JP2022011058A - Vehicle control system, and vehicle control method - Google Patents

Abstract

To facilitate appropriate notification according to a state of a crewmember.SOLUTION: A vehicle control system 100 determines a notification form and a notification timing by a notification-related determination part 16 on the basis of a combination of a detection result of a direction detection part 12A and an operation detection part 12B when approach of a notification object is detected by an approach detection part 13A, and notifies the approach of the notification object by either a first notification part 15A or a second notification part 15B on the basis of the determined notification form and the notification timing.SELECTED DRAWING: Figure 3

Description

The present invention relates to a vehicle control system and a vehicle control method.

There is known an in-vehicle alarm device that notifies the approach of an object such as a rear vehicle or a two-wheeled vehicle when a behavior of an occupant in the vehicle trying to open the door is detected (see, for example, Patent Document 1). In Patent Document 1, when it is detected that the occupant is trying to reach the doorknob, the light source (LED element or the like) and the speaker installed in the vicinity of the doorknob in the vehicle turn on and sound.

Japanese Unexamined Patent Publication No. 2015-209154

However, in the conventional configuration, even if the occupant does not intend to get off and accidentally reaches for the doorknob, the light source and the speaker near the doorknob notify the approach of the object, which may be annoying to the occupant. .. Also, if the occupant is not facing the door, the occupant will not notice the lighting of the light source near the doorknob.
The present invention has been made in view of such a background, and an object of the present invention is to facilitate appropriate notification according to the condition of an occupant.

As the first aspect for achieving the above object, the direction detection unit for detecting the approach of the notification object and the direction detection for detecting the direction of the first part capable of specifying the direction of the line of sight or the face of the occupant in the vehicle. The unit, the motion detection unit that detects a predetermined motion related to the occupant's disembarkation based on the motion of the second portion different from the occupant's first member, and the first notification unit that notifies the occupant by an audible sound. When the approach of the notification object is detected by the second notification unit that notifies the occupant by light and the approach detection unit, the combination of the detection results of the orientation detection unit and the motion detection unit is used. A notification-related determination unit that determines a notification mode including identification of a notification unit to be used among the first notification unit and the second notification unit, and a notification timing by the notification unit to be used, and the notification-related determination unit. A vehicle control including a notification control unit that notifies the approach of the notification object at the notification timing by the notification unit of the usage target of the first notification unit and the second notification unit based on the determination result of the above. The system is mentioned.

In the vehicle control system, the notification-related determination unit is an operation in which the occupant tries to open the door of the vehicle as the predetermined operation by the motion detection unit when the approach of the notification object is detected. Is detected, and when it is detected by the orientation detection unit that the first portion of the occupant is facing the door, as the notification mode, both the first notification unit and the second notification unit are used. In addition to determining the usage target, simultaneous notification in the first notification unit and the second notification unit may be determined as the notification timing.

In the vehicle control system, in the notification-related determination unit, when the approach detection unit detects the approach of the notification object, the motion detection unit causes the occupant to move the door of the vehicle as the predetermined operation. When the operation to open is detected and the orientation detection unit detects that the first portion of the occupant is not facing the door, the first notification unit and the first notification mode are used as the notification mode. (2) Both of the notification units may be determined to be used, and as the notification timing, the timing of notification by the first notification unit and then the notification by the second notification unit may be determined.

In the vehicle control system, when the notification control unit notifies by the first notification unit and then the orientation detection unit detects that the first member of the occupant is facing the door, the first notification control unit is the first. 2 The notification unit may notify the user.

The vehicle control system includes a door open / close detection unit that detects the open / closed state of the door of the vehicle and a door control unit that controls the door, and the notification-related determination unit detects the approach of the notification object. When the door open / close detection unit detects that the door is open, and the orientation detection unit detects that the first portion of the occupant is facing the door, the notification mode. As a result, it is determined that both the first notification unit and the second notification unit are to be used and the door is controlled to be closed, and the notification control unit is based on the determination result of the notification-related determination unit. Then, both the first notification unit and the second notification unit may notify the approach of the notification object, and the door control unit may control the door to the closed state.

In the vehicle control system, when the notification-related determination unit 16 detects the approach of the notification target object, the motion detection unit does not detect the predetermined motion of the occupant, and the orientation detection unit detects the occupant. When it is detected that the first part of the occupant is facing the door, the second notification unit is determined to be used as the notification mode, and the notification timing is the period during which the first part of the occupant is facing the door. May be determined.

The vehicle control system includes a door open / close detection unit that detects the open / closed state of the door of the vehicle and a door control unit that controls the door, and the notification-related determination unit detects the approach of the notification object. When the door open / close detection unit detects that the door is open, and the orientation detection unit detects that the first portion of the occupant is facing the door, the notification mode. As a result, it is determined that both the first notification unit and the second notification unit are to be used and the door is controlled to be closed, and the notification control unit is based on the determination result of the notification-related determination unit. Then, both the first notification unit and the second notification unit may notify the approach of the notification object, and the door control unit may control the door to the closed state.

As a second aspect for achieving the above object, an approach detection unit that detects the approach of the notification object, a first notification unit that notifies the occupant by an audible sound, and a visible light that notifies the occupant. A vehicle control method executed by a computer to control the operation of a vehicle including the second notification unit, wherein when the approach detection unit detects the approach of the notification object, the occupant's approach is detected. An orientation detection unit that detects the direction of the first part that can specify the direction of the line of sight or the face, and an motion detection unit that detects a predetermined movement related to the occupant's disembarkation based on the movement of the second part that is different from the first member of the occupant. Based on the combination of the detection results, the notification mode including the identification of the notification unit to be used among the first notification unit and the second notification unit and the notification timing by the notification unit to be used are determined. Based on the determination result of the related determination step and the notification-related determination step, the notification unit of the usage target of the first notification unit and the second notification unit notifies the approach of the notification object at the notification timing. A vehicle control method including, and a notification control step to be performed.

According to the present invention, it becomes easy to give an appropriate notification according to the state of the occupant.

FIG. 1 is a configuration diagram of a vehicle equipped with a vehicle control system. FIG. 2 is a view of the door on the right side of the vehicle body as viewed from the passenger compartment side. FIG. 3 is a block diagram of the vehicle control device. FIG. 4 is a diagram showing an example of a notification determination table. FIG. 5 is a flowchart showing a notification process in a door closed state. FIG. 6 is a diagram for explaining the notification process of FIG. FIG. 7 is a diagram for explaining the notification process of FIG. FIG. 8 is a diagram for explaining the notification process of FIG. FIG. 10 is a diagram for explaining the notification process of FIG. FIG. 5 is a flowchart showing a notification process in a door open state. FIG. 11 is a diagram for explaining the notification process of FIG. FIG. 12 is a diagram for explaining the notification process of FIG. FIG. 13 is a diagram for explaining the notification process of FIG.

Hereinafter, embodiments of the present invention will be described with reference to the drawings.
FIG. 1 is a diagram showing a configuration of a vehicle equipped with a vehicle control system according to an embodiment of the present invention. The vehicle control system 100 is composed of a vehicle control device 10 provided in the vehicle 1 and sensors and controlled object parts to be described later, which are provided in the vehicle 1 and electrically connected to the vehicle control device 20. ..

