JP2017102721A - Vehicle controller - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a vehicle controller capable of allowing drivers of other vehicles to easily recognize own vehicle.SOLUTION: An out-of-area determination section 13 determines whether or not another vehicle X is positioned in an area where a driver of the other vehicle X can directly and visually recognize a headlight 10A or the like of own vehicle M based on the position of the other vehicle X. When the out-of-area determination section 13 determines that own vehicle M is positioned in a blind area and the other vehicle X is positioned out of a visible area, a control unit 14 controls own vehicle M to travel at a position in an area where the other vehicle X can recognize own vehicle M.SELECTED DRAWING: Figure 1

Description

  The present invention relates to a vehicle control device.

  There is a vehicle control device that controls traveling of a vehicle. For example, the vehicle control device described in Patent Document 1 describes that the lateral position of the host vehicle in the traveling lane is controlled in accordance with the position of an obstacle around the host vehicle.

U.S. Pat. No. 8,473,144

  In the vehicle control device described in Patent Document 1, appropriate vehicle control is not performed according to the darkness around the vehicle. For this reason, even if the host vehicle is located at a position where a part of the host vehicle can be visually recognized by the driver of the other vehicle, for example, when the surroundings of the host vehicle are dark such as at night, the driver of the other vehicle recognizes the host vehicle. It is difficult.

  Therefore, an object of one aspect of the present invention is to provide a vehicle control device that allows a driver of another vehicle to easily recognize the host vehicle.

  One aspect of the present invention is a vehicle control device that performs automatic driving control so that the host vehicle automatically travels, and a dark place determination unit that determines whether the position of the host vehicle is a dark place area; The other vehicle recognition unit that recognizes the position of another vehicle around the host vehicle, and the visual recognition that allows the driver of the other vehicle to directly view the light emitting unit of the host vehicle based on the position of the other vehicle recognized by the other vehicle recognition unit An out-of-area determination unit that determines whether or not another vehicle is located outside the possible area, and when the position of the host vehicle is determined to be a dark area and the other vehicle is located outside the visible area And a control unit that causes the host vehicle to travel so that the other vehicle is positioned within the visually recognizable area.

  When the host vehicle is located in a dark area, the vehicle control device causes the host vehicle to travel so that the other vehicle is positioned in a viewable area where the light emitting unit of the host vehicle can be directly viewed from the other vehicle. . Thereby, the driver of the other vehicle can directly visually recognize the light emitting unit of the own vehicle even when the surroundings of the own vehicle are dark, such as at night. Thus, since the light emitting part can be directly visually recognized, the driver of the other vehicle can easily recognize the host vehicle.

  According to one aspect of the present invention, a driver of another vehicle can easily recognize the host vehicle.

It is a block diagram which shows schematic structure of the vehicle control apparatus which concerns on embodiment. It is a top view which shows the light visual recognition area around the own vehicle. It is a top view which shows the blind spot area of another vehicle. It is a flowchart which shows the flow of the process which controls driving | running | working of the own vehicle according to whether another vehicle is located out of a visually recognizable area. It is a flowchart which shows the flow of the process which controls driving | running | working of the own vehicle according to whether another vehicle is located out of a visually recognizable area. It is a top view which shows the light irradiation area of another vehicle.

  Hereinafter, embodiments of the present invention will be described with reference to the drawings. In the description of the drawings, the same elements are denoted by the same reference numerals, and redundant description is omitted.

  A vehicle control device 100 shown in FIG. 1 is mounted on a host vehicle M such as a passenger car. The vehicle control device 100 performs automatic driving control so that the host vehicle M automatically travels. As shown in FIG. 1, the vehicle control device 100 includes a radar 1, a camera 2, a GPS [Global Positioning System] receiving unit 3, a map database 4, an ECU [Electronic Control Unit] 5, and an actuator 6.

  The radar 1 detects other vehicles that travel around the host vehicle M. Specifically, the radar 1 detects other vehicles around the host vehicle M using radio waves (for example, millimeter waves). The radar 1 detects the other vehicle by transmitting a radio wave around the host vehicle M and receiving the radio wave reflected by the other vehicle. The radar 1 transmits the detection result to the ECU 5.

  The camera 2 images the surroundings of the host vehicle M. Specifically, the camera 2 captures an image so that a difference in illuminance around the host vehicle M can be identified. The camera 2 transmits the captured image information to the ECU 5.

