JP7101161B2 - Vehicle control device, vehicle control method and program - Google Patents

Description

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

For example, in an autonomous vehicle that has been under development in recent years, the driver is not driving while driving, so it is often not visible from the outside as if the driver inside the vehicle is paying attention to the external situation. .. If this is the case, traffic participants such as pedestrians around the autonomous driving vehicle may feel uneasy about whether or not the vehicle is aware of itself and is driving with caution. ..
Therefore, in the technique of Patent Document 1, a movable device is provided in the vehicle, and when the vehicle detects a pedestrian, the movable device is directed toward the pedestrian, and the vehicle drives while paying attention to the pedestrian. The technology to inform you that you are there is disclosed.

Further, the technique of Patent Document 2 discloses a technique of recognizing a person in the vicinity of the self-driving vehicle and outputting information having directivity in the direction of the person.

Japanese Unexamined Patent Publication No. 2015-174541 Japanese Unexamined Patent Publication No. 2017-199317

According to the techniques of Patent Documents 1 and 2, pedestrians and the like around the autonomous driving vehicle can know that the vehicle is driving with attention to themselves, which gives a sense of security. be able to.
However, in the techniques of Patent Documents 1 and 2, it is certain that the driver of the self-driving vehicle is driving with the self-driving vehicle paying attention to traffic participants such as pedestrians around him / her. It is difficult to understand whether the notification is being made or what kind of notification is being made. Therefore, there is a problem that the driver of the autonomous driving vehicle feels uneasy.

Therefore, the present invention is a driving control device capable of notifying the driver (passenger) that the traffic participant is informed that the vehicle is paying attention to the surrounding traffic participants during the traveling control. It is an object to provide a vehicle control method and a program.

The present invention includes a recognition unit that recognizes the peripheral situation of the own vehicle, a traveling control unit that controls at least one of steering and acceleration of the own vehicle based on the peripheral situation recognized by the recognition unit, and the traveling. The content of the external notification unit that notifies the traffic participant recognized by the recognition unit of the operation of the own vehicle based on the control by the control unit, and the content of the notification performed by the external notification unit to the traffic participant. The internal notification unit that also notifies the driver of the own vehicle, and when the recognition unit detects the traffic participant in the vicinity of the own vehicle, the external notification unit informs the traffic participant of the traffic participant. The operation of the vehicle is notified, and the content of the notification of the external notification unit is notified to the driver by the internal notification unit, and then the recognition unit detects the traffic participant from the vicinity of the own vehicle. When it disappears, the notification to the traffic participant by the external notification unit is stopped, and the notification to the driver by the internal notification unit is provided with a notification control unit that switches from the first notification to the second notification. And.

According to the present invention, a driving control device capable of notifying a driver (passenger) that a vehicle is informing the traffic participants that they are paying attention to surrounding traffic participants during driving control. Vehicle control methods and programs can be provided.

It is a figure which shows the whole structure of the vehicle which comprises the vehicle control device which concerns on embodiment of this invention. It is a functional block block diagram which shows the vehicle control apparatus which concerns on embodiment of this invention, and the peripheral part structure thereof. It is a schematic block diagram of HMI connected to the vehicle control device which concerns on embodiment of this invention. It is a figure which shows the front part structure of the vehicle interior of the vehicle which comprises the vehicle control device which concerns on embodiment of this invention. It is an external view which shows the front structure of the vehicle which comprises the vehicle control device which concerns on embodiment of this invention. It is an external view which shows the rear structure of the vehicle which comprises the vehicle control device which concerns on embodiment of this invention. It is a front view which shows the schematic structure of the right front light part provided in a vehicle. It is a functional block diagram explaining the details of the display control unit of the vehicle control device which concerns on embodiment of this invention. It is a top view explaining the pattern of the notification performed in the right front light part and the left front light part by the vehicle control device which concerns on embodiment of this invention. It is a top view explaining the pattern of the notification performed in the right front light part and the left front light part by the vehicle control device which concerns on embodiment of this invention. It is a top view explaining the pattern of the notification performed in the right front light part and the left front light part by the vehicle control device which concerns on embodiment of this invention. It is a top view explaining the pattern of the notification performed in the right front light part and the left front light part by the vehicle control device which concerns on embodiment of this invention. It is a top view which shows the image display example of the multi-information panel by the vehicle control device which concerns on embodiment of this invention. It is a top view of the multi-information panel at the time of displaying the notification information which concerns on the guidance by the vehicle control device which concerns on embodiment of this invention. It is a top view of the image display example of the notification display to be displayed in the external notification display area by the vehicle control device according to the embodiment of the present invention. It is a top view of the image display example of the non-notification display to be displayed in the external notification display area by the vehicle control device which concerns on embodiment of this invention. It is a flowchart explaining the content of the process executed by the notification control unit and the like of the vehicle control device which concerns on embodiment of this invention. It is a top view which shows typically the approach to the intersection of the own vehicle explaining the control of the vehicle control device which concerns on embodiment of this invention.

Hereinafter, the vehicle control device according to the embodiment of the present invention will be described in detail with reference to the drawings.
In the drawings shown below, members having a common function are designated by a common reference numeral. Further, the size and shape of the member may be deformed or exaggerated schematically for convenience of explanation.
In the description of the vehicle control device according to the embodiment of the present invention, when the left and right expressions are used for the own vehicle M, the front of the own vehicle M in the traveling direction is used as a reference. Specifically, for example, the own vehicle M is placed in a case with a right-hand drive specification, and the driver's seat side is called the right side and the passenger's seat side is called the left side.

[Structure of own vehicle M]
First, the configuration of a vehicle (hereinafter, referred to as “own vehicle M”) including the vehicle control device 100 according to the embodiment of the present invention will be described with reference to FIG.

FIG. 1 is an overall configuration diagram of a vehicle including the vehicle control device 100 according to the embodiment of the present invention.
As shown in FIG. 1, the own vehicle M on which the vehicle control device 100 according to the embodiment of the present invention is mounted is, for example, a two-wheeled vehicle, a three-wheeled vehicle, a four-wheeled vehicle, or the like.
The own vehicle M includes a vehicle powered by an internal combustion engine such as a diesel engine or a gasoline engine, an electric vehicle powered by an electric motor, a hybrid vehicle having an internal combustion engine and an electric motor, and the like. Of these, the electric vehicle is driven by using the electric power discharged by a battery such as a secondary battery, a hydrogen fuel cell, a metal fuel cell, or an alcohol fuel cell.

As shown in FIG. 1, the own vehicle M has an external world sensor 10 having a function of detecting external information about a target including an object or a sign existing around the own vehicle M, and the current position of the own vehicle M on a map. Equipped with a navigation device 20 having a function of mapping and providing route guidance to a destination, and a vehicle control device 100 having a function of autonomous driving control of the own vehicle M including steering / acceleration / deceleration of the own vehicle M. Has been done.
These devices and devices are configured to be connected to each other so as to be capable of data communication via a communication medium such as CAN (Controller Area Network).

The "vehicle control device" according to the present invention may include other configurations (external world sensor 10, HMI 35, etc.) in addition to the configuration of the "vehicle control device 100" according to the present embodiment.

[External sensor 10]
The outside world sensor 10 includes a camera 11, a radar 13, and a rider 15.
The camera 11 has an optical axis inclined diagonally downward in front of the own vehicle, and has a function of capturing an image of the traveling direction of the own vehicle M. As the camera 11, for example, a CMOS (Complementary Metal Oxide Semiconductor) camera, a CCD (Charge Coupled Device) camera, or the like can be appropriately used. The camera 11 is provided in the vicinity of the rear-view mirror (not shown) in the vehicle interior of the own vehicle M, and in the front right door, the front left door, and the like outside the vehicle interior of the own vehicle M.

For example, the camera 11 periodically and repeatedly captures the front, right rear side, and left rear side of the own vehicle M in the traveling direction. In the present embodiment, the camera 11 provided in the vicinity of the rear-view mirror includes a pair of monocular cameras arranged side by side. The camera 11 may be a stereo camera.
The image information of the own vehicle M captured by the camera 11 in the forward direction, the right rear side, and the left rear side in the traveling direction is sent to the vehicle control device 100 via the communication medium.
The radar 13 irradiates the target including the preceding vehicle traveling in front of the own vehicle M with the radar wave, and receives the radar wave reflected by the target to increase the distance to the target. It has a function to acquire distribution information of the target including the direction of the target. As the radar wave, a laser, a microwave, a millimeter wave, an ultrasonic wave or the like can be appropriately used.

In this embodiment, as shown in FIG. 1, three radars 13 are provided on the front side and two radars 13 are provided on the rear side. The distribution information of the target by the radar 13 is transmitted to the vehicle control device 100 via the communication medium.
The lidar 15 (LIDAR: Light Detection and Ranging) has a function of detecting the presence / absence of a target and the distance to the target by measuring the time required for detecting the scattered light with respect to the irradiation light, for example. In this embodiment, as shown in FIG. 1, two riders 15 are provided on the front side and three on the rear side. The distribution information of the target by the rider 15 is transmitted to the vehicle control device 100 via the communication medium.

[Navigation device 20]
The navigation device 20 includes a GNSS (Global Navigation Satellite System) receiver, map information (navigation map), a touch panel type internal display device 61 that functions as a human machine interface, a speaker 63 (see FIG. 3 for all), a microphone, and the like. It is composed of. The navigation device 20 plays a role of determining the current position of the own vehicle M by the GNSS receiver and deriving a route from the current position to the destination designated by the user.

