JP2011175367A - Vehicle control apparatus - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To prevent other vehicles which are incapable of inter-vehicle communication existing around a vehicle from influencing the safety of coordinate running control. <P>SOLUTION: Other vehicles incapable of vehicle-to-vehicle communication which influence the content of coordinate running control are detected, and the content of coordinate running control is changed. During tracking control, while maintaining a predetermined tracking distance to the preceding vehicle by inter-vehicle communication, the tracking distance to the preceding vehicle is set long. <P>COPYRIGHT: (C)2011,JPO&INPIT

Description

  The present invention relates to a vehicle control device that performs driving support control of a vehicle.

  Information on the driving status and positional relationship of other vehicles in the vicinity of the host vehicle is acquired by a monitoring device such as a camera and radar and inter-vehicle communication, and the driving support control of the host vehicle is performed in order to prevent a vehicle accident in cooperation with the other vehicle A vehicle control device that performs the above is disclosed (for example, Patent Document 1).

JP 2005-62912 A

  According to the invention disclosed in Patent Document 1, it is possible to perform driving support control in cooperation with other vehicles equipped with an inter-vehicle communication device, but for other vehicles not equipped with an inter-vehicle communication device, the own vehicle travels. There was a problem that support control could not be performed.

  A vehicle control apparatus according to the present invention includes a host vehicle position detection unit that detects a position of the host vehicle on a map, a surrounding vehicle detection unit that detects a moving body around the host vehicle, and communication between vehicles with a moving body around the host vehicle. Among the vehicle-to-vehicle communication means to be performed and the mobile body around the own vehicle detected by the surrounding vehicle detection means, the mobile body (hereinafter referred to as the first mobile body) capable of performing communication by the vehicle-to-vehicle communication means, and the vehicle-to-vehicle communication means Based on the discrimination means for discriminating the mobile body that cannot communicate (hereinafter referred to as the second mobile body) and the various information exchanged by the inter-vehicle communication means, the host vehicle may travel in cooperation with the first mobile body. Driving control means for performing driving control at the same time, and specifying means for specifying, as the specific moving body, a moving body that needs to change driving control for cooperative traveling by approaching the host vehicle among the second moving bodies. Prepared for operation control It is when performing an operation control so as to perform driving in coordination with the first mobile, when a particular mobile is identified, and changes the operation control for the cooperative driving.

  According to the present invention, the vehicle control device can perform driving support control of the host vehicle for other vehicles not equipped with the inter-vehicle communication device.

The figure which shows the structure of the vehicle control apparatus 10 of this Embodiment. The figure which shows the structure of the driving assistance control apparatus. The figure for demonstrating the outline | summary of the control processing in one embodiment of this invention. The flowchart which shows a guidance output control processing procedure. The figure which shows an example which highlighted the icon of the control object vehicle. The flowchart which shows the content of subroutine "control object vehicle specification". The flowchart which shows the content of subroutine "cooperative running control".

  An embodiment of a vehicle control apparatus according to the present invention will be described with reference to FIGS. FIG. 1 is a diagram illustrating a configuration of a vehicle control device 10 according to the present embodiment.

  A vehicle control apparatus 10 shown in FIG. 1 includes an ECU (Electronic Control Unit) 100, a drive control apparatus 150, and a driving support control apparatus 200 that are connected to each other via a bus. ECU 100 is a main control device having a microcomputer for electronically controlling the vehicle. The drive control device 150 includes, for example, a steering reaction force applying device for a steering device, a throttle device for a accelerator device, a pedal reaction force applying device, a brake lamp device, and a warning device. The driving support control device 200 performs driving support control of the host vehicle by exchanging various information with the ECU 100 and controlling the drive control device 150. The drive control device 150 is also drive-controlled by a driver's operation.

  FIG. 2 is a diagram illustrating a configuration of the driving support control device 200. The CPU 210 is an arithmetic processing device that controls the entire driving support control device 200, and the CPU 210 and its peripheral devices are connected to each other via a bus. The peripheral devices include a main storage device 215, an auxiliary storage device 240, a display module 250, a speaker 255, a wireless communication module 260, and an ambient condition monitoring device 270 represented by a laser radar and a camera. The main storage device 215 has a work memory that is a work area of the CPU 210 and a program memory in which a control program is stored.

