Vehicle control device

Abstract

To provide a map information storage device capable of flexibly setting traffic-restricted area information.SOLUTION: A map information storage device is provided, comprising a storage unit 4 configured to store map data 4a with restricted areas defined thereon for each of a plurality of driving modes for autonomous driving of a vehicle 100, each restricted area being an area in which autonomous driving of the vehicle 100 in a corresponding mode is prohibited. Such an arrangement allows restricted areas to be flexibly set in the map data 4a according to the driving mode of the vehicle 100.SELECTED DRAWING: Figure 8

Description

[Technical field]

[0001] The present invention relates to a vehicle control device that controls the traveling of a vehicle that is capable of traveling within a predetermined area. [Background technology]

[0002] In recent years, research and development of small moving objects called ultra-compact mobility has been progressing. This ultra-compact mobility is a low-speed, single-seat means of transportation in areas where public transportation such as buses is inconvenient, and has greater mobility and loading capacity than conventional small moving objects such as bicycles, and is more compact than conventional automobiles (see, for example, Patent Document 1).

[0003] Such ultra-compact mobility vehicles are being proposed that can travel not only on roads, but also on sidewalks and bicycle paths. Therefore, if an ultra-compact mobility vehicle travels in various places without restrictions, it may affect the movement of other moving objects such as pedestrians.

[0004] As an example of a technology for restricting the travel range of a moving body, Patent Document 2 describes a guidance system for a tractor used for agricultural work in fields, in which no-entry layers are provided in map information for areas that could become obstacles, such as gutters.

[0005] Furthermore, Patent Document 3 describes that information on regulated areas is set in map data in order to regulate the running of gasoline and diesel vehicles from the viewpoint of environmental protection. [Prior art documents] [Patent documents]

[0006] [Patent Document 1] JP 2014-159211 A [Patent Document 2] JP 2017-60524 A [Patent Document 3] JP 2011-170686 A Summary of the Invention [Problem to be solved by the invention]

[0007] Ultra-compact mobility vehicles can have a variety of driving modes, such as automatic driving, manual driving, solo driving, and group driving of multiple vehicles. The inventions described in Patent Documents 1 and 2 uniformly set prohibited layers and regulated areas, which makes them inflexible and makes it impossible to provide control suited to the manner in which ultra-compact mobility vehicles are used.

[0008] One example of a problem that the present invention aims to solve is how to flexibly set information about areas where driving is prohibited. [Means for solving the problem]

[0009] In order to solve the above problem, the invention described in claim 1 is a vehicle control device that controls the driving of a vehicle that can drive within a specified area based on map information of the area, and is equipped with a control unit that performs a first control that controls the vehicle to drive autonomously and a second control that controls the vehicle to drive under the operation of a driver, and is characterized in that when performing the second control, the control unit restricts the driving of the vehicle when it is predicted based on the map information that the vehicle will leave the specified area.

[0010] The invention described in claim 4 is a vehicle control method executed by a vehicle control device that controls the driving of a vehicle that can drive within a specified area based on map information of the area, and includes a control process that performs a first control that controls the vehicle to drive autonomously and a second control that controls the vehicle to drive by operation by a driver, and is characterized in that the control process restricts the driving of the vehicle when it is predicted based on the map information that the vehicle will leave the specified area while performing the second control.

[0011] The invention as recited in claim 5 is characterized in that the vehicle control method as recited in claim 4 is executed by a computer. [Brief description of the drawings]

