JP7569720B2 - Vehicle assistance device, vehicle assistance system, and vehicle assistance method - Google Patents

Description

The present invention relates to a vehicle assistance device, a vehicle assistance system, and a vehicle assistance method.

Patent Document 1 discloses an autonomous vehicle equipped with a departure control device. After the post-dismounting user is detected, the departure control device maintains the autonomous vehicle in a stopped state until a departure condition is met, and permits the autonomous vehicle to start when the departure condition is met. The departure condition is at least that the post-dismounting user moves out of the movement determination area around the autonomous vehicle, or that the post-dismounting user is within the movement determination area but remains in the same position for a certain period of time or more.

JP 2019-53506 A

The method disclosed in Patent Document 1 takes into consideration passengers who have disembarked, but does not consider moving objects that exist around a stopped vehicle. If a moving object exists within an area that could affect the vehicle, the vehicle will not be able to depart properly. This causes the vehicle to depart slower, which has a significant impact on surrounding traffic.

The present invention was made in consideration of these problems, and its purpose is to provide a vehicle assistance device, a vehicle assistance system, and a vehicle assistance method that can reduce the impact that a stopped vehicle has on surrounding traffic.

A vehicle assistance device according to one aspect of the present invention sets a judgment range within a certain range from a parked vehicle, identifies the movement status of objects existing outside the judgment range, extracts objects predicted to enter the judgment range as predicted-entry objects, generates range data indicating the judgment range and notification data including notification information that alerts the predicted-entry object to the judgment range, and transmits the range data and notification data to an output device for the vehicle or an output device for the predicted-entry object.

The present invention can reduce the impact that a stopped vehicle has on surrounding traffic.

FIG. 1 is a block diagram showing the configuration of a vehicle assistance system. FIG. 2A is a flowchart showing the processing performed by the vehicle assistance system. FIG. 2B is a flowchart showing the processing performed by the vehicle assistance system. FIG. 3A is a flowchart showing the processing performed by the vehicle assistance system. FIG. 3B is a flowchart showing the processing performed by the vehicle assistance system. FIG. 4 is a diagram for explaining the confirmation range and the movement range. FIG. 5 is a diagram showing a confirmation range displayed around the vehicle. FIG. 6 is a diagram for explaining an object predicted to enter the confirmation range. FIG. 7 is a diagram for explaining the confirmation range and the movement range. FIG. 8 is a diagram showing a confirmation range displayed around the vehicle. FIG. 6 is a diagram for explaining an object predicted to enter the confirmation range.

Embodiments of the present invention will be described below with reference to the drawings. In the description of the drawings, identical parts are given the same reference numerals and the description will be omitted.

The configuration of the vehicle assistance system according to this embodiment will be described with reference to FIG. 1. The vehicle assistance system according to this embodiment is a system that executes a process to assist the vehicle 200 in a stopped state in departing. The stop of the vehicle 200, whose departure is supported by the vehicle assistance system, refers to a stop for the purpose of a user getting on or off. However, the stop of the vehicle 200 targeted by the vehicle assistance system is not limited to a stop for the purpose of a user getting on or off, but may be a stop for the purpose of loading and unloading luggage, or a stop for other purposes. When the vehicle 200 is stopped in this way, it is common for the vehicle 200 to be stopped close to the shoulder of the road, taking into consideration the surrounding traffic environment. That is, the vehicle assistance system executes a process to assist the vehicle 200 that is stopped close to the shoulder of the road in departing.

The vehicle assistance system is composed of a server 1, an in-vehicle system 2 mounted on a vehicle 200, and an object-side system 3 provided on an object 300 present around the vehicle 200.

The server 1, the in-vehicle system 2, and the object side system 3 are configured to be able to communicate with each other via a network 5. The network 5 may be, for example, the Internet. The network 5 may also use a mobile communication function such as 4G/LTE or 5G.

The server 1 is a vehicle assistance device that proactively executes processing to assist the vehicle 200 in departing from a stopped state. The server 1 is configured, for example, by a server computer or a personal computer. The server 1 has a hardware processor such as a CPU (Central Processing Unit), a memory, and various interfaces. The memory and various interfaces are connected to the hardware processor via a bus.

