JP6651031B2 - Vehicle door collision prevention device and vehicle door collision prevention method - Google Patents

Description

  The present invention relates to a technique for preventing a door from colliding with an obstacle when an occupant opens the door of the vehicle.

When a vehicle is parked on a road shoulder or the like and an occupant opens a vehicle door, an accident has occurred in which another vehicle traveling from behind the vehicle collides with the opened door. In addition, when the vehicle is parked in a parking space and an occupant gets off, if an obstacle such as another vehicle or a wall is in the vicinity of the vehicle, an accident in which the door of the vehicle contacts an adjacent obstacle, or There is a problem that there is no space to open the door of the vehicle and the vehicle cannot be dismounted.
As a technique for preventing the occurrence of the above-described accidents and defects, Patent Document 1 discloses a sensor that monitors a distance about the door width when the door is fully opened, and a sensor that monitors a distance equal to or more than the door width. A vehicle door system that switches between two sensors and operates according to whether the current position of the vehicle is on a road or a parking space when the vehicle is in a stopped state, and performs door control according to the situation. Is disclosed.

JP 2009-041209 A

  According to the vehicle door system described in Patent Document 1, the current position of the vehicle is parked by using the GPS positioning function of receiving a GPS signal from a GPS satellite and calculating its own position information. Determines whether it is a space or on the street. Therefore, it is only possible to judge with a rough accuracy, such as whether the vehicle is located in a parking space or on a road. For example, when the vehicle is parked on a road near a parking space, there is a problem that the sensor is switched by erroneously recognizing that the current position of the vehicle is a parking space, thereby causing a malfunction of door control. .

  The present invention has been made to solve the above problems, and has as its object to detect a current position of a vehicle with high accuracy and to perform door control according to the accurate current position of the vehicle.

A vehicle door collision prevention device according to the present invention includes a vehicle information acquisition unit that acquires state information of a vehicle, a high-precision positioning information of the vehicle acquired by a high-accuracy locator, and a stop of the vehicle based on map information. A position information acquisition unit for acquiring position information specifying a position, an image processing unit for performing image processing for detecting a situation around the vehicle from a captured image outside the vehicle, and a state of the vehicle acquired by the vehicle information acquisition unit A stop position specifying unit that specifies a stop position of the vehicle based on the information and the position information obtained by the position information obtaining unit, and an obstacle that detects an obstacle to the own vehicle based on the position information of the object detected by the external sensor. An object detection unit, a distance calculation unit that calculates a distance from the host vehicle to the obstacle based on an image processing result of the image processing unit, and information on the obstacle detected by the obstacle detection unit, and a stop position identification unit Of the identified vehicle Based on the characteristics according to the vehicle position and the distance to the obstacle calculated by the distance calculation unit, the situation determination unit that determines the situation in which the occupant of the vehicle gets off, and the vehicle based on the determination result of the situation determination unit And a control unit for controlling the occupant to get off the vehicle.
The situation determination unit determines whether or not parking assistance of the vehicle is necessary based on the seating position of the occupant, the image processing result of the image processing unit, and the distance to the obstacle calculated by the distance calculation unit. Calculating a new parking position of the vehicle based on the image processing result and the distance to the obstacle, and parking the vehicle at the calculated new parking position, when it is determined that parking assistance of the vehicle is necessary. Generate parking assist information. The control unit includes a parking assistance control unit that performs control for assisting parking of the vehicle based on the parking assistance information generated by the situation determination unit.

  According to the present invention, the current position of the vehicle can be detected with high accuracy, and the door control can be performed according to the accurate current position of the vehicle.

1 is a block diagram illustrating a configuration of a vehicle door collision prevention device according to Embodiment 1. 2A and 2B are diagrams illustrating a hardware configuration example of the vehicle door collision prevention device according to the first embodiment. 4 is a flowchart showing the operation of the vehicle door collision prevention device according to Embodiment 1. 5 is a flowchart illustrating operations of a situation determination unit and a control unit of the vehicle door collision prevention device according to Embodiment 1. 5 is a flowchart illustrating operations of a situation determination unit and a control unit of the vehicle door collision prevention device according to Embodiment 1. 5 is a flowchart illustrating operations of a situation determination unit and a control unit of the vehicle door collision prevention device according to Embodiment 1. FIG. 9 is a block diagram illustrating a configuration of a vehicle door collision prevention device according to a second embodiment. 9 is a flowchart illustrating operations of a situation determination unit and a control unit of the vehicle door collision prevention device according to the second embodiment. FIG. 13 is a block diagram illustrating a configuration of a vehicle door collision prevention device according to a third embodiment. 10A and 10B are diagrams illustrating a hardware configuration example of the vehicle door collision prevention device. 9 is a flowchart illustrating operations of a situation determination unit and a control unit of the vehicle door collision prevention device according to Embodiment 3. 9 is a flowchart illustrating operations of a situation determination unit and a control unit of the vehicle door collision prevention device according to Embodiment 3. FIG. 13 is a sequence diagram showing operations of the vehicle door collision prevention device according to Embodiment 3 and an on-vehicle device. FIG. 13 is a block diagram illustrating a configuration of a vehicle door collision prevention device according to a fourth embodiment. 13 is a flowchart illustrating operations of a situation determination unit and a control unit of the vehicle door collision prevention device according to Embodiment 4. FIG. 13 is a block diagram illustrating a configuration of a vehicle door collision prevention device according to a fifth embodiment. 15 is a flowchart illustrating operations of a situation determination unit and a control unit of the vehicle door collision prevention device according to Embodiment 5. FIG. 14 is a diagram showing a display example of a monitor connected to the vehicle door collision prevention device according to Embodiment 1-5.

Hereinafter, in order to explain this invention in greater detail, the preferred embodiments of the present invention will be described with reference to the accompanying drawings.
Embodiment 1 FIG.
FIG. 1 is a block diagram showing a configuration of a vehicle door collision prevention device 100 according to the first embodiment.
The vehicle door collision prevention device 100 includes a vehicle information acquisition unit 101, a position information acquisition unit 102, an image processing unit 103, a stop position identification unit 104, an obstacle detection unit 105, a distance calculation unit 106, a situation determination unit 107, and a door control unit. The control unit 108 includes a control unit 109 and an output control unit 110.
As shown in FIG. 1, the vehicle door collision prevention device 100 acquires information from a vehicle ECU (Electronic Control Unit) 201, a high-precision locator 202, a camera 203 outside a vehicle, a sensor 204, a camera 205 inside a vehicle, and a seating sensor 206. Further, the vehicle door collision prevention device 100 controls the door 207, the speaker 208, and the monitor 209.

Next, details of each component of the vehicle door collision prevention device 100 will be described. Hereinafter, the vehicle equipped with the vehicle door collision prevention device 100 will be described as the own vehicle.
The vehicle information acquisition unit 101 acquires vehicle information, such as vehicle speed information, hazard lamp lighting information, and shift lever position information, for determining whether or not the vehicle is stopped, from the vehicle ECU 201. The vehicle information acquisition unit 101 outputs the acquired vehicle information to the stop position identification unit 104.
The vehicle ECU 201 is mounted on the host vehicle and controls the host vehicle in accordance with the operation of the driver or other inputs.

  The position information acquisition unit 102 acquires the position information of the vehicle based on the high-precision positioning information of the vehicle input from the high-accuracy locator 202 and the map information. The position information acquisition unit 102 outputs the acquired position information of the own vehicle to the stop position identification unit 104.

The high-accuracy locator 202 receives high-accuracy positioning information distributed from, for example, the Sun-Zenith Satellite System. High-accuracy locator 202 acquires high-accuracy positioning information on the own vehicle and outputs the acquired information to position information acquiring section 102. Here, the high-accuracy positioning information is, for example, information obtained by high-accuracy positioning on the order of one meter or even centimeters. The high-accuracy positioning information is information that can specify a more detailed position than the positioning information received by the GPS receiver.
The position information acquisition unit 102, based on the high-precision positioning information of the own vehicle input from the high-accuracy locator 202 and the map information stored in a map database (not shown) or the like, for example, When the vehicle is stopped on the road, the position information specifying which of the three lanes the vehicle is stopped on is acquired. Further, for example, when the host vehicle is stopped, the position information obtaining unit 102 obtains position information specifying whether the host vehicle is stopped on the shoulder of the road or stopped in a parking space.

