JP2010133901A - Alerting device - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide an alerting device for securing stepping safety in getting out of a vehicle. <P>SOLUTION: An ECU 10 determines whether a dangerous hollow equal to or larger than the average foot size of occupants exists in a traveling surface for a vehicle below a vehicle door 90, based on the distance to the traveling surface for the vehicle measured by a laser sensor 20, traveling surface range data stored/held in a nonvolatile memory 13, a prescribed size representing a size equal to or larger than the average foot size of the occupants, and a scan angle range corresponding to the lower part of the vehicle door 90. If it is determined that a dangerous hollow equal to or larger than the average foot size of the occupants exists in the traveling surface for the vehicle below the vehicle door 90, the ECU 10 alerts users by means of a warning beep output part 60, a display 70, and a light emitter 80 when the vehicle door 90 is opened. <P>COPYRIGHT: (C)2010,JPO&INPIT

Description

  The present invention relates to an alerting device that alerts a user when a vehicle door is opened.

Conventionally, for example, an obstacle detection apparatus described in Patent Document 1 is known. The technology described in this document is composed of a plurality of distance measuring sensors, and these plurality of distance measuring sensors are attached to the back side of the support shaft of the door mirror disposed on the swing door of the vehicle while shifting the position in the vertical direction. It has been. The plurality of distance measuring sensors use a predetermined fan-shaped predetermined area in the vicinity of the vehicle door as a detection area, and detect the presence and position of an obstacle in the detection area. When an obstacle is detected by the distance measuring sensor, the opening degree of the vehicle door is limited, and a collision between the vehicle door and the obstacle is prevented.
JP 2007-176293 A

  By the way, even if there is a dangerous depression where the user can take his / her foot at the place of getting off, the above-described conventional technology is not equipped with a function for alerting the user when the vehicle door is opened. Therefore, in order to ensure the safety of the feet when getting off, the user has to get off the vehicle after visually confirming the state of the getting-off place when the vehicle door is opened.

  This invention is made | formed in view of the said situation, The objective is to provide the alerting apparatus which can aim at ensuring of the safety | security of the step at the time of alighting.

  In order to achieve such an object, according to the first aspect of the present invention, the vehicle door is installed in the vicinity of the rotation axis of the vehicle door, and is predetermined in a direction in which the vehicle door is opened with respect to the surface of the vehicle door. The laser beam is transmitted so as to scan the scanning plane which is a plane that is shifted in angle, and the reflected light reflected by the traveling surface of the vehicle is received, and the vehicle is based on the result of the transmission and reception of the laser beam. A laser sensor that measures the distance to the traveling surface of the vehicle, and a risk of a predetermined size or more on the traveling surface of the vehicle below the vehicle door based on the distance to the traveling surface of the vehicle measured by the laser sensor. Based on the determination of whether or not there is a dangerous depression by the depression determination unit, and determining whether the dangerous depression exists, the user is alerted when the vehicle door is opened. Characterized in that it comprises a reminder unit for.

  In such a configuration as a warning device, the vehicle traveling surface below the vehicle door (that is, the place where the user gets off) has a predetermined size or more based on the distance to the vehicle traveling surface measured by the laser sensor. Whether or not there is a dangerous depression is determined, and based on the determination to that effect, the user is alerted when the vehicle door is opened. As a result, it is possible to ensure the safety of the feet when getting off the vehicle.

  In the configuration described in claim 1, the predetermined size is arbitrary as long as it can be determined as a dangerous depression where a user can take his / her foot. As in the described invention, it is desirable that the average foot size of the occupant be set in advance.

  Various means can be adopted as means for alerting the user. Therefore, in the configuration according to claim 1 or 2, as in the invention according to claim 3, the alerting unit generates a warning sound for alerting that the dangerous depression exists. It is good also as outputting from an output part. Moreover, in the structure in any one of the said Claims 1-3, as the invention of Claim 4, the said alerting part displays the position where the said dangerous hollow exists on a display part. Also good. Furthermore, in the configuration according to any one of claims 1 to 4, as in the invention according to claim 5, the vehicle door is turned on when the vehicle door is in an open state, while the vehicle door is in a closed state. If it is, a courtesy lamp indicating the open / closed state of the vehicle door by turning off the light is further provided, and the alerting unit has a predetermined pattern for alerting that the dangerous depression exists. The lamp may blink. Furthermore, in the configuration according to any one of the first to fifth aspects, as in the invention according to the sixth aspect, the alerting unit is dedicated to alerting that the dangerous depression exists. It is good also as blinking the light emission part. As a matter of course, the alerting unit may use only one of the warning sound output unit, the display unit, the courtesy lamp, and the dedicated light emitting unit, or may be used in combination.

