Vehicle control device, vehicle control computer program, and vehicle control method

Abstract

To provide a vehicle control device that controls a vehicle so as to reduce power consumption while securing safety according to a condition of a vehicle.SOLUTION: A vehicle control device includes: a first processing unit that generates signals to be output using only a machine-trained classifier; a second processing unit that has lower power consumption than the first processing unit and generates signals to be output without using the machine-trained classifier; and a first determination unit that determines the processing ratio between a portion processed by the first processing unit and a portion processed by the second processing unit on the basis of at least one of vehicle information indicating the condition of the vehicle, environmental information indicating the environment around the vehicle, and terrain information indicating the terrain including the current position of the vehicle.SELECTED DRAWING: Figure 2

Description

Technical Field

[0001] The present invention relates to a vehicle control device, a vehicle control computer program, and a vehicle control method.

Background Art

[0002] In vehicles, the processing controlled by the automatic control device is increasing. Therefore, the power consumed by the automatic control device for controlling the vehicle is also increasing.

[0003] The automatic control device includes a control device (AI-only model) that generates a signal output using only a machine-learned discriminator, a control unit that generates a signal output using only a machine-learned discriminator, and a control unit that generates a signal output without using a machine-learned discriminator. There is a control device (hybrid model) and a control device (rule-based model) that generates a signal output without using a machine-learned discriminator. The power consumption is highest for the AI-only model only, lowest for the rule-based model, and the hybrid model is between the two models.

[0004] For example, Patent Document 1 proposes reducing the calculation load (power consumption) of the ECU by appropriately switching to an AI model according to the driving scene and driving position.

Prior Art Documents

Patent Documents

[0005]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0006] Reducing the power consumption of a vehicle is important, but on the other hand, ensuring the safety of the vehicle is also required. The safety of the vehicle is highest for the AI-only model, lowest for the rule-based model, and the hybrid model is in between the two models. The order in terms of vehicle safety is different from the order in terms of power consumption.

[0007] Therefore, it is desirable to control the vehicle so as to ensure safety and reduce power consumption according to the vehicle situation.

[0008] Therefore, an object of the present disclosure is to provide a vehicle control device that controls a vehicle so as to ensure safety and reduce power consumption according to the vehicle situation.

Means for Solving the Problems

[0009] (1) According to one embodiment, a vehicle control device is provided. This vehicle control device includes a first processing unit that generates a signal output using only a machine-learned discriminator, a second processing unit that generates a signal output with lower power consumption than the first processing unit and without using a machine-learned discriminator, vehicle information representing the state of the vehicle, environmental information representing the environment around the vehicle, and terrain information representing the terrain including the current position of the vehicle. It has a first determination unit that determines the processing ratio between the part processed by the first processing unit and the part processed by the second processing unit based on at least one of the above information.

[0010] (2) In the vehicle control device of (1), it has a plurality of first processing units and a plurality of second processing units, a first control unit having one first processing unit and one second processing unit, a second control unit that generates a signal output with higher power consumption than the first control unit and using only other first processing units, and a third control unit that generates a signal output with lower power consumption than the first control unit and using only other second processing units. It preferably has a selection unit that selects a selection control unit for controlling the vehicle from among the first control unit, the second control unit, and the third control unit based on the processing ratio determined by the first determination unit.

[0011] (3) In the vehicle control device of (1) or (2), the vehicle information includes the degree of operation of the vehicle, and it is preferable that the first determination unit determines the processing ratio according to the degree of operation of the vehicle.

[0012] (4) In any one of the vehicle control devices from (1) to (3), the vehicle information includes the speed of the vehicle, and when the vehicle speed is low, it is preferable that the first determination unit determines the processing ratio such that the portion processed by the first processing unit is larger than the portion processed by the second processing unit compared to when the vehicle speed is high.

[0013] (5) In any one of the vehicle control devices from (1) to (4), the environmental information includes the degree of complexity of the environment around the vehicle, and when the degree of complexity of the environment around the vehicle is high, it is preferable that the first determination unit determines the processing ratio such that the portion processed by the first processing unit is larger than the portion processed by the second processing unit compared to when the degree of complexity of the environment around the vehicle is low.

[0014] (6) In any one of the vehicle control devices from (1) to (5), the terrain information includes the degree of complexity of the terrain including the current position of the vehicle, and when the degree of complexity of the terrain including the current position of the vehicle is high, it is preferable that the first determination unit determines the processing ratio such that the portion processed by the first processing unit is larger than the portion processed by the second processing unit compared to when the degree of complexity of the terrain including the current position of the vehicle is low.

[0015] (7) In the vehicle control device of (2), it is preferable to have a second determination unit that determines the amount of information input to the selection control unit selected by the selection unit based on at least one of the vehicle information, environmental information, and terrain information.

