The present invention relates to a vehicle control device and a vehicle control method for controlling the motion of a vehicle.
Patent Literature 1 below discloses a vehicle control device for evaluating the risk of a vehicle and notifying a driver of a dangerous situation when there is a high risk.
Patent Literature 1: JP 2005-056372 A
Since conventional vehicle control devices are configured as described above, when there is a risk that a host vehicle and another vehicle may be brought into contact with each other, a driver of the host vehicle can be notified that there is a risk of contact. However, there is a problem that a driver of the other vehicle cannot be informed of the risk of contact and that there are cases where it is difficult for the driver of the other vehicle to perform an operation to avoid the risk.
The present invention has been devised in order to solve the aforementioned problem, and it is an object of the present invention to provide a vehicle control device and a vehicle control method capable of preventing occurrence of a dangerous situation.
A vehicle control device according to the present invention includes: an operation detecting unit for detecting an operation on a vehicle; an information presenting unit for presenting pre-notification information for pre-notifying motion accompanying the operation detected by the operation detecting unit to an outside of the vehicle; and a motion control unit for controlling the motion accompanying the operation detected by the operation detecting unit.
According to the present invention, since an information presenting unit presents pre-notification information for pre-notifying motion accompanying an operation detected by the operation detecting unit to the outside of the vehicle, and the motion control unit controls the motion accompanying the operation detected by the operation detecting unit, there is an effect that occurrence of a dangerous situation can be prevented.
To describe the present invention further in detail, embodiments for carrying out the present invention will be described below with reference to the accompanying drawings.
In
The vehicle information acquiring unit 2 is implemented by a vehicle information acquiring circuit 21 illustrated in
As vehicle information, for example, in addition to CAN data including operation information of an indicator, a steering wheel, an accelerator, a brake, a shift lever, or the like, information output from a contact sensor mounted in the vehicle, image information of a camera capturing the surroundings of the vehicle, and other information are conceivable.
As information output from the contact sensor, for example, in addition to information indicating that a passenger has touched a door knob which is operated in opening a door, operation detection information in the case where an operation within a range of play is performed on a steering wheel, an accelerator, and a brake and other information are conceivable.
The operation detection processing unit 3 is implemented by an operation detection processing circuit 22 in
A display data outputting unit 4 includes a display data storing unit 5 and a display data selecting unit 6 and performs processing of outputting display data of pre-notification information.
The display data storing unit 5 is implemented by a display data storage processing circuit 23 in
The display data selecting unit 6 is implemented by a display data selection processing circuit 24 in
An information presenting unit 7 is implemented by an information presentation processing circuit 25 in
That is, the information presenting unit 7 includes a light emitting unit 7a for displaying the pre-notification information on a projection surface in accordance with the display data output from the display data outputting unit 4 for example by irradiating the projection surface outside the vehicle with laser light or light emitting diode (LED) light.
As the projection surface of light, a road surface around the vehicle, the body of the vehicle, a window of the vehicle, and the like are conceivable, and the body and a window of the vehicle are included as the projection surface outside the vehicle.
In the first embodiment, it is assumed that the information presenting unit 7 displays pre-notification information on the outside of the vehicle; however, pre-notification information may be output by speech to the outside of the vehicle.
Here, the example in which the medium of the information presenting unit 7, on which information is displayed, is a road surface around the vehicle, the body or a window of the vehicle is illustrated; however, for example, a display device including a plurality of light emitting elements and attached inside a lighting device such as a headlight, an indicator, or a stop light or to the body or other parts of the vehicle or a display attached to the body or other parts of the vehicle may be employed as the display medium. The information presenting unit 7 may display pre-notification information on the display device or the display.
A motion control unit 8 is implemented by a motion control processing circuit 26 in
A situation notifying unit 9 is implemented by a situation notification processing circuit 27 in
In
Here, the display data storage processing circuit 23 may be a nonvolatile or volatile semiconductor memory such as a random access memory (RAM), a read only memory (ROM), a flash memory, an erasable programmable read only memory (EPROM), or an electrically erasable programmable read only memory (EEPROM), a magnetic disc, a flexible disc, an optical disc, a compact disc, a mini disc, a digital versatile disc (DVD), or the like.
