Vehicle control device

Abstract

This invention provides a vehicle control device. The vehicle control device includes a moving object detection unit, a boundary detection unit, and a control unit. The moving object detection unit detects moving objects present near the vehicle. The boundary detection unit detects the boundary between the lane in which the vehicle is traveling and a road adjacent to, but outside, the lane. When the moving object detection unit detects a moving object on the road, the control unit executes at least one of the following control modes based on the detection result of the boundary detection unit: offset control to move the vehicle away from the boundary in the vehicle width direction, deceleration control to reduce the vehicle's speed, and notification control to send a notification. The control unit switches control parameters for the control mode based on the boundary height of the boundary between the vehicle and the moving object in the vehicle width direction.

Description

Technical Field

[0001] This invention relates to a vehicle control device. Background Technology

[0002] Vehicle control systems adjust based on the behavior of two-wheeled vehicles such as motorcycles or bicycles. However, when road structures (shoulders, vegetation, etc.) exist between the vehicle and two-wheeled vehicles such as motorcycles or bicycles, the vehicle control system may unnecessarily or excessively control the vehicle. Summary of the Invention

[0003] This invention relates to a vehicle control device.

[0004] According to an embodiment of the present invention, a vehicle control device includes a moving object detection unit, a boundary detection unit, and a control unit. The moving object detection unit detects moving objects present near the vehicle. The boundary detection unit is coupled to the moving object detection unit. The boundary detection unit detects the boundary between the lane in which the vehicle is traveling and a road adjacent to, but outside, the lane. The control unit is coupled to the moving object detection unit and the boundary detection unit. When the moving object detection unit detects a moving object on the road, the control unit executes at least one of the following control modes based on the detection result of the boundary detection unit: offset control that controls the vehicle to move away from the boundary in the vehicle width direction, deceleration control that controls the vehicle to decelerate, and notification control that controls the vehicle to issue a notification. The control unit switches control parameters for the control mode based on the boundary height of the boundary between the vehicle and the moving object in the vehicle width direction.

[0005] In one embodiment of the present invention, when the boundary height is greater than or equal to a threshold height, the control unit controls the distance between the vehicle and the boundary in the vehicle width direction to be smaller than when the boundary height is less than the threshold height.

[0006] In one embodiment of the present invention, when the boundary height changes from being greater than or equal to the threshold height to being less than the threshold height, the control unit controls the vehicle to increase the distance between itself and the boundary in the vehicle width direction.

[0007] In one embodiment of the present invention, when the boundary height is greater than or equal to the threshold height, the deceleration degree controlled by the control unit for the vehicle is smaller than when the boundary height is less than the threshold height.

[0008] In one embodiment of the present invention, when the boundary height changes from being greater than or equal to the threshold height to being less than the threshold height, the deceleration degree controlled by the control unit for the vehicle to decelerate increases.

[0009] In one embodiment of the present invention, when the boundary height is greater than or equal to a threshold height, the control unit controls the notification level or frequency of the vehicle to be lower than when the boundary height is less than the threshold height.

[0010] In one embodiment of the present invention, when the boundary height changes from being greater than or equal to the threshold height to being less than the threshold height, the control unit controls the vehicle to increase the notification level or the notification frequency.

[0011] Based on the above, the vehicle control device of the present invention can control the vehicle by detecting the boundary height between the vehicle and the moving object. In this way, the vehicle control device of the present invention can avoid unnecessary or excessive control, thereby providing a better user experience and lower energy consumption.

[0012] To make the above features and advantages of the present invention more apparent and understandable, specific embodiments are described below in conjunction with the accompanying drawings. Attached Figure Description

[0013] Figure 1 This is a schematic diagram of a vehicle control device according to an embodiment of the present invention.

[0014] Figure 2A This is a schematic diagram of a vehicle control device performing a test according to an embodiment of the present invention.

[0015] Figure 2B This is a schematic diagram illustrating the control of a vehicle control device according to an embodiment of the present invention.

[0016] Figure 3A This is a schematic diagram of the boundary height of a boundary according to an embodiment of the present invention.

[0017] Figure 3B This is a schematic diagram of the boundary height of a boundary according to an embodiment of the present invention.

[0018] Figure 4A This is a schematic diagram illustrating the control of a vehicle control device according to an embodiment of the present invention.

