JP2023116298A - Warning system for vehicle - Google Patents

Abstract

To provide a warning system for a vehicle.SOLUTION: A warning system 1 for a vehicle, which is mounted on a vehicle, performs a warning operation when the vehicle comes to a halt. The warning system for the vehicle comprises sensors 20b and 21b that detect a stationary obstacle existing on the lateral side of a driver's own vehicle, and an angle limiting part 40 that limits an allowable opening/closing angle of a door of the driver's own vehicle to an angle preventing the door from interfering with the stationary obstacle, when the stationary obstacle is detected by the sensors 20b and 21b.SELECTED DRAWING: Figure 1

Description

The present invention relates to a vehicle warning system that assists safety when getting out of a vehicle.

Conventionally, there is known a system (generally referred to as Exit Warning) that issues a collision warning in response to a door opening operation when getting off a vehicle (see, for example, Patent Document 1). In the vehicle assistance system described in Patent Document 1, the getting-off assistance unit detects an approaching object based on the output of a rearward sensor such as a millimeter wave radar when the vehicle is stopped. In such a vehicle support system, the rearward sensor always monitors an approaching object to assist the driver in getting out of the vehicle during the operation of assisting the driver in getting out of the vehicle.

JP 2019-192090 A

The collision warning function described above warns of the existence of an object approaching the own vehicle from the rear side of the own vehicle. However, even in a parking lot where there are no objects approaching from the rear or side, if you carelessly open the door without checking the situation carefully, you may hit a vehicle parked next to you or put it on the ground. The door may hit a stationary object such as a load or a bicycle.

A vehicle warning system according to one aspect of the present invention is a vehicle warning system that is mounted on a vehicle and performs a warning operation when the vehicle is stopped, and includes a first system that detects a stationary obstacle existing on the side of the own vehicle. When the stationary obstacle is detected by the obstacle sensor and the first obstacle sensor, the door adjusts the allowable opening/closing angle of the door of the vehicle based on the detection information of the first obstacle sensor. and an angle limiter that limits the angle to an angle that does not interfere with stationary obstacles.

According to the present invention, it is possible to prevent an accident in which the door is carelessly opened and the vehicle collides with a stationary obstacle on the side of the vehicle.

FIG. 1 is a block diagram showing a schematic configuration of a vehicle warning system. FIG. 2 is a schematic diagram showing an example of sensor arrangement and monitoring range. FIG. 3 is a diagram showing the configuration around the driver's seat in the passenger compartment. FIG. 4 is a diagram showing an example of an alarm display provided on the door mirror. FIG. 5A is a diagram showing a display form when all doors on the left, right, front and rear are restricted to open. FIG. 5B is a diagram showing a display form when opening of the right front and rear doors is restricted and the left door lock is on. FIG. 6A is a diagram showing an example of an angle limiting portion of a door on the right side of the vehicle. FIG. 6B is a diagram showing an example of an angle limiting portion of a door on the left side of the vehicle. FIG. 7A is a diagram showing a case where the angle limiter is in a limit release state. FIG. 7B is a diagram illustrating a case where the angle limiter is in a limited state; FIG. 8 is a flowchart showing an example of EW warning operation. FIG. 9 is a flowchart showing detailed processing of the EW warning process. FIG. 10 is a diagram for explaining the door interference area. 11A and 11B are diagrams for explaining Modification 2. FIG.

Embodiments for carrying out the present invention will be described below with reference to the drawings. The following description and drawings are examples for explaining the present invention, and are appropriately omitted and simplified for clarity of explanation. Also, in the following description, the same or similar elements and processes are denoted by the same reference numerals, and redundant description may be omitted. It should be noted that the contents described below merely show an example of the embodiment of the present invention, and the present invention is not limited to the following embodiment, and can be implemented in various other forms. is possible.

FIG. 1 is a block diagram showing a schematic configuration of a vehicle warning system according to this embodiment. The vehicle warning system 1 is a device that performs an EW (Exit Warning) operation, such as an alarm for supporting the safety of passengers when getting off the vehicle. The vehicle warning system 1 includes a control device 10, a left rear side sensor 20a, a left side sensor 20b, a right rear side sensor 21a, a right side sensor 21b, an alarm unit 30, an angle limiter 40, an opening operation detection unit 50, and An open permission setting unit 60 is provided.

