JP2013205313A - Vehicle control system, vehicle control method and vehicle control program - Google Patents

Abstract

PROBLEM TO BE SOLVED: To improve reliability of a timing causing a vehicle control to be started.SOLUTION: The vehicle control system is configured to comprise: current position acquisition means that acquires a first current position serving as a position of a vehicle identified by first position identification means and a second current position serving as a position of a vehicle identified by second position identification means; control start position setting means that sets a control start position for setting a vehicle to a prescribed state at a predetermined target position; movement distance accumulation means that respectively accumulates a first movement distance representing that the vehicle actually moves during a period until the vehicle is put into the prescribed state from the first current position becomes the control start position and a second movement distance representing that the vehicle actually moves during a period until the vehicle is put into the prescribed state from the second current position becomes the control start position; selection means that, when statistic reliability of the first movement distance is higher than statistic reliability of the second movement distance, selects the first position identification means as selection position identification means; and vehicle control means that starts the vehicle control on the basis of the current position of the vehicle identified by the selection position identification means.

Description

  The present invention relates to a vehicle control system, method, and program for setting a vehicle in a predetermined state at a target position.

  Conventionally, a technique for correcting the current position of a vehicle based on self-contained navigation based on a GPS signal is known (see Patent Document 1). In Patent Document 1, when the GPS signal cannot be received, the current position based on the self-contained navigation is corrected based on the measurement result of the laser rangefinder instead of the GPS signal. Thereby, even when a GPS signal cannot be received, a current position with high reliability can be obtained.

JP 2004-264182 A

However, in Patent Document 1, there is a problem that the measurement result of the laser distance meter cannot be obtained unless the reflector is provided, and the current position with high reliability cannot be obtained at an arbitrary position. there were. In addition, vehicle control for automatically controlling the behavior of the vehicle is started at a timing when the vehicle travels a predetermined position. When such vehicle control is performed, if a current position with high reliability cannot be obtained, vehicle control cannot be started at a timing with high reliability.
The present invention has been made in view of the above problems, and an object of the present invention is to provide a technique for improving the reliability of timing for starting vehicle control.

  In order to achieve the above object, in the present invention, the current position acquisition means includes a first current position, which is a vehicle position specified by the first position specifying means, and a vehicle position specified by the second position specifying means. And the second current position. The control start position setting means sets a control start position that is a vehicle position at which vehicle control for setting the vehicle in a predetermined state at a predetermined target position is started. The movement distance accumulating means has a first movement distance where the vehicle has actually moved and a second current position as the control start position during a period from when the first current position becomes the control start position to when the vehicle enters a predetermined state. And the second movement distance in which the vehicle has actually moved in the period from when the vehicle reaches a predetermined state. The selecting means selects the first position specifying means as the selected position specifying means when the statistical reliability of the first moving distance is higher than the statistical reliability of the second moving distance. The vehicle control means starts vehicle control based on the current position of the vehicle specified by the selected position specifying means.

  Hereinafter, the first position specifying means and the second position specifying means are collectively referred to as position specifying means, the first current position and the second current position are collectively referred to as the current position, and the first moving distance and the second moving distance are referred to. It may be collectively referred to as a moving distance. Further, the position of the vehicle at the timing when the measurement of the movement distance is started is set as the measurement start position, and the position of the vehicle at the timing when the measurement of the movement distance is ended is set as the measurement end position.

  In the above-described configuration, it can be said that the position at which the vehicle is in a predetermined state, that is, the variation in the measurement end position is small and substantially coincides with the target position. This is because the state in which the vehicle should be strongly depends on the position on the road. For example, the position where the vehicle stops does not deviate significantly from the stop line or the like. Further, the position where the vehicle turns does not deviate greatly from a curve or an intersection. As described above, since the measurement end position substantially coincides with the target position, it can be considered that the reason why the statistical reliability of the moving distance is lowered is that the reliability of the measurement start position is low. That is, the statistical reliability of the moving distance can be equated with the reliability of the measurement start position. Here, since the measurement start position is the position of the vehicle at the timing when the current position becomes the control start position, it depends on the current position. Therefore, when the statistical reliability of the movement distance is low, it can be considered that the reliability of the current position in the vicinity of the control start position is low. Therefore, when the statistical reliability of the first movement distance is higher than the statistical reliability of the second movement distance, the vehicle control means is selected in the vicinity of the control start position by selecting the first position specifying means as the selected position specifying means. Vehicle control can be started based on the first current position with high reliability. Therefore, the reliability of the timing for starting the vehicle control can be improved.

  Here, the high statistical reliability of the moving distance may mean that the variation in the moving distance is small. That is, the selection unit may select the first position specifying unit as the selected position specifying unit when the variation in the first movement distance is smaller than the variation in the second movement distance. Thereby, vehicle control can be started based on the current position with the smaller variation. Further, the high statistical reliability of the moving distance may mean that the average value of the moving distance is close to the ideal value. The ideal value of the movement distance may be a distance from the control start position to the target position.

  Further, the selection unit may select the selection position specifying unit for each of the plurality of target positions. As a result, the selected position specifying means can be selected for each target position in accordance with the error characteristics of the position specifying means that can differ for each target position. For example, for a target position where reception of a GPS signal becomes unstable near the control start position, a selection position specifying unit that does not depend on the GPS signal can be selected.

  Further, the control start position setting means may set the control start position so that the distance that the vehicle travels from the control start position to the target position becomes a predetermined reference distance. Then, when the first position specifying means is selected as the selected position specifying means, the vehicle control means is offset from the control start position by an offset distance corresponding to the difference between the average value of the first moving distance and the reference distance. Vehicle control may be started at the timing when the position and the first current position coincide. When the average moving distance is shorter than the reference distance, the offset distance is the average distance traveled by the vehicle from when the vehicle actually travels the control start position to when the current position matches the control start position. means. That is, the average time that the vehicle travels by the offset distance is a delay period from the timing at which the vehicle actually travels the control start position to the timing at which the current position matches the control start position. On the other hand, when the average value of the moving distance is shorter than the reference distance, it stops at the timing when the position offset from the control start position by the offset distance to the opposite side of the target position (backward in the running direction) matches the current position By starting the control, the timing for starting the stop control can be advanced so as to cancel the delay period.

  On the other hand, when the average value of the moving distance is longer than the reference distance, the offset distance is the average of the vehicle that has traveled between the current position and the control start position until the vehicle actually travels the control start position. Means a long distance. That is, the average time during which the vehicle travels by the offset distance is a preceding period preceded by the timing at which the current position matches the control start position with respect to the timing at which the vehicle actually travels the control start position. On the other hand, when the average value of the moving distance is longer than the reference distance, stop control is performed at the timing when the position offset from the control start position to the target position side (front side in the running direction) by the offset distance matches the current position. By starting, the timing at which stop control is started can be delayed so as to cancel the preceding period.