  In the CPU 210, signals from the current location detection device 220 and the user input device 230 are input. The current location detection device 220 is, for example, a GPS sensor, a gyro sensor, and a vehicle speed sensor. The user input device 230 is, for example, a touch panel, a push button switch around the panel, a remote control, and a joystick.

  The auxiliary storage device 240 is a storage device that stores road map data and POI (Point Of Interest) information. The auxiliary storage device 240 may be, for example, a hard disk drive, a CD or DVD in which road map data is stored, a flash memory, other recording media, and a reading device thereof.

  In road map data, a single road is represented as link string data by defining intersections as nodes and defining links between nodes. Therefore, the link string data is composed of node data and link data. In the road map data, node data and link data are classified and stored in mesh area units together with mesh codes. The mesh area refers to each divided area when the road map is divided into predetermined ranges. A number for identifying the mesh area is stored in the mesh code storage area. In the link string data storage area, node position coordinates, link numbers representing links between nodes, and position coordinates of interpolation points that further divide the links are stored. These position coordinates are used as shape data for map display and locator processing.

  The display module 250 displays a screen based on image data including characters and graphics output from the CPU 210, and the speaker 255 utters based on audio data output from the CPU 210. The wireless communication module 260 is used to perform inter-vehicle wireless communication with other vehicles via an antenna. The monitoring device 270 is used to acquire information related to traveling conditions, positional relationships, and the like of other vehicles around the host vehicle.

  FIG. 3 is a diagram for explaining the outline of the control processing in the present embodiment. In FIG. 3, the host vehicle 300 travels on the left lane of the main road facing each other in two lanes on one side, and with respect to the host vehicle 300, the other vehicle 310 ahead, the other vehicle 320 behind, and the other vehicle on the side. 330 travels in the same direction as the host vehicle 300. However, the other vehicle 330 on the side is traveling in a lane adjacent to the lane in which the host vehicle 300 is traveling.

  When the own vehicle 300 cannot perform inter-vehicle communication with other vehicles 310 to 330 traveling in the same direction as the own vehicle, that is, when the other vehicles 310 to 330 are not equipped with an inter-vehicle communication device, It is necessary to perform cooperative traveling control of the host vehicle 300 in consideration of difficulty in predicting the behavior of 310 to 330. Of the other vehicles that cannot communicate between vehicles, a vehicle that is traveling in the same direction is likely to approach the host vehicle. Therefore, such a vehicle is hereinafter referred to as a “control target vehicle” and is displayed on the display screen. Display more emphasized.

  On the other hand, even if the other vehicle 340 facing is not in the inter-vehicle communication function, it is located on the opposite lane different from the own vehicle 300, so there is no possibility of approaching the own vehicle 300, and its behavior It is not necessary to consider the difficulty of prediction. Hereinafter, such a vehicle is referred to as a “non-control vehicle”.

  In addition, as long as the other vehicle 340 which opposes is the relationship which opposes the narrow road (road of opposite one lane) without a center line in the relationship with the own vehicle 300, unless it has a vehicle-to-vehicle communication function. It is necessary to consider the difficulty of predicting the behavior. Therefore, in this case, the opposite other vehicle 340 corresponds to the control target vehicle.

  In addition, the other vehicle having the inter-vehicle communication function is in the relationship with the host vehicle 300 regardless of whether the vehicle is traveling on the opposite one-lane road or the opposite two-lane road. Since it is not necessary to consider the difficulty of predicting behavior, it always corresponds to a non-control vehicle. In other words, the host vehicle receives the driving status of other vehicles through inter-vehicle communication, so if the driving status is notified to the driver, the driver of the host vehicle can be a front vehicle, a rear vehicle, or a side vehicle. It is possible to perform the operation with the predicted behavior.

A method for specifying a vehicle that cannot communicate between vehicles among other vehicles around the host vehicle will be described.
The position of the host vehicle is detected by the current location detection device 220. The current position detection device 200 includes a GPS sensor, and detects the position of the host vehicle on the map based on the GPS signal received by the GPS sensor. As for the position of the other vehicle, the monitoring device 270 detects other vehicles around the own vehicle, calculates the detected position of the other vehicle as a relative position with respect to the own vehicle, and calculates the calculated relative position and the position of the own vehicle on the map. Based on the above, the position of the other vehicle on the map is calculated. As a result, icons indicating the host vehicle and other vehicles around the host vehicle can be displayed on the screen of the display module 250.

