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WO2013121570A1 - Dispositif d'assistance de corps mobile en approche - Google Patents

Dispositif d'assistance de corps mobile en approche Download PDF

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Publication number
WO2013121570A1
WO2013121570A1 PCT/JP2012/053727 JP2012053727W WO2013121570A1 WO 2013121570 A1 WO2013121570 A1 WO 2013121570A1 JP 2012053727 W JP2012053727 W JP 2012053727W WO 2013121570 A1 WO2013121570 A1 WO 2013121570A1
Authority
WO
WIPO (PCT)
Prior art keywords
approaching
level
moving body
host vehicle
vehicle
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/JP2012/053727
Other languages
English (en)
Japanese (ja)
Inventor
川真田　進也
修 尾崎
琢也 上撫
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Toyota Motor Corp
Original Assignee
Toyota Motor Corp
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Toyota Motor Corp filed Critical Toyota Motor Corp
Priority to PCT/JP2012/053727 priority Critical patent/WO2013121570A1/fr
Publication of WO2013121570A1 publication Critical patent/WO2013121570A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
    • B60Q1/00—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor
    • B60Q1/02—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to illuminate the way ahead or to illuminate other areas of way or environments
    • B60Q1/04—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to illuminate the way ahead or to illuminate other areas of way or environments the devices being headlights
    • B60Q1/18—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to illuminate the way ahead or to illuminate other areas of way or environments the devices being headlights being additional front lights
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
    • B60Q1/00—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor
    • B60Q1/02—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to illuminate the way ahead or to illuminate other areas of way or environments
    • B60Q1/24—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to illuminate the way ahead or to illuminate other areas of way or environments for lighting other areas than only the way ahead
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R16/00—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for
    • B60R16/02—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for electric constitutive elements
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/16—Anti-collision systems
    • G08G1/166—Anti-collision systems for active traffic, e.g. moving vehicles, pedestrians, bikes
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
    • B60Q2300/00—Indexing codes for automatically adjustable headlamps or automatically dimmable headlamps
    • B60Q2300/40—Indexing codes relating to other road users or special conditions
    • B60Q2300/45—Special conditions, e.g. pedestrians, road signs or potential dangers

Definitions

  • the present invention relates to an approaching moving body support apparatus for an approaching moving body that is present in front of the host vehicle and approaches the host vehicle.
  • Patent Document 1 Conventionally, as a driving assistance device at an intersection, a technique has been proposed that prompts the driver for left and right safety by displaying left and right nose view images on a monitor when a vehicle once starts to enter a stopped intersection ( Patent Document 1).
  • Patent Document 2 a technique has been proposed in which a warning is given to the outside of the vehicle by turning on a headlamp when the vehicle once enters the vicinity of a stop position or an intersection where there is no signal.
  • Patent Document 2 Moreover, in order to notify the pedestrian of the presence of the own vehicle, a technique for lighting a headlamp has been proposed (see Patent Documents 3 and 4).
  • the present invention has been made in view of the above, and an object thereof is to propose an approaching moving body support apparatus that can sufficiently alert the approaching moving body of the presence of the host vehicle. .
  • an approaching mobile body support apparatus is a mobile body detection unit that is located in front of the host vehicle and detects an approaching mobile body approaching the host vehicle.
  • an illuminating means provided in front of the host vehicle, separately from a headlamp provided toward the front of the host vehicle, and capable of visually recognizing at least a part in a vehicle width direction view, and the illumination Control means for performing illumination enhancement level change control for changing the illumination enhancement level of the means, wherein the control means raises the illumination enhancement level when the approaching moving body is detected.
  • the illumination unit is provided in front of the vehicle with respect to the front door panel.
  • the approaching mobile body support apparatus further includes vehicle speed detection means for detecting the host vehicle speed of the host vehicle, wherein the control means changes the illumination enhancement level when the detected host vehicle speed is less than a predetermined speed. It is preferable to perform control.
  • the approaching mobile body support apparatus further includes illuminance detection means for detecting illuminance outside the host vehicle, and the control means is configured such that the illumination is higher when the detected illuminance is higher than when it is lower. It is preferable to increase the emphasis level.
  • the mobile body detection means is provided in front of the front door panel, and when the detection wave output at least in the vehicle width direction is reflected by the approaching mobile body. It is preferable to detect the approaching moving body based on the reflected wave.
  • the approaching mobile body support apparatus further includes own vehicle state detecting means for detecting the state of the own vehicle, and changing the illumination enhancement level according to the state of the own vehicle.
  • the control means acquires mobile body information including at least one of the attributes of the approaching mobile body and an approach speed with respect to the host vehicle based on a detection result of the mobile body detection means. And it is preferable to change the said illumination emphasis level according to the said mobile body information.
  • the approaching mobile body support apparatus further includes a recognition state detection unit that detects a recognition state of the driver of the host vehicle with respect to the approaching mobile body, and the illumination according to the detected recognition state of the driver. It is preferable to change the emphasis level.
  • the approaching mobile body support device further comprising: a recognition state detection unit that detects a recognition state of the driver of the host vehicle with respect to the approaching mobile body, and an indicator that provides information to the driver,
  • the control means determines the degree of danger of the host vehicle according to the state of the host vehicle, performs display enhancement level change control for changing the display enhancement level of the indicator, and the driver
  • the risk level of the host vehicle is high, the display highlight level is not increased as compared with the case where the risk level of the host vehicle is low. It is preferable to raise.
  • the approaching mobile body support device further comprising: a recognition state detection unit that detects a recognition state of the driver of the host vehicle with respect to the approaching mobile body, and an indicator that provides information to the driver
  • the control means obtains moving body information including at least one of the approaching moving body and an approach speed with respect to the host vehicle based on the detection result of the moving body detecting means, and according to the moving body information,
  • performing display enhancement level change control for changing the display enhancement level of the indicator, and when the driver recognizes the approaching moving body
  • the danger level of the approaching moving body is high, the illumination enhancement level is raised and the display enhancement level is not raised compared to the case where the danger level of the approaching moving body is low. It is preferred.
  • the illumination enhancement level is increased, so that the recognition degree of the host vehicle can be increased with respect to the approaching mobile body, There is an effect that it is possible to sufficiently alert the approaching moving body of the presence of the host vehicle.
  • FIG. 1 is a diagram illustrating a schematic configuration example of an approaching mobile body support apparatus according to the embodiment.
  • FIG. 2 is a diagram showing a moving body detection unit and an illumination unit.
  • FIG. 3 is a diagram showing a moving body detection unit and an illumination unit.
  • FIG. 4 is a diagram for explaining the illumination enhancement level.
  • FIG. 5 is an operation explanatory diagram.
  • FIG. 6 is a flowchart of the approaching mobile body support method according to the first embodiment.
  • FIG. 7 is a flowchart of the approaching mobile body support method according to the second embodiment.
  • FIG. 8 is a flowchart of the approaching mobile body support method according to the third embodiment.
  • FIG. 9 is a diagram illustrating another schematic configuration example of the approaching mobile body support apparatus according to the embodiment.
  • FIG. 1 is a diagram illustrating a schematic configuration example of an approaching mobile body support apparatus according to the embodiment.
  • FIG. 2 is a diagram showing a moving body detection unit and an illumination unit.
  • FIG. 3 is a diagram
  • FIG. 10 is a flowchart of the approaching mobile body support method according to the fourth embodiment.
  • FIG. 11 is a diagram illustrating another schematic configuration example of the approaching mobile body support apparatus according to the embodiment.
  • FIG. 12 shows an indicator.
