JP2018188104A - Warning controller - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a warning controller capable of issuing a warning, which clarifies measures to be taken, to a movable body getting closer from behind, when a door is operated to be opened.SOLUTION: A door ECU determines whether a following vehicle (movable body) is in a first state of being capable of easily passing through a lateral side of a door or the following vehicle is in a second state of being hardly capable of passing through the lateral side of the door, on the basis of peripheral situation of the vehicle, in the case where the following vehicle is detected and where door opening operation is detected (S24). When the following vehicle is in the second state (S24: NO), the door ECU causes a second projection device to output a pattern for urging the following vehicle to stop (S28).SELECTED DRAWING: Figure 7

Description

  The present invention relates to a warning control device.

  2. Description of the Related Art Conventionally, as an example of a warning control device mounted on a vehicle, there is a device that warns that a door of a stopped own vehicle opens to a subsequent vehicle (moving body) approaching from behind. For example, Patent Literature 1 discloses a light presentation unit arranged outside a vehicle when the behavior of an occupant trying to open the door of the host vehicle is detected and the approach of a following vehicle is detected. A warning control device for lighting is disclosed. Thus, the warning control device can warn the driver of the following vehicle that the door is about to be opened before the door of the host vehicle is opened.

JP2015-209154A

  However, according to the warning control device as described above, the driver of the succeeding vehicle takes a response to the fact that the door of the stopped vehicle is opened after receiving the warning from the stopped vehicle that stops ahead. There is a problem that it is difficult to understand whether it should be taken. The subject of this invention is providing the warning control apparatus which can perform the warning which becomes clear with the response | compatibility which should be taken with respect to the mobile body approaching from back, when a door is opened.

Hereinafter, means for solving the above-described problems and the effects thereof will be described.
A warning control device that solves the above problem is a warning control device for a vehicle including a projection device that projects a pattern onto a road surface, and includes a moving body detection unit that detects a moving body that approaches the vehicle from behind, An opening operation detecting unit for detecting an opening operation of a door by an occupant in the vehicle; a surrounding state detecting unit for detecting a surrounding state of the vehicle; and a case where the moving body is detected and the opening operation of the door is performed. A second state in which the moving body is likely to pass through the side of the door or the moving body is unlikely to pass through the side of the door when detected. And a warning output unit that outputs a pattern that prompts the moving body to stop when the moving body is in the second state.

  According to the above configuration, when the moving body is in the second state in which it is difficult to pass the side of the door of the own vehicle when the door of the stopped own vehicle is opened, the moving body is moved from the projection device of the own vehicle. A pattern for urging to stop is output. For this reason, the warning control device can recognize that it is impossible to overtake the own vehicle with respect to a moving body approaching from behind and it is necessary to stop before the own vehicle. In this way, when the door is opened, the warning control device can give a warning that the response to be taken is clear to the moving body approaching from behind.

In the warning control device, it is preferable that the warning output unit causes the projection device to output a pattern indicating the position of the door when the moving body is in the first state.
According to the said structure, the mobile body approaching from back can pass the own vehicle, paying attention to the pattern which shows the position of a door. According to this, even if the door of the own vehicle is opened while the moving body overtakes the own vehicle, the possibility that the moving body contacts the door of the own vehicle can be reduced.

  In the warning control device, when the door is a swing door and the moving body is in the first state, the warning output unit displays a pattern indicating a rotation range of the door in the projection device. Is preferably output.

  According to the said structure, the mobile body approaching from back can pass the own vehicle so that the pattern which shows the rotation range of a door may be avoided. According to this, even if the door of the own vehicle is opened while the moving body passes the own vehicle, the possibility that the moving body contacts the door of the own vehicle can be further reduced.

  In the warning control device, the warning output unit preferably causes the projection device to output a pattern for urging the vehicle to pass the vehicle when the moving body is in the first state. .

  According to the above configuration, a moving body approaching from behind can pass the host vehicle according to a pattern that prompts the driver to pass. Therefore, the ambiguity when the moving body overtakes the own vehicle is reduced.

  The vehicle includes a warning device that issues a warning toward the inside of the vehicle. In the warning control device, the warning output unit is directed to the moving body when the distance from the vehicle to the moving body is long. It is preferable that a pattern for prompting stop is output to the projection device, and a warning for stopping the opening operation of the door is output to the warning device when the distance is short.

  If the distance from the host vehicle to the moving body is short, the moving body may not be able to stop before the host vehicle even if a pattern that prompts the moving body to stop is output. For this reason, when the distance from the own vehicle to the moving body is short, it is preferable that the door of the own vehicle is not opened. In this regard, according to the above-described configuration, when the distance from the host vehicle to the moving body is short, a warning that prompts the passenger of the host vehicle to stop the opening operation of the door is performed. For this reason, when the moving body approaches the stopped vehicle, the door of the own vehicle is opened while suppressing the sudden output of the pattern that prompts the moving body to stop the moving body. Can be suppressed.

  The warning control device permits the opening operation of the door based on the opening operation of the door when the distance from the vehicle to the moving body is long, and based on the opening operation of the door when the distance is short. It is preferable to provide an opening / closing control unit that restricts the opening operation of the door.

According to the said structure, it can suppress more that the door of the own vehicle is opened by the situation where the mobile body approaches the stopped own vehicle.
In the warning control device, the opening / closing control unit may restrict the opening operation of the door based on the opening operation of the door, but when the opening operation of the door is performed a plurality of times, It is preferable to allow the door to open.

  In a situation where the vehicle constantly passes through the side of the door to be opened while the host vehicle is stopped, the opening operation of the door continues to be restricted, and the passenger of the host vehicle may not be able to go out of the vehicle. is there. In this regard, according to the above-described configuration, the door can be opened as necessary while preventing the door from being inadvertently opened.