[0016] (8) In the vehicle control device of (7), the amount of information preferably includes the number of sensors through which the detected information is input to the selection control unit, the resolution of the image input to the selection control unit, or the detection frequency of the sensors through which the detected information is input to the selection control unit.

[0017] (9) According to another embodiment, a vehicle control computer program is provided. This vehicle control computer program is processed by a first processing unit that generates a signal output using only a machine-learned identifier based on at least one of vehicle information representing the state of the vehicle, environmental information representing the environment around the vehicle, and terrain information representing the terrain including the current position of the vehicle, and a second processing unit that consumes less power than the first processing unit and generates a signal output without using a machine-learned identifier. The processor is caused to execute a process including determining a processing ratio between the parts. This is the gist of the invention.

[0018] (10) According to still another embodiment, a vehicle control method is provided. This vehicle control method includes a vehicle control device determining a processing ratio between a part processed by a first processing unit that generates a signal output using only a machine-learned identifier based on at least one of vehicle information representing the state of the vehicle, environmental information representing the environment around the vehicle, and terrain information representing the terrain including the current position of the vehicle, and a part processed by a second processing unit that consumes less power than the first processing unit and generates a signal output without using a machine-learned identifier. This is the gist of the invention.

Advantages of the Invention

[0019] The vehicle control device according to the present invention determines the processing ratio between the part processed by the first processing unit and the part processed by the second processing unit according to the situation of the vehicle, so that it can ensure safety and control the vehicle to reduce power consumption.

Brief Description of the Drawings

[0020]

Figure 1

Figure 2

Figure 3

Figure 4

Figure 5

Figure 6

Figure 7

Figure 8

Figure 9

Figure 10

Figure 11

Figure 12

Embodiments for Carrying Out the Invention

[0021] FIG. 1 is a diagram for explaining the outline of the operation of the determination device 13 of the present embodiment. Hereinafter, the outline of the operation of the determination device 13 of the present embodiment will be explained with reference to FIG. 1.

[0022] Vehicle 10 has a control device 12 and a determination device 13. Vehicle 10 may be an autonomous vehicle. The control device 12 inputs vehicle information representing the state of the vehicle, environmental information representing the environment around the vehicle, terrain information representing the terrain including the current position of the vehicle, etc., and outputs a steering signal for controlling the steering device 14, a drive signal for controlling a drive device 15 such as an engine or a motor, and a braking signal for controlling the braking device 16. The control device 12 and the determination device 13 are an example of a vehicle control device.

[0023] The control device 12 has a first processing unit 12A that generates signals to be output using only a machine-learned identifier, and a second processing unit 12B that generates signals to be output without using a machine-learned identifier. The second processing unit 12B is a so-called rule-based control device that generates signals according to a predetermined algorithm. On the other hand, the first processing unit 12A is a so-called AI-based control device that does not substantially perform rule-based control processing.

[0024] The first processing unit 12A can control the vehicle safely according to various vehicle information, complex environmental information, and terrain information. On the other hand, a relatively large amount of power is consumed in the operation of the first processing unit 12A.

[0025] The second processing unit 12B consumes less power than the first processing unit 12A. Specifically, the average power consumption of the second processing unit 12B is less than that of the first processing unit 12A, but it is inferior to the first processing unit 12A in terms of the safety when controlling the vehicle 10.

[0026] The control device 12 has a variable processing ratio between the part processed by the first processing unit 12A and the part processed by the second processing unit 12B.

[0027] The determination device 13 determines the processing ratio in the control device 12 based on at least one of the vehicle information, the environmental information, and the terrain information. For example, the speed of the vehicle 10 is an example of the vehicle information.

[0028] When the speed of the vehicle 10 is low, the determination unit 13 determines the processing ratio such that the portion processed by the first processing unit 12A is larger than the portion processed by the second processing unit 12B compared to when the speed of the vehicle 10 is high.

[0029] When the speed of the vehicle 10 is low, it is considered that the vehicle 10 is traveling on a road in the city or the like. There are many moving objects such as other vehicles and pedestrians in the city. Also, in the city, the vehicle 10 will be controlled according to the state of intersections or traffic lights. Therefore, when the speed of the vehicle 10 is low, it is preferable that the control device 12 can safely control the vehicle according to the complex environment and terrain.

[0030] On the other hand, when the speed of the vehicle 10 is high, it is considered that the vehicle 10 is traveling on an expressway for automobiles or the like. There are no traffic lights and pedestrians on the expressway for automobiles. Also, on the expressway for automobiles, there are many straight roads and few terrains with branches or merges. Therefore, when the speed of the vehicle 10 is high, it is sufficient that the control device 12 can safely control the vehicle according to the relatively simple environment and terrain.

