Vehicle control device and control method

Abstract

To enhance safety by appropriately making a notification to a crewman of a vehicle.SOLUTION: A notification control section 35 of a control device 30 of a vehicle 1 including a manual transmission 63 makes a first notification based on an accelerator opening in predetermined timing after it is determined that a vehicle speed V exceeds a limited speed of a road on which the vehicle 1 travels. In this case, when a clutch pedal 64 is not operated in a first period after it is determined that the vehicle speed V exceeds the limited speed, the predetermined timing is the first timing after the passage of the first period. Meanwhile, when the clutch pedal 64 is operated in the first period, the timing is the later one between the first timing and the second timing. The second timing is the timing when the clutch pedal 64 is in a non-operation state or the timing after a second period passes from the timing of the non-operation state.SELECTED DRAWING: Figure 1

Description

[Technical field]

[0001] The present invention relates to a vehicle control device and a control method. [Background technology]

[0002] In recent years, efforts to provide access to sustainable transport systems that also take into consideration vulnerable transport participants have been gaining momentum. As part of these efforts, research and development is being conducted on driving assistance technologies and autonomous driving technologies for mobile objects (such as automobiles) in order to improve transport safety and convenience.

[0003] For example, Patent Document 1 listed below discloses a technology that recognizes the speed limit displayed on at least one of road signs and road markings based on an image captured by an imaging means that captures the image in front of the vehicle, compares the recognized speed limit with the vehicle speed, and activates an alarm means if speeding is detected. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] JP 2005-128790 A Summary of the Invention [Problem to be solved by the invention]

[0005] However, the conventional technology has room for improvement in terms of appropriately notifying vehicle occupants.

[0006] The present invention provides a vehicle control device and a control method that can appropriately notify vehicle occupants and improve vehicle safety, thereby improving traffic safety and contributing to the development of a sustainable transportation system. [Means for solving the problem]

[0007] One aspect of the present invention is A vehicle control device for controlling a vehicle equipped with a manual transmission, an acquisition unit that acquires speed limit information indicating a speed limit of a road on which the vehicle travels; a determination unit that compares the speed limit indicated by the speed limit information acquired by the acquisition unit with a traveling speed of the vehicle and determines whether the traveling speed exceeds the speed limit; a notification control unit that, when the determination unit determines that the traveling speed exceeds the speed limit, issues a predetermined notification to an occupant of the vehicle via a notification device mounted on the vehicle; and Equipped with The notification control unit, issuing a first notification based on an accelerator opening degree of the vehicle at a predetermined time after it is determined that the traveling speed exceeds the speed limit; The predetermined time is: When the clutch pedal of the vehicle is not operated during a first period after it is determined that the traveling speed exceeds the speed limit, the first time is a period in which the first period has elapsed since it was determined that the traveling speed exceeds the speed limit; If the clutch pedal is in the operated state during the first period, the later of the first time and the second time is determined to be the case, The second period is The timing is a timing when the clutch pedal that has been in the operated state is put into a non-operated state, or a timing when a second period has elapsed since the timing when the clutch pedal was put into the non-operated state. A vehicle control device.

[0008] Another aspect of the present invention is A control method executed by a computer for controlling a vehicle equipped with a manual transmission, comprising: The computer, acquiring speed limit information indicating a speed limit of a road on which the vehicle is traveling; comparing the speed limit indicated by the acquired speed limit information with a traveling speed of the vehicle to determine whether the traveling speed exceeds the speed limit; when it is determined that the traveling speed exceeds the speed limit, a predetermined notification is given to an occupant of the vehicle via a notification device mounted on the vehicle. Execute the process, In the process of performing the predetermined notification, issuing a first notification based on an accelerator opening degree of the vehicle at a predetermined time after it is determined that the traveling speed exceeds the speed limit; The predetermined time is: When the clutch pedal of the vehicle is not operated during a first period after it is determined that the traveling speed exceeds the speed limit, the first time is a period in which the first period has elapsed since it was determined that the traveling speed exceeds the speed limit; If the clutch pedal is in the operated state during the first period, the later of the first time and the second time is determined to be the case, The second period is The timing is a timing when the clutch pedal that has been in the operated state is put into a non-operated state, or a timing when a second period has elapsed since the timing when the clutch pedal was put into the non-operated state. It is a control method. Effect of the Invention

[0009] According to the present invention, it is possible to provide a vehicle control device and a control method that can appropriately notify vehicle occupants and improve vehicle safety. [Brief description of the drawings]

[0010] [Figure 1] FIG. 1 is a diagram showing a vehicle 1 controlled by a control device 30 which is an embodiment of a vehicle control device of the present invention. [Diagram 2] FIG. 2 is a diagram showing an example of the second notification N2. [Diagram 3] FIG. 3 is a diagram showing an example of the third notification N3. [Figure 4] FIG. 4 is a diagram showing an example of a speed limit non-detected image M2 that is displayed when speed limit information cannot be acquired. [Diagram 5]FIG. 5 is a flowchart showing an example of speeding detection processing for detecting speeding. [Figure 6] FIG. 6 is a flow chart showing an example of a delay process for delaying the determination time TJ. [Figure 7] FIG. 7 is a flowchart showing an example of a first notification process regarding the first notification N1. [Figure 8] FIG. 8 is a diagram showing a first example of the operation of the vehicle 1. In FIG. [Figure 9] FIG. 9 is a diagram showing a second example of the operation of the vehicle 1. In FIG. [Figure 10] FIG. 10 is a diagram illustrating a third example of the operation of the vehicle 1. In FIG. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0011] Hereinafter, an embodiment of the vehicle control device and control method of the present invention will be described in detail with reference to the drawings. The drawings should be viewed in the direction of the symbols. Note that the following embodiments do not limit the invention described in the claims, and not all combinations of features described in the embodiments are necessarily essential to the invention. In addition, two or more features of the multiple features described in the embodiments may be arbitrarily combined. In the following, identical or similar elements are given identical or similar symbols, and their descriptions may be omitted or simplified as appropriate.

[0012] [Vehicle configuration] FIG. 1 is a diagram showing a vehicle 1 controlled by a control device 30 which is an embodiment of the vehicle control device of the present invention. The vehicle 1 shown in FIG. 1 is an automobile having a drive source, and wheels including drive wheels driven by the power of the drive source and steerable wheels (neither of which are shown). For example, the vehicle 1 is a four-wheel automobile having a pair of left and right front wheels and rear wheels. The drive source of the vehicle 1 may be an electric motor, an internal combustion engine such as a gasoline engine or a diesel engine, or a combination of an electric motor and an internal combustion engine. In addition, the drive source of the vehicle 1 may drive a pair of left and right front wheels, a pair of left and right rear wheels, or a pair of left and right front wheels and rear wheels, i.e., four wheels. Either one of the front wheels or the rear wheels may be a steerable wheel, or both of the front wheels and the rear wheels may be steerable wheels.

