JP2022147025A - Vehicle control device - Google Patents

Abstract

To perform a vehicle travel control by acquiring sufficient road information.SOLUTION: A vehicle control device 50 comprises: a communication unit 7; a camera 1a for detecting an external condition around the own vehicle; an information recognition unit 14a that recognizes information of a two-dimensional code displayed toward the own vehicle based on information of the external condition detected by the camera 1a; an information acquisition unit 15a that acquires road information corresponding to the two-dimensional code information recognized by the information recognition unit 14a via the communication unit 7; and a travel control unit 16 that controls a travel actuator AC of the own vehicle based on the road information acquired by the information acquisition unit 15a.SELECTED DRAWING: Figure 4

Description

The present invention relates to a vehicle control device that controls a vehicle based on road information.

2. Description of the Related Art Conventionally, there has been known a device that acquires road information via an in-vehicle camera (see Patent Document 1, for example). In the device described in Patent Document 1, it is determined whether or not a predetermined pattern such as characters and graphics exists in an image captured through an in-vehicle camera. recognize.

JP 2015-133089 A

However, information obtained from road signs is limited, and obtaining more information is useful for vehicle control.

A vehicle control device, which is one aspect of the present invention, includes a communication unit, an external world detection unit that detects an external world situation around the own vehicle, and a control device that directs the vehicle to the own vehicle based on the information of the external world situation detected by the external world detection unit. an information recognition unit for recognizing the two-dimensional code information displayed by the information recognition unit; an information acquisition unit for acquiring road information corresponding to the two-dimensional code information recognized by the information recognition unit via a communication unit; a travel control unit that controls a travel actuator of the own vehicle based on the road information acquired by the unit.

According to the present invention, sufficient road information can be acquired via the two-dimensional code, and vehicle control based on the road information can be performed satisfactorily.

1 is a block diagram schematically showing the overall configuration of a vehicle control system having a vehicle control device according to an embodiment of the invention; FIG. 1 is a diagram schematically showing a road condition on which a vehicle having a vehicle control device according to an embodiment of the present invention travels; FIG. FIG. 1 is a plan view showing an example of a running situation of a host vehicle having a vehicle control device according to an embodiment of the present invention; 1 is a block diagram showing the configuration of a main part of a vehicle control device according to an embodiment of the invention; FIG. FIG. 5 is a flowchart showing an example of processing executed by the controller in FIG. 4; FIG.

An embodiment of the present invention will be described below with reference to FIGS. 1 to 5. FIG. The vehicle control device according to the embodiment of the present invention can be applied to a vehicle having an automatic driving function, that is, an automatically driving vehicle, and a manually driven vehicle, particularly a vehicle having a driving support function. An example in which the vehicle control device is applied to an autonomous vehicle will be described below. A vehicle to which the vehicle control device according to the present embodiment is applied may be called an own vehicle to distinguish it from other vehicles.

The own vehicle may be any of an engine vehicle having an internal combustion engine as a drive source, an electric vehicle having a drive motor as a drive source, and a hybrid vehicle having both an engine and a drive motor as drive sources. The vehicle (self-driving vehicle) can run not only in the automatic driving mode, which does not require the driving operation by the driver, but also in the manual driving mode by the driver's driving operation.

First, a schematic configuration relating to automatic operation will be described. FIG. 1 is a block diagram schematically showing the overall configuration of a vehicle control system 100 having a vehicle control device according to an embodiment of the invention. As shown in FIG. 1, the vehicle control system 100 includes a controller 10, an external sensor group 1 communicably connected to the controller 10, an internal sensor group 2, an input/output device 3, a positioning unit 4, It mainly has a map database 5, a navigation device 6, a communication unit 7, and an actuator AC for traveling.

The external sensor group 1 is a general term for a plurality of sensors (external sensors) that detect external conditions, which are peripheral information of the vehicle. For example, the external sensor group 1 includes a lidar that detects the position (distance and direction from the vehicle) of objects around the own vehicle by emitting laser light and detecting reflected light, and a lidar that emits electromagnetic waves and detects reflected waves. It includes a radar that detects the positions of objects around the vehicle and a camera that captures images of the surroundings of the vehicle.

