Control device and control method

Abstract

To optimize travel control.SOLUTION: A control device 18 controls an operation of a vehicle 10 and comprises: an identification unit which executes a first mode for identifying first position information of the vehicle 10 on the basis of satellite positioning information to be acquired from a satellite positioning system and a second mode for identifying second position information of the vehicle 10 on the basis of a detection result of a surrounding environment sensor 15 which detects surrounding environment information of the vehicle 10; and a control unit which executes travel control for automatically controlling travel of the vehicle 10 without depending on a driving operation by a driver of the vehicle 10 by using at least one of the first position information and the second position information. The identification unit determines integrity of the first position information, and integrity of the second position information, and the control unit executes the travel control on the basis of determination results of the integrity of the first position information, and the integrity of the second position information.SELECTED DRAWING: Figure 1

Description

[Technical field]

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

[0002] In recent years, as disclosed in Patent Document 1, for example, a technology relating to driving control has been proposed that automatically controls the driving of a vehicle without relying on driving operations (such as acceleration / deceleration operations or steering operations) by a driver. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] International Publication No. 2017 / 208781 Summary of the Invention [Problem to be solved by the invention]

[0004] In this case, driving control may be performed using at least one of first position information of the vehicle identified based on satellite positioning information acquired from a satellite positioning system and second position information of the vehicle identified based on a detection result of a surrounding environment sensor that detects surrounding environment information of the vehicle. Thus, a proposal for optimizing such driving control is required.

[0005] In view of the above, an object of the present invention is to provide a control device and a control method capable of optimizing driving control. [Means for solving the problem]

[0006] In order to solve the above problems, the control device is a control device that controls the operation of the vehicle and is equipped with an identification unit that executes a first mode that identifies first position information of the vehicle based on satellite positioning information acquired from a satellite positioning system and a second mode that identifies second position information of the vehicle based on detection results of an ambient environment sensor that detects ambient environment information of the vehicle, and a control unit that executes driving control that automatically controls the driving of the vehicle without driving operations by a driver of the vehicle, using at least one of the first position information and the second position information, wherein the identification unit determines the integrity of the first position information and the integrity of the second position information, and the control unit executes driving control based on the determination results of the integrity of the first position information and the integrity of the second position information.

[0007] In order to solve the above problems, the control method is a control method for controlling the operation of a vehicle, in which an identification unit of the control device executes a first mode in which it identifies first position information of the vehicle based on satellite positioning information obtained from a satellite positioning system, and a second mode in which it identifies second position information of the vehicle based on detection results of an ambient environment sensor that detects ambient environment information of the vehicle, a control unit of the control device executes driving control using at least one of the first position information and the second position information to automatically control the driving of the vehicle without driving operations by a driver of the vehicle, the identification unit judges the integrity of the first position information and the integrity of the second position information, and the control unit executes driving control based on the judgment results of the integrity of the first position information and the integrity of the second position information. Effect of the Invention

[0008] According to the present invention, it is possible to optimize driving control. [Brief description of the drawings]

[0009] [Figure 1] 1 is a schematic diagram showing a schematic configuration of a vehicle according to an embodiment of the present invention; [Diagram 2] FIG. 2 is a block diagram showing an example of a functional configuration of a control device according to an embodiment of the present invention. [Diagram 3] FIG. 2 is a block diagram showing an example of a functional configuration of a server according to an embodiment of the present invention. [Figure 4] 4 is a flowchart showing an example of a flow of basic processing related to driving control performed by a control device according to an embodiment of the present invention. [Diagram 5] 5 is a flowchart showing a first example of a processing flow regarding determination of the integrity of position information performed by a control device according to an embodiment of the present invention. [Figure 6] 10 is a flowchart showing a second example of the process flow relating to determining the integrity of location information performed by a control device according to an embodiment of the present invention. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0010] A preferred embodiment of the present invention will be described in detail below with reference to the accompanying drawings. The dimensions, materials, and other specific values ​​shown in the embodiment are merely examples for facilitating understanding of the invention, and do not limit the present invention unless otherwise specified. In this specification and drawings, elements having substantially the same functions and configurations are given the same reference numerals to avoid repeated explanations, and elements not directly related to the present invention are not shown.

[0011] <Vehicle configuration> The configuration of a vehicle 10 according to an embodiment of the present invention will be described with reference to FIGS.

[0012] Fig. 1 is a schematic diagram showing a schematic configuration of a vehicle 10. As shown in Fig. 1, the vehicle 10 is capable of wireless communication with a server 20 via a wireless communication network N1. Although one vehicle 10 is shown in Fig. 1 for ease of understanding, in reality, a plurality of vehicles 10 are capable of communicating with the server 20 via the communication network N1.

