JP2019040452A - Vehicle control device - Google Patents

Abstract

To appropriately select control information used for a vehicle control from a plurality of pieces of detection information respectively detected by a plurality of external devices.SOLUTION: A vehicle control device comprises: an acquisition unit configured to acquire detection information detected by each of a plurality of external devices external to a vehicle and position information regarding a position of each of the external devices; and a selection unit that selects control information to be used for vehicle control from a plurality of pieces of detection information. The selection unit selects the control information on the basis of the detection information and the position information.SELECTED DRAWING: Figure 3

Description

  The present invention relates to a vehicle control device.

  In recent years, a communication system has been proposed in which a vehicle can receive information transmitted from an external device such as another vehicle or a road sensor installed on the road. Furthermore, in such a communication system, a technique has been proposed in which detection information detected by an external device is acquired, and the acquired detection information is applied as control information used for vehicle control of the host vehicle (for example, a patent document). 1).

JP 2001-301485 A

  By the way, in the above communication system, there may be a plurality of external devices capable of detecting the detection information, and thus there may be a case where a plurality of pieces of detection information respectively detected by different external devices are acquired by the own vehicle. In such a case, it is conceivable that control information used for vehicle control is selected from a plurality of detection information, and the detection information selected as control information is used for vehicle control. Here, the suitability of the detection information as control information may differ depending on which external device the detection information is detected from. Therefore, it is considered desirable to appropriately select control information used for vehicle control from a plurality of detection information.

  Therefore, the present invention has been made in view of the above problems, and an object of the present invention is to appropriately obtain control information used for vehicle control from a plurality of detection information respectively detected by a plurality of external devices. It is an object of the present invention to provide a new and improved vehicle control device that can be selected.

  In order to solve the above-described problems, according to an aspect of the present invention, an acquisition unit that acquires detection information detected by a plurality of external devices outside the host vehicle and position information related to each position of the external device; A selection unit that selects control information used for vehicle control from a plurality of the detection information, and the selection unit selects the control information based on the detection information and the position information. Is provided.

  The position information includes lane information related to a lane in which the external device is located, and the selection unit selects the control information based on the lane information when the detection information is road surface information related to a road surface state. Also good.

  When the detection information is the road surface information, the selection unit may preferentially select the detection information detected by the external device located on a travel lane of the host vehicle as the control information.

  The selection unit, when the detection information is the road surface information, when the detection information detected by the external device located on the travel lane of the host vehicle is not acquired, The detection information detected by the external device located on the traveling lane in the same direction adjacent to the lane may be preferentially selected as the control information.

  The road surface information may include a road surface friction coefficient, a road surface gradient, or the presence or absence of an obstacle on the road surface.

  The position information includes distance information indicating a relative distance between the host vehicle and the external device, and the selection unit includes the distance information when the detection information is environmental information related to an external environment different from a road surface state. The control information may be selected based on the information.

  When the detection information is the environment information, the selection unit may preferentially select the detection information detected by the external device having a short relative distance to the host vehicle as the control information.

  When the detection information is the environment information, the selection unit uses the detection information detected by the external device located on a traveling lane that intersects the traveling lane of the host vehicle as a candidate for the control information. May be.

  The environmental information may include weather, outside air temperature, or wind speed.

  As described above, according to the present invention, it is possible to appropriately select control information used for vehicle control from a plurality of pieces of detection information respectively detected by a plurality of external devices.

It is a schematic diagram which shows an example of schematic structure of the communication system to which the own vehicle by which the control apparatus which concerns on embodiment of this invention is mounted belongs. It is a block diagram which shows an example of a function structure of the control apparatus which concerns on the same embodiment. It is a flowchart which shows an example of the flow of the process in the selection control which the control apparatus which concerns on the same embodiment performs. It is explanatory drawing which shows the 1st example of the mode of the other vehicle which drive | works the circumference | surroundings of the own vehicle carrying the control apparatus which concerns on the embodiment. It is explanatory drawing which shows the 2nd example of the mode of the other vehicle which drive | works the circumference | surroundings of the own vehicle carrying the control apparatus which concerns on the embodiment. It is explanatory drawing which shows the 3rd example of the mode of the other vehicle which drive | works the circumference | surroundings of the own vehicle carrying the control apparatus which concerns on the embodiment. It is a flowchart which shows an example of the flow of the process in the 1st vehicle control which the control apparatus which concerns on the same embodiment performs. It is a flowchart which shows an example of the flow of the process in the 2nd vehicle control which the control apparatus which concerns on the same embodiment performs. It is a flowchart which shows an example of the flow of the process in the 3rd vehicle control which the control apparatus which concerns on the same embodiment performs. It is a flowchart which shows an example of the flow of the process in the 4th vehicle control which the control apparatus which concerns on the same embodiment performs. It is a flowchart which shows an example of the flow of the process in the 5th vehicle control which the control apparatus which concerns on the same embodiment performs. It is a flowchart which shows an example of the flow of the process in the 6th vehicle control which the control apparatus which concerns on the same embodiment performs.

  Exemplary embodiments of the present invention will be described below in detail with reference to the accompanying drawings. In addition, in this specification and drawing, about the component which has the substantially same function structure, duplication description is abbreviate | omitted by attaching | subjecting the same code | symbol.

<1. Configuration of communication system>
First, with reference to FIG.1 and FIG.2, the structure of the communication system 1 to which the own vehicle 10 which is a vehicle by which the control apparatus 150 which concerns on embodiment of this invention is mounted belongs is demonstrated.

