Vehicle control device

Abstract

To provide a technology that is able to appropriately control traveling assist.SOLUTION: A vehicle control device 110 to be mounted on a vehicle 10 having a camera 122 comprises: a recognition unit 111 configured to recognize a planned travel roadway of the vehicle and a parking area around the vehicle by using a surrounding image which is an image of surroundings of the vehicle captured by the camera; a calculation unit 112 configured to calculate an intersection angle which is an angle at which a traveling direction of the vehicle and an extending direction of the planned traveling roadway intersect with each other; and a control unit 113 configured to perform traveling assist control of the vehicle when it is determined that an operation of an accelerator pedal of the vehicle satisfies a predetermined first condition and the vehicle is located in the parking area, wherein the control unit does not perform the traveling assist control when a distance from the vehicle to the planned traveling roadway is equal to or shorter than a predetermined first threshold distance and the intersection angle is equal to or smaller than a predetermined first threshold angle or when a predicted time until the vehicle arrives at the planned travel roadway is equal to or less than a predetermined first threshold time and the intersection angle is equal to or smaller than the first threshold angle.SELECTED DRAWING: Figure 1

Description

[Technical field]

[0001] The present disclosure relates to a vehicle control device. [Background technology]

[0002] For example, as described in Patent Document 1, a technique is known for suppressing sudden acceleration caused by a driver of a vehicle mistaking the accelerator pedal for the brake pedal in a parking lot. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Patent No. 6299179 Summary of the Invention [Problem to be solved by the invention]

[0004] However, even if the driver intentionally depresses the accelerator pedal to exit a parking space and enter the road, there is a risk that the vehicle's acceleration may be restricted. Therefore, there was a need for technology that could appropriately control driving assistance. [Means for solving the problem]

[0005] The present disclosure has been made to solve the above-mentioned problems, and can be realized in the following forms.

[0006] According to one embodiment of the present disclosure, a vehicle control device (110) mounted on a vehicle (10) having a camera (122) is provided. The vehicle providing device includes a recognition unit (111) that recognizes a planned roadway of the vehicle and a parking area around the vehicle by using a surrounding image that is an image of the surroundings of the vehicle captured by the camera, a calculation unit (112) that calculates an intersection angle that is an angle at which the traveling direction of the vehicle intersects with an extension direction of the planned roadway, and a control unit (113) that performs driving support control of the vehicle when it is determined that an operation of an accelerator pedal of the vehicle satisfies a predetermined first condition and the vehicle is located within the parking area, and the control unit does not perform the driving support control when a distance from the vehicle to the planned roadway is equal to or less than a predetermined first threshold distance and the intersection angle is equal to or less than a predetermined first threshold angle, or when a predicted time until the vehicle reaches the planned roadway is equal to or less than a predetermined first threshold time and the intersection angle is equal to or less than the first threshold angle.

[0007] According to the vehicle control device of this embodiment, even if the operation of the accelerator pedal of the vehicle satisfies the first condition and it is determined that the vehicle is located within the parking lot area, if the distance from the vehicle to the intended roadway is equal to or less than the first threshold distance and the intersection angle is equal to or less than the first threshold angle, or if the time it takes for the vehicle to reach the intended roadway is equal to or less than the first threshold time and the intersection angle is equal to or less than the first threshold angle, driving support control is not performed. Therefore, for example, when the driver intentionally depresses the accelerator pedal to move the vehicle from the parking lot onto the roadway, driving control can be suppressed. Therefore, driving support of the vehicle can be appropriately controlled. [Brief description of the drawings]

[0008] [Figure 1] FIG. 1 is a schematic diagram showing a configuration of an operation control system. [Diagram 2] 5 is a flowchart illustrating an example of a driving support process. [Diagram 3] FIG. 11 is an explanatory diagram showing an example in which driving support control is not performed. [Figure 4]FIG. 11 is an explanatory diagram showing another example in which driving support control is not performed. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0009] A. First embodiment: As shown in Fig. 1, a vehicle 10 includes a driving control system 100. In this embodiment, the driving control system 100 executes driving assistance control of the vehicle 10. In this embodiment, the driving control system 100 includes a vehicle control device 110, a camera 122, a driving control unit 210, a driving force control ECU (Electronic Control Unit) 220, a braking force control ECU 230, and a steering control ECU 240. The vehicle control device 110, the driving force control ECU 220, the braking force control ECU 230, and the steering control ECU 240 are connected via an in-vehicle network 250.

