WO2018109925A1

WO2018109925A1 - Vehicle door collision prevention device and vehicle door collision prevention method

Info

Publication number: WO2018109925A1
Application number: PCT/JP2016/087559
Authority: WO
Inventors: 孝典河合
Original assignee: 三菱電機株式会社
Priority date: 2016-12-16
Filing date: 2016-12-16
Publication date: 2018-06-21
Also published as: JPWO2018109925A1; JP6651031B2

Abstract

A vehicle door collision prevention device is provided with: a location information acquiring unit (102) that acquires location information specifying the stopped location of a vehicle on the basis of very accurate positioning information for the vehicle and map information; an image processing unit (103) that performs image processing in order to detect the situation around the vehicle from a captured image of the vehicle exterior; a stopped location specifying unit (104) that specifies the stopped location of the vehicle from vehicle status information and the location information; an obstacle detecting unit (105) that detects an obstacle with respect to the vehicle on the basis of location information for an object detected by an external vehicle sensor (203); a distance calculating unit (106) that calculates the distance from the vehicle to the obstacle on the basis of the image processing results and the obstacle information; a situation determining unit (107) that determines the situation into which a vehicle occupant is exiting on the basis of characteristics corresponding to the vehicle stopped location and the distance to the obstacle; and a controlling unit (108) that performs control in order for the vehicle occupant to exit on the basis of the determination results.

Description

Vehicle door collision prevention device and vehicle door collision prevention method

This invention relates to a technique for preventing the door from colliding with an obstacle when the passenger opens the door of the vehicle.

When a vehicle is parked on a road shoulder or the like and an occupant opens a vehicle door, an accident occurs in which another vehicle traveling from behind the vehicle collides with the opened door. In addition, when a vehicle is parked in a parking space and an occupant gets out of the vehicle, when an obstacle such as another vehicle or a wall is in the vicinity of the vehicle, an accident in which the door of the vehicle contacts an adjacent obstacle, or There is a problem that there is no space to open the door of the vehicle and it is impossible to get off.
As a technique for preventing the occurrence of the above-mentioned accidents and malfunctions, Patent Document 1 includes a sensor that monitors a distance that is about the door width when the door is fully opened, and a sensor that monitors a distance that is greater than the door width. When the vehicle is in a stopped state, a vehicle door system that switches and operates two sensors depending on whether the current position of the vehicle is on the road or a parking space and performs door control according to the situation Is disclosed.

JP 2009-041209 A

According to the vehicle door system described in Patent Document 1, the current position of the vehicle is parked by using a GPS positioning function that receives the GPS signal from the GPS satellite and calculates its own position. Judging whether it is space or on the road. For this reason, it is only possible to make a judgment with a rough accuracy such as whether the vehicle is located in a parking space or on the road. For example, when the vehicle is stopped on a road near the parking space, there is a problem that the current position of the vehicle is misrecognized as a parking space and the sensor is switched to cause a malfunction of the door control. .

The present invention has been made to solve the above-described problems, and an object of the present invention is to detect the current position of the vehicle with high accuracy and to perform door control according to the accurate current position of the vehicle.

A vehicle door collision prevention apparatus according to the present invention is based on a vehicle information acquisition unit that acquires vehicle state information, high-precision positioning information of the vehicle acquired by a high-accuracy locator, and map information. A position information acquisition unit that acquires position information specifying a position, an image processing unit that performs image processing for detecting a situation around the vehicle from a captured image outside the vehicle, and a vehicle state acquired by the vehicle information acquisition unit Based on the information and the position information acquired by the position information acquisition unit, the stop position specifying unit that specifies the stop position of the vehicle, and the obstacle that detects an obstacle to the own vehicle based on the position information of the object detected by the outside sensor An object detection unit, a distance calculation unit that calculates a distance from the host vehicle to the obstacle based on the image processing result of the image processing unit, and information on the obstacle detected by the obstacle detection unit, and a stop position specifying unit Vehicle identified Based on the characteristics according to the stop position and the distance to the obstacle calculated by the distance calculation unit, the situation determination unit for determining the situation where the vehicle occupant gets off, and the vehicle based on the determination result of the situation determination unit The control part which performs control for a passenger | crew of a passenger to get off is provided.

According to the present invention, the current position of the vehicle can be detected with high accuracy, and door control can be performed according to the accurate current position of the vehicle.

It is a block diagram which shows the structure of the vehicle door collision prevention apparatus which concerns on Embodiment 1. FIG. 2A and 2B are diagrams illustrating a hardware configuration example of the vehicle door collision prevention apparatus according to Embodiment 1. FIG. 3 is a flowchart showing the operation of the vehicle door collision prevention apparatus according to Embodiment 1. 4 is a flowchart illustrating operations of a situation determination unit and a control unit of the vehicle door collision prevention device according to the first embodiment. 4 is a flowchart illustrating operations of a situation determination unit and a control unit of the vehicle door collision prevention device according to the first embodiment. 4 is a flowchart illustrating operations of a situation determination unit and a control unit of the vehicle door collision prevention device according to the first embodiment. It is a block diagram which shows the structure of the vehicle door collision prevention apparatus which concerns on Embodiment 2. FIG. 6 is a flowchart illustrating operations of a situation determination unit and a control unit of a vehicle door collision prevention apparatus according to Embodiment 2. FIG. 10 is a block diagram illustrating a configuration of a vehicle door collision prevention device according to a third embodiment. 10A and 10B are diagrams illustrating a hardware configuration example of the vehicle door collision prevention device. 10 is a flowchart illustrating operations of a situation determination unit and a control unit of a vehicle door collision prevention apparatus according to Embodiment 3. 10 is a flowchart illustrating operations of a situation determination unit and a control unit of a vehicle door collision prevention apparatus according to Embodiment 3. FIG. 10 is a sequence diagram showing operations of the vehicle door collision prevention device and the in-vehicle device according to Embodiment 3. It is a block diagram which shows the structure of the vehicle door collision prevention apparatus which concerns on Embodiment 4. FIG. 10 is a flowchart illustrating operations of a situation determination unit and a control unit of a vehicle door collision prevention apparatus according to Embodiment 4; FIG. 10 is a block diagram illustrating a configuration of a vehicle door collision prevention device according to a fifth embodiment. 10 is a flowchart illustrating operations of a situation determination unit and a control unit of a vehicle door collision prevention apparatus according to Embodiment 5; FIG. 8 is a diagram showing a display example of a monitor connected to the vehicle door collision prevention apparatus according to Embodiment 1-5.

Hereinafter, in order to explain the present invention in more detail, modes for carrying out the present invention will be described with reference to the accompanying drawings.
Embodiment 1 FIG.
FIG. 1 is a block diagram illustrating a configuration of a vehicle door collision prevention apparatus 100 according to the first embodiment.
The vehicle door collision prevention apparatus 100 includes a vehicle information acquisition unit 101, a position information acquisition unit 102, an image processing unit 103, a stop position specifying unit 104, an obstacle detection unit 105, a distance calculation unit 106, a situation determination unit 107, and a door control unit. 109 and a control unit 108 having an output control unit 110.
As shown in FIG. 1, the vehicle door collision prevention apparatus 100 acquires information from a vehicle ECU (Electronic Control Unit) 201, a high-precision locator 202, an outside camera 203, a sensor 204, an in-vehicle camera 205, and a seating sensor 206. In addition, the vehicle door collision prevention apparatus 100 controls the door 207, the speaker 208, and the monitor 209.

Next, the detail of each structure of the vehicle door collision prevention apparatus 100 is demonstrated. Hereinafter, a vehicle equipped with the vehicle door collision prevention device 100 will be described as an own vehicle.
The vehicle information acquisition unit 101 acquires vehicle information for determining whether or not the host vehicle is stopped, such as vehicle speed information, hazard lamp lighting information, and shift lever position information, from the vehicle ECU 201. The vehicle information acquisition unit 101 outputs the acquired vehicle information to the stop position specifying unit 104.
The vehicle ECU 201 is mounted on the host vehicle and comprehensively controls the host vehicle in accordance with a driver's operation or other input.

The position information acquisition unit 102 acquires the position information of the own vehicle based on the high-precision positioning information of the own vehicle input from the high-precision locator 202 and the map information. The position information acquisition unit 102 outputs the acquired position information of the host vehicle to the stop position specifying unit 104.

