KR20240020738A - Vehicle control method and apparatus according to driving energy of surrounding vehicles - Google Patents

Abstract

In the present invention, the relative speed of surrounding vehicles is input to a control target vehicle, the driving energy for surrounding vehicles is calculated using the relative speed, and the control target vehicle is controlled based on at least one of the relative speed and driving energy. Provides a vehicle control method that performs.

Description

Vehicle control method and device according to the driving energy of surrounding vehicles {VEHICLE CONTROL METHOD AND APPARATUS ACCORDING TO DRIVING ENERGY OF SURROUNDING VEHICLES}

The present invention relates to a vehicle control method and device according to the driving energy of surrounding vehicles, and more specifically, to a vehicle control method and device that performs control of a control target vehicle by considering the driving energy of surrounding vehicles.

One of the most difficult things when new to driving is merging at a highway junction or changing lanes to drive the target route before entering a city intersection.

Specifically, it is not easy for a driver to judge when it is best to change lanes and in which direction based only on information using the side mirror, and it takes a long time to get used to it.

For example, for beginners, it is not easy psychologically to look at the left and right side mirrors, and even if they look at the side mirrors, they are not used to estimating the distance to surrounding vehicles using only that information.

Moreover, when you first attempt to drive, you may lack a sense of vehicle speed and may feel anxious about driving at high speeds, so it is not easy to adjust your speed by considering the average flow of surrounding vehicles. This may lead to inconvenience in changing lanes.

Domestic Public Patent No. 10-2018-0045425 (2018.05.04.)

The technical problem to be solved by the present invention is to provide a vehicle control method and device that controls the speed and direction of movement of a control target vehicle by considering the driving energy of surrounding vehicles.

One aspect of the present invention includes inputting the relative speed of surrounding vehicles to a control target vehicle; calculating driving energy for the surrounding vehicles using the relative speed; and performing control on the control target vehicle based on at least one of the relative speed and the driving energy.

In addition, performing control of the control target vehicle may include outputting a voice guide for controlling the control target vehicle; And when a confirmation command corresponding to automatic control is input from the voice guide among the voice guides, performing control on at least one of the speed and direction of travel of the control target vehicle.

In addition, controlling at least one of the speed and direction of movement of the control target vehicle may include determining a priority for a lane based on the relative speed; controlling the direction of travel of the control vehicle based on the priority; and controlling the speed of the control target vehicle based on the driving energy.

Additionally, the step of outputting the voice guide includes: detecting a steering angle speed; determining a driving anxiety index based on the steering angle speed; and modifying the waveform of the voice guide based on the driving anxiety index.

In addition, calculating the driving energy for the surrounding vehicles may include calculating energy per unit mass of the surrounding vehicles using the relative speed; determining a weight based on the relative distance to the surrounding vehicle; and calculating the driving energy based on the weight and energy per unit mass of the surrounding vehicles.

In addition, calculating the driving energy based on the energy per unit mass of the surrounding vehicles may include calculating energy distribution for the surrounding vehicles using the weight and the energy per unit mass of the surrounding vehicles; determining a follow-up time for control of the control target vehicle based on the energy distribution; and calculating the driving energy by further using the tracking time.

Another aspect of the present invention includes an input/output module for inputting the relative speed of surrounding vehicles to a control target vehicle; and a processor that calculates driving energy for the surrounding vehicles using the relative speed, and performs control of the control target vehicle based on at least one of the relative speed and the driving energy.

In addition, the processor outputs a voice guide for controlling the control target vehicle, and when the user's confirmation command corresponding to the voice guide is input from the user, at least one of the speed and direction of travel of the control target vehicle control can be performed.

In addition, the processor determines the priority of the lane based on the relative speed, controls the moving direction of the controlled vehicle based on the lane priority, and controls the driving direction of the controlled vehicle based on the driving energy. You can control the speed.

Additionally, the processor may detect the steering angular speed, determine a driving anxiety index based on the steering angular speed, and modify the waveform of the voice guide based on the driving anxiety index.

