Vehicle and self-driving control device

Abstract

Vehicle, comprising: a drive unit that is electrically controllable; a steering unit that is electrically controllable; a braking unit that is electrically controllable; and a sensor circuit configured to detect an external obstacle, wherein the vehicle is configured to travel autonomously on a predetermined route by electrically controlling at least one of the drive unit, the steering unit and the braking unit, wherein the sensor circuit is configured to detect the obstacle in a first area located on the predetermined route and in a second area adjacent to the first area on the predetermined route, where the second area is further away than the first area, the vehicle enters the first area if: there is no obstacle in the first area; there is no obstacle in the second area; an obstacle in the second area cannot be detected by the sensor circuit; the sensor circuit detects another vehicle on the predetermined route, a speed of the other vehicle along the predetermined route is higher than a predetermined speed, and wherein the vehicle does not enter the first area and stops before the first area if: there is no obstacle in the first area; and there is an obstacle in the second area.

Description

TECHNICAL FIELD

[0001] The present disclosure relates to a vehicle capable of autonomously traveling on a predetermined travel route and to a self-driving control device used in the vehicle. STATE OF THE ART

[0002] In recent years, the development of vehicles capable of autonomous driving along a predetermined route has been advanced. As a self-driving-related technology, there is a technology for reducing malfunctions at or near intersections, as described in Patent Literature 1.

[0003] Patent Literature 1 discloses a technique in which a braking operation unit is controlled to generate braking force on a vehicle. When it is determined that a host vehicle position or an obstacle position is within or near an intersection, the braking operation unit is controlled by stationary object braking control, regardless of the obstacle's state, as in a case where an obstacle is stationary. The stationary object braking control is started later than the moving object braking control. CITATION LISTPATENT LITERATURE Patent literature 1: JP 2011 - 126 446 A Patent literature 2: JP 2008 - 87 618 A Patent literature 3: JP 2006 - 248 361 A SUMMARY OF THE INVENTION

[0004] It is an object of the present disclosure to provide a vehicle that can safely travel at an intersection, a sidewalk, and a pedestrian crossing, and a self-driving control device. SOLUTION TO THE PROBLEM

[0005] A vehicle according to the present disclosure includes: an electrically controllable drive unit; an electrically controllable steering unit; an electrically controllable braking unit; and a sensor circuit configured to detect an external obstacle. The vehicle is configured to travel autonomously on a predetermined travel route by electrically controlling at least one of the drive unit, the steering unit, and the braking unit. The sensor circuit is configured to detect the obstacle in a first area located on the predetermined travel route and in a second area adjacent to the first area on the predetermined travel route, the second area being farther away than the first area.The vehicle enters the first area if: there is no obstacle in the first area; and there is no obstacle in the second area, an obstacle in the second area cannot be detected by the sensor circuit; the sensor circuit detects another vehicle on the predetermined travel route, a speed of the other vehicle along the predetermined travel route is higher than a predetermined speed. The vehicle does not enter the first area and stops before the first area if: there is no obstacle in the first area; and there is an obstacle in the second area.

[0006] According to the present disclosure, obstacles external to the vehicle, such as vehicles, motorcycles, people, bicycles, and wheelchairs, are detected in the first area on a planned future route and in the second area adjacent to the first area and farther away than the first area. The vehicle enters the first area if no obstacle is present in either the first or second area. The vehicle does not enter the first area and stops before the first area if no obstacle is present in the first area while an obstacle is present in the second area.

[0007] Therefore, assuming that the first area is an intersection, sidewalk, or pedestrian crossing, the vehicle will stop before the first area in a situation where the host vehicle cannot enter the second area after the vehicle passes through the first area, so that the vehicle can avoid dangerous situations such as getting stuck on the intersection, sidewalk, or pedestrian crossing.

[0008] A self-driving control device according to the present disclosure is mountable in a vehicle. The vehicle includes: an electrically controllable drive unit; an electrically controllable steering unit; an electrically controllable braking unit; and a sensor circuit configured to detect an external obstacle. The vehicle is configured to travel autonomously on a predetermined travel route by electrically controlling at least one of the drive unit, the steering unit, and the braking unit. The sensor circuit is configured to detect the obstacle in a first area located on the predetermined travel route and in a second area adjacent to the first area on the predetermined travel route, the second area being farther away than the first area.The self-driving control device is configured to perform control such that the vehicle enters the first area if: there is no obstacle in the first area; and there is no obstacle in the second area, an obstacle in the second area is not detectable by the sensor circuit; the sensor circuit detects another vehicle on the predetermined travel route, a speed of the other vehicle along the predetermined travel route is higher than a predetermined speed. The self-driving control device is configured to perform control such that the vehicle does not enter the first area and stops before the first area if: there is no obstacle in the first area; and there is an obstacle in the second area.

[0009] According to the present disclosure, obstacles external to the vehicle, such as vehicles, motorcycles, people, bicycles, and wheelchairs, are detected in the first area on a planned future route and in the second area adjacent to the first area and farther away than the first area. The self-driving control device executes control such that the vehicle enters the first area if no obstacle is present in either the first or second area. The self-driving control device executes control such that the vehicle does not enter the first area and stops before the first area if no obstacle is present in the first area while an obstacle is present in the second area.

[0010] Therefore, assuming that the first area is an intersection, a sidewalk, or a pedestrian crossing, the self-driving control device performs control so that the vehicle stops before the first area in a situation where the host vehicle cannot enter the second area after the vehicle passes through the first area, so that the vehicle can avoid dangerous situations such as getting stuck on the intersection, sidewalk, or pedestrian crossing. BRIEF DESCRIPTION OF THE DRAWINGS Fig. 1 is a block diagram showing a configuration of a portion of a first embodiment related to self-driving of a vehicle. Fig. 2A and Fig. 2B are a plan view and a side view of the vehicle of the first embodiment. Fig. 3 is a rear view of the vehicle of the first embodiment. Fig. 4A and Fig. 4B show an example of a dangerous situation while the vehicle is driving. Fig. 5A and Fig. 5B show an example of a dangerous situation while the vehicle is driving. Fig. 6 shows self-driving control at an intersection in a case where a sensor circuit of the vehicle of the first embodiment can detect an obstacle in a third area that is not on a travel route of the vehicle and is adjacent to a danger area. Fig. 7 is a flowchart showing the basic operation steps of a self-driving control device installed in the vehicle of the first embodiment. Fig. 8 shows control executed at the time when a self-driving control device mounted in a vehicle of a second embodiment overtakes in the same lane on a road having one lane on each side. Fig. 9 shows control executed at the time when the self-driving control device installed in the vehicle of the second embodiment moves to an adjacent second lane to perform overtaking on the road having one lane on each side. Fig. Figure 10 shows details of the road with one lane on each side. Fig. 11 is a flowchart showing the basic operation steps of the self-driving control device installed in the vehicle of the second embodiment. DESCRIPTION OF EMBODIMENTS

