JP2019156216A - Controller, control method and program - Google Patents

Abstract

To provide a controller, a control method and a program capable of adjusting an environment in a cabin, according to a transport object.SOLUTION: A controller comprises an air conditioning control part for controlling the air conditioner in a cabin, since a timing before a prescribed timing, so that, an environment in a cabin of the own vehicle becomes an environment according to a condition of the transport object at a prescribed timing. An automatic driving controller 100 comprises an air conditioning control part 190 for controlling an air conditioning device (air conditioner 90 in one embodiment) in a cabin since a timing before the prescribed timing, so that, the environment becomes an environment according to a condition of a transport object (in the embodiment, an occupant) at a prescribed timing (in one embodiment, first timing and third timing), and the automatic driving controller can adjust the environment in the cabin, according to the transport object.SELECTED DRAWING: Figure 1

Description

  The present invention relates to a control device, a control method, and a program.

  In recent years, research has been conducted on automatically controlling the driving of a vehicle (hereinafter referred to as automatic driving). In connection with this, there is known a technology for adjusting the temperature in the passenger compartment of the vehicle to an appropriate temperature for the passenger while the vehicle is automatically driven and is moved to the use start position and is on standby. (For example, refer to Patent Document 1).

JP2015-219811A

  Here, the vehicle that is automatically driven may be used for transporting a load loaded on the vehicle, in addition to the purpose of transporting an occupant. In this case, it is preferable that the temperature in the passenger compartment of the vehicle that is automatically operated is adjusted to an appropriate temperature of the load. However, with the conventional technology, it has not been possible to adjust the temperature in the passenger compartment according to the transportation target of the vehicle that is automatically operated.

  The present invention has been made in view of such circumstances, and has an object to provide a control device, a control method, and a program capable of adjusting the environment in the passenger compartment according to the object to be transported. To do.

  (1): An air conditioning control unit that controls the air conditioner in the vehicle interior from before the predetermined timing is provided so that the environment in the vehicle interior of the host vehicle becomes an environment according to the condition of the transportation target at the predetermined timing. Control device.

  (2): The control device in (1) recognizes one or both of steering and acceleration / deceleration of the host vehicle based on a recognition unit that recognizes a situation around the host vehicle and a recognition result of the recognition unit. An air conditioner that controls the air conditioner in the passenger compartment from the time when the operation controller performs unmanned operation.

  (3): In the control device of (1) or (2), the predetermined timing is a first timing at which an occupant gets on the own vehicle, and the condition is based on an action history of the occupant of the own vehicle. It is a condition, and the air conditioning control unit controls the air conditioner based on the behavior history before the first timing among the information indicating the behavior history acquired from the management device that manages the behavior history. .

  (4): In the control device according to any one of (1) to (3), the predetermined timing is a second timing at which a load to be transported of the host vehicle is loaded on the host vehicle, and the condition Is a condition based on the load loaded on the host vehicle, and the air conditioning control unit further controls the air conditioner based on an appropriate temperature of the load after the second timing.

  (5): The control device according to (4) includes a vehicle interior recognition unit that recognizes an internal situation of the host vehicle, and the loading based on the internal situation of the host vehicle recognized by the vehicle interior recognition unit. An appropriate temperature determining unit that determines an appropriate temperature of the object, and the air conditioning control unit controls the air conditioner based on the appropriate temperature of the load determined by the appropriate temperature determining unit.

  (6): In the control device according to any one of (1) to (5), the predetermined timing includes a first timing at which an occupant of the own vehicle gets on the own vehicle, and the occupant gets off from the own vehicle. The third timing, the condition is a condition based on the action plan of the host vehicle, and the air conditioning control unit is configured to perform the first operation based on the action plan acquired from a management device that manages the action plan. Between the timing and the next third timing, the environment in the passenger compartment is further adjusted to an appropriate temperature from the time when the host vehicle is manned.

  (7) In the control device according to any one of (1) to (6), the predetermined timing includes a first timing at which an occupant gets on the host vehicle, and a third timing at which the occupant gets out of the host vehicle. The condition is a condition based on outside air, and the air conditioning control unit controls the air conditioner according to outside air from the third timing to the next first timing, and the first timing. Thereafter, the air conditioner is controlled according to the condition.

  (8): In the control device according to any one of (1) to (7), the predetermined timing is a third timing when an occupant gets out of the host vehicle, and the condition is an action plan of the host vehicle. The air conditioning control unit has no action plan for the host vehicle in a predetermined period after the third timing based on information indicating the action plan acquired from a management device that manages the action plan. In this case, the air conditioner is not controlled.

  (9): In the control device of (2), the operation control unit causes the host vehicle to travel based on an adjustment state of an environment in the vehicle interior of the air conditioning control unit.

  (10): In the control device of (9), the operation control unit travels on a route where the temperature of the outside air is higher than other routes when the air conditioning control unit adjusts to increase the temperature in the vehicle interior. When the air conditioning control unit adjusts to lower the temperature in the vehicle interior, the vehicle travels along a route where the temperature of the outside air is lower than other routes.

  (11): In the control device of (10), a path having a higher outside air temperature than the other path is a path that is exposed to sunlight, and a path having a lower outside air temperature than the other path is: The route is not exposed to sunlight.

  (12): In the control device according to any one of (1) to (11), when the air conditioning control unit controls the air conditioner according to the outside air, the outside air is taken into the vehicle interior.

  (13) In the control device according to (12), the control device further includes a detection unit that detects a contaminant in the outside air of the host vehicle, and the air conditioning control unit includes the contamination detected by the detection unit in the outside air. It is determined whether to take in outside air according to the situation.

  (14): In the control device of (13), the air-conditioning control unit determines that the outside air is not taken in when the contaminant above the predetermined threshold is included in the outside air.

  (15): In the control device according to any one of (1) to (14), an opening / closing control unit that controls opening / closing of the window of the host vehicle based on an adjustment state of an environment in the vehicle interior of the air conditioning control unit. In addition.

  (16): In the control device of (15), the opening / closing control unit controls the opening / closing of the window based further on the speed of the host vehicle.

  (17): In the control device of (16), the opening / closing control unit increases the degree of opening of the window as the speed of the host vehicle increases.

  (18): The control device controls the air conditioner in the vehicle compartment from before the predetermined timing so that the environment in the vehicle compartment of the host vehicle becomes an environment according to the condition of the transportation target at the predetermined timing. Control method.

  (19): The control device controls the air conditioner in the vehicle compartment from before the predetermined timing so that the environment in the vehicle compartment of the host vehicle becomes an environment according to the condition of the transportation target at the predetermined timing. program.

  According to (1) to (19), the environment in the passenger compartment can be adjusted according to the object to be transported.

  According to the configuration of (2), the environment in the passenger compartment can be adjusted while the passenger is not in the passenger compartment.

  According to the configuration of (3), the environment in the passenger compartment can be adjusted according to the behavior of the passenger to be boarded.

  According to the configurations of (4) to (5), the environment in the vehicle compartment can be adjusted according to the loaded load.

  According to the configuration of (6), the environment in the passenger compartment can be adjusted while the passenger is in the passenger compartment.

  According to the structure of (7), it can suppress that a heat shock is given to a passenger | crew.

  According to the configurations of (8) to (12), the power consumed by the vehicle can be reduced.

  According to the configurations of (13) to (14), it is possible to suppress the environment in the passenger compartment from being contaminated by the pollutant.

  According to the configuration of (15), the power consumed by the vehicle can be reduced.

  According to the configurations of (16) to (17), privacy in the vehicle compartment can be protected.

It is a lineblock diagram of the vehicle control device of a 1st embodiment. It is a functional lineblock diagram of the 1st control part and the 2nd control part of a 1st embodiment. It is a figure which shows an example of the timing which an air-conditioning control part adjusts the environment in a vehicle interior. It is a figure which shows an example of a structure of a vehicle system. It is a table | surface which shows an example of the content of action history information. It is a figure which shows an example of the captured image of a vehicle interior camera. It is a flowchart which shows an example of the flow of a series of processes of the automatic operation control apparatus which concerns on 1st Embodiment. It is a flowchart which shows an example of the flow of a series of processes of step S102 which concerns on 1st Embodiment. It is a flowchart which shows an example of the flow of a series of processes of step S106 which concerns on 1st Embodiment. It is a flowchart which shows an example of the flow of a series of processes of step S110 which concerns on 1st Embodiment. It is a flowchart which shows an example of the flow of a series of processes of step S112 which concerns on 1st Embodiment. It is a block diagram of the vehicle control apparatus of 2nd Embodiment. It is a figure which shows an example of the external appearance of a power window apparatus. It is a flowchart which shows an example of the flow of a series of processes of step S112 which concerns on 2nd Embodiment. It is a block diagram of the vehicle control apparatus of 3rd Embodiment. It is a flowchart which shows an example of the flow of a process of the air-conditioning control part which concerns on 3rd Embodiment. 10 is a flowchart illustrating an example of a process flow of an opening / closing control unit according to Modification 1; It is a functional block diagram of the 1st control part and 2nd control part of 4th Embodiment. It is a flowchart which shows an example of the flow of a series of processes of step S112 which concerns on 4th Embodiment. It is a figure which shows an example of the timing which the air-conditioning control part which concerns on 4th Embodiment adjusts the environment of a vehicle interior. It is a table | surface which shows an example of the content of action plan information. It is a flowchart which shows an example of the flow of a series of processes of the automatic operation control apparatus which concerns on 4th Embodiment. It is a flowchart which shows an example of the flow of a series of processes of step S116. It is a figure which shows an example of the hardware constitutions of the automatic driving | operation control apparatus of embodiment.

