WO2019065697A1

WO2019065697A1 - Vehicle control device

Info

Publication number: WO2019065697A1
Application number: PCT/JP2018/035599
Authority: WO
Inventors: 晴彦高木; 吉洋安原; 昌嗣左近; 真武下平; 里紗夏川
Original assignee: パイオニア株式会社
Priority date: 2017-09-28
Filing date: 2018-09-26
Publication date: 2019-04-04

Abstract

The objective of the present invention is to cause a vehicle capable of autonomous travel to stop in an appropriate position. This vehicle control device uses a control unit (31) to acquire a recognition result from a sensor (4) which recognizes a surrounding condition of an automatically driven vehicle (C), and uses a communication unit (32) to acquire from a server device (1) an automatically driven vehicle stopping position relating to a destination of the automatically driven vehicle (C). Then, if the control unit (31) determines on the basis of the recognition result from the sensor (4) that it is not possible to stop in the automatically driven vehicle stopping position, the position in which the automatically driven vehicle (C) is to stop is adjusted.

Description

Vehicle control device

The present invention relates to a vehicle control device that controls an autonomous driving vehicle.

For example, when calling a taxi from home or on the go, there has been proposed a system or the like capable of arranging dispatch from a terminal device possessed by a user such as a smartphone (see, for example, Patent Document 1).

In addition, for vehicles that can run autonomously (autonomously driven vehicles), it is also considered that future vehicles will be called and used when it is desired to use such as taxis and car sharing.

Re-listed 2016-002527 gazette

Although Patent Document 1 also describes a self-driving vehicle, in the case of a self-driving vehicle, since the human driver is not on board, the intention of the user when arriving at a designated place at the time of dispatch etc. It is possible that the vehicle is stopped at a position not suitable for use or at a position not suitable for use.

One of the problems to be solved by the present invention is to stop the vehicle at an appropriate position in a vehicle capable of autonomous traveling as described above.

In order to solve the above problems, the invention according to claim 1 relates to a first acquisition unit for acquiring a recognition result of an external world recognition unit that recognizes a surrounding situation of an autonomous driving vehicle, and a destination of the autonomous driving vehicle. When it is determined that the vehicle can not stop at the stop position acquired by the second acquisition unit based on the recognition result of the second acquisition unit acquiring the stop position and the external recognition unit acquired by the first acquisition unit And a controller configured to adjust a position at which the driving vehicle is stopped.

The invention according to claim 5 is a vehicle control method that is executed by a vehicle control device that controls the traveling of an automatically driven vehicle, and acquires a recognition result of an external world recognition unit that recognizes the surrounding situation of the automatically driven vehicle. The second acquisition process acquires the first acquisition process, the second acquisition process acquiring the stop position of the destination of the autonomous driving vehicle, and the recognition result of the external world recognition unit acquired by the first acquisition process. And adjusting the position at which the autonomous driving vehicle is to stop when it is determined that the vehicle can not stop at the stopping position.

The invention according to a sixth aspect is characterized in that the vehicle control method according to the fifth aspect is executed by a computer.

FIG. 1 is a schematic configuration diagram of a system having a feature data storage device according to a first example of the present invention. It is a functional block diagram of the server apparatus shown by FIG. It is the figure which showed the example of the feature data structure memorize | stored in the memory | storage part shown by FIG. It is a flowchart of the stop position determination operation | movement in the server apparatus shown by FIG. It is explanatory drawing which showed the example which determines a stop position. It is a figure showing an example of a feature data structure concerning a 2nd example of the present invention. It is a flowchart of the stop position determination operation using the feature data structure shown by FIG. It is explanatory drawing of the use scene of the terrestrial feature data storage apparatus concerning the 3rd Example of this invention. It is a functional block diagram of the vehicle control apparatus shown by FIG. It is a flowchart of the stop position determination operation | movement in the vehicle control apparatus shown by FIG.