  FIG. 1 is a schematic diagram illustrating an example of a schematic configuration of a communication system 1 to which a host vehicle 10 in which a control device 150 according to the present embodiment is mounted. FIG. 2 is a block diagram illustrating an example of a functional configuration of the control device 150 according to the present embodiment.

  For example, as illustrated in FIG. 1, the communication system 1 includes a host vehicle 10, another vehicle 20, a road sensor 30, a base station 40, and a management server 50. In FIG. 1, other vehicles 20a, other vehicles 20b, and other vehicles 20c are shown as examples of the other vehicles 20. In FIG. 1, a road sensor 30 a and a road sensor 30 b are shown as examples of the road sensor 30. In FIG. 1, a base station 40 a and a base station 40 b are shown as examples of the base station 40. The number of other vehicles 20, road sensors 30, base stations 40, and management servers 50 belonging to the communication system 1 is not limited to the example shown in FIG.

  The host vehicle 10 includes, for example, a communication device 110, a car navigation device 130, and a control device 150.

  The communication device 110 communicates with each device outside the host vehicle 10. Specifically, the communication device 110 communicates with the other vehicle 20, the road sensor 30, and the base station 40 in the communication system 1. For example, in the example shown in FIG. 1, the communication device 110 can communicate with the other vehicle 20a, the road sensor 30a, and the base station 40a. In addition, the communication device 110 outputs the received information to the control device 150.

  The car navigation device 130 predicts a route, a distance, an arrival time, and the like to a destination desired by the driver according to an input operation by the driver, and displays information indicating them. In addition, the car navigation device 130 can calculate the current position of the host vehicle 10 by receiving radio waves from a GPS (Global Positioning System) satellite. In addition, the car navigation device 130 outputs the predicted information and the calculated information to the control device 150.

  The control device 150 includes a CPU (Central Processing Unit) that is an arithmetic processing device, a ROM (Read Only Memory) that is a storage element that stores programs used by the CPU, operational parameters, and the like, parameters that change as appropriate in the execution of the CPU, and the like. It is composed of a RAM (Random Access Memory) or the like that is a storage element for temporary storage.

  The control device 150 communicates with each device mounted on the host vehicle 10. Communication between the control device 150 and each device is realized by using, for example, CAN (Controller Area Network) communication. For example, the control device 150 communicates with the communication device 110 and the car navigation device 130. The functions of the control device 150 according to the present embodiment may be divided by a plurality of control devices. In that case, the plurality of control devices may be connected to each other via a communication bus such as CAN.

  The control device 150 includes, for example, an acquisition unit 151, a selection unit 152, and a control unit 153.

  The acquisition unit 151 acquires various types of information used in processing performed by the control device 150. In addition, the acquisition unit 151 outputs the acquired information to the selection unit 152.

  For example, the acquisition unit 151 acquires information output from each device by communicating with the communication device 110 and the car navigation device 130. Specifically, the acquisition unit 151 acquires information transmitted from the other vehicle 20 and the road sensor 30 and received by the communication device 110 from the communication device 110. Thereby, the acquisition unit 151 can acquire detection information detected by the other vehicle 20 and the road sensor 30, information indicating the current position of the other vehicle 20, and information indicating the installation position of the road sensor 30. The acquisition unit 151 acquires information indicating the current position of the host vehicle 10 and the predicted route to the destination from the car navigation device 130.

  For example, the acquisition unit 151 may acquire information by further performing arithmetic processing on the information acquired from the communication device 110 and the car navigation device 130. Specifically, the acquisition unit 151 acquires position information regarding the position of the other vehicle 20 based on information indicating the current position of the other vehicle 20. The acquisition unit 151 acquires position information related to the position of the road sensor 30 based on information indicating the installation position of the road sensor 30.

  The position information includes, for example, lane information related to the lane where the other vehicle 20 or the road sensor 30 is located. The acquisition unit 151 can acquire the lane information by comparing the map information including the lane position information and the information indicating the current position of the other vehicle 20 or the installation position of the road sensor 30. The map information can be stored in the storage element of the control device 150 or the car navigation device 130, for example. Further, the position information includes, for example, distance information indicating a relative distance between the host vehicle 10 and the other vehicle 20 or the road sensor 30. The acquisition unit 151 can acquire distance information by comparing information indicating the current position of the host vehicle 10 with information indicating the current position of the other vehicle 20 or the installation position of the road sensor 30.

  The acquisition unit 151 may have a function of communicating with each device outside the host vehicle 10, and in that case, the communication device 110 may be omitted from the configuration of the host vehicle 10.

  The selection unit 152 selects control information used for vehicle control performed by the control unit 153 from a plurality of detection information acquired by the acquisition unit 151. In addition, the selection unit 152 outputs information indicating the detection information selected as control information to the control unit 153.

  In this way, in the control device 150, specifically, selection control for selecting control information is executed by the acquisition unit 151 and the selection unit 152.

  The control unit 153 performs vehicle control by controlling the operation of each device by outputting an operation command to each device mounted on the host vehicle 10. Specifically, the control unit 153 performs vehicle control based on the control information selected by the selection unit 152. The vehicle control may include various vehicle-related controls such as driving force distribution control, braking / driving force control, automatic stop control, auto cruise control, cooling control, or posture stabilization control. Also, the type of control information used may vary between vehicle controls. Each vehicle control will be described in detail later.

  The other vehicle 20 and the road sensor 30 correspond to an example of an external device that detects information that can be used for vehicle control as detection information. A device different from the other vehicle 20 and the road sensor 30 may be used as an external device that detects detection information.

