JP2023183585A - Vehicle control device, vehicle control method and program - Google Patents

Abstract

To control more appropriately a speed of a vehicle.SOLUTION: A vehicle control device includes: a recognition section for recognizing a state of the periphery of a vehicle; an acquisition section for acquiring speed information as information of a speed related to a route in which the vehicle travels in the future; a set section for setting a correction value relative to the speed of the speed information based on the operation of an occupant; and a control section for automatically controlling the speed of the vehicle to allow the vehicle to travel based on the state of the periphery, the speed information and the correction value. When the vehicle travels in a first section having a specified speed as a first speed and is planned to progress to a second section connected to the first section in the future, the control section automatically controls the speed of the vehicle to allow the vehicle to travel based on the state of the periphery and a second speed as a specified speed of the second section without applying the correction value. The second speed is smaller than the first speed.SELECTED DRAWING: Figure 1

Description

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

Conventionally, when a driver wants to follow the vehicle on the road he is driving within the speed limit, he controls his own vehicle to follow the vehicle in front on the road he is driving within the speed limit. When you want to follow the vehicle on the road you are driving at the current speed that exceeds the speed limit, follow-up controls the road you are driving on so that it follows the vehicle in front at the current speed that exceeds the speed limit. A travel control device has been disclosed (see, for example, Patent Document 1).

Japanese Patent Application Publication No. 2009-184464

However, with conventional devices, the speed of the vehicle may not be properly controlled. In addition, the vehicle speed displayed on the speedometer may generally be displayed lower than the actual speed of the vehicle, so if the occupants drive based on the vehicle speed displayed on the speedometer, This resulted in the vehicle traveling at a low speed relative to the traffic flow, which could cause passengers to feel uncomfortable.

The present invention has been made in consideration of such circumstances, and one of the objects is to provide a vehicle control device, a vehicle control method, and a program that can more appropriately control the speed of a vehicle. . In turn, this will contribute to the development of a sustainable transportation system.

A vehicle control device, a vehicle control method, and a program according to the present invention employ the following configuration.
(1): A vehicle device according to one aspect of the present invention includes: a recognition unit that recognizes the surrounding situation of a vehicle; an acquisition unit that acquires future speed information that is speed information related to a route that the vehicle will travel in the future; a setting unit that sets a correction value for the speed of the future speed information based on an operation by an occupant; and automatically controlling the speed of the vehicle based on the surrounding situation, the future speed information, and the correction value. and a control unit that causes the vehicle to travel in a first section where the prescribed speed is a first speed, and in the future advances to a second section that will connect to the first section. In the case where the speed of the vehicle is automatically controlled based on the surrounding situation and the second speed that is the prescribed speed of the second section without applying the correction value, the speed of the vehicle is automatically controlled. The vehicle is run, and the second speed is lower than the first speed.

(2): In the aspect of (1) above, when the correction value is a correction value that reduces the speed of the future speed information, the control unit controls the correction value when traveling in the second section. is applied to automatically control the speed of the vehicle and run the vehicle based on the surrounding situation, the second speed, and the correction value, and the correction value is based on the future speed information. If the correction value increases the speed of The vehicle is run while automatically controlling the speed of the vehicle so that the speed of the vehicle does not exceed the second speed.

(3): In the aspect of (1) or (2) above, the control unit is configured such that the vehicle travels in a first section at a first speed, and the control section is configured to control the vehicle at a speed higher than the first speed connected to the first section. When traveling in a third section with three speeds, the correction value is applied to automatically control the speed of the vehicle based on the surrounding situation, the third speed, and the correction value. The vehicle is driven.

(4): In any of the above aspects (1) to (3), the speed related to the route is a target speed based on a speed limit or legal speed set for the roads on the route.

(5): In any of the aspects (1) to (4) above, the speed of the vehicle is adjusted based on the future speed information of the second section before the vehicle reaches the second section. The control unit includes a proposal unit that makes a proposal, and when the correction value is a correction value that increases the speed of the future speed information, and the occupant approves the proposal, the control unit, when traveling in the second section, , without applying the correction value, automatically controlling the speed of the vehicle based on the surrounding situation and the second speed so that the speed of the vehicle does not exceed the second speed. When the vehicle is running, and the correction value is a correction value that reduces the speed of the future speed information, and the occupant approves the proposal, the control unit, when traveling in the second section, Applying a correction value, the speed of the vehicle is automatically controlled based on the surrounding situation, the second speed, and the correction value so that the speed of the vehicle does not exceed the second speed. and if the occupant rejects or ignores the proposal, the control unit automatically controls the speed of the vehicle based on a preset speed and causes the vehicle to travel. let

(6): In any of the aspects (1) to (5) above, the acquisition unit refers to map information in which roads included in the route are associated with the speed limit or legal speed of the road. , acquiring future speed information for the second section, acquiring the future speed information for the second section obtained from an image of a road sign displaying a speed limit or legal speed by an imaging unit; The proposal unit proposes adjustment of the speed of the vehicle based on the second speed of the future speed information obtained by referring to the map information, and then the acquisition unit adjusts the future speed information obtained from the image. and if the second speed and the fourth speed of the future speed information obtained from the image are different, the speed of the vehicle is determined based on the fourth speed of the future speed information obtained from the image. We suggest adjustments.

(7): In any of the aspects (1) to (6) above, the fourth speed is a speed smaller than the first speed, and the correction value is a correction value that increases the speed of the future speed information. and when the occupant approves the proposal, the control unit, when traveling in the second section, takes into account the surrounding situation and the fourth speed without applying the correction value. Based on this, the speed of the vehicle is automatically controlled so that the speed of the vehicle does not exceed the fourth speed, and the vehicle is caused to travel.

(8): A vehicle control method according to another aspect of the present invention includes a process in which a computer recognizes the surrounding situation of a vehicle, and acquires future speed information that is speed information regarding a route that the vehicle will travel in the future. a process of setting a correction value for the speed of the future speed information based on the occupant's operation; and a process of setting the speed of the vehicle based on the surrounding situation, the future speed information, and the correction value. A process for automatically controlling the vehicle to travel, and a case where the vehicle travels in a first section where the specified speed is a first speed and is scheduled to proceed to a second section connected to the first section in the future. , a process of automatically controlling the speed of the vehicle and causing the vehicle to travel based on the surrounding situation and a second speed that is a prescribed speed of the second section without applying the correction value; , and the second speed is a speed smaller than the first speed.