Hereinafter, a vehicle control device according to an embodiment of the present invention will be described. The vehicle control apparatus according to an embodiment of the present invention acquires the recognition result of the external world recognition unit that recognizes the surrounding situation of the autonomous driving vehicle by the first acquisition unit, and the second acquisition unit relates to the destination of the autonomous driving vehicle. Get the stop position. And when it is judged that it can not stop at the stop position which the 2nd acquisition part acquired by the 2nd acquisition part based on the recognition result of the external world recognition part which the 1st acquisition part acquired by the adjustment part, the position which stops the autonomous driving vehicle is adjusted. By doing this, when the automatically driven vehicle actually arrives at the stopping position, it is possible to stop in response to the adaptive response when it can not stop at the stopping position.

In addition, the first acquisition unit may acquire the result of recognition of the obstacle located at the stopping position by the outside world recognition unit. By doing this, it is possible to stop so as to avoid an obstacle existing at the stop position.

In addition, the first acquisition unit may acquire a result of the environment recognition unit recognizing an environment at a stop position. In this way, the stop position of the automatically driven vehicle C is adjusted in response to sudden changes in the environment at the stop position (weather, road congestion, etc.) and surrounding conditions (bicycle or accident around the stop position, construction, etc.) Can.

In addition, the adjustment unit may set a position adjacent to the stopping position as the stopping position after adjustment. By doing this, the vehicle can be stopped near the predetermined stopping position, and the influence of the adjustment of the stopping position can be minimized.

In the vehicle control method according to one embodiment of the present invention, the first acquisition step acquires the recognition result of the external world recognition unit that recognizes the surrounding situation of the autonomous driving vehicle, and the second acquisition step is the destination of the autonomous driving vehicle Get the stop position for. And when it is judged that it can not stop at the stop position acquired at the 2nd acquisition process based on the recognition result of the external world recognition part which the adjustment process acquired at the 1st acquisition process, the position to stop the autonomous driving vehicle is adjusted. By doing this, when the automatically driven vehicle actually arrives at the stopping position, it is possible to stop in response to the adaptive response when it can not stop at the stopping position.

In addition, the above-described vehicle control method may be executed by a computer. In this way, when the automatically driven vehicle actually arrives at the stopping position, the computer can stop using the computer according to the situation when it can not stop at the stopping position.

A feature data structure and a feature data storage device according to a first embodiment of the present invention will be described with reference to FIGS. The server device 1 as the feature data storage device according to the present embodiment can communicate with the user terminal 2 and the autonomous driving vehicle C via the network N such as the Internet as shown in FIG.

The server device 1 is installed, for example, in an office of a manager of the autonomous driving vehicle C, such as a dispatch service provider of the autonomous driving vehicle.

The functional configuration of the server device 1 is shown in FIG. The server device 1 includes a control unit 11, a communication unit 12, and a storage unit 13.

The control unit 11 functions as a CPU (Central Processing Unit) of the server device 1 and controls the entire server device 1. Based on the allocation request from the user terminal 2, the control unit 11 reads feature data pertaining to the allocated location (destination) from the storage unit 13 and uses the communication unit 12 as the destination information to automatically drive the vehicle C. Send to

The communication unit 12 as an output unit functions as a network interface of the server device 1 and receives the dispatch request from the user terminal 2 and acquires weather information at the destination from an external weather server or the like. The communication unit 12 also transmits feature data concerning the destination read by the control unit 11 from the storage unit 13 to the vehicle control device 3 of the automatically driven vehicle C via the network N.

The storage unit 13 functions as a storage device such as a hard disk of the server device 1 and stores feature data 13a. The feature data 13a will be described with reference to FIG. A feature is a concept that includes all natural or artificial objects present on the ground. Examples of features include path features located on the vehicle's path (i.e., the road) and peripheral features located on the periphery of the road. As an example of the route top feature, a road sign, a traffic light, a guardrail, a footbridge, etc. may be mentioned, and the road itself is also included. That is, characters and figures drawn on the road surface, and the shape of the road (road width and curvature) are also included in the route features. In addition, examples of the surrounding features include a building (a house, a store, a station, a commercial facility, a vacation facility, etc.) and a signboard located along a road. In the present embodiment, the feature data 13a mainly includes information on peripheral features that may cause the automatically driven vehicle C to stop.

In the feature data 13a shown in FIG. 3, a feature name, a feature ID, a position (latitude and longitude) of the feature, and a position at which the autonomous vehicle is stopped are set for each feature. The automatically driven vehicle stop position is stop position information indicating a stop position at which the automatically driven vehicle C in the feature should stop, and is set for each purpose. For example, for the feature A, information of latitude and longitude is set for each of the purpose A, the purpose B, and the purpose C. The purpose may be at least one or more.

