Control device for a vehicle, storage medium of the control program for a vehicle and vehicle

Abstract

A control device for a vehicle, comprising: an environment information acquisition section that acquires information about the environment of a vehicle, a measuring section that measures a condition expressing a deterioration in the detection performance of the environmental information detection section, an execution section that executes predetermined processing that ensures the detection performance of the environmental information detection section, and a control section that controls the execution section to execute the processing in at least one of instructing execution by the execution section or measuring the state by the measuring section; a fogging prevention section that prevents windows from fogging up; and a drive control section that generates a movement plan along a predetermined target route based on information about the surroundings of the vehicle and map information, and that controls switching between automatic driving in which the drive is controlled so that the vehicle travels autonomously and manual driving by a driver; wherein, in a case where the drive control section switches from automatic driving to manual driving, the control section controls the fogging prevention section to operate the fogging prevention section.

Description

BACKGROUNDTechnical FieldThe present invention relates to a control device for a vehicle, a storage medium of a control program for a vehicle, and a vehicle, which execute control for maintaining detection performance of any one of various types of sensors or a camera or the like that detects environment information of a vehicle.Related ArtThere are vehicles in which an environmental information acquisition device such as a sensor or a camera or the like for acquiring the environmental information of the vehicle is installed.For example, US 2010 / 0 020 306 A1 discloses a structure in which a LIDAR device (an environmental information acquisition device) equipped with a sensor having photon detection means for detecting environmental information of a vehicle is located on the roof of the vehicle.However, since an environmental information acquisition device is exposed to wind and rain when provided outside a vehicle as in US 2010 / 0 020 306 A1, there are cases where the device main body becomes dirty or the like and the environmental information acquisition performance deteriorates. It is conceivable to provide the surrounding information acquisition device inside the vehicle, but nevertheless, in the case where the surrounding information acquisition device is provided inside the vehicle, there are cases where the surrounding information acquisition performance deteriorates due to fog or dirt or the like of the window. Therefore, from the viewpoint of maintaining good environmental information acquisition performance, there is room for improvement.The documents US 2011 / 0 073 142 A1, JP 2004-101 004 A, US 2014 / 0 270 379 A1, JP H11-326 541 A, WO 2014 / 103 726 A1, JP 2007-276 693 A, JP 2004-112 329 A or JP 2014-013 454 A each disclose a control device according to the preamble of claim 1.SUMMARYIn view of the above-described circumstances, an object of the present invention is to prevent deterioration in performance of detecting the surrounding information of a vehicle.This object is achieved by the features of the main claim 1 and the dependent claims 2, 5 and 6. Advantageous refinements are the subject matter of the dependent claims.To achieve the above object, one aspect of the present invention has the features recited in claim 1.According to the first aspect of the present invention, the information of the surroundings of the vehicle is acquired at the surroundings information acquisition section. For example, any one of different types of sensors, a camera, or the like may be applied as the surrounding information acquisition section, and surrounding information of the vehicle is acquired by any one of the different types of sensors or the camera.The contamination of the surrounding information acquisition section is measured at the measurement section. For example, the measurement section may determine the recognition rate of the surrounding information acquisition section or the like and measure the contamination from a decrease in the recognition rate or the like. Or, the measurement portion may measure the contamination by a sensor or the like.The dirt on the surrounding information acquisition portion is removed by the removal portion. For example, the dirt is removed by a washing device or a windshield wiper device or the like.Further, in the control section, the removing section is controlled to remove dirt at least in one of instructing removal of the dirt by the removing section and measuring the dirt by the measuring section. Due to this, deterioration in performance of detecting the surrounding information of the vehicle can be prevented.It is to be noted that in a second aspect of the present invention there may be provided a structure having the features set out in claim 2. Due to this, in a case where the surrounding information acquisition portion is provided in the vehicle interior, deterioration in the detection performance due to fogging of the windows can be prevented.Further, the control device for a vehicle includes a drive control portion that generates a movement plan along a preset target route on the basis of surrounding information of the vehicle and map information, and that controls the drive so that the vehicle autonomously travels according to the generated movement plan. In this case, the control by the control portion may be executed during the control by the drive control portion. Moreover, the control device for a vehicle according to the present invention further includes a fogging prevention portion that prevents fogging of the windows, wherein the driving control portion further controls switching between automatic driving in which driving is controlled so that the vehicle autonomously travels and