Patent Application
20220410884
This application claims priority to Japanese Patent Application No. 2021-105876 filed on Jun. 25, 2021, incorporated herein by reference in its entirety.
The present disclosure relates to a drop-off assist device, a drop-off assist method, and a non-transitory storage medium.
There is a known a drop-off assist device capable of executing drop-off assist control to assist safe drop-off of an occupant of a vehicle (typically, an automobile). For example, the drop-off assist device executes the drop-off assist control when an occupant's drop-off intention (typically, an occupant's door opening operation) is detected in a case where an obstructive target that may hinder the occupant's safe drop-off (in other words, pass by the side of the vehicle) is detected while the vehicle is stopped (see Japanese Unexamined Patent Application Publication No. 2007-138457 (JP 2007-138457 A)). The vehicle including the drop-off assist device is hereinafter referred to as “host vehicle”.
The drop-off assist device detects the obstructive target as follows. The drop-off assist device includes a target information acquisition device (for example, a radar sensor) that can detect a target present in a region rearward of the host vehicle and acquire information about the target as target information. The drop-off assist device calculates, based on the target information acquired from the target information acquisition device, a predicted time required for the target to come into contact with or to come into close proximity to the host vehicle (time to collision; hereinafter referred to also as “TTC”). When the TTC is equal to or smaller than a preset time threshold TTCth, the drop-off assist device determines that the target may hinder the occupant's safe drop-off, and detects the target as the obstructive target.
The TTCth is determined based on a stopping time of the target. The stopping time is a time from a timing when a driver of the target senses danger (for example, when the driver recognizes a drop-off action of the occupant of the vehicle) to a timing when the target stops after the driver starts braking (starts to apply a brake). In other words, the stopping time is the sum of a free running time and a braking time. When the TTC of a certain target is larger than the stopping time of the target, there is a small possibility that the target will hinder the occupant's safe drop-off. Therefore, the stopping time may be a limit value of a time within which the target can avoid contact with or close proximity to the host vehicle. Thus, the stopping time is hereinafter referred to also as “avoidance limit time”. By determining the TTCth based on the avoidance limit time (stopping time), unnecessary drop-off assist control is not executed when the target can avoid contact with or close proximity to the host vehicle by braking.
The avoidance limit time varies depending on the type of the target. Among typical vehicles that may be obstructive targets, such as an automobile, a motorcycle, a motorized bicycle, and a bicycle, the bicycle has the longest avoidance limit time. There is no much difference in the avoidance limit time among the other vehicles. Therefore, the TTCth is generally determined based on the avoidance limit time of the bicycle that is the maximum value.
According to this configuration, the drop-off assist control can be executed at an appropriate timing in a case where the target is a bicycle. In a case where the target is any other vehicle (that is, an automobile, a motorcycle, or a motorized bicycle), however, a value significantly larger than the avoidance limit time of this vehicle is set as the TTCth. Therefore, when the TTC of this vehicle is equal to or smaller than the TTCth though the TTC is sufficiently larger than the avoidance limit time (in other words, when the driver senses danger at this timing and starts braking, the vehicle may sufficiently avoid contact with or close proximity to the host vehicle), the vehicle is detected as the obstructive target and the drop-off assist control is executed. In the configuration in which the TTCth is determined based on the avoidance limit time of the bicycle, the drop-off assist control is executed for the vehicles other than the bicycle at a timing significantly earlier than the timing when the drop-off assist control is actually required. Therefore, a problem may arise in that unnecessary drop-off assist control is executed.
When the TTCth is set to a value larger than the avoidance limit time of a vehicle other than the bicycle, the problem of unnecessary execution of the drop-off assist control may arise for another reason. As described above, the drop-off assist device calculates the TTC of the target. This calculation process is performed only for a target that may pass by the side of the host vehicle in the future among the targets detected by the target information acquisition device. Specifically, the drop-off assist device calculates moving directions of the detected targets based on the target information. When an extension line in the moving direction of any target passes by the side of the host vehicle, the TTC of this target is calculated.
