JP7517025B2 - Vehicle control device and vehicle control method - Google Patents

Description

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

In recent years, tailgating, which involves intentionally driving too close to other vehicles or suddenly braking to impede the movement of other vehicles and induce danger, has been attracting attention as a social problem. There have also been incidents of drivers forcing other vehicles to stop and harming their occupants, so measures to prevent such incidents are needed. For example, a technology has been proposed that detects vehicles likely to be tailgating and closes the doors and windows of the vehicle if the detected vehicle moves in front of the vehicle to ensure the safety of the occupants of the vehicle.

JP 2020-126362 A

If the condition is set to occur when a vehicle likely to be tailgating moves in front of your vehicle, doors and windows may be closed unnecessarily, which could reduce convenience.

The present invention was made in consideration of the above circumstances, and aims to provide a technology that ensures both the safety and convenience of the vehicle's occupants.

A vehicle control device according to one embodiment of the present invention includes a vehicle information acquisition unit that acquires vehicle information including at least an image of the surroundings of the vehicle and information indicating the behavior of the vehicle, a specific state determination unit that determines whether the vehicle is in a specific state in which the vehicle is stopped and an obstructing vehicle obstructing the passage of the vehicle is stopped around the vehicle based on the acquired vehicle information, and a lock control unit that locks the doors of the vehicle with the door windows of the vehicle closed if it is determined that the vehicle is in a specific state.

Another aspect of the present invention is a vehicle control method. This method includes the steps of: acquiring vehicle information including at least an image of the surroundings of the host vehicle and information indicating the behavior of the host vehicle; identifying an obstructing vehicle obstructing the passage of the host vehicle based on the acquired vehicle information; determining whether the host vehicle is stopped and the identified obstructing vehicle is stopped around the host vehicle based on the acquired vehicle information; and, if it is determined that the vehicle is in the specific state, locking the doors of the host vehicle with the door windows of the host vehicle closed.

In addition, any combination of the above components or mutual substitution of the components or expressions of the present invention between methods, devices, systems, etc. are also valid aspects of the present invention.

The present invention makes it possible to ensure both the safety and convenience of the vehicle's occupants.

1 is a block diagram illustrating a functional configuration of a vehicle control device according to an embodiment. 4 is a flowchart showing a vehicle control method according to the embodiment.

The following describes an embodiment of the present invention with reference to the drawings. The specific numerical values and the like shown in the embodiment are merely examples to facilitate understanding of the invention, and do not limit the present invention unless otherwise specified. In this specification and drawings, elements having substantially the same functions and configurations are given the same reference numerals to avoid duplicated explanations, and elements not directly related to the present invention are not illustrated.

Before describing the embodiment in detail, an overview will be provided. This embodiment is a vehicle control device that detects an obstructing vehicle that obstructs the passage of the vehicle by tailgating or the like, and locks the doors of the vehicle with the door windows closed when the vehicle stops and a specific state occurs in which the obstructing vehicle has stopped around the vehicle. This embodiment ensures the safety of the vehicle occupants by preventing the occupants of the obstructing vehicle from getting out and opening the doors or door windows of the vehicle and harming them. In addition, by locking the doors and door windows when both the vehicle and the obstructing vehicle stop, a decrease in convenience due to unnecessary locking is prevented.

Figure 1 is a block diagram that shows a schematic functional configuration of a vehicle control device 10 according to an embodiment. Each functional block shown in the figure can be realized in hardware terms by elements and mechanical devices such as a computer CPU and memory, and in software terms by a computer program, etc., but is depicted here as a functional block realized by the cooperation of these. Therefore, it will be understood by those skilled in the art that these functional blocks can be realized in various ways by combining hardware and software.

The vehicle control device 10 is connected to various devices mounted on the vehicle via an in-vehicle network 20 configured by a CAN (Controller Area Network) or the like. To the in-vehicle network 20, an in-vehicle camera 22, an in-vehicle sensor 24, a door lock control device 26, a door window control device 28, a door lock operation button 30, a window opening/closing operation button 32, a window lock operation button 34, a reset button 36, and the like are connected. Before describing the functional configuration of the vehicle control device 10 in detail, the peripheral devices will be explained.