[0013] As shown in FIG. 1, the vehicle 10 includes a drive source 11, a braking device 12, a steering mechanism 13, a navigation device 14, an ambient environment sensor 15, an inertial measurement unit (IMU) 16, a wheel speed sensor 17, and a control device 18.

[0014] The drive source 11 outputs a drive force that is transmitted to drive wheels of the vehicle 10. Examples of the drive source 11 include an engine and an electric motor.

[0015] The braking device 12 applies a braking force to the wheels of the vehicle 10. For example, the braking device 12 includes a hydraulic control unit, and the hydraulic control unit adjusts the hydraulic pressure of the brake fluid in the wheel cylinder, thereby adjusting the braking force applied to the wheels.

[0016] The steering mechanism 13 is a mechanism that changes the tire steering angle of the vehicle 10. For example, the steering mechanism 13 includes a steering wheel, and changes the tire steering angle in response to a steering operation using the steering wheel by a driver.

[0017] The navigation device 14 is a device that provides route guidance from the current position of the vehicle 10 to a destination desired by the driver. The navigation device 14 displays various information related to route guidance (for example, the current position of the vehicle 10, the driving route to be guided, the position of the destination, the distance on the driving route from the current position of the vehicle 10 to the destination, and the arrival time to the destination, etc.).

[0018] The surrounding environment sensor 15 detects surrounding environment information related to the environment around the vehicle 10. For example, the surrounding environment sensor 15 is provided at the front of the vehicle 10 and detects surrounding environment information ahead of the vehicle 10. The surrounding environment information detected by the surrounding environment sensor 15 may be information related to the distance or direction to an object located around the vehicle 10 (e.g., relative position, relative distance, relative speed, relative acceleration, etc.), or may be characteristics of the object located around the vehicle 10 (e.g., type of object, shape of the object itself, mark attached to the object, etc.). The surrounding environment sensor 15 is, for example, a radar, a Lidar sensor, an ultrasonic sensor, a camera, etc.

[0019] The inertial measurement unit 16 includes a three-axis gyro sensor and a three-directional acceleration sensor, and detects the attitude of the vehicle 10. For example, the inertial measurement unit 16 detects the roll angle, pitch angle, and yaw angle of the vehicle 10, and outputs the detection results. Note that the inertial measurement unit 16 may include only a portion of the three-axis gyro sensor and the three-directional acceleration sensor.

[0020] A wheel speed sensor 17 is provided on each wheel to detect the wheel speed of each wheel.

[0021] The control device 18 includes a CPU (Central Processing Unit) which is an arithmetic processing device, a ROM (Read Only Memory) which is a storage element for storing programs and arithmetic parameters used by the CPU, and a RAM (Random Access Memory) which is a storage element for temporarily storing parameters that change appropriately during execution of the CPU, etc. The control device 18 may be, for example, one unit, or may be divided into multiple units.

[0022] Fig. 2 is a block diagram showing an example of a functional configuration of the control device 18. As shown in Fig. 2, the control device 18 includes, for example, a communication unit 18a, an identification unit 18b, a control unit 18c, and a storage unit 18d. The control device 18 can acquire information from the navigation device 14, the surrounding environment sensor 15, the inertial measurement unit 16, and the wheel speed sensor 17, and can output control commands to the driving source 11, the braking device 12, the steering mechanism 13, and the navigation device 14. In this specification, acquiring information may include extracting or generating information.

[0023] The communication unit 18a communicates with the server 20 via the communication network N1. In particular, the communication unit 18a can communicate with an external device via the communication network N1 using an antenna provided in the control device 18. For example, when the communication unit 18a transmits a transmission request for desired information to the server 20, the desired information is transmitted from the server 20, and the communication unit 18a can receive the desired information. In addition, the communication unit 18a can receive satellite positioning information, which is information transmitted from a satellite positioning system including a GNSS (Global Navigation Satellite System) satellite. In particular, the communication unit 18a can receive the satellite positioning information using an antenna provided in the control device 18. Note that the navigation device 14 may receive the satellite positioning information, and the satellite positioning information may be sent to the control device 18.

[0024] The identification unit 18b performs a process of identifying position information of the vehicle 10. The position information identified by the identification unit 18b is used for driving control performed by the control unit 18c. Details of the process performed by the identification unit 18b will be described later.

[0025] The control unit 18c controls the operation of each device of the vehicle 10. For example, the control unit 18c controls the operation of the drive source 11, the brake device 12, the steering mechanism 13, and the navigation device 14. The control unit 18c can execute driving control, for example, by controlling the drive source 11, the brake device 12, and the steering mechanism 13. In the driving control, the control unit 18c automatically controls the driving of the vehicle 10 regardless of the driving operation by the driver of the vehicle 10. As described later, the driving control may be control that handles all driving operations by the driver, or may be control that handles only some of the driving operations. Details of the driving control will be described later.

