JP2020166419A - Vehicle controller, vehicle control method, and program - Google Patents

Abstract

To provide a vehicle controller, a vehicle control method, and a program capable of simplifying an operation when performing self-propelled parking.SOLUTION: A vehicle controller includes: a recognition unit that recognizes the surrounding environment of a vehicle; a driving control unit that controls the speed and steering of the vehicle based on the recognition result of the recognition unit to drive the vehicle; a reception unit that receives a start instruction of the driving by an instruction different from an instruction with a terminal device owned by a user; and a notification control unit that notifies a user of notification information related to the start instruction.SELECTED DRAWING: Figure 2

Description

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

In recent years, research has been conducted on the automatic control of vehicles. In automatic valet parking using this technology, there is a technology in which a driver performs a self-propelled parking start operation on a vehicle and the vehicle locks the vehicle when the vehicle receives a self-propelled parking start command ( For example, see Patent Document 1).

JP-A-2018-1974444

However, in the above-mentioned conventional technique, when the driver performs the operation for self-propelled parking, the operation may be complicated.

The present invention has been made in consideration of such circumstances, and an object of the present invention is to provide a vehicle control device, a vehicle control method, and a program capable of simplifying an operation when performing self-propelled parking. Make one.

The vehicle control device, the vehicle control method, and the program according to the present invention have adopted the following configurations.
(1): The vehicle control device according to one aspect of the present invention performs speed control and steering control of the vehicle based on a recognition unit that recognizes the surrounding environment of the vehicle and the recognition result of the recognition unit, and controls the vehicle. A driving control unit for driving, a reception unit for receiving a start instruction for driving according to an instruction different from the instruction given by a terminal device owned by the user, and a notification unit for notifying the user of notification information related to the start instruction. It is a vehicle control device including a control unit.

(2): In the aspect of (1) above, the notification information is information for starting the traveling.

(3): In the embodiment (1) or (2) above, the notification control unit notifies the notification unit of the notification information by a notification sound.

(4): In the aspect of (3) above, the vehicle includes an approach warning device that outputs an approach warning sound toward the periphery of the vehicle, and the notification control unit uses the approach warning sound as the notification sound. Is output to the approach alarm device.

(5): In the aspect of (3) above, the vehicle includes an internal combustion engine, the notification unit is the internal combustion engine, and the notification control unit starts the internal combustion engine.

(6): In the embodiment (1) or (2) above, the notification control unit includes an acquisition unit for acquiring information on whether or not parking is possible after the vehicle has started traveling, and the notification control unit starts the vehicle to travel. When parking is not possible after parking, the notification unit is notified of the information that parking is not possible.

(7): In the aspect of (6) above, the door provided in the vehicle can be locked and unlocked based on the operation information transmitted by the operation of the electronic key, and the electronic key is prohibited from being taken out. A carry-out alarm device that emits a carry-out alarm sound when the electronic key is separated from the vehicle by a predetermined distance or more when the conditions are satisfied, and the notification control unit holds the carry-out warning sound as a notification sound. It is to be output to the output alarm device.

(8): In the embodiment (1) or (2), the notification unit is a part of the vehicle, and the notification control unit operates a part of the vehicle to transmit the notification information. This is to notify the notification unit.

(9): In the aspect of (8) above, the notification unit is a light emitting unit provided in the vehicle, and a part of the operation of the vehicle is turning on or off the light emitting unit.

(10): In the aspect of (9) above, the light emitting unit is a light, and a part of the operation of the vehicle is a constant lighting of the light.

(11): In the aspect of (9) above, the light emitting unit is a direction indicator provided in the vehicle, and a part of the operation of the vehicle is blinking of the direction indicator.

(12): In the aspect of (9) above, the light emitting unit is a footlight that illuminates the feet of the driver's seat of the vehicle when the door of the vehicle is closed, and a part of the operation of the vehicle is The foot light is turned off.

(13): In the aspect of (8) above, the notification unit is a steering wheel provided on the vehicle, and a part of the operation of the vehicle is steering of the steering wheel.

(14): In the aspect of (13) above, the notification control unit steers the steering wheels when the user can see the steering wheels.

(15): In the embodiment (1) or (2), the notification control unit has a function of notifying the notification information by a notification sound and a part of the operation of the vehicle, and is provided in the surrounding environment of the vehicle. Correspondingly, the notification information is notified to the notification unit by one or both of the notification sound and the operation of a part of the vehicle.

(16): In the aspect of the above (15), the notification control unit notifies the notification information by both a notification sound and a part of the operation of the vehicle when the periphery of the vehicle is congested. It informs the department.

(17): In any one of the above (1) to (16), the door provided in the vehicle can be locked and unlocked based on the operation information transmitted by the operation of the electronic key. The operation control unit faces the boarding / alighting area where the occupants of the vehicle get on and off, and the door provided on the vehicle moving in the stop area where the vehicle stops or the area where the operation information can be received is unlocked. In some cases, the movement of the vehicle is stopped.

(18): In the vehicle control method according to one aspect of the present invention, the computer recognizes the surrounding environment of the vehicle and performs speed control and steering control of the vehicle based on the recognition result of the surrounding environment of the vehicle. This is a vehicle control method in which a vehicle is driven, an instruction to start the traveling is received by an instruction different from an instruction by a terminal device owned by the user, and notification information related to the start instruction is notified to the user to a notification unit.

(19): In the program according to one aspect of the present invention, the computer performs a process of recognizing the surrounding environment of the vehicle and speed control and steering control of the vehicle based on the recognition result of the surrounding environment of the vehicle. A process of driving the vehicle, a process of receiving the start instruction of the running according to an instruction different from the instruction of the terminal device owned by the user, and a process of notifying the user of the notification information related to the start instruction to the notification unit. , Is a program that executes.

According to (1) to (19), the operation for self-propelled parking can be simplified.
According to (2) to (16), (18), and (19), the user can be notified of the start of self-propelled parking.

It is a block diagram of the vehicle system 1 using the vehicle control device which concerns on embodiment. It is a functional block diagram of the 1st control unit 120 and the 2nd control unit 160. It is a figure which shows typically the scene where the self-propelled parking event is executed. It is a figure which shows an example of the structure of the parking lot management device 400. It is a flowchart which shows an example of the processing in a parking lot management apparatus 400. It is a flowchart which shows an example of the processing in the automatic operation control apparatus 100. It is a flowchart which shows an example of the processing in the automatic operation control apparatus 100. It is a flowchart which shows an example of the processing in the automatic operation control apparatus 100. It is a figure which shows an example of the hardware composition of the automatic operation control device 100 of an embodiment.