The high-precision locator 202 receives high-precision positioning information distributed from, for example, a sequential zenith satellite system. The high-precision locator 202 acquires high-precision positioning information related to the host vehicle and outputs it to the position information acquisition unit 102. Here, the high-accuracy positioning information is information obtained by high-precision positioning, for example, on the order of 1 meter or even on the order of centimeters. The high-precision positioning information is information that can specify a more detailed position than the positioning information received by the GPS receiver.
The position information acquisition unit 102 is based on the high-accuracy positioning information of the host vehicle input from the high-accuracy locator 202 and the map information stored in a map database (not shown) or the like, for example, the host vehicle has three lanes on one side. Position information specifying which lane of the three lanes is stopped is acquired. In addition, for example, when the host vehicle is stopped, the position information acquisition unit 102 acquires position information specifying whether the vehicle is stopped on the road shoulder or the parking space.

The image processing unit 103 performs image processing on the captured image of the outside camera 203. The image processing unit 103 uses, for example, a road lane from the captured image as image processing for specifying the stop position of the host vehicle, such as whether the host vehicle is stopped on the shoulder of the road or the parking space. A process for detecting a white line indicating a white line and a white line indicating a parking space area is performed. In addition, as image processing for detecting the situation around the host vehicle, the image processing unit 103 uses a captured image, for example, another vehicle approaching from the rear of the host vehicle, a structure such as a wall positioned around the host vehicle, a person And image processing for discriminating other vehicles or the like parked (hereinafter referred to as obstacles adjacent to the host vehicle) is performed. The image processing unit 103 outputs the image processing result to the stop position specifying unit 104, the distance calculating unit 106, and the situation determining unit 107.

The in-vehicle camera 203 connected to the image processing unit 103 includes, for example, a rear monitoring camera and a side monitoring camera. The rear monitoring camera and the side monitoring camera are cameras installed in the host vehicle so that the rear side of the host vehicle and the side of the host vehicle can be imaged. The outside camera 203 may be composed of two or more cameras, or may be composed of one camera as long as it can capture all directions with respect to the host vehicle. Further, in addition to the rear monitoring camera and the side monitoring camera, a front monitoring camera that images the front of the host vehicle may be applied.

The stop position specifying unit 104 refers to the vehicle information input from the vehicle information acquisition unit 101 and detects that the vehicle has stopped. When the stop position specifying unit 104 detects the stop of the vehicle, the stop position specifying unit 104 specifies the stop position of the own vehicle based on the position information of the own vehicle acquired by the position information acquiring unit 102 and the image processing result of the image processing unit 103. The stop position specifying unit 104 outputs the specified stop position of the host vehicle to the situation determining unit 107.
The stop position specifying unit 104 specifies, for example, whether the host vehicle is stopped in a parking space, whether it is stopped on a road shoulder, or whether the vehicle is stopped in another area other than the parking space and the road shoulder. Here, the other area is, for example, a parking space in front of a station or a rotary.
In the following, the case where the stop position specifying unit 104 specifies the stop position of the host vehicle as a road shoulder, a parking space, or other areas will be described as an example. However, the present invention is limited to these classifications. However, the classification of the stop position can be variously set.

In the above description, the configuration in which the stop position specifying unit 104 specifies the stop position of the own vehicle based on the position information of the own vehicle and the image processing result of the image processing unit 103 is shown. The configuration may be such that the image processing result of the image processing unit 103 is not referred to as long as the stop position can be specified only by the position information.

The obstacle detection unit 105 refers to the position information of the object input from the sensor 204 and detects an obstacle with respect to the host vehicle. The obstacle detection unit 105 outputs position information of the detected obstacle to the distance calculation unit 106.

The sensor 204 connected to the obstacle detection unit 105 includes, for example, a rear monitoring sensor and a side monitoring sensor. The rear monitoring sensor and the side monitoring sensor are sensors mounted on the vehicle so as to be able to detect an object located behind the vehicle and on the side of the vehicle.
The sensor 204 is configured by a radar, for example, and transmits a radar wave typified by a millimeter wave, a laser beam, or an ultrasonic wave, and is based on a time until the transmitted radar wave is reflected by an object. And calculate the distance to the object. The sensor 204 calculates the azimuth, that is, the angle of the object relative to the host vehicle based on the reception direction of the reflected wave reflected by the object. The sensor 204 specifies the position of the object, specifically the relative position with respect to the host vehicle, based on the calculated distance and angle. The sensor 204 outputs the position information of the identified object to the obstacle detection unit 105.
The sensor 204 may be composed of two or more sensors 204, or may be composed of one sensor 204 as long as the sensor 204 can scan all directions with respect to the vehicle. In addition to the rear monitoring sensor and the side monitoring sensor, a front monitoring sensor that scans the front of the vehicle may be applied.

The distance calculation unit 106 calculates the distance from the host vehicle to the obstacle based on the image processing result input from the image processing unit 103 and the obstacle position information input from the obstacle detection unit 105. The distance calculation unit 106 outputs information on the calculated distance from the host vehicle to the obstacle to the situation determination unit 107.

The situation determination unit 107 determines the stop mode based on the stop position of the host vehicle input from the stop position specifying unit 104. The stop mode includes a parking lot mode, a shoulder mode, a normal mode, and the like, which will be described later. The situation determination unit 107 stores characteristics in each stop mode in advance in a buffer (not shown) or the like. The situation determination unit 107 refers to the characteristics stored in the buffer or the like, and acquires the characteristics corresponding to the determined stop mode.

For example, the situation determination unit 107 determines that the stop mode is the parking lot mode when the stop position of the host vehicle is a parking space. The situation determination unit 107 acquires characteristics according to the determined parking lot mode. The characteristic corresponding to the parking lot mode is “a stopping situation in which there is no other vehicle approaching from behind the vehicle and the vehicle is in contact with an obstacle adjacent to the host vehicle”.
Further, for example, when the stop position of the host vehicle is a road shoulder, the situation determination unit 107 determines that the stop mode is the road shoulder mode. The situation determination unit 107 acquires characteristics according to the determined road shoulder mode. The characteristic according to the road shoulder mode is that “the contact with the other vehicle approaching from the rear on the road side of the own vehicle is prevented, and there is no other vehicle approaching from the rear on the road shoulder side of the own vehicle, and adjacent to the own vehicle. “Stopping situation to prevent contact between obstacles and own vehicle”.
For example, the situation determination unit 107 determines that the stop mode is the normal mode when the stop position of the host vehicle is other than the parking space and the road shoulder. The situation determination unit 107 acquires characteristics according to the determined normal mode. The characteristic corresponding to the normal mode is “a stopping situation in which contact with the other vehicle approaching from behind on both sides of the own vehicle is prevented, and an obstacle adjacent to the own vehicle is prevented from contacting the own vehicle”.

In addition, the situation determination unit 107 identifies a door on which the occupant may get off based on information on the occupant's seating position input from the in-vehicle camera 205 or the seating sensor 206.
The in-vehicle camera 205 captures an image of the host vehicle and acquires an image that can recognize which seat the occupant is seated on. The seating sensor 206 is a pressure sensor or the like provided at each seat in the host vehicle, and acquires a detection signal indicating which seat the occupant is seated on.

The situation determination unit 107 includes information on the position of the door identified as the possibility that the occupant may get off, the characteristics according to the stop position of the host vehicle, the image processing result of the captured image, and the distance from the host vehicle to the obstacle. Based on the above, the control conditions for the passenger to get off from the identified door are determined. The control conditions for the passenger to get off from the specified door include, for example, control for prohibiting the opening and closing of the door, control for adjusting the opening and closing angle of the door, control for outputting a warning, and the like.

When determining the control condition that the door opening / closing control specified that the occupant may get off is necessary, the situation determination unit 107 uses the image processing result of the captured image and the distance information from the own vehicle to the obstacle. Based on this, the door opening / closing control amount is output to the door control unit 109. Here, the door opening / closing control amount is a control amount for opening and closing to the extent that the specified door does not hit an obstacle adjacent to the host vehicle. Further, the door opening / closing control amount includes a control amount that is a case where the door opening / closing is prohibited and the door is not opened / closed.

Further, when determining the control condition that the warning is necessary, the situation determination unit 107 generates warning information based on the image processing result of the captured image and the information on the distance from the own vehicle to the obstacle, and the warning Instructs the output control unit 110 to output information. Here, the warning information is a warning display, a warning sound, a warning sound, or the like indicating that attention is required for opening / closing of a door such as the approach of another vehicle or the presence of an obstacle adjacent to the host vehicle.

The door control unit 109 performs opening / closing control of the door 207 of the host vehicle based on an instruction for prohibiting opening / closing of the door input from the situation determination unit 107 or a door opening / closing control amount.
The output control unit 110 performs control to display the warning information on the monitor 209 based on the output of the warning information instructed from the situation determination unit 107, and performs control to output the warning information from the speaker 208 by voice.
The door 207 is a door disposed on both side surfaces of the host vehicle for the passenger to get on and off from the host vehicle, a back door disposed at the rear of the host vehicle for the passenger to load and unload luggage. The speaker 208 is an audio output device installed in the host vehicle. The monitor 209 is a video output device installed in the own vehicle.