[1. Vehicle configuration]
With reference to FIG. 1, the configuration of the vehicle 1 on which the vehicle control device 10 of the present embodiment is mounted will be described. As shown in FIG. 1, the vehicle 1 is a passenger car with a seating capacity of 5 people, and includes a driver's seat 7a, a passenger seat 7b, a second row right seat 7c, a second row center seat 7d, and a second row left seat 7e. I have. Each seat 7a to 7e is provided with seatbelt switches 74a to 74e for detecting the presence or absence of a seatbelt (not shown).

The vehicle 1 includes a right power hinge door 2, a left power hinge door 3, a right power slide door 4, a left power slide door 5, and a power tailgate 6. The right power hinge door 2, the left power hinge door 3, the right power slide door 4, the left power slide door 5, and the power tailgate 6 correspond to the doors of the present invention. A door touch sensor 101 is provided on the door knob of the right power hinge door 2, and the user U1 who possesses the portable key 200 of the vehicle 1 unlocks the doors 2 to 6 of the vehicle 1 by touching the door touch sensor 101. Can be locked.
FIG. 1 illustrates a case where the user U2 rides on the passenger seat 7b of the vehicle 1 and the user U3 rides on the left seat 7f in the second row.

The right power hinge door 2 includes a right PHD (Power Hing Door) drive unit 41 that opens and closes the right power hinge door 2 by an electric actuator (not shown), and the left power hinge door 3 opens and closes the left power hinge door 3 by an electric actuator. The left PHD drive unit 51 is provided. The right power slide door 4 includes a right PSD (Power Slide Door) drive unit 42 that opens and closes the right power slide door 4 by an electric actuator, and the left power slide door 5 opens and closes the left power slide door 5 by an electric actuator. The left PSD drive unit 52 is provided. The power tailgate 6 includes a PTG (Power Tail Gate) drive unit 61 that opens and closes the power tailgate 6 by an electric actuator.

A front camera 30 for photographing the front of the vehicle 1 is provided at the front of the vehicle 1, and a rear camera 60 for photographing the rear of the vehicle 1 is provided at the rear of the vehicle 1. A right side camera 40 for photographing the right side of the vehicle 1 is provided on the right side of the vehicle 1, and a left side camera 50 for photographing the left side of the vehicle 1 is provided on the left side of the vehicle 1. Images of people around the vehicle 1 can be acquired by these cameras 30 to 60. The user of the vehicle 1 broadly includes a person who uses the vehicle 1, and is not limited to, for example, the owner of the vehicle 1, and includes a family member and an acquaintance of the owner. In the following description, when it is necessary to distinguish the user of the vehicle 1 depending on whether it is inside the vehicle or outside the vehicle, the user inside the vehicle is referred to as an "in-vehicle user".

The dashboard of the vehicle interior is provided with a front-seat camera 70 capable of photographing an in-vehicle user seated in the driver's seat 7a and the passenger seat 7b, and a display 31. As the display 31, a known display device such as a liquid crystal display can be widely applied. On the ceiling of the passenger compartment, a rear seat camera 71 capable of photographing an in-vehicle user seated in the second row right seat 7c, the second row center seat 7d, and the second row left seat 7e is provided.
Door switches 75a to 75d for detecting the opening and closing of the doors are provided on the doors 2 to 5. The power tailgate 6 is provided with a door switch 75e for detecting the opening and closing of the power tailgate 6. Further, near the driver's seat 7a, a power switch 72 for instructing on / off of the battery 150 and a shift switch 73a for detecting the shift position of the shift lever 73 are provided. When the battery 150 is on, electric power is supplied from the battery 150 to the vehicle drive system and the like, and when the battery 150 is off, the electric power supply from the battery 150 to the vehicle drive system and the like is cut off.

Further, a front right speaker 32a and a front right light 33a are provided in the driver's seat outer region including the right power hinge door 2, and a front left speaker 32b and a front left light 33b are provided in the passenger seat outer region including the left power hinge door 3. Is provided. Further, the rear right speaker 32c and the rear right light 33c are provided in the right rear seat outer region including the right power slide door 4, and the rear left speaker 32d and the rear left light 33d are provided in the left power slide door 5. ing. The speakers 32a to 32d are arranged on the doors 2 to 5 toward the inside of the vehicle, and function as an audible sound unit that outputs audible sound from the doors 2 to 5 toward the inside of the vehicle. The positions and numbers of the speakers 32a to 32d can be appropriately changed within the range in which audible sounds can be output from the doors 2 to 5 toward the inside of the vehicle.

Since the front right speaker 32a is located on the right side of the front seat, if a voice warning is given to the in-vehicle user only with this speaker 32a, the in-vehicle user may be directed to the right power hinge door 2 side or the operation located closest to the vehicle. It becomes easy to give a warning to the user in the car of the seat 7a. Since the front left speaker 32b is located on the left side of the front seat, if a voice warning is given to the in-vehicle user only with this speaker 32b, the in-vehicle user may be directed to the left power hinge door 3 side, or the in-vehicle user in the passenger seat 7b may be alerted. It becomes easier to give a warning.
Since the rear right speaker 32c is located on the right side of the rear seat, if the user in the car is warned by voice only with this speaker 32c, the user in the car can pay attention to the right side of the rear seat or the right side of the rear seat (second row right seat). It becomes easier to give a warning to the in-vehicle user of 7c). Since the rear left speaker 32d is located on the left side of the rear seat, if a voice warning is given to the in-vehicle user only with this speaker 32d, the in-vehicle user may be directed to the left side of the rear seat or the left side of the rear seat (second row left seat). It becomes easier to give a warning to the in-vehicle user of 7e).

The lights 33a to 33d are arranged at positions where the occupants with their eyes or faces facing the doors 2 to 5 can see, and function as a visible light unit that outputs visible light from the doors 2 to 5 toward the inside of the vehicle. ..
More specifically, since the front right light 33a is located on the right side of the front seat, when the user in the car turns his / her eyes or face toward the right power hinge door 2 side on the right side of the front seat, the user in the car turns on the front right light 33a. Can be noticed. Since the front left light 33b is located on the left side of the front seat, the in-vehicle user can notice the lighting of the front left light 33b when the user in the vehicle turns his / her eyes or face toward the left power hinge door 3 side on the left side of the front seat.

Similarly, when the in-vehicle user turns his / her eyes or face toward the right power slide door 4 on the right side of the rear seat, the in-vehicle user can notice the lighting of the rear right light 33c. M. Further, when the in-vehicle user turns his / her eyes or face toward the left power slide door 5 on the left side of the rear seat, the in-vehicle user can notice the lighting of the rear left light 33d.
The positions, numbers, and structures of the lights 33a to 32d can be appropriately changed within the range in which visible light can be output from the doors 2 to 5 toward the inside of the vehicle.
When it is not necessary to distinguish each of the lights 33a to 32d, they are referred to as door side lights 33a to 32d for convenience of explanation.

FIG. 2 is a view of the door on the right side of the vehicle body (right power hinge door 2, right power slide door 4) as viewed from the passenger compartment side. In FIG. 2, reference numeral 104 is a front pillar and reference numeral 106 is a center pillar.
Door trims 111 and 121, which are interior materials, are mounted on the passenger compartment side of each of the doors 2 and 4. The door trims 111 and 121 are resin molded parts, and the door trim uppers 112 and 122 and the door trim lowers 113 are arranged in this order from above. 123 and armrests 114 and 124 are provided.
The door trim upper 112 of the right power hinge door 2 is provided with a door inner handle 115 that is operated when the door is opened and closed, a switch portion 116 for opening and closing the door glass, and a front right light 33a. The front right light 33a is formed as a sequential lamp in which a plurality of light sources (for example, LEDs) are arranged side by side and extend in a line in the front-rear direction, and the lighting area can be moved in the front-rear direction at the time of lighting.
A front right speaker 32a is provided in the front portion of the door trim lower 113, and a door pocket 118 is provided behind the front right speaker 32a.