The current performance of the target information acquisition device has a limit in terms of the detection accuracy for a distant target. Therefore, the target information of the distant target is likely to include a deviation. As a result, a deviation is likely to occur in the result of calculation of the moving direction of the target. In general, vehicles other than the bicycle travel at speeds higher than that of the bicycle. Therefore, the detection of the vehicle other than the bicycle by the target information acquisition device needs to be started when the vehicle is located far behind the host vehicle. In this case, a deviation is likely to occur in the result of calculation of the moving direction of the vehicle. As a result, the extension line in the moving direction may pass by the side of the host vehicle and the TTC may be calculated even though the vehicle is not actually the target of TTC calculation (that is, there is no possibility of passing by the side of the host vehicle in the future). In such a case, there is a strong possibility that TTC TTCth easily holds when the TTCth is set to a relatively large value. Therefore, there is a strong possibility that a vehicle other than the bicycle is erroneously detected as the obstructive target. Thus, a problem may arise in that unnecessary drop-off assist control is executed.
The present disclosure provides a drop-off assist device capable of suppressing unnecessary execution of drop-off assist control.
A drop-off assist device according to a first aspect of the present disclosure includes a target information acquisition sensor configured to detect a target present in a region rearward of a host vehicle, and acquire information about the detected target as target information; and an electronic control unit configured to, while the host vehicle is stopped, calculate, based on the target information, a predicted time required for the target to come into contact with or to come into close proximity to the host vehicle, and execute drop-off assist control for assisting drop-off of an occupant of the host vehicle when the predicted time is equal to or smaller than a predetermined time threshold, set the predetermined time threshold to a predetermined first time threshold when a speed of the detected target is equal to or lower than a predetermined first speed, and set the predetermined time threshold to a value smaller than the predetermined first time threshold when the speed of the detected target is higher than the predetermined first speed.
In the present disclosure, when the speed of the target detected by the target information acquisition device (sensor) is equal to or lower than the first speed, the time threshold (time threshold of the predicted time to be used for determining whether the drop-off assist control needs to be executed) is set to the first time threshold. When the speed of the target is higher than the first speed, the time threshold is set to the value smaller than the first time threshold.
In general, an avoidance limit time (stopping time) of a vehicle other than a bicycle (typically, an automobile, a motorcycle, or a motorized bicycle) is shorter than an avoidance limit time of the bicycle. When the speed of a certain target is higher than a predetermined speed threshold, there is a very small possibility that the target is the bicycle. By setting the first speed to an appropriate value (for example, the above speed threshold), the time threshold in a case where the target is the vehicle other than the bicycle can be set to the value smaller than the time threshold in a case where the target is the bicycle. According to this configuration, the start timing of the drop-off assist control can be delayed to an appropriate timing when the target is the vehicle other than the bicycle, as compared with a configuration in which the time threshold is uniformly determined based on the avoidance limit time of the bicycle. As a result, it is possible to suppress both an unnecessary operation caused by a significantly early start timing of the control and an unnecessary operation caused by the performance of the target information acquisition device (sensor).
A drop-off assist method according to a second aspect of the present disclosure includes detecting a target present in a region rearward of a host vehicle; acquiring information about the detected target as target information; and while the host vehicle is stopped, i) calculating, based on the target information, a predicted time required for the target to come into contact with or to come into close proximity to the host vehicle; ii) setting a predetermined time threshold to a predetermined first time threshold when a speed of the detected target is equal to or lower than a predetermined first speed; iii) setting the predetermined time threshold to a value smaller than the predetermined first time threshold when the speed of the detected target is higher than the predetermined first speed; and iv) executing drop-off assist control for assisting drop-off of an occupant of the host vehicle when the predicted time is equal to or smaller than the predetermined time threshold.