The route derived by the navigation device 20 is provided to the target lane determination unit 110 (described later) of the vehicle control device 100. The current position of the own vehicle M may be specified or complemented by an INS (Inertial Navigation System) using the output of the vehicle sensor 30. Further, the navigation device 20 provides guidance on the route to the destination by voice or map display.
The function for determining the current position of the own vehicle M may be provided independently of the navigation device 20. Further, the navigation device 20 may be realized by the function of a terminal device such as a smartphone or a tablet terminal carried by the user, for example. In this case, information is transmitted and received between the terminal device and the vehicle control device 100 by wireless or wired communication.

[Vehicle control device 100 and its peripheral configuration]
Next, the vehicle control device 100 and its peripheral configuration according to the embodiment of the present invention mounted on the own vehicle M will be described with reference to FIG.

FIG. 2 is a functional block configuration diagram showing the configuration of the vehicle control device 100 and its peripheral portion according to the embodiment of the present invention.
In addition to the external world sensor 10, the navigation device 20, and the vehicle control device 100 described above, the own vehicle M includes a communication device 25, a vehicle sensor 30, an HMI (Human Machine Interface) 35, and a traveling drive, as shown in FIG. A force output device 200, a steering device 210, and a brake device 220 are mounted.

The communication device 25, the vehicle sensor 30, the HMI 35, the traveling driving force output device 200, the steering device 210, and the brake device 220 are configured to be connected to and from the vehicle control device 100 via a communication medium so as to be capable of mutual data communication. Has been done.

[Communication device 25]
The communication device 25 has a function of communicating via a wireless communication medium such as a cellular network, a Wi-Fi network, Bluetooth (registered trademark), or DSRC (Dedicated Short Range Communication).
The communication device 25 performs wireless communication with, for example, an information providing server of a system for monitoring road traffic conditions such as VICS (Vehicle Information and Communication System) (registered trademark), and the own vehicle M is traveling on the road or traveling. Acquire traffic information showing the traffic conditions of the planned road. Traffic information includes traffic jam information ahead, time required to pass the traffic jam point, accident / breakdown vehicle / construction information, speed regulation / lane regulation information, parking lot location information, parking lot / service area / parking area. Information such as full / empty information is included.

Even if the communication device 25 acquires the traffic information by communicating with a wireless beacon provided on a side zone of a road or by performing vehicle-to-vehicle communication with another vehicle traveling around the own vehicle M. good.
Further, the communication device 25 performs wireless communication with, for example, an information providing server of a signal information utilization driving support system (TSPS: Traffic Signal Prediction Systems), and is a signal provided on a road on which the own vehicle M is traveling or is scheduled to travel. Acquires signal information related to. TSPS plays a role of supporting operation for smoothly passing through a signalized intersection by using the signal information of a traffic light.

Even if the communication device 25 acquires the signal information by communicating with an optical beacon provided on a side zone of a road or by performing vehicle-to-vehicle communication with another vehicle traveling around the own vehicle M. good.

[Vehicle sensor 30]
The vehicle sensor 30 has a function of detecting various information about the own vehicle M. The vehicle sensor 30 detects a vehicle speed sensor that detects the vehicle speed of the own vehicle M, an acceleration sensor that detects the acceleration of the own vehicle M, a yaw rate sensor that detects an angular speed around the vertical axis of the own vehicle M, and a direction of the own vehicle M. An azimuth sensor, an inclination angle sensor that detects the inclination angle of the own vehicle M, an illuminance sensor that detects the illuminance of the place where the own vehicle M exists, an illuminance sensor that detects the illuminance of the place where the own vehicle M exists, and a place where the own vehicle M exists. Includes a raindrop sensor, etc. that detects the amount of raindrops.

[Structure of HMI35]
Next, the HMI 35 will be described with reference to FIGS. 3, 4, 5A, and 5B.
FIG. 3 is a schematic configuration diagram of the HMI 35 connected to the vehicle control device 100 according to the embodiment of the present invention. FIG. 4 is a diagram showing the front structure of the passenger compartment of the own vehicle M including the vehicle control device 100. 5A and 5B are external views showing the front structure and the rear structure of the own vehicle M including the vehicle control device 100, respectively.

As shown in FIG. 3, the HMI 35 includes a component of a driving operation system and a component of a non-driving operation system. These boundaries are not clear, and a configuration in which the components of the driving operation system have the functions of the non-driving operation system (or vice versa) may be adopted.
As shown in FIG. 3, the HMI 35 shifts the accelerator pedal 41, the accelerator opening sensor 43, the accelerator pedal reaction force output device 45, the brake pedal 47, and the brake depression sensor 49 as components of the driving operation system. It includes a lever 51, a shift position sensor 53, a steering wheel 55, a steering steering angle sensor 57, a steering torque sensor 58, and other driving operation devices 59.

The accelerator pedal 41 is an acceleration controller for receiving an acceleration instruction (or a deceleration instruction by a return operation) by the driver. The accelerator opening sensor 43 detects the amount of depression of the accelerator pedal 41, and outputs an accelerator opening signal indicating the amount of depression to the vehicle control device 100.
Instead of outputting the accelerator opening signal to the vehicle control device 100, a configuration may be adopted in which the accelerator opening signal is directly output to the traveling driving force output device 200, the steering device 210, or the brake device 220. The same applies to the configurations of other operation operation systems described below. The accelerator pedal reaction force output device 45 outputs a force (operation reaction force) in the direction opposite to the operation direction to the accelerator pedal 41, for example, in response to an instruction from the vehicle control device 100.

The brake pedal 47 is a deceleration operator for receiving a deceleration instruction by the driver. The brake step sensor 49 detects the stepping amount (or stepping force) of the brake pedal 47, and outputs a brake signal indicating the detection result to the vehicle control device 100.
The shift lever 51 is a shift controller for receiving a shift stage change instruction by the driver. The shift position sensor 53 detects the shift stage instructed by the driver, and outputs a shift position signal indicating the detection result to the vehicle control device 100.

The steering wheel 55 is a steering operator for receiving a turning instruction by the driver. The steering steering angle sensor 57 detects the operating angle of the steering wheel 55 and outputs a steering steering angle signal indicating the detection result to the vehicle control device 100. The steering torque sensor 58 detects the torque applied to the steering wheel 55 and outputs a steering torque signal indicating the detection result to the vehicle control device 100.
The other driving operation device 59 is, for example, a joystick, a button, a dial switch, a GUI (Graphical User Interface) switch, or the like. Other The driving operation device 59 receives an acceleration instruction, a deceleration instruction, a turning instruction, and the like, and outputs the instruction to the vehicle control device 100.

As a component of the non-operation operation system, the HMI 35 includes, for example, an internal display device 61, a speaker 63, a contact operation detection device 65, a content reproduction device 67, various operation switches 69, a seat 73, and as shown in FIG. The seat drive device 75, the window glass 77, the window drive device 79, the vehicle interior camera 81, and the external display device 83 are included.
The internal display device 61 is preferably a touch panel type display device having a function of displaying various information to the occupants in the vehicle interior. As shown in FIG. 4, the internal display device 61 is provided in the instrument panel 60 so as to face the meter panel 85 provided at a position facing the driver's seat and the driver's seat and the passenger's seat in the vehicle width direction. Includes a horizontally long multi-information panel 87, a right panel 89a provided on the driver's seat side in the vehicle width direction, and a left panel 89b provided on the passenger seat side in the vehicle width direction. The internal display device 61 may be additionally provided at a position facing the rear seats (all on the back side of the seats).

On the meter panel 85, for example, a speedometer, a tachometer, an odometer, shift position information, lighting status information of lights, and the like are displayed.
On the multi-information panel 87, for example, map information around the own vehicle M, current position information of the own vehicle M on the map, traffic information (including signal information) regarding the current travel route / planned route of the own vehicle M, and own Various information such as traffic participant information regarding traffic participants (including pedestrians, bicycles, motorcycles, other vehicles, etc.) existing around the vehicle M, messages sent to the traffic participants, and the like are displayed.

On the right panel 89a, image information behind and below the right side of the own vehicle M captured by the camera 11 provided on the right side of the own vehicle M is displayed.
On the left panel 89b, image information behind and below the left side of the own vehicle M captured by the camera 11 provided on the left side of the own vehicle M is displayed.
The internal display device 61 is not particularly limited, but is composed of, for example, an LCD (Liquid Crystal Display), an organic EL (Electroluminescence), or the like. The internal display device 61 may be configured by a HUD (Head Up Display) that projects a required image onto the window glass 77.

The speaker 63 has a function of outputting sound. An appropriate number of speakers 63 are provided at appropriate positions such as an instrument panel 60, a door panel, and a rear parcel shelf (all not shown) in the vehicle interior.
The contact operation detection device 65 has a function of detecting a touch position on the display screen of the internal display device 61 and outputting information on the detected touch position to the vehicle control device 100 when the internal display device 61 is a touch panel type. .. If the internal display device 61 is not a touch panel type, the contact operation detection device 65 can omit this.

The content playback device 67 includes, for example, a DVD (Digital Versatile Disc) playback device, a CD (Compact Disc) playback device, a television receiver, a generation device for various guide images, and the like. The internal display device 61, the speaker 63, the contact operation detection device 65, and the content reproduction device 67 may be partially or wholly configured in common with the navigation device 20.
The various operation switches 69 are arranged at appropriate positions in the vehicle interior. The various operation switches 69 include an automatic operation changeover switch 71 for instructing immediate start (or future start) and stop of automatic operation. The automatic operation changeover switch 71 may be either a GUI (Graphical User Interface) switch or a mechanical switch. Further, the various operation switches 69 may include a switch for driving the seat drive device 75 and the window drive device 79.