In this example, in the example of FIG. 3, for example, when the position near the feature (building) is good due to aging, injury, illness, etc. (purpose A), if the position with a roof due to rain etc is good (purpose B), children It is mentioned that it is preferable to have a large space as much as possible, such as having a large amount of luggage or the like (purpose C). That is, FIG. 3 shows a feature data structure according to the present embodiment.

The user terminal 2 is a terminal device used when a user (user) such as a smartphone or a PC (personal computer) requests allocation of the automatically driven vehicle C, for example. The user executes a dedicated application installed in the user terminal 2 or requests a vehicle allocation for the automatically driven vehicle C by accessing a predetermined site or the like.

The autonomous driving vehicle C includes a vehicle control device 3 and a sensor 4. The vehicle control device 3 autonomously travels (automatically drives) the automatically driven vehicle C based on the result detected by the sensor 4 and map information for automatic driving possessed by the vehicle control device 3. Further, the vehicle control device 3 receives the place (destination) where the vehicle allocation is designated by the user from the server device 1 and the stop position at that place, and automatically drives the automatically driven vehicle C to the stop position at that place. Make it happen.

The sensor 4 includes a camera installed in the autonomous driving vehicle C, a sensor (LiDAR: Light Detection And Ranging), and a sensor that recognizes the surrounding environment of the autonomous driving vehicle C, such as a radar. In addition, a speed sensor that detects the speed of the automatically driven vehicle C, an acceleration sensor that detects an acceleration, a GPS (Global Positioning System) receiver that detects the current position of the automatically driven vehicle C, an attitude (direction etc.) of the automatically driven vehicle C It also includes equipment such as a gyro sensor that detects

Next, the operation of determining the stop position of the automatically driven vehicle C in the present embodiment will be described with reference to the flowchart of FIG. The flowchart shown in FIG. 4 is executed by the control unit 11 of the server device 1.

First, in step S101, it is determined whether or not the user has received information (allocation request information) for requesting allocation of the autonomous driving vehicle C from the user terminal 2. If received (in the case of YES), the process proceeds to step S102 .

The allocation request information includes at least information on a place (also referred to as a destination) where the autonomous driving vehicle C is allocated. The location to be allocated is not limited to the latitude and longitude information, but may be a facility name such as a building name or an apartment name or an address (location). Also, if the user terminal 2 wishes to allocate the current location, and the user terminal 2 can acquire the current position by GPS (Global Positioning System) etc., the user who has acquired the user terminal 2 in the allocation request information The current position information (latitude / longitude information) of may be included. Further, the allocation request information includes user information (age, presence / absence of luggage, whether or not a child is taken, etc.).

The allocation request information from the user terminal 2 is transmitted to the server device 1 via the network N. In the server device 1, the communication unit 12 receives the allocation request information and outputs the allocation request information to the control unit 11, whereby the allocation request information is received by the control unit 11.

Next, in step S102, the user information included in the allocation request information received in step S101 is acquired. The user information may be stored in the storage unit 13 of the server device 1, and the user information may be read from the storage unit 13 based on information identifying the user, such as a user ID, from the next time on. By doing this, it is not necessary to transmit user information each time.

Next, in step S103, the stop position at the destination is determined. For example, the case where the feature B shown in FIG. 5 is designated as the destination will be described. The feature B shown in FIG. 5 faces the road R1 and the road R2, and it is assumed that there are two entrances, an entrance E1 on the road R1 side and an entrance E2 on the road R2 side. The entrance E1 is close to the facility or the like indicated by the feature B, and the entrance E2 is assumed to have a wide entrance / exit space in the vicinity.

In this case, feature data of the feature B is read out from the storage unit 13, and the stop position is determined based on the user information included in the allocation request information. For example, when the user information includes an elderly person, the stopping position set for the purpose A is assumed to correspond to the purpose A of the stopping position at which the autonomous driving vehicle C in FIG. The position on the road R1 near the entrance E1 close to the facility etc. indicated by the object B is determined as the destination.