  The driving support control device 200 performs inter-vehicle communication with another vehicle equipped with the inter-vehicle communication device, and obtains position information (latitude, longitude data), vehicle speed data, and the like of the other vehicle. Based on the obtained position information, it is possible to identify the other vehicle that has received the position information among the other vehicles displayed as icons on the display screen. Other vehicles that have received the position information are other vehicles that can communicate with each other, and other vehicles that do not have the vehicle-to-vehicle communication device. In this embodiment, when another vehicle not equipped with the inter-vehicle communication device is detected, the control content of the cooperative traveling control described later is changed or the cooperative traveling control is stopped.

With reference to FIG. 3, the discrimination of a control object vehicle and a non-control object vehicle is demonstrated.
A traffic light is installed at the intersection shown in FIG. When the own vehicle 300 enters the intersection where the traffic signal is installed at a speed equal to or higher than a predetermined value, other vehicles on the road intersecting with the left and right do not enter the intersection. This is a non-control vehicle. In addition, other vehicles on the oncoming lane have no effect on the host vehicle 300 when going straight and turning left, and stop once when turning right. Applies to vehicles. However, there may be a case where the speed of the own vehicle 300 becomes almost zero at the intersection. For example, when turning right or left at the intersection, or when stopping at a traffic light. In such a case, the other vehicle on the intersecting road corresponds to the control target vehicle.

  FIG. 3 shows a parked other vehicle 350 located on the same lane as the host vehicle 300. Since the parked vehicle does not travel, it is not necessary to consider the difficulty of predicting its behavior. Therefore, the parked other vehicle 350 corresponds to a non-control vehicle.

  In FIG. 3, the person 360 is located near the intersection. The person 360 can also be regarded as another vehicle by defining the same as the other vehicles 310 to 350 in the relationship with the host vehicle 300. Below, the other vehicles 310-350 shall also include the person 360. FIG.

  When the host vehicle 300 enters an intersection where no traffic lights are installed, the difficulty of predicting the behavior is considered on any intersecting road unless the other vehicle has an inter-vehicle communication function. There is a need. Accordingly, in this case, any other vehicle corresponds to the control target vehicle.

  In addition, when the vehicle is not near the intersection, other vehicles located around the own vehicle traveling on the road with the center line are not controlled unless a vehicle-to-vehicle communication device is installed. A vehicle that is recognized as a target vehicle and travels in the same direction is recognized as a control target vehicle. Other vehicles positioned around the host vehicle traveling on the road without the center line are recognized as non-control target vehicles unless the inter-vehicle communication device is mounted regardless of the traveling direction. On any road, other vehicles located around the host vehicle are recognized as control asymmetric vehicles if the inter-vehicle communication device is mounted.

  In the vehicle control apparatus according to this embodiment, based on information exchanged by inter-vehicle communication, follow-up driving travel control for following the preceding vehicle and so-called map-linked vehicle control for controlling the approach speed according to the curvature of the road ahead. Such cooperative running control is also performed. And if the presence of a control object vehicle is recognized around the own vehicle, the own vehicle will change the control content of the cooperative running control under control, or will be stopped.

(1) Coordinated travel control in follow-up driving travel control to the preceding vehicle When recognizing that the preceding vehicle is a vehicle that can communicate between vehicles, the host vehicle that is the following vehicle recognizes the vehicle speed and traveling lane of the preceding vehicle that are received by inter-vehicle communication. When predetermined conditions are determined based on a course change instruction or the like, follow-up driving travel control is performed. The predetermined condition is that the preceding vehicle is traveling in the same traveling lane as the host vehicle, and that no route change instruction is received from the preceding vehicle. When such a condition is determined, the throttle device and the brake device are driven and controlled to travel at the vehicle speed of the vehicle ahead. When the control target vehicle is recognized during the follow-up driving traveling control, for example, the inter-vehicle distance during the following traveling is set longer, or the cooperative traveling control itself is stopped.