[0013] As shown in FIG. 1, the vehicle 1 includes a sensor group 10, a navigation device 20, a control device 30, an EPS system (electric power steering system) 40, a communication unit 50, a driving force control system 60, a braking force control system 70, an operation input unit 80, an MID (multi-information display) 91, and a speaker 92.

[0014] The sensor group 10 acquires various types of information relating to the vehicle 1 and its surroundings. The information acquired by the sensor group 10 is sent to the control device 30 and used for controlling the vehicle 1 by the control device 30.

[0015] The sensor group 10 includes, for example, a front camera 11a, a rear camera 11b, a left side camera 11c, a right side camera 11d, a front sonar group 12a, a rear sonar group 12b, a left side sonar group 12c, and a right side sonar group 12d. These cameras and sonar groups function as external sensors that obtain surrounding information, which is information about the surroundings of the vehicle 1.

[0016] The front camera 11a, the rear camera 11b, the left side camera 11c, and the right side camera 11d output image data of surrounding images obtained by capturing images of the surroundings of the vehicle 1 to the control device 30. The surrounding images captured by the front camera 11a, the rear camera 11b, the left side camera 11c, and the right side camera 11d are also referred to as a front image, a rear image, a left side image, and a right side image, respectively. An image composed of the left side image and the right side image is also referred to as a lateral image.

[0017] The front sonar group 12a, the rear sonar group 12b, the left side sonar group 12c, and the right side sonar group 12d emit sound waves around the vehicle 1 and receive reflected sounds from other objects. The front sonar group 12a includes, for example, four sonars. The sonars constituting the front sonar group 12a are provided diagonally forward left, forward left, forward right, and diagonally forward right of the vehicle 1, respectively. The rear sonar group 12b includes, for example, four sonars. The sonars constituting the rear sonar group 12b are provided diagonally backward left, backward left, backward right, and diagonally backward right of the vehicle 1, respectively. The left side sonar group 12c includes, for example, two sonars. The sonars constituting the left side sonar group 12c are provided in the front left side and the rear left side of the vehicle 1, respectively. The right side sonar group 12d includes, for example, two sonars. The sonars constituting the right side sonar group 12d are provided at the front and rear of the right side of the vehicle 1. Instead of or in addition to the sonar groups 12a, 12b, 12c, and 12d, the vehicle 1 may be provided with a radar device that emits radio waves (for example, so-called millimeter wave radio waves) around the vehicle 1 and receives reflected waves from other objects.

[0018] Further, the sensor group 10 includes wheel sensors 13a and 13b, a vehicle speed sensor 14, and an operation detection unit 15. The wheel sensors 13a and 13b detect the rotation angles θa and θb of the wheels (not shown), respectively. The wheel sensors 13a and 13b may be configured by angle sensors or may be configured by displacement sensors. The wheel sensors 13a and 13b output a detection pulse every time the wheels rotate a predetermined angle. The detection pulses output from the wheel sensors 13a and 13b can be used to calculate the rotation angle and the rotation speed of the wheels. The travel distance of the vehicle 1 can be calculated based on the rotation angle of the wheels. The wheel sensor 13a detects, for example, the rotation angle θa of the left rear wheel. The wheel sensor 13b detects, for example, the rotation angle θb of the right rear wheel.

[0019] The vehicle speed sensor 14 detects the vehicle speed V, which is the traveling speed of the vehicle 1, and outputs the detected vehicle speed V to the control device 30. The vehicle speed sensor 14 detects the vehicle speed V based on, for example, the rotation of a countershaft of the transmission.

[0020] The operation detection unit 15 detects the contents of an operation performed by the driver using the operation input unit 80, and outputs the detected contents of the operation to the control device 30.

[0021] The navigation device 20 identifies the current position of the vehicle 1 using, for example, a Global Positioning System (GPS), and provides the driver with a route from the current position of the vehicle 1 to the destination. The navigation device 20 has, for example, a storage device (not shown) equipped with a map information database.

[0022] The navigation device 20 is also equipped with a touch panel 21 and a speaker 22. The touch panel 21 is configured by integrating a display device (e.g., a liquid crystal display) capable of displaying images with an input device capable of receiving input of information, and functions as a display device controlled by the control device 30 and an input device that receives input of various information to the control device 30. In other words, the touch panel 21 can display various screens according to the control of the control device 30, and input various commands received from the driver to the control device 30. The speaker 22 is configured from a sound output device capable of outputting sound, and outputs various guidance messages by voice according to the control of the control device 30.

[0023] The EPS system 40 has a steering angle sensor 41, a torque sensor 42, an EPS motor 43, a resolver 44, and an EPS ECU (Electronic Control Unit) 45. The steering angle sensor 41 detects a steering angle θst of a steering wheel 46. The torque sensor 42 detects a torque TQ applied to the steering wheel 46. The EPS motor 43 assists the operation of the steering wheel 46 (in other words, steering) by applying a driving force or a reaction force to a steering column 47 connected to the steering wheel 46. The resolver 44 detects a rotation angle θm of the EPS motor 43.

[0024] The EPS ECU 45 includes, for example, an input / output unit, a calculation unit, and a storage unit (none of which are shown), and is responsible for the overall control of the EPS system 40. The EPS ECU 45 also outputs information indicating the steering angle θst of the steering wheel 46 detected by the steering angle sensor 41 to the control device 30. The EPS ECU 45 may also output information indicating the steering speed ω of the steering wheel 46 to the control device 30. The steering speed ω can be obtained, for example, by differentiating the steering angle θst with respect to time.

[0025] The communication unit 50 is a communication interface that communicates with the external device 2 under the control of the control device 30. That is, the control device 30 can communicate with the external device 2 via the communication unit 50. Examples of the external device 2 include a driver's terminal device (e.g., a smartphone) and a server device managed by the manufacturer of the vehicle 1. Note that, for example, a mobile communication network such as a cellular line, WI-FI (registered trademark), Bluetooth (registered trademark), or the like can be used for communication between the vehicle 1 and the external device 2.

[0026] The driving force control system 60 includes a driving ECU 61 and a manual transmission 63, and is configured to be able to control the driving force of the vehicle 1. The driving ECU 61 includes, for example, an input / output unit, a calculation unit, and a storage unit (none of which are shown), and controls the power output from an internal combustion engine, an electric motor, or the like, which is a driving source of the vehicle 1, based on an operation of an accelerator pedal 62 (hereinafter also referred to as an "accelerator operation") provided on the vehicle 1 or an instruction from the control device 30. Hereinafter, the operation amount of the accelerator pedal 62 is also referred to as an "accelerator opening degree." For example, the accelerator opening degree is set to 0 [%] when the accelerator pedal 62 is not depressed at all, and increases as the accelerator pedal 62 is depressed, and becomes 100 [%] when the accelerator pedal 62 is depressed to the maximum. The accelerator opening degree is detected, for example, by an accelerator position sensor (not shown) provided on the vehicle 1, and sent to the control device 30.