The vehicle information acquiring circuit 21, the operation detection processing circuit 22, the display data selection processing circuit 24, the information presentation processing circuit 25, the motion control processing circuit 26, and the situation notification processing circuit 27 may be a single circuit, a composite circuit, a programmed processor, a parallel-programmed processor, an application specific integrated circuit (ASIC), a field-programmable gate array (FPGA), or a combination thereof.
Moreover, the components of the vehicle control device are not limited to those implemented by dedicated hardware, and the vehicle control device may be implemented by software, firmware, or a combination of software and firmware.
The software or the firmware is stored in a memory of a computer as a program. Here, a computer refers to hardware for executing a program and may be, for example, a central processing unit (CPU), a central processing device, a processing device, an arithmetic device, a microprocessor, a microcomputer, a processor, a digital signal processor (DSP), or the like.
In the case where the vehicle control device is implemented by software, firmware, or the like, it is only required that the display data storing unit 5 is configured on a memory 41 of a computer, a program for causing the computer to execute processing procedures of the vehicle information acquiring unit 2, the operation detection processing unit 3, the display data selecting unit 6, the information presenting unit 7, the motion control unit 8, and the situation notifying unit 9 is stored in the memory 41, and that a processor 42 of the computer executes the program stored in the memory 41.
For example, the vehicle information acquiring unit 2 and the information presenting unit 7 can be implemented by dedicated hardware, while the operation detection processing unit 3, the display data storing unit 5, the display data selecting unit 6, the motion control unit 8, and the situation notifying unit 9 can be implemented by software, firmware, or the like. Note that any combination of dedicated hardware and software may be employed.
Next, the operation will be described.
The vehicle information acquiring unit 2 of the operation detecting unit 1 acquires vehicle information indicating the state of the vehicle from an onboard device through an in-vehicle network and outputs the vehicle information to the operation detection processing unit 3 (step ST1 in
In the first embodiment, for example in addition to CAN data, information output from a contact sensor mounted on the vehicle, image information of a camera capturing the surroundings of the vehicle, and other information are acquired as vehicle information.
Upon receiving the vehicle information from the vehicle information acquiring unit 2, the operation detection processing unit 3 detects an operation on the vehicle from the vehicle information (step ST2).
For example, in a case where the vehicle information acquired by the vehicle information acquiring unit 2 includes information indicating that a passenger has touched a door knob which is operated in opening the door, an operation indicating an intension to open the door is detected as the operation on the vehicle. Hereinafter, this operation is referred to as “door opening operation”.
In addition, in the case where the vehicle information acquired by the vehicle information acquiring unit 2 includes information of an operation of the indicator, an operation indicating an intension to turn right or left or to merge into another lane is detected as the operation on the vehicle. Hereinafter, this operation is referred to as “turning right/left operation”.
In the case where the vehicle information acquired by the vehicle information acquiring unit 2 includes information of an operation indicating that the shift lever has switched from the parking position to the drive position or the reverse position, an operation indicating an intension to start the vehicle is detected as the operation on the vehicle. Hereinafter, this operation is referred to as “starting operation”.
In addition, in the case where the vehicle information acquired by the vehicle information acquiring unit 2 includes information of an operation of a button indicating an intension to give way, an operation indicating an intension to give way to other vehicles or pedestrians is detected. Hereinafter, this operation is referred to as “give way operation”.
In the display data storing unit 5 of the display data outputting unit 4, for each operation on the vehicle, display data of pre-notification information for pre-notifying the motion accompanying the operation is stored.
In the first embodiment, it is assumed that the display data is for example an animation including pre-notification information to be presented outside the vehicle; however, the display data may be a still image without being limited to an animation. What is included in the animated display data is, for example, data of a moving image pattern that represents a direction of a traveling direction such as a pattern or an arrow conforming to general road rules.
For example, as display data of pre-notification information corresponding to “door opening operation”, display data of pre-notification information for pre-notifying that a door opens soon is stored.
For example, as the display data of pre-notification information corresponding to the “turning right/left operation”, display data of pre-notification information for pre-notifying that the vehicle soon turns right or left or merges into another lane is stored.
For example, as display data of pre-notification information corresponding to “starting operation”, display data of pre-notification information for pre-notifying that the vehicle soon starts is stored.
