JP6869468B2 - Warning controller - Google Patents

Description

The present invention relates to a warning control device.

Conventionally, as an example of a warning control device mounted on a vehicle, there is one that warns a following vehicle (moving body) approaching from behind that the door of the own vehicle that is stopped opens. For example, in Patent Document 1, when the behavior of an occupant trying to open the door of the own vehicle is detected and the approach of the following vehicle is detected, the light presenting unit arranged outside the vehicle is provided. A warning control device for lighting is disclosed. In this way, the warning control device makes it possible to warn the driver of the following vehicle that the door of the own vehicle is about to be opened before the door of the own vehicle is opened.

Japanese Unexamined Patent Publication No. 2015-209154

However, according to the warning control device as described above, the driver of the following vehicle responds to the opening of the door of the stopped vehicle after receiving a warning from the stopped vehicle that stops ahead. There is a problem that it is difficult to know whether to take it. An object of the present invention is to provide a warning control device capable of giving a clear warning to a moving body approaching from behind when the door is opened.

Hereinafter, means for solving the above problems and their actions and effects will be described.
The warning control device that solves the above problems is a vehicle warning control device including a projection device that projects a pattern toward the road surface, and includes a moving body detecting unit that detects a moving body approaching the vehicle from behind and the above-mentioned moving body detecting unit. The open operation detection unit that detects the door opening operation by the occupant in the vehicle, the peripheral situation detection unit that detects the peripheral condition of the vehicle, and the door opening operation when the moving body is detected. When detected, based on the surrounding conditions of the vehicle, the moving body is in the first state where it is easy to pass by the side of the door, or the moving body is in the second state where it is difficult to pass by the side of the door. A state determination unit for determining whether or not the vehicle is in the second state, and a warning output unit for causing the projection device to output a pattern prompting the moving body to stop when the moving body is in the second state.

According to the above configuration, when the door of the own vehicle that is stopped is opened and the moving body is in the second state where it is difficult to pass by the side of the door of the own vehicle, the moving body is moved from the projection device of the own vehicle. A pattern prompting to stop is output toward. Therefore, the warning control device can make the moving body approaching from behind recognize that it is impossible to overtake the own vehicle and that it is necessary to stop in front of the own vehicle. In this way, the warning control device can give a warning to the moving body approaching from behind when the door is opened, which makes the action to be taken clear.

In the warning control device, it is preferable that the warning output unit causes the projection device to output a pattern indicating the position of the door when the moving body is in the first state.
According to the above configuration, a moving body approaching from behind can overtake its own vehicle while paying attention to the pattern indicating the position of the door. According to this, even if the door of the own vehicle is opened while the moving body is overtaking the own vehicle, the possibility that the moving body comes into contact with the door of the own vehicle can be reduced.

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

According to the above configuration, the moving body approaching from the rear can overtake the own vehicle so as to avoid the pattern indicating the rotation range of the door. According to this, even if the door of the own vehicle is opened while the moving body is overtaking the own vehicle, the possibility that the moving body comes into contact with the door of the own vehicle can be further reduced.

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

According to the above configuration, a moving body approaching from behind can overtake the own vehicle according to a pattern that encourages the overtaking of the own vehicle. Therefore, hesitation when the moving body overtakes the own vehicle is reduced.

The vehicle is provided with a warning device that gives a warning toward the inside of the vehicle, and in the warning control device, the warning output unit is directed toward the moving body when the distance from the vehicle to the moving body is long. It is preferable that the projection device outputs a pattern prompting the stop, and when the distance is short, the warning device outputs a warning prompting the stop of the opening operation of the door.

When the distance from the own vehicle to the moving body is short, the moving body may not be able to stop in front of the own vehicle even if the pattern for prompting the moving body to stop is output. Therefore, when the distance from the own vehicle to the moving body is short, it is preferable that the door of the own vehicle is not opened. In this regard, according to the above configuration, when the distance from the own vehicle to the moving body is short, a warning is issued to the occupants of the own vehicle to urge the occupants of the own vehicle to stop the opening operation of the door. Therefore, when the moving body approaches the stopped own vehicle, the door of the own vehicle is opened while suppressing the sudden output of a pattern prompting the moving body to stop from the own vehicle. Can be suppressed.

