the host vehicle 100 such as an in-vehicle camera, for example, as shown in FIG. Entered.
  • the line-of-sight information is the line-of-sight direction of the driver D.
  • FIG. 10 is a flowchart of the approaching mobile body support method according to the fourth embodiment. Note that the basic procedure of the approaching mobile body support method according to the fourth embodiment is the same as that of the approaching mobile body support method according to the first to third embodiments, and therefore description thereof will be omitted or simplified depending on the procedure.
  • the support ECU 8 acquires information as shown in FIG. 10 (step ST401).
  • the support ECU 8 acquires the vehicle speed V, the illuminance L, and the line-of-sight information of the driver D in the present embodiment.
  • the intersection estimation unit 81 determines whether or not the own vehicle speed V is less than the predetermined vehicle speed VT (step ST402). Next, if the intersection estimation unit 81 determines that the host vehicle speed V is less than the predetermined vehicle speed VT (Yes in step ST402), the illumination enhancement level determination unit 82 sets the left and right illumination enhancement levels XL and XR as reference levels. (Step ST403). Next, the front side light control unit 83 controls the left and right front side lights 9L and 9R to the reference level (step ST404). Next, the illumination enhancement level determination unit 82 determines whether or not the approaching moving body T has been detected (step ST405). Next, if it determines with the illumination emphasis level determination part 82 having detected the approaching moving body T (step ST405 affirmation), it will determine the left and right illumination emphasis levels XL and XR which level up (step ST406).
  • the illumination enhancement level determination unit 82 increases the left and right illumination enhancement levels XL and XR based on the illuminance L and the line-of-sight information (step ST407).
  • the illumination enhancement level determination unit 82 determines whether the line-of-sight direction and the detection direction of the driver D based on the line-of-sight information match the left and right illumination enhancement levels XL and XR for which the level up has been determined. Based on the presence / absence of coincidence and the illuminance L, the level is raised from the reference level, that is, the illumination enhancement level X is raised.
  • the amount of increase is changed based on the presence or absence of line-of-sight matching and the illuminance L.
  • the illumination enhancement level X is increased compared to when the illuminance L is low, and when the line of sight matches, the illumination enhancement level X is decreased compared to the case where the line of sight does not match.
  • the illumination enhancement level X when the line of sight matches is one level lower than the illumination enhancement level X when the line of sight does not coincide, the illuminance L is low, and when the line of sight coincides, the level 2 and the illuminance L are low.
  • the level is increased to the level 3 from the reference level. If the illuminance L is high and the line of sight matches, the level 5 is high. If the line of sight does not match, the illumination enhancement level X may be increased as compared to the case of matching, and if the line of sight matches, the lighting enhancement level X is raised to level 6;
  • the front side light control unit 83 performs illumination enhancement level change control of the left and right front side lights 9L and 9R with the left and right illumination enhancement levels XL and XR increased (step ST408).
  • the intersection estimation unit 81 determines that the host vehicle speed V is equal to or higher than the predetermined vehicle speed VT (No in step ST402)
  • the support ECU 8 resets the control (step ST409), ends the current control cycle, Shift to the control cycle.
  • the approaching mobile body support apparatus 1-4 has the same effects as those of the first embodiment.
  • the driver D causes the approaching mobile body T to be present. It can be estimated that it recognizes. Therefore, when the line of sight matches, unnecessary dazzling to the approaching moving body T can be suppressed by lowering the illumination enhancement level X. In addition, it is possible to suppress unnecessary alerting to the approaching moving body T.
  • the illumination enhancement level X is higher than when the line of sight matches, so that it is estimated that the driver D has not recognized the presence of the approaching moving body T. Since the recognition degree of the own vehicle 100 can be raised, the alerting of the presence of the own vehicle 100 to the approaching moving body T can be performed more sufficiently.
  • the illumination enhancement level X when the line-of-sight directions do not match, the illumination enhancement level X may be increased compared to the case where they match, for example, the illuminance L is low, and when the line-of-sight matches, the level 3 and the illuminance L are low. If the line of sight does not match, the level may be raised to the level 4 from the reference level, and if the illuminance L is high and the line of sight matches, the level 6 may be high. Further, the illumination enhancement level determination unit 82 may change the up amount based on whether or not the approaching moving body T is located in the direction of the driver's D line of sight.
  • FIG. 11 is a diagram illustrating another schematic configuration example of the approaching mobile body support apparatus according to the embodiment.
  • FIG. 12 shows an indicator.
  • the approaching mobile body support apparatus 1-5 according to the fifth embodiment performs the illumination enhancement level change control for changing the illumination enhancement level X by detecting the approaching movement body T, and changes the display enhancement level P of the indicator 14.
  • the display emphasis level change control is performed.
  • the indicator 14 provides information to the driver D. As shown in FIG. 12, the indicator 14 is provided on the dashboard 108 above the steering 107 provided in the host vehicle 100, in the present embodiment, above the steering 107. In the present embodiment, when the approaching moving body T is detected by the nasal sensor 3, in this embodiment, the indicator 14 provides information to the driver D as to whether the approaching moving body T is detected, the detection direction, and the approaching moving body T. The distance from the host vehicle 100 is displayed in a form that can be recognized by the driver D.
  • the indicator 14 includes a detection presence / absence display unit 14a, a left front side detection display unit 14b, a right front side detection display unit 14c, and a distance level display unit 14d.
  • the detection presence / absence display unit 14a is turned on when the approaching moving body T is detected by the nasal sensor 3.
  • the left front side detection display unit 14b is lit when the detected direction of the approaching moving body T is the left front side.
  • the right front side detection display unit 14c is turned on when the detected direction of the approaching moving body T is the right front side.
  • the distance level display part 14d changes a display according to the distance with the own vehicle 100 of the approaching mobile body T.
  • the distance level display unit 14d has, for example, a plurality of bar-shaped display bodies, and increases the number of display bodies that are lit as the distance between the approaching moving body T and the host vehicle 100 approaches. In the distance level display unit 14d, the number of display bodies that are lit from the left and right front side detection display units 14b and 14c corresponding to the detection direction of the approaching moving body T increases.
  • the support ECU 8 is a control means, and performs illumination enhancement level change control and display enhancement level change control. Further, as shown in FIG. 11, the support ECU 8 functions as an intersection estimation unit 81, an illumination enhancement level determination unit 82, a front side light control unit 83, a display enhancement level determination unit 84, and an indicator control unit 85. At least.
  • the display emphasis level determination unit 84 is information input to the support ECU 8, in the present embodiment, the host vehicle risk level Y that is the risk level of the host vehicle 100 with respect to the approaching moving body T according to the state of the host vehicle 100, and line-of-sight information. Based on the above, the display emphasis level P of the indicator 14 is determined.
  • the indicator control unit 85 controls the light output from the indicator 14 based on the display enhancement level P.
  • the display emphasis level P is, for example, level 0 to level 3 in this embodiment, and level 0 is only lighting, and the luminance increases from level 1 to level 3. That is, the display enhancement level P increases as the level increases, and the degree of recognition of the indicator 14 by the driver D is improved.
  • FIG. 13 is a flowchart of the approaching mobile body support method according to the fifth embodiment. Note that the basic procedure of the approaching mobile body support method according to the fifth embodiment is the same as that of the approaching mobile body support method according to the first to fourth embodiments, and therefore description thereof will be omitted or simplified depending on the procedure.
  • the support ECU 8 acquires information (step ST501).
  • the intersection estimation unit 81 determines whether or not the own vehicle speed V is less than the predetermined vehicle speed VT (step ST502).
  • the illumination enhancement level determination unit 82 sets the left and right illumination enhancement levels XL and XR to the reference levels. (Step ST503).
  • the front side light control unit 83 controls the left and right front side lights 9L and 9R to the reference level (step ST504).
  • the illumination enhancement level determination unit 82 determines whether or not the approaching moving body T has been detected (step ST505).
  • the display enhancement level determination unit 84 of the support ECU 8 determines that the approaching moving body T has been detected (Yes in step ST505)
  • the display enhancement level P is set to the reference level
  • the indicator control unit 85 sets the indicator 14 Are controlled at the reference level (step ST506).
  • the indicator control unit 85 controls the indicator 14 so that the reference level, which is the set display emphasis level P, in this embodiment, level 0, that is, simply lights up.
  • the detection presence / absence display part 14a is turned on, and it corresponds to the detection direction of the approaching mobile body T among the left and right front / side detection display parts 14b and 14c.
  • One or both are turned on, and the distance level display unit 14d is turned on according to the distance of the approaching moving body T from the host vehicle 100. Therefore, since the indicator 14 is turned on when the approaching moving body T is detected, it can be recognized that the approaching moving body T exists on one or both of the left and right front sides of the host vehicle 100.
  • the illumination enhancement level determination unit 82 determines the left and right illumination enhancement levels XL and XR to be upgraded (step ST507).
  • the illumination enhancement level determination unit 82 increases the left and right illumination enhancement levels XL and XR based on the illuminance L, the own vehicle risk level Y, and the line-of-sight information (step ST508).
  • the illumination enhancement level determination unit 82 determines whether the line of sight matches, the illuminance L, and the host vehicle. The up amount is changed based on the risk level Y.
  • the illumination enhancement level X When the illuminance L is high, the illumination enhancement level X is increased compared to when the illuminance L is low, and when the line of sight matches, the illumination enhancement level X is decreased compared with the case where the line of sight does not match, and the own vehicle risk level Y is high Raises the lighting enhancement level X as compared with the case where the own vehicle risk level Y is low.
  • the presence / absence of line-of-sight coincidence is set higher than the own vehicle risk level Y. Therefore, when the line of sight coincides, when the own vehicle risk level Y is high, the illumination enhancement level X is not increased as compared with the case where the own vehicle risk level Y is low.
  • the illumination enhancement level X does not change regardless of the host vehicle risk level Y.
  • the host vehicle risk level Y is determined to be high when at least the host vehicle speed V is high, and more preferably determined to be high when the host vehicle speed V is high and the brake pressure Bp is low.
  • the front side light control unit 83 performs illumination enhancement level change control of the left and right front side lights 9L and 9R with the left and right illumination enhancement levels XL and XR increased (step ST509).
  • the display enhancement level determination unit 84 determines whether or not to change the display enhancement level P based on the own vehicle risk level Y and the line-of-sight information (step ST510).
  • the display enhancement level determination unit 84 determines whether or not to raise the level from the reference level, that is, increase the display enhancement level P, based on the own vehicle risk level Y and the line-of-sight information. In the present embodiment, it is determined that the display enhancement level P is increased when the own vehicle risk level Y is high or the line of sight does not match.
  • the display emphasis level P when the host vehicle risk level Y is high, the display emphasis level P is increased compared to when the host vehicle risk level Y is low, and when the line of sight coincides, the display emphasis level P is decreased compared to the case where the line of sight does not match.
  • the own vehicle risk level Y is set to have a higher priority than the presence or absence of line-of-sight matching. Therefore, when the line of sight coincides, when the own vehicle risk level Y is high, the display emphasis level P is raised compared to when the own vehicle risk level Y is low. That is, when the line of sight matches, the display emphasis level P changes according to the own vehicle risk level Y.
  • the indicator control unit 85 determines to change the display enhancement level P based on the own vehicle risk level Y and the line-of-sight information (Yes in step ST510)
  • the indicator control unit 85 controls the indicator 14 (step ST511).
  • the indicator control unit 85 controls the indicator 14 based on the changed display enhancement level P.
  • step ST502 When the intersection estimation unit 81 determines that the host vehicle speed V is equal to or higher than the predetermined vehicle speed VT (No in step ST502), the support ECU 8 resets the control (step ST512), ends the current control cycle, Shift to the control cycle.
  • the approaching mobile body support apparatus 1-5 has the same effects as those of the first embodiment, and when the own vehicle risk level Y is high when the line of sight coincides, Compared to the case where the degree Y is low, the illumination enhancement level X is not increased, and the display enhancement level P is increased. Therefore, since it is possible to suppress excessive alerting to the approaching moving body T while maintaining the alerting of the state of the own vehicle 100 to the driver D by the indicator 14, the own vehicle with respect to the approaching moving body T can be suppressed. Intimidation by 100 can be suppressed.
  • the approaching mobile body support apparatus 1-6 according to the sixth embodiment will be described. Since the basic configuration of the approaching mobile body support apparatus 1-6 according to Embodiment 6 is the same as that of the approaching mobile body support apparatus 1-5 according to Embodiment 5, the description of the configuration is omitted.
  • the approaching mobile body support apparatus 1-6 according to Embodiment 6 detects the approaching mobile body T, thereby performing illumination enhancement level change control for changing the illumination enhancement level X and changing the display enhancement level P of the indicator 14.
  • the display emphasis level change control is performed.
  • FIG. 14 is a flowchart of the approaching mobile body support method according to the sixth embodiment. Note that the basic procedure of the approaching mobile body support method according to Embodiment 6 is the same as that of the approaching mobile body support method according to Embodiments 1 to 5, and therefore description thereof will be omitted or simplified depending on the procedure.
  • the support ECU 8 acquires information as shown in FIG. 14 (step ST601).
  • the intersection estimation unit 81 determines whether or not the own vehicle speed V is less than the predetermined vehicle speed VT (step ST602).
  • the illumination enhancement level determination unit 82 sets the left and right illumination enhancement levels XL and XR as reference levels. (Step ST603).
  • the front side light control unit 83 controls the left and right front side lights 9L and 9R to the reference level (step ST604).
  • the illumination enhancement level determination unit 82 determines whether or not the approaching moving body T has been detected (step ST605).
  • step ST605 when the display enhancement level determination unit 84 determines that the approaching moving body T is detected (Yes in step ST605), the display enhancement level P is set to the reference level, and the indicator control unit 85 sets the indicator 14 at the reference level. Control is performed (step ST606).
  • the illumination enhancement level determination unit 82 determines the left and right illumination enhancement levels XL and XR to be upgraded (step ST607).
  • the illumination enhancement level determination unit 82 increases the left and right illumination enhancement levels XL and XR based on the illuminance L, the moving object risk level Z, and the line-of-sight information (step ST608).
  • the illumination enhancement level determination unit 82 determines whether the line of sight matches, the illuminance L, and the moving object. The up amount is changed based on the risk level Z.
  • the illumination enhancement level X When the illuminance L is high, the illumination enhancement level X is increased compared to when the illuminance L is low, and when the line of sight matches, the illumination enhancement level X is decreased compared to the case where the line of sight does not match, and the moving object risk level Z is high Increases the lighting enhancement level X compared to the case where the moving object risk level Z is low.
  • the moving body risk level Z is set higher in priority than the presence or absence of line-of-sight matching. Accordingly, when the line of sight coincides, when the moving object risk level Z is high, the illumination enhancement level X is increased as compared with the case where the moving object risk level Z is low. That is, when the line of sight matches, the illumination enhancement level X changes according to the moving object risk level Z.
  • the moving body risk level Z is determined to be high at least when the approaching speed VS is high or the attribute of the approaching mobile body T is the light vehicle T2, and more preferably, the approaching speed VS is high and the approaching mobile body T It is determined that the attribute is high when the attribute is the light vehicle T2.
  • the moving body risk level Z may be determined to be high not only when the attribute of the approaching moving body T is the light vehicle T2 but also when the pedestrian T1.
  • the front side light control unit 83 performs illumination enhancement level change control of the left and right front side lights 9L and 9R whose left and right illumination enhancement levels XL and XR are increased (step ST609).
  • the display enhancement level determination unit 84 determines whether or not to change the display enhancement level P based on the moving object risk level Z and the line-of-sight information (step ST610).
  • the display enhancement level determination unit 84 determines whether or not to raise the level from the reference level, that is, to increase the display enhancement level P, based on the moving body risk level Z and the line-of-sight information. In the present embodiment, it is determined that the display enhancement level is increased when the moving object risk level Z is high or the line of sight does not match.
  • the display emphasis level P when the moving object risk level Z is high, the display emphasis level P is increased compared to the case where the moving object risk value Z is low, and when the line of sight matches, the display emphasis level P is decreased compared to the case where the line of sight does not match.
  • the presence / absence of line-of-sight matching is set higher in priority than the moving object risk level Z. Therefore, when the line of sight coincides, when the moving object risk level Z is high, the display emphasis level P is not increased as compared with the case where the moving object risk level Z is low. That is, when the line of sight matches, the display emphasis level P does not change regardless of the moving object risk level Z.
  • the indicator control unit 85 controls the indicator 14 (step ST611).
  • the intersection estimation unit 81 determines that the host vehicle speed V is equal to or higher than the predetermined vehicle speed VT (No in step ST602)
  • the support ECU 8 resets the control (step ST612), ends the current control cycle, Shift to the control cycle.
  • the approaching mobile body support apparatus 1-6 has the same effects as those of the first embodiment, and when the mobile body danger level Z is high when the lines of sight coincide, Compared with the case where the degree Z is low, the illumination enhancement level X is raised and the display enhancement level P is not raised. Therefore, it is possible to maintain the alerting to the approaching moving body T with respect to the moving body risk level Z while suppressing excessive alerting to the driver D.
  • the nasal sensor 3 need only be able to output detection waves in the vehicle width direction, that is, at least in the left and right sides.
  • the nasal sensor 3 may be composed of, for example, two sensors that are visible when viewed in the vehicle width direction and output detection waves at least to the left and right sides.
  • the control start condition is that the host vehicle speed V is less than the predetermined vehicle speed VT.
  • the host vehicle 100 may include a front in-vehicle camera that captures the front of the vehicle, recognize a temporary stop line through which the host vehicle 100 passes, and the start condition of the control may be that the host vehicle speed V is less than a predetermined vehicle speed VT.
  • an operation article such as a switch or a lever that is one of the control start conditions is operated by the driver D, and the driver D detects the intention to perform the control by operating the operation article. May be set to be less than the predetermined vehicle speed VT as a control start condition.
  • the left and right illumination enhancement levels XL and XR are turned on as the reference level, that is, the left and right front side lights 9L and 9R are turned on.
  • the present invention is not limited to this.
  • the illumination enhancement level X is set to levels 0 to 10 You may change to That is, the left and right front side lights 9L and 9R may be lit or blinked only when the approaching moving body T is detected.
  • the illumination enhancement level X changes the lighting state (blinking, blinking) and blinking speed, but is not limited to this.
  • the illumination enhancement level may change the illuminance (brightness) or color of the front side light 9.
  • the display emphasis level P is for changing the luminance, but is not limited to this.
  • the display intensity level may change the lighting state of the indicator 14 or the color.

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Abstract

The present invention is provided with: a nose-like sensor (3) which is disposed on the front/lateral side of the host vehicle (100) and detects a moving body approaching the host vehicle (100); a front/lateral light (9) which is, differently from a headlight provided directed to the front of the host vehicle (100), provided further forward of a vehicle than front door panel and at least visible when viewed from the vehicle width direction; and an assistance ECU(8) for performing illumination highlight level change control to change the illumination highlight level (X) of the front/lateral light (9). Upon detecting an approaching moving body, the assistance ECU (8) raises the illumination highlight level (X).

Description

接近移動体支援装置Approaching moving body support device
　本発明は、自車両の前側方に存在し、自車両に接近する接近移動体に対する接近移動体支援装置に関するものである。 The present invention relates to an approaching moving body support apparatus for an approaching moving body that is present in front of the host vehicle and approaches the host vehicle.
