JP7523401B2 - Vehicle control device and vehicle control method - Google Patents

Description

The present invention relates to a vehicle control device and a vehicle control method.

Personal mobility, which is a compact vehicle for one person, has been known in the past. Such personal mobility has become increasingly popular as a means of supporting the mobility of users, such as the elderly and physically disabled.

In addition, various technologies have been proposed for vehicles such as personal mobility devices that detect obstacles and perform vehicle control to avoid the detected obstacles (see, for example, Patent Document 1).

JP 2005-128722 A

However, the conventional technology leaves room for further improvement in terms of improving vehicle safety by implementing appropriate vehicle control according to the vehicle's driving conditions to avoid an object to be avoided, such as an obstacle, when the vehicle approaches the object to be avoided.

The present invention has been made in view of the above, and has an object to provide a vehicle control device and a vehicle control method that can improve the safety of a vehicle.

In order to solve the above problems and achieve the object, the present invention provides a vehicle control device mounted on a vehicle capable of traveling on sidewalks and shoulders, and includes a vehicle control unit. The vehicle control unit executes vehicle control to avoid an object to be avoided when the vehicle approaches the object to be avoided. The vehicle control unit also changes the content of the vehicle control depending on the result of a process that determines whether the location where the vehicle is traveling is the sidewalk or the shoulder.

The present invention can improve vehicle safety.

FIG. 1A is a diagram (part 1) for explaining an overview of a vehicle control method by a vehicle control device according to an embodiment. FIG. 1B is a diagram (part 2) for explaining an overview of a vehicle control method by a vehicle control device according to an embodiment. FIG. 1C is a diagram (part 3) for explaining an overview of a vehicle control method by a vehicle control device according to an embodiment. FIG. 2 is a block diagram showing an example of the configuration of a vehicle system. FIG. 3 is a block diagram showing an example of the configuration of a drive recorder. FIG. 4 is a block diagram showing an example of the configuration of an in-vehicle device, etc. FIG. 5 is a diagram illustrating an example of the vehicle control information. FIG. 6A is a flowchart (part 1) showing a processing procedure executed by the in-vehicle device. FIG. 6B is a flowchart (part 2) showing the processing procedure executed by the in-vehicle device.

Embodiments of the vehicle control device and vehicle control method disclosed in the present application will be described in detail below with reference to the attached drawings. Note that the present invention is not limited to the embodiments described below.

<Outline of vehicle control method by vehicle control device>
First, an overview of a vehicle control method by a vehicle control device according to an embodiment will be described below with reference to Figures 1A to 1C. Figures 1A to 1C are diagrams for explaining an overview of a vehicle control method by a vehicle control device according to an embodiment.

In the following, the vehicle V according to the embodiment is assumed to be a personal mobility or a relatively small mobility that is used by users such as elderly people or physically disabled people and assists the user in moving around. In the following, the vehicle control device according to the embodiment is described as an in-vehicle device 10 mounted on the vehicle V.

As shown in FIG. 1A, the vehicle V according to the embodiment is, for example, a one-seater electric vehicle, but may be a vehicle capable of accommodating two or more people. There are various types of vehicles V, including cart-type vehicles such as the senior car shown in the figure, as well as wheelchair-type and stand-up-type vehicles. Note that, in the above description, the vehicle V is an electric vehicle that uses a motor as a power source, but is not limited to this, and may be a vehicle that uses other power sources, such as an internal combustion engine.

The vehicle V includes an in-vehicle device 10. The in-vehicle device 10 includes a control unit 20 (see FIG. 4 ) described later, and can control the vehicle V, for example, by manual driving control using a driving operation by the user, or automatic driving control that does not require driving operation by the user.

Vehicles V, unlike automobiles, travel on sidewalks and roadside strips. A sidewalk is, for example, a road on which pedestrians, vehicles V, etc. travel. A roadside strip is, for example, a strip of road that extends along a roadway without a sidewalk, on which pedestrians, vehicles V, etc. travel.

However, on the sidewalks and roadsides mentioned above, there are grooves, steps, and road shoulders on the side of the road, and other pedestrians may be passing by. If the vehicle V comes into contact with such obstacles as grooves, steps, road shoulders, and pedestrians, there is a risk that the vehicle V will roll over. Therefore, the vehicle V can travel safely by appropriately avoiding such obstacles.

In addition, in a roadside strip, for example, a boundary line exists between the roadway and the sidewalk, and the roadway is adjacent to the side of the boundary line. Therefore, it is not desirable for the vehicle V to deviate from the above-mentioned boundary line in terms of the safety of the vehicle V. Therefore, the vehicle V can travel safely by appropriately avoiding the boundary line, in other words, by not deviating from the boundary line.

In the following, the above-mentioned obstacles such as ditches, steps, road shoulders, pedestrians, and the boundary line between the roadway and the shoulder strip may be collectively referred to as "objects to be avoided." The above-mentioned ditches, etc. are only examples of objects to be avoided and are not limiting. In other words, objects to be avoided may include other objects such as guardrails or walls beside sidewalks or shoulder strips in addition to or instead of ditches, etc.

The vehicle-mounted device 10 according to this embodiment is configured so that when the vehicle V traveling on the sidewalk or shoulder approaches an object to be avoided, appropriate vehicle control is executed according to the traveling conditions of the vehicle V to avoid the object to be avoided, thereby improving the safety of the vehicle V.

Specifically, the vehicle V includes a drive recorder 40 in addition to the in-vehicle device 10 described above. The drive recorder 40 is communicably connected to the in-vehicle device 10. The drive recorder 40 also includes a camera and captures the surroundings of the vehicle V. The camera of the drive recorder 40 can capture the entire surroundings (360°) of the vehicle V, but is not limited to this, and may capture, for example, only a portion of the surroundings of the vehicle V.

The drive recorder 40 acquires a camera image captured by a camera. The drive recorder 40 then analyzes the acquired camera image to determine whether the location where the vehicle V is traveling is a sidewalk or a shoulder strip (step S1).

