Vehicle control device, information processing device, operation method, and storage medium

Abstract

A vehicle control device, an information processing device, a method of operation, and a storage medium are provided for implementing control that takes into account the movement of other vehicles present in the surroundings of a vehicle. A vehicle control device that controls a vehicle, comprising: an acquisition unit that acquires surroundings information of the vehicle; an identification unit that identifies, based on the surroundings information, other vehicles traveling in the surroundings of the vehicle; a calculation unit that calculates a visual recognition ratio with respect to a true circle of a steering wheel of the other vehicles; and a control unit that controls the vehicle based on the visual recognition ratio.

Description

TECHNICAL FIELD

[0001] The present application relates to a vehicle control device, an information processing device, a method of operation of a vehicle control device, a method of operation of an information processing device, and a storage medium. BACKGROUND

[0002] Patent Document 1 discloses that, in a case where it is determined that the host vehicle has right-turned or left-turned and where it is determined that there is a high possibility of collision with an object existing in front of the host vehicle that has right-turned or left-turned, a collision damage reduction operation for protecting an occupant of the host vehicle is performed, which controls equipment of the host vehicle.

[0003] PRIOR ART DOCUMENTS

[0004] PATENT DOCUMENT

[0005] Patent Document 1: Japanese Patent Application Publication No. 2012-180055 SUMMARY

[0006] PROBLEMS TO BE SOLVED BY THE INVENTION

[0007] However, in the technology described in Patent Document 1, there is a problem in that control in consideration of the movement of an oncoming vehicle (other vehicle) is not performed.

[0008] The present application has been achieved in light of the above-described problems, and provides a technology for achieving control in consideration of the movement of an other vehicle existing in the periphery of a vehicle.

[0009] MEANS FOR SOLVING THE PROBLEMS

[0010] A vehicle control device according to one embodiment for achieving the above-described object is a vehicle control device that controls a vehicle,

[0011] the vehicle control device includes:

[0012] an acquisition unit that acquires periphery information of the vehicle;

[0013] an identification unit that identifies, on the basis of the periphery information, an other vehicle that is traveling in the periphery of the vehicle;

[0014] a calculation unit that calculates a visual recognition ratio with respect to a true circle of a steered wheel of the other vehicle; and

[0015] a control unit that controls the vehicle on the basis of the visual recognition ratio.

[0016] Further, an information processing device according to one embodiment for achieving the above-described object is an information processing device that is arranged in a vehicle,

[0017] The information processing apparatus includes:

[0018] an acquisition unit that acquires surrounding information of the vehicle;

[0019] an identification unit that identifies, based on the surrounding information, another vehicle traveling around the vehicle;

[0020] a calculation unit that calculates a visual recognition ratio with respect to a true circle of a steered wheel of the another vehicle; and

[0021] an inference unit that infers a moving direction of the another vehicle based on the visual recognition ratio.

[0022] In addition, an action method of a vehicle control apparatus according to one embodiment of the present application is an action method of a vehicle control apparatus that controls a vehicle,

[0023] the action method of the vehicle control apparatus includes:

[0024] an acquisition step of acquiring surrounding information of the vehicle;

[0025] an identification step of identifying, based on the surrounding information, another vehicle traveling around the vehicle;

[0026] a calculation step of calculating a visual recognition ratio with respect to a true circle of a steered wheel of the another vehicle; and

[0027] a control step of controlling the vehicle based on the visual recognition ratio.

[0028] In addition, an action method of an information processing apparatus according to one embodiment of the present application is an action method of an information processing apparatus that is arranged in a vehicle,

[0029] the action method of the information processing apparatus includes:

[0030] an acquisition step of acquiring surrounding information of the vehicle;

[0031] an identification step of identifying, based on the surrounding information, another vehicle traveling around the vehicle;

[0032] a calculation step of calculating a visual recognition ratio with respect to a true circle of a steered wheel of the another vehicle; and

[0033] an inference step of inferring a moving direction of the another vehicle based on the visual recognition ratio.

[0034] Effects of the Invention

[0035] According to the present application, control taking into account the movement of other vehicles existing in the periphery of the vehicle can be realized. BRIEF DESCRIPTION OF DRAWINGS

[0036] The accompanying drawings, which are incorporated herein by reference, serve to further explain the application and to provide materials for understanding the application.

[0037] Figure 1 is a diagram for explaining a configuration example of a vehicle related to the embodiment.

[0038] Figure 2 is a block diagram for explaining a configuration example of a vehicle related to the embodiment.

[0039] Figure 3 is a flowchart showing one example of a processing procedure performed by a vehicle control device related to Embodiment 1.

[0040] Figure 4 is a diagram for explaining a relationship between a vehicle and other vehicles at the time of curved travel related to the embodiment.

[0041] Figure 5 is a diagram for explaining a visual recognition ratio of a true circle of a steering wheel with respect to other vehicles related to the embodiment.

[0042] Figure 6 is a flowchart showing one example of a processing procedure performed by a vehicle control device related to Embodiment 2.