  Further, the travel distance accumulating means includes a first travel distance based on a length of a period from when the first current position becomes the control start position to a predetermined state of the vehicle and a vehicle speed during the period, and a second current position. You may accumulate | store each 2nd movement distance based on the length of the period until it becomes a predetermined state after it becomes a control start position, and the vehicle speed in the said period. Thus, by measuring both the first moving distance and the second moving distance based on the vehicle speed (by making the distance measuring means common), the difference in the distance measuring means is the statistical reliability of the first moving distance. It is possible to prevent the statistical reliability of the second moving distance from being affected. Further, since the vehicle speed can be accurately measured regardless of the position where the vehicle is traveling, the first movement distance and the second movement distance can be accurately measured.

  Further, the vehicle control means may perform vehicle control for stopping the vehicle at the target position. Thereby, vehicle control for stopping the vehicle accurately at the target position can be realized.

  Further, the vehicle control means may not perform the vehicle control when the first position specifying means is selected as the selected position specifying means and the variation in the first movement distance is larger than a predetermined threshold value. Thereby, even if the statistical reliability of the first moving distance is higher than the statistical reliability of the second moving distance, if the variation in the first moving distance is larger than a predetermined threshold, it is assumed that proper vehicle control cannot be performed. Vehicle control can be avoided.

  Furthermore, the method of selecting the position specifying means as in the present invention can also be applied as a program or method. In addition, the system, program, and method as described above may be realized as a single device, or may be realized by using components shared with each unit provided in the vehicle when realized by a plurality of devices. It can be assumed and includes various aspects. For example, it is possible to provide a navigation system, method, and program including the above-described devices. Further, some changes may be made as appropriate, such as a part of software and a part of hardware. Furthermore, the invention can be realized as a recording medium for a program for controlling the system. Of course, the software recording medium may be a magnetic recording medium, a magneto-optical recording medium, or any recording medium to be developed in the future.

It is a block diagram of a navigation apparatus. (2A) is a plan view of a road, (2B) is a graph for explaining vehicle control, and (2C) and (2D) are schematic diagrams of movement distances. It is a flowchart of a learning process. It is a flowchart of a vehicle control process.

Here, embodiments of the present invention will be described in the following order.
(1) Configuration of navigation device:
(2) Learning process:
(3) Vehicle control processing:
(4) Other embodiments:

(1) Configuration of navigation device:
FIG. 1 is a block diagram showing a configuration of a navigation device 10 as a vehicle control system according to the present invention. The navigation device 10 includes a control unit 20 including a CPU, a RAM, a ROM, and the like and a recording medium 30, and the control unit 20 executes a vehicle control program 21 stored in the recording medium 30 and the ROM. The vehicle in the present embodiment includes a GPS receiver 41, a vehicle speed sensor 42, a gyro sensor 43, an internal combustion engine 44, a gear mechanism 45, an output shaft 46, a motor 47, a battery 48, a friction braking unit 49, and a user I / F unit 50. It has.

  The GPS receiving unit 41 receives a GPS signal from a GPS satellite, and outputs information for calculating the current position of the vehicle to the control unit 20 via an interface (not shown). The vehicle speed sensor 42 outputs a signal corresponding to the rotational speed of the wheels provided in the vehicle. The control unit 20 acquires this signal via an interface (not shown) and acquires the vehicle speed. The gyro sensor 43 outputs a signal corresponding to the angular velocity acting on the vehicle. The control unit 20 acquires this signal via an interface (not shown) and acquires the traveling direction of the vehicle.

  The internal combustion engine 44 is an engine that rotates a rotating shaft by combustion of liquid fuel or generates an engine brake by resistance to rotation of the rotating shaft. The output shaft 46 is a mechanism in which a rotating shaft rotates in conjunction with wheels provided in the vehicle. The motor 47 is a device that rotates the rotating shaft by supplying power from the battery 48 and generates regenerative power by the power acting on the rotating shaft. The operation of the motor 47 is controlled by the control unit 48 a, and the control unit 48 a also has a function of determining the operation of the motor 47 according to an instruction from the control unit 20. Therefore, the control unit 20 can switch between a state in which the motor 47 receives power from the battery 48 and generates power, and a state in which the motor 47 receives torque from the gear mechanism 45 and generates regenerative power. The state in which the motor 47 generates regenerative power is a state in which regenerative braking is effective, and a braking force corresponding to the regenerative power acts on the vehicle. The battery 48 is a mechanism for accumulating electric power. The electric power accumulated in the motor 47 can be supplied, and the electric power can be accumulated by receiving regenerative electric power from the motor 47. The vehicle according to this embodiment is a hybrid vehicle, and the internal combustion engine 44 and the motor 47 are connected to the output shaft 46 via the gear mechanism 45.

  The friction braking unit 49 is a device that includes a wheel cylinder that adjusts a braking force by a friction brake mounted on a wheel and a deceleration amount adjustment pedal that adjusts the pressure of the wheel cylinder. The user I / F unit 50 is an interface unit for providing various kinds of information to the user or inputting a user instruction, and in the present embodiment, a display unit including a touch panel display (not shown) and a speaker for outputting sound. It has. The control unit 20 outputs a control signal to the user I / F unit 50 to display an arbitrary image on the display unit, and outputs an arbitrary sound from the speaker. In addition, the control unit 20 specifies the user instruction content based on the output signal of the user I / F unit 50.

In the recording medium 30, map information 30a and a learning DB (Database) 30b are recorded. The map information 30a includes node data indicating nodes set on the road on which the vehicle is traveling, shape interpolation point data for specifying the shape of the road between the nodes, link data indicating connection between the nodes, and the like. . The learning DB 30b is a database in which a target position _PT that is a target position for stopping the vehicle in the stop control of the vehicle is registered. In the learning DB 30b, and for each target position P _T and the reference distance L _P to the first moving distance L ₁ and the second moving distance L ₂ between the selected position specifying unit M _B and permission flag F and the offset distance L _O is associated with Yes. Reference distance L _P and for more information about the permission flag F and the offset distance L _O first and the moving distance L ₁ and the second moving distance L ₂ between the selected position specifying unit M _B will be described later.

The vehicle control program 21 includes a current position acquisition unit 21a, a control start position setting unit 21b, a movement distance accumulation unit 21c, a selection unit 21d, and a vehicle control unit 21e. Current position acquisition unit 21a includes a first position specifying section M ₁ and the second position specifying section M _2.