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

According to the above configuration, it is possible to further prevent the door of the own vehicle from being opened when the moving body approaches the stopped own vehicle.
In the warning control device, even when the open / close control unit limits the door opening operation based on the door opening operation, when the door opening operation is performed a plurality of times, the door opening operation is described. It is preferable to allow the door to open.

In a stopped vehicle, under the condition that the vehicle constantly passes by the side of the door to be opened, the opening operation of the door is continuously restricted, so that the occupant of the vehicle cannot go out of the vehicle. is there. In this respect, according to the above configuration, it is possible to open the door as needed while suppressing the inadvertent opening of the door.

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

According to the above configuration, it is possible to open the door as needed while suppressing the inadvertent opening of the door.

According to the warning control device, when the door is opened, it is possible to give a warning to a moving body approaching from behind to clarify the action to be taken.

The plan view which shows the schematic structure of the vehicle which concerns on one Embodiment. The plan view which shows the schematic structure of the door of the said vehicle. The side view which shows the schematic structure of the said vehicle. The block diagram which shows the structure which concerns on the warning control of the said vehicle. The schematic diagram which shows an example of the state of the following vehicle approaching the own vehicle which is stopped. A flowchart illustrating a flow of processing executed by the door ECU to output a warning. A flowchart illustrating a flow of the first warning control process. A flowchart illustrating a flow of the second warning control process. (A) to (c) are schematic diagrams for explaining the operation of the vehicle.

Hereinafter, an embodiment of a vehicle including a door ECU as an example of the warning control device will be described with reference to the drawings.
As shown in FIGS. 1 and 2, the vehicle 1 of the present embodiment has a configuration as a so-called 4-door sedan. That is, the vehicle 1 includes four doors 10 that open and close the door openings 3 provided on the side surfaces of the vehicle body 2. In the vehicle 1, each door 10 opens and closes on the side of each seat 11 provided in the room of the vehicle 1.

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

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

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

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

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

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

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

Then, the output signals of the vehicle surroundings monitoring device 31, the navigation system 32, the proximity sensor 33, the steering wheel operation switch 34, and the in-vehicle camera 35 are input to the door ECU 50 described later.

Next, a configuration for issuing a warning (notification) inside and outside the vehicle 1 will be described.
As shown in FIGS. 2 and 3, the vehicle 1 has a first projection device 41 that projects a pattern (image) toward the road surface on the side of the vehicle 1, and a pattern (image) toward the road surface behind the vehicle 1. ) Is provided, and a warning device 43 that gives a warning toward the inside of the vehicle 1 is provided.

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

The second projection device 42 projects a pattern on the road surface behind the own vehicle to encourage the vehicle approaching from behind to take a response. Specifically, when the own vehicle is stopped, the second projection device 42 prompts a vehicle approaching from behind to overtake the own vehicle (hereinafter, also referred to as “pattern Po”) and to stop. A pattern (hereinafter, also referred to as "pattern Ps") is projected on the road surface. The pattern projected by the second projection device 42 may be a symbol corresponding to an arrow prompting overtaking and a stop line prompting stop, or may be characters such as "passable", "stop", and "non-passable". There may be. Further, the pattern projected by the second projection device 42 may be a combination of such symbols and characters. As shown in FIG. 3, the second projection device 42 is arranged, for example, on the lower surface of the rear bumper of the vehicle 1.

The first projection device 41 and the second projection device 42 may be projectors that can change the pattern projected toward the road surface, or are simple projection devices that combine an LED and a lens array. May be good. In the latter case, a film may be provided so that a predetermined character or symbol can be projected on the road surface. Further, when the vehicle 1 is provided with an illumination lamp that projects a welcome light toward the road surface and a courtesy lamp that projects light toward the road surface, such lamps may be substituted for the first projection device 41 and the second projection device 42. Good.