A non-transitory storage medium according to a third aspect of the present disclosure stores instructions that are executable by one or more processors and that cause the one or more processors to perform functions. The functions include detecting a target present in a region rearward of a host vehicle; acquiring information about the detected target as target information; and while the host vehicle is stopped, i) calculating, based on the target information, a predicted time required for the target to come into contact with or to come into close proximity to the host vehicle; ii) setting a predetermined time threshold to a predetermined first time threshold when a speed of the detected target is equal to or lower than a predetermined first speed; iii) setting the predetermined time threshold to a value smaller than the predetermined first time threshold when the speed of the detected target is higher than the predetermined first speed; and iv) executing drop-off assist control for assisting drop-off of an occupant of the host vehicle when the predicted time is equal to or smaller than the predetermined time threshold.
Features, advantages, and technical and industrial significance of exemplary embodiments of the disclosure will be described below with reference to the accompanying drawings, in which like signs denote like elements, and wherein:
Configuration
Hereinafter, a drop-off assist device according to an embodiment of the present disclosure (hereinafter referred to also as “present embodiment device”) will be described with reference to the drawings. As shown in
The drop-off assist ECU 10 acquires signals generated or output by the sensors 11 to 13 every time a predetermined time elapses, and controls the elements (devices) 20 to 23 based on the acquired signals. The drop-off assist ECU 10 is hereinafter referred to simply as “ECU 10” as well.
The vehicle speed sensor 11 generates a signal based on a traveling speed of the host vehicle (hereinafter referred to as “vehicle speed”). The ECU 10 acquires the signal generated by the vehicle speed sensor 11 and calculates the vehicle speed based on the signal. When the vehicle speed is zero, the ECU 10 determines that the host vehicle is in a stopped state (hereinafter referred to also as “while the vehicle is stopped”).
The radar sensor 12 (target information acquisition device) has a function of acquiring information about a three-dimensional object (target) present in a region rearward (a region behind the vehicle or the sides of a region behind the vehicle) of the host vehicle. The three-dimensional object is a moving object such as a vehicle or a pedestrian. The vehicle includes an automobile, a motorcycle, a motorized bicycle, and a bicycle.
As shown in
When the three-dimensional object is within the radiation ranges of the radio waves, the radar sensor 12 receives the reflected wave from the three-dimensional object. The radar sensor 12 calculates the presence or absence of the three-dimensional object and a relative relationship between the host vehicle and the three-dimensional object (distance from the host vehicle to the three-dimensional object, direction of the three-dimensional object with respect to the host vehicle, and relative speed of the three-dimensional object to the host vehicle) based on, for example, a radiation timing and a reception timing of the radio wave. In other words, the radar sensor 12 detects the three-dimensional object present in a region rearward of the host vehicle. The three-dimensional object detected by the radar sensor 12 (that is, the three-dimensional object present in the region RR or RL) is hereinafter referred to also as “target”. The radar sensor 12 outputs these pieces of information about the target to the ECU 10 as target information.
As long as the radar sensor 12 can radiate the radio wave in a range including a region corresponding to the regions RR and RL, the number of radar sensors 12 is not limited to two but may be one, three, or more. In a case of one radar sensor 12, the sensor 12 may be mounted, for example, substantially at the center of the rear bumper of the host vehicle V.
The sensor that acquires the target information is not limited to the radar sensor 12. For example, a laser radar sensor, an ultrasonic sensor, and/or a camera sensor may be used in place of or in addition to the radar sensor 12. Alternatively, a sensor to be used for blind spot monitor control may be used as the radar sensor 12. The blind spot monitor control is control for alerting a driver of the host vehicle in response to detection of a vehicle approaching the host vehicle from behind (in particular, a vehicle present in a region where the vehicle is difficult to view on a side mirror).
The description will be continued returning to
The side mirror indicators 20 are provided at predetermined positions on the right and left side mirrors of the host vehicle, and can be turned ON or OFF independently of each other. The instrument panel 21 is provided in front of a driver's seat of the host vehicle (at a position where the instrument panel 21 is visible to the driver). The buzzer 22 is built in the instrument panel 21. The loudspeaker 23 is a component of a navigation system (not shown) and is provided near a touch panel display (not shown).
Next, details of operation of the ECU 10 will be described. In the present embodiment, the ECU 10 executes alert control (described later) as drop-off assist control. The alert control is executed when an alert condition is satisfied. The alert condition is satisfied when Conditions 1 to 3 are all satisfied.
