JP7033337B2 - Vehicle control device and vehicle - Google Patents

Description

The present invention relates to a vehicle control device that can be used, for example, for controlling vehicle driving support, automatic driving, and the like.

Conventionally, for example, as a technique for supporting the driving of a vehicle, a camera is used to take a picture of a road sign in front of the vehicle, recognize the content of the sign shown on the road sign, and encourage the driver to drive in compliance with traffic regulations. A technique for outputting a message (alarm) is known (see Patent Document 1).

Japanese Unexamined Patent Publication No. 2011-242839

In the above-mentioned conventional technique, the driver can be alerted by an alarm or the like, but it is desired to appropriately control the vehicle based on a road sign or the like in order to carry out safer driving. ..

The present invention has been made in view of the above points, and an object of the present invention is to provide a vehicle control device capable of solving the above-mentioned problems.
In the present invention, it is desirable to provide a vehicle control device capable of suitably controlling a vehicle based on a road sign or the like.

(1) The vehicle control device of the first aspect of the present invention is a vehicle control device mounted on a vehicle, and is a marking that is arranged around the vehicle and recognizes the marking content of a sign that marks information on traffic. It includes a recognition unit and a vehicle control unit that controls the traveling state of the vehicle according to the marking content of the marking recognized by the marking recognition unit.

In the present invention, the marking recognition unit recognizes the marking content of the marking that marks the traffic information (road marking, road marking, etc.) arranged around the vehicle, and the vehicle control unit recognizes the marking recognition unit. The running state of the vehicle is controlled according to the marking content of the marking.

That is, in the present invention, the running state of the vehicle is automatically controlled according to the content of the sign such as the road sign. Therefore, for example, even if the driver overlooks the road sign such as a temporary stop, for example. By controlling the vehicle to be stopped by applying the brake, it is possible to perform suitable control having excellent safety and the like.

Here, examples of the markings that indicate information on traffic include markings specified by the Road Traffic Act and the like. For example, there are road signs (traffic signs) such as signs placed on the road side of the road and road signs drawn on the road, but the present invention is not limited to these, and various types such as "parking lots" are used. Includes traffic signs.

Examples of the road sign include a well-known main sign and an auxiliary sign, and examples of the main sign include a guide sign, a warning sign, a regulation sign, and an instruction sign. In addition, examples of road markings include regulatory markings and instruction markings.

(2) Further, in the second aspect of the present invention, the vehicle control unit may control at least one of the steering wheel (steering) control and the brake control according to the marking content of the marking. That is, by controlling the steering wheel and the brake according to the content of the marking, safer driving becomes possible.

(3) Further, in the third aspect of the present invention, at least one of the marking content of the marking and the traffic rules related to the marking content may be notified.
As a result, the driver can accurately grasp information on traffic, so that safer driving becomes possible.

It is a block diagram which shows the structure of the vehicle control device of 1st Embodiment. It is a figure which shows the record content of a marker database. It is a flowchart which shows the main processing of a driving support. It is explanatory drawing which shows a road sign and a road marking. It is a flowchart which shows the driving support process of 2nd Embodiment. It is a flowchart which shows the driving support process of 3rd Embodiment. It is explanatory drawing which shows the state in a reverse run. It is a flowchart which shows the driving support process of 4th Embodiment. It is a flowchart which shows the driving support process of 6th Embodiment. It is a flowchart which shows the driving support process of 7th Embodiment. It is a flowchart which shows the driving support process of 9th Embodiment.

Hereinafter, embodiments to which the present invention has been applied will be described with reference to the drawings.
<First Embodiment>
The vehicle control device of the present embodiment controls (driving support) to support the driver's driving based on markings such as road signs and road markings.

[1. Constitution]
The vehicle control device 1 shown in FIG. 1 is a system (vehicle-mounted system) constructed by a plurality of electronic devices mounted on a vehicle (automobile).

The vehicle control device 1 includes a vehicle speed sensor 11, an acceleration sensor 12, a brake sensor 13, a steering angle sensor 14, a camera unit 15, a radar unit 16, a positioning unit 17, a navigation device 18, and driving support. It includes a start switch 19, a driving support release switch 21, a cruise start switch 22, and a cruise release switch 23.

Further, it includes a storage unit 31, a user interface (UI) unit 32, a sound output unit 33, an engine ECU 34, a brake ECU 35, a steering ECU 36, a communication unit 37, and a control unit 41.

Hereinafter, each configuration will be described.
The vehicle speed sensor 11 is a sensor that detects the speed (vehicle speed) of the vehicle (hereinafter referred to as "own vehicle") on which the vehicle control device 1 is mounted, and outputs the detection result to the control unit 41. Specifically, the vehicle speed sensor 11 detects the rotation speed of the axle based on the number of pulses per unit time output from the pulse generator attached to the axle, and the vehicle speed sensor 11 detects the rotation speed of the own vehicle based on the detected rotation speed. Calculate the speed (vehicle speed per hour).

The acceleration sensor 12 is a sensor that detects the acceleration generated in the front-rear direction of the own vehicle, and outputs the detection result to the control unit 41. The acceleration includes not only positive acceleration but also negative acceleration (deceleration).

The brake sensor 13 is a sensor that detects the operating state of the brake (the amount of depression of the brake pedal) by the driver, and outputs the detection result to the control unit 41.
The steering angle sensor 14 is a sensor that detects the operating state (steering amount) of the steering wheel (steering wheel) by the driver, and outputs the detection result to the control unit 41.

The camera unit 15 is a unit that captures a situation around the own vehicle by a camera mounted on the own vehicle, and outputs the captured image to the control unit 41. In the present embodiment, a front camera that captures the front of the own vehicle, each side camera that captures the left and right sides of the own vehicle, and a rear camera that captures the rear of the own vehicle are mounted on the own vehicle. There is. The camera unit 15 outputs images captured by the front camera, the side camera, and the rear camera.

The radar unit 16 is a unit that detects a target based on the reflected wave of the irradiated radar wave, and outputs the detection result to the control unit 41. In the present embodiment, the radar unit 16 detects targets (other vehicles, etc.) existing in front of, left and right sides, and behind (that is, around the own vehicle) of the own vehicle. As the radar wave, a millimeter wave, a laser beam, an ultrasonic wave, or the like is used. As is well known, the radar unit 16 can determine the distance to the target of another vehicle, the relative speed, and the direction of the target.

The positioning unit 17 includes a GPS receiver (not shown), a gyroscope, and a distance sensor (not shown). The GPS receiver receives a transmission signal from an artificial satellite for GPS (Global Positioning System) and detects the position coordinates and altitude of the own vehicle. The gyroscope outputs a detection signal according to the angular velocity of the rotational motion applied to the own vehicle. The distance sensor outputs the mileage of the own vehicle. The positioning unit 17 detects the position (latitude and longitude) and direction of the own vehicle based on the output signals of each of these sensors.

Similar to a well-known navigation device, the navigation device 18 includes a current location detection unit that detects the current location of the own vehicle based on information from the positioning unit 17, and a display that displays an image (not shown). The navigation device 18 can execute well-known navigation processing (for example, processing such as route guidance) based on the information of the position coordinates (current location) of the vehicle detected by the positioning unit 17 and the map information.