[0010] The camera 122 captures an image of the surroundings of the vehicle 10. The image captured by the camera 122 is output to the vehicle control device 110.

[0011] The vehicle control device 110 is a device that controls the driving of the vehicle 10 and executes driving support. The vehicle control device 110 is composed of a microcomputer constituted by a central processing unit (CPU), RAM, and ROM, and realizes the functions of a recognition unit 111, a calculation unit 112, and a control unit 113 by the microcomputer executing a program installed in advance. However, some or all of the functions of each of these units may be realized by a hardware circuit.

[0012] The recognition unit 111 recognizes the planned roadway along which the vehicle 10 is to travel and the parking area around the vehicle 10, using a surrounding image captured by the camera 122 of the surroundings of the vehicle 10. The parking area is an area indicating a parking lot. In this embodiment, the recognition unit 111 recognizes the traveling direction of the vehicle 10, using the traveling conditions of the vehicle 10. The traveling conditions of the vehicle 10 are the conditions of the vehicle 10 including, for example, the operation of the turn signal, the operation of the steering wheel, and the like.

[0013] The recognition unit 111 uses the peripheral image to recognize, for example, a roadway estimated to be ahead in the traveling direction of the vehicle 10 as the intended traveling road. More specifically, the recognition unit 111 recognizes the intended traveling road based on the boundary between the roadway and the sidewalk ahead in the traveling direction of the vehicle 10, roadside objects, and dividing lines.

[0014] In addition, the recognition unit 111 recognizes the parking lot area by, for example, parking spaces and parked vehicles indicated by parking lines using the surrounding image. More specifically, the recognition unit 111 recognizes an approximately rectangular area including the recognized parking spaces and parked vehicles as the parking lot area. In this embodiment, the recognition unit 111 recognizes two or more parking spaces or parked vehicles that are lined up consecutively as one parking lot area.

[0015] The information indicating the planned road and parking area recognized by the recognition unit 111 is also referred to as surrounding information. The surrounding information is information including, for example, the position and extension direction of the planned road and the boundary line of the parking area.

[0016] The calculation unit 112 calculates an intersection angle, which is an angle at which the traveling direction of the vehicle 10 intersects with the extension direction of the planned roadway recognized by the recognition unit 111. In this embodiment, the calculation unit 112 calculates, as the intersection angle, an angle at which the extension direction of the lane mark closest to the vehicle 10, out of the lane marks on both sides of the planned roadway recognized by the recognition unit 111, intersects with the traveling direction of the vehicle 10.

[0017] When the control unit 113 determines that the operation of the accelerator pedal of the vehicle 10 satisfies a predetermined first condition and that the vehicle 10 is located within a parking lot area, the control unit 113 performs driving support control of the vehicle 10. In this embodiment, the control unit 113 suppresses the acceleration of the vehicle 10 as driving support control. Details of the first condition will be described later. Furthermore, even if the first condition is satisfied and the vehicle 10 is located within the parking lot area, the control unit 113 does not perform driving support control if a predetermined exceptional condition is satisfied. Details of the exceptional condition will be described later.

[0018] The driving control unit 210 is composed of a microcomputer including a central processing unit (CPU), RAM, and ROM, and realizes a driving support function by the microcomputer executing a pre-installed program. The driving control unit 210 realizes the driving support function by controlling the driving force control ECU 220, the braking force control ECU 230, and the steering control ECU 240. The driving control unit 210 controls, for example, the driving force control ECU 220 and the braking force control ECU 230 to limit the acceleration of the vehicle 10.

[0019] The driving force control ECU 220 is an electronic control device that controls an actuator, such as an engine, that generates driving force for the vehicle 10. The driving force control ECU 220 controls a power source, such as an engine or an electric motor, in response to the amount of accelerator pedal operation.

[0020] The braking force control ECU 230 is an electronic control device that controls a brake actuator that generates a braking force for the vehicle 10. The braking force control ECU 230 controls the brake actuator in response to the amount of operation of the brake pedal.

[0021] The steering control ECU 240 is an electronic control device that controls a motor that generates a steering torque for the vehicle 10. The steering control ECU 240 controls the motor in response to the operation of the steering wheel to generate an assist torque for the steering operation. This allows the driver to operate the steering wheel with a small amount of force, thereby realizing steering of the vehicle 10.

