WO2022209069A1 - Driving assistance system and vehicle - Google Patents

Driving assistance system and vehicle Download PDF

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Publication number
WO2022209069A1
WO2022209069A1 PCT/JP2021/047741 JP2021047741W WO2022209069A1 WO 2022209069 A1 WO2022209069 A1 WO 2022209069A1 JP 2021047741 W JP2021047741 W JP 2021047741W WO 2022209069 A1 WO2022209069 A1 WO 2022209069A1
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WO
WIPO (PCT)
Prior art keywords
vehicle
area
notification
region
driver
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PCT/JP2021/047741
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French (fr)
Japanese (ja)
Inventor
由幸 黒羽
拡 前田
和紀 赤見
Original Assignee
本田技研工業株式会社
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Application filed by 本田技研工業株式会社 filed Critical 本田技研工業株式会社
Publication of WO2022209069A1 publication Critical patent/WO2022209069A1/en

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R1/00—Optical viewing arrangements; Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles
    • B60R1/20—Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/16—Anti-collision systems

Definitions

  • the present invention relates to driving support systems and vehicles.
  • the field of view of a driver driving a vehicle narrows according to the vehicle speed. That is, the driver's blind spot changes according to the vehicle speed.
  • the present invention provides a vehicle driving support system and a vehicle that can appropriately notify the driver in consideration of the driver's blind spot that changes according to the vehicle speed.
  • the first invention is a first external sensor (11) for detecting objects within a detectable area around the vehicle (1); a vehicle speed sensor (13b) for detecting a vehicle speed, which is the running speed of the vehicle; a notification device capable of giving a predetermined notification to the driver of the vehicle; a control device (15) for controlling the notification devices (14, 14a, 14b);
  • a driving assistance system (10) for the vehicle (1) comprising:
  • the first external sensor (11) is provided in the vehicle (1) so as to include the side of the vehicle (1) and the front and rear sides of the vehicle (1) in the detectable region (Zs),
  • the control device (15) When an object within the detectable area (Zs) is detected by the first external sensor (11), the object is located within a first area (Z1) included in the detectable area (Zs).
  • the second invention is a first external sensor (11) for detecting objects within a detectable area around the vehicle (1); a vehicle speed sensor (13b) for detecting a vehicle speed, which is the running speed of the vehicle; a notification device capable of giving a predetermined notification to the driver of the vehicle; a control device (15) for controlling the notification devices (14, 14a, 14b);
  • the vehicle (1) comprising
  • the first external sensor (11) is provided in the vehicle (1) so as to include the side of the vehicle (1) and the front and rear sides of the vehicle (1) in the detectable region (Zs),
  • the control device (15) When an object within the detectable area (Zs) is detected by the first external sensor (11), the object is located within a first area (Z1) included in the detectable area (Zs).
  • a driving support system for a vehicle and a vehicle that can appropriately notify the driver in consideration of the driver's blind spot that changes according to the vehicle speed.
  • FIG. 1 is a block diagram showing an example of a vehicle 1 equipped with a driving assistance system 10;
  • FIG. FIG. 2 is a diagram showing an example of a portion of the vehicle 1 in front of a driver P;
  • FIG. 4 is a diagram showing an example of a moving object field of view of a driver P of the vehicle 1;
  • FIG. FIG. 10 is a diagram showing an example of the first area Z1 when the vehicle speed is 0 [km/h];
  • FIG. 10 is a diagram showing an example of the first area Z1 when the vehicle speed is 40 [km/h];
  • 10 is a diagram showing an example of the first area Z1 when the vehicle speed is 100 [km/h]; 4 is a flowchart showing an example of processing in the driving assistance system 10; It is a figure which shows an example of a 2nd notification. It is a figure which shows an example of a 1st notification.
  • the vehicle 1 includes a driving support system 10 , a driving device 16 and a driving operator 17 . These devices are communicably connected to each other through a wired or wireless communication network. A communication network connecting these devices is, for example, a CAN (Controller Area Network).
  • the vehicle 1 also has wheels (for example, two wheels, three wheels, or four wheels; not shown) including drive wheels driven by the power of the drive device 16 .
  • the vehicle 1 is a two-wheel saddle-riding vehicle.
  • the driving device 16 is a device that outputs a driving force for driving the vehicle 1 to driving wheels (not shown) of the vehicle 1, and is, for example, an engine (internal combustion engine) or a motor (electric motor).
  • the driving device 16 may be realized by either the engine and the motor, or may be realized by both the engine and the motor.
  • Drive 16 may also include an optional transmission.
  • the driving device 16 is controlled by a control device 15 (described later) that controls the entire vehicle 1 .
  • the driving operator 17 is a device for receiving various operations related to driving the vehicle 1.
  • the accelerator pedal or accelerator grip
  • brake pedal or brake lever
  • shift lever or shift pedal
  • steering wheel or a handle (see reference numeral 21 in FIG. 3).
  • the driving operator 17 may be a modified steering wheel, a joystick, or the like.
  • the operation operator 17 is provided with a sensor for detecting the amount of operation of the operation operator 17 or the presence/absence of operation. A detection result of the sensor of the operating element 17 is sent to the control device 15 .
  • the driving support system 10 includes a side external sensor 11 , a front external sensor 12 , a vehicle sensor 13 , a notification device 14 and a control device 15 .
  • the lateral external sensor 11 is a device that detects objects within a detectable area around the vehicle 1 .
  • the side external sensor 11 is provided on the vehicle 1 so that the side of the vehicle 1 and the front and rear sides of the vehicle 1 are included in the detectable area.
  • An example of the detectable area of the lateral external sensor 11 will be described later.
  • the lateral external sensor 11 includes, for example, a radar 11a, a laser 11b, and the like.
  • the radar 11 a is, for example, a radar device using radio waves in the millimeter wave band, and detects the position (distance and direction) of an object within the detectable area of the lateral external sensor 11 .
  • the laser 11b is, for example, a LIDAR (Laser Imaging Detection and Ranging), and uses a predetermined laser beam to measure the distance to an object (object) within the detectable area of the lateral external sensor 11.
  • LIDAR Laser Imaging Detection and Ranging
  • the lateral external sensor 11 may also include a camera 11c, which is a digital camera that captures the surroundings of the vehicle 1 (for example, the sides and rear sides of the vehicle 1). Furthermore, the vehicle 1 may be provided with a drive recorder that stores image data obtained by photographing by the camera 11 c or another digital camera mounted on the vehicle 1 .
  • the detection result of the side external sensor 11 such as the detection result of the radar 11a, the measurement result of the laser 11b, or the image data obtained by the photographing of the camera 11c is sent to the control device 15.
  • the front external sensor 12 is a device that detects objects within a detectable area around the vehicle 1 . Specifically, the front external sensor 12 is provided in the vehicle 1 so that the front of the vehicle 1 is included in the detectable area. An example of the detectable region of the front external sensor 12 will be described later.
  • the forward external sensor 12 includes, for example, a radar 12a, a laser 12b, and the like.
  • the radar 12 a is, for example, a radar device using radio waves in the millimeter wave band, and detects the position (distance and direction) of an object within the detectable area of the forward external sensor 12 .
  • the laser 12b is, for example, a LIDAR, and uses a predetermined laser beam to measure the distance to an object (object) within the detectable area of the forward external sensor 12 .
  • the front external sensor 12 may also include a camera 12c, which is a digital camera that captures the surroundings of the vehicle 1 (for example, the front and front sides of the vehicle 1). Furthermore, the vehicle 1 may be provided with a drive recorder that stores image data obtained by photographing by the camera 12 c or another digital camera mounted on the vehicle 1 .
  • the detection result of the front external sensor 12 such as the detection result of the radar 12a, the measurement result of the laser 12b, or the image data obtained by the photographing of the camera 12c is sent to the control device 15.
  • the vehicle sensor 13 is a sensor for acquiring vehicle information regarding the vehicle 1 .
  • the vehicle sensors 13 include, for example, a rotation speed sensor 13a that detects the rotation speed of the drive device 16 (for example, engine rotation speed), a vehicle speed sensor 13b that detects the vehicle speed that is the running speed of the vehicle 1, and a predetermined direction (for example, the front and rear of the vehicle 1). direction), and an acceleration sensor 13c for detecting acceleration.
  • the acceleration sensor 13c detects angular velocities in the pitch direction, roll direction, and yaw direction of the vehicle 1, and accelerations in the front-rear direction, left-right direction (i.e., vehicle width direction), and vertical direction of the vehicle 1. It may also be an inertial measurement unit (IMU).
  • IMU inertial measurement unit
  • the notification device 14 is controlled by the control device 15 and configured to be able to give a predetermined notification to the driver of the vehicle 1 .
  • the notification device 14 includes, for example, a meter display 14a and a mirror indicator 14b.
  • the meter display 14a is provided in the vehicle 1 in front of the steering wheel 21, which is an example of a steering device that receives the steering operation of the driver.
  • the mirror indicator 14b is provided in the mirror units 23L and 23R having mirrors for the driver to visually recognize the rear in the vehicle 1 .
  • the notification device 14 in the mirror units 23L and 23R having mirrors for visual recognition in front of or behind the steering wheel 21, the notification device 14 can be arranged at a position where the driver can easily visually recognize it. Therefore, it becomes possible to enhance the notification effect of the notification device 14 .
  • the control device 15 controls the vehicle 1 as a whole.
  • the control device 15 controls the notification device 14 based on information from the side external sensor 11, the front external sensor 12, the vehicle sensor 13, and the like.
  • the control device 15 sets a predetermined area included in the detectable area of the lateral external sensor 11 as the first area, and determines that the object is located within the first area. , causes the notification device 14 to perform a predetermined first notification (described later).
  • control device 15 changes the first region according to the vehicle speed detected by the vehicle speed sensor 13b. Although the details will be described later, the control device 15 sets the first region in consideration of the driver's blind spot, which changes according to the vehicle speed. As a result, the control device 15 makes it possible to appropriately perform the first notification to the driver in consideration of the driver's blind spot that changes according to the vehicle speed, and to prevent excessive first notification that may annoy the driver. To make it possible to perform a first notification necessary for a driver while suppressing notifications.
  • control device 15 sets a predetermined area included in the detectable area of the front external sensor 12 as a second area, and determines that the object is positioned within the second area.
  • the notification device 14 is made to perform the second notification of. An example of the second area and second notification will be described later.
  • control device 15 The functions of the control device 15 are realized, for example, by a CPU (Central Processing Unit) executing a predetermined program. In addition, some or all of the functions of the control device 15 are realized by hardware such as LSI (Large Scale Integration), ASIC (Application Specific Integrated Circuit), FPGA (Field-Programmable Gate Array), and GPU (Graphics Processing Unit). may be Furthermore, some or all of the functions of the control device 15 may be implemented by cooperation of software and hardware.
  • CPU Central Processing Unit
  • ASIC Application Specific Integrated Circuit
  • FPGA Field-Programmable Gate Array
  • GPU Graphics Processing Unit
  • an upper cowl 20 of the vehicle 1 is provided with a meter device 30 at a position between a steering wheel 21 included in the driving operator 17 and a windscreen 22 .
  • a meter display 14 a included in the notification device 14 is provided at a substantially central position of the meter device 30 in the left-right direction (vehicle width direction) of the vehicle 1 .
  • the meter display 14a displays, for example, various meters such as a speedometer and tachometer, and various instruments such as a fuel gauge and water temperature gauge. Further, the meter display 14a displays an image (for example, Image information G1), which will be described later, is displayed.
  • the meter display 14a can be realized by various display devices such as a liquid crystal display and an organic EL display.
  • the speedometer and tachometer may be provided in the meter device 30 separately from the meter display 14a. In this case, the speedometer and tachometer may not be displayed on the meter display 14a.
  • mirror units 23L and 23R are provided on the left and right sides of the meter device 30, and have mirrors for the driver P of the vehicle 1 to visually recognize the rear.
  • a mirror indicator 14b included in the notification device 14 is provided in the mirror units 23L and 23R.
  • the mirror indicator 14b is composed of a mirror indicator 14bL provided on the left mirror unit 23L and a mirror indicator 14bR provided on the right mirror unit 23R.
  • the mirror indicator 14b is controlled by the control device 15 when an object is positioned within a first area (for example, a first area Z1 described later) included in the detectable area of the lateral external sensor 11.
  • a first area for example, a first area Z1 described later
  • An image related to the first notification for example, image information G2 described later
  • the mirror indicator 14bL provided in the left mirror unit 23L is displayed when an object is located in the first area on the left side of the vehicle 1 included in the detectable area of the side external sensor 11. display an image related to the first notification made at Further, the mirror indicator 14bR provided in the right mirror unit 23R is activated when an object is positioned within the first region on the right side of the vehicle 1 included in the detectable region of the side external sensor 11. display the image associated with the first notification received.
  • the mirror indicator 14b can be implemented by various display devices such as a liquid crystal display and an organic EL display. Also, the mirror indicator 14b may be a lamp indicator or the like.
  • ⁇ 1 represents the dynamic field of view of the driver P when the vehicle 1 is stopped, that is, when the vehicle speed is 0 [km/h].
  • ⁇ 1 is 200°.
  • ⁇ 2 represents the moving object visual field of the driver P when the vehicle speed is 40 [km/h].
  • ⁇ 3 represents the moving object visual field of the driver P when the vehicle speed is 100 [km/h].
  • ⁇ 3 is 40°.
  • ⁇ 10 represents the moving object visual field of the driver P when the vehicle speed is 70 [km/h].
  • ⁇ 10 is 75°.
  • the dynamic field of view of the driver P that is, the blind spot of the driver P changes according to the vehicle speed.
  • the field of view of the moving object of the driver P is fixed at ⁇ 1, for example, and the area not included in this ⁇ 1 is treated as the blind spot of the driver P, and if there is an object in this area, the driver P is notified.
  • you made it so In this case, even if there is an object in the driver's P blind spot while the vehicle 1 is running, the driver P may not be notified. Therefore, in such a case, it may not be possible to give the necessary notification to the driver P.
  • the field of view of the moving object of the driver P is fixed at ⁇ 3, for example, and the area not included in this ⁇ 3 is treated as the blind spot of the driver P, and when there is an object in this area, the driver P is notified.
  • the notification is also performed based on the object that the driver P can visually recognize), which may result in an excessive notification that may annoy the driver P.
  • the control device 15 changes the first area, which is the condition for giving the first notification to the driver P, taking into account the driver's P blind spot that changes according to the vehicle speed. This makes it possible to provide the necessary first notification to the driver P while suppressing an excessive first notification that may annoy the driver P.