  Specifically, the detection information is environmental information regarding the external environment of each vehicle. Therefore, the detection information is information that can differ depending on the detection position, which is the detected position. For example, the detection information is roughly classified into road surface information relating to the road surface state and environmental information relating to an external environment different from the road surface state. The road surface information includes, for example, a road surface friction coefficient, a road surface gradient, or the presence or absence of an obstacle on the road surface. The environmental information regarding the external environment different from the road surface state includes, for example, weather, outside temperature, or wind speed. In addition, the road surface information and the environmental information regarding the external environment different from the road surface state are not particularly limited to such an example.

  The other vehicle 20 detects detection information about the travel position at each time. For example, the other vehicle 20 includes a sensor capable of detecting various types of information, and detects the detection information using the sensor. The other vehicle 20 may detect the detection result itself by the sensor as detection information, or may detect information obtained by further performing arithmetic processing on the detection result by the sensor as detection information.

  The other vehicle 20 transmits the detected detection information to the vehicle and the base station 40 that are located within a communicable range. Further, the other vehicle 20 transmits information indicating the current position of the other vehicle 20 to the vehicle and the base station 40 located within a communicable range. The other vehicle 20 can calculate the current position of the other vehicle 20 by receiving a radio wave from a GPS satellite or the like. For example, in the example illustrated in FIG. 1, the other vehicle 20 a can communicate with the host vehicle 10 and the other vehicle 20 b. The other vehicle 20b can communicate with the other vehicle 20a. Further, the other vehicle 20c can communicate with the base station 40b.

  The road sensor 30 is installed on the road and detects detection information about the installation position.

  Further, the road sensor 30 transmits the detected detection information to the vehicle and the base station 40 that are located within a communicable range. Furthermore, the road sensor 30 transmits information indicating the installation position of the road sensor 30 to the vehicle and the base station 40 located within a communicable range. Information indicating the installation position can be stored in advance on each road sensor 30. For example, in the example shown in FIG. 1, the road sensor 30 a can communicate with the host vehicle 10. Further, the road sensor 30b can communicate with the base station 40b.

  The base stations 40 can communicate with the management server 50 via a wired or wireless communication network N1. The management server 50 receives and stores information transmitted from the other vehicle 20 and the road sensor 30 via the base station 40. The base station 40 transmits information stored in the management server 50 to each vehicle.

  In the communication system 1, when the own vehicle 10 can directly communicate with each of the other vehicle 20 and the road sensor 30, the vehicle 10 is transmitted from each of the other vehicle 20 and the road sensor 30 by performing direct communication. Information can be obtained. For example, the host vehicle 10 can acquire the detection information transmitted from the other vehicle 20a and the information indicating the current position of the other vehicle 20a by directly communicating with the other vehicle 20a. For example, the own vehicle 10 can acquire the detection information transmitted from the road sensor 30a and the information indicating the installation position of the road sensor 30a by directly communicating with the road sensor 30a.

  Further, in the communication system 1, even if the own vehicle 10 cannot communicate directly with each of the other vehicle 20 and the road sensor 30, the vehicle 10 can perform other communication by performing indirect communication via another device. Information transmitted from each of the vehicle 20 and the road sensor 30 can be acquired. For example, the host vehicle 10 can acquire detection information transmitted from the other vehicle 20b and information indicating the current position of the other vehicle 20b by communicating with the other vehicle 20a. For example, the own vehicle 10 can acquire the detection information transmitted from the other vehicle 20c and the information indicating the current position of the other vehicle 20c by communicating with the base station 40a. For example, the own vehicle 10 can acquire the detection information transmitted from the road sensor 30b and the information indicating the installation position of the road sensor 30b by communicating with the base station 40a.

  In the communication system 1, the host vehicle 10 may be able to detect detection information about the travel position at each time. In this case, the host vehicle 10 transmits the detected detection information and information indicating the current position of the host vehicle 10 to the vehicle and the base station 40 that are located within a communicable range. For example, in the example illustrated in FIG. 1, the host vehicle 10 can transmit the detected detection information and information indicating the current position of the host vehicle 10 to the other vehicle 20 b and the base station 40 a. Information transmitted from the host vehicle 10 is transmitted from the base station 40 a to the management server 50 and stored in the management server 50. Therefore, the information transmitted from the own vehicle 10 can be transmitted to each other vehicle 20 via each base station 40.

<2. Operation of control device>
Then, with reference to FIGS. 3-12, operation | movement of the control apparatus 150 which concerns on this embodiment is demonstrated.

(Selection control)
First, the selection control performed by the control device 150 will be described with reference to FIGS.

  FIG. 3 is a flowchart illustrating an example of a process flow in selection control performed by the control device 150 according to the present embodiment. The control flow shown in FIG. 3 is repeated, for example, every preset time. FIG. 4 is an explanatory diagram illustrating a first example of the state of the other vehicle 20 that travels around the host vehicle 10 on which the control device 150 according to the present embodiment is mounted. FIG. 5 is an explanatory diagram illustrating a second example of the state of the other vehicle 20 that travels around the host vehicle 10 on which the control device 150 according to the present embodiment is mounted. FIG. 6 is an explanatory diagram illustrating a third example of the state of the other vehicle 20 traveling around the host vehicle 10 on which the control device 150 according to the present embodiment is mounted.

  In the following, in order to facilitate understanding, an example in which a plurality of pieces of detection information respectively detected by a plurality of other vehicles 20 are used as control information candidates in the host vehicle 10 will be described. The detection source of the detection information is not limited to such an example. For example, a plurality of pieces of detection information detected by the plurality of road sensors 30 may be used as control information candidates in the host vehicle 10. Furthermore, a plurality of pieces of detection information detected by both one or more other vehicles 20 and one or more road sensors 30 may be used as control information candidates in the host vehicle 10.