  The GPS receiver 3 measures the position of the host vehicle M (for example, the latitude and longitude of the host vehicle M) by receiving signals from three or more GPS satellites. The GPS receiving unit 3 transmits the measured position information of the host vehicle M to the ECU 5.

  The map database 4 stores map information. This map information includes the shape of the road and the like.

  The actuator 6 is a device that executes traveling control of the host vehicle M. The actuator 6 includes at least an engine actuator and a brake actuator. The engine actuator controls the driving force of the host vehicle M by changing the amount of air supplied to the engine (for example, changing the throttle opening) in accordance with a control signal from the ECU 5. The engine actuator controls the driving force of a motor as a power source when the host vehicle M is a hybrid vehicle or an electric vehicle.

  The brake actuator controls the brake system in accordance with a control signal from the ECU 5, and controls the braking force applied to the wheels of the host vehicle M. As the brake system, for example, a hydraulic brake system can be used.

  Next, the ECU 5 will be described. The ECU 5 is an electronic control unit having a CPU [Central Processing Unit], a ROM [Read Only Memory], a RAM [Random Access Memory], and the like. The ECU 5 loads various programs stored in the ROM into the RAM and executes them by the CPU, thereby executing various controls. The ECU 5 may be composed of a plurality of electronic control units.

  Functionally, the ECU 5 includes a bright place / dark place determination section (dark place determination section) 11, another vehicle recognition section 12, an out-of-area determination section 13, and a control section 14. The light place dark place determination unit 11 determines a light place area and a dark place area around the host vehicle M based on the imaging information of the camera 2. The bright area is an area where the illuminance around the host vehicle M is equal to or higher than a reference value. The dark area is an area where the illuminance around the host vehicle M is less than the reference value. The light place dark place determination unit 11 determines the light place area and the dark place area by performing image processing on the captured image of the camera 2. For example, the bright place / dark place determination unit 11 determines an area having an illuminance equal to or higher than a predetermined threshold in the captured image of the camera 2 as a bright area and an area having an illuminance lower than the predetermined threshold as a dark area. . Alternatively, the light place dark place determination unit 11 may determine the light place area and the dark place area using the amount of change in illuminance at each position in the captured image of the camera 2.

  Moreover, the light place dark place determination part 11 determines whether the own vehicle M is located in a light place area or a dark place area. This determination is made based on the imaging information of the camera 2. For example, the light place dark place determination unit 11 determines that the own vehicle M is located in the light place area when the portion closest to the own vehicle M in the captured image of the camera 2 is the light place area. When the portion closest to the vehicle M is a dark area, it is determined that the host vehicle M is located in the dark area. Various processes performed by the bright place / dark place determination unit 11 based on the captured image of the camera 2 can be performed using a known image processing technique.

  The other vehicle recognition unit 12 detects the presence or absence of other vehicles around the host vehicle M based on the detection result of the radar 1. When there is another vehicle, the other vehicle recognition unit 12 determines the relative position of the other vehicle with respect to the own vehicle M (the position of the other vehicle) and the relative speed of the other vehicle with respect to the own vehicle M (based on the detection result of the radar 1). The speed of other vehicles) is detected. Various detection processes performed by the other vehicle recognition unit 12 based on the detection result of the radar 1 can be performed using a known technique.

  The out-of-area determination unit 13 determines whether or not the other vehicle is located outside the visually recognizable area based on the position of the other vehicle recognized by the other vehicle recognition unit 12. The visually recognizable area is an area where the light of the host vehicle M can be directly visually recognized from the driver of another vehicle. As shown in FIG. 2, the light of the host vehicle M includes a headlight (light emitting unit) 10A attached to the front end of the host vehicle M and a tail light (light emitting unit) 10B attached to the rear end of the host vehicle M. It is. The visually recognizable area is calculated by the out-of-area determination unit 13.

  Details of the process of calculating the visible area by the out-of-area determination unit 13 will be described. First, the out-of-area determination unit 13 calculates a light viewing area L in which the headlight 10A or the taillight 10B of the host vehicle M can be directly viewed from the surroundings of the host vehicle M as shown in FIG. The out-of-area determination unit 13 calculates and stores the light visual recognition area L in advance. The light visual recognition area L is calculated in advance based on the mounting direction of the headlight 10A and the like. The light visual recognition area L is calculated for an area within a predetermined range from the host vehicle M.

