JP2017224075A - Device, method and system for supporting take-out of vehicle - Google Patents

Abstract

PROBLEM TO BE SOLVED: To enable a vehicle to be taken out with higher safety correspondingly to the behavior of an adjacent vehicle parked adjacently.SOLUTION: A device for supporting take-out of a vehicle comprises means for detecting the behavior of an adjacent vehicle parked adjacently to a parking position of a self-vehicle and processing means for safely taking the self-vehicle out of the parking position for a driver of the self-vehicle on the basis of the behavior of the adjacent vehicle when the self-vehicle is taken out.SELECTED DRAWING: Figure 6

Description

  The present invention relates to a delivery support apparatus, a delivery support method, and a delivery support system.

  When the own vehicle parked in the parking lot leaves, a system has been proposed in which other vehicles approaching from the left and right on the route where the own vehicle leaves are detected to alert the driver, etc. ( For example, Patent Document 1). Such a system is also called, for example, a cross traffic alert system (CTA) or a rear cross traffic alert system (RCTA).

  In the above system, for example, a course space when the host vehicle leaves the vehicle is photographed with a camera or the like, and the photographed captured image is displayed on a display device such as a display that can be viewed by the driver. In addition, for example, the presence of other vehicles approaching from the left and right to the course space when the host vehicle leaves is detected using object detection using radar waves, etc., and an alarm sound is generated and an alarm lamp is turned on and blinking. . Based on the image information and alarm information provided by the system, the driver or the like can recognize the approaching other vehicle and can operate the host vehicle so as to avoid a collision.

JP2013-45142A

  By the way, in the technology of the above-mentioned system, it is possible to call attention to the route space where the own vehicle leaves, but for example, no consideration is given to other vehicles parked adjacent to the own vehicle. For example, when the host vehicle and another vehicle parked adjacent to the host vehicle are released at the same time, or when the door of another adjacent vehicle opens and closes when the host vehicle is released, the driver's attention is issued. It is directed to the previous course space. When the driver's attention is directed to the route space at the destination, for example, there is a tendency that attention to the vehicle adjacent to the own vehicle tends to be neglected, and sufficient output support cannot be performed. It is an object of the present invention to enable delivery support with improved safety corresponding to the behavior of adjacent vehicles parked adjacent to each other.

  One aspect of the disclosed technology is exemplified by a delivery support apparatus. In other words, the exit support device detects the behavior of the adjacent vehicle parked adjacent to the parking position of the own vehicle and the behavior of the adjacent vehicle when the own vehicle exits from the parking position. And a processing means for providing driving assistance for safely leaving the vehicle to the driver of the vehicle.

  According to the present delivery support apparatus, it is possible to perform delivery support with improved safety in accordance with the behavior of adjacent vehicles parked adjacent to each other.

It is a figure explaining the delivery support system which concerns on this embodiment. It is a figure explaining the relationship with the approaching vehicle at the time of leaving of the vehicle parked in the parking lot. It is a figure explaining simultaneous delivery of the own vehicle and an adjacent vehicle. It is a figure which shows typically the structure of the leaving assistance system which concerns on this embodiment. It is a figure which shows an example of the hardware constitutions of a computer. It is a flowchart which shows an example of the leaving determination process of the adjacent vehicle in the leaving support apparatus of this embodiment. It is a flowchart which shows an example of the door opening / closing judgment process of the adjacent vehicle in the leaving assistance apparatus of this embodiment.

  Hereinafter, with reference to the drawings, a delivery support apparatus according to an embodiment will be described. The configuration of the following embodiment is an exemplification, and the delivery support apparatus is not limited to the configuration of the embodiment.

<1. System configuration>
FIG. 1 is an explanatory diagram for explaining a delivery support system according to the present embodiment. In FIG. 1, a vehicle 1 is a vehicle equipped with a delivery support apparatus according to the present embodiment parked in a parking lot. The vehicle 2 is a vehicle parked adjacent to the vehicle 1. For example, when the own vehicle (vehicle 1) leaves the parking lot, the leaving support apparatus according to the present embodiment monitors the behavior state of the vehicle 2 parked adjacently. And the leaving assistance apparatus which concerns on this embodiment determines the safety | security which concerns on the leaving of the own vehicle from the behavior state of the vehicle 2 parked adjacently, and notifies the driver | operator of the vehicle 1, etc. of the determination result. In addition, the exit support apparatus according to the present embodiment is a vehicle that decelerates the moving speed of the own vehicle, for example, when it is difficult to ensure sufficient safety between the adjacent vehicle 2 and the own vehicle. Control the system. According to the delivery support apparatus according to the present embodiment, delivery support with improved safety is possible.

  FIG. 2 is an explanatory diagram for explaining a relationship with an approaching vehicle when the vehicle parked in the parking lot is delivered. In FIG. 2, the vehicle 1 is a vehicle that leaves from the parking lot, and the vehicle 3 is a vehicle that approaches when the vehicle 1 leaves. For example, the vehicle 1 moves along the route R <b> 1 while moving backward from the parked parking lot and exits. The vehicle 3 approaches the parked vehicle 1 while moving along the route R2. Between the route R1 of the vehicle 1 exiting the parking lot and the route R2 of the vehicle 3 approaching from the rear right side of the vehicle 1, there is a location on the moving route of both vehicles.

  In the conventional system mounted on the vehicle 1, for example, the vehicle 1 moving while moving backward along the route R <b> 1 moves along the route R <b> 2 and approaches the space of the rear left region Z <b> 1 and the rear right region Z <b> 2 on the route. The vehicle 3 to be detected is detected. For example, in the conventional system, a display such as a display in which the space of the rear left region Z1 and the rear right region Z2 on the course of the vehicle 1 is photographed by an imaging device such as a camera and the photographed photographed image can be viewed by the driver. Display on the device. Further, in the conventional system, for example, the presence of other vehicles approaching from the left and right to the space of the rear left region Z1 and the rear right region Z2 on the course is detected using object detection by radar waves or the like. In the conventional system, the presence of the vehicle 3 that moves and approaches the route R2 is notified to the driver or the like by, for example, lighting or blinking a captured image displayed on the display device, an alarm sound, an alarm lamp, or the like. . The driver of the vehicle 1 can notice the approaching vehicle 3 based on the notified image information and alarm information.

  FIG. 3 is an explanatory view illustrating a case where the vehicle 1 and the vehicle 2 parked adjacent to the vehicle 1 are delivered at the same time. In FIG. 3, the vehicle 1 is a vehicle that leaves the parking lot, and the vehicle 2 is a vehicle parked adjacent to the vehicle 1 in a parallel state. For example, the vehicle 1 moves along the route R <b> 1 while moving backward from the parked parking lot and exits. The vehicle 2 parked adjacent in parallel with the vehicle 1 moves along the route R3 while moving backward from the parking lot, and leaves the vehicle 1 at the same time.