The current position acquisition unit 21a acquires a first current position that is the position of the vehicle specified by the first position specifying means and a second current position that is the position of the vehicle specified by the second position specifying means. Is a module that causes the control unit 20 to execute The first position specifying means is a control unit 20 to execute the first position function specification unit M _1, the second position specifying means is a control unit 20 for executing the function of the second position specifying section M _2. With the function of the first position specifying unit M _1, the control unit 20 specifies the vehicle's self-sustained trajectory based on the vehicle speed measured by the vehicle speed sensor 42 and the angular acceleration measured by the gyro sensor 43. The position and direction are corrected so as to match the shape of the road indicated by the map information 30a. Then, the control unit 20 by the first position function specification unit M ₁ identifies the position corresponding to the tip of the autonomous navigation locus corrected as a first current position. On the other hand, the control unit 20 by the second position function specification unit M _2, and identifies the GPS trajectory is a trajectory of the vehicle position based on the GPS signal GPS receiver 41 receives the map the position and orientation of the GPS trajectory It correct | amends so that it may match with the shape of the road which the information 30a shows. Then, the control unit 20 by the second position function specification unit M ₂ identifies the position corresponding to the tip of the GPS path after correction as the second current position.

  The first current position and the second current position are ideally the same position, but are actually different positions depending on the error characteristics of the means that specified the position. Moreover, since the above-mentioned error characteristic depends on the position where the vehicle travels, the reliability of the first current position and the reliability of the second current position depend on the position where the vehicle travels. Accordingly, the first current position may be more reliable at a certain position, and the second current position may be more reliable at another position. In general, the reliability of the first current position decreases as the distance that goes straight after detecting the turning of the vehicle based on the output signal of the gyro sensor 43 becomes longer. In addition, the reliability of the second current position decreases as the position at which the GPS signal reception sensitivity decreases.

The control start position setting unit 21b is a module that causes the control unit 20 to execute a function of setting a control start position that is a vehicle position at which stop control for stopping the vehicle at a predetermined target position _PT is started. Specifically, the control unit 20 sets the control start position so that the distance that the vehicle travels from the control start position to the target position P _T becomes a predetermined reference distance L _P by the function of the control start position setting unit 21b.

FIG. 2A is a schematic diagram showing how the control start position P _S is set in order to perform stop control for stopping the vehicle at the target position P _T corresponding to the stop line K. Control unit 20 by the function of the control start position setting unit 21b, at the target position P _T as the vehicle stops, the distance the vehicle from the control start position P _S to the target position P _T travels by reference distance L _P secured To do. Position P of the vehicle, and it is coordinate value increases as proceeds to the direction from the control start position P _S on the road which the vehicle travels to the target position P _T.

FIG. 2B is a graph showing the relationship between the position P of the vehicle and the regenerative electric power W, and the relationship between the position P of the vehicle and the vehicle speed V. The vertical axis in FIG. 2B indicates the regenerative power W (broken line) and the vehicle speed V (solid line), and the horizontal axis indicates the vehicle position P (control start position P _S to target position P _T ). In the present embodiment, when the vehicle stops appropriately at the target position P _{T, when the} vehicle travels from the start position P _S to the target position P _T , the regenerative power W generated by the regenerative brake can be charged by the battery 48. This means that the limit power W ₁ is not exceeded. Thus, the regenerative electric power W generated by the regenerative braking from the start position P _S to the target position P _T is to increase the amount of electric power charged into the battery 48 (area equivalent surrounded by the horizontal axis and the dashed line in FIG. 2B) Can do. By limiting the distance between the control start position P _S and the target position P _T by the reference distance L _P and gradually reducing the vehicle speed V, the limit power that the regenerative power W generated by the regenerative braking can be charged by the battery 48 is obtained. Do not exceed W _l .

The control unit 20, between the control start position P _S and the target position P _T, the position P _b of the vehicle to generate a braking force in accordance with the characteristics of the driving operation of the vehicle speed and weight and the driver of the vehicle Set as appropriate. For example, when the travel distance from the control start position P _S becomes the distance L _J , the control unit 20 generates a braking force. In this case, if the timing at which the vehicle travels at the control start position P _S cannot be accurately recognized, the position P _{b of the} vehicle at which the control unit 20 generates the braking force is too close or too far from the target position _PT . Will be. When the position P _b is too close to the target position P _T, sudden braking in accordance with the distance the driver's brake operation a decrease in vehicle speed V is felt too slow for to the target position P _T occurs . Further, when the position P _b is too far with respect to the target position P _T, electric power charged once the battery 48 by the distance the driver's accelerator operation a decrease in vehicle speed V is felt too early with respect to the target position P _T Consumes the amount.

Moving distance storing unit 21c, first and moving distance L ₁ of the vehicle is actually moved in the period from when the first current position P ₁ is a control start position P _S until the vehicle is stopped, the second current position P _This is a module for causing the control unit 20 to execute a function of accumulating the second movement distance L ₂ that the vehicle has actually moved in the period from when ₂ becomes the control start position P _S until the vehicle stops. That is, the control unit 20 of the function of the moving distance storing unit 21c, first the current position P ₁ starts the measurement of the first moving distance L ₁ at a timing that matches the control start position P _S, then the vehicle speed V is 0 The measurement of the first movement distance L ₁ is terminated at the timing. Similarly, the control unit 20 starts measuring the second movement distance L ₂ at the timing when the second current position P ₂ coincides with the control start position P _S by the function of the movement distance accumulation unit 21c. in 0 when the timing to end the second measurement of the moving distance L _2. Specifically, the control unit 20 of the function of the moving distance storing unit 21c integrates the vehicle speed V in the first period from the timing when the current position P ₁ coincides with the control start position P _S until the vehicle speed V becomes 0 (time by integrating) measures the first moving distance L _1. Similarly, the control unit 20 of the function of the moving distance storing unit 21c integrates the vehicle speed V in the second period from the timing of the current position P ₂ coincides with the control start position P _S until the vehicle speed V becomes 0 (time integral ) by, for measuring a second moving distance L _2.

FIG. 2C is a schematic diagram showing the first movement distance L ₁ , and FIG. 2D is a schematic diagram showing the second movement distance L ₂ . 2C and 2D, the actual vehicle position P (measurement start position) at the timing of starting the measurement of the movement distances L ₁ and L ₂ is indicated by a white circle, and the measurement of the movement distances L ₁ and L ₂ is completed at the timing. The actual vehicle position P (measurement end position) is indicated by a black circle. As shown in FIGS. 2C and 2D, the vehicle has traveled in the past N times at the same target position P _T , and the movement distances L ₁ and L ₂ for each of 1 to N times are the target positions in the learning DB 30b. It is stored in association with _PT .