  The image processing unit 103 performs image processing on an image captured by the camera 203 outside the vehicle. The image processing unit 103 performs image processing for identifying a stop position of the host vehicle, such as whether the host vehicle is stopped at the shoulder of the road or whether the host vehicle is parked in a parking space. And a white line indicating the parking space area are detected. Further, the image processing unit 103 performs, as image processing for detecting a situation around the own vehicle, from a captured image, for example, another vehicle approaching from behind the own vehicle, a structure such as a wall located around the own vehicle, or a person. Further, image processing for discriminating another parked vehicle or the like (hereinafter, referred to as an obstacle adjacent to the own vehicle) is performed. The image processing unit 103 outputs the image processing result to the stop position specifying unit 104, the distance calculation unit 106, and the situation determination unit 107.

  The external camera 203 connected to the image processing unit 103 includes, for example, a rear monitoring camera and a side monitoring camera. The rear surveillance camera and the side surveillance camera are cameras installed in the own vehicle so as to be able to image the rear of the own vehicle and the side of the own vehicle. The external camera 203 may be composed of two or more cameras, or may be composed of one camera as long as it can capture images in all directions with respect to the own vehicle. Further, in addition to the rear surveillance camera and the side surveillance camera, a front surveillance camera that images the front of the host vehicle may be applied.

The stop position identification unit 104 detects that the vehicle has stopped with reference to the vehicle information input from the vehicle information acquisition unit 101. When detecting the stop of the vehicle, the stop position specifying unit 104 specifies the stop position of the vehicle based on the position information of the vehicle acquired by the position information acquisition unit 102 and the image processing result of the image processing unit 103. The stop position identification unit 104 outputs the identified stop position of the own vehicle to the situation determination unit 107.
The stop position specifying unit 104 specifies, for example, whether the host vehicle is parked in a parking space, stopped at a road shoulder, or stopped in a parking space and other areas other than the road shoulder. Here, the other area is, for example, a parking space in front of a station or a rotary.
Hereinafter, a case where the stop position specifying unit 104 classifies the stop position of the own vehicle into a road shoulder, a parking space, or another area to specify the stop position will be described as an example. Instead, the classification of the stop position can be variously set.

  In the above description, the configuration in which the stop position specifying unit 104 specifies the stop position of the own vehicle based on the position information of the own vehicle and the image processing result of the image processing unit 103 has been described. The configuration may be such that the image processing result of the image processing unit 103 is not referred to if the stop position can be specified only by the position information.

  The obstacle detection unit 105 detects an obstacle to the own vehicle with reference to the position information of the object input from the sensor 204. The obstacle detection unit 105 outputs the position information of the detected obstacle to the distance calculation unit 106.

The sensor 204 connected to the obstacle detection unit 105 includes, for example, a rear monitoring sensor and a side monitoring sensor. The rear monitoring sensor and the side monitoring sensor are sensors mounted on the vehicle so as to be able to detect objects located behind and on the side of the vehicle.
The sensor 204 is composed of, for example, a radar, transmits a radar wave represented by a millimeter wave, a laser beam, or an ultrasonic wave, and based on a time until the transmitted radar wave receives a reflected wave reflected by an object. To calculate the distance to the object. The sensor 204 calculates the azimuth, that is, the angle, of the object with respect to the own vehicle based on the receiving direction of the reflected wave reflected by the object. The sensor 204 specifies the position of the object based on the calculated distance and angle, specifically, the relative position with respect to the own vehicle. The sensor 204 outputs position information of the specified object to the obstacle detection unit 105.
The sensor 204 may be composed of two or more sensors 204, or may be composed of one sensor 204 as long as the sensor 204 can scan the vehicle in all directions. Further, in addition to the rear monitoring sensor and the side monitoring sensor, a front monitoring sensor that scans the front of the vehicle may be applied.

  The distance calculation unit 106 calculates the distance from the host vehicle to the obstacle based on the image processing result input from the image processing unit 103 and the position information of the obstacle input from the obstacle detection unit 105. The distance calculation unit 106 outputs information on the calculated distance from the host vehicle to the obstacle to the situation determination unit 107.

  The situation determination unit 107 determines the stop mode based on the stop position of the vehicle input from the stop position identification unit 104. The stop mode includes a parking lot mode, a roadside mode, a normal mode, and the like, which will be described later. The situation determination unit 107 stores characteristics in each stop mode in a buffer (not shown) or the like in advance. The situation determination unit 107 acquires the characteristic corresponding to the determined stop mode with reference to the characteristic stored in the buffer or the like.

The situation determination unit 107 determines that the stop mode is the parking lot mode, for example, when the stop position of the own vehicle is a parking space. The situation determination unit 107 acquires characteristics according to the determined parking lot mode. The characteristic according to the parking mode is "a stopped state in which there is no other vehicle approaching from behind the vehicle and the vehicle is prevented from contacting an obstacle adjacent to the own vehicle".
Further, the situation determination unit 107 determines that the stop mode is the road shoulder mode, for example, when the stop position of the own vehicle is at the road shoulder. The situation determination unit 107 acquires characteristics according to the determined road shoulder mode. The characteristics according to the road shoulder mode are as follows: `` It prevents contact with other vehicles approaching from behind on the roadway side of the own vehicle, there is no other vehicle approaching from behind on the road shoulder side of the own vehicle, and it is adjacent to the own vehicle A stop situation that prevents contact between the host vehicle and an obstacle ”.
Further, the situation determination unit 107 determines that the stop mode is the normal mode, for example, when the stop position of the own vehicle is other than the parking space and the shoulder of the road. The situation determination unit 107 acquires characteristics according to the determined normal mode. The characteristic according to the normal mode is "a stop situation in which contact with another vehicle approaching from behind on both sides of the own vehicle to prevent contact between the own vehicle and an obstacle adjacent to the own vehicle".

Further, the situation determination unit 107 specifies a door to which the occupant may get off, based on the information on the occupant's seating position input from the in-vehicle camera 205 or the seating sensor 206.
The in-vehicle camera 205 captures an image of the inside of the own vehicle, and acquires an image capable of recognizing which seat the occupant is sitting on. The seat sensor 206 is a pressure sensor or the like provided on each seat in the host vehicle, and acquires a detection signal indicating which seat the occupant is seated.

The situation determination unit 107 includes information on the position of the door identified as a possibility that the occupant may get off the vehicle, characteristics according to the stop position of the own vehicle, image processing results of the captured image, and information on the distance from the own vehicle to the obstacle. Based on this, the control condition for the occupant to get off the specified door is determined. The control conditions for the occupant to get off from the specified door include, for example, control to prohibit opening and closing of the door, control to adjust the opening and closing angle of the door, control to output a warning, and the like.

  When determining the control condition that the opening / closing control of the door identified that the occupant is likely to get off is necessary, the situation determining unit 107 determines the image processing result of the captured image and the information on the distance from the own vehicle to the obstacle. Based on the output, a door opening / closing control amount is output to the door control unit 109. Here, the door opening / closing control amount is a control amount for opening / closing such that the specified door does not hit an obstacle adjacent to the host vehicle. Further, the door opening / closing control amount includes a control amount that does not cause the door to open / close when the door opening / closing is prohibited.

  Further, when determining the control condition that a warning is required, the situation determination unit 107 generates warning information based on the image processing result of the captured image and information on the distance from the own vehicle to the obstacle, and generates the warning. It instructs output control section 110 to output information. Here, the warning information includes a warning display, a warning sound, a warning sound, and the like indicating that attention is required for opening and closing the door such as the approach of another vehicle or the presence of an obstacle adjacent to the own vehicle.

The door control unit 109 controls the opening and closing of the door 207 of the host vehicle based on the instruction to prohibit the opening and closing of the door input from the situation determination unit 107 or the amount of control of the opening and closing of the door.
The output control unit 110 performs control to display the warning information on the monitor 209 based on the output of the warning information instructed from the situation determination unit 107, and performs control to output the warning information from the speaker 208 as sound.
The door 207 is a door disposed on both sides of the host vehicle for an occupant to get on and off the host vehicle, a back door disposed at the rear of the host vehicle for the occupant to load and unload luggage, and the like. The speaker 208 is an audio output device installed in the own vehicle. The monitor 209 is a video output device installed in the own vehicle.

Next, an example of a hardware configuration of the vehicle door collision prevention device 100 will be described.
2A and 2B are diagrams illustrating a hardware configuration example of the vehicle door collision prevention device 100.
Vehicle information acquisition unit 101, position information acquisition unit 102, image processing unit 103, stop position identification unit 104, obstacle detection unit 105, distance calculation unit 106, situation determination unit 107, door control unit 109 in vehicle door collision prevention device 100. The output control unit 110 may be a processing circuit 100a which is a dedicated hardware as shown in FIG. 2A, or a processor 100b which executes a program stored in a memory 100c as shown in FIG. 2B. You may.