[0031] Therefore, when the speed of the vehicle 10 is low, the determination device 13 increases the processing ratio processed by the first processing unit 12A to ensure safety. On the other hand, when the speed of the vehicle 10 is high, the determination device 13 increases the processing ratio processed by the second processing unit 12B to reduce power consumption.

[0032] The determination device 13 of the present embodiment described above determines the processing ratio between the portion processed by the first processing unit and the portion processed by the second processing unit, so that safety can be ensured according to the situation of the vehicle, and the vehicle can be controlled to reduce power consumption.

[0033] Next, the vehicle 10 in which the determination device 13 is mounted will be described below with reference to FIG. 2. FIG. 2 is a hardware configuration diagram of a vehicle in which the determination device 13 of the present embodiment is mounted.

[0034] Vehicle 10 includes a communication device 2, a sensor group 3, a positioning information receiver 4, a navigation device 5, a map information storage device 11, a control device 12, a decision device 13, a steering device 14, a driving device 15, a braking device 16, etc.

[0035] The communication device 2, the sensor group 3, the positioning information receiver 4, the navigation device 5, the map information storage device 11, the control device 12, the decision device 13, the steering device 14, the driving device 15, and the braking device 16 are communicably connected via an in-vehicle network 17 compliant with a standard such as a controller area network.

[0036] The communication device 2 has an interface circuit for connecting the decision device 13, etc. to a communication network (not shown) via a macro cell base station (not shown).

[0037] The sensor group 3 includes a plurality of sensors for detecting vehicle information, environmental information, and terrain information. For example, as sensors for detecting vehicle information, the sensor group 3 includes a speed sensor for detecting information representing the speed of the vehicle 10, a fuel sensor for detecting information representing the remaining power or fuel level, etc.

[0038] As sensors for detecting environmental information, the sensor group 3 includes a front camera, a rear camera, a LiDAR sensor, a millimeter wave radar sensor, an ultrasonic sensor, etc. The front camera acquires an image representing the environment in a predetermined range in front of the vehicle 10. The rear camera acquires an image representing the environment in a predetermined range behind the vehicle 10. The LiDAR sensor acquires reflected wave information representing laser reflectors around the vehicle 10. The millimeter wave radar sensor acquires reflected wave information representing millimeter wave reflectors around the vehicle 10. The ultrasonic sensor acquires reflected wave information representing ultrasonic reflectors around the vehicle 10. The sensor group 3 may include a rainfall sensor for detecting information representing the rainfall around the vehicle 10 as a sensor for detecting environmental information.

[0039] The front camera and the millimeter-wave radar that detects the environment in front of the vehicle 10 are an example of a front sensor that detects the environmental information in front of the vehicle 10. The rear camera and the millimeter-wave radar that detects the environment behind the vehicle 10 are an example of a rear sensor that detects the environmental information behind the vehicle 10. The millimeter-wave radar and the LiDAR sensor that detect the environment on the side of the vehicle 10 are an example of a side sensor that detects the environmental information on the side of the vehicle. The ultrasonic sensor is an example of a surrounding sensor that detects the environmental information in the vicinity around the vehicle.

[0040] Sensors for detecting environmental information such as the front camera and the LiDAR sensor are also used as sensors for acquiring topographical information representing the road around the vehicle 10.

[0041] The sensor group 3 outputs the information detected by the sensors to the control device 12, the decision device 13, etc. via the in-vehicle network 17.

[0042] The positioning information receiver 4 outputs positioning information representing the current position of the vehicle 10. For example, the positioning information receiver 4 can be a GNSS receiver. Each time the positioning information receiver 4 acquires the positioning information at a predetermined reception cycle, the positioning information and the positioning information acquisition time when the positioning information was acquired are output to the navigation device 5, the map information storage device 11, etc.

[0043] The navigation device 5 generates a navigation route from the current position of the vehicle 10 to the destination position based on the navigation map information, the destination position of the vehicle 10, and the positioning information representing the current position of the vehicle 10 input from the positioning information receiver 4. When the destination position is newly set, or when the current position of the vehicle 10 deviates from the navigation route, etc., the navigation device 5 newly generates the navigation route of the vehicle 10. Each time the navigation device 5 generates a navigation route, the navigation route is output to the control device 12, etc. via the in-vehicle network 17.

[0044] The map information storage device 11 stores wide-area map information of a relatively wide range (for example, a range of 10 km square to 30 km square) including the current position of the vehicle 10. This map information has high-precision map information including three-dimensional information of the road surface, information such as the speed limit of the road, the curvature of the road, road features such as lane dividing lines on the road, and information representing the type and position of structures. In the map information, one lane is represented as a series of a plurality of lane links.