Here, the measurement end positions of the movement distances L ₁ and L ₂ can be regarded as having little variation and almost coincident with the target position P _T. This is because the vehicle needs to stop immediately before the stop line K. On the other hand, the measurement start positions of the movement distances L ₁ and L ₂ have large variations and can deviate from the control start position P _S. Measurement start position of the moving distance L _1, L ₂ is the position P of the actual vehicle at the timing that the current position P _1, P ₂ coincides with the control start position P _S, the current position P in the vicinity of the control start position P _{S 1,} variations may occur depending on the error characteristics of P _2.

When the statistical reliability of the first moving distance L ₁ is higher than the statistical reliability of the second moving distance L ₂ , the selecting unit 21d has a function of selecting the first position specifying unit as the selected position specifying unit. This is a module to be executed. The control unit 20 of the function of the selection unit 21d, when the statistical reliability of the first moving distance L ₁ is equal to or less than the statistical reliability of the second moving distance L _2, the second position specifying section selects position specifying means Select as. With the function of the selection unit 21d, the control unit 20 assumes that the statistical reliability is higher as the standard deviations σ (L ₁ ) and σ (L ₂ ) indicating variations in the movement distances L ₁ and L ₂ are smaller. The control unit 20 of the function of the selection unit 21d, when selecting the first position specifying means as the selected position specifying unit, the learning DB 30b, first position specifying section M ₁ the target position P as the selected position specifying unit M _B Register in association with _T. Control unit 20 of the function of the selection unit 21d, when selecting the second position specifying means as the selected position specifying unit, in the learning DB 30b, a second position specifying section M ₂ at the target position P _T as the selected position specifying unit M _B Register in association. 2C and 2D, the standard deviation σ (L ₁ ) of the first movement distance L ₁ is smaller than the standard deviation σ (L ₂ ) of the second movement distance L ₂ , and the selected position as shown in FIG. first position specifying section M ₁ is registered in association with the target position P _T as the specific unit M _B.

Further, the control unit 20 uses the function of the selection unit 21d to select the first position specifying unit as the selected position specifying unit, and the standard deviation σ (L ₁ ) of the first moving distance L ₁ is larger than a predetermined threshold. In this case, the permission flag F associated with the target position P _T in the learning DB 30b is turned OFF. Further, the function of the selection unit 21d allows the control unit 20 to select the first position specifying unit as the selected position specifying unit and the standard deviation σ (L ₁ ) of the first moving distance L ₁ is equal to or less than the threshold value. Set permission flag F to ON. Further, by the function of the selection unit 21d, the control unit 20 selects the second position specifying unit as the selected position specifying unit, and the standard deviation σ (L ₂ ) of the second movement distance L ₂ is larger than a predetermined threshold value. In this case, the permission flag F is turned off. Further, the function of the selection unit 21d allows the control unit 20 to select the second position specifying unit as the selected position specifying unit and the standard deviation σ (L ₂ ) of the second movement distance L ₂ is equal to or less than a threshold value. Set permission flag F to ON.

Further, the control unit 20 of the function of the selection unit 21d, first position specifying means is selected as the selected position specifying unit, and when the average value L _A of the first moving distance L ₁ is shorter than the reference distance L _P Then, a negative offset distance L _O that is offset from the control start position P _S to the side opposite to the target position P _T (rear side in the traveling direction) is set. Control unit 20 of the function of the selection unit 21d, first position specifying means is selected as the selected position specifying unit, and when the average value L _A of the first moving distance L ₁ is longer than the reference distance L _P, control A positive offset distance L _O that is offset from the start position P _S to the target position P _T side (front side in the traveling direction) is set. By the function of the selection unit 21d, the control unit 20 sets a value obtained by subtracting the reference distance L _P from the average value L _{A of} the first movement distance L ₁ as the offset distance L _O. Similarly, if the second position specifying means is selected as the selected position specifying unit, the control unit 20 of the function of the selection unit 21d, a second moving distance L ₂ of the mean reference distance L _P to a value obtained by subtracting from L _A Is an offset distance L _O. Control unit 20 of the function of the selector 21d is registered in association with the permission and the selected position specifying unit M _B for each flag F and the offset distance L _O of the plurality of target positions P _T recorded in the map information 30a.

The vehicle control unit 21e is a module that causes the control unit 20 to execute a function of starting stop control of the vehicle based on the current position of the vehicle specified by the selected position specifying unit. That is, the control unit 20 of the function of the vehicle control unit 21e, when the first position specifying means is selected as the selected position specifying unit, to start the stop control of the vehicle based on the first current location P _1. Specifically, if the offset distance L _O is negative, the control unit 20 uses the function of the vehicle control unit 21e to be opposite to the target position P _{T by} the offset distance L _O from the control start position P _S (rear side in the traveling direction). to identify the position offset, the position and the offset to the first current position P ₁ is to start the vehicle stop control by matched timing. On the other hand, if the offset distance L _O is positive, a position that is offset from the control start position P _S by the offset distance L _{O to the} target position P _T side (front side in the traveling direction) is specified, and the offset position and the first current position are identified. The vehicle stop control is started at the timing when the position P ₁ coincides.

Similarly, the control unit 20 of the function of the vehicle control unit 21e, when the second position specifying means is selected as the selected position specifying unit, to start the stop control of the vehicle based second on the current position P _2. That is, by the function of the vehicle control unit 21e, if the offset distance L _O is negative, the control unit 20 offsets from the control start position P _S to the opposite side of the target position P _T (backward in the traveling direction) by the offset distance L _O. The vehicle stop control is started at the timing when the offset position and the second current position P ₂ coincide with each other. On the other hand, if the offset distance L _O is a positive value, a position that is offset from the control start position P _S by the offset distance L _{O to the} target position P _T side (front side in the traveling direction) is specified, and the offset position and the second position are specified. The vehicle stop control is started at the timing when the current position P ₂ coincides.

However, by the function of the vehicle control unit 21e, the control unit 20 executes vehicle stop control only when the permission flag F associated with the target position P _T in the learning DB 30b is ON. That is, the control unit 20 of the function of the vehicle control section 21e, the smaller the threshold value of the standard deviation of the first moving distance L ₁ sigma (L ₁₎ and the standard deviation sigma (L ₂₎ of the second moving distance L ₂ For a larger target position P _T , stop control for stopping the vehicle at the target position P _{T is} not executed.