The communication interface 10 includes one or more wired or wireless communication interface units. The communication interface 10 enables the transmission and reception of information between the in-vehicle system 2 and the object side system 3. For example, a wired LAN is used as the wired interface. For example, a wireless LAN is used as the wireless interface. The communication interface 10 transmits data between the in-vehicle system 2 and the object side system 3 in accordance with a communication protocol defined by the network 5.

The communication interface 10 functions as a data receiver that receives various data from the in-vehicle system 2 and the object side system 3. The communication interface 10 also functions as a data transmitter that transmits various data to the in-vehicle system 2 or the object side system 3.

The controller 15 is composed of a hardware processor and a memory, and operates as one or more information processing circuits that realize various functions of the server 1. These functions are realized by having the hardware processor execute programs stored in the memory.

The controller 15 includes one or more information processing circuits, including a range setting unit 15a, an object identification unit 15b, an object extraction unit 15c, a data generation unit 15d, and an output control unit 15e.

The range setting unit 15a sets a judgment range within a certain range from the vehicle 200 based on the stopping position of the vehicle 200. The object identification unit 15b identifies the movement status of the object 300 that exists outside the judgment range based on the detection data of the object 300 around the vehicle 200. The object extraction unit 15c extracts the object 300 that is predicted to enter the judgment range as an entering predicted object based on the movement status of the object 300. The data generation unit 15d generates range data and notification data. The range data is data that indicates the judgment range, and the notification data is data that includes notification information that calls the attention of the entering predicted object to the judgment range. The output control unit 15e performs processing to output the range data and notification data to the output device 22 of the in-vehicle system 2 or the output device 32 of the predicted object via the communication interface 10.

The in-vehicle system 2 is a system mounted on the vehicle 200. The vehicle 200 is a service vehicle that transports a user from a boarding location to a disembarking location in response to a dispatch request. However, the vehicle 200 is not limited to a service vehicle, and may be a private vehicle used for personal use. The vehicle 200 is also a vehicle that runs using an automatic driving function without a driver on board. However, the vehicle 200 may be a vehicle that runs manually by a driver, or a vehicle that runs using an automatic driving function with a driver on board.

Autonomous driving refers to a state in which at least one of the actuators, such as the brake, accelerator, or steering, is controlled without the driver's operation. Therefore, it is acceptable for other actuators to be operated by the driver's operation. Autonomous driving may refer to a state in which any vehicle control, such as acceleration/deceleration control or lateral position control, is being executed. Manual driving refers to a state in which the driver operates the brake, accelerator, or steering, for example.

The in-vehicle system 2 executes processes such as notifying objects 300 around the vehicle 200 of information based on the range data and notification data. The in-vehicle system 2 is configured, for example, by a microcomputer. The in-vehicle system 2 has, for example, a hardware processor such as a CPU (Central Processing Unit), a memory, and various interfaces. The memory and various interfaces are connected to the hardware processor via a bus.

The communication interface 20 includes one or more wired or wireless communication interface units. The communication interface 20 enables the transmission and reception of information between the server 1 and the object side system 3. The communication interface 20 is similar to the communication interface 10 of the server 1.

The input/output interface 21 is connected to an output device 22, a position estimation device 23, and an object detection device 24 mounted on the vehicle 200. The input/output interface 21 receives data output from the position estimation device 23 and the object detection device 24, and outputs this data to the controller 25. The input/output interface 21 also outputs predetermined data output from the controller 25 to the output device 22, and performs processing to cause the output device 22 to output information according to the data.

The output device 22 is a device that outputs information around the vehicle 200. The form of information output by the output device 22 is a display, but may also include sound or voice. In this embodiment, the output device 22 includes a light-emitting device 22a and a speaker 22b.

The light-emitting device 22a is a device that displays information by projecting light on the periphery of the vehicle 200, specifically on the ground around the vehicle 200. One or more light-emitting devices 22a are mounted on the vehicle 200, and can display information in all directions around the vehicle 200. The speaker 22b is a device that outputs sound or audio around the vehicle 200. One or more speakers 22b are mounted on the vehicle 200, and can output sound or audio in all directions around the vehicle 200.