manual driving by a driver, and wherein in a case where the driving control portion switches from automatic driving to manual driving, the control portion operates the fogging prevention portion, and in a case where the driving control portion switches from manual driving to automatic driving, the control portion further controls the removal portion to remove the dirt. Due to this, the driver's vision is ensured from the time of switching from automatic driving to manual driving. The environmental information acquisition performance at the time of switching from manual driving to automatic driving can be ensured and switching of driving can be securely performed.The contamination of the surrounding information acquisition section is measured at the measurement section. For example, the measurement section may determine the recognition rate of the surrounding information acquisition section or the like and measure the contamination from deterioration in the recognition rate or the like. Or, the measurement portion may measure the contamination by a sensor or the like.At the executing section, predetermined processing that ensures the detection performance at the surrounding information detecting section is executed. For example, in a case where the surrounding information acquisition section is provided on the vehicle interior, processing that prevents fogging of the windows may be executed. Or, processing that removes dirt on the surrounding information acquisition section may be executed.Further, at the control section, the executing section is controlled to execute the predetermined processing in at least one of the following cases: instructing the execution by the executing section and when the measuring section measures a state expressing deterioration in the detection performance. More specifically, in a case where deterioration in the detection performance of the surrounding information detection section is measured, the predetermined processing that ensures the detection performance is executed, and thereby deterioration in the performance of detecting the surrounding information of the vehicle can be prevented.Further, the present invention may be a storage medium having a control program for a vehicle for causing a computer to function as a control portion of the control device for a vehicle according to the present invention.Moreover, the present invention may be a vehicle including a driving control portion that generates a movement plan along a preset target route based on the surrounding information of the vehicle and the map information, and that controls driving so that the vehicle autonomously travels according to the generated movement plan, and the control device for a vehicle according to the present invention.As described above, according to the present invention, there is an effect that deterioration of performance of detecting the surrounding information of a vehicle can be prevented.BRIEF DESCRIPTION OF THE DRAWINGSExemplary embodiments of the present invention will be described in detail based on the following figures, in which: FIG. 1 is a block diagram showing the structure of a control apparatus for a vehicle relating to a first embodiment, FIG. 2 is a flowchart showing an example of the flow of the processes executed by a cleaning control device of the control device for a vehicle related to the first embodiment, FIG. 3 is a block diagram showing the structure of a control apparatus for a vehicle relating to a second embodiment, FIG. 4 is a flowchart showing an example of the flow of the processes executed by the cleaning control device of the control device for a vehicle related to a second embodiment, FIG. 5 is a block diagram showing the structure of a control apparatus for a vehicle relating to a third embodiment; and FIG. 6 is a flowchart showing an example of the flow of the processes executed by the cleaning control device of the control device for a vehicle related to the third embodiment.DETAILED DESCRIPTIONExamples of the embodiments of the present invention will be described in detail below with reference to the drawings. Note that the following embodiments represent examples of a control device for a vehicle.(First Embodiment)FIG. 1 is a block diagram showing the structure of a control apparatus for a vehicle relating to the present embodiment. A control device 10 for a vehicle relating to the present embodiment is structured to include an automatic drive control portion 12 serving as a drive control portion, an environmental information acquisition device 14 serving as an environmental information acquisition portion, and a cleaning control device 16 serving as a measurement portion and control portion. Note that each device is connected to an on-board network 20 such as a CAN (Controller Area Network) or the like.The automatic drive control section 12 is structured by a microcomputer including a CPU (Central Processing Unit), a ROM (Read Only Memory), a RAM (Random Access Memory), and the like. Further, brake lights 22, auxiliary equipment (e.g., flashers, headlights, windshield wiper devices, and the like) 24, and actuators 26 are connected to the automatic drive control portion 12. Since programs previously stored in the ROM are expanded in the RAM and executed by the CPU, the automatic driving control section 12 controls the automatic driving by controlling the operation of the brake lamps 22, the auxiliary equipment 24, the operation devices 26, and the like. Note that the automatic drive control portion 12 may be structured from a plurality of electronic control units.Specifically, the automatic drive control section 12 controls the switching between the automatic drive in which the automatic drive control section 12 judges the surrounding information of the vehicle and the situation of the vehicle and executes the control of the vehicle and the manual drive executed by a driver. At the time of the automatic driving, in order to effect the autonomous driving of the vehicle, the automatic driving control section 12 judges the vehicle and the information