[0011] Hereinafter, embodiments (hereinafter referred to as "the present embodiment") that more specifically disclose a vehicle and a self-driving control device according to the present disclosure will be described in more detail with reference to the drawings, if necessary. However, unnecessary detailed descriptions may be omitted. For example, a detailed description of a well-known matter or a repeated description of substantially the same configuration may be omitted. This is to avoid unnecessary redundancy in the following description and to facilitate understanding by those skilled in the art. It should be noted that the attached drawings and the following description are provided for a thorough understanding of the present disclosure by those skilled in the art, and are not intended to limit the subject matter recited in the claims.

[0012] In the following, preferred embodiments for carrying out the present disclosure will be described in more detail with reference to the drawings. (First embodiment)

[0013] In the following, a vehicle 1 of a first embodiment will be described with reference to Fig. 1 described. Fig. 1 is a block diagram showing a configuration of a portion related to self-driving of the vehicle 1 of the first embodiment. In Fig. 1, the vehicle 1 includes: a detection circuit 2 that detects a position and a speed of the vehicle 1; a map information storage circuit 3 that stores map information; a sensor circuit 4 that detects an obstacle existing outside the vehicle 1; a wireless communication circuit 5 capable of wirelessly communicating with the outside world; an electrically controllable drive unit 6; an electrically controllable steering unit 7; an electrically controllable braking unit 8; and a self-driving control device 9 that electrically controls the drive unit 6, the steering unit 7, and the braking unit 8 and causes the vehicle 1 to autonomously travel on a predetermined travel route.

[0014] Fig. 2A is a plan view of the vehicle 1, and Fig. 2B is a side view of vehicle 1. Fig. 3 is a rear view of the vehicle 1. The vehicle 1 includes: left and right front wheels 11FL, 11FR and left and right rear wheels 11RL, 11RR; left and right headlights 12L, 12R arranged at a front side; left and right brake lights 13L, 13R arranged at a rear side; a brake light 14 arranged at an upper center portion of the rear side; and left and right turn signals 15L, 15R arranged at the rear side. The sensor circuit 4 is arranged at an upper center of a front glass 16 of the vehicle 1 on a vehicle interior side.

[0015] As in Fig. 1, the detection circuit 2 includes a position information detection circuit 21 and a speed information detection circuit 22. The detection circuit 2 detects the position information of the vehicle 1 through the position information detection circuit 21, and detects the speed information of the vehicle 1 through the speed information detection circuit 22. The detection circuit 2 outputs the detected position information and speed information of the vehicle 1 to the self-driving control device 9. The map information storage circuit 3 includes a flash ROM that is write-protected and capable of electrically erasing and rewriting data, and stores the map information. The map information storage circuit 3 outputs the map information to the self-driving control device 9 in response to a map information request from the self-driving control device 9.The map information stored in the map information storage circuit 3 can be overwritten with other map information input via the wireless communication circuit 5. The sensor circuit 4 includes a camera, a millimeter-wave radar, a LIDAR (Light Detection and Ranging, Laser Imaging Detection and Ranging), a sonar, a temperature sensor, a barometric pressure sensor, a humidity sensor, an illuminance sensor, and the like. The sensor circuit 4 outputs various detection results to the self-driving control device 9.

[0016] The wireless communication circuit 5 performs road-to-vehicle communication and receives a signal transmitted from a roadside device (not shown). Known techniques can be used for the road-to-vehicle communication. The wireless communication circuit 5 outputs the received signal to the self-driving control device 9. The wireless communication circuit 5 can be used for a cellular phone communication system, a wireless metropolitan area network (WMAN), or the like, and can perform wireless communication with a data server, infrastructure, another vehicle, a pedestrian, or the like.

[0017] The drive unit 6 includes an engine (not shown) of the vehicle 1 and a control unit that electrically controls the output of the engine. The drive unit 6 moves the vehicle 1. During self-driving, the output of the drive unit 6 changes under the control of the self-driving control device 9. The drive unit 6 may include a motor (not shown), or may include both an engine and the engine, and in the configuration, the output of the engine and the engine is similarly controlled by the self-driving control device 9. The steering unit 7 is a steering device configured to change the traveling direction of the vehicle 1 as needed. During self-driving, a steering angle of the steering unit 7 changes under the control of the self-driving control device 9. The braking unit 8 is a device that decelerates or stops the vehicle 1 during traveling.During self-driving, a braking force of the braking unit 8 changes under the control of the self-driving control device 9.

[0018] The self-driving control device 9 includes: an input / output circuit 91; an output circuit 92; a memory 93; and a CPU 94. The input / output circuit 91 serves as an interface that electrically connects the detection circuit 2, the map information storage circuit 3, the sensor circuit 4, and the wireless communication circuit 5 to the CPU 94. The output circuit 92 serves as an interface that electrically connects the drive unit 6, the steering unit 7, and the brake unit 8 to the CPU 94. The memory 93 includes: a ROM for reading data (not shown); a RAM that can overwrite data (not shown); and a read-only flash ROM that can electrically erase and rewrite data (not shown). The ROM stores a basic program configured to start the CPU 94 when the power is turned on.The RAM is used in operation of the CPU 94, and the flash ROM stores a program that supports the self-driving control of the vehicle 1.

[0019] The CPU 94 cooperates with the memory 93 to execute control related to self-driving. That is, the CPU 94 acquires the position information and speed information from the detection circuit 2, acquires the map information from the map information storage circuit 3, further acquires the various detection results acquired by the sensor circuit 4, acquires the signal received by the wireless communication circuit 5, controls the drive unit 6, the steering unit 7, and the brake unit 8 via the output circuit 92 based on the acquired position information, speed information, map information, sensor information, and information from the roadside device (not shown), thus causing the vehicle to autonomously travel along the predetermined travel route.In particular, the vehicle 1 of the first embodiment can travel safely in dangerous areas such as intersections, sidewalks, and pedestrian crossings. For example, if a vehicle continues traveling when an area beyond an intersection is blocked, the vehicle will get stuck at the intersection, which is dangerous. According to the vehicle 1 of the first embodiment, control is performed to avoid such dangerous situations.