[0012] [Figure 1] 1 is a perspective view of a vehicle having a map information storage device and a vehicle control device according to a first embodiment of the present invention, as viewed obliquely from the front. [Diagram 2] 2 is a perspective view of the vehicle shown in FIG. 1, seen obliquely from the rear. [Diagram 3] FIG. 2 is a perspective view of the vehicle shown in FIG. 1 in an upright position. [Figure 4] FIG. 2 is an explanatory diagram of a tandem driving mode of the vehicle shown in FIG. [Diagram 5] FIG. 2 is an explanatory diagram of a parallel running mode of the vehicle shown in FIG. [Figure 6] FIG. 2 is an explanatory diagram of an automatic following mode of the vehicle shown in FIG. [Figure 7] FIG. 2 is a configuration diagram of a system having the vehicle shown in FIG. [Figure 8] FIG. 8 is a functional configuration diagram of the vehicle control device shown in FIG. [Figure 9] FIG. 11 is an explanatory diagram showing an example of a map data structure in which prohibited areas are defined; [Figure 10] FIG. 10 is an explanatory diagram showing an example of a map data structure according to a modified example of FIG. 9; [Figure 11] FIG. 8 is a functional configuration diagram of the server device shown in FIG. [Figure 12] 9 is a flowchart of the operation of the vehicle control device shown in FIG. 8. [Figure 13] 6 is a flowchart of the operation of a vehicle control device according to a second embodiment of the present invention. [Figure 14] 10 is a flowchart of the operation of a vehicle control device according to a third embodiment of the present invention. [Figure 15] FIG. 15 is an explanatory diagram of a case where traveling is restricted in the operation of the vehicle control device shown in FIG. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0013] A map storage device according to an embodiment of the present invention will be described below. The map storage device according to an embodiment of the present invention stores map information in which prohibited areas that prohibit the autonomous driving of the vehicle in each mode are defined for each of a plurality of modes in the autonomous driving of the vehicle. In this way, the prohibited areas can be flexibly set in the map information according to the mode of the vehicle.

[0014] The map storage device may store one piece of map information in which the prohibited areas for each of a plurality of modes are defined. In this way, the prohibited areas for all modes can be obtained from one piece of map information, thereby reducing the amount of data.

[0015] The map storage device may store a plurality of pieces of map information in which prohibited areas are defined, each piece corresponding to a plurality of modes. This makes data management easier, since it is only necessary to obtain map information for the required mode.

[0016] In addition, in a vehicle control device according to an embodiment of the present invention, an acquisition unit acquires map information from the map information storage device described above, and a reception unit receives a selection of one of a plurality of modes. Then, the control unit controls the autonomous driving of the vehicle based on the prohibited area corresponding to the one mode received. In this way, it is possible to control a vehicle such as an ultra-compact mobility vehicle to avoid areas where driving is prohibited depending on the driving mode.

[0017] In addition, in a vehicle control method according to an embodiment of the present invention, map information is acquired in which a prohibited area that prohibits the autonomous driving of the vehicle in each of a plurality of modes in the autonomous driving of the vehicle is defined in an acquisition step, and a selection of one of the plurality of modes is accepted in a reception step.Then, the autonomous driving of the vehicle is controlled based on the prohibited area corresponding to the one mode accepted in the control step.In this way, it is possible to control a vehicle such as an ultra-compact mobility vehicle to avoid areas in which driving is prohibited depending on the driving mode.

[0018] The vehicle control method described above may be executed by a computer. In this way, the computer can be used to control the vehicle to avoid areas where driving is prohibited depending on the driving mode.

[0019] In addition, the map data structure according to the embodiment of the present invention defines a prohibited area for each of a plurality of modes in the autonomous driving of the vehicle, in which the autonomous driving of the vehicle is prohibited in the mode. In this way, the prohibited area can be flexibly set in the map information according to the vehicle mode.

[0020] A vehicle control device according to another embodiment of the present invention is a vehicle control device that controls the traveling of a vehicle that can selectively set a plurality of modes in autonomous traveling, and the identification unit identifies a prohibited area that prohibits the autonomous traveling of the vehicle in the set mode based on the acquired map information and the set mode, and the control unit controls the autonomous traveling of the vehicle in the set mode based on the identified prohibited area. In this way, even if the prohibited area is not set in advance in the map information, etc., it is possible to identify the prohibited area according to the mode and control the traveling. For example, when multiple vehicles are traveling in parallel, the prohibited area can be set according to the road width, the width of the vehicles, and the number of parallel vehicles.