  Hereinafter, embodiments of a control device and a program according to the present invention will be described with reference to the drawings.

<First Embodiment>
[overall structure]
FIG. 1 is a configuration diagram of a vehicle control device 1 according to the first embodiment. A vehicle (hereinafter referred to as the host vehicle M) on which the vehicle control device 1 is mounted is, for example, a vehicle such as a two-wheel, three-wheel, or four-wheel vehicle, and a drive source thereof is an internal combustion engine such as a diesel engine or a gasoline engine, or an electric motor. Or a combination thereof. The electric motor operates using electric power generated by a generator connected to the internal combustion engine or electric discharge power of a secondary battery or a fuel cell. In the present embodiment, the vehicle M is described as an example of a vehicle that is automatically driven as an example. However, the present invention is not limited to this, and the vehicle M may be manually driven by an occupant's operation.

  The vehicle control device 1 includes, for example, a camera 10, a radar device 12, a finder 14, an object recognition device 16, a communication device 20, an HMI (Human Machine Interface) 30, a vehicle sensor 40, and a navigation device 50. , MPU (Map Positioning Unit) 60, thermometer 70, driving operator 80, air conditioner 90, automatic driving control device 100, travel driving force output device 200, brake device 210, steering device 220, A vehicle interior camera 300 is provided. These devices and devices are connected to each other by a multiple communication line such as a CAN (Controller Area Network) communication line, a serial communication line, a wireless communication network, or the like. The configuration illustrated in FIG. 1 is merely an example, and a part of the configuration may be omitted, or another configuration may be added. The automatic operation control device 100 is an example of a “control device”.

  The camera 10 is a digital camera using a solid-state image sensor such as a CCD (Charge Coupled Device) or a CMOS (Complementary Metal Oxide Semiconductor). The camera 10 is attached to an arbitrary location of the host vehicle M. When imaging the front, the camera 10 is attached to the upper part of the front windshield, the rear surface of the rearview mirror, or the like. For example, the camera 10 periodically and repeatedly images the periphery of the host vehicle M. The camera 10 may be a stereo camera.

  The radar apparatus 12 radiates a radio wave such as a millimeter wave around the host vehicle M, and detects a radio wave (reflected wave) reflected by the object to detect at least the position (distance and direction) of the object. The radar device 12 is attached to an arbitrary location of the host vehicle M. The radar apparatus 12 may detect the position and speed of an object by FM-CW (Frequency Modulated Continuous Wave) method.

  The finder 14 is LIDAR (Light Detection and Ranging). The finder 14 irradiates light around the host vehicle M and measures scattered light. The finder 14 detects the distance to the object based on the time from light emission to light reception. The irradiated light is, for example, pulsed laser light. The finder 14 is attached to an arbitrary location of the host vehicle M.

  The object recognition device 16 performs sensor fusion processing on the detection results of some or all of the camera 10, the radar device 12, and the finder 14, and recognizes the position, type, speed, and the like of the object. The object recognition device 16 outputs the recognition result to the automatic driving control device 100. The object recognition device 16 may output the detection results of the camera 10, the radar device 12, and the finder 14 to the automatic driving control device 100 as they are. The object recognition device 16 may be omitted from the vehicle control device 1.

  The communication device 20 communicates with other vehicles existing around the host vehicle M using, for example, a cellular network, a Wi-Fi network, Bluetooth (registered trademark), DSRC (Dedicated Short Range Communication), or wirelessly. It communicates with various server apparatuses via a base station.

  The HMI 30 presents various information to the occupant of the host vehicle M and accepts an input operation by the occupant. The HMI 30 includes various display devices, speakers, buzzers, touch panels, switches, keys, and the like.

  The vehicle sensor 40 includes a vehicle speed sensor that detects the speed of the host vehicle M, an acceleration sensor that detects acceleration, a yaw rate sensor that detects an angular velocity around the vertical axis, a direction sensor that detects the direction of the host vehicle M, and the like.

  The navigation device 50 includes, for example, a GNSS (Global Navigation Satellite System) receiver 51, a navigation HMI 52, and a route determination unit 53. The navigation device 50 holds the first map information 54 in a storage device such as an HDD (Hard Disk Drive) or a flash memory.

  The GNSS receiver 51 specifies the position of the host vehicle M based on the signal received from the GNSS satellite. The position of the host vehicle M may be specified or supplemented by an INS (Inertial Navigation System) using the output of the vehicle sensor 40.

  The navigation HMI 52 includes a display device, a speaker, a touch panel, keys, and the like. The navigation HMI 52 may be partly or wholly shared with the HMI 30 described above.

  The route determination unit 53 is, for example, a route from the position of the host vehicle M specified by the GNSS receiver 51 (or any input position) to the destination input by the occupant using the navigation HMI 52 (hereinafter, referred to as “route”). The route on the map is determined with reference to the first map information 54. The first map information 54 is information in which a road shape is expressed by, for example, a link indicating a road and nodes connected by the link. The first map information 54 may include road curvature and POI (Point Of Interest) information. The on-map route is output to the MPU 60.

  The navigation device 50 may perform route guidance using the navigation HMI 52 based on the map route. The navigation device 50 may be realized, for example, by a function of a terminal device such as a smartphone or a tablet terminal held by an occupant. The navigation device 50 may transmit the current position and the destination to the navigation server via the communication device 20 and obtain a route equivalent to the on-map route from the navigation server.

  The MPU 60 includes, for example, a recommended lane determining unit 61 and holds the second map information 62 in a storage device such as an HDD or a flash memory. The recommended lane determining unit 61 divides the on-map route provided from the navigation device 50 into a plurality of blocks (for example, every 100 [m] with respect to the vehicle traveling direction), and refers to the second map information 62 Determine the recommended lane for each block. The recommended lane determining unit 61 performs determination such as what number of lanes from the left to travel. The recommended lane determining unit 61 determines a recommended lane so that the host vehicle M can travel on a reasonable route for proceeding to the branch destination when a branch point exists on the map route.

  The second map information 62 is map information with higher accuracy than the first map information 54. The second map information 62 includes, for example, lane center information, lane boundary information, lane type information, and the like. The second map information 62 may include road information, traffic regulation information, address information (address / postal code), facility information, telephone number information, and the like. The second map information 62 may be updated as needed by the communication device 20 communicating with other devices.

  The thermometer 70 includes an outside air thermometer 71 and a vehicle interior thermometer 72. The outside air thermometer 71 measures the temperature of the outside air, and the vehicle interior thermometer 72 measures the temperature inside the vehicle interior of the host vehicle M. The measurement result of the outside air thermometer 71 and the measurement result of the vehicle interior thermometer 72 are output to the automatic operation control device 100. The outside air is the air outside the passenger compartment of the host vehicle M, and is the air around the host vehicle M. The outside air thermometer is installed, for example, on the back side of the front bumper that is not affected by the heat of the internal combustion engine or the electric motor included in the host vehicle M or the heat of the road surface. The vehicle interior thermometer is installed at a position (for example, a glove box) that is not affected by heat other than the dashboard and the air outlet of the air conditioner 90.

  The driving operation element 80 includes, for example, an accelerator pedal, a brake pedal, a shift lever, a steering wheel, a deformed steer, a joystick, and other operation elements. A sensor for detecting the amount of operation or the presence or absence of an operation is attached to the driving operation element 80, and the detection result is obtained from the automatic driving control device 100 or the traveling driving force output device 200, the brake device 210, and the steering device 220. Are output to some or all.

  The air conditioner (air conditioner) 90 adjusts the environment in the passenger compartment by adjusting the state of air in the passenger compartment of the host vehicle M. The operation of the air conditioner 90 is controlled by the automatic operation control device 100. The operation of the air conditioner 90 is controlled by, for example, the automatic operation control device 100 to “cooling operation”, “heating operation”, “holding operation”, “outside air temperature maintaining operation”, or “stop”. The holding operation is an operation for holding the temperature in the passenger compartment of the host vehicle M, and the outside air temperature holding operation is an operation for adjusting the temperature in the passenger compartment of the host vehicle M to the outside air. Although the air conditioner 90 is described as including a heater, the heater may be provided separately from the air conditioner 90. In the following description, the vehicle interior of the host vehicle M is simply referred to as “vehicle interior”. The air conditioner 90 is an example of an “air conditioner”.

  The automatic operation control device 100 includes, for example, a first control unit 120, a second control unit 160, a storage unit 180, and an air conditioning control unit 190. Each of the first control unit 120 and the second control unit 160 is realized, for example, when a processor such as a CPU (Central Processing Unit) executes a program (software). In addition, some or all of these components include hardware (circuits) such as LSI (Large Scale Integration), ASIC (Application Specific Integrated Circuit), FPGA (Field-Programmable Gate Array), and GPU (Graphics Processing Unit). Part (including circuit)), or may be realized by cooperation of software and hardware. The program may be stored in advance in the storage unit 180 of the automatic operation control apparatus 100, or stored in a removable storage medium such as a DVD or CD-ROM, and the storage medium is attached to the drive device. May be installed in the storage unit 180.

  The storage unit 180 is realized by, for example, an HDD, a flash memory, an EEPROM (Electrically Erasable Programmable Read Only Memory), a ROM (Read Only Memory), or a RAM (Random Access Memory). The storage unit 180 stores, for example, a program that is read and executed by a processor. Further, the storage unit 180 stores appropriate temperature information 181. The appropriate temperature information 181 is information in which information indicating the appearance of a load requiring adjustment of the environment in the vehicle interior and information indicating the appropriate temperature of the load are associated with each other. Loads that require adjustment of the cabin environment include, for example, shopping bags containing fresh food, boxes containing refrigerated fresh confectionery, and food for home delivery (for example, pizza and lunch boxes) Box.