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

<First Embodiment>
The first embodiment of the present invention will be described.

[overall structure]
FIG. 1 is a configuration diagram of a vehicle system 1 using the vehicle control device according to the embodiment. The vehicle on which the vehicle system 1 is mounted is, for example, a vehicle such as two wheels, three wheels, or four wheels, and the drive source thereof is an internal combustion engine such as a diesel engine or a gasoline engine, an electric motor, or a combination thereof. The electric motor operates by using the electric power generated by the generator connected to the internal combustion engine or the electric power generated by the secondary battery or the fuel cell. In the first embodiment, the vehicle on which the vehicle system 1 is mounted is an electric vehicle whose drive source is an electric motor.

The vehicle system 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, a navigation device 50, and the like. MPU (Map Positioning Unit) 60, driving controller 80, automatic driving control device 100, traveling driving force output device 200, braking device 210, steering device 220, light emitting device 230, alarm device 240, and so on. It is provided with a door lock device 250. For example, a steering wheel 225, which is a front wheel, is connected to the steering device 220. The light emitting device 230 includes a headlight 232, a blinker (direction indicator) 234, and a foot light 236. The alarm device 240 includes a proximity warning device 242 and a carry-out alarm device 244. The carry-out alarm device 244 may be provided on the electronic key K. The light may be a light other than the headlight 232, for example, a tail light or the like. These devices and devices are connected to each other by a multiplex communication line such as a CAN (Controller Area Network) communication line, a serial communication line, a wireless communication network, or the like. The configuration shown in FIG. 1 is merely an example, and a part of the configuration may be omitted or another configuration may be added. Further, the automatic operation control device 100 receives operation information such as door lock information and unlock information transmitted by the electronic key K.

The camera 10 is, for example, 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 position of the vehicle (hereinafter, own vehicle M) on which the vehicle system 1 is mounted. When imaging the front, the camera 10 is attached to the upper part of the front windshield, the back surface of the rearview mirror, or the like. The camera 10 periodically and repeatedly images the periphery of the own vehicle M, for example. The camera 10 may be a stereo camera.

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

The finder 14 is a LIDAR (Light Detection and Ranging). The finder 14 irradiates the periphery of the own vehicle M with light and measures the scattered light. The finder 14 detects the distance to the target based on the time from light emission to light reception. The light to be irradiated is, for example, a pulsed laser beam. The finder 14 is attached to an arbitrary position of the own vehicle M.

The object recognition device 16 performs sensor fusion processing on the detection results of a part 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 operation 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 operation control device 100 as they are. The object recognition device 16 may be omitted from the vehicle system 1.

The communication device 20 communicates with other vehicles or various server devices existing in the vicinity of the own vehicle M by using, for example, a cellular network, a Wi-Fi network, Bluetooth (registered trademark), DSRC (Dedicated Short Range Communication), or the like. To do.

The HMI 30 presents various information to the occupants of the own vehicle M and accepts input operations by the occupants. The HMI 30 includes a display device, a speaker, a buzzer, a touch panel, a switch, a key, and the like. The display device includes, for example, a meter display provided on a portion of the instrument panel facing the driver, a center display provided in the center of the instrument panel, a HUD (Head Up Display), and the like. The HUD is, for example, a device that superimposes an image on a landscape to visually recognize an image. As an example, a virtual image is visually recognized by an occupant by projecting light including an image onto a front windshield or a combiner of the own vehicle M.

The vehicle sensor 40 includes a vehicle speed sensor that detects the speed of the own vehicle M, an acceleration sensor that detects acceleration, a yaw rate sensor that detects an angular speed around the vertical axis, an orientation sensor that detects the direction of the own vehicle M, and an illuminance around the vehicle. It includes an illuminance sensor for detecting the above, a door lock sensor for detecting the door lock and unlock of the own 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 routing 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 identifies the position of the own vehicle M based on the signal received from the GNSS satellite. The position of the own vehicle M may be specified or complemented 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 partially or wholly shared with the above-mentioned HMI 30. The route determination unit 53, for example, has a route from the position of the own vehicle M (or an arbitrary position input) specified by the GNSS receiver 51 to the destination input by the occupant using the navigation HMI 52 (hereinafter,). The route on the map) is determined with reference to the first map information 54. The first map information 54 is, for example, information in which a road shape is expressed by a link indicating a road and a node connected by the link. The first map information 54 may include road curvature, POI (Point Of Interest) information, and the like. The route on the map is output to MPU60. The navigation device 50 may provide route guidance using the navigation HMI 52 based on the route on the map. The navigation device 50 may be realized by, for example, the function of a terminal device such as a smartphone or a tablet terminal owned 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 acquire a route equivalent to the route on the map from the navigation server. The navigation device 50 outputs the determined route on the map to the MPU 60.

The MPU 60 includes, for example, a recommended lane determination unit 61, and holds the second map information 62 in a storage device such as an HDD or a flash memory. The recommended lane determination unit 61 divides the route on the map provided by the navigation device 50 into a plurality of blocks (for example, divides the route 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 determination unit 61 determines which lane to drive from the left. When a branch point exists on the route on the map, the recommended lane determination unit 61 determines the recommended lane so that the own vehicle M can travel on a reasonable route to proceed to the branch destination.

The second map information 62 is more accurate map information than the first map information 54. The second map information 62 includes, for example, information on the center of the lane, information on the boundary of the lane, and the like. Further, the second map information 62 may include road information, traffic regulation information, address information (address / zip code), facility information, telephone number information, and the like. The second map information 62 may be updated at any time by the communication device 20 communicating with another device.

The driving controller 80 includes, for example, an accelerator pedal, a brake pedal, a shift lever, a steering wheel, a deformed steering wheel, a joystick, and other controls. A sensor for detecting the amount of operation or the presence or absence of operation is attached to the operation operator 80, and the detection result is the automatic operation control device 100, or the traveling driving force output device 200, the brake device 210, and the steering device. It is output to a part or all of 220.

The automatic operation control device 100 includes, for example, a first control unit 120 and a second control unit 160. Each of the first control unit 120 and the second control unit 160 is realized by executing a program (software) by a hardware processor such as a CPU (Central Processing Unit). In addition, some or all of these components are hardware (circuits) such as LSI (Large Scale Integration), ASIC (Application Specific Integrated Circuit), FPGA (Field-Programmable Gate Array), and GPU (Graphics Processing Unit). It may be realized by the part (including circuitry), or it may be realized by the cooperation of software and hardware. The program may be stored in advance in a storage device (a storage device including a non-transient storage medium) such as an HDD or a flash memory of the automatic operation control device 100, or is removable such as a DVD or a CD-ROM. It is stored in a storage medium, and may be installed in the HDD or flash memory of the automatic operation control device 100 by mounting the storage medium (non-transient storage medium) in the drive device.