(Condition 1) The host vehicle is in the stopped state.
(Condition 2) An obstructive target is detected.
(Condition 3) The door of the host vehicle is in the open state.
First, Condition 1 will be described. When the vehicle speed acquired from the vehicle speed sensor 11 is zero, the ECU 10 determines that Condition 1 is satisfied.
Next, Condition 2 will be described. The obstructive target is a target that may hinder safe drop-off of the occupant of the host vehicle (in other words, pass by the side of the host vehicle), and is typically a moving object approaching the host vehicle from a region rearward of it. The ECU 10 detects the obstructive target as follows. That is, when the ECU 10 determines that a target is present in the right region RR or the left region RL based on the target information acquired from the radar sensor 12, the ECU 10 calculates a predicted time required for the target to come into contact with or to come into close proximity to the host vehicle (TTC). When the TTC is equal to or smaller than a predetermined time threshold TTCth, the ECU 10 detects the target as the obstructive target and determines that Condition 2 is satisfied.
Further details will be described with reference to
The ECU 10 sets an intersection determination line L on the host vehicle V when the host vehicle V is in the stopped state. The intersection determination line L is an imaginary line set for calculating the TTC, and includes a right intersection determination line LR and a left intersection determination line LL. The left intersection determination line LL extends on the y-axis in a negative y-axis direction (outward in the vehicle width direction) from the left corner of the rear bumper, and the right intersection determination line LR extends on the y-axis in a positive y-axis direction (outward in the vehicle width direction) from the right corner of the rear bumper. The lengths of the right and left intersection determination lines LR and LL are the same (for example, about 1.3 [m]). In the present embodiment, the lengths of the right and left intersection determination lines LR and LL are substantially equal to the lengths of the regions RR and RL in the y-axis direction from the right and left corners of the rear bumper. The lengths of the right and left intersection determination lines LR and LL are preset through experiment or simulation so that “when the target passes through any position on the determination line LR or LL while the occupant of the host vehicle V is dropping off, the target may come into contact with the door or the occupant of the host vehicle V”.
When the host vehicle V is in the stopped state, the ECU 10 calculates a speed vector A of the target (in the example of
When an extension line of the speed vector A of the target intersects the right or left intersection determination line LR or LL (in other words, an intersection P of the extension line and the y-axis is on the intersection determination line L), the ECU 10 calculates, as the TTC, a “predicted time required for the target to intersect the intersection determination line L (in other words, a predicted time required for the target to reach the intersection P of the extension line of the speed vector A of the target and the intersection determination line L)”). The TTC is calculated by using the target information, and can be calculated, for example, by dividing a “distance from the near portion np to the intersection P” by a “current speed of the target”.
When the TTC in a case where the target will intersect the left intersection determination line LL in the future is equal to or smaller than the TTCth, the ECU 10 determines that the target may hinder the occupant from safely dropping off from the left door, and detects the target as an obstructive target for the left door.
When the TTC in a case where the target will intersect the right intersection determination line LR in the future is equal to or smaller than the TTCth, the ECU 10 determines that the target may hinder the occupant from safely dropping off from the right door, and detects the target as an obstructive target for the right door.
In these cases, the ECU 10 determines that Condition 2 is satisfied.
When the target will intersect the right or left intersection determination line LR or LL in the future but the TTC is larger than the TTCth, the ECU 10 determines that the target (currently) has no possibility of hindering the occupant's safe drop-off, and does not detect the target as the obstructive target.
When the extension line of the speed vector A of the target will intersect neither of the right and left intersection determination lines LR and LL (in other words, the intersection P of the extension line and the y-axis is not on the intersection determination line L), the TTC is not calculated. Therefore, the ECU 10 does not detect the target as the obstructive target. In these cases, the ECU 10 determines that Condition 2 is not satisfied.
In the example of
Next, Condition 3 will be described. When the ECU 10 determines that the door on a side where the obstructive target is detected is in the open state based on the signal acquired from the door open/close sensor 13, the ECU 10 determines that Condition 3 is satisfied (in other words, the occupant has a drop-off intention).