The warning device 43 is a warning device that gives a warning by emitting light. It is preferable that the warning device 43 is provided at a position of the door 10 so that the occupant H seated on the side of the door 10 can easily see when opening the door 10. For example, as shown in FIG. 2, the warning device 43 is preferably provided inside the door 10, such as in the vicinity of the inner belt molding. The warning device 43 may give a warning by sound, vibration, or the like as long as it can give a warning toward the inside of the vehicle.

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

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

Based on the output signal of the vehicle surroundings monitoring device 31, the moving body detection unit 51 detects a following vehicle as an example of a “moving body” approaching the own vehicle from behind. Further, the moving body detection unit 51 detects the distance from the own vehicle to the following vehicle (hereinafter, also referred to as “inter-vehicle distance D”) based on the output signal of the vehicle surroundings monitoring device 31. The following vehicle referred to here is a vehicle in which a driver such as an automobile, a two-wheeled vehicle, or a bicycle exists.

The peripheral situation detection unit 52 detects the peripheral situation of the own vehicle based on the output signal of the vehicle surroundings monitoring device 31 and the output signal of the navigation system 32. The surrounding situation detection unit 52 detects, for example, whether or not another vehicle is traveling in the other lane when the own vehicle is stopped in one lane of the road having two lanes each way.

The open operation detection unit 53 opens the door 10 by the occupant H seated on the seat 11 on the side of the door 10 on which the proximity sensor 33 is arranged, based on the output signal of the proximity sensor 33 and the output signal of the handle operation switch 34. Detect the operation. Specifically, the open operation detection unit 53 determines whether or not the hand of the occupant H is close to the inside door handle 24 based on the output signal of the proximity sensor 33, and the occupant H opens the door 10. Detect whether or not you are trying. Further, the open operation detection unit 53 determines whether or not the inside door handle 24 has been operated based on the output signal of the handle operation switch 34, and whether or not the door 10 has actually been opened by the occupant H. To judge. The opening operation detection unit 53 may detect the presence or absence of the opening operation of the door 10 by the occupant H based on the image data captured by the in-vehicle camera 35.

Here, in the present embodiment, the operation of the occupant H with respect to the inside door handle 24 or the outside door handle for opening the door 10 is defined as "door 10 opening operation", and opening of the door 10 is defined as "door 10 opening operation". ".

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

Based on the detection results of the moving object detection unit 51, the surrounding situation detection unit 52, and the open operation detection unit 53, the state determination unit 55 determines whether or not the following vehicle can safely pass by the side of the stopped own vehicle. judge. Specifically, the state determination unit 55 is a "first state" in which the following vehicle easily passes by the side of the door 10 to be opened when the following vehicle is present and the door 10 is opened. It is determined whether the vehicle is in a "second state" in which it is difficult for the following vehicle to pass by the side of the door 10 to be opened.

For example, as shown in FIG. 5, it is assumed that the own vehicle 1A stops in the first lane of a road having two lanes each way, and the following vehicle 1B traveling in the first lane approaches the own vehicle 1A. In this situation, if the parallel running vehicle 1C running in parallel with the following vehicle 1B does not exist in the second lane, as shown by the solid arrow, the following vehicle 1B lanes in the second lane in order to overtake the own vehicle 1A. Can be changed. That is, even if the door 10 on the right side of the own vehicle 1A is opened, the following vehicle 1B can overtake the own vehicle 1A by changing lanes to the second lane.

On the other hand, under the same circumstances, when the parallel running vehicle 1C is in the second lane, the following vehicle 1B should not change lanes to the second lane. That is, in this case, as shown by the solid arrow, if the following vehicle 1B changes lanes to the second lane in order to overtake the parallel running vehicle 1C, the following vehicle 1B may come into contact with the parallel running vehicle 1C. In particular, in this case, when the door 10 on the right side of the own vehicle 1A is opened, the possibility that the following vehicle 1B comes into contact with the door 10 of the own vehicle 1A or the parallel running vehicle 1C increases.