  • a first area hereinafter also referred to as the first area Z1 as a condition for performing the first notification
  • a second area hereinafter referred to as the second notification.
  • An example of the region Z2 will be described.
  • the lateral external sensor 11 is provided in the vicinity of the rear end portion of the vehicle 1 (for example, the seat cowl). Further, the forward external sensor 12 is provided forward of the driver P's boarding position (straight line Lo). As an example, in the present embodiment, the front external sensor 12 is provided near the front end of the vehicle 1 (for example, the upper cowl). As a result, it is possible to prevent the driver P from entering the detectable areas of the side external sensor 11 and the front external sensor 12 .
  • the lateral external sensor 11 may be provided behind the center of gravity of the vehicle 1 when the vehicle 1 is viewed from above.
  • the position of the center of gravity of the vehicle 1 and the boarding position of the vehicle 1 are substantially equal. It is possible to prevent the driver P from entering the detectable area of the external sensor 11 .
  • a detectable area Zs indicated by dot-patterned hatching is a detectable area of the lateral external sensor 11.
  • the first area Z1 indicated by grid pattern hatching is an area included in the detectable area (that is, the detectable area Zs) of the lateral external sensor 11. It is an example of the 1st area
  • the rear edge Z1a of the first region Z1 on the left side of the vehicle 1 extends rearward from the rear end of the vehicle 1 by a predetermined distance L1 (eg, 3.0 [m]). set at a distance.
  • the outer edge Z1b of the first area Z1 on the left side of the vehicle 1 is positioned leftward by a predetermined distance L2 (for example, 3.0 [m] from the inner edge Zs1 of the detectable area Zs on the left side of the vehicle 1). ]).
  • the inner edge Z1d of the first area Z1 on the left side of the vehicle 1 coincides with the inner edge Zs1 of the detectable area Zs on the left side of the vehicle 1 .
  • the inner edge Zs1 of the detectable area Zs on the left side of the vehicle 1 is, for example, separated leftward from the left end near the rear end of the vehicle 1 by a predetermined distance (for example, 0.5 [m]). position.
  • the rear edge Z1a of the first region Z1 on the right side of the vehicle 1 is set at a position a predetermined distance L1 rearward from the rear end of the vehicle 1.
  • the outer edge Z1b of the first area Z1 on the right side of the vehicle 1 is set at a position separated rightward by a predetermined distance L2 from the inner edge Zs1 of the detectable area Zs on the right side of the vehicle 1. be.
  • the inner edge Z1d of the first area Z1 on the right side of the vehicle 1 coincides with the inner edge Zs1 of the detectable area Zs on the right side of the vehicle 1 .
  • the inner edge Zs1 of the detectable area Zs on the right side of the vehicle 1 is, for example, separated rightward from the right end near the rear end of the vehicle 1 by a predetermined distance (for example, 0.5 [m]). position.
  • the inner edge Z1d of the first region Z1 It may be set inside the example shown in FIG. In this way, it is possible to perform the first notification even when there is an object behind (right behind) the vehicle 1 .
  • FIG. 4 shows the first region Z1 when the vehicle 1 is stopped, that is, when the vehicle speed is 0 [km/h] (for example, when the vehicle speed is 40 [km/h]).
  • the front edge Z1c in the first region Z1 when the vehicle speed is 0 [km/h] is approximately the moving object field of view ⁇ 1 (see the boundary line Bo) of the driver P when the vehicle speed is 0 [km/h]. set to be equal.
  • the front edge Z1c in the first region Z1 when the vehicle speed is 0 [km/h] corresponds to a straight line Lo extending left and right from the boarding position of the driver P when the vehicle 1 is viewed from above. set to match.
  • the front edge Z1c in the first region Z1 in this case is set to match the straight line Lo, but the present invention is not limited to this.
  • the front edge Z1c of the first region Z1 in this case may be set to coincide with the boundary line Bo of the moving object field of view ⁇ 1 of the driver P.
  • FIG. 5 shows the first region Z1 when the vehicle speed is 40 [km/h] (for example, when the vehicle speed is 40 [km/h] or more and less than 100 [km/h]).
  • the position of the front edge Z1c in the first zone Z1 when the vehicle speed is 40 [km/h] is different from the first zone Z1 shown in FIG. 4 when the vehicle speed is 0 [km/h].
  • the front edge Z1c in the first region Z1 when the vehicle speed is 40 [km/h] corresponds to the moving object visual field ⁇ 2 of the driver P when the vehicle speed is 40 [km/h]. reference). That is, the first area Z1 in this case is wider in front of the vehicle 1 than the first area Z1 when the vehicle speed is 0 [km/h]. In this way, the control device 15 widens the first area Z1 forward of the vehicle 1 as the vehicle speed increases. Accordingly, it is possible to set an appropriate first region Z1 in consideration of the dynamic field of view of the driver P (that is, the blind spot of the driver P) that changes according to the vehicle speed.
  • the first region Z1 in this case is a region in which the far side of the vehicle 1 is wider than the near side of the vehicle 1 (L3 and L3 in FIG. 5). See L4, where L3 ⁇ L4).
  • the first region Z1 in this case is a region that spreads to the front side of the vehicle 1 as it moves away from the side of the vehicle 1 . Accordingly, it is possible to set an appropriate first region Z1 in consideration of the dynamic field of view of the driver P (that is, the blind spot of the driver P) that changes according to the vehicle speed.
  • FIG. 6 shows the first region Z1 when the vehicle speed is 100 [km/h] (for example, when the vehicle speed is 100 [km/h] or more).
  • the position of the front edge Z1c is similar to the first region Z1 in FIG. 4 and in FIG. 5 when the vehicle speed is 0 [km/h]. It is different from the first region Z1 when the illustrated vehicle speed is 40 [km/h].
  • the first area Z1 in this case is wider in front of the vehicle 1 than the first area Z1 when the vehicle speed is 40 [km/h].
  • the control device 15 sets, as the first area Z1, an area that is not included in the second area that is the condition for the second notification.
  • an area included within ⁇ 10 for example, 75° is an area included in the detectable area of the front external sensor 12 and is a condition for performing the second notification. It is the second area Z2.
  • the control device 15 sets the front edge Z1c of the first zone Z1 as the boundary line between the second zone Z2 and the outside zone. As a result, the area overlapping the second area Z2 is removed from the first area Z1. In this way, the control device 15 sets an area that is not included in the second area Z2 as the first area Z1, thereby suppressing simultaneous first notification and second notification for a certain object. It is possible to realize a notification that is easy for the driver P to understand.
  • the control device 15 of the driving support system 10 acquires the detection result of the front external sensor 12 (step S1).
  • the control device 15 acquires the vehicle speed based on the detection result of the vehicle sensor 13 (vehicle speed sensor 13b) (step S2).
  • the control device 15 determines whether the detection range of the front external sensor 12 is included in the detectable area. It is determined whether or not there is an object in the second area Z2 and there is a risk of collision (step S3).
  • the control device 15 determines that there is a risk of collision when an object is present within the second area Z2 and the distance from the vehicle 1 to the object is equal to or less than a threshold. Further, in the process of step S3, the control device 15 may determine the danger of collision by considering the relative speed between the vehicle 1 and the object. It may be determined that the higher the speed, the greater the risk of collision. If it is determined that there is no object within the second area Z2, or if there is an object within the second area Z2 but there is no danger of collision (step S3: NO), the control device 15 proceeds to the processing of step S5.
  • step S4 determines that there is an object in the second area Z2 and there is a danger of collision (step S3: YES)
  • the control device 15 executes a second notification (step S4).
  • the control device 15 executes the second notification by displaying an image as shown in FIG. 8 on the meter display 14a.
  • the image information G1 prompts the driver P to operate the brakes to slow down. is displayed below the character information C1 indicating the vehicle speed.
  • the second notification may be performed using voice or the like (for example, a predetermined warning sound).
  • control device 15 sets the first region Z1 as described using FIGS. 4 to 6 and the like, based on the vehicle speed acquired by the process of step S2 (step S5).
  • control device 15 acquires the detection result of the lateral external sensor 11 (step S6), and determines whether or not there is an object within the detectable region Zs of the lateral external sensor 11 (step S7). . If it is determined that there is no object within the detectable area Zs (step S7: NO), the process shown in FIG. 7 is terminated.
  • control device 15 determines that an object exists within the detectable area Zs (step S7: YES), it determines whether the object is located within the first area Z1 set in step S5. (S8). If it is determined that the object is not located within the first area Z1 (step S8: NO), the process shown in FIG. 7 is terminated.
  • step S9 if the control device 15 determines that the object is located within the first area Z1 (step S8: YES), it executes the first notification (step S9) and ends the processing shown in FIG.
  • the control device 15 executes the first notification by displaying an image as shown in FIG. 9 on the mirror indicator 14b.
  • the mirror indicator 14bL provided in the left mirror unit 23L warns the driver of a collision.
  • Image information G2 indicating that there is a risk of collision on the left rear side of the vehicle 1 is displayed along with text information C2 prompting P.
  • control device 15 repeatedly executes the process shown in FIG. 7 at a predetermined cycle while the vehicle 1 is running (for example, when the ignition power is on).
  • the first area Z1 can be set based on the vehicle speed, and the first notification can be executed when the object is positioned within the first area Z1 thus set. This makes it possible to provide the necessary first notification to the driver P while suppressing an excessive first notification that may annoy the driver P.
  • the present invention is not limited to this.
  • the driving support system of the present invention can be widely applied to vehicles other than saddle-riding vehicles.
  • control device 15 directly changes the first area Z1 according to the vehicle speed, but the present invention is not limited to this.
  • the side external sensor 11 is provided in the vehicle 1 so that the detectable region can be changed, and the control device 15 changes the detectable region of the side external sensor 11 to adjust the first region Z1 according to the vehicle speed. may be changed indirectly by
  • the lateral external sensor 11 includes, for example, a drive motor and is provided in a state of being movable along a rail or the like provided on the seat cowl of the vehicle 1 . Then, the control device 15 controls the drive motor of the side external sensor 11 to move the side external sensor 11 to a movement position corresponding to the vehicle speed, thereby increasing the detectable area of the side external sensor 11. corresponds to the vehicle speed, and this detectable area is used as the first area Z1 to perform the above notification. Even in this way, the driving support system 10 can appropriately notify the driver in consideration of the driver's blind spot that changes according to the vehicle speed.
  • a first external sensor (lateral external sensor 11) that detects an object within a detectable area (detectable area Zs) around the vehicle (vehicle 1); a vehicle speed sensor (vehicle speed sensor 13b) that detects a vehicle speed that is the running speed of the vehicle; a notification device (notification device 14, meter display 14a, mirror indicator 14b) capable of giving a predetermined notification to the driver of the vehicle; a control device (control device 15) that controls the notification device;
  • the vehicle driving support system (driving support system 10) comprising
  • the first external sensor is provided on the vehicle so that the detectable area includes the side of the vehicle and the front and rear sides of the vehicle,
  • the control device is When an object within the detectable area is detected by the first external sensor (step S7: YES), the object is positioned within a first area (first area Z1) included in the detectable area.
  • step S8 Based on the determination that the object is located within the first area (step S8: YES), causing the notification device to perform a first notification (step S9), changing the first region according to the vehicle speed detected by the vehicle speed sensor (step S5); driving assistance system.
  • the first area is changed according to the vehicle speed, and the first notification that the object is in the first area is made based on the determination that the object is located in the first area. It can be performed. Accordingly, it is possible to appropriately perform the first notification in consideration of the driver's blind spot that changes according to the vehicle speed. Therefore, it is possible to provide the necessary first notification to the driver while suppressing excessive first notification that may annoy the driver.
  • the control device sets, as the first region, a region in which a far side of the vehicle extends to a front side of the vehicle more than a near side of the vehicle. driving assistance system.
  • the first area is set as the area that spreads to the far side of the vehicle more to the front side of the vehicle than to the near side of the vehicle, so an appropriate first area is set in consideration of the driver's blind spot. can do.
  • the control device sets, as the first area, an area that spreads to the front side of the vehicle as it moves away from the side of the vehicle. driving assistance system.
  • the first area is set as the area that spreads to the front side of the vehicle as it moves away from the side of the vehicle, it is possible to set an appropriate first area in consideration of the driver's blind spot.
  • the control device sets an area behind the driver's boarding position (straight line Lo) as the first area. driving assistance system.
  • the area behind the driver's boarding position is set as the first area. can be set.
  • a wider area in front of the vehicle than when the vehicle speed is less than the predetermined value is set as the first area, so the driver's blind spot is taken into consideration.
  • a suitable first region can be set.
  • the driving support system according to (5) The control device widens the first area forward of the vehicle as the vehicle speed increases. driving assistance system.
  • the first area is widened in front of the vehicle as the vehicle speed increases, so it is possible to set an appropriate first area in consideration of the driver's blind spot.
  • the driving support system according to any one of (1) to (6), Further comprising a second external sensor (front external sensor 12) that detects an object in front of the vehicle,
  • the control device is a second notification that there is an object in front of the vehicle based on detection of an object in a predetermined second area (second area Z2) in front of the vehicle by the second external sensor; Let the device do setting an area not included in the second area as the first area; driving assistance system.
  • an area that is not included in the second area which is the condition for performing the second notification that there is an object in front of the vehicle, is set as the first area. It is possible to prevent the second notification from being made at the same time, and it is possible to realize an easy-to-understand notification for the driver.
  • the driving support system according to any one of (1) to (7),
  • the first external sensor is provided in the vehicle so that the detectable area can be changed. driving assistance system.
  • the first external sensor is provided on the vehicle so that the detectable area can be changed, it is possible to set the detectable area appropriately.
  • the driving support system according to any one of (1) to (8),
  • the first external sensor is provided behind the seat on which the driver (driver P) sits in the vehicle, driving assistance system.
  • the first external sensor is provided behind the seat on which the driver sits, it is possible to prevent the driver from entering the detectable area of the first external sensor.
  • the notification device includes mirror units (mirror units 23L, 23R) having mirrors for the driver to visually recognize the front side of the steering device (steering wheel 21) that receives the steering operation of the driver or the rear side of the vehicle. provided in the driving assistance system.
  • mirror units 23L, 23R mirrors for the driver to visually recognize the front side of the steering device (steering wheel 21) that receives the steering operation of the driver or the rear side of the vehicle.
  • the notification device since the notification device is provided in a mirror unit having a mirror for visual recognition in front of or behind the steering device, the notification device can be arranged at a position where the driver can easily visually recognize it.
