JP2020125111A - Vehicle control device and vehicle - Google Patents

Abstract

To provide a vehicle control device contributing to safe driving of a vehicle.SOLUTION: A vehicle control device mounted on a vehicle includes: a sign recognition unit that recognizes sign content of a sign that is located in the vicinity of the vehicle and indicates traffic-related information; and a vehicle control unit that controls a traveling state of the vehicle in accordance with the sign content of the sign recognized by the sign recognition unit.SELECTED DRAWING: Figure 3

Description

The present invention relates to a vehicle control device that can be used when, for example, driving assistance of a vehicle or control such as automatic driving is performed.

Conventionally, for example, as a technique for supporting driving of a vehicle, a camera is used to photograph a road sign in front of the vehicle, the contents of the sign shown on the road sign are recognized, and driving is performed in compliance with traffic regulations. A technique for outputting a message (alarm) is known (see Patent Document 1).

JP, 2011-242839, A

In the above-described conventional technology, the driver can be alerted by an alarm or the like, but in order to drive more safely, it is desired to appropriately control the vehicle based on road signs and the like. ..

The present invention has been made in view of the above points, and an object thereof is to provide a vehicle control device that can solve the above-described problems.
In the present invention, it is desirable to provide a vehicle control device that can suitably control the vehicle based on road signs and the like.

(1) The vehicle control device according to the first aspect of the present invention is a vehicle control device mounted on a vehicle, and is a mark that is arranged around the vehicle and that recognizes the marking content of a sign that indicates information related to traffic. A recognition unit and a vehicle control unit that controls a traveling state of the vehicle according to the marking content of the marking object recognized by the marking recognition unit.

In the present invention, the marking recognition unit recognizes the marking contents of the markings that indicate information about traffic (such as road signs and road markings) arranged around the vehicle, and the vehicle control unit recognizes the marking recognition unit. The traveling state of the vehicle is controlled according to the marking content of the marked object.

That is, in the present invention, the traveling state of the vehicle is automatically controlled according to the marking contents of the marking object such as the road sign, so that, for example, even when the driver overlooks the road sign such as a pause, By performing the control to apply the brake and stop the vehicle, it is possible to perform the preferable control excellent in safety and the like.

Here, the marking object that indicates information about traffic includes a marking object that is regulated by the Road Traffic Law and the like. Examples include, but are not limited to, road signs (traffic signs) such as signboards arranged on the roadside of the road, and road markings drawn on the road. Includes traffic markings.

The road signs include known main signs and auxiliary signs, and the main signs include guide signs, warning signs, regulatory signs, and instruction signs. Further, as the road marking, there are regulation display and instruction marking.

(2) Further, in the second aspect of the present invention, the vehicle control unit may perform at least one of control of a steering wheel (steering) and control of a brake according to the marking content of the marking object. That is, safer traveling is possible by controlling the steering wheel and the brake according to the content of the marking.

(3) Further, in the third aspect of the present invention, at least one of the marking content of the marking object and the traffic rule related to the marking content may be notified.
As a result, the driver can accurately grasp the information regarding traffic, and thus it is possible to drive more safely.

It is a block diagram which shows the structure of the vehicle control apparatus of 1st Embodiment. It is a figure which shows the recording content of a marker database. It is a flow chart which shows the main processing of driving support. It is explanatory drawing which shows a road sign and a road marking. It is a flowchart which shows the driving assistance process of 2nd Embodiment. It is a flowchart which shows the driving assistance process of 3rd Embodiment. It is explanatory drawing which shows the state in reverse running. It is a flowchart which shows the driving assistance process of 4th Embodiment. It is a flowchart which shows the driving assistance process of 6th Embodiment. It is a flowchart which shows the driving assistance process of 7th Embodiment. It is a flowchart which shows the driving assistance process of 9th Embodiment.

Embodiments to which the present invention is applied will be described below with reference to the drawings.
<First Embodiment>
The vehicle control device of the present embodiment performs control (driving support) that assists the driver in driving, based on a sign such as a road sign or a road marking.

[1. Constitution]
The vehicle control device 1 shown in FIG. 1 is a system (on-vehicle system) constructed by a plurality of electronic devices mounted on a vehicle (automobile).

The vehicle control device 1 includes a vehicle speed sensor 11, an acceleration sensor 12, a brake sensor 13, a steering angle sensor 14, a camera unit 15, a radar unit 16, a positioning unit 17, a navigation device 18, and driving assistance. A start switch 19, a driving support release switch 21, a cruise start switch 22, and a cruise release switch 23 are provided.

Further, the storage unit 31, the user interface (UI) unit 32, the sound output unit 33, the engine ECU 34, the brake ECU 35, the steering ECU 36, the communication unit 37, and the control unit 41 are provided.

Each configuration will be described below.
The vehicle speed sensor 11 is a sensor that detects the speed (vehicle speed) of a vehicle (hereinafter referred to as “own vehicle”) on which the vehicle control device 1 is mounted, and outputs the detection result to the control unit 41. Specifically, the vehicle speed sensor 11 detects the rotation speed of the axle based on the number of pulses per unit time output from the pulse generator attached to the axle, and the vehicle speed sensor 11 detects the rotation speed of the vehicle based on the detected rotation speed. Calculate the speed (vehicle speed).

The acceleration sensor 12 is a sensor that detects an acceleration that occurs in the front-rear direction of the host vehicle, and outputs the detection result to the control unit 41. Note that the acceleration includes not only positive acceleration but also negative acceleration (deceleration).

The brake sensor 13 is a sensor that detects the operation state of the brake (the depression amount of the brake pedal) by the driver, and outputs the detection result to the control unit 41.
The steering angle sensor 14 is a sensor that detects the operation state (steering amount) of the steering wheel (steering wheel) by the driver, and outputs the detection result to the control unit 41.

The camera unit 15 is a unit that captures a situation around the vehicle with a camera mounted on the vehicle, and outputs a captured image to the control unit 41. In the present embodiment, a front camera that images the front of the host vehicle, side cameras that capture left and right sides of the host vehicle, and a rear camera that images the rear of the host vehicle are mounted on the host vehicle. There is. The camera unit 15 outputs images captured by the front camera, the side camera, and the rear camera.

The radar unit 16 is a unit that detects a target based on the reflected wave of the emitted radar wave, and outputs the detection result to the control unit 41. In the present embodiment, the radar unit 16 detects targets (other vehicles, etc.) existing in front of, in the left and right sides of, and behind (that is, around the own vehicle) the own vehicle. Note that millimeter waves, laser light, ultrasonic waves, and the like are used as radar waves. As is well known, the radar unit 16 can determine the distance to the target such as another vehicle, the relative speed, and the direction of the target.

The positioning unit 17 includes a GPS receiver, a gyroscope, and a distance sensor, which are not shown. The GPS receiver receives a transmission signal from an artificial satellite for GPS (Global Positioning System) and detects the position coordinates and altitude of the host vehicle. The gyroscope outputs a detection signal according to the angular velocity of the rotary motion applied to the vehicle. The distance sensor outputs the traveling distance of the own vehicle. The positioning unit 17 detects the position (latitude and longitude) and azimuth of the host vehicle based on the output signals of these sensors.