The position estimation device 23 measures the position of the vehicle using position estimation technologies such as GPS (Global Positioning System) and odometry. The position estimation device 23 includes a GPS receiver, an inertial navigation system, sensors installed on the brake pedal and accelerator pedal, sensors for acquiring vehicle behavior such as wheel speed sensors and yaw rate sensors, a laser radar, a camera, etc. The position estimation device 23 measures the stopping position of the vehicle 200 using one of these pieces of information or by combining multiple pieces of information. The position estimation device 23 generates position data indicating the stopping position of the vehicle 200 based on the measurement results, and outputs this position data.

The object detection device 24 includes a plurality of object detection sensors mounted on the vehicle 200. The object detection device 24 detects objects 300 that exist around the vehicle 200 using the plurality of object detection sensors. The detection result of the object 300 includes the position, speed, moving direction, and attributes of the object 300. The attributes refer to the characteristics of the object 300, such as an automobile, motorcycle, bicycle, pedestrian, etc. The object detection device 24 generates detection data that detects the objects 300 that exist around the vehicle 200, and outputs this detection data.

The multiple object detection sensors include, for example, a laser range finder. The laser range finder senses the surroundings of the vehicle (e.g., 360 degrees) within a predetermined range and outputs data of the sensing results. The data of the sensing results is output, for example, in a point cloud format. The multiple object detection sensors also include a camera. The camera captures images of the surroundings of the vehicle (e.g., 360 degrees) and outputs the captured image data. Multiple cameras are installed so that images of the surroundings of the vehicle can be captured. The object detection device 24 may include types of sensors other than laser range finders and cameras.

The object detection device 24 may obtain information about the object 300 (position, speed, direction of movement, and attributes) from the object 300 itself by communicating directly with the object side system 3 or by communicating with the object side system 3 via the network 5.

The controller 25 is composed of a hardware processor and a memory, and operates as one or more information processing circuits that realize various functions of the in-vehicle system 2. These functions are realized by having the hardware processor execute programs stored in the memory.

In this embodiment, when the controller 25 receives detection data detected by the object detection device 24 via the input/output interface 21, the controller 25 performs a process of transmitting the detection data to the server 1 via the communication interface 20. In addition, when the controller 25 receives range data and notification data via the communication interface 20, the controller 25 performs a process of outputting the range data and notification data to the output device 22 via the input/output interface 21.

The controller 25 is connected to a CAN interface (not shown) and can acquire vehicle information, which is information related to the vehicle 200. The controller 25 can determine whether the vehicle 200 has stopped based on the vehicle information. The controller 25 can also issue various instructions to an autonomous driving system that is installed in the vehicle 200 and is responsible for the autonomous driving function.

The object side system 3 is a system equipped in the object 300. When the object 300 is a vehicle such as an automobile or motorcycle, the object side system 3 corresponds to an in-vehicle system installed in the vehicle, or a user terminal (information processing terminal) used by a user riding in the vehicle. When the object 300 is a pedestrian or a bicycle, the object side system 3 corresponds to a user terminal (information processing terminal) used by the pedestrian or the user riding the bicycle.

The object side system 3 executes processes such as notifying information to objects 300 present around the vehicle 200 based on the range data and notification data. The object side system 3 is configured, for example, by a microcomputer. The object side system 3 has, for example, a hardware processor such as a CPU (Central Processing Unit), a memory, and various interfaces. The memory and various interfaces are connected to the hardware processor via a bus.

The communication interface 30 includes one or more wired or wireless communication interface units. The communication interface 30 enables the transmission and reception of information between the server 1 and the in-vehicle system 2. The communication interface 30 is similar to the communication interface 10 of the server 1.

An output device 32 is connected to the input/output interface 31. The input/output interface 31 outputs specific data output from the controller 35 to the output device 32, and performs processing to cause the output device 32 to output information according to the data.

The output device 32 is a device that outputs information. The form of information output by the output device 32 is display, but may also include sound or voice. In this embodiment, the output device 32 includes a display 32a and a speaker 32b.

The display 32a is a device that displays information and is equipped with a display panel that uses liquid crystal or organic EL (Electro Luminescence), etc. The speaker 32b is a device that outputs sound or audio.

The controller 35 is composed of a hardware processor and a memory, and operates as one or more information processing circuits that realize various functions of the object side system 3. These functions are realized by having the hardware processor execute programs stored in the memory.

In this embodiment, when the controller 35 receives range data and notification data via the communication interface 30, it performs processing to output the range data and notification data to the output device 32 via the input/output interface 31.