In this way, the first state in which the following vehicle 1B easily passes by the side of the door 10 to be opened is the own vehicle in which the following vehicle 1B is stopped regardless of the opening operation of the door 10 of the own vehicle 1A that is stopped. It can be said that 1A can be safely overtaken. Further, the second state in which the following vehicle 1B is difficult to pass through the side of the door 10 to be opened is the own vehicle 1A in which the following vehicle 1B is stopped depending on the opening operation of the door 10 of the own vehicle 1A that is stopped. It can be said that it is not possible to overtake safely.

The warning output unit 56 causes the first projection device 41 and the second projection device 42 to output a pattern, or causes the warning device 43 to output a warning, depending on the determination result of the state determination unit 55. Specifically, the warning output unit 56 sets a pattern Pd indicating the position of the door 10, that is, the rotation range of the door 10 when the following vehicle 1B is in the first state in which it is easy to overtake the stopped own vehicle 1A. The output is output to the first projection device 41. Further, when the following vehicle 1B is in the first state, the warning output unit 56 causes the second projection device 42 to output a pattern Po that prompts the following vehicle 1B to overtake the own vehicle 1A.

On the other hand, when the following vehicle 1B is in the second state in which it is difficult to overtake the stopped own vehicle 1A, the warning output unit 56 outputs the pattern Ps prompting the following vehicle 1B to stop to the second projection device 42. Let me. Further, the warning output unit 56 causes the warning device 43 to output a warning prompting the stop of the opening operation of the door 10 when the opening operation of the door 10 is not appropriate.

The opening / closing control unit 57 controls the operation of the door lock device 21 based on the detection result of the safety behavior detection unit 54 and the determination result of the state determination unit 55. Specifically, when the moving body detection unit 51 detects the approach of the following vehicle 1B, the open / close control unit 57 opens the door 10 based on the opening operation of the door 10 by the occupant H in the vehicle 1. To limit. However, the open / close control unit 57 can perform a predetermined plurality of door 10 opening operations even when the following vehicle 1B approaching the own vehicle 1A is detected, that is, the door 10 opening operation is restricted. When it is detected, the opening operation of the door 10 based on the opening operation of the door 10 by the occupant H in the vehicle 1 is permitted. Further, the opening / closing control unit 57 is a door based on the opening operation of the door 10 by the occupant H in the vehicle 1 when the safety confirmation action by the occupant H is detected even in the state where the opening operation of the door 10 is restricted. Allow 10 open operations.

Next, with reference to FIGS. 6 to 8, the flow of processing executed by the door ECU 50 of the present embodiment when the vehicle 1 is stopped will be described.
As shown in FIG. 6, the door ECU 50 determines whether or not the own vehicle 1A is stopped based on the vehicle speed acquired from the navigation system 32 (step S11). For example, the door ECU 50 determines whether or not the own vehicle 1A is stopped based on whether or not the vehicle speed is less than a predetermined speed (for example, 5 km / hour).

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

On the other hand, when the opening operation of the door 10 is detected (step S12: YES), the door ECU 50 determines whether or not there is a following vehicle 1B approaching the own vehicle 1A based on the output signal of the vehicle surroundings monitoring device 31. Is determined (step S13). When the following vehicle 1B approaching the own vehicle 1A does not exist, the door ECU 50 sets the door lock device 21 in the unlocked state (step S14), and temporarily ends this process. That is, in this case, since the following vehicle 1B does not exist, the opening operation of the door 10 is permitted.

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

Here, the stop distance Ds is a distance required for the following vehicle 1B to stop behind the own vehicle 1A after outputting a warning (pattern Ps) for stopping to the following vehicle 1B. That is, the stop distance Ds is a free running distance from the driver of the following vehicle 1B recognizing the warning (pattern Ps) to the start of braking, and the braking distance from the start of braking to the stop. It is the added distance. Therefore, it is preferable to set the stop distance Ds so that when the following vehicle 1B is traveling at high speed, it is longer than when the following vehicle 1B is traveling at low speed.