The navigation device 18 includes a current position detection unit that detects the current position of the vehicle based on the information from the positioning unit 17 and a display that displays an image (not shown), similar to a known navigation device. The navigation device 18 can execute well-known navigation processing (for example, processing such as route guidance) based on the vehicle position coordinates (current location) information detected by the positioning unit 17 and map information.

The driving support start switch 19 is switched by the driver between a support permission mode in which driving support to be described later is automatically executed and a support prohibition mode in which driving support is automatically executed is prohibited. It is a switch for.

The driving assistance cancellation switch 21 is a switch for the driver to perform an operation (cancellation operation) of canceling the driving assistance that was most recently started in the assistance permission mode. In the present embodiment, the driving support start switch 19 and the driving support cancellation switch 21 are provided as dedicated physical switches, but the present invention is not limited to this, and it is sufficient if the driver can switch. For example, when the driving support control is being performed, the driving support release switch 21 may be operated by, for example, stepping the brake a plurality of times or stepping the accelerator a plurality of times.

The cruise start switch 22 is a switch for starting adaptive cruise control control (hereinafter referred to as “ACC control”) at the driver's will. The ACC control is a well-known control in which the vehicle travels at a set target speed when there is no preceding vehicle, and when the preceding vehicle exists, the vehicle travels following the target speed while maintaining a target inter-vehicle distance. That is, the ACC control is a traveling control that changes the acceleration of the own vehicle and the like according to the traveling state of the preceding vehicle (specifically, the front inter-vehicle distance).

The cruise cancel switch 23 is a switch for canceling the execution of the ACC control by the driver's intention (terminating the ACC control being executed). In the present embodiment, the cruise start switch 22 and the cruise release switch 23 are provided as dedicated physical switches, but the present invention is not limited to this, and it is sufficient if the driver can switch.

The storage unit 31 is a device for storing various data. The storage unit 31 stores map data used for the navigation function, various databases (for example, a sign database storing data of road signs and road markings), and the like.

Specifically, as will be described later, in the sign database, as shown in FIG. 2, various kinds of markings of the road markings 51 and the road markings 53, the meanings of the markings (marking contents), and the markings. The control to be executed corresponding to the content is stored in association with each other.

The user interface unit 32 is a unit that has a function of displaying an image on a display screen (display screen visible to an occupant) provided inside the vehicle compartment and a function of accepting an operation from the occupant. In the present embodiment, a touch panel type display (for example, the display of the navigation device 18) is used.

The sound output unit 33 is a unit for outputting sound from the speaker to the interior of the vehicle.
The engine ECU 34 is an electronic control device that controls start/stop of the engine, fuel injection amount, ignition timing, and the like.

The brake ECU 35 is an electronic control device that controls braking of the host vehicle.
The steering ECU 36 is an electronic control device that performs steering control.
The communication unit 37 is a device that communicates with the outside of the vehicle. The communication unit 37 has, for example, a function of communicating with a base station configured as a wireless base station of a mobile phone (that is, a function of communicating with a server or another terminal device (eg, smartphone) via a mobile phone network). Have

The control unit 41 is a unit that integrally controls the vehicle control device 1 that is an in-vehicle system. The control unit 41 includes a CPU 411, a ROM 412, a RAM 413 and the like. In the control unit 41, the processing according to the program recorded in the recording medium such as the ROM 412 is executed by the CPU 411 as a processing subject (computer).

[2. processing]
Next, various processes executed by the control unit 41 (specifically, the CPU 411) according to programs will be described.

[2-1. Main processing of driving assistance]
First, the main process of driving support executed by the control unit 41 will be described with reference to the flowchart of FIG. The main processing of the driving support shown in FIG. 3 is started by turning on an ignition switch (IG switch) of the vehicle.

The main processing of this driving support is necessary, for example, by reading the marking content (here, “temporary stop”) from a marking object such as a road sign (traffic sign) 51 and a road marking 53 as shown in FIG. This is a process of performing driving assistance (control of the brake, etc.).

As shown in FIG. 3, in the control unit 41, first, in step (S) 100, a captured image is acquired from the camera unit (specifically, the front camera) 15.
In subsequent S110, well-known image recognition processing is performed using the image acquired in S100 to acquire information on the marking content of the road sign 51 and the road marking 53.

For example, as shown in FIG. 4, the road sign 51 having a predetermined shape is recognized from the image of the front of the vehicle, and the characters, symbols, colors, etc. written on the road sign 51 are recognized. Then, from the characters and symbols written on the road sign 51, the labeling content of the road sign 51 (that is, what is being marked) is recognized.

Specifically, using the image captured by the front camera, the shape of the road sign 51 (circular, triangular, rectangular, etc.) and the characters, symbols, colors etc. marked on the road sign 51 are recognized, and the road The image data of the sign 51 is compared with the image data of the road sign 51 in the sign database shown in FIG. Then, among the various road signs 51 in the sign database, the road sign 51 most similar to the road sign 51 taken by the front camera is set as the road sign 51 taken by the front camera.

As a result, it is determined that the road sign 51 photographed by the front camera is, for example, an inverted triangular road sign 51 in which the word "stop" is written, that is, the road sign 51 indicating the content of "temporary stop". If the road sign 51 is marked, it is determined that the marking content of the road sign 51 is “temporarily stopped”. Therefore, in that case, as will be described later, it is possible to perform driving assistance (for example, control to apply a brake) corresponding to “temporary stop”.

Similarly, in the case of recognizing, for example, a white line extending to the left and right and the road marking 53 in front of the road from an image of a road ahead of the vehicle, and recognizing that the word "stop" is written as the road marking 53. It is determined that the road marking 53 has instructed the vehicle to stop (specifically, stop once).

Note that the process of photographing the road sign 51 with a camera and acquiring the display content thereof is a well-known technique as described in, for example, Japanese Unexamined Patent Application Publication No. 2011-242839.
In subsequent S120, the labeling content of the labeling object recognized in S110 is displayed.

For example, if the content is "temporarily stopped", the character "temporarily stopped" is displayed so that it can be seen by the driver using, for example, a head-up display. Moreover, you may notify by voice.

It should be noted that the display method may have different strengths depending on the degree of importance of the labeling content. For example, if there is a road sign 51 indicating "no entry" and "parking lot (P)", for example, a noticeable color of "no entry" rather than "parking" makes the color noticeable, Enlarge the letters. Alternatively, only important display contents (preselected) may be notified.

In addition, when notifying the content of the marking, for example, related laws and regulations (traffic laws and the like) corresponding to the types of the road sign 51 and the road marking 53 may be notified.
For example, in the case of a road sign 51 that is “temporarily stopped”, information related to the road sign 51 may be notified, such as “If you violate, the score of traffic violation is... ”. Furthermore, at that time, if the current driver's score is also stored in the storage unit 31, information such as “the driver's score will be suspended if the vehicle violates here” is also taken into consideration. May be provided.