FIG. 2 is a functional configuration diagram of the first control unit 120 and the second control unit 160. The first control unit 120 includes, for example, a reception unit 125, a recognition unit 130, and an action plan generation unit 140. The reception unit 125 receives various information output by, for example, the object recognition device 16, the communication device 20, the MHI 30, the vehicle sensor 40, the driving controller 80, and the like. The information received by the reception unit 125 includes a door lock request requesting a door lock, no parking space, and parking indicating whether or not parking is possible after the vehicle has started running, indicating that parking is not possible. Information that there is no parking space, which is impossible information, and information that the door 255 is in the unlocked state are included. The door lock request is transmitted to the reception unit 125, for example, by operating the electronic key K of the driver who is the user. The information that there is no parking space is transmitted to the reception unit 125 by, for example, the parking lot management device 400 that detects that there is no empty parking space in the parking lot.

The second control unit 160 starts self-propelled parking on the condition that the travel route is generated by the first control unit 120 and the door lock request is received. The door lock request is an instruction to start self-propelled parking. The instruction to start self-propelled parking based on the door lock request is different from the instruction given by the terminal device owned by the driver. The reception unit 125 outputs a part of the received information, for example, the information output by the object recognition device 16 and the travel route information transmitted by the parking lot management device 400 to the recognition unit 130. The reception unit 125 outputs another part of the received information, such as information such as a door lock request and no parking space, to the acquisition unit 162 of the second control unit 160. The acquisition unit 162 acquires information such as a door lock request and no parking space. The reception unit 125 may also output a part of the received information to the recognition unit 130 and output it to the acquisition unit 162 via the recognition unit 130 and the action plan generation unit 140.

The first control unit 120, for example, realizes a function by AI (Artificial Intelligence) and a function by a model given in advance in parallel. For example, the function of "recognizing an intersection" is executed in parallel with recognition of an intersection by deep learning or the like and recognition based on predetermined conditions (pattern matching signals, road markings, etc.). It may be realized by scoring and comprehensively evaluating. This ensures the reliability of autonomous driving.

The recognition unit 130 determines the position, speed, acceleration, and other states of objects around the own vehicle M based on the information input from the camera 10, the radar device 12, and the finder 14 via the object recognition device 16. recognize. The position of the object is recognized as, for example, a position on absolute coordinates with the representative point (center of gravity, center of drive axis, etc.) of the own 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 a corner of the object, or may be represented by a represented area. The "state" of an object may include acceleration or jerk of the object, or "behavioral state" (eg, whether or not the vehicle is changing lanes or is about to change lanes).

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

When recognizing the traveling lane, the recognition unit 130 recognizes the position and posture of the own vehicle M with respect to the traveling lane. The recognition unit 130 determines, for example, the deviation of the reference point of the own vehicle M from the center of the lane and the angle formed by the center of the lane in the traveling direction of the own vehicle M with respect to the relative position of the own vehicle M with respect to the traveling lane. And may be recognized as a posture. Instead, the recognition unit 130 recognizes the position of the reference point of the own vehicle M with respect to any side end portion (road division line or road boundary) of the traveling lane as the relative position of the own vehicle M with respect to the traveling lane. You may.

Further, the recognition unit 130 recognizes and detects a pedestrian or the like entering a predetermined range around the own vehicle M based on the information or the like input via the object recognition device 16. Further, the recognition unit 130 recognizes the congestion situation around the own vehicle M based on the information input via the object recognition device 16, and the recognition unit 130 recognizes whether or not the vicinity of the own vehicle M is congested. Is determined. The recognition unit 130 may determine whether or not the vicinity of the own vehicle M is congested in any way. For example, when the number of vehicles, pedestrians, obstacles, etc. around the own vehicle M exceeds a predetermined number, or the volume (area, etc.) occupied by these exceeds a predetermined ratio, the vicinity of the own vehicle M May be determined to be congested.

Further, when the own vehicle M is stopped in the stop area 310 (see FIG. 3), the recognition unit 130 recognizes the driver in the boarding / alighting area 320 and recognizes the position of the driver with respect to the own vehicle M. The recognition unit 130 outputs the congestion status of the own vehicle M and the position of the driver with respect to the own vehicle M to the acquisition unit 162 of the second control unit 160.

In principle, the action plan generation unit 140 travels in the recommended lane determined by the recommended lane determination unit 61, and the own vehicle M automatically (driver) so as to be able to respond to the surrounding conditions of the own vehicle M. Generate a target track to run in the future (regardless of the operation of). The target trajectory includes, for example, a velocity element. For example, the target track is expressed as a sequence of points (track points) to be reached by the own vehicle M. The track point is a point to be reached by the own vehicle M for each predetermined mileage (for example, about several [m]) along the road, and separately, a predetermined sampling time (for example, about 0 comma [sec]). ) Target velocity and target acceleration are generated as part of the target trajectory. Further, the track point may be a position to be reached by the own vehicle M at the sampling time for each predetermined sampling time. In this case, the information of the target velocity and the target acceleration is expressed by the interval of the orbital points.

The action plan generation unit 140 may set an event for automatic driving when generating a target trajectory. The automatic driving event includes a constant speed driving event, a low speed following driving event, a lane change event, a branching event, a merging event, a takeover event, a self-propelled parking event in which unmanned parking is performed in a valet parking lot, and the like. The action plan generation unit 140 generates a target trajectory according to the activated event. The action plan generation unit 140 includes a self-propelled parking control unit 142 that is activated when the self-propelled parking event is executed. The details of the function of the self-propelled parking control unit 142 will be described later.

The second control unit 160 sets the traveling driving force output device 200, the brake device 210, and the steering device 220 so that the own vehicle M passes the target trajectory generated by the action plan generation unit 140 at the scheduled time. Control. The second control unit 160 performs speed control and steering control of the own vehicle M based on the recognition result of the recognition unit 130, and causes the own vehicle M to travel and self-park in the parking space. The second control unit 160 is an example of an “operation control unit”. The second control unit 160 controls, for example, to operate a part of the own vehicle M according to the surrounding environment of the own vehicle M when the own vehicle M starts self-propelled parking, for example, light emission control of the light emitting device 230. The light emitting device 230 and the alarm device 240 are notified of the information to start self-propelled parking by performing alarm control of the alarm device 240.

