JP7059911B2 - Get-off support device - Google Patents

Description

The present invention relates to a disembarkation support device. More specifically, the present invention relates to a disembarkation support device capable of more reliably detecting an object approaching the own vehicle and enhancing safety when the occupant disembarks.

In the technical field, in order to improve safety when an occupant opens a door and gets off when a vehicle such as an automobile is stopped, for example, an approaching object such as a vehicle approaching the own vehicle from behind is detected by a camera or the like. Then, various disembarkation support devices have been proposed to call attention or limit the opening of the door by issuing an alarm or the like.

For example, in Patent Document 1, another vehicle approaching the own vehicle from the rear is detected by the image processing unit based on the image of the rear of the vehicle taken by the camera, and the occupant pulls the doorknob to open the door. Disclosed is a device that locks the door so that it does not open by the door lock control unit when the movement of the door knob is detected by the door knob movement detection unit.

Further, in Patent Document 2, the presence / absence, distance, speed, etc. of the rear vehicle are calculated by the reflected wave of the detection wave (for example, millimeter wave) radiated rearward by the radar installed at the rear of the own vehicle, and the rear is calculated. Disclosed is an in-vehicle control device that controls the occupant of the own vehicle to return to the locked state as soon as the door is unlocked when the vehicle is detected.

According to the disembarkation support device (hereinafter, may be referred to as "conventional device") according to the above-mentioned conventional technique, the door opened when the occupant opens the door by stopping the own vehicle on the road. Alternatively, it is possible to reduce the possibility that the vehicle behind the vehicle comes into contact with the occupant who is about to get off the vehicle.

Japanese Unexamined Patent Publication No. 2001-239832 Japanese Unexamined Patent Publication No. 2012-116348

According to the conventional devices such as the devices disclosed in Patent Document 1 and Patent Document 2, as described above, when the own vehicle is stopped on the road and the occupant opens the door, the opened door or the own vehicle is used. It is possible to reduce the possibility that the vehicle behind the vehicle will come into contact with the occupant who is about to get off. However, when there is a shield such as another vehicle behind the own vehicle, for example, when parallel parking or during a traffic jam, it becomes difficult to detect an approaching object (for example, a two-wheeled vehicle) approaching the own vehicle from behind. The timing of issuing an alarm or returning the door to the locked state may be delayed. As a result, the occupant can open the door of the occupant even though there is an approaching object approaching the occupant from behind, and there is a possibility that the safety when the occupant gets off cannot be sufficiently improved. be. That is, in the conventional device, no consideration is given to disembarkation support in a state where a shield exists behind the own vehicle.

As described above, the disembarkation support device (conventional device) according to the conventional technique is still solved from the viewpoint of more reliably improving the safety when the occupant disembarks even when there is a shield behind the own vehicle. There are still issues to be addressed. That is, in the technical field, there is a demand for a disembarkation support device that can more reliably enhance the safety of an occupant when disembarking even when a shield exists behind the own vehicle.

Therefore, as a result of diligent research, the present inventor provides a disembarkation support that executes an alarm and / or a door opening restriction when an approaching object to the own vehicle is detected when the disembarkation motion by the occupant of the own vehicle is detected. In the device, a plurality of approaching object detection units are provided, and the approaching object detection unit is used properly according to whether or not there is a shield behind the own vehicle when the own vehicle is parked or stopped, so that the approaching object detection unit is used behind the own vehicle. It has been found that the safety of occupants when getting off can be improved more reliably even in the presence of obstacles.

More specifically, the disembarkation support device according to the present invention (hereinafter, may be referred to as "the device of the present invention") controls an approaching object detection unit, a disembarkation restriction unit, a disembarkation motion detection unit, and the like. It is a disembarkation support device equipped with a section. The approaching object detection unit is configured to detect an approaching object approaching the own vehicle from the rear side. The disembarkation restriction unit is configured to execute a disembarkation restriction operation, which is an operation including an alarm operation and / or a door opening restriction operation. The alarm operation is an operation of issuing an alarm about the door of the own vehicle. The door opening restriction operation is an operation of restricting the opening of the door of the own vehicle. The disembarkation motion detection unit is configured to detect a disembarkation motion, which is an motion in which the occupant of the own vehicle is about to disembark. The control unit is configured to execute the disembarkation restriction control. The disembarkation restriction control is to execute the disembarkation restriction operation on the disembarkation restriction unit at least for the door closest to the approaching object when the approaching object is detected by the approaching object detection unit when the disembarkation operation is detected by the disembarkation operation detection unit. It is a control to make it.

The apparatus of the present invention includes a plurality of first detection units. The first detection unit is configured to detect an object existing around the own vehicle. At least two of these plurality of first detection units are configured to be able to detect an approaching object approaching the own vehicle from the rear side. The first detection unit configured in this way is also referred to as a second detection unit.

Further, in the apparatus of the present invention, as shown in the following (1) and (2), a shield, which is an object that hinders the detection of an approaching object approaching the own vehicle from the rear side, is behind the own vehicle. The control unit is configured to properly use the approaching object detection unit (the second detection unit as) depending on whether or not it exists in the vehicle.

(1) When it is determined that the first state is established when the own vehicle is parked or stopped based on the detection result by at least one of the plurality of first detection units, the third detection unit is referred to as the approaching object detection unit. Used as. The first state is a state in which a shield exists behind the own vehicle. The third detection unit is a second detection unit preset to be used as an approaching object detection unit in the first state among the two or more second detection units.

(2) When it is determined that the second state is established when the own vehicle is parked or stopped based on the detection result by at least one of the plurality of first detection units, the fourth detection unit is referred to as the approaching object detection unit. Used as. The second state is a state in which there is no shield behind the own vehicle. The fourth detection unit is a second detection unit preset to be used as an approaching object detection unit in the second state among the two or more second detection units.

Of the two or more second detection units, the second detection unit that can detect an approaching object that exists farther in the first state can be set in advance as the third detection unit. Further, among the two or more second detection units, the second detection unit capable of detecting an approaching object that exists farther in the second state can be set in advance as the fourth detection unit.

Typically, each of the plurality of first detectors includes at least one detector selected from the group consisting of radar, sonar, camera and laser. Further, typically, the third detection unit is an electronic outer mirror (sometimes referred to as "digital outer mirror", "electronic door mirror", "electronic side mirror", etc.), and the fourth detection unit is. It is a rear side radar.

The apparatus of the present invention according to one aspect of the present invention is applied to a own vehicle provided with a parking support system. The parking assistance system is configured to recognize the parking space for the vehicle and objects existing around the parking space and to perform parking assistance to assist the steering operation necessary for parking the vehicle in the parking space. Has been done. In this case, as shown in (3) and (4) below, the control unit is configured to properly use the approaching object detection unit according to the parking support execution mode selected by the parking support system.

(3) When the parallel parking mode is selected as the parking support execution mode, it is determined that the first state is established when the own vehicle is parked or stopped in the parking space, and the third detection unit is used as the approaching object detection unit. use.
(4) When the parallel parking mode is not selected as the parking support execution mode, it is determined that the second state is established when the own vehicle is parked or stopped in the parking space, and the fourth detection unit is used as the approaching object detection unit. do.