The process of S120 can be omitted. That is, the driving assistance described below may be performed as needed without giving any notification.
In subsequent S130, it is determined whether or not the traveling state of the vehicle is a state in which driving assistance is required, according to the labeling content recognized in S110.

For example, when the content of the marking displayed on the marking object is "temporarily stopped", it is determined whether or not the vehicle is in a traveling state in which the vehicle can be stopped before the temporarily stopped line (white line). That is, it is determined whether or not an appropriate operation for stopping the vehicle (for example, an operation of returning the accelerator and stepping on the brake) is performed. If the affirmative determination is made here, the driving support is not necessary, so this processing is ended, while if the negative determination is made, the driving support is necessary, and therefore the routine proceeds to S140.

In S140, it is determined whether or not an operation for canceling the driving assistance has been performed. If the affirmative determination is made here, the driving assistance is not necessary, so the present process is terminated, while if the negative determination is made, the driving assistance is necessary, and therefore the routine proceeds to S150.

The driving support can be released by operating the driving support release switch 21. In addition, in the case of an emergency, the driving support is set to be released by various operations. There is.

For example, when the brake is depressed twice, the driving assistance may be released. Further, for example, when a sudden brake is stepped on, the vehicle may be stopped immediately by prioritizing the operation of the sudden brake (instead of braking by driving assistance).

In S150, since the driving assistance corresponding to the marking content recognized in S110 is required, the driving assistance corresponding to the marking content of the marking object is performed and the present processing is temporarily ended, as described later in detail. ..

[2-2. Driving support processing]
Next, the process (driving support process) of the driving support control of S150 will be described.
(In case of "Stop" sign)
When the marking content of the marking object is "temporarily stopped", as described above, the vehicle is automatically braked, and the vehicle tip is positioned, for example, before the stop line or at the stop line. To stop. As a result, the temporary stop can be surely performed, so that the safety is improved.

In addition, after the vehicle is once stopped, the vehicle may be started by the accelerator operation of the driver.
Also, for example, in the case of an automatic vehicle, after stopping once, the braking force is automatically relaxed and the vehicle is gradually moved forward by utilizing the so-called creep phenomenon, so that the driver can check the left and right conditions of the intersection. Control may be performed to stop the vehicle again at the position. As a result, the state in front of the vehicle or in the left-right direction can be clearly understood, and thus the safety is further improved.

Furthermore, in the case of the "temporary stop" sign, it is determined whether or not there is a target (obstacle) such as a person (person, bicycle, motorcycle, automobile, other object) around the own vehicle. You may confirm by the information from 15, radar unit 16, etc.

When the attention target is present, the speed until the vehicle is stopped or the speed when the vehicle is stopped and then started may be controlled to be lower than that when the attention target is not present. Further, the stop may be executed earlier (for example, before the normal stop position). This further improves safety.

(In the case of the sign of "Prohibition of U-turn")
When the marking content of the marking object is "turning prohibited", the steering wheel is controlled to be heavier (from the current state) so that the driver recognizes that turning is prohibited. The control for making the steering wheel heavy can be performed by, for example, the well-known PS control for controlling the operation of the power steering.

As a result, it is possible to suppress the turning in the place where the turning is prohibited, so that the safety is improved.
Further, even in the case of the "turning prohibited" sign, right turn (in the case of left-hand traffic) may be controlled to be permitted. In other words, until the vehicle turns right, the above-mentioned "turning prohibition" control is not performed, and if the vehicle tries to turn further to the right than the right turn, it is regarded as "turning" and the above "turning prohibition" is performed. You may perform the control at the time of. In the case of right-hand traffic, a right turn or a left turn is the opposite of a left-hand traffic.

In the case of the "turn prohibition" marking, when the above-described vehicle control is performed, the control may be canceled as necessary. For example, if the state in the traveling direction of the own vehicle is grasped based on the information from the camera unit 15 or the like and the above-described control of "rotation prohibition" is performed (or continued), the target of attention (other vehicle, person, etc.) ), there is a risk of coming into contact with, or coming close to, etc., the control at the time of the “rotation prohibition” may not be performed (or cancelled).

Note that, in other examples as well, when the control when the marking of the marking object is recognized may reduce the safety of the attention target, it is preferable not to perform the control.

(In the case of the sign of "Prohibition of progress other than specified direction (prohibition of right turn or left turn)")
If the marking content of the marking object is "Prohibition in a direction other than the designated direction," the driver is instructed to perform heavy control on the steering wheel in a direction other than the designated direction or to prohibit turning the steering wheel in a direction other than the designated direction. Recognize that progress is prohibited only in directions.

For example, if you recognize the "Right Turn Prohibition" sign, the steering wheel will be heavy even if you try to make a right turn, and similarly if you recognize the "Left Turn Prohibition" sign or you try to make a left turn, the handle will be heavy. You may control so that it may become.

As a result, progress in directions other than the designated direction can be suppressed, and safety is improved.
(In case of "Vehicle entry prohibited" sign)
When the marking content of the marking object is "vehicle entry prohibited", the brake is automatically applied to reduce the speed or stop the vehicle. As a result, the driver is made aware that entry of the vehicle is prohibited and the vehicle is not entered. The speed of the vehicle may be reduced until the vehicle reaches the prohibition position.

As a result, it is possible to prevent the vehicle from entering a road where entry is prohibited, which improves safety.
Also, if you recognize the sign of "prohibition of entry" and try to enter ignoring the prohibition of entry, for example, you can control so that the brake will automatically be applied and stop temporarily, but if you continue to step on the accelerator In addition, the vehicle may be allowed to travel only at a low speed lower than a predetermined speed (for example, 20 km/hour or less).

Further, when the sign "Prohibition of entry" is recognized and the vehicle stops, the vehicle may be controlled to move backward (back). Further, when the place is not "turning prohibited", the vehicle may be controlled to turn. At that time, the driver is informed of the control content (for example, "back"), and if there is the driver's permission (for example, operation of a manual switch or depression of the accelerator pedal that permits the control, etc.). In some cases), this control may be performed.

(In case of "maximum speed" marking)
When the marking content of the marking object is "maximum speed", the brake is automatically applied to control the maximum speed (limit speed) or a predetermined speed equal to or lower than the maximum speed.

In this case, the predetermined distance or the predetermined time may be allowed to exceed the maximum speed within a predetermined speed range (range within 10% of the maximum speed).
Further, in this case, it may be possible to select in advance whether to perform control below the maximum speed or to permit control exceeding the maximum speed within a predetermined range.

Further, in the case of the "maximum speed" marking, the vehicle may not be allowed to travel beyond that speed for a certain period of time (for example, 5 minutes) (that is, traveling above the maximum speed may be limited within a certain period of time) Good).

