Vehicle control device

Abstract

To provide a vehicle control device capable of appropriately controlling traveling of a vehicle during parking.SOLUTION: A vehicle control device includes: a request reception unit 91 that receives a stop request for stopping a vehicle 10 when the vehicle 10 is stopped at a parking position after the wheel 20 of the vehicle 10 climbs over a step; and a control unit 93 that stops the vehicle 10 when traveling distance of the vehicle 10 from a time point at which the wheel 20 climbs over the step is equal to or greater than a distance determination value when the vehicle 10 is traveling in a state in which the stop request is received.SELECTED DRAWING: Figure 1

Description

[Technical field]

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

[0002] Patent Document 1 describes a vehicle control device that controls the running of a vehicle by adjusting the driving force applied to the vehicle while it is running. For example, when a vehicle is running at a low speed, if a wheel of the vehicle comes into contact with a step, the vehicle may significantly decelerate or stop. In this case, the vehicle control device quickly increases the driving force to reduce the time required for the vehicle to get over the step. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] JP 2007-176321 A Summary of the Invention [Problem to be solved by the invention]

[0004] Depending on the conditions under which the vehicle is traveling, there are cases in which the traveling of the vehicle cannot be appropriately controlled by simply increasing the driving force on the condition that the vehicle is decelerating. [Means for solving the problem]

[0005] A vehicle control device that solves the above problem includes a request receiving unit that receives a stop request to stop the vehicle when the vehicle is to be stopped at a parking position after passing through an external disturbance section, and a vehicle stopping unit that stops the vehicle when the vehicle is traveling after the stop request is received, and when at least one of the following is true: the distance traveled by the vehicle from the time the wheels of the vehicle passed through the external disturbance section is equal to or greater than a distance judgment value, and the traveling time of the vehicle from the time the vehicle passed through the external disturbance section is equal to or greater than a time judgment value. Effect of the Invention

[0006] The vehicle control device can appropriately control the driving of the vehicle when parked. [Brief description of the drawings]

[0007] [Figure 1] FIG. 1 is a schematic diagram of a vehicle equipped with a vehicle control device. [Diagram 2] FIG. 2 is a schematic diagram showing a state in which a vehicle overcomes a step and parks in a parking position. [Diagram 3] FIG. 3 is a flowchart showing the flow of the process performed by the vehicle control device when the vehicle is parked. [Figure 4] 4(a) to 4(c) are timing charts showing the transition of the vehicle speed, driving force, and braking force when the vehicle is parked. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0008] An embodiment of a vehicle control device will be described below. <Configuration of this embodiment> 1, a vehicle 10 includes a plurality of wheels 20, a plurality of braking mechanisms 30, a braking device 40, a driving device 50, an operation system 60, a detection system 70, and a vehicle control device 80. The vehicle 10 of this embodiment includes front wheels 21 and rear wheels 22 as the wheels 20.

[0009] <Brake mechanism> The multiple braking mechanisms 30 correspond to the multiple wheels 20, respectively. The braking mechanism 30 includes a rotating body 31 that rotates integrally with the wheel 20, a friction material 32 that applies a braking force to the wheel 20 by being pressed against the rotating body 31, and a wheel cylinder 33 that moves the friction material 32 relative to the rotating body 31. When the hydraulic pressure in the wheel cylinder 33 increases, the force pressing the friction material 32 against the rotating body 31 increases. As a result, the braking force applied to the wheel 20 increases. On the other hand, when the hydraulic pressure in the wheel cylinder 33 decreases, the force pressing the friction material 32 against the rotating body 31 decreases. As a result, the braking force applied to the wheel 20 decreases.

[0010] <Brake device> The braking device 40 includes a braking actuator 41 that adjusts the amount of brake fluid supplied to the wheel cylinders 33, and a braking control unit 42 that controls the braking actuator 41. An example of the braking control unit 42 is an electronic control device. The braking control unit 42 controls the braking actuator 41 based on a required braking force transmitted from the vehicle control device 80. In this way, the hydraulic pressure in the multiple wheel cylinders 33 is adjusted so that the braking force applied to the vehicle 10 becomes the required braking force.