[0020] In the present disclosure, an area with danger, such as an intersection, a sidewalk, or a pedestrian crossing, is referred to as a "danger area," and an area outside the danger area is referred to as an "exit area." The exit area is an area that does not correspond to at least one of an intersection, a pedestrian crossing, and a sidewalk, and is an area on a roadway in the present disclosure. Furthermore, in the present disclosure, a length of the exit area in a direction along the travel route of the roadway is longer than a total length of the vehicle 1 and shorter than twice the total length of the vehicle 1. The danger area corresponds to a first area, and the exit area corresponds to a second area. The first area and the second area are linked to the map information stored in the map information storage circuit 3.

[0021] The Fig. 4A and Fig. 4B and the Fig. 5A and Fig. 5B each show an example of a dangerous situation while driving vehicle 1. Fig. 4A shows a situation in which vehicle 1 is about to cross an intersection 100. In Fig. 4A, intersection 100 is a hazard area 130-1. An area on a roadway 120-1 located straight ahead after a pedestrian crossing 110-1 and adjacent to a pedestrian crossing 110-2 is referred to as an exit area 140-1. An area on a roadway 120-2 located left ahead after pedestrian crossing 110-1 and adjacent to pedestrian crossing 110-1 is referred to as an exit area 140-2. An area on roadway 120-2 located right ahead after pedestrian crossing 110-1 and adjacent to a pedestrian crossing 110-3 is referred to as an exit area 140-3.

[0022] In a situation where exit area 140-1 is blocked, the vehicle will become stuck in pedestrian crossing 110-2 if the vehicle continues to move. In a situation where exit area 140-2 is blocked, the vehicle will become stuck in pedestrian crossing 110-1 if the vehicle attempts to turn left. In a situation where exit area 140-3 is blocked, the vehicle will become stuck in pedestrian crossing 110-3 if the vehicle attempts to turn right. If the vehicle becomes stuck in pedestrian crossing 110-2 or pedestrian crossing 110-3, a pedestrian crossing may be impeded, and the progress of another vehicle may be impeded after a signal change.

[0023] Fig. Figure 4B shows a situation in which vehicle 1 is about to pass a pedestrian crossing 110 on a general road. In Fig. 4B, the pedestrian crossing 110 defines a danger zone 130-2, and an area on a roadway 120 that is adjacent to the pedestrian crossing 110 and farther away than the pedestrian crossing 110 is referred to as an exit zone 140. In the case of such an example, in a situation where the exit zone 140 is blocked, the vehicle will become stuck on the pedestrian crossing 110 in the same way as in the case of continuing the Fig. 4A, if the vehicle continues to drive. In the Fig. In the example shown in Figure 4B, there are 120 sidewalks and 150 sidewalks on two sides of the roadway.

[0024] Fig. 5A shows a situation in which vehicle 1 is about to cross sidewalk 150 from lane 120-3 and enter lane 120 at an intersection 160. In Fig. 5A, the sidewalk 150 is the danger area, and an area on the roadway 120 that is adjacent to the sidewalk 150 and farther away than the sidewalk 150 is referred to as the exit area 140. In such an example, in a situation where the exit area 140 on the roadway 120-2 is blocked, if the vehicle continues to travel, it will get stuck on the sidewalk 150, which is the danger area.

[0025] Fig. Figure 5B shows a situation in which vehicle 1 is about to cross sidewalk 150 from intersection 160 and enter lane 120-3. In Fig. 5B, the sidewalk 150 is the danger area, and an area on the roadway 120-3 adjacent to the sidewalk 150 and farther away than the sidewalk 150 is referred to as the exit area 140. In such an example, in a situation where the exit area 140 adjacent to the sidewalk 150 is blocked, the vehicle will become stuck on the sidewalk 150 if the vehicle continues to travel.

[0026] Next, a control of the self-driving control device 9 will be described in more detail.

[0027] Based on the sensor information from the sensor circuit 4, the self-driving control device 9 sets an area corresponding to at least one intersection, a pedestrian crossing, or a sidewalk on the planned future route as a danger area, and sets an area adjacent to and farther from the danger area as an exit area. The planned future route is a route the vehicle plans to travel in the future, not a route traveled in the past. The sensor circuit 4 detects obstacles outside the vehicle, such as vehicles, motorcycles, people, bicycles, and wheelchairs, in both the danger area and the exit area. The sensor circuit 4 can also detect obstacles outside the danger area serving as the first area and the exit area serving as the second area.

[0028] (1) If it is determined from the sensor circuit 4 based on the sensor information that there is no obstacle in either the danger area or the exit area, the self-driving control device 9 executes control so that the vehicle enters the danger area. If it is determined that there is no obstacle in the danger area while there is an obstacle in the exit area, the control is executed so that the vehicle does not enter the danger area and stops before the danger area. For example, in the case of the Fig. 4A, it is determined that there is no obstacle in the danger area 130-1 and the exit area 140-3, the self-driving control device 9 executes control so that the vehicle enters the danger area 130-1. If it is determined that there is no obstacle in the danger area 130-1 while there is an obstacle in the exit area 140-3, control is performed so that the vehicle does not enter the danger area 130-1 and stops before the danger area 130-1. In this way, even if the vehicle 1 attempts to pass through the danger area 130-1, if the vehicle 1 cannot enter the exit area 140-3 beyond the danger area 130-1, the vehicle 1 stops before the danger area 130-1.

[0029] (2) In a case where the sensor circuit 4 can detect an obstacle in a third area that is not on the travel route of the vehicle 1 and is adjacent to the danger area, the self-driving control device 9 executes control so that the vehicle enters the danger area when it is determined that there is no obstacle in the danger area, there is no obstacle in the exit area, and there is no obstacle moving toward the exit area in the third area. If it is determined that there is no obstacle in the danger area and there is no obstacle in the exit area, while there is an obstacle moving toward the exit area in the third area, the control is executed so that the vehicle does not enter the danger area and stops before the danger area.The third area is linked to the map information stored in the map information storage circuit 3 in the same manner as the first area and the second area described above.