Next, a hardware configuration example of the vehicle door collision prevention apparatus 100 will be described.
2A and 2B are diagrams illustrating a hardware configuration example of the vehicle door collision prevention apparatus 100. FIG.
Vehicle information acquisition unit 101, position information acquisition unit 102, image processing unit 103, stop position specifying unit 104, obstacle detection unit 105, distance calculation unit 106, situation determination unit 107, door control unit 109 in vehicle door collision prevention device 100 The output control unit 110 may be a processing circuit 100a that is dedicated hardware as shown in FIG. 2A, or a processor 100b that executes a program stored in the memory 100c as shown in FIG. 2B. May be.

As shown in FIG. 2A, the vehicle information acquisition unit 101, the position information acquisition unit 102, the image processing unit 103, the stop position specifying unit 104, the obstacle detection unit 105, the distance calculation unit 106, the situation determination unit 107, and the door control unit 109. When the output control unit 110 is dedicated hardware, the processing circuit 100a includes, for example, a single circuit, a composite circuit, a programmed processor, a parallel programmed processor, an ASIC (Application Specific Integrated Circuit), an FPGA (Field -programmable (Gate Array) or a combination of these. Vehicle information acquisition unit 101, position information acquisition unit 102, image processing unit 103, stop position specifying unit 104, obstacle detection unit 105, distance calculation unit 106, situation determination unit 107, door control unit 109, and output control unit 110 Each of these functions may be realized by a processing circuit, or the functions of each unit may be realized by a single processing circuit.

As shown in FIG. 2B, the vehicle information acquisition unit 101, the position information acquisition unit 102, the image processing unit 103, the stop position specifying unit 104, the obstacle detection unit 105, the distance calculation unit 106, the situation determination unit 107, and the door control unit 109. When the output control unit 110 is the processor 100b, the function of each unit is realized by software, firmware, or a combination of software and firmware. Software or firmware is described as a program and stored in the memory 100c. The processor 100b reads and executes a program stored in the memory 100c, thereby executing a vehicle information acquisition unit 101, a position information acquisition unit 102, an image processing unit 103, a stop position specifying unit 104, an obstacle detection unit 105, a distance calculation. Each function of the unit 106, the situation determination unit 107, the door control unit 109, and the output control unit 110 is realized. That is, the vehicle information acquisition unit 101, the position information acquisition unit 102, the image processing unit 103, the stop position specifying unit 104, the obstacle detection unit 105, the distance calculation unit 106, the situation determination unit 107, the door control unit 109, and the output control unit 110. Comprises a memory 100c for storing a program in which each step shown in FIGS. 3 to 6 to be described later is executed when executed by the processor 100b. These programs include a vehicle information acquisition unit 101, a position information acquisition unit 102, an image processing unit 103, a stop position specifying unit 104, an obstacle detection unit 105, a distance calculation unit 106, a situation determination unit 107, and a door control unit 109. It can also be said that the computer executes the procedure or method of the output control unit 110.

Here, the processor 100b is, for example, a CPU (Central Processing Unit), a processing device, an arithmetic device, a processor, a microprocessor, a microcomputer, or a DSP (Digital Signal Processor).
The memory 100c may be, for example, a nonvolatile or volatile semiconductor memory such as a RAM (Random Access Memory), a ROM (Read Only Memory), a flash memory, an EPROM (Erasable Programmable ROM), or an EEPROM (Electrically EPROM). Further, it may be a magnetic disk such as a hard disk or a flexible disk, or an optical disk such as a mini disk, CD (Compact Disc), or DVD (Digital Versatile Disc).

The vehicle information acquisition unit 101, the position information acquisition unit 102, the image processing unit 103, the stop position specifying unit 104, the obstacle detection unit 105, the distance calculation unit 106, the situation determination unit 107, the door control unit 109, and the output control unit 110. Some of these functions may be realized by dedicated hardware, and some may be realized by software or firmware. As described above, the processing circuit 100a in the vehicle door collision prevention apparatus 100 can realize the above-described functions by hardware, software, firmware, or a combination thereof.

Next, the operation of the vehicle door collision prevention apparatus 100 will be described.
FIG. 3 is a flowchart showing the operation of the vehicle door collision prevention apparatus 100 according to the first embodiment.
In the flowchart of FIG. 3, the vehicle information acquisition unit 101 constantly acquires the vehicle information and outputs it to the stop position specifying unit 104, and the position information acquisition unit 102 always acquires the position information of the own vehicle and sends it to the stop position specifying unit 104. Assume that it is outputting. In addition, it is assumed that the image processing unit 103 constantly outputs the image processing result to the stop position specifying unit 104, the distance calculating unit 106, and the situation determining unit 107. Further, when an obstacle is detected, the distance calculation unit 106 calculates the distance from the host vehicle to the obstacle and outputs it to the situation determination unit 107.

The stop position specifying unit 104 refers to the vehicle information input from the vehicle information acquisition unit 101 and determines whether or not the own vehicle has stopped (step ST1). If the host vehicle is not stopped (step ST1; NO), the determination process of step ST1 is continued. On the other hand, when the host vehicle stops (step ST1; YES), the stop position specifying unit 104 refers to the highly accurate position information of the host vehicle input from the position information acquisition unit 102, and the stop position of the host vehicle is It is determined whether it is a parking lot, a road shoulder, or another area (step ST2). The stop position specifying unit 104 outputs the specified position of the host vehicle to the situation determining unit 107.

The situation determination unit 107 refers to the specifying result input from the stop position specifying unit 104, and when the stop position of the host vehicle is a parking space (step ST2; parking lot), shifts to the parking lot mode (step ST3). ). The situation determination unit 107 determines the control condition in the parking lot mode based on the image processing result input from the image processing unit 103 and the distance information from the host vehicle to the obstacle input from the distance calculation unit 106. (Step ST4). The situation determination unit 107 outputs the determined control condition to the control unit 108. The door control unit 109 and the output control unit 110 of the control unit 108 perform control based on the input control conditions (step ST5), and the process ends. Details of the processing of step ST4 and step ST5 will be described later.

Next, when the stop position of the own vehicle is a road shoulder (step ST2; road shoulder), the situation determination unit 107 shifts to a road shoulder mode (step ST6). The situation determination unit 107 determines the control conditions in the shoulder mode based on the image processing result input from the image processing unit 103 and the distance information from the host vehicle to the obstacle input from the distance calculation unit 106. (Step ST7). The situation determination unit 107 outputs the determined control condition to the control unit 108. The door control unit 109 and the output control unit 110 perform control based on the input control conditions (step ST8), and the process ends. Details of the processing of step ST7 and step ST8 will be described later.

Next, when the stop position of the host vehicle is other (step ST2; other), the situation determination unit 107 shifts to the normal mode (step ST9). The situation determination unit 107 determines the control condition in the normal mode based on the image processing result input from the image processing unit 103 and the information on the distance from the host vehicle to the obstacle input from the distance calculation unit 106. (Step ST10). The situation determination unit 107 outputs the determined control condition to the control unit 108. The door control unit 109 and the output control unit 110 perform control based on the input control condition (step ST11), and the process ends. Details of the processing of step ST10 and step ST11 will be described later.

Next, details of the processing of step ST4 and step ST5 of the flowchart of FIG. 3 will be described with reference to FIG.
FIG. 4 is a flowchart showing operations of the situation determination unit 107 and the control unit 108 of the vehicle door collision prevention apparatus 100 according to the first embodiment.
When the situation determination unit 107 shifts to the parking lot mode in step ST3 of the flowchart of FIG. 3, there is no other vehicle approaching from the rear of the own vehicle because the own vehicle is parked in the parking area in the parking lot. A process for preventing contact between the host vehicle and an obstacle adjacent to the host vehicle is started.

The situation determination unit 107 that has shifted to the parking lot mode refers to the captured image of the in-vehicle camera 205 or the information of the seating sensor 206, and detects the seating position of the occupant (step ST21). Based on the seating position detected in step ST21, the situation determination unit 107 identifies a door where an occupant may get off (step ST22). The situation determination unit 107 refers to the image processing result regarding the door specified in step ST22 and the distance from the host vehicle to the obstacle, and determines whether door opening / closing control is necessary (step ST23). If door opening / closing control is not required (step ST23; NO), the process is terminated. Here, the case where the door opening / closing control is not required is a case where the obstacle adjacent to the host vehicle is not hit even when the specified door is opened in the maximum amount.

