JP2018008576A - Vehicle door opening/closing supporting system - Google Patents

Abstract

PROBLEM TO BE SOLVED: To ensure safety when occupants get off a vehicle, and to support a smooth get-off operation of the occupants by suppressing an unnecessary operation for calling attention.SOLUTION: A safety control processing includes: a step of checking whether an approaching article is detected in the back of an own vehicle or not (S1); a step of checking whether an opening operation is performed on any one of the doors or not when the approaching article is detected (S2); a step of acquiring information on a stopping position of the own vehicle in performing the operation of opening the door (S3); a step of setting a door opening determining line based on the stopping position information of the own vehicle and the information on the approaching article in the back of the own vehicle (S4); a step of determining whether a door opening region is overlapped with the door opening determining line or not (S5); and a step of calling attention of the occupants of the own vehicle and the surrounding people by generating an alarm when the door opening region is overlapped with the door opening determining line or of limiting an opening angle of the door if necessary (S6) to reliably prevent contact or a collision with the approaching article.SELECTED DRAWING: Figure 7

Description

  The present invention relates to a vehicle door opening / closing support system that supports safe door opening for an approaching object approaching from behind when the vehicle is stopped.

  Conventionally, in order to improve the safety when passengers get off by opening the door when a vehicle such as an automobile stops, a technology to call attention by detecting an approaching object approaching from the rear is proposed. Has been.

  For example, Patent Document 1 proposes a vehicle-mounted door system that measures the distance from the rear of the vehicle to an approaching obstacle and brakes the opening of the door according to the distance to the obstacle.

JP 10-176462 A

  However, in the conventional technology as disclosed in Patent Document 1, warning and door opening braking are uniquely performed according to the presence or absence of an approaching object behind, for example, a road evacuation space or a parking lot section. If you are parked in a reserved parking space and you are about to get off, there may be a warning or door opening restriction in response to a vehicle on the driving lane approaching from behind or a vehicle that is about to park in the adjacent parking space. is there. For this reason, there is a possibility that an occupant's smooth dismounting may be hindered by an unnecessary operation.

  The present invention has been made in view of the above circumstances, and is a vehicle door that can ensure the safety of an occupant when getting off, and can support an occupant's smooth getting-off operation by suppressing unnecessary operations for alerting. The purpose is to provide a switching support system.

  A vehicle door opening / closing support system according to an aspect of the present invention is a vehicle door opening / closing support system that supports safe door opening of a host vehicle with respect to an approaching object approaching from behind the host vehicle when the host vehicle stops. A door opening determination line setting unit for setting a door opening determining line for determining a safe opening area of the door based on the stop position information of the own vehicle and the information of the approaching object in the front-rear direction of the own vehicle side part And when the host vehicle stops and the door is opened, the door wrap determination unit for determining whether or not the opening area of the corresponding door wraps with the door opening determination line, and the approaching object exists in the situation where the approaching object exists When it is determined that the door open area wraps with the door open determination line, an alarm is generated, and the door open area is the door open determination line even if the approaching object exists. If it is determined that Tsu no flop, and a suppressing alarm determination unit generation of the alarm.

  ADVANTAGE OF THE INVENTION According to this invention, while ensuring the safety | security at the time of a passenger | crew's getting off, the unnecessary operation | movement for alerting can be suppressed and a passenger | crew's smooth getting-off operation can be supported.

Basic configuration of vehicle door opening / closing support system Explanatory drawing which shows the example of a door opening determination line Explanatory drawing which shows the other example of a door open determination line Explanatory drawing which shows the further another example of a door open determination line. Explanatory drawing which shows the lap determination by the door open determination line of FIG. Explanatory drawing which shows the lap determination by the door open determination line of FIG. Flow chart showing safety control process when getting off

  Embodiments of the present invention will be described below with reference to the drawings. A vehicle door opening / closing support system 10 shown in FIG. 1 is a system that ensures safety by alerting an approaching object approaching from the rear of a vehicle when a vehicle such as an automobile stops and a passenger opens the door to get off. In addition to ensuring safety when the occupant gets out of the vehicle, unnecessary operation for alerting is suppressed to assist the occupant to get out of the vehicle smoothly.