[0030] Fig. Figure 6 shows the self-driving control at the intersection 160 in the case where the sensor circuit 4 can detect an obstacle in the third area, which is not on the route of the vehicle 1 and borders the danger area. Fig. 6, the control is carried out such that the vehicle enters the sidewalk 150 when it is determined that there is no obstacle on the sidewalk 150, which is the danger zone, that there is no obstacle in the exit zone 140, and that there is no vehicle 180 moving toward the exit zone 140 in a third zone 170. The control is carried out such that the vehicle does not enter the sidewalk 150 and stops in front of the sidewalk 150 when it is determined that there is no obstacle on the sidewalk 150 and there is no obstacle in the exit zone 140, while there is a vehicle 180 moving toward the exit zone 140 in the third zone 170.

[0031] (3) The self-driving control device 9 may further have a function for estimating the movement of an obstacle and may perform control using such a function. For example, if the sensor circuit 4 can detect an obstacle in the third area that is not on the travel route of the vehicle 1 and adjacent to the danger area, the self-driving control device 9 performs control so that the vehicle does not enter the sidewalk 150 and stops in front of the sidewalk 150 when there is no obstacle on the sidewalk 150 and there is no obstacle in the exit area 140, while a vehicle 180 moving toward the exit area 140 exists in the third area 170, and the vehicle 180 moving toward the exit area 140 is estimated to arrive at the exit area 140 earlier than the host vehicle (the vehicle 1).

[0032] (4) The self-driving control device 9 performs control such that the vehicle enters the sidewalk 150 when there is no obstacle on the sidewalk 150 and there is no obstacle in the exit area 140, while there is a vehicle 180 moving toward the exit area 140 in the third area 170, and the vehicle 180 moving toward the exit area 140 is estimated to arrive at the exit area 140 later than the host vehicle (the vehicle 1).

[0033] (5) The self-driving control device 9 executes the control so that the vehicle enters the sidewalk 150 when there is no obstacle on the sidewalk 150 while a vehicle 180 exists in the exit area 140, and the vehicle 180 in the exit area 140 is estimated to leave the exit area 140 before the host vehicle (the vehicle 1) arrives in the exit area 140.

[0034] (6) The self-driving control device 9 executes the control such that the vehicle enters the sidewalk 150 if: an obstacle in the exit area 140 is not detectable by the sensor circuit 4; and the sensor circuit 4 detects another vehicle 180 on the roadway 120 and a speed of the vehicle 180 along the roadway 120 is higher than a predetermined speed. The control is executed, for example, such that the vehicle enters the sidewalk 150 at a first speed. The control of (6) is, for example, as shown in Fig. 5B, a control executed in a case where the vehicle 1 and the vehicle 180 (not shown) are both traveling on the roadway 120-1 (a predetermined route) toward the exit area 140. If the speed of the other vehicle 180 is faster than that of the vehicle 1, the vehicle 1 may enter the sidewalk 150 because the vehicle 1 is then traveling behind the vehicle 180.

[0035] (7) The self-driving control device 9 executes control such that the vehicle enters the sidewalk 150 at a second speed lower than the first speed if: an obstacle in the exit area 140 is not detectable by the sensor circuit 4 and the sensor circuit 4 detects the other vehicle 180 on the roadway 120 and the speed of the vehicle 180 along the roadway 120 is lower than the predetermined speed. As in the above-described case (6) of the Fig. 5B, control (7) is performed in the case where the vehicle 1 and the vehicle 180 (not shown) are both traveling on the roadway 120-1 (the predetermined route) toward the exit area 140. When the speed of the other vehicle 180 is lower than the first speed (the predetermined speed), the vehicle 1 enters the sidewalk 150 at the second speed lower than the first speed to then travel behind the vehicle 180.

[0036] In this way, the self-driving control device 9 sets the intersection, the sidewalk, and the pedestrian crossing as the danger area, further sets the area beyond the danger area as the exit area, and executes control so that the vehicle does not enter the intersection, the sidewalk, and the pedestrian crossing if the host vehicle (the vehicle 1) cannot enter the set exit area or is predicted to occur soon, so that the vehicle does not get stuck in the danger area, and the safety of the self-driving can be improved.

[0037] Next, an operation of the self-driving control device 9 installed in the vehicle 1 of the first embodiment will be described. Although in the description, a subject of the sentences should be the CPU 94 since a subject of the operation is the CPU 94, the subject of the sentences will be the self-driving control device 9 since the operation is described as an operation of the device.

[0038] Fig. 7 is a flowchart showing the basic operation steps of the self-driving control device 9 installed in the vehicle 1 of the first embodiment. In Fig. 7, the self-driving control device 9 determines "whether the vehicle is stopped or traveling immediately before the danger area" (step S10). If "NO" is determined in step S10, the self-driving control device 9 repeats the current process until "YES" is determined. On the other hand, if "YES" is determined in step S10, the self-driving control device 9 determines "whether the danger area (intersection, sidewalk, or pedestrian crossing) is clear" (step S11). If "YES" is determined in step S11, the self-driving control device 9 determines "whether the exit area is clear" (step S12). If "YES" is determined in step S12, the self-driving control device 9 determines "whether there is no obstacle (obstacles outside the vehicle, such as vehicles, motorcycles, people, bicycles, and wheelchairs) moving toward the exit area" (step S13).

[0039] If "NO" is determined in step S13, the self-driving control device 9 recognizes that "an obstacle is present moving toward the exit area" (step S14). Then, the self-driving control device 9 determines "whether the obstacle arrives earlier than the host vehicle" (step S15). If "NO" is determined, the vehicle enters the danger area, enters the exit area, and passes through the exit area after passing through the danger area (step S16). After passing through the exit area, the current process is terminated. On the other hand, if "YES" is determined in step S15, the self-driving control device 9 does not enter the danger area and stops before the danger area (step S20), and returns to step S10.

[0040] If "YES" is determined in step S13, the self-driving control device 9 directly proceeds to step S16 without executing the processes of step S14 and step S15. The vehicle enters the danger area, and after passing through the danger area, enters and passes through the exit area. After passing through the exit area, the current process is terminated.

[0041] If “NO” is determined in step S11, the self-driving control device 9 does not enter the danger area and stops before the danger area (step S20), and returns to step S10.

[0042] If "NO" is determined in step S12, the self-driving control device 9 determines "whether the exit area is not clear" (step S17). If "YES" is determined in step S17, the self-driving control device 9 determines "whether the exit area is likely to be clear at the time of the host vehicle's arrival" (step S18). If "YES" is determined in step S18, the self-driving control device 9 proceeds to step S16, the vehicle enters the danger area, and after passing through the danger area, enters and passes through the exit area. After passing through the exit area, the current process is terminated.On the other hand, if "NO" is determined in step S18, the self-driving control device 9 recognizes that "the exit area is likely to be unobstructed at the time of arrival of the host vehicle" (step S19), and the vehicle does not enter the danger area and stops before the danger area (step S20), and the process returns to step S10.