[0043] REFERENCE NUMERALS

[0044] 1: vehicle; 2: other vehicle; 13: vehicle control device; 17: motor safety belt; 131 to 134: ECU. DETAILED DESCRIPTION

[0045] Hereinafter, the embodiments will be described in detail with reference to the drawings. Note that the following embodiments do not limit the technical scope of the application in all respects and, therefore, the application should not be construed as being limited to the following embodiments. Two or more of the features described in the embodiments can be combined. In addition, the same portions in the drawings are denoted with the same reference numerals, and repeated explanation is omitted.

[0046] (Embodiment 1)

[0047] < Vehicle Configuration >

[0048] Figure 1 and Figure 2 is a diagram for explaining a configuration of the vehicle 1 related to the first embodiment. Figure 1The configuration positions of the respective elements and the connection relationship between the elements explained in the following are represented using a plan view and a side view of the vehicle 1. Figure 2 is a system block diagram of the vehicle 1.

[0049] Furthermore, in the following explanation, expressions such as front / rear, up / down, side (left / right), and the like are sometimes used, but these are used as expressions of the relative directions shown with the vehicle body of the vehicle 1 as a reference. For example, "front" indicates the front in the front-rear direction of the vehicle body, and "up" indicates the height direction of the vehicle body.

[0050] The vehicle 1 is provided with an operation mechanism 11, a surrounding monitoring device 12, a vehicle control device 13, a drive mechanism 14, a brake mechanism 15, a steering mechanism 16, and a motor safety belt 17. The motor safety belt 17 is a safety belt device with a motor pretensioner. Furthermore, in the present embodiment, the vehicle 1 is provided as a four-wheeled vehicle, but the number of wheels is not limited thereto.

[0051] The operation mechanism 11 includes an acceleration operation member 111, a brake operation member 112, and a steering operation member 113. Typically, the acceleration operation member 111 is a gas pedal, the brake operation member 112 is a brake pedal, and the steering operation member 113 is a steering wheel. However, other modes such as a lever type, a button type, and the like can be used for these operation members 111 to 113.

[0052] The surrounding monitoring device 12 includes a camera 121, a radar 122, and an optical radar (Light Detection and Ranging (LiDAR)) 123, which all function as sensors for monitoring or detecting the surrounding environment of the vehicle (host vehicle) 1. The camera 121 is, for example, an imaging device using a CCD image sensor, a CMOS image sensor, or the like. The radar 122 is, for example, a ranging device such as a millimeter wave radar. In addition, the optical radar 123 is, for example, a ranging device such as a laser radar. As illustrated, these are respectively arranged at positions capable of detecting the surrounding environment of the vehicle 1, such as the front side, the rear side, the upper side, and the side side of the vehicle body. Figure 1

[0053] The above-described surrounding environment of the vehicle 1 can be exemplified by the traveling environment of the vehicle 1 and the environment (the extension setting direction of the lane, the area in which the vehicle 1 can travel, the color of the signal light, and the like) of the surroundings of the vehicle 1 associated therewith, the object information (the presence or absence of the object such as another vehicle, a pedestrian, an obstacle, the attribute, the position, the moving direction, and the speed of the object, and the like) of the surroundings of the vehicle 1, and the like. In this view, the surrounding monitoring device 12 can also be expressed as a detection device or the like for detecting and acquiring the surrounding information of the vehicle 1.

[0054] ​The vehicle control device 13 is configured to be able to control the vehicle 1, for example, based on signals from the operation mechanism 11 and / or the periphery monitoring device 12, to control each mechanism 14 to 16 and the motor safety belt 17. The vehicle control device 13 includes a plurality of ECUs (Electronic Control Units) 131 to 134. Each ECU includes one or more CPUs, one or more memories, and one or more communication interfaces. Each ECU performs predetermined processing by the CPU based on information (data or electronic signals) received via the communication interface, and stores the processing result in the memory or outputs it to other elements via the communication interface. In addition, one or more memories store programs, and one or more CPUs read and execute the programs, thereby performing part or all of the processing related to the embodiments.

[0055] The ECU 131 is an acceleration ECU that controls the drive mechanism 14 described later, for example, based on an operation amount of the acceleration operation member 111 performed by the driver. The ECU 132 is a brake ECU that controls the brake mechanism 15, for example, based on an operation amount of the brake operation member 112 performed by the driver. The brake mechanism 15 is, for example, a disc brake provided to each wheel. The ECU 133 is a steering ECU that controls the steering mechanism 16, for example, based on an operation amount of the steering operation member 113 performed by the driver. The steering mechanism 16 includes, for example, a power steering.

[0056] The ECU 134 is an analysis ECU corresponding to the periphery monitoring device 12. The ECU 134 functions as an information processing device, and performs predetermined analysis / processing based on the periphery environment of the vehicle 1 obtained by the periphery monitoring device 12, and controls the action of the motor safety belt 17 using the result. In addition, the ECU 134 outputs the result of the predetermined analysis / processing to the ECUs 131 to 133.