The driving support start switch 19 allows the driver to switch between a support permission mode that permits the automatic execution of driving support, which will be described later, and a support prohibition mode that prohibits the automatic execution of driving support. It is a switch for.

The driving support release switch 21 is a switch for the driver to perform an operation (cancellation operation) for canceling the driving support most recently started in the support permission mode. In the present embodiment, the driving support start switch 19 and the driving support release switch 21 are provided as dedicated physical switches, but the present invention is not limited to these, and any configuration may be used as long as the driver can switch between them. For example, when the driving support is controlled, for example, the brake is stepped on a plurality of times, the accelerator is stepped on a plurality of times, and the like may be the operation of the driving support release switch 21.

The cruise start switch 22 is a switch for starting adaptive cruise control control (hereinafter referred to as “ACC control”) at the driver's will. The ACC control is a well-known control that travels at a set target speed when the preceding vehicle does not exist, and follows the target vehicle at a target speed or less when the preceding vehicle exists. That is, the ACC control is a traveling control that changes the acceleration and the like of the own vehicle according to the traveling state of the preceding vehicle (specifically, the distance between vehicles in front).

The cruise release switch 23 is a switch for canceling the execution of the ACC control at the driver's will (terminating the running ACC control). In the present embodiment, the cruise start switch 22 and the cruise release switch 23 are provided as dedicated physical switches, but the present invention is not limited to these, and any configuration may be used as long as the driver can switch between them.

The storage unit 31 is a device for storing various data. The storage unit 31 stores map data used for the navigation function, various databases (for example, a sign database that stores road sign and road sign data), and the like.

Specifically, as will be described later, as shown in FIG. 2, the sign database contains markings of various road signs 51 and road markings 53, contents (marking contents) meaning by the markings, and markings. The controls to be implemented corresponding to the content are stored in association with each other.

The user interface unit 32 is a unit having a function of displaying an image on a display screen (display screen visible to the occupant) provided in the interior of the own vehicle and a function of receiving an operation from the occupant. In this embodiment, a touch panel display (for example, the display of the navigation device 18) is used.

The sound output unit 33 is a unit for outputting sound from a speaker in the room of the own vehicle.
The engine ECU 34 is an electronic control device that controls engine start / stop, fuel injection amount, ignition timing, and the like.

The brake ECU 35 is an electronic control device that controls braking of the own vehicle.
The steering ECU 36 is an electronic control device that controls steering.
The communication unit 37 is a device that communicates with the outside of the own vehicle. The communication unit 37 has a function of communicating with a base station configured as a wireless base station of a mobile phone (that is, a function of communicating with a server or another terminal device (for example, a smartphone) via a mobile phone network). Have.

The control unit 41 is a unit that collectively controls the vehicle control device 1 which is an in-vehicle system. The control unit 41 includes a CPU 411, a ROM 412, a RAM 413, and the like. In the control unit 41, the processing according to the program recorded in the recording medium such as ROM 412 is executed by the CPU 411 as the processing subject (computer).

[2. process]
Next, various processes executed by the control unit 41 (specifically, CPU 411) according to the program will be described.

[2-1. Main processing of driving support]
First, the main processing of the driving support executed by the control unit 41 will be described with reference to the flowchart of FIG. The main process of driving support in FIG. 3 is started when the ignition switch (IG switch) of the vehicle is turned on.

The main processing of this driving support is necessary by reading the marking content (here, "temporarily stopped") from a marking such as a road sign (traffic sign) 51 or a road marking 53 as shown in FIG. This is a process that provides driving support (brake control, etc.).

As shown in FIG. 3, in the control unit 41, first, in step (S) 100, the captured image is acquired from the camera unit (specifically, the front camera) 15.
In the subsequent S110, a well-known image recognition process is performed using the image acquired in S100 to acquire information on the marking contents of the road sign 51 and the road marking 53.

For example, as shown in FIG. 4, a road sign 51 having a predetermined shape is recognized from an image of the front of the vehicle, and characters, symbols, colors, and the like written on the road sign 51 are recognized. Then, from the characters and symbols written on the road sign 51, the marking content (that is, what is marked) of the road sign 51 is recognized.

Specifically, using the image taken by the front camera, the shape of the road sign 51 (circle, triangle, rectangle, etc.) and the characters, symbols, colors, etc. marked on the road sign 51 are recognized, and the road is recognized. The image data of the sign 51 and the image data of the road sign 51 of the sign database shown in FIG. 2 are compared. Among the various road signs 51 in the sign database, the road sign 51 that is most similar to the road sign 51 taken by the front camera is referred to as the road sign 51 taken by the front camera.

As a result, it is determined that the road sign 51 photographed by the front camera is, for example, an inverted triangular road sign 51 on which the characters "stop" are written, that is, a road sign 51 indicating the content of the "temporarily stopped" sign. If so, it is determined that the marking content of the road sign 51 is "temporarily stopped". Therefore, in that case, as will be described later, it is possible to provide driving support (for example, control to apply the brake) corresponding to "temporary stop".

Similarly, when recognizing, for example, the white line extending to the left and right and the road marking 53 in front of it from the image of the road in front of the vehicle, and recognizing that the word "stop" is written as the road marking 53. It is determined that the road marking 53 has instructed the vehicle to stop (specifically, stop once).

The process of photographing the road sign 51 with a camera and acquiring the display content thereof is a well-known technique as described in, for example, Japanese Patent Application Laid-Open No. 2011-242839.
In the following S120, the marking content of the marking recognized in S110 is displayed.

For example, when the content of the indication is "temporarily stopped", for example, a head-up display or the like is used to display the characters "temporarily stopped" so that the driver can see them. Further, it may be notified by voice.

Depending on the degree of importance of the marking content, the display method may be changed. For example, if there is a road sign 51 for "no entry" and "parking lot (P)", for example, the color may be conspicuous so that the impression of "no entry" is stronger than that of "parking lot". Make the letters bigger. Alternatively, only important display contents (preselected) may be notified.

Further, when notifying the content of the marking, for example, related regulations (traffic regulations, etc.) corresponding to the types of the road sign 51 and the road marking 53 may be notified.
For example, in the case of a "temporarily stopped" road sign 51, information related to the road sign 51 may be notified, such as "If a violation occurs, the traffic violation score will be ...". Furthermore, at that time, if the current driver's score is also stored in the storage unit 31, information considering the driver's own score, such as "If you violate here, you will be suspended". May be provided.

The processing of S120 can be omitted. That is, the driving support described later may be provided as needed without any notification.
In the following S130, it is determined whether or not the traveling state of the vehicle is a state requiring driving support according to the marking content recognized in S110.

For example, when the marking content marked on the marking is "temporarily stopped", it is determined whether or not the vehicle is in a traveling state where the vehicle can be stopped before the temporary stop line (white line). That is, it is determined whether or not an appropriate operation for stopping the vehicle (for example, an operation in which the accelerator is released and the brake is stepped on) is performed. If affirmative judgment is made here, driving support is not required, so this process is terminated once. On the other hand, if a negative judgment is made, driving support is required, so the process proceeds to S140.