[0021] A vehicle control method according to another embodiment of the present invention is a vehicle control method executed by a vehicle control device that controls the traveling of a vehicle that can selectively set a plurality of modes in autonomous traveling, and in a specifying step, a prohibited area that prohibits the autonomous traveling of the vehicle in the set mode is specified based on the acquired map information and the set mode, and in a control step, the autonomous traveling of the vehicle in the set mode is controlled based on the prohibited area specified in the specifying step. In this way, even if the prohibited area is not set in advance in the map information or the like, the prohibited area can be specified according to the mode and the traveling can be controlled. For example, when multiple vehicles are traveling in parallel, the prohibited area can be set according to the road width, the width of the vehicles, and the number of parallel vehicles.

[0022] The above-mentioned vehicle control method may be executed by a computer. In this way, even if the prohibited areas are not set in advance in map information or the like, the prohibited areas can be specified according to the mode using a computer to control driving. For example, when multiple vehicles are traveling in parallel, the prohibited areas can be set according to the road width, the width of the vehicles, and the number of parallel vehicles.

[0023] A vehicle control device according to another embodiment of the present invention is a vehicle control device that controls the driving of a vehicle that can drive within a predetermined area based on map information of the predetermined area, and includes a control unit that performs a first control to control the vehicle to drive autonomously and a second control to control the vehicle to drive by operation by the driver. When the control unit is performing the second control, if it is predicted based on the map information that the vehicle will go beyond the predetermined area, the control unit restricts the driving of the vehicle. In this way, when the vehicle is driven by operation by the driver, it is possible to restrict the vehicle from driving beyond the predetermined area.

[0024] Furthermore, the control unit may stop the vehicle when it is predicted based on the map information that the vehicle will leave the predetermined area while performing the second control. In this way, when it is predicted that the vehicle will leave the predetermined area, the control unit can stop the vehicle and prevent the vehicle from leaving the predetermined area.

[0025] Furthermore, when the control unit is performing the second control, if it is predicted based on the map information that the vehicle will leave the predetermined area, the control unit may switch the vehicle to autonomous driving and drive the vehicle along a route within the predetermined area. In this way, when it is predicted that the vehicle will leave the predetermined area, the control unit can continue driving the vehicle within the predetermined area by autonomous driving.

[0026] A vehicle control method according to another embodiment of the present invention is a vehicle control method executed by a vehicle control device that controls the traveling of a vehicle that can travel within a predetermined area based on map information of the predetermined area, and includes a control process of performing a first control of controlling the vehicle to travel autonomously and a second control of controlling the vehicle to travel by operation by a driver. The control process restricts the traveling of the vehicle when it is predicted based on the map information that the vehicle will go beyond the predetermined area while performing the second control. In this way, it is possible to restrict the traveling of the vehicle from going beyond the predetermined area when the vehicle is traveling by operation by the driver.

[0027] The above-described vehicle control method may be executed by a computer. In this way, when the vehicle is being driven by the driver, the computer can be used to restrict the vehicle from traveling beyond a predetermined area. EXAMPLES

[0028] A vehicle having a map storage device and a vehicle control device according to a first embodiment of the present invention will be described with reference to Figures 1 to 12. The vehicle 100 is a one-seater ultra-compact mobility vehicle as shown in Figures 1 to 3.

[0029] The vehicle 100 includes a frame 101, a seat 102, a backrest 103, a footrest 104, wheels 105 (105R, 105L), an armrest 106, an operation unit 107, and a vehicle control device 1 not shown in FIGS.

[0030] Frame 101 is a member that forms the framework of the vehicle. A seat 102, a backrest 103, a footrest 104, wheels 105, an armrest 106, etc. are attached to frame 101. A number or the like for identifying the vehicle is displayed on the upper end of member 101a that supports backrest 103 of frame 101.

[0031] The seat surface 102 is formed in a substantially circular shape, and a user P (see FIG. 2) sits on it. When the vehicle 3 is transformed from a chair type (FIGS. 1 and 2) to a standing type (FIG. 3), the seat surface 102 supports the lower back and buttocks from behind.

[0032] The backrest 103 is formed in a substantially hexagonal shape and supports the back of the user P. The footrest 104 supports the user P's feet.

[0033] The wheels 105 are made up of a right wheel 105R and a left wheel 105L, which are rotatably attached to the left and right ends of the frame 101 below the seat 102, respectively.