[0043] If "YES" is determined in step S17, the self-driving control device 9 determines that "the exit area is unknown (blind spot)" (step S21). Next, the self-driving control device 9 determines "whether the host vehicle is traveling in a traffic flow and the exit area is expected to be clear, depending on the speed of a preceding vehicle" (step S22). If "YES" is determined, the process proceeds to step S16, the vehicle enters the danger area, and after passing through the danger area, enters and passes through the exit area. After passing through the exit area, the current process is terminated.On the other hand, if "NO" is determined in step S22, the self-driving control device 9 recognizes that "the exit area is unknown and it is not possible to determine from the position of the host vehicle whether the exit area is clear" (step S23), the vehicle enters the danger area at a slow speed (step S24), and the process returns to step S10.

[0044] As described above, the vehicle 1 of the first embodiment detects the obstacles outside the vehicle, such as vehicles, motorcycles, people, bicycles, and wheelchairs, in the danger zone of intersections, sidewalks, and pedestrian crossings on the planned future route and in the exit zone adjacent to the danger zone and farther away than the danger zone. The vehicle enters the danger zone if there is no obstacle in either the danger zone or the exit zone, and the vehicle does not enter the danger zone and stops before the danger zone if there is no obstacle in the danger zone while there is an obstacle in the exit zone, so that dangerous situations such as getting stuck at intersections, sidewalks, and pedestrian crossings can be avoided.

[0045] If the vehicle 1 of the first embodiment can detect the obstacle in the third area that is not on the travel route and adjacent to the danger area, the vehicle enters the danger area if there is no obstacle in the danger area, there is no obstacle in the exit area, and there is no obstacle moving toward the exit area in the third area, and the vehicle does not enter the danger area and stops before the danger area if there is no obstacle in the danger area, there is no obstacle in the exit area, there is an obstacle moving toward the exit area in the third area, while the obstacle is expected to arrive at the exit area earlier than the host vehicle (the vehicle 1), so that dangerous situations related to the obstacle in the third area that is not on the travel route can be avoided.On the other hand, the vehicle enters the danger zone if the obstacle is estimated to arrive in the exit zone later than the carrier vehicle (vehicle 1).

[0046] The vehicle 1 of the first embodiment enters the danger area if there is no obstacle in the danger area and the obstacle in the exit area is estimated to leave the exit area before the host vehicle (the vehicle 1) arrives at the exit area, so that the vehicle 1 can travel smoothly without getting stuck in the danger area.

[0047] If an obstacle in the exit area cannot be detected by the sensor circuit 4, the sensor circuit 4 detects another vehicle 180 on the same roadway, and the speed of the other vehicle 180 along the same roadway is higher than the predetermined speed, the vehicle 1 of the first embodiment enters the danger zone at the first speed, and if the speed of the other vehicle 180 along the same roadway is lower than the predetermined speed, the vehicle enters the danger zone at the second speed, which is lower than the first speed. Thus, the vehicle then always follows the other vehicle 180, so that the vehicle can travel smoothly while avoiding dangerous situations such as a collision with the other vehicle 180. (Second embodiment)

[0048] A vehicle 200 of a second embodiment can autonomously travel on the predetermined travel route in the same manner as the vehicle 1 of the first embodiment described above. In particular, the vehicle 200 of the second embodiment can ensure safety during overtaking. A configuration of a portion related to the autonomous driving of the vehicle 200 of the second embodiment is the same as that of the vehicle 1 of the first embodiment described above, so that Fig. 1. However, since some of the functions of the self-driving control device are different, different reference numerals are assigned to the self-driving control device and the memory constituting the self-driving control device. In this case, "201" is assigned to the self-driving control device, and "202" is assigned to the memory constituting the self-driving control device 201.

[0049] The memory 202 includes: a ROM for reading data (not shown); a RAM that can overwrite data (not shown); and a read-only flash ROM that can electrically erase and rewrite data (not shown). The ROM stores a basic program configured to start the CPU 94 when the power is turned on. The RAM is used during operation of the CPU 94, and the flash ROM stores a program that supports the self-driving control of the vehicle 200.

[0050] For example, when the vehicle 200 overtakes a preceding vehicle (a vehicle that exists ahead regardless of whether the vehicle is traveling or stopped) on a roadway with one lane on each side, there is a case where the vehicle 200 may perform the overtaking in the same lane even though a part of the vehicle 200 may protrude into an adjacent lane, or a case where the vehicle 200 enters the adjacent lane (an oncoming lane) to perform the overtaking. In the latter case, it is necessary to pay special attention to oncoming vehicles because the vehicle 200 enters the oncoming lane. To perform the overtaking, the self-driving control device 201 installed in the vehicle 200 of the second embodiment confirms the oncoming lane and confirms whether any temporarily stopped vehicle, such as a traffic jam, exists and whether there is room to return.To perform such confirmation, a travel control function of the self-driving control device 201 includes the following four functions. (Function 1) Based on image data from a camera (not shown) of the sensor circuit 4, which confirms whether the brake lamps 13R, 13L and 14 (see Fig. 3) of another vehicle are illuminated (the illumination of the brake lights 13R, 13L and 14 indicates the temporarily stopped vehicle), and confirm whether the turn signal lights 15R, 15L of the other vehicle are illuminated. (Function 2) Prediction of a parked vehicle based on a size of the space on the right side of a vehicle parked on the left side of a road. (Function 3) Predicting a vehicle in traffic congestion at a location such as near an intersection or pedestrian crossing or near a traffic light using a map. (Function 4) Detecting space for returning in front of a vehicle to be overtaken when driving on a right side in front of the vehicle to be overtaken.

[0051] Since the self-driving control device 201 has the four functions described above, overtaking can be performed more safely. Fig. 8 shows an overtaking control of the self-driving control device 201 at the time when the overtaking operation is performed on the same lane on a road having one lane on each side. Fig. 9 shows the overtaking control of the self-driving control device 201 at the time when the vehicle enters an adjacent lane (an oncoming lane) to perform overtaking on the road having one lane on each side. Fig. 10 shows details of the road with one lane on each side. Note that the road is not limited to having one lane on each side, but may also have two lanes on each side, three lanes on each side, four lanes on each side, or the like, while the road with one lane on each side is taken as an example in the present disclosure.