In the present embodiment described above, since the measurement end position substantially coincides with the target position P _T , the factor that increases the standard deviations σ (L ₁ ) and σ (L ₂ ) of the movement distances L ₁ and L ₂ is the measurement. It can be considered that the standard deviation of the starting position is large. That is, the standard deviations σ (L ₁ ) and σ (L ₂ ) of the movement distances L ₁ and L ₂ can be regarded as the standard deviation of the measurement start position. Here, since the measurement start position is the position of the vehicle at the timing when the current positions P ₁ and P ₂ become the control start position P _S , it depends on the current positions P ₁ and P ₂ . Accordingly, when the standard deviations σ (L ₁ ) and σ (L ₂ ) of the movement distances L ₁ and L ₂ are large, it may be considered that the standard deviations of the current positions P ₁ and P ₂ near the control start position P _S are large. it can. Therefore, when the standard deviation σ (L ₁ ) of the first movement distance L ₁ is smaller than the standard deviation σ (L ₂ ) of the second movement distance, by selecting the first position specifying means as the selected position specifying means, control unit 20 of the function of the vehicle control section 21e, it is possible to start the stop control based on the first current smaller standard deviation in the vicinity of the control start position P _S position P _1. Therefore, the reliability of the timing for starting the vehicle control can be improved.

Further, the control unit 20 selects the selected position specifying means for each of the plurality of target positions P _T by the function of the selection unit 21d. As a result, the selected position specifying means can be selected according to the error characteristics of the position specifying means that are different from each other at each of the plurality of target positions P _T (control start position P _S ).

Further, the control unit 20 of the function of the vehicle control unit 21e, when the first position specifying means is selected as the selected position specifying means, the difference between the average value of the first moving distance L ₁ L _A and the reference distance L _P The stop control is started at the timing when the position offset by the offset distance L _O corresponding to and the first current position P ₁ coincide. When the average value L _{A of the} movement distances L ₁ and L ₂ is shorter than the reference distance L _P , the offset distance L _O is equal to the current positions P ₁ and P ₂ after the vehicle actually travels the control start position P _S. It means the average distance that the vehicle has traveled until the control start position P _S matches. That is, the average time that the vehicle travels by the offset distance L _O is from the timing at which the vehicle actually travels at the control start position P _S to the timing at which the current positions P ₁ and P ₂ coincide with the control start position P _S. This is the delay period. On the other hand, when the average value L _{A of} the movement distances L ₁ and L ₂ is shorter than the reference distance L _P , the offset distance L _O is opposite to the target position P _T from the control start position P _S (rear side in the traveling direction). ) And the current positions P ₁ and P ₂ are started at the timing when the position is offset, the timing for starting the stop control can be advanced so as to cancel out the delay period.

Conversely, the control unit 20 of the function of the vehicle control section 21e, first position specifying means is selected as the selected position specifying unit, and the average value L _A of the first moving distance L ₁ is longer than the reference distance L _P In this case, the stop control is started at the timing when the position offset by the offset distance L _O from the control start position P _S toward the target position P _T coincides with the first current position P ₁ . When the average value L _{A of the} movement distances L ₁ and L ₂ is longer than the reference distance L _P , the offset distance L _O is actually controlled after the current positions P ₁ and P ₂ coincide with the control start position P _S. It means an average distance traveled by the vehicle before traveling at the start position P _S. That is, the average time the vehicle by an offset distance L _O is traveling, the current position P _1, P ₂ and a control start position P _S is coincident with respect to the timing at which the actual vehicle is traveling the control start position P _S The preceding period precedes the timing. In contrast, when the average value L _A travel distance L _1, L ₂ is longer than the reference distance L _P, the offset distance L _O by the target position P _T side from the control start position P _S (traveling direction front side) By starting the stop control at the timing when the offset position matches the current positions P ₁ and P ₂ , the timing for starting the stop control can be delayed so as to cancel out the preceding period.

Further, by the function of the movement distance accumulating unit 21c, the control unit 20 is based on the length of the period from the current positions P ₁ and P ₂ to the control start position P _S until the vehicle stops and the vehicle speed V in the period. The movement distances L ₁ and L ₂ are accumulated. Thus, by measuring both the first movement distance L ₁ and the second movement distance L ₂ based on the vehicle speed V (by making the distance measurement means common), the difference in the distance measurement means is the first movement distance. the standard deviation of the L ₁ σ (L ₁₎ and it is possible to prevent affecting the second standard deviation of the travel distance L ₂ σ (L _2). Further, since the vehicle speed V can be accurately measured regardless of the position where the vehicle is traveling, the travel distances L ₁ and L ₂ can be accurately measured.

Further, the control unit 20 is stopped by the function of the vehicle control unit 21e when the first position specifying unit is selected as the selected position specifying unit and the standard deviation σ (L ₁ ) of the first moving distance L ₁ is larger than the threshold value. Do not control. Thus, the standard deviation of the first moving distance L ₁ sigma (L ₁₎ is also the second moving distance L smaller than ₂ standard deviations sigma (L _2), the standard deviation of the first moving distance L ₁ sigma (L _{If 1} ) is larger than the threshold value, it is possible to avoid stop control because proper stop control cannot be performed.

(2) Learning process:
FIG. 3 is a flowchart of the learning process. First, by the function of the vehicle control unit 21e, the control unit 20 determines whether or not the vehicle is approaching within a predetermined distance with respect to the target position P _T registered in the learning DB 30b (S100). For example, as shown in FIG. 2A, the control unit 20 uses the function of the vehicle control unit 21e to cause the vehicle to travel on a road where the target position P _T exists, and at least one of the current positions P ₁ and P ₂ is the target position P. _{When the} distance from the control start position P _{S is} within the distance L _D on the opposite side of _T (traveling direction rear side), it is determined that the vehicle is approaching the target position P _T within a predetermined distance.

When it is not determined that the vehicle approaches the target position P _T within a predetermined distance (S100: N), the control unit 20 determines whether the vehicle has stopped by the function of the vehicle control unit 21e. (S105). When it is not determined that the vehicle has stopped (S105: N), the control unit 20 returns by the function of the vehicle control unit 21e and returns to step S100. When it is determined that the vehicle has stopped (S105: Y), the control unit 20 proceeds to step S110 by the function of the vehicle control unit 21e. That is, by executing Steps S100 to S105, Step S110 can be executed when the vehicle stops at a position P that is not registered in the learning DB 30b. In step S110, the control unit 20 uses the function of the control start position setting unit 21b to set the position P at which the vehicle has stopped as a new target position P _T, and a reference distance L _P from the target position P _T on the rear side in the traveling direction. setting a control start position P _S in position. Note that the target position P _T may be either the first current position P ₁ or the second current position P ₂ obtained when the vehicle stops. In addition, the target position P _T is assumed to be present within a predetermined distance from either the first current position P ₁ or the second current position P ₂ obtained when the vehicle stops in the map information 30a. It may be the position of the line K. Next, by the function of the control start position setting unit 21b, the control unit 20 registers a new target position P _T , control start position P _S, and reference distance L _P in the learning DB 30b (S115). By executing steps S100 to S115 as described above, when the vehicle stops at the unregistered position P as the target position P _T , the stopped position P can be registered as a new target position P _T. .