[0034] The armrest 106 is attached to a member 101a of the frame 101, and can support the arm of the user P as shown in Fig. 2. An operation unit 107 is provided at the tip of the armrest 106. The operation unit 107 can be used to set the driving mode of the vehicle 100, various settings during automatic driving, and driving operations during manual driving.

[0035] Here, automatic driving refers to automatically controlling steering, speed adjustment, braking, etc., by the vehicle control device 1, etc., to autonomously drive the vehicle 100. Manual driving refers to the driver, user P, performing steering, speed adjustment, braking, etc., by himself / herself, using the operation unit 107, etc.

[0036] In addition to the vehicle control device 1 described above, the vehicle 100 also has a motor that drives the wheels 105, a battery that supplies power to the motor, and the like. The vehicle 100 also has various sensors such as a gyro sensor for balancing the vehicle so that it does not fall over even with two wheels. Alternatively, auxiliary wheels other than the wheels 105 may be provided.

[0037] Furthermore, the vehicle 100 can be transformed from a chair type as shown in FIG. 1 or 2 to a standing type as shown in FIG. 3. When transformed into the standing type, the angle of the seat 102 moves closer to perpendicular to the road surface, and the backrest 103 moves upward with the movement of the seat 102. Then, the vehicle transforms so that the operation unit 107 stands upright from the armrest 106, allowing the user P to grasp the operation unit 107. Note that the chair type and standing type can be driven in either automatic or manual driving. Furthermore, the chair type and standing type can be driven in any of the driving modes described below.

[0038] During autonomous driving, the vehicle 100 has the driving modes shown in Fig. 4 to Fig. 6. That is, the vehicle 100 is a vehicle that can selectively set a plurality of modes in autonomous driving. Fig. 4 shows a tandem driving mode. In this driving mode, a plurality of vehicles 100 drive in a tandem, with the succeeding vehicles 100 following the leading vehicle 100 that serves as the master.

[0039] 5 shows the parallel running mode, in which a plurality of vehicles 100 run side by side, with the other vehicles following one of the vehicles 100 as a master.

[0040] 6 shows an automatic following mode. This driving mode is a driving mode in which the unmanned vehicle 100 automatically follows a walking user P. In this automatic following mode, the vehicle 100 follows the user P based on a signal from a terminal device or the like carried by the user P, for example. Alternatively, the vehicle 100 may be equipped with a camera, and recognize and follow the user P captured by the camera through image recognition.

[0041] Next, a system having the above-mentioned vehicle 100 will be described with reference to Fig. 7. As shown in Fig. 7, the system has the vehicle 100 and a server device 50. The vehicle 100 also has a vehicle control device 1. As shown in Fig. 7, the server device 50 is capable of communicating with the vehicle control device 1 provided in the vehicle 100 via a network N such as the Internet.

[0042] 8 shows a functional configuration of the vehicle control device 1. The vehicle control device 1 includes a communication unit 2, a control unit 3, a storage unit 4, and a GPS receiver 5.

[0043] The communication unit 2 transmits the map request information and the like output by the control unit 3 to the server device 50. The communication unit 2 also receives map data distributed from the server device 50. The communication unit 2 also communicates with other vehicles 100 and the like directly or via the network N depending on the driving mode, and transmits and receives information for the above-mentioned following operation.

[0044] The control unit 3 is composed of, for example, a microcomputer having a CPU, memory, etc., and controls the traveling of the vehicle 100 (steering, speed, braking, etc.). The control unit 3 also requests map data of the surroundings of the vehicle 100 from the server device 50 as necessary, and stores the map data received by the communication unit 2 in the storage unit 4 as map data 4a. Based on the setting information of the traveling mode received from the operation unit 107, the control unit 3 also transmits and receives information for a following operation with other vehicles, etc. via the communication unit 2 so as to travel in the relevant traveling mode. The control unit 3 also causes the vehicle 100 to travel so as to avoid prohibited areas (described later) included in the map data 4a stored in the storage unit 4.

[0045] The memory unit 4 stores map data 4a. That is, the memory unit 4 functions as a map storage device that stores map information. The map data 4a is a map that includes detailed information about roads and surrounding features such as road widths, the contents and positions of signs, and the positions of white lines, so that the vehicle 100 can travel autonomously. In addition, the map data 4a defines prohibited areas that prohibit the vehicle 100 from traveling autonomously in each of the multiple travel modes in the autonomous driving described above. The map data structure in which the prohibited areas are defined will be described with reference to FIG. 9.