[0022] 2 is a process in which the vehicle control device 110 performs driving support for the vehicle 10. This process is performed when the accelerator pedal is operated.

[0023] In step S100, the control unit 113 determines whether or not the operation of the accelerator pedal satisfies a first condition. If the operation of the accelerator pedal satisfies the first condition, the control unit 113 proceeds to the process of step S110. On the other hand, if the operation of the accelerator pedal does not satisfy the first condition, the control unit 113 ends the driving support process.

[0024] The first condition is a condition related to the operation of the accelerator pedal of the vehicle 10. The control unit 113 can determine that the first condition is met when, for example, all of the following conditions 1 to 4 are met.

[0025] <Condition 1> The traveling speed of the vehicle 10 is less than a predetermined first threshold speed. <Condition 2> The amount of operation of the accelerator pedal of the vehicle 10 is equal to or greater than a predetermined threshold amount of operation. <Condition 3> The operation speed of the accelerator pedal of the vehicle 10 is equal to or greater than a predetermined threshold operation speed. <Condition 4> The brakes of the vehicle 10 are not being operated.

[0026] The first threshold speed in the above condition 1 is a standard speed at which the vehicle 10 travels within the parking lot area. The first threshold speed can be determined in advance experimentally or empirically. The first threshold speed is, for example, 10 to 15 km / h.

[0027] The accelerator pedal operation speed in the above condition 3 is the amount of change in the accelerator pedal operation amount per unit time.

[0028] The above conditions 1 to 4 are examples, and other conditions may be added, or only some of the above conditions 1 to 4 may be used. However, it is preferable to determine that the first condition is met when predetermined conditions including at least the above conditions 1 and 4 are met.

[0029] In step S110, the recognition unit 111 recognizes the road along which the vehicle 10 is to travel and the parking lot area around the vehicle 10. More specifically, surrounding information is generated.

[0030] In step S120, the calculation unit 112 calculates the intersection angle by using the peripheral information generated by the recognition unit 111 in step S110.

[0031] In step S130, the control unit 113 determines whether the vehicle 10 is located within the parking lot area. In this embodiment, the control unit 113 determines whether the second condition is satisfied using the surrounding information generated by the recognition unit 111 in step S110. If the second condition is met, the control unit 113 determines that the vehicle 10 is located within the parking lot area. If the vehicle 10 is located within the parking lot area, that is, if the second condition is satisfied, the control unit 113 proceeds to the process of step S140. On the other hand, if the vehicle 10 is not located within the parking lot area, that is, if the second condition is not satisfied, the control unit 113 ends the driving support process.

[0032] As the second condition, for example, it is possible to adopt one or more of the following conditions:

[0033] <Second Condition 1> At least a portion of the vehicle 10 is located within the parking lot area. <2nd Condition 2> The traveling speed of the vehicle 10 is equal to or less than a predetermined second threshold speed, and there is a parking lot area on both sides of the direction of travel of the vehicle 10. <2nd Condition 3> A parking lot area is located in the direction of travel of the vehicle 10, and the time it takes for the vehicle 10 to reach the parking lot area is less than or equal to a predetermined second threshold time. <2nd Condition 4> A parking lot area is located in the opposite direction to the direction of travel of the vehicle 10, the distance between the vehicle 10 and the parking lot area is less than or equal to a second threshold distance, and the angle at which the direction of travel of the vehicle 10 intersects with the extension direction of the parking line closest to the vehicle 10 on the line representing the parking space in the parking lot area is less than or equal to a predetermined second threshold angle.

[0034] The second threshold speed in the second condition 2 is a standard speed when the vehicle 10 travels in a parking lot area. The second threshold speed can be determined in advance experimentally or empirically. The second threshold speed is, for example, 10 to 15 km / h. An example of a case where the second condition 2 is satisfied is when the vehicle 10 is located in a parking lot with a large area, such as a parking lot of a large store. A parking lot with a large area has a passageway for moving to the area where the vehicle 10 is parked. Therefore, by adopting this condition and determining that the vehicle 10 is located in the parking lot area, appropriate driving assistance can be performed.

[0035] The second threshold time in the second condition 3 is, for example, 2 seconds. If the second condition 3 is satisfied, there is a high possibility that the vehicle 10 is about to enter the parking lot area. Therefore, by adopting this condition and determining that the vehicle 10 is located within the parking lot area, appropriate driving assistance can be performed.