In S140, it is determined whether or not the operation of canceling the driving support is performed. If an affirmative judgment is made here, driving support is not required, so this process is terminated once. On the other hand, if a negative judgment is made, driving support is required, so the process proceeds to S150.

The driving support can be canceled by operating the driving support release switch 21, but it is set so that the driving support can be canceled by various operations in case of an emergency or the like. There is.

For example, if the brake is stepped on twice, the driving support may be released. Further, for example, when a sudden brake is applied, the operation of the sudden brake may be prioritized and the vehicle may be stopped promptly (rather than braking by driving assistance).

In S150, driving support according to the marking content recognized in S110 is required. Therefore, as will be described in detail later, driving support according to the marking content of the marking is provided, and this process is temporarily terminated. ..

[2-2. Driving support processing]
Next, the driving support control process (driving support process) of S150 will be described.
(In the case of "temporarily stopped" sign)
When the marking content of the marking is "temporarily stopped", as described above, the vehicle is automatically braked so that the tip of the vehicle is located in front of the stop line or at the stop line, for example. To stop. As a result, the safety can be improved because the temporary stop can be surely performed.

After stopping once, the vehicle may be started by the driver's accelerator operation.
Also, for example, in the case of an automatic vehicle, after stopping once, the braking force is automatically relaxed and the vehicle is gradually advanced using the so-called creep phenomenon, and the situation on the left and right of the intersection can be confirmed (by the driver, etc.). Control may be performed to stop the vehicle again at the position. As a result, the state in front of the vehicle and in the left-right direction can be clearly understood, which further improves safety.

Furthermore, in the case of the "temporarily stopped" sign, the camera unit indicates whether or not there is a caution target (obstacle) for people (people, bicycles, motorcycles, automobiles, and other objects) around the own vehicle. It may be confirmed by the information from 15 or the radar unit 16.

Then, when the attention target exists, the speed until the stop or the speed when the vehicle starts after the stop may be controlled to be lower than that when the attention target does not exist. Further, the stop may be executed early (for example, before the normal stop position). This further improves safety.

(In the case of "No turning (U-turn)" sign)
When the marking content of the marking is "turning prohibited", the steering wheel is controlled to be heavier (than the current situation) so that the driver recognizes that turning is prohibited. The control to make the steering wheel heavier can be performed by, for example, a well-known PS control for controlling the operation of the power steering.

As a result, it is possible to suppress turning in a place where turning is prohibited, so that safety is improved.
Further, even in the case of the "turning prohibition" sign, it may be controlled to allow a right turn (in the case of left-hand traffic). In other words, until the vehicle makes a right turn, the control for the above-mentioned "turning prohibition" is not performed, and when the vehicle tries to turn further to the right than the right turn, it is regarded as "turning" and the above-mentioned "turning prohibition" is performed. You may control at the time of. In the case of right-hand traffic, right-turn or left-turn is the opposite of left-hand traffic.

In addition, in the case of the indication of "turning prohibition", when controlling the vehicle as described above, the control may be canceled as necessary. For example, if the state of the own vehicle in the traveling direction is grasped based on the information from the camera unit 15 or the like and the control at the time of the above-mentioned "rotation prohibition" is performed (or continued), the attention target (other vehicle, person, etc.) ), The control at the time of "rotation prohibition" described above may not be performed (or released) when there is a risk of contact or proximity.

In addition, also in other examples, it is preferable not to perform the control when there is a possibility that the safety about a caution object may be deteriorated when the control when the sign of a sign is recognized is performed.

(In the case of a sign saying "Prohibition of traveling in directions other than the designated direction (prohibition of turning right or left)")
When the marking content of the sign is "Prohibit traveling in directions other than the designated direction", the driver is designated by controlling the operation of the steering wheel other than the designated direction to make it heavier or prohibiting the steering wheel from turning in the direction other than the designated direction. Recognize that progress other than the direction is prohibited.

For example, if you recognize the "No Right Turn" sign, the steering wheel will be heavy even if you try to make a right turn. Similarly, if you recognize the "No Left Turn" sign, the steering wheel will be heavy even if you try to make a left turn. It may be controlled so as to be.

As a result, it is possible to suppress the progress in directions other than the designated direction, which improves safety.
(In the case of "No vehicle entry" sign)
If the marking content of the marking is "No vehicle entry", the brake is automatically applied to reduce the speed or stop the vehicle. This makes the driver aware that the vehicle is prohibited from entering and prevents the vehicle from entering. The speed of the vehicle may be reduced until the position where entry is prohibited is reached.

As a result, it is possible to prevent the driver from entering the prohibited road, which improves safety.
Also, if you try to enter by ignoring the entry prohibition when you recognize the "No entry" sign, for example, you can control to automatically apply the brakes and stop once, but if you continue to step on the accelerator. The vehicle may be allowed to travel only at a low speed of a predetermined speed or less (for example, 20 km / h or less).

Further, when the vehicle stops when the "No entry" sign is recognized, the vehicle may be controlled to move backward (back). Further, if the place is not "turning prohibited", the vehicle may be controlled to turn. In that case, the driver is notified of the control content (for example, "back"), and if the driver has permission (for example, the operation of the manual switch that permits control or the depression of the accelerator pedal, etc.) is performed. If there is), this control may be implemented.

(In the case of the "maximum speed" sign)
When the marking content of the marking is "maximum speed", the brake is automatically applied to control the maximum speed (speed limit) or a predetermined speed equal to or lower than the maximum speed.

In this case, it may be allowed to exceed the maximum speed within a predetermined speed range (a range exceeding the maximum speed within 10%) for a predetermined distance or a predetermined time.
Further, in this case, it may be possible to select in advance whether to control the speed below the maximum speed or allow control exceeding the maximum speed within a predetermined range.

Further, in the case of the indication of "maximum speed", the vehicle may not be allowed to travel beyond the speed for a certain period of time (for example, 5 minutes) (that is, the travel exceeding the maximum speed may be limited to a certain period of time. good).

In the case of overtaking, a speed exceeding the maximum speed may be allowed for a short time (constant time: for example, within 5 minutes), but a speed exceeding the maximum speed (for example, exceeding the maximum speed by 30 km / h) may be allowed. (Speed) may not be set no matter how much you step on the accelerator.

Here, the overtaking determination can be made under conditions such as, for example, when the preceding vehicle is within a predetermined distance, the lane is changed to the overtaking lane and the accelerator is stepped on. As is well known, the presence or absence of a preceding vehicle can be grasped by the radar unit 16 and the camera unit 15, and the lane change can be grasped by the operation angle sensor 14 and the camera unit 15, as is well known.

This improves driving safety.
In addition, in the case of marking "maximum speed", when controlling the speed described above, it may be desired to increase the speed of the vehicle to the maximum speed or higher, so the speed should be increased to the maximum speed or higher accordingly. A manual switch (not shown) may be provided to allow the listing. Further, if the manual switch is operated to allow the speed to be increased, the control may be performed to reduce the speed to the maximum speed or less after a certain period of time has elapsed.

