JP7116717B2 - Vehicle control device and vehicle - Google Patents

Description

The present invention relates to a vehicle control device and a vehicle.

Conventionally, there has been proposed a keyless entry device for a vehicle that enables keyless entry by unlocking a vehicle door by inputting a cipher signal by operating a door outer handle and voicing a cipher by voice (see, for example, Patent Document 1). ). The above Patent Document 1 describes that the keyless entry device enables easy and immediate keyless entry by voice when there are no other people around the vehicle or in an emergency.

Japanese Utility Model Laid-Open No. 61-150968

In addition to unlocking the doors described above, it is also possible to operate various functions such as power sliding doors and power windows by remotely controlling the vehicle by voice. Then, for example, when the user opens the power slide door by voice, if another user is about to touch the power sly and the door during the opening operation, the power slide door is immediately stopped. is desirable.
SUMMARY OF THE INVENTION It is an object of the present invention to provide a vehicle control device and a vehicle that can immediately stop the function of the vehicle in operation.

As a first aspect for achieving the above object, there is provided a vehicle control device for controlling the operation of a vehicle having a predetermined function, comprising : a sound input unit for inputting ambient sound of the vehicle; an operation instruction reception unit that receives an operation instruction for the predetermined function from the operation instruction voice recognized by the speech recognition unit; and an operation instruction for the predetermined function is received by the operation instruction reception unit. the predetermined function is activated when the predetermined function is activated, and a sound equal to or greater than a predetermined threshold volume set to a volume higher than the volume of the activation instruction sound is input to the sound input unit during the activation of the predetermined function. and a vehicle function control unit that stops the operation of the predetermined function.
In the above-described vehicle control device, the operation instruction receiving unit switches from a voice operation disable mode in which the vehicle cannot be operated by voice when the voice recognition unit recognizes a predetermined start-up instruction voice. The vehicle function control unit switches to the voice operation enable mode in which operation is possible, and switches the vehicle function control unit to the voice operation enable mode when a sound having a volume higher than the threshold volume is input to the sound input unit during operation of the predetermined function. The operation of the predetermined function may be stopped regardless of whether the device is in the voice operation disabled mode.

In the vehicle control device described above, the predetermined function may be a function of opening or closing an opening/closing unit provided in the vehicle.

In the vehicle control device described above, the vehicle function control unit closes the opening/closing unit when a sound having a volume equal to or higher than the threshold volume is input to the sound input unit while the opening/closing unit is being closed by the predetermined function. After stopping the operation, the opening/closing unit may be opened.

In the vehicle control device described above, the vehicle function control unit is configured to open the opening/closing unit when a sound having a volume equal to or higher than the threshold volume is input to the sound input unit while the opening/closing unit is being opened by the predetermined function. After stopping the operation, the opening/closing unit may be closed.

As a second aspect for achieving the above object, there is a vehicle provided with the above vehicle control device.

According to the vehicle control device of the present invention, when an operation instruction for a predetermined function is received by the operation instruction receiving unit and a sound having a volume equal to or greater than the threshold volume is input to the sound input unit while the predetermined function is operating. , the operation of the predetermined function is stopped by the vehicle function control unit. As a result, a person in the vicinity of the vehicle can immediately stop the operation of the predetermined function by an immediately executable action such as yelling or hitting an object to make a loud noise.

FIG. 1 is an explanatory diagram of a vehicle equipped with a vehicle control device. FIG. 2 is a configuration diagram of the vehicle control device. FIG. 3 is a flow chart of voice operation mode switching processing. FIG. 4 is a flow chart of the right power sliding door handling process. FIG. 5 is a flow chart of emergency stop processing for the right power sliding door. FIG. 6 is an explanatory diagram of a situation in which the user issues an instruction to close the right power sliding door by voice. FIG. 7 is an explanatory diagram of a situation in which the user makes an emergency stop to close the right power sliding door by voice.

[1. Vehicle configuration]
A configuration of a vehicle 1 according to the present embodiment will be described with reference to FIGS. 1 and 2. FIG. As shown in FIG. 1, a vehicle 1 has a right power hinge door 2, a left power hinge door 3, a right power slide door 4, and a left power slide door 5 for a user U of the vehicle 1 to get into and out of the vehicle compartment. I have. The vehicle 1 also includes a power tailgate 6 for the user U to load and unload luggage from the passenger compartment.