(9): A program according to another aspect of the present invention causes a computer to perform a process of recognizing the surrounding situation of a vehicle, and a process of acquiring future speed information that is speed information regarding a route that the vehicle will travel in the future. a process of setting a correction value for the speed of the future speed information based on an operation by a passenger; and a process of automatically adjusting the speed of the vehicle based on the surrounding situation, the future speed information, and the correction value. controlling the vehicle to travel, and when the vehicle travels in a first section where the prescribed speed is a first speed and is scheduled to proceed to a second section connected to the first section in the future, the A process of automatically controlling the speed of the vehicle and causing the vehicle to travel based on the surrounding situation and a second speed that is a prescribed speed of the second section without applying a correction value. and the second speed is a speed smaller than the first speed.

According to aspects (1) to (9), when the vehicle control device enters a section where the speed decreases, the vehicle control device controls the vehicle speed without applying the correction value, thereby controlling the vehicle more appropriately. Speed can be controlled. This allows the occupant to drive with greater consideration to the surroundings.

According to the aspect (2), the vehicle control device automatically controls the speed of the vehicle so that the speed of the vehicle does not exceed the second speed, thereby causing the vehicle to travel in a way that is more suited to the road environment. can be realized.

According to the aspect (3), when the speed in the second section is higher than the speed in the first section, the vehicle control device applies the correction value to control the vehicle to better adjust to the surrounding traffic flow. It is possible to realize driving while riding.

According to aspects (6) and (7), even if there is a difference between the future speed information obtained from the map information and the future speed information obtained from the image, the vehicle control device can provide an appropriate proposal or an appropriate proposal. The vehicle can be controlled to a certain speed.

1 is a configuration diagram of a vehicle system 1 using a vehicle control device according to an embodiment. 7 is a diagram for explaining a first operating section 82, a second operating section 84, and a third operating section 86. FIG. FIG. 3 is a diagram for explaining the behavior of the own vehicle based on a proposal and a driver's operation. FIG. 3 is a diagram for explaining a specific example of processing by the proposal unit 130. 3 is a flowchart illustrating an example of the flow of processing executed by the driving support device 100. FIG. 7 is a diagram for explaining instructions received by a second operation unit 84. FIG. FIG. 3 is a diagram showing an example of content displayed on a display unit. FIG. 6 is a diagram for explaining a specific example (1) in which an offset speed is set. FIG. 7 is a diagram for explaining a specific example (2) in which an offset speed is set. FIG. 7 is a diagram for explaining a specific example (3) in which an offset speed is set. FIG. 7 is a diagram for explaining a specific example (4) in which an offset speed is set. 3 is a flowchart illustrating an example of the flow of processing executed by the driving support device 100. FIG. FIG. 7 is a diagram for explaining processing of the driving support device 100 according to the second embodiment. 3 is a flowchart illustrating an example of the flow of processing executed by the driving support device 100. FIG.

<First embodiment>
[overall structure]
FIG. 1 is a configuration diagram of a vehicle system 1 using a vehicle control device according to an embodiment. The vehicle on which the vehicle system 1 is mounted is, for example, a two-wheeled, three-wheeled, or four-wheeled vehicle, and its driving source 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 using electric power generated by a generator connected to an internal combustion engine, or electric power discharged from a secondary battery or a fuel cell.

The vehicle system 1 includes, for example, a camera 10, a radar device 12, a LIDAR (Light Detection and Ranging) 14, an object recognition device 16, a communication device 20, an HMI (Human Machine Interface) 30, and a vehicle sensor 40. , a navigation device 50, an operation unit 80, a driving support device 100, a driving force output device 200, a brake device 210, and a steering device 220. These devices and devices are connected to each other via multiplex communication lines such as CAN (Controller Area Network) communication lines, serial communication lines, wireless communication networks, and the like. The configuration shown in FIG. 1 is just an example, and a part of the configuration may be omitted, or another configuration may be added. The driving support device 100 is an example of a "control device."

The camera 10 is, for example, a digital camera that uses a solid-state imaging device such as a CCD (Charge Coupled Device) or a CMOS (Complementary Metal Oxide Semiconductor). The camera 10 is attached to an arbitrary location of a vehicle (hereinafter referred to as own vehicle M) in which the vehicle system 1 is mounted. When photographing the front, the camera 10 is attached to the upper part of the front windshield, the rear surface of the room mirror, or the like. For example, the camera 10 periodically and repeatedly images the surroundings of the host vehicle M. Camera 10 may be a stereo camera.

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

The LIDAR 14 irradiates light (or electromagnetic waves with a wavelength close to light) around the host vehicle M and measures scattered light. The LIDAR 14 detects the distance to the target based on the time from light emission to light reception. The irradiated light is, for example, pulsed laser light. LIDAR 14 is attached to any location of own vehicle M.

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

The communication device 20 uses, for example, a cellular network, a Wi-Fi network, Bluetooth (registered trademark), DSRC (Dedicated Short Range Communication), etc. to communicate with other vehicles existing around the own vehicle M, or wirelessly. Communicate with various server devices via a base station.

The HMI 30 presents various information to the occupant of the own vehicle M, and also accepts input operations from the occupant. The HMI 30 includes various display devices, speakers, buzzers, touch panels, switches, keys, and the like. The HMI 30 includes a display device. The display device (display unit) is provided, for example, in the center of the instrument panel of the host vehicle M, and is a speedometer that indicates the traveling speed of the host vehicle M or the rotational speed (speedometer) of the internal combustion engine that the host vehicle M has. This is a so-called multi-information display, which is a display device that displays various information about the host vehicle M, such as a tachometer (rotational speed).

Vehicle sensor 40 includes a vehicle speed sensor that detects the speed of own vehicle M, an acceleration sensor that detects acceleration, a yaw rate sensor that detects angular velocity around a vertical axis, a direction sensor that detects the direction of 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 route determination unit 53. The navigation device 50 holds map information 54 in a storage device such as an HDD (Hard Disk Drive) or flash memory. The GNSS receiver 51 identifies the position of the vehicle M based on signals received from GNSS satellites. 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 completely shared with the aforementioned HMI 30. The route determination unit 53 determines, for example, a route (hereinafter referred to as A map route) is determined with reference to the map information 54. The map information 54 is, for example, information in which a road shape is expressed by links indicating roads and nodes connected by the links. The map information 54 may include road curvature, POI (Point Of Interest) information, and the like. The map information 54 includes, for example, information indicating a speed limit for each link indicating a road. The speed limit is, for example, information indicating the speed limit displayed on the road or on a signboard provided on the road.

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, for example, by the functions of a terminal device such as a smartphone or a tablet terminal owned by a passenger. The navigation device 50 may transmit the current position and destination to the navigation server via the communication device 20, and obtain a route equivalent to the route on the map from the navigation server.