In the case of overtaking, a speed exceeding the maximum speed may be allowed for a short time (a fixed time: within 5 minutes, for example), but a speed exceeding the maximum speed by a certain amount or more (for example, the maximum speed exceeds 30 km/h). The speed may be set so that it cannot be output no matter how much the accelerator is depressed.

Here, the overtaking determination can be made, for example, when the preceding vehicle is within a predetermined distance, the lane is changed to the overtaking lane, and the accelerator is stepped on. As is well known, the presence or absence of the preceding vehicle can be grasped by the radar unit 16 and the camera unit 15, and the lane change can be grasped by the operation angle sensor 14 and the camera unit 15 as well known.

This improves driving safety.
In addition, when "maximum speed" is indicated, it is sometimes desired to increase the vehicle speed to the maximum speed or more while the above-mentioned speed control is being performed. A manual switch (not shown) may be provided to allow the users to list. Further, when the manual switch is operated to allow the speed to be increased, control may be performed to reduce the speed to the maximum speed or lower after a certain period of time.

(In case of "Parking lot (P)" marking)
When the marking content of the marking object indicates "parking lot", the brake is automatically applied to control at a predetermined safe speed (for example, 20 km/hour or less). As a result, driving safety is further improved.

In this case, the camera unit 15 and the radar unit 16 are used to recognize the attention target such as another vehicle or a person around the own vehicle, and the distance between the own vehicle and the attention target such as another vehicle or the own vehicle. The speed of the host vehicle may be controlled in accordance with the relative speed of the target of attention such as another vehicle.

For example, when the distance between the own vehicle and the attention target such as another vehicle is shorter (than the determination value), or when the relative speed between the own vehicle and the attention target such as another vehicle is greater (than the determination value), The speed may be controlled to be lower than the set speed at the parking lot.

In addition, when there is no attention target around the own vehicle, the above-described speed control in the parking lot may not be performed. On the contrary, when an old man, a child or the like is recognized as a target of attention, it is desirable to control the speed to be lower. Note that the elderly and children can be judged by image analysis. For example, gray hair may be considered an old man. Also, if the height is short, it may be considered as a child.

In addition, for example, when canceling the above-mentioned driving assistance in the parking lot, driving assistance is more effective than in other cases where traveling at a high speed is permitted (for example, traveling on a highway). May be difficult to release.

For example, if the condition for releasing the driving assistance on the highway is a condition that the driver operates the accelerator or the like once, in the parking lot, the driver operates the accelerator or the like twice.
As a result, driving safety is further improved.

(In case of "no parking" sign)
When the marking content of the marking object is "parking prohibited", the driver is informed that "parking prohibited". In this case, if the vehicle is parked for a long time, that is, if the vehicle is parked for a long time (when the vehicle speed is 0 and exceeds 5 minutes), a parking violation will occur. In this case, the driver is notified of that fact by voice or a specific sound.

Since the driver may be away from the vehicle, use the communication unit 37 to send an e-mail with information about parking (for example, an e-mail with the content "parking time has passed 5 minutes") to the driver's mobile phone. You may send to a terminal (for example, smart phone).

Further, even when the driver is away from the vehicle, if the driver is near the vehicle (for example, within 5 m), the above-mentioned notification or mail may not be sent. The approximate distance between the driver and the vehicle can be determined by the strength of the radio wave from the key when the key and the vehicle communicate with each other, for example. Further, the vehicle may communicate with the mobile terminal of the driver to determine that the vehicle and the mobile terminal are in a short distance (for example, the same communication area).

Further, the alarm may sound when the vehicle is stopped and the driver leaves the vehicle at a place where the "no parking" sign is displayed.
Here, the fact that the driver has parked and the driver has left is determined by conditions such as the vehicle being stopped, the ignition key being removed (or turned off), the door being opened/closed (or being locked after opening/closing), etc. be able to.

(In the case of a "no overtaking" sign)
When the marking content of the marking object is "prohibition of overtaking", when the front camera recognizes this marking as the preceding vehicle, the driver is prevented from accelerating even if he steps on the accelerator to pass.

This further improves safety.
Further, when the speed control is performed in the case of "prohibition of overtaking" described above, the control may be canceled by operating the accelerator (for example, operating the accelerator a plurality of times (for example, twice)).

Further, when the preceding vehicle is stopped or the hazard lamp of the preceding vehicle is flashing, the above-mentioned speed limiting control is performed so that overtaking is possible even if there is a "prohibition of overtaking" sign. May be canceled. The stop state of the preceding vehicle can be determined based on the information from the radar unit 16 or the like, and the blinking of the hazard lamp can be determined based on the information from the camera unit 15 or the like.

(In the case of "crosswalk" sign)
When the marking content of the marking object is "pedestrian crossing", when the front camera recognizes this marking as a pedestrian or the like, the brake is automatically applied so that the driver does not accelerate even when the driver steps on the accelerator. The brakes may be applied to slow down or stop (if necessary) before the pedestrian crossing.

This further improves safety.
In addition, when there is a "pedestrian crossing" sign, it is determined whether or not there is an attention target such as a person around the pedestrian crossing based on information from the camera unit 15 or the radar unit 16, and the attention target exists. In such a case, the above-mentioned control at the pedestrian crossing may be performed. For example, when an attention target such as a person exists around the pedestrian crossing (for example, when the person is moving), the slow speed may be further reduced or the vehicle may be stopped.

Alternatively, when there is a sign of “crosswalk”, the goodness of sight around the pedestrian crossing (or the badness of sight) is judged by the information from the camera unit 15, the radar unit 16, etc., and when the sight is bad, You may make it perform the control in the crosswalk mentioned above. For example, when the view is poor, the creep speed may be further reduced.

In addition, as a case where the view is bad, for example, there is an obstacle near the pedestrian crossing such as a building, a tree, or a fence. Obstacles near the pedestrian crossing can be recognized by information from the camera unit 15, the radar unit 16, and the like.

(In case of "Slow" sign)
When the marking content of the marking object is "slow", even if the driver depresses the accelerator, a speed not exceeding a certain speed (for example, a speed of 20 km/hour or more) is prevented.

This further improves safety.
Separately from this, for example, when there is a sign of "school zone" or when there is a sign of "there is a traffic light ahead", the same control as in the case of "slow" may be performed. If there is a "school zone" marking, the same control as in the case of "slow" described above may be performed in a predetermined range before and after the marking (for example, a range of 100 m before and after).

(In case of "minimum speed" marking)
When the marking content of the marking object is "minimum speed", the vehicle is allowed to travel below that speed for a fixed time (for example, 5 minutes) or more (in that case, the vehicle speed is increased to above the minimum speed).

Further, a manual release switch (not shown) for releasing the speed control at the "minimum speed" described above may be provided.
Note that, instead of the release switch, the control of the minimum speed may be released by, for example, an accelerator operation (for example, depressing the accelerator twice) or a steering wheel operation (for example, grasping a predetermined portion of the steering wheel). Alternatively, the minimum speed control may be released when the blinker or hazard lamp is blinked.