(2) Collaborative travel control in cooperation with a front vehicle that travels by map-linked vehicle control When the host vehicle, which is a rear vehicle, recognizes that the front vehicle is a vehicle that can communicate between vehicles, the map-linked vehicle of the front vehicle is communicated by inter-vehicle communication. The control contents of the control are received, and the own vehicle also sets the same map linkage vehicle control. Map-linked vehicle control is, for example, control that controls the speed of entering a curved road according to the curvature of the road ahead. If the curvature of the road ahead obtained from the map data is less than a predetermined value, the curved road Limit the approach speed to a predetermined speed. In this case, if the preceding vehicle is traveling at a predetermined speed or more, braking is started at a predetermined distance point before entering the curved road and the approach speed is limited. The host vehicle, which is the rear vehicle, receives the map-linked vehicle control information of the preceding vehicle and performs the map-linked vehicle control similar to the preceding vehicle. When the host vehicle performs control in cooperation with the map-linked vehicle control of the preceding vehicle, if the control target vehicle is recognized around the host vehicle, the approach speed limit value of the host vehicle is determined from the approach speed limit value received from the preceding vehicle. Also set a smaller value. Alternatively, the map linkage vehicle control itself is stopped.

  FIG. 4 is a flowchart showing a driving support control processing procedure executed by the CPU 210 of the driving support control device 200. This procedure is performed by executing a program stored in advance in the CPU 210.

  In step S410, a forward vehicle is detected, and in step S420, a cooperative traveling control process is executed, and the process proceeds to step S430. In step S430, it is determined whether or not the cooperative running flag is on. If a negative determination is made in step S430, change control of driving support control described later is executed in step S470.

  When an affirmative determination is made in step S430, a subroutine “control target vehicle identification” is executed in step S440. In step S450, it is determined whether or not the control target vehicle exists in a predetermined range around the host vehicle 300. The predetermined range is, for example, a range of a road map screen displayed on the display module 250 around the host vehicle 300 based on road map data stored in the auxiliary storage device 240. Note that it is preferable to define the range around the host vehicle by an absolute distance regardless of the scale of the map being displayed.

  When a positive determination is made in step S450, driving support change control is executed in step S470. Specifically, for example, the icons of the subject vehicle 300 and other vehicles are displayed on the road map screen, and then the icon of the control target vehicle is highlighted. An example is shown in FIG. FIG. 5 shows a case where the other vehicles 510 to 530 traveling in front, rear and side of the own vehicle 300 are all control target vehicles. The icons of the other vehicles 510 to 530 are all subjected to an emphasis process with high visibility as compared to the surroundings. Furthermore, an effect such as blinking may be given.

  At this time, the control content of the cooperative traveling control is also changed. For example, when a control target vehicle is detected while traveling following the preceding vehicle, the inter-vehicle distance when following the preceding vehicle is increased. When the cooperative driving similar to the map cooperative driving control of the preceding vehicle is performed, the limit value of the curved road approach speed is lowered. Further, when the monitoring device 270 detects that the preceding vehicle is not a control target vehicle, the follow-up traveling is stopped. Furthermore, it is preferable to notify the driver of such change control contents at an early stage by screen display or audio output.

  If a negative determination is made in step S450, normal control is executed in step S460. Specifically, for example, all the icons of the host vehicle 300 and other vehicles are displayed on the road map screen, but no highlighting is performed. The control content of the cooperative traveling control is not changed. In step S480, it is determined whether forward vehicle detection is still detected. If the determination is affirmative, the process returns to step S420. If the determination is negative, the processing procedure ends.

  FIG. 6 is a flowchart showing the contents of the subroutine “specification of control target vehicle”, which specifically shows the outline of the control process described with reference to FIG. 3. In step S610, the counter k is reset. In step S620, the number of vehicles located in a predetermined range around the host vehicle 300 described above is counted, and the counting result is n [units]. In the following processing procedure, it is determined whether each of the n vehicles is a controlled vehicle or a non-controlled vehicle.

  In step S630, the counter k is incremented by 1, and attention is paid to the kth vehicle among the n vehicles. In step S640, it is determined whether the traveling directions of the k-th vehicle and the own vehicle 300 are the same. If the determination is affirmative, the kth vehicle is identified as a control target vehicle in step S670. In a negative determination, in step S650, it is determined whether or not the current position of the host vehicle 300 is near the intersection. The current position of the host vehicle is detected by the current position detection device 220 as described above. The position of the intersection is specified by the node data described above included in the road map data stored in the auxiliary storage device 240.

  In the case of negative determination in step S650, it is determined in step S655 whether or not there is a center line on the road on which the host vehicle 300 is traveling. The presence / absence of the center line is specified by the above-described link data included in the road map data stored in the auxiliary storage device 240. If a negative determination is made in step S655, the kth vehicle is identified as a control target vehicle in step S670. If an affirmative determination is made in step S655, the kth vehicle is identified as a non-control vehicle in step S666.