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

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

The warning in step S22 may be a warning prompting the occupant H to stop the opening operation of the door 10, such as a warning that the opening operation of the door 10 is restricted. Then, when the occupant H intends to open the door 10, the door ECU 50 may output a warning to the occupant H to prompt the occupant H to perform a sufficient safety confirmation action to the warning device 43. Subsequently, the door ECU 50 locks the door lock device 21 (step S23), and temporarily ends this process. Thus, in this case, although the inter-vehicle distance D is equal to or greater than the stop distance Ds, the opening operation of the door 10 is restricted on the assumption that the occupant H has not sufficiently performed the safety confirmation action.

When the safety confirmation action of the occupant H is detected in step S21 (step S21: YES), the door ECU 50 determines whether or not the following vehicle 1B is in the first state in which it is easy to overtake the own vehicle 1A (step S24). ).

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

In this way, when the inter-vehicle distance D is equal to or greater than the stop distance Ds and the following vehicle 1B is in the first state, the following vehicle 1B is in a state of being able to overtake the own vehicle 1A relatively safely. In order to support the overtaking of the following vehicle 1B, a pattern Po that promotes overtaking and a pattern Pd that indicates the rotation range of the door 10 are projected on the road surface. Further, since the occupant H is performing the safety confirmation action, the opening operation of the door 10 is permitted.

When the following vehicle 1B is in the second state in which it is difficult to overtake the own vehicle 1A (step S24: NO), the door ECU 50 causes the second projection device 42 to output the pattern Ps prompting the following vehicle 1B to stop (step S24: NO). S28). After that, the door ECU 50 shifts the process to the previous step S27.

In this way, when the inter-vehicle distance D is equal to or greater than the stop distance Ds and the following vehicle 1B is in the second state, the following vehicle 1B is not in a state of being able to overtake the own vehicle 1A relatively safely. , Pattern Ps prompting the following vehicle 1B to stop is projected on the road surface. On the other hand, since the occupant H is performing the safety confirmation action, the opening operation of the door 10 is permitted.

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

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

Subsequently, the door ECU 50 determines whether or not the counter Cnt is equal to or greater than the counter determination value CntTh (step S33). The counter determination value CntTh is a value to be compared with the counter Cnt and is set to a size of "2" or more. It is preferable that the counter determination value CntTh is appropriately changed.

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

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

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

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

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

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

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

FIG. 9A shows a situation in which the inter-vehicle distance D is equal to or greater than the stop distance Ds and there is no parallel running vehicle 1C running in parallel with the following vehicle 1B. Under this circumstance, when the occupant H in the driver's seat of the own vehicle 1A tries to open the door 10, the first projection device 41 projects a pattern Pd indicating the rotation range of the door 10 of the own vehicle 1A. Further, the second projection device 42 projects a pattern Po that encourages the overtaking of the own vehicle 1A toward the following vehicle 1B.

That is, under this situation, even if the following vehicle 1B overtakes the own vehicle 1A in which the door 10 is opened, there is no possibility that the following vehicle 1B comes into contact with the vehicle traveling in the second lane. Therefore, the pattern Po that promotes overtaking and the pattern Pd that indicates the rotation range of the door 10 are projected. In this way, the driver of the following vehicle 1B can safely overtake the own vehicle 1A so as to avoid the rotation range of the door 10 of the own vehicle 1A that is stopped.

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

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

FIG. 9C shows a situation in which the inter-vehicle distance D is less than the stop distance Ds and there are a plurality of following vehicles 1B. Under this circumstance, even if the occupant H of the own vehicle 1A opens the door 10, the opening operation of the door 10 is restricted. As a result, when the inter-vehicle distance D is less than the stop distance Ds, the door 10 of the own vehicle 1A is suddenly opened, which reduces the possibility of adversely affecting the traveling of the following vehicle 1B.