The internal sensor group 2 is a general term for a plurality of sensors (internal sensors) that detect the running state of the own vehicle. For example, the internal sensor group 2 includes a vehicle speed sensor that detects the vehicle speed of the own vehicle, an acceleration sensor that detects the longitudinal and lateral acceleration of the own vehicle, and a rotation speed sensor that detects the rotation speed of the travel drive source. . The internal sensor group 2 also includes sensors that detect driver's driving operations in the manual driving mode, such as accelerator pedal operation, brake pedal operation, steering wheel operation, and the like.

The input/output device 3 is a general term for devices to which commands are input from drivers and information is output to drivers. For example, the input/output device 3 includes various switches for the driver to input various commands by operating operation members, a microphone for the driver to input commands by voice, a display for providing information to the driver via a display image, and a voice command for the driver. A speaker for providing information is included. Various switches include a manual/automatic changeover switch for commanding either an automatic operation mode or a manual operation mode.

The positioning unit (GNSS unit) 4 has a positioning sensor that receives positioning signals transmitted from positioning satellites. Positioning satellites are artificial satellites such as GPS satellites and quasi-zenith satellites. The positioning unit 4 uses the positioning information received by the positioning sensor to measure the current position (latitude, longitude, altitude) of the vehicle.

The map database 5 is a device for storing general map information used in the navigation device 6, and is composed of, for example, a hard disk or a semiconductor device. Map information includes road position information, road shape information (such as curvature), and position information of intersections and branch points. Note that the map information stored in the map database 5 is different from the highly accurate map information stored in the storage unit 12 of the controller 10 .

The navigation device 6 is a device that searches for a target route on the road to the destination input by the driver and provides guidance along the target route. Input of the destination and guidance along the target route are performed via the input/output device 3 . The target route is calculated based on the current position of the host vehicle measured by the positioning unit 4 and map information stored in the map database 5 . The current position of the vehicle can also be measured using the values detected by the external sensor group 1, and the target route is calculated based on this current position and highly accurate map information stored in the storage unit 12. good too.

The communication unit 7 communicates with various servers (not shown) via networks including wireless communication networks such as the Internet and mobile phone networks, and periodically or arbitrarily sends map information, travel history information, traffic information, and the like. obtained from the server at the timing of In addition to acquiring the travel history information, the travel history information of the own vehicle may be transmitted to the server via the communication unit 7 . The network includes not only a public wireless communication network but also a closed communication network provided for each predetermined management area, such as wireless LAN, Wi-Fi (registered trademark), Bluetooth (registered trademark), and the like. The acquired map information is output to the map database 5 and the storage unit 12, and the map information is updated.

Actuator AC is a travel actuator for controlling travel of host vehicle 101 . When the travel drive source is the engine, the actuator AC includes a throttle actuator that adjusts the opening of the throttle valve of the engine (throttle opening). If the travel drive source is a travel motor, the travel motor is included in actuator AC. The actuator AC also includes a brake actuator that operates the braking device of the host vehicle and a steering actuator that drives the steering device.

The controller 10 is configured by an electronic control unit (ECU). More specifically, the controller 10 includes a computer having an arithmetic unit 11 such as a CPU (microprocessor), a storage unit 12 such as ROM and RAM, and other peripheral circuits (not shown) such as an I/O interface. consists of Although a plurality of ECUs having different functions, such as an engine control ECU, a traction motor control ECU, and a brake system ECU, can be provided separately, FIG. 1 shows the controller 10 as a set of these ECUs for convenience. .

The storage unit 12 stores highly accurate road map information. This road map information includes road position information, road shape (curvature, etc.) information, road gradient information, intersection and branch point position information, number of lanes, lane width and position information for each lane ( Lane center position and lane boundary line information), position information of landmarks (traffic lights, signs, buildings, etc.) as landmarks on the map, and road surface profile information such as unevenness of the road surface. The map information stored in the storage unit 12 includes map information acquired from the outside of the own vehicle via the communication unit 7 and detection values of the external sensor group 1 or detection values of the external sensor group 1 and the internal sensor group 2. map information created by the vehicle itself using

The calculation unit 11 has a vehicle position recognition unit 13, an external world recognition unit 14, an action plan generation unit 15, and a travel control unit 16 as functional configurations.