The seat 73 is a seat on which the occupant of the own vehicle M sits. The seat drive device 75 freely drives the reclining angle, the position in the front-rear direction, the yaw angle, and the like of the seat 73. The window glass 77 is provided on each door, for example. The window drive device 79 drives the window glass 77 to open and close.
The vehicle interior camera 81 is a digital camera that uses a solid-state image sensor such as a CCD or CMOS. The vehicle interior camera 81 is provided at a position where at least the head of the driver seated in the driver's seat can be imaged, such as a rear-view mirror, a steering boss portion (all not shown), and an instrument panel 60. The vehicle interior camera 81 periodically and repeatedly captures the state of the vehicle interior including the driver, for example.

The external display device 83 has a function of displaying various information to traffic participants (including pedestrians, bicycles, motorcycles, other vehicles, etc.) existing around the own vehicle M. As shown in FIG. 5A, the external display device 83 includes the right front lighting portion 91A and the left front lighting portion 91B, and the left and right front portions of the front grill 90 of the own vehicle M, which are provided apart from each other in the vehicle width direction. A front display unit 93 provided between the lighting units 91A and 91B is provided.
Further, as shown in FIG. 5B, the external display device 83 includes the right rear lighting portion 95A and the left rear lighting portion 95B, and the vehicle interior of the own vehicle M, which are provided apart from each other in the vehicle width direction in the rear grill 94 of the own vehicle M. The rear display unit 97 is provided at a position where the rear window 96 can be seen from the outside through the lower center of the rear window 96. The rear display unit 97 is provided, for example, at the lower end of the opening (not shown) of the rear window 96.

Here, the configurations of the left and right front lighting portions 91A and 91B of the external display device 83 will be described with reference to FIG. 5C. FIG. 5C is a front view showing a schematic configuration of the right front lighting unit 91A provided in the own vehicle M. Since the left and right front lighting units 91A and 91B have the same configuration, the schematic configuration of the right front lighting unit 91A will be described instead of the configuration of the left and right front lighting units 91A and 91B. And.
The right front lighting portion 91A is formed in a circular shape when viewed from the front. The right front lighting unit 91A has a headlamp 91Aa formed in a circular shape in a front view, which has a smaller diameter than the outer diameter dimension, and a direction indicator 91Ab and a lighting display, each of which is formed in an annular shape. The portion 91Ac and the position lamp 91Ad are sequentially arranged concentrically toward the outside in the radial direction.

The headlamp 91Aa plays a role of assisting the front view of the occupant by irradiating light in front of the traveling direction while the own vehicle M is traveling in a dark place. The direction indicator 91Ab serves to convey the intention to the traffic participants around the own vehicle M when the own vehicle M turns left or right. The light display unit 91Ac, in combination with the display content of the front display unit 93, conveys the driving intention including the stop of the own vehicle M (details will be described later) to the traffic participants around the own vehicle M. Fulfill. The position lamp 91Ad plays a role of transmitting the width of the own vehicle M to the traffic participants in the surroundings while the own vehicle M is traveling in a dark place.

[Structure of vehicle control device 100]
Next, returning to FIG. 2, the configuration of the vehicle control device 100 will be described.
The vehicle control device 100 is realized, for example, by one or more processors or hardware having equivalent functions. The vehicle control device 100 is configured by combining a processor such as a CPU (Central Processing Unit), a storage device, an ECU (Electronic Control Unit) to which a communication interface is connected by an internal bus, an MPU (Micro-Processing Unit), or the like. May be.

The vehicle control device 100 includes a target lane determination unit 110, a driving support control unit 120, a travel control unit 160, an HMI control unit 170, and a storage unit 180.
The functions of the target lane determination unit 110, the driving support control unit 120, and a part or all of the drive control unit 160 are realized by the processor executing a program (software). Further, some or all of these functions may be realized by hardware such as LSI (Large Scale Integration) or ASIC (Application Specific Integrated Circuit), or may be realized by a combination of software and hardware. good.

In the following explanation, when the main body is described as "○○ part is", the driving support control unit 120 reads each program from ROM / EEPROM (Electrically Erasable Programmable Read-Only Memory) as necessary and then loads it into RAM. However, each function (described later) shall be executed. Each program may be stored in the storage unit 180 in advance, or may be incorporated into the vehicle control device 100 as necessary via another storage medium or communication medium.

[Target lane determination unit 110]
The target lane determination unit 110 is realized by, for example, an MPU (Micro Processing Unit). The target lane determination unit 110 divides the route provided by the navigation device 20 into a plurality of blocks (for example, divides the route into 100 [m] units with respect to the vehicle traveling direction), and refers to the high-precision map information 181 for each block. Determine the target lane. The target lane determination unit 110 determines, for example, which lane from the left to drive. The target lane determination unit 110 determines the target lane so that the own vehicle M can travel on a reasonable travel route for traveling to the branch destination, for example, when there is a branch point or a merging point on the route. .. The target lane determined by the target lane determination unit 110 is stored in the storage unit 180 as the target lane information 182.

[Driving support control unit 120]
The driving support control unit 120 includes a driving support mode control unit 130, a recognition unit 140, and a switching control unit 150.

<Driving support mode control unit 130>
The driving support mode control unit 130 is an automatic driving executed by the driving support control unit 120 based on the driver's operation on the HMI 35, the event determined by the action plan generation unit 144, the driving mode determined by the track generation unit 147, and the like. Determine the mode (automatic driving support state). The automatic operation mode is notified to the HMI control unit 170.
In any of the automatic operation modes, it is possible to switch (override) to a lower automatic operation mode by operating the components of the operation operation system in the HMI 35.

The override is, for example, when the driver of the own vehicle M continues to operate the components of the driving operation system of the HMI 35 for more than a predetermined time, a predetermined operation change amount (for example, the accelerator opening by the accelerator pedal 41, the brake pedal 47). It is started when the brake depression amount by the steering wheel 55, the steering steering angle by the steering wheel 55) is exceeded, or when the operation on the component of the driving operation system is performed more than a predetermined number of times.

<Recognition unit 140>
The recognition unit 140 includes a vehicle position recognition unit 141, an outside world recognition unit 142, an area identification unit 143, an action plan generation unit 144, and a track generation unit 147.

<Own vehicle position recognition unit 141>
The own vehicle position recognition unit 141 is based on the high-precision map information 181 stored in the storage unit 180 and the information input from the camera 11, the radar 13, the rider 15, the navigation device 20, or the vehicle sensor 30. It recognizes the traveling lane in which the vehicle M is traveling and the relative position of the own vehicle M with respect to the traveling lane.
The vehicle position recognition unit 141 is a road around the vehicle M recognized from the pattern of the road marking line recognized from the high-precision map information 181 (for example, an arrangement of solid lines and broken lines) and the image captured by the camera 11. By comparing with the pattern of the lane marking, the traveling lane is recognized. In this recognition, the current position of the own vehicle M acquired from the navigation device 20 and the processing result by the INS may be added.

<External recognition unit 142>
As shown in FIG. 2, the outside world recognition unit 142 is based on the outside world information input from the outside world sensor 10 including the camera 11, the radar 13, and the rider 15, for example, the outside world state including the position, vehicle speed, and acceleration of peripheral vehicles. Recognize. The peripheral vehicle is, for example, a vehicle traveling around the own vehicle M and traveling in the same direction as the own vehicle M.
The position of the peripheral vehicle may be represented by a representative point such as the center of gravity or a corner of the other vehicle, or may be represented by a region represented by the outline of the other vehicle. The state of the peripheral vehicle may include the acceleration of the peripheral vehicle and whether or not the vehicle is changing lanes (or whether or not the vehicle is trying to change lanes), which is grasped based on the information of the various devices. Further, the outside world recognition unit 142 may adopt a configuration that recognizes the position of a target including a guardrail, a utility pole, a parked vehicle, a pedestrian, and a traffic sign in addition to a peripheral vehicle.
In the embodiment of the present invention, among the peripheral vehicles, the vehicle traveling immediately in front of the own vehicle M and the vehicle to be followed in the follow-up travel control is referred to as a "preceding vehicle".

<Area identification part 143>
The area specifying unit 143 acquires information related to a specific area (interchange: IC / junction: JCT / lane increase / decrease point) existing around the own vehicle M based on the map information. As a result, the area specifying unit 143 obtains information related to the specific area that assists the smooth progress of the own vehicle M even when the traveling direction image cannot be acquired via the outside world sensor 10 while hiding behind the vehicle in front including the preceding vehicle. Can be obtained.

The area specifying unit 143 identifies the target by image processing based on the traveling direction image acquired via the outside world sensor 10 instead of acquiring the information related to the specific area based on the map information, or the outside world. Information related to the specific area may be acquired by recognizing the target based on the contour of the traveling direction image by the internal processing of the recognition unit 142.
Further, as will be described later, a configuration may be adopted in which the VICS information obtained by the communication device 25 is used to improve the accuracy of the information related to the specific area acquired by the area specifying unit 143.

<Action plan generation unit 144>
The action plan generation unit 144 sets the start point of the automatic driving and / or the destination of the automatic driving. The starting point of the automatic driving may be the current position of the own vehicle M, or may be a point where an operation for instructing the automatic driving is performed. The action plan generation unit 144 generates an action plan in the section between the starting point and the destination of the automatic driving. Not limited to this, the action plan generation unit 144 may generate an action plan for any section.