about the surroundings thereof on the basis of information obtained from the surroundings information acquisition device 14, such as any of various types of sensors or a camera, and the like. Then, according to the results of the judgment, the automatic drive control section 12 performs the automatic processing for drive control that controls the actuators 26 that set the amount of acceleration, the amount of braking, the steering angle, and the like. In automatic driving control processing based on the surrounding information of the vehicle and the map information, the automatic driving control section 12 generates a movement plan that executes a predetermined target route, and controls driving so that the vehicle autonomously travels according to the generated movement plan.Further, the automatic drive control section 12 stores information expressing the running state of the vehicle, and may output the stored information expressing the running state of the vehicle. Information expressing the running operation state of the vehicle is information expressing a manual driving state in which the vehicle is manually driven by a driver or information expressing an automatic driving state in which the vehicle is automatically moved by the automatic driving control section 12.Further, the automatic drive control section 12 outputs predetermined information related to drive assistance of the vehicle. Examples of this predetermined information are information expressing the start of automatic processing for drive control, and information expressing the end of automatic processing for drive control, and the like.For example, during manual driving by a driver, the automatic drive control portion 12 automatically starts the automatic drive control processing according to the behavior of the vehicle and the surrounding situation, and may assist the driving of the vehicle by the driver. In this case, the automatic drive control section 12 outputs the information expressing the start of the automatic drive control processing. Further, in a case of switching according to the instructions from the driver from manual driving by the driver for automatic driving that is in progress according to the automatic processing for driving control, the automatic driving control section 12 outputs information expressing that transmission of the upperhood over the driving is performed, that is, predetermined information that is information expressing starting of the automatic processing for driving control.Further, while the automatic processing for drive control is being executed, the automatic drive control portion 12 may execute the processing for automatically ending (cancelling) the automatic drive control processing while urging manual driving of the vehicle by the driver, according to the behavior of the vehicle and the surrounding situation. In this case, in order to urge the driver to perform manual driving of the vehicle, the automatic drive control portion 12 outputs information expressing the end of automatic processing for drive control. Further, in a case of the switching from autonomous driving executed according to the instructions of the driver according to the automatic driving control processing for manual driving by the driver, the automatic driving control section 12 outputs information expressing that transition of the upperhood over driving is performed, that is, predetermined information being information expressing the end of the automatic driving control processing.Note that the automatic drive control portion 12 may be equipped with a transmitter that can transmit and receive information between the vehicle and the surroundings of the vehicle, and can receive the surroundings information. An example of a transmitter is a transmitter that can accommodate the situation of the road by road-vehicle communication, such as a wireless transmitter corresponding to the DSRC (Dedicated Short Range Communication) or the like. Further, examples of information expressing the situation of the road acquired through road-vehicle communication and the surrounding information are information expressing the shape and state of the lanes and the road, such as the curvature of the lane, the superelevation of the road, and the like, and the positional relationship of the vehicle with respect to the lane and the positional relationship with other vehicles moving, and the surrounding traffic volume, and the like. Further, the automatic drive control portion 12 may include a navigation system as an example of equipment for obtaining the surrounding information.The surrounding information acquisition device 14 has any of various types of sensors or a camera and the like, and acquires surrounding information of the vehicle in order to allow the autonomous driving to be performed by the automatic drive control section 12. The surrounding information acquisition device 14 acquires information captured by a camera, obstacle information from a radar, obstacle information from a LIDAR (Laser Imaging Detecting and Ranging), and the like as surrounding information of the vehicle. The surrounding information includes, for example, the positions of the white lines of the driving lanes with respect to the vehicle, the position of the center of the driving lane, the road width, the road shape, the situation of the obstacles in the vicinity of the vehicle, and the like. Note that examples of the road shape are, for example, curvature of the lane and undulations and changes in the inclination of the road surface effective in the sensor's visual estimation, and the like. Further, situations of the obstacles in the vicinity of the vehicle are, for example, information that distinguishes between moving obstacles and fixed obstacles, positions of obstacles with respect to the vehicle, moving directions of the obstacles with respect to the vehicle, relative speeds of the obstacles with respect to the vehicle, and the like.The purge control device 16 is structured by a microcomputer including a CPU, a ROM, a RAM, and the like. A cleaner 18 serving as a