  • a first external sensor (lateral external sensor 11) that detects an object within a detectable area (detectable area Zs) around the vehicle (vehicle 1); a vehicle speed sensor (vehicle speed sensor 13b) that detects a vehicle speed that is the running speed of the vehicle; a notification device (notification device 14, meter display 14a, mirror indicator 14b) capable of giving a predetermined notification to the driver of the vehicle; a control device (control device 15) that controls the notification device;
  • the vehicle comprising
  • the first external sensor is provided on the vehicle so that the detectable area includes the side of the vehicle and the front and rear sides of the vehicle,
  • the control device is When an object within the detectable area is detected by the first external sensor (step S7: YES), the object is positioned within a first area (first area Z1) included in the detectable area.
  • step S8 Based on the determination that the object is located within the first area (step S8: YES), causing the notification device to perform a first notification (step S9), changing the first region according to the vehicle speed detected by the vehicle speed sensor (step S5); vehicle.
  • the first area is changed according to the vehicle speed, and the first notification that the object is in the first area is made based on the determination that the object is located in the first area. It can be performed. Accordingly, it is possible to appropriately perform the first notification in consideration of the driver's blind spot that changes according to the vehicle speed. Therefore, it is possible to provide the necessary first notification to the driver while suppressing excessive first notification that may annoy the driver.

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Abstract

Provided are a driving assistance system for a vehicle and a vehicle, which enable appropriate notification to a driver in consideration of the driver's blind spot that changes according on vehicle speed.　A lateral external sensor (11) is provided in a vehicle (1) so as to include the lateral sides of the vehicle (1) and the diagonally forward/backward sides of the vehicle (1) in a detectable region. A control device (15) determines, when the lateral external sensor (11) has detected an object in the detectable region, whether or not the object is positioned in a first region included in the detectable region, causes a notification device (14) to issue a first notification indicating that the object is positioned in the first region on the basis of a determination that the object is positioned in the first region, and changes the first region according to the vehicle speed detected by a vehicle speed sensor (13b).

Description

運転支援システムおよび車両Driver assistance systems and vehicles
　本発明は、運転支援システムおよび車両に関する。 The present invention relates to driving support systems and vehicles.
　近年、例えば、車両に搭載されたカメラやセンサ等により車両周辺を監視し、車両と衝突する可能性がある物体が運転者の死角にある場合には運転者に対して所定の通知を行うことで、運転者による車両の運転を支援する運転支援システムが開発されている。また、特許文献１には、車速と車両の制御応答時間との積を目標観測距離として設定し、車両の走行予定軌道上で且つ車両から目標観測距離だけ離れた点を通る鉛直線上の所定の高さに第１目標観測点を設定し、第１目標観測点が第１カメラの撮像範囲に収まるように第１カメラの方向を変えるようにした技術が記載されている。 In recent years, for example, cameras and sensors mounted on a vehicle monitor the surroundings of the vehicle, and if there is an object in the driver's blind spot that may collide with the vehicle, the driver is notified. A driving support system has been developed to assist the driver in driving the vehicle. In addition, in Patent Document 1, the product of the vehicle speed and the control response time of the vehicle is set as the target observation distance, and a predetermined distance on a vertical line passing through a point on the planned travel trajectory of the vehicle and separated from the vehicle by the target observation distance A technique is described in which a first target observation point is set at a height and the direction of the first camera is changed so that the first target observation point is within the imaging range of the first camera.
日本国特開２０１９－１６１５９０号公報Japanese Patent Application Laid-Open No. 2019-161590
　車両を運転する運転者の視野（いわゆる動体視野）は、車両の走行速度である車速に応じて狭くなることが知られている。すなわち、運転者の死角は車速に応じて変化する。運転者に煩わしさを与え得る過剰な通知を抑制しながら、運転者にとって必要な通知を行うためには、このように車速に応じて変化する運転者の死角を考慮して運転者への通知を行うことが望まれる。 It is known that the field of view of a driver driving a vehicle (so-called moving object field of view) narrows according to the vehicle speed. That is, the driver's blind spot changes according to the vehicle speed. In order to provide necessary notifications to the driver while suppressing excessive notifications that may annoy the driver, it is necessary to notify the driver in consideration of the driver's blind spot that changes according to the vehicle speed. It is desirable that
　本発明は、車速に応じて変化する運転者の死角を考慮して運転者への通知を適切に行うことを可能とする車両の運転支援システムおよび車両を提供する。 The present invention provides a vehicle driving support system and a vehicle that can appropriately notify the driver in consideration of the driver's blind spot that changes according to the vehicle speed.
　第１発明は、
　車両（１）周辺の検出可能領域内の物体を検出する第１外界センサ（１１）と、
　前記車両の走行速度である車速を検出する車速センサ（１３ｂ）と、
　前記車両の運転者に対して所定の通知を行うことが可能な通知装置と、
　前記通知装置（１４、１４ａ、１４ｂ）を制御する制御装置（１５）と、
　を備える前記車両（１）の運転支援システム（１０）であって、
　前記第１外界センサ（１１）は、前記車両（１）の側方および前記車両（１）の前後側方を前記検出可能領域（Ｚｓ）に含むように前記車両（１）に設けられ、
　前記制御装置（１５）は、
　前記第１外界センサ（１１）により前記検出可能領域（Ｚｓ）内の物体が検出された場合に、当該物体が、前記検出可能領域（Ｚｓ）に含まれる第１領域（Ｚ１）内に位置しているか否かを判断し、
　前記物体が前記第１領域（Ｚ１）内に位置していると判断したことに基づいて、第１通知を前記通知装置（１４、１４ｂ）に行わせ、
　前記車速センサ（１３ｂ）により検出された前記車速に応じて、前記第１領域（Ｚ１）を変化させる、
　運転支援システム（１０）である。 The first invention is
a first external sensor (11) for detecting objects within a detectable area around the vehicle (1);
a vehicle speed sensor (13b) for detecting a vehicle speed, which is the running speed of the vehicle;
a notification device capable of giving a predetermined notification to the driver of the vehicle;
a control device (15) for controlling the notification devices (14, 14a, 14b);
A driving assistance system (10) for the vehicle (1), comprising:
The first external sensor (11) is provided in the vehicle (1) so as to include the side of the vehicle (1) and the front and rear sides of the vehicle (1) in the detectable region (Zs),
The control device (15)
When an object within the detectable area (Zs) is detected by the first external sensor (11), the object is located within a first area (Z1) included in the detectable area (Zs). determine whether or not
causing the notification device (14, 14b) to make a first notification based on the determination that the object is located in the first region (Z1);
changing the first region (Z1) according to the vehicle speed detected by the vehicle speed sensor (13b);
A driving support system (10).
　第２発明は、
　車両（１）周辺の検出可能領域内の物体を検出する第１外界センサ（１１）と、
　前記車両の走行速度である車速を検出する車速センサ（１３ｂ）と、
　前記車両の運転者に対して所定の通知を行うことが可能な通知装置と、
　前記通知装置（１４、１４ａ、１４ｂ）を制御する制御装置（１５）と、
　を備える前記車両（１）であって、
　前記第１外界センサ（１１）は、前記車両（１）の側方および前記車両（１）の前後側方を前記検出可能領域（Ｚｓ）に含むように前記車両（１）に設けられ、
　前記制御装置（１５）は、
　前記第１外界センサ（１１）により前記検出可能領域（Ｚｓ）内の物体が検出された場合に、当該物体が、前記検出可能領域（Ｚｓ）に含まれる第１領域（Ｚ１）内に位置しているか否かを判断し、
　前記物体が前記第１領域（Ｚ１）内に位置していると判断したことに基づいて、第１通知を前記通知装置（１４、１４ｂ）に行わせ、
　前記車速センサ（１３ｂ）により検出された前記車速に応じて、前記第１領域（Ｚ１）を変化させる、
　車両（１）である。 The second invention is
a first external sensor (11) for detecting objects within a detectable area around the vehicle (1);
a vehicle speed sensor (13b) for detecting a vehicle speed, which is the running speed of the vehicle;
a notification device capable of giving a predetermined notification to the driver of the vehicle;
a control device (15) for controlling the notification devices (14, 14a, 14b);
The vehicle (1) comprising
The first external sensor (11) is provided in the vehicle (1) so as to include the side of the vehicle (1) and the front and rear sides of the vehicle (1) in the detectable region (Zs),
The control device (15)
When an object within the detectable area (Zs) is detected by the first external sensor (11), the object is located within a first area (Z1) included in the detectable area (Zs). determine whether or not
causing the notification device (14, 14b) to make a first notification based on the determination that the object is located in the first region (Z1);
changing the first region (Z1) according to the vehicle speed detected by the vehicle speed sensor (13b);
Vehicle (1).
　本発明によれば、車速に応じて変化する運転者の死角を考慮して運転者への通知を適切に行うことを可能とする車両の運転支援システムおよび車両を提供できる。 According to the present invention, it is possible to provide a driving support system for a vehicle and a vehicle that can appropriately notify the driver in consideration of the driver's blind spot that changes according to the vehicle speed.
運転支援システム１０を備える車両１の一例を示すブロック図である。1 is a block diagram showing an example of a vehicle 1 equipped with a driving assistance system 10; FIG. 車両１における運転者Ｐの前方部分の一例を示す図である。FIG. 2 is a diagram showing an example of a portion of the vehicle 1 in front of a driver P; FIG. 車両１の運転者Ｐの動体視野の一例を示す図である。4 is a diagram showing an example of a moving object field of view of a driver P of the vehicle 1; FIG. 車速が０［ｋｍ／ｈ］である場合の第１領域Ｚ１の一例を示す図である。FIG. 10 is a diagram showing an example of the first area Z1 when the vehicle speed is 0 [km/h]; 車速が４０［ｋｍ／ｈ］である場合の第１領域Ｚ１の一例を示す図である。FIG. 10 is a diagram showing an example of the first area Z1 when the vehicle speed is 40 [km/h]; 車速が１００［ｋｍ／ｈ］である場合の第１領域Ｚ１の一例を示す図である。FIG. 10 is a diagram showing an example of the first area Z1 when the vehicle speed is 100 [km/h]; 運転支援システム１０における処理の一例を示すフローチャートである。4 is a flowchart showing an example of processing in the driving assistance system 10; 第２通知の一例を示す図である。It is a figure which shows an example of a 2nd notification. 第１通知の一例を示す図である。It is a figure which shows an example of a 1st notification.
　以下、本発明の運転支援システムおよび車両の一実施形態を、添付図面に基づいて説明する。まず、本実施形態の運転支援システムを備える車両について説明する。なお、以下の説明において、前後、左右、上下は、車両の運転者から見た方向にしたがって記載する。また、図面は符号の向きに見るものとし、車両の前方をＦｒ、後方をＲｒ、左方をＬ、右方をＲ、上方をＵ、下方をＤ、として示す。 An embodiment of the driving support system and vehicle of the present invention will be described below with reference to the accompanying drawings. First, a vehicle equipped with the driving support system of this embodiment will be described. In the following description, front and rear, left and right, and up and down are described according to the directions seen from the driver of the vehicle. The drawings are viewed in the direction of the reference numerals, and the front of the vehicle is Fr, the rear is Rr, the left is L, the right is R, the upper part is U, and the lower part is D.
［車両］
　図１に示すように、車両１は、運転支援システム１０と、駆動装置１６と、運転操作子１７とを備える。これらの各装置は、有線または無線の通信網により、互いに通信可能に接続される。これらの各装置を接続する通信網は、例えばＣＡＮ(Controller Area Network)である。また、車両１は、駆動装置１６の動力によって駆動される駆動輪を含む車輪（例えば二輪、三輪または四輪。不図示）を有する。一例として、本実施形態では、車両１を二輪の鞍乗り型車両とする。 [vehicle]
As shown in FIG. 1 , the vehicle 1 includes a driving support system 10 , a driving device 16 and a driving operator 17 . These devices are communicably connected to each other through a wired or wireless communication network. A communication network connecting these devices is, for example, a CAN (Controller Area Network). The vehicle 1 also has wheels (for example, two wheels, three wheels, or four wheels; not shown) including drive wheels driven by the power of the drive device 16 . As an example, in this embodiment, the vehicle 1 is a two-wheel saddle-riding vehicle.
　駆動装置１６は、車両１が走行するための駆動力を車両１の駆動輪（不図示）へ出力する装置であり、例えば、エンジン（内燃機関）やモータ（電動機）等である。駆動装置１６は、エンジンおよびモータの一方により実現されてもよいし、エンジンおよびモータの両方により実現されてもよい。また、駆動装置１６は、任意の変速機を含んでいてもよい。駆動装置１６は、車両１全体の制御を司る制御装置１５（後述）によって制御される。 The driving device 16 is a device that outputs a driving force for driving the vehicle 1 to driving wheels (not shown) of the vehicle 1, and is, for example, an engine (internal combustion engine) or a motor (electric motor). The driving device 16 may be realized by either the engine and the motor, or may be realized by both the engine and the motor. Drive 16 may also include an optional transmission. The driving device 16 is controlled by a control device 15 (described later) that controls the entire vehicle 1 .
　運転操作子１７は、車両１の運転に関する各種操作を受け付けるための装置であり、例えば、アクセルペダル（またはアクセルグリップ）、ブレーキペダル（またはブレーキレバー）、シフトレバー（またはシフトペダル）、ステアリングホイール（またはハンドル。図３の符号２１を参照）等を含む。また、運転操作子１７は、異形ステアやジョイスティック等であってもよい。運転操作子１７には、運転操作子１７に対する操作量あるいは操作の有無を検出するセンサが設けられる。運転操作子１７のセンサによる検出結果は、制御装置１５へ送られる。 The driving operator 17 is a device for receiving various operations related to driving the vehicle 1. For example, the accelerator pedal (or accelerator grip), brake pedal (or brake lever), shift lever (or shift pedal), steering wheel ( or a handle (see reference numeral 21 in FIG. 3). Further, the driving operator 17 may be a modified steering wheel, a joystick, or the like. The operation operator 17 is provided with a sensor for detecting the amount of operation of the operation operator 17 or the presence/absence of operation. A detection result of the sensor of the operating element 17 is sent to the control device 15 .
［運転支援システム］
　運転支援システム１０は、側方用外界センサ１１と、前方用外界センサ１２と、車両センサ１３と、通知装置１４と、制御装置１５とを備える。 [Driving support system]
The driving support system 10 includes a side external sensor 11 , a front external sensor 12 , a vehicle sensor 13 , a notification device 14 and a control device 15 .