The second control unit 160 includes, for example, an acquisition unit 162, a speed control unit 164, a steering control unit 166, a light emission control unit 167, an alarm control unit 168, and a door lock control unit 169. The acquisition unit 162 acquires the information of the target trajectory (orbit point) generated by the action plan generation unit 140 and stores it in a memory (not shown). The speed control unit 164 controls the traveling driving force output device 200 or the braking device 210 based on the speed element associated with the target trajectory 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 feedforward control according to the curvature of the road in front of the own vehicle M and feedback control based on the deviation from the target trajectory.

Further, the speed control unit 164 determines that the door 255 is unlocked while the locked door 255 is self-propelled and parked in the stop area 310 or the receivable area where the operation information transmitted by the electronic key K can be received. , The self-propelled parking is stopped and the own vehicle M is stopped.

The light emitting control unit 167 controls the lighting of the light emitting device 230 as light emitting control according to the traveling state of the own vehicle M, the surrounding environment, and the like. For example, the light emission control unit 167 constantly turns on the headlight 232 of the light emitting device 230 when the own vehicle M is traveling when the periphery of the own vehicle M is dark at night. Further, the light emission control unit 167 blinks the blinker 234 when the own vehicle M plans to make a right turn or a left turn, and turns off the blinker 234 after the right turn or the left turn is completed. Further, the light emission control unit 167 blinks the blinker 234 when the own vehicle M is urgently stopped or is parked. Further, the light emission control unit 167 turns on the foot light 236 when the own vehicle M is stopped when the periphery of the own vehicle M is dark at night.

When it becomes necessary to output an alarm for the own vehicle M, the alarm control unit 168 causes the alarm device 240 to output a necessary alarm as an alarm control. For example, when the recognition unit 130 recognizes a pedestrian or the like that has entered a predetermined range around the own vehicle M while traveling, the alarm control unit 168 notifies the approach to the surroundings of the own vehicle M. The sound is output to the approach warning device 242 of the warning device 240. Further, the alarm control unit 168 holds the electronic key K toward the driver when the electronic key K is separated from the own vehicle M by a predetermined distance or more, for example, when the electronic key K is taken out of the vehicle under the condition that the predetermined carry-out prohibition condition is satisfied. The output alarm sound is output to the output alarm device 244. The carry-out prohibition condition is, for example, that the own vehicle M is in a runnable state.

Further, the steering control unit 166, the light emission control unit 167, and the alarm control unit 168 provide notification information related to the start instruction when the acquisition unit 162 acquires the door lock request transmitted by the operation of the electronic key K. The steering device 220, the light emitting device 230, and the alarm device 240 are notified of the information that the self-propelled parking is started and the own vehicle M starts running. The steering control unit 166, the light emitting control unit 167, and the alarm control unit 168 are examples of the "notification control unit", and the steering wheel 225, the light emitting device 230, and the alarm device 240 are examples of the "notification unit".

For example, when the acquisition unit 162 acquires the door lock request and starts self-propelled parking, the steering control unit 166 controls the steering device 220 so as to steer (steer) the steering wheel 225 at a predetermined angle. Further, when the acquisition unit 162 acquires the door lock request and starts self-propelled parking, the light emission control unit 167 constantly turns on the headlight 232, blinks the blinker 234, and turns off the foot light 236. To do. The light emission control unit 167 may always turn on the blinker 234. When the acquisition unit 162 acquires the door lock request and starts self-propelled parking, the alarm control unit 168 causes the approach warning device 242 to output an approach warning sound as a notification sound when starting self-propelled parking.

Further, the alarm control unit 168 causes the carry-out alarm device 244 of the alarm device 240 to output the information of no parking space when the acquisition unit 162 acquires the information of no parking space by the parking lot management device 400, for example. The alarm control unit 168 outputs, for example, the carry-out alarm sound to the take-out alarm device 244 as information that there is no parking space.

The door lock control unit 169 attaches the door to the door lock device 250 when the acquisition unit 162 acquires the door lock request transmitted by the door by the electronic key K when the door 255 is closed but not locked. Lock 255. The door lock control unit 169 unlocks (locks) the door 255 to the door lock device 250 when the acquisition unit 162 acquires the door lock request transmitted by the door by the electronic key K when the door 255 is locked. To release).

The traveling driving force output device 200 outputs a traveling driving force (torque) for traveling the vehicle to the drive 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 (Electronic Control Unit) that controls them. In the first embodiment, the traveling driving force output device 200 is an electric motor. The ECU controls the above configuration according to the information input from the second control unit 160 or the information input from the operation 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 according to the information input from the second control unit 160 or the information input from the operation controller 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 for transmitting the hydraulic pressure generated by the operation of the brake pedal included in the operation operator 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 the information input from the second control unit 160 to transmit the hydraulic pressure of the master cylinder to the cylinder. May be good.

The steering device 220 includes, for example, a steering ECU and an electric motor. The electric motor, for example, applies a force to the rack and pinion mechanism to change the direction of the steering wheel 225. 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 controller 80, and changes the direction of the steering wheel 225.

Of the light emitting device 230, the headlight 232 is provided, for example, in the front portion of the own vehicle M, and irradiates light toward the front of the own vehicle M in accordance with the control of the light emitting control unit 167. As a general rule, the headlight 232 is turned on when the own vehicle M travels at night, and turns off when the own vehicle M travels in the daytime. Further, the headlight 232 is always lit when the own vehicle M starts self-propelled parking.

The blinkers 234 are provided, for example, at the left and right positions of the front portion and the rear portion of the own vehicle M, respectively. The blinker 234 includes a right blinker arranged on the right side of the own vehicle M and a left blinker arranged on the left side. For example, the blinker 234 blinks and turns off according to the control of the light emission control unit 167. When the own vehicle M turns right, the right turn signal blinks, and when the own vehicle M turns left, the left turn signal blinks. Further, when the own vehicle M makes an emergency stop or is parked, the left and right blinkers blink. Further, when the own vehicle M starts self-propelled parking, the left and right turn signals in the left and right turn signals 234 blink a predetermined number of times, for example, about 10 times. When the own vehicle M starts self-propelled parking, the blinker 234 may be turned on at all times.

