JP2008024230A - Vehicular control device - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a vehicular control device capable of adequately changing the steering ratio. <P>SOLUTION: The vehicular control device comprises a steering means capable of changing the steering ratio which is the ratio of the change in the steering angle of a wheel to the operational quantity of a steering wheel, and a road-inside/outside determination means for determining whether or not one's own vehicle is present outside the road. When a predetermined condition is satisfied including the determination that one's own vehicle is outside the road by the road-inside/outside determination means, the steering ratio of the steering means is largely changed. <P>COPYRIGHT: (C)2008,JPO&INPIT

Description

  The present invention relates to a vehicle control device that controls a steering device capable of changing a steering ratio.

  Conventionally, research has been conducted on a steering device (hereinafter referred to as an active steering device) capable of arbitrarily changing a change amount of a steering angle of a wheel (hereinafter referred to as a steering ratio) with respect to an operation amount of the steering wheel.

  The active steering device has a mode in which a steering angle of a wheel is changed by driving an actuator according to an electrically detected amount of operation of the steering wheel, and a mode in which a differential mechanism is provided between the steering wheel and the wheel. The former has the advantage that the degree of freedom of control is high because there is no mechanical connection between the steering wheel and the wheel, and the latter is superior from the viewpoint of fail-safe because the mechanical connection remains. Have advantages. As an example of the latter, a steering device using a so-called harmonic gear as a differential mechanism has been put into practical use (see, for example, [Non-Patent Document 1]). In addition, a steering apparatus using a planetary gear as a differential mechanism has been put into practical use.

  Various controls are possible by using the active steering device. Typically, it is conceivable to set a relatively small steering ratio in order to maintain running stability at high speeds, and to set a relatively large steering ratio in order to reduce the driver's operating effort at low speeds. .

Moreover, the invention about the apparatus which changes a steering ratio according to the road aspect acquired from a navigation apparatus is disclosed (for example, refer to [patent document 1]). This device basically sets the steering ratio based on the vehicle speed, and acquires the number of lanes and road width of the road that is being obtained from the navigation device, and whether or not to turn right or left at the intersection. The steering ratio is corrected based on information and the like.
Japanese Patent Laid-Open No. 2004-237853 Toyota Motor Corporation, “Land Cruiser 100 New Model Car Description (Part No. 71060)”, Toyota Motor Corporation Service Department, August 5, 2002, 2 Chassis, p2-43 to 2-52

  However, it is effective to change the steering ratio not only when the host vehicle is traveling on the road. Therefore, in the above-described conventional apparatus, there is a case where the steering ratio cannot be appropriately changed.

  The present invention is to solve such problems, and a main object of the present invention is to provide a vehicle control device capable of appropriately changing the steering ratio.

  In order to achieve the above object, a first aspect of the present invention includes a steering means capable of changing a steering ratio, which is a ratio of a change amount of a steering angle of a wheel to an operation amount of the steering wheel, and the own vehicle is located outside the road. And a road inside / outside determination means for determining whether the vehicle is outside the road by the road inside / outside determination means. It is a control apparatus for vehicles characterized by changing.

  According to the first aspect of the present invention, the steering ratio of the steering means is greatly changed when a predetermined condition including that the own vehicle is determined to be outside the road is satisfied by the road inside / outside determination means. As a typical scene where the host vehicle is outside the road, a scene where the host vehicle is in the parking lot can be considered, but in the parking lot, adjustment of the inclination of the vehicle relative to the parking frame, etc. There are many scenes that require a large steering operation. Therefore, the operation burden on the driver can be reduced by largely changing the steering ratio.

  That is, it is possible to appropriately change the steering ratio.

  1st aspect of this invention WHEREIN: The parking lot inside / outside determination means which determines whether the own vehicle exists in a parking lot is provided, and predetermined conditions are when the own vehicle exists in a parking lot by a parking lot inside / outside determination means. It is preferable to further include the determination.

  In the first aspect of the present invention, vehicle speed detection means for detecting the vehicle speed may be provided, and the predetermined condition may further include that the vehicle speed detected by the vehicle speed detection means is less than the predetermined vehicle speed.