The door trim upper 122 of the right power slide door 4 is provided with a door inner handle 125 that is operated when the door is opened and closed, and a switch portion 126 for opening and closing the door glass. A rear right light 33c is provided on the body portion above the right power slide door 4. Similar to the front right light 33a, the rear right light 33c is also a sequential lamp in which a plurality of light sources (for example, LEDs) are arranged in a front-rear direction and extend in a line in the front-rear direction, and the lighting area can be moved in the front-rear direction when lit. Is formed in. Since the rear right light 33c is provided on the body portion, it does not move together with the right power slide door 4. When the rear seat door is a hinged door, the rear right light 33c may be provided on the door trim upper 121 as shown by the alternate long and short dash line in FIG.
A front right speaker 32a is provided in the front portion of the door trim lower 123, and a door pocket (not shown) is provided behind the front right speaker 32a.
The door on the left side of the vehicle body (left power hinge door 3, left power slide door 5) and its peripheral structure are symmetrical with the door on the right side of the vehicle body (right power hinge door 2, right power slide door 4) and its peripheral structure. Is.

As shown in FIG. 1, the vehicle 1 further includes door lock mechanisms 100a to 100d for locking the doors 2 to 5 and the power tailgate 6, a speed sensor 110 for detecting the traveling speed of the vehicle 1, and a portable key 200. It also includes a communication unit 120 capable of communicating with the mobile terminal 210 and the like of the user U1 and a navigation device 130. The navigation device 130 has a GPS (Global Positioning System) sensor (not shown) and map data, and executes route guidance to a destination based on the position of the vehicle 1 detected by the GPS sensor and the map data.

[2. Vehicle control device configuration]
The configuration of the vehicle control device 10 will be described with reference to FIG. The vehicle control device 10 is an ECU (Electronic Control Unit) that is composed of a CPU (Central Processing Unit, corresponding to the computer of the present invention) (not shown), a memory 80, an interface circuit (not shown), and the like to control the operation of the vehicle 1. be.

An image of the surroundings of the vehicle 1 taken by the front camera 30, the right side camera 40, the left side camera 50, and the rear camera 60 is input to the vehicle control device 10. Further, an image of the interior of the vehicle taken by the front-seat camera 70 and the rear-seat camera 71 is input to the vehicle control device 10.

Further, the vehicle control device 10 includes a power switch 72, a shift switch 73a, a seatbelt switch 74a to 74e, a detection signal of the door switches 75a to 75d, and a door lock sensor (not shown) provided in the door lock mechanism 100a to 100d. ), And the lock detection signals of the doors 2 to 5 and the power tailgate 6 are input.

Further, the vehicle control device 10 is input with a touch detection signal by the door touch sensor 101, a speed detection signal of the speed sensor 110, and information on the current position of the vehicle 1 detected by the navigation device 130.

The control signal output from the vehicle control device 10 causes the right PHD drive unit 41, the right PSD drive unit 42, the left PHD drive unit 51, the left PSD drive unit 52, the PTG drive unit 61, the door lock mechanisms 100a to 100d, and the battery. The operation of 150 is controlled. Further, the screen display of the display 31 and the sounds (notification sounds such as voice guidance, chime sound, and alarm sound) output from the speakers 32a to 32d are controlled by the control signal output from the vehicle control device 10. To. The vehicle control device 10 communicates with the mobile key 200 possessed by the user U1 and the mobile terminal 210 via the communication unit 120.

By reading and executing the control program 81 of the vehicle control device 10 stored in the memory 80, the CPU reads and executes the key authentication unit 11, the vehicle interior situation recognition unit 12, the vehicle surrounding condition recognition unit 13, the door open / close detection unit 14, and the door open / close detection unit 14. It functions as a notification unit 15, a notification-related determination unit 16, a door control unit 17, and a notification control unit 18. The control program 81 includes a vehicle control program of the present invention. The memory 80 stores an authentication ID code 82 used for authentication of the mobile key 200, a notification determination table 83 used for notification processing, notification information 84, and the like.

The authentication ID code 82 is a code that identifies the mobile key 200 associated with the vehicle 1. The notification decision table 83 is table data for making a decision regarding the notification of the notification object. The notification information 84 includes data that defines the volume and voice content of each speaker 32a to 32d, the amount of light of the door side lights 33a to 32d for each notification process, the lighting pattern, the color, and the like in the notification content. The data corresponding to the notification determination table 83 and the notification information 84 may be described in the control program 81, or may be acquired from an external device via the communication network.

As shown in FIG. 1, when the user U1 possessing the mobile key 200 approaches the vehicle 1, the key authentication unit 11 communicates with the mobile key 200 via the communication unit 120 to carry the mobile phone. Receive the ID code from the key 200. Then, when the received ID code and the authentication ID code 82 stored in the memory 80 match, the key authentication unit 11 permits the user U1 to use the vehicle 1.

As shown in FIG. 1, the mobile key 200 includes a lock / unlock button 201 for instructing the locking and unlocking of the vehicle 1, a right power hinge door button 202 for instructing the opening / closing of the right power hinge door 2, and a left power. Left power hinged door button 203 for instructing the opening and closing of the hinge door 3, right power slide door button 204 for instructing the opening and closing of the right power slide door 4, and left power slide door for instructing the opening and closing of the left power slide door 5. A button 205 and a power tailgate button 206 for instructing the opening and closing of the power tailgate 6 are provided. Hereinafter, the right power hinge door 2, the left power hinge door 3, the right power slide door 4, the left power slide door 5, and the power tailgate 6 are collectively referred to as an electric door.

The user U1 can operate the lock / unlock button 201 of the mobile key 200 to unlock the doors 2 to 6 of the vehicle 1 and get on the vehicle 1. Further, the user U1 can instruct the vehicle 1 to open and close the electric door by operating the buttons 202 to 206 of the mobile key 200. The user U1 who has the mobile key 200 and gets on the vehicle 1 turns on the power switch 72 to activate the vehicle 1 and starts using the vehicle 1.

The vehicle interior situation recognition unit 12 recognizes the situation inside the vehicle 1 based on an image captured by an in-vehicle camera including a front-seat camera 70 and a rear-seat camera 71. The vehicle interior situation recognition unit 12 includes an orientation detection unit 12A, an motion detection unit 12B, and a locked state detection unit 12C.
The orientation detection unit 12A detects the orientation of a predetermined first portion of the in-vehicle user from the images taken by the cameras 70 and 71 in the vehicle. A portion capable of specifying the line of sight or the direction of the face of the user in the vehicle is applied to the first portion, and an appropriate portion in the eyes, face, or head is applied, for example. The orientation detection unit 12A detects the orientation of the first portion of all in-vehicle users, so that the line of sight or face of any in-vehicle user can use the door (for example, the door inner handle) when the in-vehicle user gets off. Detects whether or not it faces.

More specifically, the orientation detection unit 12A detects whether or not the line of sight or the face faces the right power hinge door 2 for the in-vehicle user seated in the driver's seat 7a, and for the in-vehicle user seated in the passenger seat 7b. , Detects whether the line of sight or face faces the left power hinge door 3. Further, the orientation detection unit 12A detects whether or not the line of sight or the face of the in-vehicle user seated in the second row 7c to 7e of each seat in the second row faces any of the doors 4 and 5. For the in-vehicle user seated in the right seat 7c in the second row, only the presence or absence of the line of sight or the face facing the right power slide door 4 is detected, and for the in-vehicle user seated in the left seat 7e in the second row. Alternatively, it may be possible to detect only whether or not the line of sight or the face faces the left power slide door 5.