　従来、交差点での運転支援装置としては、一旦停止交差点に車両が進入し始めるときに、左右のノーズビュー画像をモニタに表示することで、ドライバに左右の安全を促す技術が提案されている（特許文献１参照）。また、車両が一旦停止位置付近もしくは信号がない交差点に進入すると、ヘッドランプを点灯させるなどして車両の外部に警報を行う技術が提案されている（特許文献２参照）。また、歩行者に対して自車両の存在を報知するために、ヘッドランプを点灯させる技術が提案されている（特許文献３，４参照）。 Conventionally, as a driving assistance device at an intersection, a technique has been proposed that prompts the driver for left and right safety by displaying left and right nose view images on a monitor when a vehicle once starts to enter a stopped intersection ( Patent Document 1). In addition, a technique has been proposed in which a warning is given to the outside of the vehicle by turning on a headlamp when the vehicle once enters the vicinity of a stop position or an intersection where there is no signal (see Patent Document 2). Moreover, in order to notify the pedestrian of the presence of the own vehicle, a technique for lighting a headlamp has been proposed (see Patent Documents 3 and 4).
特開平０９－５８３４３号公報JP 09-58343 A 特開２００５－２６３０１２号公報JP 2005-263012 A 特開２０１０－１８１６５号公報JP 2010-18165 A 特開２００５－２５５０９１号公報Japanese Patent Laying-Open No. 2005-255091
　ところで、一旦停止交差点などの見通しの悪い交差点では、自車両の一部が交差点に進入しても、運転者が進入した交差点に存在する自車両に接近する周辺車両、軽車両、歩行者などの接近移動体を認識することは困難であるため、自車両と接近移動体との衝突回避を支援することが要望されている。また、仮に、運転者が接近移動体を認識して停止したとしても、停止した自車両はすでに交差点に進入しているため、接近移動体に自車両の存在を認識させ、接近移動体に対して自車両の存在の注意喚起を十分に行うことが要望されている。 By the way, at an intersection with poor visibility such as a stop intersection once, even if a part of the host vehicle enters the intersection, the surrounding vehicle, light vehicle, pedestrian, etc. approaching the host vehicle existing at the intersection where the driver entered Since it is difficult to recognize the approaching moving body, it is desired to support collision avoidance between the host vehicle and the approaching moving body. Also, even if the driver recognizes the approaching moving body and stops, the stopped own vehicle has already entered the intersection, so the approaching moving body recognizes the existence of the own vehicle and Therefore, it is required to fully alert the presence of the vehicle.
　そこで、本発明は、上記に鑑みてなされたものであって、接近移動体に対して自車両の存在の注意喚起を十分に行うことができる接近移動体支援装置を提案することを目的とする。 Therefore, the present invention has been made in view of the above, and an object thereof is to propose an approaching moving body support apparatus that can sufficiently alert the approaching moving body of the presence of the host vehicle. .
　上述した課題を解決し、目的を達成するために、本発明に係る接近移動体支援装置は、自車両の前側方に存在し、前記自車両に接近する接近移動体を検出する移動体検出手段と、前記自車両の前方において、前記自車両の前方に向けて設けられた前照灯とは別に設けられ、かつ車両幅方向視において少なくとも一部を視認することができる照明手段と、前記照明手段の照明強調レベルを変更する照明強調レベル変更制御を行う制御手段と、を備え、前記制御手段は、前記接近移動体が検出された場合に、前記照明強調レベルを上げることを特徴とする。 In order to solve the above-described problems and achieve the object, an approaching mobile body support apparatus according to the present invention is a mobile body detection unit that is located in front of the host vehicle and detects an approaching mobile body approaching the host vehicle. And an illuminating means provided in front of the host vehicle, separately from a headlamp provided toward the front of the host vehicle, and capable of visually recognizing at least a part in a vehicle width direction view, and the illumination Control means for performing illumination enhancement level change control for changing the illumination enhancement level of the means, wherein the control means raises the illumination enhancement level when the approaching moving body is detected.
　また、上記接近移動体支援装置において、前記照明手段は、フロントドアパネルよりも車両前方に設けられていることが好ましい。 Further, in the approaching moving body support apparatus, it is preferable that the illumination unit is provided in front of the vehicle with respect to the front door panel.
　また、上記接近移動体支援装置において、前記自車両の自車速を検出する車速検出手段をさらに備え、前記制御手段は、前記検出された自車速が所定速度未満の場合に、前記照明強調レベル変更制御を行うことが好ましい。 The approaching mobile body support apparatus further includes vehicle speed detection means for detecting the host vehicle speed of the host vehicle, wherein the control means changes the illumination enhancement level when the detected host vehicle speed is less than a predetermined speed. It is preferable to perform control.
　また、上記接近移動体支援装置において、前記自車両の外部の照度を検出する照度検出手段をさらに備え、前記制御手段は、前記検出された照度が高い場合は、低い場合と比較して前記照明強調レベルを上げることが好ましい。 Further, the approaching mobile body support apparatus further includes illuminance detection means for detecting illuminance outside the host vehicle, and the control means is configured such that the illumination is higher when the detected illuminance is higher than when it is lower. It is preferable to increase the emphasis level.
　また、上記接近移動体支援装置において、前記移動体検出手段は、前記フロントドアパネルよりも車両前方に設けられ、少なくとも車両幅方向に向けて出力された検出波が前記接近移動体によって反射された際の反射波に基づいて前記接近移動体を検出することが好ましい。 In the approaching mobile body support apparatus, the mobile body detection means is provided in front of the front door panel, and when the detection wave output at least in the vehicle width direction is reflected by the approaching mobile body. It is preferable to detect the approaching moving body based on the reflected wave.
　また、上記接近移動体支援装置において、前記自車両の状態を検出する自車両状態検出手段をさらに備え、前記自車両の状態に応じて前記照明強調レベルを変更することが好ましい。 Further, it is preferable that the approaching mobile body support apparatus further includes own vehicle state detecting means for detecting the state of the own vehicle, and changing the illumination enhancement level according to the state of the own vehicle.
　また、上記接近移動体支援装置において、前記制御手段は、前記移動体検出手段の検出結果に基づいて、前記接近移動体の少なくとも属性、前記自車両に対する接近速度の一方を含む移動体情報を取得し、前記移動体情報に応じて前記照明強調レベルを変更することが好ましい。 In the approaching mobile body support apparatus, the control means acquires mobile body information including at least one of the attributes of the approaching mobile body and an approach speed with respect to the host vehicle based on a detection result of the mobile body detection means. And it is preferable to change the said illumination emphasis level according to the said mobile body information.
　また、上記接近移動体支援装置において、前記接近移動体に対する前記自車両の運転者の認識状態を検出する認識状態検出手段をさらに備え、前記検出された前記運転者の認識状態に応じて前記照明強調レベルを変更することが好ましい。 The approaching mobile body support apparatus further includes a recognition state detection unit that detects a recognition state of the driver of the host vehicle with respect to the approaching mobile body, and the illumination according to the detected recognition state of the driver. It is preferable to change the emphasis level.
　また、上記接近移動体支援装置において、前記接近移動体に対する前記自車両の運転者の認識状態を検出する認識状態検出手段と、前記運転者に対して情報を提供するインジケータとをさらに備え、前記制御手段は、前記自車両の状態に応じて、前記自車両の危険度を判定するものであり、前記インジケータの表示強調レベルを変更する表示強調レベル変更制御を行うものであり、前記運転者が前記接近移動体を認識している状態である場合において、前記自車両の危険度が高い場合は、前記自車両の危険度が低い場合と比較して照明強調レベルを上げず、表示強調レベルを上げることが好ましい。 Further, in the approaching mobile body support device, further comprising: a recognition state detection unit that detects a recognition state of the driver of the host vehicle with respect to the approaching mobile body, and an indicator that provides information to the driver, The control means determines the degree of danger of the host vehicle according to the state of the host vehicle, performs display enhancement level change control for changing the display enhancement level of the indicator, and the driver In the state of recognizing the approaching moving body, when the risk level of the host vehicle is high, the display highlight level is not increased as compared with the case where the risk level of the host vehicle is low. It is preferable to raise.
　また、上記接近移動体支援装置において、前記接近移動体に対する前記自車両の運転者の認識状態を検出する認識状態検出手段と、前記運転者に対して情報を提供するインジケータとをさらに備え、前記制御手段は、前記移動体検出手段の検出結果に基づいて、前記接近移動体の少なくとも属性、前記自車両に対する接近速度の一方を含む移動体情報を取得し、前記移動体情報に応じた、前記接近移動体の危険度を判定するものであり、前記インジケータの表示強調レベルを変更する表示強調レベル変更制御を行うものであり、前記運転者が前記接近移動体を認識している状態である場合において、前記接近移動体の危険度が高い場合は、前記接近移動体の危険度が低い場合と比較して照明強調レベルを上げ、表示強調レベルを上げないことが好ましい。 Further, in the approaching mobile body support device, further comprising: a recognition state detection unit that detects a recognition state of the driver of the host vehicle with respect to the approaching mobile body, and an indicator that provides information to the driver, The control means obtains moving body information including at least one of the approaching moving body and an approach speed with respect to the host vehicle based on the detection result of the moving body detecting means, and according to the moving body information, When determining the danger level of the approaching moving body, performing display enhancement level change control for changing the display enhancement level of the indicator, and when the driver recognizes the approaching moving body However, when the danger level of the approaching moving body is high, the illumination enhancement level is raised and the display enhancement level is not raised compared to the case where the danger level of the approaching moving body is low. It is preferred.
　本発明に係る接近移動体支援装置では、移動体検出手段により接近移動体が検出された場合に、照明強調レベルを上げるので、接近移動体に対して自車両の認識度を高めることができ、接近移動体に対して自車両の存在の注意喚起を十分に行うことができるという効果を奏する。 In the approaching mobile body support device according to the present invention, when the approaching mobile body is detected by the mobile body detection means, the illumination enhancement level is increased, so that the recognition degree of the host vehicle can be increased with respect to the approaching mobile body, There is an effect that it is possible to sufficiently alert the approaching moving body of the presence of the host vehicle.
図１は、実施形態に係る接近移動体支援装置の概略構成例を示す図である。FIG. 1 is a diagram illustrating a schematic configuration example of an approaching mobile body support apparatus according to the embodiment. 図２は、移動体検出手段および照明手段を示す図である。FIG. 2 is a diagram showing a moving body detection unit and an illumination unit. 図３は、移動体検出手段および照明手段を示す図である。FIG. 3 is a diagram showing a moving body detection unit and an illumination unit. 図４は、照明強調レベルを説明するための図である。FIG. 4 is a diagram for explaining the illumination enhancement level. 図５は、動作説明図である。FIG. 5 is an operation explanatory diagram. 図６は、実施形態１に係る接近移動体支援方法のフロー図である。FIG. 6 is a flowchart of the approaching mobile body support method according to the first embodiment. 図７は、実施形態２に係る接近移動体支援方法のフロー図である。FIG. 7 is a flowchart of the approaching mobile body support method according to the second embodiment. 図８は、実施形態３に係る接近移動体支援方法のフロー図である。FIG. 8 is a flowchart of the approaching mobile body support method according to the third embodiment. 図９は、実施形態に係る接近移動体支援装置の他の概略構成例を示す図である。FIG. 9 is a diagram illustrating another schematic configuration example of the approaching mobile body support apparatus according to the embodiment. 図１０は、実施形態４に係る接近移動体支援方法のフロー図である。FIG. 10 is a flowchart of the approaching mobile body support method according to the fourth embodiment. 図１１は、実施形態に係る接近移動体支援装置の他の概略構成例を示す図である。FIG. 11 is a diagram illustrating another schematic configuration example of the approaching mobile body support apparatus according to the embodiment. 図１２は、インジケータを示す図である。FIG. 12 shows an indicator. 図１３は、実施形態５に係る接近移動体支援方法のフロー図である。FIG. 13 is a flowchart of the approaching mobile body support method according to the fifth embodiment. 図１４は、実施形態６に係る接近移動体支援方法のフロー図である。FIG. 14 is a flowchart of the approaching mobile body support method according to the sixth embodiment.
　本発明を実施するための形態（実施形態）につき、図面を参照しつつ詳細に説明する。以下の実施形態に記載した内容により本発明が限定されるものではない。また、以下に記載した構成要素には、当業者が容易に想定できるもの、実質的に同一のものが含まれる。さらに、以下に記載した構成は適宜組み合わせることが可能である。また、本発明の要旨を逸脱しない範囲で構成の種々の省略、置換又は変更を行うことができる。 DETAILED DESCRIPTION OF EMBODIMENTS Embodiments (embodiments) for carrying out the present invention will be described in detail with reference to the drawings. The present invention is not limited by the contents described in the following embodiments. The constituent elements described below include those that can be easily assumed by those skilled in the art and those that are substantially the same. Furthermore, the structures described below can be combined as appropriate. Various omissions, substitutions, or changes in the configuration can be made without departing from the scope of the present invention.
　〔実施形態１〕
　図１は、実施形態に係る接近移動体支援装置の概略構成例を示す図である。図２は、移動体検出手段および照明手段を示す図である。図３は、移動体検出手段および照明手段を示す図である。図４は、照明強調レベルを説明するための図である。図５は、動作説明図である。なお、図２は自車両１００を上方から見た図であり、図３は自車両１００を車両前方から見た斜視図である。また、図５では、自車両１００を模式的に示している。図１に示すように、接近移動体支援装置１－１は、自車両１００に搭載されており、鼻出しセンサ３と、支援ＥＣＵ（Electronic　Control　Unit）８と前側方ライト９とを含んで構成されており、本実施形態では、さらに、車速センサ２と、照度センサ４と、アクセルセンサ５と、ブレーキ圧センサ６と、方向指示センサ７とを含んで構成されている。支援ＥＣＵ８と、鼻出しセンサ３などの他の機器とは、例えばＣＡＮ通信システムに代表される通信システムにより電気的に接続されている。 Embodiment 1
FIG. 1 is a diagram illustrating a schematic configuration example of an approaching mobile body support apparatus according to the embodiment. FIG. 2 is a diagram showing a moving body detection unit and an illumination unit. FIG. 3 is a diagram showing a moving body detection unit and an illumination unit. FIG. 4 is a diagram for explaining the illumination enhancement level. FIG. 5 is an operation explanatory diagram. 2 is a view of the host vehicle 100 as viewed from above, and FIG. 3 is a perspective view of the host vehicle 100 as viewed from the front of the vehicle. Further, FIG. 5 schematically shows the host vehicle 100. As shown in FIG. 1, the approaching mobile body support device 1-1 is mounted on the host vehicle 100 and includes a nasal sensor 3, a support ECU (Electronic Control Unit) 8, and a front side light 9. In this embodiment, the vehicle speed sensor 2, the illuminance sensor 4, the accelerator sensor 5, the brake pressure sensor 6, and the direction indication sensor 7 are further configured. The support ECU 8 and other devices such as the nasal sensor 3 are electrically connected by a communication system represented by a CAN communication system, for example.
　車速センサ２は、車速検出手段であり、自車両１００の状態を検出する自車両状態検出手段の１つでもある。車速センサ２は、自車両１００の速度である自車速Ｖ〔ｋｍ／ｈ〕を検出するものであり、検出された自車速Ｖが支援ＥＣＵ８に入力される。車速センサ２は、例えば図示しないデファレンシャルギヤやアウトプットシャフトなどの動力源（例えば、エンジン、モータなど）が発生した動力を駆動輪（例えば、前輪ＦＴ）に伝達する動力伝達経路上の回転体に設けられており、回転体の回転速度に基づいて自車速Ｖを検出する。なお、車速センサ２は、各車輪に設けられた車輪速センサであってもよく、この場合、各車輪速センサにより検出された車輪速に基づいて自車速Ｖを検出することとなる。また、車速センサ２は、ＧＰＳに代表される自車両１００の位置データを検出するセンサでもよく、この場合検出された自車両１００の位置データの変化に基づいて自車速Ｖを検出することとなる。 The vehicle speed sensor 2 is vehicle speed detection means and is also one of the own vehicle state detection means for detecting the state of the own vehicle 100. The vehicle speed sensor 2 detects the host vehicle speed V [km / h], which is the speed of the host vehicle 100, and the detected host vehicle speed V is input to the support ECU 8. The vehicle speed sensor 2 is provided on a rotating body on a power transmission path that transmits power generated by a power source (for example, an engine, a motor, etc.) such as a differential gear or an output shaft (not shown) to drive wheels (for example, front wheels FT). The vehicle speed V is detected based on the rotational speed of the rotating body. The vehicle speed sensor 2 may be a wheel speed sensor provided on each wheel. In this case, the vehicle speed V is detected based on the wheel speed detected by each wheel speed sensor. The vehicle speed sensor 2 may be a sensor that detects position data of the host vehicle 100 typified by GPS. In this case, the host vehicle speed V is detected based on the detected change in the position data of the host vehicle 100. .
　鼻出しセンサ３は、移動体検出手段であり、自車両１００の前側方に存在し、少なくとも自車両１００に接近する接近移動体Ｔを検出するものである。鼻出しセンサ３は、図２および図３に示すように、左右フロントドアパネル１０１Ｌ，１０１Ｒよりも車両前方、本実施形態では車両中心から車両前後方向に延びる前後方向中心線上で、かつフロントグリル１０２に設けられている。鼻出しセンサ３は、電磁波や赤外線、レーザなどの検出波を出力する図示しない出力部と、検出波の反射波を受信する図示しない受信部とを有している。鼻出しセンサ３は、車両幅方向、本実施形態では、車両左前側方および車両右前側方にそれぞれ検出波を出力し、検出波が届くエリアである左右検出エリアＳＥＬ，ＳＥＲ（図２に示す２点鎖線）内に存在する物体で反射した反射波を受信部で受信することで物体と自車両１００との位置、距離、形状を検出する。鼻出しセンサ３は、検出波を周期的に出力するので、検出された物体と自車両１００との距離の変化に基づいて物体の自車両１００に対する移動方向、接近速度ＶＳを検出することができる。従って、物体のうち自車両１００に接近するものを接近移動体Ｔとして検出することができる。鼻出しセンサ３により接近移動体Ｔが検出されたことは、支援ＥＣＵ８に入力される。鼻出しセンサ３は、自車両１００の左右フロントドアパネル１０１Ｌ，１０１Ｒよりも車両前方に設けられているため、自車両１００が車両幅方向の両方が壁で遮蔽された道路から交差点Ｃに進入する際に、運転者Ｄよりも先に鼻出しセンサ３により交差点Ｃに存在する接近移動体Ｔを検出することができる。なお、鼻出しセンサ３は、上述のように、車両最前方にあることが好ましいが、少なくとも前輪ＦＴよりも車両前方に設けられていることが好ましい。ここで、前側方とは、車両左右側方、すなわち車両幅方向を含む意味であり、さらに車両前方を含んでいてもよい。 The nasal stick sensor 3 is a moving body detection means, and is present at the front side of the own vehicle 100 and detects at least the approaching moving body T approaching the own vehicle 100. As shown in FIGS. 2 and 3, the nasal sensor 3 is located in front of the left and right front door panels 101L and 101R, in the present embodiment, on the front-rear center line extending from the vehicle center in the vehicle front-rear direction and on the front grille 102. Is provided. The nasal sensor 3 includes an output unit (not shown) that outputs detection waves such as electromagnetic waves, infrared rays, and lasers, and a reception unit (not shown) that receives reflected waves of the detection waves. The nasal sensor 3 outputs detection waves respectively in the vehicle width direction, in this embodiment, the vehicle left front side and the vehicle right front side, and left and right detection areas SEL and SER (shown in FIG. 2) that are areas where the detection waves reach. The position, distance, and shape between the object and the host vehicle 100 are detected by receiving the reflected wave reflected by the object existing within the two-dot chain line). Since the nasal sensor 3 periodically outputs detection waves, the moving direction of the object relative to the host vehicle 100 and the approach speed VS can be detected based on a change in the distance between the detected object and the host vehicle 100. . Therefore, an object that approaches the host vehicle 100 among the objects can be detected as the approaching moving body T. The fact that the approaching moving body T has been detected by the nasal sensor 3 is input to the support ECU 8. Since the nasal sensor 3 is provided in front of the left and right front door panels 101L and 101R of the host vehicle 100, when the host vehicle 100 enters the intersection C from a road that is shielded by walls in the vehicle width direction. In addition, the approaching moving body T present at the intersection C can be detected by the nasal sensor 3 before the driver D. As described above, the nasal sensor 3 is preferably in the forefront of the vehicle, but is preferably provided in front of the vehicle at least in front of the front wheels FT. Here, the front side means that it includes the left and right sides of the vehicle, that is, the vehicle width direction, and may further include the front of the vehicle.