[0045] The map information storage device 11 receives wide-area map information from an external server (not shown) via a macro cell base station (not shown) by wireless communication via the communication device 2 mounted on the vehicle 10 according to the current position of the vehicle 10, and stores it in the storage device. Each time the map information storage device 11 inputs positioning information from the positioning information receiver 4, it refers to the stored wide-area map information and outputs map information of a relatively narrow area (for example, a range of 100 m square to 10 km square) including the current position represented by the positioning information to the control device 12, the determination device 13, etc. via the in-vehicle network 17. The map information is an example of terrain information.

[0046] The control device 12 obtains the current position and orientation of the vehicle 10 based on the terrain information and the environmental information. The control device 12 obtains the state of the vehicle 10 such as the speed based on the vehicle information. The control device 12 detects the objects around the vehicle 10 based on the environmental information. The objects include moving objects such as other vehicles or pedestrians, and stationary objects such as guardrails. Further, the control device 12 detects road features such as lane dividing lines, signs, or traffic lights based on the environmental information. The control device 12 obtains information representing the roads around the vehicle 10 based on the terrain information.

[0047] The control device 12 generates a driving lane plan representing the planned driving lane on which the vehicle 10 will travel based on the current position of the vehicle 10, the navigation route, the vehicle information, the environmental information, and the terrain information. Further, the control device 12 generates a driving plan representing the planned driving trajectory of the vehicle 10 up to a predetermined time (for example, 5 seconds) ahead based on the driving lane plan.

[0048] The control device 12 controls each part of the vehicle 10 based on the driving plan. The control device 12 generates a steering signal for controlling the steering wheel of the vehicle 10 based on the driving plan to control the steering device 14. The control device 12 generates a driving signal for controlling a driving device 15 such as an engine or a motor of the vehicle 10 based on the driving plan. The control device 12 generates a braking signal for controlling the braking device 16 of the vehicle 10 based on the driving plan. The control device 12 outputs the steering signal, the driving signal, or the braking signal to the steering device 14, the driving device 15, or the braking device 16 via the in-vehicle network 17.

[0049] FIG. 3 is a diagram for explaining the control device 12. The first processing unit 12A of the control device 12 includes a plurality of first processing units 1211 and 1221. Also, the second processing unit 12B of the control device 12 includes a plurality of second processing units 1222 and 1231. The first processing units 1211 and 1231 may be so-called End-to-End models that output a steering signal, a driving signal, or a braking signal based on, for example, vehicle information, environmental information, and terrain information. The first processing unit 1221 executes a process of generating a driving plan described later based on the vehicle information, the environmental information, and the terrain information, and the second processing unit 1222 may execute a process of outputting a steering signal, a driving signal, or a braking signal based on the driving plan.

[0050] The control device 12 includes a first control unit 121, a second control unit 122, and a third control unit 123. The first control unit 121 generates a signal output using only the first processing unit 1211. The second control unit 122 includes a first processing unit 1211 that generates a signal output using only a machine-learned discriminator, and a second processing unit 1222 that generates a signal output without using a machine-learned discriminator. The third control unit 123 generates a signal output using only the second processing unit 1231. The average power consumption of the first control unit 121 is greater than that of the second control unit 122. The average power consumption of the third control unit 123 is smaller than that of the second control unit 122.

[0051] The decision device 13 selects a selection control unit for controlling the vehicle 10 from among the first control unit 121, the second control unit 122, and the third control unit 123. The control device 12 inputs vehicle information, environment information, and terrain information, and outputs drive signals, steering signals, braking signals, etc. using the selection control unit. Note that the control device 12 may output other information or signals such as information to be notified to the driver in addition to the drive signal, the steering signal, and the braking signal.

[0052] Each of the first control unit 121, the second control unit 122, and the third control unit 123 may operate on a different semiconductor device. The semiconductor devices other than the selection control unit selected by the decision device 13 may operate with standby power or may have their power supply stopped. Thereby, the power consumption of the control device 12 can be reduced.

[0053] The decision device 13 executes a decision process, a selection process, and a switching process. For this purpose, the decision device 13 includes a communication interface (IF) 21, a memory 22, and a processor 23. The communication interface 21, the memory 22, and the processor 23 are connected via a signal line 24. The communication interface 21 includes an interface circuit for connecting the decision device 13 to the in-vehicle network 17.

[0054] The memory 22 is an example of a storage unit and includes, for example, a volatile semiconductor memory and a non-volatile semiconductor memory. Then, the memory 22 stores a computer program of an application used in information processing executed by the processor 23 and various types of data.

