Vehicle control devices

Abstract

The vehicle control device (100) includes: a camera (4) that captures the front of the vehicle; a sign recognition unit (111) that recognizes road signs within a captured range based on a captured image obtained by the camera (4); a control unit (113) that controls at least one of an output device (5) and an actuator (AC) based on information about the road signs recognized by the sign recognition unit (111); and a determination unit (112) that determines whether the vehicle is traveling in a restricted section, the restricted section being a section where a prescribed restricted driving condition including at least one of a speed limit and an overtaking restriction is temporarily required to be implemented. When the determination unit (112) determines that the vehicle is traveling in the restricted section, even if the sign recognition unit (111) recognizes a road sign, the control unit (113) controls at least one of the output device (5) and the actuator (AC) in a manner not based on information about the road sign.

Description

Technical Field

[0001] The present invention relates to a vehicle control device for controlling a vehicle. Background Art

[0002] As such a device, there is conventionally known a device which, upon recognizing a temporarily placed speed limit sign, controls the vehicle's travel in accordance with the sign in a speed change section such as a road construction section associated with the sign (see, for example, Patent Document 1).

[0003] However, when driving is controlled according to a temporarily set speed limit sign as in the device described in Patent Document 1, if a road sign permanently set in the same section is recognized, there is a possibility that good driving control may not be performed.

[0004] Prior art literature

[0005] Patent Document 1: Japanese Patent Application Publication No. 2021-507406. Summary of the Invention

[0006] A vehicle control device according to one embodiment of the present invention includes: an imaging unit that captures images of the area ahead of a host vehicle; a sign recognition unit that recognizes road signs within a captured image range based on images obtained by the imaging unit; a control unit that controls at least one of a notification unit and a travel actuator based on information about the road signs recognized by the sign recognition unit; and a determination unit that determines whether the host vehicle is traveling in a restricted zone, wherein a prescribed restricted zone, including at least one of a speed limit and an overtaking restriction, is temporarily required. If the determination unit determines that the host vehicle is traveling in the restricted zone, the control unit controls at least one of the notification unit and the travel actuator independently of information about the road signs, even if the sign recognition unit recognizes the road signs.

[0007] A vehicle control device according to another aspect of the present invention includes: an imaging unit that images a view ahead of a host vehicle; a sign recognition unit that recognizes road signs within an imaging range based on images captured by the imaging unit; a control unit that controls at least one of a notification unit and a travel actuator based on information about the road signs recognized by the sign recognition unit; and a determination unit that determines whether the host vehicle is traveling in a restricted zone, wherein a prescribed restricted zone, including at least one of a speed limit and an overtaking restriction, is temporarily required. If the determination unit determines that the host vehicle is traveling in the restricted zone, the control unit controls at least one of the notification unit and the travel actuator based on information about a first road sign that was last recognized by the sign recognition unit and specifies a speed limit before the host vehicle arrived at the restricted zone. Subsequently, if the sign recognition unit recognizes a second road sign that specifies a lower speed limit than the first road sign while the host vehicle is traveling in the restricted zone, the control unit controls at least one of the notification unit and the travel actuator based on the second road sign. BRIEF DESCRIPTION OF THE DRAWINGS

[0008] The objects, features and advantages of the present invention will be further clarified through the following description of the embodiments in conjunction with the accompanying drawings.

[0009] Figure 1 This is a diagram showing an example of a driving scene to which the vehicle control device according to the embodiment of the present invention is applied.

[0010] Figure 2 This is a block diagram showing a main configuration of a vehicle control device according to an embodiment of the present invention.

[0011] Figure 3 It is shown by Figure 2 A flowchart of an example of processing performed by the controller.

[0012] Figure 4 This is a flowchart showing an example of the restricted section detection process.

[0013] Figure 5 This is a flowchart showing an example of the mark checking process.

[0014] Figure 6 This is a flowchart showing an example of the exit determination process.

[0015] Figure 7 This is a diagram showing an example of a driving scene to which a vehicle control device according to a modification of the embodiment of the present invention is applied.

[0016] Figure 8 This is a flowchart showing a marker check process executed by a controller of a vehicle control device according to a modified example of the embodiment of the present invention. DETAILED DESCRIPTION

[0017] Below, refer to Figures 1 to 8 The embodiment of the present invention is described. The vehicle control device of the embodiment of the present invention can be applied to a vehicle with an automatic driving function, that is, an automatic driving vehicle. It should be noted that the vehicle to which the vehicle control device of the present embodiment is applied is sometimes distinguished from other vehicles and referred to as the present vehicle. The present vehicle may be any of an engine vehicle having an internal combustion engine (engine) as a driving source, an electric vehicle having a driving motor as a driving source, and a hybrid vehicle having an engine and a driving motor as driving sources. The present vehicle can travel not only in an automatic driving mode that does not require the driver's driving operation, but also in a manual driving mode based on the driver's driving operation.