For example, as display data of pre-notification information corresponding to “give way operation”, display data of pre-notification information for pre-notifying intention of giving way to other vehicles or pedestrians is stored.
The display data selecting unit 6 of the display data outputting unit 4 selects display data of pre-notification information for pre-notifying a motion accompanying the operation detected by the operation detection processing unit 3 from among the plurality of pieces of display data stored in the display data storing unit 5 and outputs the display data to the information presenting unit 7 (step ST3 in
That is, in the case where an operation on the vehicle is “door opening operation” for example, the display data selecting unit 6 selects the display data as illustrated in
In the case where an operation on the vehicle is “turning right/left operation” for example, the display data selecting unit 6 selects the display data as illustrated in
In the case where an operation on the vehicle is “starting operation” for example, the display data selecting unit 6 selects the display data as illustrated in
In the case where an operation on the vehicle is “give way operation” for example, the display data selecting unit 6 selects the display data as illustrated in
Upon receiving the display data from the display data outputting unit 4, the information presenting unit 7 displays the pre-notification information to the outside of the vehicle in accordance with the display data (step ST4 in
That is, the light emitting unit 7a of the information presenting unit 7 displays the pre-notification information on a projection surface in accordance with the display data output from the display data outputting unit 4, for example, by irradiating the projection surface outside the vehicle with laser light or LED light.
The example in which the light emitting unit 7a of the information presenting unit 7 displays the pre-notification information on the projection surface is illustrated here; however, the pre-notification information may be displayed on a display device including a plurality of light emitting elements and attached inside a lighting device or to the body or other parts of the vehicle or a display attached to the body or other parts of the vehicle.
When the operation detecting unit 1 detects an operation on the vehicle, the motion control unit 8 controls the motion accompanying the operation (step ST5).
That is, the motion control unit 8 restricts the motion accompanying the operation detected by the operation detecting unit 1 until a certain period of time elapses after the operation detecting unit 1 has detected the operation on the vehicle. The certain period of time is time set in advance, and any time such as one second or two seconds is set, for example.
For example in the case where the operation on the vehicle is “door opening operation”, although pre-notification information for pre-notifying that the door will soon be opened is immediately displayed by the information presenting unit 7, the motion control unit 8 controls such that the door does not open until a certain period of time elapses.
As a result, the door does not suddenly open, and others can recognize that the door will open by looking at the pre-notification information, and thus occurrence of a minor collision caused by opening the door can be prevented. Here, the others include drivers of other vehicles or pedestrians present around the vehicle.
Furthermore, for example in the case where the operation on the vehicle is “turning right/left operation”, although pre-notification information for pre-notifying that the vehicle soon turns right or left or merges into another lane is immediately displayed by the information presenting unit 7, the motion control unit 8 controls a steering wheel or a driving system of the vehicle such that the vehicle cannot turn right or left or merge into another lane until a certain period of time elapses.
As a result, a right or a left turn or the like is not performed suddenly, and others can recognize that a right or a left turn or the like will be performed by looking at the pre-notification information, and thus occurrence of a minor collision caused by the right or the left turn or the like can be prevented.
Furthermore, for example in the case where the operation on the vehicle is “starting operation”, although pre-notification information for pre-notifying that the vehicle will soon start is immediately displayed by the information presenting unit 7, the motion control unit 8 controls the driving system of the vehicle such that the vehicle cannot start until a certain period of time elapses.
As a result, the vehicle does not suddenly start, and others can recognize that the vehicle will start by looking at the pre-notification information, and thus occurrence of a minor collision caused by the start of the vehicle can be prevented.
Furthermore, for example in the case where the operation on the vehicle is “give way operation”, although pre-notification information for pre-notifying an intention of giving way is immediately displayed by the information presenting unit 7, the motion control unit 8 controls the driving system of the vehicle such that the vehicle cannot start until a certain period of time elapses.
As a result, with others looking at the pre-notification information, pedestrians or the like can safely cross a road.
Here,
The example of
The situation notifying unit 9 notifies the passenger of the vehicle of the situation in which the motion is controlled by the motion control unit 8 (step ST6).