　側方用外界センサ１１は、車両１の周辺の検出可能領域内の物体を検出する装置である。具体的に、側方用外界センサ１１は、車両１の側方および車両１の前後側方を検出可能領域に含むように車両１に設けられる。側方用外界センサ１１の検出可能領域の一例については後述する。 The lateral external sensor 11 is a device that detects objects within a detectable area around the vehicle 1 . Specifically, the side external sensor 11 is provided on the vehicle 1 so that the side of the vehicle 1 and the front and rear sides of the vehicle 1 are included in the detectable area. An example of the detectable area of the lateral external sensor 11 will be described later.
　側方用外界センサ１１は、例えば、レーダ１１ａ、レーザ１１ｂ等を含んで構成される。ここで、レーダ１１ａは、例えばミリ波帯の電波を用いたレーダ装置であり、側方用外界センサ１１の検出可能領域内の物体の位置（距離および方向）を検出する。レーザ１１ｂは、例えばＬＩＤＡＲ（Laser Imaging Detection and Ranging）であり、所定のレーザ光を用いて、側方用外界センサ１１の検出可能領域内の物体（対象物）までの距離を計測する。 The lateral external sensor 11 includes, for example, a radar 11a, a laser 11b, and the like. Here, the radar 11 a is, for example, a radar device using radio waves in the millimeter wave band, and detects the position (distance and direction) of an object within the detectable area of the lateral external sensor 11 . The laser 11b is, for example, a LIDAR (Laser Imaging Detection and Ranging), and uses a predetermined laser beam to measure the distance to an object (object) within the detectable area of the lateral external sensor 11.
　また、側方用外界センサ１１は、車両１の周辺（例えば車両１の側方および後側方）を撮影するデジタルカメラであるカメラ１１ｃを含んでもよい。さらに、車両１には、カメラ１１ｃまたは車両１に搭載された他のデジタルカメラの撮影により得られた画像データを記憶するドライブレコーダが設けられていてもよい。レーダ１１ａの検出結果、レーザ１１ｂの計測結果、あるいはカメラ１１ｃの撮影により得られた画像データ等の側方用外界センサ１１の検出結果は、制御装置１５へ送られる。 The lateral external sensor 11 may also include a camera 11c, which is a digital camera that captures the surroundings of the vehicle 1 (for example, the sides and rear sides of the vehicle 1). Furthermore, the vehicle 1 may be provided with a drive recorder that stores image data obtained by photographing by the camera 11 c or another digital camera mounted on the vehicle 1 . The detection result of the side external sensor 11 such as the detection result of the radar 11a, the measurement result of the laser 11b, or the image data obtained by the photographing of the camera 11c is sent to the control device 15.
　前方用外界センサ１２は、車両１の周辺の検出可能領域内の物体を検出する装置である。具体的に、前方用外界センサ１２は、車両１の前方を検出可能領域に含むように車両１に設けられる。前方用外界センサ１２の検出可能領域の一例については後述する。 The front external sensor 12 is a device that detects objects within a detectable area around the vehicle 1 . Specifically, the front external sensor 12 is provided in the vehicle 1 so that the front of the vehicle 1 is included in the detectable area. An example of the detectable region of the front external sensor 12 will be described later.
　前方用外界センサ１２は、例えば、レーダ１２ａ、レーザ１２ｂ等を含んで構成される。ここで、レーダ１２ａは、例えばミリ波帯の電波を用いたレーダ装置であり、前方用外界センサ１２の検出可能領域内の物体の位置（距離および方向）を検出する。レーザ１２ｂは、例えばＬＩＤＡＲであり、所定のレーザ光を用いて、前方用外界センサ１２の検出可能領域内の物体（対象物）までの距離を計測する。 The forward external sensor 12 includes, for example, a radar 12a, a laser 12b, and the like. Here, the radar 12 a is, for example, a radar device using radio waves in the millimeter wave band, and detects the position (distance and direction) of an object within the detectable area of the forward external sensor 12 . The laser 12b is, for example, a LIDAR, and uses a predetermined laser beam to measure the distance to an object (object) within the detectable area of the forward external sensor 12 .
　また、前方用外界センサ１２は、車両１の周辺（例えば車両１の前方および前側方）を撮影するデジタルカメラであるカメラ１２ｃを含んでもよい。さらに、車両１には、カメラ１２ｃまたは車両１に搭載された他のデジタルカメラの撮影により得られた画像データを記憶するドライブレコーダが設けられていてもよい。レーダ１２ａの検出結果、レーザ１２ｂの計測結果、あるいはカメラ１２ｃの撮影により得られた画像データ等の前方用外界センサ１２の検出結果は、制御装置１５へ送られる。 The front external sensor 12 may also include a camera 12c, which is a digital camera that captures the surroundings of the vehicle 1 (for example, the front and front sides of the vehicle 1). Furthermore, the vehicle 1 may be provided with a drive recorder that stores image data obtained by photographing by the camera 12 c or another digital camera mounted on the vehicle 1 . The detection result of the front external sensor 12 such as the detection result of the radar 12a, the measurement result of the laser 12b, or the image data obtained by the photographing of the camera 12c is sent to the control device 15.
　車両センサ１３は、車両１に関する車両情報を取得するためのセンサである。車両センサ１３は、例えば、駆動装置１６の回転数（例えばエンジン回転数）を検出する回転数センサ１３ａ、車両１の走行速度である車速を検出する車速センサ１３ｂ、所定方向（例えば車両１の前後方向）についての加速度を検出する加速度センサ１３ｃ等を含む。また、加速度センサ１３ｃは、車両１におけるピッチ方向、ロール方向およびヨー方向のそれぞれについての角速度と、車両１の前後方向、左右方向（すなわち車幅方向）および上下方向のそれぞれについての加速度とを検出可能な慣性計測装置（ＩＭＵ：Inertial Measurement Unit）であってもよい。車両センサ１３による検出結果は、車両情報として制御装置１５へ送られる。 The vehicle sensor 13 is a sensor for acquiring vehicle information regarding the vehicle 1 . The vehicle sensors 13 include, for example, a rotation speed sensor 13a that detects the rotation speed of the drive device 16 (for example, engine rotation speed), a vehicle speed sensor 13b that detects the vehicle speed that is the running speed of the vehicle 1, and a predetermined direction (for example, the front and rear of the vehicle 1). direction), and an acceleration sensor 13c for detecting acceleration. The acceleration sensor 13c detects angular velocities in the pitch direction, roll direction, and yaw direction of the vehicle 1, and accelerations in the front-rear direction, left-right direction (i.e., vehicle width direction), and vertical direction of the vehicle 1. It may also be an inertial measurement unit (IMU). A detection result by the vehicle sensor 13 is sent to the control device 15 as vehicle information.
　通知装置１４は、制御装置１５によって制御され、車両１の運転者に対して所定の通知を行うことが可能に構成される。通知装置１４は、例えば、メータディスプレイ１４ａと、ミラーインジケータ１４ｂとを含んで構成される。詳細は図２を用いて後述するが、メータディスプレイ１４ａは、車両１において、運転者の操舵操作を受け付ける操舵装置の一例であるハンドル２１よりも前方に設けられている。また、ミラーインジケータ１４ｂは、車両１において、運転者が後方を視認するためのミラーを有するミラーユニット２３Ｌ、２３Ｒに設けられている。このように、通知装置１４をハンドル２１よりも前方、または後方視認用のミラーを有するミラーユニット２３Ｌ、２３Ｒに設けることで、運転者が視認しやすい位置に通知装置１４を配置することができる。したがって、通知装置１４の通知効果を高めることが可能となる。 The notification device 14 is controlled by the control device 15 and configured to be able to give a predetermined notification to the driver of the vehicle 1 . The notification device 14 includes, for example, a meter display 14a and a mirror indicator 14b. Although the details will be described later with reference to FIG. 2, the meter display 14a is provided in the vehicle 1 in front of the steering wheel 21, which is an example of a steering device that receives the steering operation of the driver. In addition, the mirror indicator 14b is provided in the mirror units 23L and 23R having mirrors for the driver to visually recognize the rear in the vehicle 1 . In this way, by providing the notification device 14 in the mirror units 23L and 23R having mirrors for visual recognition in front of or behind the steering wheel 21, the notification device 14 can be arranged at a position where the driver can easily visually recognize it. Therefore, it becomes possible to enhance the notification effect of the notification device 14 .
　制御装置１５は、車両１全体を制御する。例えば、制御装置１５は、側方用外界センサ１１、前方用外界センサ１２、車両センサ１３等からの情報に基づいて、通知装置１４を制御する。一例として、制御装置１５は、側方用外界センサ１１の検出可能領域に含まれる所定の領域を第１領域として設定し、物体が第１領域内に位置していると判断したことに基づいて、所定の第１通知（後述）を通知装置１４に行わせる。 The control device 15 controls the vehicle 1 as a whole. For example, the control device 15 controls the notification device 14 based on information from the side external sensor 11, the front external sensor 12, the vehicle sensor 13, and the like. As an example, the control device 15 sets a predetermined area included in the detectable area of the lateral external sensor 11 as the first area, and determines that the object is located within the first area. , causes the notification device 14 to perform a predetermined first notification (described later).
　さらに、制御装置１５は、車速センサ１３ｂにより検出された車速に応じて、第１領域を変化させる。詳細は後述するが、制御装置１５は、車速に応じて変化する運転者の死角を考慮して第１領域を設定する。これにより、制御装置１５は、車速に応じて変化する運転者の死角を考慮して運転者への第１通知を適切に行うことを可能にし、運転者に煩わしさを与え得る過剰な第１通知を抑制しながら、運転者にとって必要な第１通知を行うことを可能にする。 Furthermore, the control device 15 changes the first region according to the vehicle speed detected by the vehicle speed sensor 13b. Although the details will be described later, the control device 15 sets the first region in consideration of the driver's blind spot, which changes according to the vehicle speed. As a result, the control device 15 makes it possible to appropriately perform the first notification to the driver in consideration of the driver's blind spot that changes according to the vehicle speed, and to prevent excessive first notification that may annoy the driver. To make it possible to perform a first notification necessary for a driver while suppressing notifications.
　また、制御装置１５は、前方用外界センサ１２の検出可能領域に含まれる所定の領域を第２領域として設定し、物体が第２領域内に位置していると判断したことに基づいて、所定の第２通知を通知装置１４に行わせる。第２領域および第２通知の一例については後述する。 In addition, the control device 15 sets a predetermined area included in the detectable area of the front external sensor 12 as a second area, and determines that the object is positioned within the second area. The notification device 14 is made to perform the second notification of. An example of the second area and second notification will be described later.
　制御装置１５の機能は、例えば、ＣＰＵ（Central Processing Unit）が所定のプログラムを実行することによって実現される。また、制御装置１５の機能の一部または全部は、ＬＳＩ（Large Scale Integration）やＡＳＩＣ（Application Specific Integrated Circuit）、ＦＰＧＡ（Field-Programmable Gate Array）、ＧＰＵ（Graphics Processing Unit）等のハードウェアによって実現されてもよい。さらに、制御装置１５の機能の一部または全部は、ソフトウェアとハードウェアの協働によって実現されてもよい。 The functions of the control device 15 are realized, for example, by a CPU (Central Processing Unit) executing a predetermined program. In addition, some or all of the functions of the control device 15 are realized by hardware such as LSI (Large Scale Integration), ASIC (Application Specific Integrated Circuit), FPGA (Field-Programmable Gate Array), and GPU (Graphics Processing Unit). may be Furthermore, some or all of the functions of the control device 15 may be implemented by cooperation of software and hardware.
［通知装置］
　つぎに、図２を参照して、通知装置１４の一例について説明する。図２に示すように、車両１のアッパーカウル２０において、運転操作子１７に含まれるハンドル２１と、ウインドスクリーン２２との間となる位置には、メータ装置３０が設けられている。通知装置１４に含まれるメータディスプレイ１４ａは、車両１の左右方向（車幅方向）において、メータ装置３０の略中央位置に設けられる。 [Notification device]
Next, an example of the notification device 14 will be described with reference to FIG. As shown in FIG. 2 , an upper cowl 20 of the vehicle 1 is provided with a meter device 30 at a position between a steering wheel 21 included in the driving operator 17 and a windscreen 22 . A meter display 14 a included in the notification device 14 is provided at a substantially central position of the meter device 30 in the left-right direction (vehicle width direction) of the vehicle 1 .
　メータディスプレイ１４ａは、制御装置１５の制御にしたがって、例えば、スピードメータやタコメータ等の各種メータ類や、燃料計や水温計等の各種計器類等を表示する。また、メータディスプレイ１４ａは、前方用外界センサ１２の検出可能領域に含まれる第２領域（例えば後述の第２領域Ｚ２）内に物体が位置している場合に行われる第２通知に関する画像（例えば後述の画像情報Ｇ１）を表示する。 Under the control of the control device 15, the meter display 14a displays, for example, various meters such as a speedometer and tachometer, and various instruments such as a fuel gauge and water temperature gauge. Further, the meter display 14a displays an image (for example, Image information G1), which will be described later, is displayed.
　なお、メータディスプレイ１４ａは、例えば、液晶ディスプレイ、有機ＥＬディスプレイ等の各種表示装置より実現できる。また、スピードメータやタコメータは、メータディスプレイ１４ａとは別にメータ装置３０に設けてもよい。この場合、メータディスプレイ１４ａには、スピードメータやタコメータが表示されなくてもよい。 Note that the meter display 14a can be realized by various display devices such as a liquid crystal display and an organic EL display. Also, the speedometer and tachometer may be provided in the meter device 30 separately from the meter display 14a. In this case, the speedometer and tachometer may not be displayed on the meter display 14a.
　また、アッパーカウル２０において、メータ装置３０の左右には、車両１の運転者Ｐが後方を視認するためのミラーを有するミラーユニット２３Ｌ、２３Ｒが設けられている。通知装置１４に含まれるミラーインジケータ１４ｂは、ミラーユニット２３Ｌ、２３Ｒに設けられる。具体的に、ミラーインジケータ１４ｂは、左側のミラーユニット２３Ｌに設けられたミラーインジケータ１４ｂＬと、右側のミラーユニット２３Ｒに設けられたミラーインジケータ１４ｂＲとにより構成される。 Also, in the upper cowl 20, mirror units 23L and 23R are provided on the left and right sides of the meter device 30, and have mirrors for the driver P of the vehicle 1 to visually recognize the rear. A mirror indicator 14b included in the notification device 14 is provided in the mirror units 23L and 23R. Specifically, the mirror indicator 14b is composed of a mirror indicator 14bL provided on the left mirror unit 23L and a mirror indicator 14bR provided on the right mirror unit 23R.