[0026] The storage unit 18d stores various types of information. The information stored in the storage unit 18d is used in the processes performed by the communication unit 18a, the specification unit 18b, or the control unit 18c.

[0027] 1 collects and manages information from vehicle 10, and transmits information used in processing performed by control device 18 of vehicle 10 to control device 18. Server 20 includes a CPU, which is an arithmetic processing device, a ROM, which is a storage element that stores programs and calculation parameters used by the CPU, and a RAM, which is a storage element that temporarily stores parameters that change as appropriate during execution of the CPU. There may be one server 20, for example, or it may be divided into multiple servers.

[0028] Fig. 3 is a block diagram showing an example of a functional configuration of the server 20. As shown in Fig. 3, the server 20 includes, for example, a communication unit 20a, a processing unit 20b, and a storage unit 20c.

[0029] The communication unit 20a communicates with the vehicle 10 via the communication network N1.

[0030] The processing unit 20b generates or updates a detection point map, which is information used for driving control by the vehicle 10, based on the information collected from the vehicle 10. In the detection point map, past detection results of the surrounding environment sensor 15 acquired while the vehicle 10 is traveling are associated with map data. Specifically, the detection point map integrates a huge amount of detection point data (specifically, data indicating three-dimensional position information in a three-dimensional space) detected by the surrounding environment sensor 15. The detection point data includes, for example, detection point data indicating landmarks such as buildings, detection point data indicating the positions of lane boundaries, and the like.

[0031] The storage unit 20c stores various information. For example, the storage unit 20c stores information received by the communication unit 20a. The processing unit 20b generates or updates the detection point map based on the information stored in the storage unit 20c. For example, the storage unit 20c stores the detection point map generated or updated by the processing unit 20b.

[0032] <Control device operation> The operation of the control device 18 according to the embodiment of the present invention will be described with reference to FIGS.

[0033] As described above, the control unit 18c of the control device 18 executes driving control that automatically controls the driving of the vehicle 10 without the driving operation by the driver of the vehicle 10. In the driving control, various functions corresponding to each level of so-called automatic driving can be performed.

[0034] For example, in driving control, the control unit 18c can execute a lane keep assist function of automatically controlling the steering mechanism 13 to adjust the position of the vehicle 10 in the lane width direction so that the vehicle 10 does not deviate from the driving lane.

[0035] In addition, for example, in driving control, the control unit 18c can execute an adaptive cruise control function that automatically controls the drive source 11 and the braking device 12 to adjust the speed of the vehicle 10 so that the vehicle 10 drives in a manner that follows the vehicle ahead.

[0036] The control unit 18c can switch between functions that are permitted to be executed among a plurality of functions that can be performed in driving control. As a result, the control unit 18c can set the automation level of driving control to a level at which the driver may take his / her hands off an operating unit such as a steering wheel (e.g., level 2), or to a level at which the driver may take his / her eyes off the front of the vehicle 10 (e.g., level 3).

[0037] Fig. 4 is a flowchart showing an example of a basic process flow related to driving control performed by the control device 18. Step S101 in Fig. 4 corresponds to the start of the control flow shown in Fig. 4. For example, the control flow shown in Fig. 4 starts when the driver performs a predetermined operation to start driving control.

[0038] 4 is started, in step S102, the identification unit 18b executes a first mode in which it identifies first position information of the vehicle 10 based on satellite positioning information acquired from a satellite positioning system. The first position information is information indicating the position of the vehicle 10 identified in the first mode. The satellite positioning information is information related to the position of the vehicle 10 measured by the satellite positioning system, and is information used to identify the position.

[0039] In the first mode of step S102, the identification unit 18b identifies information indicating the absolute position of the vehicle 10 as first position information, for example, based on information indicating the position of the vehicle 10 obtained based on satellite positioning information and information indicating the moving speed and moving direction of the vehicle 10 obtained based on the detection results of a driving condition sensor that detects the driving condition information of the vehicle 10.

[0040] Examples of the driving condition sensor include the inertial measurement unit 16 and the wheel speed sensor 17. Note that, as the driving condition sensor, a sensor other than the inertial measurement unit 16 and the wheel speed sensor 17 (for example, a sensor that detects a steering angle, or a camera that captures an image of the surrounding environment of the vehicle 10, etc.) may be used.

[0041] For example, the identification unit 18b acquires information indicating the absolute position of the vehicle 10 based on the satellite positioning information received by the communication unit 18a. In this manner, when the communication unit 18a can receive the satellite positioning information, the identification unit 18b basically identifies the information indicating the absolute position of the vehicle 10 acquired based on the satellite positioning information as the first position information.