An action plan consists of, for example, a plurality of events that are executed sequentially. The plurality of events include, for example, a deceleration event for decelerating the own vehicle M, an acceleration event for accelerating the own vehicle M, a lane keeping event for driving the own vehicle M so as not to deviate from the driving lane, and a lane for changing the driving lane. Change event, overtaking event to let own vehicle M overtake the preceding vehicle, branch event to change to the desired lane at the branch point or drive own vehicle M so as not to deviate from the current driving lane, join the main lane A merging event that accelerates / decelerates the own vehicle M in the merging lane to change the driving lane, shifts from the manual driving mode to the automatic driving mode (automatic driving support state) at the start point of the automatic driving, or plans to end the automatic driving. It includes a handover event that shifts from the automatic operation mode to the manual operation mode at the point.

The action plan generation unit 144 sets a lane change event, a branch event, or a merging event at a place where the target lane determined by the target lane determination unit 110 is switched. The information indicating the action plan generated by the action plan generation unit 144 is stored in the storage unit 180 as the action plan information 183.
The action plan generation unit 144 includes a mode change unit 145 and a notification control unit 146.

<Mode change unit 145>
The mode change unit 145 is, for example, in an operation mode including a plurality of stages of automatic operation mode and manual operation mode set in advance based on the recognition result of a target existing in the traveling direction of the own vehicle M by the outside world recognition unit 142. Therefore, a driving mode suitable for the recognition result is selected, and the driving operation of the own vehicle M is performed using the selected driving mode.

<Notification control unit 146>
When the operation mode of the own vehicle M is changed by the mode change unit 145, the notification control unit 146 notifies that the operation mode of the own vehicle M has changed. The notification control unit 146 notifies the speaker 63 that the operation mode of the own vehicle M has changed by outputting the voice information stored in advance in the storage unit 180 to the speaker 63, for example.
If it is possible to notify the driver of the transition of the operation mode of the own vehicle M, the notification may be performed not only by voice but also by display, light emission, vibration, or a combination thereof.

<Orbit generator 147>
The track generation unit 147 generates a track to be traveled by the own vehicle M based on the action plan generated by the action plan generation unit 144.

<Switching control unit 150>
As shown in FIG. 2, the switching control unit 150 mutually switches between the automatic operation mode and the manual operation mode based on the signal input from the automatic operation changeover switch 71 (see FIG. 3) and others. Further, the switching control unit 150 switches the automatic operation mode at that time to a lower operation mode based on the operation of instructing acceleration, deceleration, or steering of the components of the operation system in the HMI 35. For example, when the operation amount indicated by the signal input from the component of the operation system in the HMI 35 continues to exceed the threshold value for the reference time or longer, the switching control unit 150 lowers the automatic operation mode at that time. Switch to mode (override).

Further, the switching control unit 150 returns to the original automatic operation mode when the operation for the component of the operation operation system in the HMI 35 is not detected for a predetermined time after switching to the lower operation mode by the override. Switching control may be performed.

<Driving control unit 160>
The travel control unit 160 has a travel drive force output device 200, a steering device 210, and a steering device 210 so that the own vehicle M passes the track to be traveled by the own vehicle M generated by the track generation unit 147 on time. By controlling the brake device 220, the traveling control of the own vehicle M is performed.

<HMI control unit 170>
When the driving support control unit 120 notifies the HMI control unit 170 of the setting information related to the automatic driving mode of the own vehicle M, the HMI control unit 170 refers to the mode-specific operation availability information 184 (FIG. 2) and sets the automatic driving mode. The HMI 35 is controlled according to the above. The mode-specific operation enable / disable information 184 is information indicating a device (a part or all of the navigation device 20 and the HMI 35) that is permitted to be used for each operation mode and a device that is not permitted to be used.

As shown in FIG. 2, the HMI control unit 170 is permitted to be used based on the operation mode information of the own vehicle M acquired from the driving support control unit 120 and by referring to the mode-specific operation enable / disable information 184. (Part or all of the navigation device 20 and the HMI 35) and the device for which use is not permitted are discriminated. Further, the HMI control unit 170 controls whether or not the driver operation regarding the HMI 35 or the navigation device 20 of the driving operation system can be accepted based on the determination result.

For example, when the operation mode executed by the vehicle control device 100 is the manual operation mode, the HMI control unit 170 may use the HMI 35 of the operation system (for example, the accelerator pedal 41, the brake pedal 47, the shift lever 51, the steering wheel 55, etc.). ; Accepts driver operations related to (see Fig. 3).
The HMI control unit 170 includes a display control unit 171.

<Display control unit 171>
The display control unit 171 controls the display of the internal display device 61 and the external display device 83. Specifically, for example, the display control unit 171 calls attention / warning to traffic participants around the own vehicle M when the driving mode executed by the vehicle control device 100 is an automated driving mode with a high degree of automation. -Controlling the display of information such as driving assistance on the internal display device 61 and / or the external display device 83. This will be described in detail later.

<Memory unit 180>
The storage unit 180 stores information such as high-precision map information 181, target lane information 182, action plan information 183, and mode-specific operation availability information 184. The storage unit 180 is realized by a ROM (Read Only Memory), a RAM (Random Access Memory), an HDD (Hard Disk Drive), a flash memory, or the like. The program executed by the processor may be stored in the storage unit 180 in advance, or may be downloaded from an external device via an in-vehicle Internet facility or the like. Further, the program may be installed in the storage unit 180 by mounting a portable storage medium in which the program is stored in a drive device (not shown).

The high-precision map information 181 is high-precision map information as compared with the map information normally provided in the navigation device 20. The high-precision map information 181 includes, for example, information on the center of the lane, information on the boundary of the lane, and the like. The boundary of the lane includes the type, color, length, road width, road shoulder width, main line width, lane width, boundary position, boundary type (guardrail, planting, curb), zebra zone, etc. of the lane mark. Boundaries are included in the high-precision map.
Further, the high-precision map information 181 may include road information, traffic regulation information, address information (address / zip code), facility information, telephone number information, and the like. Road information includes information indicating the type of road such as highways, toll roads, national roads, and prefectural roads, the number of lanes of the road, the width of each lane, the slope of the road, and the position of the road (longitudinal, latitude, height). Includes 3D coordinates), lane curve curvature, lane confluence and branch point locations, road signs and other information. Traffic regulation information includes information that lanes are blocked due to construction work, traffic accidents, traffic jams, and the like.

[Traveling drive force output device 200, steering device 210, and brake device 220]
As shown in FIG. 2, the vehicle control device 100 controls the drive of the travel drive force output device 200, the steering device 210, and the brake device 220 according to the travel control command by the travel control unit 160.

<Traveling drive force output device 200>
The traveling driving force output device 200 outputs the driving force (torque) for the own vehicle M to travel to the driving wheels. The traveling driving force output device 200 is, for example, an engine ECU (Electronic Control Unit: any of) that controls an internal combustion engine engine, a transmission, and an internal combustion engine engine when the own vehicle M is an automobile powered by an internal combustion engine. Not shown).

Further, when the own vehicle M is an electric vehicle powered by an electric motor, the traveling driving force output device 200 includes a traveling motor and a motor ECU (both not shown) for controlling the traveling motor.
Further, the traveling driving force output device 200 includes an internal combustion engine engine, a transmission, an engine ECU, a traveling motor, and a motor ECU (all not shown) when the own vehicle M is a hybrid vehicle.

When the traveling driving force output device 200 includes only the internal combustion engine, the engine ECU adjusts the throttle opening, the shift stage, and the like of the internal combustion engine engine according to the information input from the traveling control unit 160 described later.
When the traveling driving force output device 200 includes only a traveling motor, the motor ECU adjusts the duty ratio of the PWM signal given to the traveling motor according to the information input from the traveling control unit 160.

When the traveling driving force output device 200 includes an internal combustion engine and a traveling motor, the engine ECU and the motor ECU cooperate with each other to control the traveling driving force according to the information input from the traveling control unit 160.

<Steering device 210>
The steering device 210 includes, for example, a steering ECU and an electric motor (both not shown). The electric motor, for example, exerts a force on the rack and pinion mechanism to change the direction of the steering wheel. The steering ECU drives the electric motor according to the information input from the vehicle control device 100, or the information of the steering steering angle or the steering torque input, and changes the direction of the steering wheel.

<Brake device 220>
The brake device 220 is, for example, an electric servo brake device (not shown) including 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 braking control unit. The braking control unit of the electric servo brake device controls the electric motor according to the information input from the traveling control unit 160 so that the brake torque corresponding to the braking operation is output to each wheel. The electric servo brake device may include a mechanism for transmitting the hydraulic pressure generated by the operation of the brake pedal to the cylinder via the master cylinder as a backup.

The brake device 220 is not limited to the electric servo brake device described above, and may be an electronically controlled hydraulic brake device. The electronically controlled hydraulic brake device controls the actuator according to the information input from the traveling control unit 160 to transmit the hydraulic pressure of the master cylinder to the cylinder. Further, the braking device 220 may include a regenerative brake by a traveling motor that may be included in the traveling driving force output device 200.

[Details of display control unit 171]
FIG. 6 is a functional block diagram illustrating the details of the display control unit 171. As shown in FIG. 6, the display control unit 171 includes an external notification unit 172, an internal notification unit 173, and a notification control unit 174. The display control unit 171 implements the vehicle control method of the present invention by the vehicle control method which is a process described later. This process is executed based on a predetermined program, and the program of the present invention is carried out by this predetermined program.
As described above, the peripheral information of the own vehicle M can be recognized based on the detection results of the recognition unit 140 (outside world recognition unit 142) and the outside world sensor 10. Then, in the automatic driving mode, the driving support control unit 120 and the traveling control unit 160, which are the traveling control units of the present invention, control the traveling driving force output device 200, the steering device 210, and the brake device 220 to perform automatic operation. The automatic operation here is performed by controlling all of the traveling driving force output device 200, the steering device 210, and the brake device 220. However, even if only the steering device 210 is controlled to automate and control only the steering of the own vehicle M, only the traveling driving force output device 200 and the brake device 220 are controlled to automate and control only the acceleration of the own vehicle M. You may.

