Control device and control method

Abstract

The present invention shortens the time taken for initial setting in travel control. A control device (18) for controlling the operation of a vehicle (10) is provided with a specifying unit and a control unit. The specifying unit executes a first mode in which first position information of the vehicle 10 is specified on the basis of satellite positioning information acquired from a satellite positioning system, and a second mode in which second position information of the vehicle 10 is specified on the basis of a detection result of an ambient environment sensor 15 that detects ambient environment information of the vehicle 10. The control unit uses at least one of the first position information and the second position information to execute travel control that does not automatically control travel of the vehicle 10 by a driving operation by a driver of the vehicle 10, and the determination unit determines whether the ignition of the vehicle 10 is turned on or not after the ignition of the vehicle 10 is turned on. Initial setting processing of the second mode is performed on the basis of reference information relating to the first position information or the second position information determined at the point in time when the ignition is turned off most recently.

Description

Technical Field

[0001] This invention relates to control devices and control methods. Background Technology

[0002] In recent years, for example, as disclosed in Patent Document 1, technologies related to driving control have been proposed that automatically control the driving of a vehicle without the driver's driving operations (such as acceleration, deceleration, or steering).

[0003] Existing technical documents Patent documents Patent document 1: International Publication No. 2017 / 208781. Summary of the Invention

[0004] The problem the invention aims to solve Here, driving control is sometimes performed using at least one of a first vehicle position determined based on satellite positioning information obtained from a satellite positioning system, and a second vehicle position determined based on the detection results of ambient environment sensors that detect information about the vehicle's surrounding environment. Furthermore, proposals are requested to shorten the time spent on initial setup in such driving control.

[0005] Therefore, in view of such problems, the present invention aims to provide a control device and control method that can shorten the time spent on initial settings in driving control.

[0006] Solution for solving the problem To solve the above problems, the control device is a control device for controlling the movement of a vehicle. It includes a determination unit and a control unit. The determination unit executes a first mode to determine the first position information of the vehicle based on satellite positioning information obtained from a satellite positioning system, and a second mode to determine the second position information of the vehicle based on the detection results of ambient environment sensors that detect the surrounding environment information of the vehicle. The control unit uses at least one of the first position information and the second position information to perform driving control, which automatically controls the driving of the vehicle without the driving operation of the vehicle driver. After the vehicle is ignited, the determination unit performs the initial setting process of the second mode based on reference information related to the first position information or the second position information determined at the time when the ignition was most recently turned off.

[0007] To solve the above problems, the control method is a control method for controlling the movement of a vehicle. In this method, the determination unit of the control device executes a first mode that determines the first position information of the vehicle based on satellite positioning information obtained from a satellite positioning system, and a second mode that determines the second position information of the vehicle based on the detection results of an ambient environment sensor that detects the surrounding environment information of the vehicle. The control unit of the control device uses at least one of the first position information and the second position information to perform driving control, which automatically controls the driving of the vehicle without the driving operation of the vehicle driver. After the vehicle is ignited, the determination unit performs initial setting processing of the second mode based on reference information related to the first position information or the second position information determined at the time when the ignition was most recently turned off.

[0008] Invention Effects According to the present invention, the time spent on initial settings in driving control can be shortened. Attached Figure Description

[0009] Figure 1 This is a schematic diagram illustrating the general structure of a vehicle according to an embodiment of the present invention; Figure 2 This is a block diagram illustrating an example of the functional structure of a control device according to an embodiment of the present invention; Figure 3 This is a block diagram illustrating an example of the functional structure of a server according to an embodiment of the present invention; Figure 4 This is a flowchart illustrating an example of a basic processing flow related to driving control performed by the control device according to an embodiment of the present invention; Figure 5 This is a flowchart illustrating an example of a processing flow related to the initial setting of a second mode performed by the control device according to an embodiment of the present invention. Detailed Implementation

[0010] Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings. The dimensions, materials, and other specific values ​​shown in these embodiments are merely illustrative examples for ease of understanding of the invention and are not intended to limit the invention, except in cases where such limitation is specifically requested. Furthermore, in this specification and the accompanying drawings, elements having substantially the same function or structure are omitted from repeated description by using the same reference numerals; additionally, elements not directly related to the present invention are omitted from the illustrations.

[0011] <Vehicle Structure> Reference Figures 1-3 The structure of the vehicle 10 according to an embodiment of the present invention will be described.

[0012] Figure 1 This is a schematic diagram showing the general structure of vehicle 10. (As shown) Figure 1 As shown, vehicle 10 can wirelessly communicate with server 20 via wireless communication network N1. Additionally, in Figure 1 For ease of understanding, only one vehicle 10 is shown, but in reality, multiple vehicles 10 can communicate with the server 20 via the communication network N1.

[0013] like Figure 1 As shown, the vehicle 10 includes a drive source 11, a braking device 12, a steering mechanism 13, a navigation device 14, an ambient environment sensor 15, an inertial measurement unit (IMU) 16, a wheel speed sensor 17, and a control device 18.

[0014] The drive source 11 outputs driving force to the drive wheels of the vehicle 10. Examples of drive sources 11 include an engine or an electric motor.

[0015] The braking device 12 applies braking force to the wheels of the vehicle 10. For example, the braking device 12 includes a hydraulic control unit that adjusts the hydraulic pressure of the brake fluid in the wheel cylinders, thereby adjusting the braking force applied to the wheels.