As described with reference to FIG. 2, in the conventional system, for example, the route shown in FIG. 2 for the space of the rear left region Z1 and the rear right region Z2 on the course of the vehicle 1 moving while retreating the route R1. The vehicle 3 approaching by moving R2 is detected. In the conventional system, the space in the rear left region Z1 and the rear right region Z2 of the vehicle 1 is set as the detection range of the approaching vehicle, so the space to which the adjacent vehicle 2 moves backward becomes a blind spot. In addition, the driver of the vehicle 1 is mainly concerned about, for example, the vehicle 1 that has started to move, such as the rear side map reflected in the rearview mirror provided in the vehicle and the rear side map reflected in the side mirror provided on the side surface of the vehicle 1. It will be directed to the space of the shipping destination. For this reason, the driver of the vehicle 1 misses the movement of the adjacent vehicles 2 at the same time, and for example, there is a case where sufficient delivery support for the route R3 in FIG. 3 cannot be performed.

  Further, in FIG. 3, the movement of the adjacent vehicle 2 is overlooked even when the door on the vehicle 1 side of the vehicle 2 parked adjacent to each other in the parallel state is open or when the closed door is opened. There is a tendency to be. For this reason, there was a case where sufficient delivery support could not be performed in the above case.

  Returning to the delivery support system illustrated in FIG. 1, the delivery support apparatus according to the present embodiment acquires sensing information about a vehicle 2 (also referred to as an adjacent vehicle) parked adjacent to each other in a parallel state, for example. Here, the sensing information is information obtained by analyzing a captured image taken from the side of the vehicle 2 parked adjacent to the vehicle 1 by an imaging device such as a camera. The sensing information includes information detected from the outside of the vehicle 2 parked adjacent to the vehicle 1 using radar waves, ultrasonic waves, or the like.

In addition, the delivery support apparatus according to the present embodiment can perform V2X (Vehicle to Everything) communication such as vehicle-to-vehicle communication (V2V) and road-to-vehicle communication (V2I). The adjacent vehicle information about the vehicle 2 parked adjacent to the parallel state is acquired via the terminal. As a standard for vehicle-to-vehicle communication and road-to-vehicle communication, for example, the communication standard IEEE (The Institute of Electrical and Electronics Engineers, Inc.) 802.11p compliant can be exemplified.

  The exit support apparatus according to the present embodiment includes, for example, the handle mounting position of the adjacent vehicle 2, the presence / absence of a driver seated in the driver's seat corresponding to the handle mounting position, the ON / OFF state of the ignition key of the vehicle 2, the driver Information such as the line of sight, face orientation, door opening and closing, and movement of the vehicle 2 is acquired as sensing information. Further, the exit support apparatus according to the present embodiment includes, for example, the presence / absence of a driver of the adjacent vehicle 2, vehicle type information, driver seat position information (left steering wheel, right steering wheel), ignition information, vehicle speed, brake information / steering information of steering. Information such as shift lever position information and door open switch information is obtained as adjacent vehicle information via inter-vehicle communication.

  Based on the acquired sensing information and adjacent vehicle information, the exit support apparatus according to the present embodiment specifies the behavior state of the vehicle 2 parked adjacent to the vehicle 1 in a parallel state, and the vehicle 2 from the identified behavior state. To determine whether to leave or to open / close the door. In the case of determining that the vehicle 2 is leaving, the leaving support apparatus according to the present embodiment generates, for example, an alarm sound corresponding to the behavior state of the vehicle 2, lighting / blinking of an alarm lamp, etc., and a message to the display device. Display, etc., notify the driver of the vehicle 1 and the like, alerts and the like. At the same time, when it is determined that the vehicle 2 is leaving, the leaving support apparatus according to the present embodiment, for example, corresponds to the behavior state of the vehicle 2 and the speed limit when leaving or the vehicle 1 that is moving System control related to driving of the vehicle 1 such as deceleration and temporary stop is performed. As a result, in the delivery support system according to the present embodiment, even when the simultaneous delivery with the adjacent vehicle 2 occurs or when the door opening / closing of the vehicle 2 occurs, the delivery taking into consideration the behavior state of the adjacent vehicle 2 Support is possible. According to the delivery support system according to the present embodiment, it is possible to provide a delivery support service with improved safety corresponding to the state of other vehicles parked adjacent to each other.

<2. Device configuration>
FIG. 4 is a diagram schematically illustrating the configuration of the leaving support system according to the present embodiment. In FIG. 4, the delivery support system 100 includes a delivery support apparatus 10 mounted on the vehicle 1, a driver sensing 31, a V2V terminal 32, an HMI (Human Machine Interface) 33, and a control EC.
A U (Electronic Control Unit) 34 is included. The delivery support apparatus 10 is connected to each of the driver sensing 31, the V2V terminal 32, the HMI 33, and the control ECU 34. The exit support apparatus 10 includes an adjacent vehicle exit determination unit 101 that provides an adjacent vehicle exit determination function and an approaching vehicle presence / absence determination unit 102 that provides a presence / absence determination function of a vehicle that approaches when leaving the vehicle. In the delivery support system 100, the vehicle 2 parked adjacent to the vehicle 1 is equipped with a V2V terminal 22 capable of inter-vehicle communication with the V2V terminal 32. An ECU group 21 for providing adjacent vehicle information about the vehicle 2 is connected to the V2V terminal 22 of the vehicle 2.

The delivery support apparatus 10 is a so-called computer. FIG. 5 is a diagram illustrating an example of a hardware configuration of a computer. As illustrated in FIG. 5, the exit support device 10 includes a CPU (Central Processing Unit) 11 and a main storage device 12 that are connected to each other via a connection bus 16.
, An auxiliary storage device 13, a communication IF (Interface) 14, and an input / output IF 15. CPU1
1 is also called a processor. However, the CPU is not limited to a single processor, and may have a multiprocessor configuration. A single CPU connected by a single socket may have a multi-core configuration.