(In the case of the "horn call" sign)
When the marking content of the marking object is "Bring the horn", the horn is made to automatically ring at regular intervals. However, when the front camera or the radar unit 16 recognizes an oncoming vehicle, the horn is not sounded.

This further improves safety.
Note that the content of the control at the time of the "horning" may be changed depending on the traveling state of the vehicle (for example, time or position). For example, the horn volume may be reduced when driving at night or in a residential area. On the contrary, in the case of a mountain road, the volume of the horn may be increased. The traveling position of the vehicle can be grasped by the navigation device 18 or the like.

(In case of "Slippery" sign)
When the marking content of the marking object is "slippery", for example, the weather (rain condition) is detected by a rainfall sensor (not shown), the dangerous speed at that time is calculated, and no further speed is output. To do so. The dangerous speed is a speed at which the vehicle is in a dangerous state such as deviating from the lane or slipping when traveling at that speed, and can be obtained in advance by experiments or the like.

For example, when rain (rainfall) is detected, the upper limit of the speed of the vehicle is controlled to be less than or equal to a predetermined percentage (for example, 90% or less) of the speed limit of the road, and the upper limit of the speed is gradually increased as the amount of rainfall increases. It is possible to control to lower.

Note that, for example, the outside air temperature may be detected, and if the temperature is such that the road surface may be frozen, control may be performed to reduce the speed of the vehicle.
Further, the setting of the critical speed of the vehicle may be changed depending on, for example, the curvature of the curve of the road. For example, when the curvature of the curve is large, it is desirable to set the critical speed to be low. The control of the setting of the critical speed is the same also in the case of "there is a downward gradient".

This further improves safety.
(In the case of the sign "There is a downhill gradient")
If the content of the marking on the marking is "There is a steep downhill slope," the state of friction between the tires of the vehicle and the road surface is detected, and the critical speed at that time is calculated to prevent any further speed. ..

For example, when the friction coefficient of the road surface is smaller than a predetermined value, the upper limit of the speed of the vehicle is controlled to be less than a predetermined% of the speed limit of the road (for example, 90% or less), and as the friction coefficient further decreases, the speed It is possible to gradually lower the upper limit of.

The state of friction such as the coefficient of friction of the road surface can be detected while the vehicle is traveling by various known techniques.
This further improves safety.

(In the case of a "railroad crossing" sign)
When the marking content of the marking object is "railroad crossing", the vehicle is automatically braked to stop the vehicle at a position before the stop line, for example. As a result, the temporary stop can be surely performed, so that the safety is improved.

Further, when the preceding vehicle is over the railroad crossing when the vehicle is once stopped at the railroad crossing, the state may be notified. The presence or absence of the preceding vehicle and the distance to the preceding vehicle can be grasped from the information from the radar unit 16.

At this time, the map data of the navigation device 18 may be referenced to confirm whether or not this railroad crossing is a railroad crossing (in the case where the data of the railroad track is stored). If the railroad crossing is an abandoned line, the fact may be notified, and the speed may be controlled, for example, at a slow speed without stopping once.

The road sign 51 and the like described above may be provided with another auxiliary sign (such as “8-20”) in which the labeling content of the road sign 51 and the like is restricted. For example, an auxiliary sign such as "8-20" indicating a time limit or the like may be provided side by side.

In this case, the labeling contents of the road sign 51 and the like are recognized in consideration of the labeling contents of the auxiliary sign. For example, if the time when the road sign 51 is recognized is 7 o'clock, the road sign 51 is ignored and the driving assistance corresponding to the road sign 51 is not performed.

In addition, for example, when the marking content of the marking object is "parking prohibited during the marking time", parking is performed within the time limit, and when the driver leaves the vehicle, an alarm is activated. May be.

[3. effect]
According to the first embodiment described in detail above, the following effects can be obtained.
In the first embodiment, the marking contents of the markings indicating the information about the traffic (such as the road sign 51 and the road marking 53) arranged around the vehicle are recognized, and the marking contents of the recognized markings are recognized. The traveling state of the vehicle is controlled accordingly.

That is, in the first embodiment, the traveling state of the vehicle is automatically controlled according to the marking contents of the markings such as the road sign 51, so that the driver overlooks the road sign 51 such as a temporary stop. In such a case as well, the vehicle can be driven safely by controlling the brake to be applied to stop the vehicle.

In addition, in the first embodiment, the driver is notified of the marking content of the marking object, the traffic rules related to the marking content, and the like. Therefore, the driver can accurately grasp the information regarding the traffic, so that the driver can drive more safely.

In the first embodiment, the control unit 41 corresponds to an example of a vehicle control device, S110 corresponds to an example of processing as a sign recognition unit, and S1230 to S150 correspond to an example of processing as a vehicle control unit. To do.

<Second Embodiment>
Next, the second embodiment will be described, but the same contents as those of the first embodiment will be omitted.
The second embodiment has a different control process from the first embodiment, and therefore the different points will be described. Specifically, in the second embodiment, the situation of parking prohibition is grasped and the corresponding control is performed.

As shown in FIG. 5, in the control unit 41 of the second embodiment, first, in S200, an image around the vehicle is acquired from the camera unit 15.
In subsequent S210, based on the image obtained by the image analysis, it is determined whether or not there is a sign indicating that parking is prohibited around the host vehicle. Here, various objects and signs indicating that parking is prohibited are near the host vehicle. Or not. For example, it is determined whether there is a fire hydrant, a bus stop, an intersection, etc. within a predetermined distance of the host vehicle. If an affirmative determination is made here, the process proceeds to step S220, while if a negative determination is made, the present process ends.

The fire hydrant and the bus stop can be recognized from the shape of the object, and the intersection can be recognized from the map data by the navigation device 18.
In S220, it is determined whether the driving support has been canceled. If an affirmative decision is made here, the present processing is terminated, while if a negative decision is made, the operation proceeds to step S230.

In S230, information such as traffic laws and regulations relating to parking prohibition is notified according to the content of the marking object indicating the parking prohibition, and this processing is temporarily terminated. For example, if there is a fire hydrant, information such as "Parking is prohibited within ... mm of the fire hydrant" is provided.

Information such as traffic regulations is stored in the storage unit 31.
Therefore, there is an advantage that safer driving can be performed by such driving assistance of the second embodiment.

The following modified examples are also possible.
-In addition to the driving assistance described above, control may be performed to automatically move the vehicle from the parking prohibited area. Further, it may be instructed in which direction the vehicle can move (for example, in which direction the vehicle should move out of the parking prohibited area) based on a camera image around the vehicle.

-Also, similar driving assistance may be provided based on the data of the navigation device 18. Specifically, based on the map data of the navigation device 18, when recognizing that the own vehicle has stopped near an intersection, for example, information such as "parking is prohibited within mm of the intersection" is displayed. May be provided.

・For example, when performing control to prohibit parking near the bus stop (for example, control to notify that parking is prohibited), it is determined whether or not a bus actually exists near the bus stop. The control such as the above-mentioned notification may not be performed. The presence/absence of a bus can be determined based on, for example, information from the camera unit 15 or the like (for example, information on the shape or size of the vehicle).