[0018] Figure 1 This is a diagram showing an example of a driving scenario of a vehicle equipped with the vehicle control device according to the embodiment of the present invention. Figure 1 The following example illustrates a vehicle 101 traveling on a road RD with a construction section RS set up in lane LN3, the left end of a three-lane road (lanes LN1 to LN3). Within the construction section RS, traffic cones OB1 are placed around an area AR under construction, and a sign OB2 is placed in front of the area AR, prompting drivers to change lanes from lane LN3 to another lane. Just before the construction section RS, on the right side of the road RD, are a road sign TP_WN indicating that the road is under construction and a road sign TP_SL indicating that the maximum speed is limited to 30 km / h. Furthermore, a road sign PN_SL indicating that the maximum speed is limited to 50 km / h is placed within the construction section RS. The road sign PN_SL is a permanent sign installed on the road RD before the construction section RS is established. Meanwhile, the road signs TP_SL, TP_WN, sign OB2, and traffic cones OB1 are temporary signs installed during construction and removed after completion.

[0019] When vehicle 101 detects road sign TP_WN ahead of it on road RD, it recognizes the presence of a construction zone RS ahead of it. When it detects road sign TP_SL along with road sign TP_WN, it recognizes that the maximum speed in construction zone RS is limited to 30 km / h. From the time it enters construction zone RS until it exits it, vehicle 101 travels at a speed not exceeding the 30 km / h speed limit.

[0020] However, if Figure 1As shown, if a road sign PN_SL permanently installed before construction work began is placed in a construction zone RS, the vehicle 101 detects the road sign PN_SL while traveling in the construction zone RS. In this case, the vehicle 101 may recognize that the speed limit has changed from 30 km / h to 50 km / h and travel through the construction zone RS at a speed higher than the 30 km / h speed limit set for the construction zone RS. Therefore, if the speed limit for the permanently installed road sign PN_SL is higher than that for the temporarily installed road sign TP_SL, there is a risk that optimal driving control may not be achieved in the construction zone RS. Therefore, the vehicle control device of this embodiment is configured as follows.

[0021] Figure 2 1 is a block diagram schematically showing the main structure of the vehicle control device 100 according to the embodiment of the present invention. Figure 2 As shown, the vehicle control device 100 includes a controller 10 , a communication unit 1 , a positioning sensor 2 , a vehicle speed sensor 3 , a camera 4 , an output device 5 , and actuators AC, each of which is communicably connected to the controller 10 .

[0022] Communication unit 1 communicates with various servers (not shown) via a network, including wireless communication networks such as the Internet and mobile phone networks, and obtains map information and traffic information from the servers periodically or at random times. This network includes not only public wireless communication networks but also closed communication networks established for each designated administrative area, such as wireless LAN, Wi-Fi (registered trademark), and Bluetooth (registered trademark). The obtained map information is output to storage unit 12 and updated from time to time.

[0023] The positioning sensor 2 receives a positioning signal transmitted from a positioning satellite. The positioning satellite is an artificial satellite such as a GPS satellite or a quasi-zenith satellite. The current position (latitude, longitude, altitude) of the vehicle 101 is determined using the positioning information received by the positioning sensor 2. The positioning sensor 2 is used to detect the position of the vehicle 101. Instead of the positioning sensor 2, a distance detection sensor (radar, lidar, etc.) that detects the distance from the vehicle 101 to an object (an object set on the road) can be used to detect the position of the vehicle 101. In this case, the position of the vehicle 101 is detected based on the position information of the object set on the road obtained from the map information stored in the storage unit 12 and the distance information to the object obtained by the positioning sensor 2. As the positioning sensor 2, a receiver for positioning signals and a distance detector can also be used in combination. The vehicle speed sensor 3 detects the speed of the vehicle 101.

[0024] Camera 4 includes an imaging element (image sensor) such as a CCD (charge-coupled device) or a CMOS (complementary metal oxide semiconductor). Camera 4 may be a single-lens reflex camera or a stereo camera. Camera 4 captures images of the surroundings of vehicle 101. Camera 4 is, for example, mounted at a predetermined position in front of vehicle 101 and continuously captures the space in front of vehicle 101, acquiring image data of the object (hereinafter referred to as captured image data or simply captured images).