Next, the alert control will be described. When the alert condition is satisfied, the ECU 10 performs Processes 1 to 4 as the alert control.
(Process 1) A process of turning ON the side mirror indicator 20 on the side where the obstructive target is detected.
(Process 2) A process of displaying a predetermined mark (for example, a mark indicating the right rear side or the left rear side from which the obstructive target is approaching) on the instrument panel 21.
(Process 3) A process of sounding the buzzer 22.
(Process 4) A process of causing the loudspeaker 23 to issue a predetermined message (for example, a message “Please be careful of an approaching vehicle.”).
The process to be executed as the alert control is not limited to the above processes. For example, at least one of Processes 1 to 4 may be executed.
In general, one type of constant is used for the TTCth. This constant can be determined based on an avoidance limit time (stopping time) of the target. According to this determination method, however, unnecessary alert control may be executed for a specific type of target. Details will be described with reference to
The slope of a tangent to the continuous line at any speed (that is, a speed derivative of the stopping distance) represents an avoidance limit time of the target associated with the continuous line. According to the graph of
According to this determination method, however, the drop-off assist control for the vehicle other than the bicycle is started at a significantly early timing. Therefore, a problem may arise in that unnecessary drop-off assist control is executed. Due to the current performance of the radar sensor 12 (limit in terms of the detection accuracy for a distant target), a deviation is likely to occur in a result of calculation of a moving direction of the target (that is, the vehicle other than the bicycle) located in a distant region rearward of the host vehicle. As a result, a problem may arise in that a target that does not actually correspond to the obstructive target is erroneously detected as the obstructive target and unnecessary drop-off assist control is executed.
To suppress the unnecessary execution of the drop-off assist control described above, a TTCth having a value smaller than the “TTCth determined based on the avoidance limit time of the bicycle” may be set for the vehicle other than the bicycle. In the present embodiment, however, the radar sensor 12 cannot discriminate the type of the target. It is known that the speed distribution of bicycles traveling on roads is 1% for 5 [km/h] or lower, 54% for 15 [km/h] or lower, 42% for 25 [km/h] or lower, and 3% for over 25 [km/h]. That is, the bicycles traveling at the speeds of 25 [km/h] or lower are in the majority accounting for 97%, and there are few bicycles traveling at the speeds over 25 [km/h]. This means that, when the speed of a certain target is over 25 [km/h], there is a very small possibility that the target is a bicycle (in other words, there is a very strong possibility that the target is a vehicle other than a bicycle).
From the above, the ECU 10 of the present embodiment can change the TTCth depending on the speed of the target. Details will be described with reference to
The first speed v1 is set to “such a value that a possibility that the target is a bicycle is very low when the target is traveling at a speed satisfying v1<v”. In other words, the first speed v1 is set to a “value indicating a very small ratio of bicycles traveling on roads at speeds higher than v1”. In the present embodiment, the first speed v1 is set to a value indicating that the ratio of bicycles traveling on roads at speeds higher than v1 is 3%. That is, the first speed v1 is set to 25 [km/h]. The TTCth1 is set based on the avoidance limit time when the bicycle is traveling at the average speed (for example, 10 to 20 [km/h]) (that is, the slope of a tangent to the continuous line 30 at the average speed of the bicycle in
The TTCth2 is set based on an avoidance limit time when vehicles other than the bicycle are traveling at an average speed (for example, 30 to 60 [km/h]) (that is, the slopes of tangents to the continuous lines 31 to 33 at the average speed of the vehicles other than the bicycle in
According to the map of
Next, a specific operation of the ECU 10 will be described. The CPU of the ECU 10 repeats a routine shown in a flowchart of
At a predetermined timing, the CPU starts the process from Step 500 in
In Step 520, the CPU determines whether a target is detected based on the target information acquired from the radar sensor 12. When the target is not detected, the CPU determines “No” in Step 520 and proceeds to Step 595 to temporarily terminate this routine. When the target is detected, the CPU determines “Yes” in Step 520 and proceeds to Step 530.