  • FIG. 13 is a flowchart of the approaching mobile body support method according to the fifth embodiment.
  • FIG. 14 is a flowchart of the approaching mobile body support method according to the sixth embodiment.
  • FIG. 1 is a diagram illustrating a schematic configuration example of an approaching mobile body support apparatus according to the embodiment.
  • FIG. 2 is a diagram showing a moving body detection unit and an illumination unit.
  • FIG. 3 is a diagram showing a moving body detection unit and an illumination unit.
  • FIG. 4 is a diagram for explaining the illumination enhancement level.
  • FIG. 5 is an operation explanatory diagram. 2 is a view of the host vehicle 100 as viewed from above, and FIG. 3 is a perspective view of the host vehicle 100 as viewed from the front of the vehicle. Further, FIG. 5 schematically shows the host vehicle 100. As shown in FIG.
  • the approaching mobile body support device 1-1 is mounted on the host vehicle 100 and includes a nasal sensor 3, a support ECU (Electronic Control Unit) 8, and a front side light 9.
  • the vehicle speed sensor 2, the illuminance sensor 4, the accelerator sensor 5, the brake pressure sensor 6, and the direction indication sensor 7 are further configured.
  • the support ECU 8 and other devices such as the nasal sensor 3 are electrically connected by a communication system represented by a CAN communication system, for example.
  • the vehicle speed sensor 2 is vehicle speed detection means and is also one of the own vehicle state detection means for detecting the state of the own vehicle 100.
  • the vehicle speed sensor 2 detects the host vehicle speed V [km / h], which is the speed of the host vehicle 100, and the detected host vehicle speed V is input to the support ECU 8.
  • the vehicle speed sensor 2 is provided on a rotating body on a power transmission path that transmits power generated by a power source (for example, an engine, a motor, etc.) such as a differential gear or an output shaft (not shown) to drive wheels (for example, front wheels FT).
  • the vehicle speed V is detected based on the rotational speed of the rotating body.
  • the vehicle speed sensor 2 may be a wheel speed sensor provided on each wheel.
  • the vehicle speed V is detected based on the wheel speed detected by each wheel speed sensor.
  • the vehicle speed sensor 2 may be a sensor that detects position data of the host vehicle 100 typified by GPS. In this case, the host vehicle speed V is detected based on the detected change in the position data of the host vehicle 100. .
  • the nasal stick sensor 3 is a moving body detection means, and is present at the front side of the own vehicle 100 and detects at least the approaching moving body T approaching the own vehicle 100. As shown in FIGS. 2 and 3, the nasal sensor 3 is located in front of the left and right front door panels 101L and 101R, in the present embodiment, on the front-rear center line extending from the vehicle center in the vehicle front-rear direction and on the front grille 102. Is provided.
  • the nasal sensor 3 includes an output unit (not shown) that outputs detection waves such as electromagnetic waves, infrared rays, and lasers, and a reception unit (not shown) that receives reflected waves of the detection waves.
  • the nasal sensor 3 outputs detection waves respectively in the vehicle width direction, in this embodiment, the vehicle left front side and the vehicle right front side, and left and right detection areas SEL and SER (shown in FIG. 2) that are areas where the detection waves reach.
  • the position, distance, and shape between the object and the host vehicle 100 are detected by receiving the reflected wave reflected by the object existing within the two-dot chain line). Since the nasal sensor 3 periodically outputs detection waves, the moving direction of the object relative to the host vehicle 100 and the approach speed VS can be detected based on a change in the distance between the detected object and the host vehicle 100. . Therefore, an object that approaches the host vehicle 100 among the objects can be detected as the approaching moving body T.
  • the nasal sensor 3 is input to the support ECU 8. Since the nasal sensor 3 is provided in front of the left and right front door panels 101L and 101R of the host vehicle 100, when the host vehicle 100 enters the intersection C from a road that is shielded by walls in the vehicle width direction. In addition, the approaching moving body T present at the intersection C can be detected by the nasal sensor 3 before the driver D. As described above, the nasal sensor 3 is preferably in the forefront of the vehicle, but is preferably provided in front of the vehicle at least in front of the front wheels FT.
  • the front side means that it includes the left and right sides of the vehicle, that is, the vehicle width direction, and may further include the front of the vehicle.
  • the illuminance sensor 4 is an illuminance detection means, and as shown in FIG. 1, detects the illuminance L outside the host vehicle 100, and the detected illuminance L is input to the support ECU 8.
  • the illuminance sensor 4 only needs to be able to detect the brightness outside the host vehicle 100, and is not limited to the one that detects the illuminance L, but may be one that detects luminance, luminous intensity, and the like.
  • the illuminance L may be detected based on the date and time.
  • the accelerator sensor 5 is an acceleration intention detection unit that detects the degree of acceleration intention of the driver D, and is one of the own vehicle state detection units that detects the state of the host vehicle 100.
  • the accelerator sensor 5 detects the amount of depression of the accelerator pedal 10 operated by the driver D to accelerate the host vehicle 100, that is, the accelerator opening A, and the detected accelerator opening A is input to the support ECU 8. Is done.
  • the brake pressure sensor 6 is a deceleration intention detection unit that detects the degree of the driver D's intention to decelerate, and is one of the own vehicle state detection units that detects the state of the host vehicle 100.
  • the brake pressure sensor 6 generates a brake pressure Bp (hydraulic pressure for generating a braking force by a brake device (not shown)) generated in response to depression of the brake pedal 11 operated by the driver D to decelerate the host vehicle 100.
  • the detected brake pressure Bp is input to the support ECU 8.
  • the direction indicating sensor 7 is a turning direction intention detecting means for detecting the intention of the driver D in the turning direction, and is one of the own vehicle state detecting means for detecting the state of the own vehicle 100. As shown in FIGS. 2 and 3, the direction indicating sensor 7 operates a direction indicating lever 12 that outputs an instruction for blinking the left and right turn signals 103 ⁇ / b> L and 103 ⁇ / b> R provided on the left and right sides of the host vehicle 100.
  • the driver D detects the planned turning direction of the driver D, and the detected planned turning direction is input to the support ECU 8.
  • the direction indication lever 12 is not limited, and a switch, voice recognition, or the like may be used.
  • the support ECU 8 is a control means, and performs illumination enhancement level change control for changing the illumination enhancement level of the front side light 9. Further, as shown in FIG. 1, the support ECU 8 has at least functions as an intersection estimation unit 81, an illumination enhancement level determination unit 82, and a front side light control unit 83.
  • the intersection estimation unit 81 estimates that the host vehicle 100 enters the intersection C, particularly a stop intersection. In this embodiment, the intersection estimation unit 81 estimates that the host vehicle 100 enters the intersection C based on the host vehicle speed V.
  • the illumination enhancement level determination unit 82 is based on information input to the support ECU 8, in the present embodiment, whether or not the approaching moving body T is detected, and the illuminance L.
  • the illumination enhancement level X of the direction light 9R is determined.
  • the front side light control unit 83 determines the left illumination enhancement level XL, which is the illumination enhancement level X for the determined left front side light 9L, and the right illumination enhancement level XR, which is the illumination enhancement level X for the right front side light 9R.
  • the light output from the left front side light 9L and the right front side light 9R is controlled.
  • the illumination enhancement level X is, for example, level 0 to level 10, level 0 is only lighting, level 1 to level 10 is blinking, and level 1 to level 10 It is assumed that the corresponding blinking speed (1 to 10) becomes faster toward level 10.