The vehicle-mounted camera 22 is configured to capture images of the surroundings of the vehicle, for example, configured to capture images of the area in front of the vehicle. The vehicle-mounted camera 22 may be configured to capture only the exterior of the vehicle, or may be configured to capture images of both the exterior and interior of the vehicle. A vehicle may be equipped with multiple cameras, and for example, each of the multiple cameras may capture images of the front, rear, and sides of the vehicle. The vehicle-mounted camera 22 may be a panoramic camera that can capture images of essentially the entire 360 degrees around the camera. The vehicle-mounted camera 22 may be separate from the vehicle control device 10, or may be provided in the vehicle control device 10.

The on-board sensor 24 is a device for acquiring information about the vehicle itself and information about the surrounding conditions of the vehicle itself. The on-board sensor 24 includes a radar sensor and a LiDAR (Light Detection and Ranging) for measuring the position and distance of objects present around the vehicle itself. Other specific examples of the on-board sensor 24 include, but are not limited to, sensors for acquiring information indicating the behavior of the vehicle itself, such as a vehicle speed sensor, a steering angle sensor, an acceleration sensor, a gyro sensor, and a position information (e.g., a GNSS (Global Navigation Satellite System) sensor. The on-board sensor 24 may include a microphone for collecting sounds around the vehicle itself. At least a part of the on-board sensor 24 may be provided in the vehicle control device 10. For example, an acceleration sensor or the like may be provided in the vehicle control device 10.

The door lock control device 26 is a device that controls the locking of the doors of the vehicle. The door lock control device 26 is configured to switch the door lock between an on state (locked state) and an off state (unlocked state) in response to the operation of a door lock operation button 30, for example. The door lock control device 26 may switch the door lock on and off in response to the operation of a key installed on the door of the vehicle, or may switch the door lock on and off based on a wireless signal used in so-called keyless locks, etc.

The door lock control device 26 may switch the door lock on and off based on a command from the vehicle control device 10. When a command to turn the door lock on is given from the vehicle control device 10, the door lock control device 26 may disable the operation of the door lock operation button 30 and may not release the door lock even if the door lock operation button 30 is operated. When a command to turn the door lock off is given from the vehicle control device 10, the door lock control device 26 may disable the operation of the door lock operation button 30 and may switch the door lock on and off in response to the operation of the door lock operation button 30.

The door window control device 28 is a device that controls the opening and closing of the door window of the vehicle. For example, the door window control device 28 drives the door window up and down in response to the operation of the window opening and closing operation button 32, thereby closing and opening the door window. The door window control device 28 enables or disables the opening and closing operation of the door window in response to the operation of the window lock operation button 34. When the window lock is turned on by the operation of the window lock operation button 34, the door window control device 28 disables the operation of the window opening and closing operation button 32, so that the door window is not driven even if the window opening and closing operation button 32 is operated. When the window lock is turned off by the operation of the window lock operation button 34, the door window control device 28 enables the operation of the window opening and closing operation button 32, so that the door window is opened and closed in response to the operation of the window opening and closing operation button 32.

The door window control device 28 may control the opening and closing of the door window based on a command from the vehicle control device 10. When a command to turn on the window lock is given from the vehicle control device 10, the door window control device 28 may close the door window and then lock it. When a command to turn on the window lock is given from the vehicle control device 10, the door window control device 28 may disable the operation of the window lock operation button 34 and may not release the window lock even if the window lock operation button 34 is operated. When a command to turn off the window lock is given from the vehicle control device 10, the door window control device 28 may enable the operation of the window lock operation button 34 and switch the window lock on and off in response to the operation of the window lock operation button 34.

The door lock operation button 30 is an operation input unit for switching the door lock of the host vehicle on and off, and is provided, for example, near the driver's door of the host vehicle. The window opening/closing operation button 32 is an operation input unit for opening and closing the door window of the host vehicle, and is provided, for example, near the driver's door of the host vehicle or near the door of a seat other than the driver's door. The window lock operation button 34 is an operation input unit for switching the lock of the door window of the host vehicle on and off, and is provided, for example, near the driver's door of the host vehicle.

The reset button 36 is an operation input unit for performing a reset operation to forcibly release the locked state when the doors or door windows of the vehicle are locked based on a command from the vehicle control device 10. The reset button 36 can also be said to be a button for performing a special release operation that differs from the normal release operation using the door lock operation button 30 or the window lock operation button 34. The reset button 36 is located in a different location from the buttons 30, 32, and 34 for operating the doors and door windows, and is provided, for example, in a location away from the driver's door, such as the center console.