The operation unit 80 includes, for example, a steering wheel, a direction indicator operation switch, an accelerator pedal, a brake pedal, a shift lever, and other operators (not shown). A sensor is attached to the operator to detect the amount of operation or the presence or absence of the operation, and the detection result is sent to the driving support device 100 or the driving force output device 200, the brake device 210, and the steering device 220. Output to some or all of them. The steering wheel does not necessarily have to be annular, and may be in the form of an irregularly shaped steering wheel, a joystick, buttons, or the like. A steering wheel grip sensor is attached to the steering wheel.

The steering grip sensor is realized by, for example, a capacitance sensor or a piezoelectric element. The steering wheel grip sensor detects whether or not the driver is gripping the steering wheel. Gripping refers to a state in which the driver is gripping the steering wheel, a state in which the driver's hand is in contact with the steering wheel, and a force exceeding a predetermined degree is applied to the steering wheel. The steering grip sensor may detect grip based on an image captured by a camera or detect grip using an optical method such as a radar device (a method that does not require contact with the sensor). good.

The operation section 80 further includes a first operation section 82, a second operation section 84, and a third operation section 86 (details will be described later).

The driving support device 100 includes, for example, a recognition section 110, a setting section 112, an information acquisition section 120, a suggestion section 130, and a speed control section 140. Some or all of these functional units are realized by, for example, a hardware processor such as a CPU (Central Processing Unit) executing a program (software). Some or all of these components are hardware (circuit parts) such as LSI (Large Scale Integration), ASIC (Application Specific Integrated Circuit), FPGA (Field-Programmable Gate Array), and GPU (Graphics Processing Unit). (including circuitry), or may be realized by collaboration between software and hardware. The program may be stored in advance in a storage device such as the HDD or flash memory (a storage device equipped with a non-transitory storage medium) of the driving support device 100, or may be stored in a removable storage device such as a DVD or CD-ROM. The information may be stored in a medium, and may be installed in the HDD or flash memory of the driving support device 100 by attaching the storage medium (non-transitory storage medium) to the drive device.

The recognition unit 110 recognizes the position, speed, acceleration, and other states of objects around the host vehicle M based on information input from the camera 10, radar device 12, and LIDAR 14 via the object recognition device 16. do. The position of the object is recognized, for example, as a position on absolute coordinates with the origin at a representative point (such as the center of gravity or the center of the drive shaft) of the own vehicle M, and is used for control. The position of an object may be expressed by a representative point such as the center of gravity or a corner of the object, or may be expressed by an area. The "state" of the object may include the acceleration or jerk of the object, or the "behavioral state" (eg, whether it is changing lanes or is about to change lanes).

The recognition unit 110 recognizes the driving lane based on road markings around the own vehicle M, for example. The recognition unit 110 may recognize driving lanes by recognizing not only road division lines but also road boundaries (road boundaries) including road division lines, road shoulders, curbs, median strips, guardrails, and the like. In this recognition, the position of the own vehicle M acquired from the navigation device 50 and the processing results by the INS may be taken into consideration. The recognition unit 110 recognizes stop lines, obstacles, red lights, toll booths, other road events, signs (speed limits) posted on roads, and road signs indicating speed limits.

When recognizing the driving lane, the recognition unit 110 recognizes the position and attitude of the own vehicle M with respect to the driving lane. The recognition unit 110 calculates, for example, the deviation of the reference point of the vehicle M from the center of the lane and the angle made with respect to a line connecting the center of the lane in the traveling direction of the vehicle M, as the relative position of the vehicle M with respect to the driving lane. It may also be recognized as a posture. Instead, the recognition unit 110 recognizes the position of the reference point of the own vehicle M with respect to any side edge of the driving lane (road division line or road boundary) as the relative position of the own vehicle M with respect to the driving lane. You may.

The setting unit 112 sets the offset speed set by the occupant performing a predetermined operation. Details of the offset speed will be described later.

The information acquisition unit 120 acquires information indicating a prescribed speed (eg, speed limit, legal speed) on a route that the host vehicle M will travel in the future. The information acquisition unit 120 refers to the map information 54 and acquires information indicating the prescribed speed of the route. The prescribed speed is, for example, the speed limit indicated on a sign or road, the legal speed, the recommended speed, etc., as described above. Instead of (or in addition to) this, the information acquisition unit 120 may acquire information indicating the specified speed from the image captured by the camera 10.

The proposal unit 130 makes a proposal to the occupant (for example, the driver) to adjust the speed. For example, when the vehicle M is controlled to travel at an automatically set speed without depending on the driver's operation, the proposal unit 130 determines that the set speed is different from the speed limit of the road on which the vehicle will be driven in the future. If so, we recommend that you drive at the speed limit on that road. Details of this processing will be described later.

The speed control unit 140 automatically controls the driving force output device 200 and the brake device 210 without depending on the driver's operation, and automatically controls the speed of the host vehicle M. The speed control unit 140 executes so-called ACC (Adaptive Cruise Control).

For example, when there is no other vehicle in front of the host vehicle M within a predetermined distance from the host vehicle M, the speed control unit 140 controls the speed set by the driver or the speed proposed by the proposal unit 130 (speed limit ), the driving force output device 200 and the brake device 210 are automatically controlled, without depending on the driver's operation, so that the own vehicle M runs.

For example, if another vehicle exists in front of the own vehicle M and within a predetermined distance from the own vehicle M, the speed control unit 140 automatically drives the vehicle to follow the other vehicle without depending on the driver's operation. Controls force output device 200 and brake device 210. Following means that the own vehicle M travels while maintaining a position behind the other vehicle and at a predetermined distance from the other vehicle.

The control performed by the speed control unit 140 described above may be performed on the condition that the driver is gripping the steering wheel, or may be performed in a state where the driver is not gripping the steering wheel. Furthermore, the control executed by the speed control unit 140 described above may be executed on the condition that the driver is monitoring the surroundings, or may be executed in a state where the driver is not monitoring the surroundings. For example, the control performed by the speed control unit 140 described above may be performed on the condition that the driver monitors the surroundings and that the driver is gripping the steering wheel, or if any of these conditions It may be executed when one of the predetermined conditions is met. Note that the driving support device 100 may determine whether the driver is monitoring the surroundings based on a captured image of the driver. The image captured by the driver is an image captured by a camera (not shown) that captures an image of the interior of the vehicle.

In addition to the above-mentioned ACC, the driving support device 100 performs lane maintenance control that causes the vehicle M to drive in the center of the lane, and automatically controls the vehicle M to change lanes (ALC) when the driver instructs the vehicle M to change lanes. Auto lane change control may also be executed.