  FIG. 2 is a functional configuration diagram of the first control unit 120 and the second control unit 160 of the first embodiment. The first control unit 120 includes, for example, a recognition unit 130 and an action plan generation unit 140. The recognition unit 130 includes a vehicle interior recognition unit 131 and an appropriate temperature determination unit 132. The first control unit 120 implements, for example, a function based on AI (Artificial Intelligence) and a function based on a predetermined model in parallel. For example, the “recognize intersection” function executes recognition of an intersection by deep learning or the like and recognition based on a predetermined condition (such as a signal that can be matched with a pattern and road marking) in parallel. May be realized by scoring and comprehensively evaluating. This ensures the reliability of automatic driving.

  The recognition unit 130 recognizes the surrounding situation of the host vehicle M based on information input from the camera 10, the radar device 12, and the finder 14 via the object recognition device 16. Specifically, 130 recognizes the situation such as the position, speed, acceleration and the like of an object around the host vehicle M. For example, the position of the object is recognized as a position on an absolute coordinate with the representative point (the center of gravity, the center of the drive shaft, etc.) of the host vehicle M as the origin, and is used for control. The position of the object may be represented by a representative point such as the center of gravity or corner of the object, or may be represented by a represented area. The “state” of the object may include acceleration or jerk of the object, or “behavioral state” (for example, whether or not the lane is changed or is about to be changed).

  Further, the recognition unit 130 recognizes, for example, a lane (traveling lane) in which the host vehicle M is traveling. For example, the recognizing unit 130 has a road lane marking line around the host vehicle M recognized from the road lane marking pattern (for example, an array of solid lines and broken lines) obtained from the second map information 62 and an image captured by the camera 10. The driving lane is recognized by comparing with the pattern. Note that the recognition unit 130 may recognize a travel lane by recognizing not only a road lane line but also a road lane line (road boundary) including a road lane line, a road shoulder, a curb, a median strip, a guardrail, and the like. . In this recognition, the position of the host vehicle M acquired from the navigation device 50 and the processing result by INS may be taken into account. In addition, the recognition unit 130 recognizes a stop line, an obstacle, a red light, a toll gate, and other road events.

  When recognizing the traveling lane, the recognizing unit 130 recognizes the position and posture of the host vehicle M with respect to the traveling lane. The recognizing unit 130, for example, sets the angle between the deviation of the reference point of the host vehicle M from the center of the lane and the line connecting the center of the lane in the traveling direction of the host vehicle M and the relative position of the host vehicle M with respect to the traveling lane and It may be recognized as a posture. Instead, the recognizing unit 130 recognizes the position of the reference point of the own vehicle M with respect to any side end portion (road lane line or road boundary) of the traveling lane as the relative position of the own vehicle M with respect to the traveling lane. May be.

  Moreover, the recognition part 130 may derive | lead-out recognition accuracy in said recognition process, and may output it to the action plan production | generation part 140 as recognition accuracy information. For example, the recognition unit 130 generates recognition accuracy information based on the frequency with which road lane markings can be recognized in a certain period.

  The vehicle interior recognition unit 131 recognizes the transportation target of the host vehicle M present in the vehicle interior based on the captured image of the vehicle interior camera 300. The transportation target of the host vehicle M is an occupant of the host vehicle M or a load loaded on the host vehicle M. For example, based on the captured image, the vehicle interior recognition unit 131 indicates that there is an occupant in the vehicle interior (or that there is no occupant) and that there is a load in the vehicle interior (or that there is no load). recognize.

  When the vehicle interior recognition unit 131 recognizes that there is a load in the vehicle interior, the appropriate temperature determination unit 132 determines whether the load is appropriate based on the captured image of the vehicle interior camera 300 and the appropriate temperature information 181. Determine the temperature. Specifically, the appropriate temperature determination unit 132 selects information that matches the appearance of the load recognized by the vehicle interior recognition unit 131 among a plurality of pieces of information indicating the appearance of the load stored as the appropriate temperature information 181. Identify. When the appropriate temperature determination unit 132 identifies information whose appearance matches, the appropriate temperature determination unit 132 determines the appropriate temperature associated with the information as the proper temperature of the load recognized by the vehicle interior recognition unit 131.

  In the above description, the air conditioning control unit 190 adjusts the environment in the vehicle interior based on the appropriate temperature of the load OB determined by the appropriate temperature determination unit 132 in the second unmanned operation period. It is not limited to this. For example, the air conditioning control unit 190 may adjust the environment in the vehicle interior based on an operation performed by the loader who loads the load OB on the HMI 30 in the second unmanned operation period. In this case, the loaded vehicle inputs an appropriate temperature of the loaded object OB to the HMI 30 when loading the loaded object OB on the host vehicle M. The air conditioning control unit 190 determines the adjustment mode based on the input appropriate temperature of the load OB and the measurement result of the vehicle interior thermometer 72. In this case, the automatic operation control apparatus 100 may not include the appropriate temperature determination unit 132 and the appropriate temperature information 181. In addition, the vehicle interior camera 300 is a thermo camera that captures the temperature of the imaging target, and the vehicle interior recognition unit 131 is based on the captured image of the vehicle interior camera 300, and the loaded object is loaded. Can be recognized, the appropriate temperature determination unit 132 and the appropriate temperature information 181 may not be provided.

  In principle, the action plan generation unit 140 travels in the recommended lane determined by the recommended lane determination unit 61, and further, the host vehicle M is configured so that automatic driving corresponding to the surrounding situation of the host vehicle M is executed. Generate a target trajectory to travel in the future. The target trajectory includes, for example, a velocity element. For example, the target track is expressed as a sequence of points (track points) that the host vehicle M should reach. The track point is a point where the host vehicle M should reach every predetermined traveling distance (for example, about several [m]) as a road distance. Separately, a predetermined sampling time (for example, 0 comma number [sec]) Target speed and target acceleration are generated as part of the target trajectory.

  The second control unit 160 includes, for example, an acquisition unit 162, a speed control unit 164, and a steering control unit 166. The acquisition unit 162 acquires information on the target trajectory generated by the action plan generation unit 140 and stores it in a memory (not shown). The speed control unit 164 controls the travel driving force output device 200 or the brake device 210 based on a speed element associated with the target track stored in the memory. The steering control unit 166 controls the steering device 220 according to the degree of bending of the target trajectory stored in the memory. The processing of the speed control unit 164 and the steering control unit 166 is realized by, for example, a combination of feedforward control and feedback control. As an example, the steering control unit 166 executes a combination of feed-forward control corresponding to the curvature of the road ahead of the host vehicle M and feedback control based on deviation from the target track. The action plan generation unit 140 and the second control unit 160 are an example of an “operation control unit”.

  The traveling driving force output device 200 outputs a traveling driving force (torque) for traveling of the vehicle to driving wheels. The traveling driving force output device 200 includes, for example, a combination of an internal combustion engine, an electric motor, a transmission, and the like, and an ECU that controls these. The ECU controls the above-described configuration according to information input from the second control unit 160 or information input from the driving operator 80.

  The brake device 210 includes, for example, a brake caliper, a cylinder that transmits hydraulic pressure to the brake caliper, an electric motor that generates hydraulic pressure in the cylinder, and a brake ECU. The brake ECU controls the electric motor in accordance with the information input from the second control unit 160 or the information input from the driving operation element 80 so that the brake torque corresponding to the braking operation is output to each wheel. The brake device 210 may include, as a backup, a mechanism that transmits the hydraulic pressure generated by operating the brake pedal included in the driving operation element 80 to the cylinder via the master cylinder. The brake device 210 is not limited to the configuration described above, and is an electronically controlled hydraulic brake device that controls the actuator according to information input from the second control unit 160 and transmits the hydraulic pressure of the master cylinder to the cylinder. Also good.

  The steering device 220 includes, for example, a steering ECU and an electric motor. For example, the electric motor changes the direction of the steered wheels by applying a force to a rack and pinion mechanism. The steering ECU drives the electric motor according to the information input from the second control unit 160 or the information input from the driving operator 80, and changes the direction of the steered wheels.

  The vehicle interior camera 300 captures an image centered on a seat on which an occupant seated in the host vehicle M sits and a position (for example, a seat or a floor) where a load is loaded. The captured image of the vehicle interior camera 300 is output to the automatic driving control device 100.

[About the air conditioning control unit 190]
Hereinafter, adjustment of the environment in the passenger compartment by the air conditioning control unit 190 will be described. The air conditioning control unit 190 controls the air conditioner 90 to adjust the environment in the passenger compartment so that the environment according to the condition of the transportation target transported by the host vehicle M is obtained. Specifically, the air conditioning control unit 190 determines the adjustment mode of the environment in the passenger compartment as one of the adjustment modes (1) to (5) according to the condition of the transportation target that the host vehicle M transports. The adjustment mode (1) is an adjustment mode for increasing the temperature in the vehicle interior, the adjustment mode (2) is an adjustment mode for decreasing the temperature in the vehicle interior, and the adjustment mode (3) holds the temperature in the vehicle interior. Adjustment mode (4) is an adjustment mode in which the temperature in the passenger compartment is not adjusted, and adjustment mode (5) is an adjustment mode in which the temperature in the passenger compartment is adjusted to the outside air.