  As shown in FIG. 2A, a vehicle information acquisition unit 101, a position information acquisition unit 102, an image processing unit 103, a stop position identification unit 104, an obstacle detection unit 105, a distance calculation unit 106, a situation determination unit 107, and a door control unit 109. When the output control unit 110 is dedicated hardware, the processing circuit 100a includes, for example, a single circuit, a composite circuit, a programmed processor, a parallel programmed processor, an ASIC (Application Specific Integrated Circuit), and an FPGA (Field -programmable Gate Array) or a combination of these. Vehicle information acquisition unit 101, position information acquisition unit 102, image processing unit 103, stop position identification unit 104, obstacle detection unit 105, distance calculation unit 106, situation determination unit 107, door control unit 109, and output control unit 110 Each of the functions may be realized by a processing circuit, or the functions of each unit may be realized by one processing circuit.

  As shown in FIG. 2B, the vehicle information acquisition unit 101, the position information acquisition unit 102, the image processing unit 103, the stop position identification unit 104, the obstacle detection unit 105, the distance calculation unit 106, the situation determination unit 107, and the door control unit 109 When the output control unit 110 is the processor 100b, the function of each unit is realized by software, firmware, or a combination of software and firmware. Software or firmware is described as a program and stored in the memory 100c. The processor 100b reads out and executes the program stored in the memory 100c, so that the vehicle information acquisition unit 101, the position information acquisition unit 102, the image processing unit 103, the stop position identification unit 104, the obstacle detection unit 105, the distance calculation The functions of the unit 106, the situation determination unit 107, the door control unit 109, and the output control unit 110 are realized. That is, the vehicle information acquisition unit 101, the position information acquisition unit 102, the image processing unit 103, the stop position identification unit 104, the obstacle detection unit 105, the distance calculation unit 106, the situation determination unit 107, the door control unit 109, and the output control unit 110 Includes a memory 100c for storing a program that results in execution of each step shown in FIGS. 3 to 6 described below when executed by the processor 100b. These programs include a vehicle information acquisition unit 101, a position information acquisition unit 102, an image processing unit 103, a stop position identification unit 104, an obstacle detection unit 105, a distance calculation unit 106, a situation determination unit 107, and a door control unit 109. It can also be said that the computer causes the computer to execute the procedure or method of the output control unit 110.

Here, the processor 100b is, for example, a CPU (Central Processing Unit), a processing device, an arithmetic device, a processor, a microprocessor, a microcomputer, a DSP (Digital Signal Processor), or the like.
The memory 100c may be a nonvolatile or volatile semiconductor memory such as a RAM (Random Access Memory), a ROM (Read Only Memory), a flash memory, an EPROM (Erasable Programmable ROM), and an EEPROM (Electrically EPROM). Alternatively, the optical disk may be a magnetic disk such as a hard disk or a flexible disk, or an optical disk such as a mini disk, a CD (Compact Disc), or a DVD (Digital Versatile Disc).

  In addition, the vehicle information acquisition unit 101, the position information acquisition unit 102, the image processing unit 103, the stop position identification unit 104, the obstacle detection unit 105, the distance calculation unit 106, the situation determination unit 107, the door control unit 109, and the output control unit 110 Some of the functions may be realized by dedicated hardware, and some may be realized by software or firmware. As described above, the processing circuit 100a in the vehicle door collision prevention device 100 can realize each of the above-described functions by hardware, software, firmware, or a combination thereof.

Next, the operation of the vehicle door collision prevention device 100 will be described.
FIG. 3 is a flowchart showing the operation of the vehicle door collision prevention device 100 according to the first embodiment.
In the flowchart of FIG. 3, the vehicle information obtaining unit 101 constantly obtains vehicle information and outputs it to the stop position specifying unit 104, and the position information obtaining unit 102 constantly obtains position information of the own vehicle and sends the information to the stop position specifying unit 104. It is assumed that it is output. Further, it is assumed that the image processing unit 103 constantly outputs the image processing result to the stop position specifying unit 104, the distance calculating unit 106, and the situation determining unit 107. It is also assumed that, when an obstacle is detected, the distance calculation unit 106 calculates the distance from the own vehicle to the obstacle and outputs the distance to the situation determination unit 107.

  The stop position specifying unit 104 refers to the vehicle information input from the vehicle information acquisition unit 101, and determines whether the own vehicle has stopped (step ST1). If the host vehicle is not stopped (step ST1; NO), the determination process of step ST1 is continued. On the other hand, when the host vehicle stops (step ST1; YES), the stop position specifying unit 104 refers to the high-precision position information of the host vehicle input from the position information acquisition unit 102, and determines the stop position of the host vehicle, It is determined whether it is a parking lot, a road shoulder, or another area (step ST2). The stop position identification unit 104 outputs the identified position of the own vehicle to the situation determination unit 107.

  The situation determination unit 107 refers to the identification result input from the stop position identification unit 104, and shifts to the parking mode (step ST3) when the stop position of the own vehicle is a parking space (step ST2; parking lot). ). The situation determination unit 107 determines a control condition in the parking mode based on the image processing result input from the image processing unit 103 and the information on the distance from the vehicle to the obstacle input from the distance calculation unit 106. (Step ST4). The situation determination unit 107 outputs the determined control condition to the control unit 108. The door control unit 109 and the output control unit 110 of the control unit 108 perform control based on the input control conditions (step ST5), and ends the processing. Details of the processing of step ST4 and step ST5 will be described later.

  Next, when the stop position of the own vehicle is at the road shoulder (step ST2; road shoulder), the situation determination unit 107 shifts to the road shoulder mode (step ST6). The situation determination unit 107 determines the control condition in the roadside mode based on the image processing result input from the image processing unit 103 and the information on the distance from the own vehicle to the obstacle input from the distance calculation unit 106. (Step ST7). The situation determination unit 107 outputs the determined control condition to the control unit 108. The door control unit 109 and the output control unit 110 perform control based on the input control conditions (step ST8), and end the process. Details of the processing in step ST7 and step ST8 will be described later.

  Next, when the stop position of the own vehicle is other (step ST2; other), the situation determination unit 107 shifts to the normal mode (step ST9). The situation determination unit 107 determines a control condition in the normal mode based on the image processing result input from the image processing unit 103 and the information on the distance from the own vehicle to the obstacle input from the distance calculation unit 106. (Step ST10). The situation determination unit 107 outputs the determined control condition to the control unit 108. The door control unit 109 and the output control unit 110 perform control based on the input control conditions (step ST11), and end the process. Details of the processing in step ST10 and step ST11 will be described later.

Next, the details of the processing of steps ST4 and ST5 in the flowchart of FIG. 3 will be described with reference to FIG.
FIG. 4 is a flowchart illustrating operations of the situation determination unit 107 and the control unit 108 of the vehicle door collision prevention device 100 according to the first embodiment.
When shifting to the parking mode in step ST3 of the flowchart of FIG. 3, the situation determination unit 107 determines that the own vehicle is parked in the parking area in the parking lot, and there is no other vehicle approaching from behind the own vehicle. A process for preventing contact between the host vehicle and an obstacle adjacent to the host vehicle is started.

  The situation determining unit 107 that has shifted to the parking mode detects the occupant's seating position with reference to the image captured by the in-vehicle camera 205 or the information of the seating sensor 206 (step ST21). The situation determination unit 107 specifies a door to which the occupant may get off based on the seating position detected in step ST21 (step ST22). The situation determination unit 107 determines whether or not door opening / closing control is necessary by referring to the image processing result regarding the door identified in step ST22 and the distance from the host vehicle to the obstacle (step ST23). If the door opening / closing control is not required (step ST23; NO), the process ends. Here, the case where the opening / closing control of the door is not necessary is a case where even if the specified door is opened by the maximum amount, the vehicle does not hit an obstacle adjacent to the own vehicle.

On the other hand, if the door opening / closing control is necessary (step ST23; YES), the situation determination unit 107 refers to the image processing result regarding the specified door and the distance from the host vehicle to the obstacle, and determines the door opening / closing control amount. It is calculated (step ST24) and output to the door control unit 109. The door control unit 109 controls the opening and closing of the door 207 based on the input opening / closing control amount (step ST25), and ends the process. The door opening / closing control amount calculated in step ST24 is a control amount for opening / closing such that the specified door does not hit an obstacle adjacent to the host vehicle. Note that the door opening / closing control amount includes a control amount that does not open / close the door when door opening / closing is prohibited.
As described above, in the parking lot mode, processing for preventing contact between the door of the host vehicle and an obstacle adjacent to the host vehicle is performed.