<Third Embodiment>
Next, a third embodiment will be described, but the same contents as those in the first embodiment will be omitted.
The third embodiment has a different control process from the first embodiment, and therefore the different points will be described. Specifically, in the third embodiment, the reverse running of the host vehicle is detected and the corresponding control is performed.

As shown in FIG. 6, in the control unit 41 of the third embodiment, first, in S300, an image in front of the vehicle is acquired from the camera unit 15.
In subsequent S310, it is determined based on the image obtained by the image analysis whether the host vehicle is traveling in the reverse direction. If an affirmative determination is made here, the process proceeds to step S320, while if a negative determination is made, the present process ends.

For example, as shown in FIG. 7, when the host vehicle is traveling in the opposite direction on a four-lane road, the road sign 51 arranged on the road side on the right side in the traveling direction of the host vehicle is the back side. If the marking content on the marking surface cannot be recognized even though the existence is recognized, it is determined that the vehicle is running backwards.

Alternatively, reverse running may be determined from the road marking 53 marked on the driving lane of the host vehicle. For example, when the traveling direction of the road marking 53 is opposite, it is determined that the vehicle is traveling backward.
Further, if another vehicle is recognized in front of the traveling lane of the own vehicle, and if the relative speed with respect to the other vehicle is higher than the speed of the own vehicle, it is determined to be reverse running.

In addition to the recognition of the road sign 51 and the like, it is preferable to determine the reverse running by taking into consideration the information from the camera unit 15, the radar unit 16 and the like, in order to improve the accuracy of the reverse running determination.
In S320, the driver is informed that the vehicle is traveling in reverse by a display or voice.

In the following 330, processing for reducing the risk of reverse running is performed. For example, the process of turning on the head lamp or blinking the hazard lamp is performed. In addition, the host vehicle may be stopped.
Such driving assistance of the third embodiment has an advantage that safer driving can be performed.

<Fourth Embodiment>
Next, a fourth embodiment will be described, but the same contents as those in the first embodiment will be omitted.
The fourth embodiment has a different control process from the first embodiment, and therefore the different points will be described. Specifically, in the fourth embodiment, the corresponding control is performed based on the image captured by the camera and the data of the navigation device.

It should be noted that this processing is executed by the navigation device 18 when route guidance (destination) is not set.
As shown in FIG. 8, in the control unit 41 of the third embodiment, first, in S400, an image in front of the vehicle is acquired from the camera unit 15.

In subsequent S410, the traveling lane (lane) in front of the host vehicle and the traveling state of the vehicle traveling in the traveling lane (presence or absence of vehicle or congestion state) are recognized based on the image obtained by the image analysis.

In the following S420, the navigation device 18 recognizes in which direction the vehicle will proceed if the vehicle is traveling in each traveling lane.
That is, based on the map data, for example, information such as “when traveling in the leftmost traveling lane, only left turn is possible at the next intersection” is acquired. The direction of travel may be recognized by reading a mark such as an arrow displayed on the road by image analysis.

In subsequent S430, the subsequent traveling direction of each traveling lane is informed, and this processing is once ended.
For example, it presents information with the content that "when you drive in the left lane, you will turn left at the next intersection."

With such driving assistance of the third embodiment, it is possible to drive in an appropriate driving lane, and there is an advantage that comfortable and safer driving can be performed.
Note that the above-described presentation of information can be performed when the vehicle is traveling on a road having a plurality of lanes on each side.

In addition, the above-mentioned information presentation is performed, for example, when a traffic jam ahead is detected, when the own vehicle stops on the driving lane due to traffic jam, or when the vehicle speed becomes a predetermined low speed (for example, 20 km/h). Good.

Alternatively, when there is an intersection in the front, it may be performed when the intersection approaches a predetermined distance. Alternatively, it may be carried out periodically at a predetermined timing.
<Fifth Embodiment>
Next, a fifth embodiment will be described, but the same contents as those in the first embodiment will be omitted.

The fifth embodiment differs from the first embodiment in the control processing, and therefore the different points will be described.
Although not shown, in the fifth embodiment, when the own vehicle is traveling on an expressway, when it is recognized that the vehicle is continuously traveling in the overtaking lane for a predetermined time or more, the driver is informed of that fact. To inform.

It should be noted that the navigation device 18 can recognize that the host vehicle is traveling on a highway with two or more lanes on each side. Further, the fact that the host vehicle is traveling in the overtaking lane can be recognized from the image captured by the front camera.

This enables safe driving in compliance with traffic regulations.
Further, the presence or absence of the following vehicle may be determined based on the information from the camera unit 15 and the radar unit 16 that can recognize the rear of the vehicle, and the vehicle may be controlled based on the result. For example, when there is a following vehicle behind the host vehicle in the overtaking lane or the traveling lane, the driver may be notified of that fact. Also, when the driver performs an operation to change the lane to a lane in which there is a following vehicle (in particular, a connected vehicle whose distance from the own vehicle is a predetermined distance or less), the operation is performed by, for example, making the steering wheel heavy. You may perform control which suppresses or prohibits.

<Sixth Embodiment>
Next, a sixth embodiment will be described, but the same contents as those in the first embodiment will be omitted.
The sixth embodiment is different from the first embodiment in the control processing, and therefore the different points will be described.
When it snows and accumulates, the markings such as the road sign 51 may not be visible. Therefore, in the sixth embodiment, what kind of road sign 51 or the like is located at which position is stored by learning. For example, during normal traveling, the positional information and the information such as the road sign 51 are stored in association with each other.

Then, even if the road sign 51 or the like cannot be recognized due to snow or the like while traveling on the road, various controls corresponding to the road sign 51 or the like described above are performed based on the road sign 51 or the like stored by learning. To do.

Specifically, in the sixth embodiment, the driving support process shown in FIG. 9 can be performed.
First, in S500, an image in front of the vehicle is acquired from the camera unit 15. Also, if there is a vehicle-mounted camera (not shown) capable of photographing the hood of the vehicle, that image is also acquired.

In subsequent S510, it is determined based on the image acquired from the camera unit 15 whether or not the marking object such as the road sign 51 is recognized. If an affirmative decision is made here, the operation proceeds to step S520, whereas if a negative decision is made, the operation proceeds to step S530.

In S530, it is determined based on the acquired image whether or not snow is accumulated. If an affirmative determination is made here, the process proceeds to step S540, while if a negative determination is made, the present process ends. For example, when there is snow, the color is white and there is more reflected light than in a normal road (or bonnet) state. Therefore, if the condition is satisfied, it can be determined that there is snow. If the original color of the bonnet is not white, it may be determined that there is snow when the color changes to white. It should be noted that the determination accuracy is further improved by adding the outside air temperature (for example, the condition of 0° C. or less).