In Step 530, the CPU calculates the speed vector A of the detected target based on the target information, and determines whether the extension line of the speed vector A intersects the right or left intersection determination line LR or LL. When there is no intersection, the CPU determines “No” in Step 530 and proceeds to Step 595 to temporarily terminate this routine. When there is intersection, the CPU determines “Yes” in Step 530 and proceeds to Step 540.
In Step 540, the CPU calculates the TTC for the detected target and proceeds to Step 550.
In Step 550, the CPU calculates the speed v of the detected target, reads a value corresponding to the speed v by referring to the map shown in
In Step 560, the CPU determines whether TTC TTCth holds for the detected target (Condition 2). When TTC>TTCth holds, the CPU determines “No” in Step 560 (that is, determines that Condition 2 is not satisfied (the alert condition is not satisfied)), and proceeds to Step 595 to temporarily terminate this routine. When TTC TTCth holds, the CPU determines “Yes” in Step 560 (that is, determines that Condition 2 is satisfied (the target is the obstructive target)), and proceeds to Step 570.
In Step 570, the CPU determines whether the door (door on a side where the obstructive target is detected) is in the open state based on a signal acquired from the door open/close sensor 13. When the door is in the closed state, the CPU determines “No” in Step 570 (that is, determines that Condition 3 is not satisfied (the alert condition is not satisfied)), and proceeds to Step 595 to temporarily terminate this routine. When the door is in the open state, the CPU determines “Yes” in Step 570 (that is, determines that Condition 3 is satisfied (the alert condition is satisfied)), and proceeds to Step 580 to execute the alert control (Processes 1 to 4). Then, the CPU proceeds to Step 595 to temporarily terminate this routine.
The power supply to the ECU 10 is continued until a predetermined condition is satisfied even after an ignition switch is turned OFF. For example, this condition may be satisfied when the doors are locked or when a predetermined stop period has elapsed after the host vehicle is stopped. According to this configuration, it is possible to reduce the possibility that the alert control is not executed in a situation in which the alert control is required, thereby executing the alert control more appropriately.
Although the drop-off assist device according to the present embodiment has been described above, the present disclosure is not limited to the embodiment described above, and various modifications may be made without departing from the object of the present disclosure.
For example, the map defining the relationship between the speed v of the target and the TTCth is not limited to the map in the structure shown in
In the embodiment described above, the alert control is executed as the drop-off assist control, but the type of the drop-off assist control is not limited to the alert control. For example, door opening limitation control of the drop-off assist device to limit the degree of door opening or door lock control of the drop-off assist device to lock the door may be executed as the drop-off assist control. Alternatively, the door opening limitation control or the door lock control may be executed as the drop-off assist control in addition to the alert control.
In the embodiment described above, Condition 2 is satisfied when TTC TTCth holds for the target, but the requirement for satisfaction of Condition 2 is not limited to this requirement. For example, Condition 2 may be satisfied when the state where TTC of the target is equal to or smaller than TTCth continues for a predetermined duration. Condition 3 may be satisfied when the door on the side where the obstructive target is detected is changed from the closed state to the open state. Alternatively, Condition 3 may be satisfied when an occupant's action for operating a door operation unit (typically, an inner lever of the door) is detected based on image data obtained by a camera mounted on the vehicle (camera capable of imaging the occupant in the vehicle).
In the embodiment described above, the alert condition is satisfied when Conditions 1 to 3 are all satisfied, but the requirement for satisfaction of the alert condition is not limited to this requirement. For example, the alert condition need not include Condition 3, and may be satisfied when Conditions 1 and 2 are satisfied. In other words, the alert control may be executed regardless of whether the occupant has a drop-off intention.