removing portion and an executing portion and a cleaner switch 28 for operating the cleaner 18 are connected to the cleaner controller 16. The cleaning control device 16 controls the operation of the cleaning device 18 that cleans the surrounding information acquisition device 14 by expanding programs stored in the ROM in the RAM and executing the programs by the CPU.Specifically, at least either when the cleaning switch 28 is operated or when the cleaning control device 16 judges whether or not the cleaning of the surrounding information acquisition device 14 is necessary and determines that the cleaning is necessary, the cleaning control device 16 operates the cleaning device 18 and cleans the surrounding information acquisition device 14. Specifically, in the case of a camera or a two-dimension array sensor or the like, a portion (a pixel or the like) in which the value does not change over time or the change is very small is regarded as a poor quality portion, and the cleaning device 18 is operated when the proportion of the poor quality portions becomes greater than or equal to a predetermined value. Further, in the case of a sensor other than a camera or a two-dimension matrix sensor, whether cleaning is necessary or not is judged based on the absence / presence of a signal or the signal strength or the like from the surrounding information acquisition device 14, for example. Note that it can be judged whether or not cleaning is necessary by further providing a sensor or the like that detects contamination of the surrounding information acquisition device 14 itself, not by using the detection rate of the surrounding information acquisition device 14.A washing device that sprays water onto the surrounding information acquisition device 14, a wiper device that removes dirt on the acquisition portion of the surrounding information acquisition device 14 by a wiper blade or the like, or the like may be used as the cleaning device 18. Note that in a case where the surrounding information acquisition device 14 is provided inside the vehicle, it is preferable that the cleaning device 18 is a wiper device and not a washer device.Next, the concrete processings executed by the control device 10 for a vehicle relating to the present embodiment and structured as described above will be described. FIG. 2 is a flowchart showing an example of the flow of the processes executed in the cleaning control device 16 of the control device 10 for a vehicle related to the present embodiment. Note that the processings of FIG. 2 in a case where an unillustrated ignition switch is turned on will be described as starting as an example.In step 100, the cleaning control device 16 judges whether the current state of driving is the automatic drive. This judgment is performed based on information output from the automatic drive control section 12. In a case where this judgment is negative, the routine proceeds to step 102, and in a case where the judgment is positive, the routine moves to step 104.In step 102, the cleaning control device 16 judges whether or not a command to operate the cleaning device 18 has been given. In this judgment, the cleaning control device 16 judges whether or not a command to operate the cleaning device 18 has been given by the cleaning switch 28. In a case where the judgment is positive, the routine moves to step 104, and in a case where the judgment is negative, the routine proceeds to step 110.In step 104, the cleaning control device 16 judges whether or not the contamination of the surrounding information acquisition device 14 has been measured. In this judgment, as described above, the cleaning control device 16 determines the ratio of the poor quality portions of the surrounding information acquisition device 14 and judges whether or not the predetermined ratio is greater than or equal to a predetermined value. In a case where this judgment is affirmative, the routine goes to step 106, whereas in a case where the judgment is negative, the routine goes to step 110.In step 106, the cleaning controller 16 operates the cleaning device 18 and the routine proceeds to step 108. The cleaning control device 16 controls the cleaning device 18 to stop for a predetermined time after the operation, for example.In step 108, in the same manner as in step 104, the cleaning control device 16 again judges whether or not the contamination of the surrounding information acquisition device 14 is being measured. In a case where this judgment is affirmative, the routine returns to step 106 and the above-described processings are repeated, whereas in a case where the judgment is negative, the routine proceeds to step 110.In step 110, the purge control device 16 judges whether or not the ignition switch has been turned off. In a case where this judgment is negative, the routine returns to step 100 and the above-described processings are repeated, and in a case where the judgment is positive, the series of processings is terminated.Since the cleaning control device 16 controls the cleaning device 18 in this manner, the contamination of the surrounding information acquisition device 14 is measured and cleaned, and therefore, deterioration in the performance of acquiring the surrounding information of the vehicle can be prevented.