  The warning control device includes a safety behavior detection unit that detects a safety confirmation behavior by the occupant, and the opening / closing control unit is configured to restrict the opening operation of the door based on the opening operation of the door. When the safety confirmation action is detected, it is preferable to permit the opening operation of the door.

  According to the above configuration, the door can be opened as necessary while suppressing the door from being inadvertently opened.

  According to the warning control device, when the door is opened, a warning that makes clear the action to be taken can be given to a moving body approaching from behind.

The top view which shows schematic structure of the vehicle which concerns on one Embodiment. The top view which shows schematic structure of the door of the said vehicle. The side view which shows schematic structure of the said vehicle. The block diagram which shows the structure which concerns on the warning control of the said vehicle. The schematic diagram which shows an example of the state of the succeeding vehicle which approaches the own vehicle in stop. The flowchart explaining the flow of the process which door ECU performs in order to output a warning. The flowchart explaining the flow of a 1st warning control process. The flowchart explaining the flow of a 2nd warning control process. (A)-(c) is a schematic diagram for demonstrating the effect | action of the said vehicle.

Hereinafter, an embodiment of a vehicle including a door ECU as an example of a warning control device will be described with reference to the drawings.
As shown in FIG.1 and FIG.2, the vehicle 1 of this embodiment has the structure as what is called a 4-door sedan. That is, the vehicle 1 includes four doors 10 that open and close the door opening 3 provided on the side surface of the vehicle body 2. In the vehicle 1, each door 10 opens and closes at the side of each seat 11 provided in the interior of the vehicle 1.

  Specifically, in the vehicle 1 of the present embodiment, the door 10 has a configuration as a swing door. That is, the front end 12 of the door 10 is supported by the vehicle body 2 via the hinge 13. The door 10 rotates around the hinge 13 to open and close the door opening 3 at the position where the door 10 is provided.

  As shown in FIG. 2, the door 10 includes a door lock device 21 that restricts the opening operation of the door 10, a door check device 22 that restricts the opening θ of the door 10, and a door handle operated by the occupant H. 23 is provided. When the door handle 23 is operated, the door lock device 21 releases the engagement state of the latch mechanism 21a that restricts the door 10 to the fully closed position. The door lock device 21 includes a locked state in which the latch mechanism 21a cannot be released by operating the door handle 23, and an unlocked state in which the latch mechanism 21a can be released by operating the door handle 23. , Is configured to be able to migrate to. The door handle 23 includes an inside door handle 24 provided inside the door 10 and an outside door handle (not shown) provided outside the door 10.

Next, various detection devices for acquiring various information related to the vehicle 1 will be described.
As shown in FIGS. 1 to 3, the vehicle 1 includes a vehicle surrounding monitoring device 31 that monitors the surroundings of the vehicle 1, a navigation system 32 of the vehicle 1, and a proximity sensor 33 that detects a proximity object to the inside door handle 24. A handle operation switch 34 that detects the operation of the inside door handle 24 and an in-vehicle camera 35 that captures an image in the vehicle interior are provided.

  As shown in FIGS. 1 and 3, the vehicle surrounding monitoring device 31 includes a radar device 36 that monitors the front and rear of the vehicle 1, a corner sensor 37 for detecting an object approaching a corner of the vehicle body 2, have. The radar device 36 and the corner sensor 37 are sensors that detect reflected waves of radiated radio waves, for example. The radar device 36 is disposed at the front end portion and the rear end portion of the vehicle 1, and the corner sensors 37 are disposed at the four corners of the vehicle 1. The vehicle surrounding monitoring device 31 may include a camera that captures an image of the surroundings of the vehicle 1.

  The navigation system 32 has a GPS function and is a well-known system that displays a current position on a screen arranged in a vehicle. The navigation system 32 acquires, for example, travel information such as the current position, traveling direction, and travel speed of the vehicle 1 and road information such as the width and the number of lanes of the road on which the vehicle 1 travels or stops.

  The proximity sensor 33 detects that the hand of the occupant H has approached the inside door handle 24. The proximity sensor 33 is arrange | positioned around the inside door handle 24 of the door 10, for example. The handle operation switch 34 detects that the inside door handle 24 has been operated. The handle operation switch 34 may be a switch that is pressed when the inside door handle 24 is operated, for example.

  The in-vehicle camera 35 images the occupant H in the driver seat, the passenger seat, and the rear seat. The image captured by the in-vehicle camera 35 may be a general image or a distance image. As shown in FIG. 3, the in-vehicle camera 35 is disposed, for example, at the front upper part of the driver seat and the passenger seat and at the front upper part of the rear seat.

  And the output signal of the vehicle periphery monitoring apparatus 31, the navigation system 32, the proximity sensor 33, the steering wheel operation switch 34, and the in-vehicle camera 35 is input into door ECU50 mentioned later.

Next, a configuration for performing warning (informing) inside and outside the vehicle 1 will be described.
As shown in FIGS. 2 and 3, the vehicle 1 includes a first projection device 41 that projects a pattern (image) toward the road surface on the side of the vehicle 1, and a pattern (image) toward the road surface behind the vehicle 1. ) And a warning device 43 that issues a warning toward the inside of the vehicle 1.

  The first projection device 41 projects a pattern indicating the position of the door 10 in the vehicle 1 onto the road surface on the side of the door 10. Specifically, the first projecting device 41 projects a pattern indicating the rotation range of the door 10 in the vehicle 1 (hereinafter also referred to as “pattern Pd”) onto the road surface on the side of the door 10. The rotation range of the door 10 is a range when a region in which the door 10 rotates in a three-dimensional manner when the door 10 is rotated from the fully closed position to the fully open position is projected toward the road surface. The pattern Pd projected by the first projection device 41 may be a pattern obtained by irradiating the outer edge of the rotation range of the door 10 with light, or irradiates the entire region of the rotation range of the door 10 with light. The pattern obtained by this may be sufficient. As shown in FIG. 3, the first projection device 41 is disposed, for example, on the lower surface or side surface of the side sill of the vehicle 1.