[0019] Figure 4B This is a schematic diagram illustrating the control of a vehicle control device according to an embodiment of the present invention.

[0020] Figure 5A This is a schematic diagram illustrating the control of a vehicle control device according to an embodiment of the present invention.

[0021] Figure 5B This is a schematic diagram illustrating the control of a vehicle control device according to an embodiment of the present invention.

[0022] Figure 6A This is a schematic diagram illustrating the control of a vehicle control device according to an embodiment of the present invention.

[0023] Figure 6B This is a schematic diagram illustrating the control of a vehicle control device according to an embodiment of the present invention.

[0024] Figure 7A This is a schematic diagram illustrating the control of a vehicle control device according to an embodiment of the present invention.

[0025] Figure 7B This is a schematic diagram illustrating the switching of the boundary height of a boundary according to an embodiment of the present invention.

[0026] Figure 8 This is a flowchart of a vehicle control method according to an embodiment of the present invention.

[0027] Explanation of reference numerals in the attached figures

[0028] 100: Vehicle Control System

[0029] 110: Moving Object Detection Unit

[0030] 120: Boundary Detection Unit

[0031] 130: Control Unit

[0032] 150: This vehicle

[0033] 160: Detection range

[0034] 190: Lane

[0035] 250: Moving Object

[0036] 290: Road

[0037] 300, 300A, 300B, 300C, 301: Boundaries

[0038] A, B: Cross-sections

[0039] d0, d1, d2: Interval distance

[0040] D1: First Direction

[0041] D2: Second Direction

[0042] D3: Third direction

[0043] H1, H2, H3A, H3B, H7A, H7B, H7C: Altitude

[0044] t: time

[0045] S0, S2, S4, S6, S8, S10, S12, S14, S16, S18: Steps

[0046] t0: Initial time

[0047] t1: First time

[0048] V0, V1, V2: Vehicle speed Detailed Implementation

[0049] Reference will now be made in detail to exemplary embodiments of the invention, examples of which are illustrated in the accompanying drawings. Wherever possible, the same element references are used in the drawings and description to denote the same or similar parts.

[0050] It should be understood that the technical features of several different embodiments can be replaced, reorganized, or mixed to complete other embodiments without departing from the spirit of this disclosure.

[0051] Figure 1 This is a schematic diagram of a vehicle control device according to an embodiment of the present invention. (Refer to...) Figure 1 The vehicle control device 100 includes a moving object detection unit 110, a boundary detection unit 120, and a control unit 130. The moving object detection unit 110 detects moving objects present near the vehicle. The boundary detection unit 120 is coupled to the moving object detection unit 110. The boundary detection unit 120 detects the boundary between the lane in which the vehicle is traveling and the road adjacent to, but outside, the lane. The control unit 130 is coupled to both the moving object detection unit 110 and the boundary detection unit 120. When the moving object detection unit 110 detects a moving object on the road, the control unit 130, based on the detection result of the boundary detection unit 120, executes at least one of the following control modes: offset control to move the vehicle away from the boundary in the vehicle width direction, deceleration control to reduce the vehicle's speed, and notification control to issue a notification. The control unit switches control parameters for the control mode based on the boundary height of the boundary between the vehicle and the moving object in the vehicle width direction.

[0052] In this embodiment, the moving object detection unit 110 and the boundary detection unit 120 are, for example, infrared sensors, ultrasonic sensors, radar, LiDAR, cameras, or other similar devices or combinations thereof, and the present invention is not limited thereto. In this embodiment, the control unit 130 is, for example, a central processing unit (CPU), microprocessor, digital signal processor (DSP), programmable controller, programmable logic device (PLD), or other similar devices or combinations thereof, and the present invention is not limited thereto. Furthermore, in one embodiment, the functions of the control unit 130 can be implemented as multiple program codes. These program codes are stored in a memory and executed by the control unit 130. Alternatively, in one embodiment, the functions of the control unit 130 can be implemented as one or more circuits. The present invention does not limit the implementation of the functions of the control unit 130 in software or hardware.

