Vehicle control device, vehicle control procedure and program

Abstract

Vehicle control device (100), comprising: A detection device (130) which is designed to detect an environmental situation of a vehicle (MS); a vehicle control device (140, 160) which is designed to control the steering and acceleration / deceleration of the vehicle (M) independently of any operation by a driver of the vehicle (M); and a mode-decision device (150) which is configured to decide which of a plurality of driving modes, comprising a first driving mode and a second driving mode, shall be the driving mode of the vehicle (M) and to change the driving mode of the vehicle (M) from the decided driving mode to a driving mode in which a task is more difficult if a task associated with the decided driving mode is not performed by the driver, wherein the second driving mode is a driving mode in which a task imposed on the driver is easier than in the first driving mode, wherein some of the plurality of driving modes, comprising at least the second driving mode, are controlled by the driving control device (140, 160), wherein the detection device (130) detects a character which is present within a reference area of ​​a route along which the vehicle (M) travels, and wherein the mode decision device (150) changes the driving mode of the vehicle (M) from the second driving mode to the first driving mode when the driving mode of the vehicle (M) is the second driving mode and when the number of characters detected by the detection device (130) exceeds a first reference value, the first reference value being defined according to the number of lanes in the vicinity of the vehicle (M), and wherein the mode decision device (150) changes the driving mode in the driving control device (140, 160) from the second driving mode to the first driving mode when the driving mode of the vehicle (M) is the second driving mode and when a degree of difference between the number of characters detected by the detection device (130) and the number of characters installed in a lane on a map within the reference area, which are displayed in high-precision map information, does not satisfy a condition.

Description

[Technical field]

[0001] The present invention relates to a vehicle control device, a vehicle control method and a program. [Background state of the art]

[0002] In the related art, the invention of an in-vehicle system has been disclosed, comprising: a storage determination processor configured to iteratively determine the presence or absence of high-precision map information with respect to a road on which a host vehicle is traveling; a storage information acquisition processor configured to acquire information indicative of iterative determination results; and an automated driving behavior notification device configured to provide notification of the information acquired by the storage information acquisition processor (JP 2018-189594 A).

[0003] US 2020 / 0 319 636 A1 discloses a method for controlling a driving state component of an autonomous vehicle. The method includes determining whether current conditions would limit the driver's visibility. The method also includes predicting whether the driver will activate a manual mode under the current conditions. The method further includes controlling the driving state component to mitigate the current conditions before the driver activates the manual mode.

[0004] US 2020 / 0 182 631 A1 explains how map errors can be detected in maps intended for autonomous driving systems. It also discloses an autonomous vehicle equipped with environmental detection sensors. The environmental information includes lane lines, intersections, lane counts, and roadside objects, including telegraph poles and traffic signs. Map data is also detected as inaccurate by comparing it with the current environmental information. [Summary of the invention][Technical problem]

[0005] Although information stored in a map is used to provide notification of automated driving behavior mechanically in conventional technology, the actual traffic situation is more complicated and it may be difficult to perform appropriate control according to a road structure.

[0006] The present invention has been made in consideration of such circumstances, and it is an object of the present invention to provide a vehicle control apparatus, a vehicle control method, and a program capable of performing appropriate control according to a road structure. [Solution to the problem]

[0007] To achieve this object, the invention provides a vehicle control device, a vehicle control method, and a program according to claims 1, 8, and 9. Advantageous embodiments are specified in the subclaims. [deleted][deleted][Advantageous effects of the invention]

[0008] Experience shows that it is possible to carry out appropriate control according to a road structure. [Brief description of the drawings] Fig. 1 is a configuration diagram of a vehicle system using a vehicle control device according to an embodiment. Fig. 2 is a functional configuration diagram of a first control device and a second control device. Fig. 3 is a diagram showing an example of corresponding relationships between a driving mode, a control state of a host vehicle, and a task. Fig. 4 is a diagram showing characters recognized by a recognition device according to a first embodiment. Fig. 5 is a diagram showing characters recognized by the recognition device according to the first embodiment. Fig. 6 is a flowchart showing an example of a flow of a process executed by a mode decision device according to the first embodiment. Fig. 7 is a flowchart showing an example of a flow of a process executed by the mode decision device according to the first embodiment. [Description of embodiments]

[0009] Hereinafter, embodiments of a vehicle control apparatus, a vehicle control method, and a program of the present invention will be described with reference to the drawings. [Overall configuration]

[0010] Fig. 1 is a configuration diagram of a vehicle system 1 including a vehicle control device. A vehicle equipped with the vehicle system 1 is, for example, a vehicle such as a two-wheeled vehicle, a three-wheeled vehicle, or a four-wheeled vehicle. A drive source of these vehicles is an internal combustion engine such as a diesel engine or a gasoline engine, an electric motor, or a combination thereof. The electric motor operates using electric power generated by a power generation device connected to the internal combustion engine, or power supplied when a secondary battery or a fuel cell is discharged.

[0011] For example, the vehicle system 1 includes a camera 10, a radar device 12, a light detection and ranging (LIDAR) sensor 14, a physical object recognition device 16, a communication device 20, a human-machine interface (HMI) 30, a vehicle sensor 40, a navigation device 50, a map positioning unit (MPU) 60, a driver monitoring camera 70, driving controls 80, an automated driving control device 100, a driving force output device 200, a braking device 210, and a steering device 220. Such devices and equipment are interconnected by a multiplexed communication line, such as a Controller Area Network (CAN) communication line, a serial communication line, or a wireless communication network. Fig. The configuration shown in Figure 1 is only an example and some of the components may be omitted or other components may be added.

[0012] The camera 10 is, for example, a digital camera that uses a solid-state imaging element such as a charge-coupled device (CCD) or a complementary metal oxide semiconductor (CMOS). The camera 10 is mounted at any position of the vehicle (hereinafter, a host vehicle M) in which the vehicle system 1 is mounted. When imaging the field of view in front of the host vehicle M, the camera 10 is mounted on an upper part of a windshield, a rear surface of a rearview mirror, or the like. For example, the camera 10 periodically and iteratively images the surroundings of the host vehicle M. The camera 10 may be a stereo camera.