　照度センサ４は、照度検出手段であり、図１に示すように、自車両１００外部の照度Ｌを検出するものであり、検出された照度Ｌが支援ＥＣＵ８に入力される。照度センサ４は、自車両１００外部の明るさを検出することができればよいので、照度Ｌを検出するものに限られず、輝度、光度などを検出するものであってもよい。また、照度Ｌは、日時に基づいて検出されてもよい。 The illuminance sensor 4 is an illuminance detection means, and as shown in FIG. 1, detects the illuminance L outside the host vehicle 100, and the detected illuminance L is input to the support ECU 8. The illuminance sensor 4 only needs to be able to detect the brightness outside the host vehicle 100, and is not limited to the one that detects the illuminance L, but may be one that detects luminance, luminous intensity, and the like. The illuminance L may be detected based on the date and time.
　アクセルセンサ５は、運転者Ｄの加速意思の程度を検出する加速意思検出手段であり、自車両１００の状態を検出する自車両状態検出手段の１つである。アクセルセンサ５は、自車両１００を加速させるために運転者Ｄが操作するアクセルペダル１０の踏み込み量、すなわちアクセル開度Ａを検出するものであり、検出されたアクセル開度Ａが支援ＥＣＵ８に入力される。 The accelerator sensor 5 is an acceleration intention detection unit that detects the degree of acceleration intention of the driver D, and is one of the own vehicle state detection units that detects the state of the host vehicle 100. The accelerator sensor 5 detects the amount of depression of the accelerator pedal 10 operated by the driver D to accelerate the host vehicle 100, that is, the accelerator opening A, and the detected accelerator opening A is input to the support ECU 8. Is done.
　ブレーキ圧センサ６は、運転者Ｄの減速意思の程度を検出する減速意思検出手段であり、自車両１００の状態を検出する自車両状態検出手段の１つである。ブレーキ圧センサ６は、自車両１００を減速させるために運転者Ｄが操作するブレーキペダル１１の踏み込みに応じて発生するブレーキ圧Ｂｐ（図示しないブレーキ装置で制動力を発生させるための液圧）を検出するものであり、検出されたブレーキ圧Ｂｐが支援ＥＣＵ８に入力される。 The brake pressure sensor 6 is a deceleration intention detection unit that detects the degree of the driver D's intention to decelerate, and is one of the own vehicle state detection units that detects the state of the host vehicle 100. The brake pressure sensor 6 generates a brake pressure Bp (hydraulic pressure for generating a braking force by a brake device (not shown)) generated in response to depression of the brake pedal 11 operated by the driver D to decelerate the host vehicle 100. The detected brake pressure Bp is input to the support ECU 8.
　方向指示センサ７は、運転者Ｄの旋回方向意思を検出する旋回方向意思検出手段であり、自車両１００の状態を検出する自車両状態検出手段の１つである。方向指示センサ７は、図２および図３に示すように、自車両１００の車両左右側方にそれぞれ設けられた左右ターンシグナル１０３Ｌ，１０３Ｒを点滅させるための指示を出力する方向指示レバー１２を運転者Ｄが操作したことで、運転者Ｄの旋回予定方向を検出するものであり、検出された旋回予定方向が支援ＥＣＵ８に入力される。なお、方向指示レバー１２に限定されるものではなく、スイッチや音声認識などであってもよい。 The direction indicating sensor 7 is a turning direction intention detecting means for detecting the intention of the driver D in the turning direction, and is one of the own vehicle state detecting means for detecting the state of the own vehicle 100. As shown in FIGS. 2 and 3, the direction indicating sensor 7 operates a direction indicating lever 12 that outputs an instruction for blinking the left and right turn signals 103 </ b> L and 103 </ b> R provided on the left and right sides of the host vehicle 100. The driver D detects the planned turning direction of the driver D, and the detected planned turning direction is input to the support ECU 8. Note that the direction indication lever 12 is not limited, and a switch, voice recognition, or the like may be used.
　支援ＥＣＵ８は、制御手段であり、前側方ライト９の照明強調レベルを変更する照明強調レベル変更制御を行うものである。また、支援ＥＣＵ８は、図１に示すように、交差点推定部８１と、照明強調レベル判定部８２と、前側方ライト制御部８３としての機能を少なくとも有している。交差点推定部８１は、自車両１００が交差点Ｃ、特に一旦停止交差点に進入することを推定するものである。交差点推定部８１は、本実施形態では、自車速Ｖに基づいて、自車両１００が交差点Ｃに進入することを推定するものである。照明強調レベル判定部８２は、支援ＥＣＵ８に入力された情報、本実施形態では、接近移動体Ｔの検出の有無、照度Ｌに基づいて、前側方ライト９である左前側方ライト９Ｌ、右前側方ライト９Ｒの照明強調レベルＸを判定するものである。前側方ライト制御部８３は、判定された左前側方ライト９Ｌに対する照明強調レベルＸである左照明強調レベルＸＬおよびを右前側方ライト９Ｒに対する照明強調レベルＸである右照明強調レベルＸＲに基づいて、左前側方ライト９Ｌおよび右前側方ライト９Ｒが出力する光を制御するものである。ここで、照明強調レベルＸは、本実施形態では、図４に示すように、例えばレベル０～レベル１０までとし、レベル０は点灯のみ、レベル１からレベル１０までは点滅であり、レベル１からレベル１０に向かうにつれて対応する点滅速度（１～１０）が速くなるものとする。つまり、照明強調レベルＸは、レベルが上がるほど点滅速度が速くなり、接近移動体Ｔによる自車両１００の認識度が向上する。ここで、接近移動体Ｔとは、歩行者、人間が操作する自転車、電動カート、馬、馬車などの軽車両、人間が運転する自車両１００に対する周辺車両が含まれ、前側方ライト９が出力する光を認識することができるものをいう。なお、支援ＥＣＵ８のハード構成は、主に演算処理を行うＣＰＵ（Central　Processing　Unit）、プログラムや情報を格納するメモリ（ＳＲＡＭなどのＲＡＭ、ＥＥＰＲＯＭなどのＲＯＭ（Read　Only　Memory））、入出力インターフェースなどから構成され、既知の車両に搭載されるＥＣＵと同様であるため、詳細な説明は省略する。また、支援ＥＣＵ８には、自車両１００に搭載された図示しない駆動源、例えばエンジンを制御するエンジンＥＣＵや、ブレーキ装置を制御するブレーキＥＣＵ、ステアリングのアシスト量などを制御するステアリングＥＣＵなどが電気的に接続されており、上記自車速Ｖ、アクセル開度Ａ、ブレーキ圧Ｂｐなどは、これらのＥＣＵが取得した値であってもよい。 The support ECU 8 is a control means, and performs illumination enhancement level change control for changing the illumination enhancement level of the front side light 9. Further, as shown in FIG. 1, the support ECU 8 has at least functions as an intersection estimation unit 81, an illumination enhancement level determination unit 82, and a front side light control unit 83. The intersection estimation unit 81 estimates that the host vehicle 100 enters the intersection C, particularly a stop intersection. In this embodiment, the intersection estimation unit 81 estimates that the host vehicle 100 enters the intersection C based on the host vehicle speed V. The illumination enhancement level determination unit 82 is based on information input to the support ECU 8, in the present embodiment, whether or not the approaching moving body T is detected, and the illuminance L. The left front side light 9L that is the front side light 9, the right front side The illumination enhancement level X of the direction light 9R is determined. The front side light control unit 83 determines the left illumination enhancement level XL, which is the illumination enhancement level X for the determined left front side light 9L, and the right illumination enhancement level XR, which is the illumination enhancement level X for the right front side light 9R. The light output from the left front side light 9L and the right front side light 9R is controlled. Here, in this embodiment, as shown in FIG. 4, the illumination enhancement level X is, for example, level 0 to level 10, level 0 is only lighting, level 1 to level 10 is blinking, and level 1 to level 10 It is assumed that the corresponding blinking speed (1 to 10) becomes faster toward level 10. That is, the lighting enhancement level X increases in blinking speed as the level increases, and the recognition degree of the host vehicle 100 by the approaching moving body T is improved. Here, the approaching moving body T includes a pedestrian, a bicycle operated by a human, a light vehicle such as an electric cart, a horse, a carriage, and a surrounding vehicle with respect to the own vehicle 100 driven by a human, and the front side light 9 is output. A light that can recognize light. The hardware configuration of the support ECU 8 includes a CPU (Central Processing Unit) that mainly performs arithmetic processing, a memory for storing programs and information (RAM such as SRAM, ROM (Read Only Memory) such as EEPROM), an input / output interface, and the like. Since this is the same as an ECU mounted on a known vehicle, detailed description thereof is omitted. The support ECU 8 is electrically connected to a drive source (not shown) mounted on the host vehicle 100, such as an engine ECU that controls the engine, a brake ECU that controls the brake device, a steering ECU that controls the steering assist amount, and the like. The vehicle speed V, the accelerator opening A, the brake pressure Bp, and the like may be values acquired by these ECUs.
　前側方ライト９は、照明手段であり、図２および図３に示すように、自車両１００の前方において、自車両１００の前方に向けて設けられた左右前照灯１０４Ｌ，１０４Ｒとは別に設けられ、異なるものである。前側方ライト９は、車両幅方向視、本実施形態では、車両左前側方視において少なくとも一部が視認することができる左前側方ライト９Ｌおよび車両右側方視において少なくとも一部が視認することができる右前側方ライト９Ｒにより構成されている。左右前側方ライト９Ｌ，９Ｒは、本実施形態では、左右フロントドアパネル１０１Ｌ，１０１Ｒよりも車両前方に設けられ、左前側方ライト９Ｌはフロントバンパー１０５から左フロントフェンダー１０６Ｌに跨るように、右前側方ライト９Ｒはフロントバンパー１０５から右フロントフェンダー１０６Ｒに跨るように、それぞれ設けられている。前側方ライト９は、本実施形態では、複数の光源（例えばＬＥＤ）を帯状に配列したものであり、支援ＥＣＵ８により出力する光、すなわち点灯方法が制御されるものである。左右前側方ライト９Ｌ，９Ｒは、図５に示すように、車両左前側方および車両右前側方にそれぞれ光を出力し、光が届くエリアである左右出力エリアＬＥＬ，ＬＥＲ（同図に示す１点鎖線）内に存在する接近移動体Ｔに自車両１００の存在を認識させることができる。自車両１００が車両幅方向の両方が壁Ｗ１，Ｗ２で遮蔽された道路Ｒ１から交差点Ｃに進入する際に、左右前側方ライト９Ｌ，９Ｒは、運転者Ｄよりも先に交差点Ｃに進入するため、交差点Ｃにおいて道路Ｒ１と交差する交差道路Ｒ２の大部分が左右出力エリアＬＥＬ，ＬＥＲとなる。ここで、運転者Ｄが交差点Ｃに位置していない場合、運転者Ｄが視認できる運転者視認エリアＤＥ（同図点線）は、壁Ｗ１，Ｗ２により限定され、自車両１００の車両前方の一部、すなわち交差点Ｃのうち、道路Ｒ１と交差道路Ｒ２とが交差する部分しか視認できない。つまり、運転者Ｄは、交差点Ｃ、この場合、交差道路Ｒ２のうち道路Ｒ１と交差する部分以外に接近移動体Ｔ、例えば歩行者Ｔ１、軽車両Ｔ２、周辺車両Ｔ３が存在しても、接近移動体Ｔが運転者視認エリアＤＥ外であると接近移動体Ｔを視認することができず、接近移動体Ｔの存在を認識することができない。しかしながら、左右出力エリアＬＥＬ，ＬＥＲは、運転者視認エリアＤＥ外、特に交差道路Ｒ２の道路Ｒ１側も含むことができるので、運転者Ｄが視認できない接近移動体Ｔが左右認識エリアＬＥＬ，ＬＥＲ内に存在することとなり、左右前側方ライト９Ｌ，９Ｒによって接近移動体Ｔに自車両１００が視認され、接近移動体Ｔが自車両１００の存在を認識できる。なお、前側方ライト９は、少なくとも前輪ＦＴの回転中心よりも車両前方の領域に一部が位置するように設けられていることが好ましい。 The front side light 9 is illumination means, and is provided in front of the host vehicle 100 separately from the left and right headlamps 104L and 104R provided toward the front of the host vehicle 100, as shown in FIGS. Are different. The front side light 9 can be at least partially visible in the vehicle width direction view, in this embodiment, at least a part of the left front side light 9L that can be visually recognized in the vehicle left front side view and the vehicle right side view. The right front side light 9R is formed. In this embodiment, the left and right front side lights 9L and 9R are provided in front of the left and right front door panels 101L and 101R, and the left front side light 9L extends from the front bumper 105 to the left front fender 106L. 9R is provided so as to straddle from the front bumper 105 to the right front fender 106R. In the present embodiment, the front side light 9 is formed by arranging a plurality of light sources (for example, LEDs) in a band shape, and the light output by the support ECU 8, that is, the lighting method is controlled. As shown in FIG. 5, the left and right front side lights 9L and 9R output light to the left front side of the vehicle and the right front side of the vehicle, respectively, and left and right output areas LEL and LER (1 shown in FIG. 5). It is possible to make the approaching moving body T existing in the dotted line) recognize the existence of the host vehicle 100. When the host vehicle 100 enters the intersection C from the road R1 whose both sides in the vehicle width direction are shielded by the walls W1 and W2, the left and right front side lights 9L and 9R enter the intersection C before the driver D. Therefore, most of the intersection road R2 that intersects the road R1 at the intersection C becomes the left and right output areas LEL and LER. Here, when the driver D is not located at the intersection C, the driver visual recognition area DE (dotted line in the figure) that can be visually recognized by the driver D is limited by the walls W1 and W2 and is one of the vehicles in front of the host vehicle 100. Only the portion where the road R1 and the intersection road R2 intersect among the intersections, that is, the intersection C, is visible. That is, the driver D can approach the vehicle even if there is an approaching moving body T such as a pedestrian T1, a light vehicle T2, and a surrounding vehicle T3 other than the intersection C, in this case, a portion of the intersection road R2 that intersects the road R1. When the moving body T is outside the driver visual recognition area DE, the approaching moving body T cannot be visually recognized, and the presence of the approaching moving body T cannot be recognized. However, since the left and right output areas LEL and LER can include the outside of the driver visual recognition area DE, particularly the road R1 side of the intersection road R2, the approaching moving body T that cannot be visually recognized by the driver D is within the left and right recognition areas LEL and LER. Therefore, the own vehicle 100 is visually recognized by the approaching moving body T by the left and right front side lights 9L and 9R, and the approaching moving body T can recognize the existence of the own vehicle 100. In addition, it is preferable that the front side light 9 is provided so that a part is located in the area | region ahead of a vehicle rather than the rotation center of the front wheel FT at least.
　次に、実施形態１に係る接近移動体支援装置１－１による接近移動体支援方法について説明する。図６は、実施形態１に係る接近移動体支援方法のフロー図である。ここで、支援ＥＣＵ８は、予め設定された制御周期毎に接近移動体支援方法を繰り返し実行するものである。 Next, an approaching mobile body support method by the approaching mobile body support apparatus 1-1 according to the first embodiment will be described. FIG. 6 is a flowchart of the approaching mobile body support method according to the first embodiment. Here, the support ECU 8 repeatedly executes the approaching mobile body support method for each preset control cycle.
　まず、支援ＥＣＵ８は、図６に示すように、情報を取得する（ステップＳＴ１０１）。ここでは、支援ＥＣＵ８は、本実施形態では、自車速Ｖおよび照度Ｌを取得する。 First, the support ECU 8 acquires information as shown in FIG. 6 (step ST101). Here, the support ECU 8 acquires the host vehicle speed V and the illuminance L in the present embodiment.
　次に、支援ＥＣＵ８の交差点推定部８１は、自車速Ｖが所定車速ＶＴ未満であるか否かを判定する（ステップＳＴ１０２）。ここでは、交差点推定部８１は、自車速Ｖが所定車速ＶＴ未満であるか否かを判定することで、自車両１００が交差点Ｃに進入するのか否かを推定する。ここで、所定車速ＶＴとは、自車両１００が交差点Ｃ、特に一旦停止交差点に進入する際の自車速Ｖを予想した値で、例えば１０ｋｍ／ｈ程度である。なお、所定車速ＶＴは、予め設定されるものであってもよいし、運転者Ｄにより設定するものであってもよい。 Next, the intersection estimation unit 81 of the support ECU 8 determines whether or not the own vehicle speed V is less than the predetermined vehicle speed VT (step ST102). Here, the intersection estimation unit 81 determines whether or not the host vehicle 100 enters the intersection C by determining whether or not the host vehicle speed V is less than the predetermined vehicle speed VT. Here, the predetermined vehicle speed VT is a predicted value of the host vehicle speed V when the host vehicle 100 enters the intersection C, in particular, a stop intersection, and is about 10 km / h, for example. The predetermined vehicle speed VT may be set in advance or may be set by the driver D.
　次に、支援ＥＣＵ８の照明強調レベル判定部８２は、交差点推定部８１により自車速Ｖが所定車速ＶＴ未満であると判定される（ステップＳＴ１０２肯定）と、左右照明強調レベルＸＬ，ＸＲを基準レベルに設定する（ステップＳＴ１０３）。ここでは、照明強調レベル判定部８２は、自車両１００が交差点Ｃに進入すると判定されると、鼻出しセンサ３により接近移動体Ｔが検出される前に、左右前側方ライト９Ｌ，９Ｒを少なくとも点灯させるために、左右照明強調レベルＸＬ，ＸＲを基準レベルに設定する。ここで、基準レベルは、本実施形態では、左右前側方ライト９Ｌ，９Ｒを単に点灯させるレベルであるレベル０とする。 Next, when the intersection estimation unit 81 determines that the vehicle speed V is less than the predetermined vehicle speed VT (Yes in step ST102), the illumination enhancement level determination unit 82 of the support ECU 8 sets the left and right illumination enhancement levels XL and XR as reference levels. (Step ST103). Here, if it is determined that the host vehicle 100 enters the intersection C, the illumination enhancement level determination unit 82 displays the left and right front side lights 9L and 9R at least before the approaching moving body T is detected by the nasal sensor 3. In order to light up, the left and right illumination enhancement levels XL and XR are set to the reference level. Here, in this embodiment, the reference level is level 0, which is a level at which the left and right front side lights 9L and 9R are simply turned on.
　次に、支援ＥＣＵ８の前側方ライト制御部８３は、左右前側方ライト９Ｌ，９Ｒを基準レベルに制御する（ステップＳＴ１０４）。ここでは、前側方ライト制御部８３は、設定された左右照明強調レベルＸＬ，ＸＲである基準レベル、本実施形態ではレベル０、すなわち単に点灯するように左右前側方ライト９Ｌ，９Ｒを制御する。従って、左右前側方ライト９Ｌ，９Ｒは、自車両１００が交差点Ｃに進入する際に点灯した状態となるので、交差点Ｃに存在する接近移動体Ｔ以外の存在、例えば止まっている歩行者などにも、交差点Ｃにおける自車両１００の存在を注意喚起することができる。 Next, the front side light control unit 83 of the support ECU 8 controls the left and right front side lights 9L and 9R to the reference level (step ST104). Here, the front side light control unit 83 controls the left and right front side lights 9L and 9R so as to be lit up, which is the reference level that is the set left and right illumination enhancement levels XL and XR, in this embodiment, level 0. Therefore, since the left and right front side lights 9L and 9R are turned on when the host vehicle 100 enters the intersection C, the left and right front side lights 9L and 9R are present to the existence other than the approaching moving body T present at the intersection C, for example, a pedestrian who has stopped. Also, the presence of the vehicle 100 at the intersection C can be alerted.