  According to a second aspect of the present invention, a steering means that can change a steering ratio that is a ratio of a change amount of a steering angle of a wheel to an operation amount of the steering wheel, and whether or not the host vehicle is outside a road are determined. A road inside / outside judging means and a parking lot inside / outside judging means for judging whether or not the own vehicle is in the parking lot, and parked when the road inside / outside judging means judges that the own vehicle is outside the road. The vehicle control device is characterized in that when the vehicle inside / outside determination means is operated and the determined parking lot inside / outside determination means determines that the host vehicle is in the parking lot, the steering ratio is largely changed.

  According to a third aspect of the present invention, a steering means that can change a steering ratio that is a ratio of a change amount of a steering angle of a wheel to an operation amount of the steering wheel, and whether or not the own vehicle is outside the road are determined. A road inside / outside judging means, a parking lot inside / outside judging means for judging whether or not the own vehicle is in the parking lot, and a vehicle speed detecting means for detecting the vehicle speed. When it is determined that the vehicle is in the parking lot inside / outside, the parking lot inside / outside determining means is activated, and the activated parking lot inside / outside judging means determines that the host vehicle is in the parking lot and the vehicle speed detected by the vehicle speed detecting means is less than the predetermined vehicle speed. In this case, the vehicle control apparatus is characterized in that the steering ratio is greatly changed.

  In the first, second or third aspect of the present invention, the road inside / outside determination means includes, for example, a current position specifying means for specifying the current position of the host vehicle, and a map information storage means for storing map information. And means for determining whether or not the host vehicle is outside the road by comparing the current position of the specified host vehicle with map information.

  Further, in the first, second, or third aspect of the present invention, the parking lot inside / outside determination means includes, for example, an imaging means for imaging the periphery of the host vehicle, and analyzes a captured image of the imaging means to determine a parking frame Is a means for determining whether or not the host vehicle is in the parking lot.

  ADVANTAGE OF THE INVENTION According to this invention, the control apparatus for vehicles which can change a steering ratio appropriately can be provided.

  Hereinafter, the best mode for carrying out the present invention will be described with reference to the accompanying drawings.

  The best mode for carrying out the present invention will be described below with reference to the drawings. FIG. 1 is a diagram illustrating an example of an overall configuration of a vehicle control device 1 according to an embodiment of the present invention. The vehicle control device 1 has a configuration in which a steering device 10, a vehicle speed sensor 70, and a navigation device 80 are connected to a multiplex communication line 99. In addition, a parking lot inside / outside determination device 90 is connected to the navigation device 80. Communication between devices connected to the multiplex communication line 99 is performed using an appropriate communication protocol such as CAN (Controller Area Network), AVC-LAN, or BEAN.

  FIG. 2 is a diagram showing an outline of the configuration of the steering device 10. The steering device 10 includes a steering column 12 that rotatably supports a main shaft 14 connected to a steering wheel 11. The main shaft 14 is connected to an intermediate shaft (intermediate shaft) 16 via a rubber coupling 13 or the like. The intermediate shaft 16 is connected to a steering gear box 31, and the pinion 17 is engaged with the steering rack 18 in the steering gear box 31. One end of a tie rod 19 is connected to each end of the steering rack 18 and a steered wheel is connected to the other end of each tie rod 19 via a knuckle arm or the like. The intermediate shaft 16 is provided with a steering angle sensor that generates a signal corresponding to the steering angle of the steering wheel 11 and a torque sensor 15 that generates a signal corresponding to the steering torque generated in the steering shaft. In the steering gear box 31, an assist motor 20 for assisting steering is provided coaxially with the rack shaft.

  The steering device 10 further includes a transmission ratio variable mechanism 30 in the steering gear box 31. The transmission ratio variable mechanism 30 has a function of varying the ratio (steering ratio) of the change amount of the steering angle (cutting angle) of the wheel with respect to the operation amount of the steering wheel 11.

  FIG. 3 is a cross-sectional view of the transmission ratio variable mechanism 30 when cut along the plane including the shaft axis, and FIG. 4 is an explanatory diagram of the transmission ratio variable principle of the transmission ratio variable mechanism 30. The transmission ratio variable mechanism 30 includes a housing 32. The housing 32 is a housing integrated with the steering gear box 31 (may be a separate body), and is supported by a suspension member or the like.

  In the housing 32, an input shaft 60, an output shaft 62, a speed reducer (differential mechanism) 40, a motor 34 (DC brushless motor), and a lock mechanism 50 are accommodated. The speed reducer 40 includes a driven gear 38, a stator gear 42, a wave generator 46, and a flexible gear 48, as will be described later.