[0025] The output device 5 is a general term for a device that outputs information to the driver. For example, the output device 5 includes a display that provides information to the driver by displaying images, a speaker that provides information to the driver by sound, and the like.

[0026] Actuators AC are driving actuators used to control the driving of vehicle 101. If the driving source is an engine, actuators AC include a throttle actuator that adjusts the opening of the engine's throttle valve (throttle opening). If the driving source is a driving motor, the driving motor is included in actuators AC. Actuators AC also include a brake actuator that activates the braking system of vehicle 101 and a steering actuator that drives the steering system.

[0027] The controller 10 is composed of an electronic control unit (ECU). More specifically, the controller 10 includes a computer having a computing unit 11 such as a CPU (microprocessor), a storage unit 12 such as a ROM (read-only memory) and a RAM (random access memory), and other peripheral circuits (not shown) such as an I / O interface. It should be noted that multiple ECUs with different functions, such as an engine control ECU, a travel motor control ECU, and a brake system ECU, can be provided separately. Figure 2 In FIG, for convenience, the controller 10 is shown as a collection of these ECUs.

[0028] The storage unit 12 stores high-precision, detailed map information (referred to as high-precision map information). This high-precision map information includes road location information, road shape information (such as curvature), road slope information, intersection and fork location information, lane number information, speed limits, lane widths, and lane location information (including lane center positions and lane boundary lines), location information for landmarks (such as traffic lights and buildings) that serve as map markers, road sign information (such as location, type, and restrictions), and road surface condition information such as road surface unevenness. The storage unit 12 also stores various control programs and information such as thresholds used by these programs.

[0029] The computing unit 11 includes a sign recognition unit 111, a determination unit 112, and a control unit 113 as functional components. The sign recognition unit 111 detects road signs within the captured imagery from the camera 4. The sign recognition unit 111 identifies information about the detected road signs based on the captured imagery, such as the type (warning sign, restriction sign), content, and location of the road sign, and stores the identified information in the storage unit 12. It should be noted that when the storage unit 12 exceeds a specified capacity for road sign information, the sign recognition unit 111 deletes the road sign information, starting with the earliest detected road sign information.

[0030] The control unit 113 controls at least one of the output device 5 and the actuators AC based on the road sign information recognized by the sign recognition unit 111. Hereinafter, the operation of the control unit 113 controlling at least one of the output device 5 and the actuators AC may be referred to as vehicle control.

[0031] When the sign recognition unit 111 recognizes a road sign while the vehicle 101 is traveling in manual driving mode, the control unit 113 controls the output device 5 based on the road sign information. More specifically, the control unit 113 controls the output device 5 (display) to notify the user of the road sign information through an image. For example, when the sign recognition unit 111 recognizes a road sign that limits the maximum speed to 50 km / h, the control unit 113 controls the output device 5 to display an image indicating that the speed limit is 50 km / h on the display and notify the user. It should be noted that the control unit 113 can also control the output device 5 (speaker) to notify the user of the road sign information in the form of sound.

[0032] On the other hand, when the sign recognition unit 111 recognizes a road sign while the vehicle 101 is traveling in the automatic driving mode, the control unit 113 controls the actuator AC based on the road sign information. For example, if the sign recognition unit 111 recognizes a road sign that limits the maximum speed to 50 km / h, the control unit 113 controls the actuator AC so that the vehicle speed detected by the vehicle speed sensor 3 does not exceed the 50 km / h speed limit. In this case, the control unit 113 may also control the output device 5 to report the road sign information to the user while simultaneously controlling the actuator AC.

[0033] Determination unit 112 determines whether vehicle 101 is traveling in a restricted section. A restricted section is an area where a prescribed driving restriction, including at least one of a speed limit and an overtaking restriction, is temporarily imposed, such as a construction section. Alternatively, a road may have a speed limit different from a pre-set speed limit.

[0034] First, the determination unit 112 determines whether there is a restricted section in front of the vehicle 101 based on the image captured by the camera 4. For example, if the image capture range of the camera 4 includes a road sign indicating that the road is under construction, the determination unit 112 determines that there is a restricted section in front of the vehicle 101. It should be noted that the determination unit 112 may also determine that there is a restricted section in front of the vehicle 101 if the image capture range of the camera 4 includes a predetermined number of road cones ( Figure 1 OB1), including temporary signs urging lane changes ( Figure 1 When OB2 is detected, it is determined that a restricted section exists ahead of the vehicle 101. Alternatively, a restricted section may be determined to exist when the imaging range of the camera 4 includes a temporary guardrail. Furthermore, the determination unit 112 may detect the start position of the construction section based on information obtained through roadside-vehicle communication via the communication unit 1. Furthermore, a combination of the above methods or other methods may be used, and the method for detecting a restricted section is not limited thereto.