　次に、照明強調レベル判定部８２は、接近移動体Ｔを検出したか否かを判定する（ステップＳＴ１０５）。ここでは、鼻出しセンサ３により、左右前側方の少なくとも一方において接近移動体Ｔを検出したか否かを判定する。 Next, the illumination enhancement level determination unit 82 determines whether or not the approaching moving body T has been detected (step ST105). Here, it is determined whether or not the approaching moving body T has been detected by at least one of the left and right front sides by the nostril sensor 3.
　次に、照明強調レベル判定部８２は、接近移動体Ｔを検出したと判定する（ステップＳＴ１０５肯定）と、レベルアップする左右照明強調レベルＸＬ，ＸＲを決定する（ステップＳＴ１０６）。ここでは、照明強調レベル判定部８２は、接近移動体Ｔが検出された検出方向に基づいて左右照明強調レベルＸＬ，ＸＲを決定する。例えば、接近移動体Ｔが自車両１００の左前側方のみで検出された場合は、左照明強調レベルＸＬをレベルアップの対象として決定し、接近移動体Ｔが自車両１００の右前側方のみで検出された場合は、右照明強調レベルＸＲをレベルアップの対象として決定し、接近移動体Ｔが自車両１００の左右前側方で検出された場合は、左右照明強調レベルＸＬ，ＸＲをレベルアップの対象として決定する。なお、照明強調レベル判定部８２は、接近移動体Ｔを検出しないと判定する（ステップＳＴ１０５否定）と、現在の制御周期を終了し、次の制御周期に移行する。 Next, when it is determined that the approaching moving body T has been detected (Yes in step ST105), the illumination enhancement level determination unit 82 determines the left and right illumination enhancement levels XL and XR to be leveled up (step ST106). Here, the illumination enhancement level determination unit 82 determines the left and right illumination enhancement levels XL and XR based on the detection direction in which the approaching moving body T is detected. For example, when the approaching moving body T is detected only at the left front side of the host vehicle 100, the left illumination enhancement level XL is determined as a level-up target, and the approaching moving body T is detected only at the right front side of the host vehicle 100. When it is detected, the right illumination enhancement level XR is determined as a target for level up, and when the approaching moving body T is detected at the left and right front sides of the host vehicle 100, the left and right illumination enhancement levels XL and XR are increased. Decide as a target. In addition, when it determines with the illumination emphasis level determination part 82 not detecting the approaching moving body T (step ST105 negative), the present control period will be complete | finished and it will transfer to the next control period.
　次に、照明強調レベル判定部８２は、照度Ｌに基づいて左右照明強調レベルＸＬ，ＸＲをアップする（ステップＳＴ１０７）。ここでは、照明強調レベル判定部８２は、上記レベルアップが決定された左右照明強調レベルＸＬ，ＸＲを照度Ｌに基づいて基準レベルからレベルアップ、すなわち照明強調レベルＸを上げる。本実施形態では、基準レベルからレベルアップする場合は、照度Ｌに基づいてアップ量を変更する。照度Ｌが高い場合は、照度Ｌが低い場合と比較して照明強調レベルＸを上げる。照明強調レベル判定部８２は、照度Ｌが低い場合、すなわち自車両１００の外部が暗い場合は基準レベルに対するアップ量を小さくし、照度Ｌが高い場合、すなわち自車両１００の外部が明るい場合は基準レベルに対するアップ量を大きくする。照明強調レベル判定部８２は、例えば、照度Ｌが低い場合は照明強調レベルＸをレベル０からレベル３にアップし、照度Ｌが高い場合は照明強調レベルＸをレベル０からレベル６にアップする。なお、照度Ｌは、基準照度よりも高いか否かで高低を判定してもよい。また、照度Ｌに対するアップ量は、照度Ｌの増加に伴い増加するようにしてもよい。また、照度Ｌが十分に低い場合は、基準レベルのままでもよい。 Next, the illumination enhancement level determination unit 82 increases the left and right illumination enhancement levels XL and XR based on the illuminance L (step ST107). Here, the illumination enhancement level determination unit 82 raises the left and right illumination enhancement levels XL and XR for which the above-described level increase has been determined from the reference level based on the illuminance L, that is, increases the illumination enhancement level X. In the present embodiment, when the level is increased from the reference level, the amount of increase is changed based on the illuminance L. When the illuminance L is high, the illumination enhancement level X is increased compared to when the illuminance L is low. When the illuminance L is low, that is, when the outside of the host vehicle 100 is dark, the illumination enhancement level determination unit 82 reduces the amount of increase with respect to the reference level, and when the illuminance L is high, that is, when the outside of the host vehicle 100 is bright, the reference. Increase the amount of up against the level. For example, the illumination enhancement level determination unit 82 increases the illumination enhancement level X from level 0 to level 3 when the illuminance L is low, and increases the illumination enhancement level X from level 0 to level 6 when the illuminance L is high. Note that the illuminance L may be determined based on whether it is higher than the reference illuminance. Further, the increase amount with respect to the illuminance L may be increased as the illuminance L increases. Further, when the illuminance L is sufficiently low, the reference level may be maintained.
　次に、前側方ライト制御部８３は、左右照明強調レベルＸＬ，ＸＲがアップされた左右前側方ライト９Ｌ，９Ｒの照明強調レベル変更制御を行う（ステップＳＴ１０８）。ここでは、前側方ライト制御部８３は、左照明強調レベルＸＬのみがレベルアップされた場合は左前側方ライト９Ｌのみに対して、左前側方ライト９Ｌがアップされた左照明強調レベルＸＬとなるように照明強調レベル変更制御を行い、右照明強調レベルＸＲのみがレベルアップされた場合は右前側方ライト９Ｒのみに対して、右前側方ライト９Ｒがアップされた右照明強調レベルＸＲとなるように照明強調レベル変更制御を行い、左右照明強調レベルＸＬ，ＸＲの両方がレベルアップされた場合は左右前側方ライト９Ｌ，９Ｒの両方に対して、左右前側方ライト９Ｌ，９Ｒがアップされた左右照明強調レベルＸＬ，ＸＲとなるように照明強調レベル変更制御を行う。 Next, the front side light control unit 83 performs illumination enhancement level change control of the left and right front side lights 9L and 9R with the left and right illumination enhancement levels XL and XR increased (step ST108). Here, when only the left illumination enhancement level XL is increased, the front side light control unit 83 becomes the left illumination enhancement level XL in which the left front side light 9L is increased with respect to only the left front side light 9L. In this way, when the illumination enhancement level change control is performed and only the right illumination enhancement level XR is increased, the right illumination enhancement level XR with the right front side light 9R is increased with respect to only the right front side light 9R. When the lighting enhancement level change control is performed and both the left and right illumination enhancement levels XL and XR are raised, the left and right front side lights 9L and 9R are raised with respect to both the left and right front side lights 9L and 9R. The illumination enhancement level change control is performed so that the illumination enhancement levels XL and XR are obtained.
　また、支援ＥＣＵ８は、交差点推定部８１により自車速Ｖが所定車速ＶＴ以上であると判定される（ステップＳＴ１０２否定）と、制御をリセットし（ステップＳＴ１０９）、現在の制御周期を終了し、次の制御周期に移行する。ここでは、支援ＥＣＵ８は、自車両１００が交差点Ｃに進入しないと推定されると接近移動体支援方法を行わない。また、自車両１００が交差点Ｃに進入し、交差点Ｃを通過したと推定されると、接近移動体支援方法を終了する。従って、前側方ライト９の照明強調レベル変更制御は、交差点Ｃなどの接近移動体Ｔに対する自車両１００の存在の注意喚起が必要な場合に限って行うことができ、不要な注意喚起を抑制することができる。 When the intersection estimation unit 81 determines that the host vehicle speed V is equal to or higher than the predetermined vehicle speed VT (No in step ST102), the support ECU 8 resets the control (step ST109), ends the current control cycle, Shift to the control cycle. Here, if it is estimated that the host vehicle 100 does not enter the intersection C, the support ECU 8 does not perform the approaching mobile body support method. When it is estimated that the host vehicle 100 has entered the intersection C and has passed the intersection C, the approaching mobile body support method is terminated. Therefore, the illumination enhancement level change control of the front side light 9 can be performed only when it is necessary to alert the presence of the host vehicle 100 to the approaching moving body T such as the intersection C and suppress unnecessary alerting. be able to.
　以上のように、本実施形態に係る接近移動体支援装置１－１では、鼻出しセンサ３により接近移動体Ｔが検出された場合に、前側方ライト９の照明強調レベルＸを上げ、接近移動体Ｔに対する自車両１００の認識度を高めることができる。従って、接近移動体Ｔに対する自車両１００の存在の注意喚起を十分に行うことができるので、交差点Ｃにおける出会い頭の事故の発生を抑制することができる。また、接近移動体Ｔが検出された検出方向に対応する左右前側方ライト９Ｌ，９Ｒの照明強調レベルＸＬ，ＸＲのみを上げ、接近移動体Ｔが検出されない検出方向に対応する前側方ライト９の照明強調レベルＸを上げないので、左右前側方のうち、接近移動体Ｔが存在し注意喚起を要する側に対して注意喚起を確実に行うことができるとともに、接近移動体Ｔが存在せず注意喚起を要しない側に対して注意喚起を不用意に行うことを抑制することができる。また、照度Ｌが低い場合に照明強調レベル変更制御を行っても、照明強調レベルＸが高くなることを抑制でき、接近移動体Ｔに過度な注意喚起となることを抑制することができ、照度Ｌが高い場合に照明強調レベル変更制御を行っても、照明強調レベルＸが低いことで接近移動体Ｔに対する自車両１００の認識度が低下することを抑制することができるので、接近移動体Ｔに十分な注意喚起ができないことを抑制することができる。 As described above, in the approaching moving body support apparatus 1-1 according to the present embodiment, when the approaching moving body T is detected by the nostril sensor 3, the illumination enhancement level X of the front side light 9 is increased and the approaching movement is performed. The recognition degree of the own vehicle 100 with respect to the body T can be increased. Accordingly, since it is possible to sufficiently alert the approaching moving body T to the existence of the host vehicle 100, it is possible to suppress the occurrence of an accident at the intersection C. Further, only the illumination enhancement levels XL and XR of the left and right front side lights 9L and 9R corresponding to the detection direction in which the approaching moving body T is detected are raised, and the front side light 9 corresponding to the detection direction in which the approaching moving body T is not detected. Since the illumination enhancement level X is not increased, the approaching moving body T is present on the left and right front sides, and the side that requires alerting can be surely alerted, and the approaching moving body T does not exist. Inadvertently alerting a side that does not require alerting can be suppressed. Further, even if the illumination enhancement level change control is performed when the illuminance L is low, the illumination enhancement level X can be suppressed from being increased, and excessive alerting to the approaching moving body T can be suppressed. Even if the illumination enhancement level change control is performed when L is high, it is possible to suppress a reduction in the recognition degree of the host vehicle 100 with respect to the approaching mobile body T due to the low illumination enhancement level X. It is possible to suppress the fact that sufficient alerting cannot be performed.
　〔実施形態２〕
　次に、実施形態２に係る接近移動体支援装置１－２について説明する。実施形態２に係る接近移動体支援装置１－２の基本的構成は、実施形態１に係る接近移動体支援装置１－１と同様であるので、構成の説明は省略する。実施形態２に係る接近移動体支援装置１－２は、自車両１００の状態に応じて、本実施形態では、接近移動体Ｔに対する自車両１００の危険度である自車両危険度Ｙに基づいて照明強調レベルＸを変更する照明強調レベル変更制御を行うものである。 [Embodiment 2]
Next, the approaching mobile body support apparatus 1-2 according to the second embodiment will be described. Since the basic configuration of the approaching mobile body support apparatus 1-2 according to the second embodiment is the same as that of the approaching mobile body support apparatus 1-1 according to the first embodiment, description of the configuration is omitted. In the present embodiment, the approaching mobile body support apparatus 1-2 according to the second embodiment is based on the host vehicle risk level Y, which is the risk level of the host vehicle 100 with respect to the approaching mobile body T, according to the state of the host vehicle 100. The illumination enhancement level change control for changing the illumination enhancement level X is performed.
　次に、実施形態２に係る接近移動体支援装置１－２による接近移動体支援方法について説明する。図７は、実施形態２に係る接近移動体支援方法のフロー図である。なお、実施形態２に係る接近移動体支援方法の基本的手順は、上記実施形態１に係る接近移動体支援方法と同様であるので、手順によっては説明を省略あるいは簡略化する。 Next, an approaching mobile body support method by the approaching mobile body support apparatus 1-2 according to the second embodiment will be described. FIG. 7 is a flowchart of the approaching mobile body support method according to the second embodiment. In addition, since the basic procedure of the approaching mobile body support method according to the second embodiment is the same as that of the approaching mobile body support method according to the first embodiment, the description is omitted or simplified depending on the procedure.
　まず、支援ＥＣＵ８は、図７に示すように、情報を取得する（ステップＳＴ２０１）。ここでは、支援ＥＣＵ８は、本実施形態では、自車速Ｖ、照度Ｌ、アクセル開度Ａおよびブレーキ圧Ｂｐを取得する。 First, the support ECU 8 acquires information as shown in FIG. 7 (step ST201). Here, the support ECU 8 acquires the host vehicle speed V, the illuminance L, the accelerator opening A, and the brake pressure Bp in the present embodiment.
　次に、交差点推定部８１は、自車速Ｖが所定車速ＶＴ未満であるか否かを判定する（ステップＳＴ２０２）。次に、照明強調レベル判定部８２は、交差点推定部８１により自車速Ｖが所定車速ＶＴ未満であると判定される（ステップＳＴ２０２肯定）と、左右照明強調レベルＸＬ，ＸＲを基準レベルに設定する（ステップＳＴ２０３）。次に、前側方ライト制御部８３は、左右前側方ライト９Ｌ，９Ｒを基準レベルに制御する（ステップＳＴ２０４）。次に、照明強調レベル判定部８２は、接近移動体Ｔを検出したか否かを判定する（ステップＳＴ２０５）。次に、照明強調レベル判定部８２は、接近移動体Ｔを検出したと判定する（ステップＳＴ２０５肯定）と、レベルアップする左右照明強調レベルＸＬ，ＸＲを決定する（ステップＳＴ２０６）。 Next, the intersection estimation unit 81 determines whether or not the own vehicle speed V is less than the predetermined vehicle speed VT (step ST202). Next, when the intersection estimation unit 81 determines that the host vehicle speed V is less than the predetermined vehicle speed VT (Yes in step ST202), the illumination enhancement level determination unit 82 sets the left and right illumination enhancement levels XL and XR as reference levels. (Step ST203). Next, the front side light control unit 83 controls the left and right front side lights 9L and 9R to the reference level (step ST204). Next, the illumination enhancement level determination unit 82 determines whether or not the approaching moving body T has been detected (step ST205). Next, if it determines with the illumination emphasis level determination part 82 having detected the approaching moving body T (step ST205 affirmation), it will determine the left and right illumination emphasis levels XL and XR which level up (step ST206).
　次に、照明強調レベル判定部８２は、照度Ｌおよび自車両危険度Ｙに基づいて左右照明強調レベルＸＬ，ＸＲをアップする（ステップＳＴ２０７）。ここでは、照明強調レベル判定部８２は、上記レベルアップが決定された左右照明強調レベルＸＬ，ＸＲを取得された自車速Ｖ、アクセル開度Ａ、ブレーキ圧Ｂｐに基づいて判定される自車両危険度Ｙおよび照度Ｌに基づいて、基準レベルからレベルアップ、すなわち照明強調レベルＸを上げる。本実施形態では、基準レベルからレベルアップする場合は、照度Ｌおよび自車両危険度Ｙに基づいてアップ量を変更する。照度Ｌが高い場合は照度Ｌが低い場合と比較して照明強調レベルＸを上げ、自車両危険度Ｙが高い場合は自車両危険度Ｙが低い場合と比較して照明強調レベルＸを上げる。照明強調レベル判定部８２は、照度Ｌが低い場合は基準レベルに対するアップ量を小さくし、照度Ｌが高い場合は基準レベルに対するアップ量を大きくするとともに、自車両危険度Ｙが低い場合は基準レベルに対するアップ量を小さくし、自車両危険度Ｙが高い場合は基準レベルに対するアップ量を大きくする。ここで、自車両危険度Ｙは、自車速Ｖが速い場合は高い、自車速Ｖが遅い場合は低いと判定される。これは、自車速Ｖが速い場合は、運転者Ｄが交差点Ｃに注意して進入していないと考えられ、自車両危険度Ｙが高いと判断されるためである。なお、自車両危険度Ｙは、自車速Ｖが基準車速よりも速いか否かで高低を判定してもよい。また、自車両危険度Ｙは、アクセル開度Ａが大きい場合は高い、アクセル開度Ａが小さい場合は低いと判定される。これは、アクセル開度Ａが大きい場合は、運転者Ｄが交差点Ｃにおいても自車両１００を加速させる意思があると考えられ、自車両危険度Ｙが高いと判断されるためである。なお、自車両危険度Ｙは、アクセル開度Ａが基準開度よりも大きいか否かで高低を判定してもよく、あるいはアクセル開度Ａが０度の場合のみ低いと判定してもよい。また、自車両危険度Ｙは、ブレーキ圧Ｂｐが小さい場合は高い、ブレーキ圧Ｂｐが大きい場合は低いと判定される。これは、ブレーキ圧Ｂｐが小さい場合は、運転者Ｄが交差点Ｃにおいて自車両１００を減速させる意思が少ないと考えられ、自車両危険度Ｙが高いと判断されるためである。なお、自車両危険度Ｙは、ブレーキ圧Ｂｐが基準圧力よりも小さいか否かで高低を判定してもよく、あるいはブレーキ圧Ｂｐが０の場合のみ高いと判定してもよい。照明強調レベル判定部８２は、例えば、自車両危険度Ｙが高い場合の照明強調レベルＸを自車両危険度Ｙが低い場合の照明強調レベルＸよりも２レベルアップするものとすると、照度Ｌが低く、自車両危険度Ｙが低い場合はレベル３、照度Ｌが低く、自車両危険度Ｙが高い場合はレベル５に基準レベルからアップし、照度Ｌが高く、自車両危険度Ｙが低い場合はレベル６、照度Ｌが高く、自車両危険度Ｙが高い場合はレベル８に基準レベルからアップする。なお、照度Ｌおよび自車両危険度Ｙに対するアップ量は、照度Ｌおよび自車両危険度Ｙの増加に伴い増加するようにしてもよい。 Next, the illumination enhancement level determination unit 82 increases the left and right illumination enhancement levels XL and XR based on the illuminance L and the vehicle risk Y (step ST207). Here, the illumination enhancement level determination unit 82 determines the vehicle risk determined based on the vehicle speed V, the accelerator opening A, and the brake pressure Bp from which the left and right illumination enhancement levels XL and XR for which the level up has been determined are acquired. Based on the degree Y and the illuminance L, the level is raised from the reference level, that is, the illumination enhancement level X is raised. In the present embodiment, when the level is increased from the reference level, the increase amount is changed based on the illuminance L and the own vehicle risk level Y. When the illuminance L is high, the illumination enhancement level X is increased compared to the case where the illuminance L is low, and when the own vehicle risk level Y is high, the illumination enhancement level X is increased compared to the case where the own vehicle risk level Y is low. The illumination enhancement level determination unit 82 reduces the increase amount with respect to the reference level when the illuminance L is low, increases the increase amount with respect to the reference level when the illuminance L is high, and increases the reference level when the own vehicle risk level Y is low. If the vehicle risk level Y is high, the up amount with respect to the reference level is increased. Here, the host vehicle risk level Y is determined to be high when the host vehicle speed V is high and low when the host vehicle speed V is low. This is because when the host vehicle speed V is high, it is considered that the driver D has not entered the intersection C with caution, and the host vehicle risk level Y is determined to be high. The host vehicle risk level Y may be determined as high or low depending on whether the host vehicle speed V is faster than the reference vehicle speed. The host vehicle risk level Y is determined to be high when the accelerator opening A is large and low when the accelerator opening A is small. This is because when the accelerator opening A is large, it is considered that the driver D intends to accelerate the host vehicle 100 even at the intersection C, and the host vehicle risk Y is determined to be high. The host vehicle risk level Y may be determined as high or low depending on whether the accelerator opening A is larger than the reference opening, or may be determined as low only when the accelerator opening A is 0 degrees. . In addition, the host vehicle risk level Y is determined to be high when the brake pressure Bp is small and low when the brake pressure Bp is large. This is because when the brake pressure Bp is small, it is considered that the driver D is less willing to decelerate the host vehicle 100 at the intersection C, and the host vehicle risk Y is determined to be high. The host vehicle risk level Y may be determined as high or low depending on whether or not the brake pressure Bp is smaller than the reference pressure, or may be determined as high only when the brake pressure Bp is zero. For example, if the illumination enhancement level determination unit 82 increases the illumination enhancement level X when the host vehicle risk level Y is high by two levels from the illumination enhancement level X when the host vehicle risk level Y is low, the illuminance L is Low, when the own vehicle risk level Y is low, the level 3 and the illuminance L are low, and when the own vehicle risk level Y is high, the level is raised to the level 5 from the reference level, the illuminance L is high, and the own vehicle risk level Y is low Increases from the reference level to level 8 when level 6, illuminance L is high, and own vehicle risk Y is high. In addition, you may make it increase the increase amount with respect to the illumination intensity L and the own vehicle risk degree Y with the increase in the illumination intensity L and the own vehicle risk degree Y.