  In the configuration according to any one of claims 1 to 6, in the invention according to claim 7, the vehicle in the door opening direction of the vehicle door based on a laser light transmission / reception result by the laser sensor. An obstacle determination unit that determines whether there is an obstacle that may come into contact with the door is further provided.

  Since the laser sensor can measure the distance from the installation position to the vehicle running surface, if there is an obstacle on the vehicle running surface that may come into contact with the vehicle door, the laser sensor is installed. It is also possible to measure the distance from the position to the obstacle. Therefore, according to the structure of the said Claim 7, it also becomes possible to determine whether the obstacle which may contact a vehicle door exists.

  In the alerting device according to claim 7, in the invention according to claim 8, when the obstacle determination unit determines that the obstacle is present, an opening degree that restricts an opening degree of the vehicle door And a limiting unit. Thereby, the opening degree of the vehicle door is limited, and the collision between the vehicle door and the obstacle is prevented.

  Specifically, in the configuration according to claim 8, as in the invention according to claim 9, the opening degree restriction unit is a point in time when the obstacle determination unit determines that the obstacle exists. The opening degree of the vehicle door may be limited when the vehicle door is opened by an opening degree corresponding to an angle smaller than the predetermined angle from the opening degree of the vehicle door.

  Hereinafter, an embodiment of the alerting device according to the present invention will be described with reference to FIGS. FIG. 1 is a block diagram showing the overall configuration of the alerting device 1, and FIG. 2 is a diagram for explaining an example of a scanning mechanism in the laser sensor 20. First, with reference to these FIG.1 and FIG.2, the structure and function of the alerting device 1 are demonstrated. Note that the alerting device 1 detects an obstacle that may contact the vehicle door 90 in the opening direction of the vehicle door 90, and controls the opening of the vehicle door 90 so as not to contact the obstacle. It is also embodied as an opening control device.

  As shown in FIG. 1, the alert device 1 includes an ECU 10 that executes various control processes, a laser sensor 20 that measures a distance from an installation position to a detected object (including an obstacle) and a running surface of the vehicle, A vehicle speed sensor 30 for detecting the speed of the vehicle on which the alert device 1 is mounted, an opening sensor 40 for detecting the opening of a vehicle door (not shown), an open switch 50 for opening the vehicle door 90, and a vehicle running surface Among them, a warning sound output unit 60 that outputs a warning sound for alerting that a dangerous depression exists below the vehicle door 90 (that is, a place where the passenger gets off), and a display unit for displaying a position where the dangerous depression exists 70, and a dedicated light emitting unit 80 for alerting that a dangerous depression exists.

  Among these, the laser sensor 20 is attached to, for example, a lower part of a door mirror 92 of a vehicle door and emits laser light, and changes the irradiation direction of the laser light emitted by the light emitting element within a predetermined plane. A scanning mechanism that scans a plane with laser light, a light receiving element that receives laser light reflected by a detection object or a running surface of a vehicle, and an elapsed time from laser light irradiation to light reception (results of laser light transmission / reception) ) To a detected object or a traveling surface of the vehicle.

  Specifically, the scanning mechanism constituting the laser sensor 20 includes a mirror 21, a motor 24, a lens 25, a lens 26, and the like as shown in FIG. The mirror 21 has a substantially columnar shape, a reflection surface of the laser beam generated by the light emitting element 22 is formed on one end surface, and a reflection that reflects the laser beam reflected by the traveling surface of the vehicle toward the light receiving element 23 on the other end surface. A surface is formed. The motor 24 rotates the mirror 21 around the rotation axis that penetrates both the reflecting surfaces. The lens 25 is a lens designed so that the laser beam has a beam shape or a predetermined spread angle, and the lens 26 is a lens for condensing the received light.

  With this configuration, the scanning mechanism can emit a plurality of laser beams so as to scan a plane centering on the rotation axis, and the laser sensor 20 can detect a detected object or a traveling surface of the vehicle. Is measured, the measured distance is output to the ECU 10. The scanning plane and scanning range of the laser sensor 20 will be described later with reference to FIGS.

  The vehicle speed sensor 30 generates a speed signal corresponding to the traveling speed of the vehicle, and outputs the generated speed signal to the ECU 10 connected to the subsequent stage. The opening sensor 40 detects the opening degree of the vehicle door when the vehicle door is opened, and generates a detection signal. Then, the opening sensor 40 outputs the generated detection signal to the ECU 10 connected to the subsequent stage. In the present embodiment, the opening sensor 40 is employed. However, instead of the opening sensor 40, a courtesy switch that detects an open state and a closed state of the vehicle door may be employed. The open switch 50 is a switch provided in the vehicle interior for opening the vehicle door from the vehicle interior. When turned on, the opening switch 50 outputs an opening signal that is a command to open the vehicle door 90 to the ECU 10 connected to the subsequent stage.