The driving force output device 200 outputs driving force (torque) for driving the vehicle to the drive wheels. The driving force output device 200 includes, for example, a combination of an internal combustion engine, an electric motor, a transmission, and the like, and an ECU that controls these. The ECU controls the above configuration according to information input from the driving support device 100 or information input from a driving operator.

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 information input from the driving support device 100 or information input from the driving operator, so that brake torque corresponding to the braking operation is output to each wheel.

Steering device 220 includes, for example, a steering ECU and an electric motor. For example, the electric motor applies force to a rack and pinion mechanism to change the direction of the steered wheels. The steering ECU drives the electric motor to change the direction of the steered wheels according to information input from the driving support device 100 or information input from the driving operator.

[Details of the operation panel]
FIG. 2 is a diagram for explaining the first operating section 82, the second operating section 84, and the third operating section 86. The first operating section 82, the second operating section 84, and the third operating section 86 are provided, for example, on spokes of a steering wheel. The first operation unit 82 is, for example, a button for starting ACC.

The second operation unit 84 functions as an operation unit that accepts different instructions depending on the state of the proposal from the proposal unit 130. If an operation is received while ACC is being executed and the proposal unit 130 is making a proposal, the second operation unit 84 accepts approval of the proposal by the proposal unit 130 . In this case, the second operation unit 84 functions as a button for approving the proposal. The operation at this time is to lower the protrusion downward. If an operation is accepted when ACC is executed and no proposal is made by the suggestion unit 130, the second operation unit 84 accepts changing the speed set in the ACC in accordance with the operation. In this case, the second operation unit 84 functions as a button for adjusting the speed set by ACC.

The third operation unit 86 functions as an operation unit that receives different instructions depending on the state of the proposal from the proposal unit 130, for example. If an operation is received while ACC is being executed and the proposal unit 130 is making a proposal, the third operation unit 86 accepts the rejection of the proposal by the proposal unit 130 . In this case, the third operation unit 86 functions as a button for rejecting the proposal. If an operation is received when ACC has been executed and no proposal has been made by the suggestion unit 130, the third operation unit 86 instructs, for example, to execute a predetermined control. In this case, the third operation unit 86 functions as a button different from the button for rejecting the proposal. The predetermined control is control to change the content displayed on the display unit, etc.

[Summary of proposal department processing]
The proposal unit 130 proposes adjustment of the speed of the host vehicle M based on future speed information that is speed information regarding a future route. When the occupant approves the proposal, the speed control unit (control unit) 140 automatically controls the speed of the own vehicle M based on the surrounding situation of the own vehicle M and the future speed information. run. The speed related to the future route is a target speed based on the speed limit or legal speed set for the road on the route, and is, for example, the target speed of a speedometer. If there is no preceding vehicle within a predetermined distance in front of the own vehicle M, the speed control unit 140 controls the own vehicle M so that the own vehicle M runs at the approved speed, and detects the preceding vehicle within a predetermined distance. If so, the host vehicle M is controlled to travel at a speed below the approved speed and while maintaining a predetermined distance from the vehicle in front.

The proposal unit 130 starts the proposal when the vehicle M has traveled a second predetermined distance from the first predetermined distance from the position associated with the future speed information, and the vehicle M has traveled a second predetermined distance from the first predetermined distance. The proposal ends when a predetermined time has elapsed since the first predetermined distance. The position associated with future speed information is, for example, a position where a road sign displaying future speed information is provided, or a position where the speed limit or legal speed changes.

The vehicle M is traveling on a road in a first section, and is scheduled to travel on a road in a second section after passing through the road in the first section, and the speed control unit 140 determines the situation around the vehicle M, When executing automatic speed control (for example, ACC) that automatically controls the speed of the own vehicle without depending on the driver's operation based on the set speed set by the driver, the proposal unit 130 , when the second section speed associated with the second section is different, the driver's vehicle The vehicle starts to propose to the driver that the speed of the vehicle is controlled without relying on the operation of the driver. The speed limit for the second section may be different from or the same as the speed limit for the first section, for example. For example, a proposal may be made when the speed limit for the second section is different from the speed limit for the first section, for example. The automatic speed control is, for example, control such as ACC or cruise control that causes the vehicle M to travel at an automatically set speed.

The proposal unit 130 ends the proposal when the vehicle M has traveled a second predetermined distance from the first predetermined distance and a predetermined time has elapsed since the vehicle M reached the first predetermined distance. The second predetermined distance is, for example, a longer distance than the first predetermined distance. Alternatively, the second predetermined distance may be, for example, the same or shorter than the first predetermined distance.

[Vehicle behavior based on suggestions and driver operations]
FIG. 3 is a diagram for explaining the behavior of the host vehicle based on the proposal and the driver's operation. Below is the behavior of the own vehicle M in a state where ACC is being executed.

[1. suggestion]
It is proposed that the vehicle system 1 notifies the driver of the recognized speed limit and reflects it in the set speed of the ACC. For example, content C may be displayed on the display unit or a voice suggestion may be made.

[2-A. Approval operation]
When the vehicle system 1 detects the driver's approval operation for the proposal, the vehicle system 1 reflects the speed limit on the set speed of the ACC and withdraws the proposal. As a result, when the host vehicle M enters an area corresponding to the speed limit, the speed is adjusted to the speed limit. Note that instead of entering the vehicle, the speed may be adjusted to the speed limit when the occupant operates a predetermined switch, or the speed may be adjusted to the speed limit when the vehicle enters and operates a predetermined switch. Good too.

[2-B. Denial operation]
When the vehicle system 1 detects the driver's denial operation with respect to the proposal, the vehicle system 1 withdraws the proposal without reflecting the speed limit in the set speed of the ACC. As a result, even if the own vehicle M enters the section corresponding to the speed limit, the own vehicle M runs at the set speed without adjusting the speed to the speed limit.

[2-C. No operation]
If the vehicle system 1 does not detect the driver's approval or disapproval operation for the proposal, and when the conditions described below are met (when a predetermined time has elapsed and the vehicle has traveled a second predetermined distance), the speed limit is changed to ACC. The proposal is withdrawn without being reflected in the set speed. As a result, even if the own vehicle M enters the section corresponding to the speed limit, the own vehicle M runs at the set speed without adjusting the speed to the speed limit.