[0011] <Drive unit> The drive unit 50 includes a motor generator 51 that functions as a power source for the vehicle 10, and a drive control unit 52 that controls the motor generator 51. The drive unit 50 may include at least one of the motor generator 51 that applies driving force to the front wheels 21 and the motor generator 51 that applies driving force to the rear wheels 22. In other words, at least one of the front wheels 21 and the rear wheels 22 may be a driving wheel. An example of the drive control unit 52 is an electronic control unit. The drive control unit 52 controls the motor generator 51 based on the required driving force transmitted from the vehicle control device 80. In other words, the drive control unit 52 controls the motor generator 51 so that the sum of the driving forces applied to the driving wheels becomes the required driving force. Then, the driving force of the motor generator 51 is transmitted to the wheels 20, causing the vehicle 10 to run.

[0012] <Operation system> The operation system 60 has a brake operation member 61, a drive operation member 62, and an operation device 63. The brake operation member 61 is operated by the driver when applying a braking force to the vehicle 10. An example of the brake operation member 61 is a brake pedal. The drive operation member 62 is operated by the driver when applying a driving force to the vehicle 10. An example of the drive operation member 62 is an accelerator pedal. The operation device 63 is operated by the driver when changing various settings of the vehicle 10 or starting functions of the vehicle 10. An example of the operation device 63 is a plurality of switches.

[0013] <Detection system> The detection system 70 detects the state of the vehicle 10 that changes while the vehicle 10 is traveling. The detection system 70 has a brake sensor 71, an accelerator sensor 72, and a wheel speed sensor 73 as multiple sensors that detect the state of the vehicle 10. The brake sensor 71 detects the amount of operation of the braking operation member 61 by the driver. The accelerator sensor 72 detects the amount of operation of the driving operation member 62 by the driver. The wheel speed sensor 73 detects the rotation speed of the wheels 20 as the wheel speed. The detection system 70 outputs a signal corresponding to the detected value to the vehicle control device 80.

[0014] <Vehicle control device> The vehicle control device 80 includes a processing circuit 81. For example, the processing circuit 81 is an electronic control device. The processing circuit 81 includes a CPU 82 and a memory 83. The memory 83 stores a control program executed by the CPU 82. The CPU 82 executes the control program, whereby the processing circuit 81 controls the braking device 40 and the drive device 50.

[0015] <Functional configuration of the processing circuit 81> When the CPU 82 executes the control program, the processing circuit 81 functions as a request receiving section 91, a step determination section 92, a control section 93, and a setting receiving section 94. These will be described in detail below.

[0016] <Request Reception Department> Fig. 2 shows a parking lot 100 in which the wheels 20 must overcome a step 101 when parking the vehicle 10 in a parking position. In Fig. 2, the vehicle 10 shown in solid line is the vehicle 10 before parking in the parking lot 100 is started. The vehicle 10 shown in dashed and dotted line is the vehicle 10 when the wheels 20 come into contact with the step 101. The vehicle 10 shown in dashed and dotted line is the vehicle 10 parked in a parking position designated by a white line or the like in the parking lot 100.

[0017] The step 101 corresponds to a "disturbance part". It is assumed that the wheel 20 passes over the step 101 when the vehicle 10 is parked. The step 101 may be in the form of a staircase or a slope. The step 101 shown in FIG. 2 is a lock plate of a coin parking lot or the like. For this reason, in the case shown in FIG. 2, when the vehicle 10 is parked at a parking position, the rear wheel 22 needs to get over the step 101, but the front wheel 21 does not need to get over the step 101. In another embodiment, the disturbance part is a part through which the wheel 20 passes when the vehicle 10 is parked, and may be a part of the road surface on which the vehicle 10 runs that is more uneven than other parts. For example, the disturbance part may be a depression or a part where gravel is scattered. The disturbance part may also be a part of the floor surface of a garage or the like.

[0018] The request receiving unit 91 determines whether or not the driver is attempting to park the vehicle 10 in a parking position in the parking lot 100 as shown in Fig. 2. That is, the request receiving unit 91 determines whether or not the parking scene is one in which the driver is attempting to park the vehicle 10 in a parking position in the parking lot 100. Then, when the driver is attempting to park the vehicle 10 in such a parking position in the parking lot 100, the request receiving unit 91 receives a stop request to stop the vehicle 10. In this regard, the request receiving unit 91 receives a stop request to stop the vehicle 10 when the vehicle 10 is to be stopped in a predetermined parking position after the wheels 20 of the vehicle 10 have gone over the step 101.

[0019] One of the multiple switches of operation device 63 is a switch that is operated by the user when the user starts parking in parking lot 100. In this case, the user operates the switch of operation device 63 after driving vehicle 10 to the vicinity of parking lot 100. Then, request receiving unit 91 receives a signal transmitted from operation device 63 as a stop request.