[0042] Here, in a situation where the vehicle 10 is traveling in a tunnel, the communication unit 18a becomes unable to receive the satellite positioning information or has difficulty receiving the information. In such a case, the identification unit 18b uses information indicating the moving speed and moving direction of the vehicle 10 acquired based on the detection results of the inertial measurement unit 16 and the wheel speed sensor 17 as traveling state sensors to derive the displacement of the vehicle 10 from the absolute position acquired based on the last received satellite positioning information, and acquires information indicating the current absolute position of the vehicle 10.

[0043] For example, the identification unit 18b identifies the attitude of the vehicle 10 based on the detection result of the inertial measurement unit 16 at each time point, and identifies the moving direction of the vehicle 10 based on the attitude of the vehicle 10. The identification unit 18b also identifies the moving speed of the vehicle 10 based on the detection result of the wheel speed sensor 17 at each time point. The identification unit 18b then integrates the moving speed and moving direction of the vehicle 10 at each time point, thereby identifying information indicating the absolute position of the vehicle 10 as first position information.

[0044] When the vehicle 10 that was traveling in the tunnel exits the tunnel and the communication unit 18a becomes able to receive satellite positioning information, the identification unit 18b updates the first position information to information indicating the absolute position of the vehicle 10 acquired based on the satellite positioning information. After that, the identification unit 18b identifies the information indicating the absolute position of the vehicle 10 acquired based on the satellite positioning information as the first position information.

[0045] Following step S102, in step S103, the identification unit 18b executes a second mode in which it identifies second position information of the vehicle 10 based on the detection result of the surrounding environment sensor 15 that detects surrounding environment information of the vehicle 10. The second position information is information indicating the position of the vehicle 10 identified in the second mode.

[0046] In the second mode of step S103, the identification unit 18b, for example, compares the detection result of the surrounding environment sensor 15 acquired while the vehicle 10 is traveling with the past detection result of the surrounding environment sensor 15 associated with the map data, thereby identifying information indicating the relative position of the vehicle 10 with respect to the object detected by the surrounding environment sensor 15 as the second position information. For example, the object detected by the surrounding environment sensor 15 may be a landmark such as a building.

[0047] For example, the identification unit 18b identifies the second position information using a detection point map transmitted from the server 20. As described above, in the detection point map, past detection results of the surrounding environment sensor 15 acquired while the vehicle 10 is traveling are associated with map data. The identification unit 18b matches the detection point data indicated by the current detection result of the surrounding environment sensor 15 with the detection point data indicated in the detection point map. In this matching, for example, the degree of approximation between an approximation surface indicating a plurality of detection point data indicated by the current detection result of the surrounding environment sensor 15 and an approximation surface indicating a plurality of detection point data indicated in the detection point map is evaluated as the degree of matching. Then, when a part of the detection point data indicated by the current detection result of the surrounding environment sensor 15 is matched with detection point data indicating a specific landmark in the detection point map, the identification unit 18b identifies information indicating the relative position of the vehicle 10 with respect to the specific landmark as the second position information based on the detection result of the surrounding environment sensor 15.

[0048] After step S103, in step S104, the control unit 18c executes driving control using at least one of the first position information and the second position information, and then returns to step S102.

[0049] As described above, the first position information is identified in the first mode in step S102, and the second position information is identified in the second mode in step S103. Here, the feasibility or accuracy of identifying the position information in each mode varies depending on the traveling position of the vehicle 10.

[0050] In the first mode, as described above, the first position information is specified based on the satellite positioning information acquired from the satellite positioning system. In a situation where the vehicle 10 is traveling in an open area with few structures, the communication unit 18a appropriately receives the satellite positioning information. Therefore, in such a situation, the specification unit 18b can specify the first position information in the first mode with high accuracy. On the other hand, in a situation where the vehicle 10 is traveling in a tunnel, or where there are many high-rise buildings around the vehicle 10, the communication unit 18a cannot receive the satellite positioning information or it becomes difficult to receive the information. Therefore, in such a situation, the specification unit 18b cannot specify the first position information in the first mode, or the precision of specifying the first position information in the first mode decreases.

[0051] In the second mode, as described above, the second position information is specified based on the detection result of the surrounding environment sensor 15 that detects the surrounding environment information of the vehicle 10. In a situation where landmark buildings or the like are present around the vehicle 10, the specification unit 18b can easily appropriately specify the landmarks based on the detection result of the surrounding environment sensor 15. Therefore, in such a situation, the specification unit 18b can accurately specify the second position information in the second mode. On the other hand, in a situation where the vehicle 10 is traveling on a plain, a beach, a desert, or the like where there are no landmark buildings or the like, it becomes difficult for the specification unit 18b to specify the landmarks based on the detection result of the surrounding environment sensor 15. Therefore, in such a situation, the specification unit 18b cannot specify the second position information in the second mode, or the accuracy of specifying the second position information in the second mode decreases.