  • the lighting enhancement level X increases in blinking speed as the level increases, and the recognition degree of the host vehicle 100 by the approaching moving body T is improved.
  • the approaching moving body T includes a pedestrian, a bicycle operated by a human, a light vehicle such as an electric cart, a horse, a carriage, and a surrounding vehicle with respect to the own vehicle 100 driven by a human, and the front side light 9 is output.
  • the hardware configuration of the support ECU 8 includes a CPU (Central Processing Unit) that mainly performs arithmetic processing, a memory for storing programs and information (RAM such as SRAM, ROM (Read Only Memory) such as EEPROM), an input / output interface, and the like.
  • RAM Central Processing Unit
  • ROM Read Only Memory
  • the support ECU 8 is electrically connected to a drive source (not shown) mounted on the host vehicle 100, such as an engine ECU that controls the engine, a brake ECU that controls the brake device, a steering ECU that controls the steering assist amount, and the like.
  • a drive source mounted on the host vehicle 100, such as an engine ECU that controls the engine, a brake ECU that controls the brake device, a steering ECU that controls the steering assist amount, and the like.
  • the vehicle speed V, the accelerator opening A, the brake pressure Bp, and the like may be values acquired by these ECUs.
  • the front side light 9 is illumination means, and is provided in front of the host vehicle 100 separately from the left and right headlamps 104L and 104R provided toward the front of the host vehicle 100, as shown in FIGS. Are different.
  • the front side light 9 can be at least partially visible in the vehicle width direction view, in this embodiment, at least a part of the left front side light 9L that can be visually recognized in the vehicle left front side view and the vehicle right side view.
  • the right front side light 9R is formed.
  • the left and right front side lights 9L and 9R are provided in front of the left and right front door panels 101L and 101R, and the left front side light 9L extends from the front bumper 105 to the left front fender 106L.
  • the front side light 9 is provided so as to straddle from the front bumper 105 to the right front fender 106R.
  • the front side light 9 is formed by arranging a plurality of light sources (for example, LEDs) in a band shape, and the light output by the support ECU 8, that is, the lighting method is controlled.
  • the left and right front side lights 9L and 9R output light to the left front side of the vehicle and the right front side of the vehicle, respectively, and left and right output areas LEL and LER (1 shown in FIG. 5). It is possible to make the approaching moving body T existing in the dotted line) recognize the existence of the host vehicle 100.
  • the left and right front side lights 9L and 9R enter the intersection C before the driver D. Therefore, most of the intersection road R2 that intersects the road R1 at the intersection C becomes the left and right output areas LEL and LER.
  • the driver visual recognition area DE (dotted line in the figure) that can be visually recognized by the driver D is limited by the walls W1 and W2 and is one of the vehicles in front of the host vehicle 100. Only the portion where the road R1 and the intersection road R2 intersect among the intersections, that is, the intersection C, is visible.
  • the driver D can approach the vehicle even if there is an approaching moving body T such as a pedestrian T1, a light vehicle T2, and a surrounding vehicle T3 other than the intersection C, in this case, a portion of the intersection road R2 that intersects the road R1.
  • an approaching moving body T such as a pedestrian T1, a light vehicle T2, and a surrounding vehicle T3 other than the intersection C
  • the approaching moving body T cannot be visually recognized, and the presence of the approaching moving body T cannot be recognized.
  • the left and right output areas LEL and LER can include the outside of the driver visual recognition area DE, particularly the road R1 side of the intersection road R2, the approaching moving body T that cannot be visually recognized by the driver D is within the left and right recognition areas LEL and LER.
  • the own vehicle 100 is visually recognized by the approaching moving body T by the left and right front side lights 9L and 9R, and the approaching moving body T can recognize the existence of the own vehicle 100.
  • the front side light 9 is provided so that a part is located in the area
  • FIG. 6 is a flowchart of the approaching mobile body support method according to the first embodiment.
  • the support ECU 8 repeatedly executes the approaching mobile body support method for each preset control cycle.
  • the support ECU 8 acquires information as shown in FIG. 6 (step ST101).
  • the support ECU 8 acquires the host vehicle speed V and the illuminance L in the present embodiment.
  • the intersection estimation unit 81 of the support ECU 8 determines whether or not the own vehicle speed V is less than the predetermined vehicle speed VT (step ST102).
  • the intersection estimation unit 81 determines whether or not the host vehicle 100 enters the intersection C by determining whether or not the host vehicle speed V is less than the predetermined vehicle speed VT.
  • the predetermined vehicle speed VT is a predicted value of the host vehicle speed V when the host vehicle 100 enters the intersection C, in particular, a stop intersection, and is about 10 km / h, for example.
  • the predetermined vehicle speed VT may be set in advance or may be set by the driver D.
  • the illumination enhancement level determination unit 82 of the support ECU 8 sets the left and right illumination enhancement levels XL and XR as reference levels. (Step ST103).
  • the illumination enhancement level determination unit 82 displays the left and right front side lights 9L and 9R at least before the approaching moving body T is detected by the nasal sensor 3.
  • the left and right illumination enhancement levels XL and XR are set to the reference level.
  • the reference level is level 0, which is a level at which the left and right front side lights 9L and 9R are simply turned on.
  • the front side light control unit 83 of the support ECU 8 controls the left and right front side lights 9L and 9R to the reference level (step ST104).
  • the front side light control unit 83 controls the left and right front side lights 9L and 9R so as to be lit up, which is the reference level that is the set left and right illumination enhancement levels XL and XR, in this embodiment, level 0. Therefore, since the left and right front side lights 9L and 9R are turned on when the host vehicle 100 enters the intersection C, the left and right front side lights 9L and 9R are present to the existence other than the approaching moving body T present at the intersection C, for example, a pedestrian who has stopped. Also, the presence of the vehicle 100 at the intersection C can be alerted.
  • the illumination enhancement level determination unit 82 determines whether or not the approaching moving body T has been detected (step ST105). Here, it is determined whether or not the approaching moving body T has been detected by at least one of the left and right front sides by the nostril sensor 3.
  • the illumination enhancement level determination unit 82 determines the left and right illumination enhancement levels XL and XR to be leveled up (step ST106).
  • the illumination enhancement level determination unit 82 determines the left and right illumination enhancement levels XL and XR based on the detection direction in which the approaching moving body T is detected. For example, when the approaching moving body T is detected only at the left front side of the host vehicle 100, the left illumination enhancement level XL is determined as a level-up target, and the approaching moving body T is detected only at the right front side of the host vehicle 100.
  • the right illumination enhancement level XR is determined as a target for level up, and when the approaching moving body T is detected at the left and right front sides of the host vehicle 100, the left and right illumination enhancement levels XL and XR are increased. Decide as a target. In addition, when it determines with the illumination emphasis level determination part 82 not detecting the approaching moving body T (step ST105 negative), the present control period will be complete
  • the illumination enhancement level determination unit 82 increases the left and right illumination enhancement levels XL and XR based on the illuminance L (step ST107).
  • the illumination enhancement level determination unit 82 raises the left and right illumination enhancement levels XL and XR for which the above-described level increase has been determined from the reference level based on the illuminance L, that is, increases the illumination enhancement level X.
  • the amount of increase is changed based on the illuminance L.
  • the illumination enhancement level X is increased compared to when the illuminance L is low.
  • the illumination enhancement level determination unit 82 reduces the amount of increase with respect to the reference level, and when the illuminance L is high, that is, when the outside of the host vehicle 100 is bright, the reference. Increase the amount of up against the level.
  • the illumination enhancement level determination unit 82 increases the illumination enhancement level X from level 0 to level 3 when the illuminance L is low, and increases the illumination enhancement level X from level 0 to level 6 when the illuminance L is high.