  The air conditioning control unit 190 of the present embodiment adjusts the environment in the vehicle interior by controlling the air conditioner 90 based on the determined adjustment mode. Specifically, when the air conditioning control unit 190 determines the adjustment mode of the environment in the vehicle interior as the adjustment mode (1), the air conditioning control unit 190 causes the air conditioner 90 to lower the temperature in the vehicle interior (that is, “cooling operation”), When the adjustment mode is determined to be the adjustment mode (2), the air conditioner 90 is caused to perform an operation of raising the temperature in the vehicle interior (that is, “heating operation”), and when the adjustment mode is determined to be the adjustment mode (3), When the operation of maintaining the temperature in the passenger compartment (that is, the “holding operation”) is performed and the adjustment mode is determined as the adjustment mode (4), the operation of the air conditioner 90 is stopped and the adjustment mode is determined as the adjustment mode (5). In this case, the air conditioner 90 is caused to perform an operation for adjusting the temperature in the vehicle interior to the outside air (that is, “outside air temperature maintaining operation”).

  Hereinafter, the timing when the air-conditioning control unit 190 adjusts the environment in the vehicle interior will be described. FIG. 3 is a diagram illustrating an example of timing at which the air conditioning control unit 190 adjusts the environment in the vehicle interior. The air-conditioning control unit 190 of the present embodiment adjusts the environment in the passenger compartment at the time when no occupant is in the passenger compartment (that is, at the time of unmanned operation). Specifically, the air conditioning control unit 190 adjusts the environment in the passenger compartment during the first unmanned operation period, the second unattended operation period, and the third unattended operation period. The first unmanned operation period is a period during which unmanned operation is performed until a predetermined period before the first timing (time t1 in the drawing) when the next scheduled passenger gets on. The second unmanned operation period is a period during which unmanned operation is performed after the second timing (time t2 shown in the figure) when no load is loaded on the host vehicle M and the load is loaded. The third unmanned operation period is a period during which unmanned driving is performed after a predetermined period from the third timing (time t3 shown in the figure) when the passenger boarding the host vehicle M gets off.

  Here, the first unattended operation period and the third unattended operation period may overlap depending on the time until the next first timing occurs after the third timing. In this case, the air conditioning control unit 190 may prioritize the adjustment of the vehicle interior during the first unmanned operation period, or may prioritize the adjustment of the vehicle interior during the third unmanned operation period. For example, the user of the host vehicle M (for example, the owner of the host vehicle M) may set in advance whether to give priority to the adjustment of the first unmanned operation period or the adjustment of the third unmanned operation period. Depending on the conditions, it may be determined which is prioritized.

  Hereinafter, the details of the processing of the air conditioning control unit 190 in the first unmanned operation period, the second unattended operation period, and the third unattended operation period will be described.

[Processing of the air-conditioning control unit 190 during the first unattended operation period]
Hereinafter, the details of the processing of the air conditioning control unit 190 in the first unmanned operation period will be described. In the first unmanned operation period, the air conditioning control unit 190 determines an adjustment mode of the environment in the vehicle interior based on the action history information. FIG. 4 is a diagram illustrating an example of the configuration of the vehicle system S. The vehicle system S includes one or more vehicle control devices 1 and a management device 500. The vehicle control device 1 and the management device 500 communicate with each other via the network NW. The network NW includes, for example, part or all of a WAN (Wide Area Network), a LAN (Local Area Network), the Internet, a dedicated line, a wireless base station, a provider, and the like. The management device 500 includes a storage unit that can be accessed via the network NW, and action history information 501 is stored in the storage unit.

  FIG. 5 is a table showing an example of the contents of the action history information 501. The action history information 501 includes, for example, the date and time when the occupant is boarding the host vehicle M (that is, the date and time of the first timing), the position where the occupant is acting (staying) at the first timing (the incoming position shown) Is information associated with each other. The action history information 501 is registered in the management device 500 by the user of the host vehicle M, for example. For example, the automatic driving control device 100 refers to the action history information 501 of the management device 500 via the network NW, and travels by unmanned driving to the pick-up position indicated by the action history information 501.

  The air-conditioning control unit 190 determines that the current period is the first unmanned operation period when the current time is a predetermined period (hereinafter referred to as period TM1) before the latest first timing indicated in the action history information 501. To do. In the first unmanned operation period, the air-conditioning control unit 190 changes the environment in the passenger compartment based on the characteristics of the receiving position associated with the first timing until the latest first timing indicated in the action history information 501. adjust. For example, when the pick-up position is “park” and the present is a cold time, it is presumed that the passenger is staying in a cold place, so it is preferable that the passenger compartment is warmed. In this case, the air-conditioning control unit 190 determines the adjustment mode of the environment in the vehicle interior during the first unmanned operation period as the adjustment mode (2). In addition, when the pick-up position is “sports gym”, it is presumed that the passenger's body temperature rises due to exercise, and therefore, the passenger compartment is preferably cooled. In this case, the air-conditioning control unit 190 determines the adjustment mode of the environment in the vehicle interior during the first unmanned operation period as the adjustment mode (1). Thereby, the air-conditioning control part 190 can adjust the environment in a vehicle interior from the time of a 1st unmanned driving | running | working period, and can adjust it to the environment according to the passenger who rides in a 1st timing.

  Note that the action history information 501 is information in which the date and time of the first timing is associated with the pick-up position, and the air conditioning control unit 190 adjusts the environment in the vehicle interior based on the characteristics of the pick-up position. However, it is not limited to this. For example, the action history information 501 may be information in which the date and time of the first timing is associated with information indicating an action performed by the occupant before the first timing (that is, information indicating the action history). In this case, the air-conditioning control unit 190 adjusts the environment in the vehicle interior based on the behavior history characteristics. For example, when the action history is “surfing”, it is estimated that the occupant's body temperature is decreasing. Therefore, the air conditioning control unit 190 adjusts the adjustment mode of the environment in the vehicle interior during the first unmanned operation period ( 2). Further, when the action history is “running”, it is estimated that the body temperature of the occupant is rising. Therefore, the air conditioning control unit 190 adjusts the adjustment mode of the environment in the vehicle interior during the first unmanned operation period ( Determine to 1). Further, when the action history is “work”, since the increase or decrease in the body temperature of the occupant is not estimated, the air conditioning control unit 190 changes the adjustment mode of the environment in the vehicle interior during the first unmanned operation period to the adjustment mode (3). decide.

  These features of the pick-up position and the feature of the action history may be information previously associated with the pick-up position and the action history, and when the user of the own vehicle M registers the action history information 501 in the management device 500. May be information registered based on the operation history of operating the air conditioner 90 after the passenger who has boarded at the first timing has boarded.

[Processing of the air-conditioning control unit 190 during the second unattended operation period]
Hereinafter, the details of the processing of the air conditioning control unit 190 in the second unattended operation period will be described. FIG. 6 is a diagram illustrating an example of a captured image P of the vehicle interior camera 300. In the example shown in FIG. 6, boxes containing fresh refrigerated snacks are loaded in the passenger compartment. Based on the captured image P, the vehicle interior recognition unit 131 recognizes a load loaded on the host vehicle M (a load OB illustrated). When the load object OB is recognized by the vehicle interior recognition unit 131, the appropriate temperature determination unit 132 determines the appropriate temperature of the load object OB based on the appearance of the load object OB shown in the captured image P and the appropriate temperature information 181. Determine.

  The air-conditioning control unit 190 determines that the current period is the second unmanned operation period when the load OB is loaded in the passenger compartment and no occupant is on board (for example, as shown in FIG. 6). The air conditioning control unit 190 determines the adjustment mode based on the appropriate temperature of the load OB determined by the appropriate temperature determination unit 132 and the measurement result of the vehicle interior thermometer 72 in the second unmanned operation period. Specifically, when the temperature in the vehicle interior is higher than the appropriate temperature, the air conditioning control unit 190 determines the adjustment mode of the environment in the vehicle interior as the adjustment mode (1), and the temperature in the vehicle interior is lower than the appropriate temperature. In this case, the adjustment mode of the environment in the passenger compartment is determined as the adjustment mode (2). Further, the air conditioning control unit 190 changes the environment adjustment mode in the vehicle interior when the appropriate temperature determination unit 132 does not determine the appropriate temperature of the load or when the temperature in the vehicle interior is the appropriate temperature of the load OB. The adjustment mode (3) is determined. Thereby, the air-conditioning control part 190 can adjust the environment in a vehicle interior to the environment according to the load loaded in a 2nd timing.

[About the process of the air-conditioning control unit 190 in the third unmanned operation period]
Hereinafter, the details of the processing of the air-conditioning control unit 190 in the third unmanned operation period will be described. The air conditioning control unit 190 indicates that the recognition result of the vehicle interior recognition unit 131 indicates that the occupant who has been in the vehicle from the first timing has exited, and indicates that no occupant is in the vehicle interior (that is, the third If it is the timing), it is determined that the current period is the third unmanned operation period. The air conditioning control unit 190 determines the adjustment mode based on the action history information 501 in the third unmanned operation period. Specifically, the air conditioning control unit 190 determines the adjustment mode of the environment in the passenger compartment as the adjustment mode (5) when the first timing is scheduled for the predetermined period from the third timing (for example, the period TM2). When the first timing is not scheduled, the adjustment mode of the environment in the passenger compartment is determined to be the adjustment mode (4), whereby the air conditioning control unit 190 is in the case where the occupant is scheduled to board immediately (that is, If the first timing is scheduled for a predetermined period), the passenger compartment can be adjusted to reduce the heat shock of the occupant, and if the occupant is not scheduled to board immediately, the air conditioner 90 is stopped. Thus, the power consumed by the air conditioner 90 can be reduced.