[0052] As in Fig. As shown in Fig. 10, a road 300 includes a first lane 300-1 and a second lane 300-2 adjacent to the first lane 300-1. The second lane 300-2 is an opposite lane of the first lane 300-1 and has the same width as the first lane 300-1. A boundary between the first lane 300-1 and the second lane 300-2 is referred to as a first boundary line (boundary line) 300-3. The first lane 300-1 includes a second boundary line 300-4 opposite the first boundary line 300-3 and indicating a boundary between the first lane 300-1 and another area. A center line 300-5 of the first lane 300-1 is a virtual line and is usually invisible.

[0053] The vehicle 200 is traveling on a travel route (a predetermined travel route) 310 in the first lane 300-1, and an obstacle (e.g., "another vehicle") 400 is stopped in front of the vehicle 200 on a left side. In such a situation, when the obstacle 400 is overtaken in the first lane 300-1, the self-driving control device 201 installed in the vehicle 200 first predicts, by means of the above-described (Function 1) and (Function 2), that the obstacle 400 ahead is a parked vehicle. The prediction of the parked vehicle is based on the fact that a speed is "0", the brake lamps 13R, 13L, and 14 are not illuminated, and the turn signal lamps 15R, 15L are not illuminated. In this case, it is not necessary that all of these conditions are met, and the prediction may, for example,based only on the fact that the brake lights 13R, 13L and 14 are not lit or that the brake lights 13R, 13L and 14 are not lit and the indicator lights 15R, 15L are not lit.

[0054] If the self-driving control device 201 predicts that the obstacle 400 is a parked vehicle, the vehicle 200 (the host vehicle) is moved to the right so that the vehicle 200 can pass next to the obstacle 400. Subsequently, if it is confirmed by the above-mentioned (Function 3) that there is no queue of vehicles or the like in the traffic jam in front of the obstacle 400, the overtaking is started. The self-driving control device 201 performs return space detection (Function 4) following the start of the overtaking operation, and if the return space can be confirmed, the vehicle 200 is returned to the original travel route after the overtaking.

[0055] On the other hand, when entering the second lane 300-2, which is the oncoming lane, to overtake the obstacle 400, the vehicle 200 (the host vehicle) is moved to the right when the self-driving control device 201 predicts through the above-mentioned (Function 1) and (Function 2) that the obstacle 400 in front is a parked vehicle. When it is confirmed through the above-mentioned (Function 3) that there is no queue of vehicles or the like in the traffic jam in front of the obstacle 400, the vehicle 200 enters the second lane 300-2 and starts overtaking. The self-driving control device 201 performs detection of the return space (Function 4) following the start of overtaking, and if the return space can be confirmed, the vehicle 200 is returned to the original lane (ie, the first lane 300-1) after overtaking.

[0056] This is the basic operation of the self-driving control device 201. The self-driving control device 201 can further perform the following control. (1) If a first obstacle (not shown) is present that is associated with the travel route 310 and is moving at a speed lower than a predetermined speed (a speed of the vehicle 200) while the vehicle 200 is traveling on the travel route 310 in the first lane 300-1, the self-driving control device 201 executes control so that the vehicle 200 approaches the first boundary line 300-3 between the first lane 300-1 and the second lane 300-2 from the travel route 310, and executes control so that the sensor circuit 4 detects a second obstacle (not shown) in the traveling direction after approaching the first boundary line 300-3. The speed lower than the predetermined speed (the speed of the vehicle 200) includes a speed at stop. (2) If a first obstacle (not shown) is present that is associated with the travel route 310 and moves at a speed lower than the predetermined speed while the vehicle 200 is traveling on the travel route 310 on the first travel lane 300-1, the self-driving control device 201 executes control such that the vehicle 200 approaches the first boundary line 300-3 from the travel route 310 and travels without crossing the first boundary line 300-3. (3) If: a first obstacle (not shown) is present that is associated with the travel route 310 and moves at a speed lower than the predetermined speed while the vehicle 200 is traveling on the travel route 310 on the first travel lane 300-1; and the first obstacle that moves at the speed lower than the predetermined speed is farther from the second boundary line 300-4 than the vehicle (the host vehicle) 200, the self-driving control device 201 executes control such that the vehicle 200 approaches the first boundary line 300-3 from the travel route 310. (4) If: a first obstacle (not shown) is present which is associated with the travel route 310 and moves at a speed lower than the predetermined speed while the vehicle 200 is traveling on the travel route 310 on the first lane 300-1; and a distance L3 (see Fig. 10) between the first obstacle moving at a speed lower than the predetermined speed and the second boundary line 300-4 is smaller than a predetermined distance, the self-driving control device 201 executes control such that the vehicle 200 approaches the first boundary line 300-3 from the travel route 310. (5) If: a first obstacle (not shown) is present that is associated with the travel route 310 and moves at a speed lower than the predetermined speed while the vehicle 200 is traveling on the travel route 310 on the first travel lane 300-1; and of the first obstacle that moves at a speed lower than the predetermined speed, an end portion that is closer to the first boundary line 300-3 is closer to the second boundary line 300-4 than to the center line 300-5 between the first boundary line 300-3 and the second boundary line 300-4, the self-driving control device 201 executes control so that the vehicle 200 approaches the first boundary line 300-3 from the travel route 310. (6) If: a first obstacle (not shown) is present that is associated with the travel route 310 and moves at a speed lower than the predetermined speed while the vehicle 200 is traveling on the travel route 310 on the first lane 300-1; and no predetermined facility is present ahead within a predetermined distance, the self-driving control device 201 executes control such that the vehicle 200 approaches the first boundary line 300-3 between the first lane 300-1 and the second lane 300-2 from the travel route 310.If: a first obstacle (not shown) is present that is associated with the travel route 310 and is moving at a speed lower than the predetermined speed while the vehicle 200 is traveling on the travel route (the predetermined travel route) 310 on the first lane 300-1; and a predetermined facility is present ahead within the predetermined distance, the self-driving control device 201 executes control such that the vehicle 200 travels on the travel route 310 and stops before the first obstacle. Here, the predetermined facility is at least one of an intersection, a pedestrian crossing, or an exit or entrance of a commercial establishment. (7) If the sensor circuit 4 attempts to detect the second obstacle (not shown) in the traveling direction and detects at least the second obstacle located in front of the first obstacle (not shown) after the vehicle 200 approaches the first boundary line 300-3, the self-driving control device 201 executes the control so that the vehicle 200 stops in front of the first obstacle. (8) If the sensor circuit 4 detects at least the second obstacle (not shown) located in front of the first obstacle (not shown), the self-driving control device 201 executes the control so that the vehicle 200 stops in front of the first obstacle without crossing the first boundary line 300-3. (9) If at least the second obstacle (not shown) located in front of the first obstacle (not shown) is not detected, the self-driving control device 201 executes control so that the vehicle 200 travels beside the first obstacle in a state where at least a part of the vehicle 200 crosses the first boundary line 300-3. (10) If: at least the second obstacle (not shown) located in front of the first obstacle (not shown) is not detected; and the sensor circuit 4 detects that a predetermined space is available on the first travel lane 300-1 while the vehicle 200 is traveling beside the first obstacle in the state where at least a part of the vehicle 200 crosses the first boundary line 300-3, the self-driving control device 201 performs control so that the vehicle 200 returns to the travel route (the predetermined travel route) 310.