[0052] In addition, when a camera is used as the surrounding environment sensor 15, factors such as rain or snow blocking most of the camera's field of view, or sunlight causing a whiteout in which the brightness of the image obtained by the camera becomes excessively high, can make it difficult to identify landmarks based on the detection results of the surrounding environment sensor 15.

[0053] As described above, the feasibility or accuracy of identifying the position information in each mode varies depending on the traveling position of the vehicle 10. Therefore, in step S104, the control unit 18c executes traveling control using the first position information, for example, in a situation where the identification of the first position information in the first mode can be executed with high accuracy. On the other hand, in a situation where the identification of the second position information in the second mode can be executed with high accuracy, the control unit 18c executes traveling control using the second position information. Note that the control unit 18c may execute traveling control using both the first position information and the second position information in a situation where the identification of the first position information in the first mode and the identification of the second position information in the second mode can both be executed with high accuracy.

[0054] As described above, the control unit 18c of the control device 18 executes driving control using at least one of the first and second position information. Here, the integrity of the position information used for driving control may be reduced due to various factors. This may make it difficult to appropriately execute driving control. Note that the integrity means, for example, the reliability of the information.

[0055] Therefore, in the control device 18, the identification unit 18b judges the integrity of the first position information and the integrity of the second position information, and the control unit 18c executes driving control based on the judged results of the integrity of the first position information and the integrity of the second position information. This realizes optimization of driving control, as described later. Hereinafter, a first example and a second example of the process related to the judgement of the integrity of the position information performed by the control device 18 will be described in order with reference to Figs. 5 and 6.

[0056] Fig. 5 is a flowchart showing a first example of a process flow relating to the determination of the integrity of position information performed by the control device 18. Step S201 in Fig. 5 corresponds to the start of the control flow shown in Fig. 5. Step S205 in Fig. 5 corresponds to the end of the control flow shown in Fig. 5. For example, the control flow shown in Fig. 5 is repeatedly started at preset time intervals during the execution of driving control.

[0057] When the control flow shown in FIG. 5 starts, in step S202, the specification unit 18b determines the integrity of the first position information.

[0058] In step S202, the identification unit 18b can determine the integrity of the first location information based on various information.

[0059] The determination unit 18b may determine the integrity of the first position information based on, for example, information on the satellite positioning information. The information on the satellite positioning information includes, for example, information indicating the number of GNSS satellites used to generate the satellite positioning information, information on noise in the signal transmitted from the satellite positioning system, information indicating the soundness of the GNSS satellites, information on correction data for correcting the satellite positioning information, and the like. The determination unit 18b can determine the integrity of the first position information based on, for example, these pieces of information. For example, when the number of GNSS satellites used to generate the satellite positioning information is equal to or greater than a threshold, the determination unit 18b can determine that the integrity of the first position information is high compared to when the number of GNSS satellites used to generate the satellite positioning information is smaller than the threshold.

[0060] The determination unit 18b may also determine the integrity of the first position information based on, for example, information on the detection result of the running condition sensor. As described above, examples of the running condition sensor include the inertial measurement unit 16 and the wheel speed sensor 17. The information on the detection result of the running condition sensor includes, for example, information on noise in the signal transmitted from the running condition sensor, information indicating the soundness of the running condition sensor, information indicating an error in the detection result of the running condition sensor, and information on correction data for correcting the detection result of the running condition sensor. The determination unit 18b can determine the integrity of the first position information based on, for example, these pieces of information. For example, when the running condition sensor is broken and the soundness of the running condition sensor is low, the determination unit 18b can determine that the integrity of the first position information is low compared to when the soundness of the running condition sensor is high.

[0061] The determination unit 18b may determine the integrity of the first position information based on any part of the types of information or all of the types of information listed above as examples of information related to the satellite positioning information. The determination unit 18b may determine the integrity of the first position information based on any part of the types of information or all of the types of information listed above as examples of information related to the detection result of the running condition sensor. The determination unit 18b may determine the integrity of the first position information based on both the information related to the satellite positioning information and the information related to the detection result of the running condition sensor. The determination unit 18b may determine the integrity of the first position information based on information other than the information related to the satellite positioning information and the information related to the detection result of the running condition sensor (for example, information related to the calculation process of the determination process of the first position information by the determination unit 18b, etc.).

[0062] After step S202, in step S203, the specification unit 18b determines the integrity of the second location information.

[0063] In step S203, the specification unit 18b can determine the integrity of the second location information based on various information.