For example, if the camera image includes sidewalk information indicating that the driving location is a sidewalk, the drive recorder 40 determines that the driving location is a sidewalk. An example of sidewalk information is information indicating that there is a step down beside the driving location, and that a center line and lane boundary lines indicating the roadway are present on the road surface below the step (i.e., a road surface different from the driving location). Another example of sidewalk information is information indicating that there are curb blocks, car stops, guardrails, etc. beside the driving location, and that a center line and lane boundary lines are present on the road surface beyond the curb blocks, etc. (i.e., a road surface different from the driving location). Note that the above-mentioned sidewalk information is merely an example and is not limited to the above.

In addition, for example, when the camera image includes roadside information indicating that the driving location is a roadside, the drive recorder 40 determines that the driving location is a roadside. An example of roadside information is information indicating that there is a line (boundary line) beside the driving location, and that there is a center line, lane boundary line, etc. on the road surface beyond the line (i.e., a road surface different from the driving location). Note that the above roadside information is merely an example and is not limited to the above.

The drive recorder 40 also calculates positional relationship information indicating the positional relationship between the vehicle V and the object to be avoided based on the camera image (step S2). For example, the drive recorder 40 analyzes the camera image and calculates the relative positions of the vehicle V and the object to be avoided that exists around the vehicle V (here, obstacles such as ditches and steps on the side of the road, pedestrians, and the boundary line between the roadway and the shoulder strip, etc.), as well as the distance (separation distance) from the vehicle V to the object to be avoided, as positional relationship information. The drive recorder 40 then outputs the determination result of the process of determining whether the driving location is a sidewalk or a shoulder strip and the positional relationship information to the in-vehicle device 10.

The in-vehicle device 10 acquires the determination result and the positional relationship information from the drive recorder 40. When it is detected that the vehicle V has approached the object to be avoided based on the acquired positional relationship information, the in-vehicle device 10 executes vehicle control to avoid the object to be avoided, and changes the content of the vehicle control according to the determination result (step S3).

Here, the process of step S3 will be described in detail with reference to FIG. 1B and FIG. 1C. FIG. 1B shows an example of vehicle control when the vehicle is traveling on shoulder G, and FIG. 1C shows an example of vehicle control when the vehicle is traveling on sidewalk L.

Note that Figures 1B and 1C show a schematic transition of the travel of vehicle V. In detail, vehicle V travels from the bottom to the top of the drawing in Figures 1B and 1C, and more specifically, vehicle V moves in the order indicated by reference symbols V11 (V21), V12 (V22), V13 (V23), and V14 (V24).

In the example of FIG. 1B, vehicle V is traveling on shoulder G, and there are objects to be avoided H on both sides of shoulder G. In the example of FIG. 1B, object to be avoided H1 is a ditch or step on the side of the road, and object to be avoided H2 is a boundary line indicating the boundary between shoulder G and roadway J. In FIG. 1B, the center line or lane boundary line on roadway J is indicated by reference symbol K.

In the example of FIG. 1C, the vehicle V travels on the sidewalk L, and there are objects to be avoided H on both sides of the sidewalk L. In the example of FIG. 1C, the objects to be avoided H1 are ditches or steps on the side of the road, and the objects to be avoided H3 are median strips such as guardrails that separate the sidewalk L from the roadway J. In addition, in FIGS. 1B and 1C, the objects to be avoided H are shown shaded for ease of understanding. Note that the objects to be avoided H are not limited to the above, and may include stationary objects such as large stones or holes, vending machines, or utility poles that exist on the sidewalk L or on the roadside strip G, as well as moving objects such as pedestrians or small vehicles other than the vehicle itself.

First, using FIG. 1B, vehicle control when the driving location is a shoulder G will be described. As indicated by reference symbol V11, the in-vehicle device 10 constantly monitors the relative position between the vehicle V and the object to be avoided H, and the distance X from the vehicle V to the object to be avoided H, based on positional relationship information. Note that here, the in-vehicle device 10 controls the vehicle V by manual driving control through the user's driving operation.

Then, as indicated by reference symbol V12, when the vehicle V moves toward and approaches the object to be avoided H (to the left of the object to be avoided H1 in the example of FIG. 1B) due to the user's driving operation and the separation distance X becomes equal to or less than the threshold value A, the in-vehicle device 10 notifies the user that the vehicle V is approaching the object to be avoided H (H1). Note that the threshold value A is set to a value that is estimated to require notification to the user, for example, but is not limited to this and can be set to any value.

Despite the notification to the user, as indicated by reference symbol V13, if the vehicle V moves further in the direction of the object to be avoided H (H1) (leftward in FIG. 1B) and approaches the object to be avoided, and the separation distance X becomes equal to or less than the threshold value B, the in-vehicle device 10 executes vehicle control to avoid the object to be avoided H (H1) by braking the vehicle V. Specifically, the in-vehicle device 10 executes vehicle control to decelerate the vehicle V according to the separation distance X, the vehicle speed, and the like. Note that the threshold value B is a value smaller than the threshold value A (A>B), and is set to a value that is estimated to require the execution of control to avoid the object to be avoided H, for example, but is not limited to this and can be set to any value.

In this way, in the in-vehicle device 10 according to this embodiment, when the driving location is determined to be a shoulder G and the vehicle V approaches an object to be avoided H, vehicle control is executed to avoid the object to be avoided H by braking the vehicle V.

As a result, the vehicle V decelerates, and the user can, for example, steer the vehicle V in a direction away from the object to be avoided H (H1) (to the right in the example of Figure 1B), thereby easily avoiding the object to be avoided H (H1), thereby improving the safety of the vehicle V.