[0035] Next, the determination unit 112 detects the start position of the restricted section based on the positions of the traffic cones and signs. Figure 1 The vehicle 101 is positioned at position P1, and a determination is made as to whether the vehicle 101 has entered the restricted section based on the starting position and the vehicle position detected by the positioning sensor 2 (the current position of the vehicle 101). Specifically, if the vehicle position detected by the positioning sensor 2 exceeds the starting position of the restricted section, the vehicle 101 is determined to have entered the restricted section.

[0036] The determination unit 112 detects the end position of the restricted section based on the image captured by the camera 4 ( Figure 1 At this time, the determination unit 112 may detect the location where the number of traffic cones included in the imaging range of the camera 4 becomes less than a predetermined number as the end location of the restricted section, or may determine the location based on the arrangement of traffic cones included in the imaging range of the camera 4 (for example, Figure 1The end position of the restricted section is detected based on the configuration of the road cone OB1 near the position P2 of the vehicle (specifically, the configuration in which the position of the road cone OB1 on the inner side in the direction of travel gradually approaches the road end in the vehicle width direction). In addition, when the image captured by the camera 4 contains a road sign indicating the end of the restricted section, the determination unit 112 may detect the position where the road sign is set as the end position of the restricted section. In addition, the determination unit 112 may detect the end position of the construction section based on the image captured by the camera 4 and the map information stored in the storage unit 12. In detail, the location where the number of lanes recognized based on the captured image (the number of lanes not under construction) is consistent with the number of lanes shown by the map information may be detected as the end position of the construction section. Furthermore, the determination unit 112 may detect the end position of the construction section based on information obtained through vehicle-to-road communication via the communication unit 1. For example, a location where no information indicating that it is a construction section can be obtained from a roadside device installed on the road may be detected as the end position of the construction section.

[0037] When the vehicle's position detected by the positioning sensor 2 exceeds the end position of the restricted section, the determination unit 112 determines that the vehicle 101 has exited the restricted section. Furthermore, the determination unit 112 determines that the vehicle 101 is traveling within the restricted section from the time the vehicle 101 enters the restricted section to the time the vehicle 101 exits the restricted section. It should be noted that the determination unit 112 may also determine that the vehicle 101 is traveling within the restricted section while an object related to the restricted section is detected within the imaging range of the camera 4.

[0038] When the determination unit 112 determines that the host vehicle 101 is traveling in a restricted section, the control unit 113 performs vehicle control based on the information of the road sign last recognized by the sign recognition unit 111 before the host vehicle 101 reaches the restricted section. In other words, when the determination unit 112 determines that the host vehicle 101 is traveling in a restricted section, even if the sign recognition unit 111 recognizes a road sign, the control unit 113 performs vehicle control not based on the information of the road sign.

[0039] Thereafter, when the determination unit 112 determines that the vehicle 101 has exited the restricted section, the control unit 113 controls the vehicle based on the road sign information stored in the storage unit 12 by the sign recognition unit 111 during the period when the determination unit 112 determined that the vehicle 101 was traveling in the restricted section.

[0040] Figure 3 It is shown by Figure 2 1. The flowchart is a flowchart of an example of a process executed by the controller 10. The process shown in the flowchart is executed, for example, while the host vehicle 101 is traveling in the automatic driving mode or the manual driving mode.

[0041] like Figure 3As shown, first, in step S0, flags IN_CS and CS_OP, as well as speed limit information SL, are initialized. The IN_CS flag indicates whether the vehicle 101 is traveling in a restricted zone, using values of 1 (TRUE) or 0 (FALSE). The IN_CS flag is initialized to 0. The speed limit information SL indicates the speed limit. The speed limit information SL is initialized to 0 km / h. It should be noted that the speed limit information SL set to 0 km / h indicates that no speed limit has been specified. The CS_OP flag indicates whether overtaking is prohibited, using values of 1 (TRUE) or 0 (FALSE). The CS_OP flag is initialized to 0. The IN_CS flag, CS_OP, and speed limit information SL are stored in the storage unit 12.

[0042] In step S1, the vehicle is recognized as a sign on a road in a non-restricted section. Specifically, when a sign is detected from an image captured by camera 4, the sign information is recognized, and the speed limit information SL and the flag CS_OP are set based on the recognized sign information. Furthermore, in step S1, if information indicated by a speed limit sign within a restricted section, described later, is stored in storage unit 12, this information is set as the speed limit information SL.