Next, details of the processing in steps ST7 and ST8 of the flowchart in FIG. 3 will be described with reference to FIG.
FIG. 5 is a flowchart illustrating operations of the situation determination unit 107 and the control unit 108 of the vehicle door collision prevention device 100 according to the first embodiment. In the following, the same steps as those of the situation determination unit 107 and the control unit 108 shown in FIG. 4 are denoted by the same reference numerals as those used in FIG. 4, and the description will be omitted or simplified.
When shifting to the road shoulder mode in step ST6 of the flowchart in FIG. 3, the situation determination unit 107 starts a process for detecting another vehicle approaching from behind on the roadway side of the own vehicle and preventing contact with the other vehicle. In addition, since there is no other vehicle approaching from the rear of the host vehicle on the road shoulder side of the host vehicle, the situation determination unit 107 performs a process for preventing contact between the host vehicle and an obstacle adjacent to the host vehicle. Start. The obstacle on the roadside of the host vehicle and adjacent to the host vehicle is, for example, a wall or a guardrail.

The situation determination unit 107 determines whether or not the occupant has exited from the door on the roadway side with reference to the identification result of step ST22 (step ST31). If the occupant has not exited from the roadway side door (step ST31; NO), the process proceeds to step ST37. On the other hand, when the occupant gets off from the door on the roadway side (step ST31; YES), the situation determination unit 107 refers to the image processing result regarding the door on the roadway side and the information on the distance from the own vehicle to the obstacle, and It is determined whether there is another vehicle approaching from behind the vehicle (step ST32). If there is no other vehicle approaching from behind the host vehicle (step ST32; NO), the process proceeds to step ST37.

When there is another vehicle approaching from behind the own vehicle (step ST32; YES), the situation determination unit 107 generates and outputs warning information when the distance from the own vehicle to the other vehicle is within a predetermined distance. Output to control section 110 (step ST33). Output control section 110 performs output control of speaker 208 and monitor 209 based on the warning information input in step ST33 (step ST34). Furthermore, status determination unit 107 calculates the door control amount based on the information of the distance from the image processing result and the vehicle relates to a door of the car canal side to the obstacle, and outputs to the door control section 109 (step ST35) . The door control unit 109 controls opening and closing of the door 207 based on the door opening / closing control amount input in step ST35 (step ST36).

  Next, the situation determination unit 107 determines whether there is any exit from the door on the road shoulder side with reference to the identification result of the door at which the occupant may get off in step ST22 (step ST37). When there is no getting off from the door on the road shoulder side (step ST37; NO), the processing is ended. On the other hand, when there is a drop-off from the roadside door (step ST37; YES), the situation determination unit 107 refers to the image processing result on the roadside door and information on the distance from the own vehicle to the obstacle, and opens and closes the door. It is determined whether control is necessary (step ST38). If the door opening / closing control is not required (step ST38; NO), the process ends.

On the other hand, if the door opening / closing control is necessary (step ST38; YES), the situation determination unit 107 performs the door opening / closing control based on the image processing result regarding the roadside door and information on the distance from the host vehicle to the obstacle. The amount is calculated (step ST39). The situation determination unit 107 outputs the calculated door opening / closing control amount to the door control unit 109. The door control unit 109 controls the opening and closing of the door 207 based on the input opening and closing control amount of the door (step ST25), and ends the process.
As described above, in the road shoulder mode, contact with another vehicle approaching from behind on the road side of the host vehicle is prevented, and contact between the host vehicle and an obstacle adjacent to the host vehicle on the road shoulder side of the host vehicle is prevented. Is performed.

Next, details of the processing in steps ST10 and ST11 of the flowchart in FIG. 3 will be described with reference to FIG.
FIG. 6 is a flowchart showing the operations of the situation determination unit 107 and the control unit 108 of the vehicle door collision prevention device 100 according to Embodiment 1. In the following, the same steps as those of the situation determination unit 107 and the control unit 108 shown in FIG. 4 are denoted by the same reference numerals as those used in FIG. 4, and the description will be omitted or simplified.
When the mode is shifted to the normal mode in step ST9 of the flowchart of FIG. 3, the situation determination unit 107 prevents contact with another vehicle approaching from behind on both sides of the own vehicle, and sets an obstacle adjacent to the own vehicle, A process for preventing the contact of the user is started.

  The situation determination unit 107 determines whether or not there is another vehicle approaching from behind the own vehicle with reference to the image processing result regarding the door identified in step ST22 and information on the distance from the own vehicle to the obstacle ( Step ST41). When there is no other vehicle approaching from behind the own vehicle (step ST41; NO), the process proceeds to step ST23 shown in the flowchart of FIG.

On the other hand, when there is another vehicle approaching from behind the own vehicle (step ST41; YES), the process proceeds to steps ST33 and ST35 in the flowchart shown in FIG.
As described above, in the normal mode, a process is performed for preventing contact with another vehicle approaching from behind on both sides of the own vehicle and preventing contact between the own vehicle and an obstacle adjacent to the own vehicle.

  As described above, according to the first embodiment, based on the vehicle information acquisition unit 101 that acquires the state information of the vehicle, the high-accuracy positioning information of the own vehicle acquired by the high-accuracy locator 202, and the map information, A position information acquisition unit 102 that acquires position information specifying a stop position of the vehicle, an image processing unit 103 that performs image processing for detecting a situation around the vehicle from a captured image outside the vehicle, and a sensor 204 An obstacle detecting unit 105 that detects an obstacle to the own vehicle based on the position information of the detected object, a stop position specifying unit 104 that specifies a stop position of the vehicle from the state information of the vehicle and the position information, A distance calculation unit 106 that calculates a distance from the host vehicle to the obstacle based on the processing result and information on the obstacle, and a characteristic of a stop position of the vehicle and a distance of the vehicle based on the distance to the obstacle. The crew gets off And a control unit 108 that controls the occupant of the vehicle to get off based on the determination result of the status determination unit 107, so that the current position of the vehicle is determined. Detection can be performed with high accuracy, and door control can be performed according to the accurate current position of the vehicle. Further, the stop position of the host vehicle can be specified in detail using the high-precision position information of the host vehicle, and the efficiency of door opening / closing control can be increased.

  Further, according to the first embodiment, control unit 108 controls door opening / closing of the vehicle based on the determination result of situation determination unit 107, and based on the determination result of situation determination unit 107. And an output control unit 110 that performs a control to output a warning regarding the opening and closing of the door of the vehicle, so that an accurate current position of the vehicle is specified and a stop condition obtained as needed. Control of opening / closing of a vehicle door and generation of warning information can be performed.

In the first embodiment described above, the stop position specifying unit 104 determines the stop position of the own vehicle based on only the position information of the own vehicle based on the positioning information of the high-accuracy locator 202 acquired by the position information acquisition unit 102. Can be identified. On the other hand, in a situation in which the location information acquisition unit 102 cannot acquire the location information of the high-accuracy locator 202 (for example, when the own vehicle is traveling in a tunnel), or in a situation in which the own vehicle is stopped at the shoulder of a road and it is difficult to determine the traveling lane. The stop position of the host vehicle can be specified using the image processing result of the image processing unit 103.
In this way, by using the image captured by the external camera 203 as an auxiliary to specify the exact stop position of the host vehicle, the efficiency of the door opening / closing control can be increased.

Embodiment 2 FIG.
In the second embodiment, a configuration is described in which the movement of an occupant is detected and door opening / closing control is performed before the occupant performs door opening / closing operation.
FIG. 7 is a block diagram showing a configuration of a vehicle door collision prevention device 100A according to the second embodiment.
The vehicle door collision prevention device 100A according to the second embodiment is configured by adding an action detection unit 111 to the vehicle door collision prevention device 100 of the first embodiment shown in FIG. Further, a situation determining unit 107a is provided instead of the situation determining unit 107.
In the following, portions that are the same as or correspond to the components of the vehicle door collision prevention device 100 according to the first embodiment are denoted by the same reference numerals as those used in the first embodiment, and description thereof is omitted or simplified. .