[0055] All or part of the functions of the determination device 13 are function modules realized by, for example, a computer program operating on the processor 23. The processor 23 includes a determination unit 231, a selection unit 232, and a switching unit 233. Alternatively, the function module of the processor 23 may be a dedicated arithmetic circuit provided in the processor 23. The processor 23 includes one or more CPUs (Central Processing Units) and their peripheral circuits. The processor 23 may further include other arithmetic circuits such as a logical arithmetic unit, a numerical arithmetic unit, or a graphic processing unit. The determination device 13 is, for example, an electronic control unit (ECU). The determination unit 231 is an example of a first determination unit and a second determination unit.

[0056] In FIG. 2, the control device 12 and the determination device 13 are described as separate devices, but these devices may be configured as one device. Specifically, the first processing unit 12A and the second processing unit 12B may be configured as devices different from the determination device 13, or the first processing unit 12A and the second processing unit 12B may be configured as the same device as the determination device 13.

[0057] FIG. 4 is an example of an operation flowchart of the vehicle control process of the determination device 13. Hereinafter, the vehicle control process of the determination device 13 will be described with reference to FIG. 4. The determination device 13 executes a vehicle control process according to the operation flowchart shown in FIG. 4 at a vehicle control time having a predetermined period.

[0058] First, the determination unit 231 acquires vehicle information, environment information, and terrain information (step S101). The vehicle information, environment information, and terrain information are input to the determination device 13 via the in-vehicle network 17.

[0059] Next, the determination unit 231 determines the processing ratio in the control device 12 based on at least one of the vehicle information, the environment information, and the terrain information (step S102). The processing ratio between the part processed by the first processing unit 12A and the part processed by the second processing unit 12B in the control device 12 is variable.

[0060] In this embodiment, when the part processed by the first processing unit 12A is 100% and the part processed by the second processing unit 12B is 0%, the processing ratio is represented as 1:0. Also, when the part processed by the first processing unit 12A is 0% and the part processed by the second processing unit 12B is 100%, the processing ratio is represented as 0:1. Further, when the part processed by the first processing unit 12A is 50% and the part processed by the second processing unit 12B is 50%, the processing ratio is represented as 0.5:0.5. Note that the processing ratio may be other ratios such as 0.3:0.7 or 0.7:0.3, for example.

[0061] Thus, the processing ratio is determined within the range of 1:0 to 0:1. The fact that the processing ratio is 0.5:0.5 means, for example, that the ratio of the average power consumption due to the operation of the first processing unit 12A to the average power consumption due to the operation of the second processing unit 12B is 0.5:0.5.

[0062] The fact that the processing ratio is 1:0 means, for example, that the ratio of the average power consumption due to the operation of the first processing unit 12A to the average power consumption due to the operation of the second processing unit 12B is 1:0. Here, the average standby power when the first processing unit 12A or the second processing unit 12B is not substantially operating is considered to be substantially 0.

[0063] The fact that the processing ratio is 0:1 means, for example, that the ratio of the average power consumption due to the operation of the first processing unit 12A to the average power consumption due to the operation of the second processing unit 12B is 0:1. Similarly, the average standby power when the first processing unit 12A or the second processing unit 12B is not substantially operating is considered to be substantially 0.

[0064] In this embodiment, the determination unit 231 determines the processing ratio from among 1:0, 0.5:0.5, and 0:1.

[0065] Next, the selection unit 232 selects a selection control unit for controlling the vehicle 10 from among the first control unit 121, the second control unit 122, and the third control unit 123 based on the processing ratio determined by the determination unit 231 (step S103), and ends a series of processes.

[0066] When the processing ratio is 1:0, the selection unit 232 selects the first control unit 121 as the selection control unit. When the processing ratio is 0.5:0.5, the selection unit 232 selects the second control unit 122 as the selection control unit. When the processing ratio is 0:1, the selection unit 232 selects the third control unit 123 as the selection control unit. In the second control unit 122, the ratio of the average power consumption due to the operation of the first processing unit 1221 to the average power consumption due to the operation of the second processing unit 1222 is 0.5:0.5.

[0067] Note that when the control device 12 has a selection control unit corresponding to another processing ratio (for example, 0.7:0.3 or 0.3:0.7), the determination unit 231 may determine the processing ratio from among 1:0, 0.7:0.3, 0.5:0.5, 0.3:0.7, and 0:1.

[0068] Next, with reference to FIGS. 5 to 8, an example in which the processing ratio is determined based on vehicle information, environment information, and terrain information will be described below.

[0069] FIG. 5(A) is a diagram for explaining determining the processing ratio based on vehicle information, and FIG. 5(B) is a diagram for explaining the relationship between vehicle information and power consumption.

[0070] The vehicle information includes information representing the degree of operation of the vehicle 10. For example, the vehicle information includes the speed of the vehicle 10, the change amount of the steering angle per unit time, the number of braking times per unit time, and the travelable distance. The determination unit 231 determines the processing ratio according to the degree of operation of the vehicle 10.