[Processing flow]
Hereinafter, a series of processes of the automatic operation control device 100 according to the first embodiment will be described with reference to flowcharts. FIG. 7 is a flowchart illustrating an example of a flow of a series of processes of the automatic driving control apparatus 100 according to the first embodiment. The process of this flowchart is repeated with a predetermined period, for example.

  First, the air conditioning control unit 190 determines whether or not the current period is the first unmanned operation period (step S100). The air-conditioning control unit 190 determines that the current period is the first unmanned operation period when the recognition result of the vehicle interior recognition unit 131 indicates that the occupant has boarded the vehicle at the position of the vehicle as indicated in the action history information 501. Based on the action history information 501, an adjustment mode of the environment in the passenger compartment is determined (step S102). Next, when the current period is not the first unmanned operation period, the air conditioning control unit 190 determines whether the current period is the second unattended operation period (step S104). The air-conditioning control unit 190 determines that the current period is the second unmanned operation period when the load OB is loaded in the passenger compartment and no passenger is on board, and the load determined by the appropriate temperature determination unit 132 is determined. Based on the appropriate temperature of the object OB and the measurement result of the vehicle interior thermometer 72, an adjustment mode of the environment in the vehicle interior is determined (step S106). Next, if the current period is not the first unattended operation period and the second unattended operation period, the air conditioning control unit 190 determines whether the current period is the third unattended operation period (step S108). . The air-conditioning control unit 190 ends the process when the current period is not any of the first unmanned operation period, the second unattended operation period, and the third unattended operation period. When the recognition result of the vehicle interior recognition unit 131 indicates that the occupant who has been on board from the first timing has got off and the air conditioning control unit 190 indicates that no occupant is in the vehicle interior, the current period is It determines with it being the 3rd unmanned driving period, and determines the adjustment mode of the environment in a vehicle interior based on the action history information 501 (step S110). The air conditioning control unit 190 controls the air conditioner 90 according to the adjustment mode determined in the first unattended operation period, the second unattended operation period, or the third unattended operation period (step S112).

[Processing flow during the first unmanned operation period]
FIG. 8 is a flowchart illustrating an example of a flow of a series of processes in step S102 according to the first embodiment. In step S102, the air conditioning control unit 190 determines an adjustment mode of the environment in the vehicle interior during the first unmanned operation period. First, based on the action history information 501, the air conditioning control unit 190 determines whether or not the action that the occupant is performing at the most recent first timing after the present is an action that increases the occupant's body temperature (step). S200). The air conditioning control unit 190 determines the adjustment mode (1) as the adjustment mode of the environment in the vehicle interior during the first unmanned operation period when the behavior that the occupant has been up to the first timing is an increase in the occupant's body temperature. (Step S202). Next, if the behavior that the occupant was performing by the first timing is not the behavior that increases the occupant's body temperature, whether the behavior that the occupant is performing is an operation that decreases the occupant's body temperature. Is determined (step S204). The air conditioning control unit 190 determines the adjustment mode (2) as the adjustment mode of the environment in the vehicle interior during the first unmanned operation period when the behavior that the occupant has performed by the first timing is a behavior in which the body temperature of the occupant decreases. To do. The air conditioning control unit 190 adjusts the adjustment mode of the environment in the vehicle interior during the first unmanned operation period when the behavior that the occupant was performing by the first timing does not increase or decrease the body temperature of the occupant. ) Is determined (step S208).

[Processing flow for the second unmanned operation period]
FIG. 9 is a flowchart showing an example of a flow of a series of processes in step S106 according to the first embodiment. In step S106, the air conditioning control unit 190 determines an adjustment mode of the environment in the vehicle interior during the second unmanned operation period. First, the appropriate temperature determination unit 132 determines the appropriate temperature of the load based on the recognition result of the vehicle interior recognition unit 131 and the appropriate temperature information 181 (step S600). Next, when the appropriate temperature determination unit 132 does not determine the appropriate temperature of the load, the air conditioning control unit 190 determines the adjustment mode of the environment in the vehicle interior during the second unmanned operation period as the adjustment mode (3) ( Step S604). Next, when the appropriate temperature determination unit 132 determines the appropriate temperature of the load, the air conditioning control unit 190 determines whether the temperature in the vehicle interior is higher than the appropriate temperature based on the measurement result of the vehicle interior thermometer 72. It is determined whether or not (step S606). When the temperature in the passenger compartment is higher than the appropriate temperature, the air conditioning control unit 190 determines the adjustment manner of the environment in the passenger compartment during the second unmanned operation period as the adjustment manner (1) (step S608). Next, when the temperature in the passenger compartment is not higher than the appropriate temperature, the air conditioning control unit 190 determines whether or not the temperature in the passenger compartment is lower than the appropriate temperature (step S610). When the temperature in the passenger compartment is lower than the appropriate temperature, the air conditioning control unit 190 determines the adjustment manner of the environment in the passenger compartment during the second unmanned operation period as the adjustment manner (2) (step S612). If the appropriate temperature matches the temperature in the passenger compartment, the air conditioning control unit 190 advances the process to step S604, and determines the adjustment manner of the environment in the passenger compartment during the second unmanned operation period as the adjustment manner (3).

[Processing flow for the third unmanned operation period]
FIG. 10 is a flowchart illustrating an example of a flow of a series of processes in step S110 according to the first embodiment. In step S110, the air conditioning control unit 190 determines the adjustment mode of the environment in the vehicle interior during the third unmanned operation period. First, the air conditioning control unit 190 determines whether or not the first timing is scheduled for a predetermined period from the third timing (step S1000). When the first timing is not scheduled for a predetermined period from the third timing, the air conditioning control unit 190 determines the adjustment mode of the environment in the vehicle interior as the adjustment mode (4) (step S1002). When the first timing is scheduled for a predetermined period from the third timing, the air conditioning control unit 190 determines the adjustment mode (5) of the environment inside the vehicle interior (step S1004).

[Control processing flow of air-conditioning control unit 190]
FIG. 11 is a flowchart illustrating an example of a flow of a series of processes in step S112 according to the first embodiment. The air conditioning control unit 190 controls the air conditioner 90 based on the adjustment mode of the environment in the passenger compartment determined up to step S112. First, the air conditioning control unit 190 determines whether or not the adjustment mode determined up to step S112 is the adjustment mode (1) (step S1200). When the determined adjustment mode is the adjustment mode (1), the air conditioning control unit 190 causes the air conditioner 90 to perform a cooling operation (step S1202). Next, when the determined adjustment mode is not the adjustment mode (1), the air conditioning control unit 190 determines whether or not the determined adjustment mode is the adjustment mode (2) (step S1204). When the determined adjustment mode is the adjustment mode (2), the air conditioning control unit 190 causes the air conditioner 90 to perform a heating operation (step S1206). Next, when the determined adjustment mode is not the adjustment mode (2), the air conditioning control unit 190 determines whether or not the determined adjustment mode is the adjustment mode (3) (step S1208). If the determined adjustment mode is the adjustment mode (3), the air conditioning control unit 190 causes the air conditioner 90 to perform a holding operation (step S1210). Next, when the determined adjustment mode is not the adjustment mode (3), the air conditioning control unit 190 determines whether or not the determined adjustment mode is the adjustment mode (4) (step S1212). If the determined adjustment mode is the adjustment mode (4), the air conditioning control unit 190 stops the air conditioner 90 (step S1214). Next, when the determined adjustment mode is not the adjustment mode (4) (that is, in the case of the adjustment mode (5)), the air conditioning control unit 190 causes the air conditioner 90 to perform an outside air temperature maintaining operation (step S1216).

[Summary of First Embodiment]
As described above, the automatic driving control apparatus 100 according to the present embodiment is configured such that the environment in the vehicle interior of the host vehicle M is a target to be transported (in this example, the first timing and the third timing) (in this example, the transportation target). The air conditioner control unit 190 that controls the air conditioner in the passenger compartment (in this example, the air conditioner 90) is provided before a predetermined timing so that the environment according to the conditions of the passengers is met. The environment can be adjusted.

Second Embodiment
The second embodiment of the present invention will be described below with reference to the drawings. In the first embodiment, the case where the environment of the vehicle interior is adjusted by the air conditioner 90 has been described. 2nd Embodiment demonstrates the case where the environment of a vehicle interior is adjusted with external air. In addition, about the structure similar to embodiment mentioned above, the same code | symbol is attached | subjected and description is abbreviate | omitted.

  FIG. 12 is a configuration diagram of the vehicle control device 1a of the second embodiment. The vehicle control device 1a of the second embodiment includes an automatic driving control device 100a instead of the automatic driving control device 100. The automatic operation control device 100a further includes an opening / closing control unit 192 in the configuration of the automatic operation control device 100. In addition, the vehicle control device 1a further includes a power window device 400 in a configuration included in the vehicle control device 1. The power window device 400 is controlled to be opened and closed by an opening / closing control unit 192 included in the automatic operation control device 100a. The power window device 400 includes a window part 410 and a drive part 412.

[About the power window device 400]
FIG. 13 is a diagram showing an example of the appearance of the power window device 400. As shown in FIG. 13, the window portion 410 and the drive portion 412 are fixed to each other, and the drive portion 412 moves along the rail (rail R shown in the figure) based on the control of the opening / closing control portion 192. The window 410 is moved (opened / closed) in the vertical direction. The air conditioning control unit 190 controls the opening / closing control unit 192 based on the determined adjustment mode, and controls the opening / closing of the window unit 410. In the following description, a state where the drive unit 412 operates and the window 410 is opened is referred to as “open state”, and a state where the window 410 is closed is referred to as “closed state”.