The reset button 36 may be a dedicated button specifically for the reset operation, or an input operation unit provided in the vehicle for other operations may also serve as the reset button. For example, an operation button for the navigation device of the vehicle may function as the reset button 36. The reset operation may also be enabled by simultaneously operating multiple input operation units that can function as the reset button 36. In addition, the reset operation may also be enabled by simultaneously operating the door lock operation button 30 or the window lock operation button 34 and the reset button 36.

Next, the functional configuration of the vehicle control device 10 will be described in detail. The vehicle control device 10 includes a vehicle information acquisition unit 12, an obstructive driving detection unit 13, an obstructive vehicle identification unit 14, a specific state determination unit 16, and a lock control unit 18.

The vehicle information acquisition unit 12 acquires vehicle information related to the vehicle itself. The vehicle information acquisition unit 12 acquires images of the surroundings of the vehicle from the on-board camera 22 as vehicle information. The vehicle information acquisition unit 12 acquires information indicating the behavior of the vehicle from the on-board sensor 24 as vehicle information. The vehicle information acquisition unit 12 acquires information indicating the behavior of the vehicle such as the acceleration of the vehicle and operation information of the accelerator, brake, and steering wheel of the vehicle. The vehicle information acquisition unit 12 may acquire information related to the surroundings of the vehicle from the on-board sensor 24 as vehicle information. The vehicle information acquisition unit 12 may acquire distance information from a radar or lidar to objects present around the vehicle.

The obstructive driving detection unit 13 detects obstructive driving of another vehicle with respect to the vehicle based on the vehicle information acquired by the vehicle information acquisition unit 12. The obstructive driving detection unit 13 detects obstructive driving based on the distance between the vehicle and the other vehicle. For example, if the distance between the vehicle and the other vehicle becomes less than a predetermined vehicle distance while the vehicle is traveling, the obstructive driving may be detected. The predetermined vehicle distance that is the threshold for determining whether or not the vehicle is obstructive may be a fixed value, or may be a variable value that is set to increase as the vehicle speed of the vehicle increases. The predetermined vehicle distance may be determined based on the stopping distance according to the vehicle speed (for example, the total value of the free running distance and the braking distance according to the vehicle speed), and for example, a value of about 20% to 40% of the stopping distance may be used as the threshold. For example, when the vehicle is traveling at a speed of 50 km/h, if another vehicle approaches the rear of the vehicle at a vehicle distance of 5 m or 10 m, which is less than half of the stopping distance of 32 m, the obstructive driving may be detected. In addition to cases where another vehicle approaches behind the vehicle, obstructive driving may also be detected when another vehicle approaches in front of the vehicle and cuts in at a distance less than a specified distance. In addition, obstructive driving may also be detected when another vehicle approaches the side of the vehicle while the vehicle is moving at a distance of 1 m or less or 0.5 m or less, a situation known as "pushing to the side."

The obstructive driving detection unit 13 may detect obstructive driving based on the behavior of the vehicle itself. For example, obstructive driving may be detected when another vehicle ahead of the vehicle suddenly brakes, causing the distance between the vehicle and the other vehicle to suddenly decrease, causing the vehicle to suddenly brake to avoid a collision. Obstructive driving may also be detected when the vehicle sways left and right to avoid the obstructive driving of the other vehicle. For example, obstructive driving may be detected when the vehicle changes lanes to avoid another vehicle approaching from behind, but the other vehicle also changes lanes to follow behind the vehicle, and such lane changes are repeated, causing the vehicle to frequently change lanes left and right.

The obstructive driving detection unit 13 may analyze the behavior of the other vehicle based on the vehicle information acquired by the vehicle information acquisition unit 12, and detect obstructive driving based on the analyzed behavior of the other vehicle. The obstructive driving detection unit 13 may analyze the behavior of the other vehicle based on the image captured by the in-vehicle camera 22 or the distance to the other vehicle detected by the in-vehicle sensor 24. For example, the obstructive driving detection unit 13 may detect obstructive driving when the other vehicle is zigzagging around the vehicle. The obstructive driving detection unit 13 may detect obstructive driving when the other vehicle approaches the rear of the vehicle and continuously or intermittently irradiates the high beam for a long period of time, such as 5 seconds or more or 10 seconds or more, or when the other vehicle approaches the rear of the vehicle and continuously flashes the turn signal for a long period of time, such as 5 seconds or more or 10 seconds or more. In addition, the obstructive driving may be detected when the other vehicle uses the horn continuously or intermittently for a long period of time, such as 5 seconds or more or 10 seconds or more, around the vehicle.