(Second Embodiment)FIG. 3 is a block diagram showing the structure of a control apparatus for a vehicle relating to the present embodiment. Note that structures that are the same as those of the foregoing embodiment are denoted by the same reference numerals, and detailed description thereof will be omitted.Unlike the previous embodiment, a control device 11 for a vehicle related to the present embodiment executes the following drive switching processing at the time of executing the switching between the manual drive and the automatic drive.Specifically, as shown in FIG. 3, the present embodiment is different from the previous embodiment only in the point that a mist preventing device 30 serving as a mist preventing portion and an executing portion is further connected to the in-vehicle network 20. The other structures are the same as those of the previous embodiment.The fogging prevention device 30 removes mist from the windows. For example, the fogging prevention device 30 uses the air conditioner or wiper devices for wiping the windows, a defroster, a defogger, or the like, and removes the fogging of the windows. Or, the mist may be removed from the windows by the mist preventing device 30 which opens and closes the windows.The drive switching processing includes processing in a case of switching from the automatic drive to the manual drive and processing in a case of switching from the manual drive to the automatic drive. Specifically, in a case of switching from the automatic drive to the manual drive, the cleaning control device 16 controls the fogging prevention device 30 that executes the process of preventing the fogging of the windows. On the other hand, in the case of switching from manual driving to automatic driving, the cleaning control device 16 controls the cleaning device 18 that executes the dirt removing processing on the surrounding information acquisition device 14.Concrete processings executed by the control device 11 for a vehicle relating to the present embodiment will be described next. FIG. 4 is a flowchart showing an example of the flow of the processes executed by the cleaning control device 16 of the control device 11 for a vehicle related to the present embodiment. Note that the processings of FIG. 4 are described as starting in a case where, for example, an ignition switch not shown is turned on. Other processings which are the same as those of the previous embodiment will be denoted and described with the same reference numerals.In step 100, the cleaning control device 16 judges whether the current state of driving is the automatic drive. This judgment is performed based on information output from the automatic drive control section 12. In a case where this judgment is negative, the routine goes to step 102, and in a case where the judgment is positive, the routine moves to step 104.In step 102, the cleaning control device 16 judges whether or not a command to operate the cleaning device 18 has been given. In this judgment, the cleaning control device 16 judges whether or not a command to operate the cleaning device 18 has been given by the cleaning switch 28. In a case where this judgment is affirmative, the routine goes to step 104, and in a case where the judgment is negative, the routine goes to step 109.In step 104, the cleaning control device 16 judges whether the dirt on the surrounding information acquisition device 14 is measured. In this judgment, as described above, the cleaning control device 16 determines the ratio of the poor quality portions of the surrounding information acquisition device 14 and judges whether or not the predetermined ratio is greater than or equal to a predetermined value. In a case where the judgment is affirmative, the routine goes to step 106, while in a case where the judgment is negative, the routine goes to step 109.In step 106, the cleaning controller 16 operates the cleaning device 18 and the routine proceeds to step 108. The cleaning control device 16 controls the cleaning device 18 to stop for a certain time, for example, after the operation.In step 108, in the same manner as in step 104, the cleaning control device 16 again judges whether or not the contamination of the surrounding information acquisition device 14 is being measured. In a case where this judgment is affirmative, the routine returns to step 106 and the above-described processings are repeated, whereas in a case where the judgment is negative, the routine proceeds to step 109.In step 109, the cleaning control device 16 judges whether or not the driving is switched based on the information output from the automatic drive control section 12. In a case where this judgment is affirmative, the routine goes to step 112, whereas in a case where this judgment is negative, the routine goes to step 110.In step 110, the purge control device 16 judges whether or not the ignition switch has been turned off. In a case where this judgment is negative, the routine returns to step 100, and the above-described processings are repeated, whereas in a case where the judgment is positive, the series of processings is terminated.On the other hand, in step 112, the cleaning control device 16 performs the drive switching processing, and the routine proceeds to step 110. More specifically, as described above, in a case where the driving is switched from the automatic driving to the manual driving, the cleaning control device 16 controls the fogging prevention device 30 that executes the process of preventing the fogging of the windows. On the other hand, in a case where the driving is normally switched from manual driving to automatic driving, the cleaning control device 16 controls the cleaning device 18 that executes the dirt removing processing on the surrounding information acquisition device 14. In this way, since processing that prevents fogging of the windows is executed in a case of switching to manual driving, the vision of the driver can be ensured. On the other hand, since the processing that removes dirt on the surrounding information acquisition device 14 by the cleaning device 18 is executed in a case of shifting to automatic driving, the acquisition performance of the surrounding information acquisition device 14 can be secured. Accordingly, the switching of the driving can be securely performed.