[0057] Next, an operation of the self-driving control device 201 installed in the vehicle 200 of the second embodiment will be described. Although in the description, a subject of the sentences should be the CPU 94 since a subject of the operation is the CPU 94, the subject of the sentences is the self-driving control device 201 since the operation is described as an operation of the device.

[0058] Fig. 11 is a flowchart showing the basic operation steps of the self-driving control device 201 installed in the vehicle 200 of the second embodiment. In Fig.11, the self-driving control device 201 determines whether the safety of the oncoming lane is confirmed (step S30). If "NO" is determined in step S30, the self-driving control device 201 determines "not to perform overtaking" (step S40), and the process returns to step S30. On the other hand, if "YES" is determined in step S30, the self-driving control device 201 determines whether the parked vehicle is stopped, its speed is "0", its brake lights are not illuminated, and its turn signals are not illuminated (step S31).

[0059] If "NO" is determined in step S31, the self-driving control device 201 determines "not performing overtaking" (step S40), and the process returns to step S30. On the other hand, if "YES" is determined in step S31, the self-driving control device 201 determines "whether the parked vehicle on the left side of the road has stopped" (step S32).

[0060] If "NO" is determined in step S32, the self-driving control device 201 determines "do not perform overtaking" (step S40), and the process returns to step S30. On the other hand, if "YES" is determined in step S32, the self-driving control device 201 determines "whether there is no intersection, pedestrian crossing, or exit or entrance of a commercial establishment within ◯ m ahead" (step S33). The om ahead is, for example, 50 m ahead. Alternatively, ◯ m can be 100 m, 40 m, 30 m, 20 m, or 10 m. If "NO" is determined in step S33, the self-driving control device 201 determines "do not perform overtaking" (step S40), and the process returns to step S30. On the other hand, if “YES” is determined in step S33, the “bring host vehicle (the vehicle 200) to the right side of the road” control is executed (step S34).

[0061] Next, the self-driving control device 201 determines whether no queue is confirmed in front of the parked vehicle (step S35). If "YES" is determined in step S35, the self-driving control device 201 determines "do not perform overtaking" (step S40), and the process returns to step S30. On the other hand, if "NO" is determined in step S35, the self-driving control device 201 executes the "move into the oncoming lane" control (step S36).

[0062] Next, the self-driving control device 201 determines whether return space is detected (step S37). If "NO" is determined in step S37, the self-driving control device 201 executes "straight-ahead travel" control (step S39), and the process returns to step S37. On the other hand, if "YES" is determined in step S37, the self-driving control device 201 executes "return to own lane" control (step S38). When the host vehicle returns to its own lane, the current process is terminated. The above-described step S33 is not essential and may be omitted.

[0063] As described above, after the vehicle 200 of the second embodiment approaches the first boundary line 300-3 between the first lane 300-1 and the second lane 300-2 of the road 300 to perform the overtaking operation, the sensor circuit 4 detects the second obstacle in the traveling direction, so that it can be confirmed whether there is space for returning to the traveling route of the host vehicle at a destination of the overtaking operation, and thus the safety of overtaking can be ensured.

[0064] Although the present disclosure is described in detail with reference to certain embodiments, it will be apparent to those skilled in the art that various changes and modifications can be made without departing from the spirit and scope of the disclosure.

[0065] This application is based on Japanese Patent Application No. 2018-056723, filed on March 23, 2018, the contents of which are incorporated herein by reference. INDUSTRIAL APPLICABILITY

[0066] The vehicle and the self-driving control device of the present disclosure are applicable to vehicles such as cars and trucks. LIST OF REFERENCE SYMBOLS 1,200 vehicles 2 Detection circuit 3 Map information storage circuit 4 Sensor circuit 5 Circuit for wireless communication 6 Drive unit 7 Steering unit 8 Brake unit 9 Self-propelled control device 11FL, 11FR left and right front wheel of the vehicle 11RL, 11RR left and right rear wheel of the vehicle 12L, 12R left and right headlights of the vehicle 13L, 13R left and right brake lights of the vehicle 14 Vehicle brake light 15L, 15R left and right indicator lights of the vehicle 16 Front glass 21 Position information detection circuit 22 Speed information detection circuit 91 Input / output circuit 92 Output circuit 93, 202 storage 94 CPU 100, 160 intersection 110, 110-1 to 110-3 pedestrian crossing 120, 120-1 to 120-3 lane 130-1, 130-2 Danger zone 140, 140-1 to 140-3 output range 150 sidewalk 300 Street 300-1 first lane 300-2 second lane 300-3 first boundary line 300-4 second boundary line 300-5 Center line of the first lane 310 route 400 obstacle