  The behavior detection unit 111 detects the sight line direction, face direction, or body movement of the occupant from the image captured by the in-vehicle camera 205, and when the sight line or face direction of the occupant is facing the door with the door knob, the occupant It is detected that there is a possibility that an opening / closing operation of the door may be performed. In addition, the behavior detecting unit 111 detects the movement of the occupant's body from the image captured by the in-vehicle camera 205, and the occupant's body is turned to the door with the door knob, or the occupant's arm or hand is moved to the door with the door knob. When the vehicle moves in the direction, it is detected that there is a possibility that an occupant may perform an opening and closing operation of the door. When detecting that there is a possibility that the occupant will perform the opening / closing operation of the door, the action detecting unit 111 outputs detection information of the occupant's opening / closing operation of the door and the position information of the door to the situation determining unit 107a.

  The in-vehicle camera 205 connected to the action detection unit 111 is configured by, for example, a camera that forms a driver monitoring system. The in-vehicle camera 205 is a camera arranged in the own vehicle so as to be able to image a front seat and a rear seat in the own vehicle. Note that the in-vehicle camera 205 may be configured with two or more cameras, or may be configured with one camera that can image all seats in the vehicle.

  When the detection information and the position information of the door are input from the action detection unit 111 in addition to the processing described in the first embodiment, the situation determination unit 107a detects the door that is likely to be opened and closed. Then, it is determined whether there is another vehicle approaching from behind, whether the own vehicle comes into contact with an obstacle adjacent to the own vehicle, and the like. The situation determination unit 107a instructs the control unit 108 to perform control based on the determination result.

Next, a hardware configuration example of the vehicle door collision prevention device 100A will be described. The description of the same configuration as in the first embodiment is omitted.
The action detection unit 111 and the situation determination unit 107a in the vehicle door collision prevention device 100A are the processor 100b that executes a program stored in the processing circuit 100a illustrated in FIG. 2A or the memory 100c illustrated in FIG. 2B.

Next, the operation of the vehicle door collision prevention device 100A will be described.
FIG. 8 is a flowchart showing the operations of the situation determination unit 107a and the control unit 108 of the vehicle door collision prevention device 100A according to the second embodiment. FIG. 8 shows an example of the operation when the mode is shifted to the road shoulder mode in step ST6 of the flowchart in FIG. 3 described in the first embodiment. In the following, the same steps as those of the vehicle door collision prevention device 100 according to Embodiment 1 are denoted by the same reference numerals as those used in FIG. 5, and the description is omitted or simplified.
The situation determination unit 107a monitors whether detection information has been input from the behavior detection unit 111 in parallel with the processing illustrated in FIGS. 3 to 6 described in the first embodiment. When the detection information is input from the behavior detection unit 111, the situation determination unit 107a executes the processing of the flowchart illustrated in FIG.

  When the detection information of the door opening / closing operation by the occupant and the position information of the door are input from the action detection unit 111 (step ST51), the situation determination unit 107a detects the door that is detected as having a possibility of performing the opening / closing operation. It is determined whether or not the door is a roadside door (step ST52).

  If the door is a roadway side door (step ST52; YES), the situation determination unit 107a refers to the image processing result regarding the roadway side door and information on the distance from the host vehicle to an obstacle, and approaches from behind the host vehicle. It is determined whether or not another vehicle exists (step ST32). If there is no other vehicle approaching from behind the host vehicle (step ST32; NO), the process ends. On the other hand, when there is another vehicle approaching from behind the own vehicle (step ST32; YES), the process proceeds to steps ST33 and ST35. If the door is not the roadside door (step ST52; NO), the process proceeds to step ST38.

As described above, according to the second embodiment, the opening / closing operation of the vehicle door is performed based on at least one of the line-of-sight direction, the face direction, and the body direction of the vehicle occupant from the captured image in the vehicle. Is provided so as to detect the possibility that the occupant will get off and on the door where the opening / closing operation may be performed. The state of the door of the vehicle that the occupant is trying to open can be determined, and the opening and closing control can be performed. As a result, the opening and closing control of the vehicle door can be efficiently performed.
Further, it is possible to control the opening and closing of the door based on the line of sight, posture, movement, and the like when the occupant tries to open the door of the vehicle, and it is possible to perform the opening and closing control of the door quickly and reliably.

Embodiment 3 FIG.
In the third embodiment, a configuration is shown in which communication between the host vehicle and another vehicle approaching the host vehicle from behind is performed by inter-vehicle communication.
FIG. 9 is a block diagram showing a configuration of a vehicle door collision prevention device 100B according to the third embodiment. FIG. 9 shows a collision prevention system including on-vehicle devices 300a, 300b,..., 300n that are communicatively connected to the vehicle door collision prevention device 100B.

The vehicle door collision prevention device 100B according to the third embodiment is configured by adding a communication unit 112 and a communication control unit 113 to the vehicle door collision prevention device 100 of the first embodiment shown in FIG. The control unit 108a includes a door control unit 109, an output control unit 110, and a communication control unit 113. Further, a status determining unit 107b is provided instead of the status determining unit 107.
In the following, portions that are the same as or correspond to the components of the vehicle door collision prevention device 100 according to the first embodiment are denoted by the same reference numerals as those used in the first embodiment, and description thereof is omitted or simplified. .

The communication unit 112 transmits and receives information to and from the on-vehicle devices 300a, 300b,...
The communication control unit 113 transmits, via the communication unit 112, the information input from the situation determination unit 107 b indicating that the door of the own vehicle opens and closes, to the in-vehicle device 300 of another vehicle approaching from behind the own vehicle. Perform control. In addition, the communication control unit 113 receives, via the communication unit 112, the approach information transmitted from the in-vehicle device 300 of another vehicle approaching from behind the own vehicle. Communication control section 113 outputs the received approach information to situation determination section 107b.
The other vehicle approaching from behind the own vehicle may be detected by, for example, the outside camera 203 or the sensor 204, or when the other vehicle exists within a certain distance from the own vehicle as a base point, the communication unit 112 transmits the on-vehicle device. The detection may be performed by performing inter-vehicle communication with 300.

The situation determination unit 107b identifies that the occupant has got off from the door on the roadway side of the own vehicle, and determines that the door of the own vehicle opens and closes when it determines that there is another approaching vehicle from behind the own vehicle. The information to be notified is generated and output to the communication control unit 113.
Further, when approach information transmitted from another vehicle is input from communication control unit 113, situation determination unit 107 generates warning information indicating that another vehicle is approaching from behind, and outputs the warning information to output control unit 110. I do. The warning information generated here is, for example, a warning display indicating the approach of another vehicle, a warning sound, a warning sound, and the like.

Next, an example of a hardware configuration of the vehicle door collision prevention device 100B will be described.
10A and 10B are diagrams illustrating a hardware configuration example of the vehicle door collision prevention device 100. The description of the same configuration as in the first embodiment is omitted.
The communication unit 112 in the vehicle door collision prevention device 100B is realized by the wireless communication device 100d that performs wireless communication with the in-vehicle device 300 or an external network.
The communication control unit 113 and the situation determination unit 107b in the vehicle door collision prevention device 100B are the processor 100b that executes a program stored in the processing circuit 100a illustrated in FIG. 2A or the memory 100c illustrated in FIG. 2B.

Next, the operation of the vehicle door collision prevention device 100B will be described with reference to FIGS.
FIG. 11 is a flowchart showing the operations of the situation determination unit 107b and the control unit 108a of the vehicle door collision prevention device 100B according to the third embodiment. FIG. 11 shows an example of the operation when the mode is shifted to the road shoulder mode in step ST6 of the flowchart in FIG. 3 described in the first embodiment. In the following, the same steps as those of the vehicle door collision prevention device 100 according to Embodiment 1 are denoted by the same reference numerals as those used in FIG. 5, and the description is omitted or simplified.

  If the situation determination unit 107b determines that another vehicle approaches from behind the own vehicle in the determination processing of step ST32 (step ST32; YES), the situation determination unit 107b generates warning information based on information on the distance from the own vehicle to the approaching object. Is output to the output control unit 110 (step ST33). Further, the situation determination unit 107b calculates a door opening / closing control amount based on the image processing result regarding the vehicle side door and information on the distance from the host vehicle to the obstacle, and outputs the control amount to the door control unit 109 (step ST35). Further, the situation determination unit 107b generates information for notifying that the door of the own vehicle opens and closes, and outputs the information to the communication control unit 113 (step ST61).