The process flow in the vehicle assistance system will be described below with reference to Figures 2A to 9. In the vehicle assistance system, the server 1 is mainly responsible for processing, the in-vehicle system 2 is mainly responsible for processing, and the object side system 3 is mainly responsible for processing.

First, when the in-vehicle system 2 determines that the vehicle 200 has stopped (step S10), the in-vehicle system 2 transmits stopping data, including the stopping position of the vehicle 200, to the server 1 (step S11).

The server 1 sets a judgment range within a certain range from the vehicle 200 based on the stopping position of the vehicle 200. Here, the judgment range refers to a range that affects the vehicle 200 when a user gets on or off the vehicle, and when the vehicle departs. In this embodiment, the judgment range includes three ranges: a confirmation range 500, a danger range 510, and a movement range 520, which will be described later. The server 1 generates range data indicating each of the ranges (step S12).

As shown in FIG. 4, the server 1 sets the confirmation range 500 in all directions around the vehicle 200 and within a certain range from the vehicle 200. The server 1 sets the confirmation range 500 so as to include the movable range of the door 201 (an example of a vehicle movable part) that moves when the user gets off the vehicle 200. Note that the server 1 does not need to set the confirmation range 500 in all directions around the vehicle 200, and may set the confirmation range 500 individually at a location corresponding to the position of the door 201 of the vehicle 200. The server 1 may also set the confirmation range 500 by limiting the range around the vehicle 200 to the side on which the user gets off.

Meanwhile, the server 1 sets a danger zone 510 in all directions around the vehicle 200 and within a certain range from the vehicle 200. In the example shown in FIG. 4, the server 1 sets the danger zone 510 in a range narrower than the confirmation zone 500, i.e., in the vicinity of the vehicle 200. However, the danger zone 510 may be the same as the confirmation zone 500.

The server 1 can set the confirmation range 500 and the danger range 510 taking into account the vehicle type, size and position of the door 201 of the vehicle 200, as well as the vehicle condition, e.g., the orientation of the vehicle 200.

When the server 1 transmits confirmation range data indicating the confirmation range 500 to the in-vehicle system 2, the in-vehicle system 2 receives the confirmation range data (step S14).

The confirmation range data includes data that causes the light-emitting device 22a of the output device 22 to display the confirmation range 500. As shown in FIG. 5, the in-vehicle system 2 displays the confirmation range 500 on the ground around the vehicle 200 using the light-emitting device 22a of the output device 22 (step S15).

If the color of the ground on which the vehicle 200 is parked is similar to the color of the confirmation range 500 displayed by the light-emitting device 22a, it will be difficult to recognize the confirmation range 500. Therefore, it is preferable for the server 1 to generate confirmation range data so that the confirmation range 500 is displayed in a color different from that of the ground, taking into account the color of the ground on which the vehicle 200 is parked.

Once the confirmation range 500 is displayed, the in-vehicle system 2 starts object detection using the object detection device 24 (step S16).

When the server 1 receives the detection data from the in-vehicle system 2 (step S17), it identifies the object 300 that exists outside the confirmation range 500 and the movement status of the object 300 based on the detection data (step S18). The movement status includes at least the speed and movement direction of the object 300. When the server 1 identifies the object 300 approaching the confirmation range 500 based on the movement status of the object 300 (step S19), it determines whether the object 300 is predicted to enter the confirmation range 500 (step S20).

If there is no object 300 predicted to enter the confirmation range 500 (step S20: NO), the process returns to step S17. On the other hand, if there is an object 300 predicted to enter the confirmation range 500 (step S20: YES), the server 1 calculates the distance L from the object 300 to the outer edge of the confirmation range 500 and the time t until the object 300 enters the confirmation range 500 (steps S21, S22).

The server 1 calculates the time t based on, for example, equation (1): where α is the angle between the orientation of the vehicle 200 and the orientation of the object 300.
Time t = Distance L/(Speed x cos α)...Formula (1)

As shown in FIG. 2B, if the time t is equal to or greater than the preset judgment time T (step S23: NO), it can be said that there is sufficient time before the object 300 enters the confirmation range 500. In this case, the process returns to step S17.