[0013] The radar device 12 radiates radio waves, such as millimeter waves, around the host vehicle M and detects at least a position (a distance to and a direction) of a physical object by detecting radio waves (reflected waves) reflected by the physical object. The radar device 12 is mounted at any position of the host vehicle M. The radar device 12 can detect the position and speed of the physical object using a frequency-modulated continuous wave (FM-CW) method.

[0014] The LIDAR sensor 14 emits light (or electromagnetic waves with a wavelength close to an optical wavelength) toward the vicinity of the host vehicle M and measures the scattered light. The LIDAR sensor 14 detects a distance to an object based on the time from light emission to light reception. The emitted light is, for example, pulsed laser light. The LIDAR sensor 14 is mounted anywhere on the host vehicle M.

[0015] The physical object detection device 16 performs a sensor fusion process on the detection results of some or all of the camera 10, the radar device 12, and the LIDAR sensor 14 to detect the position, type, speed, and the like of a physical object. The physical object detection device 16 outputs the detection results to the automated driving control device 100. The physical object detection device 16 may output the detection results of the camera 10, the radar device 12, and the LIDAR sensor 14 to the automated driving control device 100 as they are. The physical object detection device 16 may be omitted from the vehicle system 1.

[0016] The communication device 20 communicates with another vehicle near the host vehicle M, for example, using a cellular network, a Wi-Fi network, Bluetooth (registered trademark), Dedicated Short Range Communication (DSRC), or the like, or communicates with various types of server devices via a radio base station.

[0017] The HMI 30 provides various types of information to an occupant of the host vehicle M and receives input operation from the occupant. The HMI 30 includes various types of display devices, a speaker, a buzzer, a touch panel, a switch, a button, and the like.

[0018] The vehicle sensor 40 includes a vehicle speed sensor configured to detect the speed of the host vehicle M, an acceleration sensor configured to detect acceleration, a yaw rate sensor configured to detect an angular velocity about a vertical axis, a direction sensor configured to detect a direction of the host vehicle M, and the like.

[0019] For example, the navigation device 50 includes a Global Navigation Satellite System (GNSS) receiver 51, a navigation HMI 52, and a route decision device 53. The navigation device 50 stores first map information 54 in a storage device such as a hard disk drive (HDD) or a flash memory. The GNSS receiver 51 identifies the position of the host vehicle M based on a signal received from a GNSS satellite. The position of the host vehicle M can be identified or corrected by an inertial navigation system (INS) using an output from the vehicle sensor 40. The navigation HMI 52 includes a display device, a speaker, a touch panel, buttons, and the like. The navigation HMI 52 may be partially or completely shared with the HMI 30 described above.For example, the route decision unit 53 decides a route (hereinafter referred to as a route on a map) from the position identified by the GNSS receiver 51 (or any input position) of the host vehicle M to a destination input by the occupant using the navigation HMI 52 with reference to the first map information 54. The first map information 54 is, for example, information in which a road shape is expressed by a link indicating a road and nodes connected by the link. The first map information 54 may include a curvature of a road, information about points of interest (POI), and the like. The route on the map is output to the MPU 60. The navigation device 50 can perform route guidance based on the route on the map using the navigation HMI 52.The navigation device 50 can be implemented, for example, according to a function of a terminal device, such as a smartphone or tablet device, that the occupant possesses. The navigation device 50 can transmit a current position and a destination to a navigation server via the communication device 20 and acquire a route corresponding to the route on the map from the navigation server.

[0020] For example, the MPU 60 includes a recommended lane decision means 61 and stores second map information 62 in a storage device such as a hard disk or a flash memory. The recommended lane decision means 61 divides the route on the map provided by the navigation device 50 into a plurality of blocks (e.g., divides the route in a traveling direction of the vehicle every 100 [m]) and determines a recommended lane for each block with reference to the second map information 62. The recommended lane decision means 61 determines which lane number from the left the vehicle is traveling. The recommended lane decision means 61 decides the recommended lane such that the host vehicle M can travel along a reasonable route for traveling to a branch destination when there is a branch point in the route on the map.

[0021] The second map information 62 is map information that has higher accuracy than the first map information 54. For example, the second map information 62 includes information about a center of a lane, information about a boundary of a lane, and the like. The second map information 62 may include road information, traffic regulation information, address information (an address / zip code), facility information, telephone number information, information about a restricted section in which the mode A or B described below is restricted, and the like. The second map information 62 can be updated at any time when the communication device 20 communicates with another device.

[0022] The driver monitor camera 70 is, for example, a digital camera using a solid-state image sensor such as a CCD or a CMOS. The driver monitor camera 70 is mounted anywhere on the host vehicle M at a position in a direction in which the head of an occupant (hereinafter referred to as a driver) sitting in the driver's seat of the host vehicle M can be imaged from the front (in a direction in which his / her face is imaged). For example, the driver monitor camera 70 is mounted on an upper part of a display device provided in the central portion of an instrument panel of the host vehicle M.

[0023] The driving operating members 80 include, for example, an accelerator pedal, a brake pedal, a shift lever, and other operating members in addition to the steering wheel 82. A sensor for detecting an operation amount or the presence or absence of an operation is attached to the driving operating member 80, and a detection result is output to the automated driving control device 100 or some or all of the driving drive force output devices 200, the braking device 210, and the steering device 220. The steering wheel 82 is an example of an operating member for receiving a steering operation from the driver. The operating member does not necessarily have to be ring-shaped and may be in the form of a steering wheel variant, a joystick, a button, or the like. A steering grip sensor 84 is attached to the steering wheel 82.The steering grip sensor 84 is realized by a capacitance sensor or the like, and outputs a signal for detecting whether or not the driver grips the steering wheel 82 (indicating that the driver is in contact with the steering wheel 82 in a state where a force is applied) to the automated driving control device 100.

[0024] The automated driving control device 100 includes, for example, a first controller 120 and a second controller 160. Each of the first controller 120 and the second controller 160 is implemented, for example, by a hardware processor such as a central processing unit (CPU) that executes a program (software). Some or all of the above components may be implemented by hardware (including a circuit), such as a large-scale integration (LSI), an application-specific integrated circuit (ASIC), a field-programmable gate array (FPGA), or a graphics processing unit (GPU), or may be implemented by software and hardware in cooperation.The program may be pre-stored in a storage device (a storage device including a non-transitory storage medium) such as an HDD or a flash memory of the automated driving control device 100, or may be stored in a removable storage medium such as a DVD or a CD-ROM and installed in the HDD or the flash memory of the automated driving control device 100 when the storage medium (the non-transitory storage medium) is mounted in a driving device. The automated driving control device 100 is an example of a "vehicle control device." A combination of the action plan generation device 140 and the second control device 160 is an example of a "driving control device."