The apparatus of the present invention according to another aspect of the present invention is a parking space in which the own vehicle can park based on the detection result by at least one of the first detection units, and an object existing in the vicinity of the parking space. A spatial recognition system for recognition can be further provided. In this case, as shown in (5) and (6) below, the control unit determines whether or not the space recognition system recognizes the shield existing behind the own vehicle when the own vehicle is parked in the parking space. Depending on the situation, the approaching object detection unit is configured to be used properly.

(5) When the vehicle is parked in the parking space and the obstacle behind the vehicle is recognized by the space recognition system, it is determined that the first state is established when the vehicle is parked or stopped in the parking space. Then, the third detection unit is used as the approaching object detection unit.
(6) When the own vehicle is parked in the parking space and the shield existing behind the own vehicle is not recognized by the space recognition system, it is determined that the second state is established when the own vehicle is parked or stopped in the parking space. Therefore, the fourth detection unit is used as the approaching object detection unit.

Further, the space recognition system may be configured to recognize the parking space and objects existing around the parking space by semantic segmentation based on image data taken by a first detection unit including a camera as a detection device. ..

In the apparatus of the present invention according to still another aspect of the present invention, the control unit is a data storage device that retains data regarding which of the first state and the second state was established at the end of the trip even after the end of the trip. To prepare for. Then, as shown in (7) and (8) below, the approaching object used at the start of this trip depends on whether or not there was a shield behind the own vehicle at the end of the immediately preceding trip. It is configured to use the detector properly.

(7) If the first state is established at the end of the immediately preceding trip, the third detection unit is used as the approaching object detection unit at the start of this trip.
(8) If the second state is established at the end of the immediately preceding trip, the fourth detection unit is used as the approaching object detection unit at the start of this trip.

As described above, the apparatus of the present invention is provided with a plurality of approaching object detecting units, and the approaching object detecting unit is used properly depending on whether or not there is a shield behind the own vehicle when the own vehicle is parked or stopped. Therefore, according to the apparatus of the present invention, it is possible to more reliably enhance the safety of the occupant when getting off the vehicle even when a shield exists behind the own vehicle. In addition, by properly using the approaching object detection unit used at the start of this trip depending on whether or not there was an obstacle behind the own vehicle at the end of the previous trip, the approaching object detection unit can be used at the start of this trip. It is possible to more reliably detect the presence or absence of an approaching object and improve the safety of the own vehicle when starting.

Other objects, other features and accompanying advantages of the invention will be readily understood from the description of each embodiment of the invention described with reference to the following drawings.

It is a schematic block diagram which shows an example of the structure of the getting-off support device (first device) which concerns on 1st Embodiment of this invention. It is a flowchart which shows an example of the getting-off support routine executed in the control part provided with the 1st apparatus. A situation in which a shield exists behind the own vehicle when the own vehicle equipped with the disembarkation support device (conventional device) according to the conventional technique is parked, and an approaching object is approaching the own vehicle from the rear side of the own vehicle. It is a schematic diagram which shows. It is a schematic diagram which shows the situation that the shield exists behind the own vehicle when the own vehicle equipped with the 1st apparatus is parked, and the approaching object is approaching the own vehicle from the rear side of the own vehicle. It is a flowchart which shows an example of the approaching object detection part switching routine executed in the control part provided in 1st apparatus. After the own vehicle equipped with the disembarkation support device (second device) according to the second embodiment of the present invention is parked by parking support in the parallel parking mode by the parking support system, an approaching object is self-propelled from the rear side of the own vehicle. It is a schematic diagram which shows the situation which is approaching a vehicle. It is a flowchart which shows an example of the approaching object detection part switching routine which is executed in the control part provided with the 2nd apparatus. The parking space and the shield are recognized by the semantic segmentation by the space recognition system provided in the disembarkation support device (third device (1)) according to the modified example 3-1 of the third embodiment of the present invention, and the own vehicle is placed in the parking space. It is a schematic diagram which shows the situation which the approaching object is approaching the own vehicle from the rear side of the own vehicle after parking. It is a flowchart which shows an example of the approaching object detection part switching routine executed in the control part provided in 3rd apparatus (1). It is a flowchart which shows an example of the approaching object detection part switching routine at the time of a trip executed in the control part provided in the getting-off support device (4th device) which concerns on 4th Embodiment of this invention.

<< First Embodiment >>
Hereinafter, the disembarkation support device (hereinafter, may be referred to as “first device”) according to the first embodiment of the present invention will be described with reference to the drawings.

<Constitution>
FIG. 1 is a schematic block diagram showing an example of the configuration of the first device. The first device 100 is a disembarkation support device including an approaching object detection unit 110, a disembarkation restriction unit 120, a disembarkation motion detection unit 130, and a control unit 140. The approaching object detection unit 110 is configured to detect an approaching object (not shown) approaching the own vehicle (not shown) from the rear side. The rear side is the right rear and / or the left rear of the own vehicle.

Approaching objects are, for example, objects, animals, pedestrians, and vehicles (for example, bicycles, two-wheeled vehicles, and four-wheeled vehicles, etc.) that exist within a predetermined distance from the own vehicle, and from the own vehicle within a predetermined time. Refers to objects, animals, pedestrians, vehicles, etc. that are expected to reach within a predetermined distance. In particular, the movable range and / or the movable range in the opening / closing operation of the door provided in the own vehicle based on the index such as the collision margin time (TTC: Time-To-Collision) and / or the collision margin (MTC: Margin-To-Collision). It refers to an approaching object that is predicted to reach the position of the occupant immediately after getting off the vehicle within a predetermined time.

The specific means for the approaching object detecting unit 110 to detect the approaching object as described above is not particularly limited, and various detecting means widely used in the art can be adopted. The specific means for the approaching object detecting unit 110 to detect the approaching object will be described in detail in the description of the second detecting unit described later. The approaching object detection unit 110 is configured to transmit a signal indicating a detection result of an approaching object approaching the own vehicle from the rear side to the control unit 140.

The disembarkation restriction unit 120 is configured to execute a disembarkation restriction operation, which is an operation including an alarm operation and / or a door opening restriction operation. That is, the disembarkation restriction unit 120 is configured to execute either or both of the alarm operation and the door opening restriction operation as the disembarkation restriction operation.

The alarm operation is an operation of issuing an alarm about the door of the own vehicle. Specific examples of the alarm include the generation of sound, light and vibration, and the display of images and / or characters. The sound as an alarm can be generated from a sound generator which is a device for generating sound, such as an audio device and / or a buzzer provided in the own vehicle. Specific examples of such sounds include sound (for example, alarm sound, etc.), voice (including synthetic voice), music, and the like. The light as an alarm is a light bulb included in a light generator which is a device for generating light, such as a warning light provided in a Blind Spot Monitor (BSM) system mounted on the own vehicle and / or a door indicator or the like. And / or it can be generated from a light emitting element (for example, a light emitting diode (LED) or the like) or the like.

The vibration as an alarm can be generated from a vibration generator, which is a device that generates vibration, such as a motor and / or a vibrator incorporated so as to vibrate a handle and / or a seat provided in the own vehicle. The image and / or character as an alarm displays an image and / or character, for example, a display of a multimedia (MID: Multi-Information Display) and / or a multimedia (MM: MultiMedia) device provided in the own vehicle. It can be displayed by an image display device. Specific examples of such images include still images (for example, figures, symbols, marks, etc.), moving images (for example, animation, etc.) and the like.