On the other hand, when it is determined that the vehicle is approaching the target position P _T within a predetermined distance (S100: Y), the control unit 20 performs the process (S120 ~) on the registered target position P _T. Run. First, the control unit 20 determines whether or not the first current position P ₁ has reached the control start position P _S by the function of the movement distance accumulation unit 21c (S120). That is, the control unit 20 determines whether or not the coordinate of the first current position P ₁ is greater than or equal to the coordinate of the control start position P _S by the function of the movement distance accumulating unit 21c. First when it is determined that the current position P ₁ reaches the control start position P _S (S120: Y), the control unit 20 of the function of the moving distance storing unit 21c, the value obtained by multiplying the unit time Δt to the current vehicle speed V Is added to the first movement distance L ₁ (S125). When it is determined that the vehicle approaches the target position P _T within a predetermined distance (S100: Y), the movement distances L ₁ and L ₂ are reset to zero. If the first current position P ₁ is not determined to have reached the control start position P _S (S120: N), the control unit 20 of the function of the moving distance storing unit 21c skips step S125. Next, the control unit 20 determines whether or not the first current position P ₁ has passed the target position P _T for a predetermined distance L _E (FIG. 2A) or more by the function of the movement distance accumulating unit 21c (S130).

The predetermined distance L _E above, when the first current position P ₁ is not determined to have passed the target position P _T (S130: N), executes the same processing as the second for the current position P ₂ steps S120~S130 . That is, the control unit 20 determines whether or not the second current position P ₂ has reached the control start position P _S by the function of the movement distance accumulating unit 21c (S135). When it is determined that the second current position P ₂ has reached the control start position P _S (S135: Y), the control unit 20 uses the function of the movement distance accumulating unit 21c to finely multiply the current vehicle speed V by the unit time Δt. The movement distance is added to the second movement distance L ₂ (S140). If the second current position P ₂ is not determined to have reached the control start position P _S (S135: N), the control unit 20 of the function of the moving distance storing unit 21c skips step S140. Further, the control unit 20 of the function of the moving distance storing unit 21c, a predetermined distance L _E above, determines a second current position P ₂ whether passing through the target position P _T (S145).

Then, a predetermined distance L _E above, if the second current position P ₂ is not determined to have passed the target position P _T (S145: N), the control unit 20 of the function of the moving distance storing unit 21c, vehicle It is determined whether or not it has been stopped (S150). If it is not determined that the vehicle has stopped (S150: N), the control unit 20 returns to step S120 by the function of the travel distance accumulating unit 21c. By executing the steps S120~S150 described above, the addition from the first current position P ₁ passes through the target position P _T in the period until the vehicle stops, the small moving distance in a first moving distance L ₁ (S125) can be repeatedly executed. Similarly, in the period from when the second current position P ₂ passes the target position P _T to when the vehicle stops, the process of adding the minute movement distance to the second movement distance L ₂ (S140) can be repeatedly executed. . It should be noted that when steps S120 to S150 are repeatedly executed, the process of adding the minute movement distance to the movement distances L ₁ and L ₂ (S125, S140) is executed at a cycle of unit time Δt. With the above processing, the travel distances L ₁ and L ₂ that the vehicle has actually traveled in the period from when the current positions P ₁ and P ₂ become the control start position P _S to when the vehicle stops can be measured.

However, the predetermined distance L _E above, the first case the current position P ₁ and the second current position P ₂ is determined to have passed the target position P _T of the (S130: Y: Y or S145), the moving distance storing unit 21c Due to the function, the control unit 20 stops measuring the movement distances L ₁ and L ₂ at that time. In this case, it is considered that the vehicle has passed the stop line K without stopping, and measurement of the movement distances L ₁ and L ₂ does not make sense.

When the movement distances L ₁ and L ₂ are measured as described above, the control unit 20 accumulates the movement distances L ₁ and L ₂ newly measured for the target position P _T in the learning DB 30b by the function of the movement distance accumulation unit 21c. (S155). Then, the control unit 20 of the function of the selection unit 21d, learned running distance L ₁ that is accumulated in the DB 30b, respectively the standard deviation sigma (L ₁₎ for the L _2, it calculates the _{σ (L 2) (S160)} .

Next, by the function of the selection unit 21d, the control unit 20 selects a selection position specifying unit based on the standard deviations σ (L ₁ ) and σ (L ₂ ) (S165). That is, by the function of the selection unit 21d, the control unit 20 selects the first position specifying unit (first position specifying unit M ₁ ) when the standard deviation σ (L ₁ ) is smaller than the standard deviation σ (L ₂ ). The position is selected as position specifying means (selected position specifying unit M _B ). Further, the function of the selection unit 21d allows the control unit 20 to select the second position specifying means (the second position specifying unit M ₂ ) when the standard deviation σ (L ₁ ) is equal to or smaller than the standard deviation σ (L ₂ ). selecting a particular unit (selected position specifying unit M _B).

Next, by the function of the selection unit 21d, the control unit 20 calculates an offset distance L _O for the selected position specifying unit (S170). That is, when the first position specifying unit is selected as the selected position specifying unit by the function of the selection unit 21d, the control unit 20 uses the average value L _{A of} the first moving distance L ₁ stored in the learning DB 30b as a reference. A value obtained by subtracting the distance L _P is set as an offset distance L _O. On the other hand, when the second position specifying unit is selected as the selected position specifying unit, the control unit 20 uses the function of the selection unit 21d as a reference from the average value L _{A of} the second movement distance L ₂ stored in the learning DB 30b. A value obtained by subtracting the distance L _P is set as an offset distance L _O. When the movement distances L ₁ and L ₂ are shorter than the reference distance L _{P, the} offset distance L _O is negative, and when the movement distances L ₁ and L ₂ are longer than the reference distance L _{P, the} offset distance L _O is positive. It becomes.