  • the illuminance L may be determined based on whether it is higher than the reference illuminance. Further, the increase amount with respect to the illuminance L may be increased as the illuminance L increases. Further, when the illuminance L is sufficiently low, the reference level may be maintained.
  • the front side light control unit 83 performs illumination enhancement level change control of the left and right front side lights 9L and 9R with the left and right illumination enhancement levels XL and XR increased (step ST108).
  • the front side light control unit 83 becomes the left illumination enhancement level XL in which the left front side light 9L is increased with respect to only the left front side light 9L.
  • the illumination enhancement level change control is performed and only the right illumination enhancement level XR is increased, the right illumination enhancement level XR with the right front side light 9R is increased with respect to only the right front side light 9R.
  • the lighting enhancement level change control is performed and both the left and right illumination enhancement levels XL and XR are raised, the left and right front side lights 9L and 9R are raised with respect to both the left and right front side lights 9L and 9R.
  • the illumination enhancement level change control is performed so that the illumination enhancement levels XL and XR are obtained.
  • the support ECU 8 When the intersection estimation unit 81 determines that the host vehicle speed V is equal to or higher than the predetermined vehicle speed VT (No in step ST102), the support ECU 8 resets the control (step ST109), ends the current control cycle, Shift to the control cycle.
  • the support ECU 8 if it is estimated that the host vehicle 100 does not enter the intersection C, the support ECU 8 does not perform the approaching mobile body support method.
  • the approaching mobile body support method is terminated. Therefore, the illumination enhancement level change control of the front side light 9 can be performed only when it is necessary to alert the presence of the host vehicle 100 to the approaching moving body T such as the intersection C and suppress unnecessary alerting. be able to.
  • the illumination enhancement level X of the front side light 9 is increased and the approaching movement is performed.
  • the recognition degree of the own vehicle 100 with respect to the body T can be increased. Accordingly, since it is possible to sufficiently alert the approaching moving body T to the existence of the host vehicle 100, it is possible to suppress the occurrence of an accident at the intersection C. Further, only the illumination enhancement levels XL and XR of the left and right front side lights 9L and 9R corresponding to the detection direction in which the approaching moving body T is detected are raised, and the front side light 9 corresponding to the detection direction in which the approaching moving body T is not detected.
  • the illumination enhancement level X is not increased, the approaching moving body T is present on the left and right front sides, and the side that requires alerting can be surely alerted, and the approaching moving body T does not exist. Inadvertently alerting a side that does not require alerting can be suppressed. Further, even if the illumination enhancement level change control is performed when the illuminance L is low, the illumination enhancement level X can be suppressed from being increased, and excessive alerting to the approaching moving body T can be suppressed. Even if the illumination enhancement level change control is performed when L is high, it is possible to suppress a reduction in the recognition degree of the host vehicle 100 with respect to the approaching mobile body T due to the low illumination enhancement level X. It is possible to suppress the fact that sufficient alerting cannot be performed.
  • the approaching mobile body support apparatus 1-2 according to the second embodiment will be described. Since the basic configuration of the approaching mobile body support apparatus 1-2 according to the second embodiment is the same as that of the approaching mobile body support apparatus 1-1 according to the first embodiment, description of the configuration is omitted.
  • the approaching mobile body support apparatus 1-2 according to the second embodiment is based on the host vehicle risk level Y, which is the risk level of the host vehicle 100 with respect to the approaching mobile body T, according to the state of the host vehicle 100.
  • the illumination enhancement level change control for changing the illumination enhancement level X is performed.
  • FIG. 7 is a flowchart of the approaching mobile body support method according to the second embodiment.
  • the basic procedure of the approaching mobile body support method according to the second embodiment is the same as that of the approaching mobile body support method according to the first embodiment, the description is omitted or simplified depending on the procedure.
  • the support ECU 8 acquires information as shown in FIG. 7 (step ST201).
  • the support ECU 8 acquires the host vehicle speed V, the illuminance L, the accelerator opening A, and the brake pressure Bp in the present embodiment.
  • the intersection estimation unit 81 determines whether or not the own vehicle speed V is less than the predetermined vehicle speed VT (step ST202).
  • the illumination enhancement level determination unit 82 sets the left and right illumination enhancement levels XL and XR as reference levels. (Step ST203).
  • the front side light control unit 83 controls the left and right front side lights 9L and 9R to the reference level (step ST204).
  • the illumination enhancement level determination unit 82 determines whether or not the approaching moving body T has been detected (step ST205). Next, if it determines with the illumination emphasis level determination part 82 having detected the approaching moving body T (step ST205 affirmation), it will determine the left and right illumination emphasis levels XL and XR which level up (step ST206).
  • the illumination enhancement level determination unit 82 increases the left and right illumination enhancement levels XL and XR based on the illuminance L and the vehicle risk Y (step ST207).
  • the illumination enhancement level determination unit 82 determines the vehicle risk determined based on the vehicle speed V, the accelerator opening A, and the brake pressure Bp from which the left and right illumination enhancement levels XL and XR for which the level up has been determined are acquired.
  • the level is raised from the reference level, that is, the illumination enhancement level X is raised.
  • the increase amount is changed based on the illuminance L and the own vehicle risk level Y.
  • the illumination enhancement level X When the illuminance L is high, the illumination enhancement level X is increased compared to the case where the illuminance L is low, and when the own vehicle risk level Y is high, the illumination enhancement level X is increased compared to the case where the own vehicle risk level Y is low.
  • the illumination enhancement level determination unit 82 reduces the increase amount with respect to the reference level when the illuminance L is low, increases the increase amount with respect to the reference level when the illuminance L is high, and increases the reference level when the own vehicle risk level Y is low. If the vehicle risk level Y is high, the up amount with respect to the reference level is increased.
  • the host vehicle risk level Y is determined to be high when the host vehicle speed V is high and low when the host vehicle speed V is low.
  • the host vehicle risk level Y may be determined as high or low depending on whether the host vehicle speed V is faster than the reference vehicle speed.
  • the host vehicle risk level Y is determined to be high when the accelerator opening A is large and low when the accelerator opening A is small. This is because when the accelerator opening A is large, it is considered that the driver D intends to accelerate the host vehicle 100 even at the intersection C, and the host vehicle risk Y is determined to be high.
  • the host vehicle risk level Y may be determined as high or low depending on whether the accelerator opening A is larger than the reference opening, or may be determined as low only when the accelerator opening A is 0 degrees.
  • the host vehicle risk level Y is determined to be high when the brake pressure Bp is small and low when the brake pressure Bp is large. This is because when the brake pressure Bp is small, it is considered that the driver D is less willing to decelerate the host vehicle 100 at the intersection C, and the host vehicle risk Y is determined to be high.
  • the host vehicle risk level Y may be determined as high or low depending on whether or not the brake pressure Bp is smaller than the reference pressure, or may be determined as high only when the brake pressure Bp is zero.
  • the illumination enhancement level determination unit 82 increases the illumination enhancement level X when the host vehicle risk level Y is high by two levels from the illumination enhancement level X when the host vehicle risk level Y is low, the illuminance L is Low, when the own vehicle risk level Y is low, the level 3 and the illuminance L are low, and when the own vehicle risk level Y is high, the level is raised to the level 5 from the reference level, the illuminance L is high, and the own vehicle risk level Y is low Increases from the reference level to level 8 when level 6, illuminance L is high, and own vehicle risk Y is high.