For example, information indicating that the motion accompanying the operation detected by the operation detecting unit 1 is restricted until a certain period of time elapses is displayed on a display or the like of a navigation device.
Alternatively, information indicating that the motion accompanying the operation detected by the operation detecting unit 1 is restricted until a certain period of time elapses is output as speech.
Alternatively, information indicating that the motion accompanying the operation is restricted is notified by vibration, a smell, or the like.
As is clear from the above, according to the first embodiment, the information presenting unit 7 presents pre-notification information for pre-notifying motion accompanying an operation detected by the operation detecting unit 1 to the outside of the vehicle, and the motion control unit 8 controls the motion accompanying the operation detected by the operation detecting unit 1, thereby achieving an effect that occurrence of a dangerous situation can be prevented.
In the first embodiment, the motion control unit 8 restricts the motion accompanying an operation detected by the operation detecting unit 1 until a certain period of time elapses after the operation detecting unit 1 has detected the operation on the vehicle. In the second embodiment, however, whether other vehicles or pedestrians are present around the vehicle is determined, and if another vehicle or a pedestrian is present around the vehicle, a motion control unit 12 restricts the motion accompanying the operation detected by an operation detecting unit 1.
In
A presence determining unit 10 is implemented by a presence determination processing circuit 28 in
An information presenting unit 11 is implemented by, for example, an information presentation processing circuit 29 of
The information presenting unit 11 has a light emitting unit 11a for displaying the pre-notification information on a projection surface in accordance with the display data output from the display data outputting unit 4 for example by irradiating the projection surface outside the vehicle with laser light or LED light.
In the second embodiment, it is assumed that the information presenting unit 11 displays pre-notification information on the outside of the vehicle; however, pre-notification information may be output by speech to the outside of the vehicle.
Moreover, in the second embodiment, a road surface around the vehicle or the body or a window of the vehicle is assumed as the medium on which pre-notification information in the information presenting unit 11 is displayed; however, for example, a display device including a plurality of light emitting elements and attached inside a lighting device such as a headlight, an indicator, or a stop light or to the body or other parts of the vehicle or a display attached to the body or other parts of the vehicle may be employed as the display medium. The information presenting unit 11 may display pre-notification information on the display device or the display.
A motion control unit 12 is implemented by, for example, a motion control processing circuit 30 of
In
Moreover, the components of the vehicle control device are not limited to those implemented by dedicated hardware, and the vehicle control device may be implemented by software, firmware, or a combination of software and firmware.
In the case where the vehicle control device is implemented by software, firmware, or the like, it is only required that the display data storing unit 5 is configured on the memory 41 of the computer illustrated in
Next, the operation will be described.
Note that since the content of processing is similar to that of the first embodiment described above except for those of the presence determining unit 10, the information presenting unit 11, and the motion control unit 12, the content of processing of the presence determining unit 10, the information presenting unit 11, and the motion control unit 12 will be explained here.
Upon receiving the image information of the camera photographing the surroundings of the vehicle out of the vehicle information from the vehicle information acquiring unit 2, the presence determining unit 10 determines whether another vehicle or a pedestrian is present around the vehicle from the image information of the camera by executing a well-known algorithm of object recognition processing (step ST11 in
The information presenting unit 11 displays pre-notification information on the outside of the vehicle in accordance with display data output from the display data outputting unit 4 if it is determined by the presence determining unit 10 that another vehicle or a pedestrian is present (YES in step ST12) like the information presenting unit 7 does in the first embodiment described above (step ST4).
If it is determined by the presence determining unit 10 that no other vehicle or pedestrian is present (NO in step ST12), the information presenting unit 11 stops displaying the pre-notification information.
The information presenting unit 11 controls displaying of the pre-notification information on the basis of the determination result by the presence determining unit 10; however, the display data selecting unit 6 may select and output display data to the information presenting unit 11 when it is determined by the presence determining unit 10 that another vehicle or a pedestrian is present and may not output the display data to the information presenting unit 11 when it is determined by the presence determining unit 10 that no other vehicle or pedestrian is present.
If it is determined by the presence determining unit 10 that another vehicle or a pedestrian is present (YES in step ST13), the motion control unit 12 performs control to restrict the motion accompanying the operation detected by the operation detecting unit 1 like the motion control unit 8 does in the first embodiment described above (step ST5).