The CPU 11 is a central processing unit that controls the entire delivery support apparatus 10. The CPU 11 develops a program stored in the auxiliary storage device 13 in a work area of the main storage device 12 so as to be executable, and controls peripheral devices through execution of the program to provide a function that matches a predetermined purpose. The main storage device 12 is a storage medium in which the CPU 11 caches programs and data and develops a work area. The main storage device 12 includes, for example, a flash memory, a RAM (Random Access Memory), and a ROM (Read Only Memory). The auxiliary storage device 13 is a storage medium that stores programs executed by the CPU 11, operation setting information, and the like. The auxiliary storage device 13 is, for example, an HDD (Hard-disk Drive) or an SSD.
(Solid State Drive), EPROM (Erasable Programmable ROM), flash memory, USB memory, SD (Secure Digital) memory card, and the like. The communication IF 14 is an interface with a network connected to the delivery support apparatus 10. The input / output IF 15 is an interface for inputting / outputting data to / from the sensors and devices connected to the delivery support apparatus 10. The V2V terminal 32 is connected to the leaving support apparatus 10 via the communication IF 14. Similarly, each of the driver sensing 31, the V2V terminal 32, the HMI 33, and the control ECU 34 is connected to the unloading support device 10 via the input / output IF 15. Note that a plurality of the above-described components may be provided, or some of the components may not be provided. In addition, the above-described constituent elements may be included in the constituent elements of another on-vehicle device mounted on the vehicle 1, for example, an on-vehicle audio-visual navigation integrated device (also referred to as an AVN device).

In the delivery support apparatus 10, processing of the adjacent vehicle exit determination unit 101 and the approaching vehicle presence determination unit 102 is provided by execution of the program of the CPU 11. However, at least a part of the processing of each processing unit may be provided by a digital signal processor (DSP), an application specific integrated circuit (ASIC), or the like. Further, at least a part of each of the processing units may be a dedicated large scale integration (LSI) such as a field-programmable gate array (FPGA) or other digital circuit. In addition, an analog circuit may be included in at least a part of each processing unit. The delivery support apparatus 10 includes an auxiliary storage device 13 as a storage destination of data to be referred to or managed by each processing unit.

  The driver sensing 31 is a device for acquiring sensing information about an adjacent vehicle (vehicle 2) parked adjacently in a parallel state. The driver sensing 31 analyzes, for example, a captured image obtained by photographing an adjacent vehicle with an imaging device such as a camera, the handle attachment position of the adjacent vehicle 2, the presence / absence of a driver seated in the driver seat corresponding to the handle attachment position, the vehicle Information such as the ON / OFF state of the ignition key 2, the driver's line of sight and face orientation, door opening and closing, and movement of the vehicle 2 is acquired as sensing information. Sensing information acquired by the driver sensing 31 is output to the delivery support apparatus 10 via the input / output IF 15. The driver sensing 31 may include a device that detects an object in an adjacent vehicle using radar waves, ultrasonic waves, infrared rays, or the like.

  The V2V terminal 32 is a communication terminal capable of V2X such as inter-vehicle communication and road-to-vehicle communication. The V2V terminal 32 performs inter-vehicle communication with the V2V terminal 22 mounted on the adjacently parked vehicle 2 in accordance with a predetermined communication standard. The V2V terminal 32 acquires adjacent vehicle information about the vehicle 2 parked adjacently via inter-vehicle communication. The adjacent vehicle information includes, for example, the presence or absence of a driver of the adjacent vehicle 2, vehicle type information, driver seat position information (left steering wheel, right steering wheel), ignition information, vehicle speed, brake information / steering steering information, shift lever position information, door Information such as open switch information is included. The adjacent vehicle information about the vehicle 2 is provided via the ECU group 21 connected to the V2V terminal 22 of the vehicle 2. The adjacent vehicle information acquired via the V2V terminal 32 is output to the delivery support apparatus 10 via the communication IF 14.

  The HMI 32 is a user interface for notifying a driver or the like of alarm information such as a warning or warning output from the leaving support apparatus 10 of the present embodiment. The HMI 32 includes output devices such as a speaker for notifying an alarm sound, a device for generating an electronic sound, an alarm lamp, and a display device such as an LCD (Liquid Crystal Display). The driver of the vehicle 1 is aware of the risk of collision with another vehicle through the captured image displayed on the display device, lighting / blinking of an alarm lamp, generation of an alarm sound, and the like. A driver who has received notification of alarm information such as a warning or warning via the HMI 32 can improve safety at the time of leaving the vehicle by controlling and operating the vehicle so as to avoid a collision with another vehicle, for example. it can.

  The control ECU 34 is a device (unit) that controls the vehicle speed, brakes, and the like of the vehicle 1. The control ECU 34 operates so as to limit the upper limit value of the vehicle speed at the time of leaving the vehicle 1 to a predetermined value (for example, 5 km / h) based on the control signal output from the leaving support device 10 of the present embodiment. Similarly, the control ECU 34 operates to decelerate and temporarily stop the speed of the moving vehicle 1. The unloading support device 10 controls the vehicle speed, brakes, and the like at the time of unloading of the vehicle 1 via the control ECU 34, thereby providing unloading support for the driver of the vehicle 1 to avoid a detected collision with another vehicle. It can be carried out. Note that the delivery support provided by the delivery support system 100 of the present embodiment can be applied to, for example, automatic driving in which the vehicle 1 travels independently without depending on the driver.

Based on the sensing information acquired through the driver sensing 31 and the adjacent vehicle information acquired through the V2V terminal 32, the adjacent vehicle exit determination unit 101 has a vehicle (adjacent vehicle) parked adjacent to the host vehicle. Judge whether to do. When there is an adjacent vehicle, the adjacent vehicle exit determination unit 101 determines whether there is a driver in the driver seat of the adjacent vehicle based on the sensing information and the adjacent vehicle information. When there is a driver in the driver seat of the adjacent vehicle, the adjacent vehicle exit determination unit 101 detects the movement of the adjacent vehicle based on the sensing information and the adjacent vehicle information. Note that captured images of adjacent vehicles included in the sensing information may be displayed on a display device such as an LCD, for example. Based on the captured image displayed on the display device, the driver or the like of the vehicle 1 can recognize the adjacent vehicle with respect to the own vehicle being delivered.

  For example, when a movement of an adjacent vehicle to be detected is detected, the adjacent vehicle departure determination unit 101 determines that simultaneous departure of the adjacent vehicle and the host vehicle has occurred, and notifies the driver of the host vehicle or the like of an alarm. To generate alarm information. Moreover, when the movement which the adjacent vehicle leaves is detected, the adjacent vehicle leaving determination part 101 produces | generates the vehicle control signal for decelerating or stopping temporarily the vehicle speed during leaving. The alarm information generated by the adjacent vehicle exit determination unit 101 is output to the HMI 33 connected to the exit support apparatus 10 via the input / output IF 15. Similarly, the vehicle control signal generated by the adjacent vehicle exit determination unit 101 is output to the control ECU 34 connected to the exit support apparatus 10 via the input / output IF 15. In the vehicle 1 equipped with the warehousing support apparatus 10, for example, an alarm sound indicating a warning, an alarm lamp indicating a warning is turned on or blinking, and the vehicle speed during warehousing is decelerated or temporarily stopped. To do. In the vehicle 1 equipped with the delivery support apparatus 10, it is possible to avoid the danger of colliding with an adjacent vehicle that has been delivered at the same time.