As described above, the disembarkation restriction unit 120 can include at least one alarm device selected from the group consisting of the above-mentioned sound generator, light generator, vibration generator, and image display device. In this case, the alarm operation can include an operation of issuing an alarm by these alarm devices.

On the other hand, the door opening restriction operation is an operation of restricting the opening of the door provided in the own vehicle. Specific examples of the operation of restricting the opening of the door of the own vehicle include an operation of prohibiting the opening of the door of the own vehicle and an operation of delaying the opening of the door of the own vehicle.

For example, the disembarkation restriction unit 120 may include a door lock device which is a device for locking the door or keeping the door locked. In this case, the disembarkation restriction unit 120 may include, for example, a latch assembly of the door provided in the own vehicle, and the door opening restriction operation is a state in which the door is locked by the door lock device or the door is locked. It can include behavior to maintain.

The disembarkation motion detection unit 130 is configured to detect a disembarkation motion, which is an motion in which an occupant of the own vehicle is about to disembark. Specific examples of the disembarkation operation include, for example, operation and / or contact by the occupant with respect to the door lever and / or the door switch (for example, an unlatch switch) for operating the door lever and / or the electronic latch device of the own vehicle, and the seating of the occupant. Predetermined changes in posture (for example, changes in the seating posture of the occupant expected when getting off), movements of the occupant (for example, movements of the occupant expected when getting off the vehicle, etc.) and the like can be mentioned.

Therefore, the disembarkation motion detection unit 130 has a door lever sensor that detects the operation of the door lever, a door switch for operating the electronic latch device, a touch sensor that detects contact by the occupant with the door lever and / or the door switch, and a seating of the occupant. It can include at least one detection device selected from the group consisting of a seating sensor for detecting posture and a motion sensor for detecting the movement of an occupant. In this case, the disembarkation motion detection unit 130 may be configured to detect the disembarkation motion based on the signal output from the detection device.

The control unit 140 is configured to execute the disembarkation restriction control. The disembarkation restriction control is a disembarkation restriction operation for at least the door closest to the approaching object when an approaching object is detected by the approaching object detection unit 110 when the disembarkation operation is detected by the disembarkation operation detection unit 130. It is a control to be executed by 120.

Here, the flow of processing in the disembarkation support routine including the disembarkation restriction control executed by the control unit 140 included in the first device 100 will be described. FIG. 2 is a flowchart showing an example of a disembarkation support routine executed by the control unit 140. Such a disembarkation support routine is repeatedly executed at predetermined intervals by a CPU included in the ECU that realizes the function as the control unit 140.

When the disembarkation support routine is started, the CPU determines in step S110 whether or not the disembarkation operation, which is the operation that the occupant of the own vehicle is about to disembark, is detected by the disembarkation operation detection unit 140. If the disembarkation operation is not detected, the CPU determines "No" in step S110 and proceeds to the next step S140. In step S140, the CPU cancels the disembarkation restriction operation when the disembarkation restriction operation is executed by the disembarkation restriction unit 120, and does not execute the disembarkation restriction operation when the disembarkation restriction operation is not executed by the disembarkation restriction unit 120. Exit the routine once.

On the other hand, when the disembarkation operation is detected, the CPU determines "Yes" in step S110 and proceeds to the next step S120. In step S120, the CPU determines whether or not an approaching object approaching the own vehicle from the rear side is detected by the approaching object detecting unit 110. If no approaching object is detected, the CPU determines "No" in step S120 and proceeds to the next step S140. In step S140, the CPU cancels the disembarkation restriction operation when the disembarkation restriction operation is executed by the disembarkation restriction unit 120, and does not execute the disembarkation restriction operation when the disembarkation restriction operation is not executed by the disembarkation restriction unit 120. Exit the routine once.

On the other hand, when an approaching object is detected, the CPU determines "Yes" in step S120 and proceeds to the next step S130. In step S130, the CPU continues this when the disembarkation restriction operation is executed by the disembarkation restriction unit 120, executes this when the disembarkation restriction operation is not executed by the disembarkation restriction unit 120, and performs the routine. Is closed once.

As described above, according to the first device 100, the following vehicle or the like approaching the own vehicle from the rear side when the occupant opens the door and gets off from the own vehicle parked or stopped on the road or the like. When an approaching object is detected, an approaching object such as a following vehicle is detected by the opened door or the occupant trying to get off the own vehicle by executing the disembarkation restriction operation such as issuing an alarm or returning the door to the locked state. The possibility of contact can be reduced. That is, it is possible to improve the safety when the occupant gets off the vehicle.

The control unit 140 may cause the disembarkation restriction unit 120 to execute the disembarkation restriction operation only for the door (closest door) closest to the approaching object detected by the approaching object detection unit 110, and may execute the disembarkation restriction operation other than the nearest door and the nearest door. The disembarkation restriction unit 120 may execute the disembarkation restriction operation for the door (for example, the door adjacent to the nearest door), or the disembarkation restriction unit 120 may execute the disembarkation restriction operation for all the doors of the own vehicle. good.

The first device 100 includes a plurality of first detection units 151. In the example shown in FIG. 1, the first apparatus 100 includes three first detection units 151 (151a, 151b and 151c). The first detection unit 151 is configured to detect an object existing around the own vehicle. The specific means for the first detection unit 151 to detect an object existing in the vicinity of the own vehicle is not particularly limited, and various detection means widely used in the art can be adopted. As such a detection means, for example, a radar that uses a reflected wave of a radio wave such as a millimeter wave, an ultrasonic sensor (sona) that uses a reflected wave of ultrasonic waves, a monocular camera, a camera such as a stereo camera, etc. Examples thereof include an image sensor that uses image data, and various sensors such as an optical sensor that uses scattered light for laser irradiation, such as a lidar (LiDAR: Light Detection and Ringing). Using such a sensor, the first detection unit 151 uses the position and speed of an object existing around the own vehicle (including the relative position and speed of the approaching object to the own vehicle), and the own vehicle and the approaching object. It is possible to detect the distance between them. The first detection unit 151 is configured to transmit a signal indicating a detection result of an object existing in the vicinity of the own vehicle to the control unit 140.

At least two of these plurality of first detection units 151 are configured to be able to detect an approaching object approaching the own vehicle from the rear side. That is, at least two of the plurality of first detection units 151 are configured to be able to function as the above-mentioned approaching object detection unit 110. The first detection unit 151 configured in this way is also referred to as a second detection unit 152. Therefore, the second detection unit 152 needs to be provided with a sensor capable of detecting an object or the like existing at a relatively distant place as a detection means. Among the various sensors listed above as specific examples of the detection means included in the first detection unit 151, specific examples of such sensors include, for example, radars, image sensors, optical sensors, and the like.

In the example shown in FIG. 1, of the three first detection units 151 (151a, 151b and 151c), the two first detection units 151 (151a and 151b) drawn at the top are the second detection units 152. It corresponds to (152a and 152b). In FIG. 1, the approaching object detection unit 110 and the second detection unit 152 are drawn as separate components, but as described in detail below, actually two or more second detection units are actually used. One of the 152 functions as the approaching object detection unit 110. That is, in the example shown in FIG. 1, one of the two second detection units 152 (152a and 152b) functions as the approaching object detection unit 110.

Further, in the first device 100, as shown in the following (1) and (2), the shield, which is an object that hinders the detection of the approaching object approaching the own vehicle from the rear side, is the own vehicle. The control unit 140 is configured to properly use the approaching object detection unit 110 (as the second detection unit 152) depending on whether or not it exists behind.