[0057] That is, the ECUs 131 to 133 are able to control each mechanism 14 to 16 based on signals from the ECU 134. With such a configuration, the vehicle control device 13 performs travel control of the vehicle 1 corresponding to the periphery environment, and is able to perform automatic driving, for example.

[0058] In this specification, automatic driving means that part or all of the driving operation (acceleration, braking, and steering) is performed on the vehicle control device 13 side rather than on the driver side. That is, in the concept of automatic driving, in addition to a mode in which all of the driving operation is performed on the vehicle control device 13 side (so-called full automatic driving), a mode in which only part of the driving operation is performed on the vehicle control device 13 side (so-called driving assistance) is also included. As an example of driving assistance, vehicle speed control (automatic cruise control) function, inter-vehicle distance control (adaptive cruise control) function, lane departure prevention assistance (lane keeping assistance) function, collision avoidance assistance function, and the like can be cited.

[0059] Further, the vehicle control device 13 is not limited to the present configuration. For example, a semiconductor device such as an ASIC (Application Specific Integrated Circuit) can be used for each of the ECUs 131 to 134. That is, the functions of each of the ECUs 131 to 134 can be realized by either of hardware and software. In addition, a part or all of the ECUs 131 to 134 can be configured by a single ECU.

[0060] < Applicable Scenario >

[0061] Next, one example of an applicable scenario of the present embodiment will be described with reference to Figure 4 The vehicle 1 is the own vehicle, and the other vehicle 2 is an oncoming vehicle of the vehicle 1. The vehicle 1 and the other vehicle 2 travel on a curve, and the vehicle 1 travels in the direction indicated by an arrow 401. A 402 and a 404 are division lines (for example, white lines) that divide a road, and a 403 is a center line.

[0062] In curve travel (particularly, in curve travel of the oncoming vehicle, that is, the other vehicle 2), a position detection error of the other vehicle 2 becomes large, and a prediction error of a moving direction (moving track) of the other vehicle 2 also becomes large. Therefore, it is difficult to determine whether the other vehicle 2 excessively turns a steering wheel toward the vehicle 1 or appropriately drives along a track of the curve.

[0063] In order to accurately estimate the moving direction of the other vehicle 2, in the present embodiment, a degree of visual recognition of a steering wheel of the other vehicle 2 (of the oncoming vehicle) is used. In a case where the other vehicle 2 turns toward the vehicle 1, a side surface portion of the steering wheel of the other vehicle 2 is almost in a state where it cannot be visually recognized. On the other hand, in a case where the other vehicle 2 does not turn toward the vehicle 1, the side surface portion of the steering wheel of the other vehicle 2 can be visually recognized to some extent.

[0064] Further, in the example of Figure 4 The example of curve travel is given, but the present embodiment is not limited to curve travel, and can be applied even in straight road travel.

[0065] < Degree of Visual Recognition of Steering Wheel >

[0066] Here, with reference to Figure 5The proportion of visual recognition of the true circle of the steered wheel of the other vehicle according to the present embodiment will be described. Vehicle 501 is an example of a case where the vehicle is viewed from the side. At this time, the visual recognition shape of the steered wheel (front wheel in the illustrated example) is a true circle 511, and the proportion of visual recognition 511 is 100% of the true circle. Vehicle 502 is an example of a case where the vehicle is visually recognized from an oblique direction. At this time, the steered wheel becomes an elliptical shape instead of a true circle, and the proportion of visual recognition 512 is 50% of the true circle. Vehicle 503 is an example of a case where the vehicle is visually recognized from an oblique direction more toward the front than vehicle 502. At this time, the steered wheel becomes an elliptical shape instead of a true circle, and the proportion of visual recognition 513 is 30% of the true circle. Vehicle 504 is an example of a case where the vehicle is viewed from the front. At this time, the steered wheel becomes an elliptical shape instead of a true circle, and the proportion of visual recognition 514 is 0% of the true circle.

[0067] Further, in the example of Figure 5 , a case where the direction of the steered wheel and the vehicle body are parallel is shown, but in corner travel, the direction of the steered wheel and the vehicle body are not necessarily parallel. For example, in a case of corner travel as shown in Figure 4 , by steering operation along the corner, the steered wheel is more toward the side of vehicle 1 than the direction of the vehicle body of other vehicle 2. By comparing the direction of the vehicle body and the direction of the steered wheel, the direction of movement of other vehicle 2 is estimated, and thus it is possible to determine whether other vehicle 2 is excessively steering toward vehicle 1 or is appropriately driving along the corner.

[0068] In addition, the steered wheel referred to herein can be a wheel portion of metal other than the tire portion, or can be the entirety of the tire portion and the wheel portion of metal.

[0069] <Process>

[0070] Next, details of the process of the present embodiment will be described with reference to Figure 3 Figure 3 is a flowchart for explaining one example of the order of the process according to the present embodiment.