[0016] The steering mechanism 13 is a mechanism that changes the tire rudder angle of the vehicle 10. For example, the steering mechanism 13 includes a steering wheel that changes the tire rudder angle according to the steering operation performed by the driver using the steering wheel.

[0017] The navigation device 14 is a device that guides the route from the current position of the vehicle 10 to the destination desired by the driver. The navigation device 14 displays various information related to route guidance (e.g., the current position of the vehicle 10, the driving route to which the guidance is directed, the location of the destination, the distance on the driving route from the current position of the vehicle 10 to the destination, and the arrival time at the destination, etc.).

[0018] The ambient environment sensor 15 detects ambient environment information related to the surrounding environment of the vehicle 10. For example, the ambient environment sensor 15 is disposed at the front of the vehicle 10 to detect ambient environment information in front of the vehicle 10. The ambient environment information detected by the ambient environment sensor 15 may be information related to the distance or orientation to a subject located around the vehicle 10 (e.g., relative position, relative distance, relative speed, relative acceleration, etc.), or it may be the characteristics of the subject located around the vehicle 10 (e.g., the type of subject, the shape of the subject itself, markings attached to the subject, etc.). The ambient environment sensor 15 may be, for example, radar, LiDAR sensor, ultrasonic sensor, camera, etc.

[0019] The inertial measurement unit 16 is equipped with a 3-axis gyroscope sensor and a 3-direction accelerometer sensor to detect the attitude of the vehicle 10. For example, the inertial measurement unit 16 detects the roll angle, pitch angle, and yaw angle of the vehicle 10 and outputs the detection results. Alternatively, the inertial measurement unit 16 may also be equipped with only a portion of the 3-axis gyroscope sensor and the 3-direction accelerometer sensor.

[0020] Wheel speed sensors 17 are installed on each wheel to detect the wheel speed of each wheel.

[0021] The control device 18 includes a CPU (Central Processing Unit) as an arithmetic processing unit, a ROM (Read Only Memory) as a storage element for storing programs or arithmetic parameters used by the CPU, and a RAM (Random Access Memory) as a storage element for temporarily storing parameters that change appropriately during the execution of the CPU. For example, the control device 18 can be a single unit, or it can be divided into multiple units.

[0022] Figure 2 This is a block diagram illustrating an example of the functional structure of the control device 18. For example... Figure 2 As shown, the control device 18 includes, for example, a communication unit 18a, a determination unit 18b, a control unit 18c, and a storage unit 18d. The control device 18 can acquire information from the navigation device 14, the ambient environment sensor 15, the inertial measurement unit 16, and the wheel speed sensor 17, and can output control commands to the drive source 11, the braking device 12, the steering mechanism 13, and the navigation device 14. Furthermore, in this specification, information acquisition may include information extraction or generation.

[0023] The communication unit 18a communicates with the server 20 via the communication network N1. Specifically, the communication unit 18a can communicate with external devices via the communication network N1 using an antenna installed in the control device 18. For example, when the communication unit 18a sends a request to the server 20 to send desired information, the server 20 sends the desired information, and the communication unit 18a can receive the desired information. Additionally, the communication unit 18a can receive information transmitted from satellite positioning systems, including GNSS (Global Navigation Satellite System) satellites, i.e., satellite positioning information. Specifically, the communication unit 18a can receive satellite positioning information using an antenna installed in the control device 18. Alternatively, satellite positioning information can be received via the navigation device 14 and then transmitted to the control device 18.

[0024] The determination unit 18b processes the position information of the vehicle 10. The position information determined by the determination unit 18b is used for driving control by the control unit 18c. Further details regarding the processing performed by the determination unit 18b will be described later.

[0025] The control unit 18c controls the operation of various devices in the vehicle 10. For example, the control unit 18c controls the operation of the drive source 11, the braking device 12, the steering mechanism 13, and the navigation device 14. The control unit 18c can perform driving control, for example, by controlling the drive source 11, the braking device 12, and the steering mechanism 13. In driving control, the control unit 18c automatically controls the movement of the vehicle 10 without the driver's operation. As will be described later, driving control can be control that undertakes all driving operations by the driver, or it can be control that undertakes only a portion of the driving operations. Further details regarding driving control will be described later.

[0026] The storage unit 18d stores various types of information. The information stored in the storage unit 18d is used in processing performed by the communication unit 18a, the determination unit 18b, or the control unit 18c. Furthermore, the storage unit 18d stores a history of information acquired from the navigation device 14, the ambient environment sensor 15, the inertial measurement device 16, and the wheel speed sensor 17 (i.e., information acquired at various points in time). Therefore, the control unit 18c is able to acquire this information.

[0027] Figure 1 The server 20 collects and manages information from the vehicle 10, and sends information used in the processing performed by the control device 18 of the vehicle 10 to the control device 18. The server 20 includes a CPU as a processing unit, ROM as a storage element for storing programs or calculation parameters used by the CPU, and RAM as a storage element for temporarily storing parameters that change appropriately during the execution of the CPU. The server 20 can be a single unit, or it can be divided into multiple units.

[0028] Figure 3 This is a block diagram illustrating an example of the functional structure of server 20. For example... Figure 3 As shown, server 20 includes, for example, a communication unit 20a, a processing unit 20b, and a storage unit 20c.