  In addition, when the adjacent vehicle departure determination unit 101 detects the movement of the adjacent vehicle to leave, the adjacent vehicle departure determination unit 101 determines that there is a high probability of simultaneous departure with the adjacent vehicle, and alerts the driver of the own vehicle. Alarm information for prompting is generated. Moreover, the adjacent vehicle leaving determination part 101 produces | generates the vehicle control signal for restrict | limiting the upper limit of the vehicle speed during leaving to the predetermined speed, when the movement which the adjacent vehicle leaves is not detected. The alarm information generated by the adjacent vehicle exit determination unit 101 is output to the HMI 33, and the vehicle control signal is output to the control ECU 34. In the vehicle 1 equipped with the warehousing support apparatus 10, for example, an alarm sound for calling attention and the lighting / flashing of an alarm lamp occur, and a measure for limiting the upper limit value of the vehicle speed during warehousing operates. In the vehicle 1 equipped with the delivery support apparatus 10, delivery support in a state in which safety is ensured when simultaneous delivery occurs between adjacent vehicles is possible.

  Further, the adjacent vehicle exit determination unit 101 determines the door open / closed state of the adjacent vehicle based on the sensing information and the adjacent vehicle information. When the door opening / closing state of the adjacent vehicle is open or in the middle of opening, the adjacent vehicle exit determination unit 101 determines whether the driver of the own vehicle is in order to ensure safety at the time of exit. Generate alarm information to prompt attention. Moreover, the adjacent vehicle leaving determination part 101 produces | generates the vehicle control signal for restrict | limiting the upper limit of the vehicle speed during leaving to predetermined speed. The alarm information is output to the HMI 33, and the vehicle control signal is output to the control ECU 34. In the vehicle 1, for example, an alarm sound for calling attention and a lighting / flashing of an alarm lamp are generated, and a measure for limiting the upper limit value of the vehicle speed during shipping is operated. In the vehicle 1 equipped with the delivery support device 10, delivery support in a state in which safety is ensured with respect to an open door of an adjacent vehicle or a door in the middle of opening is possible.

  The approaching vehicle presence / absence determining unit 102 captures the space of the rear left region Z1 and the rear right region Z2 on the path of the vehicle 1 to be delivered by an imaging device such as a camera, and displays the captured image on a display device such as an LCD. To do. Further, the approaching vehicle presence / absence determination unit 102 uses an object detection by a radar wave, an ultrasonic wave, or the like to detect a moving object such as another vehicle that approaches the space of the rear left region Z1 and the rear right region Z2 on the course from the left and right. Detect presence.

When the approaching vehicle presence / absence determination unit 102 detects the presence of a moving body such as another vehicle approaching in the space, for example, to alert the driver of the own vehicle or to notify an alarm. Generate alarm information. Further, the approaching vehicle presence / absence determining unit 102 is a vehicle control signal for limiting the upper limit value of the vehicle speed during leaving to a predetermined speed, or vehicle control for decelerating or temporarily stopping the vehicle speed during leaving. Generate a signal. Alarm information generated by the approaching vehicle presence / absence determination unit 102 is output to the HMI 33, and a vehicle control signal is output to the control ECU 34. In the vehicle 1, for example, an alarm sound for calling attention and a lighting / flashing of an alarm lamp are generated, and a measure for limiting the upper limit value of the vehicle speed during shipping is operated. In the vehicle 1, for example, an alarm sound indicating an alarm and lighting / blinking of an alarm lamp are generated, and a vehicle speed during deceleration is temporarily reduced or temporarily stopped. In the vehicle 1 equipped with the delivery support apparatus 10, delivery support can be performed in a state in which safety with respect to a moving body such as another vehicle approaching the route of the vehicle 1 to be delivered is ensured. The delivery support provided by the delivery support system 100 can be applied to, for example, automatic driving that runs independently.

<3. Processing flow>
Hereinafter, with reference to FIGS. 6 and 7, the adjacent vehicle leaving determination process of the leaving support apparatus 10 of the present embodiment will be described. FIG. 6 is a flowchart illustrating an example of a leaving determination process for an adjacent vehicle. FIG. 7 is a flowchart illustrating an example of door opening / closing determination processing for an adjacent vehicle. The processing illustrated in FIGS. 6 and 7 is mainly performed by the adjacent vehicle departure determination unit 101.

  In the flowchart of FIG. 6, the start of the process can be exemplified by an ON input (IG-ON) of an ignition key for starting the vehicle 1. The delivery support apparatus 10 of the delivery support system 100 determines that the vehicle 1 started by the ON input of the ignition key is parked in a parking lot or the like (S1).

  For example, the exit support apparatus 10 causes the navigation function of the vehicle 1 to function, and specifies that the current position (latitude, longitude) of the host vehicle is outside the road on which the vehicle 1 travels, such as a parking lot on a map. Moreover, the leaving assistance apparatus 10 specifies that a certain period of time such as 30 minutes and 1 hour has elapsed since the most recent ignition key OFF input. For example, the warehousing support apparatus 10 detects an OFF input of an ignition key via an ECU that performs engine control. The delivery support device 10 temporarily stores the detected OFF input and the detected time information in a predetermined area of the main storage device 12 in association with each other. Then, the exit support device 10 acquires the occurrence of the ON input of the ignition key via the ECU, the time information when the ON input occurs and the time information of the latest OFF input stored in the main storage device 12 It is determined that the difference is equal to or longer than a certain period. For example, when the current position of the host vehicle is outside the road on which the vehicle 1 travels, such as a parking lot on a map, and the fixed time has passed since the most recent ignition key OFF input, It is determined that the vehicle is parked (parked).

  When the host vehicle is in a parked state (parked) (S2, Yes), the exit support apparatus 10 proceeds to the process of S3. On the other hand, when the own vehicle is not in a parked state (parked) (S2, No), the exit support apparatus 10 ends the process shown in FIG. For example, when the current position of the host vehicle is along a road on the map, it can be determined that the vehicle is temporarily stopped if a certain period has not elapsed since the most recent ignition key OFF input.

  In the process of S3, the leaving assistance apparatus 10 determines whether or not the host vehicle in a parked state is in a state where it can accept movement by the leaving operation of the driver or the like. For example, the leaving support apparatus 10 acquires a shift position selected by a driver's operation via a sensor that detects an operation position of a shift lever of the host vehicle connected to the input / output IF 15. The leaving support apparatus 10 determines that the acquired shift position is in a state other than “P” indicating parking or “N” indicating neutral. When the shift position selected by the driver's operation is a position other than the above “P” and “N”, for example, “D” indicating drive or “R” indicating reverse, the vehicle is in a parking state. This is because it is possible to determine that the host vehicle can move upon receiving a driver's exit operation.