　ミラーインジケータ１４ｂは、制御装置１５の制御にしたがって、側方用外界センサ１１の検出可能領域に含まれる第１領域（例えば後述の第１領域Ｚ１）内に物体が位置している場合に行われる第１通知に関する画像（例えば後述の画像情報Ｇ２）を表示する。 The mirror indicator 14b is controlled by the control device 15 when an object is positioned within a first area (for example, a first area Z1 described later) included in the detectable area of the lateral external sensor 11. An image related to the first notification (for example, image information G2 described later) is displayed.
　具体的に、左側のミラーユニット２３Ｌに設けられたミラーインジケータ１４ｂＬは、側方用外界センサ１１の検出可能領域に含まれる車両１の左側方側の第１領域内に物体が位置している場合に行われる第１通知に関する画像を表示する。また、右側のミラーユニット２３Ｒに設けられたミラーインジケータ１４ｂＲは、側方用外界センサ１１の検出可能領域に含まれる車両１の右側方側の第１領域内に物体が位置している場合に行われる第１通知に関する画像を表示する。ミラーインジケータ１４ｂは、例えば、液晶ディスプレイ、有機ＥＬディスプレイ等の各種表示装置より実現できる。また、ミラーインジケータ１４ｂはランプ表示器等であってもよい。 Specifically, the mirror indicator 14bL provided in the left mirror unit 23L is displayed when an object is located in the first area on the left side of the vehicle 1 included in the detectable area of the side external sensor 11. display an image related to the first notification made at Further, the mirror indicator 14bR provided in the right mirror unit 23R is activated when an object is positioned within the first region on the right side of the vehicle 1 included in the detectable region of the side external sensor 11. display the image associated with the first notification received. The mirror indicator 14b can be implemented by various display devices such as a liquid crystal display and an organic EL display. Also, the mirror indicator 14b may be a lamp indicator or the like.
［運転者の動体視野］
　つぎに、図３を参照して、車両１を運転する運転者Ｐの視野（動体視野）について説明する。図３において、θ１、θ２、θ３およびθ１０は、それぞれ異なる車速時での運転者Ｐの動体視野をあらわしている。 [Driver's visual field of moving object]
Next, the field of view (moving object field of view) of the driver P who drives the vehicle 1 will be described with reference to FIG. In FIG. 3, .theta.1, .theta.2, .theta.3 and .theta.10 represent the moving object field of view of the driver P at different vehicle speeds.
　具体的に、θ１は、車両１が停止している場合、すなわち車速が０［ｋｍ／ｈ］である場合の運転者Ｐの動体視野をあらわしている。例えば、θ１は２００°である。また、θ２は、車速が４０［ｋｍ／ｈ］である場合の運転者Ｐの動体視野をあらわしている。例えば、θ２は１００°である。そして、θ３は、車速が１００［ｋｍ／ｈ］である場合の運転者Ｐの動体視野をあらわしている。例えば、θ３は４０°である。また、θ１０は、車速が７０［ｋｍ／ｈ］である場合の運転者Ｐの動体視野をあらわしている。例えば、θ１０は７５°である。このように、運転者Ｐの動体視野、すなわち運転者Ｐの死角は、車速に応じて変化する。 Specifically, θ1 represents the dynamic field of view of the driver P when the vehicle 1 is stopped, that is, when the vehicle speed is 0 [km/h]. For example, θ1 is 200°. θ2 represents the moving object visual field of the driver P when the vehicle speed is 40 [km/h]. For example, θ2 is 100°. θ3 represents the moving object visual field of the driver P when the vehicle speed is 100 [km/h]. For example, θ3 is 40°. θ10 represents the moving object visual field of the driver P when the vehicle speed is 70 [km/h]. For example, θ10 is 75°. Thus, the dynamic field of view of the driver P, that is, the blind spot of the driver P changes according to the vehicle speed.
　仮に、運転者Ｐの動体視野を例えばθ１で一定として、このθ１に含まれない領域を運転者Ｐの死角として扱うようにし、この領域内に物体があった場合に運転者Ｐへの通知を行うようにしたとする。このようにした場合、車両１の走行時において、運転者Ｐの死角となっている領域内に物体があっても、運転者Ｐへの通知が行われない場合が発生し得る。このため、このようにした場合には、運転者Ｐにとって必要な通知を行うことができないことがある。 Suppose that the field of view of the moving object of the driver P is fixed at θ1, for example, and the area not included in this θ1 is treated as the blind spot of the driver P, and if there is an object in this area, the driver P is notified. Suppose you made it so. In this case, even if there is an object in the driver's P blind spot while the vehicle 1 is running, the driver P may not be notified. Therefore, in such a case, it may not be possible to give the necessary notification to the driver P.
　一方、運転者Ｐの動体視野を例えばθ３で一定として、このθ３に含まれない領域を運転者Ｐの死角として扱うようにし、この領域内に物体があった場合に運転者Ｐへの通知を行うようにしたとする。このようにした場合、運転者Ｐにとって必要な通知を行い損ねることはおおむね回避できるものの、車両１の停止時や低速走行時等において、運転者Ｐの死角となっていない領域内にある物体（すなわち運転者Ｐが視認できている物体）に基づいても通知が行われることになってしまい、運転者Ｐに煩わしさを与え得る過剰な通知となり得る。 On the other hand, the field of view of the moving object of the driver P is fixed at θ3, for example, and the area not included in this θ3 is treated as the blind spot of the driver P, and when there is an object in this area, the driver P is notified. Suppose you made it so. In this case, it is possible to generally avoid the failure to notify the driver P that is necessary. In other words, the notification is also performed based on the object that the driver P can visually recognize), which may result in an excessive notification that may annoy the driver P.
　そこで、制御装置１５は、車速に応じて変化する運転者Ｐの死角を考慮して、運転者Ｐへの第１通知を行う条件となる第１領域を変更する。これにより、運転者Ｐに煩わしさを与え得る過剰な第１通知を抑制しながら、運転者Ｐにとって必要な第１通知を行うことを可能にする。以下、図３～図６を用いて、第１通知を行う条件となる第１領域（以下、第１領域Ｚ１ともいう）、および第２通知を行う条件となる第２領域（以下、第２領域Ｚ２ともいう）の一例について説明する。 Therefore, the control device 15 changes the first area, which is the condition for giving the first notification to the driver P, taking into account the driver's P blind spot that changes according to the vehicle speed. This makes it possible to provide the necessary first notification to the driver P while suppressing an excessive first notification that may annoy the driver P. 3 to 6, a first area (hereinafter also referred to as the first area Z1) as a condition for performing the first notification, and a second area (hereinafter referred to as the second area Z1) as a condition for performing the second notification. An example of the region Z2) will be described.
　なお、以下の説明における前提として、図３に示すように、例えば、側方用外界センサ１１は、車両１において運転者Ｐが座るシートＳｔ、すなわち運転者Ｐの乗車位置（図３に示す直線Ｌｏを参照）よりも後方に設けられている。一例として、本実施形態では、側方用外界センサ１１は、車両１の後端部近傍（例えばシートカウル）に設けられている。また、前方用外界センサ１２は、運転者Ｐの乗車位置（直線Ｌｏ）よりも前方に設けられている。一例として、本実施形態では、前方用外界センサ１２は、車両１の前端部近傍（例えばアッパーカウル）に設けられている。これらにより、側方用外界センサ１１および前方用外界センサ１２の検出可能領域に運転者Ｐが入り込んでしまうことを抑制できる。 As a premise for the following description, for example, as shown in FIG. Lo)). As an example, in the present embodiment, the lateral external sensor 11 is provided in the vicinity of the rear end portion of the vehicle 1 (for example, the seat cowl). Further, the forward external sensor 12 is provided forward of the driver P's boarding position (straight line Lo). As an example, in the present embodiment, the front external sensor 12 is provided near the front end of the vehicle 1 (for example, the upper cowl). As a result, it is possible to prevent the driver P from entering the detectable areas of the side external sensor 11 and the front external sensor 12 .
　なお、側方用外界センサ１１は、車両１の上面視で、車両１の重心よりも後方に設けられていてもよい。車両１の上面視で、車両１の重心の位置と、車両１の乗車位置とは略等しくなるため、側方用外界センサ１１を車両１の重心よりも後方に設けるようにしても、側方用外界センサ１１の検出可能領域に運転者Ｐが入り込んでしまうことを抑制できる。 Note that the lateral external sensor 11 may be provided behind the center of gravity of the vehicle 1 when the vehicle 1 is viewed from above. When the vehicle 1 is viewed from above, the position of the center of gravity of the vehicle 1 and the boarding position of the vehicle 1 are substantially equal. It is possible to prevent the driver P from entering the detectable area of the external sensor 11 .
［第１領域および第２領域］
　図４～図６において、ドット柄のハッチングにて示した検出可能領域Ｚｓは、側方用外界センサ１１の検出可能領域である。また、図４～図６において、格子柄のハッチングにて示した第１領域Ｚ１は、側方用外界センサ１１の検出可能領域（すなわち検出可能領域Ｚｓ）に含まれる領域であって、第１通知を行う条件となる第１領域の一例である。 [First area and second area]
In FIGS. 4 to 6, a detectable area Zs indicated by dot-patterned hatching is a detectable area of the lateral external sensor 11. FIG. In addition, in FIGS. 4 to 6, the first area Z1 indicated by grid pattern hatching is an area included in the detectable area (that is, the detectable area Zs) of the lateral external sensor 11. It is an example of the 1st area|region used as the conditions which notify.
　図４～図６に示すように、車両１の左側方側の第１領域Ｚ１の後端縁Ｚ１ａは、車両１の後端部から後方に所定距離Ｌ１（例えば３．０［ｍ］）だけ離れた位置に設定される。また、車両１の左側方側の第１領域Ｚ１の外側端縁Ｚ１ｂは、車両１の左側方側の検出可能領域Ｚｓの内側端縁Ｚｓ１から左方に所定距離Ｌ２（例えば３．０［ｍ］）だけ離れた位置に設定される。そして、車両１の左側方側の第１領域Ｚ１の内側端縁Ｚ１ｄは、車両１の左側方側の検出可能領域Ｚｓの内側端縁Ｚｓ１と一致する。なお、車両１の左側方側の検出可能領域Ｚｓの内側端縁Ｚｓ１は、例えば、車両１の後端部近傍の左側端部から左方に所定距離（例えば０．５［ｍ］）だけ離れた位置である。 As shown in FIGS. 4 to 6, the rear edge Z1a of the first region Z1 on the left side of the vehicle 1 extends rearward from the rear end of the vehicle 1 by a predetermined distance L1 (eg, 3.0 [m]). set at a distance. Further, the outer edge Z1b of the first area Z1 on the left side of the vehicle 1 is positioned leftward by a predetermined distance L2 (for example, 3.0 [m] from the inner edge Zs1 of the detectable area Zs on the left side of the vehicle 1). ]). The inner edge Z1d of the first area Z1 on the left side of the vehicle 1 coincides with the inner edge Zs1 of the detectable area Zs on the left side of the vehicle 1 . Note that the inner edge Zs1 of the detectable area Zs on the left side of the vehicle 1 is, for example, separated leftward from the left end near the rear end of the vehicle 1 by a predetermined distance (for example, 0.5 [m]). position.
　同様に、車両１の右側方側の第１領域Ｚ１の後端縁Ｚ１ａは、車両１の後端部から後方に所定距離Ｌ１だけ離れた位置に設定される。また、車両１の右側方側の第１領域Ｚ１の外側端縁Ｚ１ｂは、車両１の右側方側の検出可能領域Ｚｓの内側端縁Ｚｓ１から右方に所定距離Ｌ２だけ離れた位置に設定される。そして、車両１の右側方側の第１領域Ｚ１の内側端縁Ｚ１ｄは、車両１の右側方側の検出可能領域Ｚｓの内側端縁Ｚｓ１と一致する。なお、車両１の右側方側の検出可能領域Ｚｓの内側端縁Ｚｓ１は、例えば、車両１の後端部近傍の右側端部から右方に所定距離（例えば０．５［ｍ］）だけ離れた位置である。 Similarly, the rear edge Z1a of the first region Z1 on the right side of the vehicle 1 is set at a position a predetermined distance L1 rearward from the rear end of the vehicle 1. Further, the outer edge Z1b of the first area Z1 on the right side of the vehicle 1 is set at a position separated rightward by a predetermined distance L2 from the inner edge Zs1 of the detectable area Zs on the right side of the vehicle 1. be. The inner edge Z1d of the first area Z1 on the right side of the vehicle 1 coincides with the inner edge Zs1 of the detectable area Zs on the right side of the vehicle 1 . Note that the inner edge Zs1 of the detectable area Zs on the right side of the vehicle 1 is, for example, separated rightward from the right end near the rear end of the vehicle 1 by a predetermined distance (for example, 0.5 [m]). position.
　なお、車両１の検出可能領域Ｚｓが車両１の後方（真後ろ）も含むように側方用外界センサ１１が車両１に設けられている場合、第１領域Ｚ１の内側端縁Ｚ１ｄは、車両１の後方（真後ろ）もカバーするように図４等に示した例よりも内側に設定されてもよい。このようにすれば、車両１の後方（真後ろ）に物体がある場合にも第１通知を行うことが可能となる。 Note that when the lateral external sensor 11 is provided in the vehicle 1 so that the detectable region Zs of the vehicle 1 also includes the rear (directly behind) of the vehicle 1, the inner edge Z1d of the first region Z1 It may be set inside the example shown in FIG. In this way, it is possible to perform the first notification even when there is an object behind (right behind) the vehicle 1 .
　図４には、車両１が停止している場合、すなわち車速が０［ｋｍ／ｈ］である場合（例えば車速が４０［ｋｍ／ｈ］である場合）の第１領域Ｚ１を示した。車速が０［ｋｍ／ｈ］である場合の第１領域Ｚ１における前端縁Ｚ１ｃは、車速が０［ｋｍ／ｈ］である場合の運転者Ｐの動体視野θ１（境界線Ｂｏを参照）と略等しくなるように設定される。一例として、本実施形態では、車速が０［ｋｍ／ｈ］である場合の第１領域Ｚ１における前端縁Ｚ１ｃは、車両１の上面視で、運転者Ｐの乗車位置から左右に延びる直線Ｌｏと一致するように設定される。 FIG. 4 shows the first region Z1 when the vehicle 1 is stopped, that is, when the vehicle speed is 0 [km/h] (for example, when the vehicle speed is 40 [km/h]). The front edge Z1c in the first region Z1 when the vehicle speed is 0 [km/h] is approximately the moving object field of view θ1 (see the boundary line Bo) of the driver P when the vehicle speed is 0 [km/h]. set to be equal. As an example, in the present embodiment, the front edge Z1c in the first region Z1 when the vehicle speed is 0 [km/h] corresponds to a straight line Lo extending left and right from the boarding position of the driver P when the vehicle 1 is viewed from above. set to match.