[0036] The second threshold distance in the second condition 4 is, for example, 5 m. The second threshold angle is, for example, 40 degrees. If the second condition 4 is met, it is highly likely that the vehicle 10 has just moved outside the parking lot area. Therefore, by adopting this condition and determining that the vehicle 10 is located within the parking lot area, appropriate driving assistance can be performed.

[0037] The second condition may be a combination of the above second conditions 1 to 4 or other conditions as appropriate. In this embodiment, the control unit 113 employs the above second conditions 1 to 4, and determines that the second condition is met when any one of the second conditions 1 to 4 is met.

[0038] In step S140, the control unit 113 determines whether or not the exception condition is satisfied, using the peripheral information generated by the recognition unit 111 in step S110. If the exception condition is not satisfied, the control unit 113 proceeds to the process of step S150. On the other hand, if the exception condition is satisfied, the control unit 113 ends the driving support process. Note that the processes of steps S100 to S140 can be performed in any order, not limited to this order, or in parallel, as long as the processes of steps S120 and S130 are performed after the process of step S110, and the process of step S140 is performed after the process of step S120.

[0039] As the exception condition, for example, any one or more of the following conditions can be adopted.

[0040] <Exception condition 1> The distance from the vehicle 10 to the intended roadway is equal to or less than a predetermined first threshold distance, and the intersection angle is equal to or less than a predetermined first threshold angle. <Exception condition 2> The predicted time until the vehicle 10 reaches the intended roadway is equal to or less than a predetermined first threshold time, and the intersection angle is equal to or less than the first threshold angle.

[0041] The first threshold distance in the above exception condition 1 is, for example, 2 m. The first threshold angle is a standard angle when the vehicle 10 moves from inside the parking lot area to outside the parking lot area. The first threshold angle can be determined experimentally or empirically in advance. The first threshold angle is, for example, 45 to 60 degrees. When the above exception condition 1 is met, it is highly likely that the vehicle 10 is about to enter the intended driving road from inside the parking lot area. Therefore, by adopting this condition and not performing driving support control, it is possible to suppress unnecessary driving support control.

[0042] The first threshold time in the above-mentioned exception condition 2 is, for example, 3 seconds. When the above-mentioned exception condition 2 is satisfied, there is a high possibility that the vehicle 10 is about to enter the intended driving road from within the parking lot area. Therefore, by adopting this condition and not performing driving support control, it is possible to suppress the unnecessary performance of driving support control.

[0043] Furthermore, the above-mentioned exception condition 1 and exception condition 2, and other conditions may be appropriately combined to set the exception condition. In this embodiment, the control unit 113 employs the above-mentioned exception condition 1 and exception condition 2, and determines that the exception condition is established when either exception condition 1 or exception condition 2 is established.

[0044] In step S150, the control unit 113 executes driving support control. More specifically, the control unit 113 controls the driving control unit 210 to suppress acceleration of the vehicle 10. If the first condition is satisfied, the vehicle 10 is located within the parking lot area, and the exception condition is not satisfied, it is highly likely that the driver of the vehicle 10 has mistakenly depressed the accelerator pedal, and therefore the control unit 113 executes driving support control to suppress acceleration of the vehicle 10.

[0045] The vehicle 10 shown in FIG. 3 is about to enter a roadway from a parking lot. The operation of the accelerator pedal of the vehicle 10 satisfies the first condition. In addition, the traveling speed of the vehicle 10 is equal to or less than the second threshold speed described above. Since a parking lot area P1 and a parking lot area P2 exist on both sides of the vehicle 10, the second condition 2 is satisfied, and the vehicle 10 is determined to be located in the parking lot area. In addition, the distance D1 from the vehicle 10 to the intended traveling roadway Ln1 is equal to or less than the first threshold distance, and the intersection angle θ1 is equal to or less than the first threshold angle, so the exception condition is satisfied. That is, although the first condition and the second condition are satisfied, the exception condition is also satisfied. Therefore, the control unit 113 does not perform driving assistance control.