The vehicle control device 2 activates the vehicle warning system 1 when detecting that the own vehicle has stopped based on a vehicle speed sensor (not shown) or the like. The vehicle control device 2 transmits an EW stop signal to the vehicle warning system 1 when detecting that the own vehicle has started to move. The vehicle control device 2 transmits an ignition-off operation signal (IGOFF signal) to the vehicle warning system 1 when the ignition is turned off by the passenger. The vehicle control device 2 also performs ON/OFF control of the door lock 3 .

FIG. 2 is a schematic diagram showing an example of the arrangement and monitoring range of the left rear side sensor 20a, the left side sensor 20b, the right rear side sensor 21a, and the right side sensor 21b. The left rear side sensor 20 a and the right rear side sensor 21 a are provided at the rear ends of the left and right sides of the vehicle 4 and monitor the left rear side and the right rear side of the vehicle 4 . The left side sensor 20b is provided on the left side door mirror 41L and monitors the left side of the vehicle 4. As shown in FIG. The right side sensor 21b is provided on the right side door mirror 41R and monitors the right side of the vehicle 4. As shown in FIG. For these sensors 20a, 20b, 21a, and 21b, distance-measuring sensors such as Lider (Light Detection and Ranging), radar, ultrasonic sensors, and stereo cameras are used. In this embodiment, millimeter wave radars are used for the sensors 20a and 21a, and stereo cameras are used for the sensors 20b and 21b.

Returning to FIG. 1, the control device 10 grasps the situation around the own vehicle based on the information detected by the sensors 20a, 20b, 21a, and 21b. Specifically, based on the detection information of the left rear side sensor 20a and the right rear side sensor 21a, a moving object such as a vehicle approaching the side of the vehicle 4 from behind is monitored. Also, based on the detection information from the left side sensor 20b and the right side sensor 21b, stationary obstacles existing on the left and right sides of the own vehicle 4 are monitored.

The control device 10 performs an alarm operation when the own vehicle 4 is stopped based on the surrounding conditions of the own vehicle grasped by the sensors 20a, 20b, 21a, and 21b. Specifically, when it is detected that a mobile object is approaching from behind, the alarm unit 30 issues an alarm to the occupant and the door lock 3 is locked. On the other hand, when stationary obstacles are detected on the left and right sides of the stopped host vehicle 4, the position of the stationary obstacle is calculated by the calculation unit 101, and the allowable opening/closing angle of the door is calculated according to the calculated position. Then, the door angle limiting operation of the own vehicle 4 is performed by operating the angle limiting unit 40 based on the calculated allowable opening/closing angle. Also, an alarm is issued by the alarm unit 30 . Details of the alarm operation control will be described later.

The control device 10 includes, for example, an arithmetic processing device such as a microcomputer having a CPU, memory (ROM, RAM), and peripheral circuits. to realize the function of

FIG. 3 is a diagram showing the arrangement of the alarm section 30 and the angle limiting section 40. As shown in FIG. The alarm unit 30 includes an alarm display unit 301 provided on the trim of the door 42, an alarm display unit 302 provided on the door mirror 41R, and an alarm display unit 303 provided on the meter panel. A right side sensor 21b is provided at the base of the door mirror 41R. The door 42 is attached to the vehicle body by hinges 421 and 422 . The hinge 421 is provided with the angle limiting portion 40 . The angle limiting portion 40 may be provided on the hinge 422 side. The details of the angle limiter 40 will be described later.