  The intermediate shaft 16 and the stator gear 42 are connected to the input shaft 60 so as to rotate integrally. Further, the pinion 17 and the driven gear 38 are connected to the output shaft 62 so as to rotate integrally. Gears having different numbers of teeth (the number of teeth of the driven gear 38 <the number of teeth of the stator gear 42) are formed on the inner peripheral surfaces of the driven gear 38 and the stator gear 42, respectively. Inside the driven gear 38 and the stator gear 42, a flexible gear 48 that meshes simultaneously with each gear is provided. That is, the teeth formed inside the driven gear 38 and the stator gear 42 mesh with the teeth formed outside the flexible gear 48 (the number of teeth is the same as the number of teeth of the driven gear 38). The inner side of the flexible gear 48 is fitted on the outer ring of the wave generator 46.

  A case 34 a of a motor 34 is fixed to the housing 32. The motor 34 has a motor shaft 35, and the motor shaft 35 is connected to the cam of the wave generator 46. An input shaft 60 is rotatably inserted into the motor shaft 35. That is, the input shaft 60 and the motor shaft 35 are configured to be able to rotate independently of each other.

  In this configuration, as shown in FIG. 4, when the motor shaft 35 of the motor 34 rotates, the cam of the wave generator 46 rotates and the flexible gear 48 rotates. At this time, the flexible gear 48 rotates in the stator gear 42 in a state of being deformed into an elliptical shape, and rotates the driven gear 38 on the same axis. That is, since the number of teeth of the driven gear 38 is smaller than the number of teeth of the stator gear 42, when the wave generator 46 rotates once, the driven gear 38 rotates by the difference in the number of teeth in the direction opposite to the rotation direction of the wave generator 46. (That is, actuator operating angle = rotation angle of motor 34 × reduction ratio (reduction ratio = number of teeth difference / number of teeth of driven gear 38)). On the other hand, when the steering wheel 11 (main shaft 14) rotates, the input shaft 60 (stator gear 42) rotates, and an actuator operating angle is added and transmitted to the output shaft 62.

  The motor 34 and the assist motor 20 are driven by a steering control computer 65 connected to the multiplex communication line 99. The steering control computer 65 normally determines the steering ratio using the map illustrated in FIG. 5 based on the vehicle speed signal output from the vehicle speed sensor 70, and sets the motor 34 and the assist motor 20 to realize this. Send drive signal. Accordingly, a relatively small steering ratio can be set during high-speed traveling to maintain traveling stability, and a relatively large steering ratio can be set during low-speed traveling to reduce the driver's operating effort. Further, the steering control computer 65 performs control to change the steering ratio in accordance with an instruction signal output from the navigation device 80 as will be described later.

  The motor shaft 35 of the motor 34 is in a fixed state (locked state) with respect to the housing 32 of the transmission ratio variable mechanism 30 by the operation of the lock mechanism 50. In this state, the motor shaft 35 of the motor 34 cannot rotate with respect to the housing 32 (vehicle body), and even if the motor 34 is driven, the motor shaft 35 does not rotate, but when the steering wheel 11 rotates, The input shaft 60 (stator gear 42) rotates, and the driven gear 38 rotates through the flexible gear 48. Thus, the lock mechanism 50 plays a role of ensuring steering when the system is defective or the power is turned off. At this time, the rotational reaction force is transmitted to the motor shaft 35 via the flexible gear 48. However, since the motor shaft 35 is in a non-rotatable state by the lock lever 52, the motor shaft 35 is It is not rotated by the rotational reaction force. The specific structure and the like of the lock mechanism 50 will not be described because it does not form the core of the present invention.

  The vehicle speed sensor 70 includes, for example, a wheel speed sensor attached to each wheel and a skid control computer. The skid control computer converts a wheel speed pulse signal output from the wheel speed sensor into a vehicle speed rectangular wave pulse signal (vehicle speed signal). And output.

  FIG. 6 is a diagram illustrating an example of a main configuration of the navigation device 80. The navigation device 80 includes a GPS antenna 82, a memory 84, an input / output device 86, and a navigation computer 88.