  The second projection device 42 projects a pattern for prompting a response to be taken on a vehicle approaching from behind on the road surface behind the host vehicle. Specifically, when the host vehicle is stopped, the second projecting device 42 prompts the vehicle approaching from behind the pattern (hereinafter also referred to as “pattern Po”) that prompts the vehicle to pass and the stop. A pattern (hereinafter also referred to as “pattern Ps”) is projected onto the road surface. The pattern projected by the second projection device 42 may be a symbol corresponding to an arrow that prompts overtaking and a stop line that prompts stopping, or may be characters such as “passable”, “stop”, and “not overtaking”. There may be. The pattern projected by the second projection device 42 may be a combination of such symbols and characters. As shown in FIG. 3, the second projection device 42 is disposed on the lower surface of the rear bumper of the vehicle 1, for example.

  The first projection device 41 and the second projection device 42 may be projectors that can change the pattern projected onto the road surface, or may be simple projection devices that combine LEDs and a lens array. Also good. In the latter case, a predetermined character or symbol may be projected onto the road surface by providing a film. Further, when the vehicle 1 includes an illumination lamp that projects a welcome light toward the road surface and a courtesy lamp that projects light toward the road surface, such a lamp may be substituted for the first projection device 41 and the second projection device 42. Good.

  The warning device 43 is a warning device that issues a warning by emitting light. The warning device 43 is preferably provided at a position where the occupant H seated on the side of the door 10 can easily enter the field of view when the door 10 is opened. For example, as shown in FIG. 2, the warning device 43 is preferably provided inside the door 10 such as in the vicinity of the inner belt molding. Note that the warning device 43 may give a warning by sound or vibration as long as the warning can be given toward the inside of the vehicle.

  Next, with reference to FIG. 4, the door ECU 50 as an example of a warning control device provided in the vehicle 1 will be described in detail. The door ECU 50 of the present embodiment controls the first projection device 41, the second projection device 42, the warning device 43, and the door lock device 21 based on output signals from various sensors and the like.

  As shown in FIG. 4, the door ECU 50 includes a moving body detection unit 51, a surrounding state detection unit 52, an opening operation detection unit 53, a safety behavior detection unit 54, a state determination unit 55, and a warning output unit 56. And an open / close control unit 57.

  The moving body detection unit 51 detects a succeeding vehicle as an example of a “moving body” that approaches the host vehicle from behind based on the output signal of the vehicle surrounding monitoring device 31. Furthermore, the moving body detection unit 51 detects the distance from the host vehicle to the following vehicle (hereinafter also referred to as “inter-vehicle distance D”) based on the output signal of the vehicle surrounding monitoring device 31. In addition, the following vehicle said here is a vehicle in which drivers, such as a car, a two-wheeled vehicle, and a bicycle, exist.

  The surrounding situation detection unit 52 detects the surrounding situation of the host vehicle based on the output signal of the vehicle surrounding monitoring device 31 and the output signal of the navigation system 32. For example, when the host vehicle is stopped in one lane of a one-way, two-lane road, the surrounding state detection unit 52 detects whether another vehicle is traveling in the other lane.

  Based on the output signal of the proximity sensor 33 and the output signal of the handle operation switch 34, the opening operation detection unit 53 opens the door 10 by the occupant H who sits on the side seat 11 of the door 10 where the proximity sensor 33 is disposed. Detect operation. Specifically, the opening operation detection unit 53 determines whether or not the hand of the occupant H has approached the inside door handle 24 based on the output signal of the proximity sensor 33, and the opening operation of the door 10 by the occupant H is performed. Whether or not it is going to be detected. Further, the opening operation detection unit 53 determines whether or not the inside door handle 24 has been operated based on the output signal of the handle operation switch 34, and whether or not the opening operation of the door 10 by the occupant H has actually been performed. Determine. The opening operation detection unit 53 may detect the presence or absence of the opening operation of the door 10 by the occupant H based on the image data captured by the in-vehicle camera 35.

  Here, in this embodiment, the operation for the inside door handle 24 or the outside door handle for the occupant H to open the door 10 is referred to as “opening operation of the door 10”, and the opening of the door 10 is referred to as “opening operation of the door 10. "

  The safety behavior detection unit 54 detects safety confirmation behavior when the occupant H performs the opening operation of the door 10 based on the image data captured by the in-vehicle camera 35. The safety confirmation action is an action for confirming the situation around the vehicle, such as the occupant H looking back to see the rear or moving the line of sight to the side mirror.

  Based on the detection results of the moving body detection unit 51, the surrounding state detection unit 52, and the opening operation detection unit 53, the state determination unit 55 determines whether or not the subsequent vehicle can safely pass the side of the stopped vehicle. judge. Specifically, the state determination unit 55 is a “first state” that easily passes the side of the door 10 where the subsequent vehicle is opened when the subsequent vehicle exists and the door 10 is opened. Or the “second state” where it is difficult for the succeeding vehicle to pass through the side of the door 10 to be opened.

  For example, as shown in FIG. 5, a situation is assumed in which the host vehicle 1A stops in the first lane of a two-lane road and the following vehicle 1B traveling in the first lane approaches the host vehicle 1A. Under this circumstance, when the parallel vehicle 1C running in parallel with the following vehicle 1B does not exist in the second lane, as shown by the solid line arrow, the following vehicle 1B lanes in the second lane in order to pass the own vehicle 1A. Can be changed. That is, even if the right door 10 of the host vehicle 1A is opened, the following vehicle 1B can pass the host vehicle 1A by changing the lane to the second lane.