A warning display unit 301 provided on the door 42 indicates an angle limit state of the door 42, which will be described later, and an LED lamp, for example, is used. FIG. 4 is a diagram showing an example of the alarm display section 302 provided on the door mirror 41R. The warning display portion 302 is provided with a mark M1 indicating the own vehicle 4, a mark M2 of a vehicle approaching the side of the own vehicle 4 from behind, and an approaching mark M3. When the right rear side sensor 21a detects the approach of a vehicle or the like, the marks M1 to M3 of the warning display section 302 are illuminated. Although illustration is omitted, the alarm display units 301 are provided on all four front, rear, left, and right doors 42 provided in the vehicle 4 . Similarly, the left side door mirror 41L is also provided with a warning display section 302 for warning that a vehicle or the like is approaching from the left rear side.

5A and 5B are diagrams showing display forms of alarm display section 303 provided on the meter panel. A liquid crystal display panel having a touch panel function is used for the alarm display unit 303 . The alarm display unit 303 notifies the occupant of the angle restriction state and the locked state of the four front, rear, left, and right doors 42 provided in the vehicle 4 . The warning display section 303 displays a mark M11 representing the host vehicle 4, marks M12L and M12R representing the angle restriction state of the front left and right doors 42, and marks M13L and M13R representing the angle restriction state of the rear left and right doors 42. , marks M14L and M14R indicating the left and right door lock states, and a mark M15 indicating that the EW warning operation is being stopped. In synchronism with the display/non-display of the marks M12L, M12R, M13L, M13R indicating the limited angle state, the warning display section 301 of the door 42 corresponding to these marks is turned on/off. In FIGS. 5A and 5B, whether or not the marks M12L to M14R are displayed is indicated by the presence or absence of hatching.

Further, the alarm display unit 303 is provided with touch operation buttons (hereinafter referred to as operation buttons) 601 to 604 that function as the opening permission setting unit 60 in FIG. As shown in FIG. 5A, the operation buttons 601 to 604 are provided so as to overlap the display areas of the marks M12L, M12R, M13L and M13R, respectively. The operation button 601 is an operation button for setting permission/non-permission for releasing the angle limitation of the left front door 42 corresponding to the mark M12L. Similarly, the operation buttons 602, 603, 604 allow or disallow cancellation of the angle limitation of the front right door 42, the rear left door 42, and the rear right door 42 corresponding to the marks M12R, M13L, M13R. It is an operation button for setting. The settings made by the operation buttons 601 to 604 are maintained regardless of whether the ignition is turned off or turned on.

FIG. 5A shows a display form when all the doors 42 on the left, right, front and rear are limited in angle, and marks M11, M12L, M12R, M13L, and M13R are displayed. In FIG. 5A, the left and right doors are unlocked, and the marks M14L and M14R are not displayed. On the other hand, FIG. 5B shows a case where the front and rear doors 42 on the right side are restricted in angle and the door lock on the left side is on. In this case, marks M11, M12R, M13R and M14L are displayed. Since FIGS. 5A and 5B show the display during the EW warning operation, the mark M15 is originally not displayed, but for convenience of explanation, the mark M15 is displayed.

FIG. 6A is a diagram showing an example of the angle limiter 40 provided on the door 42 on the right side of the vehicle shown in FIG. The hinge 421 includes a blade 421a fixed to the vehicle body, a blade 421b fixed to the door 42, and a shaft 421c connecting the blades 421a and 421b. A blade 421b fixed to the door 42 side rotates around a shaft 421c as indicated by an arrow R as the door 42 is opened and closed. The blade 421b rotates clockwise when the door 42 is closed, and rotates counterclockwise when the door 42 is opened. On the other hand, FIG. 6B is a diagram showing the angle limiting portion 40 provided on the door 42 on the left side of the vehicle, and has a configuration in which the configuration shown in FIG. 6A is horizontally reversed. That is, in FIG. 6B, the blade 421b rotates counterclockwise as viewed from direction A when the door 42 is closed, and rotates clockwise when the door 42 is opened. Thus, the relationship between door opening/closing and the rotational direction of the blade 421b of the hinge 421 differs depending on the layout of the door. In the following, the angle limiter 40 provided on the door 42 on the right side of the vehicle shown in FIG. 6A will be described as an example.