[0053] Figure 2A This is a schematic diagram of a vehicle control device performing a test according to an embodiment of the present invention. Figure 2B This is a schematic diagram illustrating control of a vehicle control device according to an embodiment of the present invention. (Refer to...) Figure 1 as well as Figure 2A In this embodiment, the vehicle control device 100 can be installed on the vehicle 150, allowing the vehicle 150 to be detected via the vehicle control device 100. In this embodiment, the detection range 160 schematically represents that the vehicle control device 100 can detect the forward direction of the vehicle 150, but the present invention is not limited thereto. In one embodiment, the detection range 160 may include the width direction of the vehicle 150 or all directions of the vehicle 150, etc.

[0054] Specifically, the vehicle 150 can detect moving objects 250 near the vehicle 150 via the moving object detection unit 110 of the vehicle control device 100. Furthermore, the vehicle 150 can detect the boundary 300 between the lane 190 in which the vehicle 150 is traveling and the road 290 adjacent to but outside the lane 190 via the boundary detection unit 120 of the vehicle control device 100. (See reference...) Figure 1 , Figure 2AAnd 2B, when the moving object detection unit 110 detects a moving object 250 on the road 290, the control unit 130 can use the detection results of the boundary detection unit 120 to set appropriate control parameters to control the vehicle 150. For example, the control unit 130 can execute at least one of the following control modes: offset control that controls the vehicle 150 to move away from the boundary 300 in the vehicle width direction, deceleration control that controls the vehicle 150 to decelerate, and notification control that controls the vehicle 150 to issue a notification. Corresponding to the above control modes, the control parameters may include: the distance between the vehicle 150 and the boundary 300 in the vehicle width direction, the degree of deceleration of the vehicle 150, and the degree or frequency of notification of the vehicle 150, but the present invention is not limited thereto. Furthermore, the control unit 130 can switch the control parameters of the control mode according to the boundary height of the boundary 300 between the vehicle 150 and the moving object 250 in the vehicle width direction.

[0055] In this embodiment, the forward direction of the vehicle 150 can be a first direction D1, the width direction of the vehicle 150 can be a second direction D2, and the direction of the boundary height of the boundary 150 can be a third direction D3, but the present invention is not limited thereto. In this embodiment, the first direction D1, the second direction D2, and the third direction D3 are perpendicular to each other.

[0056] In this embodiment, the vehicle 150 includes a vehicle capable of traveling on the road 190, but the present invention is not limited thereto. In this embodiment, the moving object 250 may include a motorcycle, bicycle, or other vehicle with two or more wheels. The vehicle 150 is preferably a vehicle with higher mobility than the moving object 250, but the present invention is not limited thereto.

[0057] Figure 3A This is a schematic diagram of the boundary height of a boundary according to an embodiment of the present invention. Figure 3B This is a schematic diagram of the boundary height according to an embodiment of the present invention. (Refer to...) Figure 3A as well as Figure 3B , Figure 3A as well as Figure 3B yes Figure 2AThis is a rear view of the vehicle 150 from its rear, facing the direction of travel of the vehicle 150. In this embodiment, the vehicle 150 may be present on lane 190, and a moving object 250 may be present on road 290. In this embodiment, lane 190 and road 290 are adjacent to each other, and a boundary 300 exists between lane 190 and road 290. In this embodiment, height H1 represents the height from the surface of lane 190 to the top of the vehicle 150, and height H2 represents the height from the surface of road 290 to the top of the moving object 250. In this embodiment, height H3A represents the height from the surface of lane 190 to the top of boundary 300, and height H3B represents the height from the surface of road 290 to the top of boundary 300. In this embodiment, the height of boundary 300 may be height H3A or height H3B, and the invention is not limited thereto. In this embodiment, the height of the surface of lane 190 is lower than the height of the surface of road 290, but the invention is not limited thereto. In one embodiment, the height of the surface of lane 190 is equal to the height of the surface of road 290. In another embodiment, the height of the surface of lane 190 is higher than the height of the surface of road 290.

[0058] It is worth noting that, referring to Figure 3A When the boundary height of the boundary 300 on the side of road 290 is less than a preset threshold height, the probability of the moving object 250 entering lane 190 from road 290 is relatively high. That is, when the height H3B is less than the threshold height, the moving object 250 may enter lane 190 from road 290. In this case, when the vehicle 150 passes near the moving object 250 in the travel direction (first direction D1), the vehicle 150 can significantly adjust the distance from the boundary 290, the travel speed, or the frequency of notification to avoid being affected by the moving object 250.