  In step S650, if the determination is affirmative, it is determined in step S660 whether or not a traffic light is set at the intersection. The presence / absence of a traffic light is specified by the node data described above included in the road map data stored in the auxiliary storage device 240. In a negative determination, in step S670, the kth vehicle is specified as a control target vehicle. If the determination is affirmative, it is determined in step S665 whether or not the speed of the host vehicle 300 is substantially zero. In a negative determination, the kth vehicle is identified as a non-control vehicle in step S666. If the determination is affirmative, the kth vehicle is identified as a control target vehicle in step S670. In step S680, when it is determined that all n vehicles are determined to be control target vehicles or non-control target vehicles, this processing procedure ends, and step S680 is denied. Returns the process to step S630.

  FIG. 7 is a flowchart showing the contents of the subroutine “cooperative running control”. In step S710, it is determined whether the preceding vehicle is a vehicle that can communicate between vehicles. If it is determined in step S710 that the vehicle can communicate between vehicles, the process proceeds to step S720, and data such as the vehicle speed, traveling lane, and course change instruction of the preceding vehicle received by inter-vehicle communication is read. Determine no. The cooperative traveling is performed on the condition that the preceding vehicle is traveling in the same traveling lane as that of the host vehicle and that no route change instruction is received from the preceding vehicle. If it is determined that the cooperative traveling is necessary, the process proceeds to step S740, and the throttle device and the brake device are driven and controlled to travel at the vehicle speed of the preceding vehicle. Thereby, the own vehicle travels in cooperation with the preceding vehicle. In addition, the cooperative traveling flag is turned on so that the normal control described above in step S460 of FIG. 4 is executed.

  If it is determined in step S710 that the preceding vehicle is not a vehicle that can communicate between vehicles; If it is determined in step S730 that cooperative driving is not required, the process proceeds to step S750 so that the driving support change control described above in step S470 of FIG. 4 is executed, and the cooperative driving flag is turned off.

The vehicle control device 10 according to the embodiment described above has the following effects.
(1) The own vehicle performs driving control so as to travel in cooperation with a moving body (hereinafter referred to as a first moving body) capable of performing inter-vehicle communication among moving bodies around the own vehicle. Among mobile bodies (second mobile bodies) that cannot communicate between vehicles, a mobile body that is likely to change the driving control of the host vehicle due to the approach to the host vehicle is specified as a specific mobile body. When the own vehicle is traveling in cooperation with the first moving body by the driving control, the driving control is changed when the specific moving body is specified. Therefore, even if a vehicle that cannot communicate between vehicles approaches the host vehicle that is traveling in cooperation, the safety of the cooperation is ensured.

(2) Based on the position of the mobile body around the host vehicle on the map, the position of the host vehicle on the map, and the determination result of whether or not communication between vehicles is possible, If icons representing different vehicles that cannot communicate with each other are displayed on the road map, vehicles that cannot communicate between vehicles can be easily confirmed on the screen. Can be reduced.

(3) If an icon indicating a specific moving body is highlighted and displayed, it is possible to easily check on the screen a vehicle that is another vehicle that cannot communicate between vehicles and that approaches the host vehicle. , Can reduce the burden on the driver.
(4) When the specific moving body is specified, the cooperative running is stopped. Therefore, since the vehicle can be operated at the driver's will, safety avoidance movement and the like can be performed quickly.

---- Modified example ---
The vehicle control apparatus according to the embodiment described above can be modified as follows.
(1) When the control target vehicle is detected around the host vehicle that is traveling by the cooperative traveling control, the control content of the cooperative traveling control is changed, but the control content of the cooperative traveling control is not changed, The sensitivity, detection range, detection direction, etc. of the monitoring device 270 may be changed. When a situation around the vehicle is photographed with a camera and another vehicle is detected, the angle of view of the camera may be widened so that the control target vehicle is photographed, or the photographing direction may be directed toward the control target vehicle. Alternatively, the photographing sensitivity may be increased. Similarly, when the surroundings of the vehicle are detected by the laser radar, the scanning range of the laser radar is expanded or the scanning direction is changed. In addition, you may change the sensitivity of the monitoring apparatus 270, a detection range, a detection direction, etc. with the change of the control content of cooperative running control.
(2) When a control target vehicle is detected around the host vehicle that is traveling by cooperative traveling control, it is notified that the control content of cooperative traveling control is to be changed, and the driver performs various operations according to the notification. Sometimes, the sensitivity of the drive device (actuator) involved in these operations may be increased. Alternatively, the hydraulic pressure for driving the braking device may be higher than before detection of the control target vehicle.