  On the other hand, when the parallel running vehicle 1C exists in the second lane under the same situation, the following vehicle 1B should not change the lane to the second lane. That is, in this case, as indicated by the solid line arrow, if the subsequent vehicle 1B changes the lane to the second lane in order to pass the parallel vehicle 1C, the subsequent vehicle 1B may come into contact with the parallel vehicle 1C. In particular, in this case, when the right door 10 of the host vehicle 1A is opened, there is an increased possibility that the following vehicle 1B will come into contact with the door 10 of the host vehicle 1A or the parallel running vehicle 1C.

  Thus, the first state in which the subsequent vehicle 1B is likely to pass through the side of the door 10 to be opened is the own vehicle in which the subsequent vehicle 1B is stopped regardless of the opening operation of the door 10 of the stopped vehicle 1A. It can be said that 1A can be safely overtaken. Further, the second state in which the subsequent vehicle 1B is difficult to pass through the side of the door 10 to be opened is that the subsequent vehicle 1B is stopped depending on the opening operation of the door 10 of the stopped vehicle 1A. It can be said that it is impossible to safely overtake.

  The warning output unit 56 causes the first projection device 41 and the second projection device 42 to output a pattern or causes the warning device 43 to output a warning according to the determination result of the state determination unit 55. Specifically, the warning output unit 56 displays the pattern Pd indicating the position of the door 10, that is, the rotation range of the door 10, when the succeeding vehicle 1 </ b> B is in the first state where it is easy to pass the stopped vehicle 1 </ b> A. The first projection device 41 is made to output. Further, when the subsequent vehicle 1B is in the first state, the warning output unit 56 causes the second projection device 42 to output a pattern Po that prompts the vehicle 1A to pass the vehicle toward the subsequent vehicle 1B.

  On the other hand, when the following vehicle 1B is in the second state in which it is difficult to overtake the stopped vehicle 1A, the warning output unit 56 outputs a pattern Ps that prompts the second vehicle 1B to stop toward the second vehicle 1B. Let Further, the warning output unit 56 causes the warning device 43 to output a warning that prompts the user to stop the opening operation of the door 10 when the opening operation of the door 10 is not appropriate.

  The opening / closing control unit 57 controls the operation of the door lock device 21 based on the detection result of the safe behavior detection unit 54 and the determination result of the state determination unit 55. Specifically, the opening / closing control unit 57 opens the door 10 based on the opening operation of the door 10 by the occupant H in the vehicle 1 when the moving body detection unit 51 detects the approach of the succeeding vehicle 1B. Limit. However, the opening / closing control unit 57 can perform a predetermined number of opening operations of the door 10 even in a state where the following vehicle 1B approaching the host vehicle 1A is detected, that is, in a state where the opening operation of the door 10 is restricted. If detected, the opening operation of the door 10 based on the opening operation of the door 10 by the occupant H in the vehicle 1 is permitted. In addition, the opening / closing control unit 57 is configured so that the door based on the opening operation of the door 10 by the occupant H in the vehicle 1 is detected when the safety confirmation action by the occupant H is detected even in a state where the opening operation of the door 10 is restricted. 10 open operations are allowed.

Next, with reference to FIGS. 6-8, the flow of the process which door ECU50 of this embodiment performs when the vehicle 1 has stopped is demonstrated.
As shown in FIG. 6, the door ECU 50 determines whether or not the host vehicle 1A is stopped based on the vehicle speed acquired from the navigation system 32 (step S11). For example, the door ECU 50 determines whether or not the host vehicle 1A is stopped based on whether or not the vehicle speed is less than a predetermined speed (for example, 5 km / hour).

  When the vehicle 1 is traveling (step S11: YES), the door ECU 50 once ends this process. On the other hand, when the vehicle 1 is stopped (step S11: NO), the door ECU 50 determines whether an opening operation of the door 10 is detected based on the output signal of the proximity sensor 33 (step S12). That is, the door ECU 50 determines whether or not the occupant H is about to open the door 10. When the opening operation of the door 10 is not detected (step S12: NO), the door ECU 50 once ends this process.

  On the other hand, when the opening operation of the door 10 is detected (step S12: YES), the door ECU 50 determines whether there is a subsequent vehicle 1B approaching the host vehicle 1A based on the output signal from the vehicle surrounding monitoring device 31. Is determined (step S13). When there is no subsequent vehicle 1B approaching the host vehicle 1A, the door ECU 50 sets the door lock device 21 to the unlocked state (step S14), and once ends this process. That is, in this case, since the following vehicle 1B does not exist, the opening operation of the door 10 is permitted.

  In step S13, when the following vehicle 1B exists (step S13: YES), the door ECU 50 acquires the inter-vehicle distance D based on the output signal of the vehicle surrounding monitoring device 31 (step S15). Subsequently, the door ECU 50 determines whether or not the inter-vehicle distance D is greater than or equal to the stop distance Ds (step S16).

  Here, the stop distance Ds is a distance necessary for the subsequent vehicle 1B to stop behind the host vehicle 1A after a warning (pattern Ps) for stopping is output to the subsequent vehicle 1B. That is, the stop distance Ds includes an idle running distance from when the driver of the succeeding vehicle 1B recognizes the warning (pattern Ps) until braking is started, and a braking distance from when braking is started until it stops. This is the sum of distances. For this reason, it is preferable to set the stop distance Ds to be longer when the subsequent vehicle 1B is traveling at a high speed than when the subsequent vehicle 1B is traveling at a low speed.

  In step S16, when the inter-vehicle distance D is equal to or greater than the stop distance Ds (step S16: YES), the door ECU 50 executes a first warning output process (step S17). Thereafter, the door ECU 50 once ends this process. On the other hand, when the inter-vehicle distance D is less than the stop distance Ds (step S16: NO), the door ECU 50 executes a second warning output process (step S18). Thereafter, the door ECU 50 once ends this process.