[0059] On the other hand, when the boundary height of the boundary 300 on the side of road 290 is greater than the threshold height, the probability of the moving object 250 entering lane 190 from road 290 is low. In this case, although vehicle 150 detects the presence of moving object 250, the probability of vehicle 150 being affected by moving object 250 is low. Therefore, when vehicle 150 passes near moving object 250 in the direction of travel (first direction D1), vehicle 150 can make minor adjustments to the distance from boundary 290, the speed of travel, or the frequency of notification to avoid being affected by moving object 250. In this way, excessive control of vehicle 150 can be avoided, thereby providing a good user experience and lower energy consumption.

[0060] Furthermore, refer to Figure 3BWhen the boundary height of the boundary 300 on the side of road 290 is greater than a preset barrier height (e.g., the height of the vehicle 150 or the moving object 250), the probability of the moving object 250 entering lane 190 from road 290 is extremely low. In this case, the vehicle 150 will not detect the presence of the moving object 250 or may detect its presence, and the probability of the vehicle 150 being affected by the moving object 250 is extremely low. Therefore, when the vehicle 150 passes near the moving object 250 in the direction of travel (first direction D1), the vehicle 150 does not need to adjust the distance from the boundary 290, the speed of travel, or the frequency of notification, in order to avoid unnecessary control of the vehicle 150, thereby providing a good user experience and lower energy consumption.

[0061] In this embodiment, the threshold height can be set based on the conditions of the vehicle 150, lane 190, moving object 250, road 290, and boundary 300. In one embodiment, the threshold height can be set to the height of the tires of the moving object 250, but this invention is not limited thereto. That is, when the boundary height of the boundary 300 is greater than the height of the tires of the moving object 250, the probability of the moving object 250 entering the lane 190 from the road 290 will be extremely low. In another embodiment, the threshold height can be set to 70% of the height of the tires of the moving object 250, but this invention is not limited thereto. That is, when the boundary height of the boundary 300 is greater than 70% of the height of the tires of the moving object 250, the probability of the moving object 250 entering the lane 190 from the road 290 will be significantly reduced.

[0062] In this embodiment, boundary 300 may include facilities or combinations thereof that function to distinguish lane 190 from road 290, such as guardrails, roadside trees, medians, and road markings; however, this invention is not limited thereto. For example, boundary 300 may include medians and road markings that separate the median from lane 190. Furthermore, the boundary height of boundary 300 may vary depending on its location or requirements. For example, when lane 190 or road 290 passes through an intersection, pedestrian crossing, or construction access road, the likelihood of a moving object 250 entering lane 190 from road 290 increases. That is, when lane 190 or road 290 passes through certain specific areas, the boundary height of boundary 300 may change, thereby increasing the likelihood of vehicle 150 contacting moving object 250. In this embodiment, the specific areas may include intersections, pedestrian crossings, or construction access roads, but this invention is not limited thereto. Therefore, when lane 190 or road 290 passes through the specific area, the threshold height can be set lower than when lane 190 or road 290 passes through a non-specific area, which is beneficial for strengthening control.

[0063] Figure 4AThis is a schematic diagram illustrating the control of a vehicle control device according to an embodiment of the present invention. Figure 4B This is a schematic diagram illustrating control of a vehicle control device according to an embodiment of the present invention. (Refer to...) Figure 4A as well as Figure 4B The main difference between the two is that Figure 4A The boundary 300, located between lane 190 and road 290, is a structure of considerable height. Figure 4B The boundary 301, located between lane 190 and road 290, is achieved by marking lines.

[0064] In this embodiment, when the vehicle 150 passes the moving object 250 in the first direction D1, if the boundary 300 is a structure with considerable height, the control unit 130 of the vehicle control device 100 can control the distance d1 between the vehicle 150 and the boundary 300 in the vehicle width direction, which is smaller than the distance d2 between the vehicle 150 and the boundary 301 in the vehicle width direction when the boundary 301 is represented by a line. Furthermore, when the vehicle 150 passes the moving object 250 in the first direction D1, if the boundary 300 is a structure with considerable height, the control unit 130 of the vehicle control device 100 can control the degree of deceleration of the vehicle 150, which is smaller than when the boundary 301 is represented by a line. In other words, if the boundary 300 is a structure with considerable height, the control unit 130 of the vehicle control device 100 can control the vehicle 150's driving speed V1, which is larger than the driving speed V2 when the boundary 301 is represented by a line.