  The vehicle door opening / closing support system 10 includes a plurality of detection units that detect an external environment surrounding the host vehicle and the state of the host vehicle, and an operation unit that performs an operation related to an alarm or door opening / closing, with the control device 100 as a center. Yes. The vehicle door opening / closing support system 10 is formed by a single device mainly composed of a microcomputer or a plurality of device groups connected via an in-vehicle network such as CAN.

  In the present embodiment, the vehicle door opening / closing support system 10 includes an approaching object detection device 20, a stop detection device 30, a stop position detection device 40, a door opening / closing detection device 50, and a door opening / closing angle detection device 60 as a plurality of detection units. And an alarm / door opening restriction device 70 as an operating part. The control device 100 that is the center of the system controls the operation of the alarm / door opening limiting device 70 by comprehensively judging information from a group of devices constituting a plurality of detection units.

  The approaching object detection device 20 monitors the periphery of the host vehicle with a vehicle-mounted sensor, and detects a moving object approaching the host vehicle as an approaching object. As an in-vehicle peripheral monitoring sensor, for example, an image sensor such as a monocular camera or a stereo camera, a millimeter wave radar, a sonar, and the like can be used. These sensors are appropriately used for the front, side, and rear of the own vehicle. Arrange for monitoring. And the approaching object detection device 20 detects the type, approach direction and speed, position, etc. of other automobiles, motorcycles, bicycles, pedestrians, etc. that approach from the rear of the own vehicle by these surrounding monitoring sensors, It transmits to the control apparatus 100 as information on an approaching object.

  The stop detection device 30 detects that the host vehicle has stopped based on signals from a vehicle speed sensor, a shift position of the transmission, and the like. For example, when the vehicle speed pulse from the vehicle speed sensor is 0 or the shift shift position is the parking position, it is determined that the vehicle is stopped.

  The stop position detection device 40 uses information from each sensor for surrounding monitoring in the approaching object detection device 20 together with map information from the navigation device or the like, and positioning information of the own vehicle position by GPS or the like, and the surrounding traffic It recognizes the environment, detects the stop position of the host vehicle in the recognized traffic environment, and transmits it to the control device 100 as stop position information.

  For example, when mounting a stereo camera that captures the same object from different viewpoints for monitoring the surroundings of the host vehicle, the surroundings of white lines, guardrails, curbs, etc. on the road on which the host vehicle travels by processing images captured by the stereo camera Recognize the environment in three dimensions. Then, the recognized surrounding environment is compared with road data such as the curvature, lane width, and shoulder width of the road obtained from the map information, and the vehicle position measured based on a signal from a GPS satellite, etc. When it is determined that the vehicle has stopped in the side evacuation zone or stop zone, the vehicle's stop position relative to the white line of the road is detected, and when it is determined that the vehicle has entered the parking lot from the road and stopped, The stop position of the own vehicle with respect to the parking space is detected.

  The door opening / closing detection device 50 detects an operation in which a passenger opens a door for getting off. The door opening operation may be detected by, for example, detecting when the door is actually opened by an open / close switch installed in each door, or a signal from a contact sensor or the like that detects that an occupant has touched the door knob. Thus, an operation before the door is actually opened may be detected. The detection of the door opening operation is performed individually for each door of the vehicle, and the control result together with the door position information indicating whether the detection result is on the driver side, passenger seat side, front seat side, or rear seat side. 100.

  The door opening / closing angle detection device 60 detects the opening / closing angle of the door when getting off. The opening / closing angle of the door is detected by, for example, an angle sensor such as a rotary encoder connected to the rotating shaft of the door hinge mechanism. Similar to the door opening / closing detection device 50, the door opening / closing angle is detected individually for each door of the vehicle.

  The door opening / closing detection device 50 and the door opening / closing angle detection device 60 can also be used as a single device. For example, when the opening / closing angle becomes larger than 0, it is determined that the door is open. Also good.