In addition, when the user information includes that a child is taken, the stop position set to the purpose C is assumed to correspond to the purpose C of the stop position at which the autonomous driving vehicle C in FIG. A location on the road R2 near the entrance E2 where the boarding space for facilities and the like indicated by the feature B is wide is determined as the destination.

In addition, even when the allocation request information does not include user information, if the weather information at the destination received from the weather server or the like is rain, the stop position where the automatically driven vehicle C in FIG. 3 should stop The stop position (the position near the entrance with the roof) where the purpose B is set is determined as the destination, as it corresponds to the purpose B. Further, in any feature stored in the feature data 13a, a point corresponding to purpose B (with a roof), which is stop position information indicating a stop position at which the automatically driven vehicle C should stop, is not set. In this case, the stop position set for the purpose A (close to the facility or the like indicated by the feature) or the stop position set for the purpose C (there is a wide space for getting on and off) may be determined as the destination. In this case, the user may set in advance which stop position to select, or may be selected by the user each time. In addition, when there is no user information and weather information is not acquired either, a default stop position is set at the automatically driven vehicle stop position of the feature data structure shown in FIG. 3 and that position is determined as the destination. It is also good.

Next, in step S104, the user is notified of the stop position determined as the destination. At this time, the approval of the user may be obtained. Further, for example, although it has been notified in the step S103 that the vicinity of the entrance E1 has been determined, if it is desired to set the vicinity of the entrance E2 for the convenience of the user, it may be possible to change.

Next, in step S105, in the feature data structure shown in FIG. 3, information of the feature name as the destination, feature ID, position, and the determined stop position of the automatically driven vehicle stop position is automatically driven. Transmit to vehicle C. When the stop position is changed at the convenience of the user in step S104, the changed stop position is transmitted. In addition, the information which becomes all stop positions which are set as the automatically driven vehicle stop position is transmitted, for example, when the weather changes while the automatically driven vehicle C is heading to the destination, the determined stop position is changed May be The feature name, feature ID, and position are transmitted to notify the automatically driven vehicle C of the destination. That is, the control unit 11 outputs feature data to the vehicle control device 3 (communication terminal) mounted on the autonomous driving vehicle C in the communication unit 13 (output unit).

Moreover, you may set a stop position according to a time zone other than the object quoted to FIG. For example, the stop position may be different between the bright time zone and the dark time zone. The determination of the time zone at this time may be performed based on the function when the CPU serving as the control unit 11 has a function to measure time, or the time may be determined from an external network time protocol (NTP) server etc. Information may be acquired and determined.

According to the present embodiment, the feature data structure of the feature data 13a stored in the storage unit 13 of the server device 1 indicates the stop position at which the automatically driven vehicle C visiting the feature should stop for the feature. It includes the automatically driven vehicle stop position. By doing this, the autonomous driving vehicle C can stop at an appropriate position on the feature by referring to the autonomous driving vehicle stop position.

The automatically driven vehicle stop position includes at least one stop position for each feature corresponding to the purpose of the user of the automatically driven vehicle C. By doing this, the autonomous driving vehicle C can be stopped at an appropriate position according to the purpose of the user.

The server device 1 further includes a communication unit 12 that outputs feature data to a vehicle control device C mounted on the autonomous driving vehicle C. By doing this, the feature data 13a can be stored in the server device 1 separate from the automatically driven vehicle C, and can be transmitted to the automatically driven vehicle C as necessary. Therefore, since the autonomous driving vehicle C only needs to have necessary feature data, the capacity of the storage device etc. of the autonomous driving vehicle C can be suppressed.

Note that the automatically driven vehicle stop position may include history information on an actual stop position, time, and the number of times corresponding to the purpose. Alternatively, the automatically driven vehicle stop position and the history information may be stored in the storage unit 13 in association with each other. The actual stop position may be collected from the travel history and the like of the automatically driven vehicle C. By doing this, by accumulating the history information, it is possible to correct the automatically driven vehicle stop position based on the history information. For example, by correcting the stopping position to a position where the stopping frequency relating to the specific purpose is high, the autonomous driving vehicle C can be stopped at an appropriate position more in line with the user's intention. Alternatively, the position where the stopping frequency is high may be set as the default stopping position by aggregating the history information regardless of the purpose.