(1) When it is determined that the first state is established when the own vehicle is parked or stopped based on the detection result by at least one of the plurality of first detection units 151, the third detection unit detects an approaching object. Used as part 110. The first state is a state in which a shield exists behind the own vehicle. The third detection unit is a second detection unit 152 that is preset to be used as the approaching object detection unit 110 in the first state among the two or more second detection units 152.

(2) When it is determined that the second state is established when the own vehicle is parked or stopped based on the detection result by at least one of the plurality of first detection units 151, the fourth detection unit detects an approaching object. Used as a part. The second state is a state in which there is no shield behind the own vehicle. The fourth detection unit is a second detection unit that is preset to be used as the approaching object detection unit 110 in the second state among the two or more second detection units 152. Even if a specific second detection unit is set in advance so as to be normally used as an approaching object detection unit and the second detection unit is set as the fourth detection unit as long as there is no shield behind the own vehicle. good.

The above-mentioned "shield" is not particularly limited as long as it is an object that hinders the detection of an approaching object approaching the own vehicle from the rear side, and may be a stationary object or a moving object. Specific examples of such a shield include other vehicles, buildings, walls, fences, fences, people, animals, plants, etc. existing behind the own vehicle.

When the above-mentioned object exists behind the own vehicle, the approaching object approaching the own vehicle from the rear side may not be detected normally depending on the configuration and position of the approaching object detection unit 110. .. Therefore, when the control unit 140 determines that the first state is established when the own vehicle is parked or stopped based on the detection result by at least one of the plurality of first detection units 151, the above (1) applies. As shown, of the two or more second detection units 152, the second detection unit 152 (that is, the third detection unit) preset to be used as the approaching object detection unit 110 in the first state is approached. It is used as an object detection unit 110. For example, of the two or more second detection units 152, the second detection unit 152 capable of detecting an approaching object that exists farther in the first state is preset as the third detection unit. Typically, the third detector is an electronic outer mirror.

On the other hand, when the above-mentioned object does not exist behind the own vehicle, it is probable that the approaching object approaching the own vehicle from the rear side is normally detected regardless of the configuration and position of the approaching object detection unit 110. Is high. Therefore, when the control unit 140 determines that the second state is established when the own vehicle is parked or stopped based on the detection result by at least one of the plurality of first detection units 151, the above (2) applies. As shown, of the two or more second detection units 152, the second detection unit 152 (that is, the fourth detection unit) preset to be used as the approaching object detection unit in the second state is used as the approaching object. It is used as a detection unit 110. For example, of the two or more second detection units 152, the second detection unit 152 capable of detecting an approaching object that exists farther in the second state is preset as the fourth detection unit. Typically, the fourth detector is a rear side radar.

The function as the control unit 140 as described above can be realized by, for example, an electronic control unit (ECU: Electronic Control Unit) included in the own vehicle. The ECU includes a microcomputer as a main unit, and is an input port for receiving detection signals from the approaching object detection unit 110, the disembarkation operation detection unit 130, the first detection unit 151, etc., and an instruction signal to the disembarkation restriction unit 120, etc. It is equipped with an output port and the like for transmitting. These detection signals and instruction signals can be transmitted via an in-vehicle network such as CAN (Control Area Area Network). The microcomputer includes, for example, a CPU and a data storage device such as a ROM and a RAM. The CPU is configured to realize various functions by receiving various detection signals, executing various arithmetic processes, and transmitting various instruction signals based on the instructions (programs) stored in the ROM. .. In this way, the ECU can realize the function as the control unit 140.

The function as the control unit 140 may be realized by an ECU included in the first device 100, or may be realized by an ECU included in a device other than the first device 100 mounted on the own vehicle. .. Further, the function as the control unit 140 may be realized by one ECU, or may be realized by a plurality of ECUs in a distributed manner.

<motion>
Here, prior to the description of the operation of the first device 100 that executes the disembarkation restriction control, the operation of the disembarkation support device (conventional device) according to the prior art will be described. FIG. 3 shows a situation in which the own vehicle 200 equipped with the conventional device is parked on the shoulder of the road or the like. The conventional device mounted on the own vehicle 200 includes an approaching object detecting unit 110 configured to detect an approaching object approaching the own vehicle 200 from the rear side. In this example, a rear side radar using a reflected wave of millimeter waves is mounted as an approaching object detection unit 110.

In the situation shown in FIG. 3, the motorcycle is approaching the own vehicle 200 from the rear side (specifically, the right rear side) of the own vehicle 200. That is, in this example, the motorcycle is an approaching object 400 approaching the own vehicle 200 from the rear side. However, another vehicle 300 is parked behind the own vehicle 200. The other vehicle 300 is parked in the area Ah that hinders the detection of the approaching object 400 by the rear side radar (approaching object detecting unit 110). That is, the other vehicle 300 is a shield that hinders the detection of the approaching object 400 by the approaching object detecting unit 110.

For this reason, in the conventional device mounted on the own vehicle 200, it becomes difficult to detect the approaching object 400 approaching the own vehicle 200 from the rear side as compared with the case where such an obstacle does not exist, and the disembarkation is restricted. The timing to execute control may be delayed. As a result, the occupant can open the door of the own vehicle 200 even though there is an approaching object 400 approaching the own vehicle 200 from behind, and the safety when the occupant gets off can be sufficiently enhanced. It may not be possible.

However, as described above, the first device 100 includes a plurality of first detection units 151 configured to detect an object existing in the vicinity of the own vehicle, and at least two of these first detection units 151 are provided. It is also a second detection unit 152 configured to be able to detect an approaching object approaching the own vehicle from the rear side. Further, in the first device 100, the approaching object is detected depending on whether or not there is a shield behind the own vehicle, which is an object that hinders the detection of the approaching object approaching the own vehicle from the rear side. The control unit 140 is configured to properly use the unit 110 (the second detection unit 152 as the unit 110).

FIG. 4A shows the own vehicle 200 equipped with the first device 100, which is in the same situation as the own vehicle 200 equipped with the conventional device shown in FIG. 3 described above. The first device 100 includes two first detection units 151a and 151b configured to detect an object existing around the own vehicle. In this example, the first detection unit 151a is an electronic outer mirror, and 151b is a rear side radar. Since both of these two first detection units 151a and 151b can detect an approaching object approaching the own vehicle from the rear side, they are also referred to as second detection units 152a and 152b, respectively. That is, both of these two first detection units 151a and 151b (that is, the two second detection units 152a and 152b) have a function as an approaching object detection unit 110.

However, in the situation shown in FIG. 4A, a region that hinders the detection of the approaching object 400 by the rear side radar, which is the second detection unit 152b of the two second detection units 152a and 152b. Another vehicle 300 is parked in Ah. That is, the other vehicle 300 is a shield that hinders the detection of the approaching object 400 when the rear side radar, which is the second detection unit 152b, is used as the approaching object detecting unit 110.

Therefore, the control unit 140 included in the first device 100 has a state in which a shield (another vehicle 300) exists behind the own vehicle 200 based on the detection result by the rear side radar as the first detection unit 151b (first). It is determined that (1 state) is established when the own vehicle 200 is parked. Then, of the two second detection units 152a and 152b, the second detection unit 152a (electronic outer mirror) is used as the approaching object detection unit 110 instead of the second detection unit 152b (rear side radar). That is, in this example, the electronic outer mirror, which is the second detection unit 152a, is preset so as to be used as the approaching object detection unit 110 in the first state (second detection unit 152a = third detection unit). ).