[0065] In other words, the vehicle control device 100 can set appropriate control parameters based on the boundary height of boundary 300 or boundary 301 to control the vehicle 150. In this way, the vehicle control device 100 can avoid unnecessary or excessive control, thereby providing a good user experience and lower energy consumption.

[0066] Figure 5A This is a schematic diagram illustrating the control of a vehicle control device according to an embodiment of the present invention. Figure 5B This is a schematic diagram illustrating control of a vehicle control device according to an embodiment of the present invention. (Refer to...) Figure 5A as well as Figure 5B The main difference between the two is that Figure 5A The boundary height of boundary 300A, located between lane 190 and road 290, is greater than or equal to the threshold height, while Figure 5B The boundary height of the boundary 300B located between lane 190 and road 290 is less than the threshold height.

[0067] Reference Figure 5AAt time t, which is the initial time t0, the distance between vehicle 150 and boundary 300A is the interval distance d0. Furthermore, at time t, which is the first time t1, the distance between vehicle 150 and boundary 300A is the interval distance d1. In this embodiment, when time t changes from the initial time t0 to the first time t1, vehicle 150 will pass the moving object 250 in the first direction D1. Since the boundary height of boundary 300A is greater than or equal to a threshold height, vehicle control device 100 can slightly adjust the distance between vehicle 150 and boundary 300A from the interval distance d0 to the interval distance d1 to avoid vehicle 150 being affected by the moving object 250.

[0068] It is worth noting that when the boundary height of boundary 300A is greater than the preset barrier height (e.g., the height of the vehicle 150 or the moving object 250), the vehicle control device 100 can maintain the vehicle 150 at the existing interval distance d0. That is, the interval distance d1 is equal to the interval distance d0.

[0069] Reference Figure 5B At time t=initial time t0, the distance between vehicle 150 and boundary 300B is interval distance d0. At time t=first time t1, the distance between vehicle 150 and boundary 300B is interval distance d2. Furthermore, interval distance d2 is greater than interval distance d1. In this embodiment, when time t changes from initial time t0 to first time t1, vehicle 150 will pass the moving object 250 in the first direction D1. Since the boundary height of boundary 300B is less than a threshold height, vehicle control device 100 can significantly adjust the distance between vehicle 150 and boundary 300B from interval distance d0 to interval distance d2 to avoid vehicle 150 being affected by the moving object 250.

[0070] In other words, when the boundary height is greater than or equal to the threshold height, the control unit 130 can control the distance between the vehicle 150 and the boundary 300 in the vehicle width direction, which is smaller than when the boundary height is less than the threshold height. In this way, the vehicle control device 100 can control the vehicle 150 based on the boundary height of boundary 300A or boundary 300B to avoid unnecessary or excessive control, thereby providing a better user experience and lower energy consumption.

[0071] Figure 6A This is a schematic diagram illustrating the control of a vehicle control device according to an embodiment of the present invention. Figure 6B This is a schematic diagram illustrating control of a vehicle control device according to an embodiment of the present invention. (Refer to...) Figure 5A , Figure 5B , Figure 6A as well as Figure 6B , Figure 6A , Figure 6B and Figure 5A , Figure 5B The difference is that, Figure 6A , Figure 6B The vehicle control device 100 controls the driving speed of the vehicle 150, while Figure 5A , Figure 5B The vehicle control device 100 controls the distance between the vehicle 150 and either boundary 300A or boundary 300B. Other details can be found in [reference needed]. Figure 5A , Figure 5B The description will not be elaborated upon here.

[0072] Reference Figure 6A At time t=initial time t0, the vehicle 150 travels at speed V0. At time t=first time t1, the vehicle 150 travels at speed V1. In this embodiment, as time t increases from initial time t0 to first time t1, the vehicle 150 will pass the moving object 250 in the first direction D1. Since the boundary height of boundary 300A is greater than or equal to the threshold height, the vehicle control device 100 can slightly reduce the speed of the vehicle 150 from speed V0 to speed V1 to avoid the vehicle 150 being affected by the moving object 250.