[0064] The determination unit 18b may determine the integrity of the second position information based on, for example, information on the detection result of the ambient environment sensor 15. The information on the detection result of the ambient environment sensor 15 includes, for example, information on noise in the signal transmitted from the ambient environment sensor 15, information indicating the soundness of the ambient environment sensor 15, information indicating an error in the detection result of the ambient environment sensor 15, information on correction data for correcting the detection result of the ambient environment sensor 15, and the like. The determination unit 18b can determine the integrity of the second position information based on, for example, these pieces of information. For example, when the ambient environment sensor 15 has failed and the soundness of the ambient environment sensor 15 is low, the determination unit 18b can determine that the integrity of the second position information is low compared to when the soundness of the ambient environment sensor 15 is high.

[0065] Furthermore, the information on the detection results of the surrounding environment sensor 15 may include information indicating the degree of matching between the detection results of the surrounding environment sensor 15 acquired while the vehicle 10 is traveling and past detection results of the surrounding environment sensor 15 associated with the map data. For example, the identification unit 18b can acquire information indicating the degree of matching by matching detection point data indicated by the current detection results of the surrounding environment sensor 15 with detection point data indicated in a detection point map acquired from the server 20. The identification unit 18b can determine the integrity of the second position information based on the information indicating the degree of matching. For example, the identification unit 18b can determine that the higher the degree of matching, the higher the integrity of the second position information.

[0066] The determination unit 18b may determine the integrity of the second position information based on any part or all of the types of information listed above as examples of information related to the detection result of the surrounding environment sensor 15. The determination unit 18b may also determine the integrity of the second position information based on information other than the information related to the detection result of the surrounding environment sensor 15 (for example, information related to the calculation process of the determination process of the second position information by the determination unit 18b, etc.).

[0067] After step S203, in step S204, the control unit 18c switches the functions that are allowed to be executed among the multiple functions that can be performed by driving control based on the determination results of the integrity of the first position information and the integrity of the second position information, and the control flow shown in Figure 5 ends.

[0068] In step S204, for example, when the integrity of both the first position information and the second position information is higher than a criterion, the control unit 18c permits execution of all functions that can be performed by the driving control. The criterion is appropriately determined so as to determine whether the integrity of the position information is high enough to be appropriately used for the driving control.

[0069] Then, when at least one of the integrity of the first position information and the integrity of the second position information is lower than a standard, the control unit 18c prohibits the execution of some of the functions that can be performed by the driving control. In this case, for example, the control unit 18c lowers the automation level of the driving control. For example, when only the integrity of the first position information is lower than a standard, the control unit 18c prohibits the execution of the function that uses the first position information. Also, for example, when only the integrity of the second position information is lower than a standard, the control unit 18c prohibits the execution of the function that uses the second position information.

[0070] Furthermore, when both the integrity of the first position information and the integrity of the second position information are lower than the standard, the control unit 18c may increase the types of functions to be prohibited from being executed, compared to when only one of the integrity of the first position information and the integrity of the second position information is lower than the standard. For example, when both the integrity of the first position information and the integrity of the second position information are lower than the standard, the control unit 18c may further lower the automation level of the driving control, compared to when only one of the integrity of the first position information and the integrity of the second position information is lower than the standard.

[0071] As described above, in the first example of Fig. 5, the control unit 18c switches among the functions that can be performed by the driving control, the functions that are permitted to be executed, based on the determination results of the integrity of the first position information and the integrity of the second position information. This makes it possible to appropriately switch among the functions that are permitted to be executed in the driving control, depending on the integrity of the first position information and the integrity of the second position information. Therefore, the driving control can be appropriately optimized.

[0072] Fig. 6 is a flowchart showing a second example of the process flow relating to the determination of the integrity of position information performed by the control device 18. Step S301 in Fig. 6 corresponds to the start of the control flow shown in Fig. 6. Step S304 in Fig. 6 corresponds to the end of the control flow shown in Fig. 6. For example, the control flow shown in Fig. 6 is repeatedly started at preset time intervals during the execution of driving control.

[0073] In the second example in FIG. 6, the process after step S203 is different from the first example in FIG. 5 described above.

[0074] When the control flow shown in FIG. 6 is started, steps S202 and S203 are performed, similar to the first example of FIG. 5 described above, and the identification unit 18b determines the integrity of the first location information and the integrity of the second location information.

[0075] In the second example of FIG. 6, after step S203, in step S302, the control unit 18c determines whether or not both the integrity of the first position information and the integrity of the second position information are lower than the reference.

[0076] If it is determined that both the integrity of the first position information and the integrity of the second position information are lower than the standard (step S302 / YES), the process proceeds to step S303. On the other hand, if it is determined that at least one of the integrity of the first position information and the integrity of the second position information is higher than the standard (step S302 / NO), the process does not proceed to step S303 and the control flow shown in Fig. 6 ends. In this case, the control unit 18c executes driving control using, for example, the position information whose integrity is determined to be higher than the standard.