  The warning sound output unit 60 is configured by, for example, an appropriate speaker and is connected to the ECU 10. When the warning sound output unit 60 receives a command from the ECU 10, the warning sound output unit 60 outputs a warning sound for alerting that a dangerous depression exists at the place of getting off. In addition, it is good also as outputting the audio | voice which alert | reports not only the warning sound for alerting that a dangerous hollow exists in an alighting place but a dangerous hollow exists in an alighting place. In short, it is only necessary to be able to call attention by appealing to the user's hearing with sound.

  The display unit 70 is configured by an appropriate display device that can display characters and graphics on the screen, and is connected to the ECU 10. When the display unit 70 receives a command from the ECU 10, for example, as shown in FIG. 3, the display unit 70 displays a position where the dangerous depression exists on the screen. When the navigation device is mounted on the vehicle, the position where the dangerous depression exists may be displayed on the screen of the navigation device, and the meter for displaying the vehicle speed or the like is mounted on the vehicle. May display the position where the dangerous depression exists on the screen of the meter. Moreover, it is good also as providing the display part for exclusive use for displaying the position where the said dangerous hollow exists.

  The light emission part 80 is comprised by LED, for example, and is connected to ECU10. When the light emitting unit 80 receives a command from the ECU 10, the light emitting unit 80 blinks in a predetermined pattern. In addition, the light emission part 80 may not be a light emission part for exclusive use for alerting that the said dangerous hollow exists, but it may be a courtesy lamp or a security LED, for example. Incidentally, the courtesy lamp is a lamp that indicates whether the vehicle door 90 is opened or closed by turning on when the vehicle door 90 is open, and turning off when the vehicle door 90 is closed. When such a courtesy lamp is installed on the vehicle door, the ECU 10 may turn on the courtesy lamp in an arbitrary pattern different from the pattern indicating the open / closed state of the vehicle door 90. In short, it is only necessary to be alerted by appealing to the user's vision with light.

  The ECU 10 receives signals from the laser sensor 20, the vehicle speed sensor 30, the opening sensor 40, and the open switch 50, and outputs an instruction to the warning sound output unit 60, the display unit 70, and the light emitting unit 80. (I / F) 11, a CPU 12 that performs various arithmetic processes according to a predetermined program, a non-volatile memory 13 that stores and holds a program, obstacle detection range data, traveling surface range data, and the like described later.

  Next, the scanning plane and the scanning range by the laser light emitted from the laser sensor 20 will be described with reference to FIGS. 4 is a diagram for explaining a scanning plane by the laser beam emitted from the laser sensor 20, and FIG. 5 is a diagram illustrating a scanning plane by the laser beam emitted from the laser sensor 20 when the vehicle door is opened. It is the figure which showed a mode that it moves, maintaining a fixed angle with a vehicle door, when being done. FIG. 6 is a diagram for explaining a scanning range in the vertical direction by the laser sensor 20.

  As shown in FIG. 4, the laser sensor 20 installed at the lower part of the door mirror 92 is a plane (hereinafter referred to as a laser sensor) that is deviated from the surface of the vehicle door 90 by a predetermined angle φ in the direction in which the vehicle door 90 is opened. Laser light is emitted so as to scan in the vertical direction. Here, the vehicle door 90 is supported so as to be rotatable in an arc shape around a support shaft (not shown) with respect to the side surface of the vehicle body. Therefore, when the vehicle door 90 is opened, the rotation outermost peripheral end portion of the vehicle door 90 moves along the dotted line 91. That is, the dotted line 91 indicates the locus of the rotation outermost peripheral end portion of the vehicle door 90.

  When the vehicle door 90 is closed, the position A where the scanning plane of the laser sensor 20 intersects the dotted line 91 indicating the locus of the outermost rotation end of the vehicle door 90 is more than the front end position 93 of the door mirror 92. It is set to be close to the vehicle door 90. For this reason, when the detected object exists only within the range from the vehicle door 90 to the predetermined angle φ, the laser sensor 20 cannot detect the detected object. However, the vehicle door 90 is usually provided with a door mirror 92 and is parked at a position where the door mirror 92 is not in contact with the detected object. Therefore, since the scanning plane of the laser sensor 20 is set as described above, the dead zone area where the laser sensor 20 cannot detect the detected object is substantially eliminated.