The foot light 236 is provided, for example, at a position that illuminates the foot near the door 255 when the door 255 of the own vehicle M is closed. The foot light 236 is turned on and off according to the control of the light emission control unit 167. For example, the foot light 236 is turned on when the door 255 of the own vehicle M is closed and the occupant is at a position some distance from the own vehicle M, and when the occupant approaches the door 255 to get on the own vehicle M. Make it easier to see your feet. The foot light 236 may be provided on any door 255 of the own vehicle M, for example, may be provided only on the door of the driver's seat, or may be provided on all the doors. The headlight 232, the blinker 234, and the footlight 236 are examples of the "light emitting unit".

The approach warning device 242 of the warning device 240 includes, for example, a speaker provided on the vehicle body of the own vehicle M, and a pedestrian or the like invades within a predetermined range around the own vehicle M according to the control of the warning control unit 168. When the recognition unit 130 recognizes that, an approach alarm sound is output. The approach warning device 242 outputs, for example, an approach warning sound at a volume sufficiently reaching a pedestrian within a predetermined range. The approach warning device 242 outputs an approach warning sound when the own vehicle M starts self-propelled parking. The approach warning sound output when the own vehicle M starts self-propelled parking is output by the approach warning device 242 when the recognition unit 130 recognizes a pedestrian or the like within a predetermined range around the own vehicle M. It may be the same as the volume of the alarm sound, or may be louder or lower than the volume of the approach warning sound.

The take-out alarm device 244 is provided with a speaker provided on the vehicle body of the own vehicle M, for example, and when the electronic key is taken out under the condition that the take-out prohibition condition is satisfied according to the control of the alarm control unit 168. Outputs a carry-out alarm sound. The take-out alarm device 244 outputs, for example, a take-out alarm sound at a volume sufficiently reaching the driver who brought out the electronic key within a predetermined range. The take-out alarm device 244 outputs a take-out alarm sound when there is no parking space when trying to self-propelled parking. The take-out alarm sound output when there is no parking space may be the same as the volume of the take-out alarm sound output by the take-out alarm device 244 when the electronic key is taken out of the vehicle, or the take-out alarm sound may be the same. It may be louder or quieter than the volume of the sound.

The door lock device 250 is provided on the door 255 of the vehicle, and is a device that generates a door locked state in which the door 255 is locked and an unlocked state in which the door 255 is unlocked. The door lock device 250 sets the door 255 in the door lock state or the door lock state under the control of the door lock control unit 169.

The door lock device 250 includes a door lock sound generator (not shown) and an unlock sensor. The door lock device 250 causes the door lock sound generator to output a predetermined door lock sound when the door 255 is changed from the unlocked state to the door lock state, and when the door 255 is changed from the door locked state to the unlocked state. , Output a predetermined unlock sound. The door lock sound and unlock sound may be the same sound or different sounds. When the unlock sensor detects the unlocked state of the door 255, the door lock device 250 outputs the unlocked state information to the first control unit 120.

[Self-propelled parking event-at the time of warehousing]
The self-propelled parking control unit 142 parks the own vehicle M in the parking space, for example, based on the information acquired from the parking lot management device 400 by the communication device 20. FIG. 3 is a diagram schematically showing a scene in which a self-propelled parking event is executed. Gates 300-in and 300-out are provided on the route from the road Rd to the visited facility. The own vehicle M passes through the gate 300-in and proceeds to the stop area 310 by manual operation or automatic operation. The stop area 310 faces the boarding / alighting area 320 connected to the visited facility, and is an area where the vehicle on which the user gets on / off stops. The boarding / alighting area 320 is provided with eaves to avoid rain and snow.

After the occupant is dropped off in the stop area 310, the own vehicle M automatically operates unmanned and starts a self-propelled parking event to move to the parking space PS in the parking lot PA. The start trigger of the self-propelled parking event may be, for example, some operation by the occupant, or may be the reception of a predetermined signal wirelessly from the parking lot management device 400. For example, an occupant including the driver gets off from the own vehicle M stopped in the stop area 310 and receives a door lock request transmitted by the operation of the electronic key K of the driver or the like (the own vehicle M receives the door lock). What was done) triggers the start of a self-propelled parking event. When starting a self-propelled parking event, the self-propelled parking control unit 142 controls the communication device 20 to send a parking request to the parking lot management device 400. Then, the own vehicle M moves from the stop area 310 to the parking lot PA according to the guidance of the parking lot management device 400 or while sensing by itself.

FIG. 4 is a diagram showing an example of the configuration of the parking lot management device 400. The parking lot management device 400 includes, for example, a communication unit 410, a control unit 420, and a storage unit 430. Information such as parking lot map information 432 and parking space status table 434 is stored in the storage unit 430.

The communication unit 410 wirelessly communicates with the own vehicle M and other vehicles. The control unit 420 guides the vehicle to the parking space PS based on the information acquired by the communication unit 410 and the information stored in the storage unit 430. The parking lot map information 432 is information that geometrically represents the structure of the parking lot PA. Further, the parking lot map information 432 includes the coordinates for each parking space PS. The parking space status table 434 indicates, for example, whether the parking space ID, which is the identification information of the parking space PS, is vacant or full (parked), and when the parking space status table 434 is full. It is associated with the vehicle ID, which is the identification information of the parked vehicle.

When the communication unit 410 receives the parking request from the vehicle, the control unit 420 refers to the parking space status table 434 and transmits the parking request based on whether or not there is a parking space PS whose status is vacant. Judge whether parking is possible. When the control unit 420 determines that there is no parking space PS, the control unit 420 transmits information that there is no parking space to the vehicle that has sent the parking request. When the control unit 420 determines that there is a vacant parking space PS, the control unit 420 extracts the parking space PS for parking the own vehicle M from the vacant parking space PS. The control unit 420 acquires the position of the extracted parking space PS from the parking lot map information 432, and transmits a suitable route to the acquired parking space PS position to the vehicle using the communication unit 410. Further, the control unit 420 instructs a specific vehicle to stop / slow down as necessary so that the vehicles do not move to the same position at the same time based on the positional relationship of the plurality of vehicles.

In the vehicle that has received the route (hereinafter referred to as the own vehicle M), the self-propelled parking control unit 142 generates a target trajectory based on the route. Further, when the target parking space PS approaches, the parking space recognition unit 132 recognizes the parking frame line that divides the parking space PS, recognizes the detailed position of the parking space PS, and recognizes the self-propelled parking control unit 142. To provide. In response to this, the self-propelled parking control unit 142 corrects the target trajectory and parks the own vehicle M in the parking space PS.