[Specific example of starting and canceling a proposal]
FIG. 4 is a diagram for explaining a specific example of processing by the proposal unit 130. The proposal unit 130 makes a proposal to change the set speed of the ACC at a first predetermined distance before the point where the speed limit is specified (reference position P). The reference position is a place where the speed limit changes, a position where a sign indicating the speed limit is installed, a position where a sign indicating the speed limit is displayed, etc. The position before the first predetermined distance is referred to as the "proposal start position." It is preferable that the proposal be made in such a way that the speed can be adjusted to the speed limit without difficulty before the own vehicle M reaches the reference position. For example, it is preferable that the position is 100 meters or several hundred meters before the reference position.

The proposal unit 130 withdraws the proposal if the withdrawal conditions are met. The conditions for withdrawal are (Condition 1) Arrival at a position a second predetermined distance (D2) from the proposal start position, and (Condition 2) A first time (TT+10/"predetermined time") from the time the proposal start position is reached. ”) has passed. If the proposal is approved before the proposal is withdrawn, the speed control unit 140 controls the speed of the host vehicle M to the speed limit at the reference position, and if the proposal is rejected before the proposal is withdrawn, the proposal is withdrawn. Note that if approval is given after passing the reference position, the speed control unit 140 controls the speed of the own vehicle M to the speed limit at a predetermined timing after approval.

The second predetermined distance D2 is set to be longer than the first predetermined distance D1, for example. The second predetermined distance D2 is, for example, a distance that takes into account an error when specifying the position of the host vehicle M in the map information. The second predetermined distance D2 is, for example, about twice the maximum error or about twice the first predetermined distance D1. For example, if the first predetermined distance D1 is 100 m and the maximum error is plus or minus 100 m, the second predetermined distance D2 is set to 200 m or about 200 m.

[Flowchart (Part 1)]
FIG. 5 is a flowchart illustrating an example of the flow of processing executed by the driving support device 100. First, the proposal unit 130 of the driving support device 100 determines whether ACC is being executed (step S100). If the ACC is being executed, the proposal unit 130 determines whether or not the speed of the speed sign has been updated (step S102). If the speed of the speed sign has been updated, the proposal unit 130 determines whether the own vehicle M is at a position before the first predetermined distance D1 from the speed sign (step S104).

When the host vehicle M is at a position before the first predetermined distance D1 from the speed sign, the proposal unit 130 proposes speed adjustment (step S106). Note that this process may be omitted if the speed of the speed sign and the current speed of the own vehicle M match (if there is a predetermined difference).

Next, the proposal unit 130 determines whether an operation to approve the proposal has been performed (step S108). When the approval operation is performed, the speed control unit 140 controls the speed of the own vehicle M to the proposed speed when the own vehicle M reaches the position of the speed sign (step S110).

If an approval operation has not been performed, the proposal unit 130 determines whether a denial operation has been performed (step S112). If a denial operation is performed, the proposal unit 130 ends the proposal for speed adjustment (step S118).

If a denial operation has not been performed, the proposal unit 130 determines whether a first period of time has elapsed since the start of the proposal (step S114). If the first time has not elapsed, the process returns to step S106. If the first time period has elapsed, the proposal unit 130 determines whether the own vehicle M has traveled a second predetermined distance D2 from the position where the proposal was started (step S116). If the host vehicle M has not traveled the second predetermined distance D2, the process returns to step S106. When the own vehicle M has traveled the second predetermined distance D2, the proposal unit 130 proceeds to the process of step S118. This completes one routine of this flowchart.

As described above, the vehicle system 1 starts and ends the proposal at an appropriate timing, thereby improving convenience for the user.

[About the operation modes accepted by the second operation section]
The speed control unit 140 determines whether the second operation unit 84 (operation button) is operated and the own vehicle M has reached or will reach a position associated with the future speed information while the proposal unit 130 is making a proposal. If so, the speed of the vehicle is controlled based on the future speed information. The speed control unit 140 causes the proposal unit 130 to make a proposal when the own vehicle M has traveled a second predetermined distance from the first predetermined distance and a predetermined time has elapsed since the own vehicle M reached the first predetermined distance before the first predetermined distance. If the second operating section 84 is operated after completing the above, the set speed in automatic speed control is changed in accordance with the operation of the second operating section 84.

FIG. 6 is a diagram for explaining instructions accepted by the second operation unit 84. If a proposal has been made and the second operation unit 84 is operated, the driving support device 100 recognizes that the proposal has been approved and executes processing related to approval of the proposal. When the second operation unit 84 is operated after the proposal is completed, the driving support device 100 recognizes that the speed set in ACC has been changed, changes the set speed in ACC, and changes the speed. The own vehicle M is controlled based on the speed.

As described above, the driving support device 100 changes the content of control based on the operation on the second operation section 84 and the timing of the operation, even when the operation section is shared. Appropriate control is also achieved. Furthermore, since the proposal ends at an appropriate timing, neither too long nor too short, as described above, the second operating section 84 can be used as a different operating switch while ensuring operability. can.

As described above, the driving support device 100 can implement appropriate control based on the state of the proposal from the proposal unit 130 and the operation on the second operation unit 84.

[Explanation of controls after approval]
The speed control unit 140 controls the speed controller 140 when the own vehicle M travels in a first section where the specified speed is the first speed, and in the future travels in a second section with a second speed smaller than the first speed that will be connected to the first section. , without applying the correction value, the speed of the own vehicle M is automatically controlled based on the surrounding situation and the second speed which is the prescribed speed of the second section, and the own vehicle M is caused to travel. The first speed and the second speed are specified speeds set for the roads (first section, second section) on the route. The prescribed speed is, for example, a speed limit or a legal speed. For example, in the first section, ACC is being executed. Furthermore, h. The above process may be applied when manual operation is being performed in the first section.

As mentioned above, when traveling in the second section regardless of the magnitude of the correction value, the speed of the own vehicle M is automatically adjusted based on the surrounding situation and the second speed without applying the correction value. The host vehicle M may be controlled to run. Instead of this, the following control may be executed.

When the correction value is a correction value that reduces the speed of the future speed information, the speed control unit 140 applies the correction value when traveling in the second section to adjust the surrounding situation and the second speed, Based on the correction value, the speed of the own vehicle M is automatically controlled and the own vehicle M is caused to travel. When the correction value is a correction value that increases the speed of the future speed information, the speed control unit 140 does not apply the correction value when traveling in the second section, and adjusts the speed based on the surrounding situation and the second speed. Based on this, the own vehicle M is caused to travel by automatically controlling the speed of the own vehicle so that the speed of the vehicle does not exceed the second speed. The speed control unit 140 determines the correction value when the host vehicle M travels in a first section at a first speed and will travel in a third section at a third speed higher than the first speed that will be connected to the first section in the future. By applying this method, the speed of the own vehicle M is automatically controlled based on the surrounding situation, the third speed, and the correction value, and the own vehicle M is caused to travel. Specific examples of these will be explained below.