<External notification unit 172>
The external notification unit 172 transmits the operation of the own vehicle M based on the control by the automatic driving mode to traffic participants such as pedestrians and bicycle drivers recognized by the recognition unit 140 (outside world recognition unit 142). Notify. Specifically, the external display device 83 is controlled to perform the relevant notification.

<Internal notification unit 173>
The internal notification unit 173 also notifies the driver of the own vehicle M of the content of the notification given to the traffic participants such as pedestrians and bicycle drivers by the external notification unit 172. Specifically, the internal display device 61 is controlled to perform the notification. Further, it is preferable that such notification is also performed by a voice message from the speaker 63. Further, it is also preferable to use a means such as lighting an indicator (not shown).
The internal notification unit 173 includes a notification display 310 (first notification) (FIG. 10A) that notifies the driver of the content of the notification given to the traffic participants such as pedestrians and bicycle drivers by the external notification unit 172. It is possible to have a non-notification display 320 (second notification) (FIG. 10B) that notifies the driver of a content different from the content of the notification given to the traffic participant. The image used for the first notification 310 and the non-notification display 320 is stored in, for example, the storage unit 180 as the notification image information 185 (FIG. 2).

<Notification control unit 174>
When the notification control unit 174 (notification control unit) detects a traffic participant such as a pedestrian or a bicycle driver in the vicinity (for example, the front side) of the own vehicle M by the recognition unit 140 (outside world recognition unit 142), the notification control unit 174 (notification control unit) detects a traffic participant such as a pedestrian or a bicycle driver. The external notification unit 172 notifies the traffic participant of the operation of the own vehicle M. Further, in this case, the notification control unit 174 notifies the driver of the content of the notification of the external notification unit 172 by the internal notification unit 173.

Then, when the notification control unit 174 detects that the traffic participant is no longer detected from the periphery (for example, the front side) of the own vehicle M by the recognition unit 140 (outside world recognition unit 142), the notification control unit 174 is concerned. The notification by the external notification unit 172 to the traffic participants is stopped. Further, in this case, the notification control unit 174 also stops the notification of the content of the notification by the external notification unit 172 to the driver by the internal notification unit 173.
In this case, when the notification control unit 174 detects that the traffic participants such as pedestrians and cyclists are no longer detected from the front side of the own vehicle M by the recognition unit 140 (outside world recognition unit 142), The internal notification unit 173 performs the non-notification display 320 in place of the notification display 310. The notification display 310 notifies the driver that a predetermined notification is being given to a traffic participant such as a pedestrian or a bicycle driver by the external notification unit 172. The non-notification display 320 is a notification irrelevant to notifying the driver that a predetermined notification is being given to such a traffic participant (not giving a predetermined notification to the traffic participant). Notification).

In this case, when the own vehicle M is located in a specific scene, the notification control unit 174 performs notification by the external notification unit 172 and the notification display 310 and non-notification display 320 by the internal notification unit 173, and the specific scene. If it is not located at, the notification by the internal notification unit 173 is stopped.
The "specific scene" means, for example, that the own vehicle M is located "within a predetermined area of an intersection". As described above, the position information of the own vehicle M can be acquired by the own vehicle position recognition unit 141 (acquisition unit). The acquisition of this position information can be performed from the high-precision map information 181 or the like. Therefore, whether or not the own vehicle M is located in a specific scene can be determined by referring to the high-precision map information 181 or the like. Then, when the notification control unit 174 detects that the vehicle M is located in a predetermined area of the intersection by the vehicle position recognition unit 141, the notification by the external notification unit 172 and the notification by the internal notification unit 173 are described. The notification display 310 and the non-notification display 320 are performed. The high-precision map information 181 includes the specific range of each intersection "within a predetermined area of the intersection". The notification control unit 174 changes the content of the notification by the internal notification unit 173 in response to the notification of the external notification unit 172.

When the internal notification unit 173 responds to the notification of the external notification unit 172, the internal notification unit 173 uses the internal notification unit 173 until the own vehicle M comes out from "within a predetermined area of the intersection" according to the recognition result of the own vehicle position recognition unit 141. The notification display 310 or the non-notification display 320 is continued. When the position of the own vehicle M changes from "inside the predetermined area of the intersection" to the outside of the predetermined area, the internal notification unit 173 performs the notification display 310 when the traveling control of the own vehicle M is performing the predetermined control. If not, the internal notification unit 173 does not perform notification. The "predetermined control" is a control such as stopping the own vehicle M because a pedestrian is about to cross the road ahead.
The notification control unit 174 notifies the information so that the external notification unit 172 outputs the information in the direction of the traffic participants such as pedestrians and bicycle drivers existing in front of the own vehicle M.

The notification control unit 174 is used by pedestrians, cyclists, etc. who are determined to be in the area on the lane side (on the sidewalk adjacent to the oncoming lane, etc.) on the opposite side (opposite side) of the traveling lane in which the own vehicle M is located. As a general rule, the external notification unit 172 does not notify the traffic participants.
As described above, the navigation device 20 (navigation display unit) can provide guidance on the route to the destination by voice or map display. The guidance screen by the navigation device 20 can be displayed on the multi-information panel 87 (display). Further, the guidance voice can be output from the speaker 63. The internal notification unit 173 does not perform notification by the internal notification unit 173 when the multi-information panel 87 displays the notification information (peripheral information) related to the guidance by the navigation device 20.

[Specific processing of the external notification unit 172, the internal notification unit 173, and the notification control unit 174]
Next, the contents of the specific processing executed by the external notification unit 172, the internal notification unit 173, and the notification control unit 174 will be described. The external notification unit 172, the internal notification unit 173, and the notification control unit 174 execute the following processing in the mode change unit 145, and the operation mode is set to the automatic operation level 4 defined by SAE (Society of Automotive Engineers) International. If it has been. The setting to the automatic operation level 4 can be performed by operating the automatic operation changeover switch 71. At the automatic driving level 4, the above-mentioned system of the own vehicle M operates everything at a specific place. Although the own vehicle M does not correspond to the automatic driving level 5, if the own vehicle M is also capable of automatic driving at the automatic driving level 5, the driving mode is set to the automatic driving level 4 or the automatic driving level 5. Is set, the external notification unit 172, the internal notification unit 173, and the notification control unit 174 execute the following processing.

The contents of the notification possible by the external notification unit 172 will be described. First, the pattern of notification by the right front lighting unit 91A and the left front lighting unit 91B will be described with reference to FIGS. 7A to 7D. Since the content of the notification is the same between the right front lighting unit 91A and the left front lighting unit 91B, the right front lighting unit 91A will be described below as a representative. The light display unit 91Ac of the right front light unit 91A is configured by integrating, for example, a large number of LEDs (Light Emitting Diodes). Then, the integrated LED is partially turned on (the remaining other parts are turned off) to perform notification.

Specifically, the right front lighting portion 91A is arranged in an annular shape around the circular headlamp 91Aa. Since the right front light section 91A and the left front light section 91B are arranged on the left and right sides of the front grill 90, the right front light section 91A and the left front light section 91B can be seen from the outside like both anthropomorphic eyes. Can be seen. Therefore, as shown in FIG. 7A, when the right half of the light display unit 91Ac of the right front lighting unit 91A (hereinafter, the same applies to the left front lighting unit 91B) is turned off and the left half is turned on (the extinguished part is shown by diagonal lines). The dark part that was turned off looks like black eyes, and the bright part that turned on looks like white eyes (therefore, the emission color of the light display unit 91Ac is white or a pale color close to white. preferable). Then, since the dark part visible to the black eye is on the right side of the annular light display unit 91Ac, it can be expressed as if both anthropomorphic eyes are looking at the right side.

Similarly, as shown in FIG. 7B, when the right half of the light display unit 91Ac of the right front light unit 91A is turned on and the left half is turned off, it can be expressed as if both eyes are looking at the left side. As shown in FIG. 7C, when the upper half of the light display unit 91Ac of the right front light unit 91A is turned on and the lower half is turned off, it can be expressed as if both eyes are looking at the lower side. As shown in FIG. 7D, when the lower half of the light display unit 91Ac of the right front light unit 91A is turned on and the upper half is turned off, it can be expressed as if both eyes are looking at the upper side. The ratio of the areas where the light display unit 91Ac is turned on and off does not have to be half and half, and may be set in various ways, for example, one is set to 25% and the other is set to 75%. However, in order to express both eyes with the right front light part 91A and the left front light part 91B and to make it easy to understand the direction of the line of sight of both eyes, the ratio of the area where the light display part 91Ac is turned on and off is about half. It is preferable to set it to.