[Self-propelled parking event-at the time of departure]
The self-propelled parking control unit 142 and the communication device 20 maintain the operating state even when the own vehicle M is parked. For example, when the communication device 20 receives a pick-up request from the terminal device of the occupant, the self-propelled parking control unit 142 activates the system of the own vehicle M and moves the own vehicle M to the stop area 310. At this time, the self-propelled parking control unit 142 controls the communication device 20 and transmits a start request to the parking lot management device 400. The control unit 420 of the parking lot management device 400 stops or slows down to a specific vehicle as necessary so that the vehicle does not move to the same position at the same time based on the positional relationship of a plurality of vehicles as in the case of warehousing. To instruct. When the own vehicle M is moved to the stop area 310 and a occupant is placed on the vehicle, the self-propelled parking control unit 142 stops operating, and thereafter, manual operation or automatic operation by another functional unit is started.

Not limited to the above description, the self-propelled parking control unit 142 creates an empty parking space by itself based on the detection result by the camera 10, the radar device 12, the finder 14, or the object recognition device 16, regardless of communication. You may find and park your vehicle M in the found parking space.

Next, the processing executed in the vehicle system 1 will be described. In the vehicle system 1, the own vehicle M reaches the stop area 310 and the occupant gets off the own vehicle M. For example, the driver operates the electronic key K to cause the door lock device 250 to lock the door 255 of the own vehicle M. As a result, self-propelled parking is started. The door 255 of the own vehicle M may be locked not by operating the electronic key K but by operating a sensor (switch) provided on the vehicle body of the own vehicle M. Alternatively, the door 255 of the own vehicle M may be locked by either the operation of the electronic key K or the operation of the sensor provided on the vehicle body. When the own vehicle M locks the door 255 by the door lock device 250 by operating the electronic key K, the own vehicle M transmits a parking request to the parking lot management device 400. Hereinafter, the processing in the parking lot management device 400 and the processing in the automatic driving control device 100 before the own vehicle M starts self-propelled parking will be described.

FIG. 5 is a flowchart showing an example of processing in the parking lot management device 400. As shown in FIG. 5, the parking lot management device 400 determines whether or not the parking request transmitted by the own vehicle M has been received by the communication unit 410 (step S101). If it is determined that the parking request has not been received, the parking lot management device 400 repeats the process of step S110.

When it is determined that the parking request has been received, the control unit 420 determines whether or not there is an empty parking space whose state is vacant (step S103). When it is determined that there is an empty parking space, the control unit 420 extracts the parking space PS for parking the own vehicle M, and generates a traveling route from the stop area 310 to the extracted parking space (step S105). The control unit 420 transmits the generated travel route to the own vehicle M using the communication unit 410 (step S017).

If it is determined in step S103 that there is no vacant parking space, the control unit 420 transmits information that there is no parking space to the own vehicle M using the communication unit 410 (step S109). In this way, the parking lot management device 400 ends the process shown in FIG.

Subsequently, the processing in the automatic operation control device 100 will be described. FIG. 6 is a flowchart showing an example of processing in the automatic operation control device 100. As shown in FIG. 6, the first control unit 120 determines whether or not the own vehicle M is stopped in the stop area 310 (step S201). When it is determined that the own vehicle M is not stopped in the stop area 310, the first control unit 120 repeats the process of step S201.

When it is determined that the own vehicle M is stopped in the stop area 310, the reception unit 125 determines whether or not the door lock request transmitted by the electronic key K has been received (step S203). If it is determined that the door lock request has not been received, the first control unit 120 repeats the process of step S203.

When it is determined that the door lock request has been received, the reception unit 125 outputs the door lock request to the second control unit 160 and transmits the parking request to the parking lot management device 400 (step S205). The door lock control unit 169 of the second control unit 160 causes the door lock device 250 to lock the door 255 of the own vehicle M in response to the door lock request (step S207). The door lock control unit 169 causes the door lock device 250 to output a door lock sound when the door lock device 250 locks the door 255. Subsequently, the first control unit 120 determines whether or not the travel route transmitted by the parking lot management device 400 has been received (step S209).

When it is determined that the travel route has been received, the recognition unit 130 recognizes the congestion situation around the own vehicle M (step S211) and outputs the signal to the second control unit 160. Subsequently, the action plan generation unit 140 generates a target trajectory based on the transmitted travel route (step S213). Subsequently, the second control unit 160 notifies the start of self-propelled parking (step S215). The procedure for notifying the start of self-propelled parking will be described later.

If it is determined in step S207 that the travel route has not been received, the first control unit 120 determines whether or not the information of no parking space has been received (step S217). When it is determined that the information of no parking space is not received, the first control unit 120 returns to step S207 and repeats the determination of whether or not the travel route has been received.

When it is determined that the information that there is no parking space is received, the alarm control unit 168 outputs the carry-out alarm sound to the take-out alarm device 244 (step S219). The second control unit 160 notifies the user that there is no parking space in the parking lot PA by outputting the carry-out alarm sound to the take-out alarm device 244. In this way, the automatic operation control device 100 ends the process shown in FIG.

Next, the process of notifying the start of self-propelled parking executed by the automatic driving control device 100 will be described with reference to FIG. 7. FIG. 7 is a flowchart showing an example of processing in the automatic operation control device 100. As shown in FIG. 7, in notifying the start of self-propelled parking, the alarm control unit 168 causes the approach warning device 242 to output an approach warning sound (step S301). The second control unit 160 notifies the user that the self-propelled parking is started and the vehicle starts to run by outputting the approach warning sound to the approach warning device 242.

Subsequently, the acquisition unit 162 determines whether or not the periphery of the own vehicle M is congested based on the congestion status around the own vehicle M output by the recognition unit 130 (step S303). When it is determined that the periphery of the own vehicle M is not congested, the second control unit 160 ends the process shown in FIG. 7 as it is. Therefore, when the surroundings of the own vehicle M are not congested, the driver is notified of the start of the self-propelled operation only by the approach warning sound output by the approach warning device 242.

When it is determined in step S305 that the periphery of the own vehicle M is congested, the light emission control unit 167 turns on the headlight 232 (step S305). Subsequently, the light emission control unit 167 blinks the blinkers 234 (both left and right blinkers) (step S307). Subsequently, the light emission control unit 167 turns off the foot light 236 that has been turned on (step S309).