Whether or not the motion detection unit 12B has performed a predetermined motion relating to the disembarkation of the in-vehicle user by detecting the motion of a predetermined second portion different from the first portion of the in-vehicle user from the images taken by the cameras 70 and 71 in the vehicle. Is detected. This predetermined operation is an operation that can be regarded as the start of disembarkation, and in the present embodiment, it is an operation for opening the door. In order to detect the movement of opening this door, the second part may be a hand, an arm, another part of the upper body, or the entire upper body. The case of adopting (good) will be described as an example. It should be noted that the predetermined operation may be an operation other than the operation of opening the door, and in short, an operation that can be regarded as the start of disembarkation by detecting the operation of an arbitrary portion other than the first portion can be widely applied.
The motion detection unit 12B can detect the motion of the second portion of all the in-vehicle users, and can detect whether or not any of the in-vehicle users has made an operation to open the door.

More specifically, the motion detection unit 12B detects whether or not the hand has moved to the right power hinge door 2 for the in-vehicle user seated in the driver's seat 7a, and for the in-vehicle user seated in the passenger seat 7b. Detects whether or not the hand has moved to the left power hinge door 3. Further, the motion detection unit 12B detects whether or not the hand has moved toward any of the doors 4 and 5 for the in-vehicle user seated in the second row 7c to 7e of each seat in the second row.
Since the range of movement within the body is wide and the movement of the hand that is easy to shoot with the in-vehicle cameras 70 and 71 detects the movement of opening the door, the detection accuracy of the movement of opening the door is sufficiently maintained. It will be easier.

A known image recognition technique may be applied to the detection by the orientation detection unit 12A and the motion detection unit 12B. It should be noted that the present invention is not limited to the case where the image recognition technique is applied, and other techniques capable of detecting the movement of the first portion or the second portion of the user in the vehicle may be applied.
The locked state detection unit 12C detects whether or not each of the doors 2 to 5 and the like is in the locked state by acquiring the operating state of the door lock mechanisms 100a to 100e.

The vehicle surrounding situation recognition unit 13 recognizes the surrounding situation of the vehicle 1 based on an image taken by an outside camera including a front camera 30, a right side camera 40, a left side camera 50, and a rear camera 60. The vehicle surrounding situation recognition unit 13 has an approach detection unit 13A that detects whether or not the notification object is approaching based on the captured image. The notification objects are moving objects and stationary objects that may interfere with the user getting off the vehicle. The moving body is, for example, a four-wheeled vehicle, a two-wheeled vehicle, a pedestrian, or the like approaching the vehicle 1, and the stationary body is a pole, a wall, and a parking next to the pole, a wall, and an opening / closing range of the doors 2 to 5 of the vehicle 1. It is a vehicle etc.

A known image recognition technique may be applied to the detection by the proximity detection unit 13A. The notification object may be detected by using another known device such as a millimeter wave radar or sonar, without being limited to the case where the image recognition technique is applied.

The door open / close detection unit 14 detects the open / closed state of the doors 2 to 6 based on the operating states of the door switches 75a to 75d. The door control unit 17 controls each of the right PHD drive unit 41, the right PSD drive unit 42, the left PHD drive unit 51, the left PSD drive unit 52, the PTG drive unit 61, and the door lock mechanisms 100a to 100e. Controls the moving parts related to doors 2-6.

The notification unit 15 has a first notification unit 15A that notifies the in-vehicle user by audible sound, and a second notification unit 15B that notifies the in-vehicle user by visible light. The first notification unit 15A emits various sounds composed of audible sounds into the vehicle by using the speakers 32a to 32d. Further, the second notification unit 15B emits light composed of visible light toward the inside of the vehicle by using the door side lights 33a to 32d. The second notification unit 15B may further use the display 31 to emit image light composed of visible light.

When notifying the approach of the notification object detected by the approach detection unit 13A, the notification-related determination unit 16 performs a process of determining the matters related to the notification, and the notification mode determination unit 16A and the timing determination unit 16A. It has a portion 16B. The notification mode determination unit 16A determines the notification mode when notifying the approach of the notification target object. As the notification mode, matters other than the notification timing are determined, and in the present embodiment, which of the first notification unit 15A and the second notification unit 15B is used, and the magnitude of the notification intensity are shown. Determines the notification level and whether or not door control is present. The higher the notification level, the higher the notification intensity (corresponding to the degree of warning).
The timing determination unit 16B performs a process of determining the notification timing for notifying the in-vehicle user of the approach of the notification object. For example, when the first notification unit 15A and the second notification unit 15B are used, each notification unit 15A, Determine each notification timing of 15B.

FIG. 4 shows an example of the notification determination table 83.
As shown in FIG. 4, in the notification determination table 83, the orientation of the first portion (for example, eyes) detected by the orientation detection unit 12A and the motion of the second portion (for example, hand) detected by the motion detection unit 12B are displayed. , And the notification mode and the notification timing are described in association with each other. Thereby, the notification mode and the notification timing are specified according to the combination of the orientation of the first portion and the operation of the second portion.
In this notification determination table 83, the orientation of the first portion, the operation of the second portion, the notification mode, and the notification timing are associated with each other when the door is closed and when the door is open. It is described as. That is, even if the combination of the orientation of the first portion and the operation of the second portion is the same, different notification modes and notification timings are determined depending on whether the door is in the open state or the closed state.

When the door is open, the user inside the vehicle is more likely to jump out of the vehicle than when the door is closed. Therefore, in the notification determination table 83 of FIG. 4, the notification level when the door is closed is set to LEVEL1 to 3. The notification level when the door is open is set to LEVEL 4 to 6.
The first notification unit 15A performs a notification that matches the notification level by changing the volume or voice content of the audible sound according to the notification level, or increasing or decreasing the number of speakers that output the audible sound. In addition, the second notification unit 15B performs notification that matches the notification level by changing the lighting pattern, the amount of light, the color of light, and the like of visible light according to the notification level. The audible sound or visible light according to the notification level may be appropriately set. When the door is open, it is set to have door control at a predetermined notification level. In FIG. 4, when the notification level is LEVEL 6, it is described that the door is closed and controlled as the door control.

The door control unit 17 controls each of the right PHD drive unit 41, the right PSD drive unit 42, the left PHD drive unit 51, the left PSD drive unit 52, the PTG drive unit 61, and the door lock mechanisms 100a to 100e. Controls the moving parts related to doors 2-6. The notification control unit 18 performs notification processing for notifying various information to users in the vehicle by controlling the display 31, the speaker 32, the communication unit 1202, and the like.

The notification processing performed by the notification control unit 18 includes "notification processing in the door closed state" for notifying the in-vehicle user of the approach of the notification object when the door near the in-vehicle user is closed, and near the in-vehicle user. When the door is open, there is a "notification process in the door open state" that notifies the user in the vehicle of the approach of the notification target object. These notification processes are automatically executed when the vehicle 1 is in the parked state (for example, the shift position is the parking position).