Alternatively, the alert control may be executed in two stages. Specifically, the alert control includes two types of control, that is, normal alert control and minor alert control (control at a lower assist level than that of the normal alert control). The minor alert control is, for example, control for executing Process 1. The normal alert control is, for example, control for executing at least one of Processes 2 to 4 in addition to Process 1. The minor alert control is executed when Conditions 1 and 2 are satisfied (that is, when the obstructive target is detected while the vehicle is stopped but the door is in the closed state). The normal alert control is executed when Condition 3 is further satisfied in addition to Conditions 1 and 2 (that is, when the obstructive target is detected while the vehicle is stopped and the door is in the open state).
When the door is in the closed state, the drop-off assist device cannot determine whether the occupant is attempting to drop off from the door. In other words, there may be both a possibility that the occupant has a drop-off intention but the door is not open at the current time, and a possibility that the occupant does not have the drop-off intention and the door remains in the closed state. Therefore, when the door is in the closed state, the drop-off assist device executes the minor alert control to “notify in advance the occupant having the drop-off intention about the presence of the obstructive target” and “prevent the occupant having no drop-off intention from suffering discomfort caused by executing the normal alert control”. When Conditions 1 to 3 are all satisfied, the door opening limitation control or the door lock control may be executed as the drop-off assist control in place of the normal alert control. Alternatively, the door opening limitation control or the door lock control may be executed as the drop-off assist control in addition to the normal alert control.
A drop-off assist device according to a first aspect of the present disclosure includes a target information acquisition sensor configured to detect a target present in a region rearward of a host vehicle, and acquire information about the detected target as target information; and an electronic control unit configured to, while the host vehicle is stopped, calculate, based on the target information, a predicted time required for the target to come into contact with or to come into close proximity to the host vehicle, and execute drop-off assist control for assisting drop-off of an occupant of the host vehicle when the predicted time is equal to or smaller than a predetermined time threshold, set the predetermined time threshold to a predetermined first time threshold when a speed of the detected target is equal to or lower than a predetermined first speed, and set the predetermined time threshold to a value smaller than the predetermined first time threshold when the speed of the detected target is higher than the predetermined first speed.
In the aspect described above, the predetermined first speed may be set based on a speed distribution of a bicycle traveling on a road; and the predetermined first time threshold may be set based on an avoidance limit time of the bicycle at a speed within a predetermined first speed range, the avoidance limit time is a limit value of a time within which the target is capable of avoiding the contact with or the close proximity to the host vehicle.
According to this configuration, the first speed and the first time threshold can be set to appropriate values. The first speed range is, for example, an average speed range when the bicycle travels on the road.
In the aspect described above, the electronic control unit may be configured to set the predetermined time threshold to a predetermined second time threshold smaller than the predetermined first time threshold when the speed of the detected target is higher than a predetermined second speed higher than the predetermined first speed.
According to this configuration, by setting the second speed and the second time threshold to appropriate values, it is possible to more reliably suppress the unnecessary execution of the drop-off assist control in the case where the target is the vehicle other than the bicycle.
In the aspect described above, the predetermined second speed may be set based on a speed distribution of the target other than a bicycle traveling on a road; and the predetermined second time threshold may be set based on an avoidance limit time of the target other than the bicycle at a speed within a predetermined second speed range, the avoidance limit time is a limit value of a time within which the target is capable of avoiding the contact with or the close proximity to the host vehicle.
According to this configuration, the second speed and the second time threshold can be set to appropriate values. The second speed range is, for example, an average speed range when the vehicle other than the bicycle travels on the road.
In the aspect described above, the electronic control unit may be configured to, when the electronic control unit determines that the occupant intends to drop off and while the host vehicle is stopped, calculate the predicted time, and execute the drop-off assist control when the predicted time is equal to or smaller than the predetermined time threshold.
In the aspect described above, the drop-off assist control may be control of the electronic control unit to generate an alert.
In the aspect described above, the drop-off assist control may be control of the electronic control unit to limit a degree of door opening.
In the aspect described above, the drop-off assist control may be control of the electronic control unit to lock a door.
In the aspect described above, the electronic control unit may be configured to execute the drop-off assist control when the predicted time is equal to or smaller than the predetermined time threshold continuously for a predetermined period.
| Number | Date | Country | Kind |
|---|---|---|---|
| 2021-105876 | Jun 2021 | JP | national |