When the shift position is other than “P” and “N” (S3, Yes), the leaving support apparatus 10 proceeds to the process of S4. On the other hand, when the shift position is “P” or “N” (S3, No), the leaving support apparatus 10 repeats the process of S3 until a shift position other than “P” and “N” is detected.

  In the process of S4, the leaving assistance apparatus 10 confirms the presence or absence of an adjacent vehicle. The presence / absence of an adjacent vehicle is detected by, for example, vehicle-to-vehicle communication via the V2V terminal 32 connected to the communication IF 14, road-to-vehicle communication, or sensing using an image captured by an ultrasonic sensor or camera connected to the input / output IF 15 (autonomous system sensing). It can also be confirmed based on the information detected by the above.

(Vehicle-to-vehicle communication)
For example, the leaving support apparatus 10 makes an inquiry about position information to other nearby vehicles. For example, the leaving support apparatus 10 requests a neighboring other vehicle to respond with identification information (ID information) uniquely assigned to the other vehicle. When the ignition key is ON, the V2V terminal 22 mounted on another nearby vehicle responds with ID information in response to the request. In addition, when there is no response with respect to the said request | requirement of the leaving assistance apparatus 10 from an adjacent vehicle, it can determine with the state of the ignition key of an adjacent vehicle being OFF, for example. When the state of the ignition key is OFF, it can be considered that the probability of simultaneous shipping is low.

  The delivery support apparatus 10 inquires the position information individually for the identification information that has been responded to. The delivery support apparatus 10 specifies the relative position for each piece of identification information based on the position information for each piece of identification information that has been answered to the inquiry and the position information of the host vehicle. For example, when the specified relative position is included in a predetermined distance range centering on the own vehicle position, the leaving support apparatus 10 determines that an adjacent vehicle exists. Here, examples of the predetermined distance range include distances such as 1 m and 1,5 m. Alternatively, an adjacent vehicle may be parked experimentally, the distance from the host vehicle may be measured, and a predetermined distance range may be determined based on the measured distance.

(Road-to-vehicle communication)
When there is a system for managing the parking lot in the parking lot where the host vehicle is parked, it is possible to check the availability of the parking frame using road-to-vehicle communication with the system. For example, the system is capable of road-to-vehicle communication, issues a warehousing ID to a vehicle that has entered the parking lot, and the parking position of the vehicle from which the warehousing ID and the warehousing ID are issued, or the parking frame It is assumed that the parking lot entry / exit is managed in association with the identification number. For example, the delivery support apparatus 10 notifies the above system of the own vehicle position, the parking frame identification number, and the like together with the issued warehousing ID, and inquires about the availability of the parking locations on both sides where the own vehicle is parked. The delivery support apparatus 10 can determine the presence or absence of an adjacent vehicle based on a response from a system that manages a parking lot in response to the inquiry.

(Autonomous sensing)
The leaving assistance apparatus 10 detects the presence or absence of an object that exists on the side of the host vehicle using, for example, an ultrasonic sensor. For example, when the object detected by the ultrasonic sensor is present on the side of the host vehicle, the leaving support apparatus 10 can assume that the adjacent vehicle exists.

  Moreover, the leaving assistance apparatus 10 analyzes the captured image image | photographed with the side camera provided in the side of the own vehicle, for example, and recognizes a vehicle shape and the shape of a tire by pattern matching etc. Similarly, the warehousing support apparatus 10 detects an adjacent wall or a three-dimensional object (obstacle) by analyzing the captured image. As a result of the analysis of the captured image, for example, when the vehicle shape or the tire shape is recognized, the exit support device 10 considers that an adjacent vehicle exists when an adjacent wall or a three-dimensional object is detected. I can do it.

When the delivery support apparatus 10 determines that there is an adjacent vehicle in the process of S4 (S5, Yes), the process moves to the process of S6. On the other hand, when determining that there is no adjacent vehicle in the process of S4 (S5, Yes), the exit support apparatus 10 ends the process illustrated in FIG. For example, when the delivery support device 10 determines that there is no adjacent vehicle, it can be considered that the probability of simultaneous delivery is low.

  In the process of S6, the leaving support apparatus 10 confirms the presence or absence of a driver (driver) of the adjacent vehicle. The presence or absence of an adjacent vehicle can be confirmed based on information detected by autonomous sensing including vehicle-to-vehicle communication, road-to-vehicle communication, or driver sensing 31, for example, as in the process of S4.

(Vehicle-to-vehicle communication)
For example, when a driver monitor camera is mounted on an adjacent vehicle, the exit support apparatus 10 requests to transmit an image captured by the camera. The exit assistance apparatus 10 determines the presence or absence of a driver based on the camera image acquired from the adjacent vehicle. For example, the warehousing support apparatus 10 outputs a camera image to an ECU that recognizes a driver mounted on the host vehicle. The ECU that performs driver recognition, for example, recognizes a person (driver) seated in the driver's seat (driver's seat) by face recognition or the like from a camera image. The exit assistance apparatus 10 determines the presence or absence of the driver of an adjacent vehicle from the recognition result of said ECU.

  In addition, the leaving assistance apparatus 10 may acquire the result recognized by ECU which recognizes the driver mounted in the adjacent vehicle, and may determine the presence or absence of the driver of an adjacent vehicle. Moreover, the leaving assistance apparatus 10 may acquire information, such as a driver's seat position and the presence or absence of the press detection in a driver's seat, from an adjacent vehicle, and may determine the presence or absence of a driver. When the ignition key is in the ON state and the pressing at the driver's seat is detected, it can be assumed that the driver is seated in the driver's seat.

(Road-to-vehicle communication)
When the payment status of the parking fee of the adjacent vehicle can be confirmed with respect to the system for managing the parking lot, for example, the delivery support apparatus 10 can identify an identification number of a parking frame in which the adjacent vehicle is parked using road-to-vehicle communication, for example. To the above-mentioned system, and it can be confirmed whether or not the fee for the adjacent vehicle has been paid. If the parking fee has been paid for an adjacent vehicle, the exit support device 10 can determine that the adjacent vehicle is likely to leave in the near future, and therefore may consider the adjacent vehicle as having a driver. it can.

(Autonomous sensing)
For example, the exit assistance device 10 acquires vehicle type information such as the vehicle type of an adjacent vehicle and driver seat position information (handle attachment position) via inter-vehicle communication. The exit assistance apparatus 10 determines the presence or absence of an object (obstacle) present at the driver's seat position using, for example, an ultrasonic sensor. The exit assistance apparatus 10 can be regarded as having a driver when there is an object present at the driver seat position of the adjacent vehicle.