　次に、前側方ライト制御部８３は、左右照明強調レベルＸＬ，ＸＲがアップされた左右前側方ライト９Ｌ，９Ｒの照明強調レベル変更制御を行う（ステップＳＴ２０８）。また、支援ＥＣＵ８は、交差点推定部８１により自車速Ｖが所定車速ＶＴ以上であると判定される（ステップＳＴ２０２否定）と、制御をリセットし（ステップＳＴ２０９）、現在の制御周期を終了し、次の制御周期に移行する。 Next, the front side light control unit 83 performs illumination enhancement level change control of the left and right front side lights 9L and 9R with the left and right illumination enhancement levels XL and XR being increased (step ST208). When the intersection estimation unit 81 determines that the host vehicle speed V is equal to or higher than the predetermined vehicle speed VT (No in step ST202), the support ECU 8 resets the control (step ST209), ends the current control cycle, Shift to the control cycle.
　以上のように、本実施形態に係る接近移動体支援装置１－２では、実施形態１と同様の効果を奏するとともに、自車両危険度Ｙが高い場合に、自車両危険度Ｙが低い場合と比較して照明強調レベルＸを上げるので、接近移動体Ｔに対して自車両危険度Ｙに応じて認識度を上げることができるため、接近移動体Ｔに対する自車両１００の存在の注意喚起をさらに十分に行うことができる。 As described above, the approaching mobile body support apparatus 1-2 according to the present embodiment has the same effects as those of the first embodiment, and when the host vehicle risk level Y is high, the host vehicle risk level Y is low. Since the lighting emphasis level X is increased in comparison, the recognition degree can be increased according to the own vehicle risk level Y with respect to the approaching moving body T, so that the approaching moving body T is further alerted to the presence of the own vehicle 100. Well done.
　なお、上記実施形態２では、自車速Ｖ、アクセル開度Ａ、ブレーキ圧Ｂｐの３つの条件それぞれに基づいて自車両危険度Ｙを判定したが、本発明はこれに限定されるものではない。自車速Ｖが速い、アクセル開度Ａが大きい、ブレーキ圧Ｂｐが小さいと判定されるごとに照明強調レベルＸのアップ量を増加してもよい。例えば、照度Ｌが高く、自車速Ｖが速い、アクセル開度Ａが大きい、ブレーキ圧Ｂｐが小さい、のうち、いずれか１つである場合はレベル８にアップし、照度Ｌが高く、自車速Ｖが速い、アクセル開度Ａが大きい、ブレーキ圧Ｂｐが小さい、のうち、いずれか２つである場合はレベル９にアップするようにしてもよい。また、自車速Ｖ、アクセル開度Ａ、ブレーキ圧Ｂｐに優先順位を設定し、優先順位の高い条件の結果に基づいて照明強調レベルＸのアップ量を設定してもよい。例えば、アクセル開度Ａ、ブレーキ圧Ｂｐの２つの判断基準を自車速Ｖよりも優先順位を高く設定し、アクセル開度Ａが小さく、ブレーキ圧Ｂｐが大きいと、自車速Ｖが速くても、自車両危険度Ｙが低いと判定し、照明強調レベルＸのアップ量を高い場合のアップ量よりも小さくしてもよい。例えば、照度Ｌが高く、自車速Ｖが速い、アクセル開度Ａが小さく、ブレーキ圧Ｂｐが大きい場合は、アクセル開度Ａが小さく、ブレーキ圧Ｂｐが大きいことから自車両危険度Ｙが高いと判定しレベル８にアップするところを、レベル７にアップするようにしてもよい。この場合は、自車速Ｖが速くても、運転者Ｄが交差点Ｃにおいて自車両１００を減速させる意思があることから、接近移動体Ｔへの不要な眩惑を抑制できる。また、接近移動体Ｔに不要な注意喚起を行うことを抑制することができる。なお、照度Ｌが高く、自車速Ｖが速い、アクセル開度Ａが小さく、ブレーキ圧Ｂｐが大きい場合は、照度Ｌが高く、自車両危険度Ｙが低い場合と同じレベル、すなわちレベル６にアップしてもよい。 In the second embodiment, the host vehicle risk level Y is determined based on the three conditions of the host vehicle speed V, the accelerator opening A, and the brake pressure Bp. However, the present invention is not limited to this. The amount of increase of the illumination enhancement level X may be increased every time it is determined that the host vehicle speed V is fast, the accelerator opening A is large, and the brake pressure Bp is small. For example, if any one of the illuminance L is high, the own vehicle speed V is fast, the accelerator opening A is large, and the brake pressure Bp is small, the level is increased to 8 and the illuminance L is high and the own vehicle speed. If V is fast, the accelerator opening A is large, or the brake pressure Bp is small, it may be increased to level 9. Alternatively, priority may be set for the host vehicle speed V, the accelerator opening A, and the brake pressure Bp, and the increase amount of the illumination enhancement level X may be set based on the result of a condition with high priority. For example, if two priority criteria for the accelerator opening A and the brake pressure Bp are set higher than the vehicle speed V, and the accelerator opening A is small and the brake pressure Bp is large, even if the vehicle speed V is high, It may be determined that the host vehicle risk level Y is low, and the amount of increase of the lighting enhancement level X may be smaller than the amount of increase in the case of high. For example, when the illuminance L is high, the host vehicle speed V is fast, the accelerator opening A is small, and the brake pressure Bp is large, the accelerator opening A is small and the brake pressure Bp is large. Instead of determining and increasing to level 8, it may be increased to level 7. In this case, even if the host vehicle speed V is high, the driver D intends to decelerate the host vehicle 100 at the intersection C, so that unnecessary dazzling to the approaching moving body T can be suppressed. In addition, it is possible to suppress unnecessary alerting to the approaching moving body T. When the illuminance L is high, the own vehicle speed V is fast, the accelerator opening A is small, and the brake pressure Bp is large, the level is increased to the same level as when the illuminance L is high and the own vehicle risk level Y is low, that is, level 6. May be.
　また、上記実施形態２では、自車両１００の状態の判定に、自車速Ｖ、アクセル開度Ａ、ブレーキ圧Ｂｐを用いたが、方向指示センサ７により検出された運転者Ｄの旋回予定方向を用いてもよい。この場合は、照明強調レベル判定部８２は、接近移動体Ｔが検出された検出方向と、運転者Ｄの旋回予定方向とが一致するか否かによって、基準レベルからレベルアップする場合のアップ量を変更する。検出方向と、旋回予定方向とが一致する場合は、一致しない場合と比較して照明強調レベルＸを下げる。例えば、照度Ｌが高く、検出方向と、旋回予定方向とが一致する場合はレベル５、照度Ｌが高く、検出方向と、旋回予定方向とが一致しない場合はレベル６に基準レベルからアップする。検出方向と旋回予定方向とが一致する場合は、左右ターンシグナル１０３Ｌ，１０３Ｒのうち、接近移動体Ｔが存在する側のものが点灯、あるいは点滅しているので、接近移動体Ｔが自車両１００に気づきやすい。従って、この場合、照明強調レベルＸを下げることで、接近移動体Ｔへの不要な眩惑を抑制できる。また、接近移動体Ｔに不要な注意喚起を行うことを抑制することができる。なお、検出方向と、旋回予定方向とが一致しない場合は、一致する場合と比較して照明強調レベルＸを上げてもよく、一致する場合はレベル６、一致しない場合はレベル７に基準レベルからアップしてもよい。 In the second embodiment, the host vehicle speed V, the accelerator opening A, and the brake pressure Bp are used to determine the state of the host vehicle 100. However, the planned turning direction of the driver D detected by the direction indicator sensor 7 is determined. It may be used. In this case, the illumination enhancement level determination unit 82 increases the amount when the level is increased from the reference level depending on whether or not the detection direction in which the approaching moving body T is detected matches the planned turning direction of the driver D. To change. When the detection direction matches the planned turning direction, the illumination enhancement level X is lowered compared to the case where the detection direction and the planned turning direction do not match. For example, when the illuminance L is high and the detection direction matches the planned turning direction, the level 5 is increased, and when the illuminance L is high and the detection direction does not match the planned turning direction, the level is increased to the level 6. If the detected direction and the planned turning direction match, the left and right turn signals 103L, 103R on the side where the approaching moving body T exists is lit or blinking, so that the approaching moving body T is the host vehicle 100. It is easy to notice. Therefore, in this case, unnecessary dazzling to the approaching moving body T can be suppressed by lowering the illumination enhancement level X. In addition, it is possible to suppress unnecessary alerting to the approaching moving body T. If the detected direction and the planned turning direction do not match, the illumination enhancement level X may be increased as compared to the matching direction. May be up.
　〔実施形態３〕
　次に、実施形態３に係る接近移動体支援装置１－３について説明する。実施形態３に係る接近移動体支援装置１－３の基本的構成は、実施形態１に係る接近移動体支援装置１－１と同様であるので、構成の説明は省略する。実施形態３に係る接近移動体支援装置１－３は、鼻出しセンサ３の検出結果に基づいた接近移動体Ｔの移動体情報に応じて、本実施形態では、接近移動体Ｔの危険度である移動体危険度Ｚに応じて照明強調レベルＸを変更する照明強調レベル変更制御を行うものである。 [Embodiment 3]
Next, an approaching mobile body support apparatus 1-3 according to Embodiment 3 will be described. Since the basic configuration of the approaching mobile body support apparatus 1-3 according to Embodiment 3 is the same as that of the approaching mobile body support apparatus 1-1 according to Embodiment 1, the description of the configuration is omitted. According to the moving body information of the approaching mobile body T based on the detection result of the nasal sensor 3, the approaching mobile body support apparatus 1-3 according to the third embodiment uses the risk of the approaching mobile body T in this embodiment. Illumination emphasis level change control for changing the illumination emphasis level X in accordance with a certain moving object risk level Z is performed.
　次に、実施形態３に係る接近移動体支援装置１－３による接近移動体支援方法について説明する。図８は、実施形態３に係る接近移動体支援方法のフロー図である。なお、実施形態３に係る接近移動体支援方法の基本的手順は、上記実施形態１，２に係る接近移動体支援方法と同様であるので、手順によっては説明を省略あるいは簡略化する。 Next, an approaching mobile body support method by the approaching mobile body support apparatus 1-3 according to Embodiment 3 will be described. FIG. 8 is a flowchart of the approaching mobile body support method according to the third embodiment. In addition, since the basic procedure of the approaching mobile body support method according to Embodiment 3 is the same as that of the approaching mobile body support method according to Embodiments 1 and 2, description thereof will be omitted or simplified depending on the procedure.
　まず、支援ＥＣＵ８は、図８に示すように、情報を取得する（ステップＳＴ３０１）。ここでは、支援ＥＣＵ８は、本実施形態では、自車速Ｖおよび照度Ｌを取得する。次に、交差点推定部８１は、自車速Ｖが所定車速ＶＴ未満であるか否かを判定する（ステップＳＴ３０２）。次に、照明強調レベル判定部８２は、交差点推定部８１により自車速Ｖが所定車速ＶＴ未満であると判定される（ステップＳＴ３０２肯定）と、左右照明強調レベルＸＬ，ＸＲを基準レベルに設定する（ステップＳＴ３０３）。次に、前側方ライト制御部８３は、左右前側方ライト９Ｌ，９Ｒを基準レベルに制御する（ステップＳＴ３０４）。次に、照明強調レベル判定部８２は、接近移動体Ｔを検出したか否かを判定する（ステップＳＴ３０５）。次に、照明強調レベル判定部８２は、接近移動体Ｔを検出したと判定する（ステップＳＴ３０５肯定）と、レベルアップする左右照明強調レベルＸＬ，ＸＲを決定する（ステップＳＴ３０６）。 First, as shown in FIG. 8, the support ECU 8 acquires information (step ST301). Here, the support ECU 8 acquires the host vehicle speed V and the illuminance L in the present embodiment. Next, the intersection estimation unit 81 determines whether or not the own vehicle speed V is less than the predetermined vehicle speed VT (step ST302). Next, when the intersection estimation unit 81 determines that the host vehicle speed V is less than the predetermined vehicle speed VT (Yes in step ST302), the illumination enhancement level determination unit 82 sets the left and right illumination enhancement levels XL and XR as reference levels. (Step ST303). Next, the front side light control unit 83 controls the left and right front side lights 9L and 9R to the reference level (step ST304). Next, the illumination enhancement level determination unit 82 determines whether or not the approaching moving body T has been detected (step ST305). Next, if it determines with the illumination emphasis level determination part 82 having detected the approaching moving body T (step ST305 affirmation), it will determine the left and right illumination emphasis levels XL and XR which level up (step ST306).
　次に、照明強調レベル判定部８２は、照度Ｌおよび移動体危険度Ｚに基づいて左右照明強調レベルＸＬ，ＸＲをアップする（ステップＳＴ３０７）。ここでは、照明強調レベル判定部８２は、上記レベルアップが決定された左右照明強調レベルＸＬ，ＸＲを接近移動体Ｔの移動体情報に基づいた移動体危険度Ｚおよび照度Ｌに基づいて、基準レベルからレベルアップ、すなわち照明強調レベルＸを上げる。本実施形態では、基準レベルからレベルアップする場合は、照度Ｌおよび移動体危険度Ｚに基づいてアップ量を変更する。つまり、照度Ｌが高い場合は照度Ｌが低い場合と比較して照明強調レベルＸを上げ、移動体危険度Ｚが高い場合は移動体危険度Ｚが低い場合と比較して照明強調レベルＸを上げる。ここで、移動体情報とは、鼻出しセンサ３の検出結果に基づいたものであり、本実施形態では、接近移動体Ｔの自車両１００に対する接近速度ＶＳと、接近移動体Ｔの属性が含まれる。接近移動体Ｔの属性は、鼻出しセンサ３の検出結果である形状に基づいて判定されるものであり、少なくとも図５に示すように、歩行者Ｔ１、軽車両Ｔ２、周辺車両Ｔ３とに分けて判定される。また、鼻出しセンサ３の検出結果により属性を判定することが困難である場合は、物体の形状の検出が容易な車載カメラ（左右前側方をそれぞれ撮像可能）を移動体検出手段として鼻出しセンサ３と併用してもよく、接近移動体Ｔが自身の個体情報を発信できる場合は、個体情報を受信できる個体情報受信装置、すなわち受動型センサを移動体検出手段として鼻出しセンサ３と併用してよい。なお、車載カメラや個体情報受信装置などが接近移動体Ｔを検出でき、検出結果に基づいて移動体情報、特に接近速度ＶＳを検出することができるのであれば、鼻出しセンサ３の代わりに移動体検出手段として用いてもよい。 Next, the illumination enhancement level determination unit 82 increases the left and right illumination enhancement levels XL and XR based on the illuminance L and the moving object risk level Z (step ST307). Here, the illumination enhancement level determination unit 82 uses the left and right illumination enhancement levels XL and XR for which the level up has been determined based on the moving body risk level Z and the illuminance L based on the moving body information of the approaching moving body T. The level is raised from the level, that is, the illumination enhancement level X is raised. In the present embodiment, when the level is increased from the reference level, the increase amount is changed based on the illuminance L and the moving object risk level Z. That is, when the illuminance L is high, the illumination enhancement level X is increased as compared with the case where the illuminance L is low, and when the mobile object risk Z is high, the illumination enhancement level X is compared with the case where the mobile object risk Z is low. increase. Here, the moving body information is based on the detection result of the nose sensor 3, and in this embodiment, includes the approach speed VS of the approaching mobile body T relative to the host vehicle 100 and the attributes of the approaching mobile body T. It is. The attribute of the approaching moving body T is determined based on the shape that is the detection result of the nose sensor 3, and is divided into at least a pedestrian T1, a light vehicle T2, and a surrounding vehicle T3 as shown in FIG. Is determined. Further, when it is difficult to determine the attribute based on the detection result of the nasal sensor 3, the nasal sensor is used as a moving body detection unit with an in-vehicle camera that can easily detect the shape of the object (each of the left and right front sides can be imaged). 3 may be used together, and when the approaching mobile body T can transmit its own individual information, the individual information receiving device that can receive the individual information, that is, a passive sensor is used in combination with the nasal sensor 3 as a mobile body detection means. It's okay. If the in-vehicle camera or the individual information receiving device can detect the approaching moving body T and can detect the moving body information, in particular, the approaching speed VS based on the detection result, it moves instead of the nose sensor 3. You may use as a body detection means.