Next, an operation input apparatus according to a second embodiment of the present invention will be described with reference to FIG. 6 and FIG. The same parts as those of the first embodiment described above are designated by the same reference numerals and the description thereof will be omitted.

In the first embodiment, in the feature data structure, the automatically driven vehicle stop position is set as the stop position at which the automatically driven vehicle C should stop, but in the present embodiment, as shown in FIG. The automatically driven vehicle restricted position is set in the feature data 13a as the restricted position information indicating the position at which the autonomously driven vehicle C is stopped.

The feature data 13a shown in FIG. 6 is the same as the feature name, feature ID, and position of the feature in FIG. The autonomous driving vehicle restriction position is a position at which the stop on the feature is restricted (prohibited), and may be one or more. Or you may set by the range.

The position at which this stopping is limited is, for example, parking and stopping prohibited, and can not stop due to traffic regulations such as the vicinity of an intersection, etc. because there are obstacles such as guardrails, etc. Information indicating a position not suitable for

Next, the operation of determining the stop position of the automatically driven vehicle C in the present embodiment will be described with reference to the flowchart of FIG. The flowchart shown in FIG. 7 is executed by the control unit 11 of the server device 1.

First, in step S201, it is determined whether or not information (allocation request information) for requesting allocation of the automatically driven vehicle C is received from the user terminal 2 of the user. If received (in the case of YES), the process proceeds to step S202 .

Next, in step S202, the stop position at the destination is determined. The stop position is a position excluding the autonomous driving vehicle restriction position shown in FIG. For example, the history of the stop position in the case where the feature is set as the destination is stored in the storage unit 13 for each feature and the position excluding the automatically driving vehicle restriction position is a position where the stop frequency is high. And to be mentioned.

Next, in step S203, the determined stop position is notified to the user. At this time, the approval of the user may be obtained. Further, as in step S104, the change may be made at the convenience of the user.

Next, in step S204, among the feature data structures shown in FIG. 6, the feature name to be the destination, feature ID, position, automatically driven vehicle restricted position, and stop position determined in step S203 are automatically driven vehicles. Send to C When the user changes the stop position in step S203, the changed stop position is transmitted. In this step, the automatically driven vehicle restriction position is transmitted when the vehicle moves to the stop position determined in step S202 and the vehicle of the automatically driven vehicle C can not stop because another vehicle is stopped at the stop position. This is to allow the control device 3 to be used to change to another stop position.

According to the present embodiment, the feature data structure of the feature data 13a stored in the storage unit 13 of the server device 1 is a position where the autonomous driving vehicle C visiting the feature is limited to stop for the feature. The automatic driving vehicle restriction position shown is included. By doing this, the autonomous driving vehicle C can stop at an appropriate position by avoiding the position at which the parking is restricted in the feature by referring to the autonomous driving vehicle restriction position.

In the first and second embodiments described above, the server device 1 determines the stopping position along the purpose, and as the automatically driving vehicle stopping position, only the determined one is included in the feature data and the automatic driving is performed. Although transmitted to the vehicle C, the server device 1 obtains information on the vehicle allocation position from the user terminal 2, transmits all feature data pertaining to the vehicle allocation position and the user information to the automatically driven vehicle C, and automatically operates The vehicle control device 3 of the vehicle C may determine the stop position.

Next, an operation input apparatus according to a third embodiment of the present invention will be described with reference to FIGS. 8 to 10. The same parts as those in the first and second embodiments described above are designated by the same reference numerals and the description thereof will be omitted.

The present embodiment adjusts the stopping position when an obstacle such as a bicycle or another parked vehicle is present at the position when the server device 1 arrives at the stopping position determined in the first embodiment. It is a thing. FIG. 8 is a diagram showing that the autonomous driving vehicle C can not stop at the stopping position P because the bicycle BC is placed at the stopping position P when the stopping position determined by the server device 1 is P. .

FIG. 9 shows a functional configuration of the vehicle control device 3. The vehicle control device 3 includes a control unit 31, a communication unit 32, and a storage unit 33.