In addition, if the vehicle is traveling on a side strip G, and the vehicle tries to avoid the avoidance object H (H1) by steering instead of the above-mentioned vehicle control (avoidance control) by braking, the vehicle will approach the roadway J in the example of FIG. 1B. In this case, for example, if the user steers the vehicle more than expected due to steering operation, or if the vehicle travels on a roadway G that is narrow from the avoidance object H1 to the roadway J (more precisely, the boundary line, to the avoidance object H2), there is a possibility that the vehicle V will cross the boundary line (avoidance object H2) and come into contact with a car traveling on the roadway J. Therefore, in this embodiment, when the vehicle is traveling on a side strip G, braking control is given priority as the avoidance control. Note that in an emergency in which avoidance is not possible with braking control alone, steering control may be performed.

Although not shown, vehicle V may approach avoidance object H2 (to the right in the example of FIG. 1B). At this time, vehicles traveling faster than vehicle V are traveling on roadway J adjacent to shoulder G, so it is undesirable from the perspective of vehicle V's safety for vehicle V to deviate from avoidance object H2, which is the boundary line between vehicle V and roadway J. In this embodiment, vehicle control (avoidance control) using braking is performed as described above, thereby preventing vehicle V from deviating from avoidance object H2 (boundary line), and thus further improving the safety of vehicle V.

Here, in the case of a small vehicle that is assumed to run on the sidewalk, the sensing function for checking the surrounding conditions is often simplified compared to automobiles running on the roadway J. In detail, for example, as in this embodiment, the sensing means may be the camera of the drive recorder 40 only, and the camera may be configured to monitor (take pictures) the entire surroundings with only one camera. In this case, since the camera is configured to rotate the shooting direction to take pictures of the entire surroundings, for example, there is a possibility that the camera will not take pictures properly behind the vehicle V because the occupants are in the way. In such a configuration, for example, when a vehicle approaches at high speed or visibility is poor due to night or rain, the approach of the vehicle may be overlooked or detection may be delayed. Therefore, in this embodiment, it is recommended to perform avoidance control so as not to approach the roadway J when running on the shoulder G.

Continuing with the explanation of FIG. 1B, if vehicle control to decelerate the vehicle V is performed but the vehicle V moves further in the direction of the object to be avoided H (H1) (leftward in FIG. 1B) and approaches it as indicated by reference symbol V14, and the separation distance X becomes equal to or less than the threshold value C, the in-vehicle device 10 executes control to stop the vehicle V and avoid the object to be avoided H (H1) as vehicle control. Note that the threshold value C is a value smaller than the threshold value B (B>C), and is set to a value that is estimated to indicate the need to execute stop control because the vehicle V has approached the object to be avoided H, but is not limited to this and can be set to any value.

This allows the vehicle V traveling on the shoulder G to reliably avoid contact with the object to be avoided H1, which is a ditch or the like, thereby further improving the safety of the vehicle V. Also, although not shown, even in cases where the vehicle V approaches the object to be avoided H2 (to the right in the example of FIG. 1B), the above-described stop control allows the vehicle V traveling on the shoulder G to reliably avoid departing from the object to be avoided H2, which is a boundary line, thereby further improving the safety of the vehicle V.

Next, vehicle control when the driving location is a sidewalk L will be described with reference to FIG. 1C. As in the case when the driving location is a shoulder G, the in-vehicle device 10 constantly monitors the relative position between the vehicle V and the object to be avoided H, and the distance X from the vehicle V to the object to be avoided H, based on positional relationship information (reference symbol V21). Here, the in-vehicle device 10 controls the vehicle V by manual driving control through the user's driving operation.

Then, as indicated by reference symbol V22, when the vehicle V moves toward and approaches the object to be avoided H1 (to the left in the example of FIG. 1C) due to the user's driving operation and the separation distance X becomes equal to or less than the threshold value D, the in-vehicle device 10 notifies the user that the vehicle V is approaching the object to be avoided H1. Note that the threshold value D is set to a value that is estimated to require notification to the user, for example, but is not limited to this and can be set to any value.

Despite the notification to the user, as shown by reference symbol V23, if the vehicle V moves further in the direction of the object to be avoided H1 (to the left in FIG. 1C) and approaches it, and the separation distance X becomes equal to or less than the threshold value E, the in-vehicle device 10 executes control to steer the vehicle V to avoid the object to be avoided H as vehicle control. Specifically, the in-vehicle device 10 controls the vehicle V so that the steering angle of the vehicle V becomes an angle at which the object to be avoided H1 can be avoided (an appropriate angle for steering to the right in FIG. 1B) according to the separation distance X and the vehicle speed. Note that the threshold value E is a value smaller than the threshold value D (D>E) and is set to a value that is estimated to require the execution of control to avoid the object to be avoided H, for example, but is not limited thereto and can be set to any value.

In this way, in the in-vehicle device 10 according to this embodiment, when the driving location is determined to be the sidewalk L and the vehicle V approaches the object to be avoided H (H1), the vehicle control is executed to avoid the object to be avoided H by steering the vehicle V.

As a result, as shown by reference symbol V24, the vehicle V moves in a direction away from the object to be avoided H (to the right in the example of FIG. 1C), making it easier to avoid the object to be avoided H and improving the safety of the vehicle V.

When the vehicle is traveling on a sidewalk L, steering the vehicle V to avoid an avoidance object H, such as a ditch on the side of the road, poses little risk to the roadway J, as occurs when traveling on a shoulder strip G. Furthermore, frequent braking control to avoid the object may cause discomfort to the user (passenger). For this reason, in this embodiment, when the vehicle is traveling on a sidewalk L, avoidance control by steering is given priority. Note that in an emergency when avoidance is not possible by steering control alone, braking control may be performed.

Although not shown in the figure, pedestrians are present on the sidewalk L as objects to be avoided H. Pedestrians are slower or move at the same speed as the vehicle V, so in this embodiment, avoidance by steering is given priority over avoidance by braking, which makes it possible to prevent the vehicle V from coming into contact with the objects to be avoided H (pedestrians), thereby further improving the safety of the vehicle V.