  Moreover, the leaving assistance apparatus 10 analyzes the captured image image | photographed with the side camera provided in the side of the own vehicle, for example, and specifies the handle | steering-wheel attachment position of an adjacent vehicle by pattern matching etc. Similarly, the leaving support apparatus 10 recognizes a person sitting on a seat facing the specified handle attachment position by face recognition or the like by analyzing the captured image. As a result of analyzing the captured image, for example, when the person who sits on the seat facing the handle attachment position is recognized, the exit support apparatus 10 can be regarded as having a driver.

When the delivery support apparatus 10 determines that a driver is present in the process of S6 (S7, Yes), the process goes to the process of S8. On the other hand, when the delivery support apparatus 10 determines that there is no driver in the process of S6 (S7, No), the process shown in FIG. 6 ends. This is because, when it is determined that there is no driver in the adjacent vehicle, the delivery support device 10 can be regarded as having a low probability of simultaneous delivery.

  In the process of S8, the leaving support apparatus 10 detects the movement of the adjacent vehicle. The movement of the adjacent vehicle can be detected based on information detected by inter-vehicle communication, road-to-vehicle communication, or autonomous sensing, for example, as in the process of S4.

(Vehicle-to-vehicle communication)
For example, the exit support device 10 acquires brake information such as vehicle speed and brake pedal depression position, steering information such as a steering angle of a steering wheel, and shift information such as a shift lever position from an adjacent vehicle, and detects the movement state of the adjacent vehicle. . When the own vehicle is leaving, the leaving assistance device 10 continues to acquire the information via the inter-vehicle communication and detects a change in the movement status of the adjacent vehicle.

(Autonomous sensing)
For example, the leaving support apparatus 10 analyzes a captured image photographed by a side camera provided on the side of the host vehicle, and confirms the rotation state of the tire. For example, the exit support apparatus 10 can detect tires based on a change in position of a tire in a time series, a change in a tire block pattern, a change in characters engraved on a tire side surface, and the like in a captured image taken at a periodic interval of 10 ms. Detects the rotation state of.

  Moreover, the leaving assistance apparatus 10 measures the relative distance of the own vehicle and an adjacent vehicle using radars, such as an ultrasonic wave and a millimeter wave, for example. For example, the leaving support apparatus 10 obtains a difference value between the distance measurement value and the relative distance between the adjacent vehicle in the parking state predicted from the movement locus of the host vehicle, and detects the movement state of the adjacent vehicle. The data used for the prediction may be acquired experimentally, for example, by setting the adjacent vehicle in a parked state and associating the relative distance between the own vehicle being delivered and the adjacent vehicle with the movement locus of the own vehicle.

  When the movement of the adjacent vehicle is detected in the process of S8 (S9, Yes), the departure support apparatus 10 determines that the adjacent vehicle will be discharged, and proceeds to the process of S10. On the other hand, when the movement of the adjacent vehicle is not detected in the process of S8 (S9, No), the leaving support apparatus 10 proceeds to the process of S12.

  In the process of S10, the leaving support apparatus 10 generates alarm information for notifying the driver or the like of the own vehicle of an alarm. The generated alarm information is output to the HMI 33 via the input / output IF 15. For example, the HMI 33 turns on / blinks an alarm sound indicating a warning and an alarm lamp indicating a warning based on the alarm information, and notifies the driver or the like of the warning.

  In the process of S11, the leaving assistance apparatus 10 generates a vehicle control signal for decelerating or temporarily stopping the vehicle speed during leaving. The generated vehicle control signal is output to the control ECU 34 via the input / output IF 15. The control ECU 34 performs control based on, for example, a vehicle control signal, and decelerates or temporarily stops the vehicle speed during shipping (vehicle control # 1).

  In the process of S12, the leaving support apparatus 10 generates alarm information for urging the driver or the like of the own vehicle to call attention because there is a high probability that simultaneous leaving with an adjacent vehicle occurs. The generated alarm information is output to the HMI 33 via the input / output IF 15. For example, the HMI 33 turns on / flashes an alarm sound and an alarm lamp for prompting attention based on the alarm information, and prompts the driver or the like to alert the adjacent vehicle.

In the process of S13, the leaving support apparatus 10 generates a vehicle control signal for limiting the upper limit value of the vehicle speed during leaving to a predetermined speed. The generated vehicle control signal is output to the control ECU 34 via the input / output IF 15. For example, the control ECU 34 performs control based on the vehicle control signal, and limits the upper limit value of the vehicle speed during the delivery (vehicle control # 2).

  After leaving the processing of S11 and S13, the leaving support apparatus 10 proceeds to the processing of S5 and repeats the processing of S5-S13. In the delivery support apparatus 10, the process of S5-S11 is continuously performed until the delivery of the own vehicle parked in the parking lot or the like is completed.

  In addition, you may notify the adjacent vehicle of the alarm information produced | generated by the process of S10,12 via the inter-vehicle communication, for example. It is possible to prompt an alarm or alert the host vehicle to an adjacent vehicle that has been issued at the same time or an adjacent vehicle that has a high probability of being issued at the same time.

  By the above process, according to the exit support system 100 of the present embodiment, the behavior of the adjacent vehicle parked adjacent to the parking position on the own vehicle via the autonomous sensing, the inter-vehicle communication, and the road-to-vehicle communication is improved. Can be detected. When the movement of the adjacent vehicle is detected, the leaving support apparatus 10 can notify the driver of the own vehicle of an alarm. Further, when the movement of the adjacent vehicle is detected, the leaving support apparatus 10 can reduce or temporarily stop the vehicle speed during the leaving. The delivery support apparatus 10 can ensure safety between adjacent vehicles that have been delivered at the same time. According to the exit support apparatus 10, exit support with improved safety in consideration of the behavior of adjacent vehicles can be performed.

  Moreover, even if it is a case where the movement which the adjacent vehicle leaves is detected, even if the leaving assistance apparatus 10 does not detect the movement in the driver's seat, there is a high probability that simultaneous leaving will occur with the adjacent vehicle. Judgment can be made and a notice urging the driver of the own vehicle to call attention can be made. And the leaving assistance apparatus 10 can restrict | limit the upper limit of the vehicle speed during leaving to predetermined speed. The delivery support device 10 can provide delivery support with improved safety in case a simultaneous delivery occurs between adjacent vehicles.

  The exit assistance apparatus 10 can determine the behavior of the adjacent vehicle from at least the movement (movement) of the adjacent vehicle, the presence / absence of the driver of the adjacent vehicle, and the status (ON / OFF) state of the ignition key. The delivery support apparatus 10 can predict the behavior of the adjacent vehicle more accurately, and can prompt the driver of the own vehicle to be alerted at an early stage before the start of the movement of the adjacent vehicle. Become. According to the delivery support apparatus 10, delivery support with improved safety can be achieved in accordance with the state of another vehicle parked adjacently.