[0025] Fig. 2 is a functional configuration diagram of the first control device 120 and the second control device 160. The first control device 120 includes, for example, a recognition device 130, the action plan generation device 140, and a mode decision device 150. For example, the first control device 120 implements a function based on artificial intelligence (AI) and a function based on a predefined model in parallel. For example, an "intersection recognition" function can be implemented by parallelly executing intersection recognition based on deep learning or the like and recognition based on predefined conditions (signals, road markings, or the like with which pattern matching is possible), and performing a comprehensive evaluation by assigning scores to both of the recognitions.This ensures the reliability of automated driving.

[0026] The recognition device 130 recognizes states of positions, speeds, accelerations, and the like of physical objects near the host vehicle M based on information input from the camera 10, the radar device 12, and the LIDAR sensor 14 via the physical object recognition device 16. For example, the position of the physical object is recognized as the position on absolute coordinates with a representative point (a center of gravity, a drive shaft center, or the like) of the host vehicle M as the origin and is used for control. The position of the physical object may be represented by a representative point, such as a center of gravity or a corner of the physical object, or may be represented by a representative area.The “state” of a physical object may include an acceleration or jerk of the physical object, or an “action state” (for example, whether or not a lane change is occurring or intended).

[0027] For example, the recognition device 130 recognizes a lane on which the host vehicle M travels (a traffic lane). For example, the recognition device 130 recognizes the traffic lane by comparing a road marking line pattern (for example, an arrangement of solid lines and broken lines) obtained from the second map information 62 with a road marking pattern in the vicinity of the host vehicle M recognized from an image captured by the camera 10. The recognition device 130 can recognize the traffic lane by recognizing a travel path boundary (a road boundary), including a road marking, a roadside, a curb, a median, a guardrail, or the like, and a road marking. In this recognition, the position of the host vehicle M detected by the navigation device 50 or a processing result of the INS may be added.The detection device 130 can detect a temporary stop line, an obstacle, a red light, a toll booth, and other road events.

[0028] When the lane is detected, the detection device 130 detects the position or orientation of the host vehicle M with respect to the lane. For example, the detection device 130 may detect a distance of a reference point of the host vehicle M from the center of the lane and an angle formed with respect to a line connected to the center of the lane in a traveling direction of the host vehicle M as a relative position and orientation of the host vehicle M with respect to the lane. Alternatively, the detection device 130 may detect the position of the reference point of the host vehicle M with respect to a lateral end portion (a road marking or a road boundary) of the lane or the like as a relative position of the host vehicle M with respect to the lane.

[0029] The recognition device 130 recognizes a sign installed on a nearby road including a route on which the host vehicle M travels. The recognition device 130 recognizes a mark drawn on the road surface as the sign in addition to a sign installed at a higher position than the road surface on a road side, such as a shoulder, above the road, or the like.In addition to a sign installed on a travel lane, the recognition device 130 can recognize, for example, a sign installed in a lane (hereinafter referred to as a main lane) in which travel is possible in a direction that is the same as a travel direction of a travel lane, a lane (hereinafter referred to as a branch lane) that branches off from the travel lane or the main lane, or a lane (hereinafter referred to as a merging lane) that merges with the travel lane or the main lane. The recognition device 130 recognizes, respectively, a sign in a direction that is the same as the travel direction of the host vehicle M, that is, in front of the host vehicle M, and a sign behind the host vehicle M where the host vehicle M has traveled.

[0030] The action plan generation unit 140 generates a future target trajectory along which the host vehicle M automatically travels (independently of the driver's operation) so that the host vehicle M can generally travel on the recommended lane decided by the recommended lane decision unit 61 and further cope with an environmental situation of the host vehicle M. For example, the target trajectory includes a speed element. For example, the target trajectory is represented by a sequential arrangement of points (trajectory points) at which the host vehicle M must arrive. The trajectory points are points at which the host vehicle M must arrive for each prescribed travel distance (for example, about a few meters [m]) along a road.In addition, for each prescribed sampling time (e.g., approximately several tenths of a second [sec]), a target speed and a target acceleration are generated as parts of the target trajectory. The trajectory point may be a position at which the host vehicle M must arrive at the sampling time for each prescribed sampling time. In this case, the information about the target speed or the target acceleration is represented by an interval between the trajectory points.

[0031] The action plan generator 140 may specify an automated driving event when generating a target trajectory. Automated driving events include a constant speed driving event, a low speed following event, a lane change event, a junction point movement event, a passing event, and the like. The action plan generator 140 generates a target trajectory according to an activated event.

[0032] The mode decision means 150 decides any of a plurality of driving modes in which tasks imposed on the driver are different from the driving mode of the host vehicle M. The mode decision means 150 includes, for example, a driver state determination means 152 and a mode change processor 154. These individual functions are described below.

[0033] Fig. 3 is a diagram showing an example of corresponding relationships between the driving mode, the control state of the host vehicle M, and the task. The driving modes of the host vehicle M include, for example, five modes from Mode A to Mode E. An automation degree of the control state, that is, the driving control of the host vehicle M, is highest in Mode A, decreases in the order of Mode B, Mode C, and Mode D, and is lowest in Mode E. In contrast, the task imposed on the driver is lightest in Mode A, becomes heavier in the order of Mode B, Mode C, and Mode D, and is heaviest in Mode E. In Modes D and E, the automated driving control device 100 is responsible for terminating the control related to automated driving and performing switching to driving assistance or manual driving because the control state is not automated driving.The following is a content of each driving mode as an example.