(In the case of "parking lot (P)" sign)
When indicating that the marking content of the marking is "parking lot", the brake is automatically applied to control the speed to a predetermined safe speed (for example, 20 km / h or less). This further improves driving safety.

In this case, the camera unit 15 and the radar unit 16 are used to recognize objects of interest such as other vehicles and people around the own vehicle, and the distance between the own vehicle and the object of attention such as other vehicles and the own vehicle. The speed of the own vehicle may be controlled according to the relative speed with respect to the object of caution of another vehicle or the like.

For example, when the distance between the own vehicle and the attention target such as another vehicle is short (than the judgment value), or when the relative speed between the own vehicle and the attention target such as another vehicle is larger (than the judgment value), for example. It may be controlled to be lower than the set speed in the parking lot.

If there is no object of caution around the own vehicle, it is not necessary to control the speed in the parking lot described above. On the contrary, when recognizing an old man or a child as a caution target, it is desirable to control the speed to a lower speed. The old man and the child can be judged by image analysis. For example, in the case of gray hair, it may be regarded as an old man. If the height is short, it may be regarded as a child.

Further, for example, when the above-mentioned driving support in the parking lot is canceled, the driving support is more than that in other cases where driving at high speed is permitted (for example, when driving on a highway). It may be difficult to release.

For example, if the condition for canceling driving support on a highway is a condition for the driver to operate the accelerator or the like once, the condition for the driver to operate the accelerator or the like twice is set in the parking lot.
This further improves driving safety.

(In the case of "No parking" sign)
If the marking content of the marking is "parking prohibited", the driver is notified that the marking is "parking prohibited". In this case, if the car is parked for a long time, that is, if the vehicle is parked for a long time (parking at a vehicle speed of 0 for more than 5 minutes), a parking violation will occur. If so, the driver is notified by voice or a specific sound.

Since the driver may be away from the vehicle, the communication unit 37 is used to carry the driver's mobile phone with information about parking (for example, an email with the content that "parking time has passed"). It may be sent to a terminal (for example, a smartphone).

Further, even when the driver is away from the vehicle, if the driver is near the vehicle (for example, within 5 m), the above-mentioned notification or e-mail may not be sent. The approximate distance between the driver and the vehicle can be determined by the strength of the radio wave from the key, for example, when the key and the vehicle communicate with each other. Further, it may be determined that the vehicle and the mobile terminal are in a short distance (for example, the same communication area) by communicating with the vehicle and the driver's mobile terminal.

Further, the alarm may be sounded when the driver stops the car and leaves the car at a place marked as "No parking".
Here, the fact that the driver has left after parking is determined based on conditions such as the vehicle stopping, the ignition key being pulled out (or turned off), and the door being opened / closed (or locked after opening / closing). be able to.

(In the case of "No overtaking" sign)
When the marking content of the marking is "No overtaking", when the front camera recognizes the preceding vehicle and this marking, even if the driver steps on the accelerator to overtake, the vehicle will not accelerate.

This further improves safety.
Further, when the speed is controlled at the time of "overtaking prohibition" described above, the control may be canceled by operating the accelerator (for example, an operation of stepping on the accelerator a plurality of times (for example, twice)).

Furthermore, when the preceding vehicle is stopped or the hazard lamp of the preceding vehicle is blinking, the above-mentioned speed limiting control is possible so that overtaking is possible even if there is a "no overtaking" sign. May be canceled. The stopped state of the preceding vehicle can be determined from the information from the radar unit 16 and the like, and the blinking of the hazard lamp can be determined from the information from the camera unit 15 and the like.

(In the case of "pedestrian crossing" sign)
When the marking content of the marking is "pedestrian crossing", when the front camera recognizes this marking as a pedestrian or the like, the brake is automatically applied so that the driver does not accelerate even if the accelerator is stepped on. You may apply the brakes and drive slowly or (if necessary) before the pedestrian crossing.

This further improves safety.
In addition, when there is a "pedestrian crossing" sign, whether or not there is an object of attention such as a person around the pedestrian crossing is determined by information from the camera unit 15, radar unit 16, etc., and the object of attention exists. In that case, the control at the pedestrian crossing described above may be performed. For example, when there is an object of attention such as a person around the pedestrian crossing (for example, when moving), the driving speed may be further reduced or the vehicle may be stopped.

Alternatively, when there is a "pedestrian crossing" sign, the goodness (or badness) of the view around the pedestrian crossing is judged by the information from the camera unit 15, the radar unit 16, etc., and when the view is bad, The control at the pedestrian crossing described above may be performed. For example, if the view is poor, the driving speed may be further reduced.

As a case of poor visibility, for example, there may be an obstacle such as a building, a tree, or a fence in the vicinity of the pedestrian crossing. Obstacles near the pedestrian crossing can be recognized by information from the camera unit 15, the radar unit 16, and the like.

(In the case of "driving" sign)
When the marking content of the marking is "driving", even if the driver steps on the accelerator, the speed above a certain level (for example, a speed of 20 km / h or more) is prevented from being output.

This further improves safety.
In addition to this, for example, when there is a sign of "school zone" or when there is a sign of "there is a traffic light ahead", the same control as in the case of "driving" may be performed. If there is a "school zone" sign, the same control as in the above-mentioned "driving" may be performed within a predetermined range before and after the sign (for example, a range of 100 m before and after).

(In the case of "minimum speed" sign)
When the marking content of the sign is "minimum speed", the vehicle is prevented from traveling for a certain period of time (for example, 5 minutes) below the speed (in that case, for example, the vehicle speed is increased to the minimum speed or higher).

Further, a manual release switch (not shown) for releasing the control of the speed at the above-mentioned "minimum speed" may be provided.
It should be noted that the minimum speed control may be released by, for example, an accelerator operation (for example, stepping on the accelerator twice) or a steering wheel operation (for example, grasping a predetermined position of the steering wheel) instead of the release switch. Alternatively, when the turn signal or the hazard lamp is blinked, the control of the minimum speed may be canceled.

(In the case of "Horn" sign)
If the marking content of the sign is "Horn", the horn will automatically sound at regular intervals. However, if the front camera or the radar unit 16 recognizes an oncoming vehicle, the horn should not be sounded.

This further improves safety.
It should be noted that the content of the control at the time of the above-mentioned "honking" may be changed depending on the traveling state (for example, time or position) of the vehicle. For example, when driving at night or in a residential area, the volume of the horn may be reduced. On the contrary, in the case of a mountain road, the volume of the horn may be increased. The traveling position of the vehicle can be grasped by the navigation device 18 or the like.

(In the case of "slippery" sign)
If the marking content of the marking is "slippery", for example, the weather (rain condition) is detected by a rainfall sensor (not shown), the critical speed at that time is calculated, and no higher speed is obtained. To do so. The critical speed is a speed that causes a dangerous state such as deviating from the lane or slipping when traveling at that speed, and can be obtained in advance by an experiment or the like.