[0029] The communication unit 20a communicates with the vehicle 10 via the communication network N1.

[0030] The processing unit 20b generates or updates a detection point map based on information collected from the vehicle 10. This detection point map is information used in the driving control of the vehicle 10. In the detection point map, past detection results from the surrounding environment sensors 15 acquired during the driving of the vehicle 10 correspond to map data. Specifically, the detection point map integrates a large amount of detection point data detected by the surrounding environment sensors 15 (specifically, data showing three-dimensional position information in three-dimensional space). This detection point data includes, for example, detection point data showing landmarks such as buildings, and detection point data showing the position of lane boundaries.

[0031] Storage unit 20c stores various types of information. For example, storage unit 20c processes information received by communication unit 20a. The processing unit 20b generates or updates the detection point mapping based on the information stored in storage unit 20c. For example, storage unit 20c stores the detection point mapping generated or updated by processing unit 20b.

[0032] <Operation of the control device> Reference Figure 4 and Figure 5 The operation of the control device 18 according to an embodiment of the present invention will be described.

[0033] As described above, the control unit 18c of the control device 18 performs driving control, which automatically controls the driving of the vehicle 10 without the driving operation of the driver of the vehicle 10. During driving control, various functions corresponding to different levels of so-called automatic driving can be performed.

[0034] For example, in driving control, the control unit 18c can automatically control the steering mechanism 13 to perform a lane keeping assist function that adjusts the position of the vehicle 10 in the lane width direction so that the vehicle 10 does not leave the driving lane.

[0035] In addition, for example, in driving control, the control unit 18c can automatically control the drive source 11 and the braking device 12 to perform an adaptive cruise control function that adjusts the speed of the vehicle 10 so that the vehicle 10 follows the vehicle in front.

[0036] The control unit 18c can switch between the functions that can be performed among the multiple functions available during driving control. Thus, the control unit 18c can set the automation level of driving control to a level where the driver can remove his hands from the steering wheel or other operating parts (e.g., level 2), or to a level where the driver can take his / her eyes off the front of the vehicle 10 (e.g., level 3).

[0037] Figure 4 This is a flowchart illustrating an example of the basic processing flow related to driving control performed by the control device 18. Figure 4Step S101 in the text corresponds to Figure 4 The control flow shown begins. For example, Figure 4 The control flow shown begins when the driver performs the prescribed operation to initiate driving control.

[0038] when Figure 4 When the control flow shown begins, in step S102, the determining unit 18b executes a first mode to determine first location information of the vehicle 10 based on satellite positioning information obtained from the satellite positioning system. The first location information is information showing the location of the vehicle 10 determined in the first mode. The satellite positioning information is information related to the location of the vehicle 10 located by the satellite positioning system, and is used to determine that location.

[0039] In the first mode of step S102, the determining unit 18b determines the information showing the absolute position of the vehicle 10 as the first position information, for example, based on the information showing the position of the vehicle 10 obtained according to satellite positioning information and the information showing the moving speed and moving direction of the vehicle 10 obtained according to the detection result of the driving state sensor that detects the driving state information of the vehicle 10.

[0040] Examples of driving status sensors include the inertial measurement unit 16 and the wheel speed sensor 17. Alternatively, other sensors besides the inertial measurement unit 16 and the wheel speed sensor 17 may be used as driving status sensors (e.g., a sensor that detects the steering angle, or a camera that captures images of the vehicle 10's surroundings).

[0041] For example, the determination unit 18b obtains information showing the absolute position of the vehicle 10 based on satellite positioning information received by the communication unit 18a. In cases where the communication unit 18a is capable of receiving satellite positioning information, the determination unit 18b essentially determines the information showing the absolute position of the vehicle 10 obtained based on the satellite positioning information as the first position information.

[0042] In situations such as when vehicle 10 is traveling inside a tunnel, the communication unit 18a may be unable to receive satellite positioning information, or may have difficulty receiving it. In such cases, the determination unit 18b uses information indicating the vehicle 10's speed and direction of movement, obtained based on the detection results of the inertial measurement unit 16 (which serves as a driving state sensor) and the wheel speed sensor 17, to derive the displacement of the vehicle 10's absolute position, obtained from the last received satellite positioning information, and obtains information indicating the vehicle 10's current absolute position.

[0043] For example, at each time point, the determination unit 18b determines the attitude of the vehicle 10 based on the detection results of the inertial measurement device 16, and determines the direction of movement of the vehicle 10 based on the attitude of the vehicle 10. Additionally, at each time point, the determination unit 18b determines the speed of the vehicle 10 based on the detection results of the wheel speed sensor 17. Then, by accumulating the speed and direction of movement of the vehicle 10 at each time point, the determination unit 18b determines the information showing the absolute position of the vehicle 10 as first position information.

[0044] When vehicle 10, traveling inside the tunnel, passes through the tunnel and communication unit 18a becomes able to receive satellite positioning information, determination unit 18b updates the first position information to information showing the absolute position of vehicle 10 obtained based on the satellite positioning information. Then, determination unit 18b determines the information showing the absolute position of vehicle 10 obtained based on the satellite positioning information as the first position information.

[0045] Furthermore, the determined first position information is stored, for example, in the storage unit 18d of the control device 18. Here, for example, the determination of the first position information is repeated during the movement of the vehicle 10, regardless of whether driving control is performed. Moreover, the first position information stored in the storage unit 18d is continuously updated during the movement of the vehicle 10.