[0073] It is worth noting that when the boundary height of boundary 300A is greater than the preset barrier height (e.g., the height of the vehicle 150 or the moving object 250), the vehicle control device 100 can maintain the vehicle 150 at its current driving speed V0. That is, the driving speed V1 is equal to the driving speed V0.

[0074] Reference Figure 6B At time t=initial time t0, the vehicle 150 travels at speed V0. At time t=first time t1, the vehicle 150 travels at speed V2. Speed ​​V1 is greater than speed V2. In this embodiment, when time t changes from initial time t0 to first time t1, the vehicle 150 will pass the moving object 250 in the first direction D1. Since the boundary height of boundary 300B is less than the threshold height, the vehicle control device 100 can significantly reduce the speed of the vehicle 150 from speed V0 to speed V2 to avoid the vehicle 150 being affected by the moving object 250.

[0075] In other words, when the boundary height is greater than or equal to the threshold height, the control unit 130 can control the vehicle 150 to decelerate to a lesser degree than when the boundary height is less than the threshold height. In this way, the vehicle control device 100 can control the vehicle 150 based on the boundary height of boundary 300A or boundary 300B to avoid unnecessary or excessive control, thereby providing a better user experience and lower energy consumption.

[0076] Furthermore, the control unit 130 can control the vehicle 150 to issue notifications to alert the operator of the vehicle 150 or the moving object 250. That is, the notifications issued by the vehicle 150 can include internal and external notifications. In one embodiment, internal notifications may include displaying a prompt message on the dashboard of the vehicle 150, emitting a prompt sound inside the vehicle 150, or vibrating the steering wheel of the vehicle 150. In one embodiment, external notifications may include the vehicle 150 emitting a warning light or a warning sound towards the moving object.

[0077] Furthermore, depending on the boundary height, the control unit 130 can control the notification level or frequency of the vehicle 150. In other words, when the boundary height is greater than or equal to a threshold height, the control unit 130 can control the notification level or frequency of the vehicle 150 to be lower than when the boundary height is less than the threshold height. It should be noted that the notification level may include: the volume of the prompt message, the brightness of the prompt message, the proportion of the prompt message covering the dashboard, the intensity of the steering wheel vibration, the brightness of the warning light, and the volume of the warning sound, but the present invention is not limited thereto. The notification frequency may include the frequency of the aforementioned notification methods. In this way, the vehicle control device 100 can control the vehicle 150 according to the boundary height of boundary 300A or boundary 300B to avoid unnecessary or excessive control, thereby providing a good user experience and lower energy consumption.

[0078] Figure 7A This is a schematic diagram illustrating the control of a vehicle control device according to an embodiment of the present invention. Figure 7B This is a schematic diagram illustrating the switching of the boundary height according to an embodiment of the present invention. (Refer to...) Figure 7A Furthermore, the boundary height of boundary 300C can vary with the forward direction of vehicle 150. For example, before section A, the boundary height of boundary 300C is height H7A, and height H7A is greater than or equal to a threshold height. Between section A and section B, the boundary height of boundary 300C is height H7B, and height H7B is less than a threshold height. After section B, the boundary height of boundary 300C is height H7C, and height H7C is greater than or equal to a threshold height.

[0079] At time t, which is the initial time t0, the distance between vehicle 150 and boundary 300C is the interval distance d0. Furthermore, at time t, which is the first time t1, the distance between vehicle 150 and boundary 300C is the interval distance d1. In this embodiment, as time t changes from the initial time t0 to the first time t1, vehicle 150 will pass through section A in the travel direction (first direction D1) and be located between section A and section B. In other words, vehicle 150 is adjacent to the boundary 300C, moving from a region where the boundary height is greater than or equal to the threshold height into a region where the boundary height is less than the threshold height.

[0080] In one embodiment, when the boundary height switches from being greater than or equal to the threshold height to being less than the threshold height, the control unit 130 can control the vehicle 150 to increase the interval distance from the boundary 300C in the vehicle width direction. In another embodiment, when the boundary height switches from being greater than or equal to the threshold height to being less than the threshold height, the control unit 130 can control the vehicle 150 to decelerate at a greater degree. In yet another embodiment, when the boundary height switches from being greater than or equal to the threshold height to being less than the threshold height, the control unit 130 can control the vehicle 150 to notify at a higher degree or frequency. In a further embodiment, when the boundary height switches from being greater than or equal to the threshold height to being less than the threshold height, the control unit 130 can control the vehicle 150 to perform control in a combination of the above-described manner. In other words, the control unit 130 can dynamically adjust the control parameters (interval distance, deceleration degree, notification degree, or notification frequency) according to the boundary height of the boundary 300C to avoid unnecessary or excessive control, thereby providing a good user experience and lower energy consumption.