[0077] If the determination in step S302 is YES, in step S303, the control unit 18c prohibits the driving control, and the control flow shown in Fig. 6 ends. Specifically, in step S303, the driving control that has been executed ends, and the driver of the vehicle 10 starts manual driving.

[0078] As described above, in the second example of Fig. 6, the control unit 18c prohibits driving control based on the determination result of the integrity of the first position information and the integrity of the second position information. This makes it possible to appropriately prohibit driving control depending on the integrity of the first position information and the integrity of the second position information. Therefore, the driving control can be appropriately optimized.

[0079] In the second example of Fig. 6, the control unit 18c inhibits driving control when it is determined that both the integrity of the first position information and the integrity of the second position information are lower than the standard. However, the control unit 18c may inhibit driving control when it is determined that at least one of the integrity of the first position information and the integrity of the second position information is lower than the standard.

[0080] <Effects of the control device> The effects of the control device 18 according to the embodiment of the present invention will be described.

[0081] The control device 18 includes an identification unit 18b that executes a first mode in which the first position information of the vehicle 10 is identified based on satellite positioning information acquired from a satellite positioning system, and a second mode in which the second position information of the vehicle 10 is identified based on the detection result of the surrounding environment sensor 15 that detects the surrounding environment information of the vehicle 10, and a control unit 18c that executes driving control that automatically controls the driving of the vehicle 10 without the driving operation by the driver of the vehicle 10, using at least one of the first position information and the second position information. The identification unit 18b determines the integrity of the first position information and the integrity of the second position information, and the control unit 18c executes driving control based on the determination result of the integrity of the first position information and the integrity of the second position information. Thereby, it is possible to execute driving control while taking into account the integrity of the first position information and the integrity of the second position information. Therefore, it is possible to optimize the driving control.

[0082] Preferably, in the control device 18, the control unit 18c switches among the functions that can be performed by the driving control, the functions that are permitted to be executed, based on the determination results of the integrity of the first position information and the integrity of the second position information. This makes it possible to appropriately switch among the functions that are permitted to be executed in the driving control, depending on the integrity of the first position information and the integrity of the second position information. Therefore, the driving control can be appropriately optimized.

[0083] Preferably, in the control device 18, the control unit 18c prohibits driving control based on the determination result of the integrity of the first position information and the integrity of the second position information. This makes it possible to appropriately prohibit driving control depending on the integrity of the first position information and the integrity of the second position information. Therefore, the driving control can be appropriately optimized.

[0084] Preferably, in the first mode, the identification unit 18b of the control device 18 identifies, as the first position information, information indicating the absolute position of the vehicle 10 based on information indicating the position of the vehicle 10 acquired based on the satellite positioning information and information indicating the moving speed and moving direction of the vehicle 10 acquired based on the detection results of a running condition sensor (inertial measurement unit 16 and wheel speed sensor 17 in the above example) that detects running condition information of the vehicle 10. Thereby, the first position information is appropriately identified.

[0085] In addition, in the first mode, the identification unit 18b may identify the first location information by a method other than the above-mentioned method. For example, in the first mode, the identification unit 18b may identify the first location information by using only the satellite positioning information without using the detection result of the traveling condition sensor.

[0086] Preferably, in the control device 18, the identification unit 18b determines the integrity of the first position information based on information related to the satellite positioning information. This makes it possible to appropriately determine the integrity of the first position information by taking into account the information related to the satellite positioning information.

[0087] Preferably, in the control device 18, the identification unit 18b determines the integrity of the first position information based on information on the detection results of the driving condition sensors (inertial measurement unit 16 and wheel speed sensor 17 in the above example). This makes it possible to appropriately determine the integrity of the first position information by taking into account the information on the detection results of the driving condition sensors.

[0088] Preferably, in the second mode, the identification unit 18b of the control device 18 compares the detection result of the surrounding environment sensor 15 acquired while the vehicle 10 is traveling with the past detection result of the surrounding environment sensor 15 associated with the map data, and identifies, as the second position information, information indicating the relative position of the vehicle 10 with respect to the object detected by the surrounding environment sensor 15. Thereby, the second position information is appropriately identified.

[0089] In addition, in the second mode, the identification unit 18b may identify the second position information by a method other than the above-mentioned method. For example, when a detection point map in which a huge amount of detection point data is integrated on map data is generated without being based on past detection results of the surrounding environment sensor 15, in the second mode, the identification unit 18b may identify the second position information by comparing the detection results of the surrounding environment sensor 15 acquired while the vehicle 10 is traveling with the detection point map.

[0090] Preferably, in the control device 18, the identification unit 18b determines the integrity of the second position information based on information on the detection result of the surrounding environment sensor 15. This makes it possible to appropriately determine the integrity of the second position information by taking into account the information on the detection result of the surrounding environment sensor 15.