  When the control flow shown in FIG. 3 is started, first, in step S501, the acquisition unit 151 acquires detection information and position information for a plurality of other vehicles 20. Specifically, the acquisition unit 151 acquires detection information detected by each of the plurality of other vehicles 20 and position information of each other vehicle 20.

  Next, in step S503, the selection unit 152 determines whether or not the acquired detection information is road surface information related to a road surface state. When it is determined that the acquired detection information is road surface information (step S503 / YES), the process proceeds to step S505. On the other hand, when it is determined that the acquired detection information is not road surface information (in other words, the acquired detection information is environmental information related to an external environment different from the road surface state) (step S503 / NO), the process proceeds to step S513. move on.

  For example, in the detection information acquisition process in step S501, when information indicating the friction coefficient of the road surface, the gradient of the road surface, or the presence or absence of an obstacle on the road surface is acquired as the detection information, the acquired detection information is the road surface information. It is determined that On the other hand, for example, when information indicating the weather, the outside air temperature, or the wind speed is acquired as detection information, it is determined that the acquired detection information is environmental information related to an external environment different from the road surface state.

  In step S505, the selection unit 152 determines whether or not the detection information detected by the other vehicle 20 located on the own lane L10 that is the traveling lane of the own vehicle 10 is acquired. When it is determined that the detection information detected by the other vehicle 20 located on the own lane L10 has been acquired (step S505 / YES), the process proceeds to step S507. On the other hand, when it determines with the detection information detected by the other vehicle 20 located on the own lane L10 not being acquired (step S505 / NO), it progresses to step S509.

  For example, the selection unit 152 can obtain information indicating which lane the host lane L10 is by comparing the map information with information indicating the current position of the host vehicle 10. In this case, the selection unit 152 can determine the lane in which the host vehicle 10 is currently traveling as the own lane L10. In addition, for example, the selection unit 152 can acquire information indicating which lane the host lane L10 is based on the prediction result of the route to the destination desired by the driver acquired from the car navigation device 130. . In this case, the selection unit 152 can determine the lane corresponding to the route predicted to travel in the future in addition to the lane in which the host vehicle 10 is currently traveling as the own lane L10.

  In step S507, the selection unit 152 preferentially selects detection information detected by the other vehicle 20 located on the own lane L10 as control information.

  Here, in the example shown in FIG. 4, the host lane L <b> 10 is a travel lane of the host vehicle 10. The other vehicle 20d and the other vehicle 20e are located on the own lane L10. The adjacent lane L20 is a traveling lane in the same direction adjacent to the own lane L10. The other vehicle 20f and the other vehicle 20g are located on the adjacent lane L20. The oncoming lane L30 is a traveling lane in the opposite direction to the own lane L10. The other vehicle 20h is located on the oncoming lane L30.

  For example, in the example illustrated in FIG. 4, when road surface information is acquired as detection information for each of the other vehicle 20 d, the other vehicle 20 e, the other vehicle 20 f, the other vehicle 20 g, and the other vehicle 20 h, the selection unit 152 Control information is selected from detection information detected by the vehicle 20d and the other vehicle 20e. When there are a plurality of detection information detected by the other vehicle 20 located on the own lane L10, the selection unit 152 is detected by the other vehicle 20 having a short relative distance to the own vehicle 10 among the plurality of detection information, for example. Detection information is preferentially selected as control information. In the example shown in FIG. 4, the relative distance between the host vehicle 10 and the other vehicle 20e is shorter than the relative distance between the host vehicle 10 and the other vehicle 20d. Therefore, the selection unit 152 specifically selects the detection information detected by the other vehicle 20e as control information.

  In step S509, the selection unit 152 determines whether or not the detection information detected by the other vehicle 20 located on the adjacent lane L20 is acquired. When it is determined that the detection information detected by the other vehicle 20 located on the adjacent lane L20 is acquired (step S509 / YES), the process proceeds to step S511. On the other hand, when it determines with the detection information detected by the other vehicle 20 located on the adjacent lane L20 not being acquired (step S509 / NO), it progresses to step S513.

  In step S511, the selection unit 152 preferentially selects detection information detected by the other vehicle 20 located on the adjacent lane L20 as control information.

  Here, in the example shown in FIG. 5, the other vehicle 20 is not located on the own lane L10. Therefore, this case corresponds to a case where the detection information detected by the other vehicle 20 located on the own lane L10 is not acquired. Moreover, the other vehicle 20f and the other vehicle 20g are located on the adjacent lane L20. The other vehicle 20h is located on the oncoming lane L30.

  For example, in the example illustrated in FIG. 5, when road surface information is acquired as detection information for each of the other vehicle 20f, the other vehicle 20g, and the other vehicle 20h, the selection unit 152 is detected by the other vehicle 20f and the other vehicle 20g. Control information is selected from the detected information. When there are a plurality of detection information detected by the other vehicle 20 located on the adjacent lane L20, the selection unit 152 is detected by the other vehicle 20 having a short relative distance to the host vehicle 10 among the plurality of detection information, for example. Detection information is preferentially selected as control information. In the example shown in FIG. 5, the relative distance between the host vehicle 10 and the other vehicle 20g is shorter than the relative distance between the host vehicle 10 and the other vehicle 20f. Therefore, the selection unit 152 specifically selects the detection information detected by the other vehicle 20g as control information.