[0046] Following step S102, in step S103, the determining unit 18b executes a second mode to determine the second position information of the vehicle 10 based on the detection results of the surrounding environment sensor 15, which detects information about the surrounding environment of the vehicle 10. The second position information is information showing the position of the vehicle 10 determined in the second mode.

[0047] In the second mode of step S103, the determining unit 18b determines, for example, information showing the relative position of the vehicle 10 with the detected objects of the surrounding environment sensor 15 by comparing the detection results of the surrounding environment sensor 15 obtained during the driving of the vehicle 10 with the past detection results of the surrounding environment sensor 15 corresponding to map data. Examples of detected objects of the surrounding environment sensor 15 include landmarks such as buildings.

[0048] For example, the determination unit 18b uses the detection point map sent from the server 20 to determine the second location information. As described above, in the detection point map, past detection results of the surrounding environment sensor 15 obtained during the movement of the vehicle 10 correspond to map data. The determination unit 18b performs a match between the detection point data shown in the current detection results of the surrounding environment sensor 15 and the detection point data shown in the detection point map. In this match, for example, the approximation degree between the approximate surface of multiple detection point data shown in the current detection results of the surrounding environment sensor 15 and the approximate surface of multiple detection point data shown in the detection point map is evaluated as the matching degree. Furthermore, if a portion of the detection point data shown in the current detection results of the surrounding environment sensor 15 matches the detection point data showing a specific landmark in the detection point map, the determination unit 18b determines the information showing the relative position of the vehicle 10 with respect to that specific landmark as the second location information based on the detection results of the surrounding environment sensor 15.

[0049] Furthermore, the determined second position information is stored, for example, in the storage unit 18d of the control device 18. Here, for example, the determination of the second position information is repeated during the movement of the vehicle 10, regardless of whether driving control is performed. Moreover, the second position information stored in the storage unit 18d is continuously updated during the movement of the vehicle 10.

[0050] After step S103, in step S104, the control unit 18c uses at least one of the first position information and the second position information to perform driving control and returns to step S102.

[0051] As described above, the first position information is determined by the first mode in step S102, and the second position information is determined by the second mode in step S103. Here, the feasibility or accuracy of determining the position information in each mode varies depending on the driving position of the vehicle 10.

[0052] In the first mode, as described above, the first location information is determined based on satellite positioning information obtained from a satellite positioning system. When the vehicle 10 is traveling in an open area with few structures, the communication unit 18a appropriately receives the satellite positioning information. Therefore, in such a situation, the determination unit 18b can perform the determination of the first location information based on the first mode with high accuracy. On the other hand, when the vehicle 10 is traveling in a tunnel, or when there are many tall buildings around the vehicle 10, the communication unit 18a may be unable to receive the satellite positioning information, or may have difficulty receiving it. Therefore, in such situations, the determination unit 18b may be unable to perform the determination of the first location information based on the first mode, or the accuracy of the determination of the first location information based on the first mode may decrease.

[0053] In the second mode, as described above, the second position information is determined based on the detection results of the surrounding environment sensor 15, which detects information about the surrounding environment of the vehicle 10. When there are landmarks or similar structures around the vehicle 10, the determination unit 18b can easily and appropriately determine the landmarks based on the detection results of the surrounding environment sensor 15. Therefore, in such cases, the determination unit 18b can perform the determination of the second position information based on the second mode with high accuracy. On the other hand, when the vehicle 10 is traveling in plains, seashores, or deserts where no landmarks or similar structures exist, the determination unit 18b has difficulty determining the landmarks based on the detection results of the surrounding environment sensor 15. Therefore, in such cases, the determination unit 18b cannot perform the determination of the second position information based on the second mode, or the accuracy of the determination of the second position information based on the second mode decreases.

[0054] In addition, when using a camera as the ambient environment sensor 15, the camera's field of view is mostly obstructed due to rain or snow, or whiteout occurs in the image obtained by the camera due to sunlight. These are also major reasons why it is difficult to determine landmarks based on the detection results of the ambient environment sensor 15.

[0055] As described above, the feasibility or accuracy of determining position information in each mode varies depending on the driving position of the vehicle 10. Therefore, in step S104, the control unit 18c, for example, performs driving control using the first position information when it can perform the determination of the first position information based on the first mode with high accuracy. On the other hand, it performs driving control using the second position information when it can perform the determination of the second position information based on the second mode with high accuracy. Alternatively, the control unit 18c may perform driving control using both the first position information and the second position information when it can perform both the determination of the first position information based on the first mode and the determination of the second position information based on the second mode with high accuracy.

[0056] As described above, the control unit 18c of the control device 18 performs driving control using at least one of the first and second position information. Here, when the ignition of the vehicle 10 is turned on, processing related to the initial setting of driving control is performed. Specifically, as such processing, the determination unit 18b of the control device 18 performs processing related to the initial setting of a second mode. In the initial setting processing of the second mode, the initial position of the vehicle 10 set in the second mode is set. In performing such initial setting processing of the second mode, it is necessary to know the current position of the vehicle 10. Therefore, for example, there is a method that performs the initial setting processing of the second mode by executing the first mode and using the first position information of the vehicle 10 determined based on satellite positioning information. However, the time spent on the initial setting of the second mode is longer than the time spent waiting for the completion of the first mode. In the control device 18, by focusing on the processing related to the initial setting of the second mode, as described later, the time spent on the initial setting of driving control is shortened. Hereinafter, refer to... Figure 5 This explains the processing performed by the control device 18 related to the initial setting of the second mode.