For example, when rain (rainfall) is detected, the upper limit of the speed of the vehicle is controlled to a predetermined% or less (for example, 90% or less) of the speed limit of the road, and the upper limit of the speed is gradually increased as the amount of rainfall increases. It is possible to control the lowering.

In addition, for example, when the outside air temperature is detected and the temperature is such that there is a risk of freezing of the road surface, control may be performed to reduce the speed of the vehicle.
Further, the critical speed of the vehicle may be changed depending on, for example, the curvature of the curve of the road. For example, when the curvature of the curve is large, it is desirable to set the critical speed low. The control of this critical speed setting is the same for the following "with steep downward gradient".

This further improves safety.
(In the case of the sign "There is a steep downhill slope")
When the marking content of the marking is "with a steep descent slope", the state of friction between the tires of the vehicle and the road surface is detected, the critical speed at that time is calculated, and the speed is prevented from exceeding. ..

For example, when the coefficient of friction of the road surface is smaller than a predetermined value, the upper limit of the speed of the vehicle is controlled to a predetermined% or less (for example, 90% or less) of the speed limit of the road, and as the friction coefficient becomes smaller, the speed is increased. It is possible to control to gradually lower the upper limit of.

The state of friction such as the coefficient of friction of the road surface can be detected while the vehicle is running by various well-known techniques.
This further improves safety.

(In the case of "railroad crossing" sign)
When the marking content of the marking is "railroad crossing", the vehicle is automatically braked to stop the vehicle at a position in front of the stop line, for example. As a result, the safety can be improved because the temporary stop can be surely performed.

Further, when the vehicle is temporarily stopped at a railroad crossing and there is a preceding vehicle beyond the railroad crossing, the state may be notified. The presence or absence of the preceding vehicle and the distance from the preceding vehicle can be grasped from the information from the radar unit 16.

At this time, the map data of the navigation device 18 may be referred to to confirm whether or not this railroad crossing is a railroad crossing of a discontinued line (when the data of the discontinued line is stored). Then, in the case of a railroad crossing of an abandoned line, it may be notified to that effect and controlled to, for example, a slow-moving speed without stopping once.

In addition, the road sign 51 or the like described above may be provided with another auxiliary sign (for example, "8-20") or the like in which the marking content of the road sign 51 or the like is restricted. For example, an auxiliary sign such as "8-20" indicating a time limit or the like may be provided.

In this case, the marking content of the road sign 51 or the like is recognized in consideration of the marking content of this auxiliary sign. For example, if the time when the road sign 51 is recognized is 7 o'clock, the road sign 51 is ignored and the driving support corresponding to the road sign 51 is not implemented.

In addition, for example, when the marking content of the marking is "parking prohibited during the marked time", parking is performed within the time limit and an alarm is issued when the driver leaves the vehicle. You may.

[3. effect]
According to the first embodiment described in detail above, the following effects can be obtained.
In the first embodiment, the marking content of the marking that marks the traffic information (road marking 51, road marking 53, etc.) arranged around the vehicle is recognized, and the marking content of the recognized marking is used. The running state of the vehicle is controlled accordingly.

That is, in the first embodiment, the traveling state of the vehicle is automatically controlled according to the marking content of the sign such as the road sign 51, so that the driver overlooks the road sign 51 such as a temporary stop, for example. Even in such a case, it is possible to drive safely by controlling the vehicle to stop by applying a brake, for example.

Further, in the first embodiment, the driver is notified of the marking content of the marking and the traffic rules related to the marking content. Therefore, the driver can accurately grasp the information on the traffic, and the driver can drive more safely.

In the first embodiment, the control unit 41 corresponds to an example of a vehicle control device, S110 corresponds to an example of processing as a marking recognition unit, and S1230 to S150 correspond to an example of processing as a vehicle control unit. do.

<Second Embodiment>
Next, the second embodiment will be described, but the same contents as those of the first embodiment will be omitted.
Since the control process of the second embodiment is different from that of the first embodiment, the differences will be described. Specifically, in the second embodiment, the situation of parking prohibition is grasped and the control corresponding to the situation is performed.

As shown in FIG. 5, in the control unit 41 of the second embodiment, first, in S200, an image of the surroundings of the vehicle is acquired from the camera unit 15.
In the following S210, whether or not there is a sign indicating parking prohibition around the own vehicle based on the image obtained by image analysis, here, various objects and markings indicating parking prohibition are in the vicinity of the own vehicle. Determine if it is in. For example, it is determined whether or not there is a fire hydrant, a bus stop, an intersection, or the like within a predetermined distance of the own vehicle. If an affirmative judgment is made here, the process proceeds to S220, while if a negative judgment is made, this process is temporarily terminated.

The fire hydrant, the bus stop, and the like can be recognized from the shape of the object, and the intersection and the like can be recognized from the map data by the navigation device 18.
In S220, it is determined whether or not the driving support is canceled. If an affirmative judgment is made here, the present process is temporarily terminated, while if a negative judgment is made, the process proceeds to S230.

In S230, information such as traffic regulations regarding parking prohibition is notified according to the content of the sign indicating parking prohibition, and this process is temporarily terminated. For example, if there is a fire hydrant, provide information such as "Parking is prohibited within mm of the fire hydrant."

Information such as traffic regulations is stored in the storage unit 31.
Therefore, the driving support of the second embodiment has an advantage that safer driving can be performed.

The following modification is also possible.
-In addition to the above-mentioned driving support, control may be performed to automatically move the own vehicle from the parking prohibited area. Further, based on the camera image around the own vehicle, it may be instructed in which direction the vehicle can move (for example, in which direction the vehicle moves out of the parking prohibited area).

-In addition, similar driving support may be provided based on the data of the navigation device 18. Specifically, when it is recognized that the own vehicle has stopped near an intersection, for example, based on the map data of the navigation device 18, information such as "parking is prohibited within mm of the intersection" is displayed. May be provided.

-For example, when performing control to prohibit parking in the vicinity of a bus stop (for example, control such as notification of parking prohibition), it is determined whether or not a bus actually exists in the vicinity of the bus stop, and if there is no bus, it is determined. , The above-mentioned notification and the like may not be controlled. The presence or absence of a bus can be determined based on, for example, information from a camera unit 15 or the like (for example, information on the shape and size of a vehicle).

<Third Embodiment>
Next, the third embodiment will be described, but the same contents as those of the first embodiment will be omitted.
Since the control process of the third embodiment is different from that of the first embodiment, the differences will be described. Specifically, in the third embodiment, the reverse driving of the own vehicle is detected and the control corresponding to the reverse driving is performed.

As shown in FIG. 6, in the control unit 41 of the third embodiment, first, in S300, an image of the front of the vehicle is acquired from the camera unit 15.
In the following S310, it is determined whether or not the own vehicle is running in reverse based on the image obtained by the image analysis. If an affirmative judgment is made here, the process proceeds to S320, while if a negative judgment is made, this process is temporarily terminated.