[3. Notification processing when the door is closed]
FIG. 5 is a flowchart showing a notification process in a door closed state. 6 to 9 are diagrams for explaining this notification process.
First, the notification control unit 18 determines whether or not the notification object is approaching by the vehicle surrounding situation recognition unit 13 (step S1A: detection step), and determines that the notification object is not approaching (step S1A). ; NO), the notification process is temporarily terminated. Even if the notification process is completed, if the door near the user in the vehicle is closed and the vehicle 1 is parked, the notification process is repeatedly executed at a predetermined cycle.

When it is determined that the notification object is approaching (step S1A; YES), in the notification control unit 18, the first part of the user in the vehicle faces the door by the direction detection unit 12A, and the second part is the door by the motion detection unit 12B. It is determined whether or not it is the first situation that has not moved to (step S2A: first situation detection step).
In FIG. 6, the in-vehicle users U1 to U3 are shown in the driver's seat 7a, the passenger seat 7b, and the second row left seat 7e, respectively, in a situation where the mobile body M1 to be notified is approaching from the left rear of the vehicle 1. It shows the case where the user U2 in the car turns his face to the nearby door 3 after getting on the train. In FIG. 6, the directions of the faces of the in-vehicle users U1 to U3 are indicated by arrows. In this case, the determination in step S2A becomes an affirmative result (step S2A; YES), and the notification control unit 18 determines the notification mode and the notification timing based on the notification determination table 83 (see FIG. 4) by the notification-related determination unit 16. , As shown in FIG. 5, the notification process of LEVEL1 is performed using the sound produced by the first notification unit 15A (step S3A). As shown in FIG. 4, the default timing is determined as the notification timing. The default timing is set during the period when the first part of the user in the vehicle is facing the door.

As a result, as shown in FIG. 6, as the notification process of the LEVEL 1, the speaker 32b provided on the door 3 side to which the in-vehicle user U2 faces, and the other on the left side of the vehicle on which the mobile body M1 approaches. A process is executed in which the notification sound for notifying the approach of the moving body M1 which is the notification target is output from the speaker 32d, and the notification sound is not output from the other speakers 32a and 32c. Since the notification sound is output from the speaker 32b, it is possible to effectively notify the in-vehicle user U2 who may get off by opening the door 3 about the approach of the moving object. Further, since the notification sound is also output from the other speaker 33d on the side where the moving body M1 approaches, the approach of the moving object can be effectively notified to the other user U3 located on the same left side as the in-vehicle user U2.
Further, since the notification timing is set to the period during which the first portion of the in-vehicle user faces the door, the notification process of LEVEL 1 is stopped when the first portion of the in-vehicle user U2 does not face the door 3.

FIG. 7 shows a case where the stationary body T1 which is the notification object is located in the opening / closing range of the door 3, and the in-vehicle user U2 who sits near the door 3 turns his face to the door 3. In this case, as the notification process of LEVEL 1, the in-vehicle user U2 outputs a notification sound notifying the approach of the notification object from the speaker 32b provided on the door 3 side facing the face, and the other speakers 33a, 33c, 33d. Does not output a notification sound. As a result, the presence of the stationary body T1 is notified only to the in-vehicle user U2 in which the stationary body T1 affects the opening and closing of the door. The content of the notification process of LEVEL 1 may be changed as appropriate.

Returning to FIG. 5, when it is not the first situation (step S2A; NO), in the notification control unit 18, the first part of the user in the vehicle is not facing the door by the direction detection unit 12A, and the second part by the motion detection unit 12B. It is determined whether or not is the second situation where the door moves to the door (step S4A).

Reference numeral A in FIG. 8 indicates the in-vehicle user U1 who gets on the driver's seat 7a, the passenger seat 7b, and the second row left seat 7e in a situation where the moving object M1 to be notified is approaching from the left rear of the vehicle 1. All of ~ U3 show the case where the hand of the user U2 in the car approaches the door 3 with his / her face facing forward. In this case, the determination in step S4A becomes an affirmative result (step S4A; YES), and the notification control unit 18 determines the notification mode and the notification timing based on the notification determination table 83 (see FIG. 4) by the notification-related determination unit 16. , As shown by reference numerals A and B in FIG. 8, the notification process of LEVEL 2 is performed using the sound and light produced by the first notification unit 15A and the second notification unit 15B (step S5A). As shown in FIG. 4, it is determined that the notification timing is set by the first notification unit 15A and then by the second notification unit 15B.

As a result, as shown by reference numeral A in FIG. 8, as the notification process of LEVEL 2, first, the speaker 32b provided on the door 3 side and the other speaker 33d on the door 5 side to which the mobile body M1 approaches are notified by the notification target. A process is executed in which a notification sound for notifying the approach of a certain mobile body M1 is output, and no notification sound is output from the other speakers 32a and 32c. After that, as shown by reference numeral B in FIG. 8, as the notification process of LEVEL2, the moving body M1 approaches from the front left light 33b provided on the door 3 side and the rear left light 33d on the door 5 side approaching the moving body M1. The process of outputting the light to notify is executed.

Here, the timing of notification by the second notification unit 15B may be the timing when the orientation detection unit 12A detects that the first portion of the user in the vehicle is facing the door, or the first notification unit 15A notifies. It may be the timing when a predetermined predetermined time has elapsed from.

Therefore, after inducing the in-vehicle user U2 who has brought his / her hand close to the door 3 to turn his / her face toward the door 3 by the sound from the speaker 32b, the light of the front left light 33b also notifies the approach of the mobile body M1. It becomes easy for the user U2 in the vehicle to notice the approach of the moving body M1 by both voice and light. Further, after guiding the other in-vehicle user U3 on the approaching side of the moving body M1 to turn his / her face toward the door 5 by the voice from the speaker 33d, the rear left light 33d also notifies the approaching of the moving body M1. , It becomes easy to notice the approach of the moving body M1.

In reference numeral A in FIG. 8, when the notification target is not the moving body M1 but the stationary body T1 shown in FIG. 7, the stationary body T1 only needs to be notified to the in-vehicle user U2 in the passenger seat 7b. As the notification process, a process of notifying by the front left light 33b provided on the door 3 side is executed after the notification is performed by the speaker 32b provided on the door 3 side. When the door side lights 33a to 32d are used to notify the approach of the notification object, it is preferable to control the lighting so as to indicate from which side the notification object approaches. For example, when the notification object approaches from the front, the lighting area may be moved from the front to the rear, and when the notification object approaches from the rear, the lighting area may be moved from the rear to the front.
Further, in the case of the notification process of LEVEL2, in addition to using the door side lights 33a to 32d as compared with the notification process of LEVEL1, at least one of the volume and the voice content is changed so that the user in the vehicle can easily notice. Is preferable.

Returning to FIG. 5, when it is not the second situation (step S4A; NO), in the notification control unit 18, the first part of the user in the vehicle faces the door by the direction detection unit 12A, and the second part becomes the door by the motion detection unit 12B. It is determined whether or not it is the third situation to move (step S6A).
In FIG. 9, the in-vehicle user U2 in the passenger seat 7b turns his face to the nearby door 3 and the in-vehicle user U2 is in a situation where the moving object M1 to be notified is approaching from the left rear of the vehicle 1. The case where the hand approaches the door 3 is shown. In this case, the determination in step S6A becomes an affirmative result (step S6A; YES), and the notification control unit 18 determines the notification mode and the notification timing based on the notification determination table 83 (see FIG. 4) by the notification-related determination unit 16. , As shown in FIG. 9, the notification process of LEVEL 3 is performed using the sound and light produced by the first notification unit 15A and the second notification unit 15B (step S7A). As shown in FIG. 4, it is determined that the first notification unit 15A and the second notification unit 15B simultaneously notify the notification timing.