The own vehicle position recognition unit 13 recognizes the position of the own vehicle (own vehicle position) on the map based on the position information of the own vehicle obtained by the positioning unit 4 and the map information of the map database 5 . The position of the vehicle may be recognized using the map information stored in the storage unit 12 and the surrounding information of the vehicle detected by the external sensor group 1, thereby recognizing the vehicle position with high accuracy. can. When the position of the vehicle can be measured by a sensor installed outside on the road or on the side of the road, the position of the vehicle can be recognized by communicating with the sensor via the communication unit 7 .

The external world recognition unit 14 recognizes the external conditions around the vehicle based on signals from the external sensor group 1 such as a lidar, radar, and camera. For example, the position, speed, and acceleration of surrounding vehicles (vehicles in front and behind) traveling around the own vehicle, the positions of surrounding vehicles that are stopped or parked around the own vehicle, and the positions and states of other objects. recognize. Other objects include signs, traffic lights, markings such as road markings and stop lines, buildings, guardrails, utility poles, billboards, pedestrians, bicycles, and the like. Other object states include the color of traffic lights (red, green, yellow), the speed and orientation of pedestrians and cyclists, and more.

The action plan generation unit 15 generates, for example, the target route calculated by the navigation device 6, the map information stored in the storage unit 12, the vehicle position recognized by the vehicle position recognition unit 13, and the external world recognition unit 14. A traveling trajectory (target trajectory) of the own vehicle from the current time to a predetermined time ahead is generated based on the recognized external situation. When there are a plurality of trajectories that are candidates for the target trajectory on the target route, the action plan generation unit 15 selects the optimum trajectory from among them that satisfies the criteria such as compliance with laws and regulations and efficient and safe travel. and set the selected trajectory as the target trajectory. Then, the action plan generation unit 15 generates an action plan according to the generated target trajectory. The action plan generation unit 15 performs overtaking driving to overtake the preceding vehicle, lane change driving to change the driving lane, following driving to follow the preceding vehicle, lane keeping driving to maintain the lane so as not to deviate from the driving lane, and deceleration driving. Alternatively, it generates various action plans corresponding to acceleration and the like. When generating the target trajectory, the action plan generator 15 first determines the driving mode, and generates the target trajectory based on the driving mode.

The travel control unit 16 controls each actuator AC so that the host vehicle travels along the target trajectory generated by the action plan generation unit 15 in the automatic driving mode. More specifically, the traveling control unit 16 considers the traveling resistance determined by the road gradient and the like in the automatic driving mode, and calculates the required driving force for obtaining the target acceleration for each unit time calculated by the action plan generating unit 15. Calculate Then, for example, the actuator AC is feedback-controlled so that the actual acceleration detected by the internal sensor group 2 becomes the target acceleration. That is, the actuator AC is controlled so that the host vehicle runs at the target vehicle speed and target acceleration. In the manual operation mode, the travel control unit 16 controls each actuator AC according to a travel command (steering operation, etc.) from the driver acquired by the internal sensor group 2 .

By the way, road conditions may change temporarily due to traffic regulations. For example, lanes are restricted due to road construction or accidents, in other words, two lanes become one lane, three lanes become one or two lanes, two-way traffic becomes one-way alternating traffic, or the number of lanes is reduced or closed. detour may be required. Such traffic control may be carried out systematically in advance (for example, in the case of road construction), but may also be carried out suddenly (for example, in the case of an accident). If the own vehicle can recognize such road information (traffic regulation information) such as a decrease in the number of lanes, it will be possible to accurately control the running motion of the own vehicle.

However, this type of road information contains a large amount of information such as the location and content of traffic restrictions (decrease in the number of lanes, road closures, etc.), the causes of traffic restrictions, the time zones in which traffic restrictions are enforced, and the like. For this reason, sufficient information cannot be displayed on a road information board or the like installed on the road, and it is difficult for the own vehicle to obtain sufficient road information. Therefore, in this embodiment, the vehicle control device is configured as follows so that sufficient road information can be obtained and the traveling operation of the own vehicle can be accurately controlled based on the obtained road information.