As shown in FIG. 4 (b), according to the electronic outer mirror which is the second detection unit 152a, an approaching object existing in the original wide area Ad without being hindered by another vehicle 300 which is a shield can be seen. Can be detected. As a result, the approaching object 400 (in this example, the motorcycle) approaching the own vehicle 200 from the rear side (specifically, the right rear side) of the own vehicle 200 can be detected without delay.

On the other hand, when there is no shield such as another vehicle 300 in the region Ah that hinders the detection of the approaching object 400 by the rear side radar which is the second detection unit 152b, the control unit 140 included in the first device 100 Determines that a state in which there is no shield behind the own vehicle 200 (second state) is established when the own vehicle 200 is parked, based on the detection result by the rear side radar as the first detection unit 151b. Then, of the two second detection units 152a and 152b, the second detection unit 152b (rear side radar) is used as the approaching object detection unit 110 instead of the second detection unit 152a (electronic outer mirror). That is, in this example, the rear side radar, which is the second detection unit 152b, is preset to be used as the approaching object detection unit 110 in the second state (second detection unit 152b = fourth detection). Department).

Next, the approaching object detection unit switching routine executed by the control unit 140 included in the first device 100 will be described. FIG. 5 is a flowchart showing an example of an approaching object detection unit switching routine executed by the control unit 140 included in the first device 100. Such an approaching object detection unit switching routine is repeatedly executed at predetermined intervals by a CPU included in the ECU that realizes the function as the control unit 140.

When the approaching object detection unit switching routine is started, the CPU acquires the detection result of the object existing in the vicinity of the own vehicle 200 by at least one of the plurality of first detection units 151 in step S210. Next, the CPU proceeds to step S220, and based on the detection result acquired in step S210, an object that hinders the detection of the approaching object 400 behind the own vehicle 200 when the own vehicle 200 is parked or stopped. It is determined whether or not the shield 300 is present (that is, whether the first condition or the second condition is satisfied). When the shield 300, which is an object that hinders the detection of the approaching object 400, exists behind the own vehicle 200 when the own vehicle 200 is parked or stopped (that is, when the first condition is satisfied), the CPU performs step S220. In, it is determined as "Yes", and the process proceeds to the next step S230.

In step S230, the CPU uses the third detection unit 152, which is the second detection unit 152 preset to be used as the approaching object detection unit 110 in the first state, among the two or more second detection units 152. It is used as an approaching object detection unit 110. The second detection unit is a detection unit configured to be able to detect an approaching object 400 approaching the own vehicle 200 from the rear side of the plurality of first detection units. In the example shown in FIG. 4, the third detection unit is an electronic outer mirror. Therefore, as described above, it is possible to detect the approaching object 400 approaching the own vehicle 200 from the rear side of the own vehicle 200 without being hindered by the other vehicle 300 which is a shield.

On the other hand, when the shield 300, which is an object that hinders the detection of the approaching object 400, does not exist behind the own vehicle 200 when the own vehicle 200 is parked or stopped (that is, when the second condition is satisfied), the CPU It is determined as "No" in step S220, and the process proceeds to the next step S240.

In step S240, the CPU uses the fourth detection unit 152, which is the second detection unit 152 preset to be used as the approaching object detection unit 110 in the second state, among the two or more second detection units 152. It is used as an approaching object detection unit 110. In the example shown in FIG. 4, the fourth detection unit is a rear side radar. In this case, since there is no shield such as another vehicle 300 behind the own vehicle 200, the approaching object 400 approaching the own vehicle 200 from the rear side of the own vehicle 200 is detected by the rear side radar. can do.

<effect>
As described above, the first device is provided with a plurality of approaching object detecting units, and uses the approaching object detecting unit properly depending on whether or not there is a shield behind the own vehicle when the own vehicle is parked or stopped. Specifically, when a shield exists behind the own vehicle when the vehicle is parked or stopped, the approach exists at a distance that should be originally detected even when the shield exists behind the own vehicle. A detection unit that can detect an object is selected as an approaching object detection unit. Therefore, according to the first device, it is possible to more reliably enhance the safety of the occupant when getting off the vehicle even when a shield exists behind the own vehicle.

<Modification 1-1>
In the above description of the first device, the rear side radar, which is one of the plurality of first detection units 151, detects a shield existing behind the own vehicle when the own vehicle is parked or stopped. However, the first detection unit used for detecting a shield is not limited to the rear side radar, and for example, ultrasonic sensors such as a clearance sonar that uses reflected waves of ultrasonic waves, and image data taken by a camera can be used. Various sensors such as an image sensor to be used and an optical sensor such as a lidar that uses scattered light for laser irradiation can be used. Specifically, for example, in step S210 included in the above-mentioned approaching object detection unit switching routine, the CPU can acquire the detection result by the clearance sonar for an object existing in the vicinity of the own vehicle.

<Modification 1-2>
As described above, one of the present inventions is to provide a disembarkation support device capable of more reliably enhancing the safety of the occupants of the own vehicle when disembarking even when a shield exists behind the own vehicle. The purpose. Therefore, for example, the fact that the own vehicle is stopped or the speed of the own vehicle is less than a predetermined threshold value may be added as a condition for executing the disembarkation support routine as described above.

<< Second Embodiment >>
Hereinafter, the disembarkation support device (hereinafter, may be referred to as “second device”) according to the second embodiment of the present invention will be described with reference to the drawings.

<Constitution>
The second device is any of the disembarkation support devices according to various embodiments of the present invention including the first device described above, and the own vehicle to which the second device is applied further includes a parking support system. .. The parking assistance system recognizes the parking space for the own vehicle and objects existing around the parking space, and performs parking assistance that assists the steering operation necessary for parking the own vehicle in the parking space. It is configured.

Specifically, the parking support system detects the parking space by fusing the detection results of the surrounding conditions of the own vehicle by, for example, a camera and an ultrasonic sensor, automatically sets the target parking position, and sets the target parking position. Guide your vehicle to. Since the details of the parking support system are well known to those skilled in the art, further explanations will be omitted.

Further, the control unit included in the second device is configured to properly use the approaching object detection unit according to the parking support execution mode selected by the parking support system, as shown in (3) and (4) below. Will be done.

(3) When the parallel parking mode is selected as the parking support execution mode, it is determined that the first state is established when the own vehicle is parked or stopped in the parking space, and the third detection unit is used as the approaching object detection unit. use.
(4) When the parallel parking mode is not selected as the parking support execution mode, it is determined that the second state is established when the own vehicle is parked or stopped in the parking space, and the fourth detection unit is used as the approaching object detection unit. do.

The fact that the execution mode of the parking support selected by the parking support system as described in (3) above is the parallel parking mode means that an object such as another vehicle that can be the above-mentioned shield tries to park the own vehicle. It means that the parking assistance system recognizes that it exists before and after the parking space. Therefore, in this case, the control unit included in the second device determines that the first state is established when the own vehicle is parked or stopped in the parking space, and uses the third detection unit as the approaching object detection unit.