On the other hand, if the time t is less than the preset judgment time T (step S23: YES), it can be said that there is not much time left before the object 300 enters the confirmation range 500. In this case, the server 1 extracts the object 300 as an object predicted to enter (step S24). In other words, the predicted object to enter corresponds to the object 300 predicted to enter the confirmation range 500 within the judgment time T.

The server 1 generates notification data including notification information that alerts the predicted approaching object to the confirmation range 500 (step S25). When the server 1 transmits the notification data to the in-vehicle system 2 and the object-side system 3, the notification data is received by the in-vehicle system 2 and the object-side system 3 (steps S26 and S27). The in-vehicle system 2 outputs the notification information by the output device 22 (step S28), and the object-side system 3 outputs the notification information by the output device 32 (step S29).

The notification data transmitted to the in-vehicle system 2 includes data for the light-emitting device 22a of the output device 22 to display the notification information, and data for the speaker 22b of the output device 22 to output the notification information as sound or voice. The in-vehicle system 2 causes the light-emitting device 22a to display the notification information on the ground around the vehicle 200, and outputs the notification information as sound or voice through the speaker 22b.

Similarly, the notification data transmitted to the object side system 3 includes data for the display 32a of the output device 32 to display the notification information, and data for the speaker 32b of the output device 32 to output the notification information as sound or voice. The object side system 3 displays the notification information on the display 32a, and outputs the notification information as sound or voice through the speaker 32b.

As shown in FIG. 6, the server 1 extracts an object 300 that is predicted to enter the confirmation range 500 within the judgment time T as a predicted entering object. Therefore, the output of the notification information is disclosed at a timing that precedes the timing of entry into the confirmation range 500 by a time T. In this case, the position (distance L2 from the confirmation range 500) at which the notification information is output for the predicted entering object 302 with a fast moving speed V2 is farther from the vehicle 200 than the position (distance L1 from the confirmation range 500) at which the notification information is output for the predicted entering object 301 with a slow moving speed V1.

The notification information is displayed according to the display mode defined in the notification data. For example, the notification information is displayed by symbols such as letters or symbols that call attention. The symbols may be displayed constantly for a certain period of time, or may be displayed while flashing for a certain period of time. When displaying the notification information using the light-emitting device 22a of the in-vehicle system 2, it is preferable to display the notification information on the ground ahead of the predicted approaching object in the direction of travel of the predicted approaching object. The notification information may also be displayed by flashing the display of the confirmation range 500.

The notification information may be displayed more emphasized as the distance between the predicted approaching objects 301, 302 and the vehicle 200 becomes closer. Methods for highlighting the notification information include speeding up the blinking cycle of the symbol, changing the type of symbol, or changing the display color of the symbol to red.

On the other hand, the output of notification information by sound or voice is performed in the output mode defined in the notification data. For example, the notification information is output by voice or alarm sound that calls attention. In this case, the closer the distance between the predicted entering objects 301, 302 and the confirmation range 500, the more emphasized the notification information may be output. Methods for emphasizing the output of notification information include shortening the output cycle of the voice or alarm sound that calls attention, or increasing the volume of the voice or alarm sound that calls attention.

In addition, if the language or nationality of the user using the object side system 3 is known, the server 1 may generate notification information in a language that the user can understand.

Referring again to FIG. 2B, if an object predicted to enter is present in a safety zone that is outside the danger zone 510 (step S30: YES), the server 1 transmits a preparation instruction to the in-vehicle system 2 (step S31). When the preparation instruction is received by the in-vehicle system 2 (step S31), the in-vehicle system 2 outputs an instruction to prepare for departure to the automated driving system (step S32).

When the stop instruction sent from the server 1 is received by the in-vehicle system 2 (step S33), the in-vehicle system 2 stops displaying the confirmation range 500 (step S34).

On the other hand, if an object predicted to enter is present within the danger zone 510 (step S30: NO), the process returns to step S17.

The above series of processes assumes a scene from when the vehicle 200 stops until the user gets off. Below, we will explain the series of processes in the vehicle assistance system, assuming a scene from when the user finishes getting off until the vehicle 200 departs.

When the vehicle 200 stops (step S13), the server 1 also sets the movement range 520. As shown in FIG. 7, the movement range 520 indicates the range in which the vehicle 200 moves when the vehicle 200 departs from the stopping position, and is set according to the predicted driving route of the vehicle 200. The server 1 can also set the movement range 520 taking into consideration the vehicle type, size, and position of the door 201 of the vehicle 200, as well as the vehicle state, for example, the orientation of the vehicle 200.