FIG. 2 is a diagram schematically showing the condition of the road on which the own vehicle 101 travels. As shown in FIG. 2, a display board 20 is installed in advance on the side of the driving lane of the road. The display boards 20 are installed approximately every predetermined distance (for example, every several kilometers) along the road. The display board 20 has a display surface 21 facing the vehicle 101 in motion. The display board 20 may be installed above the road instead of on the side of the road. The display board 20 can be installed in an existing structure. For example, it can be installed on an existing road information board or traffic signal so as not to interfere with the display of the road information board or traffic signal. A signboard having the display board 20 may be newly installed.

FIG. 3 is a plan view showing an example of the running state of the own vehicle 101. As shown in FIG. As shown in FIG. 3, a two-dimensional code 22 is displayed on the display surface 21 . The two-dimensional code 22 is, for example, a QR code (registered trademark). Note that the display surface 21 may be configured by a display, and the image of the two-dimensional code 22 may be displayed on the display. Thereby, the two-dimensional code 22 can be easily changed as needed. FIG. 3 also shows host vehicle 101A traveling on lane LN1 at time ta and host vehicle 101B traveling on lane LN1 at time tb thereafter. A lane LN2 adjacent to the driving lane LN1 is an overtaking lane or an oncoming lane.

As shown in FIG. 2, the two-dimensional code 22 includes a section from a point where the two-dimensional code 22 (display board 20) exists to a point where the next two-dimensional code 22 (display board 20) exists, or Traffic control information of roads within a predetermined distance from the point where the two-dimensional code 22 exists is associated. This traffic regulation information is registered in the server device 30 . For example, as shown in FIG. 3, when road construction is performed within a predetermined range AR from a point located a predetermined distance L from the point where the two-dimensional code 22 exists, the number of lanes is reduced over the predetermined range AR. Such traffic regulation information is registered in the server device 30 in advance in association with the two-dimensional code 22 . For roads with no traffic regulation, simple road information (road information without traffic regulation information) corresponding to the two-dimensional code 22 is registered in the server device 30 .

FIG. 4 is a block diagram showing the main configuration of the vehicle control device 50 according to the embodiment of the invention. This vehicle control device 50 constitutes a part of the vehicle control system 100 of FIG. As shown in FIG. 4, the vehicle control device 50 has a camera 1a, a communication unit 7, a controller 10, an actuator AC, and a monitor 3a.

The camera 1a is a monocular camera having an imaging element (image sensor) such as a CCD or CMOS, and constitutes a part of the external sensor group 1 in FIG. Camera 1a may be a stereo camera. The camera 1a is attached, for example, at a predetermined position on the front of the vehicle 101, continuously captures the space in front of the vehicle 101, and obtains images of objects (camera images). The object includes the display plate 20 , ie the two-dimensional code 22 on the display surface 21 . The monitor 3a is provided in front of the driver's seat. Various types of information including traffic control information are displayed on the monitor 3a, and various types of information are provided to the occupants by display. The monitor 3a constitutes a part of the input/output device 3 in FIG. In addition to the display or instead of the display, traffic control information or the like may be provided to the occupants by voice.

The controller 10 includes an information recognition unit 14a, an information acquisition unit 15a, and a driving support switching unit 15b in addition to the traveling control unit 16 as functional components of the calculation unit 11 (FIG. 1). The information recognition unit 14a is configured by the external world recognition unit 14 shown in FIG. 1, for example. The information acquisition unit 15a and the driving assistance switching unit 15b are configured by, for example, the action plan generation unit 15 shown in FIG.

The information recognition unit 14a extracts the two-dimensional code 22 displayed on the display surface 21 of the display board 20 from the image acquired by the camera 1a. That is, the information recognition unit 14a recognizes and reads the two-dimensional code 22 from the camera image.