[0071] First, in Figure 3 ​In step S301 (hereinafter, simply referred to as "S301." The same applies to other steps.), the vehicle control device 13 determines whether the operation mode of the vehicle 1 is the automatic driving mode. In the case of the automatic driving mode, the process proceeds to S302, and in the case of not the automatic driving mode (in the case of the normal mode in which the driver performs all driving operations), the process ends. Further, the switching of the normal mode / automatic driving mode as the operation mode of the vehicle 1 can be performed by the driver in the vehicle (or a person who can become the driver when the automatic driving is released) pressing a predetermined switch.

[0072] In S302, the vehicle control device 13 acquires the surrounding information of the vehicle 1. This step is performed by the ECU 134 of the vehicle control device 13 acquiring the surrounding information of the vehicle 1 detected by the surrounding monitoring device 12. The vehicle control device 13 controls the operation (acceleration, braking, and / or steering, etc.) of the vehicle 1 based on the surrounding information.

[0073] In S303, the vehicle control device 13 identifies the other vehicle 2 traveling around the vehicle 1 based on the surrounding information. Then, in the curve traveling, it is determined whether the other vehicle 2 traveling on the opposite lane of the travel lane in which the vehicle 1 travels is detected. For example, it is assumed that the other vehicle 2 is detected as shown in the scenario. Figure 4 In the case where the other vehicle 2 is detected, the process proceeds to S304. On the other hand, in the case where the other vehicle 2 is not detected, the process returns to S302.

[0074] In S304, the vehicle control device 13 determines whether the estimated time until the collision of the vehicle 1 with the other vehicle 2 is below a predetermined time threshold (for example, 400 ms). The estimated time referred to here is, for example, a value TTC (Time-To-Collision) obtained by dividing the inter-vehicle distance of the vehicle 1 and the other vehicle 2 by the relative speed. The TTC is an index defined by how many seconds it will collide if both vehicles do not take avoidance action and proceed at the same angle and speed as at that point. The TTC is constructed in a manner of being calculated sequentially.

[0075] In the case where the estimated time is below the predetermined time threshold, the process proceeds to S305. On the other hand, in the case where the estimated time is not below the predetermined time threshold, the process returns to S302.

[0076] In S305, the vehicle control device 13 determines whether the steering wheel of the other vehicle 2 is detected. In the case where the steering wheel is detected, the process proceeds to S306. On the other hand, in the case where the steering wheel is not detected, the process proceeds to S307.

[0077] In S306, the vehicle control device 13 calculates the visually recognizable proportion of the true circle of the steered wheel with respect to the other vehicle 2 at the point of the predetermined time threshold. The method of calculating the visually recognizable proportion can be performed by calculating the area proportion of the true circle shape occupied by the visually recognized elliptical shape. The height in the up-down direction of the steered wheel is the same even if the direction of the steered wheel is changed, so the radius of the true circle corresponding to the visually recognized ellipse can be calculated, and thus the area of the true circle corresponding to the ellipse can also be calculated. Further, the steered wheel can be recognized by analyzing the captured image and collating and verifying the data of the steered wheel that has been learned in advance. In addition, whether it is a steered wheel (front wheel) or a non-steered wheel (rear wheel, driven wheel) can be determined by analyzing the captured image and determining the orientation of the vehicle body.

[0078] In S307, the vehicle control device 13 calculates the visually recognizable proportion of the true circle of the driven wheel with respect to the other vehicle 2 at the point of the predetermined time threshold. As for the method of calculation, it is the same as the method of calculating the visually recognizable proportion of the true circle with respect to the steered wheel. Further, the driven wheel can be recognized by analyzing the captured image and collating and verifying the data of the driven wheel that has been learned in advance. In addition, whether it is a steered wheel (front wheel) or a non-steered wheel (rear wheel, driven wheel) can be determined by analyzing the captured image and determining the orientation of the vehicle body.

[0079] This is a control in such a manner that, in the case where the steered wheel cannot be visually recognized due to some important factor (for example, a very high median strip, the presence of a plurality of oncoming vehicles, the presence of a vehicle that cannot visually recognize the steered wheel), the rear wheel (driven wheel) is recognized as a backup, and this driven wheel is also recognized as a steered wheel.

[0080] In S308, the vehicle control device 13 determines whether the visually recognizable proportion calculated in S306 or S307 is below a threshold value (for example, 30%). In the case where the visually recognizable proportion is below the threshold value, S309 is entered. On the other hand, in the case where the visually recognizable proportion exceeds the threshold value, S310 is entered. Further, the threshold value of the visually recognizable proportion of the steered wheel and the threshold value of the visually recognizable proportion of the driven wheel can be set to different values. The direction of the driven wheel is approximately the same direction as the direction of the vehicle body, so in the case where the other vehicle is coming toward the host vehicle, the visually recognizable proportion of the steered wheel becomes smaller than the visually recognizable proportion of the driven wheel, so the threshold value of the steered wheel can be set to a value smaller than the threshold value of the driven wheel. For example, the threshold value of the visually recognizable proportion of the steered wheel can be set to 30%, and the threshold value of the visually recognizable proportion of the driven wheel can be set to 40%. However, the values of the threshold values are not limited to these values.