　このように、車両１が停止している場合、すなわち車速が０［ｋｍ／ｈ］である場合には、運転者Ｐの乗車位置から後方となる領域を第１領域Ｚ１として設定することで、車速が０［ｋｍ／ｈ］である場合の運転者Ｐの死角を考慮した適切な第１領域Ｚ１を設定することができる。なお、ここでは、この場合の第１領域Ｚ１における前端縁Ｚ１ｃを直線Ｌｏと一致するように設定したが、これに限らない。例えば、この場合の第１領域Ｚ１における前端縁Ｚ１ｃを、運転者Ｐの動体視野θ１の境界線Ｂｏと一致するように設定してもよい。 In this way, when the vehicle 1 is stopped, that is, when the vehicle speed is 0 [km/h], by setting the area behind the driver P's boarding position as the first area Z1, An appropriate first region Z1 can be set in consideration of the driver's P blind spot when the vehicle speed is 0 [km/h]. Here, the front edge Z1c in the first region Z1 in this case is set to match the straight line Lo, but the present invention is not limited to this. For example, the front edge Z1c of the first region Z1 in this case may be set to coincide with the boundary line Bo of the moving object field of view θ1 of the driver P.
　図５には、車速が４０［ｋｍ／ｈ］である場合（例えば車速が４０［ｋｍ／ｈ］以上且つ１００［ｋｍ／ｈ］未満である場合）の第１領域Ｚ１を示した。車速が４０［ｋｍ／ｈ］である場合の第１領域Ｚ１は、前端縁Ｚ１ｃの位置が、図４に示した車速が０［ｋｍ／ｈ］である場合の第１領域Ｚ１とは異なる。 FIG. 5 shows the first region Z1 when the vehicle speed is 40 [km/h] (for example, when the vehicle speed is 40 [km/h] or more and less than 100 [km/h]). The position of the front edge Z1c in the first zone Z1 when the vehicle speed is 40 [km/h] is different from the first zone Z1 shown in FIG. 4 when the vehicle speed is 0 [km/h].
　具体的に、車速が４０［ｋｍ／ｈ］である場合の第１領域Ｚ１における前端縁Ｚ１ｃは、車速が４０［ｋｍ／ｈ］である場合の運転者Ｐの動体視野θ２（境界線Ｂｏを参照）と略等しくなるように設定される。すなわち、この場合の第１領域Ｚ１は、車速が０［ｋｍ／ｈ］である場合の第１領域Ｚ１よりも車両１の前方側に広がる。このように、制御装置１５は、車速が高くなるにつれて第１領域Ｚ１を車両１の前方に広くする。これにより、車速に応じて変化する運転者Ｐの動体視野（すなわち運転者Ｐの死角）を考慮した適切な第１領域Ｚ１を設定することができる。 Specifically, the front edge Z1c in the first region Z1 when the vehicle speed is 40 [km/h] corresponds to the moving object visual field θ2 of the driver P when the vehicle speed is 40 [km/h]. reference). That is, the first area Z1 in this case is wider in front of the vehicle 1 than the first area Z1 when the vehicle speed is 0 [km/h]. In this way, the control device 15 widens the first area Z1 forward of the vehicle 1 as the vehicle speed increases. Accordingly, it is possible to set an appropriate first region Z1 in consideration of the dynamic field of view of the driver P (that is, the blind spot of the driver P) that changes according to the vehicle speed.
　また、図５に示すように、この場合の第１領域Ｚ１は、車両１の近側方より遠側方の方が、車両１の前側方に広がる領域とされる（図５中のＬ３およびＬ４を参照。ただしＬ３＜Ｌ４）。具体的に、この場合の第１領域Ｚ１は、車両１の側方に離れるにつれて、車両１の前側方に広がる領域とされる。これにより、車速に応じて変化する運転者Ｐの動体視野（すなわち運転者Ｐの死角）を考慮した適切な第１領域Ｚ１を設定することができる。 Further, as shown in FIG. 5, the first region Z1 in this case is a region in which the far side of the vehicle 1 is wider than the near side of the vehicle 1 (L3 and L3 in FIG. 5). See L4, where L3<L4). Specifically, the first region Z1 in this case is a region that spreads to the front side of the vehicle 1 as it moves away from the side of the vehicle 1 . Accordingly, it is possible to set an appropriate first region Z1 in consideration of the dynamic field of view of the driver P (that is, the blind spot of the driver P) that changes according to the vehicle speed.
　図６には、車速が１００［ｋｍ／ｈ］である場合（例えば車速が１００［ｋｍ／ｈ］以上である場合）の第１領域Ｚ１を示した。車速が１００［ｋｍ／ｈ］である場合の第１領域Ｚ１は、前端縁Ｚ１ｃの位置が、図４に示した車速が０［ｋｍ／ｈ］である場合の第１領域Ｚ１および図５に示した車速が４０［ｋｍ／ｈ］である場合の第１領域Ｚ１とは異なる。 FIG. 6 shows the first region Z1 when the vehicle speed is 100 [km/h] (for example, when the vehicle speed is 100 [km/h] or more). In the first region Z1 when the vehicle speed is 100 [km/h], the position of the front edge Z1c is similar to the first region Z1 in FIG. 4 and in FIG. 5 when the vehicle speed is 0 [km/h]. It is different from the first region Z1 when the illustrated vehicle speed is 40 [km/h].
　この場合の第１領域Ｚ１は、車速が４０［ｋｍ／ｈ］である場合の第１領域Ｚ１よりも車両１の前方側にさらに広がる。ただし、制御装置１５は、第２通知を行う条件となる第２領域に含まれない領域を第１領域Ｚ１として設定する。一例として、本実施形態では、図６において、θ１０（例えば７５°）内に含まれる領域が、前方用外界センサ１２の検出可能領域に含まれる領域であって、第２通知を行う条件となる第２領域Ｚ２となっている。 The first area Z1 in this case is wider in front of the vehicle 1 than the first area Z1 when the vehicle speed is 40 [km/h]. However, the control device 15 sets, as the first area Z1, an area that is not included in the second area that is the condition for the second notification. As an example, in the present embodiment, in FIG. 6, an area included within θ10 (for example, 75°) is an area included in the detectable area of the front external sensor 12 and is a condition for performing the second notification. It is the second area Z2.
　すなわち、車速が１００［ｋｍ／ｈ］である場合の運転者Ｐの動体視野θ３は、図６中の境界線Ｂｏにて示すものとなるが、θ１０内に含まれる領域は第２領域Ｚ２となっている。このため、この場合、制御装置１５は、第２領域Ｚ２とその外側の領域との境界線を、第１領域Ｚ１の前端縁Ｚ１ｃに設定する。これにより、第２領域Ｚ２と重複する領域は、第１領域Ｚ１から除かれる。このように、制御装置１５は、第２領域Ｚ２に含まれない領域を第１領域Ｚ１として設定することで、ある物体に対して第１通知と第２通知とを同時に行ってしまうことを抑制でき、運転者Ｐにとってわかりやすい通知を実現できる。 That is, the moving object field of view θ3 of the driver P when the vehicle speed is 100 [km/h] is indicated by the boundary line Bo in FIG. It's becoming Therefore, in this case, the control device 15 sets the front edge Z1c of the first zone Z1 as the boundary line between the second zone Z2 and the outside zone. As a result, the area overlapping the second area Z2 is removed from the first area Z1. In this way, the control device 15 sets an area that is not included in the second area Z2 as the first area Z1, thereby suppressing simultaneous first notification and second notification for a certain object. It is possible to realize a notification that is easy for the driver P to understand.
［運転支援システムにおける処理］
　つぎに、図７を参照して、運転支援システム１０における処理の一例について説明する。図７に示すように、運転支援システム１０の制御装置１５は、前方用外界センサ１２の検出結果を取得する（ステップＳ１）。つぎに、制御装置１５は、車両センサ１３（車速センサ１３ｂ）の検出結果に基づいて車速を取得する（ステップＳ２）。そして、制御装置１５は、ステップＳ１の処理により取得された前方用外界センサ１２の検出結果、およびステップＳ２の処理により取得された車速に基づいて、前方用外界センサ１２の検出可能領域に含まれる第２領域Ｚ２内に物体があり衝突の危険があるか否か判断する（ステップＳ３）。 [Processing in driving support system]
Next, an example of processing in the driving support system 10 will be described with reference to FIG. 7 . As shown in FIG. 7, the control device 15 of the driving support system 10 acquires the detection result of the front external sensor 12 (step S1). Next, the control device 15 acquires the vehicle speed based on the detection result of the vehicle sensor 13 (vehicle speed sensor 13b) (step S2). Based on the detection result of the front external sensor 12 obtained by the process of step S1 and the vehicle speed obtained by the process of step S2, the control device 15 determines whether the detection range of the front external sensor 12 is included in the detectable area. It is determined whether or not there is an object in the second area Z2 and there is a risk of collision (step S3).
　ステップＳ３の処理において、例えば、制御装置１５は、第２領域Ｚ２内に物体があり、且つ車両１からその物体までの距離が閾値以下である場合に、衝突の危険があると判断する。また、ステップＳ３の処理において、制御装置１５は、車両１と物体との相対速度を考慮して衝突の危険を判断してもよく、例えば、車両１と物体とが近づく方向についての相対速度が速いほど衝突の危険があると判断してもよい。第２領域Ｚ２内に物体がない、あるいは第２領域Ｚ２内に物体はあるものの衝突の危険はないと判断すれば（ステップＳ３：ＮＯ）、制御装置１５は、そのままステップＳ５の処理に進む。 In the process of step S3, for example, the control device 15 determines that there is a risk of collision when an object is present within the second area Z2 and the distance from the vehicle 1 to the object is equal to or less than a threshold. Further, in the process of step S3, the control device 15 may determine the danger of collision by considering the relative speed between the vehicle 1 and the object. It may be determined that the higher the speed, the greater the risk of collision. If it is determined that there is no object within the second area Z2, or if there is an object within the second area Z2 but there is no danger of collision (step S3: NO), the control device 15 proceeds to the processing of step S5.
　一方、制御装置１５は、第２領域Ｚ２内に物体があり衝突の危険があると判断したならば（ステップＳ３：ＹＥＳ）、第２通知を実行する（ステップＳ４）。例えば、制御装置１５は、図８に示すような画像をメータディスプレイ１４ａに表示することにより、第２通知を実行する。図８に示す例では、車両１が前方の物体（第２領域Ｚ２内にある物体）と衝突する可能性があるため、ブレーキを操作して速度を落とすことを運転者Ｐに促す画像情報Ｇ１が、車速を示す文字情報Ｃ１の下方に表示されている。なお、第２通知は、このような表示に加えて、音声等（例えば所定の警告音）を用いて行われてもよい。 On the other hand, if the control device 15 determines that there is an object in the second area Z2 and there is a danger of collision (step S3: YES), it executes a second notification (step S4). For example, the control device 15 executes the second notification by displaying an image as shown in FIG. 8 on the meter display 14a. In the example shown in FIG. 8, since the vehicle 1 may collide with an object in front (an object within the second area Z2), the image information G1 prompts the driver P to operate the brakes to slow down. is displayed below the character information C1 indicating the vehicle speed. In addition to such display, the second notification may be performed using voice or the like (for example, a predetermined warning sound).
　つぎに、制御装置１５は、ステップＳ２の処理により取得された車速に基づいて、図４から図６等を用いて説明したように第１領域Ｚ１を設定する（ステップＳ５）。 Next, the control device 15 sets the first region Z1 as described using FIGS. 4 to 6 and the like, based on the vehicle speed acquired by the process of step S2 (step S5).
　つぎに、制御装置１５は、側方用外界センサ１１の検出結果を取得し（ステップＳ６）、側方用外界センサ１１の検出可能領域Ｚｓ内に物体があるか否か判断する（ステップＳ７）。検出可能領域Ｚｓ内に物体がないと判断すれば（ステップＳ７：ＮＯ）、そのまま図７に示す処理を終了する。 Next, the control device 15 acquires the detection result of the lateral external sensor 11 (step S6), and determines whether or not there is an object within the detectable region Zs of the lateral external sensor 11 (step S7). . If it is determined that there is no object within the detectable area Zs (step S7: NO), the process shown in FIG. 7 is terminated.
　一方、制御装置１５は、検出可能領域Ｚｓ内に物体があると判断したならば（ステップＳ７：ＹＥＳ）、その物体がステップＳ５により設定された第１領域Ｚ１内に位置するか否か判断する（Ｓ８）。物体が第１領域Ｚ１内に位置していないと判断すれば（ステップＳ８：ＮＯ）、そのまま図７に示す処理を終了する。 On the other hand, if the control device 15 determines that an object exists within the detectable area Zs (step S7: YES), it determines whether the object is located within the first area Z1 set in step S5. (S8). If it is determined that the object is not located within the first area Z1 (step S8: NO), the process shown in FIG. 7 is terminated.
　一方、制御装置１５は、物体が第１領域Ｚ１内に位置すると判断したならば（ステップＳ８：ＹＥＳ）、第１通知を実行して（ステップＳ９）、図７に示す処理を終了する。例えば、制御装置１５は、図９に示すような画像をミラーインジケータ１４ｂに表示することにより、第１通知を実行する。図９に示す例では、車両１の左側方側の第１領域Ｚ１に物体が位置することが検出されたため、左側のミラーユニット２３Ｌに設けられたミラーインジケータ１４ｂＬに、衝突への注意を運転者Ｐに促す文字情報Ｃ２ととともに、車両１の左側後方に衝突の危険性があることを示す画像情報Ｇ２が表示されている。 On the other hand, if the control device 15 determines that the object is located within the first area Z1 (step S8: YES), it executes the first notification (step S9) and ends the processing shown in FIG. For example, the control device 15 executes the first notification by displaying an image as shown in FIG. 9 on the mirror indicator 14b. In the example shown in FIG. 9, since it is detected that an object is located in the first area Z1 on the left side of the vehicle 1, the mirror indicator 14bL provided in the left mirror unit 23L warns the driver of a collision. Image information G2 indicating that there is a risk of collision on the left rear side of the vehicle 1 is displayed along with text information C2 prompting P.
　なお、例えば、制御装置１５は、車両１の起動中（例えばイグニッション電源がオンであるときに）、図７に示す処理を所定の周期で繰り返し実行する。 It should be noted that, for example, the control device 15 repeatedly executes the process shown in FIG. 7 at a predetermined cycle while the vehicle 1 is running (for example, when the ignition power is on).