  Desirably, the predetermined angle φ is set to include an angle from a portion immediately below the vehicle door 90 in a closed state to a portion where the occupant opens the vehicle door 90 and lowers the foot on the traveling surface. By setting the predetermined angle φ to such an angle, the laser sensor 90 can sense a portion where the occupant opens the vehicle door 90 and lowers his / her foot on the running surface of the vehicle.

  Further, as described above, the scanning plane of the laser sensor 20 is a plane that is deviated from the surface of the vehicle door 90 by a predetermined angle φ. Therefore, as shown in FIG. 5, while the vehicle door 90 is being opened, the detected object is always detected at a position that precedes the vehicle door by a predetermined angle φ, and the distance to the traveling surface of the vehicle. Can be measured. In other words, the plane that is deviated by a predetermined angle φ with respect to the surface of the vehicle door 90 is used as the scanning plane of the laser sensor 20, so that when the vehicle door 90 is opened, the vehicle is moved over the entire movable range of the vehicle door 90. It is possible to detect an obstacle that may come into contact with the door 90 and to measure the distance to the traveling surface of the vehicle.

  As shown in FIG. 6, the laser sensor 20 has a scanning angle “0 degrees” as the angle toward the front of the vehicle, a scanning angle “90 degrees” as the angle immediately below the laser sensor 20, and substantially true toward the sky. It is installed at the lower part of the door mirror 92 in such a posture that the angle extending upward is a scanning angle of about “260 degrees”. Then, the laser sensor 20 sets the scanning angle “0 degree” and the scanning angle “260 degree” as the scanning start position and the scanning end position, respectively, and from the scanning start position to the scanning end position, a predetermined step angle θx clockwise. The laser beam is emitted repeatedly. Therefore, the scanning range of the laser sensor 20 is a range from the start position to the end position of the laser beam emission.

  Thus, the laser sensor 20 detects obstacles that may come into contact with the vehicle door 90 on almost the entire surface of the vehicle door 90 by scanning with the laser beam in the above-described scanning plane and scanning range. Or measuring the distance to the running surface of the vehicle.

  Here, when the laser sensor 20 scans the scanning range shown in FIG. 6 with the laser beam, the laser beam is detected not to come into contact with the vehicle body part other than the vehicle door 90, the ground, or the vehicle door 90. The reflected light may be received by the laser sensor 20 in some cases. Therefore, when the detected object is detected by the laser sensor 20, the CPU 12 configuring the ECU 10 determines whether or not the detected object exists in the movable range of the vehicle door 90.

  Obstacle detection range data is stored and held in advance in the non-volatile memory 13 constituting the ECU 10 so that the CPU 12 can accurately perform such a determination. The obstacle detection range data is distance data (set distance L) for each scanning angle θ from the installation position of the laser sensor 20 to the end of the vehicle door 90.

  Hereinafter, a specific determination method will be described. First, the CPU 12 instructs the laser sensor 20 on a scanning angle at which laser light is emitted. When the laser beam is emitted at the instructed scanning angle and the reflected light from the detected object is received, the distance X to the detected object is calculated and output to the CPU 12. The CPU 12 extracts the set distance L to the end of the corresponding vehicle door 90 from the obstacle detection range data stored and held based on the scanning angle θ of the laser light emitted from the laser sensor 20. Then, the distance X to the detected object actually detected by the laser sensor 20 is compared with the extracted set distance L. From this comparison, if the actual distance X is shorter than the set distance L, it is determined that the detected object is within the movable range of the vehicle door 90 and is an obstacle that may come into contact with the vehicle door 90. On the other hand, if the actual distance X is longer than the set distance L, the detected object is outside the movable range of the vehicle door 90, and the detected object has no influence when the vehicle door 90 is opened. judge. Therefore, the CPU 12 corresponds to the obstacle determination unit described in the claims.

  Next, referring to FIGS. 7 and 8 together, a determination example in which whether or not the detected object exists within the movable range of the vehicle door 90 is determined using the obstacle detection range data will be described. FIG. 7 is an explanatory diagram for explaining this determination example, and FIG. 8 is a diagram showing the determination result.

  As shown in FIG. 7, the laser sensor 20 calculates distances X1 to X3 to the detected object at the scanning angles θ1 to θ3. Then, as shown in FIG. 8, the CPU 12 compares the calculated distances X1 to X3 with the set distances L1 to L3 for the scanning angles θ1 to θ3 stored and held in the nonvolatile memory 13, respectively. As shown in FIG. 7, the set distances L1 to L3 are distances from the installation position of the laser sensor 20 to the end of the vehicle door 90 at the scanning angles θ1 to θ3 of the respective laser beams.