Next, the first warning output process in step S17 will be described with reference to FIG.
As shown in FIG. 7, in the first warning output process, the door ECU 50 determines whether or not the safety confirmation action of the occupant H who tries to open the door 10 is detected based on the image captured by the in-vehicle camera 35. Determination is made (step S21). When the safety confirmation behavior of the passenger H is not detected (step S21: NO), the door ECU 50 causes the warning device 43 to output a warning that the door 10 cannot be opened (step S22).

  The warning in step S22 may be a warning that prompts the occupant H to stop the opening operation of the door 10 such as a warning that the opening operation of the door 10 is restricted. In addition, if the occupant H intends to open the door 10, the door ECU 50 may cause the warning device 43 to output a warning that prompts the occupant H to perform a sufficient safety confirmation action. Subsequently, the door ECU 50 places the door lock device 21 into a locked state (step S23), and once ends this process. Thus, in this case, although the inter-vehicle distance D is equal to or greater than the stop distance Ds, the opening operation of the door 10 is restricted on the assumption that the occupant H has not performed a sufficient safety confirmation action.

  When the safety confirmation behavior of the occupant H is detected in step S21 (step S21: YES), the door ECU 50 determines whether or not the subsequent vehicle 1B is in a first state in which it is likely to pass the host vehicle 1A (step S24). ).

  When the following vehicle 1B is in the first state in which it is easy to overtake the host vehicle 1A (step S24: YES), the door ECU 50 displays a pattern Pd indicating the rotation range of the door 10 opened by the occupant H as the first projection device. 41 (step S25). Subsequently, the door ECU 50 causes the second projection device 42 to output a pattern Po that prompts overtaking toward the following vehicle 1B (step S26). Thereafter, the door ECU 50 sets the door lock device 21 to the unlocked state (step S27), and once ends this process.

  Thus, when the inter-vehicle distance D is equal to or greater than the stop distance Ds and the subsequent vehicle 1B is in the first state, the subsequent vehicle 1B is in a state in which it can overtake the host vehicle 1A relatively safely. In order to support overtaking of the succeeding vehicle 1B, a pattern Po for prompting overtaking and a pattern Pd indicating the rotation range of the door 10 are projected onto the road surface. Moreover, since the passenger | crew H is performing safety confirmation action, the opening operation | movement of the door 10 is permitted.

  When the subsequent vehicle 1B is in the second state in which it is difficult to overtake the host vehicle 1A (step S24: NO), the door ECU 50 causes the second projection device 42 to output a pattern Ps that prompts the stop toward the subsequent vehicle 1B (step S24). S28). Thereafter, the door ECU 50 proceeds to the previous step S27.

  Thus, when the inter-vehicle distance D is equal to or greater than the stop distance Ds and the succeeding vehicle 1B is in the second state, the succeeding vehicle 1B is not in a state where it can pass the own vehicle 1A relatively safely. A pattern Ps that prompts the following vehicle 1B to stop is projected onto the road surface. On the other hand, since the occupant H is performing a safety confirmation action, the opening operation of the door 10 is permitted.

  Next, the flow of the second warning output process in step S18 will be described with reference to FIG. When the door ECU 50 executes the second control process for the first time, it is assumed that the counter Cnt is reset to “0 (zero)”.

  As shown in FIG. 8, in the second warning output process, the door ECU 50 determines whether an actual opening operation of the door 10 is detected based on the output signal of the handle operation switch 34 (step S31). When the actual opening operation of the door 10 is not detected (step S31: NO), the door ECU 50 proceeds to step S33 described later. On the other hand, when the actual opening operation of the door 10 is detected (step S31: YES), the door ECU 50 increments the counter Cnt by “1” (step S32). The counter Cnt is a variable that counts how many times the occupant H has actually opened the door 10.

  Subsequently, the door ECU 50 determines whether or not the counter Cnt is greater than or equal to the counter determination value CntTh (step S33). The counter determination value CntTh is a value that is compared with the counter Cnt and is set to a value of “2” or more. The counter determination value CntTh is preferably changed as appropriate.

  When the counter Cnt is less than the counter determination value CntTh (step S33: NO), the door ECU 50 causes the warning device 43 to output that the door 10 cannot be opened (step S34). The warning in step S34 may be a warning that prompts the occupant H to stop the opening operation of the door 10 such as a warning that the opening operation of the door 10 is restricted. Thereafter, the door ECU 50 places the door lock device 21 into the locked state (step S35), and once ends this process.

  Thus, when the inter-vehicle distance D is less than the stop distance Ds and the actual number of opening operations of the door 10 is less than the counter determination value CntTh, the opening operation of the door 10 is limited. .

  When the counter Cnt is greater than or equal to the counter determination value CntTh (step S33: YES), the door ECU 50 determines whether or not the safety confirmation behavior of the passenger H who opens the door 10 is detected based on the image captured by the in-vehicle camera 35. Determination is made (step S36). When the safety confirmation behavior of the occupant H is not detected (step S36: NO), the door ECU 50 shifts the process to the previous step S34.

  On the other hand, when the safety confirmation behavior of the occupant H is detected (step S36: YES), the door ECU 50 causes the first projection device 41 to output a pattern Pd indicating the rotation range of the door 10 (step S37). Subsequently, the door ECU 50 unlocks the door lock device 21 (step S38), and resets the counter Cnt to “0 (zero)” (step S39). Thereafter, the door ECU 50 once ends this process.

  Thus, even when the inter-vehicle distance D is less than the stop distance Ds, when the actual number of opening operations of the door 10 is equal to or greater than the counter determination value CntTh and the occupant H is performing safety confirmation behavior. The opening operation of the door 10 is permitted.