  Thus, the selection part 152 selects control information based on the lane information regarding the lane in which the other vehicle 20 is located, when detection information is road surface information.

  In step S513, the selection unit 152 preferentially selects detection information detected by the other vehicle 20 having a short relative distance to the host vehicle 10 as control information.

  For example, in the example shown in FIG. 4, the relative distance between the host vehicle 10 and the other vehicle 20h is shorter than the relative distance between the host vehicle 10 and the other vehicle 20 different from the other vehicle 20h. Therefore, in the example shown in FIG. 4, environmental information regarding the external environment different from the road surface condition is acquired as detection information for each of the other vehicle 20d, the other vehicle 20e, the other vehicle 20f, the other vehicle 20g, and the other vehicle 20h. In this case, the selection unit 152 selects detection information detected by the other vehicle 20h located on the oncoming lane L30 as control information.

  Moreover, the selection part 152 may use the detection information detected by the other vehicle 20 located on the driving | running | working lane which carries out the three-dimensional intersection with the own lane L10 as a candidate of control information.

  Here, in the example shown in FIG. 6, the lane L40 is a traveling lane that three-dimensionally intersects with the own lane L10. The other vehicle 20j is located on the lane L40. Further, another vehicle 20i is located on the oncoming lane L30. The lane L50 is, for example, an opposite lane with respect to the lane L40.

  For example, in the example shown in FIG. 6, when environmental information related to the external environment different from the road surface state is acquired as detection information for each of the other vehicle 20 i and the other vehicle 20 j, the selection unit 152 selects the own lane L 10 and the three-dimensional vehicle. Detection information detected by the other vehicle 20j located on the intersecting lane L40 may be used as a candidate for control information. In the example shown in FIG. 6, the relative distance between the host vehicle 10 and the other vehicle 20j is shorter than the relative distance between the host vehicle 10 and the other vehicle 20i. Therefore, the selection unit 152 specifically selects the detection information detected by the other vehicle 20j as control information.

  As described above, the selection unit 152 selects control information based on distance information indicating a relative distance between the host vehicle 10 and the other vehicle 20 when the detection information is environmental information related to an external environment different from the road surface state.

  After step S507, step S511, or step S513, the control flow shown in FIG. 3 ends.

  As described above with reference to the control flow shown in FIG. 3, the selection unit 152 selects control information based on the detection information and the position information of the external device. Specifically, the selection unit 152 selects control information based on the type of detection information and the position information of the external device.

  The detection date and time can be associated with detection information detected by an external device such as the other vehicle 20. In this case, the selection unit 152 may exclude detection information whose detection date and time is more than the reference time before the current time from among the plurality of acquired detection information from the control information candidates. The reference time can be appropriately set to a time when it can be determined that the suitability of the control information of the detection information is significantly reduced due to the passage of time from the detection date. Thereby, detection information having relatively high suitability as control information can be effectively selected as control information.

(Vehicle control)
Next, vehicle control performed by the control device 150 will be described with reference to FIGS.

  In the following, first vehicle control to sixth vehicle control will be described as examples of vehicle control performed by the control device 150. However, vehicle control performed by the control device 150 is detected information detected by an external device. It is only necessary to use the control, and it is not particularly limited to such an example. For example, the control device 150 may execute at least one of the first vehicle control to the sixth vehicle control, or may execute vehicle control different from the first vehicle control to the sixth vehicle control. . Moreover, the combination of the content of vehicle control and the kind of detection information used for vehicle control is not specifically limited to the example demonstrated below.

  FIG. 7 is a flowchart illustrating an example of a process flow in the first vehicle control performed by the control device 150 according to the present embodiment. The control flow shown in FIG. 7 is repeated, for example, every preset time.

  The first vehicle control is driving force distribution control. Specifically, in the first vehicle control, the driving force distribution of the front and rear wheels is controlled based on the friction coefficient of the road surface. Thus, in the first vehicle control, the road surface friction coefficient, which is road surface information, is used as the control information.

  The first vehicle control is executed, for example, when the host vehicle 10 is a vehicle having different drive sources between the front wheels and the rear wheels. The control unit 153 can control the driving force distribution of the front and rear wheels, for example, by controlling the operation of the front wheel driving source and the rear wheel driving source.

  When the control flow shown in FIG. 7 is started, first, in step S711, the control unit 153 determines whether or not the friction coefficient of the road surface selected as the control information is smaller than the reference friction coefficient. When it is determined that the friction coefficient of the road surface selected as the control information is smaller than the reference friction coefficient (step S711 / YES), the process proceeds to step S713. On the other hand, when it is determined that the friction coefficient of the road surface selected as the control information is greater than or equal to the reference friction coefficient (step S711 / NO), the process proceeds to step S715.

  Specifically, the reference friction coefficient is appropriately set to a value that can determine whether or not the traveling road surface of the host vehicle 10 is a low μ road such as a frozen road surface. The reference friction coefficient is stored in advance in a storage element of the control device 150, for example.

  In step S713, the control unit 153 switches the driving force distribution of the front and rear wheels of the host vehicle 10 to the distribution of the four-wheel driving state. Accordingly, it is possible to realize traveling that emphasizes improvement in traveling stability when traveling on a low μ road having a relatively low friction coefficient.

  In step S715, the control unit 153 switches the driving force distribution of the front and rear wheels of the host vehicle 10 to the distribution of the two-wheel drive state. As a result, it is possible to realize traveling that emphasizes improvement in fuel efficiency when traveling on a high μ road having a relatively high friction coefficient.