As shown in FIG. 3A, when the server 1 transmits movement range data indicating the movement range 520 to the in-vehicle system 2, the in-vehicle system 2 receives the movement range data (step S35).

The movement range data includes data for display by the light-emitting device 22a of the output device 22. As shown in FIG. 8, the in-vehicle system 2 displays the movement range 520 on the ground around the vehicle 200 using the light-emitting device 22a of the output device 22 (step S36).

The process from step S37 to step S50 describes the process of outputting notification information for the moving range 520 as shown in FIG. 9, but the basic flow is the same as the process from step S16 to step S29 described above. Therefore, a detailed description will be omitted.

Note that the predicted objects predicted to enter the movement range 520 include vehicles such as automobiles and motorcycles, in addition to pedestrians and bicycles. Even if notification information is output from the speaker 22b mounted on the vehicle 200, it may be difficult for the notification information to be conveyed to the user of the automobile or motorcycle. Therefore, the server 1 may generate notification data so that the output form of the notification information output from the output device 22 of the in-vehicle system 2 is changed according to the attributes of the predicted object. Specifically, when the predicted object is a vehicle such as an automobile or motorcycle, the notification information is output only from the light-emitting device 22a of the output device 22. On the other hand, when the predicted object is a non-vehicle such as a pedestrian or bicycle, the notification information is output from both the light-emitting device 22a and the speaker 22b of the output device 22.

Referring to FIG. 3B, in the process of step S51, it is determined whether entry into the movement range 520 has been predicted in the preceding process of step S41. If entry into the movement range 520 has been predicted, the process returns to the process of step S38.

If entry into the movement range 520 is not predicted in the preceding processing of step S41 (step S41: NO or step S51: NO), the server 1 transmits a stop instruction to the in-vehicle system 2 (step S52). When the stop instruction transmitted from the server 1 is received by the in-vehicle system 2 (step S52), the in-vehicle system 2 stops displaying the movement range 520 (step S53).

If the predicted entry object is not predicted to enter the confirmation range 500 (step S54: NO), the server 1 transmits a departure instruction to the in-vehicle system 2 (step S55). When the departure instruction is received by the in-vehicle system 2 (step S55), the in-vehicle system 2 notifies the autonomous driving system of an instruction that departure is possible (step S56).

On the other hand, if the predicted object is predicted to enter the confirmation range 500 (step S54: YES), the process returns to step S14.

In this way, according to the server 1, which is the vehicle assistance device of this embodiment, it is possible to set a judgment range (specifically, a confirmation range 500 and a movement range 520) in a range that has an effect on the stopped vehicle 200. Then, the range data and notification data are transmitted to the in-vehicle system 2 including the output device 22 and the object side system 3 including the output device 32, so that the judgment range and notification information can be notified to the predicted entry object from these output devices 22, 32. This makes it possible to prevent the predicted entry object from entering the judgment range, so that the vehicle 200 can depart smoothly. It is possible to prevent the departure of the vehicle 200 from being delayed, so that the impact on the surrounding traffic can be suppressed.

According to the server 1 of this embodiment, the judgment range can be displayed by the light-emitting device 22a of the in-vehicle system 2. As a result, the predicted entering object can visually recognize the judgment range around the vehicle 200, and can specifically recognize the judgment range. Therefore, the predicted entering object can be prevented from entering the judgment range. Note that the display of the judgment range is not limited to being performed by the light-emitting device 22a of the in-vehicle system 2, but may also be performed by the display 32a of the object-side system 3. In this case, it is preferable to display not only the judgment range, but also a symbol indicating the vehicle 200 and a symbol indicating the predicted entering object.

According to the server 1 of this embodiment, notification information can be output by the light-emitting device 22a of the in-vehicle system 2 or the display 32a of the object-side system 3. This allows the notification information to be output around the vehicle 200 or in the vicinity of the predicted entry object. Since it is possible to alert the predicted entry object about entry into the judgment range, it is possible to prevent the predicted entry object from entering the judgment range.