However, when the occupant H of the own vehicle 1A performs the opening operation of the door 10 a plurality of times, and when the occupant H of the own vehicle 1A performs the safety confirmation action outside the vehicle, the opening operation of the door 10 is performed. Is allowed. Therefore, when the traffic volume on the road where the own vehicle 1A stops is large and the following vehicle 1B continuously travels, it is possible to prevent the door 10 from being unable to open.

According to the embodiment described above, the following effects can be obtained.
(1) When the door 10 of the own vehicle 1A that is stopped is opened and the following vehicle 1B is in the second state where it is difficult for the following vehicle 1B to pass by the side of the door 10 of the own vehicle 1A, the following vehicle 1B is directed toward the following vehicle 1B. The pattern Ps prompting the stop is output. Therefore, the door ECU 50 can make the driver of the following vehicle 1B recognize that it is impossible to overtake the own vehicle 1A and that it is necessary to stop before the own vehicle 1A. In this way, the door ECU 50 can give a warning to the driver of the following vehicle 1B when the door 10 is opened to clarify the action to be taken.

(2) When the following vehicle 1B is in the first state, the door ECU 50 causes the first projection device 41 to output a pattern (pattern Pd) indicating the position of the door 10. Therefore, the driver of the following vehicle 1B can overtake the own vehicle 1A while paying attention to the pattern (pattern Pd) indicating the position of the door 10. According to this, even if the door 10 of the own vehicle 1A is opened while the following vehicle 1B is overtaking the own vehicle 1A, the possibility that the following vehicle 1B comes into contact with the door 10 of the own vehicle 1A can be reduced.

(3) Specifically, the door ECU 50 causes the first projection device 41 to output a pattern Pd indicating the rotation range of the door 10 (swing door). Therefore, the driver of the following vehicle 1B can overtake the own vehicle 1A so as to avoid the pattern Pd indicating the rotation range of the door 10. According to this, even if the door 10 of the own vehicle 1A is opened while the following vehicle 1B is overtaking the own vehicle 1A, the possibility that the following vehicle 1B comes into contact with the door 10 of the own vehicle 1A can be further reduced.

(4) When the following vehicle 1B is in the first state, the door ECU 50 causes the second projection device 42 to output a pattern Po that prompts the following vehicle 1B to overtake the vehicle 1. Therefore, the driver of the following vehicle 1B can overtake the own vehicle 1A according to the pattern Po that encourages the overtaking of the own vehicle 1A. Therefore, the driver of the following vehicle 1B is less likely to be confused as to whether or not to overtake the own vehicle 1A.

(5) When the inter-vehicle distance D is short, even if the pattern Ps for prompting the following vehicle 1B to stop is output, the following vehicle 1B may not be able to stop in front of the own vehicle 1A. Therefore, when the inter-vehicle distance D is short, it is preferable that the door 10 of the own vehicle 1A is not opened. Therefore, in the present embodiment, when the inter-vehicle distance D is short, a warning is issued to the occupant H of the own vehicle 1A to urge the occupant H to stop the opening operation of the door 10. Therefore, it is possible to suppress the sudden output of the pattern Ps prompting the following vehicle 1B to stop when the following vehicle 1B approaches the stopped own vehicle 1A. Further, under the same circumstances, it is possible to prevent the door 10 of the own vehicle 1A from being opened.

(6) The door ECU 50 permits or restricts the opening operation of the door 10 based on the opening operation of the door 10 according to the inter-vehicle distance D in the situation where the following vehicle 1B is in the second state. Therefore, it is possible to prevent the door 10 of the own vehicle 1A from being opened when the following vehicle 1B approaches the stopped own vehicle 1A.

(7) In a situation where the vehicle 1 continuously passes by the side of the door 10 to be opened of the own vehicle 1A that is stopped, the opening operation of the door 10 is continuously restricted, so that the occupant H of the own vehicle 1A H. May not be able to get out of the car. Therefore, in the present embodiment, the door ECU 50 limits the opening operation of the door 10 based on the opening operation of the door 10, but when the door 10 is opened a plurality of times, the door 10 is opened. Allows the opening operation of. Therefore, it is possible to open the door 10 as needed while suppressing the inadvertent opening of the door 10.