[0046] The vehicle 10 shown in FIG. 4 leaves a parking lot and enters an intersection. The operation of the accelerator pedal of the vehicle 10 satisfies the first condition. In addition, a parking lot area P3 exists in the opposite direction to the traveling direction of the vehicle 10. The distance D2 between the vehicle 10 and the parking lot area P3 is equal to or less than the second threshold distance. The angle θ2 at which the traveling direction of the vehicle 10 intersects with the extension direction of the parking line PL, which is the line representing the parking space in the parking lot area P3 and is closest to the vehicle 10, is equal to or less than the second threshold angle. Therefore, the second condition 4 is satisfied, and the vehicle 10 is determined to be located in the parking lot area. In addition, since the vehicle 10 is located on the planned driving road Ln2, the distance to the planned driving road Ln2 is equal to or less than the first threshold distance, and the intersection angle θ3 is equal to or less than the first threshold angle, so the exception condition is satisfied. That is, although the first condition and the second condition are satisfied, the exception condition is also satisfied. Therefore, the control unit 113 does not perform driving assistance control.

[0047] According to the vehicle control device 110 of the present embodiment described above, even if the operation of the accelerator pedal of the vehicle 10 satisfies the first condition and the control unit 113 determines that the vehicle 10 is located within the parking lot area, the control unit 113 does not perform driving assistance control when the distance from the vehicle 10 to the intended road is equal to or less than the first threshold distance and the intersection angle is equal to or less than the first threshold angle, or when the time it takes for the vehicle 10 to reach the intended road is equal to or less than the first threshold time and the intersection angle is equal to or less than the first threshold angle. Therefore, for example, when the driver intentionally depresses the accelerator pedal to move the vehicle 10 from the parking lot onto the road, the driving assistance can be suppressed. Therefore, the driving assistance of the vehicle 10 can be appropriately controlled.

[0048] The second condition indicating that the vehicle 10 is located within the parking lot area includes at least one of the following being satisfied: the traveling speed of the vehicle 10 is equal to or lower than a predetermined threshold speed, there are parking lot areas on both sides of the traveling direction of the vehicle 10, the parking lot area is located in the traveling direction of the vehicle 10 and the time it takes for the vehicle 10 to reach the parking lot area is equal to or lower than a predetermined second threshold time, the parking lot area is located in the opposite direction to the traveling direction of the vehicle 10, the distance between the vehicle 10 and the parking lot area is equal to or lower than a second threshold distance, and the angle at which the traveling direction of the vehicle 10 intersects with the extension direction of the parking line closest to the vehicle 10 on the line representing the parking space in the parking lot area is equal to or lower than a predetermined second threshold angle. Therefore, even if the vehicle 10 is not actually located within the parking lot area, it can be determined that the vehicle 10 is located within the parking lot area when there is a high possibility that the vehicle 10 is about to enter the parking lot area or when there is a high possibility that the vehicle 10 has just moved outside the parking lot area. Therefore, appropriate driving support can be performed.

[0049] Furthermore, the calculation unit 112 calculates the intersection angle as the angle at which the extension direction of the lane marking closest to the vehicle 10 on the planned roadway recognized by the recognition unit 111 intersects with the traveling direction of the vehicle 10. When the calculation unit 112 calculates the intersection angle as the angle at which the lane marking closest to the vehicle 10 on the planned roadway intersects with the traveling direction of the vehicle, if the distance between the vehicle 10 and the planned roadway is short and the lane marking closest to the vehicle 10 on the planned roadway in the traveling direction of the vehicle 10 cannot be detected within the angle of view of the camera 122, the calculation unit 112 may not be able to calculate the intersection angle. Therefore, the calculation unit 112 can reliably calculate the intersection angle.

[0050] B. Other embodiments: (B1) In the above-described embodiment, the recognition unit 111 recognizes the surrounding information using the surrounding image captured by the camera 122. In addition to this, the recognition unit 111 may further recognize the surrounding information using the distance to the object in the periphery of the vehicle 10 acquired using a laser radar, a millimeter wave radar, a Lidar (Light Detection and Ranging), an ultrasonic sensor, or the like.

[0051] (B2) In the above-described embodiment, the calculation unit 112 calculates, as the intersection angle, the angle at which the extension direction of the lane marking closest to the vehicle 10 on the planned roadway intersects with the traveling direction of the vehicle 10. Without being limited to this, the calculation unit 112 may calculate, as the intersection angle, the angle at which the center trajectory of the planned roadway, estimated from the lane marks on both sides of the planned roadway, intersects with the traveling direction of the vehicle 10, or the angle at which a roadside object on the planned roadway intersects with the traveling direction of the vehicle 10.