  Output control section 110 performs output control of speaker 208 and monitor 209 based on the warning information input in step ST33 (step ST34). The door control unit 109 controls opening and closing of the door 207 based on the door opening / closing control amount input in step ST35 (step ST36). The communication control unit 113 transmits, to the in-vehicle device 300 of another vehicle approaching from behind the own vehicle, via the communication unit 112, the information indicating that the door of the own vehicle opens and closes, which is input in step ST61. Control is performed (step ST62). After the processing of step ST34, step ST36, and step ST62 is performed, the flowchart proceeds to the processing of step ST37.

Next, with reference to FIG. 12, an operation in the case where a transition is made to the normal mode in step ST9 of the flowchart of FIG. 3 shown in the first embodiment will be described.
FIG. 12 is a flowchart showing the operations of the situation determination unit 107b and the control unit 108a of the vehicle door collision prevention device 100B according to the third embodiment. In the following, the same steps as those of the vehicle door collision prevention device 100 according to Embodiment 1 are denoted by the same reference numerals as those used in FIG. 6, and the description is omitted or simplified.
If the situation determination unit 107b determines in the determination process of step ST41 that there is another vehicle approaching from behind the own vehicle (step ST41; YES), the process proceeds to steps ST33, ST35, and ST61 of the flowchart shown in FIG. Proceed to processing. On the other hand, when there is no other vehicle approaching from behind the own vehicle (step ST41; NO), the process proceeds to step ST23.

Next, the operation of the vehicle door collision prevention device 100B and the in-vehicle device 300 that communicates with the vehicle door collision prevention device 100B will be described.
FIG. 13 is a sequence diagram illustrating operations of the vehicle door collision prevention device 100B according to Embodiment 3 and the on-vehicle device 300.
The communication unit 112 of the vehicle door collision prevention device 100B transmits information notifying that the door of the own vehicle opens and closes to the in-vehicle device 300 of the other vehicle approaching from behind the own vehicle (step ST71). When the in-vehicle device 300 receives the door open / close notification (step ST72), warning information indicating that the door of the vehicle stopped ahead opens / closes is output by display or sound (step ST73). Further, the on-vehicle device 300 transmits approach information indicating that the vehicle is approaching from behind to the vehicle door collision prevention device 100B of the vehicle stopped ahead (step ST74).

  Communication unit 112 of vehicle door collision prevention device 100B receives the approach information transmitted in step ST74 (step ST75). The approach information received by the communication unit 112 is input to the situation determination unit 107b via the communication control unit 113. Based on the input approach information, situation determination section 107b generates warning information indicating that another vehicle is approaching from behind, and outputs the warning information to output control section 110 (step ST76). Output control section 110 performs output control of speaker 208 and monitor 209 for outputting the warning information input in step ST76 (step ST77).

  In step ST73, besides outputting the warning information, the in-vehicle device 300 may be configured to control the traveling of the vehicle such as automatically changing the traveling lane of the vehicle. That is, in the in-vehicle device 300, even if the vehicle stopped ahead opens and closes the door, it can be set as appropriate as long as it is configured to control the traveling that suppresses the occurrence of the accident.

  As described above, according to the third embodiment, the communication unit 112 that communicates with the in-vehicle device 300 of another vehicle approaching from behind the vehicle, and the vehicle door based on the determination result of the status determination unit 107b. The communication control unit 113 controls transmission of information notifying that the vehicle is to be opened and closed to the in-vehicle device 300 of the other vehicle. Therefore, when there is another vehicle approaching from behind the own vehicle, the vehicle It is possible to perform opening / closing control such as prohibiting the opening / closing of the door, controlling the opening / closing amount of the door, and also notify in advance that the door of the own vehicle opens / closes to other vehicles approaching from behind the own vehicle. . Another vehicle approaching from behind the host vehicle can change the lane of travel and perform traveling while suppressing occurrence of an accident.

  Further, according to the third embodiment, communication unit 112 and communication control unit 113 receive approach information transmitted from on-vehicle device 300 of another vehicle approaching from behind the own vehicle, and state determination unit 107b determines the approach information. Since the warning information indicating that another vehicle approaches from behind based on the information is generated and presented through the output control unit 110, the occupant of the vehicle can be warned of the approach of the other vehicle.

  The configuration of the third embodiment described above may be applied to the vehicle door collision prevention device 100B of the second embodiment.

Embodiment 4 FIG.
In the fourth embodiment, a configuration is described in which an appropriate getting-off position is determined based on an image captured by the camera 203 outside the vehicle and the occupant is notified.
FIG. 14 is a block diagram showing a configuration of a vehicle door collision prevention device 100C according to Embodiment 4.
The vehicle door collision prevention device 100C according to the fourth embodiment is different from the vehicle door collision prevention device 100 of the first embodiment shown in FIG. It comprises a determination unit 107c.
In the following, portions that are the same as or correspond to the components of the vehicle door collision prevention device 100 according to the first embodiment are denoted by the same reference numerals as those used in the first embodiment, and description thereof is omitted or simplified. Become

  The image processing unit 103a performs image processing on an image captured by the external camera 203. Specifically, in addition to the image processing for identifying the stop position of the host vehicle and the image processing for detecting the surroundings of the host vehicle described in the first embodiment, a situation around the door of the host vehicle is acquired. Perform image processing. Here, the situation around the door of the own vehicle means, for example, whether there is a situation and an object around the door of the own vehicle, such as a groove, a puddle, a step, and an approaching object, which are obstacles when the occupant gets off the own vehicle. Is information indicating

  When identifying the door where the occupant may get off, based on the information on the occupant's seating position input from the in-vehicle camera 205 or the seating sensor 206, the situation determination unit 107c identifies the own vehicle input from the image processing unit 103a. With reference to the information indicating the situation around the door, it is determined whether or not there is a situation or an object in the vicinity of the specified door that becomes an obstacle when the occupant gets off the vehicle. If there is a situation or an object that is an obstacle when the occupant gets off the vehicle, reference is made to information indicating other conditions around the door, and a door recommended for getting off is specified. The situation determination unit 107c outputs to the output control unit 110 information indicating a door for which getting off is recommended.

  The output control unit 110 controls the monitor 209 to display the door that recommends getting off, or controls the speaker 208 to display the door that recommends getting off, based on the information indicating the door that recommends getting off from the situation determination unit 107c. The control to output the indicated sound is performed. Note that the output control unit 110 may perform both control for displaying on the monitor 209 and control for outputting sound from the speaker 208.

Next, a hardware configuration example of the vehicle door collision prevention device 100C will be described. The description of the same configuration as in the first embodiment is omitted.
The image processing unit 103a and the situation determination unit 107c in the vehicle door collision prevention device 100C are the processor 100b that executes a program stored in the processing circuit 100a illustrated in FIG. 2A or the memory 100c illustrated in FIG. 2B.

Next, the operation of the vehicle door collision prevention device 100C will be described.
FIG. 15 is a flowchart showing operations of the situation determination unit 107c and the control unit 108 of the vehicle door collision prevention device 100C according to Embodiment 4. In FIG. 15, as an example, a description will be given of a case where a transition is made to the parking mode in step ST3 of the flowchart in FIG. 3 of the first embodiment. In the following, the same steps as those of the vehicle door collision prevention device 100 according to Embodiment 1 are denoted by the same reference numerals as those used in FIG. 4, and the description is omitted or simplified.

  When identifying the door at which the occupant may get off in step ST22, the situation determining unit 107c refers to the information indicating the situation around the door of the own vehicle input from the image processing unit 103a, and places the information around the identified door. Then, it is determined whether there is a situation or an object that becomes an obstacle when the occupant gets off (step ST81). If there is a situation or an object that becomes an obstacle when the occupant gets off (step ST81; YES), the situation determining unit 107c refers to the information indicating the situation around the other doors and specifies a door for which getting off is recommended. (Step ST82).

  The situation determination unit 107c outputs information indicating the door recommended for getting off specified in step ST82 to the output control unit 110 (step ST83). The output control unit 110 controls the output of the monitor 209 and the speaker 208 so as to notify the occupant of the door recommended for dismounting input in step ST83 (step ST84). Thereafter, the process proceeds to a process of step ST23. Also, when there is no situation or an object that may be an obstacle when the occupant gets off (step ST81; NO), the process proceeds to step ST23.

  In the flowchart of FIG. 15 described above, the case where the mode is shifted to the parking lot mode is shown as an example. However, even when the mode is shifted to the roadside mode and the normal mode, after the situation determination unit 107c specifies the exit door in step ST22, It is possible to configure so as to execute a process of specifying a door for which getting off is recommended.