(Third Embodiment)FIG. 5 is a block diagram showing the structure of a control apparatus for a vehicle relating to the present embodiment. Note that structures that are the same as those of the previous embodiments are denoted by the same reference numerals, and detailed description thereof will be omitted.A control device 13 for a vehicle relating to the present embodiment is an example in which the surrounding information acquisition device 14 is provided inside the vehicle. Since the surrounding information acquisition device 14 is provided inside the vehicle, the cleaning device 18 can be omitted, and therefore the cleaning device 18 is shown by the broken line in FIG. 5.Further, since the surrounding information acquisition device 14 is provided inside the vehicle, the fogging prevention devices 30 serving as fogging prevention portions and execution portions are provided instead of the cleaning device 18, and the performance of acquiring the surrounding information is ensured.Specifically, a wiper device 32, a defroster device 34, an air conditioner 36, and a defogger device 38 are provided as the anti-fogging device 30, and are connected to the on-board network 20, respectively.Further, in order to control the operation of each of the anti-fogging devices 30, sensors such as raindrop sensors 40, an outside air temperature sensor 42, an inside air temperature sensor 44, a humidity sensor 46, and the like are connected to the on-board network 20. Further, the cleaning control device 16 controls the operation of the anti-fogging device 30 based on the results of detection of the respective sensors.In the present embodiment, fogging of the windows (including poor visibility caused by raindrops adhering to the window) is measured based on the results of detection of the various sensors. In a case where fogging of the windows has occurred, the fogging prevention devices 30 are operated and the fogging is removed and the detection performance of the surrounding information detection device 14 is ensured.Concrete processings executed in the control device 13 for a vehicle relating to the present embodiment will be described next. FIG. 6 is a flowchart showing an example of the flow of the processes executed in the cleaning control device 16 of the control device 13 for a vehicle related to the present embodiment. Note that the processings of FIG. 6 will be described as starting in a case where an unillustrated ignition switch is turned on, for example.In step 200, the cleaning control device 16 judges whether the current running state is the automatic driving. This judgment is carried out based on the information output from the automatic drive control section 12. In a case where this judgment is affirmative, the routine moves to step 202, and in a case where the judgment is negative, the routine proceeds to step 216.In step 202, the cleaning control device 16 judges whether the recognition rate of the surrounding information acquisition device 14 is decreased. In the same manner as the detection of the contamination of the surrounding information detection device 14 in the first embodiment, this judgment is made by the cleaning control device 16 that determines the ratio of the poor quality portions of the surrounding information detection device 14 and judges whether or not the determined ratio is greater than or equal to a predetermined value. In a case where this judgment is affirmative, the routine goes to step 204, whereas in a case where the judgment is negative, the routine goes to step 216.In step 204, the cleaning controller 16 judges whether or not the windows are frozen. This judgment is a judgment regarding whether a temperature lower than or equal to a predetermined temperature has been detected by the outside air temperature sensor 42. In a case where this judgment is affirmative, the routine goes to step 206, while in a case where the judgment is negative, the routine goes to step 208.In step 206, the cleaning controller 16 effects control to actuate the defroster 34, and the routine proceeds to step 208. Due to this, fogging of the windows due to freezing of the windows can be removed, and the detection performance of the surrounding information detection device 14 can be ensured. Note that the defroster 34 can be operated for a predetermined time and then stopped, or can be stopped after judging again whether or not the windows are frozen.In step 208, the cleaning controller 16 judges whether or not the raindrops have been measured. This judgment is a judgment as to whether or not the raindrops have been measured by the raindrop sensor 40. In a case where the judgment is affirmative, the routine proceeds to step 210, whereas in a case where the judgment is negative, the routine proceeds to step 212.In step 210, the cleaning control device 16 effects control to operate the wiper device 32, and the routine proceeds to step 212. Due to this, raindrops and fogging of the windows can be removed, and the detection performance of the surrounding information detection device 14 can be ensured. Note that the wiper device 32 can be operated for a certain time and then stopped, or can be stopped when it is judged again whether raindrops have been measured or not. The raindrops can be further removed by opening and closing the windows, not by the wiper device 32. Or, according to the direction of the detection of the surrounding information, an operation of the wiper device 32 and opening / closing of the windows may be performed.In step 212, the cleaning control device 16 judges whether or not fogging of the windows has occurred. This judgment is carried out based on the results of detecting the outside air temperature sensor 42, the inside air temperature sensor 44 and the humidity sensor 46. For example, it is judged whether the respective results of the detection satisfy predetermined conditions under which fogging of the windows occurs. In a case where this judgment is affirmative, the routine goes to step 214, whereas in a case where the judgment is negative, the routine goes to step 216.In step 214, the cleaning controller 16 effects control to actuate the air conditioner 36 and the deneubler device 38 and the routine proceeds to step 216. Due to this, fogging of the windows is removed, and the detection performance of the surrounding information detection device 14 can be ensured. Note that the air conditioner 36 and the defogger 38 are operated for a certain time and then may be stopped or may be stopped after it is judged again whether or not fogging of the windows has occurred. Further, according to the direction of the sensing environment information, only