The right power hinge door 2, the left power hinge door 3, the right power slide door 4, the left power slide door 5, and the power tailgate 6 correspond to the opening/closing part of the present invention, and are opened/closed by a vehicle control device 10 provided in the vehicle 1. Movement is controlled. Hereinafter, the right power hinge door 2, the left power hinge door 3, the right power sliding door 4, the left power sliding door 5, and the power tailgate 6 are also collectively referred to as electric doors.

The right power hinge door 2 includes a right PHD (Power Hing Door) drive unit 44 that drives the right power hinge door 2 to open and close by an electric actuator (not shown), and the left power hinge door 3 drives the left power hinge door 3 to open and close by an electric actuator. A left PHD driving section 54 is provided for driving. The right power slide door 4 includes a right PSD (Power Slide Door) drive unit 45 that drives the right power slide door 4 to open and close by an electric actuator, and the left power slide door 5 drives the left power slide door 5 to open and close by an electric actuator. A left PSD driver 55 is provided to The power tailgate 6 includes a PTG (Power Tail Gate) driving section 64 that drives the power tailgate 6 to open and close by means of an electric actuator.

The right power hinge door 2, the right power sliding door 4, the left power hinge door 3, and the left power slide are operated by the right PHD drive section 44, the right PSD drive section 45, the left PHD drive section 54, the left PSD drive section 55, and the PTG drive section 64. The functions of opening and closing the doors 5 and the power tailgate 6 correspond to predetermined functions of the vehicle of the present invention.

A right side indicator 41 , a right side microphone 42 , and a right side speaker 43 are provided on the right side of the vehicle 1 as equipment for responding to the user U's voice operation from the right side of the vehicle 1 . Similarly, on the left side of the vehicle 1, a left side indicator 51, a left side microphone 52, and a left side speaker 53 are provided as equipment for responding to voice operations from the left side of the vehicle 1 by the user U. there is

A rear indicator 61 , a rear camera 60 , and a rear speaker 63 are provided on the rear surface of the vehicle 1 as equipment for responding to voice operations by the user U from behind the vehicle 1 . The right side microphone 42, the left side microphone 52, and the rear microphone 62 correspond to the sound input section for inputting sounds around the vehicle of the present invention.

A front camera 30 for photographing the front of the vehicle 1 is provided at the front of the vehicle 1, and a right side camera 40 for photographing the right side of the vehicle 1 is provided at the right door mirror. A left door mirror is provided with a left side camera 50 for photographing the left side of the vehicle 1 , and a rear camera 60 for photographing the rear of the vehicle 1 is provided at the rear of the vehicle 1 .

Referring to FIG. 2, vehicle 1 includes, in addition to the equipment shown in FIG. 2, a communication unit 70 for communicating with the outside of the vehicle. The vehicle control device 10 is an electronic circuit unit including a CPU (Central Processing Unit) (not shown), a memory 20, and the like. The memory 20 stores a control program 21 for the vehicle control device 10 , text data 22 for recognizing voice operation, and an authentication ID code 23 used for authentication using the portable key 90 . The CPU functions as a key authentication unit 11 , an operation instruction reception unit 12 , a voice recognition unit 13 and a vehicle function control unit 14 by reading and executing control programs stored in the memory 20 .

As shown in FIG. 1, when the user U carrying the portable key 90 approaches the vehicle 1, the key authentication unit 11 communicates with the portable key 90 via the communication unit 70 to obtain an ID. When the code is received and the received ID code matches the authentication ID code 23 stored in the memory 20, the user U is permitted to use the vehicle 1. - 特許庁As a result, the user U can operate the vehicle 1 by operating the switch of the portable key 90 or by speaking.

As shown in FIG. 1, the portable key 90 includes a lock/unlock button 91 for instructing locking and unlocking of the vehicle 1, a right power hinge door button 92 for instructing opening and closing of the right power hinge door 2, and a left A left power hinge door button 93 for instructing opening/closing of the power hinge door 3, a right power sliding door button 94 for instructing opening/closing of the right power sliding door 4, and a left power slide for instructing opening/closing of the left power slide door 5. A door button 95 and a power tailgate button 96 for instructing opening and closing of the power tailgate 6 are provided.