  As shown in FIG. 3, the out-of-area determination unit 13 calculates a blind spot area D that is a blind spot of the driver of the other vehicle X. The out-of-area determination unit 13 calculates and stores the position of the blind spot area D with respect to the other vehicle X in advance. The blind spot area D extends obliquely backward from the other vehicle X. The blind spot area D is calculated for an area within a predetermined range from the other vehicle X.

  The out-of-area determination unit 13 calculates a viewable area where the driver of the other vehicle X can directly view the light of the host vehicle M using the light viewing area L and the blind spot area D. Then, the out-of-area determination unit 13 determines whether or not the other vehicle X is located in the visually recognizable area. That is, the area in the visible area is an area in the light visual recognition area L and an area where the host vehicle M does not overlap the blind spot area D of the other vehicle X. The area outside the visually recognizable area is an area outside the light visually recognized area L or an area where the host vehicle M overlaps the blind spot area D of the other vehicle X.

  Note that the position of the blind spot area D changes according to the position of the other vehicle X. For this reason, according to the position of the other vehicle X with respect to the own vehicle M, a visually recognizable area also changes. For this reason, the out-of-area determination unit 13 superimposes the blind spot area D on the light visual recognition area L based on the position of the other vehicle X recognized by the other vehicle recognition unit 12. And the outside area determination part 13 determines whether the other vehicle X is located in the visually recognizable area based on the overlapped result.

  When a plurality of other vehicles X are recognized by the other vehicle recognition unit 12, the out-of-area determination unit 13 determines whether or not the vehicle is located within the viewable area, for example, travels at a position closest to the host vehicle M To other vehicle X.

  The control unit 14 performs automatic driving control of the host vehicle M so that the host vehicle M automatically travels toward a destination or the like set in the navigation system. The control unit 14 can perform existing automatic operation control as automatic operation control. Further, when it is determined that the other vehicle X is located outside the viewable area, the control unit 14 places the other vehicle X in the viewable area based on the viewable area and the position of the other vehicle X. Thus, the host vehicle M is caused to travel. In addition, the control part 14 performs the control which makes the own vehicle M drive | work so that the other vehicle X may be located in the visually recognizable area, when performing automatic driving | operation control.

  Specifically, the control unit 14 includes a movable area calculation unit 21, a movement target area calculation unit 22, a travel plan unit 23, and a travel control unit 24. The movable area calculation unit 21 calculates a travel area of a travel lane in which the host vehicle M travels. The travel area is an area where the road surface of the travel lane of the host vehicle M exists. Specifically, the movable area calculating unit 21 calculates the road area based on the position of the host vehicle M measured by the GPS receiving unit 3 and the map information stored in the map database 4. The movable area calculating unit 21 calculates a movable area in which the host vehicle M can move on the travel lane of the host vehicle M. Specifically, the movable area calculation unit 21 calculates the movable area based on the calculated road area and the position of the other vehicle X on the traveling lane of the host vehicle M recognized by the other vehicle recognition unit 12. . For example, when the other vehicle X exists immediately before the host vehicle M, the moveable area calculation unit 21 calculates the road area behind the host vehicle M as the moveable area.

  The movement target area calculation unit 22 calculates a movement target area that is a target when the host vehicle M is moved. Specifically, the movement target area is that the other vehicle X is present in the visually recognizable area, that it is in the area determined as the light place area by the light place dark place determination unit 11, and is in the movable area. It is an area that satisfies all of the above. When the host vehicle M is located in this movement target area, the driver of the other vehicle X can easily recognize the host vehicle M.

  In addition, the movement target area calculation part 22 calculates a movement target area, when the absolute value of the relative speed of the other vehicle X with respect to the own vehicle M is less than a predetermined threshold value. The case where the absolute value of the relative speed is equal to or greater than a predetermined threshold is a case where the rate of change of the position of the other vehicle X with respect to the host vehicle M is large. In this case, even if the other vehicle X is located outside the visually recognizable area, it is conceivable that the other vehicle X is located in the visually recognizable area at an early timing due to the immediate change in the positional relationship. For example, even if the host vehicle M is located in the blind spot area D of the other vehicle X, if the absolute value of the relative speed is equal to or greater than a predetermined threshold, the host vehicle M is immediately outside the blind spot area D. It is thought to move. For this reason, when the absolute value of the relative speed is greater than or equal to a predetermined threshold, the movement target area calculation unit 22 does not calculate the movement target area based on the current positional relationship. When the absolute value of the relative speed is less than a predetermined threshold, the movement target area calculation unit 22 calculates a movement target area that is a target when the host vehicle M is moved.