The occupant can set the offset speed (correction value) by operating a predetermined operation section. The offset speed is a speed applied when the host vehicle M executes ACC and travels at the target speed of the speedometer based on the speed limit. In other words, the offset speed is the speed offset from the speed indicated by the meter. The offset speed is, for example, a speed that is added to or subtracted from the target speed. The occupant can specify an offset speed within a predetermined speed range. For example, it can be set within the error range of the speedometer. This is because the vehicle speed displayed on the speedometer may generally be displayed lower than the actual vehicle speed. The specified offset speed is managed by the setting unit 112.

FIG. 7 is a diagram illustrating an example of content displayed on the display unit. As shown in D1 of FIG. 7, the occupant sets the offset speed to plus 10 [kph], and as shown in D2 of FIG. 7, the occupant sets the offset speed to minus 10 [kph]. be able to. With this setting, the speed of the host vehicle M is adjusted as described later. For example, if the offset speed is plus 10, if the occupant accepts the proposal, the vehicle will travel at plus 10 [kph] relative to the target speed, and if the offset speed is minus 10, if the occupant accepts the proposal, the vehicle will travel at the target speed. It runs at minus 10 [kph] compared to the previous year. A specific example will be explained below.

[Specific example (1) when offset speed is set]
FIG. 8 is a diagram for explaining a specific example (1) in which an offset speed is set. For example, the host vehicle M travels in a first section with a speed limit of 30 [kph], and is scheduled to travel in a second section with a speed limit of 50 [kph] after the first section in the future. It is assumed that the occupant has approved the proposal between the proposal start position RP and the reference position P (the same applies to specific examples (2) to (4) below). When the vehicle M reaches the reference position P, it runs at 60 [kph], which is the target speed plus the offset speed plus 10 [kph]. As described above, the vehicle M travels at a speed that takes into account the offset speed set by the occupant.

[Specific example (2) when offset speed is set]
FIG. 9 is a diagram for explaining a specific example (2) in which an offset speed is set. Descriptions similar to those of FIG. 8 will be omitted. In FIG. 8, the offset speed was plus 10 [kph], but in FIG. 9, the offset speed was minus 10 [kph]. In this case, when the vehicle M reaches the reference position P, it runs at 40 [kph], which is the target speed minus the offset speed minus 10 [kph]. As described above, the vehicle M travels at a speed that takes into account the offset speed set by the occupant.

[Specific example (3) when offset speed is set]
FIG. 10 is a diagram for explaining a specific example (3) in which an offset speed is set. In FIGS. 8 and 9, the speed limit increases in the second section, but in FIGS. 10 and 11, it decreases. For example, the own vehicle M travels in a first section with a speed limit of 50 [kph], and is scheduled to travel in a second section with a speed limit of 40 [kph] after the first section in the future. When the vehicle M reaches the reference position P, it runs at the speed limit of 40 [kph] without adding the offset speed plus 10 [kph] to the speed limit. As described above, when the speed limit for the second section is smaller than the speed limit for the first section, the vehicle M travels at the target speed without taking into account the offset speed set by the occupant.

For example, if the speed limit for the second section is lower than the speed limit for the first section, when the own vehicle M enters or travels in the second section, it will be more sensitive to its surroundings than in other cases. Caution is required. Therefore, as described above, by controlling the speed of the own vehicle M without considering the offset speed, the occupant can pay more attention to the surroundings.

In the example of FIG. 10 above, after the own vehicle M has traveled a predetermined distance from the reference position P, the offset speed may be taken into consideration. For example, after the own vehicle M has traveled a predetermined distance (for example, 1 km or 2 km) in the second section, the speed control unit 140 controls the own vehicle M at a speed equal to the target speed of 40 [kph] plus the offset speed plus 10 [kph]. The own vehicle M may be controlled so that the vehicle M runs. As a result, after the vehicle crosses a region where caution is required, it is possible to drive in a way that suits the occupant's preferences.

[Specific example (4) when offset speed is set]
FIG. 11 is a diagram for explaining a specific example (4) in which an offset speed is set. Descriptions similar to those of FIG. 10 will be omitted. In FIG. 10, the offset speed was plus 10 [kph], but in FIG. 11, the offset speed was minus 10 [kph]. In this case, when the vehicle M reaches the reference position P, it runs at 30 [kph], which is the target speed minus the offset speed minus 10 [kph]. As described above, the vehicle M travels at a speed that takes into account the offset speed set by the occupant.

For example, even if the speed limit in the second section is smaller than the speed limit in the first section and the offset speed is set to a negative speed, the speed will not be controlled without taking the offset speed into consideration. may be done. For example, in a section where the speed limit decreases as shown in FIG. 11, if the own vehicle M runs below the speed limit for that section, other vehicles may feel that it is a burden. For example, if the speed limit of the second section is higher than the speed limit of the first section, it will not be noticeable even if the own vehicle M is lower than the speed limit. This is because if the speed is lower than the speed limit, it may feel like a greater deceleration. With this in mind, offset speeds may not be considered.

[flowchart]
FIG. 12 is a flowchart illustrating an example of the flow of processing executed by the driving support device 100. This process is, for example, a process that is executed after the proposal for speed adjustment in step S106 in FIG. 5 is made.

First, the speed control unit 140 determines whether an approval operation has been performed (step S150). When the approval operation is performed, the speed control unit 140 determines whether the speed limit for the second section is smaller than the speed limit (current speed) for the first section (step S152).

If the speed limit for the second section is smaller than the speed limit (current speed) for the first section, the speed control unit 140 determines whether an offset speed is set (step S154). If the offset speed is not set, the speed control unit 140 controls the speed to the limit speed in the second section (step S156). If the offset speed is set, the speed control unit 140 determines whether the offset speed is set to a positive speed (step S158). If the offset speed is set to a positive speed, the process of step S156 is performed. That is, in the second section, the speed of the host vehicle M is controlled to the target speed (or speed limit) without taking the offset speed into consideration.

If the offset speed is not set to a positive speed (if a negative offset speed is set), the speed control unit 140 adjusts the host vehicle M to a speed obtained by subtracting the offset speed from the target speed (or speed limit). control (step S160).

In step SS152, if the speed limit for the second section is not smaller than the speed limit (current speed) for the first section, the speed control unit 140 controls the speed limit for the second section to be the speed limit for the first section (current speed). (step S162). If the speed limit of the second section is not greater than the speed limit (current speed) of the first section (if the speed limit of the second section and the speed limit of the first section are the same speed), step S150 Return to processing.