A protrusion 4210 protruding downward is formed at the lower end of the blade 421b. The protrusion 4210 is provided with a strain gauge 500 as an opening operation detection unit 50 for detecting an opening operation by a passenger to open the door 42 . Various sensors other than strain gauges can be used as the opening operation detection unit 50 as long as they can detect the state in which the protrusion 4210 is pressed against the locking portion 401a. The angle limiter 40 includes a gear 401 , a gear 402 meshing with the gear 401 , and a motor 403 . Gear 402 is fixed to rotating shaft 403 a of motor 403 .

A stepping motor, for example, is used for the motor 403 . Since the stepping motor has a holding force even when stopped, it has the advantage of being able to hold the stopped position without relying on a mechanical brake. Further, if the stepping motor is a five-phase stepping motor, the step angle is as small as 0.72°, and the rotational position of the driven gear 401 can be precisely positioned. Motor 403 is controlled by control device 10 . A locking portion 401a is formed on the upper surface of the disk-shaped gear 401 so as to protrude upward. The locking portion 401a abuts on a convex portion 4210 formed on the blade 421b of the hinge 421 to lock the movement of the blade 421b.

7A and 7B are diagrams of the gears 401 and 402 and the hinge 421 viewed from direction A in FIG. 6A. FIG. 7A shows the case where the door 42 is closed and the angle limiter 40 is in the limit release state. When the door 42 is closed, the wings 421a and 421b of the hinge 421 are in the state indicated by solid lines. When the door 42 is opened, the blade 421b fixed to the door 42 rotates counterclockwise about the shaft 421c as indicated by the arrow R1. Here, it is assumed that the door 42 is fully opened when it is opened by 80 degrees from the closed state. The position of the blade 421b when the door is closed (the position indicated by the solid line) is 0°, and the position of the blade 421b when the door is fully open (the position indicated by the two-dot chain line) is 80°.

Regarding the rotational position of the gear 401, the angle 0° is defined as the state where the locking portion 401a is at the position indicated by the two-dot chain line, and the initial position of the angle limiting portion 40 is defined as the position rotated counterclockwise by 110° from that position. do. When the engaging portion 401a is at the initial position, the projecting portion 4210 is not engaged with the engaging portion 401a even if the door 42 is fully opened. By rotationally driving the gear 402 with a motor 403 (see FIG. 6A), the locking portion 401a provided on the gear 401 is moved to an arbitrary position between the position of the angle of 0° and the position of the angle of 110°. be able to. In the regulation released state shown in FIG. 7A, the door 42 can be freely opened and closed between the fully closed position (0°) and the fully opened position (80°).

FIG. 7B is a diagram showing a case where the angle limiter 40 is in a limited state. The gear 401 is rotated clockwise (in the direction of arrow R2) by an angle of 65° from the initial position shown in FIG. 7A, and the locking portion 401a is positioned at an angle of 45°. Therefore, when the door 42 is opened to an angle of 45°, the protrusion 4210 formed on the blade 421b of the hinge 421 abuts on the locking portion 401a of the gear 401, and the blade 421b (that is, the door 42) opens at an angle of 45°. Locked in position. That is, the door 42 can only be opened up to an angle of 45°. When the occupant attempts to further open the door 42 while the convex portion 4210 is in contact with the locking portion 401a, the strain gauge 500 detects the opening operation (that is, distortion of the convex portion 4210).

(Explanation of EW warning operation)
8 and 9 are flowcharts showing an example of the EW warning operation of the vehicle warning system 1 according to the present embodiment. The control program of this flow chart is executed in the control device 10 . The vehicle control device 2 activates the vehicle warning system 1 when the vehicle stops. When the vehicle warning system 1 is activated by the vehicle control device 2, the control device 10 starts an EW warning operation.

In step S<b>10 , it is determined whether or not the host vehicle has started to move and an EW stop signal has been received from the vehicle control device 2 . When the signal is received, the process proceeds from step S10 to step S80, in which predetermined end processing including angle restriction release operation is executed and shutdown is performed. On the other hand, when the EW operation stop signal is not received, the process proceeds from step S10 to step S20. In the following description, the four doors 42 provided on the front, rear, left, and right sides of the vehicle 4 are denoted by reference numerals 42a, 42b, 42c, and 42d. The door 42 is represented as a door 42c, and the right rear door 42 as a door 42d.