  Moreover, the movement target area calculation part 22 sets the movement target position used as the point of the movement destination of the own vehicle M among movement target areas. When the other vehicle X is positioned in front of the host vehicle M, the movement target area calculation unit 22 sets a position closest to the host vehicle M in the target travel area in front of the host vehicle M as the target travel position. When there is no movement target area ahead of the host vehicle M, the movement target area calculation unit 22 sets a position closest to the host vehicle M in the movement target area behind the host vehicle M as the movement target position. Furthermore, the movement target area calculation unit 22 does not set the movement target position when there is no movement target area in front of or behind the host vehicle M.

  Similarly, when the other vehicle X is located behind the host vehicle M, the movement target area calculation unit 22 sets the position closest to the host vehicle M in the movement target area behind the host vehicle M as the movement target position. Set. When there is no movement target area behind the host vehicle M, the movement target area calculation unit 22 sets a position closest to the host vehicle M in the movement target area ahead of the host vehicle M as the movement target position. Furthermore, the movement target area calculation unit 22 does not set the movement target position when there is no movement target area in front of or behind the host vehicle M.

  The travel plan unit 23 generates an acceleration / deceleration instruction for accelerating / decelerating the host vehicle M so that the host vehicle M reaches the target travel position set by the target travel area calculation unit 22. For example, the travel planning unit 23 may generate an acceleration / deceleration instruction that offsets the current target speed in the automatic operation control by a predetermined speed and gradually attenuates the offset amount of the target speed according to the remaining distance to the moving target position. Good.

  The travel control unit 24 outputs a control signal to the actuator 6 so that the host vehicle M accelerates / decelerates based on the acceleration / deceleration instruction generated by the travel plan unit 23. Specifically, the traveling control unit 24 outputs a control signal to at least one of the engine actuator and the brake actuator to accelerate and decelerate the host vehicle M. Thereby, the own vehicle M reaches the movement target position.

  Next, the flow of processing for controlling the traveling of the host vehicle M according to whether or not the other vehicle X is located outside the visible area will be described using the flowcharts of FIGS. 4 and 5. This process is executed by the ECU 5 when the driver of the host vehicle M instructs execution of automatic driving control. When the process of the flowchart reaches the end, the ECU 5 repeats the process from the start again. The ECU 5 ends the processes shown in FIGS. 4 and 5 when the execution of the automatic driving control is canceled by the driver of the host vehicle M. When the other vehicle X is not detected by the other vehicle recognition unit 12, the ECU 5 repeats the process from the start again.

  As shown in FIG.4 and FIG.5, the bright place dark place determination part 11 determines the dark place area around the own vehicle M (S101). The other vehicle recognition unit 12 detects the position of the other vehicle X around the host vehicle M (S102). The out-of-area determination unit 13 calculates a visible area based on the light visual recognition area L, the position of the other vehicle X, and the blind spot area D (S103).

  The out-of-area determination unit 13 determines whether or not the host vehicle M is located in the dark area based on the determination result of the light / dark place determination unit 11 (S104). If the host vehicle M is not located in the dark place area (S104: NO), that is, if it is located in the bright place area, the ECU 5 proceeds to the end and ends the current flow. In addition, when the own vehicle M is located in the light place area, the own vehicle M is illuminated with light, and the driver of the other vehicle X can easily see the own vehicle M. For this reason, ECU5 does not perform the process which controls the driving | running | working of the own vehicle M according to whether the other vehicle X is located out of the visually recognizable area.

  When the host vehicle M is located in the dark area (S104: YES), the out-of-area determination unit 13 determines whether or not the position of the other vehicle X is within the visible area (S105). When the position of the other vehicle X is within the visible area (S105: YES), the ECU 5 proceeds to the end and ends the current flow. In addition, when the other vehicle X is located in the visually recognizable area, since the light of the own vehicle M can be directly visually recognized, the driver of the other vehicle X can easily visually recognize the own vehicle M. For this reason, ECU5 does not perform the process which controls the driving | running | working of the own vehicle M according to whether the other vehicle X is located out of the visually recognizable area. When the position of the other vehicle X is not within the visible area (S105: NO), the movement target area calculation unit 22 determines whether the absolute value of the relative speed of the other vehicle X with respect to the host vehicle M is less than a predetermined threshold value. Is determined (S106).