[0057] Figure 5 This is a flowchart illustrating an example of the process performed by the control device 18 related to the initial setting of the second mode. Figure 5 Step S201 in the text corresponds to Figure 5 The control flow shown begins. Figure 5 Step S208 in the text corresponds to Figure 5 The control flow shown has ended. Figure 5 The control flow shown begins, for example, after the ignition of vehicle 10 is turned on.

[0058] Furthermore, ignition can mean starting the power system of vehicle 10 to at least drive the auxiliary equipment of vehicle 10, or it can mean starting the power system of vehicle 10 to drive the drive source 11 of vehicle 10.

[0059] when Figure 5 When the control flow shown begins, in step S202, the determining unit 18b obtains reference information related to the first position information determined at the time point most recently the ignition was turned off. As will be described later, the reference information is information referenced for the initial setting of the second mode.

[0060] Furthermore, shutting off the ignition can mean switching from a state where the drive source 11 can be driven to a state where the drive source 11 cannot be driven, or it can mean stopping the power system of the vehicle 10.

[0061] The following describes an example of using information related to the first location information as reference information. However, as will be described later, information related to the second location information may also be used as reference information.

[0062] In step S202, the determination unit 18b obtains, for example, the first position information determined at the time of the most recent ignition shutdown as reference information. As described above, the first position information stored in the storage unit 18d is continuously updated during the operation of the vehicle 10. Therefore, the determination unit 18b can read the first position information determined at the time of the most recent ignition shutdown from the storage unit 18d.

[0063] However, the reference information related to the first position information is only information used to estimate the position of the vehicle 10. For example, the determination unit 18b can also obtain satellite positioning information determined at the time of the most recent ignition shutdown as reference information.

[0064] After step S202, in step S203, the determining unit 18b determines whether the appropriateness of the reference information is lower than the benchmark.

[0065] As described above, the reference information associated with the first position information is information referenced for the initial setting of the second mode, and is information used to estimate the position of vehicle 10. This reference is, for example, determined to be sufficient to determine whether the appropriateness of the reference information is high enough to properly perform the initial setting of the second mode.

[0066] In step S203, the determining unit 18b is able to determine, based on various information, whether the appropriateness of the reference information is lower than the benchmark.

[0067] The determination unit 18b may, for example, determine whether the appropriateness of the reference information is lower than the benchmark based on information related to the time of the most recent ignition shutdown and the time of ignition reactivation. For example, if the period between the two time points is too long, there is a possibility that the vehicle 10 may move due to transportation or the like during that period. Therefore, in this case, the determination unit 18b may also determine that the appropriateness of the reference information is lower than the benchmark.

[0068] Furthermore, the determination unit 18b can, for example, determine whether the appropriateness of the reference information is lower than a benchmark based on information related to the location of the vehicle 10 at the time of the most recent ignition shutdown. For example, if the vehicle 10 was transported by boat or trailer at the aforementioned time, there is a possibility that the vehicle 10 was transported and moved after that time. Therefore, in this case, the determination unit 18b can also determine that the appropriateness of the reference information is lower than a benchmark. For example, if the vehicle 10 was at sea at the time of the most recent ignition shutdown, the determination unit 18b can determine that the vehicle 10 was transported by boat at that time.

[0069] Furthermore, the determination unit 18b can, for example, determine whether the appropriateness of the reference information is lower than a reference based on information related to the attitude of the vehicle 10 at the time of the most recent ignition shutdown and the time of ignition reactivation. For example, if the attitude of the vehicle 10 changes significantly between the two time points, there is a possibility that the vehicle 10 may have moved due to transportation or other reasons during that period. Therefore, in this case, the determination unit 18b can also determine that the appropriateness of the reference information is lower than a reference. In addition, the determination unit 18b can, for example, obtain information related to the attitude of the vehicle 10 based on the detection results of the inertial measurement device 16. In addition, the determination unit 18b can, for example, use an azimuth magnet mounted on the vehicle 10 to determine the attitude of the vehicle 10 in the yaw direction.

[0070] Furthermore, the determination unit 18b may, for example, determine whether the appropriateness of the reference information is lower than a benchmark based on information related to the detection results of the ambient environment sensor 15 at the time of the most recent ignition shutdown and the time of ignition turn-on. For example, if the detection results of the ambient environment sensor 15 change significantly during the period between the two time points (e.g., if the image obtained by the camera, which is the ambient environment sensor 15, changes significantly), there is a possibility that the vehicle 10 may have moved during that period due to transportation or the like. Therefore, in this case, the determination unit 18b may also determine that the appropriateness of the reference information is lower than a benchmark.

[0071] Furthermore, the determining unit 18b may also determine whether the appropriateness of the reference information is lower than the benchmark based on any part or all of the various types of information listed above, which are examples of information used in determining the appropriateness of the reference information. Additionally, the determining unit 18b may also determine whether the appropriateness of the reference information is lower than the benchmark based on other information besides the various types of information listed above, which are examples of information used in determining the appropriateness of the reference information.