In addition, the processor calculates energy per unit mass of the surrounding vehicle using the relative speed, determines a weight based on the relative distance to the surrounding vehicle, and determines the weight and the energy per unit mass of the surrounding vehicle. The driving energy can be calculated based on the energy.

In addition, the processor calculates energy distribution for the surrounding vehicles using the weight and energy per unit mass of the surrounding vehicles, and determines a follow-up time for control of the control target vehicle based on the energy distribution. And, the driving energy can be calculated by further using the tracking time.

Another aspect of the present invention is a computer-readable recording medium storing a computer program, which, when executed by a processor, includes steps of inputting the relative speed of surrounding vehicles to a control target vehicle; calculating driving energy for the surrounding vehicles using the relative speed; and performing control on the control target vehicle based on at least one of the relative speed and the driving energy. The method may include instructions for causing the processor to perform the method including.

Another aspect of the present invention is a computer program stored in a computer-readable recording medium, which, when executed by a processor, includes steps of inputting the relative speed of surrounding vehicles to a control target vehicle; calculating driving energy for the surrounding vehicles using the relative speed; and performing control on the control target vehicle based on at least one of the relative speed and the driving energy. The method may include instructions for causing the processor to perform the method including.

According to one aspect of the present invention described above, by providing a vehicle control method and device according to the driving energy of surrounding vehicles, the speed of the control target vehicle can be controlled by taking the driving energy of surrounding vehicles into consideration.

Additionally, according to one aspect of the present invention, by providing a vehicle control method and device according to the driving energy of surrounding vehicles, safe lane information can be provided to the driver.

1 is a block diagram of a vehicle control device according to an embodiment of the present invention.
FIG. 2 is a block diagram conceptually showing an embodiment of the vehicle control program of FIG. 1.
Figures 3 and 4 are diagrams illustrating an embodiment of determining the priority of a lane in the direction determination unit of Figure 2.
Figure 5 is a flowchart of a vehicle control method according to an embodiment of the present invention.
FIG. 6 is a detailed flowchart of the step of calculating driving energy for surrounding vehicles in FIG. 5.
FIG. 7 is a detailed flowchart of the step of calculating driving energy based on the energy per unit mass of the surrounding vehicles in FIG. 6.
FIG. 8 is a detailed flowchart of steps for controlling the control target vehicle of FIG. 5 .
Figure 9 is a detailed flowchart of the step of outputting the voice guide of Figure 8.
FIG. 10 is a detailed flowchart of steps for controlling at least one of the speed and direction of movement of the vehicle to be controlled in FIG. 8 .

The advantages and features of the present invention and methods for achieving them will become clear by referring to the embodiments described in detail below along with the accompanying drawings. However, the present invention is not limited to the embodiments disclosed below and may be implemented in various different forms. The present embodiments are merely provided to ensure that the disclosure of the present invention is complete and to be understood by those skilled in the art. It is provided to fully inform those who have the scope of the invention, and the present invention is only defined by the scope of the claims.

In describing embodiments of the present invention, if a detailed description of a known function or configuration is judged to unnecessarily obscure the gist of the present invention, the detailed description will be omitted. The terms described below are terms defined in consideration of functions in the embodiments of the present invention, and may vary depending on the intention or custom of the user or operator. Therefore, the definition should be made based on the contents throughout this specification.

Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the attached drawings.

1 is a block diagram of a vehicle control device according to an embodiment of the present invention.

Referring to FIG. 1 , the vehicle control device 100 may include an input/output module 110, a processor 120, and a memory 130.

The processor 120 may receive the relative speed of surrounding vehicles with respect to the control target vehicle through the input/output module 110.

Here, the surrounding vehicle may be a vehicle recognized within a preset range based on the control target vehicle.

To this end, the processor 120 may receive at least one of the relative distance and relative speed of surrounding vehicles with respect to the control target vehicle through a separately provided device.