[0020] <Step Judgment Section> The step determination unit 92 determines whether or not the wheels 20 of the vehicle 10 have reached the step 101 when the request receiving unit 91 receives a stop request. When the vehicle 10 is parked facing forward, the step determination unit 92 determines whether or not the front wheels 21 of the vehicle 10 have reached the step 101. On the other hand, when the vehicle 10 is parked facing backward, the step determination unit 92 determines whether or not the rear wheels 22 of the vehicle 10 have reached the step 101.

[0021] When the vehicle 10 is traveling at a low speed toward a parking position in the parking lot 100, the vehicle 10 decelerates when the wheel 20 reaches the step 101. Furthermore, depending on the height of the step 101 or the gradient of the step 101, the vehicle 10 stops when the wheel 20 reaches the step 101. Therefore, the step determination unit 92 determines whether the wheel 20 has reached the step 101 based on the vehicle body speed VB calculated based on the detection signal of the wheel speed sensor 73. For example, the step determination unit 92 may determine that the wheel 20 has reached the step 101 when the vehicle body speed VB is less than a predetermined first speed determination value Vth1. The first speed determination value Vth1 may be a value equal to or greater than "0" and less than the creeping speed of the vehicle 10 on a level road.

[0022] Thereafter, a case will be considered in which the driving force is increased, causing the wheel 20 to go over the step 101. In this case, the vehicle body speed VB, which had been decreasing, increases, or the vehicle 10, which had been stopped, starts to move. Therefore, the step determination unit 92 determines whether or not the vehicle 10 has gone over the step 101 based on the vehicle body speed VB. For example, the step determination unit 92 determines that the wheel 20 has gone over the step 101 when the vehicle body speed VB is equal to or greater than a predetermined second speed determination value Vth2. The second speed determination value Vth2 may be any value that is equal to or greater than the first speed determination value Vth1.

[0023] <Control Unit> When the brake operating member 61 is operated, the control unit 93 calculates the required braking force based on the detection signal of the brake sensor 71. When the drive operating member 62 is operated, the control unit 93 calculates the required driving force based on the detection signal of the accelerator sensor 72. Even when the drive operating member 62 is not operated, the control unit 93 sets the driving force required to creep the vehicle 10 as the required driving force when the shift range of the vehicle 10 is the D range or the B range. Then, the control unit 93 transmits the calculated required braking force to the brake control unit 42, or transmits the calculated required braking force to the drive control unit 52.

[0024] As described above, when the vehicle 10 travels toward a parking position in the parking lot 100, the vehicle 10 decelerates or stops when the wheel 20 reaches the step 101. Therefore, the control unit 93 adjusts the braking force or the driving force so that the wheel 20 can overcome the step 101. For example, the control unit 93 starts feedback control in which the braking force and the driving force are used as manipulated variables so that the vehicle speed VB becomes a target value for the vehicle speed VB (hereinafter referred to as the "target vehicle speed VBT").

[0025] For example, when the vehicle body speed VB decreases below the target vehicle body speed VBT, such as when the wheel 20 reaches a step 101, the control unit 93 increases the required driving force. On the other hand, when the vehicle body speed VB increases above the target vehicle body speed VBT, such as when the wheel 20 goes over the step 101, the control unit 93 decreases the required driving force or increases the braking force. However, when the wheel 20 cannot go over the step 101 even if the required driving force is increased for a predetermined period of time, the control unit 93 may decrease the required driving force and notify the driver of this fact.

[0026] 2, if the distance from the position of the vehicle 10 at the time when the wheel 20 went over the step 101 to the parking position of the vehicle 10 is clear, the control unit 93 can stop the vehicle 10 at the parking position based on the time when the wheel 20 went over the step 101 and the distance. Therefore, the control unit 93 stops the vehicle 10 based on the distance traveled by the vehicle 10 from the time when the vehicle 10 went over the step 101.

[0027] In detail, the control unit 93 stops the vehicle 10 when the travel distance of the vehicle 10 from the time when the wheel 20 goes over the step 101 is equal to or greater than the distance judgment value Dth. For example, it is preferable that the control unit 93 sets the target vehicle body speed VBT based on the difference between the travel distance of the vehicle 10 from the time when the wheel 20 goes over the step 101 and the distance judgment value Dth. More preferably, the control unit 93 sets the target vehicle body speed VBT so that the target vehicle body speed VBT becomes "0" when the difference becomes "0". Then, the control unit 93 feedback controls the driving force and the braking force so that the vehicle body speed VB follows the target vehicle body speed VBT. In this respect, the control unit 93 corresponds to a "vehicle stopping unit".