　上記実施形態によれば、車速に基づいて第１領域Ｚ１を設定して、このようにして設定した第１領域Ｚ１内に物体が位置している場合に第１通知を実行することができる。これにより、運転者Ｐに煩わしさを与え得る過剰な第１通知を抑制しながら、運転者Ｐにとって必要な第１通知を行うことを可能にする。 According to the above embodiment, the first area Z1 can be set based on the vehicle speed, and the first notification can be executed when the object is positioned within the first area Z1 thus set. This makes it possible to provide the necessary first notification to the driver P while suppressing an excessive first notification that may annoy the driver P.
　なお、本発明は、前述した実施形態に限定されるものではなく、適宜、変形、改良、等が可能である。 It should be noted that the present invention is not limited to the above-described embodiments, and can be modified, improved, etc. as appropriate.
　例えば、前述した実施形態では、鞍乗り型車両である車両１に運転支援システム１０を適用した例を示したが、これに限らない。本発明の運転支援システムは、鞍乗り型車両以外の車両にも広く適用可能である。 For example, in the above-described embodiment, an example in which the driving support system 10 is applied to the vehicle 1, which is a saddle-ride type vehicle, is shown, but the present invention is not limited to this. The driving support system of the present invention can be widely applied to vehicles other than saddle-riding vehicles.
　また、前述した実施形態では、制御装置１５が第１領域Ｚ１を車速に応じて直接変化させるようにしたが、これに限らない。例えば、側方用外界センサ１１が検出可能領域を変化可能に車両１に設けられ、制御装置１５は、側方用外界センサ１１の検出可能領域を変化させることによって第１領域Ｚ１を車速に応じて間接的に変化させるようにしてもよい。 Also, in the above-described embodiment, the control device 15 directly changes the first area Z1 according to the vehicle speed, but the present invention is not limited to this. For example, the side external sensor 11 is provided in the vehicle 1 so that the detectable region can be changed, and the control device 15 changes the detectable region of the side external sensor 11 to adjust the first region Z1 according to the vehicle speed. may be changed indirectly by
　具体的には、この場合、側方用外界センサ１１は、例えば、駆動モータを備えるとともに、車両１のシートカウルに設けられたレール等に沿って移動可能な状態で設けられる。そして、制御装置１５は、側方用外界センサ１１の駆動モータを制御して、車速に応じた移動位置まで側方用外界センサ１１を移動させることによって、側方用外界センサ１１の検出可能領域を車速に応じたものとし、この検出可能領域を第１領域Ｚ１として利用し、前述の通知を行うようにする。このようにしても、運転支援システム１０は、車速に応じて変化する運転者の死角を考慮して運転者への通知を適切に行うことが可能である。 Specifically, in this case, the lateral external sensor 11 includes, for example, a drive motor and is provided in a state of being movable along a rail or the like provided on the seat cowl of the vehicle 1 . Then, the control device 15 controls the drive motor of the side external sensor 11 to move the side external sensor 11 to a movement position corresponding to the vehicle speed, thereby increasing the detectable area of the side external sensor 11. corresponds to the vehicle speed, and this detectable area is used as the first area Z1 to perform the above notification. Even in this way, the driving support system 10 can appropriately notify the driver in consideration of the driver's blind spot that changes according to the vehicle speed.
　また、本明細書には少なくとも以下の事項が記載されている。なお、括弧内には、上記した実施形態において対応する構成要素等を示しているが、これに限定されるものではない。 In addition, at least the following matters are described in this specification. In addition, although the parenthesis shows the components corresponding to the above-described embodiment, the present invention is not limited to this.
　（１）　車両（車両１）周辺の検出可能領域（検出可能領域Ｚｓ）内の物体を検出する第１外界センサ（側方用外界センサ１１）と、
　前記車両の走行速度である車速を検出する車速センサ（車速センサ１３ｂ）と、
　前記車両の運転者に対して所定の通知を行うことが可能な通知装置（通知装置１４、メータディスプレイ１４ａ、ミラーインジケータ１４ｂ）と、
　前記通知装置を制御する制御装置（制御装置１５）と、
　を備える前記車両の運転支援システム（運転支援システム１０）であって、
　前記第１外界センサは、前記車両の側方および前記車両の前後側方を前記検出可能領域に含むように前記車両に設けられ、
　前記制御装置は、
　前記第１外界センサにより前記検出可能領域内の物体が検出された場合に（ステップＳ７：ＹＥＳ）、当該物体が、前記検出可能領域に含まれる第１領域（第１領域Ｚ１）内に位置しているか否かを判断し（ステップＳ８）、
　前記物体が前記第１領域内に位置していると判断したことに基づいて（ステップＳ８：ＹＥＳ）、第１通知を前記通知装置に行わせ（ステップＳ９）、
　前記車速センサにより検出された前記車速に応じて前記第１領域を変化させる（ステップＳ５）、
　運転支援システム。 (1) a first external sensor (lateral external sensor 11) that detects an object within a detectable area (detectable area Zs) around the vehicle (vehicle 1);
a vehicle speed sensor (vehicle speed sensor 13b) that detects a vehicle speed that is the running speed of the vehicle;
a notification device (notification device 14, meter display 14a, mirror indicator 14b) capable of giving a predetermined notification to the driver of the vehicle;
a control device (control device 15) that controls the notification device;
The vehicle driving support system (driving support system 10) comprising
The first external sensor is provided on the vehicle so that the detectable area includes the side of the vehicle and the front and rear sides of the vehicle,
The control device is
When an object within the detectable area is detected by the first external sensor (step S7: YES), the object is positioned within a first area (first area Z1) included in the detectable area. (step S8),
Based on the determination that the object is located within the first area (step S8: YES), causing the notification device to perform a first notification (step S9),
changing the first region according to the vehicle speed detected by the vehicle speed sensor (step S5);
driving assistance system.
　（１）によれば、車速に応じて第１領域を変化させ、この第１領域内に物体が位置していると判断したことに基づいて、物体が第１領域にある旨の第１通知を行うことができる。これにより、車速に応じて変化する運転者の死角を考慮して、第１通知を適切に行うことが可能となる。したがって、運転者に煩わしさを与え得る過剰な第１通知を抑制しながら、運転者にとって必要な第１通知を行うことが可能となる。 According to (1), the first area is changed according to the vehicle speed, and the first notification that the object is in the first area is made based on the determination that the object is located in the first area. It can be performed. Accordingly, it is possible to appropriately perform the first notification in consideration of the driver's blind spot that changes according to the vehicle speed. Therefore, it is possible to provide the necessary first notification to the driver while suppressing excessive first notification that may annoy the driver.
　（２）　（１）に記載の運転支援システムであって、
　前記制御装置は、前記車両の近側方より遠側方の方が、前記車両の前側方に広がる領域を前記第１領域として設定する、
　運転支援システム。 (2) The driving support system according to (1),
The control device sets, as the first region, a region in which a far side of the vehicle extends to a front side of the vehicle more than a near side of the vehicle.
driving assistance system.
　（２）によれば、車両の近側方より遠側方の方が、車両の前側方に広がる領域を第１領域として設定するので、運転者の死角を考慮した適切な第１領域を設定することができる。 According to (2), the first area is set as the area that spreads to the far side of the vehicle more to the front side of the vehicle than to the near side of the vehicle, so an appropriate first area is set in consideration of the driver's blind spot. can do.
　（３）　（１）または（２）に記載の運転支援システムであって、
　前記制御装置は、前記車両の側方に離れるにつれて前記車両の前側方に広がる領域を前記第１領域として設定する、
　運転支援システム。 (3) The driving support system according to (1) or (2),
The control device sets, as the first area, an area that spreads to the front side of the vehicle as it moves away from the side of the vehicle.
driving assistance system.
　（３）によれば、車両の側方に離れるにつれて車両の前側方に広がる領域を第１領域として設定するので、運転者の死角を考慮した適切な第１領域を設定することができる。 According to (3), since the first area is set as the area that spreads to the front side of the vehicle as it moves away from the side of the vehicle, it is possible to set an appropriate first area in consideration of the driver's blind spot.
　（４）　（１）から（３）のいずれかに記載の運転支援システムであって、
　前記制御装置は、前記車速が所定値未満である場合には、前記運転者の乗車位置（直線Ｌｏ）から後方となる領域を前記第１領域として設定する、
　運転支援システム。 (4) The driving support system according to any one of (1) to (3),
When the vehicle speed is less than a predetermined value, the control device sets an area behind the driver's boarding position (straight line Lo) as the first area.
driving assistance system.
　（４）によれば、車速が所定値未満である場合には、運転者の乗車位置から後方となる領域を第１領域として設定するので、運転者の死角を考慮した適切な第１領域を設定することができる。 According to (4), when the vehicle speed is less than the predetermined value, the area behind the driver's boarding position is set as the first area. can be set.
　（５）　（１）から（４）のいずれかに記載の運転支援システムであって、
　前記制御装置は、前記車速が所定値以上である場合には、前記車速が所定値未満である場合よりも前記車両の前方に広い領域を前記第１領域として設定する、
　運転支援システム。 (5) The driving support system according to any one of (1) to (4),
When the vehicle speed is equal to or higher than a predetermined value, the control device sets a wider area in front of the vehicle than when the vehicle speed is less than a predetermined value as the first area.
driving assistance system.
　（５）によれば、車速が所定値以上である場合には、車速が所定値未満である場合よりも車両の前方に広い領域を第１領域として設定するので、運転者の死角を考慮した適切な第１領域を設定することができる。 According to (5), when the vehicle speed is equal to or higher than the predetermined value, a wider area in front of the vehicle than when the vehicle speed is less than the predetermined value is set as the first area, so the driver's blind spot is taken into consideration. A suitable first region can be set.
　（６）　（５）に記載の運転支援システムであって、
　前記制御装置は、前記車速が高くなるにつれて前記第１領域を前記車両の前方に広くする、
　運転支援システム。 (6) The driving support system according to (5),
The control device widens the first area forward of the vehicle as the vehicle speed increases.
driving assistance system.
　（６）によれば、車速が高くなるにつれて第１領域を車両の前方に広くするので、運転者の死角を考慮した適切な第１領域を設定することができる。 According to (6), the first area is widened in front of the vehicle as the vehicle speed increases, so it is possible to set an appropriate first area in consideration of the driver's blind spot.
　（７）　（１）から（６）のいずれかに記載の運転支援システムであって、
　前記車両の前方の物体を検出する第２外界センサ（前方用外界センサ１２）をさらに備え、
　前記制御装置は、
　前記第２外界センサにより前記車両の前方の所定の第２領域（第２領域Ｚ２）内の物体が検出されたことに基づいて、前記車両の前方の物体がある旨の第２通知を前記通知装置に行わせ、
　前記第２領域に含まれない領域を前記第１領域として設定する、
　運転支援システム。 (7) The driving support system according to any one of (1) to (6),
Further comprising a second external sensor (front external sensor 12) that detects an object in front of the vehicle,
The control device is
a second notification that there is an object in front of the vehicle based on detection of an object in a predetermined second area (second area Z2) in front of the vehicle by the second external sensor; Let the device do
setting an area not included in the second area as the first area;
driving assistance system.
　（７）によれば、車両の前方の物体がある旨の第２通知を行う条件となる第２領域に含まれない領域を第１領域として設定するので、ある物体に対して第１通知と第２通知とを同時に行ってしまうことを抑制でき、運転者にとってわかりやすい通知を実現できる。 According to (7), an area that is not included in the second area, which is the condition for performing the second notification that there is an object in front of the vehicle, is set as the first area. It is possible to prevent the second notification from being made at the same time, and it is possible to realize an easy-to-understand notification for the driver.
　（８）　（１）から（７）のいずれかに記載の運転支援システムであって、
　前記第１外界センサは、前記検出可能領域を変化可能に前記車両に設けられる、
　運転支援システム。 (8) The driving support system according to any one of (1) to (7),
The first external sensor is provided in the vehicle so that the detectable area can be changed.
driving assistance system.
　（８）によれば、第１外界センサが検出可能領域を変化可能に車両に設けられるので、適切な検出可能領域とすることが可能となる。 According to (8), since the first external sensor is provided on the vehicle so that the detectable area can be changed, it is possible to set the detectable area appropriately.
　（９）　（１）から（８）のいずれかに記載の運転支援システムであって、
　前記第１外界センサは、前記車両において前記運転者（運転者Ｐ）が座るシートよりも後方に設けられる、
　運転支援システム。 (9) The driving support system according to any one of (1) to (8),
The first external sensor is provided behind the seat on which the driver (driver P) sits in the vehicle,
driving assistance system.
　（９）によれば、第１外界センサが、運転者が座るシートよりも後方に設けられるので、第１外界センサの検出可能領域に運転者が入り込んでしまうことを抑制できる。 According to (9), since the first external sensor is provided behind the seat on which the driver sits, it is possible to prevent the driver from entering the detectable area of the first external sensor.
　（１０）　（１）から（９）のいずれかに記載の運転支援システムであって、
　前記通知装置は、前記車両において、前記運転者の操舵操作を受け付ける操舵装置（ハンドル２１）よりも前方、または前記運転者が後方を視認するためのミラーを有するミラーユニット（ミラーユニット２３Ｌ、２３Ｒ）に設けられる、
　運転支援システム。 (10) The driving assistance system according to any one of (1) to (9),
The notification device includes mirror units ( mirror units 23L, 23R) having mirrors for the driver to visually recognize the front side of the steering device (steering wheel 21) that receives the steering operation of the driver or the rear side of the vehicle. provided in the
driving assistance system.
　（１０）によれば、通知装置が、操舵装置よりも前方、または後方視認用のミラーを有するミラーユニットに設けられるので、運転者が視認しやすい位置に通知装置を配置することができる。 According to (10), since the notification device is provided in a mirror unit having a mirror for visual recognition in front of or behind the steering device, the notification device can be arranged at a position where the driver can easily visually recognize it.