The user U can instruct the vehicle 1 to open and close the electric door by operating the buttons 92 to 96 of the portable key and by voice. The voice recognition unit 13 analyzes the voice of the user U input to any one of the right side microphone 42, the left side microphone 52, and the rear microphone 62, and recognizes the content of the instruction by the user U.

The operation instruction receiving unit 12 receives an electric door opening instruction and closing instruction according to an operation instruction signal transmitted from the portable key 90 and an operation instruction voice recognized by the voice recognition unit 13 . The vehicle function control unit 14 controls the opening or closing operation of the electric door according to the operation instruction received by the operation instruction reception unit 12 .

[2. Voice operation mode switching process]
The voice operation mode switching process executed by the operation instruction receiving unit 12 will be described according to the flowchart shown in FIG. In step S1 of FIG. 3, when the portable key 90 is successfully authenticated by the key authenticating section 11, the operation instruction accepting section 12 advances the process to step S2.

In step S2, the operation instruction receiving unit 12 sets, as an initial setting, a voice operation disabled mode in which the vehicle 1 cannot be operated by voice. In subsequent step S3, the operation instruction reception unit 12 determines whether or not the voice recognition unit 13 has recognized a predetermined activation instruction voice. The activation instruction voice is a voice of words for the user U to request the vehicle 1 to accept an operation by voice. It is saved in the wording data 22 .

Then, when the activation instruction voice is recognized by the voice recognition unit 13, the operation instruction receiving unit 12 advances the processing to step S4, and switches from the "voice operation disabled mode" to the "voice operation enabled mode". As a result, the user U can give instructions by voice to operate the predetermined functions provided in the vehicle 1, such as opening and closing the electric door, locking or unlocking the electric door.

In subsequent step S5, the operation instruction receiving unit 12 advances the process to step S2 when the conditions for terminating voice operation reception are satisfied, thereby switching from the "voice operation enabled mode" to the "voice operation disabled mode". Here, the conditions for terminating reception of the voice operation include, for example, when the operation of the electric door in response to the instruction voice to open or close the electric door ends, or when the mode is switched to the "voice operation enabled mode" in step S4. , a case where a predetermined time has passed without recognition of the operation instruction voice, and the like are set.

[3. Processing for Right Power Sliding Door]
The right power sliding door handling process executed by the operation instruction reception unit 12 and the vehicle function control unit 14 will be described according to the flowchart shown in FIG. The operation instruction receiving unit 12 and the vehicle function control unit 14 repeatedly execute the right power sliding door handling process while the vehicle 1 is stopped.

In step S20 of FIG. 4, the actuation instruction reception unit 12 determines whether or not an instruction signal to open the right power sliding door 4 has been received from the portable key 90, and when an instruction signal to open is received, the process proceeds to step S30. If the open instruction signal is not received, the process proceeds to step S21. In step S30, the vehicle function control unit 14 sets the threshold sound volume to the default value, and proceeds to step S42. The default value is set to a volume higher than the volume of general instructional voices. The threshold sound volume is used in emergency stop processing, which will be described later.

In step S21, the operation instruction receiving unit 12 determines whether or not the voice operation enable mode is set. When the voice operation enable mode is set, the process proceeds to step S40, and the voice operation disable mode is set. If so, the process proceeds to step S22. In step S<b>40 , the actuation instruction reception unit 12 determines whether the speech recognition unit 13 has recognized the instruction voice to open the right power sliding door 4 .

When the instruction voice to open the right power sliding door 4 is recognized, the operation instruction receiving section 12 proceeds to step S41, and when the opening instruction voice to the right power sliding door 4 is not recognized, the process proceeds to step S22. proceed. In step S41, the vehicle function control unit 14 sets the volume of the right power sliding door 4 opening instruction voice to +α (α is determined by testing, computer simulation, or the like). In subsequent step S42, the vehicle function control unit 14 executes control for opening the right power sliding door 4, whereby the right power sliding door 4 is opened.

In step S22, the operation instruction receiving unit 12 determines whether or not a closing instruction signal for the right power sliding door 4 has been received from the portable key 90. When the closing instruction signal has been received, the process proceeds to step S50 to close the door. If no instruction signal has been received, the process proceeds to step S23. In step S50, the vehicle function control unit 14 sets the threshold sound volume to the default value, and advances the process to step S62.