Claims

[1] Vehicle comprising: a drive unit that is electrically controllable; a steering unit that is electrically controllable; a braking unit that is electrically controllable; and a sensor circuit configured to detect an external obstacle, wherein the vehicle is configured to travel autonomously on a predetermined route by electrically controlling at least one of the drive unit, the steering unit and the braking unit, wherein the sensor circuit is configured to detect the obstacle in a first area located on the predetermined route and in a second area adjacent to the first area on the predetermined route, where the second area is further away than the first area, the vehicle enters the first area if: there is no obstacle in the first area; there is no obstacle in the second area; an obstacle in the second area cannot be detected by the sensor circuit; the sensor circuit detects another vehicle on the predetermined route, a speed of the other vehicle along the predetermined route is higher than a predetermined speed, and wherein the vehicle does not enter the first area and stops before the first area if: there is no obstacle in the first area; and there is an obstacle in the second area. [2] The vehicle according to claim 1, wherein the first area corresponds to at least one of an intersection, a pedestrian crossing, and a sidewalk. [3] The vehicle according to claim 2, wherein the second area does not correspond to at least one of intersection, pedestrian crossing and sidewalk. [4] A vehicle according to claim 3, wherein the second region is located on a roadway. [5] The vehicle according to claim 4, wherein the second range is longer than a total length of the vehicle in a direction along the predetermined travel route. [6] A vehicle according to claim 5, wherein the second range is shorter than twice the total length of the vehicle in the direction along the predetermined travel route. [7] Vehicle according to claim 1, wherein the sensor circuit is configured to further detect an obstacle in a third area that is not on the predetermined travel route and is adjacent to the first area, wherein the vehicle enters the first area if: there is no obstacle in the first area; there is no obstacle in the second area; and there is no obstacle in the third area moving towards the second area, and wherein the vehicle does not enter the first area and stops before the first area if: there is no obstacle in the first area; there is no obstacle in the second area; and there is an obstacle in the third area that is moving towards the second area. [8] The vehicle according to claim 7, wherein the vehicle does not enter the first area and stops before the first area if: there is no obstacle in the first area; there is no obstacle in the second area; there is an obstacle in the third area that is moving towards the second area; and the obstacle that is moving towards the second area is estimated to arrive in the second area earlier than the vehicle. [9] The vehicle of claim 8, wherein the vehicle enters the first area if: there is no obstacle in the first area; there is no obstacle in the second area; there is an obstacle in the third area that is moving toward the second area; and the obstacle that is moving toward the second area is estimated to arrive in the second area later than the vehicle. [10] The vehicle of claim 1, wherein the vehicle enters the first area if: there is no obstacle in the first area; there is an obstacle in the second area; and the obstacle in the second area is estimated to leave the second area before the vehicle arrives in the second area. [11] Vehicle according to claim 10, wherein the vehicle enters the first area at a first speed if: an obstacle in the second area is not detectable by the sensor circuit; and the sensor circuit detects the other vehicle on the predetermined route, and the speed of the other vehicle along the predetermined route is higher than the predetermined speed, and wherein the vehicle enters the first area at a second speed that is lower than the first speed if: an obstacle in the second area is not detectable by the sensor circuit; and the sensor circuit detects another vehicle on the predetermined travel route, and the speed of the other vehicle along the predetermined travel route is lower than the predetermined speed. [12] The vehicle of claim 1, further comprising: a position information detecting circuit configured to detect a position of the vehicle; and a map information storage circuit configured to store map information, wherein the vehicle travels autonomously along the predetermined route based on the vehicle position and the map information. [13] Vehicle according to claim 12, further comprising: a wireless communication circuit configured to communicate wirelessly with the outside world, wherein the map information stored in the map information storage circuit is overwritable with other map information input via the wireless communication circuit. [14] The vehicle according to claim 13, wherein the first area and the second area are linked to the map information. [15] A self-driving control device mountable in a vehicle, the vehicle comprising: a drive unit that is electrically controllable; a steering unit that is electrically controllable; a braking unit that is electrically controllable; and a sensor circuit configured to detect an external obstacle, wherein the vehicle is configured to drive autonomously on a predetermined route by electrically controlling at least one of the drive unit, the steering unit and the braking unit, wherein the sensor circuit is configured to detect the obstacle in a first area located on the predetermined travel route and in a second area adjacent to the first area on the predetermined travel route, the second area being farther away than the first area, wherein the self-propelled control device is configured to: to carry out the control so that the vehicle enters the first area if: there is no obstacle in the first area; there is no obstacle in the second area; an obstacle in the second area cannot be detected by the sensor circuit; the sensor circuit detects another vehicle on the predetermined route, a speed of the other vehicle along the predetermined route is higher than a predetermined speed, and to carry out the control in such a way that the vehicle does not enter the first area and stops before the first area if: there is no obstacle in the first area; and there is an obstacle in the second area. [16] The self-driving control device according to claim 15, wherein the first area corresponds to at least one of an intersection, a pedestrian crossing, or a sidewalk. [17] The self-driving control device according to claim 16, wherein the second area does not correspond to at least one of intersection, pedestrian crossing and sidewalk. [18] The self-driving control device according to claim 17, wherein the second region is located on a roadway. [19] The self-driving control device according to claim 18, wherein the second range is longer than a total length of the vehicle in a direction along the predetermined travel route. [20] The self-driving control device according to claim 19, wherein the second range is shorter than twice the total length of the vehicle in the direction along the predetermined travel route. [21] Self-driving control device according to claim 16, wherein the sensor circuit is configured to further detect an obstacle in a third area that is not on the predetermined travel route and is adjacent to the first area, wherein the self-driving control device executes control such that the vehicle enters the first area if: there is no obstacle in the first area; there is no obstacle in the second area; and there is no obstacle in the third area moving toward the second area, and wherein the self-driving control device executes control so that the vehicle does not enter the first area and stops before the first area if: there is no obstacle in the first area; there is no obstacle in the second area; and there is an obstacle in the third area that moves toward the second area. [22] The self-driving control device according to claim 21, wherein the self-driving control device performs control such that the vehicle does not enter the first area and stops before the first area if: there is no obstacle in the first area; there is no obstacle in the second area; there is an obstacle in the third area, moving toward the second area; and the obstacle moving toward the second area is estimated to arrive in the second area earlier than the vehicle. [23] The self-driving control device according to claim 23, wherein the self-driving control device performs control such that the vehicle enters the first area if: there is no obstacle in the first area; there is no obstacle in the second area; there is an obstacle moving toward the second area in the third area; and the obstacle moving toward the second area is estimated to arrive at the second area later than the vehicle. [24] The self-driving control device according to claim 16, wherein the self-driving control device performs control such that the vehicle enters the first area if: there is no obstacle in the first area; there is an obstacle in the second area; and the obstacle in the second area is estimated to leave the second area before the vehicle arrives in the second area. [25] Self-driving control device according to claim 16, wherein the self-driving control device executes control such that the vehicle enters the first area at a first speed if: an obstacle in the second area is not detectable by the sensor circuit; and the sensor circuit detects the other vehicle on the predetermined travel route, and the speed of the other vehicle along the predetermined travel route is higher than the predetermined speed, and wherein the self-driving control device executes control such that the vehicle enters the first area at a second speed lower than the first speed if: an obstacle in the second area is not detectable by the sensor circuit; and the sensor circuit detects the other vehicle on the predetermined travel route, and the speed of the other vehicle along the predetermined travel route is lower than the predetermined speed.

Images