  • the front side light control unit 83 performs illumination enhancement level change control of the left and right front side lights 9L and 9R with the left and right illumination enhancement levels XL and XR being increased (step ST208).
  • the intersection estimation unit 81 determines that the host vehicle speed V is equal to or higher than the predetermined vehicle speed VT (No in step ST202)
  • the support ECU 8 resets the control (step ST209), ends the current control cycle, Shift to the control cycle.
  • the approaching mobile body support apparatus 1-2 has the same effects as those of the first embodiment, and when the host vehicle risk level Y is high, the host vehicle risk level Y is low. Since the lighting emphasis level X is increased in comparison, the recognition degree can be increased according to the own vehicle risk level Y with respect to the approaching moving body T, so that the approaching moving body T is further alerted to the presence of the own vehicle 100. Well done.
  • the host vehicle risk level Y is determined based on the three conditions of the host vehicle speed V, the accelerator opening A, and the brake pressure Bp.
  • the amount of increase of the illumination enhancement level X may be increased every time it is determined that the host vehicle speed V is fast, the accelerator opening A is large, and the brake pressure Bp is small. For example, if any one of the illuminance L is high, the own vehicle speed V is fast, the accelerator opening A is large, and the brake pressure Bp is small, the level is increased to 8 and the illuminance L is high and the own vehicle speed. If V is fast, the accelerator opening A is large, or the brake pressure Bp is small, it may be increased to level 9.
  • priority may be set for the host vehicle speed V, the accelerator opening A, and the brake pressure Bp, and the increase amount of the illumination enhancement level X may be set based on the result of a condition with high priority. For example, if two priority criteria for the accelerator opening A and the brake pressure Bp are set higher than the vehicle speed V, and the accelerator opening A is small and the brake pressure Bp is large, even if the vehicle speed V is high, It may be determined that the host vehicle risk level Y is low, and the amount of increase of the lighting enhancement level X may be smaller than the amount of increase in the case of high.
  • the accelerator opening A is small, and the brake pressure Bp is large, the accelerator opening A is small and the brake pressure Bp is large.
  • the host vehicle speed V, the accelerator opening A, and the brake pressure Bp are used to determine the state of the host vehicle 100.
  • the planned turning direction of the driver D detected by the direction indicator sensor 7 is determined. It may be used.
  • the illumination enhancement level determination unit 82 increases the amount when the level is increased from the reference level depending on whether or not the detection direction in which the approaching moving body T is detected matches the planned turning direction of the driver D. To change. When the detection direction matches the planned turning direction, the illumination enhancement level X is lowered compared to the case where the detection direction and the planned turning direction do not match.
  • the level 5 is increased, and when the illuminance L is high and the detection direction does not match the planned turning direction, the level is increased to the level 6.
  • the left and right turn signals 103L, 103R on the side where the approaching moving body T exists is lit or blinking, so that the approaching moving body T is the host vehicle 100. It is easy to notice. Therefore, in this case, unnecessary dazzling to the approaching moving body T can be suppressed by lowering the illumination enhancement level X. In addition, it is possible to suppress unnecessary alerting to the approaching moving body T.
  • the illumination enhancement level X may be increased as compared to the matching direction. May be up.
  • an approaching mobile body support apparatus 1-3 according to Embodiment 3 will be described. Since the basic configuration of the approaching mobile body support apparatus 1-3 according to Embodiment 3 is the same as that of the approaching mobile body support apparatus 1-1 according to Embodiment 1, the description of the configuration is omitted. According to the moving body information of the approaching mobile body T based on the detection result of the nasal sensor 3, the approaching mobile body support apparatus 1-3 according to the third embodiment uses the risk of the approaching mobile body T in this embodiment. Illumination emphasis level change control for changing the illumination emphasis level X in accordance with a certain moving object risk level Z is performed.
  • FIG. 8 is a flowchart of the approaching mobile body support method according to the third embodiment.
  • the basic procedure of the approaching mobile body support method according to Embodiment 3 is the same as that of the approaching mobile body support method according to Embodiments 1 and 2, description thereof will be omitted or simplified depending on the procedure.
  • the support ECU 8 acquires information (step ST301).
  • the support ECU 8 acquires the host vehicle speed V and the illuminance L in the present embodiment.
  • the intersection estimation unit 81 determines whether or not the own vehicle speed V is less than the predetermined vehicle speed VT (step ST302).
  • the illumination enhancement level determination unit 82 sets the left and right illumination enhancement levels XL and XR as reference levels. (Step ST303).
  • the front side light control unit 83 controls the left and right front side lights 9L and 9R to the reference level (step ST304).
  • the illumination enhancement level determination unit 82 determines whether or not the approaching moving body T has been detected (step ST305). Next, if it determines with the illumination emphasis level determination part 82 having detected the approaching moving body T (step ST305 affirmation), it will determine the left and right illumination emphasis levels XL and XR which level up (step ST306).
  • the illumination enhancement level determination unit 82 increases the left and right illumination enhancement levels XL and XR based on the illuminance L and the moving object risk level Z (step ST307).
  • the illumination enhancement level determination unit 82 uses the left and right illumination enhancement levels XL and XR for which the level up has been determined based on the moving body risk level Z and the illuminance L based on the moving body information of the approaching moving body T.
  • the level is raised from the level, that is, the illumination enhancement level X is raised.
  • the increase amount is changed based on the illuminance L and the moving object risk level Z.
  • the moving body information is based on the detection result of the nose sensor 3, and in this embodiment, includes the approach speed VS of the approaching mobile body T relative to the host vehicle 100 and the attributes of the approaching mobile body T. It is.
  • the attribute of the approaching moving body T is determined based on the shape that is the detection result of the nose sensor 3, and is divided into at least a pedestrian T1, a light vehicle T2, and a surrounding vehicle T3 as shown in FIG. Is determined.
  • the nasal sensor is used as a moving body detection unit with an in-vehicle camera that can easily detect the shape of the object (each of the left and right front sides can be imaged).
  • 3 may be used together, and when the approaching mobile body T can transmit its own individual information, the individual information receiving device that can receive the individual information, that is, a passive sensor is used in combination with the nasal sensor 3 as a mobile body detection means. It's okay. If the in-vehicle camera or the individual information receiving device can detect the approaching moving body T and can detect the moving body information, in particular, the approaching speed VS based on the detection result, it moves instead of the nose sensor 3. You may use as a body detection means.
  • the illumination enhancement level determination unit 82 reduces the increase amount with respect to the reference level when the illuminance L is low, increases the increase amount with respect to the reference level when the illuminance L is high, and increases the reference level when the moving object risk level Z is low.
  • the up amount with respect to the reference level is increased.
  • the moving object risk level Z may be determined as high or low depending on whether the approach speed VS is faster than the reference vehicle speed.
  • the moving object risk level Z is determined to be high when it is an attribute of the approaching moving object T, for example, a light vehicle T2, and low when it is a pedestrian T1 or a surrounding vehicle T3. This is because the light vehicle T2 is considered to be less likely to perform an avoidance action for avoiding a collision with the host vehicle 100 than the pedestrian T1, and the moving object risk level Z is determined to be high.
  • the surrounding vehicle T3 is considered that the driver of the surrounding vehicle T3 is usually gazing in front of the vehicle and is likely to take an avoidance action, and the moving object risk level Z is determined to be low.
  • the illumination enhancement level determination unit 82 assumes that the illumination enhancement level X when the moving object risk level Z is high is two levels higher than the illumination enhancement level X when the movement object risk level Z is low.
  • the level 3 is low, and the illuminance L is low.