Note that, normally, the vehicle V can avoid the avoidance object H by the above-mentioned vehicle control (avoidance control) by steering, but the user (passenger) may panic and operate the steering wheel to approach the avoidance object H (H1), or the vehicle V may not be able to avoid the avoidance object H for some reason, such as the inclination of the road surface or the vehicle speed, and may move further in the direction of the avoidance object H (leftward in FIG. 1C) and approach it, as shown by the imaginary line. Specifically, even if the vehicle control (avoidance control) by steering is performed, the separation distance X may become equal to or less than the threshold value F. In such a case, as shown by the imaginary line, the in-vehicle device 10 executes control to stop the vehicle V and avoid the avoidance object H as the vehicle control. Note that the above-mentioned threshold value F is a value smaller than the threshold value E (E>F), and is set to a value that is estimated to be necessary to execute stop control because the vehicle V has approached the avoidance object H, but is not limited to this, and may be set to any value.

This allows the vehicle V traveling on the sidewalk L to reliably avoid contact with objects to be avoided H, such as ditches or pedestrians, thereby further improving the safety of the vehicle V.

As described above, the vehicle-mounted device 10 according to this embodiment changes the content of the vehicle control depending on the result of the process that determines whether the location where the vehicle V is traveling is a sidewalk L or a shoulder G. When the vehicle V approaches an object to be avoided H, the vehicle control appropriate to the traveling conditions of the vehicle V is executed to avoid the object to be avoided H, thereby improving the safety of the vehicle V.

In the above, the determination process of determining whether the driving location is a sidewalk L or a roadside strip G, and the calculation process of calculating the positional relationship information are performed by the drive recorder 40, but this is not limited to the above, and for example, the determination process and the calculation process may be configured to be performed in part or in whole by the vehicle-mounted device 10.

<Configuration of Vehicle System Including On-Vehicle Device>
Next, a configuration of a vehicle system 1 including an in-vehicle device 10 according to an embodiment will be described with reference to Fig. 2. Fig. 2 is a block diagram showing an example of the configuration of the vehicle system 1.

As shown in FIG. 2, the vehicle system 1 includes a vehicle V and a terminal device 100, which are communicatively connected via a communication network N such as the Internet. Note that, for the sake of simplicity, FIG. 2 shows one vehicle V and one terminal device 100, but there may be multiple vehicles V and terminal devices 100.

The terminal device 100 is a device used by a person related to the user. The person related to the user may be, for example, the user's family member or an administrator who manages the vehicle V, but these are examples and are not limited to these. The person related to the user is one example of a predetermined target person.

The terminal device 100 may be, for example, a smartphone, a tablet terminal, a PC (Personal Computer), etc., but is not limited to these. The terminal device 100 is notified of information indicating that the vehicle V has approached an object to be avoided and vehicle control has been executed to avoid the object to be avoided, which will be described later.

The vehicle V is equipped with the above-described in-vehicle device 10 and drive recorder 40. First, the drive recorder 40 will be described with reference to FIG. 3. FIG. 3 is a block diagram showing an example of the configuration of the drive recorder 40. Note that in the block diagrams such as FIG. 3, only the components necessary to explain the features of this embodiment are shown as functional blocks, and descriptions of general components are omitted.

In other words, each component shown in a block diagram such as FIG. 3 is a functional concept, and does not necessarily have to be physically configured as shown. For example, the specific form of distribution and integration of each functional block is not limited to that shown, and all or part of it can be functionally or physically distributed and integrated in any unit depending on various loads, usage conditions, etc.

As shown in FIG. 3, the drive recorder 40 includes a communication unit 41, a camera 42, a sensor unit 43, a control unit 50, and a memory unit 60.

The communication unit 41 is realized, for example, by a network interface card (NIC). The communication unit 41 is connected to the communication network N so as to be capable of two-way communication, and transmits and receives information to and from the terminal device 100, etc.

The camera 42 is installed at an appropriate position on the vehicle V and captures images of the surroundings of the vehicle V. The camera 42 is, for example, a camera equipped with a lens such as a fisheye lens and an imaging element such as a CCD (Charge Coupled Device) or a CMOS (Complementary Metal Oxide Semiconductor), but is not limited to this.

The sensor unit 43 is a group of sensors that output information indicating various conditions of the vehicle V in which the drive recorder 40 is installed. The sensor unit 43 includes, for example, a G sensor and a GPS sensor, but these are merely examples and are not limiting.

The control unit 50 includes an image acquisition unit 51, a determination unit 52, a calculation unit 53, a transmission unit 54, and a processing unit 55, and includes, for example, a computer having a CPU (Central Processing Unit), ROM (Read Only Memory), RAM (Random Access Memory), a hard disk drive, input/output ports, etc., and various circuits.

The computer's CPU functions as the image acquisition unit 51, the determination unit 52, the calculation unit 53, the transmission unit 54, and the processing unit 55 of the control unit 50, for example, by reading and executing a program stored in the ROM.

In addition, at least some or all of the image acquisition unit 51, determination unit 52, calculation unit 53, transmission unit 54, and processing unit 55 of the control unit 50 can be configured with hardware such as an ASIC (Application Specific Integrated Circuit) or FPGA (Field Programmable Gate Array).

The storage unit 60 is configured with storage devices such as non-volatile memory, data flash, and a hard disk drive. The storage unit 60 stores image information 61 and various programs.

Image information 61 is information including camera images captured by camera 42. The camera images may be video data or still image data.

The image acquisition unit 51 of the control unit 50 acquires the camera image taken by the camera 42, and stores the acquired camera image in the memory unit 60 as image information 61.

The determination unit 52 determines whether the location where the vehicle V is traveling is a sidewalk or a roadside strip. For example, the determination unit 52 reads image information 61 from the storage unit 60 and analyzes the camera image, which is the image information 61. The determination unit 52 determines, through an analysis process, that the location where the vehicle V is traveling is a sidewalk if the camera image contains the sidewalk information described above, and determines that the location where the vehicle V is traveling is a roadside strip if the camera image contains roadside strip information. The determination unit 52 outputs information indicative of the determination result to the transmission unit 54.