  7 and 8, the distances X1 and X3 to the detected object detected at the scanning angles θ1 and θ3 are compared with the set distances L1 and L3, respectively. As a result, the distances X1 and X3 to the detected object are set. It is determined that each distance is longer than the distances L1 and L3. As a result, at the scanning angles θ1 and θ3, it is determined that there is no obstacle that may come into contact with the vehicle door 90 as shown in FIG. On the other hand, as a result of comparing the distance X2 to the detected object detected at the scanning angle θ2 with the set distance L2, it is determined that the distance X2 to the detected object is shorter than the set distance L2. For this reason, as shown in FIG. 8, it is determined that there is an obstacle that may come into contact with the vehicle door 90 at the scanning angle θ2.

  The alerting device 1 includes an opening / closing motor (not shown) for opening or closing the vehicle door 90, and the ECU 10 outputs a door opening command or a door closing command to the opening / closing motor, thereby The door 90 is automatically opened or closed. However, if the ECU 10 determines that there is an obstacle that may come into contact with the vehicle door 90, the ECU 10 corresponds to an angle smaller than a predetermined angle from the opening degree of the vehicle door 90 when it is determined that the obstacle exists. The opening degree of the vehicle door 90 may be limited when the vehicle door 90 is opened by the opening degree. Thereby, the opening degree of the vehicle door 90 is limited, and the collision between the vehicle door 90 and the obstacle is prevented. Note that the opening / closing motor corresponds to the opening degree limiting unit described in the claims.

  By the way, the prior art described in the Background Art column does not include a function for alerting the user when the vehicle door 90 is opened even if the vehicle exit location is depressed. Therefore, in order to ensure the safety of the feet when getting off, the user has to get off the vehicle after visually confirming the state of the getting-off place when the vehicle door is opened.

  Therefore, in the present embodiment, the CPU 12 uses the distance to the vehicle running surface measured by the laser sensor 20 to determine whether a depression having a predetermined size or more exists on the vehicle running surface below the vehicle door 90. When it is determined whether or not there is a depression, the warning sound output unit 60, the display unit 70, and the light emitting unit 80 are used to alert the user when the vehicle door 90 is opened.

  FIG. 9 shows the transition of the distance from the installation position detected by the laser sensor 20 to the traveling surface of the vehicle, depending on whether or not there is a depression.

  When there is no depression on the traveling surface of the vehicle, the distance from the installation position measured by the laser sensor 20 to the traveling surface of the vehicle changes as shown by a broken line in FIG. 9 and becomes a gentle curve. On the other hand, when there is a depression on the traveling surface of the vehicle, the distance from the installation position measured by the laser sensor 20 to the traveling surface of the vehicle changes as shown by a solid line in FIG. It becomes. As described above, when a depression exists on the traveling surface of the vehicle, the influence appears as a rapid change in the transition of the distance to the traveling surface of the vehicle. Therefore, the CPU 12 determines whether or not a rapid change appears in the transition of the distance to the traveling surface of the vehicle, that is, whether or not the variation rate of the transition of the distance to the traveling surface of the vehicle exceeds a predetermined change rate. By doing so, the presence or absence of a dent on the running surface of the vehicle is determined.

  In addition, all the depressions present on the running surface of the vehicle are not dangerous depressions that threaten the safety of the feet when getting off the vehicle. Therefore, CPU12 judges the depth of the hollow which exists in the running surface of a vehicle by judging the height of the abrupt change which appears in transition of the distance to the running surface of the vehicle, and the distance to the running surface of the vehicle By judging the range of abrupt change that appears in the transition of the vehicle, by determining the width of the depression that exists on the traveling surface of the vehicle, by determining the position of the sudden change that appears in the transition of the distance to the traveling surface of the vehicle Then, the position of the depression existing on the traveling surface of the vehicle is determined. Then, the CPU 12 determines the depth, width, and position of the depression existing on the traveling surface of the vehicle, so that a dangerous depression larger than the average foot size of the occupant is included in the traveling surface of the vehicle. It is determined whether or not the vehicle door 90 is below.

  In order for the CPU 12 to accurately determine whether or not such a dangerous depression is below the vehicle door 90, the non-volatile memory 13 constituting the ECU 10 contains more than the running surface range data and the average foot size of the occupant. And a scanning angle range corresponding to the lower side of the vehicle door 90 are stored and held in advance. The traveling surface range data is distance data (set distance M) for each scanning angle θ from the installation position of the laser sensor 20 to the traveling surface of the vehicle. The nonvolatile memory 13 corresponds to a storage holding unit described in the claims.