[0081] In S309, the vehicle control device 13 drives the retraction operation of the motor safety belt 17 by the first torque.

[0082] In S310, the vehicle control device 13 drives the motor belt 17 by a second torque that is smaller than the first torque. Also in S310, it is possible to control so as not to perform the winding of the motor belt 17.

[0083] S309 and S310 are control to wind the motor belt 17 by a strong torque in preparation for an impact in a case where the visual recognition ratio is small and the other vehicle 2 is coming toward the vehicle 1 and there is a possibility of collision, and are control to wind the motor belt 17 by a weak torque in a case where the visual recognition ratio is not small and the other vehicle 2 is not coming toward the vehicle 1 and there is no possibility of collision.

[0084] In S311, the vehicle control device 13 determines whether or not the operation mode of the vehicle 1 continues the automatic driving mode. In a case where the automatic driving mode continues, the process proceeds to S302, and in a case where the automatic driving mode does not continue, the process ends. The above ends Figure 3

[0085] As described above, in the present embodiment, the other vehicle traveling around the vehicle is recognized on the basis of the surrounding information of the vehicle, and the visual recognition ratio with respect to the right circle of the steered wheels of the other vehicle is calculated. Then, the moving direction of the other vehicle is inferred on the basis of the visual recognition ratio, or the vehicle is controlled on the basis of the visual recognition ratio.

[0086] Thus, it is possible to accurately recognize whether or not the other vehicle approaches the host vehicle. Therefore, it is possible to realize control that takes into consideration the movement of the other vehicle existing around the host vehicle.

[0087] [Modified Example]

[0088] The processes of the above-described flowchart are not all necessary processes, and it is possible to configure so as not to perform a part thereof, or to replace a part of the processes with other processes. For example, in the present embodiment, as one example of control using the visual recognition ratio calculated in S306 or S307, an example of controlling the operation of the motor belt 17 of the vehicle 1 is described in S309 and S310, but it is not limited thereto.

[0089] ​The object controlled based on the visual recognition ratio can be at least one of the drive mechanism 14, braking mechanism 15, and steering mechanism 16. For example, if the visual recognition ratio is below a threshold and a collision is deemed likely, the drive mechanism 14 can be activated to perform an acceleration action, the braking mechanism 15 can be activated to perform a braking action, or the steering mechanism 16 can be activated to perform a steering action, thereby performing an avoidance action. Alternatively, if a collision is deemed likely when the visual recognition ratio is below a threshold, an alarm device (not shown) can be controlled to notify of the potential collision. Furthermore, some or all of the above controls can be combined and executed.

[0090] Furthermore, it is not necessary to control the controlled object based on visual recognition ratio; the movement direction of other vehicles 2 can also be inferred based on visual recognition ratio. In this case, the driver of vehicle 1 is alerted by notifying the direction of movement.

[0091] Furthermore, when neither the steering wheel nor the driven wheel can be detected, the vehicle's orientation (direction of movement) can be inferred from the captured image, and the motor-driven seatbelt can be controlled based on this orientation. For example, the angle between the vehicle's orientation and that of other vehicles can be calculated, and if the angle is below a threshold, the motor-driven seatbelt can be driven with a first torque; if the angle exceeds the threshold, the motor-driven seatbelt can be driven with a second torque that is smaller than the first torque.

[0092] (Implementation Method 2)

[0093] In Embodiment 1, the direction of movement of other vehicles is inferred based on the visual recognition ratio of the steering wheel, and an example of performing corresponding vehicle control is described. In this embodiment, when the visual recognition ratio of the steering wheel is below a threshold, the orientation of the other vehicle (body) is further calculated based on the captured image, and the angle difference between the current vehicle 1 and the other vehicle 2 is calculated, thereby providing an example of more accurately inferring whether the other vehicle 2 is actually facing the vehicle 1. Since the device configuration is the same as in Embodiment 1, the description is omitted.

[0094] <Processing>

[0095] Reference Figure 6 The flowchart illustrates the initial sequence of operations performed by the vehicle control device 13 according to this embodiment. (This is in relation to...) Figure 3 The same process described herein is used, with the same step numbers assigned, and detailed explanations omitted. The following description focuses on the differences from Implementation 1.

[0096] exist Figure 6In the example of FIG. 8, in a case where the visual recognition ratio is below the threshold value in S308, the process proceeds to S601, and in a case where the visual recognition ratio exceeds the threshold value, the process proceeds to S310.

[0097] In S601, the vehicle control device 13 determines whether the estimated time until the collision of the vehicle 1 with the other vehicle 2 is below a predetermined second time threshold value (for example, 200 ms). In a case where the estimated time is below the predetermined second time threshold value, the process proceeds to S602. On the other hand, in a case where the estimated time is not below the predetermined second time threshold value, the process proceeds to S310.