In S540, it is determined whether or not there is data of the marking object such as the road sign 51 acquired by learning at the current traveling position obtained from the navigation device 18. If an affirmative determination is made here, the process proceeds to step S520, while if a negative determination is made, the present process is terminated.

In S520, the control corresponding to the marking contents of the markings such as the road sign 51 recognized from the image or obtained from the stored data is performed, and the present processing is temporarily ended.
By such control, even when the road sign 51 or the like cannot be seen due to snow or the like, the safety is further improved.

Further, when this control is performed, it is desirable to inform the driver whether the control is performed based on the road sign 51 or the like that is actually recognized or the road sign 51 or the like that is stored by learning. By this notification, the driver can recognize why such control has been performed, so that the driver can drive with peace of mind.

Further, when it is determined that there is snow, the actual road sign 51 or the like becomes difficult to see, so it is desirable to perform various image adjustments so as to reliably perform image analysis. For example, a well-known image processing filter is applied (for example, γ correction is performed) to make it easier to read the marking content of the road sign 51 and the like.

Further, even when the road sign 51 or the like is covered with snow and only a part of the marking content can be recognized, the previously stored data of the road sign 51 or the like (data such as FIG. 2) is referred to and stored as a photographed image. By performing image matching with the displayed image data, it is possible to accurately estimate the marking content of the road sign 51 and the like.

<Seventh Embodiment>
Next, a seventh embodiment will be described, but the same contents as those in the first embodiment will be omitted.
The seventh embodiment is different from the first embodiment in control processing, and therefore the different points will be described.
In the seventh embodiment, when the road sign of “lane reduction” is recognized, control is performed to guide the vehicle to an appropriate lane (lane on the side where the lane is not reduced) according to the traveling lane.

Specifically, in the seventh embodiment, the driving support process shown in FIG. 10 can be performed.
First, in S600, an image in front of the vehicle is acquired from the camera unit 15.
In subsequent S610, it is determined based on the image acquired from the camera unit 15 whether or not the marking object such as the “lane decrease” road sign 51 is recognized. If an affirmative determination is made here, the process proceeds to step S620, while if a negative determination is made, the present process ends.

In S620, which side of the lane is reduced is recognized based on the image of the marking object acquired from the camera unit 15.
In subsequent S630, control for guiding the own vehicle to the side where the lane does not decrease is performed, and the present processing is temporarily ended. For example, when there is no lane ahead of the vehicle, control for guiding to another lane (for example, control for blinking blinker in the guiding direction) can be performed. When the own lane does not disappear in the front, the traveling state may be maintained as it is or the control may be performed to slightly reduce the speed.

In addition, when the other lane disappears, control may be performed to give way to a vehicle interrupted from the other lane. For example, when a preceding vehicle traveling in the other lane ahead outputs a turn signal, control for reducing the speed of the host vehicle (or control for opening a predetermined inter-vehicle distance) may be performed.

<Eighth Embodiment>
Next, the eighth embodiment will be described, but the same contents as those of the first embodiment will be omitted.
The eighth embodiment is different from the first embodiment in the control processing, and therefore the different points will be described.
In the eighth embodiment, when a road sign indicating a branching state of a road such as “Y-shaped road” or “T-shaped road” is recognized, control according to the displayed content is performed.

For example, when the vehicle is being guided by the navigation device 18, it is possible to perform control such as turning out the blinker or moving the vehicle in the branching direction according to the traveling direction (branching direction) of the own vehicle.

Further, for example, whether or not the T-shaped road can be safely turned may be determined based on information from the camera unit 15 or the like. For example, it may be possible to recognize the road width at a T-shaped road, determine whether or not the vehicle can safely turn when the vehicle is traveling as it is, and notify that effect. Alternatively, control may be performed such as slowing down or temporarily stopping.

The road width can be determined from a line indicating a roadside zone provided on the side of the road or a road outside line (hereinafter, also referred to as roadside line). In addition, it is also possible to acquire from map data.

<Ninth Embodiment>
Next, the ninth embodiment will be described, but the same contents as those of the first embodiment will be omitted.
The ninth embodiment is different from the first embodiment in control processing, and therefore the different points will be described.
In the ninth embodiment, concession control is performed on a narrow road having no center line.

For example, when recognizing a road sign of "width reduction", or when recognizing that the vehicle is traveling on a road without a center line, or when recognizing that the vehicle is traveling on a road with a difficult passage width. The following control may be performed in order to preferably perform the passing.

Specifically, in the ninth embodiment, the driving support process shown in FIG. 11 can be performed.
First, in S700, information such as an image from the camera unit 15 and the radar unit 16 is acquired.

In subsequent S710, it is determined based on the image acquired from the camera unit 15 whether or not the marking object such as the "width reduction" road sign 51 is recognized. If an affirmative determination is made here, the process proceeds to step S730, while if a negative determination is made, the process proceeds to step S720.

In S720, based on the image acquired from the camera unit 15, it is determined whether the road is a centerline-less road or a narrow road (that is, a road having a width that cannot be passed by a sufficient interval). If an affirmative determination is made here, the process proceeds to step S730, whereas if a negative determination is made, the present process is once terminated.

In S730, it is determined whether or not there is an oncoming vehicle based on the information from the camera unit 15, the radar unit 16, and the like. If an affirmative determination is made here, the process proceeds to step S740, whereas if a negative determination is made, the present process is once terminated.

In S740, the distance of the roadside (the roadside on the passing side) from each vehicle is calculated for the own vehicle and the oncoming vehicle.
In subsequent S750, it is determined whether or not there is a distance (width) at which the vehicle can easily pass each other based on the distance to the road side obtained in S740. If an affirmative decision is made here, the present processing is terminated, while if a negative decision is made, the operation proceeds to step S760.

In S760, for example, based on the information from the camera unit 15, the radar unit 16, and the like, the operation of the oncoming vehicle and the own vehicle is grasped, and it is judged which of the two operations has yielded the course. For example, if there is a movement of the steering wheel that yields the course first (for example, a movement to turn the steering wheel on the roadside), or a movement of the driver's hand that yields the course (for example, a movement to turn the hand to the passing side). If it is determined, or if there is a change in the traveling direction of the vehicle that yields the route first, it is determined that the vehicle has yielded the route.

In subsequent S770, the operation of the host vehicle is controlled based on the operation of yielding the route determined in S760, and the present processing is ended.
For example, when it is determined that the oncoming vehicle has given way, the control is performed to reduce the speed of the own vehicle so that the vehicle can easily pass each other. Further, it may be possible to recognize the distance between the oncoming vehicle and the roadside thereof and control the speed to a proper speed (control to reduce the speed) so that the driver can easily pass through the distance.

On the other hand, when the host vehicle gives way, the blinker on the side giving way (road side) may blink, and the vehicle may be moved to a position close to the road and then controlled to slow down or stop.

Also, when an oncoming vehicle is recognized in a narrow road where it is difficult to pass each other, based on the distance between the vehicle and the roadside line at that time, if the distance between the own vehicle and the vehicle is wider, You may perform the control which stops the own vehicle in the place. Further, when it is difficult to pass each other, the control for temporarily stopping the own vehicle may be performed.