[0027] The manual transmission 63 includes a multi-speed transmission (not shown) in which gears are changed by operating a shift lever (not shown) provided on the vehicle 1 (hereinafter also referred to as a "shift change operation"), and is provided on a power transmission path (hereinafter also simply referred to as a "power transmission path") from the drive source to the drive wheels of the vehicle 1. The shift change operation includes an up-shift operation for changing a gear to a higher gear, and a down-shift operation for changing a gear to a lower gear.

[0028] Moreover, the manual transmission 63 further includes a clutch (not shown) as a connecting / disconnecting device that connects and disconnects the power transmission path. For example, the clutch disconnects the power transmission path when a clutch pedal 64 provided on the vehicle 1 is in an operated state, and connects the power transmission path when the clutch pedal 64 is in a non-operated state. For example, the operated state can be a state in which the clutch pedal 64 is depressed, and the non-operated state can be a state in which the clutch pedal 64 is not depressed. Whether the clutch pedal 64 is in a steering state or a non-operated state is detected by, for example, a clutch sensor (not shown) provided on the vehicle 1, and is sent to the control device 30.

[0029] The braking force control system 70 includes a braking ECU 71 and is configured to be able to control the braking force of the vehicle 1. The braking ECU 71 includes, for example, an input / output unit, a calculation unit, and a storage unit (none of which are shown), and controls the braking force of the vehicle 1 by controlling a brake device (not shown) of the vehicle 1 based on an operation of a brake pedal 72 provided on the vehicle 1 (hereinafter also referred to as a "brake operation") or an instruction from the control device 30. Here, the brake device includes, for example, a brake caliper, a cylinder that transmits hydraulic pressure to the brake caliper, and an electric motor that generates hydraulic pressure in the cylinder. The braking ECU 71 generates a braking force corresponding to the brake operation by controlling the electric motor of the brake device based on the brake operation or an instruction from the control device 30.

[0030] The MID 91 is an example of a notification device mounted on the vehicle 1, and is configured with a display device (e.g., a liquid crystal display) capable of displaying images, and is provided in a position visible to the driver (e.g., in the meter panel of the vehicle 1). The MID 91 displays various screens according to the control of the control device 30. The MID 91 may be shared with the touch panel 21 provided in the navigation device 20. That is, in the following description, the MID 91 and the touch panel 21 may be read as interchangeable.

[0031] The speaker 92 is another example of a notification device mounted on the vehicle 1, and is configured by a sound output device capable of outputting sound, and outputs various kinds of guidance by voice under the control of the control device 30. Note that the speaker 92 may be shared with the speaker 22 provided in the navigation device 20. That is, in the following description, the speaker 92 and the speaker 22 may be read as interchangeable.

[0032] [Control device] The control device 30 is a device (computer) that generally controls the entire vehicle 1 based on information input from the sensor group 10, the navigation device 20, the EPS system 40, the communication unit 50, the driving force control system 60, the braking force control system 70, and the like.

[0033] The control device 30 includes, for example, an input / output unit 31, a control unit 32, and a storage unit 36. The input / output unit 31 is an interface that inputs and outputs data between the inside and outside of the control device 30 in accordance with the control of the control unit 32. The storage unit 36 ​​is configured to include a non-volatile storage medium such as a flash memory, and stores various information (for example, data and programs) for controlling the operation of the vehicle 1.

[0034] The control unit 32 is configured with a processor such as a CPU (Central Processing Unit), and controls each component of the vehicle 1 by executing a program stored in a storage unit 36 ​​or the like. In this embodiment, the control unit 32 includes an acquisition unit 33, a determination unit 34, and a notification control unit 35 as functional units realized by the processor executing the program.

[0035] The acquisition unit 33 acquires speed limit information indicating the speed limit of the road on which the vehicle 1 is traveling (hereinafter also simply referred to as "speed limit"), and passes the acquired speed limit information to the determination unit 34. For example, the acquisition unit 33 recognizes speed signs on the road on which the vehicle 1 is traveling by performing image analysis on a surrounding image acquired by the forward camera 11a or the like, and acquires speed limit information in which the speed indicated by the speed sign is set as the speed limit. The acquisition unit 33 may also acquire the speed limit information from a map information database or the like provided in the navigation device 20.

[0036] The determination unit 34 compares the speed limit indicated by the speed limit information acquired by the acquisition unit 33 with the vehicle speed V detected by the vehicle speed sensor 14 (i.e., the traveling speed of the vehicle 1) to determine whether the vehicle speed V exceeds the speed limit, and passes the determination result to the notification control unit 35. Specifically, when the vehicle speed V is greater than the speed limit, the determination unit 34 determines that the vehicle speed V exceeds the speed limit. On the other hand, when the vehicle speed V is equal to or less than the speed limit, the determination unit 34 determines that the vehicle speed V does not exceed the speed limit.

[0037] When the determination unit 34 determines that the vehicle speed V exceeds the speed limit, the notification control unit 35 issues a first notification N1 to the driver, who is an occupant of the vehicle 1, via a notification device (e.g., MID 91 or speaker 92) mounted on the vehicle 1. More specifically, the notification control unit 35 issues the first notification N1 based on the accelerator opening degree of the vehicle 1 at a predetermined time (hereinafter also referred to as "determination time TJ") after it is determined that the vehicle speed V exceeds the speed limit.

[0038] For example, the notification control unit 35 performs the first notification N1 when the accelerator opening at the determination time TJ is greater than a predetermined value. As a result, when it is estimated that the driver has no intention of slowing down the vehicle speed V that exceeds the speed limit (for example, the driver is not aware that the vehicle speed V exceeds the speed limit), the driver is notified by the first notification N1 that the vehicle speed V exceeds the speed limit, and it is possible to urge the driver to slow down the vehicle 1. In this embodiment, the above-mentioned predetermined value is 10[%], but is not limited to this and may be, for example, 0[%]. Moreover, a specific example of the first notification N1 will be described later, so a description thereof will be omitted here.

[0039] Also, for example, the notification control unit 35 does not issue the first notification N1 when the accelerator opening at the determination time TJ is equal to or less than a predetermined value. As a result, when it is estimated that the driver intends to decelerate the vehicle speed V that exceeds the speed limit, the first notification N1 is not issued, and excessive first notifications N1 that may be bothersome to the driver can be suppressed.

[0040] Incidentally, the vehicle 1 is a so-called "manual vehicle" equipped with a manual transmission 63. In such a vehicle 1, the accelerator opening may be temporarily set to a predetermined value or less during a shift-up operation, that is, even when the driver intends to accelerate. In other words, in the vehicle 1, even if the accelerator opening becomes a predetermined value or less, the vehicle 1 does not necessarily decelerate thereafter. For this reason, there is room for consideration in terms of appropriately performing the first notification N1 in the vehicle 1.