Next, the control part 20 sets the permission flag F by the function of the selection part 21d (S175). That is, by the function of the selection unit 21d, the control unit 20 selects the first position specifying unit as the selected position specifying unit and the standard deviation σ (L ₁ ) of the first movement distance L ₁ is larger than the threshold value. Set permission flag F to OFF. By the function of the selection unit 21d, the control unit 20 selects the first position specifying unit as the selected position specifying unit, and the standard flag σ (L ₁ ) of the first moving distance L ₁ is equal to or less than the threshold value, the permission flag F Set to ON. On the other hand, when the control unit 20 selects the second position specifying unit as the selected position specifying unit by the function of the selection unit 21d, is the standard deviation σ (L ₂ ) of the second movement distance L ₂ larger than the threshold value? The permission flag F is set to OFF or ON depending on whether or not. Finally, the control unit 20 of the function of the selection unit 21d updates registers the selected position specifying unit for the target position P _T M _B and the offset distance L _O and permission flag F at learning DB 30b (S180).

By repeatedly executing the above learning process, when the vehicle stops at the target position P _T registered in the learning DB 30b, the movement distances L ₁ and L ₂ can be newly accumulated in the learning DB 30b and newly the accumulated a moving distance L _1, selected position specifying section according to L ₂ M _B and the offset distance L _O and permission flag F can be updated registration.

(3) Vehicle control processing:
FIG. 4 is a flowchart of the vehicle control process. The vehicle control process and the learning process are executed in parallel. First, by the function of the vehicle control unit 21e, the control unit 20 determines whether or not the vehicle is approaching within a predetermined distance with respect to the target position P _T registered in the learning DB 30b (S200). Here, the same processing as step S100 (FIG. 3) of the learning processing is performed. When it is not determined that the vehicle is approaching the target position P _T within a predetermined distance (S200: N), the control unit 20 returns by the function of the vehicle control unit 21e. In other words, it is determined that the target position P _T that is the target of the stop control is not approached, and the process waits until the target position _PT is approached.

When it is determined that the vehicle approaches the target position P _T within a predetermined distance (S200: Y), the control unit 20 associates the target position P _T with the approaching target position P _T by the function of the vehicle control unit 21e. It is determined whether or not the permitted flag F is ON (S210). If it is not determined that the permission flag F associated with the approaching target position P _T is ON (S210: N), the control unit 20 does not perform stop control by the function of the vehicle control unit 21e. The vehicle control process is terminated. That is, the stop control for the approaching target position _PT is avoided because the timing for starting the stop control cannot be appropriately specified.

On the other hand, when it is determined that the permission flag F associated with the approaching target position _PT is ON (S210: Y), the control unit 20 is approaching in the learning DB 30b by the function of the vehicle control unit 21e. It is determined whether or not the selected position specifying unit M _B (selected position specifying unit) associated with the target position P _T is the first position specifying unit M ₁ (first position specifying unit) (S220). If the selected position specifying unit M _B associated with the target position P _T of approaching is determined that the first is a position specifying unit M ₁ (S220: Y), the control unit 20 of the function of the vehicle control unit 21e monitors the first current position P ₁ specified in first position function specification unit M ₁ as the selected position specifying unit M _B (S230). Then, by the function of the vehicle control unit 21e, the control unit 20 is offset by the offset distance L _O from the first current position P ₁ and the control start position P _S associated with the approaching target position P _T ( P _S + L _O) and determines whether matching (S240).

When it is determined that the first current position P ₁ and the position (P _S + L _O ) offset by the offset distance L _O from the control start position P _S associated with the approaching target position P _T match (S240) : Y), the control unit 20 starts the stop control of the vehicle by the function of the vehicle control unit 21e. That is, it is assumed that the vehicle is traveling at the control start position P _S and the vehicle stop control is started (S250). For example, the function of the vehicle control unit 21e causes the control unit 20 to measure the distance traveled by the vehicle from the start of vehicle stop control based on the vehicle speed, and the distance from the control start position P _S to the position P _b (FIG. 2B). The braking amount by the regenerative brake is generated at the timing that coincides with the distance up to. On the other hand, it is not determined that the first current position P ₁ matches the position (P _S + L _O ) offset by the offset distance L _O from the control start position P _S associated with the approaching target position P _T. If it is found (S240: N), the control unit 20 returns to step S230 by the function of the vehicle control unit 21e. By performing the above processing, when the first position specifying means is selected as the selected position specifying means, the stop control is performed at the timing when the first current position P ₁ coincides with the offset position (P _S + L _O ). Can be started.

On the other hand, if the selected position specifying unit M _B associated with the target position P _T of approaching is determined to be the second position specifying section M ₂ (S220: N), the control of the function of the vehicle control unit 21e part 20, the second to monitor the current position P ₂ (S270). Then, by the function of the vehicle control unit 21e, the control unit 20 is offset by the offset distance L _O from the second current position P ₂ and the control start position P _S associated with the approaching target position P _T ( P _S + L _O) and determines whether matching (S280).

When it is determined that the second current position P ₂ matches the position (P _S + L _O ) offset by the offset distance L _O from the control start position P _S associated with the approaching target position P _T (S280). : Y), the control unit 20 starts the vehicle stop control by the function of the vehicle control unit 21e (S250). On the other hand, it is not determined that the second current position P ₂ matches the position (P _S + L _O ) offset by the offset distance L _O from the control start position P _S associated with the approaching target position P _T. If this occurs (S280: N), the control unit 20 returns to step S270 by the function of the vehicle control unit 21e. By performing the above processing, when the second position specifying means is selected as the selected position specifying means, the stop control is performed at the timing when the second current position P ₂ coincides with the offset position (P _S + L _O ). Can be started.

(4) Other embodiments:
In the embodiment, the control unit 20 uses the function of the selection unit 21d to determine that the statistical reliability is higher as the standard deviations σ (L ₁ ) and σ (L ₂ ) of the movement distances L ₁ and L ₂ are smaller. The statistical reliability may be higher as the difference between the average value L _{A of the} distances L ₁ and L ₂ and the reference distance L _P is smaller. That is, the moving distance L _1, L ₂ is originally is intended to be consistent with the reference distance L _P, as the difference between the moving distance L _1, the average value of L ₂ L _A and the reference distance L _P is small statistical confidence Can be high. Further, the control unit 20 may use the function of the selection unit 21d as a variation index of the movement distances L ₁ and L ₂ so that the statistical reliability is higher as the range between the maximum value and the minimum value, the variance, and the like are smaller. .