Step S20 is a routine for EW warning processing, and a series of processing shown in FIG. 9, which will be described later, is executed. Details of the EW warning process will be described later. When the EW warning process of step S20 ends, the process proceeds to step S30 to determine whether or not an ignition-off operation signal (IGOFF signal) has been received from the vehicle control device 2 or not. If it is determined to be yes (received) in step S30, the process proceeds to step S40 to perform the same EW warning process as in step S20, and if determined to be no (not received), the process returns to step S10.

Note that when the control device 10 receives the ignition-off operation signal, the control device 10 turns on the timer to start measuring the EW maintenance time. The EW maintenance time is the time from the reception of the ignition OFF operation signal to the end of the EW warning operation, and is preset to a predetermined time.

In step S50, it is determined whether or not the EW maintenance time, which is started when the ignition-off operation signal is received, has reached a predetermined time. If the predetermined time has not been reached (no), the process returns from step S50 to step S40. On the other hand, if the predetermined time has elapsed, a determination of YES is made in step S50, and the process advances to step S60, where the alarm display section 303 of the meter panel displays an indication that the EW warning operation is being stopped. Specifically, in FIG. 5A, all the marks M11 to M14R are hidden, and only the mark M15 is displayed.

Next, in step S70, it is determined whether or not a predetermined display time has elapsed since the start of the EW warning operation stop display. If it is determined in step S70 that the predetermined display time has not elapsed, the process returns to step S60, and if it is determined that the predetermined display time has elapsed, the process proceeds to step S80, and performs predetermined end processing including angle limit release operation. to shut down.

FIG. 9 is a flow chart showing an example of EW warning processing in steps S20 and S40. In step S200, it is determined whether or not there is an object (for example, a vehicle) approaching from the rear side of the own vehicle 4 based on the detection information of the sensors 20a and 21a. If there is an approaching object (yes), the process proceeds to step S210, and if there is no approaching object (no), the process proceeds to step S215.

In step S210, an approach warning operation is performed to notify the occupant that there is an approaching object from the rear side. Specifically, when an approaching object approaches from the right rear side, a signal for locking the door locks 3 of the right doors 42b and 42d is transmitted to the vehicle control device 2, and an alarm is displayed on the right door mirror 41R. 302 is displayed, and the marks M11 and M14R of the alarm display portion 303 are displayed. On the other hand, when the approaching object approaches from the left rear side, a signal to lock the door locks 3 of the left doors 42a and 42c is transmitted to the vehicle control device 2, and the alarm display section 302 of the left door mirror 41L is displayed. Then, the marks M11 and M14L of the alarm display section 303 are displayed. Upon receiving the locking signal, the vehicle control device 2 locks the door with the door lock 3 .

On the other hand, if the determination in step S200 is no and the process proceeds to step S215, the warning operation is canceled. That is, a release signal for the door lock 3 is output to the vehicle control device 2, and the warning by the warning unit 30 is stopped. After that, the process proceeds to step S220.

In step S220, based on the information detected by the sensors 20b and 21b, it is determined whether or not there is a stationary obstacle that hinders opening and closing of the door. If it is determined in step S220 that there is no stationary obstacle (no), the process advances to step S280 to perform a restriction release operation and terminate the series of EW warning processes shown in FIG. The restriction releasing operation is to move the gear 401 counterclockwise by the motor 403 to move the locking portion 401a to the initial position shown in FIG. It is to make M13R into a non-display state.

On the other hand, if it is determined in step S220 that there is a stationary obstacle (yes), the process proceeds to step S230. In step S<b>230 , the control device 10 causes the calculation section 101 to calculate the interference angle of the door 42 . The calculation unit 101 calculates the opening angle (=interference angle) when the door 42 interferes with the detected stationary obstacle based on the detection information from the sensors 20a to 21b. Here, the stationary obstacle refers to an object that collides with the door 42 when the door 42 is about to be fully opened. , utility poles, and other obstacles to opening and closing the door.