The obstructing vehicle identification unit 14 identifies obstructing vehicles that obstruct the passage of the vehicle. The obstructing vehicle identification unit 14 identifies other vehicles whose obstructing driving has been detected by the obstructing driving detection unit 13 as obstructing vehicles. The obstructing vehicle identification unit 14 may identify other vehicles whose obstructing driving has been detected a predetermined number of times or more within a predetermined period as obstructing vehicles. For example, if a vehicle is subjected to obstructing driving by the same other vehicle multiple times (two or more times, three or more times, etc.) within a predetermined period (five or ten minutes, etc.), the other vehicle may be identified as an obstructing vehicle.

When obstructive driving is detected, the obstructing vehicle identification unit 14 identifies information for identifying the other vehicle in which obstructive driving is detected. The obstructing vehicle identification unit 14 may identify the other vehicle by, for example, reading the vehicle registration number printed on the license plate of the other vehicle included in an image of the other vehicle. The obstructing vehicle identification unit 14 may identify the other vehicle based on external characteristics of the other vehicle, such as the shape, size, and color. When obstructive driving is detected, the obstructing vehicle identification unit 14 may store the details of the detected obstructive driving in association with the individual identification information of the other vehicle engaging in obstructive driving.

The specific state determination unit 16 determines whether the vehicle is stopped and whether the obstructing vehicle identified by the obstructing vehicle identification unit 14 is stopped around the vehicle. When the vehicle is stopped, the specific state determination unit 16 determines whether the obstructing vehicle is stopped around the vehicle based on the vehicle information acquired by the vehicle information acquisition unit 12. For example, the specific state determination unit 16 determines whether the image captured by the vehicle-mounted camera 22 includes the obstructing vehicle based on the individual identification information of the obstructing vehicle identified by the obstructing vehicle identification unit 14. When the image captured by the vehicle-mounted camera 22 includes the obstructing vehicle, the specific state determination unit 16 determines whether the position of the obstructing vehicle changes over time. When the position of the obstructing vehicle is unchanged, the specific state determination unit 16 determines that the obstructing vehicle is stopped around the vehicle and determines that the vehicle is in a specific state. When the position of the obstructing vehicle changes, the specific state determination unit 16 determines that the obstructing vehicle is not stopped around the vehicle and determines that the vehicle is in a non-specific state. The specific state determination unit 16 may determine that the vehicle is in a non-specific state if an interfering vehicle that was stopped around the vehicle moves away from the vehicle.

The specific state determination unit 16 may determine that the vehicle is in a specific state not only when the vehicle stops and the obstructing vehicle stops around the vehicle, but also when the occupant of the obstructing vehicle gets off the vehicle. The specific state determination unit 16 may determine that the vehicle is in a specific state not only when the vehicle stops and the obstructing vehicle stops around the vehicle, but also when the occupant of the obstructing vehicle approaches the vehicle. The specific state determination unit 16 may detect a person getting off the obstructing vehicle or a person approaching the vehicle based on an image captured by the in-vehicle camera 22. If a person who got off the obstructing vehicle is present around the vehicle, the specific state determination unit 16 may continue to determine that the vehicle is in a specific state even if the position of the obstructing vehicle changes. The specific state determination unit 16 may determine that the vehicle is in a non-specific state if the occupant returns to the obstructing vehicle or if there is no longer a person around the vehicle.

When the specific state determination unit 16 determines that the vehicle is in a specific state, the locking control unit 18 sends a command to the door lock control device 26 to turn on the door lock. When the specific state is determined, the locking control unit 18 may send a command to the door lock control device 26 to disable operation of the door lock operation button 30, so that the doors are forced into a locked state. In other words, the normal operation of unlocking the doors by operating the door lock operation button 30 may be disabled.