[0046] In Fig. 9, a predetermined area in which the vehicle 100 is expected to travel is defined as area A, an area with a wide road width, area B, and an area with a narrow road width, and the propriety of travel in each travel mode is defined for each area. That is, the memory unit 4 stores one piece of map data 4a in which prohibited areas are defined for each of a plurality of travel modes. Note that the specific numerical ranges for the road widths of "wide", "medium", and "narrow" may be appropriately determined depending on the width of the vehicle 100 and the area in which the vehicle travels.

[0047] In Figure 9, in area A, where the road is wide, all driving modes are permitted (◯). In area B, where the road is medium width, parallel driving mode is prohibited (×), but other driving modes are permitted. In area C, where the road is narrow, all driving modes are prohibited.

[0048] In addition, in the case of manual driving, driving is permitted in any area. However, outside the predetermined area in which the vehicle 100 is expected to travel, driving is prohibited in either the automatic driving driving mode or the manual driving mode. In other words, areas A, B, and C are included within the range of the predetermined area. The predetermined area in which the vehicle 100 is expected to travel may be, for example, a closed area such as a theme park, or may be an administrative division such as a city, ward, town, or village.

[0049] The prohibited areas shown in Fig. 9 are associated with the possible driving modes in one map data, but as shown in Fig. 10, multiple maps may be provided for each driving mode. That is, map data in which the prohibited areas are defined is stored in correspondence with each of the multiple driving modes. Fig. 10(a) shows map data for the parallel driving mode. Fig. 10(b) shows map data for the tandem driving mode and the automatic following mode. As shown in Fig. 10(b), common map data may be used for multiple modes.

[0050] The GPS receiver 5 receives signals based on radio waves from GPS (Global Positioning System) satellites. It is a well-known device that detects the current position of the vehicle 100. Note that, as long as the current position of the vehicle 100 can be detected, it is not limited to the GPS receiver 5, and other methods such as a gyro sensor or a method using Wi-Fi radio waves may be used.

[0051] 11 shows a functional configuration of the server device 50. The server device 50 includes a communication unit 51, a control unit 52, and a storage unit 53.

[0052] The communication unit 51 receives map request information and the like transmitted from the vehicle control device 1. In addition, the communication unit 51 transmits map data read out from the storage unit 53 to the vehicle control device 1.

[0053] The control unit 52 is configured with, for example, a microcomputer having a CPU, a memory, etc. The control unit 52 also reads out the requested map data from the storage unit 53 based on the map request information, and outputs the map data to the communication unit 51.

[0054] The storage unit 53 stores map data 53a. The map data 53a is a map that includes detailed information about roads and surrounding features so that the vehicle 100 can travel autonomously, similar to the map data 4a. The map data 53a also includes information about prohibited areas, which are areas where the autonomous travel of the vehicle 100 is prohibited, similar to the map data 4a.

[0055] The server device 50 having the above-described configuration can function as a map storage device because, as described above, the server device 50 stores map data 53a in which prohibited areas that prohibit the autonomous driving of the vehicle 100 in each of a plurality of driving modes in the autonomous driving of the vehicle 100 are defined.

[0056] Next, the operation of the vehicle control device 1 configured as described above (vehicle control method) will be described with reference to the flowchart in Fig. 12. Moreover, the flowchart shown in Fig. 12 can be configured as a program executed by the CPU of the control unit 3 to become a vehicle control program.

[0057] First, in step S11, the control unit 3 accepts a setting of a driving mode from the operation unit 107. That is, the control unit 3 functions as a reception unit that accepts the selection of one mode from among a plurality of modes.

[0058] Next, in step S12, the control unit 3 checks whether the map data 4a is stored, and if it is not stored (if NO), in step S13, it transmits map request information to the server device 50 via the communication unit 2, and stores the map data transmitted in response to the map request information as map data 4a in the storage unit 4. On the other hand, if the map data 4a is stored (if YES), the process proceeds to step S14.