The control unit 31 controls the steering wheel, the accelerator, the brake, etc. of the automatically driven vehicle C based on the detection result of the sensor 4 and the map information 33a stored in the storage unit 33 to make the autonomously driven vehicle C run autonomously. . That is, the control unit 31 functions as a first acquisition unit that acquires the detection result (recognition result) of the sensor 4 (external world recognition unit). The control unit 31 also functions as an adjustment unit that adjusts the vehicle to a stoppable position when it can not stop at the stop position determined by the server device 1.

The communication unit 32 acquires feature data pertaining to a destination from the server device 1 illustrated in FIG. 1. That is, the communication unit 32 functions as a second acquisition unit that acquires the stop position of the destination of the automatically driven vehicle C.

The storage unit 33 stores map information 33 a and feature data 33 b including the position of the automatically driven vehicle stopped transmitted from the server device 1. The map information 33a is a map that includes information that allows the autonomous driving vehicle C to travel autonomously. The map information 33a includes information on the above-described route upper surface features and peripheral features. The map information 33a may be constantly updated to the latest version by being distributed from an external server such as the server device 1 or the like. The feature data 33 b may be included in the feature information of the map information 33 a as the update information.

Next, the change operation (vehicle control method) of the stop position in the present embodiment will be described with reference to the flowchart of FIG. The flowchart shown in FIG. 10 is executed by the control unit 31 of the vehicle control device 3. That is, if the control unit 31 is configured by a computer having a CPU or the like, the flowchart of FIG. 10 is a vehicle control program.

First, in step S301, it is determined whether it is possible to stop at the automatically driven vehicle stop position included in feature data 33b, and if the stop is possible (in the case of YES), the process proceeds to step S302 and feature data 33b The autonomous driving vehicle C is stopped at the indicated stop position. As to whether or not the automatically driven vehicle C approaches the automatically driven vehicle stop position, whether or not the automatically driven vehicle C approaches the position of the automatically driven vehicle is detected from the detection result of the sensor 4 whether or not there is an obstacle such as the bicycle BC described above. For example, an image captured by a camera included in the sensor 4 can be analyzed to detect an obstacle, or the presence or absence of an obstacle can be detected by reflected light of light emitted from a lidar or reflected wave of radio waves emitted from a radar. .

If it is not possible to stop at the automatically driven vehicle stop position at step S301 (in the case of NO), it is determined at step S303 whether it is possible to stop at a position adjacent to the automatically driven vehicle stop position. In the case of (YES), the process proceeds to step S304, and the adjacent position is adjusted to be a new stop position. The adjacent position is, for example, a position at which the automatically driven vehicle stop position is before and after when the road is along the road, and the position where the bicycle BC can be avoided. In addition, if it is possible to stop on the left and right of the automatically driven vehicle stop position as seen from the automatically driven vehicle C, the left and right are also selectable. Whether the vehicle can stop at the adjacent position may be determined based on the detection result of the sensor 4 in the same manner as the determination as to whether the vehicle can stop at the automatically driven vehicle stop position described above. Alternatively, when the automatically driven vehicle restricted position is also received as the feature data 33b, the automatically driven vehicle restricted position may be considered.

When the vehicle can not stop at the adjacent position in step S303 (in the case of NO), the stoppable position closest to the automatically driven vehicle stop position is set as a new stop position in step S305. That is, the position which can be stopped closest to the stop position indicated by the autonomous driving vehicle restricted position other than the adjacent position, for example, the position further adjacent to the adjacent position is adjusted to be a new stop position.

In addition, when step S304 and S305 are performed and a stop position is changed (adjustment), you may notify a user. At this time, the user's approval may be obtained before the stop position is adjusted. Also, the adjusted position may be further changed at the convenience of the user.

In addition, when not only the detection of the obstacle described in the flowchart of FIG. 10 but, for example, the autonomous driving vehicle C includes a raindrop sensor, when the server device 1 determines the stopping position from the operation state of the raindrop sensor or the wiper If a rain not detected on the road is detected, the roof position may be changed (adjusted) to a stop position. In addition, when the communication unit 32 receives road congestion information around the stop position from an external road management server or the like, the communication unit 32 changes (adjusts) the position of the destination where no road congestion occurs to the stop position. It is also good. That is, the surroundings of the autonomous driving vehicle C include not only the presence or absence of the obstacle but also the weather and brightness (whether it is night or not) mentioned above, etc. A raindrop sensor and an illuminance sensor for acquiring these situations Etc. also become the external world recognition unit. That is, the control unit 31 may acquire the result of the sensor 4 recognizing the environment at the automatically driven vehicle stop position or the road congestion information received from the road management server or the like. By doing this, the stop position of the automatically driven vehicle C in response to sudden changes in the environment (weather, road congestion, etc.) and surrounding conditions (bicycles and accidents around the stop position, construction, etc.) at the automatically driven vehicle stop position. It can be adjusted.