In the above, the determination unit 52 determines whether the driving location is a sidewalk or a roadside strip based on the camera image, but the determination method is not limited to this. That is, for example, the determination unit 52 may obtain map information from an external server (not shown) or from the memory unit 60 where map information is stored in advance, and may determine whether the driving location is a sidewalk or a roadside strip based on the obtained map information and the output of the GPS sensor included in the sensor unit 43, or may perform the determination using other methods.

The calculation unit 53 calculates positional relationship information indicating the positional relationship between the vehicle V and the object to be avoided. For example, the calculation unit 53 reads out and analyzes a camera image, which is the image information 61 in the storage unit 60. The calculation unit 53 calculates, through an analysis process, the relative position between the vehicle V and the object to be avoided (e.g., the direction in which the object to be avoided exists relative to the vehicle V), and the distance X from the vehicle V to the object to be avoided (see Figures 1B and 1C), as positional relationship information. The calculation unit 53 outputs the calculated positional relationship information to the transmission unit 54.

In the above, the calculation unit 53 calculates the positional relationship information based on the camera image, but the calculation method is not limited to this. That is, for example, the drive recorder 40 may be equipped with a radar device that detects targets around the vehicle V, and the calculation unit 53 may calculate the positional relationship information based on the output of the radar device, or other methods may be used.

The transmission unit 54 transmits the above-mentioned determination result and positional relationship information to the in-vehicle device 10, for example, via a CAN (Controller Area Network). The transmission unit 54 transmits information to the in-vehicle device 10 periodically or irregularly, but is not limited to this.

For example, when a notification request (described later) is received from the in-vehicle device 10, the processing unit 55 performs processing to notify the terminal device 100 of predetermined information. For example, when the vehicle V approaches an object to be avoided and vehicle control is executed to avoid the object to be avoided, the notification request described above is output from the in-vehicle device 10 to the drive recorder 40.

When the processing unit 55 of the drive recorder 40 receives a notification request, it transmits information about the vehicle V when the vehicle control was executed (e.g., camera images before and after the vehicle control was executed, the execution date and time, the execution location, etc.) to the terminal device 100 via the communication unit 41 to notify the terminal device 100.

This allows a person related to the user (a specified target person) who uses the terminal device 100 to check the situation of the vehicle V when the vehicle V approaches an object to be avoided and vehicle control is executed.

The processing unit 55 may execute various processes in the drive recorder 40. For example, when the processing unit 55 detects an impact due to an accident or the like based on the output of the G sensor included in the sensor unit 43, the processing unit 55 may perform a process to prohibit overwriting of camera images for a predetermined period of time before and after the detection. This makes it possible to reliably record camera images showing the situation at the time of the accident, for example, without overwriting them.

Next, the in-vehicle device 10 and the like will be described with reference to FIG. 4. FIG. 4 is a block diagram showing an example configuration of the in-vehicle device 10 and the like.

As shown in FIG. 4, the above-mentioned drive recorder 40, vehicle mechanism 11, vehicle sensor unit 12, and HMI (Human Machine Interface) unit 13 are connected to the in-vehicle device 10 so as to be able to communicate with each other via a CAN or the like.

The vehicle mechanism 11 is various mechanisms that constitute the driving system, power system, etc. of the vehicle V. The on-board sensor unit 12 is a group of sensors that are mounted on the vehicle V and output information indicating various conditions of the vehicle V. The on-board sensor unit 12 includes, for example, a vehicle speed sensor, a steering angle sensor, a gyro sensor, a seating sensor, etc., but these are examples and are not limited to these.

The HMI unit 13 is a variety of interface components that allow the user to exchange information with the vehicle V, and includes hardware components such as the accelerator, brake, steering wheel, display, speaker, and microphone, as well as software components that are displayed on the display.

The in-vehicle device 10 includes a control unit 20 and a storage unit 30. The control unit 20 includes an acquisition unit 21, a vehicle control unit 22, and a notification unit 23, and includes, for example, a computer having a CPU, ROM, RAM, a hard disk drive, input/output ports, and various other circuits.

The computer's CPU functions as the acquisition unit 21, vehicle control unit 22, and notification unit 23 of the control unit 20, for example, by reading and executing a program stored in the ROM. In addition, at least some or all of the acquisition unit 21, vehicle control unit 22, and notification unit 23 of the control unit 20 can be configured with hardware such as an ASIC or FPGA.

The storage unit 30 is configured with storage devices such as non-volatile memory, data flash, and hard disk drives. The storage unit 30 stores vehicle control information 31 and various programs.

Vehicle control information 31 is information related to the vehicle control of vehicle V. Specifically, in this embodiment, when vehicle V approaches an object to be avoided as described above, vehicle control is executed to avoid the object to be avoided, and the content of such vehicle control differs depending on whether vehicle V is traveling on a sidewalk or a shoulder strip. Vehicle control information 31 is information that includes the content of the vehicle control.

Here, the vehicle control information 31 will be described with reference to FIG. 5. FIG. 5 is a diagram showing an example of the vehicle control information 31. As shown in FIG. 5, the vehicle control information 31 includes items such as "vehicle control ID," "driving location," "contents of vehicle control," and "threshold value," and each item is associated with each other.

"Vehicle control ID" is identification information that identifies vehicle control information. "Driving location" is information that indicates the location where vehicle V is traveling. In "Driving location", information such as "side strip" or "sidewalk" that is the location where vehicle V is expected to travel is registered.

In the example of FIG. 5, there are two cases where the driving locations are "side strip" and "sidewalk", but the present invention is not limited to this. That is, "side strip" and "sidewalk" may be further subdivided according to the road conditions, such as the width of the road, whether the road surface is wet due to rain, the slope of the road surface (upward slope, downward slope, left slope, right slope), and whether the road is outdoors or indoors. In addition, locations other than side strips and sidewalks where the vehicle V can drive may be registered as "driving locations".

"Vehicle control content" is information indicating the content of vehicle control to avoid an object to be avoided. As described above, such vehicle control is vehicle control that is executed when the vehicle V approaches an object to be avoided. Note that in the example shown in FIG. 5, for convenience, "vehicle control content" is written abstractly as "content Q01", but specific information is stored in "content Q01".