In one embodiment, when only the relative distance of surrounding vehicles is input, the processor 120 may determine the relative speed of surrounding vehicles by calculating the amount of change in the relative distance during a preset time interval.

Meanwhile, the processor 120 may calculate driving energy for surrounding vehicles using relative speed.

Here, the driving energy can be calculated to indicate whether a surrounding vehicle is approaching the control target vehicle, etc.

Accordingly, the processor 120 may perform control on the control target vehicle based on at least one of relative speed and driving energy.

Meanwhile, the memory 130 may store the vehicle control program 200 and information necessary for execution of the vehicle control program 200.

In this specification, the vehicle control program 200 calculates driving energy using the relative speed of surrounding vehicles, and includes instructions programmed to perform control on the control target vehicle based on at least one of the relative speed and driving energy. It can mean software.

Accordingly, the processor 120 may load the vehicle control program 200 and information necessary for execution of the vehicle control program 200 from the memory 130 in order to execute the vehicle control program 200.

Meanwhile, the function and/or operation of the vehicle control program 200 will be examined in detail with reference to FIG. 2.

FIG. 2 is a block diagram conceptually showing an embodiment of the vehicle control program of FIG. 1.

Referring to FIG. 2 , the vehicle control program 200 may include a travel direction determination unit 210, a speed determination unit 220, and a control unit 230.

The direction determination unit 210, speed determination unit 220, and control unit 230 shown in FIG. 2 conceptually divide the functions of the vehicle control program 200 in order to easily explain the functions of the vehicle control program 200. As such, it is not limited to this. Depending on the embodiment, the functions of the direction determination unit 210, the speed determination unit 220, and the control unit 230 may be merged/separated and may be implemented as a series of instructions included in one program.

The direction determination unit 210 may determine priority for lanes based on relative speed. Here, when the relative speed of each of a plurality of surrounding vehicles is input, the traveling direction determination unit 210 may determine the priority for each lane by considering the relative speed of each vehicle located in each lane.

At this time, the priority for the lane may be the priority for at least one of the right lane and the left lane. In other words, the priority for lanes may indicate lanes in which the controlled vehicle can safely change.

Specifically, the direction determination unit 210 determines that the priority of the lane with a large reduction in the relative distance to the surrounding vehicle among the lanes in which the surrounding vehicle is located is lowered, and among the lanes in which the surrounding vehicle is located, the lane with a large decrease in the relative distance to the surrounding vehicle is It can be decided that priority will be increased for lanes with a large increase in relative distance.

In other words, the direction determination unit 210 may determine that the priority for the corresponding lane is lowered as the relative speed of surrounding vehicles decreases, and as the relative speed of surrounding vehicles increases, the priority for the corresponding lane may be determined to be increased. .

At this time, the direction determination unit 210 may determine the vehicle to be a dangerous vehicle if the relative speed of the surrounding vehicle is negative. In this case, the direction determination unit 210 may set the lowest priority for the lane where the dangerous vehicle is located.

In this regard, when the relative speed of each of a plurality of surrounding vehicles is input, the direction determination unit 210 may determine the priority for each lane by summing the relative speeds of the vehicles located in each lane.

Accordingly, the control unit 230 can control the direction of travel of the control target vehicle based on priority. For example, when the left lane of the control target vehicle has the highest priority, the control unit 230 changes the lane by switching the direction of travel of the control target vehicle to the left, and the priority of the right lane of the control target vehicle is the highest. In the highest case, lanes can be changed by switching the direction of movement of the controlled vehicle to the right.

Additionally, the control unit 230 may maintain the direction of travel of the control target vehicle when the lane in which the control target vehicle is located has the highest priority.

In one embodiment, the control unit 230 may control the direction of travel of the control target vehicle based on priority when a vehicle located in front of the control target vehicle is determined to be a dangerous vehicle.

Meanwhile, the speed determination unit 220 may calculate the driving energy for surrounding vehicles using the relative speed. At this time, when the relative speed of each of the plurality of vehicles is input, the speed determination unit 220 may calculate the driving energy for each of the plurality of vehicles using the respective relative speeds.