[0034] In mode A, the state is an automated driving state and the driver is neither required to monitor the forward direction nor to grasp the steering wheel 82 (steering grip in Fig. 3). However, even in Mode A, the driver must be in a posture where rapid switching to manual driving is possible upon a request from the system centered on the automated driving control device 100. The term "automated driving" used here indicates that both steering and acceleration / deceleration are controlled independently of the driver's operation. The term "forward or front" indicates a space in a traveling direction of the host vehicle M, which is visually recognized through the windshield. Mode A is a traveling mode in which the host vehicle M travels at a prescribed speed (for example, about 50 km / h) or less on a highway such as an expressway, and which can be executed when a condition such as the presence of a preceding tracking target vehicle or the like is met.Mode A may be referred to as traffic jam pilot (TJP). When this condition is no longer met, the mode decision device 150 changes the drive mode of the host vehicle M to mode B.

[0035] In Mode B, the state is a driving assistance state, and a task of monitoring a forward direction of the host vehicle M is imposed on the driver (hereinafter referred to as forward monitoring), but a task of gripping the steering wheel 82 is not imposed on the driver. In Mode C, the state is a driving assistance state, and a forward monitoring task and a task of gripping the steering wheel 82 are imposed on the driver. Mode D is a driving mode in which a certain degree of driving operation by the driver is required for at least one of steering and acceleration / deceleration of the host vehicle M. For example, in Mode D, driving assistance such as adaptive cruise control (ACC) or a lane keeping assist system (LKAS) is provided.In Mode E, both steering and acceleration / deceleration are in a manual driving state, requiring driver control. In both Mode D and Mode E, the driver is naturally tasked with monitoring the forward direction of vehicle M.

[0036] The automated driving control device 100 (and a driving assistance device (not shown)) performs an automated lane change according to the driving mode. Automated lane changes include an automated lane change (1) based on a system request and an automated lane change (2) based on a driver request. The automated lane change (1) is an automatic lane change for overtaking and an automatic lane change for traveling toward a destination (an automatic lane change based on a recommended lane change), which is performed when the speed of the preceding vehicle is at least a reference level lower than the speed of the host vehicle.In the automated lane change (2), when a condition regarding speed, a positional relationship with a nearby vehicle, or the like is satisfied, the host vehicle M is allowed to change lanes in an operating direction when a direction indicator has been operated by the driver.

[0037] The automated driving control device 100 performs neither automated lane change (1) nor (2) in mode A. The automated driving control device 100 performs both automated lane change (1) and (2) in modes B and C. The driving assistance device (not shown) does not perform automated lane change (1) in mode D, but performs automated lane change (2). In mode E, neither automated lane change (1) nor (2) is performed.

[0038] The mode decision means 150 changes the driving mode of the host vehicle M to a driving mode in which the task is heavier when the task associated with the specific driving mode (hereinafter, the present driving mode) is not performed by the driver.

[0039] For example, in mode A, when the driver is in a posture where they cannot switch driving to manual driving in response to a request from the system (for example, when they continue to look outside a permitted area or when a sign is detected that driving is becoming difficult), the mode decision device 150 performs control to request the driver to switch driving to manual driving using the HMI 30, which causes the host vehicle M to gradually stop near the roadside if the driver does not respond, and the automated driving stops. After the automated driving is stopped, the host vehicle is in mode D or E, and the host vehicle M can be started according to the driver's manual driving. Hereinafter, the same applies to "stopping automated driving."In mode B, if the driver does not perform forward monitoring, the mode decision device 150 performs control to request the driver to perform forward monitoring using the HMI 30, which causes the host vehicle M to gradually stop near the roadside if the driver does not respond, and the automated driving stops. In mode C, if the driver does not perform forward monitoring or does not grip the steering wheel 82, the mode decision device 150 performs control to request the driver to perform forward monitoring and / or grip the steering wheel 82 using the HMI 30, which causes the host vehicle M to gradually stop near the roadside if the driver does not respond, and the automated driving stops.

[0040] The driver state determining device 152 monitors the driver's state for the above mode change and determines whether or not the driver's state is a state according to the task. For example, the driver state determining device 152 analyzes an image captured by the driver monitoring camera 70 to perform an orientation estimation process and determines whether or not the driver is in a posture in which he / she cannot switch driving to manual driving in response to a prompt from the system. The driver state determining device 152 analyzes an image captured by the driver monitoring camera 70 to perform a line-of-sight estimation process and determines whether or not the driver is performing forward monitoring.

[0041] The mode change processor 154 performs various mode change processes. For example, the mode change processor 154 instructs the action plan generator 140 to generate a target trajectory for stopping the vehicle at the roadside, issues an operation instruction to a driving assistance device (not shown), or controls the HMI 30 to prompt the driver to take an action.

[0042] The second control device 160 controls the driving force output device 200, the braking device 210, and the steering device 220 such that the host vehicle M travels along the target trajectory generated by the action plan generation device 140 at the scheduled times.

[0043] Returning to Fig. 2, the second control device 160 includes, for example, a detection device 162, a speed control device 164, and a steering control device 166. The detection device 162 detects information about a target trajectory (trajectory points) generated by the action plan generation device 140 and causes a memory (not shown) to store the information. The speed control device 164 controls the driving force output device 200 or the braking device 210 based on a speed element associated with the target trajectory stored in the memory. The steering control device 166 controls the steering device 220 in accordance with a degree of curvature of the target trajectory stored in the memory.The processes of the speed controller 164 and the steering controller 166 are implemented, for example, through a combination of feedforward control and feedback control. As an example, the steering controller 166 performs a combination of feedforward control according to the curvature of the road ahead of the host vehicle M and feedback control based on a deviation from the target trajectory.

[0044] The traction drive output device 200 outputs traction drive force (torque) to drive wheels to enable the vehicle to travel. For example, the traction drive output device 200 includes a combination of an engine, an electric motor, a transmission, and the like, as well as an electronic control unit (ECU) that controls the engine, the electric motor, the transmission, and the like. The ECU controls the above-described components in accordance with information input from the second controller 160 or information input from the travel control element 80.

[0045] For example, the braking device 210 includes a brake caliper, a cylinder configured to transmit hydraulic pressure to the brake caliper, an electric motor configured to generate hydraulic pressure in the cylinder, and a brake ECU. The brake ECU controls the electric motor in accordance with the information input from the second controller 160 or the information input from the driving control element 80 such that a braking torque is output to each wheel according to a braking operation. The braking device 210 may include a mechanism configured to transmit the hydraulic pressure generated by an operation of the brake pedal included in the driving control elements 80 to the cylinder via a master cylinder as a backup.The brake device 210 is not limited to the configuration described above and may be an electronically controlled hydraulic brake device configured to control an actuator in accordance with information input from the second control device 160 and to transmit the hydraulic pressure of the master cylinder to the cylinder.