If the specific state determination unit 16 subsequently determines that the state is non-specific, the locking control unit 18 may send a command to the door lock control device 26 to enable operation of the door lock operation button 30. In other words, the locking control unit 18 may enable normal unlocking of the door lock by operating the door lock operation button 30. If the locking control unit 18 determines that the state is non-specific, it may or may not send a command to the door lock control device 26 to turn off the door lock. In the latter case, the door lock may remain on even after the specific state is released.

When it is determined that the state is non-specific, the locking control unit 18 may send a command to the door lock control device 26 to restore the door lock state to the state immediately before the specific state was entered. When it is determined that the state is specific, the locking control unit 18 may obtain and store the on/off state of the door lock from the door lock control device 26. If the door lock is on when it is determined that the state is specific, the locking control unit 18 may keep the door lock on even after the state becomes non-specific. On the other hand, if the door lock is off when it is determined that the state is specific, the locking control unit 18 may send a command to the door lock control device 26 to turn the door lock off after the state becomes non-specific.

When the specific state determination unit 16 determines that the vehicle is in a specific state, the locking control unit 18 transmits a command to the door window control device 28 to close the door window and turn on the window lock. When the locking control unit 18 determines that the vehicle is in a specific state, the locking control unit 18 may transmit a command to the door window control device 28 to disable the operation of the window lock operation button 34, so that the door window is forced into a locked state. In other words, the normal operation of releasing the window lock by operating the window lock operation button 34 may be disabled.

If the specific state determination unit 16 subsequently determines that the vehicle is in an unspecified state, the locking control unit 18 may send a command to the door window control device 28 to enable operation of the window lock operation button 34. In other words, the window lock operation button 34 may be operated to enable normal release of the window lock. If the locking control unit 18 determines that the vehicle is in an unspecified state, it may or may not send a command to the door window control device 28 to turn off the window lock. In the latter case, the window lock may remain on even after the vehicle enters an unspecified state.

When it is determined that the vehicle is in a non-specific state, the locking control unit 18 may transmit a command to the door window control device 28 to restore the window lock state to the state immediately before the vehicle became in a specific state. When it is determined that the vehicle is in a specific state, the locking control unit 18 may obtain and store the on/off state of the window lock from the door window control device 28. If the window lock is on when it is determined that the vehicle is in a specific state, the locking control unit 18 may keep the window lock on even after the vehicle becomes in a non-specific state. On the other hand, if the window lock is off when it is determined that the vehicle is in a specific state, the locking control unit 18 may transmit a command to the door window control device 28 to turn the window lock off after the vehicle becomes in a non-specific state.

When the reset button 36 is operated, the locking control unit 18 may send a command to the door lock control device 26 and the door window control device 28 to release the forced lock state of the door lock and window lock. When the reset button 36 is operated, the locking control unit 18 may send a command to the door lock control device 26 to enable the operation of the door lock operation button 30, and send a command to the door window control device 28 to enable the operation of the window lock operation button 34. When the reset button 36 is operated, the locking control unit 18 may send a command to the door lock control device 26 to turn off the door lock, and send a command to the door window control device 28 to turn off the window lock.

When an abnormality occurs in the vehicle, the locking control unit 18 may release the forced lock state of the door locks and window locks and turn off the door locks and window locks. For example, when an impact due to an accident or collision is detected by an acceleration sensor, a command to turn off the door locks or window locks may be sent to the door lock control device 26 and the door window control device 28 so as not to prevent the occupants from escaping from the vehicle. In addition, when the locking control unit 18 acquires information indicating a malfunction of the vehicle through the in-vehicle network 20, it may turn off the door locks and window locks.

Figure 2 is a flowchart showing a vehicle control method according to an embodiment. The vehicle information acquisition unit 12 acquires vehicle information from the vehicle-mounted camera 22, the vehicle-mounted sensor 24, etc. (S10). The obstructive driving detection unit 13 detects obstructive driving based on the acquired vehicle information (S12). If obstructive driving is detected (Y in S12), the obstructive vehicle identification unit 14 identifies the other vehicle in which obstructive driving is detected as an obstructive vehicle (S14). The obstructive vehicle identification unit 14 may identify the other vehicle in which obstructive driving has been detected a predetermined number of times or more within a predetermined period as an obstructive vehicle. If obstructive driving is not detected in S12 (N in S12), the process of S14 is skipped.