[0072] If the appropriateness of the reference information is determined to be higher than the baseline (step S203 / No), proceed to step S204. On the other hand, if the appropriateness of the reference information is determined to be lower than the baseline (step S203 / Yes), proceed to step S206.

[0073] If the determination is "no" in step S203, in step S204, the determination unit 18b obtains from the server 20 the detection point mapping corresponding to the position of the vehicle 10 shown by the reference information.

[0074] In step S204, the determining unit 18b considers, for example, the position of the vehicle 10 shown by the reference information as the current position of the vehicle 10. Then, the determining unit 18b obtains from the server 20 a detection point map showing the range including the current position of the vehicle 10. The range including the current position of the vehicle 10 can be, for example, a range within a predetermined distance centered on the current position of the vehicle 10.

[0075] Following step S204, in step S205, the determining unit 18b uses the detection point mapping obtained in step S204 to perform initial setting processing for the second mode. Figure 5 The control flow shown has ended.

[0076] The initial setting process for the second mode is a process of setting the initial position of the vehicle 10 as set in the second mode. For example, in the initial setting process of the second mode, the determination unit 18b, while driving the vehicle 10, matches the detection point data shown by the current detection result of the ambient environment sensor 15 with the detection point data shown in the detection point map obtained in step S204. Furthermore, if a portion of the detection point data shown by the current detection result of the ambient environment sensor 15 matches the detection point data showing a specific landmark in the detection point map, the determination unit 18b sets the relative position of the vehicle 10 with respect to that specific landmark shown by the detection result of the ambient environment sensor 15 as the initial position of the vehicle 10.

[0077] If the determination is "yes" in step S203, in step S206, the determining unit 18b executes the first mode, determining the first position information of the vehicle 10 based on satellite positioning information. The processing of step S206 is the same as described above. Figure 4 The process of step S102 is the same.

[0078] After step S206, in step S207, the determining unit 18b obtains from the server 20 the detection point mapping corresponding to the position of the vehicle 10 shown in the first position information obtained in step S206. Thus, if the determination is "yes" in step S203, the determining unit 18b executes the first mode, waits for the completion of the first mode, and obtains the detection point mapping from the server 20.

[0079] In step S207, the determining unit 18b, for example, considers the position of the vehicle 10 shown by the first position information as the current position of the vehicle 10. Then, the determining unit 18b obtains from the server 20 a detection point map showing the range including the current position of the vehicle 10. As the range including the current position of the vehicle 10, a range within a predetermined distance centered on the current position of the vehicle 10 can be given as an example.

[0080] Following step S207, in step S205, the determining unit 18b uses the detection point mapping obtained in step S207 to perform initial setting processing for the second mode. Figure 5 The control flow shown has ended.

[0081] The above describes an example of using information related to the first position information as reference information. However, the determining unit 18b may also use information related to the second position information determined at the time of the most recent ignition shutdown as reference information.

[0082] For example, the determination unit 18b can also obtain a detection point map referenced at the time of the most recent ignition shutdown, and second position information showing the position of the vehicle 10 set on the detection point map, as reference information. As described above, the second position information stored in the storage unit 18d is continuously updated during the operation of the vehicle 10. In addition, information showing the referenced detection point map is also stored in the storage unit 18d and continuously updated. Therefore, the determination unit 18b can read the detection point map referenced at the time of the most recent ignition shutdown, and the second position information showing the position of the vehicle 10 set on the detection point map, from the storage unit 18d.

[0083] Even when information related to the second location information is used as reference information, the determining unit 18b can determine whether the appropriateness of the reference information related to the second location information is lower than a benchmark. This determination is performed, for example, using the information listed above as an example of information used in determining the appropriateness of reference information.

[0084] For example, the determination unit 18b can also determine whether the appropriateness of the reference information related to the second position information is lower than a reference standard based on information related to the time point most recently the ignition was turned off and the time point after the ignition was turned on. In particular, if the period between the two time points is too long, in addition to the possibility that the vehicle 10 may move by transportation or the like during that period, there is also the possibility that the detection point mapping may be updated during that period. Therefore, in this case, the determination unit 18b can also determine that the appropriateness of the reference information related to the second position information is lower than a reference standard.

[0085] Additionally, for example, the determination unit 18b may determine whether the appropriateness of the reference information related to the second position information is lower than a reference standard based on information related to the location of the vehicle 10 at the time of most recent ignition shutdown. Additionally, for example, the determination unit 18b may determine whether the appropriateness of the reference information related to the second position information is lower than a reference standard based on information related to the posture of the vehicle 10 at both the time of most recent ignition shutdown and the time after ignition is turned on. Additionally, for example, the determination unit 18b may determine whether the appropriateness of the reference information related to the second position information is lower than a reference standard based on information related to the detection results of the surrounding environment sensors 15 at both the time of most recent ignition shutdown and the time after ignition is turned on.

[0086] Then, if the appropriateness of the reference information is determined to be higher than the baseline, the determination unit 18b performs the initial setting process of the second mode based on the reference information related to the second position information. Specifically, in the initial setting process of the second mode, the determination unit 18b sets the position of the vehicle 10 on the detection point map obtained as the reference information related to the second position information as the initial position of the vehicle 10.

[0087] On the other hand, if the appropriateness of the reference information is determined to be lower than the baseline, steps S206 and S207 are performed in the same manner as when the information related to the first position information is used as the reference information. Then, the initial setting process of the second mode is performed in step S208.