  In response to a command from the control device 100, the alarm / door opening restriction device 70 issues a warning with light or sound to the passenger of the own vehicle and the vicinity of the own vehicle to call attention. Further, the alarm / door opening restriction device 70 restricts the opening degree of the door as necessary in accordance with a command from the control device 100, and avoids the danger caused by the passenger getting off unintentionally. For example, an actuator such as a motor or a hydraulic cylinder is connected to the door hinge mechanism, and the opening of the door is limited by applying a brake to the rotation axis of the door hinge mechanism or contacting the stopper with a predetermined rotation angle. To do.

  The control device 100 comprehensively determines the information from each of the detection devices 20, 30, 40, 50, 60 described above to determine the danger when the passenger gets out of the vehicle. -Operate the door opening restriction device 70 to prevent contact with or collision with an approaching object. At that time, the control device 100 appropriately determines whether or not an alarm is necessary based on the relationship between the stop position of the host vehicle, the position of the door to be opened and the approaching object behind the host vehicle, and suppresses unnecessary operations. Helping to get off smoothly.

  Specifically, the control device 100 sets a door opening determination line in the front-rear direction of the side portion of the host vehicle, and appropriately determines whether or not an occupant can safely get off by opening the door. By doing so, the occurrence of unnecessary alarms is suppressed. For this reason, the control device 100 includes a door opening determination line setting unit 101, a door wrap determination unit 102, and an alarm / door opening restriction determination unit 103 as main functional units.

  The door opening determination line setting unit 101 is a determination line for determining a safe opening area of the door when the occupant opens the door and gets off when the vehicle stops, and information on the stopping position of the own vehicle and an approaching object behind the own vehicle It is set based on the information. This door opening determination line is not only a marking on the road surface such as a white line on a road or a parking lot for defining a parking position for each vehicle in a parking lot, an actual object such as a guardrail or a curb, but also a door of the own vehicle. It is set including a virtual line estimated from the fully open position and the road shape.

  For example, as shown in FIG. 2, when it is detected that the host vehicle C1 stops in the retreat space HS provided on the shoulder side of the road and opens the door D1 on the driver's seat side, the door is opened. The determination line setting unit 101 sets a white line H1 that is a boundary between the road lane DW and the retreat space HS as a door opening determination line, and the door opening determination line H1 allows a safe getting off to the following vehicle C2. Determine whether it is possible.

  Further, as shown in FIG. 3, when it is detected that the host vehicle C1 stops in the parking space TS such as the store TP and opens the driver side door D1, the door opening determination line setting unit 101 Sets the lane marking H2 that divides the parking position of the vehicle as a door opening determination line, and determines whether it is possible to safely get off the vehicle C2 approaching from the rear by the door opening determination line H2.

  2 and 3, the same applies to the case where the host vehicle C1 has the door D2 behind the door D1, and a determination line is set for the doors D1 and D2.

  Furthermore, as shown in FIG. 4, when a passenger detects a situation in which the door D3 on the shoulder side of the road RD is opened and gets off, and there is a guardrail or curb on the shoulder side, the guardrail, curb, etc. A solid object line H3 along the road is set as a door opening determination line. The same applies when the door D4 is provided behind the door D3, and the door opening determination line H3 is set for the doors D3 and D4.

  In this case, for example, when it is detected that the height of the curb is higher than the lower end of the door D3 of the host vehicle, the door opening determination line is set closer to the host vehicle side than the line H3 along the curb. It is desirable to do. That is, when the height of the curb is higher than the lower end of the door D3 of the host vehicle, as shown by a two-dot chain line in FIG. 4, the door open determination line is moved closer to the host vehicle side than the fully open position of the door D3. It is desirable that the line H3L is virtually set.

  Further, when a bicycle or a pedestrian or the like is detected behind the door D3 in a state where the vehicle stops on the roadside belt side where there is no guardrail or curb, the door D3 may pass through the side of the host vehicle. On the other hand, it is desirable that the virtual setting line H3L be a door opening determination line. The same applies when an approaching object such as a motorcycle or a bicycle is detected behind the door D1 side of the host vehicle. By setting the door opening determination line H3R near the side of the host vehicle D1. , Improve preventive safety.