If it is determined by the presence determining unit 10 that no other vehicle or pedestrian is present (NO in step ST13), the motion control unit 12 allows the motion without restricting the motion accompanying the operation detected by the operation detecting unit 1.
As is apparent from the above description, according to the second embodiment, the presence determining unit 10 for determining whether another vehicle or a pedestrian is present around the vehicle is further included, and the information presenting unit 11 displays pre-notification information on the outside of the vehicle in accordance with the display data output from the display data outputting unit 4 when it is determined by the presence determining unit 10 that another vehicle or a pedestrian is present and, when it is determined by the presence determining unit 10 that no other vehicle or pedestrian is present, stops displaying the pre-notification information. Therefore, in addition to that pre-notification of the motion accompanying the operation can be performed like in the first embodiment, it is possible to stop unnecessary notice when no other vehicle or pedestrian is present.
Furthermore, according to the second embodiment, the presence determining unit 10 for determining whether another vehicle or a pedestrian is present around the vehicle is further included, and the motion control unit 12 restricts the motion accompanying the operation detected by the operation detecting unit 1 when it is determined by the presence determining unit 10 that another vehicle or a pedestrian is present and, when it is determined by the presence determining unit 10 that no other vehicle or pedestrian is present, allows the motion accompanying the operation detected by the operation detecting unit 1. Therefore, in addition to that occurrence of a dangerous situation can be prevented like in the first embodiment, it is possible to improve operability of the vehicle when no other vehicle or pedestrian is present.
In the second embodiment, the information presenting unit 11 displays pre-notification information on the outside of the vehicle in accordance with the display data output from the display data outputting unit 4 when it is determined by the presence determining unit 10 that another vehicle or a pedestrian is present and, when it is determined by the presence determining unit 10 that no other vehicle or pedestrian is present, stops displaying the pre-notification information. However, the information presenting unit 11 may immediately present caution information for calling attention on the outside of the vehicle regardless of the determination result of the presence determining unit 10 as illustrated in
In the second embodiment, when it is determined by the presence determining unit 10 that another vehicle or a pedestrian is present, the information presenting unit 11 displays pre-notification information on the outside of the vehicle in accordance with the display data output from the display data outputting unit 4, and the motion control unit 12 restricts the motion accompanying the operation detected by the operation detecting unit 1. In the third embodiment, however, a relative state with another vehicle or a pedestrian is detected, and displaying of pre-notification information and the motion accompanying an operation are controlled depending on the relative state.
In
A relative state detecting unit 13 is implemented by a relative state detection processing circuit 31 in
An information presenting unit 14 is implemented by, for example, an information presentation processing circuit 32 of
Like the information presenting unit 11 in
However, unlike the information presenting unit 11 in
A motion control unit 15 is implemented by, for example, a motion control processing circuit 33 in
Note that, unlike the motion control unit 12 in
In
Moreover, the components of the vehicle control device are not limited to those implemented by dedicated hardware, and the vehicle control device may be implemented by software, firmware, or a combination of software and firmware.
In the case where the vehicle control device is implemented by software, firmware, or the like, it is only required that the display data storing unit 5 is configured on the memory 41 of the computer illustrated in
Next, the operation will be described.
Since the content of processing is similar to that of the second embodiment described above except for those of the relative state detecting unit 13, the information presenting unit 14, and the motion control unit 15, the content of processing of the relative state detecting unit 13, the information presenting unit 14, and the motion control unit 15 will be mainly explained here.
When it is determined by the presence determining unit 10 that another vehicle or a pedestrian is present, the relative state detecting unit 13 detects a relative state with another vehicle or a pedestrian from the image information of the camera photographing the surroundings of the vehicle out of the vehicle information acquired by the vehicle information acquiring unit 2.
Hereinafter, the processing of detecting a relative state between a host vehicle and another vehicle or a pedestrian by the relative state detecting unit 13 will be specifically described.
The relative state detecting unit 13 prestores front images and rear images of various vehicles such as ordinary passenger cars, trucks, buses, motorcycles, and bicycles as reference images and further stores front images and rear images of pedestrians as reference images.