Here, an example of the "contents of vehicle control" will be described. The "contents of vehicle control" (content Q01) for which the "travel location" corresponds to the "side strip" includes information on control to avoid an object to be avoided by braking the vehicle V. Specifically, the "contents of vehicle control" (content Q01) sets the current distance X (see FIG. 1B) from the vehicle V to the object to be avoided, a target vehicle speed (more specifically, the vehicle speed that is the target for deceleration to avoid the object to be avoided) according to the current vehicle speed, etc.

As another example of the "contents of vehicle control," the "contents of vehicle control" (content Q02) in which the "travel location" corresponds to "sidewalk" includes information on control to avoid an object to be avoided by steering the vehicle V. Specifically, the "contents of vehicle control" (content Q02) sets a target steering angle (more specifically, a steering angle that is a target for steering to avoid an object to be avoided) according to the current distance X (see FIG. 1C) from the vehicle V to the object to be avoided and the current vehicle speed, etc.

"Threshold" is information indicating the threshold to be compared with the current distance X from the vehicle V to the object to be avoided (see Figures 1B and 1C).

In the example shown in FIG. 5, the vehicle control information identified by the vehicle control ID "P01" indicates that the driving location is "side strip", the vehicle control content is "content Q01", and the thresholds are "thresholds A, B, C". Furthermore, the vehicle control information identified by the vehicle control ID "P02" indicates that the driving location is "sidewalk", the vehicle control content is "content Q02", and the thresholds are "thresholds D, E, F".

The threshold values A to F may be set to different values depending on the location where the vehicle V is traveling. For example, the threshold values A to F are set to different values when the vehicle V is traveling on a shoulder strip and when the vehicle V is traveling on a sidewalk. This can further improve the safety of the vehicle V.

In more detail, as described above, when the vehicle V traveling on the shoulder approaches an object to be avoided and the separation distance X becomes equal to or less than the threshold value A, the user is notified that the object to be avoided is approaching. On the other hand, when the vehicle V traveling on the sidewalk approaches an object to be avoided and the separation distance X becomes equal to or less than the threshold value D, the user is notified that the object to be avoided is approaching.

Because the shoulder strip is adjacent to the roadway on which automobiles travel, it is more dangerous than the sidewalk, and it is desirable to notify the user early on that the vehicle V is approaching an object to be avoided (for example, the boundary line indicating the boundary between the shoulder strip and the roadway).

Therefore, in this embodiment, threshold A is set to be greater than threshold D (A>D). This allows notification to be sent to the vehicle V traveling on the shoulder of the road earlier than when traveling on the sidewalk. This makes it possible for the user to recognize early on that the vehicle V is approaching an object to be avoided, for example, and as a result, the safety of the vehicle V can be further improved.

As described above, when the vehicle V traveling on the shoulder of the road approaches the object to be avoided further and the separation distance X becomes equal to or less than the threshold value B, vehicle control (more precisely, vehicle control by braking) is executed to avoid the object to be avoided. On the other hand, when the vehicle V traveling on the sidewalk becomes equal to or less than the threshold value E, vehicle control (more precisely, vehicle control by steering) to avoid the object to be avoided is executed. Again, it is desirable that vehicle control to avoid the object to be avoided is executed earlier for the vehicle V traveling on the shoulder of the road than for the vehicle V traveling on the sidewalk.

Therefore, in this embodiment, threshold value B is set to be greater than threshold value E (B>E). As a result, vehicle control for vehicle V traveling on the shoulder is executed earlier than when traveling on the sidewalk, and as a result, the safety of vehicle V can be further improved.

As described above, when the vehicle V traveling on the shoulder of the road approaches the object to be avoided further and the separation distance X becomes equal to or less than the threshold value C, vehicle control is executed to stop the vehicle V. On the other hand, when the vehicle V traveling on the sidewalk becomes equal to or less than the threshold value F, vehicle control is executed to stop the vehicle V. Here again, it is desirable that the vehicle control to stop the vehicle V is executed earlier for the vehicle V traveling on the shoulder of the road than for the vehicle V traveling on the sidewalk.

Therefore, in this embodiment, threshold C is set to be greater than threshold F (C>F). As a result, vehicle control to stop the vehicle V traveling on the shoulder is executed earlier than when traveling on the sidewalk, and as a result, the safety of the vehicle V can be further improved.

In this manner, in this embodiment, the thresholds A to F are set to be different depending on the location where the vehicle V is traveling, so that the safety of the vehicle V can be further improved. Note that the magnitude relationship among the thresholds A to F described above is merely an example and is not limited to this. In other words, for example, the thresholds A and D may be set to the same value, and the thresholds B and E may be set to different values.

Returning to the explanation of FIG. 4, the acquisition unit 21 of the control unit 20 acquires the determination result and positional relationship information from the drive recorder 40 and outputs it to the vehicle control unit 22. The acquisition unit 21 also acquires information indicating various conditions of the vehicle V from the on-board sensor unit 12 and outputs it to the vehicle control unit 22.

The vehicle control unit 22 controls the vehicle V. For example, the vehicle control unit 22 controls the vehicle V by performing manual driving control through the user's driving operation based on the user's driving operation input via the HMI unit 13 and information from the in-vehicle sensor unit 12.

In addition, the vehicle control unit 22 constantly monitors the relative position between the vehicle V and the object to be avoided, as well as the distance X from the vehicle V to the object to be avoided, based on the determination result, the positional relationship information, and the vehicle control information 31.

Then, the vehicle control unit 22 outputs a notification request to the user to the notification unit 23, for example, when the separation distance X between the vehicle V traveling on the shoulder and the object to be avoided becomes equal to or less than the threshold A, or when the separation distance X between the vehicle V traveling on the sidewalk becomes equal to or less than the threshold D.