On the other hand, when door opening / closing control is necessary (step ST23; YES), the situation determination unit 107 refers to the image processing result regarding the identified door and the distance from the host vehicle to the obstacle, and determines the door opening / closing control amount. Calculate (step ST24) and output to the door control unit 109. The door control unit 109 controls opening / closing of the door 207 based on the input opening / closing control amount (step ST25), and ends the process. The door opening / closing control amount calculated in step ST <b> 24 is a control amount for opening / closing to such an extent that the specified door does not hit an obstacle adjacent to the host vehicle. It should be noted that the door opening / closing control amount includes a control amount that does not open / close the door when the door opening / closing is prohibited.
Thus, in the parking lot mode, a process for preventing contact between the door of the host vehicle and an obstacle adjacent to the host vehicle is performed.

Next, details of the processing of step ST7 and step ST8 of the flowchart of FIG. 3 will be described with reference to FIG.
FIG. 5 is a flowchart showing operations of the situation determination unit 107 and the control unit 108 of the vehicle door collision prevention apparatus 100 according to the first embodiment. In the following, the same steps as those of the situation determination unit 107 and the control unit 108 shown in FIG. 4 are denoted by the same reference numerals as those used in FIG. 4, and description thereof is omitted or simplified.
When the state determination unit 107 shifts to the road shoulder mode in step ST6 of the flowchart of FIG. 3, on the roadway side of the own vehicle, the situation determination unit 107 starts a process for detecting another vehicle approaching from behind and preventing contact. In addition, since there is no other vehicle approaching from behind the host vehicle on the shoulder side of the host vehicle, the situation determination unit 107 performs a process for preventing the obstacle adjacent to the host vehicle from contacting the host vehicle. Start. For example, a wall or a guardrail is assumed as the obstacle adjacent to the own vehicle on the shoulder side of the own vehicle.

The situation determination unit 107 refers to the specific result of step ST22 and determines whether there is a passenger getting off from the door on the roadway side (step ST31). When there is no passenger getting off from the door on the own vehicle side (step ST31; NO), the process proceeds to step ST37. On the other hand, when there is an occupant getting off from the door on the roadway side (step ST31; YES), the situation determination unit 107 refers to the image processing result regarding the door on the roadway side and information on the distance from the own vehicle to the obstacle. It is determined whether there is another vehicle approaching from the rear of the vehicle (step ST32). When there is no other vehicle approaching from behind the host vehicle (step ST32; NO), the process proceeds to step ST37.

When there is another vehicle approaching from behind the host vehicle (step ST32; YES), the situation determination unit 107 generates warning information and outputs it when the distance from the host vehicle to the other vehicle is within a predetermined distance. It outputs to the control part 110 (step ST33). The output control unit 110 performs output control of the speaker 208 and the monitor 209 based on the warning information input in step ST33 (step ST34). Further, the situation determination unit 107 calculates the door opening / closing control amount based on the image processing result regarding the vehicle side door and the information on the distance from the host vehicle to the obstacle, and outputs the door opening / closing control amount to the door control unit 109 (step ST35). The door control unit 109 controls opening / closing of the door 207 based on the door opening / closing control amount input in step ST35 (step ST36).

Next, the situation determination unit 107 determines whether or not there is a getting off from a roadside door with reference to a door identification result that the passenger in step ST22 may get off (step ST37). If there is no getting off from the roadside door (step ST37; NO), the process is terminated. On the other hand, when there is a getting off from the door on the shoulder side (step ST37; YES), the situation determination unit 107 refers to the image processing result regarding the door on the shoulder side and information on the distance from the own vehicle to the obstacle, and opens and closes the door. It is determined whether or not control is necessary (step ST38). If door opening / closing control is not required (step ST38; NO), the process is terminated.

On the other hand, when door opening / closing control is necessary (step ST38; YES), the situation determination unit 107 performs door opening / closing control based on the image processing result regarding the roadside door and the distance information from the vehicle to the obstacle. The amount is calculated (step ST39). The situation determination unit 107 outputs the calculated door opening / closing control amount to the door control unit 109. The door control unit 109 controls opening / closing of the door 207 based on the input door opening / closing control amount (step ST25), and ends the process.
In this way, in the shoulder mode, contact with the other vehicle approaching from the rear on the road side of the host vehicle is prevented, and contact between the host vehicle and the obstacle adjacent to the host vehicle is prevented on the shoulder side of the host vehicle. Processing is performed.

Next, details of the processing of step ST10 and step ST11 of the flowchart of FIG. 3 will be described with reference to FIG.
FIG. 6 is a flowchart illustrating operations of the situation determination unit 107 and the control unit 108 of the vehicle door collision prevention apparatus 100 according to the first embodiment. In the following, the same steps as those of the situation determination unit 107 and the control unit 108 shown in FIG. 4 are denoted by the same reference numerals as those used in FIG. 4, and description thereof is omitted or simplified.
When the state determination unit 107 shifts to the normal mode in step ST9 of the flowchart of FIG. 3, the situation determination unit 107 prevents contact with other vehicles approaching from the rear on both sides of the host vehicle, the obstacle adjacent to the host vehicle, the host vehicle, The process for preventing the contact is started.

The situation determination unit 107 refers to the image processing result regarding the door specified in step ST22 and the information on the distance from the host vehicle to the obstacle, and determines whether there is another vehicle approaching from the rear of the host vehicle ( Step ST41). When there is no other vehicle approaching from behind the host vehicle (step ST41; NO), the process proceeds to step ST23 shown in the flowchart of FIG.

On the other hand, when there is another vehicle approaching from behind the host vehicle (step ST41; YES), the process proceeds to steps ST33 and ST35 of the flowchart shown in FIG.
As described above, in the normal mode, the process for preventing the vehicle from coming into contact with the other vehicle approaching from behind on both sides of the host vehicle and the obstacle adjacent to the host vehicle from being brought into contact with the host vehicle is performed.

As described above, according to the first embodiment, based on the vehicle information acquisition unit 101 that acquires vehicle state information, the high-accuracy positioning information of the host vehicle acquired by the high-accuracy locator 202, and the map information, A position information acquisition unit 102 that acquires position information specifying the stop position of the host vehicle, an image processing unit 103 that performs image processing for detecting a situation around the vehicle from a captured image outside the vehicle, and a sensor 204 detect An obstacle detection unit 105 that detects an obstacle to the host vehicle based on the position information of the object, a vehicle stop position specifying unit 104 that specifies the vehicle stop position from the vehicle state information, and the position information; Based on the processing result and the obstacle information, the distance calculation unit 106 that calculates the distance from the host vehicle to the obstacle, the characteristics of the stop position of the vehicle, and the distance to the obstacle, Crew descend A situation determination unit 107 that determines a situation to be performed, and a control unit 108 that performs control for the vehicle occupant to get off based on the determination result of the situation determination unit 107. It is possible to detect with high accuracy and to perform door control according to the exact current position of the vehicle. Further, the stop position of the host vehicle can be specified in detail using the highly accurate position information of the host vehicle, and the efficiency of the door opening / closing control can be improved.

Further, according to the first embodiment, the control unit 108 is based on the determination result of the situation determination unit 107 and the door control unit 109 that controls the opening / closing of the door of the vehicle and the determination result of the situation determination unit 107. And an output control unit 110 that performs control to output a warning related to opening and closing of the door of the vehicle, so that it is necessary according to the stopping situation obtained by specifying the exact current position of the vehicle. Vehicle door opening / closing control and warning information generation can be performed.

In the first embodiment described above, the stop position specifying unit 104 determines the stop position of the host vehicle based only on the position information of the host vehicle based on the positioning information of the high-precision locator 202 acquired by the position information acquisition unit 102. Can be identified. On the other hand, in a situation where the position information acquisition unit 102 cannot acquire the position information of the high-precision locator 202 (for example, when the host vehicle is traveling in a tunnel), or when the host vehicle is stopped on the shoulder of the road, it is difficult to distinguish from the driving lane The stop position of the host vehicle can be specified using the image processing result of the image processing unit 103.
As described above, the opening / closing control of the door can be made more efficient by specifying the exact stop position of the host vehicle by supplementarily using the captured image of the outside camera 203.