  If the absolute value of the relative speed is not less than the predetermined threshold (S106: NO), the ECU 5 proceeds to the end and ends the current flow. When the absolute value of the relative speed is less than a predetermined threshold (S106: YES), the light place dark place determination unit 11 determines a light place area around the host vehicle M (S107). The movable area calculation unit 21 calculates a movable area where the host vehicle M can move on the travel lane (S108).

  The movement target area calculation unit 22 calculates a movement target area that is a target when the host vehicle M is moved (109). The movement target area calculation part 22 determines whether the other vehicle X is located ahead of the own vehicle M (S110). When the other vehicle X is located in front of the host vehicle M (S110: YES), the movement target area calculation unit 22 determines whether or not there is a movement target area in front of the host vehicle M (S111). . When a movement target area exists ahead of the host vehicle M (S111: YES), the movement target area calculation unit 22 sets a position closest to the host vehicle M in the front movement target area (S112). ).

  When the moving target area does not exist in front of the host vehicle M (S111: NO), the moving target area calculation unit 22 determines whether there is a moving target area behind the host vehicle M (S113). When a movement target area exists behind the host vehicle M (S113: YES), the movement target area calculation unit 22 sets a position closest to the host vehicle M in the rear movement target area as a movement target position (S114). ). When the moving target area does not exist behind the host vehicle M (S113: NO), the ECU 5 proceeds to the end and ends the current flow.

  When the other vehicle X is not located in front of the own vehicle M (S110: NO), the movement target area calculation unit 22 determines whether or not there is a movement target area behind the own vehicle M (S115). . When the movement target area exists behind the host vehicle M (S115: YES), the movement target area calculation unit 22 performs the process of S114. When the moving target area does not exist behind the host vehicle M (S115: NO), the moving target area calculation unit 22 determines whether there is a moving target area ahead of the host vehicle M (S116). When the movement target area exists in front of the host vehicle M (S116: YES), the movement target area calculation unit 22 performs the process of S112. When there is no movement target area ahead of the host vehicle M (S116: NO), the ECU 5 proceeds to the end and ends the current flow.

  After the movement target position is set in S112 or S114, the travel planning unit 23 generates an acceleration / deceleration instruction for accelerating / decelerating the own vehicle M so that the own vehicle M reaches the movement target position (S117). The traveling control unit 24 outputs a control signal to the actuator 6 so that the host vehicle M accelerates / decelerates based on the generated acceleration / deceleration instruction (S118). Thus, the host vehicle M moves to a position where the driver of the other vehicle X can easily see the host vehicle M. After the output of the control signal in the travel control unit 24, the ECU 5 proceeds to the end and ends the current flow.

  The present embodiment is configured as described above, and the vehicle control device 100 can visually recognize the light of the host vehicle M directly from the driver of the other vehicle X when the host vehicle M is located in the dark place area. The host vehicle M is caused to travel so that the other vehicle X is located in the possible area. Thereby, the driver of the other vehicle X can directly visually recognize the light of the own vehicle M even when the surroundings of the own vehicle M are dark, such as at night. Thus, since the light of the own vehicle M can be directly visually recognized, the driver of the other vehicle X can recognize the own vehicle M easily.

  As mentioned above, although embodiment of this invention was described, this invention is not limited to the said embodiment. For example, the vehicle control device 100 may include a rider (LIDAR) or an ultrasonic sensor instead of the radar 1. In this case, the other vehicle recognition unit 12 may detect the position of the other vehicle X based on the detection result of the rider or the ultrasonic sensor. The rider is a device that detects other vehicles X around the host vehicle M using light. The ultrasonic sensor is a device that detects another vehicle X around the host vehicle M using ultrasonic waves. In addition to the detection result of the radar 1, the other vehicle recognition unit 12 may detect the position or the like of the other vehicle X using a known image processing technique based on the imaging result of the camera 2, for example. .

  The movable area calculation unit 21 uses the position and map information of the host vehicle M measured by the GPS receiving unit 3 when calculating the road area of the host vehicle M, but is measured by a device other than the GPS receiving unit 3. Alternatively, the position of the own vehicle M may be used. In addition, the movable area calculating unit 21 detects a white line on the road around the host vehicle M based on a captured image of the camera 2 or a detection result of the rider and the like, and based on the detected white line, the travel area of the host vehicle M is determined. It may be calculated.