In step S23, the operation instruction receiving unit 12 determines whether or not the voice operation enable mode is set. When the voice operation enable mode is set, the process proceeds to step S60, and the voice operation disable mode is set. If so, the process proceeds to step S24. In step S<b>60 , the vehicle function control unit 14 determines whether or not the voice recognizing unit 13 recognizes the closing instruction voice for the right power sliding door 4 .

When the instruction voice to close the right power sliding door 4 is recognized, the operation instruction receiving section 12 proceeds to step S61, and when the instruction voice to close the right power sliding door 4 is not recognized, the operation instruction receiving section 12 proceeds to step S24. proceed. In step S61, the vehicle function control section 14 sets the volume of the closing instruction voice for the right power sliding door 4 to +β (β is determined by testing, computer simulation, or the like). β may be the same as α above. In subsequent step S62, the vehicle function control unit 14 executes closing control of the right power sliding door 4, whereby the right power sliding door 4 is closed.

The operation instruction receiving unit 12 performs the same processing as the right power sliding door 4 for the left power sliding door 5, the right power hinge door 2, the left power hinge door 3, and the power tailgate 6. Accepts instructions for opening and closing operations from outside the vehicle. Then, the vehicle function control unit 14 performs the same processing as in the case of the right power sliding door in accordance with the instruction of the opening operation or the closing operation received by the operation instruction receiving unit 12 to open the left power sliding door 5 and the right power hinge door. 2. The left power hinge door 3 and the power tailgate 6 are controlled to open and close.

[4. Emergency stop processing]
The emergency stop handling process for the right power sliding door 4 executed by the vehicle function control unit 14 will be described according to the flowchart shown in FIG. In step S70, the vehicle function control unit 14 determines whether or not the right power sliding door 4 is in operation (opening or closing). Then, when the right power sliding door 4 is in operation, the process proceeds to step S71.

In step S<b>71 , the vehicle function control unit 14 determines whether or not the right side microphone 42 has input a sound having a volume equal to or higher than the threshold volume. Then, the vehicle function control unit 14 advances the process to step S72 when a sound equal to or greater than the threshold volume is input, and advances the process to step S70 when a sound equal to or greater than the threshold volume is not input.

In step S72, the vehicle function control unit 14 advances the process to step S73 when the right power sliding door 4 is in the process of opening, and when the right power sliding door 4 is not in the process of opening (when it is in the process of closing). , the process proceeds to step S80. The vehicle function control unit 14 stops the opening operation of the right power sliding door 4 in step S73, and closes the right power sliding door 4 in step S74. Further, the vehicle function control unit 14 stops the closing operation of the right power sliding door 4 in step S80, and closes the right power sliding door 4 in step S81.

The vehicle function control unit 14 performs the same processing as for the right power sliding door 4 for the left power sliding door 5, the right power hinge door 2, the left power hinge door 3, and the power tailgate 6 to reduce the volume of sound equal to or higher than the threshold volume. In accordance with the input, an emergency stop handling process is executed in which open control or close control is stopped and reverse open control or close control is performed.

Since the emergency stop response process is executed regardless of whether the voice operation mode is enabled or the voice operation disabled mode, the user shouts or By making a loud noise, the opening or closing operation of the electric door can be immediately stopped and the electric door can be operated in the opposite direction. In addition, even if the electric door comes in contact with something and makes a loud noise, the emergency stop response processing immediately stops the opening or closing of the electric door, allowing the electric door to operate in the opposite direction. .

[5. Example of Right Power Sliding Door Handling Processing and Emergency Stop Handling Processing]
5 and 6, when the right power sliding door 4 is being closed, the user U shouts out that the child K who is about to get into the vehicle 1 will come into contact with the right power sliding door 4. An example of processing in a situation where the vehicle is released and avoided will be described.

FIG. 6 shows the operation of the vehicle 1 when the user U issues an instruction to open the right power sliding door 4 by voice. At C11 in FIG. 6, the user U first utters the activation instruction voice V1 "OK, my car" to switch from the "voice operation disabled mode" to the "voice operation enabled mode", and then "open the sliding door." It shows a situation in which the closing instruction voice V2 for the right power sliding door 4 saying "Close" is uttered.

The actuation instruction receiving unit 12 blinks the right side indicator 41 when recognizing the activation instruction voice V1 and when recognizing the closing instruction voice V2. The vehicle function control unit 14 executes the closing control of the right power sliding door 4 in step S62 of FIG. 4, thereby starting the closing operation of the right power sliding door 4 as indicated by C12.