  The situation determination unit 107c determines a door that recommends getting off based on a preset priority when there is a situation or an object that is an obstacle when the occupant gets off around all the doors of the vehicle. May be. Here, the preset priorities are, for example, a puddle, a groove, a step, and an approaching object in descending order of the order. In accordance with the priority order, the situation determination unit 107c sequentially sets, as doors recommended for getting off, a door having a puddle, a door having a groove, a door having a step, and a door having an approaching object.

When a door with a puddle and a groove is set as a door that recommends getting off, the situation determination unit 107c generates notification information for notifying that there is a puddle and a groove around the vehicle, and outputs the notification information to the output control unit 110. Output. The output control unit 110 controls the monitor 209 to display that there is a puddle or a groove around the vehicle based on the notification information input from the situation determination unit 107c, and outputs a puddle or a groove around the vehicle from the speaker 208. Is controlled to output a sound indicating that the file exists.
Further, when a door having a step is set as the door for which getting off is recommended, the situation determining unit 107c determines the image processing result and the host vehicle for the door for which getting off is recommended in the same manner as the processing described in the first embodiment. It may be determined whether or not door opening / closing control is necessary by referring to information on the distance from the vehicle to the obstacle.

  Further, regardless of a preset priority order, the situation determination unit 107c may set a door located on the opposite side of the roadway or a door to which the vehicle does not approach from behind the host vehicle as a door that recommends getting off. Thus, when the own vehicle has an accident on the highway, the degree of danger caused by the vehicle running from behind the own vehicle can be reduced.

Further, when there is a plurality of doors where there is no obstacle or an obstacle when the occupant gets off the vehicle, the situation determination unit 107c identifies the door closest to the occupant's seating position as the door that recommends getting off. You may.
In addition, when there are many passengers in the vehicle, or when it is required to get off quickly with a high degree of urgency, the situation determination unit 107c first notifies a dangerous door such as a door where another vehicle approaches from behind, and thereafter, A process of specifying a door recommended to get off may be performed.

  As described above, according to the fourth embodiment, the image processing unit 103 performs image processing for detecting the situation around the door of the vehicle from the captured image outside the vehicle, and the situation determination unit 107c A door that has a possibility of getting off is specified, and a door for which getting off is recommended is specified based on the image processing result, and the control unit 108 performs control to present information indicating the recommended door specified by the situation determination unit 107c. With this configuration, the occupant can be notified which door is suitable for getting off.

  The configuration of the fourth embodiment described above may be applied to the vehicle door collision prevention device 100B of the second embodiment and the vehicle door collision prevention device 100C of the third embodiment.

Embodiment 5 FIG.
In the fifth embodiment, a configuration will be described in which parking assistance of a vehicle is performed based on a seating position of a passenger.
FIG. 16 is a block diagram showing a configuration of a vehicle door collision prevention device 100D according to Embodiment 5.
The vehicle door collision prevention device 100D according to the fifth embodiment is configured by adding a parking support control unit 114 to the vehicle door collision prevention device 100 of the first embodiment shown in FIG. The control unit 108b includes a door control unit 109, an output control unit 110, and a parking assistance control unit 114. Further, a situation determining unit 107d is provided instead of the situation determining unit 107.
In the following, portions that are the same as or correspond to the components of the vehicle door collision prevention device 100 according to the first embodiment are denoted by the same reference numerals as those used in the first embodiment, and description thereof is omitted or simplified. Become

When the situation determination unit 107d specifies the door where the occupant may get off based on the information on the occupant's sitting position input from the in-vehicle camera 205 or the sitting sensor 206, the image processing result and the obstacle from the own vehicle to the obstacle are obtained. With reference to the distance information, it is determined whether or not the opening / closing amount necessary for the occupant to get off the specified door cannot be secured, that is, whether or not it is necessary to control the vehicle to park again in the same area.
If the situation determination unit 107d determines that control for reparking the vehicle is necessary, a new parking in the current parking area is performed based on the image processing result and information on the distance from the own vehicle to the obstacle. Calculate the position. Specifically, when the driver cannot get off from the driver's seat of the vehicle parked in a certain parking area, a new parking position is determined so as to provide a space enough to get off the driver's seat side in the parking area. I do. The situation determination unit 107d generates parking assistance information for parking the vehicle at the calculated new parking position, and outputs the parking assistance information to the parking assistance control unit 114. Here, the parking support information is display information of a parking assist line, control information of a vehicle for parking the own vehicle at a new parking position by automatic driving, and the like.

The parking assistance control unit 114 performs control to display a parking assistance line on the monitor 209 based on the parking assistance information input from the situation determination unit 107d. Further, the parking assist control unit 114 causes the automatic driving system 210 to automatically park the own vehicle at the calculated new parking position based on the parking assistance information input from the situation determination unit 107d. Perform control.
The automatic driving system 210 performs a process of automatically driving the own vehicle without the driver performing a driving operation.

Next, an example of a hardware configuration of the vehicle door collision prevention device 100D will be described. The description of the same configuration as in the first embodiment is omitted.
The parking assistance control unit 114 and the situation determination unit 107d in the vehicle door collision prevention device 100D are the processor 100b that executes a program stored in the processing circuit 100a illustrated in FIG. 2A or the memory 100c illustrated in FIG. 2B.

Next, the operation of the vehicle door collision prevention device 100D will be described.
FIG. 17 is a flowchart illustrating operations of the situation determination unit 107d and the control unit 108b of the vehicle door collision prevention device 100D according to Embodiment 4. In FIG. 17, a case will be described as an example where a transition is made to the parking mode in step ST3 of the flowchart in FIG. 3 of the first embodiment. In the following, the same steps as those of the vehicle door collision prevention device 100 according to Embodiment 1 are denoted by the same reference numerals as those used in FIG. 4, and the description is omitted or simplified.

  After calculating the opening / closing control amount of the door of the own vehicle in step ST24, the situation determination unit 107d determines whether the calculated door opening / closing control amount is equal to or larger than a preset threshold value (step ST91). If the door opening / closing control amount is equal to or greater than the threshold value (step ST91; YES), the situation determination unit 107c determines that the occupant can get off the door identified in step ST22, and determines the calculated door opening / closing control amount as the door. Output to the control unit 109. The door control unit 109 controls the opening and closing of the door 207 based on the input opening and closing control amount of the door (step ST25), and ends the process.

  On the other hand, when the door opening / closing control amount is not equal to or larger than the threshold (step ST91; NO), the situation determination unit 107c determines that the occupant cannot get off the door specified in step ST22. The situation determination unit 107c calculates a new parking position based on the image processing result and information on the distance from the vehicle to the obstacle (step ST92). The situation determination unit 107c generates parking support information for parking the host vehicle at the new parking position calculated in step ST92, and outputs it to the parking support control unit 114 (step ST93). The parking assist control unit 114 controls the monitor 209 or the automatic driving system 210 to park the vehicle at a new parking position based on the parking assist information input in step ST93 (step ST94). The process ends.

  In the flowchart of FIG. 17 described above, a case where the mode is shifted to the parking lot mode is described as an example, but the present invention is also applicable to a case where the mode is shifted to the roadside mode and the normal mode.

  The threshold value for determining the opening / closing amount of the door used in the determination process of step ST91 in the flowchart of FIG. 17 can be set as appropriate, for example, a value set for each vehicle type or a value set by the occupant himself. Value.

  Note that, in the above description, the configuration in which the situation determination unit 107d displays the parking support information on the monitor 209 has been described.

In the above-described processing, when the sitting position detected by the situation determination unit 107d is only the driver's seat, the situation determination unit 107 may perform processing so that the driver can get off the driver's seat.
Further, when a plurality of occupants enter the vehicle and the situation determination unit 107d detects a plurality of seating positions, processing is performed so that the occupants can get off from the door on the side on which the seating positions of more occupants are detected. May go.

  Further, the situation determination unit 107d may set a priority order for each door in advance and store the priority order. When detecting a plurality of seating positions, the situation determination unit 107d determines the exit door according to the stored priority order of each door, and performs the above-described processing so that the occupant can exit the determined exit door. I do.

  Also, in addition to the doors on both sides of the own vehicle, the back door opening / closing control amount is calculated so that the occupant can also load and unload luggage for the back door behind the own vehicle. It may be configured to perform re-parking at a new parking position.

  Also, in the roadside mode, when the situation determination unit 107d performs the above-described processing, if the opening / closing control amount of the door on the side of the roadside is not greater than or equal to the threshold, the vehicle travels to a place without a guardrail and parks again, or the door opens / closes. The vehicle is parked again so that the stop position is shifted toward the roadway so as to be opened by the control amount or more.