[0046] For example, the steering device 220 includes a steering controller and an electric motor. For example, the electric motor changes the direction of the steerable wheels by applying force to a rack and pinion mechanism. The steering ECU drives the electric motor in accordance with the information input from the second controller 160 or the information input from the driving control element 80 to change the direction of the steerable wheels.

[0047] One or more of modes A to C are examples of a "second driving mode" within the meaning of the claims, and one or more of modes C to E are examples of a "first driving mode" within the meaning of the claims. Here, if mode C is the "second driving mode" within the meaning of the claims, the "first driving mode" within the meaning of the claims is either mode D or E. In the following description, it is assumed, as an example, that the "second driving mode" within the meaning of the claims is mode A or B, and the "first driving mode" within the meaning of the claims is mode C. <Erste Ausführungsform> [Drive mode control]

[0048] The following describes the control of the driving mode of the host vehicle M according to the number of characters around the host vehicle M. In the following description, a case is described in which driving in mode A or B ends and the mode is changed to mode C when the host vehicle M is driving in mode A or B.

[0049] The recognition device 130 recognizes signs on a route along which the host vehicle M travels. The signs include road signs, such as a regulatory sign, a warning sign, an information sign, an auxiliary sign, and a guide sign, which are installed on the road, and road surface signs (road signs), such as a regulatory sign and an information sign, which are drawn on the road surface. The recognition device 130 recognizes a sign that exists within a range (a reference range) of a reference distance with respect to the host vehicle M on the route along which the host vehicle M travels.

[0050] The Fig. 4 and Fig. 5 are diagrams showing a character recognized by the recognition device 130 according to the first embodiment.

[0051] Fig. 4 shows a scene in which the host vehicle M is driving on a highway. In Fig. 4, a series of continuous arrows indicate a track. In the example from Fig. 4, lanes L-1 to L-5 are main lanes. Among these lanes, lane L-1 is a travel lane of the host vehicle M, and lanes L-2 to L-5 are main lanes on which travel is possible in a direction that is the same as a travel direction of the travel lane. Lanes L-6 to L-10 and lanes L-15 and L-16 are branch lanes that will branch off from or have branched off from the main lane. Lanes L-11 to L-14 are merging lanes that will merge with or have merged with the main lane. In this scene, the host vehicle M travels in a travel direction TD on the current travel lane (lane L-1). The recognizer 130 recognizes a character S that exists within a range of a reference distance forward DF in front of the host vehicle M and a character S that exists within a range of a reference distance rearward DR behind the host vehicle M, respectively.The reference forward distance DF is a distance greater than the reference rearward distance DR. For example, the reference forward distance DF and the reference rearward distance DR are both distances of approximately several hundred meters [m]. The recognition device 130 recognizes each character S installed or drawn on the travel lane, the main lane, the branch lane, and the merging lane. When the host vehicle M is at the position shown in . Fig. 4, the recognition device 130 recognizes the characters S-1 to S-16 in the range of the reference distance to the front DF and recognizes the characters S-17 to S-27 in the range of the reference distance to the rear DR.

[0052] Fig. 5 shows a scene in which the host vehicle M enters a T-shaped intersection. In Fig. 5 only the area of ​​the reference distance to the front DF is shown in which the recognition device 130 recognizes the character S. If the host vehicle M is at the Fig. 5, the recognition device 130 recognizes the characters S-28 to S-43 in the range of the reference distance to the front DF.

[0053] The recognizer 130 outputs information about a recognized character (hereinafter referred to as character information) to the mode decision device 150. The character information includes at least information about the number of recognized characters S (hereinafter referred to as the number of characters). The character information may include, for example, lane type information indicating a main lane, a branch lane, or a merging lane on which each recognized character S is installed or drawn; character position information indicating a positional relationship associated with the host vehicle M, such as a range of either the reference forward distance DF or the reference rearward distance DR in which the character S exists; and a distance (which may include forward or backward direction information) of each character S from the position of the host vehicle M, and the like.

[0054] The mode decision device 150 changes the driving mode of the host vehicle M based on the character information output by the recognition device 130. Specifically, the mode decision device 150 determines whether the current driving mode of the host vehicle M is mode A or B and whether the number of characters included in the character information exceeds a first reference value. The first reference value is, for example, a value indicating the number of characters in a range from a few characters to tens of characters. The first reference value may be a fixed value or may be defined in accordance with a situation in which the host vehicle M is currently traveling, such as the number of lanes around the host vehicle M.The first reference value may be defined for each block of the second map information 62 to which the recommended lane decision means 61 refers to decide a recommended lane.

[0055] When the driving mode of the host vehicle M is Mode A or B and the number of characters exceeds the first reference value, the mode decision device 150 changes the current driving mode of the host vehicle M from Mode A or B to Mode C. As a result, the driver performs forward monitoring and grips the steering wheel 82 when the number of characters exceeds the first reference value. This allows the driver to independently operate the steering wheel 82 even when there is a change in the environment.

[0056] The mode decision means 150 may change the driving mode from mode A or B to mode D or E instead of changing the driving mode from mode A or B to mode C. In this case, the mode decision means 150 may change the driving mode to mode D or E after temporarily changing the driving mode to mode C before changing the driving mode from mode A or B to mode D or E.

[0057] The mode decision device 150 can change the driving mode changed to Mode C back to Mode A or B under the condition that the number of characters included in the character information output by the recognition device 130 is less than or equal to the first reference value. This can improve the comfort of the host vehicle M. The mode decision device 150 can be configured to prompt the driver to operate the HMI 30 as a condition for changing the driving mode from Mode C to Mode A or B. This makes it possible to limit the disturbance of a control due to the switching of the driving mode. [Driving mode change process]

[0058] Fig. 6 is a flowchart showing an example of a flow of a process executed by the mode decision device 150 according to the first embodiment. The change process of the present flowchart is executed iteratively, for example, while the automated driving control device 100 is operating.

[0059] First, the mode decision means 150 determines whether the current driving mode of the host vehicle M is mode A or B (step S100). In step S100, if the current driving mode of the host vehicle M is not mode A or B, the mode decision means 150 repeats the determination in step S100.