  Following step S713 or step S715, the control flow shown in FIG. 7 ends.

  FIG. 8 is a flowchart illustrating an example of a process flow in the second vehicle control performed by the control device 150 according to the present embodiment. The control flow shown in FIG. 8 is repeated, for example, every preset time.

  The second vehicle control is braking / driving force control. Specifically, in the second vehicle control, the braking / driving force acting on the host vehicle 10 is controlled based on the road gradient. Thus, in 2nd vehicle control, the gradient of the road surface which is road surface information is used as control information.

  The control unit 153 can control the driving force acting on the host vehicle 10 by controlling the operation of the driving source of the driving wheels, for example. Moreover, the control part 153 can control the braking force which acts on the own vehicle 10 by controlling operation | movement of the brake device which provides a braking force with respect to each wheel, for example.

  When the control flow shown in FIG. 8 is started, first, in step S721, the control unit 153 calculates a target value of the braking / driving force based on the accelerator operation amount and the brake operation amount.

  Next, in step S723, the control unit 153 adjusts the target value of the braking / driving force based on the road gradient selected as the control information. Thereby, it is possible to suppress the braking / driving force acting on the host vehicle 10 from being different from the braking / driving force intended by the driver due to the gradient of the road surface.

  Next, in step S725, the control unit 153 controls the braking / driving force using the adjusted target value.

  Next, the control flow shown in FIG. 8 ends.

  FIG. 9 is a flowchart illustrating an example of a process flow in the third vehicle control performed by the control device 150 according to the present embodiment. The control flow shown in FIG. 9 is repeated, for example, every preset time.

  The third vehicle control is automatic stop control. Specifically, in the third vehicle control, automatic stop control for automatically stopping the host vehicle 10 is controlled based on the presence or absence of an obstacle on the road surface. Thus, in the third vehicle control, the presence or absence of an obstacle on the road surface, which is road surface information, is used as the control information.

  For example, the control unit 153 can execute automatic stop control by controlling the operation of a brake device that applies a braking force to each wheel.

  When the control flow shown in FIG. 9 is started, first, in step S731, the control unit 153 determines whether there is an obstacle on the road surface based on the presence or absence of the obstacle on the road surface selected as control information. Determine whether or not. If it is determined that there is an obstacle on the road surface (step S731 / YES), the process proceeds to step S733. On the other hand, when it is determined that there is no obstacle on the road surface (step S731 / NO), the control flow shown in FIG. 9 ends.

  In step S733, the control unit 153 performs automatic stop control. Thereby, it can avoid that the own vehicle 10 collides with the obstacle on a road surface.

  Next, the control flow shown in FIG. 9 ends.

  FIG. 10 is a flowchart illustrating an example of a process flow in the fourth vehicle control performed by the control device 150 according to the present embodiment. The control flow shown in FIG. 10 is repeated, for example, every preset time.

  The fourth vehicle control is auto cruise control. Specifically, in the fourth vehicle control, auto-cruise control for automatically running the host vehicle 10 is controlled based on the weather so that the distance between the host vehicle 10 and the preceding vehicle is maintained at the reference distance. . The reference distance is set to such a distance that a collision with a preceding vehicle can be avoided. Thus, in the fourth vehicle control, weather, which is environmental information regarding the external environment different from the road surface state, is used as the control information.

  For example, the fourth vehicle control is executed when the host vehicle 10 is a vehicle having a distance measuring sensor capable of measuring the inter-vehicle distance between the host vehicle 10 and the preceding vehicle or an in-vehicle camera capable of imaging the front of the host vehicle 10. Is done. For example, the control unit 153 can calculate the inter-vehicle distance between the host vehicle 10 and the preceding vehicle by performing image processing on an image captured by the in-vehicle camera. The control unit 153 can execute auto-cruise control by controlling the braking / driving force based on the inter-vehicle distance between the host vehicle 10 and the preceding vehicle obtained by using a distance measuring sensor or a vehicle-mounted camera.

  When the control flow shown in FIG. 10 is started, first, in step S741, the control unit 153 determines whether or not the weather selected as control information corresponds to bad weather. When it is determined that the weather selected as the control information corresponds to bad weather (step S741 / YES), the process proceeds to step S743. On the other hand, when it is determined that the weather selected as the control information does not correspond to bad weather (step S741 / NO), the control flow shown in FIG. 10 ends.

  Specifically, as the weather corresponding to bad weather, weather that is predicted that the accuracy of the inter-vehicle distance between the host vehicle 10 and the preceding vehicle acquired using the distance measuring sensor or the in-vehicle camera is excessively low is applied. Information indicating the weather corresponding to bad weather is stored in advance in a storage element of the control device 150, for example.

  In step S743, the control unit 153 prohibits the auto cruise control. Thereby, it is possible to suppress the execution of the auto cruise control when it is difficult to appropriately execute the auto cruise control due to excessively low accuracy of the inter-vehicle distance.

  Next, the control flow shown in FIG. 10 ends.

  FIG. 11 is a flowchart illustrating an example of a process flow in the fifth vehicle control performed by the control device 150 according to the present embodiment. The control flow shown in FIG. 11 is repeated, for example, every preset time.

  The fifth vehicle control is cooling control. Specifically, in the fifth vehicle control, cooling control for cooling a cooling target such as a battery mounted on the host vehicle 10 is controlled based on the outside air temperature. As described above, in the fifth vehicle control, the outside air temperature, which is environmental information regarding the external environment different from the road surface state, is used as the control information.