  The GPS antenna 82 receives a radio wave signal including satellite orbit and time data from a GPS satellite. The memory 84 uses a storage medium such as a hard disk, DVD, or CD-ROM, and stores map information. The map information has a format for specifying a road shape by node points indicating intersections and the like and links connecting the node points. Each node point is stored with its coordinates (latitude / longitude), and each link is stored with the curvature and road width of the section. The input / output device 86 includes a display device configured as a touch panel sensor, a microphone, a speaker, and the like.

  The navigation computer 88 is, for example, a computer unit in which a ROM, a RAM, and the like are connected to each other via a bus with a CPU as a center, and includes an input / output interface, a timer, a counter, and the like. The ROM stores programs executed by the CPU and data. The navigation computer 88 includes, as main functional blocks implemented using such hardware, a current position specifying unit 88A, a route guide unit 88B, a road inside / outside determination unit 88C, a parking lot inside / outside determination unit 88D, Is provided.

  The current position specifying unit 88A specifies the current position (latitude, longitude, altitude) of the host vehicle by a calculation based on the time difference of the radio signal received by the GPS antenna 82. In addition, the current position of the host vehicle is corrected based on output signals from sensors such as a vehicle speed signal and a yaw rate signal, and various information received via a beacon receiver and an FM multiplex receiver.

  The route guidance unit 88B refers to the map information stored in the memory 84, and the recommended route from the current position of the host vehicle specified by the current position specifying unit 88A to the destination input by the user using the input / output device 86. Is stored in a storage medium such as an EEPROM. Then, image display and voice guidance are performed using the input / output device 86 so that the host vehicle travels according to the recommended route.

  The road inside / outside determination unit 88C compares the current position of the host vehicle specified by the current position specifying unit 88A with the map information stored in the memory 84 to determine whether the host vehicle is outside the road. To do. For example, (1) the link closest to the host vehicle is selected, and if the shortest distance between the current position of the host vehicle and the link is sufficiently close (within a predetermined distance), the vehicle travels on the road. Can be determined. Also, (2) the shortest distance between the host vehicle and the link is sequentially stored, and it can be determined that the vehicle has moved out of the road when the shortest distance is larger than the previously stored value by a predetermined distance or more. . In addition to this, it is possible to determine whether or not the vehicle is outside the road by applying a rational determination logic. The function of the parking lot inside / outside determination unit 88D will be described later.

  The parking lot inside / outside determination device 90 includes, for example, a camera 90A that images the front of the vehicle and a camera 90B that images the rear of the vehicle. Each camera is, for example, a CCD (Charge-Coupled Device) camera or a CMOS (Complementary Metal Oxide Semiconductor) camera, and is appropriately installed so as to capture an image of the front and rear of the host vehicle. The image data of the captured image of each camera is input to the navigation computer 88 and used for the determination process of the parking lot inside / outside determination unit 88D. Note that the number and arrangement of the cameras are not limited to these examples, and for example, the front and rear, right and left may be imaged, or one of the front and rear directions may be imaged. May be taken.

  The parking lot inside / outside determination unit 88D uses the image data input from the parking lot inside / outside determination device 90 to determine whether or not the host vehicle is in the parking lot. Specifically, for example, it is performed by recognizing a parking frame line peculiar to a parking lot drawn on a white line or the like on asphalt or the like. Parking frame line recognition is as follows: (1) Image elements whose luminance gradient is greater than or equal to a threshold value in image data are extracted as feature points, and feature points arranged in a straight line by performing Hough transformation or the like are sides of parking frame lines. recognize. In addition, it is necessary to recognize it separately from road marking lines such as white lines drawn on the road, but the road marking lines usually extend substantially parallel to the traveling direction of the vehicle (except for intersections). Therefore, it can be sufficiently distinguished by the inclination of the feature points arranged in a straight line in the image data. For an intersection, another determination logic may be set when the current position of the host vehicle specified by the current position specifying unit 88A is near the intersection. (2) Further, pattern matching processing or the like may be performed on linearly recognized feature points recognized in the image data, and when the number of vehicles in the image is a predetermined number or more, the own vehicle is parked. You may determine that you are in the hall.

  FIG. 7 is a flowchart showing a characteristic processing flow of the present invention, which is executed by the navigation computer 88 in cooperation with the above functional blocks. This flow is repeatedly executed at predetermined time intervals, for example.