[Control processing flow of air-conditioning control unit 190]
FIG. 14 is a flowchart illustrating an example of a flow of a series of processes in step S112 according to the second embodiment. Of the processes shown in FIG. 14, processes similar to the step numbers shown in FIG. 7 are assigned the same step numbers and description thereof is omitted. The air conditioning control unit 190 of the present embodiment controls the air conditioner 90 or the power window device 400 based on the adjustment mode of the environment in the vehicle interior determined up to step S112.

  First, the air conditioning control unit 190 determines whether or not the adjustment mode determined up to step S112 is the adjustment mode (1) (step S1200). When the determined adjustment mode is the adjustment mode (1), the air conditioning control unit 190 determines the temperature of the outside air based on the measurement result of the outside air thermometer 71 and the measurement result of the vehicle interior thermometer 72. It is determined whether or not the temperature is higher (step S1201). If the temperature of the outside air is higher than the temperature in the passenger compartment, the air conditioning control unit 190 advances the process to step S1202 and causes the air conditioner 90 to perform a cooling operation. When the temperature of the outside air is lower than the temperature in the passenger compartment, the air conditioning control unit 190 causes the opening / closing control unit 192 to control the drive unit 412 and controls the window unit 410 to be in the “open state” (step S1203). Thereby, outside air is taken into the vehicle interior, and the temperature inside the vehicle interior is cooled by the outside air.

  In the case where the determined adjustment mode is the adjustment mode (2), the air conditioning control unit 190 determines that the temperature of the outside air is based on the measurement result of the outside air thermometer 71 and the measurement result of the vehicle interior thermometer 72. It is determined whether or not the temperature is lower than the temperature (step S1205). When the temperature of the outside air is lower than the temperature in the passenger compartment, the air conditioning control unit 190 advances the process to step S1206 and causes the air conditioner 90 to perform a heating operation. When the temperature of the outside air is higher than the temperature in the passenger compartment, the air conditioning control unit 190 causes the opening / closing control unit 192 to control the driving unit 412 and controls the window unit 410 to “open state” (step S1207). Thereby, outside air is taken into the vehicle interior, and the temperature inside the vehicle interior is warmed by the outside air.

  If the determined adjustment mode is not the adjustment mode (4) (that is, the adjustment mode (5)), the air-conditioning control unit 190 causes the opening / closing control unit 192 to control the drive unit 412 to open the window 410. The state is controlled (step S1217). Thereby, the outside air is taken into the vehicle interior, and the temperature in the vehicle interior can be matched with the temperature of the outside air.

  In the above description, in the first unmanned operation period and the second unattended operation period, the air-conditioning control unit 190 opens the window 410 when the adjustment mode and the temperature condition of the outside air match, and the vehicle interior due to the outside air However, the present invention is not limited to this. However, the present invention is not limited to this. For example, priorities may be given in advance by the user of the host vehicle M to the adjustment of the environment of the vehicle interior by the air conditioner 90 and the adjustment of the environment of the vehicle interior by the outside air. In this case, the air conditioning control unit 190 may preferentially perform the adjustment by the air conditioner 90 based on the added priority, or may simultaneously perform the adjustment by the air conditioner 90 and the adjustment by the outside air.

  In the above description, the air conditioning control unit 190 controls the opening / closing control unit 192 and the window 410 is set to the “open state” or the “closed state”, so that the outside air is taken into the vehicle interior. Not limited. The air-conditioning control unit 190 switches, for example, the air intake in the vehicle interior (for example, the air conditioner 90) to “inside air circulation operation” performed from the air in the vehicle interior or “outside air introduction operation” performed from the air outside the vehicle interior. The configuration may be such that outside air is taken into the vehicle interior. In this case, the automatic operation control device 100 may not include the power window device 400 and the opening / closing control unit 192.

[Summary of Second Embodiment]
As described above, in the automatic operation control apparatus 100a of the present embodiment, the adjustment state of the environment in the vehicle interior (in this example, when the conditions of the temperature in the vehicle interior and the temperature of the outside air match, or the adjustment mode (5) ), An opening / closing control unit 192 for controlling the opening / closing of the window 410 of the host vehicle M is further provided. Thereby, the automatic driving control apparatus 100a of this embodiment can reduce the electric power which the own vehicle M consumes compared with the case where the environment of a vehicle interior is adjusted with the air conditioner 90. FIG. When the host vehicle M is an electric vehicle that runs by driving an electric motor or is a hybrid vehicle that can be driven by an electric motor and receives external power supply, the automatic driving control device 100a extends the travelable distance of the host vehicle M. be able to.

<Third Embodiment>
Hereinafter, a third embodiment of the present invention will be described with reference to the drawings. In 2nd Embodiment, the case where the environment of a vehicle interior was adjusted with external air was demonstrated. In the third embodiment, a case will be described in which the environment inside the vehicle interior is not adjusted by the outside air depending on the contamination state of the outside air. In addition, about the structure similar to embodiment mentioned above, the same code | symbol is attached | subjected and description is abbreviate | omitted.

  FIG. 15 is a configuration diagram of the vehicle control device 1b of the third embodiment. The vehicle control device 1b according to the third embodiment includes an automatic driving control device 100b instead of the automatic driving control device 100a, and further includes an outside air detection unit 75 in the configuration included in the vehicle control device 1a. The outside air detection unit 75 is, for example, a sensor that detects contaminants in the outside air. The outside air detection unit 75 includes, for example, an optical sensor that detects pollen and microparticulate matter (PM (Particulate Matter) 2.5, etc.), a sulfur oxide (SOx) sensor, a nitrogen oxide (NOx) sensor, At least one of a photochemical oxidant sensor, an ammonia sensor, and the like is used to detect a contaminant that is a contaminant contained in the outside air and is a detection target of the sensor. The detection result of the outside air detection unit 75 is output to the automatic operation control device 100b.

  The automatic operation control device 100b further includes an outside air determination unit 194 in the configuration provided in the automatic operation control device 100a. For example, the outside air determination unit 194 determines whether or not the outside air is contaminated with a contaminant based on the detection result of the outside air detection unit 75. Specifically, the outside air determination unit 194 determines that the outside air is contaminated when the detection result of the outside air detection unit 75 indicates that the contaminant contained in the outside air per unit volume is equal to or greater than a predetermined threshold. The air conditioning control unit 190 further determines the adjustment mode in each unmanned operation period based on the determination result of the outside air determination unit 194.

[Control processing flow of air-conditioning control unit 190]
FIG. 16 is a flowchart illustrating an example of a process flow of the air conditioning control unit 190 according to the third embodiment. The air conditioning control unit 190 determines whether or not to adjust the environment in the vehicle interior by the outside air based on the determination result of the outside air determination unit 194 (step S900). When the determination result of the outside air determination unit 194 indicates that the outside air is contaminated, the air conditioning control unit 190 determines not to adjust the environment in the vehicle interior using the outside air (step S902). When the determination result of the outside air determination unit 194 indicates that the outside air is not contaminated, the air conditioning control unit 190 determines that the environment of the vehicle interior is adjusted by the outside air (step S904).

  The outside air determination unit 194 performs the processing in steps S900 to S904 shown in FIG. 16 before the processing shown in FIG. 7 or after steps S102, S106, or S110 (that is, immediately before step S112). If the air conditioning control unit 190 determines not to adjust the environment in the vehicle interior by the outside air, the air conditioning control unit 190 executes the flowchart shown in FIG. 11 (that is, the flowchart that does not include the process for taking in outside air) in the process of step S112. . In addition, when the air conditioning control unit 190 determines that the environment in the vehicle interior is to be adjusted by outside air, the flowchart shown in FIG. 14 (that is, a flowchart including a process for taking in outside air) is executed in the process of step S112. .

[Summary of Third Embodiment]
As described above, the automatic operation control device 100b of the present embodiment further includes a detection unit (in this example, the external air detection unit 75) that detects contaminants in the outside air of the host vehicle M, and the air conditioning control unit 190 includes: It is determined whether or not the outside air is taken in according to the degree that the contaminant detected by the outside air detection unit 75 is included in the outside air, and when the outside air contains a pollutant of a predetermined threshold or more, it is determined that the outside air is not taken in. . Thereby, the automatic operation control apparatus 100b of this embodiment can suppress that the air in a vehicle interior is contaminated with a pollutant by adjustment of the environment in a vehicle interior.

<Modification 1>
Hereinafter, a first modification of the second embodiment and the third embodiment will be described with reference to the drawings. In 2nd Embodiment and 3rd Embodiment, various conditions in the case of adjusting the environment of a vehicle interior by external air were demonstrated. In the first modification, the state of the window 410 when adjusting the environment in the vehicle interior with outside air will be described. In addition, about the structure similar to embodiment mentioned above, the same code | symbol is attached | subjected and description is abbreviate | omitted.

  FIG. 17 is a flowchart illustrating an example of a process flow of the opening / closing control unit 192 according to the first modification. The opening / closing control unit 192 of the first modification controls the opening / closing of the window 410 based further on the speed of the host vehicle M. First, the opening / closing control unit 192 determines whether or not the speed of the host vehicle M detected by the vehicle sensor 40 is faster than a predetermined threshold (hereinafter, threshold Th1) (step S910). When the speed of the host vehicle M detected by the vehicle sensor 40 is faster than a predetermined threshold value (hereinafter referred to as threshold value Th1), the opening / closing control unit 192 has such an extent that the window 410 is opened (hereinafter referred to as opening degree) in the “open state”. The upper limit is relaxed (step S912). Next, when the speed of the host vehicle M is equal to or less than the threshold Th1, the opening / closing control unit 192 further determines whether or not the speed of the host vehicle M is slower than a predetermined threshold (hereinafter referred to as the threshold Th2) (step S914). . Here, the relationship between the threshold Th1 and the threshold Th2 is threshold Th1> threshold Th2. When the speed of the host vehicle M is equal to or lower than the threshold value Th1 and equal to or higher than the threshold value Th2, the opening / closing control unit 192 ends the process without changing the upper limit of the opening degree. When the speed of the host vehicle M is slower than the threshold value Th2, the opening / closing control unit 192 tightens the upper limit of the opening of the window 410 (step S916).