[0059] Next, in step S14, the control unit 3 reads (acquires) the map data 4a from the storage unit 4. That is, the control unit 3 functions as an acquisition unit that acquires map information from the map information storage device.

[0060] Next, in step S15, the control unit 3 controls the autonomous driving of the vehicle 100 based on the driving mode accepted in step S11 and the prohibited areas included in the map data acquired in step S14. At this time, the control unit 3 compares the current position detected by the GPS receiver 5 with the prohibited areas included in the map data 4a and corresponding to the accepted driving mode, and controls the traveling direction, braking, etc. of the vehicle 100 so as not to enter the prohibited areas. That is, the control unit 3 controls the autonomous driving of the vehicle based on the prohibited areas corresponding to one of the accepted modes.

[0061] Next, in step S16, the control unit 3 determines whether the vehicle 100 has finished traveling, such as by turning off the power, and if the traveling has finished (YES), ends the flowchart, and if the traveling has not finished (NO), returns to step S15.

[0062] As is clear from the above description, step S11 functions as a receiving step, step S14 functions as an obtaining step, and step S15 functions as a control step.

[0063] Although not shown in the above-mentioned flow chart, for example, when setting a destination, if the destination is set within a prohibited area, a warning to the effect that the destination cannot be set may be displayed, output by voice, etc. Similarly, when it is necessary to avoid a prohibited area, a display, output by voice, etc. to that effect may be given.

[0064] According to this embodiment, the storage unit 4 stores map data 4a in which prohibited areas that prohibit the autonomous driving of the vehicle 100 in each of a plurality of driving modes in the autonomous driving of the vehicle 100 are defined. In this way, the prohibited areas can be flexibly set in the map data 4a according to the driving mode of the vehicle 100.

[0065] Furthermore, one map data 4a in which prohibited areas are defined for each of a plurality of driving modes may be stored in the storage unit 4. In this way, prohibited areas for all driving modes can be obtained from one piece of map information, thereby reducing the amount of data.

[0066] Furthermore, a plurality of pieces of map information in which prohibited areas are defined for a plurality of modes may be stored in the storage unit 4. In this way, it is necessary to acquire only the map data 4a for the required mode, which makes data management easier.

[0067] Furthermore, in the vehicle control device 1, the control unit 3 acquires the map data 4a described above and accepts the selection of one of the multiple driving modes. Then, the control unit 3 controls the autonomous driving of the vehicle 100 based on the prohibited area corresponding to the one mode accepted. In this manner, the vehicle 100, such as an ultra-compact mobility vehicle, can be controlled to avoid areas where driving is prohibited depending on the driving mode. EXAMPLES

[0068] Next, a vehicle control device according to a second embodiment of the present invention will be described with reference to Fig. 13. Note that the same parts as those in the first embodiment described above are given the same reference numerals and the description thereof will be omitted.

[0069] In the first embodiment, as shown in Fig. 9 and Fig. 10, the map data 4a includes information on prohibited areas, but in this embodiment, the vehicle control device 1 identifies prohibited areas based on the driving mode and information such as road width included in the map data 4a. In other words, the map data 4a according to this embodiment does not define prohibited areas. The operation of the vehicle control device 1 (vehicle control method) according to this embodiment will be described with reference to the flowchart in Fig. 13. Also, the flowchart shown in Fig. 13 can be configured as a program executed by a CPU included in the control unit 3 to form a vehicle control program.

[0070] Steps S11 to S14 in Fig. 13 are the same as those in Fig. 12. In step S21 following step S14, the control unit 3 specifies a prohibited area based on the driving mode set in step S11 and the map information acquired in step S14. For example, when the parallel driving mode is set in step S11, the road width required for driving is calculated from the width of the vehicle 100 and the number of vehicles traveling in parallel, and roads less than this road width are specified as prohibited areas. That is, the control unit 3 specifies a prohibited area in which the autonomous driving of the vehicle 100 in the set driving mode is prohibited based on the acquired map information and the set driving mode.