As a notification possible by the external notification unit 172, a message such as a character is also displayed on the front display unit 93.
Next, the contents of the notification possible by the internal notification unit 173 will be described. The notification executed by the internal notification unit 173 is performed by displaying an image on the multi-information panel 87. FIG. 8 is a plan view showing an image display example of the multi-information panel 87. As shown in FIG. 4, the instrument panel 60 is provided with the multi-information panel 87, but as shown in FIG. 8, in the display area 87a, as described above, the map information around the own vehicle M and the own vehicle on the map are provided. The current position information of M, the traffic information related to the current travel route / planned route of the own vehicle M, and the like (image 87d) are also displayed. The image 87d is displayed by the navigation device 20 based on the map information (navigation map) of the navigation device 20 and the like. An external notification display area 87b can be displayed as necessary at a part of the display area 87a of the multi-information panel 87, at a position on the right side of the screen in the example of FIG. In the external notification display area 87b, the external notification unit 172 currently participates in traffic such as pedestrians and cyclists in the light display unit 91Ac and the front display unit 93 of the right front lighting unit 91A (left front lighting unit 91B). An image showing what kind of notification is being given to a person is displayed. Specifically, an image imitating the front part of the own vehicle M is displayed in the external notification display area 87b, and in the image, the right front lighting unit 91A, the left front lighting unit 91B, and the front display unit 93 are clearly displayed. Has been done.

FIG. 9 is a plan view of the multi-information panel 87 when the notification information 87c related to the guidance is displayed. The notification information 87c related to this guidance guides information on landmarks, restaurants, various shops, etc. existing on the future movement route of the own vehicle M, and is in addition to the image display in the multi-information panel 87. , It is also performed by the voice guidance of the speaker 63. In the example of FIG. 9, the guide of the Italian restaurant located in front of the own vehicle M is displayed by a balloon. The notification information 87c related to the guidance is displayed by the navigation device 20 based on the map information (navigation map) of the navigation device 20 and the like. When the notification information 87c related to this guidance is displayed, the external notification display area 87b (FIG. 8) is not displayed on the multi-information panel 87. As described above, in the display area 87a of the multi-information panel 87, map information around the own vehicle M, current position information of the own vehicle M on the map, traffic information regarding the current travel route / planned route of the own vehicle M, etc. (Image 87d) is displayed. The notification information 87c related to the guidance is displayed superimposed on the image 87d.

FIG. 10A is a plan view of an image display example of the notification display 310 displayed in the external notification display area 87b, and the notification display 310 notifies traffic participants such as pedestrians and bicycle drivers by the external notification unit 172. This is to display an image that informs the driver of the content of the notification while performing the above. In the example of FIG. 10A, both anthropomorphic eyes by the right front lighting unit 91A and the left front lighting unit 91B (FIG. 5A) are displayed as if they are looking at the right side in the traveling direction. Therefore, even in the notification display 310, the right front lighting section 312 and the left front lighting section 313, which are images corresponding to the right front lighting section 91A and the left front lighting section 91B in the own vehicle M311 which are images imitating the own vehicle M. Both anthropomorphic eyes are similarly displayed as if they were looking to the right in the direction of travel. Further, in the example of FIG. 10A, the front display unit 93 displays the message "Please cross", and the front display unit 93 in the own vehicle M311 which is an image imitating the own vehicle M. Similarly, the message "Please cross" is displayed on the front display unit 314, which is an image corresponding to the above.

FIG. 10B is a plan view of an image display example of the non-notification display 320 displayed in the external notification display area 87b. The non-notification display 320 displays an image that notifies the driver that the notification is not performed when the external notification unit 172 does not notify the traffic participants such as pedestrians and cyclists. be. In the non-notification display 320, the right front light unit 312 and the left front light unit 313 are in the all-light state or all-off state, and both anthropomorphic eyes by the right front light unit 91A and the left front light unit 91B are looking straight. Is shown. Further, no message is displayed on the front display unit 314, which is an image imitating the front display unit 93.

Next, the processing of the external notification unit 172, the internal notification unit 173, and the notification control unit 174, which are executed during the actual automatic operation, will be described.
FIG. 11 is a flowchart illustrating the contents of the process executed by the notification control unit 174 and the like. First, the notification control unit 174 determines whether or not the own vehicle M is within a predetermined area of the intersection (S1). As described above, the notification control unit 174 can determine whether or not the own vehicle M is within a predetermined area of the intersection by the own vehicle position recognition unit 141 and the high-precision map information 181. When the notification control unit 174 determines that the own vehicle M is outside the predetermined area of the intersection (No in S1), the notification control unit 172 does not perform the notification by the external notification unit 172 and the internal notification unit 173 (step S2). .. In this case, the external notification display area 87b is not displayed on the multi-information panel 87, and the map information around the own vehicle M, the current position information of the own vehicle M on the map, and the current travel path / planned route of the own vehicle M are related. Only traffic information and the like (image 87d) are displayed (see FIG. 8).

When the own vehicle M enters the predetermined area of the intersection (Yes in S1), the notification control unit 174 determines whether or not a traffic participant is detected around the own vehicle M (on the front side in this example). (S3). Here, the range of the "front side" is, for example, the range of 180 ° on the front side of the own vehicle M, and includes not only the roadway but also the sidewalk. When a traffic participant is detected on the front side (Yes in S3), the notification control unit 174 determines whether or not the traffic participant is a predetermined traffic participant.
The "predetermined traffic participant" is, in principle, a pedestrian, a cyclist, or the like who crosses the pedestrian crossing at an intersection. Therefore, the predetermined traffic participant is a pedestrian, a cyclist, or the like. After performing predetermined image processing on the image taken by the camera 11 that captures the front of the own vehicle M and confirming that a pedestrian or a bicycle driver is present in front of the vehicle M, the position is confirmed and the predetermined traffic participant Make it a candidate.

Next, the position and orientation of the candidate for the traffic participant (determining whether the traffic participant is near the pedestrian crossing and is facing the direction of crossing the pedestrian crossing, or is crossing the pedestrian crossing, etc.) Recognize a traffic participant as a designated traffic participant. First, when it is determined that the pedestrian or cyclist is trying to cross the intersection ahead or is currently crossing, the pedestrian or cyclist is recognized as a predetermined traffic participant. Not only the pedestrian crossing in front of the own vehicle M, but also pedestrians and cyclists who are trying to cross or are crossing each pedestrian crossing on the right or left turn side may be recognized as a predetermined traffic participant.

As a general rule, traffic participants on the oncoming lane side (including sidewalks) do not have to be included in the prescribed traffic participants, but pedestrians and cyclists who are trying to cross or are crossing the intersection in front of them will participate in the prescribed traffic. To be certified as a person.
Even if you are a pedestrian or a cyclist moving on the sidewalk adjacent to the lane on which your vehicle M is traveling, you can also find the position from the pedestrian crossing at the intersection (the position is also known from the high-precision map information 181). If it is located far away, it does not have to be recognized as a designated traffic participant.

If the signal (not shown) at the intersection is red, or if a pedestrian or cyclist is crossing or is about to cross the intersection in front of the intersection, the own vehicle M will automatically stop at a predetermined position in front of it. do.
For example, when the traffic participant on the front side is a predetermined traffic participant (Yes in S4), the notification control unit 174 determines the notification information 87c (peripheral information) (peripheral information) related to the guidance. It is determined whether or not FIG. 9) is displayed on the multi-information panel 87 (S5).

When the notification information 87c related to the guidance is displayed on the multi-information panel 87 (Yes in S5), the notification control unit 174 executes the process of S6. That is, first, the notification control unit 174 performs notification by the external notification unit 172. Specifically, for example, when a pedestrian or the like is present on the left side in the traveling direction, or when a pedestrian or the like crosses the pedestrian crossing in front from the left side, the notification control unit 174 is subjected to the external notification unit 172 to the right front portion. The anthropomorphic eyes of the lighting unit 91A and the left front lighting unit 91B change the display so that they face the left side in the traveling direction (FIGS. 5A and 7A). In other words, the display is made as if the traffic participants such as pedestrians are watching with both eyes. At the same time, the notification control unit 174 also displays a message such as "waiting for crossing" to the front display unit 93 by the external notification unit 172 (FIG. 5A). The process of S6 is performed when the own vehicle M approaches a predetermined traffic participant to be notified by the external notification unit 172 to some extent.

In this case, if there is a pedestrian or the like on the right side, or if a pedestrian or the like crosses the pedestrian crossing in front from the right side, both anthropomorphic eyes by the right front lighting unit 91A and the left front lighting unit 91B proceed. Change the display so that it faces the right side of the direction (Fig. 7B). The display of the front display unit 93 is the same as described above.
Further, when there are pedestrians or the like on both the left and right sides, the anthropomorphic eyes by the right front lighting unit 91A and the left front lighting unit 91B may alternately look at the left and right. In addition, when the pedestrian on the right side starts to cross the pedestrian crossing first, and then the pedestrian on the left side starts to cross the pedestrian crossing, the anthropomorphic eyes by the right front light part 91A and the left front light part 91B You may look at the right side first and then the left side. Further, when a pedestrian or the like is already crossing the pedestrian crossing in front, the anthropomorphic eyes of the right front lighting unit 91A and the left front lighting unit 91B may move their eyes up and down. (FIG. 7C, FIG. 7D).

Further, in S6, the notification control unit 174 also performs a notification display 310 (FIG. 10A) by the internal notification unit 173 in parallel with the notification processing of the external notification unit 172. In the notification display 310, the anthropomorphic eyes of the right front light section 312 and the left front light section 313 of the own vehicle M311 have the same display as the display of the right front light section 91A and the left front light section 91B (FIG. 10A). ). That is, for example, if the right front lighting unit 91A and the left front lighting unit 91B are displayed as looking at the left side, the right front lighting unit 91A and the left front lighting unit 91B are also displayed as looking at the left side. The display of the front display unit 314 is also the same as that of the front display unit 93. The display of the right front lighting unit 312, the left front lighting unit 313, and the front display unit 314 changes in response to changes in the displays of the right front lighting unit 91A, the left front lighting unit 91B, and the front display unit 93. , Both are always displayed the same.