[0071] When the speed of the vehicle 10 is low, the determination unit 231 determines the processing ratio such that the portion processed by the first processing unit 12A is larger than the portion processed by the second processing unit 12B, compared to when the speed of the vehicle 10 is high.

[0072] When the amount of change in the steering angle per unit time is large, the determination unit 231 determines the processing ratio such that the portion processed by the first processing unit 12A is larger than the portion processed by the second processing unit 12B, compared to when the amount of change in the steering angle per unit time is small.

[0073] When the number of braking operations per unit time is large, the determination unit 231 determines the processing ratio such that the portion processed by the first processing unit 12A is larger than the portion processed by the second processing unit 12B, compared to when the number of braking operations per unit time is small.

[0074] When the available travel distance is long, the determination unit 231 determines the processing ratio such that the portion processed by the first processing unit 12A is larger than the portion processed by the second processing unit 12B, compared to when the available travel distance is short. The available travel distance is obtained based on information representing the remaining amount of power or fuel and the electricity cost or fuel consumption of the vehicle 10.

[0075] FIG. 5(A) and FIG. 5(B) show an example of the vehicle speed of the vehicle information. As the speed of the vehicle 10, for example, the average speed of the vehicle 10 over a recent predetermined period can be used.

[0076] In the present embodiment, when the speed of the vehicle 10 is lower than the first reference speed v1, the determination unit 231 determines the processing ratio as 1:0. Also, when the speed of the vehicle 10 is higher than the second reference speed v2, the determination unit 231 determines the processing ratio as 0:1. Further, when the speed of the vehicle 10 is equal to or higher than the first reference speed v1 and equal to or lower than the second reference speed v2, the determination unit 231 determines the processing ratio as 0.5:0.5.

[0077] As shown in FIG. 5(A), when the processing ratio is 1:0, the selection unit 232 selects the first control unit 121 as the selection control unit. Further, when the processing ratio is 0.5:0.5, the selection unit 232 selects the second control unit 122 as the selection control unit. Further, when the processing ratio is 0:1, the selection unit 232 selects the third control unit 123 as the selection control unit.

[0078] As shown in FIG. 5(B), when the speed of the vehicle 10 is slower than the first reference speed v1, the power consumption of the control device 12 is the highest. When the speed of the vehicle 10 is faster than the second reference speed v2, the power consumption of the control device 12 is the lowest. When the speed of the vehicle 10 is equal to or higher than the first reference speed v1 and equal to or lower than the second reference speed v2, the power consumption of the control device 12 is an intermediate value.

[0079] As described above, when the speed of the vehicle 10 is slower than the first reference speed, it is considered that the vehicle 10 is traveling on a road in the city or the like. There are many moving objects such as other vehicles and pedestrians in the city. Also, in the city, the vehicle 10 will be controlled according to the state of intersections or traffic lights. Therefore, when the speed of the vehicle 10 is slow, it is preferable that the control device 12 can safely control the vehicle according to the complex environment and terrain.

[0080] On the other hand, when the speed of the vehicle 10 is faster than the second reference speed v2, it is considered that the vehicle 10 is traveling on an exclusive automobile road or the like. There are no traffic lights or pedestrians on the exclusive automobile road. Also, on the exclusive automobile road, there are many straight roads and few terrains with branches or merges. Therefore, when the speed of the vehicle 10 is fast, it is sufficient that the control device 12 can safely control the vehicle according to the relatively simple environment and terrain.

[0081] Therefore, when the speed of the vehicle 10 is slower than the first reference speed v1, the first control unit 121 is selected and the processing ratio processed by the first processing unit 12A is increased to ensure safety. On the other hand, when the speed of the vehicle 10 is faster than the second reference speed v2, the third control unit 123 is selected and the processing ratio processed by the second processing unit 12B is increased to reduce power consumption.

[0082] Also, when the speed of the vehicle 10 is equal to or higher than the first reference speed v1 and equal to or lower than the second reference speed v2, it is considered that the vehicle 10 is traveling on a road in the suburbs or the like. On a road in the suburbs, the number of moving objects around the vehicle 10 is not large, and the road conditions are not so complicated.

[0083] Therefore, when the speed of the vehicle 10 is equal to or higher than the first reference speed v1 and equal to or lower than the second reference speed v2, the second control unit 122 is selected to ensure a certain level of safety and reduce power consumption.

[0084] FIG. 6(A) is a diagram for explaining the determination of the processing ratio based on environmental information, and FIG. 6(B) is a diagram for explaining the relationship between environmental information and power consumption.