  Hereinafter, a specific determination method will be described. First, the CPU 12 instructs the laser sensor 20 on a scanning angle at which laser light is emitted. When the laser beam is emitted at the instructed scanning angle and the reflected light from the vehicle running surface is received, the distance Y to the vehicle running surface is calculated and output to the CPU 12. The CPU 12 extracts the set distance M to the corresponding vehicle traveling surface from the stored traveling surface range data based on the scanning angle θ of the laser beam emitted from the laser sensor 20. Then, the distance Y to the traveling surface of the vehicle actually measured by the laser sensor 20 is compared with the extracted set distance M. From this comparison, if the actual distance Y is longer than the set distance M, it is determined that a depression exists on the traveling surface of the vehicle.

  When it is determined that there is a depression on the traveling surface of the vehicle, the CPU 12 determines the difference obtained by subtracting the set distance M from the actual distance Y, and the scanning angle at which the actual distance Y is determined to be longer than the set distance M. From the range, the size (volume) of the depression existing on the traveling surface of the vehicle is calculated, and the calculated size of the depression is compared with a predetermined size stored and held. Then, by this comparison, if the calculated size of the depression is equal to or larger than a predetermined size, the CPU 12 determines that the depression existing on the traveling surface of the vehicle is a dangerous depression, while calculating the size of the depression. If it does not satisfy the predetermined size, it is determined that the depression existing on the traveling surface of the vehicle is not a dangerous depression.

  Furthermore, when it is determined that a dangerous depression exists on the traveling surface of the vehicle, the CPU 12 determines a scanning angle range in which the actual distance Y is determined to be longer than the set distance M, and a stored scanning angle range. Compare Then, if the CPU 12 determines that the stored scanning angle range is included in the scanning angle range in which the actual distance Y is longer than the set distance M, the dangerous depression is located below the vehicle door 90. On the other hand, if it is determined that it is not included, it is determined that there is no dangerous depression below the vehicle door 90. Thus, CPU12 is equivalent to the hollow determination part as described in a claim.

  Hereinafter, with reference to FIG.10 and FIG.11, the alerting process performed by the alerting apparatus 1 is demonstrated. FIG. 10 is a flowchart showing the processing procedure of the alerting processing S1, and FIG. 11 is a flowchart showing the processing procedure of the sensing processing S40 in detail.

  As shown in FIG. 10, when the alerting process S1 is started, the ECU 10 determines whether or not the open switch 50 is turned on. Here, when it is not determined that the open switch 50 is turned on (“No” in the determination process of step S10), the ECU 10 once ends the alerting process S1. This is because the vehicle door 90 is not opened and there is no need to call attention. On the other hand, when it is determined in the determination process of step S10 that the open switch 50 has been turned on (“Yes” in the determination process of step S10), the ECU 10 proceeds to the subsequent determination process of step S20.

  In the subsequent determination process of step S20, the ECU 10 determines whether or not the vehicle is stopped based on the speed signal generated by the vehicle speed sensor 30, that is, whether or not the vehicle speed is zero. Here, when it is determined that the vehicle is not stopped, that is, the vehicle speed is not zero ("No" in the determination process of step S20), the ECU 10 once ends the alerting process S1. For safety reasons, the vehicle door 90 cannot be opened while the vehicle is moving. This is because if the vehicle door 90 is not opened, the user cannot get off and there is no need to call attention.

  On the other hand, in the determination process of step S20, when it is determined that the vehicle is stopped, that is, the vehicle speed is zero (“Yes” in the determination process of step S20), the vehicle door 90 is automatically opened. Therefore, ECU10 transfers to the sensing process of following step S30, and senses the driving | running | working surface of a vehicle according to this automatic door opening of the vehicle door 90. FIG.

  When the process moves to the sensing process, as shown in FIG. 11, the ECU 10 first sets the scanning angle of the laser sensor 20 to “0 degrees”, that is, the scanning start position as a process of step S301. When the scanning angle is set to the scanning start position, the ECU 10 measures the actual distance (depth) Y to the vehicle running surface at the scanning angle “N degrees” by the laser sensor 20 as the determination process in the subsequent step S302. When the actual distance Y is measured, the ECU 10 stores and holds the scanning angle N degrees and the actual distance Y in an appropriate storage and holding unit (not shown), and then determines the scanning angle of the laser sensor 20 as a determination process in step S303. It is determined whether “260 degrees”, that is, whether or not the scanning end position has been reached. Here, when it is determined that the laser sensor 20 has not reached the scanning end position (“No” in the determination processing in step S303), it means that the scanning of the scanning range by the laser sensor 20 has not ended. Therefore, the ECU 10 advances the scanning angle of the laser sensor 20 by X (= θx) as the processing of the subsequent step S304, and executes the processing of the previous step S302 again. On the other hand, when it is determined that the laser sensor 20 has reached the scanning end position (“Yes” in the determination process in step S303), this means that the scanning of the scanning range of the laser sensor 20 has ended. Therefore, the ECU 10 returns to the alerting process S1 and executes the subsequent determination process in step S40.