　照明強調レベル判定部８２は、照度Ｌが低い場合は基準レベルに対するアップ量を小さくし、照度Ｌが高い場合は基準レベルに対するアップ量を大きくするとともに、移動体危険度Ｚが低い場合は基準レベルに対するアップ量を小さくし、移動体危険度Ｚが高い場合は基準レベルに対するアップ量を大きくする。ここで、移動体危険度Ｚは、接近速度ＶＳが速い場合は高い、接近速度ＶＳが遅い場合は低いと判定される。これは、接近速度ＶＳが速い場合は、自車両１００との衝突を避けるための回避行動を行いにくいと考えられ、移動体危険度Ｚが高いと判断されるためである。なお、移動体危険度Ｚは、接近速度ＶＳが基準車速よりも速いか否かで高低を判定してもよい。また、移動体危険度Ｚは、接近移動体Ｔの属性、例えば軽車両Ｔ２である場合は高い、歩行者Ｔ１、周辺車両Ｔ３である場合は低いと判定される。これは、軽車両Ｔ２は、歩行者Ｔ１よりも自車両１００との衝突を避けるための回避行動を行いにくいと考えられ、移動体危険度Ｚが高いと判断されるためである。また、周辺車両Ｔ３は、周辺車両Ｔ３の運転者が通常車両前方に注視しており回避行動をとりやすいと考えられ、移動体危険度Ｚが低いと判断されるためである。照明強調レベル判定部８２は、例えば、移動体危険度Ｚが高い場合の照明強調レベルＸを移動体危険度Ｚが低い場合の照明強調レベルＸよりも２レベルアップするものとすると、照度Ｌが低く、移動体危険度Ｚが低い場合はレベル３、照度Ｌが低く、移動体危険度Ｚが高い場合はレベル５に基準レベルからアップし、照度Ｌが高く、移動体危険度Ｚが低い場合はレベル６、照度Ｌが高く、移動体危険度Ｚが高い場合はレベル８に基準レベルからアップする。なお、照度Ｌおよび移動体危険度Ｚに対するアップ量は、照度Ｌおよび移動体危険度Ｚの増加に伴い増加するようにしてもよい。 The illumination enhancement level determination unit 82 reduces the increase amount with respect to the reference level when the illuminance L is low, increases the increase amount with respect to the reference level when the illuminance L is high, and increases the reference level when the moving object risk level Z is low. When the moving object risk level Z is high, the up amount with respect to the reference level is increased. Here, it is determined that the moving body risk level Z is high when the approach speed VS is fast and is low when the approach speed VS is slow. This is because, when the approach speed VS is high, it is considered that it is difficult to perform an avoidance action for avoiding a collision with the host vehicle 100, and it is determined that the moving object risk level Z is high. The moving object risk level Z may be determined as high or low depending on whether the approach speed VS is faster than the reference vehicle speed. In addition, the moving object risk level Z is determined to be high when it is an attribute of the approaching moving object T, for example, a light vehicle T2, and low when it is a pedestrian T1 or a surrounding vehicle T3. This is because the light vehicle T2 is considered to be less likely to perform an avoidance action for avoiding a collision with the host vehicle 100 than the pedestrian T1, and the moving object risk level Z is determined to be high. Further, the surrounding vehicle T3 is considered that the driver of the surrounding vehicle T3 is usually gazing in front of the vehicle and is likely to take an avoidance action, and the moving object risk level Z is determined to be low. For example, the illumination enhancement level determination unit 82 assumes that the illumination enhancement level X when the moving object risk level Z is high is two levels higher than the illumination enhancement level X when the movement object risk level Z is low. When the mobile object risk level Z is low, the level 3 is low, and the illuminance L is low. When the mobile object risk level Z is high, the level is increased to the level 5 and the illuminance L is high and the mobile object risk level Z is low. Is raised to the level 8 from the reference level when the illuminance L is high and the moving object danger level Z is high. Note that the amount of increase with respect to the illuminance L and the moving object risk level Z may increase as the illuminance L and the moving object risk value Z increase.
　次に、前側方ライト制御部８３は、左右照明強調レベルＸＬ，ＸＲがアップされた左右前側方ライト９Ｌ，９Ｒの照明強調レベル変更制御を行う（ステップＳＴ３０８）。また、支援ＥＣＵ８は、交差点推定部８１により自車速Ｖが所定車速ＶＴ以上であると判定される（ステップＳＴ３０２否定）と、制御をリセットし（ステップＳＴ３０９）、現在の制御周期を終了し、次の制御周期に移行する。 Next, the front side light control unit 83 performs illumination enhancement level change control of the left and right front side lights 9L and 9R with the left and right illumination enhancement levels XL and XR increased (step ST308). When the intersection estimation unit 81 determines that the host vehicle speed V is equal to or higher than the predetermined vehicle speed VT (No in step ST302), the support ECU 8 resets the control (step ST309), ends the current control cycle, Shift to the control cycle.
　以上のように、本実施形態に係る接近移動体支援装置１－３では、実施形態１と同様の効果を奏するとともに、移動体危険度Ｚが高い場合に、移動体危険度Ｚが低い場合と比較して照明強調レベルＸを上げるので、接近移動体Ｔに対して移動体危険度Ｚに応じて認識度を上げることができるため、接近移動体Ｔに対する自車両１００の存在の注意喚起をさらに十分に行うことができる。 As described above, the approaching mobile body support apparatus 1-3 according to the present embodiment has the same effects as those of the first embodiment. When the mobile body risk level Z is high, the mobile body risk level Z is low. Since the lighting emphasis level X is increased in comparison, the recognition degree can be increased according to the moving body risk level Z with respect to the approaching moving body T, so that the approaching moving body T is further alerted to the presence of the host vehicle 100. Well done.
　〔実施形態４〕
　次に、実施形態４に係る接近移動体支援装置１－４について説明する。実施形態４に係る接近移動体支援装置１－４の基本的構成は、実施形態１に係る接近移動体支援装置１－１と同様であるので、構成の説明は省略する。図９は、実施形態に係る接近移動体支援装置の他の概略構成例を示す図である。実施形態４に係る接近移動体支援装置１－４は、接近移動体Ｔに対する自車両１００の運転者Ｄの認識状態に応じて、本実施形態では、運転者Ｄの視線情報に応じて照明強調レベルＸを変更する照明強調レベル変更制御を行うものである。 [Embodiment 4]
Next, an approaching mobile body support apparatus 1-4 according to Embodiment 4 will be described. Since the basic configuration of the approaching mobile body support apparatus 1-4 according to Embodiment 4 is the same as that of the approaching mobile body support apparatus 1-1 according to Embodiment 1, description of the configuration is omitted. FIG. 9 is a diagram illustrating another schematic configuration example of the approaching mobile body support apparatus according to the embodiment. The approaching mobile body support apparatus 1-4 according to Embodiment 4 emphasizes illumination according to the recognition state of the driver D of the host vehicle 100 with respect to the approaching mobile body T, and according to the line-of-sight information of the driver D in this embodiment. The illumination enhancement level change control for changing the level X is performed.
　視線センサ１３は、認識状態検出手段であり、図９に示すように、例えば車内カメラなどの自車両１００の運転者Ｄの視線情報を検出するものであり、検出された視線情報が支援ＥＣＵ８に入力される。ここで、視線情報とは、運転者Ｄの視線方向である。 The line-of-sight sensor 13 is a recognition state detection unit, and detects line-of-sight information of the driver D of the host vehicle 100 such as an in-vehicle camera, for example, as shown in FIG. Entered. Here, the line-of-sight information is the line-of-sight direction of the driver D.
　次に、実施形態４に係る接近移動体支援装置１－４による接近移動体支援方法について説明する。図１０は、実施形態４に係る接近移動体支援方法のフロー図である。なお、実施形態４に係る接近移動体支援方法の基本的手順は、上記実施形態１～３に係る接近移動体支援方法と同様であるので、手順によっては説明を省略あるいは簡略化する。 Next, an approaching mobile body support method by the approaching mobile body support apparatus 1-4 according to Embodiment 4 will be described. FIG. 10 is a flowchart of the approaching mobile body support method according to the fourth embodiment. Note that the basic procedure of the approaching mobile body support method according to the fourth embodiment is the same as that of the approaching mobile body support method according to the first to third embodiments, and therefore description thereof will be omitted or simplified depending on the procedure.
　まず、支援ＥＣＵ８は、図１０に示すように、情報を取得する（ステップＳＴ４０１）。ここでは、支援ＥＣＵ８は、本実施形態では、自車速Ｖ、照度Ｌおよび運転者Ｄの視線情報を取得する。 First, the support ECU 8 acquires information as shown in FIG. 10 (step ST401). Here, the support ECU 8 acquires the vehicle speed V, the illuminance L, and the line-of-sight information of the driver D in the present embodiment.
　次に、交差点推定部８１は、自車速Ｖが所定車速ＶＴ未満であるか否かを判定する（ステップＳＴ４０２）。次に、照明強調レベル判定部８２は、交差点推定部８１により自車速Ｖが所定車速ＶＴ未満であると判定される（ステップＳＴ４０２肯定）と、左右照明強調レベルＸＬ，ＸＲを基準レベルに設定する（ステップＳＴ４０３）。次に、前側方ライト制御部８３は、左右前側方ライト９Ｌ，９Ｒを基準レベルに制御する（ステップＳＴ４０４）。次に、照明強調レベル判定部８２は、接近移動体Ｔを検出したか否かを判定する（ステップＳＴ４０５）。次に、照明強調レベル判定部８２は、接近移動体Ｔを検出したと判定する（ステップＳＴ４０５肯定）と、レベルアップする左右照明強調レベルＸＬ，ＸＲを決定する（ステップＳＴ４０６）。 Next, the intersection estimation unit 81 determines whether or not the own vehicle speed V is less than the predetermined vehicle speed VT (step ST402). Next, if the intersection estimation unit 81 determines that the host vehicle speed V is less than the predetermined vehicle speed VT (Yes in step ST402), the illumination enhancement level determination unit 82 sets the left and right illumination enhancement levels XL and XR as reference levels. (Step ST403). Next, the front side light control unit 83 controls the left and right front side lights 9L and 9R to the reference level (step ST404). Next, the illumination enhancement level determination unit 82 determines whether or not the approaching moving body T has been detected (step ST405). Next, if it determines with the illumination emphasis level determination part 82 having detected the approaching moving body T (step ST405 affirmation), it will determine the left and right illumination emphasis levels XL and XR which level up (step ST406).
　次に、照明強調レベル判定部８２は、照度Ｌおよび視線情報に基づいて左右照明強調レベルＸＬ，ＸＲをアップする（ステップＳＴ４０７）。ここでは、照明強調レベル判定部８２は、上記レベルアップが決定された左右照明強調レベルＸＬ，ＸＲを視線情報に基づいた運転者Ｄの視線方向と検出方向とが一致するか否か、すなわち視線一致の有無および照度Ｌに基づいて、基準レベルからレベルアップ、すなわち照明強調レベルＸを上げる。本実施形態では、基準レベルからレベルアップする場合は、視線一致の有無および照度Ｌに基づいてアップ量を変更する。照度Ｌが高い場合は照度Ｌが低い場合と比較して照明強調レベルＸを上げ、視線一致する場合は視線一致しない場合と比較して照明強調レベルＸを下げる。例えば、視線一致する場合の照明強調レベルＸを視線一致しない場合の照明強調レベルＸよりも１レベルダウンするものとすると、照度Ｌが低く、視線一致する場合はレベル２、照度Ｌが低く、視線一致しない場合はレベル３に基準レベルからアップし、照度Ｌが高く、視線一致する場合はレベル５、照度Ｌが高く、視線一致しない場合はレベル６に基準レベルからアップする。なお、視線一致しない場合は、一致する場合と比較して照明強調レベルＸを上げてもよく、一致する場合はレベル６、一致しない場合はレベル７にアップする。 Next, the illumination enhancement level determination unit 82 increases the left and right illumination enhancement levels XL and XR based on the illuminance L and the line-of-sight information (step ST407). Here, the illumination enhancement level determination unit 82 determines whether the line-of-sight direction and the detection direction of the driver D based on the line-of-sight information match the left and right illumination enhancement levels XL and XR for which the level up has been determined. Based on the presence / absence of coincidence and the illuminance L, the level is raised from the reference level, that is, the illumination enhancement level X is raised. In the present embodiment, when the level is increased from the reference level, the amount of increase is changed based on the presence or absence of line-of-sight matching and the illuminance L. When the illuminance L is high, the illumination enhancement level X is increased compared to when the illuminance L is low, and when the line of sight matches, the illumination enhancement level X is decreased compared to the case where the line of sight does not match. For example, assuming that the illumination enhancement level X when the line of sight matches is one level lower than the illumination enhancement level X when the line of sight does not coincide, the illuminance L is low, and when the line of sight coincides, the level 2 and the illuminance L are low. If they do not match, the level is increased to the level 3 from the reference level. If the illuminance L is high and the line of sight matches, the level 5 is high. If the line of sight does not match, the illumination enhancement level X may be increased as compared to the case of matching, and if the line of sight matches, the lighting enhancement level X is raised to level 6;
　次に、前側方ライト制御部８３は、左右照明強調レベルＸＬ，ＸＲがアップされた左右前側方ライト９Ｌ，９Ｒの照明強調レベル変更制御を行う（ステップＳＴ４０８）。また、支援ＥＣＵ８は、交差点推定部８１により自車速Ｖが所定車速ＶＴ以上であると判定される（ステップＳＴ４０２否定）と、制御をリセットし（ステップＳＴ４０９）、現在の制御周期を終了し、次の制御周期に移行する。 Next, the front side light control unit 83 performs illumination enhancement level change control of the left and right front side lights 9L and 9R with the left and right illumination enhancement levels XL and XR increased (step ST408). When the intersection estimation unit 81 determines that the host vehicle speed V is equal to or higher than the predetermined vehicle speed VT (No in step ST402), the support ECU 8 resets the control (step ST409), ends the current control cycle, Shift to the control cycle.
　以上のように、本実施形態に係る接近移動体支援装置１－４では、実施形態１と同様の効果を奏するとともに、視線方向が一致する場合は、運転者Ｄにより接近移動体Ｔの存在を認識していると推定することができる。従って、視線一致する場合は、照明強調レベルＸを下げることで、接近移動体Ｔへの不要な眩惑を抑制できる。また、接近移動体Ｔに不要な注意喚起を行うことを抑制することができる。一方、視線一致しない場合は、視線方向が一致する場合よりも照明強調レベルＸが上がるので、運転者Ｄが接近移動体Ｔの存在を認識していないと推定されることで、接近移動体Ｔに対して自車両１００の認識度を上げることができるため、接近移動体Ｔに対する自車両１００の存在の注意喚起をさらに十分に行うことができる。 As described above, the approaching mobile body support apparatus 1-4 according to the present embodiment has the same effects as those of the first embodiment. When the line-of-sight directions match, the driver D causes the approaching mobile body T to be present. It can be estimated that it recognizes. Therefore, when the line of sight matches, unnecessary dazzling to the approaching moving body T can be suppressed by lowering the illumination enhancement level X. In addition, it is possible to suppress unnecessary alerting to the approaching moving body T. On the other hand, when the line of sight does not match, the illumination enhancement level X is higher than when the line of sight matches, so that it is estimated that the driver D has not recognized the presence of the approaching moving body T. Since the recognition degree of the own vehicle 100 can be raised, the alerting of the presence of the own vehicle 100 to the approaching moving body T can be performed more sufficiently.
　なお、本実施形態では、視線方向が一致しない場合に、一致する場合と比較して照明強調レベルＸを上げてもよく、例えば照度Ｌが低く、視線一致する場合はレベル３、照度Ｌが低く、視線一致しない場合はレベル４に基準レベルからアップし、照度Ｌが高く、視線一致する場合はレベル６、照度Ｌが高く、視線一致しない場合はレベル７に基準レベルからアップしてもよい。また、照明強調レベル判定部８２は、運転者Ｄの視線の方向に、接近移動体Ｔが位置するか否かに基づいてアップ量を変更してもよい。 In this embodiment, when the line-of-sight directions do not match, the illumination enhancement level X may be increased compared to the case where they match, for example, the illuminance L is low, and when the line-of-sight matches, the level 3 and the illuminance L are low. If the line of sight does not match, the level may be raised to the level 4 from the reference level, and if the illuminance L is high and the line of sight matches, the level 6 may be high. Further, the illumination enhancement level determination unit 82 may change the up amount based on whether or not the approaching moving body T is located in the direction of the driver's D line of sight.
　〔実施形態５〕
　次に、実施形態５に係る接近移動体支援装置１－５について説明する。実施形態５に係る接近移動体支援装置１－５の基本的構成は、実施形態１に係る接近移動体支援装置１－１と同様であるので、構成の説明は省略する。図１１は、実施形態に係る接近移動体支援装置の他の概略構成例を示す図である。図１２は、インジケータを示す図である。実施形態５に係る接近移動体支援装置１－５は、接近移動体Ｔを検出することで、照明強調レベルＸを変更する照明強調レベル変更制御を行うとともに、インジケータ１４の表示強調レベルＰを変更する表示強調レベル変更制御を行うものである。 [Embodiment 5]
Next, an approaching mobile body support apparatus 1-5 according to Embodiment 5 will be described. Since the basic configuration of the approaching mobile body support apparatus 1-5 according to the fifth embodiment is the same as that of the approaching mobile body support apparatus 1-1 according to the first embodiment, description of the configuration is omitted. FIG. 11 is a diagram illustrating another schematic configuration example of the approaching mobile body support apparatus according to the embodiment. FIG. 12 shows an indicator. The approaching mobile body support apparatus 1-5 according to the fifth embodiment performs the illumination enhancement level change control for changing the illumination enhancement level X by detecting the approaching movement body T, and changes the display enhancement level P of the indicator 14. The display emphasis level change control is performed.
　インジケータ１４は、運転者Ｄに対して情報を提供するものである。インジケータ１４は、図１２に示すように、自車両１００に設けられたステアリング１０７よりも上部、本実施形態では、ステアリング１０７より上方のダッシュボード１０８に設けられている。インジケータ１４は、本実施形態では、鼻出しセンサ３により接近移動体Ｔが検出されると、運転者Ｄに対して情報として、接近移動体Ｔの検出の有無、検出方向、接近移動体Ｔの自車両１００との距離が運転者Ｄに認識できる形で表示される。インジケータ１４は、検出有無表示部１４ａと、左前側方検出表示部１４ｂと、右前側方検出表示部１４ｃと、距離レベル表示部１４ｄとにより構成されている。検出有無表示部１４ａは、鼻出しセンサ３により接近移動体Ｔが検出されると点灯するものである。左前側方検出表示部１４ｂは、検出された接近移動体Ｔの検出方向が左前側方である場合に点灯するものである。右前側方検出表示部１４ｃは、検出された接近移動体Ｔの検出方向が右前側方である場合に点灯するものである。距離レベル表示部１４ｄは、接近移動体Ｔの自車両１００との距離に応じて表示を変化させるものである。距離レベル表示部１４ｄは、例えば、棒状の表示体を複数有しており、接近移動体Ｔの自車両１００との距離が近づくに伴い点灯する表示体の数を増加する。距離レベル表示部１４ｄは、接近移動体Ｔの検出方向に対応する左右前側方検出表示部１４ｂ，１４ｃ側から点灯する表示体の数が増加する。 The indicator 14 provides information to the driver D. As shown in FIG. 12, the indicator 14 is provided on the dashboard 108 above the steering 107 provided in the host vehicle 100, in the present embodiment, above the steering 107. In the present embodiment, when the approaching moving body T is detected by the nasal sensor 3, in this embodiment, the indicator 14 provides information to the driver D as to whether the approaching moving body T is detected, the detection direction, and the approaching moving body T. The distance from the host vehicle 100 is displayed in a form that can be recognized by the driver D. The indicator 14 includes a detection presence / absence display unit 14a, a left front side detection display unit 14b, a right front side detection display unit 14c, and a distance level display unit 14d. The detection presence / absence display unit 14a is turned on when the approaching moving body T is detected by the nasal sensor 3. The left front side detection display unit 14b is lit when the detected direction of the approaching moving body T is the left front side. The right front side detection display unit 14c is turned on when the detected direction of the approaching moving body T is the right front side. The distance level display part 14d changes a display according to the distance with the own vehicle 100 of the approaching mobile body T. FIG. The distance level display unit 14d has, for example, a plurality of bar-shaped display bodies, and increases the number of display bodies that are lit as the distance between the approaching moving body T and the host vehicle 100 approaches. In the distance level display unit 14d, the number of display bodies that are lit from the left and right front side detection display units 14b and 14c corresponding to the detection direction of the approaching moving body T increases.