As a result, as shown in FIG. 9, as the notification process of the LEVEL 3, the speaker 32b provided on the door 3 side and the other speaker 33d on the door 5 side to which the moving body M1 approaches notify the approach of the moving body M1. Along with outputting a sound, a process of outputting a notification sound notifying the approach of the moving body M1 is executed from the front left light 33b provided on the door 3 side and the rear left light 33d on the door 5 side approaching the moving body M1. The door.
The third situation in which the first part of the in-vehicle user faces the door and the second part moves to the door by the motion detection unit 12B is assumed to be a situation in which the in-vehicle user is very likely to open the door and move out of the vehicle. The door. In this case, among the speakers 32a to 32d, the notification is sent from the speaker on the door side seen by the user in the car, and the notification is simultaneously sent from the light on the door side seen by the user in the car among the lights 33a to 32d on the door side. Therefore, it becomes easier for the user in the vehicle to notice the approach of the notification target object.

In FIG. 9, when the notification target is not the moving body M1 but the stationary body T1 shown in FIG. 7, the stationary body T1 only needs to be notified to the in-vehicle user U2 in the passenger seat 7b, so that the notification process of the LEVEL 3 is performed. , The speaker 32b provided on the door 3 side notifies, and the front left light 33b provided on the door 3 side simultaneously notifies.
In the case of the notification process of LEVEL 3, it is preferable to change at least one of the volume, the voice content, the amount of light, the lighting pattern or the color so that the user in the vehicle can easily notice it as compared with the notification process of LEVEL 2. However, as for the lighting pattern, it is preferable to control the lighting so as to indicate from which side the notification object approaches, so that the speed of moving the lighting area in the front-rear direction is increased while controlling the lighting. Etc. may be changed.
The process of determining the notification mode and the notification timing in steps S3A, S5A and S7A corresponds to the notification-related determination step of the present invention, and the notification process in steps S3A, S5A and S7A is the notification control step of the present invention. Equivalent to.

[4. Notification processing when the door is open]
FIG. 10 is a flowchart showing a notification process in a door open state. The steps similar to the notification process shown in FIG. 5 are designated by the same numbers, and duplicate explanations will be omitted. 11 to 13 are diagrams for explaining this notification process.
The notification control unit 18 determines that the notification object is approaching by the vehicle surrounding situation recognition unit 13 (step S1A; YES), and the direction detection unit 12A causes the first portion of the user in the vehicle to face the door, and the motion detection unit 18 It is determined by 12B whether or not the second part has not moved to the door in the first situation (step S2A; YES).

FIG. 11 shows a case where the moving object M1 to be notified approaches from the left rear of the vehicle 1 and the in-vehicle user U2 turns his face to the nearby door 3 when the door 3 is in the open state. .. In this case, the determination in step S2A becomes an affirmative result (step S2A; YES), and the notification control unit 18 determines the notification mode and the notification timing based on the notification determination table 83 (see FIG. 4) by the notification-related determination unit 16. , The notification process of LEVEL 4 is performed using the sound produced by the first notification unit 15A (step S3B). As shown in FIG. 4, the default timing is determined as the notification timing.

In this case, the notification process is executed so that the user 2 in the vehicle can easily notice the notification process such as LEVEL1. In the present embodiment, as shown in FIG. 11, as the notification process of the LEVEL 4, the movement of the notification target from all the speakers 32a to 32d including the speaker 32b provided on the door 3 side to which the in-vehicle user U2 faces. A process of outputting a notification sound for notifying the approach of the body M1 is executed (step S3B). Further, it is preferable that the volume of the notification sound and the content of the voice are made easier for the in-vehicle user 2 to notice.
As a result, when the in-vehicle user turns his face to the open door 3, it is possible to make it easier for the in-vehicle user to notice the notification target as compared with the case where the in-vehicle user turns his face to the closed door 3.

In the case of FIG. 11, the case where the approach of the mobile body M1 is notified from all the speakers 32a to 32d is illustrated, but the point is that the user 2 in the vehicle is more likely to notice or the degree of alertness is higher than the notification process of LEVEL1. It suffices if it is a notification process that does. For example, the speaker 32a and 32d on the side where the mobile body M1 approaches may be notified by a loud notification sound.
In FIG. 11, when the notification target is not the moving body M1 but the stationary body T1 shown in FIG. 7, the stationary body T1 may be notified only to the in-vehicle user U2 in the passenger seat 7b. Also in this case, it is possible to widely apply the notification process that makes it easier for the in-vehicle user 2 to notice or increases the degree of alertness than the notification process such as LEVEL 1.

Returning to FIG. 10, when it is not the first situation (step S2A; NO), in the notification control unit 18, the first part of the user in the vehicle is not facing the door by the direction detection unit 12A, and the second part by the motion detection unit 12B. It is determined whether or not is the second situation where the door moves to the door (step S4A).
In reference numeral A in FIG. 12, when the door 3 is in the open state, the moving object M1 to be notified approaches from the left rear of the vehicle 1, and all the users U1 to U3 in the vehicle face forward in the vehicle. The case where the hand of the user U2 approaches the door 3 is shown. In this case, the determination in step S4A becomes an affirmative result (step S4A; YES), and the notification control unit 18 determines the notification mode and the notification timing based on the notification determination table 83 (see FIG. 4) by the notification-related determination unit 16. , As shown by reference numerals A and B in FIG. 12, the notification process of LEVEL 5 is performed using the sound and light produced by the first notification unit 15A and the second notification unit 15B (step S5B). As shown in FIG. 4, it is determined that the notification timing is set by the first notification unit 15A and then by the second notification unit 15B.

In this case, the notification process is executed so that the user 2 in the vehicle can easily notice the notification process such as LEVEL2. In the present embodiment, as shown by reference numeral A in FIG. 12, as the notification process of LEVEL 5, first, all including the speaker 32b provided on the door 3 side and the other speaker 33d on the door 5 side to which the mobile body M1 approaches. A process of outputting a notification sound for notifying the approach of the moving body M1 which is a notification target is executed from the speakers 32a to 32d of the above. After that, as shown by reference numeral B in FIG. 12, as notification processing of LEVEL 5, all door sides including the front left light 33b provided on the door 3 side and the rear left light 33d on the door 5 side to which the moving body M1 approaches. A process of outputting light notifying the approach of the moving body M1 from the lights 33a to 33d is executed.
The timing of notification by the second notification unit 15B may be the timing when the orientation detection unit 12A detects that the first portion of the user in the vehicle is facing the door, or after the first notification unit 15A notifies. It may be the timing when a predetermined predetermined time has elapsed.

Therefore, after guiding the in-vehicle user U2 who has brought his / her hand close to the open door 3 to turn his / her face toward the door 3 by the sound from the speaker 32b, the light of the front left light 33b on the side facing the face also causes the user U2 to turn his / her face. The approach of the mobile body M1 is notified, and the user in the vehicle can easily notice the approach of the mobile body M1 by both voice and light. Further, after guiding the other in-vehicle user U3 on the approaching side of the moving body M1 to turn his / her face toward the door 5 by the voice from the speaker 33d, the rear left light 33d also notifies the approaching of the moving body M1. , It becomes easy to notice the approach of the moving body M1.