[0043] In step S2, a restricted section detection process is executed. The restricted section detection process is a process for detecting the restricted section in front of the vehicle 101 based on the image captured by the camera 4. Figure 4 The restricted section detection process will be described. In step S3, it is determined whether the flag IN_CS is 1, that is, whether the vehicle 101 is traveling in the restricted section. If the result of step S3 is negative (S3: No), the process returns to step S1.

[0044] When the answer of step S3 is affirmative (S3: Yes), a sign checking process is executed in step S4. The sign checking process is a process of identifying the road sign in front of the vehicle 101 based on the image captured by the camera 4. Figure 5 The identification check process is described. In step S5, it is determined whether the flag IN_CS is 1. When step S5 is negative (S5: No), the process returns to step S1. When step S5 is positive (S5: Yes), the exit determination process is executed in step S6. The exit determination process is a process for determining whether the vehicle 101 has exited the restricted area based on the image captured by the camera 4. Figure 6 Explanation of the exit determination process. Finally, in step S7, it is determined whether the flag IN_CS is 1. If the result of step S7 is negative (S7: No), the process returns to step S1. If the result of step S7 is positive (S7: Yes), the process returns to step S4. It should be noted that after step S7, the process may return to steps S1 and S4 after a predetermined time has passed.

[0045] Figure 4 It is shown by Figure 2 Flowchart of an example of the restricted section detection process executed by the controller 10. Figure 4 As shown, first, in step S201, it is determined whether a road sign is detected. If the result of step S201 is negative (S201: No), the restricted section detection process ends. If the result of step S201 is positive (S201: Yes), in step S202, it is determined whether the road sign detected in step S201 is a road sign indicating that a restricted section exists ahead of the vehicle 101 (hereinafter referred to as a restricted section sign).

[0046] If the result of step S202 is negative (S202: No), the restricted section detection process ends. If the result of step S202 is positive (S202: Yes), the flag IN_CS is set to 1 in step S203. It should be noted that the flag IN_CS can also be set to 1 after confirming that the restricted section has actually been entered. Next, in step S204, it is determined whether the road sign detected in step S201 is a road sign that specifies a speed limit (hereinafter referred to as a speed limit sign). If the result of step S204 is negative (S204: No), the process proceeds to step S206. If the result of step S204 is positive (S204: Yes), in step S205, the speed limit indicated by the speed limit sign is set as the speed limit information SL.

[0047] In step S206, it is determined whether the road sign detected in step S201 is a road sign indicating that overtaking is prohibited (hereinafter referred to as a "No Overtaking Sign"). If the answer to step S206 is yes (S206: Yes), the flag CS_OP is set to 1 in step S207, and the restricted section detection process ends. If the answer to step S206 is no (S206: No), the restricted section detection process ends.

[0048] Figure 5 It is shown by Figure 2 Flowchart of an example of identification check processing performed by the controller 10. Figure 5 As shown, first, in step S401, it is determined whether a road sign indicating the end of a restricted section (hereinafter referred to as a restricted section end sign) has been recognized. If the answer to step S401 is negative (S401: No), the process proceeds to step S403. If the answer to step S401 is positive (S401: Yes), the flag IN_CS is set to 0 in step S402.

[0049] In step S403, it is determined whether a road sign indicating a speed limit release (hereinafter referred to as a speed limit release sign) has been recognized. If the answer to step S403 is negative (S403: No), the process proceeds to step S405. If the answer to step S403 is positive (S403: Yes), in step S404, the speed limit information SL may be set to 0 km / h, or the speed limit may be read from the map data and set.

[0050] In step S405, it is determined whether a road sign that cancels the prohibition on overtaking (hereinafter referred to as the prohibition on overtaking cancellation sign) has been recognized. If the answer to step S405 is negative (S405: No), the process proceeds to step S407. If the answer to step S405 is positive (S405: Yes), the flag CS_OP is set to 0 in step S406.

[0051] In step S407, a determination is made as to whether a speed limit sign is recognized. If the answer to step S407 is negative (S407: No), the sign check process ends. If the answer to step S407 is positive (S407: Yes), in step S408, if the information (speed limit) indicated by the speed limit sign differs from the current SL, the speed limit is stored in storage unit 12, and the sign check process ends. Thus, when a speed limit sign is recognized within a restricted section, it is considered a permanent speed limit sign. Therefore, the speed limit information SL is not updated using the information indicated by the speed limit sign, but is instead stored in storage unit 12.