The width of the road ahead and the distance from the vehicle to the roadside can be obtained based on the information from the camera unit 15. For example, it can be obtained from the position of the vehicle (oncoming vehicle or own vehicle) and the position of the roadside line.

<Tenth Embodiment>
Next, a tenth embodiment will be described, but the same contents as those of the first embodiment will be omitted.

The tenth embodiment is different from the first embodiment in the control processing, and therefore the different points will be described.
In the tenth embodiment, when the road sign 51 having “unevenness” is recognized, control for reducing the influence of unevenness is performed. For example, control is performed to reduce the speed.

When the road sign 51 is recognized in the case of having a suspension function (for example, a function of adjusting the softness), the suspension is controlled to be soft so that the vibration does not increase.

Further, when the vehicle has a function of changing the vehicle height, when the road sign 51 is recognized, control for raising the vehicle height is performed.
<Other Embodiments>
Although the embodiments of the present invention have been described above, it goes without saying that the present invention is not limited to the above-described embodiments and can take various forms.

(1) For example, when the front camera recognizes a school bus, it is possible to prevent the vehicle from accelerating even if the accelerator is stepped on in order to pass.
Whether it is a school bus or not can be determined, for example, from the letters of the school bus displayed on the bus.

(2) When the front camera recognizes the beginner's mark or the elderly mark of the preceding vehicle, it is possible to automatically perform control to increase the inter-vehicle distance to the preceding vehicle.
For example, when the vehicle with the mark is recognized during automatic traveling under the ACC control, control is performed such that the inter-vehicle distance is larger than the normal inter-vehicle distance.

Further, the preceding vehicle marked with the mark may be controlled to prohibit excessive approach (within a predetermined distance).
The above-described control (control corresponding to the elderly mark) may be performed by estimating the age from the back view of the driver. The age can be estimated by analyzing the image obtained from the camera unit 15.

(3) Further, the present invention is not limited to driving assistance when the driver is driving, but can also be applied to control during automatic driving. In this case, the information may not be notified, but the passenger may be similarly notified.

For example, the present invention can also be applied to known automatic traveling control (ACC control, etc.) such as constant speed traveling control and preceding vehicle follow-up control. It should be noted that which of the automatic driving control and the driving support control of the present invention has priority may be appropriately selected and set, but for safety, it is desirable to give priority to the driving support control of the present invention. That is, when the driving support control is performed, it is desirable to cancel the automatic traveling control or temporarily stop the control.

(4) Furthermore, when the automatic traveling is being controlled, no matter how the control is performed, the situation is such that either the pedestrian or the driver cannot help, or the driver or the passenger When only one of them is available, the other one may be prioritized to be saved.

It should be noted that which is prioritized may be set in advance, but a switch for performing the setting may be provided so that either one can be selected.
(5) Further, in the case of an LED traffic light, the snow may not be melted easily, and thus the signal may be difficult to see. Therefore, for example, the signal may be recognized based on the information from the camera unit 15 (that is, the signal may be recognized by image analysis), and when the signal is red or yellow, control may be performed to stop the vehicle. In addition, since it can be determined that the snow is accumulated by the processing of the sixth embodiment described above, if this processing is performed when the snow is accumulated, the safety in traveling on a snowy road is improved.

(6) Similarly, in the case of backlight, the signal may be difficult to see. Therefore, for example, the signal may be recognized based on the information from the camera unit 15, and when the signal is red or yellow, control may be performed to stop the vehicle. Note that it is preferable to perform various well-known image corrections in order to make the signal easier to see in backlight.

(7) When there is an intersection in front of the vehicle, it may not be possible to know whether the traffic light is at the front or the traffic light at the back (that is, the traffic light at a further distance). Therefore, for example, both traffic signals are recognized based on the information from the camera unit 15, and which traffic signal is the front traffic signal is determined from, for example, the size of the traffic signal (or its light). Then, when the front signal is red or yellow, control may be performed to stop the vehicle.

(8) Reflectors may be installed on guardrails, utility poles, median strips, and the like. Therefore, for example, the reflector may be recognized based on the information from the camera unit 15 and the vehicle may be controlled so as to avoid the reflector. Since the reflector is easier to recognize than other objects, traveling safety is improved. Whether it is a reflector or not can be determined from the shape, color, intensity of reflected light, etc. of the reflector. For example, if the light has a circular shape with a predetermined size or less and the intensity of light in the circular portion is higher than the surroundings, it can be determined that the plate is a reflector.

(9) In addition, various information from each vehicle (for example, information that recognizes the marking content of the marking object and provides driving assistance corresponding to it) is collected by cloud computing (cloud) via the Internet, The information may be collected and analyzed as needed, and each information may be provided to each vehicle as appropriate.

For example, if you know the content of the sign of a prohibited entry and provide driving support for braking, you can obtain information about the control and the position where the control was performed from the cloud server via the Internet. May be provided to In this case, the control content and the controlled position can be provided from the server to the vehicle traveling around the position.

As a result, driving safety is further improved.
(10) Further, the function of one constituent element in the above-described embodiment may be distributed as a plurality of constituent elements, or the functions of a plurality of constituent elements may be integrated into one constituent element. Further, at least a part of the configuration of the above embodiment may be replaced with a known configuration having the same function. Moreover, you may omit a part of structure of the said embodiment. Further, at least a part of the configuration of the above-described embodiment may be added to or replaced with the configuration of the other above-described embodiment. It should be noted that all aspects included in the technical idea specified by the wording recited in the claims are embodiments of the present invention.

(11) In addition to the control unit 41 described above, various in-vehicle systems having the control unit 41 as a component, a program for causing a computer to function as the control unit 41, a medium storing the program, a vehicle control method, and the like. The present invention can also be realized in the form.

1... Vehicle control device, 11... Vehicle speed sensor, 12... Acceleration sensor, 13... Brake sensor, 14... Steering angle sensor, 15... Camera unit, 16... Radar unit, 17... Positioning unit, 18... Navigation device, 19... Driving Support start switch, 21... Driving support release switch, 31... Storage unit, 32... User interface unit, 33... Sound output unit, 34... Engine ECU, 35... Brake ECU, 36... Steering ECU, 37... Communication unit, 41... Control unit, 51... Road sign, 53... Road marking

Claims (3)

A vehicle control device mounted on a vehicle,
A marking recognition unit that is arranged around the vehicle and recognizes the marking content of a marking object that indicates information about traffic,
A vehicle control unit that controls the traveling state of the vehicle according to the marking content of the marking object recognized by the marking recognition unit,
A vehicle control device comprising: The vehicle control device according to claim 1, wherein the vehicle control unit performs at least one of control of a steering wheel and control of a brake according to the marking content of the marking object. The vehicle control device according to claim 1 or 2, further comprising: a notification unit that notifies at least one of the marking content of the marking object and the traffic rule related to the marking content.

Images