Embodiment 2. FIG.
The second embodiment shows a configuration in which the movement of the occupant is detected and door opening / closing control is performed before the occupant performs the door opening / closing operation.
FIG. 7 is a block diagram showing a configuration of a vehicle door collision prevention apparatus 100A according to the second embodiment.
100A of vehicle door collision prevention apparatuses which concern on Embodiment 2 add the action detection part 111 to the vehicle door collision prevention apparatus 100 of Embodiment 1 shown in FIG. Further, instead of the situation determination unit 107, a situation determination unit 107a is provided.
Hereinafter, the same or corresponding parts as those of the vehicle door collision prevention apparatus 100 according to the first embodiment are denoted by the same reference numerals as those used in the first embodiment, and the description thereof is omitted or simplified. .

The behavior detection unit 111 detects the occupant's line-of-sight direction, face orientation, or body movement from the captured image of the in-vehicle camera 205, and if the occupant's line-of-sight or face direction is toward the door with the door knob, the occupant It is detected that there is a possibility that the door will be opened and closed. Further, the behavior detection unit 111 detects the movement of the occupant's body from the captured image of the in-vehicle camera 205, and the occupant's body faces the door with the door knob, or the occupant's arm or hand has the door knob with the door knob. When the direction moves, it is detected that there is a possibility that the passenger will open and close the door. When the behavior detection unit 111 detects that the opening / closing operation of the door by the occupant is likely to be performed, the behavior detection unit 111 outputs the detection information of the opening / closing operation of the door by the occupant and the position information of the door to the situation determination unit 107a.

The in-vehicle camera 205 connected to the behavior detecting unit 111 is configured with, for example, a camera constituting a driver monitoring system. The in-vehicle camera 205 is a camera disposed in the own vehicle so that the front seat and the rear seat in the own vehicle can be imaged. The in-vehicle camera 205 may be composed of two or more cameras, or may be composed of one camera capable of imaging all seats in the vehicle.

In addition to the processing shown in the first embodiment, the situation determination unit 107a detects a door that may be opened and closed when detection information and door position information are input from the behavior detection unit 111. On the other hand, it is determined whether there is another vehicle approaching from behind, whether an obstacle adjacent to the host vehicle is in contact with the host vehicle, or the like. The situation determination unit 107a instructs the control unit 108 to perform control based on the determination result.

Next, a hardware configuration example of the vehicle door collision prevention apparatus 100A will be described. Note that the description of the same configuration as that of Embodiment 1 is omitted.
The action detection unit 111 and the situation determination unit 107a in the vehicle door collision prevention apparatus 100A are a processor 100b that executes a program stored in the processing circuit 100a shown in FIG. 2A or the memory 100c shown in FIG. 2B.

Next, the operation of the vehicle door collision prevention apparatus 100A will be described.
FIG. 8 is a flowchart showing operations of the situation determination unit 107a and the control unit 108 of the vehicle door collision prevention apparatus 100A according to the second embodiment. FIG. 8 shows an operation when the mode is changed to the shoulder mode in step ST6 of the flowchart of FIG. 3 shown in the first embodiment as an example. In the following, the same steps as those in the vehicle door collision prevention apparatus 100 according to the first embodiment are denoted by the same reference numerals as those used in FIG. 5, and the description thereof is omitted or simplified.
The situation determination unit 107a monitors whether detection information is input from the behavior detection unit 111 in parallel with the processing illustrated in FIGS. 3 to 6 described in the first embodiment. When the detection information is input from the behavior detection unit 111, the situation determination unit 107a executes the processing of the flowchart illustrated in FIG.

When the detection information of the opening / closing operation of the door by the occupant and the door position information are input from the behavior detection unit 111 (step ST51), the situation determination unit 107a detects the door that has been detected that the opening / closing operation may be performed. It is determined whether or not it is a roadway side door (step ST52).

When the door is a roadway side door (step ST52; YES), the situation determination unit 107a refers to the image processing result regarding the door on the roadway side and information on the distance from the own vehicle to the obstacle, and approaches from behind the own vehicle. It is determined whether there is another vehicle to perform (step ST32). If there is no other vehicle approaching from behind the host vehicle (step ST32; NO), the process is terminated. On the other hand, when there is another vehicle approaching from behind the host vehicle (step ST32; YES), the process proceeds to steps ST33 and ST35. If the door is not a roadway side door (step ST52; NO), the process proceeds to step ST38.

As described above, according to the second embodiment, the door operation of the vehicle is opened and closed based on at least one of the line-of-sight direction, the face direction, and the body direction of the vehicle occupant from the captured image in the vehicle. The behavior detection unit 111 that detects the possibility that the vehicle will be opened is provided, and the situation determination unit 107a that determines the situation in which the vehicle occupant gets off the door that may be opened or closed is configured. It is possible to determine the state of the door of the vehicle that the occupant is trying to open, and to perform opening / closing control. Thereby, opening / closing control of the door of a vehicle can be performed efficiently.
Further, the opening / closing control of the door can be performed based on the line of sight, posture, movement and the like when the occupant tries to open the door of the vehicle, and the opening / closing control of the door can be performed quickly and reliably.

Embodiment 3 FIG.
In this Embodiment 3, the structure which communicates with the own vehicle and the other vehicle which approaches the said vehicle from back is shown by vehicle-to-vehicle communication.
FIG. 9 is a block diagram illustrating a configuration of a vehicle door collision prevention apparatus 100B according to the third embodiment. In FIG. 9, the collision prevention system comprised by the vehicle equipment 300a, 300b, ..., 300n connected by communication with the said vehicle door collision prevention apparatus 100B is shown.

The vehicle door collision prevention apparatus 100B according to the third embodiment is configured by adding a communication unit 112 and a communication control unit 113 to the vehicle door collision prevention apparatus 100 of the first embodiment shown in FIG. The control unit 108a includes a door control unit 109, an output control unit 110, and a communication control unit 113. Further, instead of the situation determination unit 107, a situation determination unit 107b is provided.
Hereinafter, the same or corresponding parts as those of the vehicle door collision prevention apparatus 100 according to the first embodiment are denoted by the same reference numerals as those used in the first embodiment, and the description thereof is omitted or simplified. .

The communication unit 112 transmits and receives information to and from the in-vehicle devices 300a, 300b,..., 300n (hereinafter referred to as the in-vehicle device 300) that are connected by wireless communication or the like.
The communication control unit 113 transmits information notifying that the door of the host vehicle is opened and closed, which is input from the situation determination unit 107b, to the in-vehicle device 300 of another vehicle approaching from the rear of the host vehicle via the communication unit 112. Take control. Further, the communication control unit 113 receives the approach information transmitted from the in-vehicle device 300 of another vehicle approaching from behind the host vehicle via the communication unit 112. The communication control unit 113 outputs the received approach information to the situation determination unit 107b.
Other vehicles approaching from behind the host vehicle may be detected by, for example, the outside camera 203 or the sensor 204, and the communication unit 112 is installed in the vehicle when the other vehicle exists within a certain distance from the host vehicle. It may be detected by carrying out inter-vehicle communication with 300.

The situation determination unit 107b specifies that there is an occupant getting off from the door on the roadway side of the host vehicle, and determines that there is another vehicle approaching from the rear of the host vehicle, the door of the host vehicle is opened and closed. Information to be notified is generated and output to the communication control unit 113.
In addition, when the approach information transmitted from the other vehicle is input from the communication control unit 113, the situation determination unit 107 generates warning information indicating that the other vehicle is approaching from behind and outputs the warning information to the output control unit 110. To do. The warning information generated here is, for example, a warning display indicating the approach of another vehicle, a warning sound, a warning sound, or the like.

Next, a hardware configuration example of the vehicle door collision prevention apparatus 100B will be described.
10A and 10B are diagrams illustrating a hardware configuration example of the vehicle door collision prevention apparatus 100. Note that the description of the same configuration as that of Embodiment 1 is omitted.
The communication unit 112 in the vehicle door collision prevention device 100B is realized by a wireless communication device 100d that performs wireless communication with the in-vehicle device 300 or an external network.
The communication control unit 113 and the situation determination unit 107b in the vehicle door collision prevention apparatus 100B are a processor 100b that executes a program stored in the processing circuit 100a illustrated in FIG. 2A or the memory 100c illustrated in FIG. 2B.

Next, the operation of the vehicle door collision prevention apparatus 100B will be described with reference to FIGS.
FIG. 11 is a flowchart showing operations of the situation determination unit 107b and the control unit 108a of the vehicle door collision prevention apparatus 100B according to the third embodiment. FIG. 11 shows an operation when the mode is changed to the road shoulder mode in step ST6 of the flowchart of FIG. 3 shown in the first embodiment as an example. In the following, the same steps as those in the vehicle door collision prevention apparatus 100 according to the first embodiment are denoted by the same reference numerals as those used in FIG. 5, and the description thereof is omitted or simplified.