[0088] Alternatively, the determination unit 18b may only acquire the detection point mapping referenced at the time point most recently the ignition was turned off, as reference information related to the second position information. In this case, during the initial setting process of the second mode, the determination unit 18b performs a matching between the detection point data shown by the current detection result of the ambient environment sensor 15 and the detection point data shown by the detection point mapping acquired as reference information, while driving the vehicle 10. Furthermore, if a portion of the detection point data shown by the current detection result of the ambient environment sensor 15 matches the detection point data showing a specific landmark in the detection point mapping, the determination unit 18b sets the relative position of the vehicle 10 with respect to that specific landmark shown by the detection result of the ambient environment sensor 15 as the initial position of the vehicle 10.

[0089] As described above, after the ignition of the vehicle 10 is turned on, the determination unit 18b performs initial setting processing of the second mode based on reference information related to the first or second position information determined at the time of the most recent ignition shutdown. Therefore, after the ignition of the vehicle 10 is turned on, the initial setting processing of the second mode can be completed without waiting for the completion of the first mode, which determines the first position information of the vehicle 10 based on satellite positioning information. For example, in Figure 5In the example, if the appropriateness of the reference information is determined to be higher than the baseline (step S203 / No), the processing of executing the first mode can be omitted (step S206), and the initial setting process of the second mode can be completed. Therefore, the time spent on the initial setting of the second mode can be shortened by the amount of time spent waiting for the first mode to complete. Therefore, the time spent on the initial setting in driving control can be shortened.

[0090] <The Effect of the Control Device> The effects of the control device 18 according to the embodiments of the present invention will be explained.

[0091] The control device 18 includes a determination unit 18b and a control unit 18c. The determination unit 18b executes a first mode that determines first position information of the vehicle 10 based on satellite positioning information obtained from a satellite positioning system, and a second mode that determines second position information of the vehicle 10 based on the detection results of an ambient environment sensor 15 that detects ambient environment information of the vehicle 10. The control unit 18c uses at least one of the first and second position information to execute driving control that automatically controls the movement of the vehicle 10 without the driver's driving operation. Then, after the ignition of the vehicle 10 is turned on, the determination unit 18b executes the initial setting process of the second mode based on reference information related to the first or second position information determined at the time when the ignition was most recently turned off. Thus, after the ignition of the vehicle 10 is turned on, the initial setting process of the second mode can be completed without waiting for the completion of the first mode that determines the first position information of the vehicle 10 based on satellite positioning information. Therefore, the time spent on the initial setting of the second mode can be shortened by reducing the amount of time spent waiting for the completion of the first mode. Therefore, the time spent on the initial setting in driving control can be shortened.

[0092] Preferably, in the control device 18, the determining unit 18b determines whether the appropriateness of the reference information is lower than a reference. If the appropriateness is determined to be lower than the reference, the reference information is not used, and the initial setting process of the second mode is performed based on the satellite positioning information obtained after ignition is turned on. Thus, even if the appropriateness of the reference information is lower than the reference, the initial setting process of the second mode can be performed appropriately.

[0093] However, the determination unit 18b may also choose not to determine whether the appropriateness of the reference information is lower than the baseline. For example, the determination unit 18b may use the reference information to perform the initial setting process regardless of the appropriateness of the reference information.

[0094] Preferably, in the control device 18, the determining unit 18b determines whether the appropriateness of the reference information is lower than a reference based on information related to the time point most recently the ignition was turned off and the time point after the ignition was turned on. Therefore, the appropriateness of the reference information can be appropriately determined by considering the length of the period between the two time points.

[0095] Preferably, in the control device 18, the determining unit 18b determines whether the appropriateness of the reference information is lower than a reference based on information related to the location of the vehicle 10 at the time of the most recent ignition shutdown. Therefore, it is possible to appropriately determine whether the appropriateness of the reference information is lower than a reference, taking into account the location of the vehicle 10 at the aforementioned time point.

[0096] Preferably, in the control device 18, the determining unit 18b determines whether the appropriateness of the reference information is lower than a reference based on information related to the vehicle 10's posture at the time of the most recent ignition shutdown and the time of ignition turn-on. Thus, it is possible to take into account changes in the vehicle 10's posture during the period between the two time points and appropriately determine whether the appropriateness of the reference information is lower than a reference.

[0097] Preferably, in the control device 18, the determining unit 18b determines whether the appropriateness of the reference information is lower than a reference based on information related to the detection results of the ambient environment sensors 15 at the time of the most recent ignition shutdown and the time of ignition reactivation. Thus, it is possible to take into account changes in the detection results of the ambient environment sensors 15 during the period between the two time points and appropriately determine whether the appropriateness of the reference information is lower than a reference.

[0098] Preferably, in the control device 18, the determination unit 18b, in the first mode, determines the information showing the absolute position of the vehicle 10 as the first position information based on the information showing the position of the vehicle 10 obtained based on satellite positioning information and the information showing the speed and direction of movement of the vehicle 10 obtained based on the detection results of driving state sensors (inertial measurement device 16 and wheel speed sensor 17 in the above example) that detect the driving state information of the vehicle 10. Thus, the determination of the first position information is appropriately achieved.

[0099] Alternatively, the determining unit 18b may also determine the first position information using methods other than those described above in the first mode. For example, in the first mode, the determining unit 18b may determine the first position information using only satellite positioning information without utilizing the detection results of the driving status sensor.