Subsequently, the acquisition unit 162 determines whether or not the steering wheel 225 is in a visible position by the driver based on the position of the driver in the boarding / alighting area 320 with respect to the own vehicle M in the stop area 310 output by the recognition unit 130. Is determined (step S311). When the driver determines that the steering wheel 225 is visible, for example, a position close to the steering wheel 225 (front wheel) on the front side of the own vehicle M, the steering control unit 166 sets the steering wheel 225. Steer (step S313). If the driver determines that the steering wheel 225 is not located at a visible position, the steering control unit 166 does not steer the steering wheel 225 and ends the process as it is. Therefore, for example, when the driver operates the electronic key K from the back door side of the own vehicle M to lock the door 255 to the door lock device 250, the driver can set the steering wheel 225 to a visible position. Therefore, the steering control unit 166 does not steer the steering wheel 225. In this way, the automatic operation control device 100 ends the process shown in FIG. 7.

Next, the process of stopping the self-propelled parking after the start of the self-propelled parking executed by the automatic driving control device 100 will be described with reference to FIG. FIG. 8 is a flowchart showing an example of processing in the automatic operation control device 100. As shown in FIG. 8, after starting the self-propelled parking, the self-propelled parking control unit 142 unlocks the own vehicle M based on the unlocked state information transmitted by the unlock sensor in the door lock device 250. It is determined whether or not it is in a state (step S401). When it is determined that the vehicle is not in the unlocked state, the self-propelled parking control unit 142 continues the self-propelled parking as it is without stopping the own vehicle M, and ends the process shown in FIG.

When determining that the vehicle is in the unlocked state, the self-propelled parking control unit 142 determines whether or not the self-propelled parking control unit 142 is traveling in a receivable area where the operation information transmitted from the stop area 310 or the electronic key K can be received. (Step S403). When it is determined that the own vehicle M is not traveling in the stop area 310 or the receivable area, the self-propelled parking control unit 142 continues the self-propelled parking as it is without stopping the own vehicle M, as shown in FIG. The processing shown is finished.

When it is determined that the own vehicle M is traveling in the stop area 310 or the receivable area, the self-propelled parking control unit 142 stops the self-propelled parking (step S405) and stops the own vehicle M. After that, the process shown in FIG. 8 is completed.

As described above, when the automatic operation control device 100 of the first embodiment receives the door lock request, the door lock device 250 locks the door 255 and starts self-propelled parking. For this reason, in order to start self-propelled parking, for example, it is not necessary to operate the terminal device owned by the driver, so that it is possible to get off with a more natural operation, and the operation for self-propelled parking is simple. Can be. When starting self-propelled parking, the own vehicle M notifies the start of self-propelled parking. As a notification of self-propelled parking, for example, an approach warning sound is output, the headlight 232 is constantly turned on, the blinker 234 is blinked, the footlight 236 is turned off, and the steering wheel 225 is steered. To do. Therefore, it is possible to notify the occupants including the driver of the start time of the self-propelled parking of the own vehicle M. Self-propelled parking is started, for example, by outputting an approach warning sound, but when the area around the vehicle M is congested, the headlight 232 is turned on, the blinker 234 is blinking, and the footlight 236 is turned off. When the driver is in a position where the steering wheel 225 can be visually recognized, the steering wheel 225 is steered. Therefore, it is possible to more clearly inform the driver and the like of the start time of the self-propelled parking of the own vehicle M.

<Second Embodiment>
Next, the second embodiment of the present invention will be described. In the second embodiment, the traveling driving force output device 200 shown in FIG. 1 includes an engine (internal engine). Further, the proximity warning device 242 in the alarm device 240 is not provided. The proximity warning device 242 in the alarm device 240 may be provided. The own vehicle M may be a so-called hybrid vehicle in which the traveling driving force output device 200 includes an engine and an electric motor.

The automatic operation control device 100 of the second embodiment replaces the output of the approach warning sound by the approach warning device 242 as a notification of the start of self-propelled parking when the door lock request output by the electronic key K is received. , The speed control unit 164 starts the engine to output the engine sound. In the second embodiment, when the approach warning device 242 in the warning device 240 is provided, the engine may be started and the approach warning device 242 may output an approach warning sound.

In the second embodiment, when the own vehicle M starts the self-propelled parking, the speed control unit 164 starts the engine to output the engine sound in order to notify the start of the self-propelled parking. Therefore, it is possible to notify the occupants including the driver of the start time of the self-propelled parking of the own vehicle M.

A part of the notification of the start of self-propelled parking in each of the above embodiments may be omitted. For example, in the first embodiment, the start of self-propelled parking may be notified only by the output of the approach warning sound and the constant lighting of the headlight 232. Further, the start of each self-propelled parking may be notified regardless of the congestion situation around the own vehicle M. Further, when the vicinity of the own vehicle M is congested, the headlight 232 may be constantly lit or the like without outputting the approach warning sound. Further, the number of notifications for the start of self-propelled parking may be varied according to the degree of congestion. For example, the number of notifications for the start of self-propelled parking may be increased as the degree of congestion increases.

Further, the determination of the congestion situation around the own vehicle M may be performed by using an element other than the recognition such as the position, type, and speed of the object by the object recognition device 16. For example, the noise around the own vehicle M may be detected, and the congestion status around the own vehicle M may be determined based on the detected noise, or the congestion status may be determined by integrating the position of the object and the noise. You may judge.

Further, in each of the above embodiments, the control when the own vehicle M performs self-propelled parking is described, but the same control may be performed in a situation other than when the vehicle self-propelled parking. For example, when the vehicle starts running by automatic driving after the user leaves the vehicle due to car sharing or the like, the vehicle accepts and starts the running start instruction by an instruction different from the instruction by the terminal device owned by the user. The notification information related to the instruction may be directed to the user and notified to the notification unit.

Further, the trigger for starting the self-propelled parking event may be other than the reception of the door lock request. For example, it may include a time element such as the passage of a predetermined time after receiving the door lock request, an action such as vocalization or gesture by a driver or the like, touching the own vehicle M, or transmission by the parking lot management device 400. It may be the reception of self-propelled parking start information. Further, the information related to the instruction to start self-propelled parking may be information other than the start of self-propelled parking. For example, it may be an instruction to start self-propelled parking itself, or it may be preparation for starting self-propelled parking. In addition, devices other than the terminal device that gives an instruction to start self-propelled parking include, for example, the electronic key K main body, switches provided on the electronic key K, and various sensors provided on the vehicle body of the own vehicle M. Can be mentioned.