  The fifth vehicle control is executed, for example, when the host vehicle 10 is a vehicle having a cooling fan that can blow outside air outside the host vehicle 10 to be cooled. For example, the control unit 153 can control the operation of the cooling fan to blow the outside air to the cooling target.

  When the control flow shown in FIG. 11 is started, first, in step S751, the control unit 153 determines the duty ratio of the cooling fan based on the outside air temperature selected as the control information.

  The duty ratio of the cooling fan is the driving time of the cooling fan per unit time. As the duty ratio increases, the ability to cool the object to be cooled increases, while the power consumption associated with driving the cooling fan increases.

  In step S753, the control unit 153 drives the cooling fan with the determined duty ratio. Accordingly, it is possible to suppress an increase in power consumption accompanying driving of the cooling fan while appropriately securing the ability to cool the cooling target by blowing outside air.

  Next, the control flow shown in FIG. 11 ends.

  FIG. 12 is a flowchart illustrating an example of a process flow in the sixth vehicle control performed by the control device 150 according to the present embodiment. The control flow shown in FIG. 12 is repeated, for example, every preset time.

  The sixth vehicle control is posture stabilization control. Specifically, in the sixth vehicle control, posture stabilization control that stabilizes a change in posture of the host vehicle 10 due to receiving an external force by increasing the rigidity of the host vehicle 10 is based on the wind speed. Be controlled. In this way, in the sixth vehicle control, the wind speed, which is environmental information regarding the external environment different from the road surface state, is used as the control information.

  The sixth vehicle control is executed, for example, when the vehicle has an attenuation rate adjustment mechanism that can adjust the attenuation rate of the suspension. The control unit 153 can execute posture stabilization control that increases the rigidity of the host vehicle 10 by, for example, increasing the suspension damping rate by controlling the operation of the damping rate adjusting mechanism.

  When the control flow shown in FIG. 12 is started, first, in step S761, the control unit 153 determines whether or not the component of the wind speed in the left-right direction of the vehicle selected as control information is greater than the reference wind speed. When it is determined that the component of the wind speed in the left-right direction of the vehicle body is greater than the reference wind speed (step S761 / YES), the process proceeds to step S763. On the other hand, when it is determined that the component of the wind speed in the left-right direction of the vehicle body is equal to or lower than the reference wind speed (step S761 / NO), the control flow shown in FIG.

  Specifically, the reference wind speed is appropriately set to a value that can determine whether the component of the wind speed in the left-right direction of the vehicle body is large enough to make the posture of the host vehicle 10 excessively unstable. The reference wind speed is stored in advance in a storage element of the control device 150, for example.

  In step S763, the control unit 153 performs posture stabilization control. Thereby, it can suppress that the attitude | position of the own vehicle 10 becomes unstable by receiving a crosswind.

  Next, the control flow shown in FIG. 12 ends.

<3. Effect of control device>
Then, the effect of the control apparatus 150 which concerns on this embodiment is demonstrated.

  In the control device 150 according to the present embodiment, control information used for vehicle control is selected from a plurality of detection information respectively detected by a plurality of external devices outside the host vehicle 10. Control information is selected based on the detection information and the position information of the external device. Here, the suitability of the detection information as control information may differ depending on which external device the detection information is detected from. Specifically, the suitability of the detection information as the control information may vary depending on the detection position of the detection information. Furthermore, the relationship between the detection position of the detection information and the suitability of the detection information as control information may vary depending on the type of detection information. Therefore, by selecting the control information based on the detection information and the position information of the external device, it is possible to select the detection information having relatively high suitability as the control information as the control information. Therefore, it is possible to appropriately select control information used for vehicle control from a plurality of pieces of detection information respectively detected by a plurality of external devices.

  In the control device 150 according to the present embodiment, when the detection information is road surface information related to the road surface state, the control information can be selected based on the lane information related to the lane where the external device is located. Here, the state of the road surface may differ depending on the lane. Therefore, when the detection information is road surface information, the suitability of the detection information as control information may differ depending on which lane the detection information is detected from. Therefore, when the detection information is road surface information, by selecting the control information based on the lane information, it is possible to appropriately select the detection information having relatively high suitability as the control information as the control information. For example, for vehicle control in which road surface information is used as control information, such as driving force distribution control, braking / driving force control, and automatic stop control described with reference to FIGS. it can.

  In addition, in the control device 150 according to the present embodiment, when the detection information is road surface information, the detection information detected by the external device located on the own lane that is the traveling lane of the own vehicle 10 is preferentially used as the control information. Can be selected. Here, when the detection information is road surface information, the suitability of the detection information detected in the own lane as control information is higher than the detection information detected in a lane different from the own lane. Therefore, when the detection information is road surface information, the detection information detected by the external device located on the own lane is preferentially selected as the control information, so that the detection information having relatively high suitability as the control information is obtained. It can be effectively selected as control information.

  Further, in the control device 150 according to the present embodiment, when the detection information is road surface information, when the detection information detected by the external device located on the own lane is not acquired, the same adjacent to the own lane. Detection information detected by an external device located on an adjacent lane that is a traveling lane in a direction can be preferentially selected as control information. Here, the host vehicle 10 may change lanes to adjacent lanes for the purpose of overtaking the preceding vehicle during traveling. Therefore, when the detection information is road surface information, the suitability as the control information of the detection information detected in the adjacent lane is higher than the detection information detected in the lane different from the adjacent lane among the lanes other than the own lane. . Therefore, when the detection information is road surface information and the detection information detected by the external device located on the own lane is not acquired, the detection information detected by the external device located on the adjacent lane is used as control information. By selecting with priority, detection information having relatively high suitability as control information can be more effectively selected as control information.