Next, FIG. 7 shows a situation in which contact between the right power sliding door 4 and the child K is avoided during the closing operation. At C13 in FIG. 7, the child K is about to enter the passenger compartment through the right power sliding door 4 which is being closed, and the user U who sees this utters a voice V3 saying "Dangerous". The vehicle function control unit 14 executes the processes of steps S80 and S81 in FIG.

As a result, the closing operation of the right power sliding door 4 is stopped and switched to the opening operation as indicated by C14, so that contact between the child K and the right power sliding door 4 is avoided. The vehicle control unit 14 blinks the right side indicator 41 when recognizing the input of the voice V3.

[6. Other embodiments]
In the above-described embodiment, as the predetermined function of the vehicle 1, an example of emergency stopping of the opening operation and closing operation of the electric door is shown for the opening/closing function of the electric door. As another embodiment, the window opening/closing function of the vehicle 1 may be immediately stopped from opening and closing operations by the emergency stop handling process similar to that of the electric door.

In the above-described embodiment, the operation instruction receiving unit 12 receives an operation from outside the vehicle using the portable key 90 or voice. good.

Of the functions of the vehicle 1 that can be operated from outside the vehicle, only the opening and closing functions of the electric doors and windows are subject to the emergency stop response processing, and the unlocking and locking of the electric doors and the operation of the headlights (not shown) are performed. Lighting and extinguishing, lighting and extinguishing of the passenger compartment, etc. may be excluded from the emergency stop handling process.

In the above embodiment, the vehicle function control unit 14 stops the opening operation of the right power sliding door 4 in step S73 by the emergency stop handling process shown in FIG. However, the process of step S74 may be omitted. Similarly, after stopping the closing operation of the right power sliding door 4 in step S80, the vehicle function control unit 14 controls the opening of the right power sliding door 4 in step S81. good.

FIG. 2 is a schematic diagram showing the configurations of the vehicle 1 and the vehicle control device 10, divided according to main processing contents, in order to facilitate understanding of the present invention. may be configured by other divisions. Also, the processing of each component may be executed by one hardware unit or may be executed by a plurality of hardware units. Also, the processing by each component shown in FIGS. 3 to 5 may be executed by one program or may be executed by a plurality of programs.

[7. Configuration supported by the above embodiment]
The above embodiment is a specific example of the following configuration.

(Section 1) A vehicle control device for controlling the operation of a vehicle having a predetermined function, comprising: an operation instruction receiving unit for receiving an operation instruction for the predetermined function; a sound input unit for inputting ambient sounds of the vehicle; When the predetermined function is activated when the activation instruction for the predetermined function is received by the activation instruction receiving unit, and when a sound having a volume equal to or greater than a predetermined threshold volume is input to the sound input unit during the activation of the predetermined function. and a vehicle function control unit that stops the operation of the predetermined function.
According to the vehicle control device of item 1, according to the vehicle control device of the present invention, when the operation instruction for the predetermined function is received by the operation instruction receiving unit and the predetermined function is being operated, the sound volume exceeds the threshold volume. When sound is input to the sound input section, the vehicle function control section stops the operation of the predetermined function. As a result, a person in the vicinity of the vehicle can immediately stop the operation of the predetermined function by an immediately executable action such as yelling or hitting an object to make a loud noise.

(Section 2) The vehicle control device according to Section 2, wherein the predetermined function is a function of opening or closing an opening/closing unit provided in the vehicle.
According to the vehicle control device of the second aspect, the opening operation or closing operation of the opening/closing portion can be immediately stopped.

(Section 3) When the opening/closing unit is closed by the predetermined function, the vehicle function control unit closes the opening/closing unit when a sound having a volume equal to or greater than the threshold volume is input to the sound input unit. 3. The vehicle control device according to claim 2, which opens the opening/closing unit after stopping the operation.
According to the vehicle control device of item 3, by returning the opening/closing portion to the open state during the closing operation, it is possible to prevent the opening/closing portion from continuing to come into contact with the object when the opening/closing portion is closed. can be done.

(Section 4) The vehicle function control unit performs the opening operation of the opening/closing unit when a sound having a volume equal to or higher than the threshold volume is input to the sound input unit while the opening/closing unit is being opened by the predetermined function. 4. The vehicle control device according to claim 2 or 3, wherein the opening/closing unit is closed after stopping the operation.
According to the vehicle control device of item 4, by returning the opening/closing portion to the closed state during the opening operation, the opening/closing portion is prevented from continuing to contact the object when the opening/closing portion is opened. can be done.