  The door wrap determination unit 102 determines whether or not the opening area of the door that the occupant opens overlaps with the door opening determination line. The door opening area here is an arc-shaped area that is developed on the side of the vehicle when the door is opened at the maximum rotation angle, and the door wrap determination unit 102 overlaps the door opening determination line in this area ( And the determination result is sent to the alarm / door opening restriction determination unit 103.

  In the example of FIG. 2 described above, it is determined whether or not the open area of the door D1 overlaps with the white line H1 that is the boundary of the retreat space HS. That is, as shown in FIG. 5, even when the host vehicle C1 is in the retreat space HS, the vehicle is stopped by the traveling lane DW side, and when the door D1 is opened, one door D1 is placed in the adjacent traveling lane DW. When the part protrudes, there is a possibility that the door D1 wraps around the traveling lane DW and comes into contact with the vehicle C2 that travels from behind, so it is determined that there is an area where the door D1 should not be opened. On the other hand, if the door D1 does not protrude into the travel lane DW, it is determined that there is no area to wrap and safe getting off is possible.

  In the example of FIG. 3, it is determined whether or not the open area of the door D <b> 1 overlaps with the door open determination line H <b> 2 that is a lane marking that defines the parking position. That is, as shown in FIG. 6, even if the host vehicle C1 is between the lane markings H2 of the parking position for each vehicle, when a part of the door D1 protrudes from the lane marking H2 when the door D1 is opened, Since there is a possibility of contact when the vehicle C2 enters the adjacent parking position, it is determined that there is an area where the door D1 should not be opened. On the other hand, when the door D1 does not protrude from the lane marking H2, it is determined that there is no area to wrap and safe getting off is possible.

  The same applies to the example of FIG. 4. When the door open determination lines H3 and H3L wrap in the open area of the door D3, it is determined that there is an area where the door D3 should not be opened, and similarly, the door D1 When the door open determination line H3R wraps in the open area, it is determined that there is an area where the door D1 should not be opened. On the other hand, even if the doors D1 and D3 are opened, if the doors D1 and D3 do not protrude from the door opening determination lines H3R, H3, and H3L, it is determined that safe getting off is possible.

  The alarm / door opening restriction determination unit 103 operates in the alarm / door opening restriction device 70 when the door wrap determination unit 102 determines that the door opening area wraps with the door opening determination line in a situation where an approaching object exists. Sends a command to generate an alarm, and alerts the passengers of the vehicle and around the vehicle with light and sound. On the other hand, even if there is an approaching object, if the door wrap determination unit 102 determines that the door opening area does not wrap with the door opening determination line, the generation of an alarm is suppressed.

  Further, the alarm / door opening restriction determination unit 103 restricts the degree of door opening via the alarm / door opening restriction device 70 as necessary when it is determined that the door opening area wraps with the door opening determination line. . The door opening degree is limited by calculating the angle at which the peripheral edge of the door is in contact with the door opening determination line, and detecting the door opening / closing angle detecting device 60 using an angle slightly smaller than this angle as the door opening limiting angle. The opening / closing angle of the door is regulated so as not to exceed the limit angle.

  For example, as shown in FIG. 5, when the driver attempts to get off by opening the door D1 in the retreat space HS, the driver warns of contact with the following vehicle C2, and the door D1 does not protrude into the lane of the following vehicle C2. Thus, safety is ensured by limiting the opening.

  The same applies to the example of the parking space shown in FIG. 6. By limiting the opening so that the door D <b> 1 does not protrude into the adjacent parking position, contact with the vehicle parked next can be prevented. The same applies to the roadside door D3 shown in FIG. 4, which prevents contact with guardrails and curbs, and also enables effective contact with motorcycles, bicycles, etc. that try to slip through the side of the vehicle. Can be prevented.

  Next, the safety control process when getting off the vehicle executed in the control device 100 will be described with reference to the flowchart of FIG.

  The safety control process shown in the flowchart of FIG. 7 is a program process activated in the control device 100 when the stop detection device 30 detects that the host vehicle has stopped. When this processing is started, first, in the first step S1, it is checked whether or not an approaching object is detected behind the host vehicle based on information from the approaching object detection device 20.