FIG. 10 is a diagram for explaining the door interference area when the door 42 is opened and closed. The storage unit 102 stores door passage areas (hatched areas S1 to S4) from the closed position (open angle of 0°) to the fully open position (open angle of 80°) for each of the four front, rear, left, and right doors 42a to 42d. ) are stored as door interference areas S1, S2, S3 and S4. In FIG. 10, each of the door interference areas S1 to S4 is drawn in a fan shape in plan view, but in reality, the bottom including the vertical direction is a fan-shaped columnar area.

For example, when an obstacle 70 as shown in FIG. 10 exists in the door interference area S4, the door 42d cannot be opened to the fully open position indicated by the solid line, and collides with the rock 70 when opened to the angle θ2 indicated by the broken line. On the other hand, even if the obstacle 71 is closer to the own vehicle 4, the door 42c can be freely opened to the fully open position if it is out of the door interference area S3. The calculation unit 101 determines the existence areas of the obstacles 70 and 71 based on the detection information of the sensors 20b and 21b, and calculates the interference angles of the doors 42a to 42d (step S230). In the example shown in FIG. 10, the interference angle θ2 is calculated only for the door 42d where the stationary obstacle 70 that can interfere exists.

In step S240, based on the interference angle θ2 calculated in step S230, the angle limiting section 40 performs the angle limiting operation of the door 42d. Specifically, the gear 401 is rotated clockwise by an angle of 110-(θ2-α) by the motor 403, and the engaging portion 401a is moved from the initial position (angle of 110°) to the position of the angle (θ2-α). move. Here, α is a margin that is set in advance in consideration of the calculation error of the interference angle, and the door 42d can be opened only to an angle that is smaller than the interference angle θ2 by the angle α.

For example, when θ2=45° and α is set to 5°, the locking portion 401a is moved to an angle of 40° which is 5° smaller than the position shown in FIG. 7B. When the occupant opens the door 42d, the blade 421b of the hinge 421 rotates in the R1 direction. However, when the door 42d is opened to an angle of 40°, the blade 421b abuts against the locking portion 401a, so that the door 42d stops at an opening angle of 40°, preventing the door 42 from colliding with an obstacle.

In step S250, it is determined whether or not the duration Tm of the opening operation detected by the opening operation detection unit 50 is equal to or longer than a predetermined time ΔT. The opening motion detection unit 50 is a sensor that detects the motion of the occupant to further open the door 42d (in the case of FIG. 10) whose angle is limited. corresponds to the strain sensor 500 provided on the convex portion 4210 . For example, the predetermined time ΔT is set to about 5 seconds. By setting the predetermined time ΔT to such a length, it is possible to distinguish between the collision of the protrusion 4210 with the locking portion 401a when the door is opened and the occupant's further attempt to open the door 42d.

If it is determined in step S250 that the detected duration Tm satisfies Tm≧ΔT, the process proceeds to step S260, and if it is determined that Tm<ΔT, the series of EW warning processes shown in FIG. 9 ends.

In step S260, it is determined whether or not permission to release the angle restriction is set for the door 42 for which Tm≧ΔT was determined in step S250. As described above, when the driver touches the operation buttons 601 to 604 provided on the alarm display unit 303 shown in FIGS. Permission/non-permission is set. For example, if the release of the angle restriction is normally permitted and the operation button 604 in FIG. 5B is touched, release of the angle restriction of the right rear door 42d is disallowed.

As described above, the door 42 whose angle is restricted by the angle restriction section 40 can only be opened up to angle=(interference angle−α). However, if the detected obstacle, such as an empty cardboard box, does not easily move and damage the door 42 even if it hits the open door 42, open the door 42 fully. is no problem. In this way, if the occupant can determine that the obstacle does not affect the opening of the door, there is no problem even if the opening restriction is lifted. Also, in an emergency situation where getting off the vehicle takes precedence over damage to the door 42, it is preferable to cancel the opening regulation. Thus, when release is required, an occupant sitting in the driver's seat operates operation buttons 601 to 604 to set release permission for the door 42 whose angle is restricted. As a result, when the duration Tm of the opening operation of the door 42 satisfies Tm≧ΔT, the angle limitation of the door 42 is released.