For example, as shown in FIG. 7, when the own vehicle is running in reverse on a four-lane road, the road sign 51 arranged on the road side on the right side in the traveling direction of the own vehicle is on the back side, so that the road sign 51 If the marking content on the marking surface cannot be recognized even though the existence is recognized, it is determined to be a reverse run.

Further, the reverse driving may be determined from the road marking 53 marked on the traveling lane of the own vehicle. For example, when the direction of the road marking 53 in the traveling direction is opposite, it is determined that the road marking 53 is traveling in the opposite direction.
Further, when another vehicle is recognized in front of the traveling lane of the own vehicle and the relative speed with the other vehicle is higher than the speed of the own vehicle, it is determined that the vehicle is running in reverse.

In addition to the recognition of the road sign 51 and the like, it is preferable to determine the reverse driving by adding the information from the camera unit 15 and the radar unit 16 and the like in terms of improving the accuracy of the reverse driving determination.
In S320, the driver is notified by display or voice that the vehicle is running in reverse.

In the following 330, processing is performed to reduce the risk of reverse driving. For example, a process of turning on a headlamp or blinking a hazard lamp is performed. Further, the own vehicle may be stopped.
The driving support of the third embodiment has an advantage that safer driving can be performed.

<Fourth Embodiment>
Next, the fourth embodiment will be described, but the same contents as those of the first embodiment will be omitted.
Since the control process of the fourth embodiment is different from that of the first embodiment, the differences will be described. Specifically, in the fourth embodiment, the control corresponding to the image taken by the camera and the data of the navigation device is performed.

This process is performed when the route guidance (destination) is not set by the navigation device 18.
As shown in FIG. 8, in the control unit 41 of the third embodiment, first, the S400 acquires an image of the front of the vehicle from the camera unit 15.

In the following S410, the traveling lane (lane) in front of the own vehicle and the traveling state (presence / absence of vehicle and congestion state) of the vehicle traveling in the traveling lane are recognized based on the image obtained by the image analysis.

In the following S420, the navigation device 18 recognizes in which direction the own vehicle will go if it travels in each of the traveling lanes.
That is, based on the map data, information such as "when traveling in the leftmost traveling lane, only a left turn is possible at the next intersection" is acquired. The direction of travel may be recognized by reading a mark such as an arrow displayed on the road by image analysis.

In the following S430, the subsequent traveling direction of each traveling lane is notified, and this processing is temporarily terminated.
For example, it presents information that says, "If you drive in the left lane, you will turn left at the next intersection."

With the driving support of the third embodiment as described above, it becomes possible to drive in an appropriate driving lane, so that there is an advantage that comfortable and safer driving can be performed.
The above-mentioned information can be presented when the own vehicle is traveling on a road having a plurality of lanes on each side.

In addition, the above-mentioned information is presented, for example, when a traffic jam in front is detected, when the own vehicle stops on the traveling lane due to traffic jam, or when the speed becomes lower than a predetermined speed (for example, 20 km / h). May be good.

Alternatively, it may be carried out when there is an intersection in front and the intersection approaches a predetermined distance. Alternatively, it may be carried out periodically at a predetermined timing.
<Fifth Embodiment>
Next, the fifth embodiment will be described, but the same contents as those of the first embodiment will be omitted.

Since the control process of the fifth embodiment is different from that of the first embodiment, the differences will be described.
Although not shown, in the fifth embodiment, when it is recognized that the own vehicle is traveling in the overtaking lane continuously for a predetermined time or longer when the own vehicle is traveling on the highway, the driver indicates to that effect. Notify to.

The navigation device 18 can be used to determine that the own vehicle is traveling on a highway having two or more lanes on each side. Further, it can be recognized from the image taken by the front camera that the own vehicle is traveling in the overtaking lane.

This enables safe driving in compliance with traffic regulations.
Further, the presence or absence of a following vehicle may be determined based on the information from the camera unit 15 and the radar unit 16 that can recognize the rear of the vehicle, and the vehicle may be controlled based on the result. For example, if there is a following vehicle in the overtaking lane or the traveling lane behind the own vehicle, the driver may be notified to that effect. In addition, when the driver operates to change lanes to the lane where the following vehicle (especially the connected vehicle whose distance to the own vehicle is less than a predetermined distance) is located, the operation is performed by, for example, making the handle heavier. Control may be performed to suppress or prohibit.

<Sixth Embodiment>
Next, the sixth embodiment will be described, but the same contents as those of the first embodiment will be omitted.
Since the control process of the sixth embodiment is different from that of the first embodiment, the differences will be described.
When it snows and piles up, signs such as road signs 51 may not be visible. Therefore, in the sixth embodiment, what kind of road sign 51 or the like is stored at which position by learning. For example, during normal traveling, the position information and the information such as the road sign 51 are stored in association with each other.

Then, even if the road sign 51 or the like cannot be recognized due to snow or the like while traveling on the road, various controls corresponding to the above-mentioned road sign 51 or the like are performed based on the road sign 51 or the like memorized by learning. conduct.

Specifically, in the sixth embodiment, the driving support process shown in FIG. 9 can be performed.
First, the S500 acquires an image of the front of the vehicle from the camera unit 15. Also, if there is an in-vehicle camera (not shown) that can shoot the hood of the own vehicle, that image is also acquired.

In the following S510, it is determined whether or not the sign object such as the road sign 51 is recognized based on the image acquired from the camera unit 15. If an affirmative judgment is made here, the process proceeds to S520, while if a negative judgment is made, the process proceeds to S530.

In S530, it is determined whether or not snow is piled up based on the acquired image. If an affirmative judgment is made here, the process proceeds to S540, while if a negative judgment is made, this process is temporarily terminated. For example, when snow is piled up, the color is white and there is a lot of reflected light as compared with the state of a normal road (or bonnet), so if the condition is satisfied, it can be determined that there is snowfall. If the original color of the bonnet is not white, it may be determined that there is snow when the color changes to white. The determination accuracy is further improved by adding the outside air temperature (for example, the condition of 0 ° C. or lower).

In S540, it is determined whether or not there is data of a sign such as a road sign 51 acquired by learning at the current traveling position obtained from the navigation device 18. If an affirmative judgment is made here, the process proceeds to S520, while if a negative judgment is made, this process is temporarily terminated.

In S520, control corresponding to the marking content of a sign such as a road sign 51 recognized from an image or obtained from stored data is performed, and this process is temporarily terminated.
With such control, safety is further improved even when the road sign 51 or the like cannot be seen due to snow or the like.

Further, when performing this control, it is desirable to notify the driver whether the control is based on the actually recognized road sign 51 or the like or the control based on the road sign 51 or the like memorized by learning. By this notification, the driver can recognize why such control is performed, so that the driver can drive with peace of mind.

Further, when it is determined that there is snow, the actual road sign 51 or the like becomes difficult to see, so it is desirable to perform various image adjustments so as to reliably perform image analysis. For example, a well-known image processing filter is applied (for example, gamma correction is performed) to make it easier to read the content of the sign such as the road sign 51.