either the air conditioner 36 or the defogger device 38 may be operated, instead of sharing both the air conditioner 36 and defogger device 38. Or, removing the fitting by opening / closing the windows may be suitably combined therewith.In step 216, the purge control device 16 judges whether or not the ignition switch has been turned off. In a case where this judgment is negative, the routine returns to step 200 and the above-described processings are repeated, whereas in a case where the judgment is positive, the series of processings is terminated.Note that in the present embodiment, in a case where the surrounding information acquisition device 14 is also provided outside the vehicle, processings similar to those of the first embodiment can be executed by the cleaning device 18 cleaning the surrounding information acquisition device 14 that is outside the vehicle.Further, also in the present embodiment, the drive switching processing at the time of switching the traveling can be executed as in the second embodiment.Note that processings executed by the cleaning control device 16 in the above-described respective embodiments are described as software processings executed by the execution of programs, but these processings may be processings executed by hardware. Or these processings may be processings combining software and hardware. Further, the above-described programs stored in the ROM may be stored and distributed on any of various types of storage media.Moreover, the present invention is not limited to the above, and it can be naturally implemented by modifying it in various ways different from the above within the range not deviating from the gist thereof.Thus, a control device for a vehicle includes an environment information acquisition section that acquires the environment information of a vehicle, a measurement section that measures dirt on the environment information acquisition section, a removal section that removes dirt on the environment information acquisition section, and a control section that controls the removal section to remove the dirt in at least one of the cases of instructing removal of the dirt by the removal section or measuring the dirt by the measurement section.

Claims

A control device for a vehicle, comprising: an environmental information acquisition section that acquires information about the environment of a vehicle; a measurement section that measures a state expressing deterioration in the acquisition performance of the environmental information acquisition section; an execution section that executes predetermined processing that ensures the acquisition performance of the environmental information acquisition section; and a control section that controls the execution section to execute the processing in at least one of the cases of instructing the execution by the execution section or measuring the state by the measurement section; and a fogging prevention section that prevents fogging of windows; A drive control section that generates a movement plan along a predetermined target route on the basis of information about the surroundings of the vehicle and map information, and that controls switching between automatic driving in which the drive is controlled so that the vehicle autonomously travels and manual driving by a driver; wherein in a case where the drive control section switches from automatic driving to manual driving, the control section controls the anti-fogging section so as to operate the anti-fogging section.A control device for a vehicle, comprising: an environmental information acquisition section that acquires information about the environment of a vehicle; a measurement section that measures a state expressing deterioration in the acquisition performance of the environmental information acquisition section; an execution section that executes predetermined processing that ensures the acquisition performance of the environmental information acquisition section; and a control section that controls the execution section to execute the processing in at least one of the cases of instructing the execution by the execution section or measuring the state by the measurement section; and a fogging prevention section that prevents fogging of windows; and a drive control section that generates a movement plan along a predetermined target route on the basis of information on the surroundings of the vehicle and map information, and that controls switching between automatic driving in which the drive is controlled so that the vehicle autonomously travels and manual driving by a driver; wherein in a case where the drive control section switches from manual driving to automatic driving, the control section controls the execution section so as to execute the processing.The control device for a vehicle according to claim 1 or 2, wherein in a case where the surrounding information acquisition section is provided on a vehicle interior, the measurement section measures fogging of the glass as the state, and the execution section executes processing that prevents fogging of the windows as predetermined processing.The control device for a vehicle according to claim 1 or 2, wherein the measurement section measures the dirt of the surrounding information acquisition section as the state, and the execution section executes, as the predetermined processing, processing that removes the dirt on the surrounding information acquisition section.A computer-readable non-transitory storage medium storing a storage program for a vehicle executable to cause a computer to function as a control portion of the control device according to any one of claims 1 to 4.A vehicle, comprising: a drive control portion that generates a movement plan along a preset target route based on the surrounding information of the vehicle and the map information, and that controls driving so that the vehicle autonomously travels according to the generated movement plan; and the control device for a vehicle according to any one of claims 1 to 4.

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