[Hardware configuration]
FIG. 9 is a diagram showing an example of the hardware configuration of the automatic operation control device 100 of the embodiment. As shown in the figure, the automatic operation control device 100 includes a communication controller 100-1, a CPU 100-2, a RAM (Random Access Memory) 100-3 used as a working memory, a ROM (Read Only Memory) for storing a boot program, and the like. 100-4, storage devices 100-5 such as flash memory and HDD (Hard Disk Drive), drive devices 100-6, and the like are connected to each other by an internal bus or a dedicated communication line. The communication controller 100-1 communicates with a component 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 into RAM 100-3 by a DMA (Direct Memory Access) controller (not shown) or the like, and is executed by CPU 100-2. As a result, 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.
A storage device that stores programs and
With a hardware processor,
When the hardware processor executes a program stored in the storage device,
Recognize the surrounding environment of the vehicle
Based on the recognition result of the surrounding environment of the vehicle, the speed control and steering control of the vehicle are performed, and the vehicle is driven.
Accepting the start instruction of the running by an instruction different from the instruction by the terminal device owned by the user,
Notifying the notification unit of the notification information related to the start instruction to the user.
A vehicle control device that is configured to.

Although the embodiments for carrying out the present invention have been described above using the embodiments, the present invention is not limited to these embodiments, and various modifications and substitutions are made without departing from the gist of the present invention. Can be added.

1 ... Vehicle system 10 ... Camera 12 ... Radar device 14 ... Finder 16 ... Object recognition device 20 ... Communication device 30 ... HMI
40 ... Vehicle sensor 50 ... Navigation device 60 ... MPU
80 ... Driving operator 100 ... Automatic driving control device 120 ... First control unit 125 ... Reception unit 130 ... Recognition unit 132 ... Parking space recognition unit 140 ... Action plan generation unit 142 ... Self-propelled parking control unit 160 ... Second control unit 162 ... Acquisition unit 164 ... Speed control unit 166 ... Steering control unit 167 ... Light emission control unit 168 ... Alarm control unit 169 ... Door lock control unit 200 ... Driving drive force output device 210 ... Brake device 220 ... Steering device 225 ... Steering wheel 230 ... Light emitting device 232 ... Headlight 234 ... Winker 236 ... Footlight 240 ... Alarm device 242 ... Approach alarm device 244 ... Take-out alarm device 250 ... Door lock device 255 ... Door 310 ... Stop area 320 ... Boarding / alighting area 400 ... Parking lot management Device K ... Electronic key M ... Own vehicle

Claims (19)

A recognition unit that recognizes the surrounding environment of the vehicle and
A driving control unit that controls the speed and steering of the vehicle based on the recognition result of the recognition unit and causes the vehicle to travel.
A reception unit that accepts the start instruction of the running by an instruction different from the instruction by the terminal device owned by the user,
A notification control unit that notifies the notification unit of notification information related to the start instruction, and
Vehicle control device. The notification information is information for starting the traveling.
The vehicle control device according to claim 1. The notification control unit notifies the notification unit of the notification information by a notification sound.
The vehicle control device according to claim 1 or 2. The vehicle is provided with a proximity warning device that outputs a proximity warning sound toward the surroundings of the vehicle.
The notification control unit outputs the proximity warning sound to the proximity warning device as the notification sound.
The vehicle control device according to claim 3. The vehicle is equipped with an internal combustion engine.
The notification unit is the internal combustion engine.
The notification control unit starts the internal combustion engine.
The vehicle control device according to claim 3. It is equipped with an acquisition unit that acquires information on whether or not parking is possible after the vehicle has started running.
The notification control unit notifies the notification unit of information on parking disability when parking is not possible after the vehicle has started traveling.
The vehicle control device according to claim 1 or 2. Doors provided in the vehicle can be locked and unlocked based on the operation information transmitted by operating the electronic key.
Provided with a carry-out alarm device that emits a carry-out alarm sound when the electronic key is separated from the vehicle by a predetermined distance or more when the carry-out prohibition condition is satisfied.
The notification control unit outputs the carry-out alarm sound to the carry-out alarm device as a notification sound.
The vehicle control device according to claim 6. The notification unit is a part of the vehicle and
The notification control unit operates a part of the vehicle to notify the notification unit of the notification information.
The vehicle control device according to claim 1 or 2. The notification unit is a light emitting unit provided in the vehicle.
A part of the operation of the vehicle is turning on or off the light emitting unit.
The vehicle control device according to claim 8. The light emitting part is a light
A part of the operation of the vehicle is that the light is always on.
The vehicle control device according to claim 9. The light emitting unit is a direction indicator provided on the vehicle.
A part of the operation of the vehicle is blinking of the turn signal.
The vehicle control device according to claim 9. The light emitting unit is a foot light that illuminates the foot of the driver's seat of the vehicle when the door of the vehicle is closed.
A part of the operation of the vehicle is to turn off the foot light.
The vehicle control device according to claim 9. The notification unit is a steering wheel provided on the vehicle.
A part of the operation of the vehicle is steering of the steering wheel.
The vehicle control device according to claim 8. The notification control unit steers the steering wheel when the user can see the steering wheel.
The vehicle control device according to claim 13. The notification control unit has a function of notifying the notification information by a notification sound and a part of the operation of the vehicle.
Depending on the surrounding environment of the vehicle, the notification information is notified to the notification unit by a notification sound and / or a part of the vehicle in operation.
The vehicle control device according to claim 1 or 2. When the surroundings of the vehicle are congested, the notification control unit notifies the notification unit of the notification information by both a notification sound and a part of the operation of the vehicle.
The vehicle control device according to claim 15. Doors provided in the vehicle can be locked and unlocked based on the operation information transmitted by operating the electronic key.
When the door provided in the vehicle facing the boarding / alighting area where the occupants of the vehicle get on and off and moving in the stop area where the vehicle stops or the area where the operation information can be received is unlocked. To stop the movement of the vehicle,
The vehicle control device according to any one of claims 1 to 16. The computer
Recognize the surrounding environment of the vehicle
Based on the recognition result of the surrounding environment of the vehicle, the speed control and steering control of the vehicle are performed, and the vehicle is driven.
Accepting the start instruction of the running by an instruction different from the instruction by the terminal device owned by the user,
Notifying the notification unit of the notification information related to the start instruction to the user.
Vehicle control method. On the computer
Processing to recognize the surrounding environment of the vehicle and
A process of performing speed control and steering control of the vehicle based on the recognition result of the surrounding environment of the vehicle to drive the vehicle, and
The process of accepting the start instruction of the running according to the instruction different from the instruction by the terminal device owned by the user,
A process of notifying the user of the notification information related to the start instruction to the notification unit,
A program that executes.

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