(3) The content of the cooperative traveling is not limited to the follow traveling or the map cooperative traveling.
(4) The monitoring device 270 that detects other vehicles around the host vehicle may use a sensor other than a laser radar or a camera.

(5) In the above description of the present embodiment and the modification, the embodiment in which the present invention is applied to the vehicle control device 10 has been described. However, the driving support control device 200 included in the vehicle control device 10 can be detached. It may be a simple module. The driving support control device 200 may be, for example, a device in which the wireless communication module 260 and the monitoring device 270 are attached to car navigation or PND (Personal Navigation Device).

  Each embodiment and each modification described above may be combined. In addition, the present invention is not limited to the device configuration in the above-described embodiment unless the characteristic functions of the present invention are impaired.

10 vehicle control device 100 ECU
DESCRIPTION OF SYMBOLS 150 Drive control apparatus 200 Driving support control apparatus 210 CPU 215 Main memory device 220 Present location detection device 230 User input device 240 Auxiliary storage device 250 Display module 255 Speaker 260 Wireless communication module 270 Monitoring device 300 Other vehicle 320 in front Rear 320 Other vehicle 330 Side other vehicle 340 Opposed other vehicle 350 Other parked vehicle 360 People 510, 520, 530 Other vehicle

Claims (8)

Own vehicle position detecting means for detecting the position of the own vehicle on the map;
Surrounding vehicle detection means for detecting a moving body around the host vehicle;
Vehicle-to-vehicle communication means for performing vehicle-to-vehicle communication with the mobile body around the vehicle;
Among the moving bodies around the own vehicle detected by the surrounding vehicle detecting means, the moving body capable of communicating by the inter-vehicle communication means (hereinafter referred to as the first moving body) and the communication by the inter-vehicle communication means A discriminating means for discriminating a mobile body that cannot be performed (hereinafter referred to as a second mobile body);
Driving control means for performing driving control based on various information exchanged by the inter-vehicle communication means so that the host vehicle travels in cooperation with the first moving body;
A specifying unit that specifies, as a specific moving body, a moving body that needs to change the driving control for the cooperative traveling by approaching the host vehicle among the second moving bodies;
The driving control means changes the driving control for the cooperative driving when the specific moving body is specified while performing the driving control so as to perform the driving in cooperation with the first moving body. A vehicle control device. The vehicle control device according to claim 1,
The discrimination means includes
Position calculating means for calculating the position on the map of the moving object detected by the surrounding vehicle detecting means;
Based on the position on the map of the moving body calculated by the position calculating means, the position on the map of the own vehicle detected by the own vehicle position detecting means, and the communication result of the inter-vehicle communication, the second movement A vehicle control apparatus comprising: identification means for identifying a body. The vehicle control device according to claim 1 or 2,
The driving control by the driving control means is driving control that follows a forward vehicle traveling in front of the host vehicle,
The change of the driving control is to increase the inter-vehicle distance between the host vehicle and the preceding vehicle. The vehicle control device according to claim 1 or 2,
The change of the driving control by the driving control means is to increase the sensitivity of the surrounding vehicle detection means, widen the detection range, and to make the detection target a moving body specified in the second moving body. Any one of the vehicle control apparatus characterized by the above-mentioned. The vehicle control device according to claim 1,
The vehicle control device according to claim 1, wherein the change of the driving control by the driving control means is to increase the sensitivity of the driving device. The vehicle control device according to claim 1,
The vehicle control device according to claim 1, wherein the change of the driving control by the driving control means is to increase the sensitivity of the braking device. The vehicle control device according to claim 1 or 2,
The change of the driving control by the driving control means is to stop the driving control in cooperation with the first moving body. The vehicle control device according to claim 2,
The own vehicle position detection means includes a GPS sensor, detects the position of the own vehicle on the map based on the GPS signal received by the GPS sensor,
The surrounding vehicle detection means detects a moving body around the host vehicle with a radar or a camera, calculates a position of the detected moving body as a relative position with respect to the host vehicle,
The position calculating means calculates the position of the mobile body on the map based on the calculated relative position and the position of the host vehicle on the map.

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