(8) The door ECU 50 permits the opening operation of the door 10 when the safety confirmation action is detected even when the opening operation of the door 10 based on the opening operation of the door 10 is restricted. Therefore, it is possible to open the door 10 as needed while suppressing the inadvertent opening of the door 10.

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

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

The above embodiment may be changed as shown below.
-In the above embodiment, it is assumed that the following vehicle 1B passes the right side of the stopped own vehicle 1A and overtakes. On the other hand, when the following vehicle 1B is a light vehicle such as a bicycle, the following vehicle 1B may pass the left side of the stopped own vehicle 1A and overtake. Therefore, the door ECU 50 may determine whether the following vehicle 1B passes the right side or the left side of the stopped own vehicle 1A based on the output signal of the vehicle surroundings monitoring device 31. Then, the door ECU 50 may perform the above-mentioned series of processes on the right or left door 10 based on the determination result.

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

-The above-mentioned series of processes may be applied when the following vehicle 1B approaches the own vehicle 1A in a situation where the own vehicle 1A is stopped near the shoulder of a narrow road without a center line. In this case, the door ECU 50 (state determination unit 55) tends to allow the following vehicle 1B to overtake the own vehicle 1A when, for example, a road width sufficient for the following vehicle 1B to pass is left on the side of the own vehicle 1A. It may be determined that it is the first state. Further, the door ECU 50 may determine that it is in a second state in which it is difficult to overtake the own vehicle 1A when there is not enough road width left on the side of the own vehicle 1A for the following vehicle 1B to pass. It should be noted that the determination of whether or not the road width sufficient for the following vehicle 1B to pass is left on the side of the own vehicle 1A is determined by the vehicle width of the following vehicle 1B acquired based on the output signal of the vehicle surroundings monitoring device 31. This may be done based on the road width acquired based on the output signal of the navigation system 32.

-In the above embodiment, the "moving body" approaching the stopped own vehicle 1A is a vehicle in which the driver exists, but the moving body may be a pedestrian. If the moving body is a pedestrian, it is possible to reduce the possibility that a pedestrian passing by the side of the stopped own vehicle 1A will come into contact with the door 10 of the own vehicle 1A to be opened.

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

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

According to this, even if the opening operation of the door 10 is exceptionally permitted by performing the opening operation of the door 10 a plurality of times, the opening operation of the door 10 causes the following vehicle 1B to open. If there is a possibility of adversely affecting the running, the opening operation of the door 10 is restricted. That is, it is possible to improve the safety when the door 10 is opened.

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

-Vehicle 1 may be a vehicle 1 having other types of doors such as sliding doors and flip-up doors. Further, the vehicle type to which the door 10 is applied, including the number and arrangement of the doors 10, may be arbitrarily changed. In the vehicle 1 that employs a door of another type other than the swing door, the door ECU 50 causes the first projection device 41 to output a pattern indicating the position of the door in steps S25 and S37.

-In the flowchart shown in FIG. 6, the process of step S12 may be omitted. That is, the door ECU 50 may perform the processes after step S13 regardless of whether or not the opening operation of the door 10 is detected. According to this, the door ECU 50 gives a clear warning to the following vehicle 1B when there is a following vehicle 1B approaching the stopped own vehicle 1A regardless of whether or not the door 10 is opened. It can be carried out.

Finally, the technical idea grasped from the above embodiment and other embodiments will be described.
(B) The warning output unit outputs a pattern that prompts the following vehicle to stop when the inter-vehicle distance is longer than the stop distance, while opening the door when the inter-vehicle distance is less than the stop distance. A warning device is output to warn the user to stop the operation. It is preferable that the warning output unit has a longer stopping distance when the vehicle speed of the following vehicle is high than when the vehicle speed of the following vehicle is low.