If the release permission is set, the determination in step S260 is YES, and the process proceeds to step S270. exit.

In step S270, a partial restriction release operation is executed. That is, regarding the door 42 for which release permission is set, the angle restriction by the angle restriction unit 40 is canceled, and the corresponding mark on the alarm display unit 303 (see FIG. 5A) is made non-display. For example, in the angle limiting state shown in FIG. 7B, the gear 401 is driven counterclockwise to move the engaging portion 401a to the initial position shown in FIG. 7A. As a result, the door 42 can be opened to the fully open position (open angle of 80°).

In the control examples shown in FIGS. 8 and 9, when a static obstacle is detected, the angle limit is activated even when an approaching obstacle is detected and the door lock 3 is locked. However, when the door lock 3 is locked, the opening of the door itself is prohibited, so the angle limitation may be canceled.

(Modification 1)
In the above-described embodiment, regarding obstacles approaching from the front, detection by sensors is omitted because the driver can easily visually recognize them. A sensor such as a radar may be provided to perform an EW warning operation even for an obstacle approaching from the front.

(Modification 2)
Further, in the above-described embodiment, the allowable opening/closing angle of the door 42 is calculated based on the positional information of the stationary obstacles (for example, the stationary obstacles 70 and 71 in FIG. 10). The permissible opening/closing angle may be calculated based on the interval between .

For example, in a parking lot, an adjacent parked vehicle 6 is often parked substantially parallel to the own vehicle 4 as shown in FIG. In such a case, the vehicle interval G can be regarded as substantially the same for both the front and rear doors 42b and 42d. Interference angles θ1 and θ2 can be calculated. The opening/closing trajectories of the doors 42a to 42d are stored in the storage unit 102 in advance.

(Modification 3)
In Modified Example 3, a case where a monocular camera such as a multi-view camera is used as a stationary obstacle detection sensor will be described. When a monocular camera is used as an obstacle sensor, motion stereo using time-series image information is used to estimate obstacle positions. In the case of a monocular camera, motion stereo becomes difficult to detect when surrounding obstacles move. Therefore, the presence or absence of movement of surrounding obstacles is monitored, and if they move, it is determined that the reliability is low, and for example, the door lock 3 is kept locked.

According to the embodiment and modification of the present invention described above, the following effects are obtained.

(C1) As shown in FIGS. 1, 10, etc., the vehicle warning system 1 is mounted on a vehicle 4 and performs a warning operation when the vehicle is stopped. When the stationary obstacle 70 is detected by the sensors 20b and 21b for detecting the object 70, and the stationary obstacle 70 is detected by the sensors 20b and 21b, the allowable opening/closing angle of the door 42c facing the stationary obstacle 70 is expressed as the interference angle θ2-α. an angle limiter 40 for limiting the angle at which the door 42c does not interfere with the stationary obstacle 70; Therefore, the present embodiment prevents an accident in which the passenger opens the door wide without checking the sides and collides with a stationary obstacle, which is likely to occur in a conventional vehicle that does not include the angle limiting portion 40. be able to.

(C2) In the above (C1), as shown in FIG. It further comprises a control device 10 as a door lock control unit that locks the door when an approaching obstacle is detected. Since the door is locked when an approaching obstacle is detected, the door opening operation is prohibited, and contact with the approaching obstacle due to door opening can be reliably prevented.

(C3) In the above (C2), the angle limiter 40 does not limit the allowable opening/closing angle of the door 42 when the door facing the stationary obstacle is locked by the control device 10. Also good. Since the door opening itself is prohibited when the door lock 3 is locked, collision with a stationary obstacle due to opening and closing of the door can be avoided even with such a configuration in which the angle limit is released.

(C4) In the above (C1) to (C3), as shown in FIGS. 1, 3, 5A, 5B, etc., the vehicle warning system 1 notifies the occupant that the angle limiter 40 is in operation. Further, an alarm unit 30 is provided as an alarm unit. For example, as shown in FIGS. 3 and 5A, by turning on the alarm display unit 301 provided on the door trim or by displaying the marks M12L to M13R on the alarm display unit 303 of the instrument panel, the occupant is notified that the door is restricted. It can be easily recognized whether it is in operation or not.