On the other hand, when there is no traffic participant on the front side (No of S3), or when the traffic participant is not a predetermined person (No of S4), the notification control unit 174 is displayed by the internal notification unit 173 as a non-notification display 320 (FIG. 10B). Is carried out (S7). In this case, in the non-notification display 320, the displays of the right front lighting unit 312, the left front lighting unit 313, and the front display unit 314 of the own vehicle M311 do not always change and do not notify any message.
Further, when the notification information 87c related to the guidance is displayed on the multi-information panel 87 (FIG. 9) (Yes in S5), the notification control unit 174 notifies the traffic participants by the external notification unit 172 in the same manner as described above. However, the notification by the internal notification unit 173 is not performed (S8). In this case, the multi-information panel 87 displays map information around the own vehicle M, current position information of the own vehicle M on the map, traffic information regarding the current travel route / planned route of the own vehicle M, and the like (image 87d). The notification information 87c related to the guidance is displayed again. The process of S8 is performed when the own vehicle M approaches a predetermined traffic participant to be notified by the external notification unit 172 to some extent.

After the own vehicle M enters the predetermined area of the intersection and then goes out of the predetermined area (No of S1), the notification control unit 174 determines whether or not the traveling control of the own vehicle M is performing the predetermined control. Judgment (S9). The predetermined control is a control in which the own vehicle M is stopped or the like in order to wait for a pedestrian who is about to cross the front of the own vehicle M. When the traveling control of the own vehicle M is performing a predetermined control (Yes in S9), the notification control unit 174 proceeds to the process of S6. If this is not the case (No in S9), the notification control unit 174 cancels (not implements) the notification by the external notification unit 172 and the internal notification unit 173 (S2).

Further, even if the own vehicle M is invading the predetermined area of the intersection, the traffic participant may not be detected around the own vehicle M (the front side in this example) (No of S3), or the predetermined traffic participation. When the person disappears (No of S4) (including the case of passing by a predetermined traffic participant), the above-mentioned notification by the external notification unit 172 and the notification display 310 are stopped and a non-notification display is displayed. 320 is performed (FIG. 10B) (S7).

Next, the process of FIG. 11 will be described with a specific example. FIG. 12 is a plan view schematically showing the approach of the own vehicle M to the intersection. In FIG. 11, the road 401 extending to the left and right and the road 402 extending up and down are connected to form an intersection 403 which is a T-junction. Then, the own vehicle M travels on the road 401 from the left side to the right side in the lane 411 on the left side of the road 401 and enters the intersection 403.

The predetermined area 412 of the intersection determined in S1 is shown by a broken line as shown in FIG. Pedestrian crossings 421 to 423 are provided at the intersection 403. The own vehicle M detects an object in front by the outside world sensor 10, particularly the camera 11. The outside world recognition unit 142 processes the image of the camera 11 to capture the pedestrian m1 in the vicinity of the pedestrian crossing 421 on the sidewalk 411a adjacent to the lane 411 in front of the own vehicle M. As a result, the notification control unit 174 recognizes the pedestrian m1 who is a traffic participant on the front side (S3). As a result of the image processing, the notification control unit 174 recognizes that the pedestrian m1 is a predetermined traffic participant of S4 who may be in the vicinity of the pedestrian crossing 421 and trying to cross the pedestrian crossing 321. When the pedestrian m1 may cross the pedestrian crossing 421, the own vehicle M automatically stops in front of the pedestrian crossing 421. Alternatively, the own vehicle M automatically stops in front of the pedestrian crossing when the signal (not shown) provided at the intersection 403 turns red.

When the pedestrian m1 crosses the pedestrian crossing 421 during this stop, the notification control unit 174 performs notification and notification display 310 by the external notification unit 172. At this time, the anthropomorphic eyes by the right front lighting unit 91A and the left front lighting unit 91B (FIG. 5A) are displayed as if the line of sight is shifted to the left side in the direction in which the pedestrian m1 exists, as shown by arrow 431. Will be. In the notification display 310 (FIG. 10A), the same applies to the anthropomorphic eyes of the right front lighting unit 312 and the left front lighting unit 313 of the own vehicle M311. Further, the characters "waiting for crossing" are displayed on the front display unit 93 (FIG. 5A) and the front display unit 314 (FIG. 10A) in the notification display 310. As a result, the pedestrian m1 knows that he / she is gazing at his / her own vehicle M by the anthropomorphic line of sight of both eyes of the right front lighting unit 91A and the left front lighting unit 91B and the display of the front display unit 93. Can be done. Further, the driver of the own vehicle M can know from the notification by the internal notification unit 173 that the display notifying the pedestrian m1 that the own vehicle M is paying attention to the pedestrian m1 is performed.

On the other hand, even when the pedestrian m1 is only walking on the sidewalk 411a, the notification control unit 174 performs notification and notification display 310 by the external notification unit 172. At this time, the anthropomorphic eyes by the right front lighting unit 91A and the left front lighting unit 91B (FIG. 5A) are displayed as if the line of sight is shifted to the left side in the direction in which the pedestrian m1 exists, as shown by arrow 431. Will be. In the notification display 310 (FIG. 10A), the same applies to the anthropomorphic eyes of the right front lighting unit 312 and the left front lighting unit 313 of the own vehicle M311. However, the characters "waiting for crossing" are not displayed on the front display unit 93 (FIG. 5A) and the front display unit 314 (FIG. 10A) in the notification display 310. As a result, the pedestrian m1 can know that he / she is gazing at the own vehicle M by displaying the anthropomorphic lines of sight of the right front lighting unit 91A and the left front lighting unit 91B. Further, the driver of the own vehicle M can know from the notification by the internal notification unit 173 that the display notifying the pedestrian m1 that the own vehicle M is paying attention to the pedestrian m1 is performed.

After that, when the walking of the pedestrian crossing 421 such as the pedestrian m1 is stopped, the own vehicle M automatically departs, or it is detected that the signal at the intersection 303 turns green (the pedestrian or the like is on the pedestrian crossing). (After confirming that it does not exist in 421), the own vehicle M automatically departs. Then, when the pedestrian m1 no longer exists in front of the own vehicle M (when the pedestrian m1 crosses the pedestrian crossing 421, the signal at the intersection 403 turns green and the own vehicle M departs and the pedestrian pedestrians. When m1 is behind the own vehicle M, etc.), the notification by the external notification unit 172 and the internal notification unit 173 is stopped.

After that, the own vehicle M advances in the intersection 403, and the outside world recognition unit 142 processes the image of the camera 11 and pedestrians in the vicinity of the pedestrian crossing 422 on the sidewalk 411b adjacent to the lane 411 in front of the own vehicle M. Capture m2. As a result, the notification control unit 174 recognizes the pedestrian m2, which is a traffic participant, on the front side (S3). As a result of the image processing, the notification control unit 174 recognizes that the pedestrian m2 is a predetermined traffic participant of S4 who may be facing the pedestrian crossing 422 and trying to cross the pedestrian crossing 422. do.

If there are no pedestrians crossing the pedestrian crossing 423 (when there is no traffic light) or the traffic light at the intersection 403 is blue, the own vehicle M does not automatically stop in front of the pedestrian crossing 423. However, at the stage of approaching the pedestrian m2 to some extent, the notification control unit 174 performs notification and notification display 310 by the external notification unit 172. At this time, both anthropomorphic eyes by the right front lighting unit 91A and the left front lighting unit 91B (FIG. 5A) are displayed as if the line of sight is shifted to the left side in the direction in which the pedestrian m2 is present, as shown by arrow 432. Will be. In the notification display 310 (FIG. 10A), the same applies to the anthropomorphic eyes of the right front lighting unit 312 and the left front lighting unit 313 of the own vehicle M311. Further, the characters "waiting for crossing" are displayed on the front display unit 93 (FIG. 5A) and the front display unit 314 (FIG. 10A) in the notification display 310. As a result, the pedestrian m2 can know that he / she is gazing at his / her own vehicle M by the anthropomorphic line of sight of both eyes of the right front lighting unit 91A and the left front lighting unit 91B and the display of the front display unit 93. can. Further, the driver of the own vehicle M can know by the notification by the internal notification unit 173 that the display for notifying the pedestrian m2 that the own vehicle M is paying attention to the pedestrian m2 is performed.

After that, when the own vehicle M passes by the side of the pedestrian m2 and the pedestrian m2 no longer exists on the front side of the own vehicle M, the notification by the external notification unit 172 and the internal notification unit 173 is stopped.
Further, a pedestrian m3 exists on the sidewalk 451a adjacent to the opposite lane 451 of the lane 311 on which the own vehicle M travels. However, the pedestrian m3 does not exist in the predetermined area 412 of the intersection. Further, the traffic participant on the opposite lane 451 side of the lane 311 in which the own vehicle M travels does not correspond to the predetermined traffic participant in S4 in principle. Therefore, the pedestrian m3 is not notified by the external notification unit 172, and therefore is not notified by the internal notification unit 173. However, when it is detected that the pedestrian m3 is crossing or is about to cross a place where there is no pedestrian crossing on the road 401, the own vehicle M automatically stops so as to avoid the pedestrian m3, and the pedestrian m3 stops. The external notification unit 172 notifies the driver, and the internal notification unit 173 notifies the driver.