[0060] On the other hand, if it is determined in step S100 that the current driving mode of the host vehicle M is mode A or B, the mode decision device 150 acquires the character information output by the recognition device 130 (step S102). The mode decision device 150 determines whether or not the number of characters included in the acquired character information exceeds the first reference value (step S104). If it is determined in step S104 that the number of characters does not exceed the first reference value, the mode decision device 150 returns the process to step S100.

[0061] On the other hand, when it is determined in step S104 that the number of characters exceeds the first reference value, the mode decision means 150 changes the traveling mode of the host vehicle M to mode C (step S106).

[0062] Subsequently, the mode decision device 150 reacquires the character information output by the recognition device 130 (step S108). The processing of step S108 may be performed when a prescribed period of time has elapsed after the driving mode of the host vehicle M is changed to mode C in the processing of step S106. The prescribed period of time is, for example, a period of time from several seconds (sec) to tens of seconds (sec). The prescribed period of time may, for example, be a period of time until the number of characters recognized by the recognition device 130 changes to another value.

[0063] Then, the mode decision means 150 determines whether the number of characters included in the newly acquired character information is less than or equal to the first reference value (step S110). If it is determined in step S110 that the number of characters is not less than or equal to the first reference value, the mode decision means 150 returns the process to step S100. That is, the mode decision means 150 maintains the changed current driving mode (Mode C).

[0064] On the other hand, when it is determined in step S110 that the number of characters is less than or equal to the first reference value, the mode decision means 150 changes the traveling mode of the host vehicle M to mode A or B (step S112) and returns the process to step S100.

[0065] According to the process described above, if the current driving mode of the host vehicle M is mode A or B, the mode decision device 150 changes the driving mode of the host vehicle M to mode C when the number of signs around the host vehicle M exceeds the first reference value. This makes it possible to cope with a change in an environment in a state where the driver performs forward monitoring and grips the steering wheel 82. As a result, the automated driving control device 100 can perform appropriate control according to a road structure.

[0066] In an example of the Fig. In the change process shown in Figure 6, the driving mode of the host vehicle M is changed to mode C when the number of characters around the host vehicle M exceeds the first reference value. For example, the mode decision device 150 may be configured to change the driving mode of the host vehicle M in two steps. In this case, the mode decision device 150 may, for example, be configured to change the driving mode of the host vehicle M from mode A or B to mode C in a first step when the number of characters around the host vehicle M exceeds a second reference value, and further, in a second step, to change the driving mode of the host vehicle M from mode C to mode D or E when the number of characters around the host vehicle M exceeds the first reference value. The second reference value is a value that is smaller than the first reference value.The second reference value is, for example, a value indicating the number of characters in a range from a few characters to tens of characters. Like the first reference value, the second reference value may be a fixed value, may be defined according to a situation in which the host vehicle M is currently traveling, such as the number of lanes around the host vehicle M, or may be defined for each block of the second map information 62. In this case, the character recognition method of the recognition device 130, the process of the mode decision device 150, and the like may be equivalent to the above-described example of the changing process. <Zweite Ausführungsform>

[0067] The mode decision means 150 according to the first embodiment changes the traveling mode of the host vehicle M to mode C based on the number of characters recognized by the recognition means 130 when the host vehicle M is traveling in mode A or B. The mode decision means 150 according to the second embodiment may be configured to determine whether or not a degree of difference between the number of characters recognized by the recognition means 130 and the number of characters installed in the lane on a map displayed in the second map information 62 (hereinafter referred to as the number of characters on the map) satisfies a condition, and change the traveling mode to mode C when the degree of difference does not satisfy the condition.The number of characters on the map is the number of characters displayed in the second map information 62 within the ranges of the reference forward distance DF and the reference rearward distance DR of the host vehicle M. Regarding the number of characters on the map, the mode decision device 150 may acquire the second map information 62 within the ranges of the reference forward distance DF and the reference rearward distance DR from the MPU 60 and count the number of characters displayed in the acquired second map information 62.Regarding the number of characters on the map, the MPU 60 may count the number of characters displayed in the second map information 62 based on information about the reference forward distance DF and the reference rearward distance DR output by the mode decision means 150, and the recommended lane decision means 61 may count the number of characters for each block when deciding the recommended lane. The condition of the degree of difference is defined, for example, by the difference between the number of characters and the number of characters on the map.The difference between the number of characters and the number of characters on the map may be a fixed value, or it may be a value that differs between a case where the other number is larger than a number serving as a reference and a case where the other number is smaller than a number serving as the reference, when either the number of characters or the number of characters on the map is specified as the reference. For example, when the number of characters is specified as the reference, the condition of the degree of difference may be defined by an upper limit when the number of characters on the map is larger, and a lower limit when the number of characters on the map is smaller.In this case, the mode decision means 150 determines that the difference degree condition is satisfied when the difference between the number of characters and the number of characters on the card is between the upper limit and the lower limit, and that the difference degree condition is not satisfied when the number of characters on the card is greater than the number of characters by the upper limit or more, or when the number of characters on the card is less than the number of characters by the lower limit or more. The same applies when the number of characters on the card is set as the reference.

[0068] The following example is considered an event when the degree of difference does not meet the condition. For example, when the information of the sign installed in the lane on the map displayed in the second map information 62 does not match the current state of a road due to an error in the second map information 62, when it is difficult to recognize an actual sign due to a plant on a roadside, etc., the number of characters on the map is larger than the number of characters (the number of characters recognized by the recognizer 130 is smaller than the number of characters on the map).For example, when the information of the sign installed in the lane on the map displayed in the second map information 62 does not match a current road condition due to an error in the second map information 62 when a new sign has been installed or the like, the number of characters on the map is smaller than the number of characters (the number of characters recognized by the recognizer 130 is greater than the number of characters on the map). As the error of the second map information 62, for example, factors such as the loss of information of the sign and the lack of map information of a region in which the host vehicle M travels can be considered. [Driving mode change process]

[0069] Fig.7 is a flowchart showing an example of a flow of a process executed by the mode decision device 150 according to the first embodiment. Like the change process of the first embodiment, the change process of the present flowchart is also executed iteratively, for example, while the automated driving control device 100 is operating. The present flowchart includes a process similar to the change process of the first embodiment. Accordingly, the processing step similar to that of the change process of the first embodiment is assigned the same step number in the present flowchart, and redundant description of the similar processing step is omitted.