On the other hand, the fact that the execution mode of the parking support selected by the parking support system as in (4) above is not the parallel parking mode but another execution mode such as the garage entry mode can be the above-mentioned obstacle. This means that the parking assistance system has recognized that objects such as other vehicles do not exist before or after the parking space in which the vehicle is to be parked. Therefore, in this case, the control unit included in the second device determines that the second state is established when the own vehicle is parked or stopped in the parking space, and uses the fourth detection unit as the approaching object detection unit.

As a matter of course, the control unit included in the second device is configured to be able to acquire at least a signal indicating whether or not the parking support execution mode is the parallel parking mode from the parking support system. ..

<motion>
Here, the operation of the second device that executes the disembarkation restriction control will be described. FIG. 6A shows a situation in which the own vehicle 200 having the second device mounted between two other vehicles 300 parked side by side on the shoulder of the road or the like is parallel parked by the parking support system. (See the dashed arrow). At this time, the execution mode of the parking support selected by the parking support system is the parallel parking mode, which means that two other vehicles 300 are placed before and after the parking space for parking the own vehicle as described above. It means that the parking assistance system has recognized that it exists.

The control unit provided in the second device acquires a signal from the parking support system indicating that the parallel parking mode is selected as the parking support execution mode as described above, and a shield (another vehicle) behind the own vehicle 200. It is determined that the state in which 300) exists (first state) is established when the own vehicle 200 is parked. Then, of the two second detection units 152a and 152b, the second detection unit 152a (electronic outer mirror) is used as the approaching object detection unit 110 instead of the second detection unit 152b (rear side radar) (second). Detection unit 152a = 3rd detection unit).

As shown in FIG. 6B, according to the electronic outer mirror, which is the second detection unit 152a, an approaching object existing in the original wide area Ad without being hindered by another vehicle 300 which is a shield can be seen. Can be detected. As a result, the approaching object 400 (motorcycle) approaching the own vehicle 200 from the rear side (specifically, the right rear side) of the own vehicle 200 can be detected without delay.

On the other hand, although not shown, when the parallel parking mode is not selected as the parking support execution mode, the control unit provided in the second device is in a state where there is no shield behind the own vehicle 200 (second state). It is judged that it is established when 200 is parked. Then, of the two second detection units 152a and 152b, the second detection unit 152b (rear side radar) is used as the approaching object detection unit 110 instead of the second detection unit 152a (electronic outer mirror) (second). Detection unit 152b = 4th detection unit).

Next, the approaching object detection unit switching routine executed in the control unit included in the second device will be described. FIG. 7 is a flowchart showing an example of an approaching object detection unit switching routine executed in the control unit included in the second device. Such an approaching object detection unit switching routine is repeatedly executed at predetermined intervals by a CPU included in an ECU that realizes a function as a control unit. In the flowchart shown in FIG. 7, steps S210 and S220 in the flowchart showing the approaching object detection unit switching routine executed in the control unit included in the first apparatus shown in FIG. 5 are replaced with steps S211 and S221, respectively. It is the same as the flowchart shown in FIG. Therefore, in the following description of the flowchart shown in FIG. 7, only these differences will be described.

When the approaching object detection unit switching routine is started, in step S211 the CPU acquires a signal from the parking support system indicating information regarding the execution mode of the parking support executed by the parking support system included in the own vehicle 200. Next, the CPU proceeds to step S221, and whether or not the execution mode selected in the parking support for the own vehicle 200 based on the signal acquired in step S211 is the parallel parking mode (that is, the first step). Whether the condition or the second condition is satisfied) is determined. When the execution mode selected in the parking support for the own vehicle 200 is the parallel parking mode (that is, when the first condition is satisfied), the CPU determines "Yes" in step S221 and proceeds to the next step S230. And proceed with the process. Since the contents of the process executed in step S230 have already been described with respect to the first device, they will be omitted.

On the other hand, when the execution mode selected in the parking support for the own vehicle 200 is not the parallel parking mode (that is, when the second condition is satisfied), the CPU determines "No" in step S220, and the next step. Proceed to process to S240. Since the content of the process executed in step S240 has already been described with respect to the first device, it will be omitted.

<effect>
As described above, the second device properly uses the approaching object detection unit depending on whether or not the execution mode of the parking support executed by the parking support system provided in the own vehicle is the parallel parking mode. Specifically, when the parking support execution mode is parallel parking mode, detection that can detect an approaching object that exists at a distance that should be originally detected even when a shield exists behind the own vehicle. Select the unit as the approaching object detection unit. Therefore, according to the second device, it is possible to more reliably enhance the safety of the occupant when getting off the vehicle even when a shield exists behind the own vehicle as a result of parallel parking.

<Modification 2-1>
The function of the parking support system to recognize the parking space for the own vehicle and the objects existing around the parking space may be the same as the equivalent function provided in the second device. Specifically, for example, the detection unit used by the parking support system to recognize the parking space for the own vehicle and the objects existing around the parking space is one of the first detection units included in the second device. It may be common.

<Modification 2-2>
Furthermore, from the viewpoint of enabling disembarkation support by the second device, it is sufficient if the parking support system has a function of recognizing the parking space for the own vehicle and objects existing around the parking space, and parking. It is not always necessary for the parking assistance system to have a function to assist the steering operation necessary for parking the own vehicle in the space. That is, as will be described later with respect to another embodiment of the present invention, the parking support system provided in the own vehicle to which the second device is applied has a function of assisting the steering operation if it has a function corresponding to the space recognition system. There is no need to prepare for.

<< Third Embodiment >>
Hereinafter, the disembarkation support device (hereinafter, may be referred to as “third device”) according to the third embodiment of the present invention will be described with reference to the drawings.

As described above with respect to the first device and the second device, the disembarkation support device (device of the present invention) according to the present invention has a function of recognizing a parking space for the own vehicle and an object existing around the parking space. There is a need. As a system capable of realizing such a function, various spatial recognition systems having various methods and configurations have been developed in the technical field.

<Constitution>
Therefore, the third device is any of the disembarkation support devices according to various embodiments of the present invention including the first device described above, and is based on the detection result by at least one of the first detection units. Further, it is provided with a parking space in which the own vehicle can be parked and a space recognition system for recognizing objects existing around the parking space. As a specific example of the first detection unit constituting the space recognition system included in the third device, for example, those listed in the description of the first device can be mentioned.

As shown in (5) and (6) below, the control unit included in the third device recognizes the shield existing behind the own vehicle when the own vehicle is parked in the parking space by the space recognition system. It is configured to use the approaching object detection unit properly depending on whether or not it is.

(5) When the vehicle is parked in the parking space and the obstacle behind the vehicle is recognized by the space recognition system, it is determined that the first state is established when the vehicle is parked or stopped in the parking space. Then, the third detection unit is used as the approaching object detection unit.
(6) When the own vehicle is parked in the parking space and the shield existing behind the own vehicle is not recognized by the space recognition system, it is determined that the second state is established when the own vehicle is parked or stopped in the parking space. Therefore, the fourth detection unit is used as the approaching object detection unit.

<effect>
As described above, in the third device, the space recognition system recognizes the parking space in which the own vehicle can park and the objects existing around the parking space based on the detection result by at least one of the first detection units. Recognizes. Then, when the own vehicle is parked in the parking space, the approaching object detection unit is used properly depending on whether or not the shield existing behind the own vehicle is recognized by the space recognition system. Specifically, when a shield existing behind the own vehicle is recognized by the space recognition system, an approaching object existing at a distance that should be originally detected even when the shield exists behind the own vehicle. The detection unit that can detect is selected as the approaching object detection unit. Therefore, according to the third device, it is possible to more reliably enhance the safety of the occupant when getting off the vehicle even when there is a shield behind the own vehicle.