If the situation determination unit 107b determines that another vehicle approaches from behind the host vehicle in the determination process of step ST32 (step ST32; YES), the situation determination unit 107b generates warning information based on information on the distance from the host vehicle to the approaching object. And output to the output control unit 110 (step ST33). Furthermore, the situation determination unit 107b calculates a door opening / closing control amount based on the image processing result regarding the vehicle-side door and information on the distance from the host vehicle to the obstacle, and outputs the door opening / closing control amount to the door control unit 109 (step ST35). Furthermore, the situation determination unit 107b generates information notifying that the door of the host vehicle is opened and closed, and outputs the information to the communication control unit 113 (step ST61).

The output control unit 110 performs output control of the speaker 208 and the monitor 209 based on the warning information input in step ST33 (step ST34). The door control unit 109 controls opening / closing of the door 207 based on the door opening / closing control amount input in step ST35 (step ST36). The communication control unit 113 transmits, to the in-vehicle device 300 of another vehicle approaching from the rear side of the own vehicle via the communication unit 112, the information notifying that the door of the own vehicle is opened and closed input in step ST61. Control is performed (step ST62). When the processes of step ST34, step ST36, and step ST62 are performed, the flowchart proceeds to the process of step ST37.

Next, referring to FIG. 12, an operation when the mode is shifted to the normal mode in step ST9 of the flowchart of FIG. 3 shown in the first embodiment will be described.
FIG. 12 is a flowchart showing operations of the situation determination unit 107b and the control unit 108a of the vehicle door collision prevention apparatus 100B according to the third embodiment. In the following, the same steps as those of the vehicle door collision prevention apparatus 100 according to the first embodiment are denoted by the same reference numerals as those used in FIG. 6, and the description thereof is omitted or simplified.
When it is determined that there is another vehicle approaching from behind the host vehicle in the determination process of step ST41 (step ST41; YES), the situation determination unit 107b performs steps ST33, ST35, and ST61 in the flowchart shown in FIG. Proceed to processing. On the other hand, when there is no other vehicle approaching from behind the host vehicle (step ST41; NO), the process proceeds to step ST23.

Next, operations of the vehicle door collision prevention device 100B and the in-vehicle device 300 communicating with the vehicle door collision prevention device 100B will be described.
FIG. 13 is a sequence diagram showing operations of vehicle door collision prevention apparatus 100B according to Embodiment 3 and in-vehicle device 300.
The communication unit 112 of the vehicle door collision prevention apparatus 100B transmits information notifying that the door of the own vehicle is opened and closed to the in-vehicle device 300 of the other vehicle approaching from behind the own vehicle (step ST71). When the in-vehicle device 300 receives the door opening / closing notification (step ST72), warning information indicating that the door of the vehicle parked in front is opened or closed is output by display or voice (step ST73). Furthermore, the in-vehicle device 300 transmits approach information indicating that the vehicle is approaching from the rear to the vehicle door collision prevention device 100B of the vehicle that has stopped ahead (step ST74).

The communication unit 112 of the vehicle door collision prevention apparatus 100B receives the approach information transmitted in step ST74 (step ST75). The approach information received by the communication unit 112 is input to the situation determination unit 107b via the communication control unit 113. The situation determination unit 107b generates warning information indicating that another vehicle is approaching from behind based on the input approach information, and outputs the warning information to the output control unit 110 (step ST76). The output control unit 110 performs output control of the speaker 208 and the monitor 209 for outputting the warning information input in step ST76 (step ST77).

In Step ST73, in addition to outputting the warning information, the in-vehicle device 300 may be configured to control the traveling of the vehicle, such as automatically changing the traveling lane of the own vehicle. In other words, the in-vehicle device 300 can be set as appropriate as long as it is configured to control traveling that suppresses the occurrence of an accident even when a vehicle parked in front of the vehicle opens and closes the door.

As described above, according to the third embodiment, based on the determination result of the communication unit 112 that communicates with the in-vehicle device 300 of another vehicle approaching from the rear of the vehicle and the determination unit 107b, the door of the vehicle is Since it is configured to include the communication control unit 113 that performs control to transmit information to notify opening / closing to the in-vehicle device 300 of the other vehicle, when there is another vehicle approaching from the rear of the own vehicle, the vehicle In addition to performing opening / closing control such as prohibiting the opening / closing of the door, controlling the opening / closing amount of the door, it is possible to notify in advance that the door of the own vehicle is opened / closed to other vehicles approaching from behind the own vehicle. . Other vehicles approaching from behind the host vehicle can travel while suppressing the occurrence of an accident, such as changing the traveling lane.

Further, according to the third embodiment, the communication unit 112 and the communication control unit 113 receive the approach information transmitted from the in-vehicle device 300 of another vehicle approaching from behind the host vehicle, and the situation determination unit 107b performs the approach. Since warning information indicating that another vehicle is approaching from behind is generated based on the information and presented via the output control unit 110, the approach of the other vehicle can be warned to the vehicle occupant.

The configuration of the third embodiment described above may be applied to the vehicle door collision prevention apparatus 100B of the second embodiment.

Embodiment 4 FIG.
In the fourth embodiment, a configuration in which an appropriate getting-off position is determined based on a captured image of the outside camera 203 and notified to the occupant is shown.
FIG. 14 is a block diagram showing a configuration of a vehicle door collision prevention apparatus 100C according to the fourth embodiment.
The vehicle door collision prevention device 100C according to the fourth embodiment is replaced with the image processing unit 103a and the situation in place of the image processing unit 103 and the situation determination unit 107 of the vehicle door collision prevention device 100 according to the first embodiment shown in FIG. A determination unit 107c is provided.
In the following description, the same or corresponding parts as those of the vehicle door collision prevention apparatus 100 according to the first embodiment are denoted by the same reference numerals as those used in the first embodiment, and the description thereof is omitted or simplified. Turn into.

The image processing unit 103a performs image processing on the captured image of the camera 203 outside the vehicle. Specifically, in addition to the image processing for identifying the stop position of the own vehicle and the image processing for detecting the situation around the own vehicle shown in the first embodiment, the situation around the door of the own vehicle is acquired. Perform image processing. Here, the situation around the door of the own vehicle is, for example, whether there are situations or objects that obstruct the passenger when getting out of the own vehicle, such as grooves, puddles, steps, and approaching objects around the door of the own vehicle. It is information which shows.

When the situation discriminating unit 107c identifies a door from which the occupant may get off based on the information on the occupant's seating position input from the in-vehicle camera 205 or the seating sensor 206, the host vehicle input from the image processing unit 103a The information indicating the situation around the door is referred to, and it is determined whether or not there is a situation or an object around the identified door that becomes an obstacle when the passenger gets off. If there is a situation or object that obstructs the passenger when getting off, refer to information indicating the situation around other doors and identify the door that recommends getting off. The situation determination unit 107c outputs information indicating a door that is recommended to get off to the output control unit 110.

Based on the information indicating the door that recommends getting off input from the situation determination unit 107c, the output control unit 110 performs control to display the door that recommends getting off on the monitor 209 or the door that recommends getting off from the speaker 208. Control to output the indicated voice. Note that the output control unit 110 may perform both control for displaying on the monitor 209 and control for outputting sound from the speaker 208.

Next, a hardware configuration example of the vehicle door collision prevention apparatus 100C will be described. Note that the description of the same configuration as that of Embodiment 1 is omitted.
The image processing unit 103a and the situation determination unit 107c in the vehicle door collision prevention apparatus 100C are a processor 100b that executes a program stored in the processing circuit 100a illustrated in FIG. 2A or the memory 100c illustrated in FIG. 2B.

Next, the operation of the vehicle door collision prevention apparatus 100C will be described.
FIG. 15 is a flowchart showing operations of the situation determination unit 107c and the control unit 108 of the vehicle door collision prevention apparatus 100C according to the fourth embodiment. In FIG. 15, as an example, the case where the mode is shifted to the parking lot mode in step ST3 of the flowchart of FIG. In the following, the same steps as those in the vehicle door collision prevention apparatus 100 according to the first embodiment are denoted by the same reference numerals as those used in FIG. 4, and the description thereof is omitted or simplified.

In step ST22, the situation determination unit 107c identifies a door from which an occupant may get off, refers to information indicating the situation around the door of the host vehicle input from the image processing unit 103a, and places the door around the identified door. Then, it is determined whether there is a situation or an object that becomes an obstacle when the passenger gets off (step ST81). If there is a situation or object that obstructs when the occupant gets off (step ST81; YES), the situation determination unit 107c refers to information indicating the situation around other doors and identifies a door that is recommended to get off. (Step ST82).