[0098] In S602, the vehicle control device 13 calculates the orientation (the orientation of the vehicle body) of the other vehicle 2 at the second time threshold value point on the basis of the surrounding information. Here, the orientation of the entire vehicle body of the other vehicle 2 is calculated instead of the visual recognition ratio of the steering wheel by analyzing the captured image. Since the estimated time is relatively short, that is, the possibility of collision is high, the orientation of the entire vehicle body of the other vehicle 2 is calculated instead of the steering wheel of the other vehicle 2, and thus it is possible to more accurately identify whether the other vehicle 2 is actually oriented toward the vehicle 1.

[0099] In S603, the vehicle control device 13 calculates the angle difference between the vehicle and the other vehicle, and determines whether the calculated angle difference is below a predetermined angle (for example, 10 degrees). In a case where the angle difference is below the predetermined angle, the process proceeds to S309. On the other hand, in a case where the angle difference is greater than the predetermined angle, the process proceeds to S310. Figure 4 In the example of FIG. 8, the angle difference refers to the angle θ between the orientation 405 of the vehicle body of the vehicle 1 and the orientation 406 of the vehicle body of the other vehicle 2. In a case where the angle difference is below the predetermined angle, the process proceeds to S309. On the other hand, in a case where the angle difference is greater than the predetermined angle, the process proceeds to S310.

[0100] As described above, in the present embodiment, in a case where the estimated time until the collision is below the threshold value, the angle difference between the host vehicle and the other vehicle is calculated, and in a case where the angle difference is below the predetermined angle, it is determined that there is a possibility of collision, and the retraction of the motorized seat belt is performed by a stronger torque.

[0101] Thus, it is possible to make a more accurate determination in consideration of the orientation of the vehicle body, and thus it is possible to suppress excessive retraction of the motorized seat belt.

[0102] (Other Embodiments)

[0103] In addition, a program that realizes one or more of the functions described in each of the embodiments is supplied to a system or a device via a network or a storage medium, and one or more processors in a computer of the system or the device can read and execute the program. The present application can also be realized by such a manner.

[0104] The application is not limited to the above-described embodiments, and various modifications and changes can be made within the scope of the gist of the application.

[0105] <Summary of Embodiments>

[0106] 1. The vehicle control device of the above-described embodiment is a vehicle control device (e.g., 13) that controls a vehicle (e.g., 1),

[0107] The vehicle control device (e.g., 13) includes:

[0108] an acquisition unit (e.g., 12, 134) that acquires surrounding information of the vehicle;

[0109] an identification unit (e.g., 134) that identifies another vehicle (e.g., 2) traveling around the vehicle based on the surrounding information;

[0110] a calculation unit (e.g., 134) that calculates a visual recognition ratio with respect to a king circle of a steered wheel of the another vehicle; and

[0111] a control unit (e.g., 131 to 134) that controls the vehicle based on the visual recognition ratio.

[0112] Thus, control that takes into account the movement of another vehicle existing in the surroundings of the vehicle can be achieved. In particular, the visual recognition ratio of the steered wheel of the another vehicle is used as an index of whether the another vehicle moves toward the host vehicle, and thus appropriate vehicle control corresponding to the situation can be performed.

[0113] 2. In the vehicle control device of the above-described embodiment,

[0114] the control unit controls the action of a motor safety belt (e.g., 17) of the vehicle based on the visual recognition ratio.

[0115] Thus, in the case where the another vehicle moves toward the host vehicle, the motor safety belt can be adaptively controlled.

[0116] 3. In the vehicle control device of the above-described embodiment,

[0117] the control unit controls in such a manner that the motor safety belt is reeled in by a first torque in the case where the visual recognition ratio is below a threshold value.

[0118] Thus, in the case where the another vehicle moves toward the host vehicle, the action of reeling in the motor safety belt can be automatically performed, and the safety of an occupant can be improved.

[0119] 4. In the vehicle control device of the above-described embodiment,

[0120] the control unit controls so as to roll up the motor belt by a second torque smaller than the first torque, when the visually recognized ratio exceeds the threshold value.

[0121] Thus, in a case where the other vehicle is not moving toward the host vehicle but has the possibility of doing so, by performing the operation of rolling up the motor belt by a smaller torque, it is possible to improve the safety of the occupant while suppressing excessive rolling up.

[0122] 5. The vehicle control device of the above embodiment further includes an inference unit (e.g., 134) that infers an estimated time until a collision of the vehicle with the other vehicle based on the surrounding information,

[0123] the calculation unit calculates the visually recognized ratio when the estimated time is below a first time threshold value (e.g., 400 ms).

[0124] Thus, by not calculating the visually recognized ratio in a case where the possibility of a collision is low, it is possible to achieve a reduction in processing load.