The information acquisition unit 15 a acquires road information corresponding to the two-dimensional code 22 from the server device 30 ( FIG. 2 ) via the communication unit 7 . Of the acquired road information, road information about roads on which traffic restrictions are enforced includes traffic restriction information. The acquired traffic control information is displayed on the monitor 3a and notified to the driver.

When the road information acquired by the information acquiring unit 15a includes traffic control information, the driving support switching unit 15b determines whether or not the driving level needs to be switched. The driving level is an index indicating to what extent driving is automated. Driving levels are classified into levels 0 to 5, for example, based on SAEJ3016 defined by SAE International. Specifically, level 0 is a driving level without automation, and at level 0, all driving operations are performed by a human (driver).

Level 1 is a driving level (driving assistance) in which the system performs any one of acceleration, steering, and braking operations. That is, at level 1, under specific conditions, the vehicle control system 100 controls any operation of the accelerator, brake, or steering wheel according to the surrounding conditions, and all other driving operations are performed by a human.

Level 2 is a driving level (partial driving automation) in which the system performs multiple operations out of acceleration, steering and braking at once. Up to Level 2, humans have an obligation to monitor their surroundings.

Level 3 is a driving level (conditional automated driving) in which the vehicle control system 100 performs all acceleration, operation, and braking, and the driver responds only when the vehicle control system 100 requests. At level 3 and above, the vehicle control system 100 monitors the surroundings, and humans are not obligated to monitor the surroundings.

Level 4 is a driving level (highly automated driving) in which the vehicle control system 100 performs all driving operations in a specific situation, and a human does not need to be replaced even if the vehicle control system 100 cannot continue driving. Therefore, from level 4 onwards, the vehicle control system 100 responds even in an emergency.

Level 5 is a driving level (fully automatic driving) at which the vehicle control system 100 autonomously drives automatically under all conditions.

The driving support switching unit 15b calculates an appropriate target driving level according to the content of the traffic regulation, and determines that switching of the driving level is necessary when the current driving level is not the target driving level. For example, if the current driving level is level 3 and there is a need to change lanes in response to lane reduction, which is difficult to deal with by automatic driving, it is determined that switching to level 2 is necessary. Then, when it is determined that the driving level needs to be switched, the driving level is automatically switched. For example, switch from level 3 to level 2. That is, the degree of driving assistance by the vehicle control system 100 is lowered. When switching the driving level, it is preferable to notify the driver in advance by displaying the fact on the monitor 3a, for example, before switching.

The driving assistance switching unit 15b determines that switching of the driving level is not necessary when the host vehicle 101 is not located in the lane where the lane is narrowed due to traffic regulation. For example, if the lane LN2 in FIG. 3 is an overtaking lane and the vehicle 101 can change from the driving lane LN1 to the overtaking lane LN2 with a margin, it is determined that the driving level does not need to be switched after the lane change to the overtaking lane LN2. . On the other hand, when the lane LN2 in FIG. 3 is the oncoming lane, it is determined that the driving level needs to be switched. However, when avoiding a traffic restricted point by traveling on a detour branched from the driving lane LN1, it is determined that switching of the driving level is not necessary.

The travel control unit 16 controls the travel actuator AC according to the switching of the driving level by the driving support switching unit 15b. For example, if the driving association level is level 3, the throttle actuator or travel motor, the brake actuator, and the steering actuator are controlled so that the host vehicle 101 runs in automatic operation according to the action plan. If the driving level is level 2, each actuator is controlled to assist the driving operation by the driver.

FIG. 5 is a flowchart showing an example of processing executed by the controller 10. As shown in FIG. The processing shown in this flowchart is started, for example, when the power switch of the vehicle 101 is turned on, and is repeated at a predetermined cycle. First, in step S1, an image signal is read from the camera 1a.

Next, in step S2, it is determined whether or not the image of the two-dimensional code is included in the camera image read in step S1, that is, whether or not the two-dimensional code has been recognized. For example, when the two-dimensional code is a QR code (registered trademark), this determination is to determine whether or not a predetermined image pattern representing the QR code (registered trademark) is included in the camera image. If the result in step S2 is affirmative, the process advances to step S3, and if the result is negative, the process skips steps S2 to S5 and advances to step S6. In step S3, the road information corresponding to the two-dimensional code recognized in step S2 is acquired from the server device 30 (FIG. 2) via the communication unit 7. FIG.