To this end, the speed determination unit 220 may calculate the energy per unit mass of the surrounding vehicle using the relative speed. Here, energy per unit mass may mean the amount of energy per unit mass of the vehicle.

In one embodiment, the speed determination unit 220 may calculate the energy per unit mass through Equation 1 below.

In Equation 1, E is the energy of the surrounding vehicle, and m may be the mass or weight of the surrounding vehicle. Additionally, v _x may be the speed of surrounding vehicles.

Additionally, the speed determination unit 220 may determine the weight based on the relative distance to surrounding vehicles. At this time, the speed determination unit 220 may determine the weight value to be smaller as the relative distance to surrounding vehicles increases, and may determine the weight value to be larger as the relative distance becomes closer.

In one embodiment, the speed determination unit 220 may determine the value of the weight according to the relative distance based on a preset slope for the relationship between the relative distance and the weight. For example, the preset slope may be an exponential function, a linear function, and some range of a multi-order function, etc. Additionally, the preset slope may be according to a data sheet prepared to output a preset value according to the relative distance.

Accordingly, the speed determination unit 220 may calculate the driving energy based on the weight and the energy per unit mass of the surrounding vehicles.

To this end, the speed determination unit 220 may calculate the energy distribution for surrounding vehicles using weights and energy per unit mass of surrounding vehicles. At this time, the energy dispersion is calculated using the average energy of surrounding vehicles, and in one embodiment, the average energy and energy dispersion can be calculated through Equations 2 and 3 below.

In equations 2 and 3, is the weight for the surrounding vehicle, v _xk is the speed of the k-th vehicle, E is the energy of the surrounding vehicle, and m may be the mass or weight of the surrounding vehicle. Additionally, avg means average, N is the number of surrounding vehicles, and σ may be energy dispersion.

Therefore, the average energy may be equal to the sum of the products of the energy per unit mass of surrounding vehicles and the weight divided by the number of surrounding vehicles, as shown in Equation 2.

In addition, the energy dispersion may be equal to the sum of the squares of the product of the weight and the energy per unit mass of the surrounding vehicles divided by the number of surrounding vehicles minus the square of the average energy, as shown in Equation 3.

Accordingly, the speed determination unit 220 may determine the tracking time for control of the control target vehicle based on energy distribution. For example, the speed determination unit 220 may determine that the tracking time becomes shorter as the energy dispersion value increases, and the tracking time may be determined to become longer as the energy dispersion value decreases.

Here, the tracking time may be set to indicate the degree to which the driving energy of surrounding vehicles is taken into account. That is, the speed determination unit 220 may determine to be relatively sensitive to the driving energy of surrounding vehicles as the tracking time becomes shorter, and may determine to be relatively insensitive to the driving energy of surrounding vehicles as the tracking time becomes longer.

In this regard, in one embodiment, the speed determination unit 220 may determine the traveling energy to be relatively large to react relatively sensitively to the traveling energy, and may determine the traveling energy to be relatively small to react relatively insensitively to the traveling energy. .

In this way, the speed determination unit 220 can calculate the driving energy by further using the tracking time. In one embodiment, the speed determination unit 220 may calculate the driving energy through Equations 4 and 5 below.

In Equations 4 to 6, F _x is the longitudinal force, m _ego is the mass or weight of the controlled vehicle, may be the speed of the controlled vehicle. Additionally, T is the following time, N is the number of surrounding vehicles, is the weight for surrounding vehicles, v _xk is the speed of the k-th vehicle, and a _x,target (or a _x ) may be the longitudinal acceleration of the target.

Accordingly, the control unit 230 can control the speed of the control target vehicle based on the driving energy. That is, the control unit 230 can control the speed of the control target vehicle so that the control target vehicle follows the driving energy.