[0081] Figure 8 This is a flowchart of a vehicle control method according to an embodiment of the present invention. (Refer to...) Figure 1 and Figure 8 In step S0, the vehicle control method begins. In step S2, a moving object is detected by the moving object detection unit 110. In step S4, a boundary is detected by the boundary detection unit 120. In step S6, the control unit 130 determines whether a boundary exists. If not, return to step S2. If yes, proceed to step S8. In step S8, the control unit 130 determines whether the boundary height is greater than or equal to a threshold height. If not, proceed to step S10. If yes, proceed to step S12. In step S10, the control unit 130 sets a control parameter that is less than the threshold height based on the boundary height. In step S12, the control unit 130 determines whether the boundary height has switched to less than the threshold height. In step S14, the control unit 130 sets a control parameter that is greater than or equal to the threshold height based on the boundary height. In step S16, the control unit 130 performs control according to the control parameters. In step S18, the vehicle control method ends.

[0082] Based on the above, the vehicle control device of the present invention can control the vehicle by detecting the boundary height between the vehicle and the moving object and setting appropriate control parameters. In this way, the vehicle control device of the present invention can avoid unnecessary or excessive control, thereby providing a better user experience and lower energy consumption.

[0083] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features therein. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A vehicle control device, characterized in that, include: A moving object detection unit is used to detect moving objects present near the vehicle. A boundary detection unit, coupled to the moving object detection unit, is used to detect the boundary between the lane in which the vehicle is traveling and the road adjacent to the lane but outside the lane. as well as A control unit, coupled to the moving object detection unit and the boundary detection unit, wherein when the moving object detection unit detects the presence of a moving object on the road, the control unit executes at least one of the following control modes based on the detection result of the boundary detection unit: offset control that controls the vehicle to move away from the boundary in the vehicle width direction, deceleration control that controls the vehicle to slow down, and notification control that controls the vehicle to send a notification. The control unit is configured to: Control parameters for switching the control mode based on the boundary height of the boundary existing between the vehicle and the moving object in the vehicle width direction; The control parameter is switched when the boundary height is greater than or equal to the threshold height or when the boundary height is less than the threshold height; The threshold height is set to be smaller when the lane or the road passes through a specific area compared to when the lane or the road does not pass through the specific area, wherein the specific area includes intersections, pedestrian crossings, or construction access roads. as well as In response to the boundary height being greater than the barrier height, at least one of the control parameters is maintained, wherein the control parameters include: the distance between the vehicle and the boundary, the vehicle's speed, or the vehicle's notification frequency, and the barrier height is set based on the height of the vehicle and / or the height of the moving object.

2. The vehicle control device according to claim 1, characterized in that, When the boundary height is greater than or equal to the threshold height, the control unit controls the distance between the vehicle and the boundary in the vehicle width direction to be smaller than when the boundary height is less than the threshold height.

3. The vehicle control device according to claim 2, characterized in that, When the boundary height changes from being greater than or equal to the threshold height to being less than the threshold height, the control unit controls the vehicle to increase the distance between itself and the boundary in the vehicle width direction.

4. The vehicle control device according to claim 1, characterized in that, When the boundary height is greater than or equal to the threshold height, the deceleration degree controlled by the control unit for the vehicle is smaller than when the boundary height is less than the threshold height.

5. The vehicle control device according to claim 4, characterized in that, When the boundary height changes from being greater than or equal to the threshold height to being less than the threshold height, the deceleration degree controlled by the control unit for the vehicle to slow down increases.

6. The vehicle control device according to claim 1, characterized in that, When the boundary height is greater than or equal to the threshold height, the control unit controls the notification level or frequency of the vehicle to be lower than when the boundary height is less than the threshold height.

7. The vehicle control device according to claim 6, characterized in that, When the boundary height changes from being greater than or equal to the threshold height to being less than the threshold height, the control unit controls the vehicle to increase the notification level or notification frequency.

Images