Next, in step S4, it is determined whether or not the driving level needs to be switched by determining whether or not traffic control information is included in the road information. More specifically, a driving level (target driving level) suitable for traffic regulation is calculated, and if the current driving level is different from the target driving level, it is determined that the driving level needs to be switched. However, if it is determined that there is no need to change lanes, such as by changing lanes from a traffic-restricted lane to another, or if you avoid traffic restrictions by taking a detour, etc., It is determined that switching of the driving level is not necessary. If the result in step S4 is affirmative, the process proceeds to step S5, and if the result is negative, step S5 is skipped and the process proceeds to step S6.

In step S5, the driving level is switched to the target driving level. Next, in step S6, each actuator AC for acceleration, braking, and steering is controlled according to the driving level, and the process ends. Accordingly, the traveling operation of the vehicle 101 can be appropriately controlled according to the traffic regulation information.

The operation of the cruise control device according to this embodiment will be described more specifically. As shown in FIG. 3, it is assumed that construction work is being carried out in a predetermined range AR of lane LN1 and the lane is restricted. At this time, the road information associated with the two-dimensional code 22 on the display surface 21 of the display board in front of the start point of the lane restriction includes information on the lane restriction. Specifically, information such as the start point of the lane restriction (for example, the distance L from the installation position of the two-dimensional code 22), the content of the lane restriction such as lane reduction, and the time zone in which the lane restriction is implemented, Included in lane control information.

In such a situation, when the own vehicle 101A traveling in the driving lane LN1 at time ta captures the two-dimensional code 22 with the in-vehicle camera 1a, the road information corresponding to the two-dimensional code 22, that is, the lane regulation information is included. Road information is acquired from the server device 30 via the communication unit 7 (step S3). At this time, if the own vehicle 101 is traveling by, for example, level 3 automatic driving, the driving level of the own vehicle 101B is changed to level 2 at time tb (step S5). In other words, there are many factors in which road information is unstable in construction sections, so there is a risk that the vehicle will not be able to travel well in automated driving. This reduces the level of driving assistance to better deal with lane restrictions. As a result, the own vehicle 101 can avoid the predetermined range AR and travel satisfactorily. The position (101B) of the own vehicle 101 where the driving level is switched is not limited to the one described above, and may be switched before the two-dimensional code 22. FIG.

On the other hand, if the lane LN2 is, for example, an overtaking lane, and the vehicle 101 is traveling in the overtaking lane LN2 in advance, or the vehicle 101 moves from the driving lane LN1 to the overtaking lane LN2 at a predetermined distance or more before the start point of the lane regulation. When the lane is changed to , there is no need to switch the driving level, and driving is continued at level 3, for example (step S4→step S6). As a result, since there is no need to switch the driving level, the occupant can realize a running motion without any sense of incongruity.

According to this embodiment, the following effects can be obtained.
(1) The vehicle control device 50 displays to the vehicle 101 based on the communication unit 7, the camera 1a that detects the external environment surrounding the vehicle 101, and the information on the external environment detected by the camera 1a. and an information acquisition unit 15a for acquiring road information corresponding to the information of the two-dimensional code 22 recognized by the information recognition unit 14a through the communication unit 7. and a travel control unit 16 that controls the travel actuator AC of the host vehicle 101 based on the road information acquired by the information acquisition unit 15a (FIG. 4).

By obtaining road information using the two-dimensional code 22 in this way, more road information than information displayed on signs, road information boards, or the like can be obtained. For this reason, the vehicle can easily acquire information on traffic regulations, and the vehicle 101 can appropriately run in response to the traffic regulations. When the traffic control information changes, the information can be updated by the server device 30. Therefore, there is no need to update the two-dimensional code itself, and the road information can be easily updated.

(2) The information of the two-dimensional code 22 is information displayed on the display board 20 installed on the side or above the road (Fig. 2). Therefore, the two-dimensional code 22 can be easily and accurately detected by the vehicle-mounted camera 1a.