  The ECU 10 determines whether or not there is a dangerous depression below the vehicle door based on the actual distance Y acquired by the sensing process (step S30) as the determination process in the subsequent step S40.

  Specifically, the ECU 10 compares the actual distance Y to the vehicle travel surface acquired in the sensing process with the set distance M extracted from the travel surface range data stored in the nonvolatile memory 13. When it is determined that the actual distance Y is longer than the set distance M, it is determined that a depression exists on the traveling surface of the vehicle.

  When it is determined that there is a depression on the running surface of the vehicle, the ECU 10 determines the difference obtained by subtracting the set distance M from the actual distance Y and the scanning angle range in which the actual distance Y is determined to be longer than the set distance M. Then, the size (volume) of the depression existing on the traveling surface of the vehicle is calculated, and the calculated size of the depression is compared with a predetermined size stored and held in the nonvolatile memory 13. When the ECU 10 determines that the calculated size of the depression is equal to or greater than a predetermined size, the ECU 10 determines that the depression existing on the traveling surface of the vehicle is a dangerous depression, while calculating the size of the depression. Is determined not to be smaller than the predetermined size, it is determined that the depression existing on the traveling surface of the vehicle is not a dangerous depression.

  When it is determined that a dangerous depression exists on the traveling surface of the vehicle, the ECU 10 compares the scanning angle range in which the actual distance Y is determined to be longer than the set distance M with the stored scanning angle range. . When the ECU 10 determines that the stored scanning angle range is included in the scanning angle range in which the actual distance Y is determined to be longer than the set distance M, the dangerous depression is below the vehicle door 90. On the other hand, when it is determined that it is not included, it is determined that there is no dangerous depression below the vehicle door 90.

  Thus, in the determination process of step S40, when it is determined that the dangerous depression is below the vehicle door 90 (“Yes” in the determination process of step S40), the ECU 10 performs the above warning as the process of step S50. The sound output unit 60, the display unit 70, and the light emitting unit 80 alert the user when the vehicle door 90 is opened.

  On the other hand, in the determination process of step S40, when it is not determined that the dangerous depression is below the vehicle door 90 ("No" in the determination process of step S40), the ECU 10 ends the alerting process S1 as it is. By the way, the case where it is not determined that the dangerous depression is below the vehicle door 90 means that the dangerous depression is below the vehicle door 90 when it is not determined in the determination process of the previous step S40 that the depression is present on the traveling surface of the vehicle. This is a case where it is not determined that there is. Thus, ECU10 (specifically CPU12) is equivalent to the alerting part as described in a claim.

  In the above-described embodiment, the ECU 10 determines the distance to the vehicle running surface measured by the laser sensor 20, the running surface range data stored in the nonvolatile memory 13, and the average foot of the occupant. On the traveling surface of the vehicle below the vehicle door 90 based on a predetermined size indicating the size of the vehicle and a scanning angle range corresponding to the vehicle door 90 below. Determine if there is a dangerous dimple. When it is determined that a dangerous depression larger than the average foot size of the occupant is present on the traveling surface of the vehicle below the vehicle door 90, the ECU 10 causes the warning sound output unit 60, the display unit 70, and the light emitting unit 80. This alerts the user when the vehicle door 90 is opened. As a result, it is possible to ensure the safety of the feet when getting off the vehicle.

  Note that the alerting device according to the present invention is not limited to the configuration exemplified in the above embodiment, and can be implemented with various modifications without departing from the spirit of the present invention. . In other words, for example, the following embodiment can be implemented by appropriately changing the above embodiment.

  In the above embodiment, as shown in FIG. 6 above, the scanning range of the laser sensor 20 is set to the scanning angle from “0 degree” to “260 degree”, but this is not limiting, and the scanning angle is “0 degree”. To "360 degrees".