<Modification 3-1>
Specific examples of the parking space and the method for identifying an object existing around the parking space by the space recognition system include so-called “Semantic Segmentation” and the like. Semantic segmentation, as is well known to those skilled in the art, refers to each pixel of image data as, for example, "plant", "animal", "person", "road", "sky", "sea", and "automobile". It refers to the process (annotation) associated with the class label of, and is a technology that enables precise image identification.

Therefore, the space recognition system included in the third device exists in the parking space where the own vehicle can be parked by the semantic segmentation based on the image data taken by the first detection unit including the camera as the detection device, and in the vicinity of the parking space. It may be configured to recognize the object to be. As a result, it is possible to more accurately detect whether or not there is a shield, which is an object that hinders the detection of an approaching object, behind the own vehicle when the own vehicle is parked or stopped, so that the occupant can get off the vehicle. The safety at the time can be further enhanced.

Here, the operation of the third device (hereinafter, may be referred to as “third device (1)”) according to the modified example 3-1 will be described. In FIG. 8A, the space recognition system included in the third device (1) recognizes the traveling area existing in front of the own vehicle based on the image data taken by the first detection unit including the camera as the detection device. It is a schematic diagram for demonstrating the situation. The captured image includes a road extending in front of the vehicle, buildings and roadside trees on the side of the road, and the sky, and semantic segmentation allows each pixel of the image data to be individually captured. Associated with the class label. The shaded area in (a) is an area consisting of pixels associated with the class label of the road in this way, and is recognized as a traveling area Ar by the space recognition system.

Other objects included in the captured image are similarly associated with each class label and recognized by the spatial recognition system. The parking space in which the own vehicle can be parked and the objects existing in the vicinity thereof are also recognized by the space recognition system. The control unit included in the third device (1) stores information regarding the presence / absence of a shield behind the parking space recognized by the space recognition system in this way as data. When it is determined that the own vehicle is parked or stopped in the parking space where the shield exists behind the own vehicle based on the information, the control unit provided in the third device (1) satisfies the above-mentioned first state. I judge that. Then, of the two second detection units 152a and 152b, the second detection unit 152a (electronic outer mirror) is used as the approaching object detection unit 110 instead of the second detection unit 152b (rear side radar) (second). Detection unit 152a = 3rd detection unit).

As shown in FIG. 8B, according to the electronic outer mirror which is the second detection unit 152a, an approaching object existing in the original wide area Ad without being hindered by another vehicle 300 which is a shield can be seen. Can be detected. As a result, the approaching object 400 (motorcycle) approaching the own vehicle 200 from the rear side (specifically, the right rear side) of the own vehicle 200 can be detected without delay.

On the other hand, although not shown, it is assumed that the own vehicle is parked or stopped in a parking space where there is no obstruction behind the own vehicle based on the information regarding the parking space recognized by the space recognition system and the presence or absence of the obstruction behind the parking space. If it is determined, the control unit included in the third device (1) determines that the above-mentioned second state is satisfied. Then, of the two second detection units 152a and 152b, the second detection unit 152b (rear side radar) is used as the approaching object detection unit 110 instead of the second detection unit 152a (electronic outer mirror) (second). Detection unit 152b = 4th detection unit).

Next, the approaching object detection unit switching routine executed in the control unit included in the third device (1) will be described. FIG. 9 is a flowchart showing an example of an approaching object detection unit switching routine executed in the control unit included in the third device (1). Such an approaching object detection unit switching routine is repeatedly executed at predetermined intervals by a CPU included in an ECU that realizes a function as a control unit. Note that the flowchart shown in FIG. 9 is a diagram except that step S210 in the flowchart showing the approaching object detection unit switching routine executed in the control unit included in the first apparatus shown in FIG. 5 is replaced with step S212. It is the same as the flowchart shown in 5. Therefore, in the following description of the flowchart shown in FIG. 9, only this difference will be described.

When the approaching object detection unit switching routine is started, the CPU acquires information (spatial recognition data by semantic segmentation) regarding the presence or absence of a parking space recognized by the space recognition system and a shield behind the parking space recognized by the space recognition system in step S212. Based on the information, the CPU determines whether or not there is a shield behind the own vehicle when the own vehicle is parked or stopped (that is, whether the first condition or the second condition is satisfied). Can be done. Next, the CPU proceeds to step S220. Since the contents of the processing executed in each step after step S220 have already been described with respect to the first apparatus, they will be omitted.

As described above, according to the third device (1), an approaching object is detected by a space recognition system capable of more accurate space recognition by semantic segmentation, depending on the presence or absence of a shield behind the parking space of the own vehicle. Use the detector properly. Specifically, when a shield exists behind the parking space of the own vehicle, it is possible to detect an approaching object that exists at a distance that should be originally detected even when the shield exists behind the own vehicle. The detector is selected as the approaching object detector. Therefore, according to the third device (1), the safety of the occupants of the own vehicle at the time of getting off can be further enhanced more reliably.

<< Fourth Embodiment >>
Hereinafter, the disembarkation support device (hereinafter, may be referred to as “fourth device”) according to the fourth embodiment of the present invention will be described with reference to the drawings.

As described above, the disembarkation support device (device of the present invention) according to various embodiments of the present invention including the first device to the third device is a shield behind the own vehicle when the own vehicle is parked or stopped. In the state where there is, a detection unit that can detect an approaching object that exists at a distance that should be originally detected even in that state is selected as an approaching object detecting unit. As a result, even when there is a shield behind the own vehicle, it is possible to more reliably improve the safety of the occupants of the own vehicle when getting off.

However, reliably detecting an approaching object approaching the own vehicle from the rear side not only ensures safety when the occupants of the own vehicle get off, but also when the own vehicle starts from a parking space or the like. It is also extremely important for ensuring safety. There is already a system that executes processing such as issuing an alarm when an approaching object approaching the own vehicle is detected from the rear side when the own vehicle starts. However, if a shield, which is an object that hinders the detection of an approaching object, exists behind the own vehicle, it may be difficult to sufficiently secure the safety of the own vehicle at the time of starting.

<Constitution>
Therefore, the fourth device is any of the disembarkation support devices according to various embodiments of the present invention, including the first to third devices described above, and is in the first state and the second state at the end of the trip. The control unit is provided with a data storage device that retains data regarding which of the above is established even after the end of the trip. The data storage device is not particularly limited as long as it is possible to retain data regarding which of the first state and the second state was established at the end of the trip even after the end of the trip. If the existing data storage device included in the ECU constituting the control unit satisfies the requirement, the existing data storage device may be diverted. Specific examples of such a data storage device include a non-volatile memory such as a flash memory.

Then, as shown in (7) and (8) below, the approaching object used at the start of this trip depends on whether or not there was a shield behind the own vehicle at the end of the immediately preceding trip. It is configured to use the detector properly.

(7) If the first state is established at the end of the immediately preceding trip, the third detection unit is used as the approaching object detection unit at the start of this trip.
(8) If the second state is established at the end of the immediately preceding trip, the fourth detection unit is used as the approaching object detection unit at the start of this trip.