(3) The vehicle control device 50 further includes a driving assistance switching section 15b that switches the driving level based on the road information acquired by the information acquiring section 15a (FIG. 4). The travel control unit 16 controls the travel actuator AC according to the driving level switched by the driving support switching unit 15b. As a result, the driving level can be switched according to the traffic regulation information, so that traffic regulation can be easily dealt with.

(4) Road information includes regulation information about traffic regulation. The two-dimensional code 22 is displayed at a position corresponding to the point where traffic control is started (Fig. 3). As a result, the two-dimensional code 22 is associated only with the traffic regulation information for the predetermined section, so the road information acquired by the vehicle can be minimized.

(5) The restriction information includes information on the position where traffic restriction is started. For example, it includes information on the distance L from the installation position of the two-dimensional code 22 to the traffic control start position (FIG. 3). As a result, it is possible to control the driving operation of the vehicle 101, such as switching the driving level, at an appropriate timing in consideration of the distance L.

The above embodiment can be modified in various forms. Some modifications will be described below. In the above embodiment, the camera 1a is used to detect the external environment around the vehicle 101; Also, the configuration of the external detection unit is not limited to the one described above. In the above embodiment, the display board 20 is installed on the side or above the road so that the display surface 21 faces the vehicle 101 traveling on the road, but the two-dimensional code may be installed at another position. . For example, a two-dimensional code may be provided on the wall of a building facing the road. Alternatively, the display board 20 may be temporarily installed in front of the road construction site without being installed in advance, and may be configured as a movable or portable display board.

In the above embodiment, the driving assistance switching unit 15b switches the driving level between level 0 to level 5 based on road information based on SAEJ3016 defined by SAE International. You may make it switch a driving|running level. That is, as long as the degree of driving assistance is switched based on the road information acquired by the information acquiring section, the driving assistance switching section may have any configuration. In the above embodiment, the two-dimensional code 22 corresponding to the traffic control information is displayed on the display board 20 installed in front of (for example, immediately before) the section (range AR) where traffic control is performed. The two-dimensional code may be displayed on a display board at another position so that the 101 can select a detour and run.

In the above embodiment, the vehicle control device 50 is applied to the automatically driven vehicle 101, but the vehicle control device of the present invention can be applied not only to the automatically driven vehicle but also to the manually driven vehicle (for example, a vehicle having a driving support function). can be applied as well.

The above description is merely an example, and the present invention is not limited by the above-described embodiments and modifications as long as the features of the present invention are not impaired. It is also possible to arbitrarily combine one or more of the above embodiments and modifications, and it is also possible to combine modifications with each other.

1a camera, 7 communication unit, 10 controller, 14a information recognition unit, 15a information acquisition unit, 15b driving support switching unit, 16 driving control unit, 20 display board, 21 display surface, 22 two-dimensional code, 50 vehicle control device, 101 vehicle, AC actuator

Claims (5)

a communication unit;
an external world detection unit that detects the external world situation around the own vehicle;
an information recognition unit that recognizes information of a two-dimensional code displayed toward the own vehicle based on the information of the external world situation detected by the external world detection unit;
an information acquisition unit that acquires, via the communication unit, road information corresponding to the two-dimensional code information recognized by the information recognition unit;
A vehicle control device, comprising: a travel control unit that controls a travel actuator of the own vehicle based on the road information acquired by the information acquisition unit. In the vehicle control device according to claim 1,
A vehicle control device, wherein the information of the two-dimensional code is information displayed on a display board installed on the side or above the road. In the vehicle control device according to claim 1 or 2,
further comprising a driving assistance switching unit that switches the degree of driving assistance based on the road information acquired by the information acquisition unit;
The vehicle control device, wherein the driving control unit controls the driving actuator according to the degree of driving assistance switched by the driving assistance switching unit. In the vehicle control device according to any one of claims 1 to 3,
The road information includes regulation information about traffic regulation,
A vehicle control device, wherein the two-dimensional code is displayed at a position corresponding to a point at which the traffic control is started. In the vehicle control device according to claim 4,
The vehicle control device, wherein the regulation information includes information on a position where traffic regulation is started.

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