Upon receiving the image information of the camera, the relative state detecting unit 13 detects an object present around the host vehicle from the image information by executing a well-known algorithm of object recognition processing.
When detecting an object present around the host vehicle, the relative state detecting unit 13 collates an image of the object with a plurality of reference images prestored therein.
Then, the relative state detecting unit 13 specifies a reference image having the highest similarity in feature points to the image of the object out of the plurality of reference images and, in the case where the identified reference image is a front image of a vehicle or a pedestrian, determines that the host vehicle and the other vehicle or the pedestrian are traveling in the opposite directions.
In contrast, in the case where the image is a rear image of a vehicle or a pedestrian, it is determined that the host vehicle and another vehicle or a pedestrian are traveling in the same direction.
The relative state detecting unit 13 recognizes, as the relative state between the host vehicle and another vehicle or a pedestrian, traveling directions of the host vehicle and the other vehicle or the pedestrian, that is, whether traveling in opposite directions or in the same direction.
In addition, for example in the case where a transceiver capable of transmitting light such as laser light or infrared rays or the like toward another vehicle or a pedestrian and then receiving the light or the like returning after being reflected on the other vehicle or the pedestrian is included, the relative state detecting unit 13 calculates, as a relative state between the host vehicle and the other vehicle or the pedestrian, a relative speed between the host vehicle and the other vehicle or the pedestrian from a time length from transmission of light or the like from the transceiver to the other vehicle or the pedestrian to reception of the laser light by the transceiver. Since the speed of light is known, the relative speed of the host vehicle with respect to the other vehicle or the pedestrian can be calculated from a time difference between transmission time and reception time of light.
The relative state detecting unit 13 further calculates a relative distance of the host vehicle with respect to the other vehicle or the pedestrian as a relative state between the host vehicle and the other vehicle or the pedestrian from the time difference between transmission time and reception time of light.
In the display data storing unit 5 of the display data outputting unit 4, for each operation on the vehicle, display data of pre-notification information for pre-notifying the motion accompanying the operation is stored like in the first and the second embodiments; however in the third embodiment, display data of pre-notification information is stored further for each relative state between the host vehicle and another vehicle or a pedestrian.
In the case where it is determined by the presence determining unit 10 that another vehicle or a pedestrian is present, and display data output from the display data outputting unit 4 corresponds to the relative state detected by the relative state detecting unit 13, the information presenting unit 14 displays pre-notification information on the outside of the vehicle in accordance with the display data like the information presenting unit 11 of the second embodiment does.
In the case where the display data output from the display data outputting unit 4 does not correspond to the relative state detected by the relative state detecting unit 13, the information presenting unit 14 outputs a command to output display data corresponding to the relative state to the display data outputting unit 4. It is assumed that the output command includes information indicating the relative state.
When receiving the output instruction of the display data corresponding to the relative state, the display data selecting unit 6 of the display data outputting unit 4 refers to information indicating the relative state included in the output command, selects display data corresponding to the relative state out of a plurality of pieces of display data stored in the display data storing unit 5, and outputs the display data to the information presenting unit 14.
Upon receiving the display data from the display data outputting unit 4, the information presenting unit 14 displays pre-notification information on the outside of the vehicle in accordance with the display data.
When it is determined by the presence determining unit 10 that no other vehicle or pedestrian is present, the motion control unit 15 allows the motion without restricting the motion accompanying the operation detected by the operation detecting unit 1 like the motion control unit 12 does in the second embodiment.
When it is determined by the presence determining unit 10 that another vehicle or a pedestrian is present, the motion control unit 15 controls the motion accompanying the operation detected by the operation detecting unit 1 depending on the relative state detected by the relative state detecting unit 13.
Here, a specific example of pre-notification information corresponding to a relative state and control of the motion accompanying an operation will be described.
For example, display data of pre-notification information in the case where an operation on the vehicle is “door opening operation” may be the display data as illustrated in
Therefore, in the case where the relative state detecting unit 13 has detected, as the relative state, traveling directions of the host vehicle and another vehicle or a pedestrian and a relative speed and a relative distance of the host vehicle with respect to the other vehicle or the pedestrian, the information presenting unit 14 and the motion control unit 15 calculate the risk from the traveling directions, the relative speed, and the relative distance.