[0125] 6. The vehicle control device of the above embodiment further includes:

[0126] a determination unit (e.g., 134) that determines whether the estimated time is below a second time threshold value (e.g., 200 ms) smaller than the first time threshold value, when the visually recognized ratio is below the threshold value; and

[0127] an derivation unit (e.g., 134) that derives an angle difference in the direction of travel of the vehicle and the other vehicle based on the surrounding information, when the estimated time is below the second time threshold value,

[0128] the control unit controls so as to roll up the motor belt by the first torque when the angle difference is below a predetermined angle.

[0129] Thus, by taking into account not only the orientation of the steered wheels but also the orientation of the vehicle body, it is possible to more accurately recognize that the other vehicle is approaching the host vehicle. Therefore, it is possible to limit the rolling up of the motor belt to when the possibility of a collision is higher, and it is possible to suppress excessive rolling up.

[0130] 7. In the vehicle control device of the above embodiment,

[0131] the control unit controls so as to roll up the motor belt by a second torque smaller than the first torque when the angle difference is larger than the predetermined angle.

[0132] Thus, in a case where the angle difference between the host vehicle and the other vehicle is large to some extent and the possibility of collision is not high, by performing the operation of winding up the motor belt by a smaller torque, it is possible to improve the safety of the occupant while suppressing excessive winding up.

[0133] 8. The vehicle control device of the above embodiment,

[0134] Further provided is a curve judgment unit (e.g., 134) that judges whether or not the other vehicle is traveling on a curve,

[0135] The calculation unit calculates the visual recognition ratio with respect to the other vehicle in a case where the other vehicle is traveling on a curve.

[0136] Thus, it is possible to accurately judge the possibility of collision with the other vehicle that is traveling on a curve.

[0137] 9. The vehicle control device of the above embodiment,

[0138] The calculation unit calculates the visual recognition ratio with respect to the positive circle of the driven wheel of the other vehicle in a case where the steering wheel is not detected.

[0139] Thus, in a case where the steering wheel cannot be detected, it is possible to perform control using information of the driven wheel as a backup.

[0140] 10. The information processing device of the above embodiment is an information processing device (e.g., 13, 134) that is provided to a vehicle (e.g., 1)

[0141] The information processing device (e.g., 13, 134) includes:

[0142] an acquisition unit (e.g., 134) that acquires surrounding information of the vehicle;

[0143] an identification unit (e.g., 134) that identifies, on the basis of the surrounding information, an other vehicle that is traveling around the vehicle;

[0144] a calculation unit (e.g., 134) that calculates a visual recognition ratio with respect to a positive circle of a steering wheel of the other vehicle; and

[0145] an inference unit (e.g., 134) that infers a moving direction of the other vehicle on the basis of the visual recognition ratio.

[0146] Thus, it is possible to accurately infer the movement of the other vehicle that exists around the vehicle.

[0147] 11. The operation method of the vehicle control device of the above embodiment is an operation method of a vehicle control device (e.g., 13) that controls a vehicle (e.g., 1),

[0148] The method of operation of the vehicle control device (e.g., 13) includes:

[0149] The acquisition step (e.g., S302) acquires the surrounding information of the vehicle.

[0150] An identification step (e.g., S303) in which other vehicles (e.g., 2) traveling around the vehicle are identified based on the surrounding information;

[0151] A calculation step (e.g., S306) in which the visual recognition ratio of the circle of the steering wheel relative to the other vehicles is calculated; and

[0152] Control steps (e.g., S308-S310) in which the vehicle is controlled based on the visual recognition ratio.

[0153] This enables control that takes into account the movements of other vehicles in the vicinity of the vehicle. In particular, by using the visual recognition ratio of the steering wheels of other vehicles as an indicator of whether other vehicles are moving toward the vehicle, appropriate vehicle control corresponding to the situation can be performed.

[0154] 12. The operation method of the information processing device in the above embodiment is the operation method of the information processing device (e.g., 13, 134) disposed in the vehicle (e.g., 1).

[0155] The operation method of the information processing device (e.g., 13, 134) includes:

[0156] In step S302, the surrounding information of the vehicle is acquired.

[0157] An identification step (e.g., S303) in which other vehicles traveling around the vehicle are identified based on the surrounding information;

[0158] A calculation step (e.g., S306) in which the visual recognition ratio of the circle of the steering wheel relative to the other vehicles is calculated; and

[0159] The inference step involves inferring the direction of movement of the other vehicles based on the visual recognition ratio.

[0160] Therefore, it is possible to infer the movement of other vehicles in the vicinity of the vehicle with high accuracy.

[0161] 13. The storage medium of the above embodiments is a storage medium that stores a program for enabling the computer to function as a vehicle control device in any of the above embodiments.

[0162] Therefore, the processing of vehicle control devices can be achieved through computers.

[0163] 14. The storage medium in the above embodiments is a storage medium that stores a program for enabling the computer to function as the information processing device described in the above embodiments.

[0164] Therefore, information processing devices can be used to perform processing through computers.