  • the level is increased to the level 5 and the illuminance L is high and the mobile object risk level Z is low.
  • the amount of increase with respect to the illuminance L and the moving object risk level Z may increase as the illuminance L and the moving object risk value Z increase.
  • the front side light control unit 83 performs illumination enhancement level change control of the left and right front side lights 9L and 9R with the left and right illumination enhancement levels XL and XR increased (step ST308).
  • the intersection estimation unit 81 determines that the host vehicle speed V is equal to or higher than the predetermined vehicle speed VT (No in step ST302)
  • the support ECU 8 resets the control (step ST309), ends the current control cycle, Shift to the control cycle.
  • the approaching mobile body support apparatus 1-3 has the same effects as those of the first embodiment.
  • the mobile body risk level Z is high, the mobile body risk level Z is low. Since the lighting emphasis level X is increased in comparison, the recognition degree can be increased according to the moving body risk level Z with respect to the approaching moving body T, so that the approaching moving body T is further alerted to the presence of the host vehicle 100. Well done.
  • FIG. 9 is a diagram illustrating another schematic configuration example of the approaching mobile body support apparatus according to the embodiment.
  • the approaching mobile body support apparatus 1-4 according to Embodiment 4 emphasizes illumination according to the recognition state of the driver D of the host vehicle 100 with respect to the approaching mobile body T, and according to the line-of-sight information of the driver D in this embodiment.
  • the illumination enhancement level change control for changing the level X is performed.
  • the line-of-sight sensor 13 is a recognition state detection unit, and detects line-of-sight information of the driver D of the host vehicle 100 such as an in-vehicle camera, for example, as shown in FIG. Entered.
  • the line-of-sight information is the line-of-sight direction of the driver D.
  • FIG. 10 is a flowchart of the approaching mobile body support method according to the fourth embodiment. Note that the basic procedure of the approaching mobile body support method according to the fourth embodiment is the same as that of the approaching mobile body support method according to the first to third embodiments, and therefore description thereof will be omitted or simplified depending on the procedure.
  • the support ECU 8 acquires information as shown in FIG. 10 (step ST401).
  • the support ECU 8 acquires the vehicle speed V, the illuminance L, and the line-of-sight information of the driver D in the present embodiment.
  • the intersection estimation unit 81 determines whether or not the own vehicle speed V is less than the predetermined vehicle speed VT (step ST402). Next, if the intersection estimation unit 81 determines that the host vehicle speed V is less than the predetermined vehicle speed VT (Yes in step ST402), the illumination enhancement level determination unit 82 sets the left and right illumination enhancement levels XL and XR as reference levels. (Step ST403). Next, the front side light control unit 83 controls the left and right front side lights 9L and 9R to the reference level (step ST404). Next, the illumination enhancement level determination unit 82 determines whether or not the approaching moving body T has been detected (step ST405). Next, if it determines with the illumination emphasis level determination part 82 having detected the approaching moving body T (step ST405 affirmation), it will determine the left and right illumination emphasis levels XL and XR which level up (step ST406).
  • the illumination enhancement level determination unit 82 increases the left and right illumination enhancement levels XL and XR based on the illuminance L and the line-of-sight information (step ST407).
  • the illumination enhancement level determination unit 82 determines whether the line-of-sight direction and the detection direction of the driver D based on the line-of-sight information match the left and right illumination enhancement levels XL and XR for which the level up has been determined. Based on the presence / absence of coincidence and the illuminance L, the level is raised from the reference level, that is, the illumination enhancement level X is raised.
  • the amount of increase is changed based on the presence or absence of line-of-sight matching and the illuminance L.
  • the illumination enhancement level X is increased compared to when the illuminance L is low, and when the line of sight matches, the illumination enhancement level X is decreased compared to the case where the line of sight does not match.
  • the illumination enhancement level X when the line of sight matches is one level lower than the illumination enhancement level X when the line of sight does not coincide, the illuminance L is low, and when the line of sight coincides, the level 2 and the illuminance L are low.
  • the level is increased to the level 3 from the reference level. If the illuminance L is high and the line of sight matches, the level 5 is high. If the line of sight does not match, the illumination enhancement level X may be increased as compared to the case of matching, and if the line of sight matches, the lighting enhancement level X is raised to level 6;
  • the front side light control unit 83 performs illumination enhancement level change control of the left and right front side lights 9L and 9R with the left and right illumination enhancement levels XL and XR increased (step ST408).
  • the intersection estimation unit 81 determines that the host vehicle speed V is equal to or higher than the predetermined vehicle speed VT (No in step ST402)
  • the support ECU 8 resets the control (step ST409), ends the current control cycle, Shift to the control cycle.
  • the approaching mobile body support apparatus 1-4 has the same effects as those of the first embodiment.
  • the driver D causes the approaching mobile body T to be present. It can be estimated that it recognizes. Therefore, when the line of sight matches, unnecessary dazzling to the approaching moving body T can be suppressed by lowering the illumination enhancement level X. In addition, it is possible to suppress unnecessary alerting to the approaching moving body T.
  • the illumination enhancement level X is higher than when the line of sight matches, so that it is estimated that the driver D has not recognized the presence of the approaching moving body T. Since the recognition degree of the own vehicle 100 can be raised, the alerting of the presence of the own vehicle 100 to the approaching moving body T can be performed more sufficiently.
  • the illumination enhancement level X when the line-of-sight directions do not match, the illumination enhancement level X may be increased compared to the case where they match, for example, the illuminance L is low, and when the line-of-sight matches, the level 3 and the illuminance L are low. If the line of sight does not match, the level may be raised to the level 4 from the reference level, and if the illuminance L is high and the line of sight matches, the level 6 may be high. Further, the illumination enhancement level determination unit 82 may change the up amount based on whether or not the approaching moving body T is located in the direction of the driver's D line of sight.
  • FIG. 11 is a diagram illustrating another schematic configuration example of the approaching mobile body support apparatus according to the embodiment.
  • FIG. 12 shows an indicator.
  • the approaching mobile body support apparatus 1-5 according to the fifth embodiment performs the illumination enhancement level change control for changing the illumination enhancement level X by detecting the approaching movement body T, and changes the display enhancement level P of the indicator 14.
  • the display emphasis level change control is performed.
  • the indicator 14 provides information to the driver D. As shown in FIG. 12, the indicator 14 is provided on the dashboard 108 above the steering 107 provided in the host vehicle 100, in the present embodiment, above the steering 107. In the present embodiment, when the approaching moving body T is detected by the nasal sensor 3, in this embodiment, the indicator 14 provides information to the driver D as to whether the approaching moving body T is detected, the detection direction, and the approaching moving body T. The distance from the host vehicle 100 is displayed in a form that can be recognized by the driver D.
  • the indicator 14 includes a detection presence / absence display unit 14a, a left front side detection display unit 14b, a right front side detection display unit 14c, and a distance level display unit 14d.
  • the detection presence / absence display unit 14a is turned on when the approaching moving body T is detected by the nasal sensor 3.
  • the left front side detection display unit 14b is lit when the detected direction of the approaching moving body T is the left front side.
  • the right front side detection display unit 14c is turned on when the detected direction of the approaching moving body T is the right front side.
  • the distance level display part 14d changes a display according to the distance with the own vehicle 100 of the approaching mobile body T.
  • the distance level display unit 14d has, for example, a plurality of bar-shaped display bodies, and increases the number of display bodies that are lit as the distance between the approaching moving body T and the host vehicle 100 approaches. In the distance level display unit 14d, the number of display bodies that are lit from the left and right front side detection display units 14b and 14c corresponding to the detection direction of the approaching moving body T increases.