The degree of risk increases as the relative distance decreases, and the degree of risk decreases as the relative distance increases. Note that in the case where the traveling directions are opposite to each other, the risk increases even when the relative distance is great, while in the case where the traveling directions are the same, the risk decreases even when the relative distance is short.
Moreover, the degree of risk increases as the relative speed is increased, and the degree of risk decreases as the relative speed is reduced.
The information presenting unit 14 displays pre-notification information indicating that the opening angle of the door is narrower as the calculated risk is larger and displays pre-notification information indicating that the opening angle of the door is wider as the calculated risk is smaller.
The motion control unit 15 narrows the allowable opening angle of the door as the calculated risk is larger and widens the allowable opening angle of the door as the calculated risk is smaller.
Here, the pre-notification information and control of the motion accompanying an operation in the case where the operation on the vehicle is “door opening operation” have been described; however, in the case where the operation on the vehicle is the “turning right/left operation” for example, display data as illustrated in
Therefore, in the case where an operation on the vehicle is “turning right/left operation”, the information presenting unit 14 displays pre-notification information indicating a simulated figure of a big indicator to call attention as the calculated risk is larger.
Alternatively, in the case where an operation on the vehicle is “starting operation”, the information presenting unit 14 displays pre-notification information indicating a big simulated figure of a traveling direction to call attention as the calculated risk is larger.
In the case where an operation on the vehicle is “turning right/left operation” or “starting operation”, the motion control unit 15 extends time to restrict the motion of a drive system or other systems of the vehicle as the calculated risk is larger. Alternatively, control is performed such that the traveling speed of the vehicle is reduced as the calculated risk is larger.
In the example of
The example of
However, if pedestrians<two-wheeled vehicles<passenger cars holds in terms of the traveling speed with respect to the host vehicle, even with the positional relationship as illustrated in
As is apparent from the above description, according to the third embodiment, the relative state detecting unit 13 for detecting a relative state with another vehicle or a pedestrian is included, and the information presenting unit 14 presents pre-notification information corresponding to the relative state detected by the relative state detecting unit 13, thereby achieving an effect that pre-notification information suitable for the risk can be presented.
Furthermore, according to the third embodiment, the relative state detecting unit 13 for detecting a relative state with another vehicle or a pedestrian is included, and the motion control unit 15 controls the motion accompanying the operation detected by the operation detecting unit 1 depending on the relative state detected by the relative state detecting unit 13, thereby achieving an effect that an accuracy of preventing occurrence of a dangerous situation can be improved as compared to the first and the second embodiments described above.
In the third embodiment, the example in which the vehicle control device mounts the information presenting unit 14 and the motion control unit 15 has been illustrated; however, instead of the information presenting unit 14, the information presenting unit 7 of the first embodiment or the information presenting unit 11 of the second embodiment may be mounted.
Note that, within the scope of the present invention, the present invention may include a flexible combination of the respective embodiments, a modification of any component of the respective embodiments, or an omission of any component in the respective embodiments.
A vehicle control device and a vehicle control method according to the present invention are suitable for use of controlling the motion of a vehicle.
1: Operation detecting unit, 2: Vehicle information acquiring unit, 3: Operation detection processing unit, 4: Display data outputting unit, 5: Display data storing unit, 6: Display data selecting unit, 7: Information presenting unit, 7a: Light emitting unit, 8: Motion control unit, 9: Situation notifying unit, 10: Presence determining unit, 11: Information presenting unit, 11a: Light emitting unit, 12: Motion control unit, 13: Relative state detecting unit, 14: Information presenting unit, 14a: Light emitting unit, 15: Motion control unit, 21: Vehicle information acquiring circuit, 22: Operation detection processing circuit, 23: Display data storage processing circuit, 24: Display data selection processing circuit, 25: Information presentation processing circuit, 26: Motion control processing circuit, 27: Situation notification processing circuit, 28: Presence determination processing circuit, 29: Information presentation processing circuit, 30: Motion control processing circuit, 31: Relative state detection processing circuit, 32: Information presentation processing circuit, 33: Motion control processing circuit, 41: Memory, 42: Processor.
Filing Document | Filing Date | Country | Kind |
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PCT/JP2016/054146 | 2/12/2016 | WO | 00 |