Further, even if snow is piled up on the road sign 51 or the like and only a part of the sign content can be recognized, the data of the road sign 51 or the like (data of FIG. 2 or the like) stored in advance is referred to and stored as a photographed image. By performing image matching with the image data, it is possible to accurately estimate the marking content of the road sign 51 or the like.

<7th Embodiment>
Next, the seventh embodiment will be described, but the same contents as those of the first embodiment will be omitted.
Since the control process of the seventh embodiment is different from that of the first embodiment, the differences will be described.
In the seventh embodiment, when the road sign of "lane reduction" is recognized, the control is performed to guide the own vehicle to an appropriate lane (the lane on the side where the lane does not decrease) according to the traveling lane.

Specifically, in the seventh embodiment, the driving support process shown in FIG. 10 can be performed.
First, in S600, an image of the front of the vehicle is acquired from the camera unit 15.
In the following S610, it is determined whether or not the sign such as the road sign 51 of "lane reduction" is recognized based on the image acquired from the camera unit 15. If an affirmative judgment is made here, the process proceeds to S620, while if a negative judgment is made, this process is temporarily terminated.

In S620, which side of the lane is reduced is recognized based on the image of the marking obtained from the camera unit 15.
In the following S630, control is performed to guide the own vehicle to the side where the lane does not decrease, and this process is temporarily terminated. For example, when the own lane disappears in front of the vehicle, control for guiding to another lane (for example, control for blinking the blinker in the guiding direction) can be performed. If the own lane does not disappear in the front, the traveling state may be maintained as it is, or the speed may be slightly reduced.

Further, when the other lane disappears, control may be performed to give way to an interrupting vehicle from the other lane. For example, when a preceding vehicle traveling in another lane ahead of the vehicle puts out a winker, control may be performed to reduce the speed of the own vehicle (or control to increase a predetermined inter-vehicle distance).

<8th Embodiment>
Next, the eighth embodiment will be described, but the same contents as those of the first embodiment will be omitted.
Since the control process of the eighth embodiment is different from that of the first embodiment, the differences will be described.
In the eighth embodiment, when a road sign indicating a branch state of a road such as a "Y-shaped road" or a "T-shaped road" is recognized, control is performed according to the display content.

For example, when the own vehicle is guided by the navigation device 18, it is possible to control the blinker or the vehicle to move in the branch direction according to the traveling direction (branch direction) of the own vehicle.

Further, for example, it may be determined from the camera unit 15 or the like whether or not the T-junction can be safely turned based on the information. For example, the width of the road on the T-junction may be recognized, and if the own vehicle travels as it is, it may be determined whether or not the vehicle can turn safely, and a notification to that effect may be given. Alternatively, it may be controlled to drive slowly or stop once.

The road width can be determined from a line indicating a roadside zone provided on the side of the road or a road outside line (hereinafter, may be referred to as a roadside line). It is also possible to obtain it from map data.

<9th embodiment>
Next, the ninth embodiment will be described, but the same contents as those of the first embodiment will be omitted.
Since the control process of the ninth embodiment is different from that of the first embodiment, the differences will be described.
In the ninth embodiment, the concession control is performed on a narrow road such that there is no center line.

For example, when recognizing a road sign of "width reduction", when recognizing that the vehicle is driving on a road without a center line, or when recognizing that the vehicle is traveling on a road with a width that is difficult to pass. , The following control may be performed in order to favorably pass each other.

Specifically, in the ninth embodiment, the driving support process shown in FIG. 11 can be performed.
First, the S700 acquires information such as an image from the camera unit 15, the radar unit 16, and the like.

In the following S710, it is determined whether or not the sign such as the road sign 51 of "width reduction" is recognized based on the image acquired from the camera unit 15. If an affirmative judgment is made here, the process proceeds to S730, while if a negative judgment is made, the process proceeds to S720.

In S720, it is determined whether or not the road has no center line or a narrow road (that is, a road having a width that cannot pass each other with sufficient spacing) based on the image acquired from the camera unit 15. If an affirmative judgment is made here, the process proceeds to S730, while if a negative judgment is made, this process is temporarily terminated.

In S730, it is determined whether or not there is an oncoming vehicle based on the information from the camera unit 15, the radar unit 16, and the like. If an affirmative judgment is made here, the process proceeds to S740, while if a negative judgment is made, this process is temporarily terminated.

In S740, the distance from each vehicle to the roadside (the roadside on the passing side) is obtained for the own vehicle and the oncoming vehicle.
In the following S750, it is determined whether or not there is a distance (width) at which the roadside can easily pass each other based on the distance obtained in S740. If an affirmative judgment is made here, the present process is temporarily terminated, while if a negative judgment is made, the process proceeds to S760.

In S760, for example, based on the information from the camera unit 15, the radar unit 16, and the like, the movements of the oncoming vehicle and the own vehicle are grasped, and it is determined which of the movements gives way first. For example, when there is a movement of the steering wheel that gives way first (for example, a movement of turning the steering wheel to the roadside side), or a movement of the driver's hand giving way (for example, a movement of turning the hand toward the passing side). If it is determined that the vehicle has given way, or if there is a change in the direction of travel of the vehicle that gives way first, it is determined that the vehicle has given way.

In the following S770, the operation of the own vehicle is controlled based on the operation of giving up the course determined in S760, and this process is temporarily terminated.
For example, when it is determined that an oncoming vehicle has given way, control is performed to reduce the speed of the own vehicle so that the vehicles can easily pass each other. Further, the speed may be controlled to an appropriate speed (control to reduce the speed) so that the vehicle can recognize the space between the oncoming vehicle and the road side and easily pass between the vehicles.

On the other hand, when the own vehicle gives way, the blinker on the side giving way (roadside side) may be blinked, and the vehicle may be moved to a position close to the roadside and then slowed down or stopped.

In addition, when an oncoming vehicle is recognized in a narrow road where it is difficult to pass each other, if the distance between the vehicle and the roadside line at that time is wider than that of the own vehicle, Control may be performed to stop the own vehicle at that location. Further, if it is difficult to pass each other, the control may be performed to temporarily stop the own vehicle.

The width of the road ahead and the distance from the vehicle to the road side can be obtained based on the information from the camera unit 15. For example, it can be obtained from the position of the vehicle (oncoming vehicle or own vehicle) and the position of the roadside line.

<10th Embodiment>
Next, the tenth embodiment will be described, but the same contents as those of the first embodiment will be omitted.

Since the control process of the tenth embodiment is different from that of the first embodiment, the differences will be described.
In the tenth embodiment, when the road sign 51 having "unevenness" is recognized, control is performed to reduce the influence of the unevenness. For example, control is performed to reduce the speed.

Further, when the road sign 51 is recognized when it has a suspension function (for example, a function for adjusting softness), control is performed to soften the suspension, for example, so that the vibration does not increase.

Further, when the road sign 51 is recognized when it has a function of changing the vehicle height, it controls to raise the vehicle height.
<Other embodiments>
Although the embodiments of the present invention have been described above, it is needless to say that the present invention is not limited to the above-described embodiments and can take various forms.