According to the present embodiment, the vehicle control device 3 acquires the recognition result of the sensor 4 that recognizes the surrounding condition of the automatically driven vehicle C by the control unit 31, and the communication unit 32 automatically performs the destination of the automatically driven vehicle C. The driving vehicle stop position is acquired from the server device 1. Then, when it is determined by the control unit 31 that the vehicle can not stop at the automatically driven vehicle stop position based on the recognition result of the sensor 4, the position at which the automatically driven vehicle C is stopped is adjusted. By doing this, when the automatically driven vehicle C actually arrives at the automatically driven vehicle stop position, it is possible to stop in response to the adaptive response when it is not possible to stop at the automatically driven vehicle stop position.

Moreover, the control part 31 has acquired the result in which the sensor 4 recognized the obstacle located in the automatically driven vehicle stop position. By doing this, it is possible to stop so as to avoid an obstacle existing at the automatically driven vehicle stop position.

Further, the control unit 31 sets the position adjacent to the automatically driven vehicle stop position as the stop position after adjustment. By doing this, the automatically driven vehicle C can be stopped in the vicinity of the predetermined automatically driven vehicle stop position, and the influence of the adjustment of the stop position can be minimized.

Further, in the first to third embodiments, although the case has been described in which the automatically driven vehicle C is distributed, the present invention can also be applied when the user gets on the automatically driven vehicle C and stops at the destination (destination) of the user. Furthermore, the feature data 13a may have both the automatically driven vehicle stop position described in the first embodiment and the automatically driven vehicle restricted position described in the second embodiment.

Further, the present invention is not limited to the above embodiment. That is, those skilled in the art can carry out various modifications without departing from the gist of the present invention in accordance with conventionally known findings. As long as the configuration of the vehicle control device of the present invention is provided even by such a modification, it is of course included in the scope of the present invention.

1 Server device (feature data storage device)
2 User terminal 3 Vehicle control device (communication terminal)
31 control unit (adjustment unit, first acquisition unit)
32 Communication Unit (Second Acquisition Unit)
4 sensor (external world recognition unit)
C Automated driving vehicle

Claims

A first acquisition unit that acquires a recognition result of an external world recognition unit that recognizes a surrounding condition of the autonomous driving vehicle;
A second acquisition unit that acquires a stop position of a destination of the autonomous driving vehicle;
An adjustment unit that adjusts the position at which the autonomous driving vehicle is stopped when it is determined that the vehicle can not stop at the stop position acquired by the second acquisition unit based on the recognition result of the outside world recognition unit acquired by the first acquisition unit When,
A vehicle control apparatus comprising:
The vehicle control device according to claim 1, wherein the first acquisition unit acquires a result of recognition of an obstacle located at the stopping position by the outside world recognition unit.
The vehicle control device according to claim 1, wherein the first acquisition unit acquires a result of the environment recognition unit recognizing an environment at the stopping position.
The vehicle control device according to any one of claims 1 to 3, wherein the adjustment unit sets a position adjacent to the stopping position as the adjusted stopping position.
A vehicle control method that is executed by a vehicle control device that controls traveling of an autonomous driving vehicle,
A first acquisition step of acquiring a recognition result of an external world recognition unit that recognizes a surrounding condition of the autonomous driving vehicle;
A second acquisition step of acquiring a stop position of a destination of the autonomous driving vehicle;
An adjustment step of adjusting the position at which the autonomous driving vehicle is stopped when it is determined that the vehicle can not stop at the stopping position acquired by the second acquisition step based on the recognition result of the outside world recognition unit acquired by the first acquisition step When,
A vehicle control method comprising:
A vehicle control program causing a computer to execute the vehicle control method according to claim 5.