[Action and effect of this embodiment]
The own vehicle M is performing automatic driving at automatic driving level 4. Therefore, the driver of the own vehicle M is not always paying attention to the outside world, and when he / she is looking aside, looking at documents, mobile phones, etc., or looking sideways and chatting with a passenger, etc. There is also. This may make other traffic participants think that the driver of the own vehicle M is not paying attention to himself, and may give anxiety.

However, according to the vehicle control device 100 of the own vehicle M of the present embodiment, the own vehicle M pays close attention to the traffic participants such as pedestrians and bicycle drivers existing in the vicinity of the own vehicle M. The external notification unit 172 can notify the user of what is being done. Therefore, the own vehicle M can suppress giving anxiety to other traffic participants.
Further, the fact that the external notification unit 172 notifies other traffic participants is also notified to the driver of the own vehicle M by the internal notification unit 173. Therefore, the driver can accurately know that the own vehicle M is paying close attention to other traffic participants, and it is easy to obtain a sense of security.

Further, according to the vehicle control device 100 of the own vehicle M, when the traffic participants such as pedestrians and bicycle drivers are no longer detected from the front side of the own vehicle M, the external notification unit 172 notifies the traffic participants. To cancel. As a result, the internal notification unit 173 performs a non-notification display 320 indicating that the external notification unit 172 is not performing notification to the traffic participants in place of the notification display 310. Therefore, since the external notification unit 172 does not indiscriminately notify other traffic participants, it is possible to suppress a situation in which the traffic participants are rather confused by the indiscriminate notification by the external notification unit 172. In addition, the non-notification display 320 informs the driver that the external notification unit 172 is not indiscriminately performing notification, and it is easy to give a sense of security.

Further, according to the vehicle control device 100 of the own vehicle M, the external notification unit 172 and the internal notification unit 173 perform notification on condition that the own vehicle M is located in a specific scene. Therefore, in particular, the external notification unit 172 performs notification only when the vehicle is located in a specific scene where the external notification unit 172 needs to be notified to other traffic participants in the traveling route of the own vehicle M. Therefore, since the notification by the external notification unit 172 is not indiscriminately performed to other traffic participants, it is possible to prevent the other traffic participants from being confused. Further, when the own vehicle M is not located in a specific scene, the internal notification unit 173 does not perform notification, so that the driver does not indiscriminately notify other traffic participants by the external notification unit 172. It becomes easier to give a sense of security by notifying.

Further, since the notification by the internal notification unit 173 is not always performed during automatic driving, but is performed only when the own vehicle M is located in a specific scene, etc., the internal notification unit for the driver (passenger). It is possible to suppress the annoying feeling of the notification by 173 (notification display 310, non-notification display 320).
Further, since the notification by the internal notification unit 173 is performed only when the own vehicle M is located in a specific scene, other information such as the image 87d and the notification information 87c (FIG. 9) is displayed on the multi-information panel 87. Is less likely to be blocked.

Various situations can be set as the specific scene, but in the above-described embodiment, the own vehicle M is located "within a predetermined area of the intersection" in the specific scene. Since the intersection is a traffic area where pedestrians, cyclists, etc. often cross, the vehicle M pays attention to other traffic participants by accurately performing notification by the external notification unit 172. The effect of notifying that is great. Further, since the internal notification unit 173 performs the notification at the intersection where the external notification unit 172 needs to perform the notification, it becomes easy to give the driver a sense of security.

Then, according to the vehicle control device 100 of the own vehicle M, when the notification by the internal notification unit 173 corresponding to the notification of the external notification unit 172 is started, the vehicle is located in a specific scene such as in a predetermined area of the intersection. The notification display 310 or the non-notification display 320 (FIGS. 10A and 10B) by the internal notification unit 173 is continued until the situation is removed. Therefore, it becomes easy to give a sense of security to the driver by notifying the driver that the notification of the external notification unit 172 required in the traffic area where the notification of the external notification unit 172 such as an intersection is required is accurately performed.
However, even if the own vehicle M exists outside the predetermined area of the intersection, when the own vehicle M is performing predetermined control, for example, control to stop because a pedestrian is crossing the front, the walking is performed. It is possible to notify the pedestrian of the external notification unit 172 and notify the pedestrian of this by the notification of the internal notification unit 173 so that the pedestrian and the passenger of the own vehicle M can easily give a sense of security. can.

Further, according to the vehicle control device 100 of the own vehicle M, the notification of the external notification unit 172 has an anthropomorphic line of sight of both eyes by the right front lighting unit 91A and the left front lighting unit 91B on the front side of the own vehicle M. It is done by facing the direction of traffic participants such as pedestrians and cyclists. That is, the notification display 310 (FIG. 10A) is performed so as to output information in the direction of traffic participants such as pedestrians and bicycle drivers existing on the front side of the own vehicle M. Therefore, the target traffic participant can know that he / she is watching from his / her own vehicle M, and it becomes easy to obtain a sense of security. In addition, the driver can know from the internal notification unit 173 that the anthropomorphic eyes of both eyes are directed by the right front lighting unit 91A and the left front lighting unit 91B toward the target traffic participant, so that the driver can rest assured. It becomes easier to get a feeling.

Further, according to the vehicle control device 100 of the own vehicle M, as a general rule, pedestrians and bicycle drivers who are determined to exist in the region opposite to the region in the traveling direction of the own vehicle M (on the sidewalk on the opposite lane side, etc.). The external notification unit 172 does not notify the traffic participants such as persons. Therefore, since the external notification unit 172 does not notify the indiscriminate traffic participants, it is possible to suppress the confusion of the traffic participants. In addition, the driver can know this by not notifying the internal notification unit 173 or displaying the non-notification display 320 (FIG. 10B), and can know that the traffic participants are not confused, which gives a sense of security. It becomes easier to obtain.

Further, according to the vehicle control device 100 of the own vehicle M, when the navigation device 20 notifies the passengers of the own vehicle M of the notification information 87c (FIG. 9) related to the guidance, the internal notification unit 173 notifies the passengers. Not performed. That is, when the notification information 87c related to the guidance is notified to the passenger of the own vehicle M, the notification can be prioritized over the notification by the internal notification unit 173.

20 Navigation device (navigation display unit)
87c Notification information related to guidance (peripheral information)
120 Driving support control unit (driving control unit)
160 Travel control unit (travel control unit)
140 Recognition unit 141 Own vehicle position recognition unit (acquisition unit)
142 External recognition unit (recognition unit)
172 External notification unit 173 Internal notification unit 174 Notification control unit (notification control unit)
310 Notification display (1st notification)
320 prefecture notification display (second notification)
M own vehicle

Claims (9)

A recognition unit that recognizes the surrounding situation of the own vehicle,
A traveling control unit that controls at least one of the steering and acceleration of the own vehicle based on the peripheral situation recognized by the recognition unit.
An external notification unit that notifies the traffic participants recognized by the recognition unit of the operation of the own vehicle based on the control by the travel control unit, and an external notification unit.
An internal notification unit that notifies the driver of the own vehicle of the content of the notification given to the traffic participant by the external notification unit , and
When the recognition unit detects the traffic participant in the vicinity of the own vehicle, the external notification unit notifies the traffic participant of the operation of the own vehicle and the external notification to the driver. The content of the notification of the unit is notified by the internal notification unit, and then, when the recognition unit does not detect the traffic participant from the vicinity of the own vehicle, the notification by the external notification unit to the traffic participant is stopped. Further, the vehicle control device is characterized in that the notification to the driver by the internal notification unit includes a notification control unit that switches from the first notification to the second notification. It is equipped with an acquisition unit that acquires the position information of the own vehicle.
The first aspect of claim 1, wherein the notification control unit performs notification by the internal notification unit when the acquisition unit detects that the own vehicle is located in a predetermined area of an intersection. Vehicle control device. The first or second aspect of the present invention, wherein the notification control unit performs notification by the external notification unit so as to output information in the direction of the traffic participant existing in the vicinity of the own vehicle. Vehicle control device. The vehicle control device according to any one of claims 1 to 3, wherein the notification control unit changes the content of notification by the internal notification unit in response to the notification of the external notification unit. .. The present invention is characterized in that when the notification control unit starts notification by the internal notification unit in response to the notification of the external notification unit, the notification control unit continues the notification by the internal notification unit within a predetermined area of the intersection. 2. The vehicle control device according to 2. The notification control unit is characterized in that the external notification unit does not notify the traffic participant existing in the area on the opposite lane side opposite to the traveling lane of the own vehicle in the recognition unit. The vehicle control device according to any one of claims 1 to 5. The invention according to any one of claims 1 to 6, wherein the internal notification unit includes the content of the notification by the external notification unit in the first notification and does not include the content of the notification by the external notification unit. Vehicle control device. A recognition unit that recognizes the surrounding situation of the own vehicle,
A traveling control unit that controls at least one of the steering and acceleration of the own vehicle based on the peripheral situation recognized by the recognition unit.
An external notification unit that notifies the traffic participants recognized by the recognition unit of the operation of the own vehicle based on the control by the travel control unit, and an external notification unit.
An internal notification unit that notifies the driver of the own vehicle of the content of the notification given to the traffic participant by the external notification unit , and
When the recognition unit detects the traffic participant in the vicinity of the own vehicle, the external notification unit notifies the traffic participant of the operation of the own vehicle and the external notification to the driver. The content of the notification of the unit is notified by the internal notification unit, and then, when the recognition unit does not detect the traffic participant from the vicinity of the own vehicle, the notification by the external notification unit to the traffic participant is stopped. Further, the vehicle control method is characterized in that the notification to the driver by the internal notification unit is executed by the notification control unit that switches from the first notification to the second notification. A program according to any one of claims 1 to 7, wherein the computer functions as the vehicle control device.

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