  In the above-described embodiment, the present invention is embodied as a warning device that alerts the user when the vehicle door is opened when there is a dangerous depression where the user can take his / her foot, and further, the laser sensor 20. Although it has been embodied as an obstacle detection device that determines whether or not the detected object detected by is an obstacle that may come into contact with the vehicle door 90, the present invention is not limited to this. For example, the function of determining whether or not the detected object detected by the laser sensor 20 is an obstacle that may come into contact with the vehicle door 90 may be omitted.

It is a block diagram which shows an example of the whole structure about one Embodiment of the alerting device which concerns on this invention. FIG. 3 is a diagram for explaining an example of a scanning mechanism that constitutes a laser sensor 20. It is a figure which shows the example of a display of the position where a hollow exists. FIG. 4 is a diagram for explaining a scanning plane by laser light emitted from a laser sensor 20. It is the figure which showed a mode that the scanning plane by the laser beam radiate | emitted from the laser sensor 20 moved with a fixed angle with a vehicle door, when a vehicle door is opened. 4 is a diagram for explaining a scanning range in a vertical direction by a laser beam emitted from a laser sensor 20. FIG. FIG. 6 is an explanatory diagram for explaining an example of determining whether or not a detected object exists within a movable range of a vehicle door 90 using obstacle detection range data. It is a figure which shows the determination result of the example of determination whether a detected object exists in the movable range of the vehicle door 90 using obstacle detection range data. It is a figure which shows transition of the distance from the installation position detected by the laser sensor 20 to the traveling surface of a vehicle according to the presence or absence of a hollow. It is a flowchart which shows the process sequence about attention calling process S1. It is a flowchart which shows the process sequence about the sensing process performed during alerting process S1.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 ... Attention alerting device, 10 ... ECU (dent determination part, alerting part), 11 ... I / F, 12 ... CPU, 13 ... Nonvolatile memory (memory | storage holding | maintenance part), 20 ... Laser sensor, 21 ... Mirror, 22 DESCRIPTION OF SYMBOLS ... Light emitting element, 23 ... Light receiving element, 24 ... Motor, 25, 26 ... Lens, 30 ... Vehicle speed sensor, 40 ... Opening sensor, 50 ... Open switch, 60 ... Warning sound output part, 70 ... Display part, 80 ... Light emission 90, vehicle door, 92 ... door mirror

Claims (9)

Laser light is scanned so as to scan a scanning plane that is installed in the vehicle door in the vicinity of the rotation axis of the vehicle door and is shifted by a predetermined angle in the direction in which the vehicle door is opened with respect to the surface of the vehicle door. A laser sensor that transmits light, receives reflected light reflected by the traveling surface of the vehicle, and measures a distance to the traveling surface of the vehicle based on a light transmission / reception result of the laser light;
A depression determination for determining whether or not there is a dangerous depression of a predetermined size or more on the traveling surface of the vehicle below the vehicle door based on the distance to the traveling surface of the vehicle measured by the laser sensor And
An alerting device, comprising: an alerting unit that alerts a user when the vehicle door is opened based on the fact that the recess determining unit determines that the dangerous recess exists. In the alerting device according to claim 1,
The alerting device according to claim 1, wherein the predetermined size is set in advance to an average foot size of an occupant. In the alerting device according to claim 1 or 2,
The alerting device, wherein the alerting unit outputs a warning sound for alerting that the dangerous depression exists from the alerting sound output unit. In the alerting device according to any one of claims 1 to 3,
The attention calling unit displays a position where the dangerous depression exists on a display unit. In the alerting device according to any one of claims 1 to 4,
A courtesy lamp that lights up when the vehicle door is in an open state, and turns off when the vehicle door is in a closed state to indicate an open / closed state of the vehicle door,
The alerting device, wherein the alerting unit blinks the courtesy lamp in a predetermined pattern for alerting the presence of the dangerous depression. In the alerting device according to any one of claims 1 to 5,
The alerting device, wherein the alerting unit blinks a dedicated light emitting unit for alerting that the dangerous depression exists. In the alerting device according to any one of claims 1 to 6,
An obstacle determination unit that determines whether there is an obstacle that may contact the vehicle door in the opening direction of the vehicle door based on a result of laser light transmission / reception by the laser sensor. An alerting device, further comprising: In the alerting device according to claim 7,
When the obstacle determining unit determines that the obstacle is present, the warning device further includes an opening degree limiting unit that limits an opening degree of the vehicle door. In the alerting device according to claim 8,
The opening restriction unit opens the vehicle door by an opening corresponding to an angle smaller than the predetermined angle from the opening of the vehicle door at the time when the obstacle determination unit determines that the obstacle exists. A warning device that restricts the opening degree of the vehicle door at the time of making it happen.

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