[0052] Figure 6 It is shown by Figure 2 Flowchart of an example of the exit determination process executed by the controller 10. Figure 6 As shown, first, in step S601, predetermined objects within the imaging range of camera 4 are detected. Prescribed objects are objects related to restricted areas, such as traffic cones and temporary signs urging lane changes. In step S602, the value of quantity information OBJ is updated based on the detection results of step S601. Quantity information OBJ indicates the number of objects detected in step S601 (the number of detections).

[0053] In step S603, the actions of other vehicles around the vehicle 101 are observed. For example, the actions of other vehicles are identified by detecting changes in the positions and speeds of other vehicles within a specified time based on the images captured by the camera 4 obtained within a specified time. It should be noted that the actions of other vehicles can also be identified based on information obtained through vehicle-to-vehicle communication via the communication unit 1, or by other methods. In step S604, the values of the accelerating vehicle information ACL and the overtaking vehicle information OVT are updated based on the observation results of step S603. The accelerating vehicle information ACL is information indicating the number of vehicles that are accelerating (hereinafter referred to as accelerating vehicles). The overtaking vehicle information OVT is information indicating the number of vehicles that have overtaken the vehicle 101 (hereinafter referred to as overtaking vehicles).

[0054] In step S605, based on the number information OBJ, the accelerating vehicle information ACL, and the overtaking vehicle information OVT, it is determined whether the host vehicle 101 has exited the restricted section. Specifically, when the value obtained by subtracting the number information OBJ from the accelerating vehicle information ACL is greater than a specified value (e.g., 1), the host vehicle 101 is determined to have exited the restricted section. Furthermore, when overtaking is prohibited in the restricted section, that is, when the flag CS_OP is 1, the value obtained by subtracting the number information OBJ from the overtaking vehicle information OVT is greater than a specified value (e.g., 2), the host vehicle 101 is determined to have exited the restricted section. If the result of step S605 is negative (S605: No), the exit determination process ends. If the result of step S605 is positive (S605: Yes), in step S606, the flag IN_CS is set to 0, ending the exit determination process.

[0055] The control unit 113 is based on Figures 3 to 6 The vehicle is controlled based on the flags IN_CS, CS_OP, and speed limit information SL, which are constantly updated through a series of processes. Specifically, when the vehicle 101 is operating in the automatic driving mode, the control unit 113 controls the actuator AC based on the flags IN_CS, CS_OP, and speed limit information SL. On the other hand, when the vehicle 101 is operating in the manual driving mode, the output device 5 is controlled based on the flags IN_CS, CS_OP, and speed limit information SL, so that information required for notification to the occupants, such as road sign information, is output from the output device 5.

[0056] The operation of the vehicle control device 100 of this embodiment is summarized as follows. Figure 1While traveling on the road RD shown, when camera 4 detects a road sign TP_WN in front of vehicle 101 ( S201 , S202 ), it identifies the presence of a construction zone RS in front of the sign. Furthermore, the starting position P1 of the construction zone RS is detected based on the location of the road sign TP_WN. It should be noted that, as described above, the starting position P1 of the construction zone RS can be detected based on the positions of objects OB1 and OB2 detected by camera 4 , or other methods can be used to detect the starting position P1.

[0057] When the vehicle 101 passes through the starting position P1 of the construction section RS and recognizes a road sign PN_SL, the information about the road sign PN_SL is stored in the storage unit 12 (steps S407 and S408). The vehicle 101 then implements vehicle control based on the information about the road sign TP_SL last recognized before the vehicle 101 enters the restricted section until the vehicle 101 exits the construction section RS (S605). On the other hand, when the vehicle 101 exits the construction section RS (S605 and S606), vehicle control is implemented based on the information about the road sign PN_SL stored in the storage unit 12 until a new road sign is detected. It should be noted that if multiple road signs are detected while traveling in the construction section RS, vehicle control is implemented based on the information about the most recent road sign from the time the vehicle exits the construction section RS until a new road sign is detected.

[0058] According to this embodiment, the following effects can be achieved.

[0059] (1) The vehicle control device 100 includes: a camera 4 that captures the front of the host vehicle 101; a sign recognition unit 111 that recognizes road signs included in the capture range based on the captured image obtained by the camera 4; a control unit 113 that controls at least one of the output device 5 and the actuator AC based on the information of the road signs recognized by the sign recognition unit 111; and a determination unit 112 that determines whether the host vehicle (101) is traveling in a restricted section (e.g., a construction section, a section where a speed limit different from a pre-set speed limit is temporarily set for the road), the restricted section being a section where a prescribed restricted driving including at least one of a speed limit and an overtaking restriction is temporarily required. When the determination unit 112 determines that the host vehicle 101 is traveling in the restricted section, even if the sign recognition unit 111 recognizes a road sign, the control unit 113 controls at least one of the output device 5 and the actuator AC in a manner not based on the information of the road sign. Thus, the information of the road sign recognized by the host vehicle while traveling in the restricted section is not applied to vehicle control. As a result, unnecessary use of road sign information permanently installed within restricted areas for vehicle control can be suppressed, improving passenger convenience. Furthermore, good driving control can be implemented within restricted areas, improving traffic safety within these areas and building a sustainable transportation system.