[0085] The environmental information includes information representing the degree of complexity of the environment around the vehicle 10. For example, the environmental information includes the number of moving objects around the vehicle 10, the number of road feature objects around the vehicle 10, and the precipitation amount around the vehicle 10. The higher the number of moving objects, the higher the number of road feature objects, or the higher the precipitation amount, the higher the degree of complexity of the environment around the vehicle 10.

[0086] When the environment around the vehicle 10 is complex, the determination unit 231 determines the processing ratio so that the portion processed by the first processing unit 12A is larger than the portion processed by the second processing unit 12B, compared to when the environment around the vehicle 10 is not complex.

[0087] FIGS. 6(A) and 6(B) show an example where the environmental information is the number of moving objects. The determination unit 231 acquires the number of moving objects around the vehicle 10 from the control device 12 via the in-vehicle network 17.

[0088] In the present embodiment, when the number of moving objects is larger than the first reference number c1, the determination unit 231 determines the processing ratio as 1:0. Also, when the number of moving objects is smaller than the second reference number c2, the determination unit 231 determines the processing ratio as 0:1. Further, when the number of moving objects is equal to or less than the first reference number c1 and equal to or more than the second reference number c2, the determination unit 231 determines the processing ratio as 0.5:0.5.

[0089] As shown in FIG. 6(A), when the processing ratio is 1:0, the selection unit 232 selects the first control unit 121 as the selection control unit. Further, when the processing ratio is 0.5:0.5, the selection unit 232 selects the second control unit 122 as the selection control unit. Further, when the processing ratio is 0:1, the selection unit 232 selects the third control unit 123 as the selection control unit.

[0090] As shown in FIG. 6(B), when the number of moving objects is greater than the first reference number c1, the power consumption of the control device 12 becomes the highest. When the number of moving objects is less than the second reference number c2, the power consumption of the control device 12 becomes the lowest. When the number of moving objects is less than or equal to the first reference number c1 and greater than or equal to the second reference number c2, the power consumption of the control device 12 becomes an intermediate value.

[0091] When the number of moving objects is greater than the first reference number, many moving objects are moving around the vehicle 10. It is preferable that the vehicle 10 is controlled to avoid approaching other objects in an environment with a large traffic volume and obstacles. It is considered that the vehicle 10 is traveling on a road in a commercial area, a school commute route, or an area where an event is being held. When the number of moving objects is greater than the first reference number c1, it is preferable that the control device 12 can safely control the vehicle according to the complex environment.

[0092] On the other hand, when the number of moving objects is less than the second reference number c2, there are not many moving objects around the vehicle 10. It is considered that the vehicle 10 is traveling on a road during early morning or late night hours, or in a large parking lot. The control device 12 only needs to be able to safely control the vehicle according to a relatively simple environment.

[0093] Therefore, when the number of moving objects is greater than the first reference number c1, the first control unit 121 is selected, and the processing ratio processed by the first processing unit 12A is increased to ensure safety. On the other hand, when the number of moving objects is less than the second reference number c2, the third control unit 123 is selected, and the processing ratio processed by the second processing unit 12B is increased to reduce power consumption.

[0094] Also, when the number of moving objects is less than or equal to the first reference number c1 and greater than or equal to the second reference number c2, it is preferable that the vehicle 10 is controlled to avoid approaching other objects in an environment where the traffic volume and obstacles are not relatively large. It is conceivable that the vehicle 10 is traveling on a general road during the day.

[0095] Therefore, when the number of moving objects is less than or equal to the first reference number c1 and greater than or equal to the second reference number c2, the second control unit 122 is selected to ensure a certain degree of safety and reduce power consumption.

[0096] FIGS. 7(A) and 7(B) show an example in which the environmental information is precipitation. The determination unit 231 acquires the precipitation around the vehicle 10 from the sensor group 3 via the in-vehicle network 17. Further, the determination unit 231 may acquire the precipitation around the vehicle 10 from the communication network via the communication device 2.

[0097] In the present embodiment, when the precipitation is more than the first reference value w1, the determination unit 231 determines the processing ratio as 1:0. Also, when the precipitation is less than the second reference value w2, the determination unit 231 determines the processing ratio as 0:1. The fact that the precipitation is less than the second reference value w2 includes the case where no rain or snow is falling. Also, when the precipitation is less than or equal to the first reference value w1 and greater than or equal to the second reference value w2, the determination unit 231 determines the processing ratio as 0.5:0.5.

[0098] As shown in FIG. 7(A), when the processing ratio is 1:0, the selection unit 232 selects the first control unit 121 as the selection control unit. Also, when the processing ratio is 0.5:0.5, the selection unit 232 selects the second control unit 122 as the selection control unit. Also, when the processing ratio is 0:1, the selection unit 232 selects the third control unit 123 as the selection control unit.