  In the flowchart shown in FIG. 8, between step S36 and step S37, the door ECU 50 causes the second projection device 42 to output a pattern for calling attention accompanying the opening operation of the door 10 toward the following vehicle 1B. Also good. According to this, it is suppressed that the driver of the succeeding vehicle 1B approaching the own vehicle 1A is surprised by the sudden opening operation of the door 10 of the own vehicle 1A.

  Next, the operation of the present embodiment will be described with reference to FIG. FIG. 9 shows an occupant of the driver's seat (right front seat) when the own vehicle 1A stops near the shoulder of the first lane of a two-lane road and the following vehicle 1B approaches the own vehicle 1A. H shows a state in which the door 10 is opened. In the description with reference to FIG. 9, the driver's seat door 10 is simply referred to as “door 10” unless otherwise specified.

  FIG. 9A shows a situation where the inter-vehicle distance D is equal to or greater than the stop distance Ds, and there is no parallel running vehicle 1C that runs parallel to the following vehicle 1B. Under this situation, when the passenger H in the driver's seat of the host vehicle 1A attempts to open the door 10, the first projection device 41 projects a pattern Pd indicating the rotation range of the door 10 of the host vehicle 1A. In addition, the second projection device 42 projects a pattern Po that prompts the host vehicle 1A to pass the vehicle toward the following vehicle 1B.

  That is, under this situation, even if the succeeding vehicle 1B overtakes the host vehicle 1A in which the door 10 is opened, there is no possibility that the succeeding vehicle 1B contacts the vehicle traveling in the second lane. Therefore, a pattern Po that prompts overtaking and a pattern Pd that indicates the rotation range of the door 10 are projected. Thus, the driver of the succeeding vehicle 1B can safely overtake the own vehicle 1A so as to avoid the rotation range of the door 10 of the stopped own vehicle 1A.

  FIG. 9B shows a situation where the inter-vehicle distance D is equal to or greater than the stop distance Ds and there is a parallel running vehicle 1C that runs parallel to the following vehicle 1B. Under this circumstance, when the passenger H in the driver's seat of the host vehicle 1A tries to open the door 10, the second projection device 42 projects a pattern Ps that prompts the vehicle 1B to stop.

  That is, under this situation, when the succeeding vehicle 1B overtakes the own vehicle 1A in which the door 10 is opened, the succeeding vehicle 1B comes into contact with the parallel running vehicle 1C traveling in the second lane or the own vehicle 1A is opened. There is a possibility of touching the operated door 10. For this reason, the pattern Ps that prompts the stop is projected. In this way, the driver of the following vehicle 1B is prevented from overtaking the host vehicle 1A.

  FIG. 9C shows a situation where the inter-vehicle distance D is less than the stop distance Ds and there are a plurality of subsequent vehicles 1B. Under this situation, even if the occupant H of the host vehicle 1A opens the door 10, the opening operation of the door 10 is restricted. Thereby, when the inter-vehicle distance D is less than the stop distance Ds, the possibility that the door 10 of the host vehicle 1A is suddenly opened to adversely affect the traveling of the subsequent vehicle 1B is reduced.

  However, if the occupant H of the host vehicle 1A performs the opening operation of the door 10 a plurality of times and the occupant H of the host vehicle 1A is performing safety confirmation actions outside the vehicle, the opening operation of the door 10 is performed. Is allowed. For this reason, when the traffic volume of the road where the own vehicle 1A stops is large and the following vehicle 1B travels continuously, it is suppressed that the door 10 cannot be opened.

According to the embodiment described above, the following effects can be obtained.
(1) When the door 10 of the stopped own vehicle 1A is opened, when the succeeding vehicle 1B is in the second state in which it is difficult to pass the side of the door 10 of the own vehicle 1A, it is directed toward the following vehicle 1B. A pattern Ps that prompts the stop is output. For this reason, the door ECU 50 can recognize that the driver of the following vehicle 1B cannot pass the host vehicle 1A and needs to stop before the host vehicle 1A. Thus, when the door 10 is opened, the door ECU 50 can issue a warning to the driver of the succeeding vehicle 1B that the action to be taken is clear.

  (2) The door ECU 50 causes the first projection device 41 to output a pattern (pattern Pd) indicating the position of the door 10 when the following vehicle 1B is in the first state. For this reason, the driver of the following vehicle 1B can pass the host vehicle 1A while paying attention to the pattern (pattern Pd) indicating the position of the door 10. According to this, even if the door 10 of the host vehicle 1A is opened while the succeeding vehicle 1B passes the host vehicle 1A, the possibility that the succeeding vehicle 1B contacts the door 10 of the host vehicle 1A can be reduced.

  (3) Specifically, the door ECU 50 causes the first projection device 41 to output a pattern Pd indicating the rotation range of the door 10 (swing door). For this reason, the driver of the following vehicle 1B can pass the host vehicle 1A so as to avoid the pattern Pd indicating the rotation range of the door 10. According to this, even if the door 10 of the host vehicle 1A is opened while the succeeding vehicle 1B passes the host vehicle 1A, the possibility that the succeeding vehicle 1B contacts the door 10 of the host vehicle 1A can be further reduced.

  (4) When the subsequent vehicle 1B is in the first state, the door ECU 50 causes the second projection device 42 to output a pattern Po that prompts the vehicle 1B to pass. For this reason, the driver of the succeeding vehicle 1B can pass the host vehicle 1A according to the pattern Po that prompts the driver to pass the host vehicle 1A. Therefore, the driver of the following vehicle 1B is less likely to get lost depending on whether or not the vehicle 1A should be overtaken.