  Further, in the control device 150 according to the present embodiment, when the detection information is environmental information related to the external environment different from the road surface state, the control information is selected based on the distance information indicating the relative distance between the host vehicle 10 and the external device. Can be done. Here, the external environment different from the road surface state is less dependent on the lane, and may vary depending on the absolute position. Therefore, when the detection information is environmental information related to an external environment different from the road surface state, the suitability of the detection information as control information may differ depending on the relative distance between the host vehicle 10 and the detection position of the detection information. Therefore, when the detection information is environmental information related to an external environment different from the road surface condition, the control information is appropriately selected as the control information by selecting the control information based on the distance information. You can choose. For example, for vehicle control in which environmental information regarding the external environment different from the road surface condition is used as control information, such as auto cruise control, cooling control, and posture stabilization control described with reference to FIGS. You can choose appropriately.

  Further, in the control device 150 according to the present embodiment, when the detection information is environmental information related to the external environment different from the road surface state, the detection information detected by the external device having a short relative distance to the host vehicle 10 is used as the control information. It can be preferentially selected. Here, when the detection information is environmental information related to an external environment different from the road surface state, the suitability of the detection information as the control information is higher as the detection position of the detection information is closer to the host vehicle 10. Therefore, when the detection information is environmental information related to the external environment different from the road surface state, the control information is preferentially selected as the control information by detecting the detection information detected by the external device having a short relative distance to the host vehicle 10. Detection information having relatively high suitability as information can be effectively selected as control information.

  In addition, in the control device 150 according to the present embodiment, when the detection information is environmental information related to the external environment different from the road surface state, the detection information detected by the external device located on the travel lane that intersects with the own lane is detected. It can be used as a candidate for control information. Here, when the detection information is environmental information related to the external environment different from the road surface state, the suitability of the detection information as the control information is higher as the detection position of the detection information is closer to the host vehicle 10 as described above. . When there is a travel lane that three-dimensionally intersects with the own lane, there is a possibility that the external device located on the travel lane that three-dimensionally intersects with the own lane is the closest external device to the own vehicle 10. Therefore, in the case where the detection information is environmental information related to the external environment different from the road surface state, by using the detection information detected by the external device located on the traveling lane three-dimensionally intersecting with the own lane as a control information candidate, Detection information having relatively high suitability as control information can be more effectively selected as control information.

<4. Conclusion>
As described above, according to the present embodiment, control information used for vehicle control is selected from a plurality of detection information respectively detected by a plurality of external devices outside the host vehicle 10. Control information is selected based on the detection information and the position information of the external device. Here, the suitability of the detection information as the control information may vary depending on the detection position of the detection information. Furthermore, the relationship between the detection position of the detection information and the suitability of the detection information as control information may vary depending on the type of detection information. Therefore, according to the present embodiment, detection information having relatively high suitability as control information can be selected as control information. Therefore, it is possible to appropriately select control information used for vehicle control from a plurality of pieces of detection information respectively detected by a plurality of external devices.

  Note that the processing described using the flowchart in this specification does not necessarily have to be executed in the order shown in the flowchart. Some processing steps may be performed in parallel. Further, additional processing steps may be employed, and some processing steps may be omitted.

  The preferred embodiments of the present invention have been described in detail above with reference to the accompanying drawings, but the present invention is not limited to such examples. It is obvious that a person having ordinary knowledge in the technical field to which the present invention pertains can make various modifications or application examples within the scope of the technical idea described in the claims. Of course, it is understood that these also belong to the technical scope of the present invention.

1 communication system 10 own vehicle 20 other vehicle 30 road sensor 40 base station 50 management server 110 communication device 130 car navigation device 150 control device 151 acquisition unit 152 selection unit 153 control unit

Claims (9)

An acquisition unit for acquiring detection information detected by a plurality of external devices outside the host vehicle and position information regarding each position of the external device;
A selection unit that selects control information used for vehicle control from a plurality of the detection information;
With
The selection unit selects the control information based on the detection information and the position information.
Vehicle control device. The position information includes lane information related to a lane in which the external device is located,
The selection unit selects the control information based on the lane information when the detection information is road surface information related to a road surface state.
The vehicle control device according to claim 1. When the detection information is the road surface information, the selection unit preferentially selects the detection information detected by the external device located on a travel lane of the host vehicle as the control information.
The vehicle control device according to claim 2. The selection unit, when the detection information is the road surface information, when the detection information detected by the external device located on the travel lane of the host vehicle is not acquired, Preferentially selecting the detection information detected by the external device located on the traveling lane in the same direction adjacent to the lane as the control information;
The vehicle control device according to claim 3. The road surface information includes the friction coefficient of the road surface, the gradient of the road surface, or the presence or absence of obstacles on the road surface,
The vehicle control device according to any one of claims 2 to 4. The position information includes distance information indicating a relative distance between the host vehicle and the external device,
The selection unit selects the control information based on the distance information when the detection information is environmental information related to an external environment different from a road surface state.
The control apparatus of the vehicle as described in any one of Claims 1-5. When the detection information is the environment information, the selection unit preferentially selects the detection information detected by the external device having a short relative distance to the host vehicle as the control information.
The vehicle control device according to claim 6. When the detection information is the environment information, the selection unit uses the detection information detected by the external device located on a traveling lane that intersects the traveling lane of the host vehicle as a candidate for the control information. ,
The vehicle control device according to claim 7. The environmental information includes weather, outside temperature or wind speed,
The vehicle control device according to any one of claims 6 to 8.

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