(1) For example, when the front camera recognizes the school bus, even if the accelerator is stepped on to overtake, it can be prevented from accelerating.
Whether or not it is a school bus can be determined from, for example, the characters of the school bus marked on the bus.

(2) When the front camera recognizes the beginner's mark or the elderly mark of the preceding vehicle, it is possible to automatically control to increase the distance between the preceding vehicle and the preceding vehicle.
For example, when the vehicle with the mark is recognized during automatic driving by ACC control, the vehicle is controlled to take a larger inter-vehicle distance than the normal inter-vehicle distance.

In addition, control may be performed to prohibit excessive approach (within a predetermined distance) to the preceding vehicle with the mark.
In addition, the age may be estimated from the back view of the driver, and the above-mentioned control (control corresponding to the elderly mark) may be performed. The age can be estimated by analyzing the image obtained from the camera unit 15.

(3) Further, the present invention is not limited to driving support when the driver is driving, but can also be applied to control during automatic driving. In this case, the information may not be notified, but the same notification may be given to the passenger.

For example, the present invention can also be applied to automatic driving control (ACC control, etc.) such as well-known constant speed driving control and preceding follower control. Whether to prioritize the automatic driving control or the driving support control of the present invention may be appropriately selected and set, but for safety reasons, it is desirable to give priority to the driving support control of the present invention. That is, when implementing the driving support control, it is desirable to cancel the automatic driving control or temporarily stop the control.

(4) Furthermore, when the automatic driving is controlled, no matter how it is controlled, either the pedestrian or the driver cannot help, or the driver or the passenger If only one of them is saved, it may be controlled so that one of them is given priority.

It should be noted that which one may be prioritized may be set in advance, but a switch for setting the priority may be provided so that either one can be selected.
(5) Further, in the case of an LED traffic light, it may be difficult to see the signal because the snow is hard to melt. Therefore, for example, the signal may be recognized based on the information from the camera unit 15 (that is, the signal may be recognized by image analysis), and if the signal is red or yellow, control may be performed to stop the vehicle. Since it can be determined by the process of the sixth embodiment described above that snow is accumulated, if this process is performed when snow is accumulated, the safety in the case of traveling on a snowy road is improved.

(6) Similarly, in the case of backlight, the signal may be difficult to see. Therefore, for example, the signal may be recognized based on the information from the camera unit 15, and if the signal is red or yellow, control may be performed to stop the vehicle. In addition, in order to make the signal easier to see in backlight, it is preferable to perform correction of various well-known images.

(7) If there is an intersection in front of the vehicle, it may not be possible to tell whether the traffic light is in front or behind (that is, a traffic light farther away). Therefore, for example, both traffic lights are recognized based on the information from the camera unit 15, and which traffic light is in front is determined from, for example, the size of the traffic light (or its light). Then, when the traffic light in front is red or yellow, control may be performed to stop the vehicle.

(8) Reflectors may be installed on guardrails, utility poles, medians, etc. Therefore, for example, the reflector may be recognized based on the information from the camera unit 15, and the vehicle may be controlled so as to avoid the reflector. The reflector is easier to recognize than other objects, which improves driving safety. Whether or not it is a reflector can be determined from the shape, color, intensity of reflected light, and the like of the reflector. For example, if the circle has a predetermined size or less and the light intensity of the circular portion is higher than that of the surroundings, it can be determined that the plate is a reflector.

(9) In addition, various information (for example, information that recognizes the marking content of the marking and provides driving support corresponding to it) is collected from each vehicle by cloud computing (cloud) via the Internet. If necessary, the information may be collected and analyzed, and each information may be provided to each vehicle as appropriate.

For example, when the contents of the sign of the no-entry sign are grasped and the driving support to apply the brake is performed, the information to the effect that the control is performed and the position where the control is performed are sent to the cloud server via the Internet. May be provided to. In this case, the control content and the controlled position can be provided from the server to the vehicle traveling around the position.

This further improves driving safety.
(10) Further, the functions of one component in the embodiment may be dispersed as a plurality of components, or the functions of the plurality of components may be integrated into one component. Further, at least a part of the configuration of the above embodiment may be replaced with a known configuration having the same function. Further, a part of the configuration of the above embodiment may be omitted. Further, at least a part of the configuration of the above embodiment may be added or substituted with respect to the other configurations of the above embodiment. It should be noted that all aspects included in the technical idea specified from the wording described in the claims are embodiments of the present invention.

(11) In addition to the control unit 41 described above, there are various vehicle-mounted systems including the control unit 41 as a component, a program for operating the computer as the control unit 41, a medium in which this program is recorded, a vehicle control method, and the like. The present invention can also be realized in the form.

1 ... Vehicle control device, 11 ... Vehicle speed sensor, 12 ... Acceleration sensor, 13 ... Brake sensor, 14 ... Steering angle sensor, 15 ... Camera unit, 16 ... Radar unit, 17 ... Positioning unit, 18 ... Navigation device, 19 ... Driving Support start switch, 21 ... Driving support release switch, 31 ... Storage unit, 32 ... User interface unit, 33 ... Sound output unit, 34 ... Engine ECU, 35 ... Brake ECU, 36 ... Steering ECU, 37 ... Communication unit, 41 ... Control unit, 51 ... road sign, 53 ... road sign

Claims (6)

It is a vehicle control device mounted on the vehicle.
A sign recognition unit that is arranged around the vehicle and recognizes the marking content of a sign that displays information on traffic, and is a sign recognition unit that can recognize a stop at least once.
A vehicle control unit that controls the running state of the vehicle according to the marking content of the marking object recognized by the marking recognition unit.
When the marking content recognized by the marking recognition unit is temporarily stopped, the attention target determination unit for determining whether or not there is a caution target around the vehicle, and the attention target determination unit.
Equipped with
When the marking content recognized by the marking recognition unit is a temporary stop, no vehicle entry, parking lot, pedestrian crossing, or railroad crossing, the vehicle control unit brakes the vehicle.
When the caution target determination unit determines that the caution target exists, the vehicle control unit determines the speed until the vehicle stops or the speed at which the vehicle starts after the stop is temporarily set as compared with the case where the caution target does not exist. Control low ,
The object of caution is a vehicle control device characterized by being a person, a bicycle, a motorcycle, or an automobile . Further, a display unit for displaying the marking content recognized by the marking recognition unit is provided.
The vehicle control device according to claim 1, wherein the display unit changes the display method of the marking content according to the degree of importance of the marking content. The vehicle control device according to claim 1 or 2, further comprising a notification unit for notifying traffic rules related to the marking content of the marking. When the marking content recognized by the marking recognition unit is prohibited from entering and the vehicle is about to enter a road where entry is prohibited, the vehicle control unit either stops the vehicle or travels at a low speed of a predetermined value or less. The vehicle control device according to any one of claims 1 to 3, wherein the vehicle control device is to be used. One of claims 1 to 4, wherein when the marking content recognized by the marking recognition unit is prohibited from entering and the vehicle stops, the vehicle control unit reverses or turns the vehicle. The vehicle control device described in the section. A vehicle provided with the vehicle control device according to any one of claims 1 to 5.

Images