[0041] Therefore, the notification control unit 35 makes it possible to differentiate the determination time TJ between when the clutch pedal 64 is in an operated state and when it is not in an operated state during a predetermined period (hereinafter also referred to as "first period T1") after it is determined that the vehicle speed V exceeds the speed limit. As an example, in the following, the period from when it is determined that the vehicle speed V exceeds the speed limit until 5 [sec] has elapsed is defined as the first period T1. Note that the first period T1 is not limited to this and can be arbitrarily determined by the manufacturer of the vehicle 1, etc.

[0042] Specifically, if the clutch pedal 64 is not in an operated state during the first period T1, the notification control unit 35 determines the time when the first period T1 has elapsed (hereinafter also referred to as the "first time t1") as the determination time TJ. That is, in this case, the notification control unit 35 issues the first notification N1 based on the accelerator opening at the first time t1, which is when 5 [sec] has elapsed since it was determined that the vehicle speed V exceeded the speed limit.

[0043] On the other hand, when the clutch pedal 64 is in the operated state during the first period T1, the notification control unit 35 sets the later of the first time t1 and the second time t2 (in other words, the later in the chronological order) as the determination time TJ. Here, the second time t2 can be set as the time when the clutch pedal 64, which has been in the operated state, is in the non-operated state, or the time when a predetermined second period T2 has elapsed since the time when the clutch pedal 64 was in the non-operated state. As an example, in the following, the time when 2 [sec] as the second period T2 has elapsed since the time when the clutch pedal 64 was in the non-operated state is set as the second time t2.

[0044] For example, assume that a first time point t1, which is 5 seconds after it is determined that the vehicle speed V exceeds the speed limit, is chronologically later than a second time point t2, which is 2 seconds after the clutch pedal 64, which was in an operated state, is put into a non-operated state. In this case, the notification control unit 35 issues a first notification N1 based on the accelerator opening at the first time point t1.

[0045] On the other hand, suppose that a second time t2, at which 2 [sec] has elapsed since the clutch pedal 64, which had been in an operated state, was put into a non-operated state, is chronologically later than a first time t1, at which 5 [sec] has elapsed since it was determined that the vehicle speed V exceeded the speed limit. In this case, the notification control unit 35 issues the first notification N1 based on the accelerator opening at the second time t2.

[0046] With this configuration, when the clutch pedal 64 is in an operated state during the first period T1, it is possible to delay the determination time TJ for determining whether or not to perform the first notification N1 based on the accelerator opening to a second time t2 that is later in time than the normal first time t1 and is the time when the clutch pedal 64 is in a non-operated state or the time when the second period T2 has elapsed since the non-operated state. This makes it possible to stably perform the first notification N1 even if there is a temporary decrease in the accelerator opening due to a shift-up operation after it is determined that the vehicle speed V exceeds the speed limit. Therefore, it is possible to appropriately perform the first notification N1, which improves the safety of the vehicle 1, which in turn improves traffic safety and contributes to the development of a sustainable transportation system.

[0047] The second period T2 (i.e., the second time t2) is not limited to the above example, and can be arbitrarily determined by the manufacturer of the vehicle 1, etc. The second period T2 may be set to 0 [sec], and if the second period T2 is set to 0 [sec], the time when the clutch pedal 64, which has been set in an operated state, is set in a non-operated state can be set as the second time t2, as described above.

[0048] The notification control unit 35 may be configured to be able to execute other notifications in addition to the first notification N1. In the following, it is assumed that the notification control unit 35 can execute the second notification N2 and the third notification N3 in addition to the first notification N1.

[0049] Specifically, the notification control unit 35 performs the second notification N2 when it is determined that the vehicle speed V exceeds the speed limit and before the determination time TJ. In this way, when it is determined that the vehicle speed V exceeds the speed limit, it is possible to notify the driver that the vehicle speed V exceeds the speed limit by the second notification N2 even before the determination time TJ. Note that a specific example of the second notification N2 will be described later, and therefore will not be described here.

[0050] Furthermore, the notification control unit 35 performs the third notification N3 when it is determined that the vehicle speed V does not exceed the speed limit. As a result, when it is determined that the vehicle speed V does not exceed the speed limit, it becomes possible to inform the driver that the vehicle speed V does not exceed the speed limit by the third notification N3. Note that a specific example of the third notification N3 will be described later, and therefore the description thereof will be omitted here.

[0051] [Examples of notifications that the notification control unit can execute] Next, examples of notifications that the notification control unit 35 can execute will be described.

[0052] The first notification N1 can be, for example, a notification in which a predetermined notification sound AS is output a predetermined number of times or for a predetermined period of time from the speaker 92. This makes it possible to inform the driver that the first notification N1 has been made, even if the driver is looking around the vehicle 1 for driving (in other words, even if the driver is not looking at the MID 91) when the first notification N1 is made.

[0053] In addition, it is preferable that the first notification N1 is a notification with a stronger notification intensity than the second notification N2 described later, for example by making the notification sound AS an alarm sound. In this way, it is possible to further attract the driver's attention when the first notification N1 is made. Note that the number of times and the period for which the notification sound AS is output can be determined arbitrarily by the manufacturer of the vehicle 1, but it is preferable, for example, to output the notification sound multiple times. This makes it possible to more reliably inform the driver that the first notification N1 is being made, compared to when the notification sound AS is output only once.

[0054] The second notification N2 may be, for example, a notification that causes an image representing a speed limit (hereinafter also referred to as a "speed limit image") M1 to be displayed on the MID 91 in a first display manner, as shown in Fig. 2. As an example, in this embodiment, the first display manner is a blinking display. That is, in the second notification N2 of this embodiment, the speed limit image M1 is displayed in a blinking manner on the MID 91.

[0055] The third notification N3 can be, for example, a notification that causes the MID 91 to display the speed limit image M1 in a second display mode different from the first display mode, as shown in Fig. 3. As an example, in this embodiment, the second display mode is a lighting display that continues to light without blinking. That is, in the third notification N3 of this embodiment, the speed limit image M1 is displayed in a lighting state on the MID 91.

[0056] In addition, when the notification control unit 35 is unable to acquire speed limit information for reasons such as an inability to recognize a speed sign from a surrounding image obtained by the forward camera 11a or the like, the notification control unit 35 may cause the MID 91 to display a speed limit non-detection image M2, indicating that the speed limit could not be detected, instead of the speed limit image M1, as shown in Figure 4.

[0057] [Example of processing performed by the control device] Next, an example of the processing executed by the control device 30 will be described with reference to Figures 5 to 7. Note that the control device 30 executes the processing shown in Figures 5 to 7 at a predetermined cycle (e.g., every 5 ms) while the vehicle 1 is running (e.g., while the ignition power is on).