[0052] (B3) In the above-described embodiment, the control unit 113 performs the driving support control by suppressing the acceleration of the vehicle 10. However, the control unit 113 may perform the driving support control by controlling the vehicle 10 to include at least one of suppressing the acceleration of the vehicle 10 and setting an upper limit on the driving speed of the vehicle 10.

[0053] (B4) In the above-described embodiment, even if the operation of the accelerator pedal of the vehicle 10 satisfies the first condition, and the second condition is satisfied and the control unit 113 determines that the vehicle 10 is located within a parking lot area, if the exception condition is satisfied, the control unit 113 does not perform driving support control. Without being limited to this, the control unit 113 may determine that the vehicle 10 is not located within a parking lot area if the exception condition is satisfied, even if the second condition is satisfied.

[0054] The present disclosure is not limited to the above-mentioned embodiment, and can be realized in various configurations without departing from the spirit of the present disclosure. For example, the technical features in the embodiments corresponding to the technical features in each form described in the Summary of the Invention column can be appropriately replaced or combined in order to solve the above-mentioned problems or to achieve some or all of the above-mentioned effects. Furthermore, if the technical feature is not described as essential in this specification, it can be appropriately deleted.

[0055] The control unit 113 and the method described in the present disclosure may be realized by a dedicated computer provided by configuring a processor and a memory programmed to execute one or more functions embodied in a computer program. Alternatively, the control unit 113 and the method described in the present disclosure may be realized by a dedicated computer provided by configuring a processor with one or more dedicated hardware logic circuits. Alternatively, the restriction unit and the method described in the present disclosure may be realized by one or more dedicated computers configured by a combination of a processor and a memory programmed to execute one or more functions and a processor configured with one or more hardware logic circuits. Also, the computer program may be stored in a computer-readable non-transitory tangible recording medium as instructions executed by a computer. [Explanation of symbols]

[0056] 10...vehicle, 100...driving control system, 110...vehicle control device, 111...recognition unit, 112...calculation unit, 113...control unit, 122...camera, 210...driving control unit, 220...driving force control ECU, 230...braking force control ECU, 240...steering control ECU, 250...in-vehicle network

Claims

1. A vehicle control device (110) mounted on a vehicle (10) having a camera (122), A recognition unit (111) that recognizes a roadway along which the vehicle is to travel and a parking area around the vehicle using a surrounding image that is an image of the surroundings of the vehicle captured by the camera; A calculation unit (112) that calculates an intersection angle that is an angle at which a traveling direction of the vehicle and an extension direction of the planned travel road intersect; A vehicle control device comprising: a control unit (113) that performs driving assistance control of the vehicle when it is determined that the operation of the accelerator pedal of the vehicle satisfies a predetermined first condition and the vehicle is located within the parking lot area, and the control unit does not perform the driving assistance control when the distance from the vehicle to the intended road is equal to or less than a predetermined first threshold distance and the intersection angle is equal to or less than a predetermined first threshold angle, or when a predicted time until the vehicle reaches the intended road is equal to or less than a predetermined first threshold time and the intersection angle is equal to or less than the first threshold angle.

2. The vehicle control device according to claim 1, The control unit is The vehicle's traveling speed is equal to or lower than a predetermined threshold speed, and the parking lot area is present on both sides of the vehicle's traveling direction; The parking lot area is located in the traveling direction of the vehicle, and the time it takes for the vehicle to reach the parking lot area is equal to or shorter than a predetermined second threshold time. The parking lot area is located in the opposite direction to the traveling direction of the vehicle, the distance between the vehicle and the parking lot area is equal to or less than a second threshold distance, and the angle at which the traveling direction of the vehicle intersects with the extension direction of the parking line closest to the vehicle on the line representing the parking space in the parking lot area is equal to or less than a predetermined second threshold angle; The vehicle control device determines that the vehicle is located within the parking lot area when at least one of the following conditions is satisfied.

3. The vehicle control device according to claim 1 or 2, The vehicle control device, wherein the driving assistance control includes at least one of suppressing acceleration of the vehicle and setting an upper limit on the driving speed of the vehicle.

4. The vehicle control device according to claim 1 or 2, The calculation unit calculates, as the intersection angle, an angle between an extension direction of a lane marking that is closest to the vehicle on the intended roadway recognized by the recognition unit and a traveling direction of the vehicle.

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