  If no approaching object is detected behind the host vehicle in step S1, the process jumps to step S7, and the alarm / door opening restriction device 70 is set to a state where there is no warning / door opening restriction, and the process is exited. On the other hand, when an approaching object is detected, the process proceeds from step S1 to step S2, and it is checked whether or not a door opening operation has been performed on any door based on information from the door opening / closing detection device 50. And when there exists operation of door opening, it progresses to step S3 from step S2, and the information of the stop position of the own vehicle is acquired from the stop position detection apparatus 40. FIG.

  Next, it progresses to step S4, and a door open determination line is set with respect to the door by which opening operation was made based on the stop position information of the own vehicle, and the position information of the approaching object behind the own vehicle. In step S5, it is determined whether or not the corresponding door opening area overlaps with the door opening determination line.

  In step S5, if the door opening area does not overlap with the door opening determination line, the alarm / door opening restriction device 70 is maintained in the alarm / door opening unrestricted state in step S7 described above. On the other hand, when the door open area wraps with the door open determination line, the process proceeds from step S5 to step S6, the alarm / door open restriction device 70 is activated to generate an alarm, and alerts the passengers and surroundings of the host vehicle To do. If necessary, the door opening angle is limited by the alarm / door opening limiting device 70 to reliably prevent contact or collision with an approaching object.

  As described above, in the present embodiment, when the own vehicle stops and the door opening operation for getting off is performed, the door opening area becomes the stop information of the own vehicle and the position information of the approaching object behind the own vehicle. It is determined whether or not to wrap with the door opening judgment line set based on the above, and when the door opening area wraps with the door opening judgment line, an alarm is generated and the door is opened as necessary. Limit the angle. As a result, it is possible not only to ensure safety by preventing contact or collision with an approaching object when the occupant gets off, but also to enable smooth getting off by suppressing unnecessary operations for alerting. be able to.

DESCRIPTION OF SYMBOLS 10 Vehicle door opening / closing support system 20 Approaching object detection apparatus 30 Stop detection apparatus 40 Stop position detection apparatus 50 Door opening / closing detection apparatus 60 Door opening / closing angle detection apparatus 70 Door opening restriction apparatus 100 Control apparatus 101 Door opening determination line setting part 102 Door wrap determination part 103 Warning / Door Open Limit Judgment Unit C1 Own Vehicle C2 Subsequent Vehicle D1, D2, D3, D4 Door H1 Door Opening Judgment Line (White Line)
H2 Door open judgment line (division line)
H3 Door opening judgment line (solid object line)
H3L, H3R Door opening judgment line (setting line)
DW Driving lane HS Retreat space TS Parking space RD Road

Claims (5)

When the host vehicle stops, a vehicle door opening / closing support system that supports safe door opening of the host vehicle with respect to an approaching object approaching from behind the host vehicle,
A door opening determination line setting unit for setting a door opening determination line for determining a safe opening area of the door based on the stop position information of the own vehicle and the information of the approaching object in the front-rear direction of the own vehicle side part; ,
When the host vehicle stops and the door is opened, a door wrap determination unit that determines whether or not the opening area of the corresponding door wraps with the door opening determination line;
When it is determined that the door open area wraps with the door open determination line in a situation where the approaching object is present, an alarm is generated, and the door open area is not included in the situation where the approaching object exists. A vehicle door opening / closing support system, comprising: an alarm determination unit that suppresses the generation of the alarm when it is determined not to wrap with the door opening determination line.   The vehicle door opening / closing support system according to claim 1, wherein the door opening determination line is a lane marking adjacent to a stop position of the host vehicle.   The vehicle door opening / closing support system according to claim 2, wherein the lane marking is a white line of a road.   The vehicle door opening / closing support system according to claim 2, wherein the lane marking is a lane marking that divides a parking space for each vehicle.   The alarm determination unit restricts the opening of the door in addition to the generation of the alarm when it is determined that the door open area wraps with the door open determination line in the presence of the approaching object. The vehicle door opening / closing support system according to any one of claims 1 to 4.

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