The situation determination unit 107c outputs information indicating the door that recommends getting off specified in step ST82 to the output control unit 110 (step ST83). The output control unit 110 performs output control of the monitor 209 and the speaker 208 so as to notify the occupant of the door that recommends getting off input in step ST83 (step ST84). Thereafter, the process proceeds to step ST23. Moreover, also when the situation or object which becomes an obstacle when a passenger gets off are not present (step ST81; NO), the process proceeds to step ST23.

In the flowchart of FIG. 15 described above, the case where the mode is changed to the parking lot mode is shown as an example, but even when the mode is changed to the shoulder mode and the normal mode, after the situation determination unit 107c specifies the exit door in step ST22, It is possible to configure to execute a process for identifying a door that is recommended to get off.

The situation determination unit 107c determines a door that recommends getting off based on a preset priority when there is a situation or an object that becomes an obstacle when the passenger gets off around all the doors of the vehicle. May be. Here, the priority order set in advance is, for example, a puddle, a groove, a step, or an approaching object in descending order. According to the priority, the situation determination unit 107c sequentially sets a door with a puddle, a door with a groove, a door with a step, and a door with an approaching object as doors to recommend getting off.

When a door with a puddle and a groove is set as a door that recommends getting off, the situation determination unit 107c generates notification information for notifying that there is a puddle and a groove around the vehicle, and sends it to the output control unit 110. Output. The output control unit 110 performs control to display on the monitor 209 that there is a puddle or groove around the vehicle based on the notification information input from the situation determination unit 107c, and the puddle or groove around the vehicle from the speaker 208. Performs control to output a voice to indicate that exists.
Furthermore, when a door with a step is set as the door that recommends getting off, the situation determination unit 107c performs the image processing result on the door that recommends getting off the vehicle and the host vehicle as in the process described in the first embodiment. It may be determined whether or not door opening / closing control is necessary with reference to information on the distance from the vehicle to the obstacle.

Furthermore, regardless of the priority order set in advance, the situation determination unit 107c may use a door located on the opposite side of the roadway or a door from which the vehicle does not approach from the back of the host vehicle as a door that recommends getting off. Thereby, when the own vehicle causes an accident on the expressway, it is possible to reduce the degree of risk caused by the vehicle traveling from behind the own vehicle.

In addition, when there are a plurality of doors that do not have a situation or an object that becomes an obstacle when the occupant gets off, the situation determination unit 107c identifies the door that is closest to the occupant's seating position as a door that is recommended to get off. May be.
In addition, when there are many passengers in the vehicle, or when it is required to get off quickly with high urgency, the situation determination unit 107c first notifies a dangerous door such as a door where another vehicle approaching from behind exists, and then You may perform the process which specifies the door which recommends alighting.

As described above, according to the fourth embodiment, the image processing unit 103 performs image processing for detecting the situation around the door of the vehicle from the captured image outside the vehicle, and the situation determination unit 107c The door that may get off is specified, the door that recommends getting off is specified based on the image processing result, and the control unit 108 performs control to present information indicating the recommended door specified by the situation determination unit 107c. Since it comprised so, it can notify a passenger | crew which door is suitable for getting off.

The configuration of the fourth embodiment described above may be applied to the vehicle door collision prevention device 100B of the second embodiment and the vehicle door collision prevention device 100C of the third embodiment.

Embodiment 5 FIG.
In the fifth embodiment, a configuration for performing vehicle parking assistance based on a seating position of an occupant is shown.
FIG. 16 is a block diagram showing a configuration of a vehicle door collision prevention apparatus 100D according to the fifth embodiment.
The vehicle door collision prevention apparatus 100D according to the fifth embodiment is configured by adding a parking assistance control unit 114 to the vehicle door collision prevention apparatus 100 of the first embodiment shown in FIG. The control unit 108b includes a door control unit 109, an output control unit 110, and a parking support control unit 114. In addition, a situation determination unit 107d is provided instead of the situation determination unit 107.
In the following description, the same or corresponding parts as those of the vehicle door collision prevention apparatus 100 according to the first embodiment are denoted by the same reference numerals as those used in the first embodiment, and the description thereof is omitted or simplified. Turn into.

When the situation discriminating unit 107d identifies a door from which the occupant may get off based on information on the occupant's seating position input from the in-vehicle camera 205 or the seating sensor 206, the situation determination unit 107d detects the image processing result and the own vehicle to the obstacle. Referring to the distance information, it is determined whether or not the opening / closing amount necessary for the occupant to get off from the identified door cannot be secured, that is, whether or not the control for re-parking the vehicle in the same area is necessary.
If the situation determination unit 107d determines that the control for re-parking the vehicle is necessary, a new parking in the current parking area is performed based on the image processing result and information on the distance from the host vehicle to the obstacle. Calculate the position. Specifically, when a driver cannot get off from the driver's seat of the own vehicle parked in a certain parking area, a new parking position is determined so as to provide a space enough to get off to the driver's seat in the parking area. To do. The situation determination unit 107d generates parking support information for parking the host vehicle at the calculated new parking position, and outputs the parking support information to the parking support control unit 114. Here, the parking support information includes display information of parking assist lines, vehicle control information for automatically parking the host vehicle at a new parking position, and the like.

The parking assistance control unit 114 performs control to display the parking assistance line on the monitor 209 based on the parking assistance information input from the situation determination unit 107d. Further, the parking support control unit 114 causes the automatic driving system 210 to park the host vehicle by automatic driving at the calculated new parking position based on the parking support information input from the situation determination unit 107d. Take control.
The automatic driving system 210 performs a process of automatically driving the host vehicle without driving by the driver.

Next, a hardware configuration example of the vehicle door collision prevention apparatus 100D will be described. Note that the description of the same configuration as that of Embodiment 1 is omitted.
The parking assistance control unit 114 and the situation determination unit 107d in the vehicle door collision prevention apparatus 100D are a processor 100b that executes a program stored in the processing circuit 100a illustrated in FIG. 2A or the memory 100c illustrated in FIG. 2B.

Next, the operation of the vehicle door collision prevention apparatus 100D will be described.
FIG. 17 is a flowchart illustrating operations of the situation determination unit 107d and the control unit 108b of the vehicle door collision prevention apparatus 100D according to the fourth embodiment. In FIG. 17, description will be made by taking as an example a case where the mode is shifted to the parking lot mode in step ST <b> 3 of the flowchart of FIG. In the following, the same steps as those in the vehicle door collision prevention apparatus 100 according to the first embodiment are denoted by the same reference numerals as those used in FIG. 4, and the description thereof is omitted or simplified.

When the situation determination unit 107d calculates the door opening / closing control amount of the host vehicle in step ST24, the situation determination unit 107d determines whether the calculated door opening / closing control amount is equal to or greater than a preset threshold (step ST91). If the door opening / closing control amount is equal to or greater than the threshold (step ST91; YES), the situation determination unit 107c determines that the occupant can get off from the door specified in step ST22, and uses the calculated door opening / closing control amount as the door. Output to the control unit 109. The door control unit 109 controls opening / closing of the door 207 based on the input door opening / closing control amount (step ST25), and ends the process.

On the other hand, when the door opening / closing control amount is not greater than or equal to the threshold (step ST91; NO), the situation determination unit 107c determines that the occupant cannot get off the door specified in step ST22. The situation determination unit 107c calculates a new parking position based on the image processing result and information on the distance from the host vehicle to the obstacle (step ST92). The situation determination unit 107c generates parking support information for parking the host vehicle at the new parking position calculated in step ST92, and outputs the parking support information to the parking support control unit 114 (step ST93). Based on the parking support information input in step ST93, the parking support control unit 114 performs control for parking the host vehicle at a new parking position on the monitor 209 or the automatic driving system 210 (step ST94). The process ends.

In the flowchart of FIG. 17 described above, the case where the mode is shifted to the parking lot mode is shown as an example, but the present invention is applicable even when the mode is shifted to the road shoulder mode and the normal mode.

The threshold for determining the door opening / closing amount used in the determination process of step ST91 in the flowchart of FIG. 17 described above can be set as appropriate, for example, a value set for each vehicle type or a value set by the occupant himself / herself. Value.

In the above description, the situation determination unit 107d has a configuration in which the parking support information is displayed on the monitor 209. However, the speaker 208 may perform control to output information requesting reparking by voice.

In the above-described process, when the seating position detected by the situation determination unit 107d is only the driver's seat, the situation determination unit 107 may perform the process so that the driver can get off from the driver's seat.
In addition, when a plurality of passengers get on the vehicle and the situation determination unit 107d detects a plurality of seating positions, processing is performed so that the passengers can get off from the door on the side where more seating positions of the passengers are detected. You may go.