[0058] (Speed ​​detection process) Fig. 5 is a flow chart showing an example of a speeding detection process for detecting speeding. As shown in Fig. 5, in the speeding detection process, the control device 30 first executes a sign detection process (step S1). In the sign detection process of step S1, the control device 30 detects speed signs provided on the road on which the vehicle 1 is traveling, for example, by performing image analysis on a surrounding image obtained by the front camera 11a or the like. At this time, the control device 30 may also detect various road signs and the like other than speed signs.

[0059] Next, the control device 30 judges whether or not a speed sign has been detected by the sign detection process of step S1 (step S2). If it is judged that a speed sign has not been detected (step S2: NO), the control device 30 ends the speed limit detection process shown in Fig. 5. In this case, the control device 30 may cause the MID 91 to display the speed limit non-detection image M2, as described above.

[0060] On the other hand, if it is determined that a speed sign has been detected (step S2: YES), the control device 30 performs image analysis of the detected road sign to acquire speed limit information in which the speed indicated by the speed sign is set as the speed limit (step S3).Then, the control device 30 executes a third notification N3 (step S4) and causes the MID 91 to light up and display a speed limit image M1 representing the speed limit indicated by the speed limit information acquired by the processing of step S3.

[0061] Next, the control device 30 compares the speed limit indicated by the speed limit information acquired by the process of step S3 with the vehicle speed V detected by the vehicle speed sensor 14, and determines whether or not the vehicle speed V exceeds the speed limit (step S5). If it is determined that the vehicle speed V does not exceed the speed limit (step S5: NO), that is, if it is determined that the vehicle speed V is equal to or less than the speed limit, the control device 30 turns off the speed limit flag, which is a flag indicating that the vehicle speed V exceeds the speed limit (step S6), and ends the speed limit detection process shown in FIG.

[0062] On the other hand, if it is determined that the vehicle speed V exceeds the speed limit (step S5: YES), that is, if it is determined that the vehicle speed V is greater than the speed limit, the control device 30 turns on the speed limit flag (step S7). Then, the control device 30 sets the count value C of the timer counter for the determination time TJ to 5 [sec], which corresponds to the first period T1 (step S8), and starts counting down (subtracting) from the count value C.

[0063] Next, the control device 30 executes the second notification N2 (step S9), causes the speed limit image M1 representing the speed limit indicated by the speed limit information acquired by the processing of step S3 to flash on the MID 91, and terminates the speeding detection processing shown in Figure 5.

[0064] (Delay processing) Fig. 6 is a flow chart showing an example of a delay process for delaying the determination time TJ. As shown in Fig. 6, in the delay process, the control device 30 first determines whether or not the speed limit flag is on (step S11). When it is determined that the speed limit flag is off (step S11: NO), the control device 30 ends the delay process shown in Fig. 6.

[0065] On the other hand, when it is determined that the overspeed flag is on (step S11: YES), the control device 30 determines whether the clutch pedal 64 has transitioned from an operated state to a non-operated state (step S12). When it is determined that the clutch pedal 64 has not transitioned from an operated state to a non-operated state (step S12: NO), the control device 30 ends the delay process shown in FIG.

[0066] On the other hand, when it is determined that the clutch pedal 64 has transitioned from an operated state to a non-operated state (step S12: YES), the control device 30 determines whether or not the current count value C of the timer counter is smaller than 2 [sec] corresponding to the second period T2 (step S13).When it is determined that the count value C is not smaller than 2 [sec] (step S13: NO), the control device 30 ends the delay process shown in FIG.

[0067] On the other hand, if it is determined that the count value C is smaller than 2 [sec] (step S13: YES), the control device 30 sets the count value C of the timer counter to 2 [sec], which corresponds to the second period T2 (step S14), starts counting down (subtraction) from that count value C, and ends the delay processing shown in Figure 6.

[0068] (First notification process) Fig. 7 is a flowchart showing an example of a first notification process for a first notification N1. As shown in Fig. 7, in the first notification process, the control device 30 first determines whether or not the speed limit flag is on (step S21). When it is determined that the speed limit flag is off (step S21: NO), the control device 30 ends the first notification process shown in Fig. 7.

[0069] On the other hand, when it is determined that the speed exceedance flag is on (step S21: YES), the control device 30 determines whether or not the count value C of the timer counter has reached 0 [sec] (step S22). In this embodiment, the control device 30 determines that the determination time TJ has arrived on the condition that the count value C of the timer counter has reached 0 [sec]. That is, in the process of step S22, the control device 30 determines whether or not the determination time TJ has arrived.

[0070] If it is determined that the count value C of the timer counter is not 0 [sec] (step S22: NO), that is, if it is determined that the judgment time TJ has not arrived, the control device 30 ends the first notification process shown in FIG. 7.

[0071] On the other hand, when it is determined that the count value C of the timer counter has reached 0 [sec] (step S22: YES), that is, when it is determined that the determination time TJ has arrived, the control device 30 determines whether the accelerator opening at the current time point is greater than 10 [%] (step S23). When it is determined that the accelerator opening is not greater than 10 [%] (step S23: NO), the control device 30 ends the first notification process shown in FIG. 7.

[0072] On the other hand, if it is determined that the accelerator opening is greater than 10% (step S23: YES), the control device 30 determines whether or not the clutch pedal 64 is in a non-operated state (step S24). If it is determined that the clutch pedal 64 is not in a non-operated state (step S24: NO), that is, if it is determined that the clutch pedal 64 is in an operated state, the control device 30 ends the first notification process shown in FIG.

[0073] On the other hand, if it is determined that the clutch pedal 64 is not operated (step S24: YES), the control device 30 executes the first notification N1 (step S24), for example, by outputting the notification sound AS from the speaker 92 a predetermined number of times (for example, twice), and terminates the first notification processing shown in FIG. 7.

[0074] [Vehicle operation] Next, an example of the operation of the vehicle 1 will be described with reference to FIGS.

[0075] In each example shown in Figs. 8 to 10, the vehicle 1 is traveling on a road with a speed limit of 40 km / h. The control device 30 is unable to acquire speed limit information before time ta shown in Figs. 8 to 10. At time ta, the control device 30 recognizes a road sign RS posted on the road on which the vehicle 1 is traveling and acquires speed limit information indicating that the speed limit is 40 km / h. At time ta, the vehicle speed V is 45 km / h, so the control device 30 determines that the vehicle speed V exceeds the speed limit (here, 40 km / h).

[0076] In such a case, as shown in Figures 8 to 10, before time ta, the control device 30 causes the MID 91 to display the speed limit non-detection image M2. Then, from time ta when the control device 30 determines that the vehicle speed V exceeds the speed limit, the control device 30 starts the second notification N2 and causes the MID 91 to flash the speed limit image M1.