  First, the road inside / outside determination unit 88C determines whether or not the vehicle is outside the road (S100). When it is determined that the host vehicle is outside the road, the determination process of the parking lot inside / outside determination unit 88D is started (S110). Here, the image recognition process as described above generally requires a certain amount of processing time to limit the determination process of the parking lot inside / outside determination unit 88D to the case where it is determined that the host vehicle is outside the road. In addition, since the processing load on the CPU is large, it is desirable to limit the processing to situations where the host vehicle is in a parking lot.

  And the parking lot inside-outside determination part 88D determines whether the own vehicle exists in a parking lot (S120).

  If it is determined that the host vehicle is in the parking lot, it is further determined by referring to the vehicle speed signal whether the vehicle speed is less than the predetermined vehicle speed (S130). An instruction signal for largely changing the steering ratio for the control computer 65 is output to the multiplex communication line 99 (S140). The predetermined vehicle speed is determined to be about the upper limit (for example, about 10 to 30 [km / h]) of the range that can be considered as the vehicle speed when the vehicle is traveling at a low speed in the parking lot outside the road. The steering control computer 65 that has received the signal sets a steering ratio that is larger than the steering ratio determined from the map at the normal time described above, and transmits a drive signal to the motor 34 and the assist motor 20 so as to realize this. To do.

  When the steering ratio is greatly changed, the amount of steering operation by the driver with respect to the direction change of the vehicle can be reduced. In a parking lot, there are many scenes that require a large amount of steering operation, such as a narrow road traveling or turning back, and adjustment of the vehicle tilt with respect to the parking frame. Therefore, the operation burden on the driver can be reduced by largely changing the steering ratio.

  On the other hand, if a negative determination is obtained in any one of S100, 120, and 130, no instruction signal is output from the steering control computer 65, and one routine of this flow is terminated (S150). The steering control computer 65 sets a steering ratio determined from the above-described normal map, and transmits a drive signal to the motor 34 and the assist motor 20 so as to realize this. In actual operation, the navigation computer 88 may transmit an instruction for canceling an instruction for largely changing the steering ratio.

  According to the vehicle control device 1 of the present embodiment described above, the steering ratio is greatly changed in a scene where the host vehicle is considered to be in the parking lot, so that the operation burden on the driver can be reduced.

  In addition, when it is determined that the host vehicle is outside the road with reference to GPS signals and map information, the host vehicle is determined to be in the parking lot by image recognition, and the vehicle speed is less than the predetermined vehicle speed. Therefore, the steering ratio can be changed more appropriately. If the steering ratio is changed based on only one of the above determinations, an error in the GPS signal or an erroneous recognition in image recognition (such as recognizing dust on the ground as a parking frame line, etc.) The steering ratio may be changed in an originally unnecessary scene, and the driving feeling may be impaired. On the other hand, in the present embodiment, since the above determination is combined, it is possible to accurately determine whether or not the own vehicle is actually in the parking lot and it is desired to change the steering ratio.

  Further, since the determination process by image recognition is limited to the case where it is determined that the host vehicle is outside the road, the processing load of the CPU can be reduced and the processing capacity of the navigation computer 88 can be maintained high.

  The best mode for carrying out the present invention has been described above with reference to the embodiments. However, the present invention is not limited to these embodiments, and various modifications can be made without departing from the scope of the present invention. And substitutions can be added.

  For example, the determination based on the vehicle speed signal (determination in S130 in the flowchart of FIG. 7) may be omitted. Determination of whether or not the own vehicle is outside the road based on the GPS signal or map information (determination in S100 in the flowchart of FIG. 7) and determination of whether or not the own vehicle is in the parking lot by image recognition (FIG. 7) This is because it is considered that it is possible to determine whether or not the host vehicle is in the parking lot with sufficient certainty by combining with the determination of S120 in the flowchart of FIG.

  Further, the structure and function of the steering device 10 is not limited to that of the embodiment, and any device that can change the steering ratio may be used. For example, a planetary gear or the like may be used as the operating mechanism, or a ball screw type steering device may be used instead of the rack and pinion type steering device as in the embodiment.

  Further, it may be determined whether or not the own vehicle is in the parking lot only by determining whether or not the own vehicle is outside the road by the GPS signal or the map information (determination in S100 in the flowchart of FIG. 7). I do not care.