In this regard, rolling resistance, air resistance, slope resistance, etc. may act on the controlled vehicle. Therefore, the control unit 230 controls the rotational force of the wheels of the control target vehicle to follow the driving energy by considering the rotational force caused by the wheels of the control target vehicle and a number of different resistances acting on the control target vehicle. can do.

Additionally, the control unit 230 may control the speed of the control target vehicle so that the control target vehicle follows the driving energy, taking into account the speed and acceleration of the control target vehicle.

In this way, the control unit 230 may control the control target vehicle based on at least one of relative speed and driving energy.

Meanwhile, the control unit 230 may output a voice guide for controlling the control target vehicle. Here, the voice guide can be set to provide information about driving to the user. For example, the voice guide can be set to provide information about acceleration or deceleration based on driving energy, control of the direction of travel based on the relative speed of surrounding vehicles, etc.

Additionally, the control unit 230 may output a voice guide to inquire about automatic control from the user. In this case, when a user confirmation command corresponding to automatic control is input during voice guidance, the controller 230 may control at least one of the speed and direction of movement of the control target vehicle.

Meanwhile, at this time, the voice guide may be output as voices of different waveforms. For example, in the voice guide, the tone of voice, speed, etc. can be adjusted.

To this end, the control unit 230 may detect the steering angle speed and determine a driving anxiety index based on the steering angle speed.

For example, the control unit 230 may set the driving anxiety index value higher as the steering angle speed becomes faster, and set the driving anxiety index value lower as the steering angle speed becomes slower.

Alternatively, the controller 230 may set the value of the driving anxiety index higher as the amount of change in the steering angle speed increases, and set the value of the driving anxiety index lower as the amount of change in the steering angle speed decreases.

Accordingly, the control unit 230 may modify the waveform of the voice guide based on the driving anxiety index. For example, the controller 230 may control the waveform so that as the value of the driving anxiety index increases, the tone of the voice guide is lowered and the speed of the voice becomes slower. Additionally, the controller 230 may set the tone and voice speed of the voice guide to approach a preset value as the value of the driving anxiety index decreases.

Figures 3 and 4 are diagrams illustrating an embodiment of determining the priority of a lane in the direction determination unit of Figure 2.

Referring to FIG. 3, a number of surrounding vehicles 30a, 30b, and 30c recognized in front of the control target vehicle 10 can be confirmed.

At this time, the speed of the control target vehicle 10 is 60 km per hour, the speed of the first surrounding vehicle 30a is 50 km per hour, the speed of the second surrounding vehicle 30b is 60 km per hour, and the third surrounding vehicle 30a is 60 km per hour. The speed of (30c) can be confirmed to be 70 km per hour.

Accordingly, the relative speed of the first surrounding vehicle 30a is -10 Km per hour, the relative speed of the second surrounding vehicle 30b is 0 Km per hour, and the relative speed of the third surrounding vehicle 30c is 10 Km per hour. This can be confirmed.

In this case, the direction determination unit 210 may determine the lane in which the first surrounding vehicle 30a is located as a dangerous lane, and determine the lane in which the third surrounding vehicle 30c is located as a safe lane.

Referring to FIG. 4 , a number of surrounding vehicles 30a, 30b, and 30c recognized behind the control target vehicle 10 can be confirmed.

At this time, the speed of the control target vehicle 10 is 60 km per hour, the speed of the first surrounding vehicle 30a is 50 km per hour, the speed of the second surrounding vehicle 30b is 60 km per hour, and the third surrounding vehicle 30a is 60 km per hour. The speed of (30c) can be confirmed to be 70 km per hour.

Accordingly, the relative speed of the first surrounding vehicle 30a is 10 Km per hour, the relative speed of the second surrounding vehicle 30b is 0 Km per hour, and the relative speed of the third surrounding vehicle 30c is -10 Km per hour. This can be confirmed.

In this case, the direction determination unit 210 may determine the lane in which the first surrounding vehicle 30a is located as a safe lane, and the lane in which the third surrounding vehicle 30c is located as a dangerous lane.

Figure 5 is a flowchart of a vehicle control method according to an embodiment of the present invention.