  (5) When the inter-vehicle distance D is short, there is a possibility that the succeeding vehicle 1B cannot stop before the own vehicle 1A even if the pattern Ps that prompts the succeeding vehicle 1B to stop is output. For this reason, when the inter-vehicle distance D is short, the door 10 of the host vehicle 1A is preferably not opened. Therefore, in the present embodiment, when the inter-vehicle distance D is short, a warning is issued to urge the passenger H of the host vehicle 1A to cancel the opening operation of the door 10. For this reason, it is possible to suppress the sudden output of the pattern Ps that prompts the subsequent vehicle 1B to stop when the subsequent vehicle 1B approaches the stopped own vehicle 1A. Moreover, it can suppress that the door 10 of the own vehicle 1A is opened under the same situation.

  (6) The door ECU 50 permits or restricts the opening operation of the door 10 based on the opening operation of the door 10 according to the inter-vehicle distance D in a situation where the following vehicle 1B is in the second state. For this reason, it is possible to suppress the opening operation of the door 10 of the host vehicle 1 </ b> A in a situation where the subsequent vehicle 1 </ b> B approaches the stopped host vehicle 1 </ b> A.

  (7) In a situation where the vehicle 1 constantly passes through the side of the door 10 to be opened by the host vehicle 1A being stopped, the opening operation of the door 10 is continuously restricted, so that the occupant H of the host vehicle 1A May not get out of the car. Therefore, in the present embodiment, even when the door ECU 50 restricts the opening operation of the door 10 based on the opening operation of the door 10, when the opening operation of the door 10 is performed a plurality of times, the door 10. Opening operation is permitted. For this reason, it is possible to open the door 10 as necessary, while preventing the door 10 from being inadvertently opened.

  (8) Even when the door ECU 50 restricts the opening operation of the door 10 based on the opening operation of the door 10, the door ECU 50 permits the opening operation of the door 10 when the safety confirmation action is detected. For this reason, it is possible to open the door 10 as necessary, while preventing the door 10 from being inadvertently opened.

  (9) The door ECU 50 causes the first projection device 41 and the second projection device 42 to output patterns Pd, Po, and Ps when there is a succeeding vehicle 1B approaching the stopped own vehicle 1A. For this reason, it is possible to prevent the first projection device 41 and the second projection device 42 from inadvertently outputting the patterns Pd, Po, Ps when the following vehicle 1B is not present.

  (10) The door ECU 50 changes the stop distance Ds according to the speed of the subsequent vehicle 1B. Therefore, the door ECU 50 can more appropriately select whether to execute the first warning control process or the second warning control process.

In addition, you may change the said embodiment as shown below.
In the above embodiment, it is assumed that the following vehicle 1B passes the right side of the stopped own vehicle 1A and performs overtaking. On the other hand, when the succeeding vehicle 1B is a light vehicle such as a bicycle, there is a possibility that the succeeding vehicle 1B passes the left side of the stopped own vehicle 1A and performs overtaking. Therefore, the door ECU 50 may determine whether the following vehicle 1B passes the right side or the left side of the stopped vehicle 1A based on the output signal of the vehicle surrounding monitoring device 31. Then, the door ECU 50 may perform the above-described series of processing on the right or left door 10 based on the determination result.

  The series of processes described above may be applied when the following vehicle 1B approaches the own vehicle 1A in a situation where the own vehicle 1A is stopped near the shoulder of a one-lane road. In this case, when there is no oncoming vehicle approaching from the front of the host vehicle 1A, the door ECU 50 (state determination unit 55) determines that the following vehicle 1B is in the first state in which the host vehicle 1A is likely to pass the host vehicle 1A. do it. Further, when there is an oncoming vehicle approaching from the front of the host vehicle 1A, the door ECU 50 may determine that the following vehicle 1B is in the second state in which it is difficult for the subsequent vehicle 1B to pass the host vehicle 1A.

  The series of processes described above may be applied when the following vehicle 1B approaches the own vehicle 1A in a situation where the own vehicle 1A stops near the shoulder of a narrow road having no center line. In this case, the door ECU 50 (state determination unit 55) can easily overtake the vehicle 1A, for example, when the road width sufficient for the vehicle 1B to pass through is left on the side of the vehicle 1A. What is necessary is just to determine with it being a 1st state. Moreover, the door ECU 50 may determine that the vehicle ECU 1A is in the second state in which it is difficult to overtake the host vehicle 1A when there is no road width that allows the following vehicle 1B to pass to the side of the host vehicle 1A. In addition, the determination as to whether or not there is enough road width that the subsequent vehicle 1B can pass through to the side of the host vehicle 1A is based on the vehicle width of the subsequent vehicle 1B acquired based on the output signal of the vehicle surrounding monitoring device 31; What is necessary is just to perform based on the road width acquired based on the output signal of the navigation system 32.

  In the above embodiment, the “moving body” approaching the stopped own vehicle 1A is a vehicle in which the driver exists, but the moving body may be a pedestrian. If the moving body is a pedestrian, it is possible to reduce the possibility that a pedestrian passing through the side of the stopped own vehicle 1A contacts the door 10 of the own vehicle 1A that is opened.

In the flowchart shown in FIG. 6, the door ECU 50 may perform the first warning output process regardless of the inter-vehicle distance D.
In the flowchart shown in FIG. 8, the door ECU 50 may determine the process of step S31 based on the output signal of the proximity sensor 33. That is, in this case, the handle operation switch 34 may not be provided on the door 10.

  In the flowchart shown in FIG. 8, the door ECU 50 may determine whether or not the subsequent vehicle 1B is in the first state before the process of step S37. When the subsequent vehicle 1B is in the first state, the door ECU 50 preferably shifts the process to step S37. When the subsequent vehicle 1B is in the second state, the door ECU 50 preferably shifts the process to step S34.

  According to this, even if the opening operation of the door 10 is exceptionally permitted by performing the opening operation of the door 10 a plurality of times, by opening the door 10, When there is a possibility of adversely affecting traveling, the opening operation of the door 10 is restricted. That is, the safety during the opening operation of the door 10 can be enhanced.