　（１１）　車両（車両１）周辺の検出可能領域（検出可能領域Ｚｓ）内の物体を検出する第１外界センサ（側方用外界センサ１１）と、
　前記車両の走行速度である車速を検出する車速センサ（車速センサ１３ｂ）と、
　前記車両の運転者に対して所定の通知を行うことが可能な通知装置（通知装置１４、メータディスプレイ１４ａ、ミラーインジケータ１４ｂ）と、
　前記通知装置を制御する制御装置（制御装置１５）と、
　を備える前記車両であって、
　前記第１外界センサは、前記車両の側方および前記車両の前後側方を前記検出可能領域に含むように前記車両に設けられ、
　前記制御装置は、
　前記第１外界センサにより前記検出可能領域内の物体が検出された場合に（ステップＳ７：ＹＥＳ）、当該物体が、前記検出可能領域に含まれる第１領域（第１領域Ｚ１）内に位置しているか否かを判断し（ステップＳ８）、
　前記物体が前記第１領域内に位置していると判断したことに基づいて（ステップＳ８：ＹＥＳ）、第１通知を前記通知装置に行わせ（ステップＳ９）、
　前記車速センサにより検出された前記車速に応じて前記第１領域を変化させる（ステップＳ５）、
　車両。 (11) a first external sensor (lateral external sensor 11) that detects an object within a detectable area (detectable area Zs) around the vehicle (vehicle 1);
a vehicle speed sensor (vehicle speed sensor 13b) that detects a vehicle speed that is the running speed of the vehicle;
a notification device (notification device 14, meter display 14a, mirror indicator 14b) capable of giving a predetermined notification to the driver of the vehicle;
a control device (control device 15) that controls the notification device;
The vehicle comprising
The first external sensor is provided on the vehicle so that the detectable area includes the side of the vehicle and the front and rear sides of the vehicle,
The control device is
When an object within the detectable area is detected by the first external sensor (step S7: YES), the object is positioned within a first area (first area Z1) included in the detectable area. (step S8),
Based on the determination that the object is located within the first area (step S8: YES), causing the notification device to perform a first notification (step S9),
changing the first region according to the vehicle speed detected by the vehicle speed sensor (step S5);
vehicle.
　（１１）によれば、車速に応じて第１領域を変化させ、この第１領域内に物体が位置していると判断したことに基づいて、物体が第１領域にある旨の第１通知を行うことができる。これにより、車速に応じて変化する運転者の死角を考慮して、第１通知を適切に行うことが可能となる。したがって、運転者に煩わしさを与え得る過剰な第１通知を抑制しながら、運転者にとって必要な第１通知を行うことが可能となる。 According to (11), the first area is changed according to the vehicle speed, and the first notification that the object is in the first area is made based on the determination that the object is located in the first area. It can be performed. Accordingly, it is possible to appropriately perform the first notification in consideration of the driver's blind spot that changes according to the vehicle speed. Therefore, it is possible to provide the necessary first notification to the driver while suppressing excessive first notification that may annoy the driver.
　以上、図面を参照しながら各種の実施の形態について説明したが、本発明はかかる例に限定されないことは言うまでもない。当業者であれば、特許請求の範囲に記載された範疇内において、各種の変更例又は修正例に想到し得ることは明らかであり、それらについても当然に本発明の技術的範囲に属するものと了解される。また、発明の趣旨を逸脱しない範囲において、上記実施の形態における各構成要素を任意に組み合わせてもよい。 Various embodiments have been described above with reference to the drawings, but it goes without saying that the present invention is not limited to such examples. It is obvious that a person skilled in the art can conceive of various modifications or modifications within the scope described in the claims, and these also belong to the technical scope of the present invention. Understood. Moreover, each component in the above embodiments may be combined arbitrarily without departing from the gist of the invention.
　なお、本出願は、２０２１年３月２９日出願の日本特許出願（特願２０２１－０５６０７５）に基づくものであり、その内容は本出願の中に参照として援用される。 This application is based on a Japanese patent application (Japanese Patent Application No. 2021-056075) filed on March 29, 2021, the contents of which are incorporated herein by reference.
１　車両
１０　運転支援システム
１１　側方用外界センサ（第１外界センサ）
１２　前方用外界センサ（第２外界センサ）
１３ｂ　車速センサ
１４　通知装置
１４ａ　メータディスプレイ（通知装置）
１４ｂ　ミラーインジケータ（通知装置）
１５　制御装置
２１　ハンドル（操舵装置）
２３Ｌ　ミラーユニット
２３Ｒ　ミラーユニット
Ｌｏ　直線（乗車位置）
Ｓｔ　シート
Ｚ１　第１領域
Ｚ２　第２領域
Ｚｓ　検出可能領域
  1 vehicle 10 driving support system 11 side external sensor (first external sensor)
12 forward external sensor (second external sensor)
13b vehicle speed sensor 14 notification device 14a meter display (notification device)
14b Mirror indicator (notification device)
15 control device 21 steering wheel (steering device)
23L Mirror unit 23R Mirror unit Lo Straight line (riding position)
St Seat Z1 First area Z2 Second area Zs Detectable area

Claims (11)

  1. 　車両（１）周辺の検出可能領域内の物体を検出する第１外界センサ（１１）と、
    　前記車両の走行速度である車速を検出する車速センサ（１３ｂ）と、
    　前記車両の運転者に対して所定の通知を行うことが可能な通知装置と、
    　前記通知装置（１４、１４ａ、１４ｂ）を制御する制御装置（１５）と、
    　を備える前記車両（１）の運転支援システム（１０）であって、
    　前記第１外界センサ（１１）は、前記車両（１）の側方および前記車両（１）の前後側方を前記検出可能領域（Ｚｓ）に含むように前記車両（１）に設けられ、
    　前記制御装置（１５）は、
    　前記第１外界センサ（１１）により前記検出可能領域（Ｚｓ）内の物体が検出された場合に、当該物体が、前記検出可能領域（Ｚｓ）に含まれる第１領域（Ｚ１）内に位置しているか否かを判断し、
    　前記物体が前記第１領域（Ｚ１）内に位置していると判断したことに基づいて、第１通知を前記通知装置（１４、１４ｂ）に行わせ、
    　前記車速センサ（１３ｂ）により検出された前記車速に応じて、前記第１領域（Ｚ１）を変化させる、
    　運転支援システム（１０）。     a first external sensor (11) for detecting objects within a detectable area around the vehicle (1);
    a vehicle speed sensor (13b) for detecting a vehicle speed, which is the running speed of the vehicle;
    a notification device capable of giving a predetermined notification to the driver of the vehicle;
    a control device (15) for controlling the notification devices (14, 14a, 14b);
    A driving assistance system (10) for the vehicle (1), comprising:
    The first external sensor (11) is provided in the vehicle (1) so as to include the side of the vehicle (1) and the front and rear sides of the vehicle (1) in the detectable region (Zs),
    The control device (15)
    When an object within the detectable area (Zs) is detected by the first external sensor (11), the object is located within a first area (Z1) included in the detectable area (Zs). determine whether or not
    causing the notification device (14, 14b) to make a first notification based on the determination that the object is located in the first region (Z1);
    changing the first region (Z1) according to the vehicle speed detected by the vehicle speed sensor (13b);
    A driving assistance system (10).
  2. 　請求項１に記載の運転支援システム（１０）であって、
    　前記制御装置（１５）は、前記車両（１）の近側方より遠側方の方が、前記車両（１）の前側方に広がる領域を前記第１領域（Ｚ１）として設定する、
    　運転支援システム（１０）。     A driving assistance system (10) according to claim 1, wherein
    The control device (15) sets, as the first region (Z1), a region in which the far side of the vehicle (1) extends to the front side of the vehicle (1) rather than the near side of the vehicle (1).
    A driving assistance system (10).
  3. 　請求項１または２に記載の運転支援システム（１０）であって、
    　前記制御装置（１５）は、前記車両（１）の側方に離れるにつれて、前記車両（１）の前側方に広がる領域を前記第１領域（Ｚ１）として設定する、
    　運転支援システム（１０）。     A driving assistance system (10) according to claim 1 or 2,
    The control device (15) sets, as the first region (Z1), a region that spreads to the front side of the vehicle (1) as it moves away from the side of the vehicle (1).
    A driving assistance system (10).
  4. 　請求項１から３のいずれか１項に記載の運転支援システム（１０）であって、
    　前記制御装置（１５）は、前記車速が所定値未満である場合には、前記運転者（Ｐ）の乗車位置（Ｓｔ、Ｌｏ）から後方となる領域を前記第１領域（Ｚ１）として設定する、
    　運転支援システム（１０）。     A driving assistance system (10) according to any one of claims 1 to 3,
    When the vehicle speed is less than a predetermined value, the control device (15) sets a region located behind a boarding position (St, Lo) of the driver (P) as the first region (Z1). ,
    A driving assistance system (10).
  5. 　請求項１から４のいずれか１項に記載の運転支援システム（１０）であって、
    　前記制御装置（１５）は、前記車速が所定値以上である場合には、前記車速が所定値未満である場合よりも前記車両（１）の前方に広い領域を前記第１領域として設定する、
    　運転支援システム（１０）。     A driving assistance system (10) according to any one of claims 1 to 4,
    When the vehicle speed is equal to or higher than a predetermined value, the control device (15) sets a wider area in front of the vehicle (1) than when the vehicle speed is less than a predetermined value as the first area.
    A driving assistance system (10).
  6. 　請求項５に記載の運転支援システム（１０）であって、
    　前記制御装置（１５）は、前記車速が高くなるにつれて前記第１領域（Ｚ１）を前記車両の前方に広くする、
    　運転支援システム（１０）。     A driving assistance system (10) according to claim 5, wherein
    The control device (15) widens the first zone (Z1) forward of the vehicle as the vehicle speed increases.
    A driving assistance system (10).
  7. 　請求項１から６のいずれか１項に記載の運転支援システム（１０）であって、
    　前記車両（１）の前方の物体を検出する第２外界センサ（１２）をさらに備え、
    　前記制御装置（１５）は、
    　前記第２外界センサ（１２）により前記車両（１）の前方の所定の第２領域（Ｚ２）内の物体が検出されたことに基づいて、第２通知を前記通知装置（１４、１４ａ）に行わせ、
    　前記第２領域（Ｚ２）に含まれない領域を前記第１領域（Ｚ１）として設定する、
    　運転支援システム（１０）。     A driving assistance system (10) according to any one of claims 1 to 6,
    Further comprising a second external sensor (12) that detects an object in front of the vehicle (1),
    The control device (15)
    a second notification to the notification device (14, 14a) based on the detection of an object in a predetermined second area (Z2) in front of the vehicle (1) by the second external sensor (12); let it happen,
    setting an area not included in the second area (Z2) as the first area (Z1);
    A driving assistance system (10).
  8. 　請求項１から７のいずれか１項に記載の運転支援システム（１０）であって、
    　前記第１外界センサ（１１）は、前記検出可能領域（Ｚｓ）を変化可能に前記車両（１）に設けられる、
    　運転支援システム（１０）。     A driving assistance system (10) according to any one of claims 1 to 7,
    The first external sensor (11) is provided in the vehicle (1) such that the detectable region (Zs) can be changed.
    A driving assistance system (10).
  9. 　請求項１から８のいずれか１項に記載の運転支援システム（１０）であって、
    　前記第１外界センサ（１１）は、前記車両（１）において前記運転者（Ｐ）が座るシート（Ｓｔ）よりも後方に設けられる、
    　運転支援システム（１０）。     A driving assistance system (10) according to any one of claims 1 to 8,
    The first external sensor (11) is provided behind a seat (St) on which the driver (P) sits in the vehicle (1),
    A driving assistance system (10).
  10. 　請求項１から９のいずれか１項に記載の運転支援システム（１０）であって、
    　前記通知装置（１４、１４ａ、１４ｂ）は、前記車両（１）において、前記運転者（Ｐ）の操舵操作を受け付ける操舵装置（２１）よりも前方、または前記運転者（Ｐ）が後方を視認するためのミラーを有するミラーユニット（２３Ｌ、２３Ｒ）に設けられる、
    　運転支援システム（１０）。     A driving assistance system (10) according to any one of claims 1 to 9,
    In the vehicle (1), the notification device (14, 14a, 14b) is positioned forward of a steering device (21) that receives a steering operation of the driver (P), or behind the driver (P). Provided in mirror units (23L, 23R) having mirrors for
    A driving assistance system (10).
  11. 　車両（１）周辺の検出可能領域内の物体を検出する第１外界センサ（１１）と、
    　前記車両の走行速度である車速を検出する車速センサ（１３ｂ）と、
    　前記車両の運転者に対して所定の通知を行うことが可能な通知装置と、
    　前記通知装置（１４、１４ａ、１４ｂ）を制御する制御装置（１５）と、
    　を備える前記車両（１）であって、
    　前記第１外界センサ（１１）は、前記車両（１）の側方および前記車両（１）の前後側方を前記検出可能領域（Ｚｓ）に含むように前記車両（１）に設けられ、
    　前記制御装置（１５）は、
    　前記第１外界センサ（１１）により前記検出可能領域（Ｚｓ）内の物体が検出された場合に、当該物体が、前記検出可能領域（Ｚｓ）に含まれる第１領域（Ｚ１）内に位置しているか否かを判断し、
    　前記物体が前記第１領域（Ｚ１）内に位置していると判断したことに基づいて、第１通知を前記通知装置（１４、１４ｂ）に行わせ、
    　前記車速センサ（１３ｂ）により検出された前記車速に応じて、前記第１領域（Ｚ１）を変化させる、
    　車両（１）。
          a first external sensor (11) for detecting objects within a detectable area around the vehicle (1);
    a vehicle speed sensor (13b) for detecting a vehicle speed, which is the running speed of the vehicle;
    a notification device capable of giving a predetermined notification to the driver of the vehicle;
    a control device (15) for controlling the notification devices (14, 14a, 14b);
    The vehicle (1) comprising
    The first external sensor (11) is provided in the vehicle (1) so as to include the side of the vehicle (1) and the front and rear sides of the vehicle (1) in the detectable region (Zs),
    The control device (15)
    When an object within the detectable area (Zs) is detected by the first external sensor (11), the object is located within a first area (Z1) included in the detectable area (Zs). determine whether or not
    causing the notification device (14, 14b) to make a first notification based on the determination that the object is located in the first region (Z1);
    changing the first region (Z1) according to the vehicle speed detected by the vehicle speed sensor (13b);
    Vehicle (1).
PCT/JP2021/047741 2021-03-29 2021-12-22 Driving assistance system and vehicle WO2022209069A1 (en)

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Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2004224093A (en) * 2003-01-21 2004-08-12 Hitachi Ltd Automatic speed control device for vehicle
JP2006344009A (en) * 2005-06-09 2006-12-21 Xanavi Informatics Corp Method and system for monitoring periphery of vehicle
JP2021026241A (en) * 2019-07-31 2021-02-22 トヨタ自動車株式会社 Reminder system of vehicle

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2004224093A (en) * 2003-01-21 2004-08-12 Hitachi Ltd Automatic speed control device for vehicle
JP2006344009A (en) * 2005-06-09 2006-12-21 Xanavi Informatics Corp Method and system for monitoring periphery of vehicle
JP2021026241A (en) * 2019-07-31 2021-02-22 トヨタ自動車株式会社 Reminder system of vehicle

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