Referring to FIG. 5, the processor 120 may input the relative speed of surrounding vehicles to the control target vehicle (S100).

Accordingly, the processor 120 may calculate the driving energy for surrounding vehicles using the relative speed (S200) and perform control on the control target vehicle based on at least one of the relative speed and the driving energy (S300). ).

FIG. 6 is a detailed flowchart of the step of calculating driving energy for surrounding vehicles in FIG. 5.

Referring to FIG. 6, the processor 120 may calculate energy per unit mass of surrounding vehicles using relative speed (S210).

Additionally, the processor 120 may determine a weight based on the relative distance to surrounding vehicles (S220).

Accordingly, the processor 120 may calculate the driving energy based on the weight and the energy per unit mass of the surrounding vehicles (S230).

FIG. 7 is a detailed flowchart of the step of calculating driving energy based on the energy per unit mass of the surrounding vehicles in FIG. 6.

Referring to FIG. 7, the processor 120 may calculate the energy distribution for surrounding vehicles using the weight and energy per unit mass of surrounding vehicles (S231).

Accordingly, the processor 120 may determine the tracking time for control of the control target vehicle based on energy distribution (S232) and calculate the driving energy by further using the tracking time (S233).

FIG. 8 is a detailed flowchart of steps for controlling the control vehicle of FIG. 5 .

Referring to FIG. 8, the processor 120 may output a voice guide for controlling the control target vehicle (S310).

Accordingly, when a confirmation command corresponding to automatic control is input from the user during the voice guide (S320), the processor 120 can control at least one of the speed and direction of movement of the control target vehicle (S330). ).

At this time, the processor 120 may continue to output a voice guide for controlling the control target vehicle if a confirmation command corresponding to automatic control is not input from the user or an unaccepted command is input during the voice guide ( S310).

Figure 9 is a detailed flowchart of the step of outputting the voice guide of Figure 8.

Referring to FIG. 9, the processor 120 may detect the steering angle speed (S311) and determine a driving anxiety index based on the steering angle speed (S312).

Accordingly, the processor 120 may modify the waveform of the voice guide based on the driving anxiety index (S313).

FIG. 10 is a detailed flowchart of steps for controlling at least one of the speed and direction of movement of the vehicle to be controlled in FIG. 8 .

Referring to FIG. 10, the processor 120 may determine priority for a lane based on relative speed (S331).

Accordingly, the processor 120 can control the direction of travel of the control target vehicle based on the priority (S332).

Additionally, the processor 120 may control the speed of the control target vehicle based on the driving energy (S333).

Various embodiments of the present document are software (e.g., instructions stored in a machine-readable storage media (e.g., memory (built-in memory or external memory)) that can be read by a machine (e.g., a computer). : program). The device is a device capable of calling instructions stored in a storage medium and operating according to the called instructions, and may include an electronic device (eg, device) according to the disclosed embodiments. When the instruction is executed by a processor (eg, a processor), the processor may perform the function corresponding to the instruction directly or using other components under the control of the processor. Instructions may contain code generated or executed by a compiler or interpreter. A storage medium that can be read by a device may be provided in the form of a non-transitory storage medium. Here, 'non-transitory' only means that the storage medium does not contain signals and is tangible and does not distinguish whether the data is stored in the storage medium semi-permanently or temporarily.

According to one embodiment, methods according to various embodiments disclosed in this document may be provided and included in a computer program product.

The above description is merely an illustrative explanation of the technical idea of the present invention, and those skilled in the art will be able to make various modifications and variations without departing from the essential quality of the present invention. Accordingly, the embodiments disclosed in the present invention are not intended to limit the technical idea of the present invention, but are for illustrative purposes, and the scope of the technical idea of the present invention is not limited by these embodiments. The scope of protection of the present invention shall be interpreted in accordance with the claims below, and all technical ideas within the scope equivalent thereto shall be construed as being included in the scope of rights of the present invention.