The door ECU 50 may limit the opening operation of the door 10 by controlling the door check device 22.
In the vehicle 1, the arrangement of the first projection device 41, the second projection device 42, and the warning device 43 may be changed as appropriate. For example, the first projection device 41 may be provided on the door mirror of the vehicle 1, and the second projection device 42 may be provided on the tail lamp. Further, the first projection device 41 and the second projection device 42 may be configured by one projection device.

  The vehicle 1 may be a vehicle 1 having other types of doors such as a sliding door and a flip-up door. Moreover, you may change arbitrarily also about the vehicle model used as the application object including the number of sheets, arrangement | positioning, etc. of the door 10. FIG. In the vehicle 1 that employs another type of door that is not a swing door, the door ECU 50 causes the first projection device 41 to output a pattern indicating the position of the door in steps S25 and S37.

  In the flowchart shown in FIG. 6, the process of step S12 may be omitted. That is, the door ECU 50 may perform the processing from step S13 onward regardless of whether the opening operation of the door 10 is detected. According to this, regardless of whether or not the door 10 is opened, the door ECU 50 issues a warning that the response to be taken by the succeeding vehicle 1B is clear when there is a succeeding vehicle 1B that approaches the stopped own vehicle 1A. It can be carried out.

Finally, the technical idea grasped from the above embodiment and other embodiments will be described.
(A) The warning output unit outputs a pattern prompting the stop to the following vehicle when the distance between the vehicles is equal to or greater than the stop distance, and outputs a pattern for opening the door when the distance between the vehicles is less than the stop distance. A warning device that prompts the user to cancel the operation is output to the warning device. The warning output unit preferably makes the stop distance longer when the vehicle speed of the following vehicle is high than when the vehicle speed of the subsequent vehicle is low.

  When the subsequent vehicle travels at a high speed, the distance traveled from the start of the subsequent vehicle to the stop by the braking becomes longer than when the subsequent vehicle travels at a low speed. That is, even when the inter-vehicle distance is the same, when the following vehicle travels at a high speed, the timing for outputting the pattern for prompting the stop may be delayed. In this regard, according to the above-described configuration, the reference distance is changed according to the speed of the following vehicle. Therefore, the warning control device can appropriately perform a warning to the outside of the vehicle and a warning to the inside of the vehicle.

  DESCRIPTION OF SYMBOLS 1 ... Vehicle, 1A ... Own vehicle, 1B ... Subsequent vehicle, 1C ... Parallel running vehicle, 2 ... Vehicle body, 3 ... Door opening part, 10 ... Door, 11 ... Seat, 12 ... Front end part, 13 ... Hinge, 21 ... Door Lock device, 21a ... Latch mechanism, 22 ... Door check device, 23 ... Door handle, 24 ... Inside door handle, 31 ... Vehicle surroundings monitoring device, 32 ... Navigation system, 33 ... Proximity sensor, 34 ... Handle operation switch, 35 ... In-vehicle camera, 36 ... radar device, 37 ... corner sensor, 41 ... first projection device (example of projection device), 42 ... second projection device (example of projection device), 43 ... warning device, 50 ... door ECU (warning) An example of a control device), 51 ... a moving body detection unit, 52 ... a surrounding state detection unit, 53 ... an opening operation detection unit, 54 ... a safe action detection unit, 55 ... a state determination unit, 56 ... a warning output unit, 57 Closing control unit, theta ... opening, Cnt ... counter, CntTh ... counter judgment value, D ... inter-vehicle distance, Ds ... stopping distance, H ... occupant, Pd ... pattern, Po ... pattern, Ps ... pattern.

Claims (8)

A warning control device for a vehicle including a projection device that projects a pattern toward a road surface,
A moving body detector for detecting a moving body approaching the vehicle from behind;
An opening operation detection unit for detecting an opening operation of a door by an occupant in the vehicle;
A surrounding state detection unit for detecting a surrounding state of the vehicle;
When the moving body is detected and the opening operation of the door is detected, the moving body is in a first state in which the moving body easily passes through the side of the door based on the surrounding situation of the vehicle. A state determination unit that determines whether or not the moving body is in a second state in which it is difficult to pass the side of the door;
A warning control device, comprising: a warning output unit that outputs a pattern that prompts the moving body to stop when the moving body is in the second state. The warning control device according to claim 1, wherein the warning output unit causes the projection device to output a pattern indicating the position of the door when the moving body is in the first state. The warning output unit causes the projection device to output a pattern indicating a rotation range of the door when the door is a swing door and the moving body is in the first state. Warning control device described in 1. The warning output unit, when the moving body is in the first state, causes the projection device to output a pattern that prompts the moving body to pass the vehicle. The warning control device according to claim 1. The vehicle includes a warning device that gives a warning toward the inside of the vehicle,
When the distance from the vehicle to the moving body is long, the warning output unit causes the projection device to output a pattern that prompts the moving body to stop, and when the distance is short, the door opening operation is performed. The warning control device according to any one of claims 1 to 4, wherein the warning device is configured to output a warning that prompts the user to stop the operation. When the distance from the vehicle to the moving body is long, the door opening operation based on the door opening operation is permitted, and when the distance is short, the door opening operation based on the door opening operation is permitted. The warning control device according to any one of claims 1 to 5, further comprising an opening / closing control unit for limiting. The opening / closing control unit permits the opening operation of the door when the opening operation of the door is performed a plurality of times even when the opening operation of the door based on the opening operation of the door is restricted. The warning control device according to claim 6. A safety behavior detection unit that detects safety confirmation behavior by the occupant,
The opening / closing control unit permits the opening operation of the door when the safety confirmation action is detected even when the opening operation of the door based on the opening operation of the door is restricted. Or the warning control apparatus of Claim 7.