If the speed limit for the second section is greater than the speed limit (current speed) for the first section, the speed control unit 140 determines whether an offset speed is set (step S164). If the offset speed is set, the speed control unit 140 controls the host vehicle M based on the speed in which the offset speed is reflected in the target speed in the second section (step S166). In this process, if the offset speed is a negative speed, the negative offset speed may be reflected in the limit speed. If the offset speed is not set, the speed control unit 140 controls the host vehicle M based on the target speed (or speed limit) in the second section (step S168). This completes one routine of this flowchart.

Note that after the processing in step S156, S160, S166, or S168 described above, the speed may be controlled based on the operation of the occupant. For example, if the occupant performs an operation to adjust the offset speed after the own vehicle M passes the reference position P, the own vehicle M may adjust the speed based on the offset speed, or the occupant may adjust the speed at the set ACC speed. When an operation is performed to adjust the speed, the own vehicle M may adjust the speed based on the set speed. In this way, when the occupant voluntarily performs an operation to change the speed of the own vehicle M after the speed control unit 140 adjusts the speed, the speed of the own vehicle M may be changed.

Furthermore, in the above process, the acceleration, deceleration, or jerk may be changed based on the relationship between the first speed in the first section and the second speed in the second section. For example, when the own vehicle M enters a second section from a first section, the greater the difference between the first speed of the first section and the second speed of the second section, the greater the degree of acceleration or deceleration. The smaller the value, the smaller the degree of acceleration or deceleration. Also, if the second speed is smaller than the first speed and deceleration is required in the second section, the second speed is greater than the first speed and the own vehicle is required to accelerate in the second section. The degree of change in M (the degree of acceleration in the deceleration direction) may be increased. For example, the threshold value for the degree of change when deceleration is required in the second section may be set larger than the threshold value for the degree of change when acceleration is required in the second section. Thereby, the own vehicle M is more reliably decelerated when entering the second section, and the own vehicle M is more reliably controlled to the speed limit. In addition, if the proposal is approved a predetermined distance before the reference position P (several tens of meters), the degree of acceleration or deceleration is the predetermined degree (a degree that does not put a burden on the occupants), and At position P, the speed of own vehicle M may be controlled to become the second speed of the second section.

According to the first embodiment described above, the driving support device 100 can more appropriately control the speed of the host vehicle M when the speed limit in the first section and the speed limit in the second section are different. .

<Second embodiment>
The second embodiment will be described below. In the second embodiment, the proposal unit 130 makes a proposal based on information indicating the speed limit in the map information (first speed limit information), and then proposes information indicating the speed limit in the map information and the information obtained from the image. If the information indicating the speed limit (second speed limit information) is different, a re-proposal is made. Hereinafter, differences from the first embodiment will be mainly explained.

FIG. 13 is a diagram for explaining processing of the driving support device 100 of the second embodiment. For example, assume that the proposal unit 130 makes a proposal based on map information (speed limit 50 km). After that, own vehicle M approached the road sign. The recognition unit 110 recognized the speed limit of the road sign (60 km speed limit) from the image captured by the camera 10. If the speed limit based on the map information (first speed limit information) is different from the speed limit based on the image (second speed limit information), the proposal unit 130 re-proposes speed adjustment to the speed limit based on the image. . The proposal unit 130 ends the re-proposal when Conditions 1 and 2 are satisfied based on the time of the re-proposal.

For example, if approval is given between the re-proposed position P1 and the reference position P, the speed control unit 140 controls the speed limit for the first section, the second The speed of the own vehicle M is controlled based on the speed limit of the section (for example, the speed limit obtained from the image) and the offset speed. For example, the speed limit in the second section (fourth speed) is smaller than the speed limit in the first section (first speed), and the offset speed (correction value) is an offset speed that is increased relative to the target speed. , and if the occupant approves the proposal, the speed control unit 140 determines the surrounding situation and the speed limit for the second section (fourth speed) without applying the offset speed when traveling in the second section. Based on this, the speed of the own vehicle M is automatically controlled so that the speed of the own vehicle M does not exceed the speed limit (fourth speed) of the second section, and the own vehicle M is caused to travel. This produces the same effects as the first embodiment.

[flowchart]
FIG. 14 is a flowchart illustrating an example of the flow of processing executed by the driving support device 100. This process is a process executed after the proposal unit 130 makes the proposal in step S106 in FIG. 9, for example.

First, the driving support device 100 determines whether the second speed limit information can be recognized from the image captured by the camera 10 (step S300). Next, the driving support device 100 determines whether the speed in the first speed limit information and the speed in the second speed limit information match (step S302). If the speed of the first speed limit information and the speed of the second speed limit information match, the driving support device 100 continues the process being executed (step S304). For example, if a proposal has been made, the proposal is continued, and if the proposal has been approved, processing is performed in accordance with the approval. If rejected, the proposal will be withdrawn. Further, if conditions 1 and 2 for approval or rejection are met, the proposal is withdrawn.

If the speed in the first speed limit information and the speed in the second speed limit information do not match, the driving support device 100 determines whether or not the adjustment to the speed in the first speed limit information has been approved. (Step S306). If approval has been given, and the own vehicle M reaches the position of the sign or its vicinity, the driving support device 100 adjusts the first speed limit information to the speed (step S308). If approval has not been given, the process advances to step S310.

In the process of S310, the driving support device 100 proposes adjustment to the speed of the second speed limit information (Step S310). Next, the driving support device 100 determines whether the proposal termination condition is satisfied (step S312). The proposal termination condition at this time is based on the position when the speed adjustment is re-proposed based on the second speed limit information (processing in step S310).

Condition 1 is that the first time has elapsed since the re-proposal. Condition 2 is that the own vehicle M has traveled a second predetermined distance D2 from the re-proposed position. Condition 1 and Condition 2 may be the same as or different from the conditions described in the first embodiment. One or both of Condition 1 and Condition 2 may be conditions that are easier to achieve than Condition 1 or Condition 2 of the first embodiment. For example, the second predetermined distance under Condition 1 of the second embodiment may be shorter than the second predetermined distance under Condition 1 of the first embodiment. For example, the first time of condition 2 of the second embodiment may be shorter than the first time of condition 2 of the first embodiment.

According to the second embodiment described above, after making a proposal based on the information indicating the speed limit in the map information (first speed limit information), the driving support device 100 makes a proposal based on the information indicating the speed limit in the map information. If the information indicating the speed limit (second speed limit information) obtained from the image is different, a more appropriate proposal can be made by re-proposing. As a result, user convenience can be improved.