[0028] If the parking lot 100 is different, the distance determination value Dth is likely to be different. Therefore, it is preferable that the distance determination value Dth is associated with the parking lot 100 and stored in the memory 83 of the vehicle control device 80. On the other hand, if the distance is unclear, it is preferable that the control unit 93 quickly stops the vehicle 10 after the wheel 20 goes over the step 101.

[0029] <Settings reception section> One of the multiple switches of the operation device 63 is a switch for changing the distance judgment value Dth stored in the memory 83 of the vehicle control device 80. The setting reception unit 94 receives a setting change by the driver via the operation device 63, thereby receiving a change in the distance judgment value Dth. When the driver increases the distance judgment value Dth, the distance from when the wheel 20 goes over the step 101 to when the vehicle 10 stops during parking of the vehicle 10 becomes longer. On the other hand, when the driver decreases the distance judgment value Dth, the distance from when the wheel 20 goes over the step 101 to when the vehicle 10 stops during parking of the vehicle 10 becomes shorter.

[0030] The flow of processing carried out by the vehicle control device 80 to park the vehicle 10 will be described with reference to the flowchart shown in FIG. 3, the vehicle control device 80 determines whether or not there is a stop request (step S11). That is, the vehicle control device 80 determines whether or not there is a parking scene in which the vehicle 10 is parked in a parking position in the parking lot 100, based on the user's operation of the operation device 63. If there is no stop request (step S11: NO), the vehicle control device 80 ends this process.

[0031] On the other hand, if there is a stop request (step S11: YES), the vehicle control device 80 judges whether the wheel 20 located in the traveling direction of the vehicle 10 traveling toward the parking position has reached the step 101 (step S12). That is, the vehicle control device 80 judges whether the vehicle body speed VB is less than the first speed judgment value Vth1. If the wheel 20 has not reached the step 101 (step S12: NO), the vehicle control device 80 shifts the process to step S12. That is, the vehicle control device 80 waits until the wheel 20 reaches the step 101. On the other hand, if the wheel 20 has reached the step 101 (step S12: YES), the vehicle control device 80 starts speed control based on the target vehicle body speed VBT (step S13). That is, before step S13, the required driving force is a constant value due to creeping, but after step S13, the required driving force becomes a value that changes according to the target vehicle body speed VBT.

[0032] Next, the vehicle control device 80 determines whether the wheel 20 has gone over the step 101 (step S14). That is, the vehicle control device 80 determines whether the vehicle body speed VB is equal to or greater than the second speed determination value Vth2. If the wheel 20 has not gone over the step 101 (step S14: NO), the vehicle control device 80 shifts the process to step S14. That is, the vehicle control device 80 waits until the wheel 20 goes over the step 101.

[0033] When the wheel 20 has gone over the step 101 (step S14: YES), the vehicle control device 80 judges whether or not the travel distance of the vehicle 10 from the time when the wheel 20 has gone over the step 101 is equal to or greater than the distance judgment value Dth (step S15). When the travel distance of the vehicle 10 from the time when the wheel 20 has gone over the step 101 is less than the distance judgment value Dth (step S15: NO), the vehicle control device 80 shifts the process to step S15. That is, the vehicle control device 80 waits until the travel distance becomes equal to or greater than the distance judgment value Dth. When the travel distance of the vehicle 10 from the time when the wheel 20 has gone over the step 101 is equal to or greater than the distance judgment value Dth (step S15: YES), the vehicle control device 80 stops the vehicle 10 (step S16). After that, the vehicle control device 80 notifies the driver to prompt the driver to switch the shift range of the vehicle 10 to the P range (step S17). Then, the vehicle control device 80 ends this process.

[0034] <Actions and Effects of the Present Embodiment> 4(a) to (c) show changes in vehicle speed VB, driving force, and braking force when the driver parks the vehicle 10 in a parking position. The example shown in Fig. 4 shows a case in which the driver does not operate the brake operating member 61 and the drive operating member 62.

[0035] As shown in Fig. 4, at a timing before the first timing t11, the vehicle 10 is creeping toward a parking position in the parking lot 100. Therefore, the driving force is a driving force corresponding to the creeping speed, and the braking force is "0". Thus, the vehicle speed VB is the creeping speed.