[0077] 8, it is assumed that the clutch pedal 64 is not operated until time tx, which is 5 seconds corresponding to the first period T1 from time ta. In this case, time tx corresponds to the first time t1 described above and is also the determination time TJ.

[0078] 8, the accelerator opening in the vehicle 1 is temporarily set to 10% (i.e., a predetermined value) or less from time tb, which is a time after time ta and before time tx, but is again set to greater than 10% at time tx. In such a case, since the accelerator opening at time tx, which is the determination time TJ, is greater than 10%, the control device 30 issues a first notification N1 from time tx, and for example, outputs a notification sound AS twice from the speaker 92, as shown in FIG.

[0079] The example shown in Fig. 9 differs from the example shown in Fig. 8 in that the clutch pedal 64 is in an operated state. Specifically, in the example shown in Fig. 9, it is assumed that the clutch pedal 64 is in an operated state from time tb to time tc after time tb. In such a case, time ty, which is 2 [sec] corresponding to the second period T2 after time tc, corresponds to the second time t2 described above and may also be the determination time TJ. Specifically, as shown in Fig. 9, if time ty is chronologically later than time tx corresponding to the first time t1, time ty becomes the determination time TJ.

[0080] In the example shown in Fig. 9, the accelerator opening in the vehicle 1 is temporarily set to 10% or less from time tb, but is again greater than 10% at time ty, which is the determination time TJ. In such a case, since the accelerator opening at time ty, which is the determination time TJ, is greater than 10%, the control device 30 issues the first notification N1 from time tx, and outputs the notification sound AS twice from the speaker 92, for example, as shown in Fig. 9. In other words, in this case, even if the accelerator opening at time tx is less than 10%, the first notification N1 may be issued thereafter.

[0081] The example shown in Fig. 10 differs from the example shown in Fig. 9 in that the accelerator opening degree at time ty, which is the determination time TJ, is 10[%] or less. In such a case, because the accelerator opening degree at time ty, which is the determination time TJ, is 10[%] or less, the control device 30 does not issue the first notification N1 from time ty, as shown by dashed dotted lines α and β in Fig. 10.

[0082] As described above, the control device 30 performs the first notification N1 based on the accelerator opening at a predetermined determination time TJ after it is determined that the vehicle speed V exceeds the speed limit. Here, if the clutch pedal 64 is not in an operated state during the first period T1 after it is determined that the vehicle speed V exceeds the speed limit, the determination time TJ is set to the first time t1 at which the first period T1 has elapsed. On the other hand, if the clutch pedal 64 is in an operated state during the first period T1, the determination time TJ is set to the later of the first time t1 or the second time t2, and the second time t2 is set to the time at which the clutch pedal 64 is in a non-operated state or the time at which the second period T2 has elapsed since the time at which the clutch pedal 64 was in a non-operated state.

[0083] Therefore, according to this embodiment, when the clutch pedal 64 is in an operated state in the first period T1, it is possible to delay the determination time TJ to the second period t2, which is a time later in time than the normal first period t1 and is a time when the clutch pedal 64 is in an unoperated state or a time when the second period T2 has elapsed since the time when the clutch pedal 64 was in an unoperated state. This makes it possible to stably perform the first notification N1 even if there is a temporary decrease in the accelerator opening caused by a shift-up operation after it is determined that the vehicle speed V exceeds the speed limit. Therefore, it is possible to appropriately perform the first notification N1, which improves the safety of the vehicle 1, which in turn improves the safety of traffic and contributes to the development of a sustainable transportation system.

[0084] On the other hand, according to this embodiment, if the clutch pedal 64 is not in an operated state during the first period T1, the first notification N1 can be issued based on the normal accelerator opening degree at the first time point t1.

[0085] Furthermore, the first notification N1 can be, for example, a notification in which a predetermined notification sound AS is output a predetermined number of times or for a predetermined period of time from a sound output device such as the speaker 92. In this way, even if the driver is visually checking the surroundings of the vehicle 1 when the first notification N1 is made, it is possible to inform the driver that the first notification N1 is being made.

[0086] Furthermore, the control device 30 may further issue the second notification N2 when it is determined that the vehicle speed V exceeds the speed limit and before the determination time TJ arrives. The first notification N1 may be a notification with a stronger notification intensity than the second notification N2. In this way, when it is determined that the vehicle speed V exceeds the speed limit, the second notification N2 is issued first, and then the first notification N1 is issued, so that the notification intensity can be increased stepwise, making it possible to issue more effective notifications.

[0087] In addition, it is generally considered that a notification that outputs a predetermined notification sound has a stronger notification intensity than a notification that displays a predetermined image. Therefore, the first notification N1 may be a notification that outputs a notification sound AS from the speaker 92 as described above, while the second notification N2 may be a notification that displays a predetermined image (for example, a speed limit image M1 that indicates the speed limit) on a display device such as the MID 91. In this way, when it is determined that the vehicle speed V exceeds the speed limit, the second notification N2 that displays a predetermined image is first performed, and then the first notification N1 that outputs the notification sound AS is performed, so that the notification intensity can be increased stepwise, and more effective notification can be performed.

[0088] Furthermore, the control device 30 may further perform a third notification N3 when it is determined that the vehicle speed V does not exceed the speed limit. The second notification N2 may be a notification that causes a display device such as the MID 91 to display a speed limit image M1 representing the speed limit in a first display mode, while the third notification N3 may be a notification that causes a display device such as the MID 91 to display the speed limit image M1 in a second display mode. In this way, the second notification N2 and the third notification N3 can inform the driver of the speed limit and whether or not the vehicle speed V exceeds the speed limit.

[0089] The second notification N2 may be a notification that causes the speed limit image M1 to flash on a display device such as the MID 91, while the third notification N3 may be a notification that causes the speed limit image M1 to light on a display device such as the MID 91. In this way, the second notification N2 and the third notification N3 can provide the driver with intuitive and easy-to-understand guidance on the speed limit and whether or not the vehicle speed V exceeds the speed limit.

[0090] Furthermore, the control device 30 may issue the first notification N1 when the accelerator opening at the determination time TJ is equal to or greater than a predetermined value, but may not issue the first notification N1 when the accelerator opening at the determination time TJ is less than the predetermined value. In this way, the first notification N1 can be issued on the condition that it is estimated that the driver has the intention to accelerate the vehicle 1, and excessive first notifications N1 can be suppressed, thereby avoiding annoyance to the driver caused by excessive first notifications N1.

[0091] Furthermore, the control device 30 may be configured to issue the first notification N1 when the accelerator opening at the determination time TJ is equal to or greater than a predetermined value and the clutch pedal 64 is not being operated. In this manner, the first notification N1 can be issued on the condition that the vehicle 1 is in a state in which it can actually accelerate, and excessive first notifications N1 can be suppressed, thereby preventing the driver from being annoyed by excessive first notifications N1.