Claims

1. A vehicle control device that controls a vehicle, wherein the vehicle control device includes: an acquisition unit that acquires surrounding information of the vehicle; an identification unit that identifies, based on the surrounding information, another vehicle traveling around the vehicle; a curve determination unit that determines whether the other vehicle is traveling on a curve; an estimation unit that, in a case where the other vehicle is traveling on a curve, estimates, based on the surrounding information, an estimated time until a collision between the vehicle and the other vehicle; a calculation unit that, in a case where the estimated time is equal to or less than a first time threshold, calculates a visual recognition ratio with respect to a true circle of a steered wheel of the other vehicle; and a control unit that controls the vehicle based on the visual recognition ratio.

2. The vehicle control device according to claim 1, wherein the control unit controls an action of a motor belt of the vehicle based on the visual recognition ratio.

3. The vehicle control device according to claim 2, wherein the control unit controls, in a case where the visual recognition ratio is equal to or less than a threshold value, in such a manner that the motor belt is reeled in by a first torque.

4. The vehicle control device according to claim 3, wherein the control unit controls, in a case where the visual recognition ratio exceeds the threshold value, in such a manner that the motor belt is reeled in by a second torque smaller than the first torque.

5. The vehicle control device according to claim 3, wherein the vehicle control device further includes: a determination unit that, in a case where the visual recognition ratio is equal to or less than the threshold value, determines whether the estimated time is equal to or less than a second time threshold smaller than the first time threshold; and an derivation unit that, in a case where the estimated time is equal to or less than the second time threshold, calculates an orientation of a vehicle body of the other vehicle based on the surrounding information, and derives an angle difference between a traveling direction of the vehicle and the other vehicle, the control unit controlling, in a case where the angle difference is equal to or less than a predetermined angle, in such a manner that the motor belt is reeled in by the first torque.

6. The vehicle control device according to claim 5, wherein the control unit controls, in a case where the angle difference is larger than the predetermined angle, in such a manner that the motor belt is reeled in by a second torque smaller than the first torque.

7. The vehicle control device according to claim 1, wherein the calculation unit, in a case where the steered wheel is not detected, calculates a visual recognition ratio with respect to a true circle of a driven wheel of the other vehicle. The storage medium stores a program for causing a computer to function as the vehicle control device according to claim 1.

9. An information processing device that is arranged in a vehicle, wherein the information processing device includes: an acquisition unit that acquires surrounding information of the vehicle; an identification unit that identifies, based on the surrounding information, another vehicle traveling around the vehicle; a curve determination unit that determines whether the other vehicle is traveling on a curve; an estimation unit that, in a case where the other vehicle is traveling on a curve, estimates, based on the surrounding information, an estimated time until a collision between the vehicle and the other vehicle; a calculation unit that, in a case where the estimated time is equal to or less than a first time threshold, calculates a visual recognition ratio with respect to a true circle of a steered wheel of the other vehicle; and a control unit that controls the vehicle based on the visual recognition ratio. ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ 8. A storage medium, wherein, ​ ​ ​ ​ ​ ​ a first inference unit that, in a case where the other vehicle is traveling on a curve, infers an estimated time until a collision of the vehicle with the other vehicle based on the surrounding information; a calculation unit that, in a case where the estimated time is equal to or less than a first time threshold, calculates a visually recognizable proportion with respect to a true circle of a steering wheel of the other vehicle; and a second inference unit that infers a moving direction of the other vehicle based on the visually recognizable proportion. The storage medium stores a program for causing a computer to function as the information processing apparatus according to claim 9.

10. A storage medium, wherein, The vehicle control device action method has:

11. An action method of a vehicle control device that controls a vehicle, wherein an acquisition step in which surrounding information of the vehicle is acquired; an identification step in which, based on the surrounding information, another vehicle traveling around the vehicle is identified; a curve determination step in which it is determined whether the other vehicle is traveling on a curve; an inference step in which, in a case where the other vehicle is traveling on a curve, an estimated time until a collision of the vehicle with the other vehicle is inferred based on the surrounding information; a calculation step in which, in a case where the estimated time is equal to or less than a first time threshold, a visually recognizable proportion with respect to a true circle of a steering wheel of the other vehicle is calculated; and a control step in which the vehicle is controlled based on the visually recognizable proportion. The information processing apparatus action method has: an acquisition step in which surrounding information of the vehicle is acquired; 12. An action method of an information processing apparatus configured to be installed in a vehicle, wherein an identification step in which, based on the surrounding information, another vehicle traveling around the vehicle is identified; a curve determination step in which it is determined whether the other vehicle is traveling on a curve; a first inference step in which, in a case where the other vehicle is traveling on a curve, an estimated time until a collision of the vehicle with the other vehicle is inferred based on the surrounding information; a calculation step in which, in a case where the estimated time is equal to or less than a first time threshold, a visually recognizable proportion with respect to a true circle of a steering wheel of the other vehicle is calculated; and a second inference step in which a moving direction of the other vehicle is inferred based on the visually recognizable proportion. ​ ​ ​

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