(Section 5) A voice recognition unit that recognizes a voice input to the sound input unit is provided, and the operation instruction reception unit receives the operation instruction of the predetermined function by the operation instruction voice recognized by the voice recognition unit. 4. The vehicle control device according to any one of items 1 to 4, wherein the threshold sound volume is set to a sound volume higher than the sound volume of the operation instruction sound.
According to the vehicle control device of item 5, by setting the threshold sound volume according to the volume of the operation instruction voice by the user of the vehicle, it is possible to set an appropriate threshold according to the voice uttered by each user. .

(Section 6) When the voice recognition unit recognizes a predetermined activation instruction voice, the operation instruction receiving unit switches the vehicle from a voice operation disable mode in which voice operation of the vehicle is disabled to voice operation of the vehicle. is switched to the voice operation enable mode, and the vehicle function control unit switches to the voice operation enable mode when a sound having a volume higher than the threshold volume is input to the sound input unit during operation of the predetermined function. 6. The vehicle control device according to claim 5, wherein the operation of the predetermined function is stopped regardless of whether or not the voice operation disabled mode is set.
According to the vehicle control device of item 6, even in the voice operation unresponsive mode, when a voice having a volume higher than the threshold volume is input, the activation instruction voice is output by stopping the operation of the predetermined function. The operation of the predetermined function can be quickly stopped without speaking.

(Section 7) A vehicle equipped with the vehicle control device according to any one of Sections 1 to 6.
According to the vehicle of item 7, it is possible to construct a vehicle equipped with the vehicle control device of any one of items 1 to 6.

DESCRIPTION OF SYMBOLS 1... Vehicle, 2... Right power hinge door, 3... Left power hinge door, 4... Right power slide door, 5... Left power slide door, 6... Power tailgate, 10... Vehicle, 11... Key authentication part, 12... Operation instruction Reception unit 13 Speech recognition unit 14 Vehicle function control unit 20 Memory 21 Control program 22 Text data 23 Authentication ID code 41 Right side indicator 42 Right side microphone 43...Right side speaker, 90...Mobile key, U...User, K...Child.

Claims (6)

A vehicle control device for controlling the operation of a vehicle having a predetermined function,
a sound input unit for inputting ambient sounds of the vehicle;
a voice recognition unit that recognizes voice input to the sound input unit;
an operation instruction reception unit that receives an operation instruction for the predetermined function by an operation instruction voice recognized by the voice recognition unit ;
When the activation instruction for the predetermined function is received by the activation instruction receiving unit, the predetermined function is activated, and a predetermined volume is set to be higher than the volume of the activation instruction sound during the activation of the predetermined function. a vehicle function control unit that stops the operation of the predetermined function when a sound equal to or greater than a threshold volume is input to the sound input unit;
A vehicle control device comprising: The operation instruction receiving unit is configured to change from a voice operation disabled mode in which the vehicle cannot be operated by voice to a voice operation in which the vehicle can be operated by voice when a predetermined activation instruction voice is recognized by the voice recognition unit. switch to enabled mode,
The vehicle function control unit determines whether the mode is the voice operation enabled mode or the voice operation disabled mode when a sound having a volume higher than the threshold volume is input to the sound input unit during operation of the predetermined function. 2. The vehicle control device according to claim 1 , wherein the operation of the predetermined function is stopped regardless of whether the vehicle is in the vehicle. 3. The vehicle control device according to claim 1, wherein the predetermined function is a function of opening or closing an opening/closing unit provided in the vehicle. After the vehicle function control unit stops the closing operation of the opening/closing unit when a sound having a volume equal to or higher than the threshold volume is input to the sound input unit while the opening/closing unit is being closed by the predetermined function, The vehicle control device according to claim 3 , wherein the opening/closing unit is opened. After the vehicle function control unit stops the opening operation of the opening/closing unit when a sound having a volume equal to or higher than the threshold volume is input to the sound input unit while the opening/closing unit is being opened by the predetermined function, The vehicle control device according to claim 3 or 4 , wherein the opening/closing unit is closed. A vehicle comprising the vehicle control device according to any one of claims 1 to 5 .

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