[0071] Next, in step S15A, the control unit 3 controls the autonomous driving of the vehicle 100 based on the prohibited area identified in step S21. At this time, the control unit 3 controls the traveling direction and braking of the vehicle 100 so as not to enter the prohibited area based on the current position detected by the GPS receiver 5 and the identified prohibited area. That is, the control unit 3 controls the autonomous driving of the vehicle 100 in the set driving mode based on the identified prohibited area. The following step S16 is the same as FIG. 11 except that in the case of NO, the process returns to step S15A.

[0072] As is clear from the above description, step S21 functions as a specifying step, and step S15A functions as a control step.

[0073] According to this embodiment, the vehicle control device 1 specifies a prohibited area that prohibits the automatic driving of the vehicle 100 in the set driving mode based on the map data 4a acquired by the control unit 3 and the set driving mode, and controls the autonomous driving of the vehicle 100 in the set driving mode based on the specified prohibited area. In this way, even if the prohibited area is not set in advance in the map data 4a, it is possible to specify the prohibited area according to the driving mode and control the driving. For example, when multiple vehicles are driving in parallel, the prohibited area can be set according to the road width, the width of the vehicles, and the number of parallel vehicles. EXAMPLES

[0074] Next, a vehicle control device according to a third embodiment of the present invention will be described with reference to Figures 14 and 15. Note that the same parts as those in the first and second embodiments described above are given the same reference numerals and the description thereof will be omitted.

[0075] In the first and second embodiments, restrictions on traveling when the vehicle 100 is being driven autonomously are mainly described, but in this embodiment, restrictions on traveling when the vehicle 100 is being driven manually are described.

[0076] As described in the first embodiment, the area in which the vehicle 100 is expected to travel is determined in advance. This area is, for example, within a theme park, within a park, or within a specific city, ward, town, or village. Ultra-compact mobility such as the vehicle 100 is expected to be used for car sharing or the like, and the manager of the vehicle 100, such as a service provider of the car sharing service, may wish to allow the vehicle 100 to be used within the range of his or her management. Therefore, in this embodiment, not only in the case of automatic driving but also in the case of manual driving, the vehicle is restricted from traveling beyond the predetermined area in which it is expected to travel.

[0077] The operation of the vehicle control device 1 (vehicle control method) according to this embodiment will be described with reference to the flowchart in Fig. 14. In addition, the flowchart shown in Fig. 14 can be configured as a program executed by the CPU of the control unit 3 to form a vehicle control program.

[0078] First, in step S31, the control unit 3 determines whether the vehicle 100 is driven manually or not, and if the vehicle is driven manually (YES), the process proceeds to step S32, and if the vehicle is driven automatically (NO), the process ends. Whether the vehicle is driven manually or not may be set by the user P via the operation unit 107, for example.

[0079] As described in the first and second embodiments, the vehicle 100 according to this embodiment is capable of automatic driving and can switch between manual driving and automatic driving. Therefore, the control unit 3 can perform a first control (control related to automatic driving) for controlling the vehicle 100 to drive autonomously, and a second control (control related to manual driving) for controlling the vehicle 100 to drive by operation by the driver. The control related to manual driving is the control described in step S32 below.

[0080] Next, in step S32, the control unit 3 checks whether the map data 4a is stored, and if it is not stored (if NO), in step S33, the control unit 3 transmits map request information to the server device 50 via the communication unit 2, and stores the map data transmitted in response to the map request information in the storage unit 4. On the other hand, if the map data 4a is stored (if YES), the process proceeds to step S34. The map data 4a according to this embodiment includes information indicating a drivable range (predetermined area). As described above, the information indicating the drivable range specifies a drivable range such as within a theme park, within a park, or within a specific city, town, or village.

[0081] Next, in step S34, the control unit 3 reads (acquires) the map data 4a from the storage unit 4.

[0082] Next, in step S35, the vehicle starts to travel. For example, the user P is notified by an indicator, image, sound, or the like that travel is possible, and the user operates the operation unit 107 to make the vehicle 100 travel.

[0083] Next, in step S36, the control unit 3 determines whether or not the vehicle 100 is predicted to leave the predetermined area based on the map data 4a read in step S34 and the current position detected by the GPS receiver 5, and if it is predicted to leave the predetermined area, the process proceeds to step S37 to restrict the traveling of the vehicle 100. On the other hand, if it is predicted not to leave the predetermined area, the process proceeds to step S38. That is, when the control unit 3 is performing the second control, if it is predicted that the vehicle 100 will leave the predetermined area based on the map information, the control unit 3 restricts the traveling of the vehicle 100.