In addition, in the case of FIG. 12, the case where all the speakers 32a to 32d and the door side lights 33a to 33d are used to notify the approach of the mobile body M1 is illustrated, but the point is that the inside of the vehicle is more than the notification process of LEVEL2 or the like. The notification processing may be such that the user U2 can easily notice it or the degree of alertness increases. For example, the speaker 32a and 32d on the side where the moving body M1 approaches and the door side lights 33a and 33d may be used for notification with a loud notification sound.
Further, in FIG. 12, when the notification target is not the moving body M1 but the stationary body T1 shown in FIG. 7, the stationary body T1 may be notified only to the in-vehicle user U2 in the passenger seat 7b. Also in this case, a notification process that makes it easier for the in-vehicle user 2 to notice or increases the degree of alertness can be widely applied as compared with the notification process such as LEVEL 2.

Returning to FIG. 10, when it is not the second situation (step S4A; NO), in the notification control unit 18, the first part of the user in the vehicle faces the door by the direction detection unit 12A, and the second part becomes the door by the motion detection unit 12B. It is determined whether or not it is the third situation to move (step S6A).
In FIG. 13, when the door 3 is in the open state, the mobile body M1 to be notified approaches from the left rear of the vehicle 1, and the in-vehicle user U2 of the passenger seat 7b turns his face to the nearby door 3 and , The case where the hand of the user U2 in the car approaches the door 3 is shown. In this case, the determination in step S6A becomes an affirmative result (step S6A; YES), and the notification control unit 18 determines the notification mode and the notification timing based on the notification determination table 83 (see FIG. 4) by the notification-related determination unit 16. , The notification process of LEVEL 6 is performed using the sound and light produced by the first notification unit 15A and the second notification unit 15B (step S7B). As shown in FIG. 4, it is determined that the first notification unit 15A and the second notification unit 15B simultaneously notify the notification timing.
Further, the notification control unit 18 determines whether or not there is door control based on the notification determination table 83 (see FIG. 4) by the notification-related determination unit 16, and the door opened by the door control unit 17 (door 3 in FIG. 13). The door is closed (step S8B: door closing step).

As a result, as shown in FIG. 13, as the notification process of LEVEL 6, the speaker 32b provided on the door 3 side and the other speakers 33d on the door 5 side to which the moving body M1 approaches move from all the speakers 32a to 32d. All door side lights 33a to 33d including the front left light 33b provided on the door 3 side and the rear left light 33d on the door 5 side to which the moving body M1 approaches, while outputting a notification sound notifying the approach of the body M1. A process of outputting a notification sound for notifying the approach of the moving body M1 is executed.

When the user in the car has a high possibility of jumping out of the car from the opened door when the face is turned to the open door and the hand is brought close to the door, the inside of the car is notified by performing the notification process of LEVEL6. The user is most likely to notice the approach of the notification object. Further, since the open door is closed, it is possible to positively avoid the situation where the user in the vehicle gets off the vehicle while the notification target is approaching. In the door closing process of step S8B, the doors (at least the doors 3 and 5 to which the notification object approaches) may be controlled to the locked state after the open door is closed, and further, the notification object may be controlled to the locked state. When the approach is no longer detected, the locked door may be unlocked or the closed door may be controlled to be open.

In the case of FIG. 13, the case where all the speakers 32a to 32d and the door side lights 33a to 33d are used to notify the approach of the mobile body M1 is illustrated, but the point is that the notification is most easily noticed by the user in the vehicle. The processing is widely applicable. For example, the speaker 32a and 32d on the side where the moving body M1 approaches and the door side lights 33a and 33d may be used for notification with the maximum volume notification sound.
Further, in FIG. 13, when the notification target is not the moving body M1 but the stationary body T1 shown in FIG. 7, the stationary body T1 may be notified only to the in-vehicle user U2 in the passenger seat 7b. In this case as well, the notification process that is most noticeable and most alert to the user in the vehicle can be widely applied.

The process of determining the notification mode and the notification timing in steps S3B, S5B and S7B corresponds to the notification-related determination step of the present invention, and the notification process in steps SS3B, S5B and S7B corresponds to the notification control step of the present invention. Equivalent to.

As described above, in the vehicle control system 100, when the approach detection unit 13A detects the approach of the notification object, the direction detection unit 12A for detecting the direction of the first portion of the in-vehicle user and the in-vehicle user's first. Based on the combination of the detection result with the motion detection unit 12B that detects the predetermined motion related to the disembarkation of the user in the vehicle based on the motion of the two parts, the notification-related determination unit 16 notifies the approach of the notification object. Determine the notification timing. Next, the vehicle control system 100 uses either the first notification unit 15A or the second notification unit 15B specified by the notification control unit 18 to approach the notification object at the determined notification timing. Notice.
As a result, the notification mode and the notification timing can be different depending on the combination of the orientation of the first portion of the user in the vehicle and the predetermined operation related to getting off, and it becomes easy to perform appropriate notification according to the state of the occupant. ..

When the notification-related determination unit 16 detects the approach of the notification object, the motion detection unit 12B detects a predetermined motion in which the in-vehicle user tries to open the door of the vehicle 1, and the orientation detection unit 12A detects the inside of the vehicle. When it is detected that the first part of the user is facing the door, both the first notification unit 15A and the second notification unit 15B are determined to be used as the notification mode, and the first notification is performed as the notification timing. The simultaneous notification in the unit 15A and the second notification unit 15B is determined.
This makes it easier to recognize the approach of the notification target by simultaneous notification of audible sound and visible light when the user in the car performs an action that is likely to get off immediately, such as facing the door and trying to open the door. ..

Further, in the notification-related determination unit 16, when the approach of the notification object is detected, the motion detection unit 12B detects the motion of the user in the vehicle to open the door of the vehicle 1, and the orientation detection unit 12A detects the motion. When it is detected that the first part of the user in the vehicle is not facing the door, both the first notification unit 15A and the second notification unit 15B are determined to be used as the notification mode, and the first notification timing is set. After the notification unit 15A notifies, the second notification unit 15B determines the timing of notification.
As a result, when the in-vehicle user tries to open the door without facing the door, the in-vehicle user can see it after the in-vehicle user faces the door side (including the outside of the vehicle) by the notification by the audible sound. Notification by visible light becomes possible. Therefore, it becomes easy to recognize the approach of the notification object. In addition, there is an advantage that the notification by visible light that the user in the vehicle may not see can be avoided.

Further, the notification control unit 18 notifies by the second notification unit 15B when the orientation detection unit 12A detects that the first member of the user in the vehicle is facing the door after the notification is notified by the first notification unit 15A. do. This makes it possible to control the notification by visible light at an appropriate timing.

Further, in the notification-related determination unit 16, when the approach of the notification object is detected, the motion detection unit 12B does not detect the predetermined motion, and the orientation detection unit 12A causes the first portion of the user in the vehicle to face the door. When it is detected, the second notification unit 15B is determined to be used as the notification mode, and the period during which the first portion of the in-vehicle user is facing the door is determined as the notification timing. As a result, if the user inside the vehicle is facing the door side (including the outside of the vehicle), but is not trying to open the door of the vehicle 1, the user inside the vehicle is immediately notified by visible light when the user is not facing the door side. Can be stopped, making it easier to avoid unnecessary notifications.

Further, in the notification-related determination unit 16, when the approach of the notification object is detected, the door open / close detection unit 14 detects that the door is open, and the orientation detection unit 12A causes the first portion of the user in the vehicle to be the door. When it is detected that the door is facing, it is determined that both the first notification unit 15A and the second notification unit 15B are to be used and the door is controlled to be closed as the notification mode. Then, the notification control unit 18 notifies the approach of the notification object by both the first notification unit 15A and the second notification unit 15B based on the decision result of the notification-related determination unit 16, and the door control unit 17 notifies the door. Is controlled to the closed state. This enables appropriate notification and door closing control according to the occupant's condition in a situation where the occupant can jump out of the open door.