　支援ＥＣＵ８は、制御手段であり、照明強調レベル変更制御および表示強調レベル変更制御を行うものである。また、支援ＥＣＵ８は、図１１に示すように、交差点推定部８１と、照明強調レベル判定部８２と、前側方ライト制御部８３と、表示強調レベル判定部８４と、インジケータ制御部８５としての機能を少なくとも有している。表示強調レベル判定部８４は、支援ＥＣＵ８に入力された情報、本実施形態では、自車両１００の状態に応じた接近移動体Ｔに対する自車両１００の危険度である自車両危険度Ｙ、視線情報に基づいて、インジケータ１４の表示強調レベルＰを判定するものである。インジケータ制御部８５は、表示強調レベルＰに基づいて、インジケータ１４が出力する光を制御するものである。ここで、表示強調レベルＰは、本実施形態では、例えばレベル０～レベル３までとし、レベル０は点灯のみ、レベル１からレベル３に向かうにつれて輝度が高くなるものとする。つまり、表示強調レベルＰは、レベルが上がるほど輝度が高くなり、運転者Ｄによるインジケータ１４の認識度が向上する。 The support ECU 8 is a control means, and performs illumination enhancement level change control and display enhancement level change control. Further, as shown in FIG. 11, the support ECU 8 functions as an intersection estimation unit 81, an illumination enhancement level determination unit 82, a front side light control unit 83, a display enhancement level determination unit 84, and an indicator control unit 85. At least. The display emphasis level determination unit 84 is information input to the support ECU 8, in the present embodiment, the host vehicle risk level Y that is the risk level of the host vehicle 100 with respect to the approaching moving body T according to the state of the host vehicle 100, and line-of-sight information. Based on the above, the display emphasis level P of the indicator 14 is determined. The indicator control unit 85 controls the light output from the indicator 14 based on the display enhancement level P. Here, the display emphasis level P is, for example, level 0 to level 3 in this embodiment, and level 0 is only lighting, and the luminance increases from level 1 to level 3. That is, the display enhancement level P increases as the level increases, and the degree of recognition of the indicator 14 by the driver D is improved.
　次に、実施形態５に係る接近移動体支援装置１－５による接近移動体支援方法について説明する。図１３は、実施形態５に係る接近移動体支援方法のフロー図である。なお、実施形態５に係る接近移動体支援方法の基本的手順は、上記実施形態１～４に係る接近移動体支援方法と同様であるので、手順によっては説明を省略あるいは簡略化する。 Next, an approaching mobile body support method by the approaching mobile body support apparatus 1-5 according to the fifth embodiment will be described. FIG. 13 is a flowchart of the approaching mobile body support method according to the fifth embodiment. Note that the basic procedure of the approaching mobile body support method according to the fifth embodiment is the same as that of the approaching mobile body support method according to the first to fourth embodiments, and therefore description thereof will be omitted or simplified depending on the procedure.
　まず、支援ＥＣＵ８は、図１３に示すように、情報を取得する（ステップＳＴ５０１）。次に、交差点推定部８１は、自車速Ｖが所定車速ＶＴ未満であるか否かを判定する（ステップＳＴ５０２）。次に、照明強調レベル判定部８２は、交差点推定部８１により自車速Ｖが所定車速ＶＴ未満であると判定される（ステップＳＴ５０２肯定）と、左右照明強調レベルＸＬ，ＸＲを基準レベルに設定する（ステップＳＴ５０３）。次に、前側方ライト制御部８３は、左右前側方ライト９Ｌ，９Ｒを基準レベルに制御する（ステップＳＴ５０４）。次に、照明強調レベル判定部８２は、接近移動体Ｔを検出したか否かを判定する（ステップＳＴ５０５）。 First, as shown in FIG. 13, the support ECU 8 acquires information (step ST501). Next, the intersection estimation unit 81 determines whether or not the own vehicle speed V is less than the predetermined vehicle speed VT (step ST502). Next, when the intersection estimation unit 81 determines that the vehicle speed V is less than the predetermined vehicle speed VT (Yes in step ST502), the illumination enhancement level determination unit 82 sets the left and right illumination enhancement levels XL and XR to the reference levels. (Step ST503). Next, the front side light control unit 83 controls the left and right front side lights 9L and 9R to the reference level (step ST504). Next, the illumination enhancement level determination unit 82 determines whether or not the approaching moving body T has been detected (step ST505).
　次に、支援ＥＣＵ８の表示強調レベル判定部８４は、接近移動体Ｔを検出したと判定する（ステップＳＴ５０５肯定）と、表示強調レベルＰを基準レベルに設定し、インジケータ制御部８５は、インジケータ１４を基準レベルで制御する（ステップＳＴ５０６）。ここでは、インジケータ制御部８５は、設定された表示強調レベルＰである基準レベル、本実施形態では、レベル０、すなわち単に点灯するようにインジケータ１４を制御する。なお、インジケータ制御部８５は、接近移動体Ｔを検出しているので、検出有無表示部１４ａを点灯させ、左右前側方検出表示部１４ｂ，１４ｃのうち、接近移動体Ｔの検出方向に対応する一方あるいは両方を点灯させ、接近移動体Ｔの自車両１００との距離に応じて距離レベル表示部１４ｄを点灯させる。従って、インジケータ１４は、接近移動体Ｔを検出すると点灯した状態となるので、自車両１００の左右前側方の一方あるいは両方に、接近移動体Ｔが存在することを認識することができる。 Next, when the display enhancement level determination unit 84 of the support ECU 8 determines that the approaching moving body T has been detected (Yes in step ST505), the display enhancement level P is set to the reference level, and the indicator control unit 85 sets the indicator 14 Are controlled at the reference level (step ST506). Here, the indicator control unit 85 controls the indicator 14 so that the reference level, which is the set display emphasis level P, in this embodiment, level 0, that is, simply lights up. In addition, since the indicator control part 85 has detected the approaching mobile body T, the detection presence / absence display part 14a is turned on, and it corresponds to the detection direction of the approaching mobile body T among the left and right front / side detection display parts 14b and 14c. One or both are turned on, and the distance level display unit 14d is turned on according to the distance of the approaching moving body T from the host vehicle 100. Therefore, since the indicator 14 is turned on when the approaching moving body T is detected, it can be recognized that the approaching moving body T exists on one or both of the left and right front sides of the host vehicle 100.
　次に、照明強調レベル判定部８２は、レベルアップする左右照明強調レベルＸＬ，ＸＲを決定する（ステップＳＴ５０７）。 Next, the illumination enhancement level determination unit 82 determines the left and right illumination enhancement levels XL and XR to be upgraded (step ST507).
　次に、照明強調レベル判定部８２は、照度Ｌおよび自車両危険度Ｙ、視線情報に基づいて左右照明強調レベルＸＬ，ＸＲをアップする（ステップＳＴ５０８）。ここでは、照明強調レベル判定部８２は、上記レベルアップが決定された左右照明強調レベルＸＬ，ＸＲを基準レベルからレベルアップする場合は、本実施形態では、視線一致の有無、照度Ｌおよび自車両危険度Ｙに基づいてアップ量を変更する。照度Ｌが高い場合は照度Ｌが低い場合と比較して照明強調レベルＸを上げ、視線一致する場合は視線一致しない場合と比較して照明強調レベルＸを下げ、自車両危険度Ｙが高い場合は自車両危険度Ｙが低い場合と比較して照明強調レベルＸを上げる。ただし、視線一致の有無は、自車両危険度Ｙよりも優先順位が高く設定されている。従って、視線一致する場合において、自車両危険度Ｙが高い場合は、自車両危険度Ｙが低い場合と比較して、照明強調レベルＸを上げない。つまり、視線一致する場合においては、自車両危険度Ｙにかかわらず照明強調レベルＸが変化しない。ここで、自車両危険度Ｙは、少なくとも自車速Ｖが速い場合に高いと判定され、より好ましくは自車速Ｖが速くおよびブレーキ圧Ｂｐが低い場合に高いと判定される。 Next, the illumination enhancement level determination unit 82 increases the left and right illumination enhancement levels XL and XR based on the illuminance L, the own vehicle risk level Y, and the line-of-sight information (step ST508). Here, when the left and right illumination enhancement levels XL and XR that have been determined to be raised are raised from the reference level, in this embodiment, the illumination enhancement level determination unit 82 determines whether the line of sight matches, the illuminance L, and the host vehicle. The up amount is changed based on the risk level Y. When the illuminance L is high, the illumination enhancement level X is increased compared to when the illuminance L is low, and when the line of sight matches, the illumination enhancement level X is decreased compared with the case where the line of sight does not match, and the own vehicle risk level Y is high Raises the lighting enhancement level X as compared with the case where the own vehicle risk level Y is low. However, the presence / absence of line-of-sight coincidence is set higher than the own vehicle risk level Y. Therefore, when the line of sight coincides, when the own vehicle risk level Y is high, the illumination enhancement level X is not increased as compared with the case where the own vehicle risk level Y is low. That is, when the line of sight matches, the illumination enhancement level X does not change regardless of the host vehicle risk level Y. Here, the host vehicle risk level Y is determined to be high when at least the host vehicle speed V is high, and more preferably determined to be high when the host vehicle speed V is high and the brake pressure Bp is low.
　次に、前側方ライト制御部８３は、左右照明強調レベルＸＬ，ＸＲがアップされた左右前側方ライト９Ｌ，９Ｒの照明強調レベル変更制御を行う（ステップＳＴ５０９）。 Next, the front side light control unit 83 performs illumination enhancement level change control of the left and right front side lights 9L and 9R with the left and right illumination enhancement levels XL and XR increased (step ST509).
　次に、表示強調レベル判定部８４は、自車両危険度Ｙおよび視線情報に基づいて表示強調レベルＰを変更するか否かを判定する（ステップＳＴ５１０）。ここでは、表示強調レベル判定部８４は、自車両危険度Ｙおよび視線情報に基づいて、基準レベルからレベルアップ、すなわち表示強調レベルＰを上げるか否かを判定する。本実施形態では、自車両危険度Ｙが高い場合あるいは視線一致しない場合に表示強調レベルＰを上げると判定する。つまり、自車両危険度Ｙが高い場合は自車両危険度Ｙが低い場合と比較して表示強調レベルＰを上げ、視線一致する場合は視線一致しない場合と比較して表示強調レベルＰを下げる。ただし、自車両危険度Ｙは、視線一致の有無よりも優先順位が高く設定されている。従って、視線一致する場合において、自車両危険度Ｙが高い場合は、自車両危険度Ｙが低い場合と比較して、表示強調レベルＰを上げる。つまり、視線一致する場合においては、自車両危険度Ｙに応じて表示強調レベルＰが変化する。 Next, the display enhancement level determination unit 84 determines whether or not to change the display enhancement level P based on the own vehicle risk level Y and the line-of-sight information (step ST510). Here, the display enhancement level determination unit 84 determines whether or not to raise the level from the reference level, that is, increase the display enhancement level P, based on the own vehicle risk level Y and the line-of-sight information. In the present embodiment, it is determined that the display enhancement level P is increased when the own vehicle risk level Y is high or the line of sight does not match. That is, when the host vehicle risk level Y is high, the display emphasis level P is increased compared to when the host vehicle risk level Y is low, and when the line of sight coincides, the display emphasis level P is decreased compared to the case where the line of sight does not match. However, the own vehicle risk level Y is set to have a higher priority than the presence or absence of line-of-sight matching. Therefore, when the line of sight coincides, when the own vehicle risk level Y is high, the display emphasis level P is raised compared to when the own vehicle risk level Y is low. That is, when the line of sight matches, the display emphasis level P changes according to the own vehicle risk level Y.
　次に、インジケータ制御部８５は、自車両危険度Ｙおよび視線情報に基づいて表示強調レベルＰを変更すると判定する（ステップＳＴ５１０肯定）と、インジケータ１４を制御する（ステップＳＴ５１１）。ここでは、インジケータ制御部８５は、変更された表示強調レベルＰに基づいてインジケータ１４を制御する。 Next, when the indicator control unit 85 determines to change the display enhancement level P based on the own vehicle risk level Y and the line-of-sight information (Yes in step ST510), the indicator control unit 85 controls the indicator 14 (step ST511). Here, the indicator control unit 85 controls the indicator 14 based on the changed display enhancement level P.
また、支援ＥＣＵ８は、交差点推定部８１により自車速Ｖが所定車速ＶＴ以上であると判定される（ステップＳＴ５０２否定）と、制御をリセットし（ステップＳＴ５１２）、現在の制御周期を終了し、次の制御周期に移行する。 When the intersection estimation unit 81 determines that the host vehicle speed V is equal to or higher than the predetermined vehicle speed VT (No in step ST502), the support ECU 8 resets the control (step ST512), ends the current control cycle, Shift to the control cycle.
　以上のように、本実施形態に係る接近移動体支援装置１－５では、実施形態１と同様の効果を奏するとともに、視線一致する場合において、自車両危険度Ｙが高い場合は、自車両危険度Ｙが低い場合と比較して照明強調レベルＸを上げず、表示強調レベルＰを上げる。従って、インジケータ１４によって運転者Ｄへの自車両１００の状態に対する注意喚起を維持しつつ、接近移動体Ｔに過度な注意喚起となることを抑制することができるので、接近移動体Ｔに対する自車両１００による威圧行為を抑制することができる。 As described above, the approaching mobile body support apparatus 1-5 according to the present embodiment has the same effects as those of the first embodiment, and when the own vehicle risk level Y is high when the line of sight coincides, Compared to the case where the degree Y is low, the illumination enhancement level X is not increased, and the display enhancement level P is increased. Therefore, since it is possible to suppress excessive alerting to the approaching moving body T while maintaining the alerting of the state of the own vehicle 100 to the driver D by the indicator 14, the own vehicle with respect to the approaching moving body T can be suppressed. Intimidation by 100 can be suppressed.
　〔実施形態６〕
　次に、実施形態６に係る接近移動体支援装置１－６について説明する。実施形態６に係る接近移動体支援装置１－６の基本的構成は、実施形態５に係る接近移動体支援装置１－５と同様であるので、構成の説明は省略する。実施形態６に係る接近移動体支援装置１－６は、接近移動体Ｔを検出することで、照明強調レベルＸを変更する照明強調レベル変更制御を行うとともに、インジケータ１４の表示強調レベルＰを変更する表示強調レベル変更制御を行うものである。 [Embodiment 6]
Next, the approaching mobile body support apparatus 1-6 according to the sixth embodiment will be described. Since the basic configuration of the approaching mobile body support apparatus 1-6 according to Embodiment 6 is the same as that of the approaching mobile body support apparatus 1-5 according to Embodiment 5, the description of the configuration is omitted. The approaching mobile body support apparatus 1-6 according to Embodiment 6 detects the approaching mobile body T, thereby performing illumination enhancement level change control for changing the illumination enhancement level X and changing the display enhancement level P of the indicator 14. The display emphasis level change control is performed.
　次に、実施形態６に係る接近移動体支援装置１－６による接近移動体支援方法について説明する。図１４は、実施形態６に係る接近移動体支援方法のフロー図である。なお、実施形態６に係る接近移動体支援方法の基本的手順は、上記実施形態１～５に係る接近移動体支援方法と同様であるので、手順によっては説明を省略あるいは簡略化する。 Next, an approaching mobile body support method by the approaching mobile body support apparatus 1-6 according to Embodiment 6 will be described. FIG. 14 is a flowchart of the approaching mobile body support method according to the sixth embodiment. Note that the basic procedure of the approaching mobile body support method according to Embodiment 6 is the same as that of the approaching mobile body support method according to Embodiments 1 to 5, and therefore description thereof will be omitted or simplified depending on the procedure.
　まず、支援ＥＣＵ８は、図１４に示すように、情報を取得する（ステップＳＴ６０１）。次に、交差点推定部８１は、自車速Ｖが所定車速ＶＴ未満であるか否かを判定する（ステップＳＴ６０２）。次に、照明強調レベル判定部８２は、交差点推定部８１により自車速Ｖが所定車速ＶＴ未満であると判定される（ステップＳＴ６０２肯定）と、左右照明強調レベルＸＬ，ＸＲを基準レベルに設定する（ステップＳＴ６０３）。次に、前側方ライト制御部８３は、左右前側方ライト９Ｌ，９Ｒを基準レベルに制御する（ステップＳＴ６０４）。次に、照明強調レベル判定部８２は、接近移動体Ｔを検出したか否かを判定する（ステップＳＴ６０５）。次に、表示強調レベル判定部８４は、接近移動体Ｔを検出した判定する（ステップＳＴ６０５肯定）と、表示強調レベルＰを基準レベルに設定し、インジケータ制御部８５は、インジケータ１４を基準レベルで制御する（ステップＳＴ６０６）。次に、照明強調レベル判定部８２は、レベルアップする左右照明強調レベルＸＬ，ＸＲを決定する（ステップＳＴ６０７）。 First, the support ECU 8 acquires information as shown in FIG. 14 (step ST601). Next, the intersection estimation unit 81 determines whether or not the own vehicle speed V is less than the predetermined vehicle speed VT (step ST602). Next, when the intersection estimation unit 81 determines that the host vehicle speed V is less than the predetermined vehicle speed VT (Yes in step ST602), the illumination enhancement level determination unit 82 sets the left and right illumination enhancement levels XL and XR as reference levels. (Step ST603). Next, the front side light control unit 83 controls the left and right front side lights 9L and 9R to the reference level (step ST604). Next, the illumination enhancement level determination unit 82 determines whether or not the approaching moving body T has been detected (step ST605). Next, when the display enhancement level determination unit 84 determines that the approaching moving body T is detected (Yes in step ST605), the display enhancement level P is set to the reference level, and the indicator control unit 85 sets the indicator 14 at the reference level. Control is performed (step ST606). Next, the illumination enhancement level determination unit 82 determines the left and right illumination enhancement levels XL and XR to be upgraded (step ST607).
　次に、照明強調レベル判定部８２は、照度Ｌおよび移動体危険度Ｚ、視線情報に基づいて左右照明強調レベルＸＬ，ＸＲをアップする（ステップＳＴ６０８）。ここでは、照明強調レベル判定部８２は、上記レベルアップが決定された左右照明強調レベルＸＬ，ＸＲを基準レベルからレベルアップする場合は、本実施形態では、視線一致の有無、照度Ｌおよび移動体危険度Ｚに基づいてアップ量を変更する。照度Ｌが高い場合は照度Ｌが低い場合と比較して照明強調レベルＸを上げ、視線一致する場合は視線一致しない場合と比較して照明強調レベルＸを下げ、移動体危険度Ｚが高い場合は移動体危険度Ｚが低い場合と比較して照明強調レベルＸを上げる。ただし、移動体危険度Ｚは、視線一致の有無よりも優先順位が高く設定されている。従って、視線一致する場合において、移動体危険度Ｚが高い場合は、移動体危険度Ｚが低い場合と比較して、照明強調レベルＸを上げる。つまり、視線一致する場合においては、移動体危険度Ｚに応じて照明強調レベルＸが変化する。ここで、移動体危険度Ｚは、少なくとも接近速度ＶＳが速くあるいは接近移動体Ｔの属性が軽車両Ｔ２である場合に高いと判定され、より好ましくは接近速度ＶＳが速くおよび接近移動体Ｔの属性が軽車両Ｔ２である場合に高いと判定される。なお、移動体危険度Ｚは、接近移動体Ｔの属性が軽車両Ｔ２の場合のみならず、歩行者Ｔ１の場合において高いと判定されてもよい。 Next, the illumination enhancement level determination unit 82 increases the left and right illumination enhancement levels XL and XR based on the illuminance L, the moving object risk level Z, and the line-of-sight information (step ST608). Here, when the left and right illumination enhancement levels XL and XR for which the level up has been determined are increased from the reference level, in this embodiment, the illumination enhancement level determination unit 82 determines whether the line of sight matches, the illuminance L, and the moving object. The up amount is changed based on the risk level Z. When the illuminance L is high, the illumination enhancement level X is increased compared to when the illuminance L is low, and when the line of sight matches, the illumination enhancement level X is decreased compared to the case where the line of sight does not match, and the moving object risk level Z is high Increases the lighting enhancement level X compared to the case where the moving object risk level Z is low. However, the moving body risk level Z is set higher in priority than the presence or absence of line-of-sight matching. Accordingly, when the line of sight coincides, when the moving object risk level Z is high, the illumination enhancement level X is increased as compared with the case where the moving object risk level Z is low. That is, when the line of sight matches, the illumination enhancement level X changes according to the moving object risk level Z. Here, the moving body risk level Z is determined to be high at least when the approaching speed VS is high or the attribute of the approaching mobile body T is the light vehicle T2, and more preferably, the approaching speed VS is high and the approaching mobile body T It is determined that the attribute is high when the attribute is the light vehicle T2. Note that the moving body risk level Z may be determined to be high not only when the attribute of the approaching moving body T is the light vehicle T2 but also when the pedestrian T1.