[0036] At the first timing t11, when the rear wheel 22 of the vehicle 10 comes into contact with the step 101, the vehicle body speed VB starts to decrease. Thereafter, at the second timing t12, the vehicle 10 stops. That is, when the vehicle body speed VB becomes less than the first speed determination value Vth1, the vehicle control device 80 determines that the wheel 20 has reached the step 101. Therefore, from the second timing t12, speed control is started so that the vehicle body speed VB becomes the target vehicle body speed VBT. After the second timing t12, the vehicle body speed VB is less than the target vehicle body speed VBT, and therefore the driving force starts to increase.

[0037] At the third timing t13, the vehicle body speed VB becomes equal to or greater than the second speed determination value Vth2, and therefore the vehicle control device 80 determines that the wheel 20 has gone over the step 101. In this manner, even if the driver does not operate the drive operating member 62, the driving force is increased, and the wheel 20 can go over the step 101. In other words, the vehicle control device 80 can prevent the vehicle 10 from becoming stopped and immobile due to the wheel 20 coming into contact with the step 101.

[0038] In addition, since the third timing t13 is the timing when the wheel 20 goes over the step 101, the vehicle 10 stops at the timing when the travel distance of the vehicle 10 from the third timing t13 becomes the distance judgment value Dth. In other words, the target vehicle speed VBT with respect to the passage of time is set so that the vehicle 10 stops at the timing when the travel distance of the vehicle 10 from the third timing t13 becomes the distance judgment value Dth.

[0039] At the fourth time t14, the difference between the vehicle body speed VB and the target vehicle body speed VBT becomes "0." Here, the target vehicle body speed VBT at the fourth time t14 does not need to match the creep driving speed at the first time t11. Also, before and after the fourth time t14, it is preferable to reduce the driving force or increase the braking force so that the vehicle body speed VB does not greatly exceed the target vehicle body speed VBT.

[0040] At the fifth timing t15, the target vehicle speed VBT starts to decrease in order to stop the vehicle 10 at the parking position. Therefore, the driving force is decreased and the braking force is maintained at a certain value or more. As a result, the vehicle 10 stops at the sixth timing t16. In other words, parking of the vehicle 10 is completed. In this way, the vehicle control device 80 can stop the vehicle 10 at the parking position by increasing the braking force even without the driver operating the brake operating member 61.

[0041] The travel distance of the vehicle 10 from the third timing t13 to the sixth timing t16 is a distance corresponding to the distance determination value Dth. In the vehicle control device 80, the distance determination value Dth can be adjusted by the driver. This allows the driver to stop the vehicle 10 at a desired parking position.

[0042] When stopping the vehicle 10 in a parking position after the wheel 20 has gone over the step 101, the vehicle control device 80 starts adjusting the driving force and the braking force, triggered by the wheel 20 reaching the step 101. Therefore, even if the vehicle 10 is not equipped with a periphery monitoring device such as a camera or a millimeter wave radar, the vehicle control device 80 can stop the vehicle 10 in a parking position in the parking lot 100. The same applies to a case where the periphery monitoring device does not function normally in the vehicle control device 80 equipped with the periphery monitoring device. In addition, the driver does not need to operate the brake operating member 61 and the drive operating member 62 when stopping the vehicle 10 in a parking position in the parking lot 100. Therefore, the driver can concentrate on operating a steering angle operating member such as a steering wheel.

[0043] <Example of change> This embodiment can be modified as follows: This embodiment and the following modifications can be combined with each other to the extent that there is no technical contradiction.

[0044] The control unit 93 of the vehicle control device 80 may determine the target vehicle body speed VBT so that the vehicle 10 stops at the timing when the traveling time from the time when the wheel 20 goes over the step 101 becomes the time judgment value Tth. In this case, in Fig. 4, the period from the third timing t13 to the sixth timing t16 corresponds to the time judgment value Tth. Furthermore, the setting acceptance unit 94 of the vehicle control device 80 may be configured to accept a change in the time judgment value Tth by accepting a setting change by the driver via the operating device 63.

[0045] The setting reception unit 94 of the vehicle control device 80 may be configured to receive changes to both the distance judgment value Dth and the time judgment value Tth. In this case, when the travel distance from the time when the wheel 20 went over the step 101 becomes equal to or greater than the distance judgment value Dth, the setting reception unit 94 may stop the vehicle 10 even if the travel time from the time when the wheel 20 went over the step 101 does not become equal to the time judgment value Tth. Conversely, when the travel time from the time when the wheel 20 went over the step 101 becomes equal to or greater than the time judgment value Tth, the setting reception unit 94 may stop the vehicle 10 even if the travel distance from the time when the wheel 20 went over the step 101 does not become equal to the distance judgment value Dth.