Next, if the vehicle is stopped (Y in S16) and an interfering vehicle is stopped around the vehicle (Y in S18), the specific state determination unit 16 determines that the vehicle is in a specific state (S20). If the vehicle is determined to be in a specific state and is not in a forced lock state, that is, in a non-forced lock state (Y in S22), the locking control unit 18 forcefully locks the doors and door windows (S24). If the vehicle is in a forced lock state (N in S22), the locking control unit 18 skips the process of S24.

If the vehicle is not stopped (N in S16) or if an interfering vehicle is not stopped around the vehicle (N in S18), the specific state determination unit 16 determines that the vehicle is not in a specific state, i.e., in a non-specific state (S26). If the vehicle is in a forced lock state (Y in S28) when it is determined that the vehicle is in a non-specific state, the locking control unit 18 releases the forced lock of the doors and door windows (S30). If the vehicle is in a non-forced lock state (N in S28), the locking control unit 18 skips the process of S28.

According to this embodiment, when an interfering vehicle that is interfering with the vehicle stops around the vehicle and the vehicle enters a specific state in which it is stopped, the doors of the vehicle can be forcibly locked and the door windows of the vehicle can be forcibly closed and locked. This prevents the occupants of the interfering vehicle from getting out and opening the doors or windows of the stopped vehicle, which could cause harm to the occupants of the vehicle, and ensures the safety of the occupants.

According to this embodiment, when the doors or door windows are forcibly locked, normal unlocking operations using the door lock operation button 30 or window lock operation button 34 are not possible. This prevents the vehicle occupants from being unable to make calm decisions and accidentally unlocking the doors or door windows, ensuring the safety of the occupants.

The present invention has been described above with reference to the above-mentioned embodiments, but the present invention is not limited to the above-mentioned embodiments, and appropriate combinations or substitutions of the configurations shown in each display example are also included in the present invention.

In the above-described embodiment, the realization of various functions provided by the vehicle control device 10 and the relationships between the various functions are shown while showing exemplary functional blocks. The boundaries of the above-described functional blocks are arbitrarily determined for convenience of explanation, and boundaries other than the above-described functional blocks may be determined as long as the various functions and the relationships between the various functions are appropriately realized. In addition, the various functions provided by the vehicle control device 10 may be realized by a single device, or may be realized by cooperation between multiple devices. Therefore, when a specific device provides a specific function, this includes cases where the specific function is realized by a single device and cases where the specific function is realized by multiple devices, and does not necessarily mean that the specific function must be realized only by a specific device.

The vehicle control device 10 according to the above-described embodiment can be implemented, for example, as an electronic control unit (ECU) mounted on the vehicle itself. The vehicle control device 10 may be mounted on a vehicle equipped with a drive recorder. The vehicle control device 10 may transmit an event signal to the drive recorder when it detects disruptive driving. The vehicle control device 10 may transmit an event signal to the drive recorder on the condition that the vehicle is in a specific state. In this case, when disruptive driving is detected or when a specific state is determined, an image captured around the vehicle can be recorded as event data. Note that the vehicle control device 10 may have the function of a drive recorder, and may record an image captured around the vehicle as event data when disruptive driving is detected or when a specific state is determined. The vehicle control device 10 may be realized as a drive recorder.

In another embodiment, the vehicle control device 10 may not include at least one of the obstructive driving detection unit 13 and the obstructive vehicle identification unit 14. At least one of the obstructive driving detection unit 13 and the obstructive vehicle identification unit 14 may be provided in a device other than the vehicle control device 10 (such as a drive recorder installed in the vehicle).

In another embodiment, the obstructive driving detection unit 13 may be provided in a device other than the vehicle control device 10. For example, a drive recorder may have the function of the obstructive driving detection unit 13. The drive recorder may acquire vehicle information including at least an image of the surroundings of the vehicle and information indicating the behavior of the vehicle, and may detect obstructive driving of another vehicle with respect to the vehicle based on the acquired vehicle information. The obstructive vehicle identification unit 14 may acquire an obstructive driving detection signal from the drive recorder, and may identify another vehicle present around the vehicle when the obstructive driving detection signal is acquired as an obstructive vehicle. The obstructive vehicle identification unit 14 may store other vehicles present around the vehicle when the obstructive driving detection signal is acquired as candidates for obstructive vehicles, and may identify other vehicles that have been counted as candidates for obstructive vehicles a predetermined number of times or more within a predetermined period as obstructive vehicles.