In the first embodiment or the second embodiment described above, if approval is obtained when the reference position P is exceeded, the speed limit for the first section, the speed limit for the second section, and The speed of the host vehicle M may be controlled based on the offset speed.

The embodiment described above can be expressed as follows.
a storage device that stores the program;
comprising a hardware processor;
By the hardware processor executing a program stored in the storage device,
Processing that recognizes the surrounding situation of the vehicle,
A process of acquiring future speed information that is speed information regarding a route that the vehicle will travel in the future;
a process of setting a correction value for the speed of the future speed information based on the operation of the occupant;
automatically controlling the speed of the vehicle and causing the vehicle to travel based on the surrounding situation, the future speed information, and the correction value;
In the case where the vehicle is traveling in a first section at a first speed that is the specified speed of the first section and is scheduled to proceed to a second section that will connect to the first section in the future, the correction value is not applied. executing a process of automatically controlling the speed of the vehicle and causing the vehicle to travel based on the surrounding situation and a second speed that is a prescribed speed of the second section;
The second speed is a speed smaller than the first speed.
Control device.

Although the mode for implementing the present invention has been described above using embodiments, the present invention is not limited to these embodiments in any way, and various modifications and substitutions can be made without departing from the gist of the present invention. can be added.

1 Vehicle system 10 Camera 84 Second operation unit 100 Driving support device 110 Recognition unit 112 Setting unit 120 Information acquisition unit 130 Proposal unit 140 Speed control unit

Claims (9)

a recognition unit that recognizes the surrounding situation of the vehicle;
an acquisition unit that acquires future speed information that is speed information regarding a route that the vehicle will travel in the future;
a setting unit that sets a correction value for the speed of the future speed information based on an operation by an occupant;
a control unit that automatically controls the speed of the vehicle and causes the vehicle to travel based on the surrounding situation, the future speed information, and the correction value;
The control unit does not apply the correction value when the vehicle is traveling in a first section where the prescribed speed is a first speed and is scheduled to proceed to a second section connected to the first section in the future. and automatically controlling the speed of the vehicle based on the surrounding situation and a second speed that is a prescribed speed for the second section, and causing the vehicle to travel;
The second speed is a speed smaller than the first speed.
Vehicle control device. When the correction value is a correction value that reduces the speed of the future speed information,
The control unit applies the correction value to automatically adjust the speed of the vehicle based on the surrounding situation, the second speed, and the correction value when traveling in the second section. controlling the vehicle to travel;
When the correction value is a correction value that increases the speed of the future speed information,
When traveling in the second section, the control unit is configured to prevent the speed of the vehicle from exceeding the second speed based on the surrounding situation and the second speed without applying the correction value. automatically controlling the speed of the vehicle to prevent the vehicle from traveling;
The vehicle control device according to claim 1. The control unit adjusts the correction value when the vehicle travels in a first section at a first speed and travels in a third section connected to the first section and has a third speed higher than the first speed. applying the method to automatically control the speed of the vehicle and causing the vehicle to travel based on the surrounding situation, the third speed, and the correction value;
The vehicle control device according to claim 2. The speed related to the route is a target speed based on the speed limit or legal speed set for the road on the route.
The vehicle control device according to any one of claims 1 to 3. comprising a proposal unit that proposes adjustment of the speed of the vehicle based on the future speed information of the second section before the vehicle reaches the second section,
If the correction value is a correction value that increases the speed of the future speed information, and the occupant approves the proposal, the control unit may apply the correction value when traveling in the second section. automatically controlling the speed of the vehicle based on the surrounding situation and the second speed so that the speed of the vehicle does not exceed the second speed, and causing the vehicle to travel;
If the correction value is a correction value that reduces the speed of the future speed information, and the occupant approves the proposal, the control unit applies the correction value when traveling in the second section. and, based on the surrounding situation, the second speed, and the correction value, the speed of the vehicle is automatically controlled so that the speed of the vehicle does not exceed the second speed, and the vehicle runs. let me,
If the occupant rejects or ignores the proposal, the control unit automatically controls the speed of the vehicle based on a preset speed and causes the vehicle to travel.
The vehicle control device according to any one of claims 1 to 3. The acquisition unit includes:
obtaining future speed information for the second section by referring to map information in which roads included in the route are associated with speed limits or legal speeds for the roads;
obtaining the future speed information for the second section obtained from an image of a road sign displaying a speed limit or legal speed by an imaging unit;
The proposal unit proposes adjustment of the speed of the vehicle based on a second speed of the future speed information obtained by referring to the map information, and then the acquisition unit adjusts the future speed information obtained from the image. is obtained, and if the second speed and the fourth speed of the future speed information obtained from the image are different, the vehicle's speed is determined based on the fourth speed of the future speed information obtained from the image. Suggest speed adjustment,
The vehicle control device according to claim 5. If the fourth speed is a speed smaller than the first speed, the correction value is a correction value that increases the speed of the future speed information, and the occupant approves the proposal, the control unit: When traveling in the second section, the vehicle is adjusted so that the speed of the vehicle does not exceed the fourth speed based on the surrounding situation and the fourth speed without applying the correction value. automatically controlling the speed of the vehicle to run the vehicle;
The vehicle control device according to claim 6. The computer is
Processing that recognizes the surrounding situation of the vehicle,
A process of acquiring future speed information that is speed information regarding a route that the vehicle will travel in the future;
a process of setting a correction value for the speed of the future speed information based on the operation of the occupant;
automatically controlling the speed of the vehicle and causing the vehicle to travel based on the surrounding situation, the future speed information, and the correction value;
In the case where the vehicle is traveling in a first section where the specified speed is the first speed and is scheduled to proceed to a second section that will connect to the first section in the future, without applying the correction value, automatically controlling the speed of the vehicle and causing the vehicle to travel based on the situation and a second speed that is a prescribed speed for the second section;
The second speed is a speed smaller than the first speed.
Vehicle control method. to the computer,
Processing that recognizes the surrounding situation of the vehicle,
A process of acquiring future speed information that is speed information regarding a route that the vehicle will travel in the future;
a process of setting a correction value for the speed of the future speed information based on the operation of the occupant;
automatically controlling the speed of the vehicle and causing the vehicle to travel based on the surrounding situation, the future speed information, and the correction value;
In the case where the vehicle is traveling in a first section where the specified speed is the first speed and is scheduled to proceed to a second section that will connect to the first section in the future, without applying the correction value, executing a process of automatically controlling the speed of the vehicle and causing the vehicle to travel based on the situation and a second speed that is a prescribed speed of the second section;
The second speed is a speed smaller than the first speed.
program.

Images