[0060] (2) When the determination unit 112 determines that the vehicle 101 is traveling in a restricted section, the control unit 113 controls at least one of the output device 5 and the actuator AC based on information about the road sign last recognized by the sign recognition unit 111 before the vehicle 101 enters the restricted section. Thus, while the vehicle is traveling in the restricted section, vehicle control is implemented in accordance with the road sign recognized immediately before entering the restricted section. As a result, appropriate driving control is implemented within the restricted section.

[0061] (3) The road sign recognition unit 111 stores, in the storage unit 12, road sign information recognized while the determination unit 112 determines that the vehicle 101 is traveling in the restricted section. When the determination unit 112 determines that the vehicle 101 has exited the restricted section, the control unit 113 controls at least one of the output device 5 and the actuator AC based on the road sign information stored in the storage unit 12. This allows for appropriate switching of road sign information for vehicle control before and after the vehicle exits the restricted section. Consequently, vehicle control can be effectively and immediately implemented upon exiting the restricted section.

[0062] The above-described embodiment can be modified in various forms. Several modified examples will be described below. Figure 7 It is a diagram showing another example of a driving scene to which a vehicle control device according to a modification of the embodiment of the present invention is applied. Figure 7 The example shown is similar to Figure 1 The example shown is the same, but a road sign TP_SL2 is set up in the construction section RS instead of the road sign PN_SL. It should be noted that the road sign TP_SL2 is a sign temporarily set up during the construction period, indicating that the maximum speed is limited to 20 km / h from the setting position. In addition, the road sign TP_SL1 is the same as the road sign TP_SL2. Figure 1 The road sign in TP_SL is the same as the road sign.

[0063] In this way, if there is a road sign (second road sign) TP_SL2 that specifies a lower speed limit than the speed limit specified by the road sign (first road sign) TP_SL1 set just before the construction section RS, Figure 5 This process may prevent smooth driving within the construction zone RS. Specifically, even if the road sign TP_SL2 is recognized while driving in the construction zone RS, the information about the road sign TP_SL2 will not be reflected in vehicle control until the vehicle 101 exits the construction zone RS, potentially causing the vehicle to exceed the speed limit within the construction zone RS. To address this issue, a sign check process can be implemented as follows.

[0064] Figure 8 1 is a flowchart showing the identification check process executed by the controller of the vehicle control device of the first modified example. Figure 2 The structure of the controller is the same as that of the controller, so the description is omitted. In addition, the processing other than the identification check processing performed by the controller is the same as that of the controller. Figure 3 、 Figure 4 、 Figure 6 The processing shown in FIG is the same, so the description is omitted. Figure 5 The processing of steps S401 to S407 is the same, so the description is omitted.

[0065] like Figure 8 As shown, if a speed limit sign is recognized in step S417, that is, if step S417 is affirmative (S417: Yes), in step S418, the speed limit indicated by the speed limit sign is set to R_SL. Speed limit information R_SL is information indicating the speed limit specified by the most recently recognized speed limit sign. On the other hand, if step S417 is negative (S417: No), the sign check process ends.

[0066] Next, in step S419, it is determined whether a speed limit smaller than the speed limit information SL is set for the speed limit information R_SL. When the answer to step S419 is negative (S419: No), the sign check process is terminated. When the answer to step S419 is positive (S419: Yes), in step S420, the speed limit information SL is updated using the speed limit information R_SL, and the sign check process is terminated. Thus, in this modified example, when the speed limit specified by the speed limit sign identified within the restricted section is smaller than the speed limit information SL, it is determined that the speed limit is set lower due to a special reason, and the speed limit information SL is updated using the speed limit information R_SL. Examples of special reasons include further reduction in road width or the presence of steps in the section forward from the setting position of the speed limit sign identified in step S417. This enables better driving control within the restricted section.

[0067] Furthermore, in the above embodiment, the camera 4, serving as the imaging unit, is used as an onboard detector to detect conditions around (in front of) the vehicle 101. However, the configuration of the onboard detector can be anything as long as it detects conditions around the vehicle 101. For example, the onboard detector can be a radar or a lidar. Furthermore, the detection range of the onboard detector can be adjusted to account for the effects of weather and obstructions. For example, by conditionally ensuring that no objects related to the restricted section have been detected for a predetermined period of time, the detection range can be expanded in the direction of travel of the vehicle 101.