(C5) In the above (C1) to (C3), as shown in FIGS. 1, 9, etc., the vehicle warning system 1 includes an opening operation detection section 50 that detects the door opening operation during the angle limitation by the angle limitation section 40. and a control device 10 as an angle restriction control unit that cancels the angle restriction by the angle restriction unit 40 when the door opening operation detected by the opening operation detection unit 50 continues for a predetermined time or longer. By adopting such a configuration, when the occupant can determine that the obstacle does not affect the opening of the door, the occupant can freely open the door fully to get off the vehicle. In particular, in an emergency situation where getting off the vehicle takes priority over door damage, it is preferable to cancel the angle limit.

(C6) In the above (C5), as shown in FIGS. 1, 5A, 9, etc., the vehicle warning system 1 is a setting unit that sets whether the control device 10 permits or disallows the cancellation of the angle limit. A setting unit 60 is further provided. When permission is set by the opening permission setting unit 60, the angle restriction is canceled when the door opening operation continues for a predetermined time or more, and when the opening permission setting unit 60 sets disallowing, the door opening operation is performed. is continued for a predetermined time or more, the angle limitation is not canceled. In this way, by permitting the release of the angle limit only when the release permission setting unit 60 sets the permission of the release of the angle limit, a passenger who cannot correctly recognize the surrounding situation can, for example, get on the rear seat. It is possible to prevent a child from leaving the car with the door wide open.

The various embodiments and modifications described above are merely examples, and the present invention is not limited to these contents as long as the features of the invention are not impaired. Other aspects conceivable within the scope of the technical idea of the present invention are also included in the scope of the present invention.

DESCRIPTION OF SYMBOLS 1... Vehicle warning system 2... Vehicle control device 3... Door lock 10... Control device 20a... Left rear side sensor 20b... Left side sensor 21a... Right rear side sensor 21b... Right side sensor , 30 alarm unit 301, 302, 303 alarm display unit 40 angle limit unit 50 opening operation detection unit 60 opening permission setting unit 42, 42a to 42d door

Claims (6)

A vehicle warning system mounted on a vehicle and performing a warning operation when the vehicle is stopped,
a first obstacle sensor that detects stationary obstacles existing on the side of the own vehicle;
an angle limiter for limiting, when the stationary obstacle is detected by the first obstacle sensor, an allowable opening/closing angle of the door facing the stationary obstacle to an angle at which the door does not interfere with the stationary obstacle; A vehicle warning system comprising: A vehicle warning system according to claim 1,
a second obstacle sensor that detects an approaching obstacle approaching to the side of the own vehicle;
A vehicle warning system further comprising: a door lock control unit that locks a door on a side where the approaching obstacle approaches when the second obstacle sensor detects the approaching obstacle. In the vehicle warning system according to claim 2,
The warning system for a vehicle, wherein the angle limiting section does not limit the allowable opening/closing angle when the door facing the stationary obstacle is locked by the door lock control section. In the vehicle warning system according to any one of claims 1 to 3,
A warning system for a vehicle, further comprising a notification unit that notifies an occupant that the restriction by the angle restriction unit is in operation. In the vehicle warning system according to any one of claims 1 to 3,
an opening operation detection unit that detects a door opening operation during the angle limitation by the angle limitation unit;
The vehicle warning system further comprising: an angle limitation control section that cancels the angle limitation by the angle limitation section when the door opening operation detected by the opening operation detection section continues for a predetermined time or longer. In the vehicle warning system according to claim 5,
further comprising a setting unit for setting permission and non-permission of cancellation of the angle limit by the angle limit control unit;
The angle limit control section is
when the permission is set by the setting unit, the angle restriction is canceled when the door opening operation continues for a predetermined time or longer;
A warning system for a vehicle, wherein when the disapproval is set by the setting unit, the angle limitation is not canceled even if the door opening operation continues for a predetermined time or longer.

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