  The vehicle control device 100 may include an illuminance sensor that detects the illuminance around the host vehicle M. In this case, the bright place / dark place determination unit 11 may determine the bright place area and the dark place area based on the detection result of the illuminance sensor. Moreover, the vehicle control apparatus 100 may include a communication unit that performs road-to-vehicle communication. This communication part acquires the detection result of the illumination intensity sensor installed in the road side from the exterior of the own vehicle M by communicating. Examples of the illuminance sensor installed on the road side include an illuminance sensor installed on a road light provided on an expressway or the like. The illuminance sensor installed on the road light is used to automatically control the illuminance of the road light for power saving or the like, for example, according to the ambient brightness. The communication unit included in the vehicle control device 100 may acquire the detection result of the illuminance sensor outside the host vehicle M installed in such a road light or the like by communication from the communication device installed on the road. The bright place / dark place determination unit 11 may determine the bright place area and the dark place area based on the detection result of the illuminance sensor acquired by the communication unit. In this case, compared with the case where the illuminance is detected by a camera or the like mounted on the host vehicle M, it is possible to determine the bright place area and the dark place area over a wide range. Further, when the detection result of the illuminance sensor acquired by the communication unit is used, the illuminance of an area that becomes a blind spot when viewed from the host vehicle M can also be acquired.

  The light place dark place determination unit 11 may determine the light place area based on the light irradiation area of the other vehicle X. For example, as shown in FIG. 6, the light / dark place determination unit 11 calculates and stores a light irradiation area H to which light is irradiated when the other vehicle X turns on the headlight. The light irradiation area H is an area where light is irradiated, and the illuminance is an area having a reference value or more. For this reason, the light place dark place determination unit 11 uses the position of the other vehicle X recognized by the other vehicle recognition unit 12 and the stored light irradiation area H to use the light place area around the host vehicle M. Can be determined. Similarly, the light / dark place determination unit 11 uses the position of the other vehicle X recognized by the other vehicle recognition unit 12 and the stored light irradiation area H, so that a light irradiation area around the host vehicle M is obtained. An area other than H may be determined as a dark area.

  In addition, when determining a light place area etc. using the light irradiation area H of the other vehicle X, the illumination intensity in the position of the own vehicle M (for example, whether the position of the own vehicle M used in S104 is a dark place area or not). If only (information) can be acquired, there is no need to determine the light area around the host vehicle M or the like. In this case, for example, the bright place / dark place determination unit 11 determines whether the position of the own vehicle M is a bright place area or a dark place area based on a captured image of a rear camera that captures the rear of the own vehicle M. It can be carried out.

  When the movement target area calculation unit 22 sets the movement target position, it is not essential to select a movement target area in front of or behind the host vehicle M according to the position of the other vehicle X with respect to the host vehicle M. For example, the movement target area calculation unit 22 selects a movement target area based on conditions other than the position of the other vehicle X, such as selecting a movement target area that is closest to the host vehicle M, and sets the movement target position. May be.

  The travel plan unit 23 may generate a speed instruction indicating the target speed of the host vehicle M instead of the acceleration / deceleration instruction for accelerating / decelerating the host vehicle M. In this case, the traveling control unit 24 may output a control signal to the actuator 6 so that the speed is instructed by the speed instruction.

  DESCRIPTION OF SYMBOLS 10A ... Headlight (light emission part), 10B ... Tail light (light emission part), 11 ... Light place dark place determination part (dark place determination part), 12 ... Other vehicle recognition part, 13 ... Outside area determination part, 14 ... Control Part, 100 ... vehicle control device, M ... own vehicle, X ... other vehicle.

Claims (1)

A vehicle control device that performs automatic driving control so that the host vehicle automatically travels,
A dark place determination unit for determining whether or not the position of the host vehicle is a dark place area;
An other vehicle recognition unit for recognizing the position of another vehicle around the host vehicle;
Whether or not the other vehicle is located outside a viewable area where the light emitting unit of the host vehicle can be directly viewed from the driver of the other vehicle based on the position of the other vehicle recognized by the other vehicle recognition unit. An out-of-area determination unit for determining
When it is determined that the position of the host vehicle is a dark area and the other vehicle is determined to be located outside the viewable area, the other vehicle is positioned within the viewable area. A vehicle control device comprising: a control unit that causes the host vehicle to travel.

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