According to the server 1 of this embodiment, notification information can be output by the speaker 22b of the in-vehicle system 2 or the speaker 32b of the object side system 3. This allows the notification information to be output around the vehicle 200 or near the predicted entry object. Since it is possible to alert the predicted entry object about entry into the judgment range, it is possible to prevent the predicted entry object from entering the judgment range.

According to the server 1 of this embodiment, notification information can be output to the predicted entering object a certain time prior to the timing at which the predicted entering object enters the judgment range. This makes it possible to appropriately prevent the predicted entering object from entering the judgment range, regardless of the moving speed of the predicted entering object.

According to the server 1 of this embodiment, the output format of the notification information is changed according to the attributes of the predicted entering object. Since the notification information can be output in an output format according to the attributes of the predicted entering object, the notification information can be appropriately notified to the entering object.

According to the server 1 of this embodiment, the closer the distance between the predicted entering object and the vehicle 200, the more emphasized the notification information is output. Since the predicted entering object can be made to intuitively recognize the likelihood of entering the judgment range, it is possible to effectively prevent the predicted entering object from entering the judgment range.

Furthermore, according to the vehicle assistance system and vehicle assistance method disclosed in this embodiment, similar to the server 1 (vehicle assistance device), the predicted entry object can recognize the judgment range and notification information from the output devices 22, 32. This makes it possible to prevent the predicted entry object from entering the judgment range, allowing the vehicle 200 to depart smoothly. Therefore, it is possible to prevent the departure of the vehicle 200 from being delayed, and to reduce the impact on surrounding traffic.

In the above-described embodiment, the vehicle assistance system is composed of the server 1, the in-vehicle system 2, and the object side system 3. However, the server 1 may be omitted, and the functions realized by the controller 15 of the server 1 may be performed by the controller 25 of the in-vehicle system 2. In this case, the input/output interface 21 serves as a data receiving unit that receives detection data from a device that detects objects around the vehicle 200. Furthermore, the communication interface 20 and the input/output interface 21 serve as a data transmitting unit that transmits the range data and the notification data to the output device 22 of the vehicle 200 or the output device 32 of the predicted approaching object.

In the above-described embodiment, the server 1 extracts an object predicted to enter from the objects 300 approaching the vehicle 200, and outputs notification information targeting the object predicted to enter from the output device. However, the server 1 may also output notification information targeting a user who has dismounted from the vehicle 200. For example, if a user who has dismounted from the vehicle 200 is in the danger zone 510, notification information is output from the output device.

In addition, in the above-described embodiment, the in-vehicle system 2 is configured to include an object detection device 24. However, the object detection device 24 may be a device provided outside the vehicle 200.

In the above-described embodiment, the notification information is output from both the in-vehicle system 2 and the object side system 3. However, the notification information may be output only from the in-vehicle system 2 or only from the object side system 3.

In the above-described embodiment, an example was shown in which multiple information processing circuits provided in the controller were realized by software, but it is of course possible to configure the information processing circuits by providing dedicated hardware for realizing the functions of each information processing circuit. Also, multiple information processing circuits may be configured by individual hardware.

As described above, an embodiment of the present invention has been described, but the descriptions and drawings that form part of this disclosure should not be understood as limiting this invention. Various alternative embodiments, examples, and operating techniques will become apparent to those skilled in the art from this disclosure.

1 Server (vehicle assistance device)
10 Communication interface (data input section, data output section)
15 Controller (range setting unit (15a), object identification unit (15b), object extraction unit (15c), data generation unit (15d), output control unit (15e))
2 In-vehicle system 20 Communication interface 21 Input/output interface 22 Output device (light-emitting device (22a), speaker (22b))
23 Position estimation device 24 Object detection device 3 Object side system 30 Communication interface 31 Input/output interface 32 Output device (display (32a), speaker (32b))

Claims (11)