  For example, if the opening when the window 410 is mechanically fully opened is 100 [%] and the opening when the window 410 is closed is 0 [%], the upper limit of the opening is moderated. To increase the upper limit of the opening of the window 410 (for example, 50% or more), and to tighten the upper limit of the opening, the upper limit of the opening of the window 410 is relaxed. (For example, less than 50 [%]). Thereby, the opening / closing control unit 192 changes the opening degree of the window unit 410 according to the speed of the host vehicle M when the air-conditioning control unit 190 controls the window unit 410 to be in the “open state”.

[Summary of Modification 1]
As described above, the opening / closing control unit 192 of the first modification controls the opening / closing of the window 410 based further on the speed of the host vehicle M. As the speed of the host vehicle M increases, the opening / closing of the window 410 is increased. Increase the degree (in this example, the opening). Here, when the speed of the host vehicle M is slow or when the host vehicle M is stopped, if the window 410 is wide open, a passenger other than the user of the host vehicle M can see the passenger compartment. In some cases, the vehicle may enter the passenger compartment. Therefore, it is preferable that the window 410 is slightly opened when the speed of the host vehicle M is low, and is largely opened when the speed of the host vehicle M is high. According to the opening / closing control unit 192 of the first modification, the upper limit of the opening degree can be changed according to the speed of the host vehicle M to protect the privacy in the passenger compartment.

<Fourth embodiment>
Hereinafter, the fourth embodiment will be described with reference to the drawings. In the above-described embodiment, the case where the environment in the vehicle interior is adjusted by the air conditioner 90 or outside air has been described. In the fourth embodiment, a case will be described in which the vehicle M travels along a route that changes the environment in the vehicle interior or a route that does not change, and the environment in the vehicle interior is adjusted. In addition, about the structure similar to embodiment mentioned above, the same code | symbol is attached | subjected and description is abbreviate | omitted.

  FIG. 18 is a functional configuration diagram of the first control unit 120c and the second control unit 160 of the fourth embodiment. The vehicle control device 1c of the fourth embodiment includes an automatic driving control device 100c instead of the automatic driving control device 100. The automatic driving control device 100c includes an action plan generation unit 140c instead of the action plan generation unit 140. The action plan generation unit 140c further includes an adjustment operation control unit 141. The adjustment operation control unit 141 controls traveling for adjusting the environment in the passenger compartment based on an instruction (control) from the air conditioning control unit 190. Details of the control of the adjustment operation control unit 141 will be described later.

[Control processing flow of air-conditioning control unit 190]
FIG. 19 is a flowchart illustrating an example of a flow of a series of processes in step S112 according to the fourth embodiment. Of the processes shown in FIG. 19, processes similar to the step numbers shown in FIG. 7 are assigned the same step numbers and description thereof is omitted. The air-conditioning control unit 190 of the present embodiment controls the adjustment operation control unit 141 based on the adjustment mode of the environment in the vehicle cabin determined up to step S112.

  First, the air conditioning control unit 190 determines whether or not the adjustment mode determined up to step S112 is the adjustment mode (1) (step S1200). When the determined adjustment mode is the adjustment mode (1), the air-conditioning control unit 190 travels to the adjustment operation control unit 141 in a shaded route (that is, a route in which the temperature in the passenger compartment decreases) compared to the sunny route. An instruction is given (step S1222). Next, when the determined adjustment mode is not the adjustment mode (1), the air conditioning control unit 190 determines whether or not the adjustment mode is the adjustment mode (2) (step S1204). When the determined adjustment mode is the adjustment mode (2), the air-conditioning control unit 190 travels to the adjustment operation control unit 141 in a sunny path (that is, a path in which the temperature in the passenger compartment increases) compared to the shaded path. An instruction is given (step S1224). Next, when the determined adjustment mode is not the adjustment mode (2), the air conditioning control unit 190 determines whether or not the adjustment mode is the adjustment mode (3) (step S1208). When the determined adjustment mode is the adjustment mode (3), the air-conditioning control unit 190 gives an instruction to drive the sunny path and the shaded path to the same extent (that is, a path that maintains the temperature in the passenger compartment) ( Step S1226).

  For example, the adjustment operation control unit 141 travels on a route according to an instruction from the air conditioning control unit 190 based on the position of the sun recognized by the recognition unit 130 based on the captured image of the camera 10 and the position of the shade. Thus, the target trajectory is generated.

  Note that the adjustment operation control unit 141 replaces the configuration for generating the target trajectory that travels in the position of the sun or the position of the shade recognized by the recognition unit 130 based on the first map information 54 with the position of the sun. The structure which produces | generates the path | route on the map which drive | works a shade position may be sufficient. In this case, the first map information 54 is associated with information indicating the position of the sun or the position of the shade. Hinata positions are, for example, elevated roads and bridges, and shaded positions are underpasses and underpasses.

[Summary of Fourth Embodiment]
As described above, in the automatic operation control apparatus 100c of the present embodiment, the operation control unit (in this example, the action plan generation unit 140c and the second control unit 160) causes the air conditioning control unit 190 to increase the temperature in the vehicle interior. In the case of adjustment, when the air conditioning control unit 190 adjusts to lower the temperature in the passenger compartment, the temperature of the outside air is lower than that of the other route. A route that travels along a route and has a higher temperature of outside air than other routes is a route that is exposed to sunlight (that is, a sunlit route), and a route that has a lower outside air temperature than other routes is exposed to sunlight. There is no (that is, shaded) route. Thereby, the automatic driving control apparatus 100c of this embodiment can reduce the electric power which the own vehicle M consumes compared with the case where the environment of a vehicle interior is adjusted with the air conditioner 90. FIG.

<Fifth Embodiment>
Hereinafter, a fifth embodiment will be described with reference to the drawings. In the above-described embodiment, the case where the environment in the vehicle interior is adjusted at the time of the first unmanned operation period to the third unmanned operation period in which the host vehicle M is unmanned is described. In the fifth embodiment, a case will be described in which the environment in the vehicle interior is adjusted when the host vehicle M is manned. In addition, about the structure similar to embodiment mentioned above, the same code | symbol is attached | subjected and description is abbreviate | omitted.

  FIG. 20 is a diagram illustrating an example of timing at which the air-conditioning control unit 190 according to the fifth embodiment adjusts the environment in the vehicle interior. The air conditioning control unit 190 of the present embodiment further adjusts the environment in the passenger compartment at the time of manned operation. Specifically, the air conditioning control unit 190 adjusts the environment in the passenger compartment during the manned operation period. The manned driving period is a period of manned driving from the time when the occupant gets on board at the first timing (time t1 shown in the figure) to the third timing (time t3 shown in the figure) when the occupant gets off.

  In the manned operation period, the air conditioning control unit 190 determines the adjustment mode of the environment in the passenger compartment based on the action plan information 502. FIG. 21 is a table showing an example of the contents of the action plan information 502. In the action plan information 502, for example, the date and time when the occupant arrives at the destination of the host vehicle M (that is, the date and time of the third timing) and the position where the occupant gets off at the third timing (the destination shown in the figure) The associated information. The action plan information 502 is registered in the management apparatus 500 by a user of the host vehicle M, for example. For example, the automatic driving control device 100 refers to the action plan information 502 of the management device 500 via the network NW and travels to the arrival location indicated by the action plan information 502 by manned driving.

  The air-conditioning control unit 190 determines that the current period is the manned driving period when the recognition result of the vehicle interior recognition unit 131 indicates that the occupant has boarded the vehicle at the position of reception at the position indicated in the action history information 501. In the manned operation period, the air conditioning control unit 190 adjusts the environment in the passenger compartment based on the characteristics of the destination associated with the third timing until the latest third timing indicated in the action plan information 502. . For example, when the destination is “park” and the current time is hot, it is presumed that the passenger will stay in a hot place from now on, so it is preferable that the passenger compartment is cooled. In this case, the air-conditioning control unit 190 determines the adjustment mode of the environment in the passenger compartment as the adjustment mode (1). Further, when the destination is “sports gym”, it is preferable that the body temperature of the occupant is moderately warmed before the exercise is started. In this case, the air conditioning control unit 190 determines the adjustment mode of the environment in the passenger compartment as the adjustment mode (2). Thereby, the air-conditioning control part 190 can adjust the environment in a vehicle interior to the environment according to the movement | movement behavior of the passenger | crew who gets off at a 3rd timing.

[Processing flow]
Hereinafter, a series of processes of the automatic operation control device 100 according to the fifth embodiment will be described with reference to flowcharts. FIG. 22 is a flowchart illustrating an example of a flow of a series of processes of the automatic driving control apparatus 100 according to the fifth embodiment. Of the processes shown in FIG. 22, processes similar to the step numbers shown in FIG. 7 are assigned the same step numbers and description thereof is omitted. The process of this flowchart is repeated with a predetermined period, for example.

  The air conditioning control unit 190 determines whether or not the current period is a manned operation period when the current period is not any of the first unmanned operation period, the second unmanned operation period, and the third unmanned operation period. (Step S114). The air conditioning control unit 190 ends the process when the current period is not the manned operation period. When the recognition result of the vehicle interior recognition unit 131 indicates that the occupant has boarded the vehicle at the position of the passenger shown in the action history information 501, the current period is manned. It determines with it being a driving | running period, and the adjustment mode of the environment in a vehicle interior is determined based on the action plan information 502 in a manned driving | operation period (step S116).