When the following vehicle travels at high speed, the distance traveled from when the following vehicle starts braking to when it stops becomes longer than when the following vehicle travels at low speed. That is, even when the distances between vehicles are the same, when the following vehicle travels at high speed, the timing of outputting the pattern prompting the stop may be delayed. In this regard, according to the above configuration, since the reference distance is changed according to the speed of the following vehicle, the warning control device can appropriately give a warning to the outside of the vehicle and a warning to the inside of the vehicle.

1 ... Vehicle, 1A ... Own vehicle, 1B ... Subsequent vehicle, 1C ... Parallel vehicle, 2 ... Body, 3 ... Door opening, 10 ... Door, 11 ... Seat, 12 ... Front end, 13 ... Hinge, 21 ... Door Lock device, 21a ... Latch mechanism, 22 ... Door check device, 23 ... Door handle, 24 ... Inside door handle, 31 ... Vehicle surroundings monitoring device, 32 ... Navigation system, 33 ... Proximity sensor, 34 ... Handle operation switch, 35 ... In-vehicle camera, 36 ... radar device, 37 ... corner sensor, 41 ... first projection device (example of projection device), 42 ... second projection device (example of projection device), 43 ... warning device, 50 ... door ECU (warning) Example of control device), 51 ... Moving object detection unit, 52 ... Surrounding condition detection unit, 53 ... Open operation detection unit, 54 ... Safety behavior detection unit, 55 ... Status determination unit, 56 ... Warning output unit, 57 ... Open / close control Unit, θ ... Opening, Cnt ... Counter, CntTh ... Counter judgment value, D ... Vehicle-to-vehicle distance, Ds ... Stop distance, H ... Crew, Pd ... Pattern, Po ... Pattern, Ps ... Pattern.

Claims (8)

A vehicle warning control device equipped with a projection device that projects a pattern toward the road surface.
A moving body detection unit that detects a moving body approaching the vehicle from behind,
An open operation detection unit that detects a door open operation by an occupant in the vehicle, and an open operation detection unit.
A peripheral condition detection unit that detects the peripheral condition of the vehicle and
When the moving body is detected and the opening operation of the door is detected, the moving body is brought into the first state in which the moving body easily passes by the side of the door based on the surrounding conditions of the vehicle. A state determination unit that determines whether or not the moving body is in a second state in which it is difficult to pass by the side of the door.
A warning control device including a warning output unit that causes the projection device to output a pattern prompting the moving body to stop when the moving body is in the second state. The warning control device according to claim 1, wherein the warning output unit outputs a pattern indicating the position of the door to the projection device when the moving body is in the first state. 2. The warning output unit causes the projection device to output a pattern indicating the rotation range of the door when the door is a swing door and the moving body is in the first state. The warning control device described in. Any of claims 1 to 3, wherein the warning output unit causes the projection device to output a pattern for urging the moving body to overtake the vehicle when the moving body is in the first state. The warning control device according to the first paragraph. The vehicle is provided with a warning device that gives a warning toward the inside of the vehicle.
When the distance from the vehicle to the moving body is long, the warning output unit outputs a pattern prompting the moving body to stop, and when the distance is short, the door opening operation is performed. The warning control device according to any one of claims 1 to 4, wherein a warning prompting the cancellation of the above is output to the warning device. When the distance from the vehicle to the moving body is long, the door opening operation based on the door opening operation is permitted, and when the distance is short, the door opening operation based on the door opening operation is permitted. The warning control device according to any one of claims 1 to 5, further comprising an opening / closing control unit for limiting. Even when the opening / closing control unit limits the opening operation of the door based on the opening operation of the door, the opening operation of the door is permitted when the opening operation of the door is performed a plurality of times. The warning control device according to claim 6. It is equipped with a safety behavior detection unit that detects the safety confirmation behavior by the occupants.
6. The opening / closing control unit permits the opening operation of the door when the safety confirmation action is detected even when the opening operation of the door based on the opening operation of the door is restricted. Alternatively, the warning control device according to claim 7.

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