[0092] The control method described in this embodiment can be realized by executing a prepared program on a computer. The program is stored in a computer-readable storage medium and is executed by reading it from the storage medium. The program may be provided in a form stored in a non-volatile (non-transient) storage medium such as a flash memory, or may be provided via a network such as the Internet. The computer that executes the program may be included in the vehicle 1, or may be included in an external device 2 that can communicate with the vehicle 1.

[0093] Although one embodiment of the present invention has been described above, it goes without saying that the present invention is not limited to this embodiment. It is clear that a person skilled in the art can come up with various modified or revised examples within the scope of the claims, and it is understood that these also naturally belong to the technical scope of the present invention. In addition, the components in the above-mentioned embodiment may be arbitrarily combined within the scope of the invention.

[0094] For example, in the above embodiment, a four-wheeled automobile is exemplified as a vehicle, but the vehicle is not limited to this. A vehicle to which the technology of the present disclosure can be applied may be a two-wheeled automobile (a so-called motorcycle).

[0095] This specification describes at least the following items. Note that, in parentheses, components corresponding to those in the above-mentioned embodiment are shown, but the present invention is not limited to these.

[0096] (1) A vehicle control device (control device 30) that controls a vehicle (vehicle 1) equipped with a manual transmission (manual transmission 63), an acquisition unit (acquisition unit 33) that acquires speed limit information indicating a speed limit of a road on which the vehicle is traveling; a determination unit (determination unit 34) that compares the speed limit indicated by the speed limit information acquired by the acquisition unit with a traveling speed of the vehicle and determines whether the traveling speed exceeds the speed limit; a notification control unit (notification control unit 35) that, when the determination unit determines that the traveling speed exceeds the speed limit, issues a predetermined notification to an occupant of the vehicle via a notification device mounted on the vehicle; and Equipped with The notification control unit, A first notification (first notification N1) is issued based on an accelerator opening degree of the vehicle at a predetermined time (determination time TJ) after it is determined that the traveling speed exceeds the speed limit, The predetermined time is: When a clutch pedal (clutch pedal 64) of the vehicle is not operated during a first period (first period T1) after it is determined that the traveling speed exceeds the speed limit, the first time (first time t1) is when the first period has elapsed since it was determined that the traveling speed exceeds the speed limit, When the clutch pedal is in the operated state during the first period, the operation occurs at the later of the first time point or the second time point (second time point t2), The second period is The clutch pedal is in a non-operated state when the clutch pedal is in an operated state, or a second period (second period T2) has elapsed since the clutch pedal was in a non-operated state when the clutch pedal was in the non-operated state. Vehicle control device.

[0097] According to (1), when the clutch pedal is operated during a first period after it is determined that the vehicle's traveling speed exceeds the speed limit, it is possible to delay the time for determining whether or not to issue a first notification based on the accelerator pedal opening to a second period that is chronologically later than the normal first period and is the time when the clutch pedal is not operated or the time when a second period has elapsed since the time when the clutch pedal was not operated. This makes it possible to stably issue the first notification even if there is a temporary decrease in the accelerator pedal opening due to a shift-up operation after it is determined that the vehicle's traveling speed exceeds the speed limit. This makes it possible to appropriately issue the first notification, thereby improving the safety of the vehicle and, in turn, improving traffic safety and contributing to the development of a sustainable transportation system.

[0098] (2) The vehicle control device according to (1), The notification device includes a sound output device (speaker 92) capable of outputting sound, The first notification is a notification that causes the sound output device to output a predetermined notification sound (notification sound AS) a predetermined number of times or for a predetermined period of time. Vehicle control device.

[0099] According to (2), even if the driver is visually inspecting the area around the vehicle when the first notification is made, it is possible to notify the driver that the first notification is being made.

[0100] (3) A vehicle control device according to (1) or (2), The notification control unit further performs a second notification (second notification N2) when it is determined that the traveling speed exceeds the speed limit and before the predetermined time period. The first notification has a stronger notification intensity than the second notification. Vehicle control device.

[0101] According to (3), when it is determined that the vehicle's traveling speed exceeds the speed limit, the strength of the notification can be gradually increased, such as by first issuing a second notification and then a first notification, thereby enabling more effective notifications.

[0102] (4) A vehicle control device according to any one of (1) to (3), The notification control unit further performs a second notification (second notification N2) when it is determined that the traveling speed exceeds the speed limit and before the predetermined time period. The notification device includes a display device (MID 91) capable of displaying an image and a sound output device (speaker 92) capable of outputting sound, the first notification is a notification for causing the sound output device to output a predetermined notification sound (notification sound AS); The second notification is a notification to cause the display device to display a predetermined image (speed limit image M1). Vehicle control device.

[0103] In general, a notification that outputs a predetermined notification sound is considered to have stronger notification intensity than a notification that displays a predetermined image. According to (4), when it is determined that the vehicle's traveling speed exceeds the speed limit, the notification intensity can be increased stepwise, for example, by first issuing a second notification that displays a predetermined image, and then issuing a first notification that outputs a predetermined notification sound, thereby enabling more effective notification.

[0104] (5) A vehicle control device according to (4), The notification control unit further performs a third notification (third notification N3) when it is determined that the traveling speed does not exceed the speed limit, The second notification is a notification to cause the display device to display an image representing the speed limit (a speed limit image M1) in a first display manner, The third notification is a notification to cause the display device to display an image representing the speed limit (speed limit image M1) in a second display mode. Vehicle control device.

[0105] According to (5), the second and third notifications make it possible to inform the driver of the speed limit and whether the vehicle's traveling speed exceeds the speed limit.

[0106] (6) A vehicle control device according to (5), the second notification is a notification that causes the display device to display an image representing the speed limit in a flashing manner, The third notification is a notification that causes the display device to display an image representing the speed limit so as to light up. Vehicle control device.

[0107] According to (6), the second and third notifications make it possible to intuitively and easily inform the driver of the speed limit and whether the vehicle's traveling speed exceeds the speed limit.

[0108] (7) A vehicle control device according to any one of (1) to (6), The notification control unit, When the accelerator opening degree at the predetermined time is equal to or greater than a predetermined value, the first notification is performed, When the accelerator opening degree at the predetermined time is less than the predetermined value, the first notification is not issued. Vehicle control device.

[0109] According to (7), by issuing the first notification on the condition that it is presumed that the driver intends to accelerate the vehicle, excessive first notifications can be suppressed and the driver can be prevented from being annoyed by excessive first notifications.

[0110] (8) A vehicle control device according to (7), The notification control unit, When the accelerator opening degree at the predetermined time is equal to or greater than the predetermined value and the clutch pedal is in the non-operated state, the first notification is issued. Vehicle control device.