When the notification unit 23 receives a notification request for the user, it notifies the user via the HMI unit 13 that the vehicle V is approaching an object to be avoided. For example, if the HMI unit 13 is equipped with a display unit and a speaker, the notification unit 23 outputs display information and audio information indicating that the vehicle V is approaching an object to be avoided via the display unit and the speaker. This makes it possible for the user to recognize that the vehicle V is approaching an object to be avoided.

The vehicle control unit 22 also executes vehicle control to avoid the object to be avoided when the vehicle V approaches the object to be avoided further. Here, the vehicle control unit 22 changes the content of the vehicle control depending on the result of the process of determining whether the place where the vehicle V is traveling is a sidewalk or a shoulder strip.

For example, when the vehicle control unit 22 determines that the driving location is a shoulder strip and the vehicle V approaches an object to be avoided and the distance X becomes equal to or less than the threshold value B, the vehicle control unit 22 executes vehicle control to avoid the object to be avoided by braking the vehicle V.

This causes the vehicle V to decelerate, so that, for example, the user can steer the vehicle V away from the object to be avoided, making it easier to avoid the object, thereby improving the safety of the vehicle V.

For example, when the vehicle control unit 22 determines that the driving location is a sidewalk and the vehicle V approaches an object to be avoided and the distance X becomes equal to or less than the threshold value E, the vehicle control unit 22 executes vehicle control to avoid the object to be avoided by steering the vehicle V.

As a result, the vehicle V will move, for example, in a direction away from the object to be avoided, making it easier to avoid the object, thereby improving the safety of the vehicle V.

In this way, when the separation distance X between the vehicle V and the object to be avoided is equal to or less than the threshold value B (or threshold value E), the vehicle control unit 22 determines that the vehicle V is approaching the object to be avoided and executes vehicle control.

In addition, when the vehicle V traveling on the shoulder moves further toward the object to be avoided and the separation distance X becomes equal to or less than the threshold value C, the vehicle control unit 22 executes vehicle control to stop the vehicle V and avoid the object to be avoided.

In addition, when the vehicle V traveling on the sidewalk moves further toward the object to be avoided and the separation distance X becomes equal to or less than the threshold value F, the vehicle control unit 22 executes vehicle control to stop the vehicle V and avoid the object to be avoided.

By stopping the vehicle V in this manner, it is possible to reliably avoid the vehicle V coming into contact with an object to be avoided, thereby further improving the safety of the vehicle V.

After executing vehicle control (hereinafter, sometimes referred to as "stop control") to stop the vehicle V, the vehicle control unit 22 determines, for example, whether a release condition for releasing the stop control is met. Then, when the release condition is met, the vehicle control unit 22 may release the stop control.

An example of a release condition is when the steering wheel of the HMI unit 13 is operated by the user in a direction to avoid an approaching object to be avoided. Note that the above release conditions are merely examples and are not limiting. In other words, the release condition can be set arbitrarily, for example, when the steering wheel is operated by the user in a direction to avoid an object to be avoided and there is no other object to be avoided when the vehicle V moves in that direction, or when the user performs an operation to request release.

When the vehicle control unit 22 executes vehicle control, for example, by braking or steering, the notification unit 23 notifies a person related to the user (a specified target person) of information indicating that the vehicle control has been executed.

Specifically, when vehicle control is performed by braking or steering, the notification unit 23 outputs a notification request to the drive recorder 40, requesting that the terminal device 100 be notified of information indicating that the vehicle control has been performed.

In response to such a notification request, the drive recorder 40 transmits information about the vehicle V when the vehicle control was executed (e.g., camera images before and after the vehicle control was executed, the execution date and time, and the execution location, etc.) to the terminal device 100 and notifies the terminal device 100, as described above. As a result, a person related to the user who uses the terminal device 100 can confirm the status of the vehicle V when the vehicle control was executed, as described above.

The timing of notification to the terminal device 100 is not limited to the above, and can be set arbitrarily, for example, to the timing when the user is notified that the vehicle is approaching an object to be avoided, or the timing when stop control is executed.

<Control process of vehicle control device according to embodiment>
Next, a specific process procedure in the in-vehicle device 10 will be described with reference to Figures 6A and 6B. Figures 6A and 6B are flowcharts showing the process procedure executed by the in-vehicle device 10.

As shown in FIG. 6A, the control unit 20 of the in-vehicle device 10 determines whether the vehicle V is traveling on a side strip (step S10). If the control unit 20 determines that the vehicle V is traveling on a side strip (step S10, Yes), it determines whether the distance X from the vehicle V to the object to be avoided is equal to or less than a threshold A (step S11).

When the control unit 20 determines that the separation distance X is not equal to or less than the threshold A (step S11, No), it skips the subsequent processing. On the other hand, when the control unit 20 determines that the separation distance X is equal to or less than the threshold A (step S11, Yes), it determines whether or not the user has been notified that the object to be avoided is approaching (step S12).

When the control unit 20 executes the process of step S12 for the first time, it determines that the user has not been notified (step S12, No), and executes a process to notify the user that the vehicle V is approaching an object to be avoided (step S13).

On the other hand, if the control unit 20 determines that the user has been notified (step S12, Yes), it determines whether the separation distance X to the object to be avoided is equal to or less than threshold B (step S14). If the control unit 20 determines that the separation distance X is not equal to or less than threshold B (step S14, No), that is, if the separation distance X is greater than threshold B and equal to or less than threshold A, it skips the subsequent processing.

If it is determined that the separation distance X is equal to or less than the threshold value B (step S14, Yes), the control unit 20 determines whether vehicle control (avoidance control) by braking is being performed (step S15).

When the control unit 20 first executes the process of step S15, it determines that vehicle control through braking is not being executed (step S15, No), and executes vehicle control through braking (step S16).

On the other hand, if it is determined that vehicle control by braking is being performed (step S15, Yes), the control unit 20 determines whether the distance X to the object to be avoided is equal to or less than the threshold C (step S17).

If the control unit 20 determines that the separation distance X is not equal to or less than the threshold value C (step S14, No), i.e., if the separation distance X is greater than the threshold value C and equal to or less than the threshold value B, the control unit 20 skips the subsequent processing.