[0100] Preferably, in the control device 18, the determination unit 18b, in the second mode, determines second position information by comparing the detection results of the surrounding environment sensor 15 obtained during the driving of the vehicle 10 with the past detection results of the surrounding environment sensor 15 corresponding to map data. This information, showing the relative position of the vehicle 10 with respect to the detected objects of the surrounding environment sensor 15, is thus appropriately implemented.

[0101] Alternatively, in the second mode, the determination unit 18b can also determine the second location information using methods other than those described above. For example, in the case where a detection point map integrating a large amount of detection point data on the map data is generated without relying on past detection results from the surrounding environment sensor 15, the determination unit 18b can also determine the second location information in the second mode by comparing the detection results of the surrounding environment sensor 15 obtained during the movement of the vehicle 10 with this detection point map.

[0102] The preferred embodiments of the present invention have been described above with reference to the accompanying drawings. However, the present invention is not limited to the embodiments described above, and various modifications or alterations within the scope of the claims are also within the technical scope of the present invention.

[0103] For example, the processes illustrated using flowcharts in this paper do not necessarily have to be executed in the order shown in the flowcharts. Some processing steps can also be executed in parallel. In addition, additional processing steps can be used, and some processing steps can be omitted.

[0104] Alternatively, for example, the series of processes performed by the control device 18 described above can also be implemented using software, hardware, or a combination of both. The program constituting the software is, for example, pre-stored in a storage medium located inside or outside the information processing device.

[0105] Explanation of reference numerals in the attached figures 10: Vehicles 11: Driver Source 12: Braking device 13: Steering mechanism 14: Navigation device 15: Environmental Sensors 16: Inertial Measurement Unit (Driving Status Sensor) 17: Wheel speed sensor (driving status sensor) 18: Control device 18a: Ministry of Communications 18b: Determining the Department 18c: Control Unit 18d: Storage Department 20: Server 20a: Ministry of Communications 20b: Processing Department 20c: Storage Section N1: Communication network.

Claims

1. A control device that is a control device (18) that controls an action of a vehicle (10), wherein have: The determining unit (18b) executes a first mode for determining first location information of the vehicle (10) based on satellite positioning information obtained from a satellite positioning system, and a second mode for determining second location information of the vehicle (10) based on detection results from an ambient environment sensor (15) that detects ambient environment information of the vehicle (10); and The control unit (18c) performs driving control using at least one of the first location information and the second location information, the driving control automatically controlling the driving of the vehicle (10) without the driving operation of the driver of the vehicle (10). After the ignition of the vehicle (10) is turned on, the determining unit (18b) performs the initial setting process of the second mode based on reference information related to the first position information or the second position information determined at the time when the ignition was most recently turned off.

2. The control device according to claim 1, wherein, The determining part (18b): Determine whether the appropriateness of the reference information is lower than the benchmark. If the appropriateness is determined to be lower than the benchmark, the reference information is not used, and the initial setting process is performed based on the satellite positioning information obtained after the ignition is turned on.

3. The control device according to claim 2, wherein, The determining unit (18b) determines whether the appropriateness is lower than the benchmark based on information related to the time point of the most recent ignition shutdown and the time point after the ignition is turned on.

4. The control device according to claim 2, wherein, The determining unit (18b) determines whether the appropriateness is lower than the benchmark based on information related to the location of the vehicle (10) at the time when the ignition was most recently shut off.

5. The control device according to claim 2, wherein, The determining unit (18b) determines whether the appropriateness is lower than the benchmark based on information related to the posture of the vehicle (10) at the respective times of the most recent ignition shutdown and the ignition turn-on.

6. The control device according to claim 2, wherein, The determining unit (18b) determines whether the appropriateness is lower than the benchmark based on information related to the detection results of the ambient environment sensor (15) at the time point of the most recent ignition shutdown and the time point after the ignition is turned on.

7. The control device according to claim 1, wherein, In the first mode, the determining unit (18b) determines the information showing the absolute position of the vehicle (10) as the first position information based on the information showing the position of the vehicle (10) obtained based on the satellite positioning information and the information showing the moving speed and moving direction of the vehicle (10) obtained based on the detection results of the driving state sensors (16, 17) that detect the driving state information of the vehicle (10).

8. The control device according to claim 1, wherein, In the second mode, the determining unit (18b) determines the information showing the relative position of the vehicle (10) with respect to the detected object of the surrounding environment sensor (15) by comparing the detection results of the surrounding environment sensor (15) obtained during the driving of the vehicle (10) with the past detection results of the surrounding environment sensor (15) corresponding to the map data.

9. A control method for controlling the movement of a vehicle (10), wherein, The determination unit (18b) of the control device (18) executes a first mode for determining the first position information of the vehicle (10) based on satellite positioning information obtained from the satellite positioning system, and a second mode for determining the second position information of the vehicle (10) based on the detection results of the surrounding environment sensor (15) that detects the surrounding environment information of the vehicle (10). The control unit (18c) of the control device (18) performs driving control using at least one of the first position information and the second position information, the driving control automatically controlling the driving of the vehicle (10) without the driving operation of the driver of the vehicle (10). After the ignition of the vehicle (10) is turned on, the determining unit (18b) performs the initial setting process of the second mode based on reference information related to the first position information or the second position information determined at the time when the ignition was most recently turned off.

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