  The present invention can be used in the automobile manufacturing industry, the automobile parts manufacturing industry, and the like.

It is a figure showing an example of the whole composition of control device for vehicles 1 concerning one example of the present invention. 1 is a diagram illustrating an outline of a configuration of a steering device 10. FIG. It is sectional drawing of the transmission ratio variable mechanism 30 at the time of cut | disconnecting in the surface containing a shaft axis | shaft. It is explanatory drawing of the transmission ratio variable principle of the transmission ratio variable mechanism. It is a figure which shows an example of the map for determining a steering ratio based on a vehicle speed signal. 3 is a diagram illustrating an example of a main configuration of a navigation device 80. FIG. It is a flowchart which shows the flow of the characteristic process of this invention which the navigation computer 88 performs.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Control apparatus for vehicles 10 Steering device 11 Steering wheel 12 Steering column 14 Main shaft 16 Intermediate shaft 17 Pinion 18 Steering rack 20 Assist motor 30 Transmission ratio variable mechanism 31 Steering gear box 32 Housing 34 Motor 35 Motor shaft 40 Reducer 50 Lock mechanism 60 Input shaft 62 Output shaft 65 Steering control computer 70 Vehicle speed sensor 80 Navigation device 82 GPS antenna 84 Memory 86 Input / output device 88 Navigation computer 88A Current position specifying portion 88B Route guidance portion 88C Road inside / outside determination portion 88D Parking lot inside / outside determination portion 90 Parking Inside / outside judging device 99 Multiplex communication line

Claims (7)

Steering means capable of changing a steering ratio, which is a ratio of a change amount of a steering angle of a wheel to an operation amount of the steering wheel;
Road inside / outside determination means for determining whether the host vehicle is outside the road,
The steering ratio of the steering means is largely changed when a predetermined condition including that the vehicle is determined to be outside the road is determined by the road inside / outside determination means,
Vehicle control device. The vehicle control device according to claim 1,
A parking lot inside / outside judging means for judging whether or not the own vehicle is in the parking lot,
The vehicle control apparatus further includes that the predetermined condition is determined by the parking lot inside / outside determination means that the own vehicle is in the parking lot. The vehicle control device according to claim 1 or 2,
Vehicle speed detection means for detecting the vehicle speed,
The vehicle control apparatus, wherein the predetermined condition further includes that the vehicle speed detected by the vehicle speed detection means is less than a predetermined vehicle speed. Steering means capable of changing a steering ratio, which is a ratio of a change amount of a steering angle of a wheel to an operation amount of the steering wheel;
Road inside / outside determination means for determining whether or not the vehicle is outside the road;
A parking lot inside / outside judging means for judging whether or not the own vehicle is in the parking lot,
When the vehicle inside / outside determination means determines that the vehicle is outside the road, the parking lot inside / outside determination means is activated, and the operated parking lot inside / outside determination means determines that the vehicle is inside the parking lot. The vehicle control device is characterized in that the steering ratio is greatly changed in the event of a failure. Steering means capable of changing a steering ratio, which is a ratio of a change amount of a steering angle of a wheel to an operation amount of the steering wheel;
Road inside / outside determination means for determining whether or not the vehicle is outside the road;
A parking lot inside / outside judging means for judging whether or not the own vehicle is in the parking lot;
Vehicle speed detection means for detecting the vehicle speed,
When the vehicle inside / outside determination means determines that the vehicle is outside the road, the parking lot inside / outside determination means is activated, and the operated parking lot inside / outside determination means determines that the vehicle is inside the parking lot. And when the vehicle speed detected by the said vehicle speed detection means is less than predetermined vehicle speed, the said steering ratio is changed largely, The vehicle control apparatus characterized by the above-mentioned. The vehicle control device according to any one of claims 1 to 5,
The road inside / outside determination means includes current position specifying means for specifying the current position of the host vehicle, and map information storage means for storing map information, and the specified current position of the host vehicle and the map information A control device for a vehicle, which is means for determining whether or not the own vehicle is outside the road by comparing the two. The vehicle control device according to any one of claims 2 to 6,
The parking lot inside / outside determination means has an image pickup means for picking up an image of the periphery of the host vehicle, and analyzes whether or not the vehicle is in the parking lot by analyzing a captured image of the image pickup means and recognizing a parking frame line A vehicle control device, which is a means for determining.

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