  Next, with reference to FIG. 7, the door opening / closing determination process of the adjacent vehicle will be described. In the flowchart of FIG. 7, the start of the process can be exemplified by an ignition key ON input (IG-ON) for starting the host vehicle (vehicle 1) as in the process illustrated in FIG. 6. The delivery support apparatus 10 of the delivery support system 100 executes the processing of S1 to S3 illustrated in FIG. 6 for the vehicle 1 that is started by turning on the ignition key. However, when the shift position is other than “P” and “N” (S3, Yes), the warehousing support apparatus 10 proceeds to the process of S21.

  In the process of S21, the leaving support apparatus 10 determines whether or not the host vehicle is leaving. For example, the exit support device 10 acquires the vehicle speed of the host vehicle via a vehicle speed sensor connected to the input / output IF 15. The delivery support apparatus 10 compares the acquired vehicle speed with a predetermined threshold value, and when the vehicle speed is less than the predetermined threshold value (S21, Yes), it is determined that the host vehicle is being delivered, Transition to processing. On the other hand, when the vehicle speed is less than the predetermined threshold value (S21, Yes), the delivery support device 10 determines that the delivery of the host vehicle has been completed, and ends the process illustrated in FIG.

  In the process of S22, the unloading support apparatus 10 performs inter-vehicle communication with other vehicles in the vicinity. If the vehicle-to-vehicle communication is not established with another vehicle in the vicinity (S23, No), the exit assistance device 10 proceeds to S28. On the other hand, when the vehicle-to-vehicle communication is established with another vehicle in the vicinity (S23, Yes), the leaving support apparatus 10 proceeds to S24.

  In the process of S24, the leaving support apparatus 10 determines whether the vehicle in which the inter-vehicle communication is established is an adjacent vehicle. The determination of the adjacent vehicle with respect to the vehicle in which the inter-vehicle communication is established is performed by inquiring position information. The determination of the adjacent vehicle based on the position information inquiry has been described in the process of S4 of FIG.

  When the vehicle exit assistance apparatus 10 determines that the vehicle for which the inter-vehicle communication is established is an adjacent vehicle (S24, Yes), the process goes to S25. On the other hand, when determining that the vehicle in which the inter-vehicle communication is established is not an adjacent vehicle (S24, No), the exit support device 10 proceeds to the process of S3, and until the exit of the own vehicle is completed, The processing of S21-S27 is repeated.

  In the process of S25, the leaving support apparatus 10 determines the door open / closed state of the adjacent vehicle. For example, the leaving support apparatus 10 makes an inquiry to an adjacent vehicle and acquires information about door opening / closing (door OpenSW information). The unloading assistance apparatus 10 determines the door opening / closing state on the own vehicle side from the acquired information about the door opening / closing of the adjacent vehicle. For example, when the acquired door OpenSW indicates an open status, it can be assumed that the door of the adjacent vehicle is open. For example, when the acquired door OpenSW indicates a closed status, it can be considered that the door of the adjacent vehicle is closed.

  When the door on the own vehicle side indicates open (S25, Yes), the leaving support apparatus 10 determines that the door state of the adjacent vehicle is open, and proceeds to the process of S26. On the other hand, when the door on the own vehicle side does not indicate opening (No in S25), the leaving support apparatus 10 determines that the door state of the adjacent vehicle is unknown, and proceeds to the process of S3. The delivery support apparatus 10 that has shifted to the process of S3 repeats the processes of S3 and S21 to S27 until the delivery of the host vehicle is completed.

  In the process of S <b> 26, the leaving support apparatus 10 generates alarm information for urging the driver or the like of the own vehicle to call attention in order to ensure safety with respect to the open door of the adjacent vehicle. The generated alarm information is output to the HMI 33 via the input / output IF 15. For example, the HMI 33 turns on / flashes an alarm sound and an alarm lamp for prompting attention based on the alarm information, and prompts the driver or the like to alert the adjacent vehicle.

  In the process of S27, the leaving support apparatus 10 generates a vehicle control signal for limiting the upper limit value of the vehicle speed during leaving to a predetermined speed. The generated vehicle control signal is output to the control ECU 34 via the input / output IF 15. The control ECU 34 performs control based on, for example, a vehicle control signal, and limits the upper limit value of the vehicle speed during delivery (vehicle speed control). The delivery support apparatus 10 proceeds to the process of S3 after the process of S27, and repeats the processes of S3 and S21-S27 until the delivery of the host vehicle is completed.

  In the process of S28, the leaving support apparatus 10 determines the door state of the adjacent vehicle based on the information detected by the autonomous sensing. The leaving assistance apparatus 10 detects the presence or absence of an object that exists on the side of the host vehicle using, for example, an ultrasonic sensor. For example, when the object detected by the ultrasonic sensor is present on the side of the host vehicle, the leaving support apparatus 10 can assume that the adjacent vehicle exists. In addition, the exit support apparatus 10 acquires, for example, a measurement distance measured via an ultrasonic sensor for an object that exists on the side of the host vehicle, and a part of the measurement distance is different from other measurement distances. Determines that the door state of the adjacent vehicle is open.

  Moreover, the leaving assistance apparatus 10 analyzes the captured image image | photographed with the side camera provided in the side of the own vehicle, for example, and recognizes a vehicle shape and the shape of a tire by pattern matching etc. As a result of the analysis of the captured image, for example, when the vehicle shape or the tire shape is recognized, the leaving support apparatus 10 can assume that an adjacent vehicle exists. Moreover, the leaving assistance apparatus 10 analyzes a captured image, for example, and extracts the ridgeline of an adjacent vehicle. When the extracted ridgeline includes a different ridgeline, the leaving support apparatus 10 determines that the door state of the adjacent vehicle is open. In addition, the leaving assistance apparatus 10 may acquire the ridgeline of the adjacent vehicle of the state which opened the door experimentally, and may hold | maintain the ridgeline pattern at the time of door opening previously. The exit assistance apparatus 10 may determine the door state of the adjacent vehicle by performing pattern matching between the ridge line pattern when the door is held in advance and the extracted ridge line.

  In addition, for example, when there is an adjacent vehicle, the exit support apparatus 10 irradiates a radar wave on the side where the adjacent vehicle exists, receives and analyzes the reflected wave of the irradiated radar wave, and closes the door. It is also possible to detect the occurrence of Doppler accompanying the movement from the opened state to the opened state. The exit assistance apparatus 10 can detect the state transition from the closed state to the open state based on the radar wave. The detection of the state transition from the closed state to the open state using the radar wave may be included in the process of S25. In the process of S25, the leaving support apparatus 10 can include the state transition from the closed state of the door to the open state in the determination.