In another embodiment, both the obstructive driving detection unit 13 and the obstructive vehicle identification unit 14 may be provided in a device other than the vehicle control device 10. For example, a drive recorder may have the functions of the obstructive driving detection unit 13 and the obstructive vehicle identification unit 14. The drive recorder may acquire vehicle information including at least an image of the surroundings of the vehicle and information indicating the behavior of the vehicle, and may identify an obstructive vehicle obstructing the passage of the vehicle based on the acquired vehicle information. The drive recorder may transmit information indicating that an obstructive vehicle has been detected and individual identification information of the obstructive vehicle to the vehicle control device 10. The specific state determination unit 16 may determine whether or not a specific state exists based on information acquired from another device such as a drive recorder.

The above-described embodiment may be provided as a program. One aspect of the embodiment may be a program that causes a computer to implement the following functions: acquiring vehicle information including at least an image of the surroundings of the vehicle and information indicating the behavior of the vehicle; determining whether the vehicle is in a specific state in which the vehicle is stopped and an obstructing vehicle obstructing the passage of the vehicle is stopped around the vehicle; and, if it is determined that the vehicle is in the specific state, locking the doors of the vehicle with the door windows of the vehicle closed.

10...vehicle control device, 12...vehicle information acquisition unit, 13...obstructive driving detection unit, 14...obstructive vehicle identification unit, 16...specific state determination unit, 18...lock control unit.

Claims (5)

a vehicle information acquisition unit that acquires vehicle information including at least an image of the surroundings of the host vehicle and information indicating a behavior of the host vehicle;
an obstructing vehicle identification unit that identifies a vehicle that has been detected as obstructing the vehicle a predetermined number of times or more within a predetermined period of time as an obstructing vehicle;
a specific state determination unit that determines whether or not the host vehicle is in a specific state in which the host vehicle is stopped and the interfering vehicle identified by the interfering vehicle identification unit is stopped around the host vehicle based on the acquired vehicle information;
a lock control unit that, when it is determined that the vehicle is in the specific state, locks the doors of the vehicle with the door windows of the vehicle closed. a vehicle information acquisition unit that acquires vehicle information including at least an image of the surroundings of the host vehicle and information indicating a behavior of the host vehicle;
a specific state determination unit that determines that a specific state exists when the host vehicle stops , an obstructing vehicle that obstructs the passage of the host vehicle stops around the host vehicle , and an occupant gets off the obstructing vehicle that stops around the host vehicle, or an occupant of the obstructing vehicle that stops around the host vehicle approaches the host vehicle, based on the acquired vehicle information ;
a lock control unit that, when it is determined that the vehicle is in the specific state, locks the doors of the vehicle with the door windows of the vehicle closed. The vehicle control device according to claim 1 or 2, characterized in that the lock control unit enables unlocking of the door or door window by a normal unlocking operation when it determines that the specific state is not present, and disables unlocking of the door or door window by the normal unlocking operation when it determines that the specific state is present. acquiring vehicle information including at least an image of the surroundings of the host vehicle and information indicating a behavior of the host vehicle;
A step of identifying a vehicle that has been detected as an obstructing vehicle and has engaged in obstructing driving against the vehicle a predetermined number of times or more within a predetermined period of time based on the acquired vehicle information;
determining whether or not the host vehicle is in a specific state where the host vehicle is stopped and the identified interfering vehicle is stopped around the host vehicle based on the acquired vehicle information;
and when it is determined that the vehicle is in the specific state, locking the doors of the vehicle with the door windows of the vehicle closed. acquiring vehicle information including at least an image of the surroundings of the host vehicle and information indicating a behavior of the host vehicle;
Identifying an obstructing vehicle that obstructs passage of the vehicle based on the acquired vehicle information;
a step of determining that a specific state exists based on the acquired vehicle information when the host vehicle stops , the identified interfering vehicle stops around the host vehicle, and an occupant gets off the interfering vehicle that stops around the host vehicle, or an occupant of the interfering vehicle that stops around the host vehicle approaches the host vehicle;
and when it is determined that the vehicle is in the specific state, locking the doors of the vehicle with the door windows of the vehicle closed.

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