10: Controlled vehicle
30, 30a, 30b, 30c, 30d: Nearby vehicles
100: vehicle control device

Claims (14)

inputting the relative speed of surrounding vehicles to the control target vehicle;
calculating driving energy for the surrounding vehicles using the relative speed; and
A vehicle control method including; performing control on the control target vehicle based on at least one of the relative speed and the driving energy. The method of claim 1, wherein the step of controlling the control target vehicle includes:
Outputting a voice guide for controlling the control target vehicle; and
A vehicle control method comprising: performing control on at least one of the speed and direction of movement of the control target vehicle when a confirmation command corresponding to automatic control is input from the voice guide. The method of claim 2, wherein the step of controlling at least one of the speed and direction of movement of the control target vehicle comprises:
determining priority for a lane based on the relative speed;
controlling the direction of travel of the control vehicle based on the priority; and
A vehicle control method including; controlling the speed of the control target vehicle based on the driving energy. The method of claim 2, wherein outputting the voice guide comprises:
detecting a steering angular speed;
determining a driving anxiety index based on the steering angle speed; and
A vehicle control method comprising: modifying the waveform of the voice guide based on the driving anxiety index. The method of claim 1, wherein calculating driving energy for surrounding vehicles comprises:
calculating energy per unit mass of the surrounding vehicle using the relative speed;
determining a weight based on the relative distance to the surrounding vehicle; and
Comprising: calculating the driving energy based on the weight and energy per unit mass of the surrounding vehicles. The method of claim 5, wherein calculating the driving energy based on the energy per unit mass of the surrounding vehicles comprises:
calculating energy distribution for the surrounding vehicles using the weight and energy per unit mass of the surrounding vehicles;
determining a follow-up time for control of the control target vehicle based on the energy distribution; and
Comprising: calculating the driving energy by further using the tracking time. An input/output module in which the relative speed of surrounding vehicles is input to the control target vehicle; and
A processor that calculates driving energy for the surrounding vehicles using the relative speed and performs control of the control target vehicle based on at least one of the relative speed and the driving energy. The method of claim 7, wherein the processor:
Outputting a voice guide for controlling the control target vehicle, and performing control on at least one of the speed and direction of travel of the control target vehicle when the user's confirmation command corresponding to the voice guide is input from the user, Vehicle control device. The method of claim 8, wherein the processor:
A vehicle that determines the priority of the lane based on the relative speed, controls the direction of travel of the controlled vehicle based on the lane priority, and controls the speed of the controlled vehicle based on the driving energy. controller. The method of claim 8, wherein the processor:
A vehicle control device that detects a steering angular speed, determines a driving anxiety index based on the steering angular speed, and modifies a waveform of the voice guide based on the driving anxiety index. The method of claim 7, wherein the processor:
Energy per unit mass of the surrounding vehicle is calculated using the relative speed, a weight is determined based on the relative distance to the surrounding vehicle, and the driving is based on the weight and the energy per unit mass of the surrounding vehicle. A vehicle control device that calculates energy. The method of claim 11, wherein the processor:
Calculate energy distribution for the surrounding vehicles using the weight and energy per unit mass of the surrounding vehicles, determine a tracking time for control of the control target vehicle based on the energy distribution, and determine the tracking time. A vehicle control device further used to calculate the driving energy. A computer-readable recording medium storing a computer program,
When the computer program is executed by a processor,
Inputting the relative speed of surrounding vehicles for the control target vehicle;
calculating driving energy for the surrounding vehicles using the relative speed; and
A computer-readable recording medium comprising instructions for causing the processor to perform a method including: performing control on the control target vehicle based on at least one of the relative speed and the traveling energy. A computer program stored on a computer-readable recording medium,
When the computer program is executed by a processor,
Inputting the relative speed of surrounding vehicles for the control target vehicle;
calculating driving energy for the surrounding vehicles using the relative speed; and
A computer program comprising instructions for causing the processor to perform a method including: performing control on the control target vehicle based on at least one of the relative speed and the traveling energy.

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