[0070] In the changing process of the second embodiment, when it is determined in step S100 that the current traveling mode of the host vehicle M is mode A or B, the mode decision means 150 acquires character information output by the recognition means 130 in step S102.

[0071] Subsequently, the mode decision device 150 acquires the number of characters on the card (step S200). The mode decision device 150 determines whether a degree of difference between the number of characters included in the acquired character information and the acquired number of characters on the card satisfies a condition or not (step S202). If it is determined in step S202 that the degree of difference between the number of characters and the number of characters on the card satisfies the condition, the mode decision device 150 returns the process to step S100.

[0072] On the other hand, when it is determined in step S202 that the degree of difference between the number of characters and the number of characters on the map does not satisfy the condition, the mode decision means 150 changes the traveling mode of the host vehicle M to mode C (step S106).

[0073] The mode decision device 150 instructs the MPU 60 to update the second map information 62 (step S208). In response to the instruction in step S208, the MPU 60 causes the communication device 20 to communicate with another device and updates the second map information 62. This makes it possible, for example, in the vehicle system 1 to prevent a case where the information of the sign installed in the lane on the map displayed in the second map information 62 does not match the current road condition due to an error in the second map information 62. The MPU 60 and the communication device 20 are examples of a "high-precision map information acquisition device" as defined in the claims.

[0074] Subsequently, the mode decision device 150 detects the number of characters on the map again (step S210). This processing of step S210 may be performed when a prescribed period of time has elapsed after the MPU 60 is instructed to update the second map information 62 in the processing of step S208. The prescribed period of time is, for example, a period of time from several seconds (sec) to tens of seconds (sec). The prescribed period of time may be, for example, a period of time until the second map information 62 is updated by the MPU 60.

[0075] The mode decision device 150 determines whether the degree of difference between the number of characters included in the acquired character information and the newly acquired number of characters on the map satisfies the condition (step S212). If it is determined in step S212 that the degree of difference between the number of characters and the number of characters on the map does not satisfy the condition, the mode decision device 150 returns the process to step S100. That is, the mode decision device 150 maintains the changed current driving mode (mode C).

[0076] On the other hand, when it is determined in step S212 that the degree of difference between the number of characters and the number of characters on the map satisfies the condition, the mode decision means 150 changes the traveling mode of the host vehicle M to mode A or B as in the changing process of the first embodiment (step S112) and returns the process to step S100.

[0077] In the above-described process, the mode decision means 150 of the second embodiment changes the driving mode of the host vehicle M to mode C when the degree of difference between the number of characters and the number of characters on the map does not satisfy the condition when the current driving mode of the host vehicle M is mode A or B. This makes it possible to cope with a change in an environment in a state where the driver performs forward monitoring and grips the steering wheel 82, as in the changing process of the first embodiment. As a result, the automated driving control device 100 according to the second embodiment can perform appropriate control according to a road structure, as in the first embodiment.

[0078] In the change process of the second embodiment, the MPU 60 is instructed to update the second map information 62 in the processing of step S208. A process of instructing the MPU 60 to update the second map information 62 may be performed in the change process of the first embodiment. The mode decision device 150 may be configured to update the first reference value based on the MPU 60 updated after the MPU 60 updated the second map information 62 in response to the instruction. In this case, the mode decision device 150 may perform the processing of step S110 in the change process of the first embodiment using the updated first reference value.

[0079] As described above, according to the automated driving control device 100 of the embodiment, the recognition device 130 recognizes signs installed on a nearby road including a route along which the host vehicle M travels. In the automated driving control device 100 of the embodiment, when the current traveling mode of the host vehicle M is mode A or B, the mode decision device 150 changes the traveling mode of the host vehicle M based on information of the signs recognized by the recognition device 130. Thereby, the automated driving control device 100 of the embodiment can perform appropriate control according to a road structure.

[0080] The embodiment described above can be represented as follows: A vehicle control device comprising: a storage device that stores a program; and a hardware processor, wherein the hardware processor executes the program stored in the storage device to: to recognize the situation surrounding the vehicle; to control steering and acceleration / deceleration of the vehicle independently of any operation by a driver of the vehicle; to decide any one of a plurality of driving modes including a first driving mode and a second driving mode as a driving mode of the vehicle, the second driving mode being a driving mode in which a task imposed on the driver is easier than in the first driving mode, some of the plurality of driving modes including at least the second driving mode being performed by controlling the steering and acceleration / deceleration of the vehicle independently of the operation of the driver of the vehicle; to change the driving mode of the vehicle to a driving mode in which a task is more difficult if a task assigned to the decided driving mode is not performed by the driver; to detect a sign that is present within a reference area of ​​a route along which the vehicle is traveling; and to change the driving mode of the vehicle from the second driving mode to the first driving mode when the driving mode of the vehicle is the second driving mode and when the number of recognized characters exceeds a first reference value.

[0081] Although modes for carrying out the present invention have been described using embodiments, the present invention is not limited to the embodiments, and various modifications and additions may also be made without departing from the scope and spirit of the present invention. [List of reference symbols] 1 vehicle system 10 Camera 12 radar device 14 LIDAR sensor 16 Detection device for a physical object 40 vehicle sensor 60 MPU 61 Decision device for a recommended lane 62 Second card information 70 driver monitoring camera 80 driving controls 82 steering wheel 84 Steering handle sensor 100 Control device for automated driving 120 First control device 130 Detection device 140 Action plan generation facility 150 mode decision facility 152 Driver condition determination device 154 Mode change processor 160 Second control device