The present invention is not limited to the configuration of the above embodiment, and can be implemented in various embodiments without departing from the gist thereof.
For example, when performing each notification process of the above embodiment, the notification to the outside of the vehicle may be performed by using the configuration provided in the vehicle 1 capable of the notification to the outside of the vehicle. Examples of the configuration capable of notifying the outside of the vehicle include lamps such as hazard lamps that can be notified to the outside of the vehicle by visible light, and sound emitting units such as horns that can be notified to the outside of the vehicle by audible sound. For example, when the approach of the notification object is detected and the motion detection unit 12B detects a predetermined motion in which the user in the vehicle tries to open the door of the vehicle 1, visible light and audible sound are appropriately used. The notification should be sent outside the vehicle.

Further, in the above embodiment, the case where the present invention is applied to the vehicle control system 100 and the vehicle control method shown in FIG. 1 and the like has been described, but the present invention is not limited thereto. For example, the case where a single vehicle control device 10 is arranged in the vehicle control system 100 has been illustrated, but the vehicle control device 10 may be distributed to a plurality of control devices, or may be arranged outside the vehicle control device 10. A part of the above-mentioned configuration (for example, cameras 70 and 71 for in-vehicle photography) may be incorporated in the vehicle control device 10.

Further, the configuration of each part shown in FIG. 3 may be realized by hardware, or may be a configuration realized by collaboration between hardware and software. Further, the method of dividing the processing unit of each flowchart and the processing order are not limited to the illustrated example.
Further, the above-mentioned LEVELs 1 to 6 of each notification process are merely examples, and the value of the LEVEL of each notification process may be appropriately changed.

Further, the control program 81 may be stored in an external device or device and acquired via the communication unit 120 or the like. It is also possible to record the control program 81 on a recording medium readable by a computer. As the recording medium, a magnetic or optical recording medium or a semiconductor memory device can be used. Specific examples thereof include portable or fixed recording media such as flexible disks, various optical disks, magneto-optical disks, flash memories, and card-type recording media. Further, the recording medium may be a non-volatile storage device such as RAM, ROM, or HDD, which is an internal storage device included in the image display device.

1 ... vehicle, 2 ... right power hinged door, 3 ... left power hinged door, 4 ... right power slide door, 5 ... left power slide door, 6 ... power tailgate, 10 ... vehicle control device, 11 ... key authentication unit, 12 ... Vehicle interior situation recognition unit, 12A ... Direction detection unit, 12B ... Motion detection unit, 12C ... Locked state detection unit, 13 ... Vehicle surrounding condition recognition unit, 13A ... Approach detection unit, 14 ... Door open / close detection unit, 15 ... Notification unit , 15A ... 1st notification unit, 15B ... 2nd notification unit, 16 ... notification-related determination unit, 16A ... notification mode determination unit, 16B ... timing determination unit, 17 ... door control unit, 18 ... notification control unit, 30 ... front Camera (outside camera), 31 ... Display, 32a-32d ... Speaker, 33a-33d ... Door side light, 40 ... Right side camera (outside camera), 50 ... Left side camera (outside camera), 60 ... Rear camera (outside camera), 70 ... front camera (inside camera), 71 ... rear camera (inside camera), 80 ... memory, 81 ... control program, 83 ... notification decision table, 84 ... notification information , 100 ... vehicle control system, 120 ... communication unit, 130 ... navigation device, 150 ... battery, U1, U2, U3 ... user (occupant), M1 ... moving object (notification object), T1 ... stationary object (notification object) ).

Claims (7)

An approach detection unit that detects the approach of the notification object, and
An orientation detection unit that detects the orientation of the first portion capable of identifying the orientation of the occupant's line of sight or face in the vehicle, and the orientation detection unit.
An motion detection unit that detects a predetermined motion related to the occupant's disembarkation based on the motion of the second portion different from the occupant's first member, and
The first notification unit that notifies the occupants by audible sound,
The second notification unit that notifies the occupants by visible light,
When the approach detection unit detects the approach of the notification object, the first notification unit and the second notification unit are used based on the combination of the detection results of the orientation detection unit and the motion detection unit. A notification-related decision unit that determines the notification mode including the identification of the target notification unit and the notification timing by the notification unit to be used, and the notification-related determination unit.
Based on the decision result of the notification-related determination unit, the notification unit of the usage target of the first notification unit and the second notification unit notifies the approach of the notification target object at the notification timing. ,
A vehicle control system equipped with. When the approach of the notification object is detected, the notification-related determination unit detects an operation in which the occupant tries to open the door of the vehicle as the predetermined operation by the motion detection unit, and When it is detected by the orientation detection unit that the first portion of the occupant is facing the door, both the first notification unit and the second notification unit are determined to be used as the notification mode. As the notification timing, simultaneous notification in the first notification unit and the second notification unit is determined.
The vehicle control system according to claim 1. When the approach detection unit detects the approach of the notification object, the notification-related determination unit performs an operation in which the occupant tries to open the door of the vehicle as the predetermined operation by the motion detection unit. When it is detected and the orientation detection unit detects that the first part of the occupant does not face the door, both the first notification unit and the second notification unit are used as the notification mode. In addition to determining the target, as the notification timing, the timing of notification by the second notification unit after the notification by the first notification unit is determined.
The vehicle control system according to claim 1 or 2. After the notification is notified by the first notification unit, the notification control unit notifies the second notification unit when it is detected by the orientation detection unit that the first member of the occupant is facing the door. ,
The vehicle control system according to claim 3. In the notification-related determination unit, when the approach of the notification object is detected, the motion detection unit does not detect the predetermined motion of the occupant, and the orientation detection unit causes the first portion of the occupant to open the door. When it is detected that the vehicle is facing, the second notification unit is determined to be used as the notification mode, and the period during which the first portion of the occupant is facing the door is determined as the notification timing.
The vehicle control system according to any one of claims 1 to 4. A door open / close detection unit that detects the open / closed state of the vehicle door,
A door control unit that controls the door is provided.
In the notification-related determination unit, when the approach of the notification object is detected, the door open / close detection unit detects that the door is in an open state, and the orientation detection unit causes the first portion of the occupant to move. When it is detected that the door is facing, it is determined that both the first notification unit and the second notification unit are to be used and the door is controlled to be closed as the notification mode.
Based on the determination result of the notification-related determination unit, the notification control unit notifies the approach of the notification object by both the first notification unit and the second notification unit, and the door control unit notifies the door. To be closed,
The vehicle control system according to any one of claims 1 to 5. An approach detection unit that detects the approach of the notification object, and
The first notification unit that notifies the occupants by audible sound,
A vehicle control method executed by a computer for controlling the operation of a vehicle including a second notification unit that notifies the occupant by visible light.
When the approach detection unit detects the approach of the notification object, the direction detection unit that detects the direction of the first portion that can specify the direction of the line of sight or the face of the occupant, and the first member of the occupant. A notification unit to be used among the first notification unit and the second notification unit based on the combination of the detection result with the operation detection unit that detects a predetermined operation related to the occupant's disembarkation based on the operation of different second parts. A notification-related decision step that determines the notification mode including the identification of, and the notification timing by the notification unit to be used, and
Based on the determination result of the notification-related determination step, the notification unit of the first notification unit and the second notification unit notifies the approach of the notification target object at the notification timing. ,
Vehicle control methods including.

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