  • the support ECU 8 is a control means, and performs illumination enhancement level change control and display enhancement level change control. Further, as shown in FIG. 11, the support ECU 8 functions as an intersection estimation unit 81, an illumination enhancement level determination unit 82, a front side light control unit 83, a display enhancement level determination unit 84, and an indicator control unit 85. At least.
  • the display emphasis level determination unit 84 is information input to the support ECU 8, in the present embodiment, the host vehicle risk level Y that is the risk level of the host vehicle 100 with respect to the approaching moving body T according to the state of the host vehicle 100, and line-of-sight information. Based on the above, the display emphasis level P of the indicator 14 is determined.
  • the indicator control unit 85 controls the light output from the indicator 14 based on the display enhancement level P.
  • the display emphasis level P is, for example, level 0 to level 3 in this embodiment, and level 0 is only lighting, and the luminance increases from level 1 to level 3. That is, the display enhancement level P increases as the level increases, and the degree of recognition of the indicator 14 by the driver D is improved.
  • FIG. 13 is a flowchart of the approaching mobile body support method according to the fifth embodiment. Note that the basic procedure of the approaching mobile body support method according to the fifth embodiment is the same as that of the approaching mobile body support method according to the first to fourth embodiments, and therefore description thereof will be omitted or simplified depending on the procedure.
  • the support ECU 8 acquires information (step ST501).
  • the intersection estimation unit 81 determines whether or not the own vehicle speed V is less than the predetermined vehicle speed VT (step ST502).
  • the illumination enhancement level determination unit 82 sets the left and right illumination enhancement levels XL and XR to the reference levels. (Step ST503).
  • the front side light control unit 83 controls the left and right front side lights 9L and 9R to the reference level (step ST504).
  • the illumination enhancement level determination unit 82 determines whether or not the approaching moving body T has been detected (step ST505).
  • the display enhancement level determination unit 84 of the support ECU 8 determines that the approaching moving body T has been detected (Yes in step ST505)
  • the display enhancement level P is set to the reference level
  • the indicator control unit 85 sets the indicator 14 Are controlled at the reference level (step ST506).
  • the indicator control unit 85 controls the indicator 14 so that the reference level, which is the set display emphasis level P, in this embodiment, level 0, that is, simply lights up.
  • the detection presence / absence display part 14a is turned on, and it corresponds to the detection direction of the approaching mobile body T among the left and right front / side detection display parts 14b and 14c.
  • One or both are turned on, and the distance level display unit 14d is turned on according to the distance of the approaching moving body T from the host vehicle 100. Therefore, since the indicator 14 is turned on when the approaching moving body T is detected, it can be recognized that the approaching moving body T exists on one or both of the left and right front sides of the host vehicle 100.
  • the illumination enhancement level determination unit 82 determines the left and right illumination enhancement levels XL and XR to be upgraded (step ST507).
  • the illumination enhancement level determination unit 82 increases the left and right illumination enhancement levels XL and XR based on the illuminance L, the own vehicle risk level Y, and the line-of-sight information (step ST508).
  • the illumination enhancement level determination unit 82 determines whether the line of sight matches, the illuminance L, and the host vehicle. The up amount is changed based on the risk level Y.
  • the illumination enhancement level X When the illuminance L is high, the illumination enhancement level X is increased compared to when the illuminance L is low, and when the line of sight matches, the illumination enhancement level X is decreased compared with the case where the line of sight does not match, and the own vehicle risk level Y is high Raises the lighting enhancement level X as compared with the case where the own vehicle risk level Y is low.
  • the presence / absence of line-of-sight coincidence is set higher than the own vehicle risk level Y. Therefore, when the line of sight coincides, when the own vehicle risk level Y is high, the illumination enhancement level X is not increased as compared with the case where the own vehicle risk level Y is low.
  • the illumination enhancement level X does not change regardless of the host vehicle risk level Y.
  • the host vehicle risk level Y is determined to be high when at least the host vehicle speed V is high, and more preferably determined to be high when the host vehicle speed V is high and the brake pressure Bp is low.
  • the front side light control unit 83 performs illumination enhancement level change control of the left and right front side lights 9L and 9R with the left and right illumination enhancement levels XL and XR increased (step ST509).
  • the display enhancement level determination unit 84 determines whether or not to change the display enhancement level P based on the own vehicle risk level Y and the line-of-sight information (step ST510).
  • the display enhancement level determination unit 84 determines whether or not to raise the level from the reference level, that is, increase the display enhancement level P, based on the own vehicle risk level Y and the line-of-sight information. In the present embodiment, it is determined that the display enhancement level P is increased when the own vehicle risk level Y is high or the line of sight does not match.
  • the display emphasis level P when the host vehicle risk level Y is high, the display emphasis level P is increased compared to when the host vehicle risk level Y is low, and when the line of sight coincides, the display emphasis level P is decreased compared to the case where the line of sight does not match.
  • the own vehicle risk level Y is set to have a higher priority than the presence or absence of line-of-sight matching. Therefore, when the line of sight coincides, when the own vehicle risk level Y is high, the display emphasis level P is raised compared to when the own vehicle risk level Y is low. That is, when the line of sight matches, the display emphasis level P changes according to the own vehicle risk level Y.
  • the indicator control unit 85 determines to change the display enhancement level P based on the own vehicle risk level Y and the line-of-sight information (Yes in step ST510)
  • the indicator control unit 85 controls the indicator 14 (step ST511).
  • the indicator control unit 85 controls the indicator 14 based on the changed display enhancement level P.
  • step ST502 When the intersection estimation unit 81 determines that the host vehicle speed V is equal to or higher than the predetermined vehicle speed VT (No in step ST502), the support ECU 8 resets the control (step ST512), ends the current control cycle, Shift to the control cycle.
  • the approaching mobile body support apparatus 1-5 has the same effects as those of the first embodiment, and when the own vehicle risk level Y is high when the line of sight coincides, Compared to the case where the degree Y is low, the illumination enhancement level X is not increased, and the display enhancement level P is increased. Therefore, since it is possible to suppress excessive alerting to the approaching moving body T while maintaining the alerting of the state of the own vehicle 100 to the driver D by the indicator 14, the own vehicle with respect to the approaching moving body T can be suppressed. Intimidation by 100 can be suppressed.
  • the approaching mobile body support apparatus 1-6 according to the sixth embodiment will be described. Since the basic configuration of the approaching mobile body support apparatus 1-6 according to Embodiment 6 is the same as that of the approaching mobile body support apparatus 1-5 according to Embodiment 5, the description of the configuration is omitted.
  • the approaching mobile body support apparatus 1-6 according to Embodiment 6 detects the approaching mobile body T, thereby performing illumination enhancement level change control for changing the illumination enhancement level X and changing the display enhancement level P of the indicator 14.
  • the display emphasis level change control is performed.
  • FIG. 14 is a flowchart of the approaching mobile body support method according to the sixth embodiment. Note that the basic procedure of the approaching mobile body support method according to Embodiment 6 is the same as that of the approaching mobile body support method according to Embodiments 1 to 5, and therefore description thereof will be omitted or simplified depending on the procedure.
  • the support ECU 8 acquires information as shown in FIG. 14 (step ST601).
  • the intersection estimation unit 81 determines whether or not the own vehicle speed V is less than the predetermined vehicle speed VT (step ST602).
  • the illumination enhancement level determination unit 82 sets the left and right illumination enhancement levels XL and XR as reference levels. (Step ST603).