Claims

[1] Vehicle control device (100) comprising: A recognition device (130) which is configured to recognize an environmental situation of a vehicle (MS); a driving control device (140, 160) which is configured to control steering and acceleration / deceleration of the vehicle (M) independently of an operation by a driver of the vehicle (M); and a mode decision device (150) configured to decide any one of a plurality of driving modes, comprising a first driving mode and a second driving mode, as a driving mode of the vehicle (M) and to change the driving mode of the vehicle (M) from the decided driving mode to a driving mode in which a task is harder when a task associated with the decided driving mode is not performed by the driver, wherein the second driving mode is a driving mode in which a task imposed on the driver is easier than in the first driving mode, wherein some of the plurality of driving modes, comprising at least the second driving mode, are controlled by the driving control device (140, 160), wherein the recognition device (130) recognizes a character which is present within a reference area of ​​a route along which the vehicle (M) travels, and wherein the mode decision means (150) changes the driving mode of the vehicle (M) from the second driving mode to the first driving mode when the driving mode of the vehicle (M) is the second driving mode and when the number of characters recognized by the recognition means (130) exceeds a first reference value, the first reference value being defined according to the number of lanes in the surroundings of the vehicle (M), and wherein the mode decision means (150) changes the driving mode in the driving control means (140, 160) from the second driving mode to the first driving mode when the driving mode of the vehicle (M) is the second driving mode and when a degree of difference between the number of characters recognized by the recognition means (130) and the number of characters installed in a lane on a map within the reference range, which are displayed in high-precision map information, does not satisfy a condition. [2] The vehicle control device (100) according to claim 1, wherein the mode decision means (150) causes a high-precision map information acquisition means to acquire new high-precision map information when the degree of difference associated with the number of characters does not satisfy the condition. [3] Vehicle control device (100) comprising: a recognition device (130) which is configured to recognize an environmental situation of a vehicle (MS); a driving control device (140, 160) which is configured to control steering and acceleration / deceleration of the vehicle (M) independently of an operation by a driver of the vehicle (M); and a mode decision device (150) configured to decide any one of a plurality of driving modes, comprising a first driving mode and a second driving mode, as a driving mode of the vehicle (M) and to change the driving mode of the vehicle (M) from the decided driving mode to a driving mode in which a task is harder when a task associated with the decided driving mode is not performed by the driver, wherein the second driving mode is a driving mode in which a task imposed on the driver is easier than in the first driving mode, wherein some of the plurality of driving modes, comprising at least the second driving mode, are controlled by the driving control device (140, 160), wherein the recognition device (130) recognizes a character which is present within a reference area of ​​a route along which the vehicle (M) travels, and wherein the mode decision means (150) changes the driving mode of the vehicle (M) from the second driving mode to the first driving mode when the driving mode of the vehicle (M) is the second driving mode and when the number of characters recognized by the recognition means (130) exceeds a first reference value, the first reference value being defined according to the number of lanes in the surroundings of the vehicle (M), and wherein the first reference value is updated when map information including at least information about a position of a sign installed in a lane on a map has been updated. [4] The vehicle control device (100) according to claim 1, wherein the reference range includes a range from the vehicle (M) to a reference distance forward in a forward direction and a range from the vehicle (M) to a reference distance rearward in a backward direction. [5] The vehicle control device (100) according to claim 4, wherein the reference distance to the front is greater than the reference distance to the rear. [6] The vehicle control device (100) according to claim 1, wherein the recognition means (130) recognizes a sign installed at a higher position than a road surface of the route and / or a sign drawn on the road surface. [7] Vehicle control device (100) according to claim 1, wherein the second driving mode is a driving mode in which at least one task of grasping an operating element for receiving a steering operation is not imposed on the driver, and wherein the first driving mode is a driving mode in which a driving operation by the driver is required with respect to at least one of steering and acceleration / deceleration of the vehicle, or a driving mode in which the task of gripping the operating member is imposed on the driver. [8] Vehicle control procedure, comprising: Detecting, by a computer mounted in a vehicle (M), an environmental situation of the vehicle (M); Controlling, by the computer, steering and acceleration / deceleration of the vehicle (M) independently of operation by a driver of the vehicle; Deciding, by the computer, any one of a plurality of driving modes comprising a first driving mode and a second driving mode as a driving mode of the vehicle (M), the second driving mode being a driving mode in which a task imposed on the driver is easier than in the first driving mode, some of the plurality of driving modes comprising at least the second driving mode being performed by controlling the steering and acceleration / deceleration of the vehicle (M) independently of the operation of the driver of the vehicle (M); Changing, by the computer, the driving mode of the vehicle from the decided driving mode to a driving mode in which a task is more difficult if a task associated with the decided driving mode is not performed by the driver; detecting, by the computer, a sign present within a reference area of ​​a route along which the vehicle (M) is traveling at the detection time; and Changing, by the computer, the driving mode of the vehicle (M) from the second driving mode to the first driving mode when the driving mode of the vehicle is the second driving mode and when the number of recognized characters exceeds a first reference value, wherein the first reference value is defined according to the number of lanes in the surroundings of the vehicle (M), and Changing, by the computer, the driving mode from the second driving mode to the first driving mode when the driving mode of the vehicle (M) is the second driving mode and when a degree of difference between the number of characters recognized by the recognition device (130) and the number of characters installed in a lane on a map within the reference area displayed in high-precision map information does not satisfy a condition. [9] Program for causing a computer mounted in a vehicle (M) to: Detecting an environmental situation of the vehicle (M); Controlling steering and acceleration / deceleration of the vehicle (M) independently of operation by a driver of the vehicle; Deciding on any one of a plurality of driving modes comprising a first driving mode and a second driving mode as a driving mode of the vehicle (M), wherein the second driving mode is a driving mode in which a task imposed on the driver is easier than in the first driving mode, wherein some of the plurality of driving modes comprising at least the second driving mode are performed by controlling the steering and acceleration / deceleration of the vehicle (M) independently of the operation of the driver of the vehicle (M); Changing the driving mode of the vehicle (M) from the decided driving mode to a driving mode in which a task is more difficult if a task associated with the decided driving mode is not performed by the driver; Detecting a sign present within a reference area of ​​a route along which the vehicle (M) is traveling at the detection time; Changing the driving mode of the vehicle (M) from the second driving mode to the first driving mode when the driving mode of the vehicle (M) is the second driving mode and when the number of recognized characters exceeds a first reference value, the first reference value being defined according to the number of lanes in the vicinity of the vehicle (M), and changing the driving mode from the second driving mode to the first driving mode when the driving mode of the vehicle (M) is the second driving mode and when a degree of difference between the number of characters recognized by the recognition device (130) and the number of characters installed in a lane on a map within the reference range, which are displayed in high-precision map information, does not satisfy a condition.

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