Further, the control unit 20 may execute various vehicle controls such as deceleration control, acceleration control, and steering control other than the stop control by the function of the vehicle control unit 21e. The control unit 20 of the function of the vehicle control unit 21e is not necessarily a position offset from the control start position P _S, it is not necessary to start the vehicle control at a timing and the current position P _1, P ₂ match. Further, the control unit 20 may employ an offset distance L _O having a magnitude different from the difference between the movement distances L ₁ and L ₂ and the reference distance L _P by the function of the vehicle control unit 21e. Further, the function of the vehicle control unit 21e allows the control unit 20 to perform vehicle control regardless of whether the standard deviations σ (L ₁ ) and σ (L ₂ ) of the movement distances L ₁ and L ₂ are larger than the threshold value. May be executed.

  Furthermore, the vehicle control system may be able to acquire the current position from three or more position specifying means. In this case, by the function of the selection unit 21d, the control unit 20 specifies the moving distance with the highest statistical reliability among the three or more moving distances corresponding to each position specifying unit, and the position specifying unit corresponding to the moving distance. May be selected position specifying means. Further, the position specifying means is not limited to the example described above, and any means may be used as long as the error characteristic depends on the position. In addition, the vehicle control system may be distributed among a plurality of devices, or a server capable of communicating with the vehicle may include the learning DB 30b, and the function of the selection unit 21d may be executed in the server.

The control unit 20 may accumulate the current positions P ₁ and P ₂ at the timing when the vehicle stops in the learning DB 30b by the function of the movement distance accumulation unit 21c. When the first position specifying unit is specified as the selected position specifying unit, the control unit 20 uses the function of the selection unit 21d to set the average of the first current position P ₁ at the timing when the vehicle stops as the target position P _T. Good. The control unit 20 of the function of the vehicle control unit 21e, when the first standard deviation of the current position P ₁ at the time when the vehicle is stopped is greater than a predetermined threshold value may be set not vehicle control . Similarly, if the second position specifying means is identified as a selected position specifying unit, the control unit 20 of the function of the selection unit 21d, a second average of the current position P ₂ at the time when the vehicle is stopped as the target position P _T Also good.

DESCRIPTION OF SYMBOLS 10 ... Navigation apparatus, 20 ... Control part, 21 ... Vehicle control program, 21a ... Current position acquisition part, 21b ... Control start position setting part, 21c ... Movement distance storage part, 21d ... Selection part, 21e ... Vehicle control part, 30 ... recording medium, 30a ... map information, 30b ... learning DB, 41 ... receiving unit, 42 ... vehicle speed sensor, 43 ... gyro sensor, L _1, L ₂ ... moving distance, L _O ... offset distance, L _P ... reference distance, P ₁ ... travel distance, P ₁ , P ₂ ... current position, P _S ... start position, P _T ... target position.

Claims (9)

Current position acquisition means for acquiring a first current position that is the position of the vehicle specified by the first position specifying means and a second current position that is the position of the vehicle specified by the second position specifying means;
Control start position setting means for setting a control start position that is a position of the vehicle for starting vehicle control for bringing the vehicle into a predetermined state at a predetermined target position;
The first movement distance that the vehicle has actually moved in the period from when the first current position becomes the control start position to when the vehicle enters the predetermined state, and the second current position is the control start position. Travel distance accumulating means for accumulating the second travel distance actually traveled by the vehicle in a period from when the vehicle is in the predetermined state,
Selecting means for selecting the first position specifying means as the selected position specifying means when the statistical reliability of the first moving distance is higher than the statistical reliability of the second moving distance;
Vehicle control means for starting the vehicle control based on the current position of the vehicle specified by the selected position specifying means;
A vehicle control system comprising: The selection unit selects the first position specifying unit as the selected position specifying unit when the variation in the first movement distance is smaller than the variation in the second movement distance;
The vehicle control system according to claim 1. The selecting means selects the selected position specifying means for each of a plurality of target positions.
The vehicle control system according to claim 1. The control start position setting means sets the control start position so that a distance traveled by the vehicle from the control start position to the target position is a predetermined reference distance;
The vehicle control means starts the control by an offset distance corresponding to a difference between an average value of the first movement distances and the reference distance when the first position specifying means is selected as the selected position specifying means. Starting the vehicle control at a timing when the position offset from the position matches the first current position;
The vehicle control system according to any one of claims 1 to 3. The travel distance accumulating means includes the first travel distance based on a length of a period from when the first current position becomes the control start position to when the vehicle enters the predetermined state and a vehicle speed in the period, Storing each of the second moving distance based on the length of the period from when the second current position becomes the control start position until the vehicle enters the predetermined state and the vehicle speed in the period;
The vehicle control system according to any one of claims 1 to 4. The vehicle control means performs the vehicle control to stop the vehicle at the target position;
The vehicle control system according to any one of claims 1 to 5. The vehicle control means does not perform the vehicle control when the first position specifying means is selected as the selected position specifying means and the variation in the first movement distance is larger than a predetermined threshold;
The vehicle control system according to any one of claims 1 to 6. A current position acquisition step of acquiring a first current position that is the position of the vehicle specified by the first position specifying means and a second current position that is the position of the vehicle specified by the second position specifying means;
A control start position setting step for setting a control start position that is a position of the vehicle for starting vehicle control for bringing the vehicle into a predetermined state at a predetermined target position;
The first movement distance that the vehicle has actually moved in the period from when the first current position becomes the control start position to when the vehicle enters the predetermined state, and the second current position is the control start position. A travel distance accumulating step for accumulating a second travel distance that the vehicle has actually traveled in a period from when the vehicle is in the predetermined state;
A selection step of selecting the first position specifying means as the selected position specifying means when the statistical reliability of the first moving distance is higher than the statistical reliability of the second moving distance;
A vehicle control step of starting the vehicle control based on the current position of the vehicle specified by the selected position specifying means;
A vehicle control method. A current position acquisition function for acquiring a first current position that is the position of the vehicle specified by the first position specifying means and a second current position that is the position of the vehicle specified by the second position specifying means;
A control start position setting function for setting a control start position that is a position of the vehicle for starting vehicle control for bringing the vehicle into a predetermined state at a predetermined target position;
The first movement distance that the vehicle has actually moved in the period from when the first current position becomes the control start position to when the vehicle enters the predetermined state, and the second current position is the control start position. A movement distance accumulation function for accumulating a second movement distance that the vehicle has actually moved in a period from when the vehicle becomes the predetermined state;
A selection function for selecting the first position specifying means as the selected position specifying means when the statistical reliability of the first moving distance is higher than the statistical reliability of the second moving distance;
A vehicle control function for starting the vehicle control based on the current position of the vehicle specified by the selected position specifying means;
A vehicle control program for causing a computer to execute.

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