  When the exit support apparatus 10 detects a state transition from the state where the door of the adjacent vehicle is opened or the door is closed to the opened state in the process of S28 (S29, Yes), the process of S30 Migrate to On the other hand, when the exit assistance apparatus 10 does not detect the state transition from the closed state to the open state in the state in which the door of the adjacent vehicle is opened or the door is closed in the process of S28 (S29, No), It is determined that the door state of the vehicle is unknown, and the process proceeds to S32.

  In the process of S30, the unloading support apparatus 10 determines the safety of the driver of the own vehicle in order to ensure safety between the open door of the adjacent vehicle or the door that is transitioning from the closed state to the open state. Generate alarm information to call attention to. The generated alarm information is output to the HMI 33 via the input / output IF 15. For example, the HMI 33 turns on / flashes an alarm sound and an alarm lamp for prompting attention based on the alarm information, and prompts the driver or the like to alert the adjacent vehicle.

  In the process of S31, the leaving support apparatus 10 generates a vehicle control signal for limiting the upper limit value of the vehicle speed during leaving to a predetermined speed. The generated vehicle control signal is output to the control ECU 34 via the input / output IF 15. The control ECU 34 performs control based on, for example, a vehicle control signal, and limits the upper limit value of the vehicle speed during delivery (vehicle speed control). The delivery support apparatus 10 proceeds to the process of S3 after the process of S31, and repeats the processes of S3, S21-S23, and S28-S36 until the delivery of the host vehicle is completed.

  In the process of S32, the unloading assistance apparatus 10 performs road-to-vehicle communication with respect to a system that manages a parking lot, for example. When the road-to-vehicle communication is established with the system that manages the parking lot (S33, Yes (established)), the leaving support apparatus 10 proceeds to the process of S34. On the other hand, if the road-to-vehicle communication is not established with the system that manages the parking lot (S33, No (not established)), the exit assistance apparatus 10 proceeds to the process of S3 and the exit of the own vehicle is completed. Until then, the processes of S3, S21-S23, and S28-S36 are repeated.

In the process of S34, the unloading support apparatus 10 notifies the above system of the identification number of the parking frame in which the adjacent vehicle is parked, for example, with respect to the system that manages the parking lot, and inquires about the storage time of the adjacent vehicle. . The exit assistance apparatus 10 acquires the entry time of the adjacent vehicle from the response to the inquiry. For example, the leaving support apparatus 10 compares the time of receipt of the adjacent vehicle with the current time information, and determines whether the adjacent vehicle is immediately after the entry.

  If the exit assistance apparatus 10 determines that the adjacent vehicle is immediately after entry (S35, Yes (immediately after)), the exit support apparatus 10 proceeds to the process of S36. On the other hand, when the adjacent vehicle is not immediately after warehousing or when the warehousing time of the adjacent vehicle cannot be acquired (S35, No), the unloading support apparatus 10 proceeds to the process of S3 and completes the unloading of the own vehicle. , S3, S21-S23, S28-S36 are repeated.

  In the state immediately after warehousing, it can be determined that an occupant of an adjacent vehicle gets off by opening a door in the near future. For this reason, in the process of S36, in order to ensure safety between the door that opens when the occupant gets off, the exit assistance device 10 outputs a vehicle control signal for limiting the upper limit value of the vehicle speed during exit to a predetermined speed. Generate. The generated vehicle control signal is output to the control ECU 34 via the input / output IF 15. The control ECU 34 performs control based on, for example, a vehicle control signal, and limits the upper limit value of the vehicle speed during delivery (vehicle speed control). The delivery support apparatus 10 proceeds to the process of S3 after the process of S36, and repeats the processes of S3 and S21-S27 until the delivery of the host vehicle is completed.

  Through the above processing, according to the exit support system 100 of the present embodiment, the door opening / closing of an adjacent vehicle parked adjacent to the parking position on the own vehicle via autonomous sensing, vehicle-to-vehicle communication, and road-to-vehicle communication. The state can be detected. When the door of the adjacent vehicle is in the open state or the closed door is in the open state, the exit support device 10 alerts to ensure safety with the door. A warning to be urged can be notified. And the leaving assistance apparatus 10 can restrict | limit the upper limit of the vehicle speed during leaving to predetermined speed. The delivery support apparatus 10 can provide delivery support in a state in which a collision can be avoided in preparation for simultaneous delivery with an adjacent vehicle.

  Moreover, the leaving assistance apparatus 10 can predict the behavior of an adjacent vehicle more accurately using at least opening and closing of the door. According to the leaving support apparatus 10, it is possible to prompt the driver of the host vehicle to be alerted at an early stage before the start of the movement of the adjacent vehicle.

1 Vehicle (own vehicle)
2 vehicles (adjacent vehicles)
3 Vehicle (approaching vehicle)
10 Dispatch Support Device 11 CPU
12 Main storage device 13 Auxiliary storage device 14 Communication IF
15 I / O IF
16 Connection bus 21 ECU group 22 V2V terminal 31 Driver sensing 32 V2V terminal 33 HMI
34 Control ECU
100 Exit Support System 101 Adjacent Car Exit Determination Unit 102 Approaching Vehicle Existence Determination Unit

Claims (7)

Means for detecting the behavior of an adjacent vehicle parked adjacent to the parking position of the own vehicle;
And a processing means for providing driving assistance for safely leaving the driver of the own vehicle based on the behavior of the adjacent vehicle when the own vehicle leaves the parking position. Outgoing support device to do.   The said processing means notifies the passenger | crew of the said own vehicle the alerting | reporting for ensuring the safety | security of the said vehicle's leaving when the behavior of the said adjacent vehicle satisfy | fills predetermined conditions. Support device.   The unloading support according to claim 1 or 2, wherein the processing means performs control to decelerate or temporarily stop the vehicle speed when the own vehicle leaves the parking position according to the behavior of the adjacent vehicle. apparatus.   The said processing means restrict | limits the upper limit of the vehicle speed when the own vehicle leaves from the said parking position to predetermined speed according to the behavior of the said adjacent vehicle. Delivery support device.   The behavior of the adjacent vehicle includes at least one of presence / absence of a driver of the adjacent vehicle, ON / OFF state of an ignition switch, movement operation of the adjacent vehicle, and opening / closing of a door. The shipping support device according to the item. Computer
Detecting the behavior of an adjacent vehicle parked adjacent to the parking position of the own vehicle;
When the host vehicle leaves from the parking position, based on the behavior of the adjacent vehicle, a processing step for performing driving support for safely leaving the driver of the host vehicle;
The delivery support method characterized by performing this. A delivery support system comprising a delivery support device capable of communicating with a plurality of vehicles via a communication device,
The shipping support device
Means for detecting the behavior of an adjacent vehicle parked adjacent to the parking position of the own vehicle;
Processing means for providing driving assistance for safely leaving the driver of the host vehicle based on the behavior of the adjacent vehicle when the host vehicle leaves from the parking position. Dispatch support system.

Images