<motion>
Next, a routine for switching the approaching object detection unit at the start of a trip, which is executed in the control unit included in the fourth device, will be described. FIG. 10 is a flowchart showing an example of a trip approaching object detection unit switching routine executed in the control unit included in the fourth device. Such a trip-starting approaching object detection unit switching routine is repeatedly executed at predetermined intervals by a CPU included in an ECU that realizes a function as a control unit.

When the approaching object detection unit switching routine at the start of the trip is started, the CPU acquires information regarding the presence / absence of a shield at the end of the trip immediately before the own vehicle from the data storage device in step S310. That is, the CPU acquires information as to whether the first state or the second state was established at the end of the trip immediately before the own vehicle. Next, the CPU proceeds to step S320, and based on the information acquired in step S310, shields an object that hinders the detection of an approaching object behind the own vehicle at the end of the trip immediately before the own vehicle. It is determined whether or not the object existed (that is, whether the first condition or the second condition was satisfied).

If the first state is established at the end of the trip immediately before the own vehicle (that is, if there is a shield behind the own vehicle), the CPU determines "Yes" in step S320, and next The process proceeds to step S330. In step S30, the CPU is a third detection unit (for example, an electron) which is a second detection unit preset to be used as an approaching object detection unit in the first state among the two or more second detection units. The outer mirror) is used as an approaching object detector. Therefore, even at the start of this trip, it is possible to satisfactorily detect an approaching object approaching the own vehicle from the rear side without being hindered by the obstruction.

On the other hand, if the second state is established at the end of the trip immediately before the own vehicle (that is, if there is no shield behind the own vehicle), the CPU determines "No" in step S320. , Proceed to the next step S340. In step S340, the CPU is a fourth detection unit (for example, of the second detection unit 152, which is a second detection unit preset to be used as an approaching object detection unit in the second state, among the two or more second detection units 152. The rear side radar) is used as an approaching object detector. Therefore, also in this case, at the start of this trip, it is possible to satisfactorily detect an approaching object approaching the own vehicle from the rear side without being hindered by the obstruction.

<effect>
As described above, according to the fourth device, it is used as an approaching object detection unit at the start of this trip depending on whether or not there is a shield behind the own vehicle at the end of the immediately preceding trip. By properly using the two detection units, the presence or absence of an approaching object can be detected more reliably at the start of this trip, and the safety at the time of starting the own vehicle can be improved.

As described above, for the purpose of explaining the present invention, some embodiments and modifications having a specific configuration have been described with reference to the accompanying drawings at times, but the scope of the present invention is exemplary of these. It should not be construed as being limited to embodiments and modifications, and it goes without saying that modifications can be made as appropriate within the scope of the claims and the matters described in the specification. For example, the execution order of the steps included in the flowchart showing the various routines described above can be changed as long as the desired effect is achieved.

100 ... disembarkation support device, 110 ... approaching object detection unit, 120 ... disembarkation restriction unit, 130 ... disembarkation operation detection unit, 140 ... control unit, 151,151a, 151b, 151c ... first detection unit, 152,152a, 152b ... Second detection unit, 200 ... own vehicle, 300 ... shield (other vehicle), 400 ... approaching object (motorcycle).

Claims (8)

An approaching object detection unit configured to detect an approaching object approaching the own vehicle from the rear side,
The disembarkation is configured to execute an alarm operation which is an operation of issuing an alarm about a door provided in the own vehicle and / or an operation including a door opening restriction operation which is an operation of restricting the opening of the door. Restrictions and
The disembarkation motion detection unit configured to detect the disembarkation motion, which is the motion that the occupant of the own vehicle is about to disembark, and the disembarkation motion detection unit.
If the approaching object is detected by the approaching object detecting unit when the disembarking motion is detected by the disembarking motion detecting unit, the disembarking limiting operation is performed on the door closest to the approaching object at least. A control unit configured to execute the disembarkation restriction control, which is the control to be executed by the door.
It is a disembarkation support device equipped with
A plurality of first detection units configured to detect an object existing in the vicinity of the own vehicle are provided.
At least two of the first detection units are also second detection units configured to be able to detect the approaching object approaching the own vehicle from the rear side.
The control unit
The first state in which a shield, which is an object that hinders the detection of the approaching object, exists behind the own vehicle based on the detection result by at least one of the first detection units is the own vehicle. When it is determined that the situation is established when the vehicle is parked or stopped, the second detection unit, which is preset to be used as the approaching object detection unit in the first state, is the second detection unit. 3 The detection unit is used as the approaching object detection unit,
Based on the detection result by at least one of the first detection units, it is determined that the second state in which the shield does not exist behind the own vehicle is established when the own vehicle is parked or stopped. When, among the second detection units, the fourth detection unit, which is the second detection unit preset to be used as the approaching object detection unit in the second state, is used as the approaching object detection unit. do,
Is configured as
Get-off support device. The disembarkation support device according to claim 1.
The third detection unit is the second detection unit capable of detecting the approaching object located farther from the second detection unit in the first state.
The fourth detection unit is the second detection unit capable of detecting the approaching object located farther from the second detection unit in the second state.
Get-off support device. The disembarkation support device according to claim 1 or 2.
Each of the first detection units includes at least one detection device selected from the group consisting of radar, sonar, camera and laser.
Get-off support device. The disembarkation support device according to any one of claims 1 to 3.
The third detection unit is an electronic outer mirror.
The fourth detector is a rear side radar.
Get-off support device. The disembarkation support device according to any one of claims 1 to 4.
The own vehicle recognizes the parking space for the own vehicle and objects existing around the parking space, and executes parking support to assist the steering operation necessary for parking the own vehicle in the parking space. Further equipped with a parking assistance system configured to
The control unit
When the parallel parking mode is selected as the parking support execution mode, it is determined that the first state is satisfied when the own vehicle is parked or stopped in the parking space, and the third state is used as the approaching object detection unit. Using the detector,
When the parallel parking mode is not selected as the parking support execution mode, it is determined that the second state is satisfied when the own vehicle is parked or stopped in the parking space, and the fourth detection is performed as the approaching object detection unit. Use the part,
Is configured as
Get-off support device. The disembarkation support device according to any one of claims 1 to 4.
Further provided with a parking space in which the own vehicle can park based on the detection result by at least one of the first detection units and a space recognition system for recognizing an object existing in the vicinity of the parking space.
The control unit
When the own vehicle is parked in the parking space and the shield existing behind the own vehicle is recognized by the space recognition system, the first is when the own vehicle is parked or stopped in the parking space. Judging that one state is satisfied, the third detection unit is used as the approaching object detection unit.
When the own vehicle is parked in the parking space and the shield existing behind the own vehicle is not recognized by the space recognition system, the second when the own vehicle is parked or stopped in the parking space. It is determined that the state is established, and the fourth detection unit is used as the approaching object detection unit.
Is configured as
Get-off support device. The disembarkation support device according to claim 6.
The space recognition system is configured to recognize the parking space and objects existing around the parking space by semantic segmentation based on image data taken by the first detection unit including a camera as the detection device. Yes,
Get-off support device. The disembarkation support device according to any one of claims 1 to 7.
The control unit includes a data storage device that retains data regarding which of the first state and the second state was established at the end of the trip even after the end of the trip.
If the first state is established at the end of the immediately preceding trip, the third detection unit is used as the approaching object detection unit at the start of the current trip.
If the second state is established at the end of the immediately preceding trip, the fourth detection unit is used as the approaching object detection unit at the start of the current trip.
Is configured as
Get-off support device.

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