A vehicle assistance device that performs a process of assisting a vehicle in starting a stopped vehicle,
a data receiving unit that receives detection data from a device that detects objects around the vehicle;
A determination range is set within a certain range from the vehicle based on a stopping position of the vehicle;
Identifying a movement state of the object existing outside the determination range based on the detection data;
a controller that executes the following: extracting the object that is predicted to enter the judgment range as an entering predicted object based on a movement state of the object; and generating range data that indicates the judgment range and notification data that includes notification information that calls the attention of the entering predicted object to the judgment range;
a data transmission unit that transmits the range data and the notification data to an output device of the vehicle or an output device of the approach-predicted object,
The judgment range is:
the vehicle includes at least one of a movable range of a vehicle movable part that is movable when a user gets off the vehicle and a moving range of the vehicle according to a predicted traveling route when the vehicle departs from the stopping position,
The output device of the predicted entry object includes a display for displaying information;
The data transmission unit transmits the range data to an output device of the predicted entry object, thereby causing the display to display the determination range.
Vehicle assistance devices. the output device of the vehicle includes a light-emitting device that projects light around the vehicle to display information;
The vehicle assistance device according to claim 1 , wherein the data transmission unit transmits the range data to an output device of the vehicle, thereby causing the light-emitting device to display the determination range. The vehicle assistance device according to claim 2 , wherein the data transmission unit transmits the notification data to an output device of the vehicle, thereby causing the light-emitting device to output the notification information. The vehicle assistance device according to claim 1 , wherein the data transmission unit transmits the notification data to an output device of the predicted entering object, thereby causing the display to output the notification information. The output device of the vehicle includes a speaker that outputs voice or sound;
The vehicle assistance device according to claim 1 , wherein the data transmission unit transmits the notification data to an output device of the vehicle, thereby causing the speaker to output the notification information. The output device of the predicted entry object includes a speaker that outputs voice or sound,
The vehicle assistance device according to claim 1 , wherein the data transmission unit transmits the notification data to an output device of the predicted entering object, thereby causing the speaker to output the notification information. The controller extracts the object that is predicted to enter the judgment range within a predetermined judgment time as the predicted entering object,
7. The vehicle assistance device according to claim 3 , wherein a position at which the notification information is notified to the predicted entering object having a fast moving speed is farther from the vehicle than a position at which the notification information is notified to the predicted entering object having a slow moving speed. The vehicle assistance device according to claim 5 , wherein an output form of the notification information is changed depending on an attribute of the predicted approaching object. The vehicle assistance device according to claim 3 , wherein the notification information is output with emphasis as the distance between the predicted approaching object and the vehicle becomes shorter . A vehicle assistance system that performs a process of assisting a vehicle in starting from a stopped state,
An external device that outputs information;
a vehicle assistance device capable of communicating with the external device;
The vehicle assistance device includes:
a data receiving unit that receives detection data from a device that detects objects around the vehicle;
A determination range is set within a certain range from the vehicle based on a stopping position of the vehicle;
Identifying a movement state of the object existing outside the determination range based on the detection data;
a controller that executes the following: extracting the object that is predicted to enter the judgment range as an entering predicted object based on a movement state of the object; and generating range data that indicates the judgment range and notification data that includes notification information that calls the attention of the entering predicted object to the judgment range;
a data transmission unit that transmits the range data and the notification data to an output device of the vehicle or an output device of the predicted entry object as the external device,
The judgment range is:
the vehicle includes at least one of a movable range of a vehicle movable part that is movable when a user gets off the vehicle and a moving range of the vehicle according to a predicted traveling route when the vehicle departs from the stopping position,
The output device of the predicted entry object includes a display for displaying information;
The data transmission unit transmits the range data to an output device of the predicted entry object, thereby causing the display to display the determination range.
Vehicle assistance systems. A vehicle assistance method using a controller that executes a process for assisting a vehicle in starting a stopped vehicle, comprising:
The controller:
A determination range is set within a certain range from the vehicle based on a stopping position of the vehicle;
Identifying a movement state of the object existing outside the determination range based on detection data acquired from a device for detecting objects around the vehicle;
extracting the object predicted to enter the determination range as an entering predicted object based on a movement state of the object;
generating range data indicating the judgment range and notification data including notification information for calling the attention of the predicted entry object to the judgment range; and controlling a data transmission unit capable of communicating with an output device of the vehicle or an output device of the predicted entry object to transmit the range data and the notification data to the output device of the vehicle or the output device of the predicted entry object;
The judgment range is:
The vehicle driving method includes at least one of a movable range of a vehicle movable part that is movable when a user gets off the vehicle and a moving range of the vehicle according to a predicted traveling route when the vehicle departs,
The output device of the predicted entry object includes a display for displaying information;
The data transmission unit transmits the range data to an output device of the predicted entry object, thereby causing the display to display the determination range.
Vehicle assistance methods.

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