[0068] In the above embodiment, the output device 5 as the notification unit is configured to include a display and a speaker, but the notification unit may also be configured to include interior lights or lights (lights installed indoors). With such a configuration, information such as road signs can be notified to the driver through lights.

[0069] Furthermore, in the above embodiment, the vehicle control device 100 is applied to an autonomous vehicle. However, the vehicle control device 100 can also be applied to vehicles other than autonomous vehicles. For example, the vehicle control device 100 can also be applied to manually driven vehicles equipped with ADAS (Advanced Driver-Assistance Systems).

[0070] One or more of the above-described embodiments and modifications may be arbitrarily combined, and modifications may be combined with each other.

[0071] According to the present invention, it is possible to implement good driving control on a road where there are temporarily installed road signs.

Claims

1. A vehicle control device, characterized in that: have: a photographing unit (4) for photographing the front of the vehicle (101); a sign recognition unit (111) for recognizing road signs within a photographing range based on the photographed image obtained by the photographing unit (4); a control unit (113) that controls at least one of a notification unit (5) and a driving actuator (AC) based on information about a road sign recognized by the sign recognition unit (111); and A determination unit (112) determines whether the vehicle (101) is traveling in a restricted section, the restricted section being a section where a prescribed restricted driving condition including at least one of a speed limit and an overtaking limit is temporarily required to be implemented. When the determination unit (112) determines that the vehicle (101) is traveling in the restricted area, the sign recognition unit (111) recognizes a permanently installed road sign, and the control unit (113) controls at least one of the notification unit (5) and the driving actuator (AC) in a manner not based on information of the permanently installed road sign.

2. The vehicle control device according to claim 1, wherein: When the determination unit (112) determines that the vehicle (101) is traveling in the restricted section, the control unit (113) controls at least one of the notification unit (5) and the driving actuator (AC) based on information about the road sign last recognized by the sign recognition unit (111) before the vehicle (101) reaches the restricted section.

3. The vehicle control device according to claim 1 or 2, characterized in that: The restricted section is a construction section.

4. The vehicle control device according to claim 1, wherein: The restricted section is a section temporarily set on the road on which the vehicle (101) is traveling, and is a section in which a speed limit different from a pre-set speed limit is set for the road.

5. The vehicle control device according to claim 1, wherein: It also includes a storage unit (12), The sign recognition unit (111) stores information on road signs recognized during a period when the determination unit (112) determines that the vehicle (101) is traveling in the restricted section in the storage unit (12).

6. The vehicle control device according to claim 5, characterized in that: When the determination unit (112) determines that the vehicle (101) has exited the restricted section, the control unit (113) controls at least one of the notification unit (5) and the driving actuator (AC) based on the road sign information stored in the storage unit (12).

7. The vehicle control device according to claim 5, characterized in that: A sensor (2) for detecting the current position of the vehicle (101) is provided. The storage unit (12) stores map information. The determination unit (112) detects a location where the number of lanes identified based on the captured image obtained by the capturing unit (4) matches the number of lanes indicated by the map information stored in the storage unit (12) as the end position of the restricted section, and determines that the vehicle (101) has exited the restricted section when the current position of the vehicle (101) detected by the sensor (2) exceeds the end position.

8. A vehicle control device, characterized in that: have: a photographing unit (4) for photographing the front of the vehicle (101); a sign recognition unit (111) for recognizing road signs within a photographing range based on the photographed image obtained by the photographing unit (4); a control unit (113) that controls at least one of a notification unit (5) and a driving actuator (AC) based on information about a road sign recognized by the sign recognition unit (111); and A determination unit (112) determines whether the vehicle (101) is traveling in a restricted section, the restricted section being a section where a prescribed restricted driving condition including at least one of a speed limit and an overtaking limit is temporarily required to be implemented, When the determination unit (112) determines that the vehicle (101) is traveling in the restricted section, the control unit (113) controls at least one of the notification unit (5) and the travel actuator (AC) based on information about a first road sign that is the last road sign identified by the sign recognition unit (111) and specifies a speed limit before the vehicle (101) reaches the restricted section. Thereafter, when the sign recognition unit (111) identifies a second road sign that specifies a lower speed limit than the first road sign, that is, a temporarily set road sign, while the vehicle (101) is traveling in the restricted section, the control unit (113) controls at least one of the notification unit (5) and the travel actuator (AC) based on information about the second road sign.

Images