[0084] Methods for restricting the travel of the vehicle 100 include stopping the vehicle 100 before the boundary of the specified area, switching to automatic driving before the boundary of the specified area and making the vehicle make a U-turn or turn right or left at an intersection before the boundary, etc. When switching to automatic driving, the vehicle may search for a route that can get a certain distance away from the boundary of the specified area, or a route to a point where the rented vehicle 100 can be returned, and travel along that route.

[0085] Next, a method of predicting whether or not the vehicle will go beyond the predetermined area in step S36 will be described with reference to FIG. 15. FIG. 15 is a diagram showing a case where the vehicle 100 is traveling on a road in the direction of the arrow AR. In this case, when the distance L1 between the vehicle 100 and the boundary B of the predetermined area becomes equal to or less than a predetermined distance, the above-mentioned restrictions on stopping, U-turns, etc. may be imposed. In addition, in the case of FIG. 15, since there is an intersection C between the current position of the vehicle 100 and the boundary B of the predetermined area, if the vehicle does not turn at the intersection C, the above-mentioned restrictions on stopping, U-turns, etc. may be imposed. Note that, when the distance L2 between the intersection C and the boundary B of the predetermined area is short, control may not be possible in time or sudden braking may be required. Therefore, for example, when the relationship is L1>L2, the above-mentioned restrictions on stopping, U-turns, etc. may be imposed when the distance L2 becomes less than L1 regardless of the intersection C.

[0086] Returning to the description of Fig. 14, in step S38, the control unit 3 determines whether the vehicle 100 has finished traveling, such as by turning off the power, and ends the flowchart if the traveling has finished (if YES), and returns to step S36 if the traveling has not finished (if NO).

[0087] As is clear from the above description, steps S36 and S37 function as a control step.

[0088] According to this embodiment, the vehicle control device 1 controls the traveling of the vehicle 100 that can travel within a predetermined area based on the map data 4a of the predetermined area, and includes a control unit 3 that can control the vehicle 100 to switch between automatic driving and manual driving. When the control unit 3 predicts that the vehicle will go beyond the predetermined area based on the map data 4a during manual driving, it restricts the traveling of the vehicle 100. In this way, when the vehicle is traveling by operation of the user P, it is possible to restrict the vehicle 100 from traveling beyond the predetermined area.

[0089] Furthermore, when the control unit 3 is in manual driving mode and it is predicted based on the map data 4a that the vehicle 100 will leave a predetermined area, the control unit 3 may stop the vehicle 100. In this way, when it is predicted that the vehicle 100 will leave the predetermined area, it is possible to stop the vehicle and prevent it from leaving the predetermined area.

[0090] Furthermore, when the control unit 3 predicts that the vehicle 100 will leave a predetermined area based on the map data 4a during manual driving, the control unit 3 may switch the vehicle 100 to automatic driving and drive the vehicle 100 along a route within the predetermined area. In this way, when the vehicle 100 is predicted to leave the predetermined area, the vehicle 100 can continue to drive within the predetermined area by automatic driving.

[0091] The present invention is not limited to the above-mentioned embodiment. In other words, a person skilled in the art can implement various modifications according to the conventionally known knowledge without departing from the gist of the present invention. As long as the map storage device and vehicle control device of the present invention are still equipped with such modifications, they are of course included in the scope of the present invention. [Explanation of symbols]

[0092] 1 Vehicle control device 2. Communications Department 3. Control unit (acquisition unit, reception unit, control unit, identification unit) 4 Memory unit (map information storage device) 4a Map data (map information) 5 GPS receiver 50 Server device (map information storage device) 51 Communications Department 52 Control section 53 Storage section 53a Map data (map information) 100 vehicles

Claims

[Claim 1] A map information storage device that stores map information, A map information storage device storing map information for each of a plurality of modes of autonomous vehicle driving, the map information defining a prohibited area in which the autonomous vehicle driving in the mode is prohibited.

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