[0046] The control unit 93 of the vehicle control device 80 may stop the vehicle 10 when both the travel distance from the point in time when the wheel 20 went over the step 101 becomes equal to or greater than the distance judgment value Dth and the travel time from the point in time when the wheel 20 went over the step 101 becomes equal to or greater than the time judgment value Tth.

[0047] The memory 83 of the vehicle control device 80 may store location information of the parking lot 100. In this case, the request receiving unit 91 determines whether or not the user is about to start parking in the parking lot 100 by comparing the current location of the vehicle 10 with the location information of the parking lot 100 stored in the memory 83. That is, the request receiving unit 91 receives a stop request when the current location of the vehicle 10 matches the location of the parking lot 100 stored in the memory 83. The parking lot 100 whose location information is registered in the memory 83 may be, for example, a parking lot at home, a parking lot at a work or school destination, or a frequently used coin parking lot. The current location of the vehicle 10 may be obtained based on information output by a GPS device of the car navigation system.

[0048] If a communication device capable of communicating with the vehicle control device 80 exists in the parking lot 100, the request receiving unit 91 may receive a stop request when communication with the communication device is possible. In this way, the vehicle control device 80 may receive a stop request based on communication with a communication device outside the vehicle.

[0049] When the vehicle control device 80 is feedback-controlling the braking force and the driving force based on the target vehicle body speed VBT, the driver may operate the brake operating member 61 or the drive operating member 62. In this case, the vehicle control device 80 may prioritize the braking request or drive request of the driver. In other words, the vehicle control device 80 may calculate the required braking force and the required drive force based on the operation amount of the brake operating member 61 or the operation amount of the drive operating member 62.

[0050] The control performed by the vehicle control device 80 is also applicable to a case where the vehicle 10 is stopped at a parking position after both the front wheels 21 and the rear wheels 22 have gone over the step 101. In this case, the vehicle control device 80 may stop the vehicle 10 based on the distance traveled by the vehicle 10 from the point in time when the front wheels 21 have gone over the step 101, or may stop the vehicle 10 based on the distance traveled by the vehicle 10 from the point in time when the rear wheels 22 have gone over the step 101.

[0051] The operation device 63 may be a touch panel provided in the vehicle 10, or may be a portable device capable of communicating with the vehicle control device 80 and carried by the driver. The drive device 50 may be configured to include at least one of a motor generator 51 and an internal combustion engine as a power source for the vehicle 10.

[0052] The vehicle control device 80 is not limited to the processing circuit 81 that includes a CPU 82 and a memory 83 and executes software processing. For example, the vehicle control device 80 may include a dedicated hardware circuit that executes at least a part of the various processes executed in the above embodiment. An example of the dedicated hardware circuit is an ASIC. ASIC is an abbreviation for "Application Specific Integrated Circuit." In other words, the vehicle control device 80 may have any one of the following configurations (a) to (c).

[0053] (a) A processing circuit including a processing device that executes all of the above processes according to a program, and a program storage device such as a ROM that stores the program. (b) A processing circuit comprising a processing device and a program storage device for executing part of the above processing in accordance with a program, and a dedicated hardware circuit for executing the remaining processing.

[0054] (c) A processing circuit having dedicated hardware circuitry for performing all of the above processes. Here, there may be a plurality of software execution devices each having a processing device and a program storage device, and a plurality of dedicated hardware circuits. [Explanation of symbols]

[0055] 10. Vehicle 20(21,22)…Wheel 30...braking mechanism 40...braking device 50...Drive unit 63…Operating equipment 80...Vehicle control device 91...Request Reception Department 92…Step detection section 93...Control unit (vehicle stopping unit) 94…Settings reception section 100…Parking lot 101...Step (disturbance) Dth: Distance judgment value Tth: Time judgment value

Claims

1. a request receiving unit that receives a stop request to stop the vehicle when the vehicle is to be stopped at a parking position after the vehicle has passed a disturbance portion; and a vehicle stopping unit that stops the vehicle when at least one of the following is true: a distance traveled by the vehicle from a point in time when a wheel of the vehicle passes through the disturbance part is equal to or greater than a distance determination value, and a time period during which the vehicle has traveled from a point in time when the vehicle passes through the disturbance part is equal to or greater than a time determination value, when the vehicle is traveling in a state in which the stop request has been received. Vehicle control device.

2. a setting reception unit that receives a change to at least one of the distance determination value and the time determination value; The vehicle control device according to claim 1.

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