[0091] Preferably, in the control device 18, the information on the detection results of the surrounding environment sensor 15 includes information indicating a degree of matching between the detection results of the surrounding environment sensor 15 acquired while the vehicle 10 is traveling and past detection results of the surrounding environment sensor 15 associated with the map data. This makes it possible to more appropriately determine the integrity of the second position information by taking into account the information indicating the degree of matching.

[0092] The above describes a preferred embodiment of the present invention with reference to the attached drawings. However, it goes without saying that the present invention is not limited to the above-described embodiment, and various modified or altered examples within the scope of the claims also fall within the technical scope of the present invention.

[0093] For example, the processes described herein using flowcharts do not necessarily have to be performed in the order shown in the flowcharts, some process steps may be performed in parallel, additional process steps may be employed, and some process steps may be omitted.

[0094] Also, for example, the series of processes by the control device 18 described above may be realized using any of software, hardware, and a combination of software and hardware. The programs constituting the software are stored in advance in, for example, a storage medium provided inside or outside the information processing device. [Explanation of symbols]

[0095] 10 Vehicles 11. Power Source 12 Brake system 13 Steering mechanism 14 Navigation devices 15 Ambient environment sensor 16 Inertial measurement unit (driving condition sensor) 17 Wheel speed sensor (driving condition sensor) 18 Control device 18a Communications Department 18b Specific part 18c Control section 18d storage section 20 Servers 20a Communications Department 20b Processing section 20c storage section N1 Communications Network

Claims

1. A control device (18) for controlling an operation of a vehicle (10), comprising: an identification unit (18b) that executes a first mode for identifying first position information of the vehicle (10) based on satellite positioning information acquired from a satellite positioning system, and a second mode for identifying second position information of the vehicle (10) based on a detection result of an ambient environment sensor (15) that detects ambient environment information of the vehicle (10); a control unit (18c) that executes driving control to automatically control the driving of the vehicle (10) without a driving operation by a driver of the vehicle (10) using at least one of the first position information and the second position information; Equipped with The identification unit (18b) determines the integrity of the first location information and the integrity of the second location information; The control unit (18c) executes the driving control based on a result of determining the integrity of the first position information and the integrity of the second position information. Control device.

2. The control unit (18c) switches a function to be permitted to be executed among a plurality of functions that can be performed by the driving control based on a result of determining the integrity of the first position information and the integrity of the second position information in the driving control. The control device according to claim 1 .

3. The control unit (18c) prohibits the driving control based on a result of determining the integrity of the first position information and the integrity of the second position information. The control device according to claim 1 .

4. In the first mode, the identification unit (18b) identifies, as the first position information, information indicating an absolute position of the vehicle (10) based on information indicating the position of the vehicle (10) acquired based on the satellite positioning information and information indicating a moving speed and a moving direction of the vehicle (10) acquired based on a detection result of a running condition sensor (16, 17) that detects running condition information of the vehicle (10). The control device according to claim 1 .

5. The identification unit (18b) determines the integrity of the first position information based on information related to the satellite positioning information. The control device according to claim 4.

6. The identification unit (18b) determines the integrity of the first position information based on information related to the detection results of the traveling condition sensors (16, 17). The control device according to claim 4 or 5.

7. In the second mode, the identification unit (18b) compares a detection result of the surrounding environment sensor (15) acquired while the vehicle (10) is traveling with a past detection result of the surrounding environment sensor (15) associated with map data, thereby identifying information indicating a relative position of the vehicle (10) with respect to an object detected by the surrounding environment sensor (15) as the second position information. The control device according to claim 1 .

8. The identification unit (18b) determines the integrity of the second position information based on information regarding the detection result of the surrounding environment sensor (15). The control device according to claim 7.

9. The information on the detection results of the surrounding environment sensor (15) includes information indicating a degree of matching between the detection results of the surrounding environment sensor (15) acquired while the vehicle (10) is traveling and past detection results of the surrounding environment sensor (15) associated with the map data. The control device according to claim 8.

10. A method for controlling an operation of a vehicle (10), comprising: an identification unit (18b) of the control device (18) executes a first mode in which first position information of the vehicle (10) is identified based on satellite positioning information acquired from a satellite positioning system, and a second mode in which second position information of the vehicle (10) is identified based on a detection result of an ambient environment sensor (15) that detects ambient environment information of the vehicle (10); a control unit (18c) of the control device (18) executes driving control that automatically controls driving of the vehicle (10) without a driving operation by a driver of the vehicle (10) using at least one of the first position information and the second position information; The identification unit (18b) determines the integrity of the first location information and the integrity of the second location information; The control unit (18c) executes the driving control based on a result of determining the integrity of the first position information and the integrity of the second position information. Control methods.

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