　次に、前側方ライト制御部８３は、左右照明強調レベルＸＬ，ＸＲがアップされた左右前側方ライト９Ｌ，９Ｒの照明強調レベル変更制御を行う（ステップＳＴ６０９）。 Next, the front side light control unit 83 performs illumination enhancement level change control of the left and right front side lights 9L and 9R whose left and right illumination enhancement levels XL and XR are increased (step ST609).
　次に、表示強調レベル判定部８４は、移動体危険度Ｚおよび視線情報に基づいて表示強調レベルＰを変更するか否かを判定する（ステップＳＴ６１０）。ここでは、表示強調レベル判定部８４は、移動体危険度Ｚおよび視線情報に基づいて、基準レベルからレベルアップ、すなわち表示強調レベルＰを上げるか否かを判定する。本実施形態では、移動体危険度Ｚが高い場合あるいは視線一致しない場合に表示強調レベルを上げると判定する。つまり、移動体危険度Ｚが高い場合は移動体危険度Ｚが低い場合と比較して表示強調レベルＰを上げ、視線一致する場合は視線一致しない場合と比較して表示強調レベルＰを下げる。ただし、視線一致の有無は、移動体危険度Ｚよりも優先順位が高く設定されている。従って、視線一致する場合において、移動体危険度Ｚが高い場合は、移動体危険度Ｚが低い場合と比較して、表示強調レベルＰを上げない。つまり、視線一致する場合においては、移動体危険度Ｚにかかわらず表示強調レベルＰが変化しない。 Next, the display enhancement level determination unit 84 determines whether or not to change the display enhancement level P based on the moving object risk level Z and the line-of-sight information (step ST610). Here, the display enhancement level determination unit 84 determines whether or not to raise the level from the reference level, that is, to increase the display enhancement level P, based on the moving body risk level Z and the line-of-sight information. In the present embodiment, it is determined that the display enhancement level is increased when the moving object risk level Z is high or the line of sight does not match. That is, when the moving object risk level Z is high, the display emphasis level P is increased compared to the case where the moving object risk value Z is low, and when the line of sight matches, the display emphasis level P is decreased compared to the case where the line of sight does not match. However, the presence / absence of line-of-sight matching is set higher in priority than the moving object risk level Z. Therefore, when the line of sight coincides, when the moving object risk level Z is high, the display emphasis level P is not increased as compared with the case where the moving object risk level Z is low. That is, when the line of sight matches, the display emphasis level P does not change regardless of the moving object risk level Z.
　次に、インジケータ制御部８５は、移動体危険度Ｚおよび視線情報に基づいて表示強調レベルＰを変更すると判定する（ステップＳＴ６１０肯定）と、インジケータ１４を制御する（ステップＳＴ６１１）。また、支援ＥＣＵ８は、交差点推定部８１により自車速Ｖが所定車速ＶＴ以上であると判定される（ステップＳＴ６０２否定）と、制御をリセットし（ステップＳＴ６１２）、現在の制御周期を終了し、次の制御周期に移行する。 Next, when it is determined that the display enhancement level P is to be changed based on the moving object risk level Z and the line-of-sight information (Yes in step ST610), the indicator control unit 85 controls the indicator 14 (step ST611). When the intersection estimation unit 81 determines that the host vehicle speed V is equal to or higher than the predetermined vehicle speed VT (No in step ST602), the support ECU 8 resets the control (step ST612), ends the current control cycle, Shift to the control cycle.
　以上のように、本実施形態に係る接近移動体支援装置１－６では、実施形態１と同様の効果を奏するとともに、視線一致する場合において、移動体危険度Ｚが高い場合は、移動体危険度Ｚが低い場合と比較して照明強調レベルＸを上げ、表示強調レベルＰを上げない。従って、運転者Ｄに過度な注意喚起となることを抑制しつつ、接近移動体Ｔに移動体危険度Ｚに対する注意喚起を維持することができる。 As described above, the approaching mobile body support apparatus 1-6 according to the present embodiment has the same effects as those of the first embodiment, and when the mobile body danger level Z is high when the lines of sight coincide, Compared with the case where the degree Z is low, the illumination enhancement level X is raised and the display enhancement level P is not raised. Therefore, it is possible to maintain the alerting to the approaching moving body T with respect to the moving body risk level Z while suppressing excessive alerting to the driver D.
　なお、上記実施形態１～６において鼻出しセンサ３は、車両幅方向、すなわち少なくとも左右側方に向けてそれぞれ検出波を出力することができればよいので、１つで構成されるものでなくてもよい。鼻出しセンサ３は、例えば、車両幅方向視において視認でき、少なくとも左右側方にそれぞれ検出波を出力する２つのセンサで構成されていてもよい。 In the first to sixth embodiments, the nasal sensor 3 need only be able to output detection waves in the vehicle width direction, that is, at least in the left and right sides. Good. The nasal sensor 3 may be composed of, for example, two sensors that are visible when viewed in the vehicle width direction and output detection waves at least to the left and right sides.
　また、上記実施形態１～６においては、自車速Ｖが所定車速ＶＴ未満となることを制御の開始条件としたがこれに限定されるものではない。例えば、自車両１００に車両前方を撮像する前方車載カメラを備え、自車両１００が通過する一時停止線を認識し、かつ自車速Ｖが所定車速ＶＴ未満となることを制御の開始条件としてもよい。また、運転者Ｄが操作することで、制御の開始条件の１つとなるスイッチやレバーなど操作物を備え、運転者Ｄが操作物を操作することで制御を行う意思を検出し、自車速Ｖが所定車速ＶＴ未満となることを制御の開始条件としてもよい。 In the first to sixth embodiments, the control start condition is that the host vehicle speed V is less than the predetermined vehicle speed VT. However, the present invention is not limited to this. For example, the host vehicle 100 may include a front in-vehicle camera that captures the front of the vehicle, recognize a temporary stop line through which the host vehicle 100 passes, and the start condition of the control may be that the host vehicle speed V is less than a predetermined vehicle speed VT. . In addition, an operation article such as a switch or a lever that is one of the control start conditions is operated by the driver D, and the driver D detects the intention to perform the control by operating the operation article. May be set to be less than the predetermined vehicle speed VT as a control start condition.
　また、上記実施形態１～６においては、交差点推定部８１により自車速Ｖが所定車速ＶＴ未満であると、左右照明強調レベルＸＬ，ＸＲを基準レベル、すなわち左右前側方ライト９Ｌ，９Ｒを点灯するが、本発明はこれに限定されるものではない。交差点推定部８１により自車速Ｖが所定車速ＶＴ未満であっても左右前側方ライト９Ｌ，９Ｒを点灯せずに、接近移動体Ｔが検出された場合に、照明強調レベルＸをレベル０～１０に変更してもよい。つまり、左右前側方ライト９Ｌ，９Ｒは、接近移動体Ｔが検出された場合のみに点灯あるいは点滅させるようにしてもよい。 In the first to sixth embodiments, when the vehicle speed V is less than the predetermined vehicle speed VT by the intersection estimation unit 81, the left and right illumination enhancement levels XL and XR are turned on as the reference level, that is, the left and right front side lights 9L and 9R are turned on. However, the present invention is not limited to this. When the approaching moving body T is detected without turning on the left and right front side lights 9L and 9R even when the host vehicle speed V is less than the predetermined vehicle speed VT, the illumination enhancement level X is set to levels 0 to 10 You may change to That is, the left and right front side lights 9L and 9R may be lit or blinked only when the approaching moving body T is detected.
　また、上記実施形態１～６においては、照明強調レベルＸは、点灯状態（点滅、点滅）と、点滅速度とを変化させるものであるが、これに限定されるものではない。照明強調レベルは、前側方ライト９の照度（輝度）や、色を変化させるものであってもよい。また、表示強調レベルＰは、輝度を変化させるものであるが、これに限定されるものではない。表示強度レベルは、インジケータ１４の点灯状態や、色を変化させるものであってもよい。 In Embodiments 1 to 6, the illumination enhancement level X changes the lighting state (blinking, blinking) and blinking speed, but is not limited to this. The illumination enhancement level may change the illuminance (brightness) or color of the front side light 9. The display emphasis level P is for changing the luminance, but is not limited to this. The display intensity level may change the lighting state of the indicator 14 or the color.
　また、上記実施形態１～６における各構成要素は、適宜組み合わせることができ、本発明は実施形態１～６に限定されるものではない。 In addition, the respective constituent elements in the first to sixth embodiments can be appropriately combined, and the present invention is not limited to the first to sixth embodiments.
　１－１～１－６　接近移動体支援装置
　２　車速センサ
　３　鼻出しセンサ
　４　照度センサ
　５　アクセルセンサ
　６　ブレーキ圧センサ
　７　方向指示センサ
　８　支援ＥＣＵ
　８１　交差点推定部
　８２　照明強調レベル判定部
　８３　前側方ライト制御部
　８４　表示強調レベル判定部
　８５　インジケータ制御部
　９　前側方ライト
　９Ｌ　左前側方ライト
　９Ｒ　右前側方ライト
　１０　アクセルペダル
　１１　ブレーキペダル
　１２　方向指示レバー
　１３　視線センサ
　１４　インジケータ
　１４ａ　検出有無表示部
　１４ｂ　左前側方検出表示部
　１４ｃ　右前側方検出表示部
　１４ｄ　距離レベル表示部
　１００　自車両
　１０１Ｌ，１０１Ｒ　左右フロントドアパネル
　１０２　フロントグリル
　１０３Ｌ，１０３Ｒ　左右ターンシグナル
　１０４Ｌ，１０４Ｒ　左右前照灯
　１０５　フロントバンパー
　１０６Ｌ，１０６Ｒ　左右フロントフェンダー
　１０７　ステアリング
　１０８　ダッシュボード 1-1 to 1-6 Approaching moving body support device 2 Vehicle speed sensor 3 Rush sensor 4 Illuminance sensor 5 Acceleration sensor 6 Brake pressure sensor 7 Direction indication sensor 8 Support ECU
DESCRIPTION OF SYMBOLS 81 Intersection estimation part 82 Illumination enhancement level determination part 83 Front side light control part 84 Display enhancement level determination part 85 Indicator control part 9 Front side light 9L Left front side light 9R Right front side light 10 Accelerator pedal 11 Brake pedal 12 Direction indication lever 13 gaze sensor 14 indicator 14a detection presence / absence display unit 14b left front side detection display unit 14c right front side detection display unit 14d distance level display unit 100 own vehicle 101L, 101R left and right front door panel 102 front grill 103L, 103R left and right turn signal 104L, 104R Left and right headlights 105 Front bumpers 106L, 106R Left and right front fenders 107 Steering 108 Dashboard

Claims (10)

  1. 　自車両の前側方に存在し、前記自車両に接近する接近移動体を検出する移動体検出手段と、
    　前記自車両の前方において、前記自車両の前方に向けて設けられた前照灯とは別に設けられ、かつ車両幅方向視において少なくとも一部を視認することができる照明手段と、
    　前記照明手段の照明強調レベルを変更する照明強調レベル変更制御を行う制御手段と、
    　を備え、前記制御手段は、
    　前記接近移動体が検出された場合に、前記照明強調レベルを上げることを特徴とする接近移動体支援装置。     A moving body detecting means for detecting an approaching moving body that is present in front of the host vehicle and approaches the host vehicle;
    Illumination means provided in front of the host vehicle, separately from a headlamp provided toward the front of the host vehicle, and capable of visually recognizing at least a part when viewed in the vehicle width direction;
    Control means for performing illumination enhancement level change control for changing the illumination enhancement level of the illumination means;
    The control means comprises
    An approaching moving body support apparatus that raises the illumination enhancement level when the approaching moving body is detected.
  2. 　請求項１に記載の接近移動体支援装置において、
    　前記照明手段は、フロントドアパネルよりも車両前方に設けられている接近移動体支援装置。     In the approaching mobile body support device according to claim 1,
    The illuminating means is an approaching moving body support apparatus provided in front of the vehicle with respect to the front door panel.
  3. 　請求項２に記載の接近移動体支援装置において、
    　前記自車両の自車速を検出する車速検出手段をさらに備え、
    　前記制御手段は、
    　前記検出された自車速が所定速度未満の場合に、前記照明強調レベル変更制御を行う接近移動体支援装置。     In the approaching mobile body support device according to claim 2,
    Vehicle speed detecting means for detecting the host vehicle speed of the host vehicle,
    The control means includes
    An approaching vehicle support apparatus that performs the illumination enhancement level change control when the detected vehicle speed is less than a predetermined speed.
  4. 　請求項１～３のいずれか１項に記載の接近移動体支援装置において、
    　前記自車両の外部の照度を検出する照度検出手段をさらに備え、
    　前記制御手段は、
    　前記検出された照度が高い場合は、低い場合と比較して前記照明強調レベルを上げる接近移動体支援装置。     The approaching mobile body support device according to any one of claims 1 to 3,
    Illuminance detection means for detecting the illuminance outside the host vehicle is further provided,
    The control means includes
    The approaching mobile body support apparatus that raises the illumination enhancement level when the detected illuminance is high compared to when it is low.
  5. 　請求項１～４のいずれか１項に記載の接近移動体支援装置において、
    　前記移動体検出手段は、前記フロントドアパネルよりも車両前方に設けられ、少なくとも車両幅方向に向けて出力された検出波が前記接近移動体によって反射された際の反射波に基づいて前記接近移動体を検出する接近移動体支援装置。     The approaching mobile body support device according to any one of claims 1 to 4,
    The moving body detecting means is provided in front of the vehicle with respect to the front door panel, and the approaching moving body is based on a reflected wave when the detection wave output toward at least the vehicle width direction is reflected by the approaching moving body. An approaching mobile body support device for detecting
  6. 　請求項１～５のいずれか１項に記載の接近移動体支援装置において、
    　前記自車両の状態を検出する自車両状態検出手段をさらに備え、
    　前記自車両の状態に応じて前記照明強調レベルを変更する接近移動体支援装置。     The approaching mobile body support device according to any one of claims 1 to 5,
    Further comprising own vehicle state detecting means for detecting the state of the own vehicle;
    An approaching moving body support apparatus that changes the illumination enhancement level according to the state of the host vehicle.
  7. 　請求項１～６のいずれか１項に記載の接近移動体支援装置において、
    　前記制御手段は、前記移動体検出手段の検出結果に基づいて、前記接近移動体の少なくとも属性、前記自車両に対する接近速度の一方を含む移動体情報を取得し、前記移動体情報に応じて前記照明強調レベルを変更する接近移動体支援装置。     The approaching mobile body support device according to any one of claims 1 to 6,
    The control means acquires moving body information including at least one attribute of the approaching moving body and one of the approaching speeds with respect to the host vehicle based on a detection result of the moving body detecting means, and according to the moving body information, An approaching moving body support apparatus that changes the illumination enhancement level.
  8. 　請求項１～７のいずれか１項に記載の接近移動体支援装置において、
    　前記接近移動体に対する前記自車両の運転者の認識状態を検出する認識状態検出手段をさらに備え、
    　前記検出された前記運転者の認識状態に応じて前記照明強調レベルを変更する接近移動体支援装置。     The approaching mobile body support device according to any one of claims 1 to 7,
    Recognizing state detecting means for detecting the recognizing state of the driver of the host vehicle with respect to the approaching moving body;
    An approaching moving body support apparatus that changes the illumination enhancement level according to the detected recognition state of the driver.
  9. 　請求項１～６のいずれか１項に記載の接近移動体支援装置において、
    　前記接近移動体に対する前記自車両の運転者の認識状態を検出する認識状態検出手段と、前記運転者に対して情報を提供するインジケータとをさらに備え、
    　前記制御手段は、
    　前記自車両の状態に応じて、前記自車両の危険度を判定するものであり、
    　前記インジケータの表示強調レベルを変更する表示強調レベル変更制御を行うものであり、
    　前記運転者が前記接近移動体を認識している状態である場合において、前記自車両の危険度が高い場合は、前記自車両の危険度が低い場合と比較して照明強調レベルを上げず、表示強調レベルを上げる接近移動体支援装置。     The approaching mobile body support device according to any one of claims 1 to 6,
    Recognizing state detecting means for detecting the recognizing state of the driver of the host vehicle with respect to the approaching moving body, and an indicator for providing information to the driver;
    The control means includes
    According to the state of the host vehicle, the risk level of the host vehicle is determined,
    Display emphasis level change control for changing the display emphasis level of the indicator is performed,
    When the driver is in a state of recognizing the approaching moving body, when the risk level of the host vehicle is high, the lighting enhancement level is not increased as compared with the case where the risk level of the host vehicle is low, An approaching moving body support device that raises the display enhancement level.
  10. 　請求項１～６のいずれか１項に記載の接近移動体支援装置において、
    　前記接近移動体に対する前記自車両の運転者の認識状態を検出する認識状態検出手段と、前記運転者に対して情報を提供するインジケータとをさらに備え、
    　前記制御手段は、
    　前記移動体検出手段の検出結果に基づいて、前記接近移動体の少なくとも属性、前記自車両に対する接近速度の一方を含む移動体情報を取得し、前記移動体情報に応じた、前記接近移動体の危険度を判定するものであり、
    　前記インジケータの表示強調レベルを変更する表示強調レベル変更制御を行うものであり、
    　前記運転者が前記接近移動体を認識している状態である場合において、前記接近移動体の危険度が高い場合は、前記接近移動体の危険度が低い場合と比較して照明強調レベルを上げ、表示強調レベルを上げない接近移動体支援装置。     The approaching mobile body support device according to any one of claims 1 to 6,
    Recognizing state detecting means for detecting the recognizing state of the driver of the host vehicle with respect to the approaching moving body, and an indicator for providing information to the driver;
    The control means includes
    Based on the detection result of the mobile body detection means, mobile body information including at least one attribute of the approaching mobile body and an approach speed to the host vehicle is acquired, and the approaching mobile body according to the mobile body information is acquired. It is for judging the risk,
    Display emphasis level change control for changing the display emphasis level of the indicator is performed,
    In the state where the driver recognizes the approaching moving body, when the danger level of the approaching moving body is high, the lighting enhancement level is increased compared to the case where the danger level of the approaching moving body is low. An approaching moving body support device that does not increase the display enhancement level.
PCT/JP2012/053727 2012-02-16 2012-02-16 Approaching moving body assistance device WO2013121570A1 (en)

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