If the control unit 20 determines that the separation distance X is equal to or less than the threshold value C (step S17, Yes), it executes stop control to stop the vehicle V (step S18). Next, the control unit 20 determines whether a release condition for releasing the stop control is satisfied (step S19).

If the control unit 20 determines that the release condition is not met (step S19, No), the control unit 20 returns to the process of step S18. On the other hand, if the control unit 20 determines that the release condition is met (step S19, Yes), the control unit 20 releases the stop control (step S20).

In addition, if it is determined that the vehicle V is not traveling on a shoulder strip (step S10, No), i.e., the vehicle is traveling on a sidewalk, the control unit 20 determines whether the distance X to the object to be avoided is equal to or less than a threshold value D (step S21), as shown in FIG. 6B.

When the control unit 20 determines that the separation distance X is not equal to or less than the threshold value D (step S21, No), it skips the subsequent processing. On the other hand, when the control unit 20 determines that the separation distance X is equal to or less than the threshold value D (step S21, Yes), it determines whether or not the user has been notified that the object to be avoided is approaching (step S22).

When the control unit 20 executes the process of step S22 for the first time, it determines that the user has not been notified (step S22, No), and executes a process to notify the user that the vehicle V is approaching an object to be avoided (step S23).

On the other hand, if the control unit 20 determines that the user has been notified (step S22, Yes), it determines whether the separation distance X to the object to be avoided is equal to or less than the threshold value E (step S24). If the control unit 20 determines that the separation distance X is not equal to or less than the threshold value E (step S24, No), that is, if the separation distance X is greater than the threshold value E and equal to or less than the threshold value D, it skips the subsequent processing.

If it is determined that the separation distance X is equal to or less than the threshold value E (step S24, Yes), the control unit 20 determines whether vehicle control (avoidance control) by steering is being performed (step S25).

When the control unit 20 first executes the process of step S25, it determines that vehicle control by steering is not being executed (step S25, No), and executes vehicle control by steering (step S26).

On the other hand, if it is determined that vehicle control by steering is being performed (step S25, Yes), the control unit 20 determines whether the distance X to the object to be avoided is equal to or less than the threshold value F (step S27).

If the control unit 20 determines that the separation distance X is not equal to or less than the threshold value F (step S24, No), i.e., if the separation distance X is greater than the threshold value F and equal to or less than the threshold value E, the control unit 20 skips the subsequent processing.

If the control unit 20 determines that the separation distance X is equal to or less than the threshold value F (step S27, Yes), the control unit 20 executes stop control to stop the vehicle V (step S28). Next, the control unit 20 determines whether a release condition for releasing the stop control is satisfied (step S29).

If the control unit 20 determines that the release condition is not met (step S29, No), the control unit 20 returns to the process of step S28. On the other hand, if the control unit 20 determines that the release condition is met (step S29, Yes), the control unit 20 releases the stop control (step S30).

As described above, in the embodiment, the vehicle-mounted device (one example of a vehicle control device) 10 is mounted on a vehicle V capable of traveling on sidewalks and shoulders, and includes a vehicle control unit 22. The vehicle control unit 22 executes vehicle control to avoid an object to be avoided when the vehicle V approaches the object to be avoided. The vehicle control unit 22 also changes the content of the vehicle control depending on the result of a process that determines whether the location where the vehicle V is traveling is a sidewalk or a shoulder. This allows the vehicle-mounted device 10 to improve the safety of the vehicle V.

In the above, the camera images showing the surrounding conditions of the vehicle V are captured by the drive recorder 40, but this is not limited to the above. In other words, other types of devices such as a smartphone with a camera function carried by the user may be used. For example, an application that functions as a drive recorder may be installed on the smartphone, and the application and the camera images captured by the camera may be transmitted to the in-vehicle device 10.

Further advantages and modifications may readily occur to those skilled in the art. Therefore, the invention in its broader aspects is not limited to the specific details and representative embodiments shown and described above. Accordingly, various modifications may be made without departing from the spirit or scope of the general inventive concept as defined by the appended claims and equivalents thereof.

REFERENCE SIGNS LIST 1 vehicle system 10 in-vehicle device 22 vehicle control unit 23 notification unit 40 drive recorder

Claims (6)

A vehicle control device mounted on a vehicle capable of traveling on sidewalks and shoulders,
a vehicle control unit that executes vehicle control to avoid an object to be avoided when the vehicle approaches the object to be avoided,
The vehicle control unit includes:
A vehicle control device comprising: a control unit for controlling a vehicle, the control unit controlling the vehicle being driven in a direction parallel to the sidewalk; The vehicle control unit includes:
2. The vehicle control device according to claim 1, wherein, when the driving location is determined to be the sidewalk in the processing and the vehicle approaches the object to be avoided, a control for avoiding the object to be avoided by steering the vehicle is executed as the vehicle control. The vehicle control unit includes:
3. The vehicle control device according to claim 1, wherein, when the driving location is determined to be the shoulder strip in the processing and the vehicle approaches the object to be avoided, a control for avoiding the object to be avoided by braking the vehicle is executed as the vehicle control. The vehicle control unit includes:
When a distance between the vehicle and the object to be avoided is equal to or less than a threshold, the vehicle is determined to be approaching the object to be avoided, and the vehicle control is executed;
The threshold value is
4. The vehicle control device according to claim 1, wherein the vehicle speed is set to a different value when the driving location is the sidewalk and when the driving location is the shoulder strip. The vehicle control device according to any one of claims 1 to 4, further comprising: a notification unit that, when the vehicle control is executed by the vehicle control unit, notifies a predetermined target person of information indicating that the vehicle control has been executed. A computer-implemented method for controlling a vehicle capable of traveling on sidewalks and shoulders, comprising:
When the vehicle approaches an object to be avoided, a vehicle control is executed to avoid the object to be avoided ;
The vehicle control method is characterized in that the vehicle control changes contents of the vehicle control depending on a determination result of a process of determining whether the driving location where the vehicle is driving is the sidewalk or the shoulder.

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