  • the front side light control unit 83 controls the left and right front side lights 9L and 9R to the reference level (step ST604).
  • the illumination enhancement level determination unit 82 determines whether or not the approaching moving body T has been detected (step ST605).
  • step ST605 when the display enhancement level determination unit 84 determines that the approaching moving body T is detected (Yes in step ST605), the display enhancement level P is set to the reference level, and the indicator control unit 85 sets the indicator 14 at the reference level. Control is performed (step ST606).
  • the illumination enhancement level determination unit 82 determines the left and right illumination enhancement levels XL and XR to be upgraded (step ST607).
  • the illumination enhancement level determination unit 82 increases the left and right illumination enhancement levels XL and XR based on the illuminance L, the moving object risk level Z, and the line-of-sight information (step ST608).
  • the illumination enhancement level determination unit 82 determines whether the line of sight matches, the illuminance L, and the moving object. The up amount is changed based on the risk level Z.
  • the illumination enhancement level X When the illuminance L is high, the illumination enhancement level X is increased compared to when the illuminance L is low, and when the line of sight matches, the illumination enhancement level X is decreased compared to the case where the line of sight does not match, and the moving object risk level Z is high Increases the lighting enhancement level X compared to the case where the moving object risk level Z is low.
  • the moving body risk level Z is set higher in priority than the presence or absence of line-of-sight matching. Accordingly, when the line of sight coincides, when the moving object risk level Z is high, the illumination enhancement level X is increased as compared with the case where the moving object risk level Z is low. That is, when the line of sight matches, the illumination enhancement level X changes according to the moving object risk level Z.
  • the moving body risk level Z is determined to be high at least when the approaching speed VS is high or the attribute of the approaching mobile body T is the light vehicle T2, and more preferably, the approaching speed VS is high and the approaching mobile body T It is determined that the attribute is high when the attribute is the light vehicle T2.
  • the moving body risk level Z may be determined to be high not only when the attribute of the approaching moving body T is the light vehicle T2 but also when the pedestrian T1.
  • the front side light control unit 83 performs illumination enhancement level change control of the left and right front side lights 9L and 9R whose left and right illumination enhancement levels XL and XR are increased (step ST609).
  • the display enhancement level determination unit 84 determines whether or not to change the display enhancement level P based on the moving object risk level Z and the line-of-sight information (step ST610).
  • the display enhancement level determination unit 84 determines whether or not to raise the level from the reference level, that is, to increase the display enhancement level P, based on the moving body risk level Z and the line-of-sight information. In the present embodiment, it is determined that the display enhancement level is increased when the moving object risk level Z is high or the line of sight does not match.
  • the display emphasis level P when the moving object risk level Z is high, the display emphasis level P is increased compared to the case where the moving object risk value Z is low, and when the line of sight matches, the display emphasis level P is decreased compared to the case where the line of sight does not match.
  • the presence / absence of line-of-sight matching is set higher in priority than the moving object risk level Z. Therefore, when the line of sight coincides, when the moving object risk level Z is high, the display emphasis level P is not increased as compared with the case where the moving object risk level Z is low. That is, when the line of sight matches, the display emphasis level P does not change regardless of the moving object risk level Z.
  • the indicator control unit 85 controls the indicator 14 (step ST611).
  • the intersection estimation unit 81 determines that the host vehicle speed V is equal to or higher than the predetermined vehicle speed VT (No in step ST602)
  • the support ECU 8 resets the control (step ST612), ends the current control cycle, Shift to the control cycle.
  • the approaching mobile body support apparatus 1-6 has the same effects as those of the first embodiment, and when the mobile body danger level Z is high when the lines of sight coincide, Compared with the case where the degree Z is low, the illumination enhancement level X is raised and the display enhancement level P is not raised. Therefore, it is possible to maintain the alerting to the approaching moving body T with respect to the moving body risk level Z while suppressing excessive alerting to the driver D.
  • the nasal sensor 3 need only be able to output detection waves in the vehicle width direction, that is, at least in the left and right sides.
  • the nasal sensor 3 may be composed of, for example, two sensors that are visible when viewed in the vehicle width direction and output detection waves at least to the left and right sides.
  • the control start condition is that the host vehicle speed V is less than the predetermined vehicle speed VT.
  • the host vehicle 100 may include a front in-vehicle camera that captures the front of the vehicle, recognize a temporary stop line through which the host vehicle 100 passes, and the start condition of the control may be that the host vehicle speed V is less than a predetermined vehicle speed VT.
  • an operation article such as a switch or a lever that is one of the control start conditions is operated by the driver D, and the driver D detects the intention to perform the control by operating the operation article. May be set to be less than the predetermined vehicle speed VT as a control start condition.
  • the left and right illumination enhancement levels XL and XR are turned on as the reference level, that is, the left and right front side lights 9L and 9R are turned on.
  • the present invention is not limited to this.
  • the illumination enhancement level X is set to levels 0 to 10 You may change to That is, the left and right front side lights 9L and 9R may be lit or blinked only when the approaching moving body T is detected.
  • the illumination enhancement level X changes the lighting state (blinking, blinking) and blinking speed, but is not limited to this.
  • the illumination enhancement level may change the illuminance (brightness) or color of the front side light 9.
  • the display emphasis level P is for changing the luminance, but is not limited to this.
  • the display intensity level may change the lighting state of the indicator 14 or the color.

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Lighting Device Outwards From Vehicle And Optical Signal (AREA)
  • Traffic Control Systems (AREA)

Abstract

La présente invention concerne un dispositif qui est pourvu : d'un capteur du type nez (3) qui est placé sur le côté avant/latéral du véhicule hôte (100) et qui détecte un corps mobile s'approchant du véhicule hôte (100) ; d'une lumière avant/latérale (9) qui est placée différemment d'un phare fourni, dirigé vers l'avant du véhicule hôte (100), en ce qu'elle est placée davantage vers l'avant d'un véhicule qu'un panneau de porte avant et qu'elle est au moins visible quand elle est vue dans la direction de la largeur du véhicule ; d'une unité de commande électronique d'assistance (8) pour effectuer une commande de changement de niveau d'accentuation d'éclairage pour changer le niveau d'accentuation d'éclairage (X) de la lumière avant/latérale (9). Lors de la détection d'un corps mobile en approche, l'unité de commande électronique d'assistance (8) élève le niveau d'accentuation d'éclairage (X).
PCT/JP2012/053727 2012-02-16 2012-02-16 Dispositif d'assistance de corps mobile en approche Ceased WO2013121570A1 (fr)

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JP2014146177A (ja) * 2013-01-29 2014-08-14 Denso Corp 側突防止装置
JP2015232859A (ja) * 2014-06-11 2015-12-24 株式会社デンソー 安全確認支援システム、安全確認支援方法
WO2016114048A1 (fr) * 2015-01-13 2016-07-21 日立マクセル株式会社 Dispositif de projection d'image
JP7037611B1 (ja) 2020-09-11 2022-03-16 株式会社 日立産業制御ソリューションズ 車両走行支援装置、車両走行支援方法及び車両走行支援プログラム

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JP2014146177A (ja) * 2013-01-29 2014-08-14 Denso Corp 側突防止装置
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JP7037611B1 (ja) 2020-09-11 2022-03-16 株式会社 日立産業制御ソリューションズ 車両走行支援装置、車両走行支援方法及び車両走行支援プログラム
JP2022046881A (ja) * 2020-09-11 2022-03-24 株式会社 日立産業制御ソリューションズ 車両走行支援装置、車両走行支援方法及び車両走行支援プログラム

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