Further, the situation determination unit 107d may set and store a priority order in advance for each door. When the situation determination unit 107d detects a plurality of seating positions, the situation determination unit 107d determines the exit door according to the stored priority order of each door, and the process described above so that the occupant can get out of the determined exit door. I do.

In addition to the doors on both sides of the host vehicle, the back door opening / closing control amount is calculated so that the occupant can load and unload the back door behind the host vehicle. It is good also as a structure which reparks to a new parking position.

In the road shoulder mode, when the situation determination unit 107d performs the above-described processing, if the door opening / closing control amount on the road shoulder side is not equal to or greater than the threshold, the vehicle travels to a place where there is no guardrail and parks again, or the door opens and closes. Park again so that the stop position is shifted to the roadway side so that it opens more than the control amount.

As described above, according to the fifth embodiment, the situation determination unit 107d needs vehicle parking assistance based on the seating position of the occupant, the image processing result, and the distance to the obstacle. If it is determined whether or not parking assistance for the vehicle is necessary, a new parking position of the vehicle is calculated based on the image processing result and the distance to the obstacle, and the calculated new parking position is set. Since the parking support information for parking the vehicle is generated and the control unit 108b is configured to include the parking support control unit 114 that performs control for supporting the parking of the vehicle based on the generated parking support information. Depending on the occupant's boarding position, the host vehicle can be reparked so that the occupant can get off.

In the above-described fifth embodiment, the communication control unit 113 is adjacent to the stop position or the parking position of the own vehicle using communication with the in-vehicle device 300 mounted on the other vehicle described in the fourth embodiment. When the door opening / closing notification is received from the in-vehicle device 300 of the other vehicle parked, the notification is output to the situation determination unit 107. When the notification is input, the situation determination unit 107 waits for the parking support information to be output to the parking support control unit 114 and waits for reparking of the host vehicle. Alternatively, when the notification is input, the situation determination unit 107 may correct the calculated new parking position, generate parking support information again, and output the parking support information to the parking support control unit 114.
Accordingly, it is possible to prevent a contact accident that occurs when an occupant of a stopped or parked vehicle opens a door simultaneously with an occupant of another adjacent vehicle.

Moreover, when performing the control for re-parking in the automatic driving system 210 shown in the above-described fifth embodiment, after all the passengers of the own vehicle get off, use a terminal device such as a smartphone from outside the vehicle. The automatic operation may be controlled. In this case, when an occupant gets on the own vehicle, the vehicle may be controlled so as to be parked with a clearance for getting on the vehicle so that the passenger can easily get on the vehicle.

The configuration of the fifth embodiment described above is applied to the vehicle door collision prevention device 100B of the second embodiment, the vehicle door collision prevention device 100C of the third embodiment, and the vehicle door collision prevention device 100D of the fourth embodiment. May be.

FIG. 18 shows an example of a screen displayed on the monitor 209 by the display control of the output control unit 110 in the above-described first to fifth embodiments.
FIG. 18 is a diagram illustrating a display example of the monitor 209 connected to the vehicle door

collision prevention devices

100, 100A, 100B, 100C, and 100D according to the first to fifth embodiments.
On the screen 209a of the monitor 209, for example, character information 209b indicating that the vehicle is approaching from behind is displayed. In addition, character information 209c that calls attention to opening and closing of the door is displayed.

A part of the functions of the components shown in the first to fifth embodiments described above is configured to be performed by a server device connected to the vehicle door

collision prevention devices

100, 100A, 100B, 100C, and 100D. Also good. In addition, a part of the functions of the vehicle door

collision prevention devices

100, 100A, 100B, 100C, and 100D shown in the first to fifth embodiments is performed by a portable terminal such as a passenger's smartphone. You may comprise.

In addition to the above, within the scope of the present invention, the present invention can freely combine each embodiment, modify any component of each embodiment, or omit any component of each embodiment. It is.

Since the vehicle door collision prevention device according to the present invention can perform door control according to the current position of the vehicle detected with high accuracy, the vehicle door collision prevention device can be applied to a vehicle system or the like to reliably Suitable for preventing collisions.

100, 100A, 100B, 100C, 100D Vehicle door collision prevention device, 101 Vehicle information acquisition unit, 102 Position information acquisition unit, 103 Image processing unit, 104 Stop position specifying unit, 105 Obstacle detection unit, 106 Distance calculation unit, 107 , 107a, 107b, 107c, 107d, status determination unit, 108, 108a, 108b control unit, 109 door control unit, 110 output control unit, 111 action detection unit, 112 communication unit, 113 communication control unit, 114 parking support control unit.

Claims

A vehicle information acquisition unit for acquiring vehicle state information;
Based on the high-precision positioning information of the host vehicle acquired by the high-accuracy locator and the map information, a position information acquisition unit that acquires position information specifying the stop position of the host vehicle;
An image processing unit that performs image processing for detecting a situation around the vehicle from a captured image outside the vehicle;
A stop position specifying unit for specifying a stop position of the vehicle from the state information of the vehicle acquired by the vehicle information acquisition unit and the position information acquired by the position information acquisition unit;
Based on the position information of the object detected by the outside sensor, an obstacle detection unit that detects an obstacle to the host vehicle;
A distance calculation unit that calculates a distance from the host vehicle to the obstacle based on an image processing result of the image processing unit and information on the obstacle detected by the obstacle detection unit;
Situation determination for determining a situation in which the vehicle occupant gets off based on the characteristics according to the stop position of the vehicle specified by the stop position specifying unit and the distance to the obstacle calculated by the distance calculation unit And
A vehicle door collision prevention device comprising: a control unit that performs control for an occupant of the vehicle to get off based on a determination result of the situation determination unit.
The control unit controls the opening / closing of the door of the vehicle based on the determination result of the situation determination unit, and issues a warning regarding the opening / closing of the vehicle door based on the determination result of the situation determination unit. The vehicle door collision prevention apparatus according to claim 1, further comprising an output control unit that performs output control.
An action detection unit that detects a possibility that an opening / closing operation of the door of the vehicle is performed based on at least one of a gaze direction, a face direction, and a body direction of an occupant of the vehicle from a captured image in the vehicle With
When the behavior detection unit detects the possibility that the door of the vehicle is opened or closed, the situation determination unit detects that the vehicle occupant is against the door that may be opened or closed. 2. The vehicle door collision prevention apparatus according to claim 1, wherein a situation of getting off is determined.
A communication unit that communicates with an in-vehicle device of another vehicle approaching from the rear of the vehicle;
A communication control unit that performs control to transmit information notifying that the door of the vehicle is opened and closed to an in-vehicle device of the other vehicle based on a determination result of the situation determination unit. Item 1. A vehicle door collision prevention device according to Item 1.
The image processing unit performs image processing for detecting a situation around the door of the vehicle from a captured image outside the vehicle,
The situation determination unit specifies a door that the occupant may get off, specifies a door that recommends getting off based on an image processing result of the image processing unit,
The vehicle door collision prevention apparatus according to claim 1, wherein the control unit performs control to present information indicating a recommended door specified by the situation determination unit.
The situation determination unit needs to support parking of the vehicle based on the seating position of the occupant, the image processing result of the image processing unit, and the distance to the obstacle calculated by the distance calculation unit. And determining that the parking assistance of the vehicle is necessary, calculating a new parking position of the vehicle based on the image processing result and the distance to the obstacle, and calculating Generating parking support information for parking the vehicle at a new parking position;
The vehicle door collision according to claim 1, wherein the control unit includes a parking support control unit that performs control for supporting parking of the vehicle based on the parking support information generated by the situation determination unit. Prevention device.
A vehicle information acquisition unit acquiring vehicle state information;
A position information acquisition unit, based on the high-accuracy positioning information of the host vehicle acquired by the high-accuracy locator, and acquiring position information that specifies the stop position of the host vehicle;
An image processing unit performing image processing for detecting a situation around the vehicle from a captured image outside the vehicle;
A stop position specifying unit specifying the stop position of the vehicle from the acquired state information of the vehicle and the acquired position information;
An obstacle detecting unit detecting an obstacle with respect to the host vehicle based on the position information of the object detected by the sensor outside the vehicle;
A step of calculating a distance from the host vehicle to the obstacle based on the result of the image processing and the information on the obstacle; and
A step of determining a situation where an occupant of the vehicle gets off based on the characteristic according to the specified stop position of the vehicle and the calculated distance to the obstacle;
A vehicle door collision preventing method comprising: a control unit performing control for an occupant of the vehicle to get off based on the determination result.