[0111] According to (8), by issuing the first notification only when the vehicle is in a state where it can actually accelerate, excessive first notifications can be suppressed and the driver can be prevented from being annoyed by excessive first notifications.

[0112] (9) A control method executed by a computer (control device 30) for controlling a vehicle (vehicle 1) equipped with a manual transmission (manual transmission 63), comprising: The computer, Obtain speed limit information indicating the speed limit of the road on which the vehicle is traveling (step S3); The speed limit information is compared with the traveling speed of the vehicle to determine whether the traveling speed exceeds the speed limit (step S5). when it is determined that the traveling speed exceeds the speed limit, a predetermined notification is given to an occupant of the vehicle via a notification device mounted on the vehicle. Execute the process, In the process of performing the predetermined notification, A first notification is issued based on an accelerator opening degree of the vehicle at a predetermined time after it is determined that the traveling speed exceeds the speed limit (steps S21 to S23, step S25). The predetermined time is: When the clutch pedal of the vehicle is not operated during a first period after it is determined that the traveling speed exceeds the speed limit, the first time is a period in which the first period has elapsed since it was determined that the traveling speed exceeds the speed limit; If the clutch pedal is in the operated state during the first period, the later of the first time and the second time is determined to be the case, The second period is The timing is a timing when the clutch pedal that has been in the operated state is put into a non-operated state, or a timing when a second period has elapsed since the timing when the clutch pedal was put into the non-operated state. Control methods.

[0113] According to (9), when the clutch pedal is operated during a first period after it is determined that the vehicle's traveling speed exceeds the speed limit, it is possible to delay the time for determining whether or not to issue a first notification based on the accelerator pedal opening to a second period that is chronologically later than the normal first period and is the time when the clutch pedal is not operated or a second period has elapsed since the time when the clutch pedal was not operated. This makes it possible to stably issue the first notification even if there is a temporary decrease in the accelerator pedal opening due to a shift-up operation after it is determined that the vehicle's traveling speed exceeds the speed limit. This makes it possible to appropriately issue the first notification, thereby improving the safety of the vehicle and, in turn, improving traffic safety and contributing to the development of a sustainable transportation system. [Explanation of symbols]

[0114] 1 vehicle 30 Control device (vehicle control device) 33 Acquisition Department 34 Judgment section 35 Notification control section 63 Manual transmission 64 Clutch pedal 91 MID (notification device, display device) 92 Speaker (notification device, sound output device) AS Notification sound N1 1st notification N2 2nd notification N3 Third notification t1 1st period t2 2nd period T1 1st Period T2 2nd Period TJ Judgment time (predetermined time)

Claims

1. A vehicle control device for controlling a vehicle equipped with a manual transmission, an acquisition unit that acquires speed limit information indicating a speed limit of a road on which the vehicle travels; a determination unit that compares the speed limit indicated by the speed limit information acquired by the acquisition unit with a traveling speed of the vehicle and determines whether the traveling speed exceeds the speed limit; a notification control unit that, when the determination unit determines that the traveling speed exceeds the speed limit, issues a predetermined notification to an occupant of the vehicle via a notification device mounted on the vehicle; and Equipped with The notification control unit, issuing a first notification based on an accelerator opening degree of the vehicle at a predetermined time after it is determined that the traveling speed exceeds the speed limit; The predetermined time is: When a clutch pedal of the vehicle is not operated during a first period after it is determined that the traveling speed exceeds the speed limit, the first time is a time when the first period has elapsed since it was determined that the traveling speed exceeds the speed limit, When the clutch pedal is in the operated state during the first period, the operation occurs at the later of the first time point or the second time point. The second period is the timing when the clutch pedal that has been in the operated state is put into a non-operated state, or the timing when a second period has elapsed since the timing when the clutch pedal was put into the non-operated state; Vehicle control device.

2. The vehicle control device according to claim 1, the notification device includes a sound output device capable of outputting sound; The first notification is a notification that causes the sound output device to output a predetermined notification sound a predetermined number of times or for a predetermined period of time. Vehicle control device.

3. The vehicle control device according to claim 1, The notification control unit further performs a second notification when it is determined that the traveling speed exceeds the speed limit and before the predetermined time period. The first notification has a stronger notification intensity than the second notification. Vehicle control device.

4. The vehicle control device according to claim 1, The notification control unit further performs a second notification when it is determined that the traveling speed exceeds the speed limit and before the predetermined time period. the notification device includes a display device capable of displaying an image and a sound output device capable of outputting a sound; the first notification is a notification that causes the sound output device to output a predetermined notification sound, The second notification is a notification to cause the display device to display a predetermined image. Vehicle control device.

5. The vehicle control device according to claim 4, The notification control unit further issues a third notification when it is determined that the traveling speed does not exceed the speed limit. the second notification is a notification to cause the display device to display an image representing the speed limit in a first display mode, The third notification is a notification to cause the display device to display an image representing the speed limit in a second display mode. Vehicle control device.

6. The vehicle control device according to claim 5, the second notification is a notification that causes the display device to display an image representing the speed limit in a flashing manner, The third notification is a notification to cause the display device to display an image representing the speed limit in a lit state. Vehicle control device.

7. A vehicle control device according to any one of claims 1 to 6, The notification control unit, When the accelerator opening degree at the predetermined time is equal to or greater than a predetermined value, the first notification is performed, When the accelerator opening degree at the predetermined time is less than the predetermined value, the first notification is not issued. Vehicle control device.

8. The vehicle control device according to claim 7, The notification control unit, When the accelerator opening degree at the predetermined time is equal to or greater than the predetermined value and the clutch pedal is in the non-operated state, the first notification is issued. Vehicle control device.

9. A control method executed by a computer for controlling a vehicle equipped with a manual transmission, comprising: The computer, acquiring speed limit information indicating a speed limit of a road on which the vehicle is traveling; comparing the speed limit indicated by the acquired speed limit information with a traveling speed of the vehicle to determine whether the traveling speed exceeds the speed limit; when it is determined that the traveling speed exceeds the speed limit, a predetermined notification is given to an occupant of the vehicle via a notification device mounted on the vehicle. Execute the process, In the process of performing the predetermined notification, issuing a first notification based on an accelerator opening degree of the vehicle at a predetermined time after it is determined that the traveling speed exceeds the speed limit; The predetermined time is: When a clutch pedal of the vehicle is not operated during a first period after it is determined that the traveling speed exceeds the speed limit, the first time is a time when the first period has elapsed since it was determined that the traveling speed exceeds the speed limit, When the clutch pedal is in the operated state during the first period, the operation occurs at the later of the first time point or the second time point. The second period is the timing when the clutch pedal that has been in the operated state is put into a non-operated state, or the timing when a second period has elapsed since the timing when the clutch pedal was put into the non-operated state; Control methods.

Images