  As described above, according to the fifth embodiment, the situation determination unit 107d needs to assist the vehicle in parking based on the seating position of the occupant, the image processing result, and the distance to the obstacle. If it is determined that parking assistance of the vehicle is necessary, a new parking position of the vehicle is calculated based on the image processing result and the distance to the obstacle, and the calculated new parking position is determined. Since the parking assist information for parking the vehicle is generated, and the control unit 108b includes the parking assist control unit 114 that performs control for assisting parking of the vehicle based on the generated parking assist information, The own vehicle can be reparked so that the occupant can get off according to the occupant's boarding position.

In the fifth embodiment described above, the communication control unit 113 uses the communication with the in-vehicle device 300 mounted on another vehicle described in the fourth embodiment to make the communication control unit 113 adjacent to the stop position or the parking position of the own vehicle. When a door opening / closing notification is received from the in-vehicle device 300 of another parked vehicle, the notification is output to the status determination unit 107. When the notification is input, the situation determination unit 107 waits for the output of the parking assistance information to the parking assistance control unit 114, and waits for re-parking of the vehicle. Alternatively, when the notification is input, the situation determination unit 107 may correct the calculated new parking position, generate parking assistance information again, and output the generated parking assistance information to the parking assistance control unit 114.
Thus, it is possible to prevent a collision accident that occurs when the occupant of the stopped or parked vehicle opens the door simultaneously with the occupant of another adjacent vehicle.

  In the case where control for reparking is performed in the automatic driving system 210 shown in the above-described fifth embodiment, after all the occupants of the own vehicle get off, the terminal device such as a smartphone is used from outside the vehicle. Alternatively, automatic driving control may be performed. In this case, when the occupant gets on the own vehicle, the vehicle may be controlled so as to park with a gap for getting on so that the occupant can easily get on.

  The configuration of the fifth embodiment described above is applied to the vehicle door collision prevention device 100B of the second embodiment, the vehicle door collision prevention device 100C of the third embodiment, and the vehicle door collision prevention device 100D of the fourth embodiment. You may.

FIG. 18 shows an example of a screen displayed on the monitor 209 by the display control of the output control unit 110 in Embodiments 1 to 5 described above.
FIG. 18 is a diagram showing a display example of the monitor 209 connected to the vehicle door collision prevention devices 100, 100A, 100B, 100C, 100D according to the first to fifth embodiments.
On a screen 209a of the monitor 209, for example, character information 209b indicating that the vehicle is approaching from behind is displayed. In addition, character information 209c that calls attention to opening and closing the door is displayed.

  The server device connected to the vehicle door collision prevention devices 100, 100A, 100B, 100C, and 100D performs a part of the functions of the components shown in the first to fifth embodiments described above. Is also good. In addition, a part of the functions of each configuration of the vehicle door collision prevention devices 100, 100A, 100B, 100C, and 100D shown in the above-described first to fifth embodiments is executed by a portable terminal such as a passenger's smartphone. May be configured.

  In addition to the above, the present invention can freely combine any of the embodiments, modify any of the components of each of the embodiments, or omit any of the components of each of the embodiments within the scope of the invention. It is.

  INDUSTRIAL APPLICABILITY The vehicle door collision prevention device according to the present invention can perform door control in accordance with a current position of a vehicle detected with high accuracy, so that the invention is applied to a vehicle system or the like, and a vehicle door and an obstacle can be reliably connected. Suitable for preventing collision.

  100, 100A, 100B, 100C, 100D Vehicle door collision prevention device, 101 vehicle information acquisition unit, 102 position information acquisition unit, 103 image processing unit, 104 stop position identification unit, 105 obstacle detection unit, 106 distance calculation unit, 107 , 107a, 107b, 107c, 107d Situation determination unit, 108, 108a, 108b control unit, 109 door control unit, 110 output control unit, 111 action detection unit, 112 communication unit, 113 communication control unit, 114 parking support control unit.

Claims (6)

A vehicle information acquisition unit that acquires state information of the vehicle,
A high-precision positioning information of the own vehicle obtained by the high-precision locator, and a position information obtaining unit that obtains position information specifying a stop position of the own vehicle based on the map information,
An image processing unit that performs image processing for detecting a situation around the vehicle from a captured image outside the vehicle,
A stop position specifying unit that specifies a stop position of the vehicle, from the state information of the vehicle obtained by the vehicle information obtaining unit and the position information obtained by the position information obtaining unit,
An obstacle detection unit that detects an obstacle to the host vehicle based on position information of the object detected by the outside sensor;
A distance calculation unit that calculates a distance from the host vehicle to the obstacle based on the image processing result of the image processing unit and information on the obstacle detected by the obstacle detection unit;
Situation discrimination for judging a situation in which an occupant of the vehicle gets off based on characteristics according to the stop position of the vehicle specified by the stop position specifying unit and a distance to the obstacle calculated by the distance calculation unit. Department and
A control unit for performing control for the occupant of the vehicle to get off based on the determination result of the situation determination unit ,
The situation determination unit needs parking assistance of the vehicle based on a seating position of the occupant, an image processing result of the image processing unit, and a distance to the obstacle calculated by the distance calculation unit. It is determined whether or not parking assistance of the vehicle is necessary, and a new parking position of the vehicle is calculated based on the image processing result and the distance to the obstacle. Generating parking assistance information for parking the vehicle at a new parking position,
The vehicle door collision prevention device, wherein the control unit includes a parking assistance control unit that performs control for assisting parking of the vehicle based on the parking assistance information generated by the situation determination unit.   The control unit controls the opening and closing of the vehicle door based on the determination result of the situation determination unit, and issues a warning regarding the opening and closing of the vehicle door based on the determination result of the situation determination unit. The vehicle door collision prevention device according to claim 1, further comprising an output control unit that performs output control. An action detection unit that detects a possibility that an opening and closing operation of a door of the vehicle is performed based on at least one of a line-of-sight direction, a face direction, and a body direction of an occupant of the vehicle from a captured image in the vehicle. With
The situation determination unit, when the behavior detection unit detects the possibility of performing the opening and closing operation of the door of the vehicle, the occupant of the vehicle with respect to the door that may perform the opening and closing operation The vehicle door collision prevention device according to claim 1, wherein a situation of getting off is determined. A communication unit that communicates with on-vehicle equipment of another vehicle approaching from behind the vehicle,
A communication control unit that controls transmission of information notifying that the door of the vehicle opens and closes to the on-vehicle device of the other vehicle based on a determination result of the situation determination unit. Item 2. The vehicle door collision prevention device according to Item 1. The image processing unit performs image processing for detecting a situation around a door of the vehicle from a captured image outside the vehicle,
The situation determination unit specifies a door that the occupant may get off, and specifies a door that recommends getting off based on an image processing result of the image processing unit.
The vehicle door collision prevention device according to claim 1, wherein the control unit performs control for presenting information indicating a recommended door identified by the situation determination unit. A step in which the vehicle information acquisition unit acquires state information of the vehicle;
A position information acquiring unit, based on the high-precision positioning information of the own vehicle acquired by the high-accuracy locator and the map information, acquires position information that specifies a stop position of the own vehicle,
An image processing unit for performing image processing for detecting a situation around the vehicle from a captured image outside the vehicle;
A stop position specifying unit that specifies the stop position of the vehicle from the acquired state information of the vehicle and the obtained position information,
Obstacle detecting unit, based on the position information of the object detected by the outside sensor, detecting an obstacle to the vehicle,
A distance calculating unit that calculates a distance from the vehicle to the obstacle based on the result of the image processing and the information on the obstacle;
A situation determining unit that determines a situation in which an occupant of the vehicle gets off, based on the characteristic according to the specified stop position of the vehicle and the calculated distance to the obstacle,
A control unit, based on a result of the determination, performing a control for the occupant of the vehicle to get off, the vehicle door collision prevention method ,
The situation determination unit needs parking assistance of the vehicle based on a seating position of the occupant, an image processing result of the image processing unit, and a distance to the obstacle calculated by the distance calculation unit. It is determined whether or not parking assistance of the vehicle is necessary, and a new parking position of the vehicle is calculated based on the image processing result and the distance to the obstacle. Generating parking assistance information for parking the vehicle at a new parking position,
A vehicle door collision prevention method, wherein a parking assistance control unit provided in the control unit performs control for assisting parking of the vehicle based on the parking assistance information generated by the situation determination unit.

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