[Processing flow during manned operation]
FIG. 23 is a flowchart illustrating an example of a flow of a series of processes in step S116. In step S116, the air conditioning control unit 190 determines the adjustment mode of the environment in the passenger compartment during the manned operation period. First, based on the action plan information 502, the air-conditioning control unit 190 preferably determines that the feature of the destination arriving at the latest third timing after the current time is lower than the current temperature in the passenger compartment. Is determined (step S1600). The air-conditioning control unit 190 adjusts the adjustment mode of the environment in the passenger compartment when the feature of the destination arriving at the third timing is preferably lower than the current temperature in the passenger compartment. (Step S1602). Next, the air-conditioning control unit 190 determines that the destination of the third timing arrives when the feature of the destination arriving at the latest third timing after the present is not preferable to be lower than the current temperature in the passenger compartment. It is determined whether or not the ground feature is preferably higher than the current temperature in the passenger compartment (step S1604). The air conditioning control unit 190 adjusts the adjustment mode of the environment in the passenger compartment when the feature of the destination arriving at the third timing is preferably higher than the current temperature in the passenger compartment. To decide. When it is preferable that the feature of the destination arriving at the third timing does not decrease or increase with respect to the current temperature in the vehicle interior, the air conditioning control unit 190 changes the environment adjustment mode in the vehicle interior to the adjustment mode (3). (Step S1608).

[Summary of Fifth Embodiment]
As described above, in the automatic operation control apparatus 100 of the present embodiment, the air conditioning control unit 190 starts from the first timing to the next third time based on the action plan acquired from the management apparatus 500 that manages the action plan information 502. Until the timing, from the time when the host vehicle M is manned, the environment in the passenger compartment is further adjusted to an appropriate temperature. Thereby, the automatic driving control device 100 according to the present embodiment can adjust the environment in the passenger compartment according to the behavior of the next passenger while the passenger is in the passenger compartment.

[Hardware configuration]
FIG. 24 is a diagram illustrating an example of a hardware configuration of the automatic driving control apparatus 100 according to the embodiment. As shown in the figure, an automatic operation control device 100 includes a communication controller 100-1, a CPU 100-2, a RAM 100-3 used as a working memory, a ROM 100-4 that stores a boot program, a storage device such as a flash memory and an HDD. 100-5, the drive device 100-6, and the like are connected to each other via an internal bus or a dedicated communication line. The communication controller 100-1 communicates with components other than the automatic operation control device 100. The storage device 100-5 stores a program 100-5a executed by the CPU 100-2. This program is expanded in the RAM 100-3 by a DMA (Direct Memory Access) controller (not shown) or the like and executed by the CPU 100-2. Thereby, a part or all of the first control unit 120 and the second control unit 160 is realized.

The embodiment described above can be expressed as follows.
Storage for storing the program;
And a processor,
A control device configured to control the air conditioner in the vehicle compartment from before the predetermined timing so that the environment in the vehicle compartment of the host vehicle becomes an environment according to the condition of the transportation target at the predetermined timing. .

  As mentioned above, although the form for implementing this invention was demonstrated using embodiment, this invention is not limited to such embodiment at all, In the range which does not deviate from the summary of this invention, various deformation | transformation and substitution Can be added.

DESCRIPTION OF SYMBOLS 1, 1a, 1b, 1c ... Vehicle control device, 10 ... Camera, 12 ... Radar device, 14 ... Finder, 16 ... Object recognition device, 20 ... Communication device, 40 ... Vehicle sensor, 50 ... Navigation device, 51 ... GNSS reception , 53 ... route determination unit, 54 ... first map information, 70 ... thermometer, 71 ... outside air thermometer, 72 ... vehicle interior thermometer, 75 ... outside air detection unit, 80 ... driving operator, 90 ... air conditioner, 100 ... automatic operation control device, 100-1 ... communication controller, 100-5 ... storage device, 100-5a ... program, 100-6 ... drive device, 100a ... automatic operation control device, 100b ... automatic operation control device, 100c ... automatic Operation control device, 120 ... first control unit, 120c ... first control unit, 130 ... recognition unit, 131 ... vehicle compartment recognition unit, 132 ... appropriate temperature determination unit, 140, 140c ... Motion plan generation unit, 141 ... adjustment operation control unit, 160 ... second control unit, 180 ... storage unit, 181 ... appropriate temperature information, 190 ... air conditioning control unit, 192 ... open / close control unit, 194 ... outside air determination unit, 200 ... Traveling drive force output device, 210 ... brake device, 220 ... steering device, 300 ... in-vehicle camera, 400 ... power window device, 410 ... window portion, 412 ... drive portion, 500 ... management device, 501 ... action history information, 502 ... Action plan information, M ... Own vehicle, NW ... Network, OB ... Loaded object, P ... Captured image, S ... Vehicle system

Claims (19)

A control device comprising: an air conditioning control unit that controls the air conditioner in the vehicle compartment from before the predetermined timing so that the environment in the vehicle compartment of the host vehicle becomes an environment according to a condition to be transported at the predetermined timing. A recognition unit for recognizing a situation around the host vehicle;
A driving control unit for controlling one or both of steering and acceleration / deceleration of the host vehicle based on the recognition result of the recognition unit;
The air conditioning control unit controls the air conditioner in the vehicle interior from the time when the operation control unit performs unmanned operation.
The control device according to claim 1. The predetermined timing is a first timing when an occupant gets on the host vehicle,
The condition is a condition based on an action history of the occupant of the host vehicle,
The air conditioning control unit controls the air conditioner based on the behavior history before the first timing among information indicating the behavior history acquired from a management device that manages the behavior history.
The control device according to claim 1 or 2. The predetermined timing is a second timing at which a load to be transported by the host vehicle is loaded on the host vehicle.
The condition is a condition based on the load loaded on the host vehicle,
The air-conditioning control unit further controls the air-conditioning device based on an appropriate temperature of the load after the second timing.
The control apparatus as described in any one of Claims 1-3. A vehicle interior recognition unit for recognizing the situation inside the host vehicle;
An appropriate temperature determination unit that determines an appropriate temperature of the load based on the situation inside the host vehicle recognized by the vehicle interior recognition unit;
The control device according to claim 4, wherein the air conditioning control unit controls the air conditioning device based on an appropriate temperature of the load determined by the appropriate temperature determination unit. The predetermined timing is a first timing when an occupant of the host vehicle gets on the host vehicle and a third timing when an occupant gets off the host vehicle,
The condition is a condition based on the action plan of the host vehicle,
The air conditioning control unit is from the first timing to the next third timing based on the action plan acquired from a management device that manages the action plan, and from the time when the host vehicle is manned. , Further adjusting the environment in the passenger compartment to an appropriate temperature;
The control apparatus as described in any one of Claims 1-5. The predetermined timing is a first timing when an occupant gets on the host vehicle and a third timing when an occupant gets off the host vehicle,
The condition is a condition based on outside air,
The air conditioning control unit controls the air conditioner according to outside air from the third timing to the next first timing, and controls the air conditioner according to the condition after the first timing. ,
The control device according to any one of claims 1 to 6. The predetermined timing is a third timing at which an occupant gets off the vehicle.
The condition is a condition based on the action plan of the host vehicle,
The air conditioning control unit, when there is no action plan for the host vehicle in a predetermined period after the third timing, based on information indicating the action plan acquired from a management device that manages the action plan, Do not control,
The control device according to any one of claims 1 to 7. The operation control unit further causes the host vehicle to travel based on an adjustment state of an environment in the vehicle interior of the air conditioning control unit.
The control device according to claim 2. When the air-conditioning control unit adjusts to increase the temperature in the vehicle interior, the operation control unit travels on a route where the outside air temperature is higher than other routes, and the air-conditioning control unit detects the temperature in the vehicle interior. When making adjustments to reduce the travel, run the route where the temperature of the outside air is lower than other routes,
The control device according to claim 9. A route having a higher outside air temperature than the other route is a route that is exposed to sunlight, and a route having a lower outside air temperature than the other route is a route that is not exposed to sunlight.
The control device according to claim 10. When the air conditioning control unit controls the air conditioner according to outside air, the outside air is taken into the vehicle interior.
The control device according to any one of claims 1 to 11. A detection unit for detecting contaminants in the outside air of the vehicle;
The air conditioning control unit determines whether to take in outside air according to the degree to which the contaminant detected by the detecting unit is included in outside air.
The control device according to claim 12. The air conditioning control unit determines that the outside air is not taken in when the contaminant above the predetermined threshold is included in the outside air.
The control device according to claim 13. Further comprising an opening / closing control unit for controlling opening / closing of the window of the host vehicle based on an adjustment state of the environment of the vehicle interior of the air conditioning control unit;
The control device according to any one of claims 1 to 14. The opening / closing control unit controls the opening / closing of the window further based on the speed of the host vehicle.
The control device according to claim 15. The opening / closing control unit increases the degree of opening of the window as the speed of the host vehicle increases.
The control device according to claim 16. The control unit
Controlling the air conditioner in the vehicle compartment before the predetermined timing so that the environment in the vehicle compartment of the host vehicle becomes an environment according to the condition of the transportation target at the predetermined timing;
Control method. To the control unit,
Controlling the air conditioner in the vehicle compartment before the predetermined timing so that the environment in the vehicle compartment of the host vehicle becomes an environment according to the condition of the transportation target at the predetermined timing;
program.

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