[0099] As shown in FIG. 7(B), when the precipitation is more than the first reference value w1, the power consumption of the control device 12 is the highest. When the precipitation is less than the second reference value w2, the power consumption of the control device 12 is the lowest. When the precipitation is equal to or less than the first reference value w1 and equal to or more than the second reference value w2, the power consumption of the control device 12 is an intermediate value.

[0100] When the precipitation is more than the first reference value w1, a lot of rain or snow is falling around the vehicle 10. When raindrops or the like adhere to the sensors of the sensor group 3, it becomes difficult to accurately detect the environment around the vehicle 10. In addition, in order for the vehicle 10 to travel on a road surface wet by rain or a road surface covered with snow, it is required to control the vehicle 10 more precisely. When the precipitation is more than the first reference value w1, it is preferable that the control device 12 can safely control the vehicle according to the complex environment.

[0101] On the other hand, when the precipitation is less than the second reference value w2, the sensors of the sensor group 3 can accurately detect the environment around the vehicle 10. Also, the road surface is dry but slightly wet. The control device 12 only needs to be able to safely control the vehicle according to a relatively simple environment.

[0102] Therefore, when the precipitation is more than the first reference value w1, the first control unit 121 is selected, and the processing ratio processed by the first processing unit 12A is increased to ensure safety. On the other hand, when the precipitation is less than the second reference value w2, the third control unit 123 is selected, and the processing ratio processed by the second processing unit 12B is increased to reduce power consumption.

[0103] Also, when the precipitation is equal to or less than the first reference value w1 and equal to or more than the second reference value w2, relatively little rain or snow is falling around the vehicle 10. The sensors of the sensor group 3 can detect the environment around the vehicle 10 relatively accurately. Also, the state of the road surface is considered to be not relatively bad.

[0104] Therefore, when the precipitation is less than or equal to the first reference value w1 and greater than or equal to the second reference value w2, the second control unit 122 is selected to ensure a certain degree of safety and reduce power consumption.

[0105] FIG. 8(A) is a diagram for explaining the determination of the processing ratio based on terrain information, and FIG. 8(B) is a diagram for explaining the relationship between terrain information and power consumption.

[0106] The terrain information includes information representing the degree of complexity of the terrain including the current position of the vehicle 10. For example, the terrain information includes the number of lane links around the vehicle 10, the curvature of the road, and the gradient of the road. The greater the number of lane links, the smaller the curvature of the road, or the greater the gradient of the road, the higher the degree of complexity of the terrain including the current position of the vehicle 10. The number of lane links around the vehicle 10, the curvature of the road, and the gradient of the road are obtained based on, for example, map information.

[0107] When the terrain is complex, the determination unit 231 determines the processing ratio so that the portion processed by the first processing unit 12A is larger than the portion processed by the second processing unit 12B than when the terrain is not complex.

[0108] FIGS. 8(A) and 8(B) show an example of the number of lane links around the vehicle 10 as terrain information. On a road with a large number of lanes or near an intersection, the number of lane links around the vehicle 10 increases. The determination unit 231 obtains the number of lane links around the vehicle 10 from the map information. Further, the determination unit 231 may obtain the number of lane links obtained by the control device 12 based on the camera image via the in-vehicle network 17.

[0109] In the present embodiment, when the number of lane links is greater than the first reference value k1, the determination unit 231 determines the processing ratio as 1:0. When the number of lane links is less than the second reference value k2, the determination unit 231 determines the processing ratio as 0:1. When the number of lane links is less than or equal to the first reference value k1 and greater than or equal to the second reference value k2, the determination unit 231 determines the processing ratio as 0.5:0.5.

[0110] As shown in FIG. 8(A), when the processing ratio is 1:0, the selection unit 232 selects the first control unit 121 as the selection control unit. Further, when the processing ratio is 0.5:0.5, the selection unit 232 selects the second control unit 122 as the selection control unit. Further, when the processing ratio is 0:1, the selection unit 232 selects the third control unit 123 as the selection control unit.

[0111] As shown in FIG. 8(B), when the number of lane links is more than the first reference value k1, the power consumption of the control device 12 is the highest. When the number of lane links is less than the second reference value k2, the power consumption of the control device 12 is the lowest. When the number of lane links is less than or equal to the first reference value k1 and greater than or equal to the second reference value k2, the power consumption of the control device 12 is an intermediate value.

[0112] When the number of lane links is more than the first reference value k1, it is considered that the vehicle 10 is traveling on a road with many lanes or near an intersection. It is considered that there are a plurality of vehicles or pedestrians, etc. around the vehicle 10. Also, depending on the intersection, the traffic signal may change the signal state in a complicated manner. It is considered that the vehicle 10 is traveling in the center of a large city or a commercial area. When the number of lane links is more than the first reference value k1, it is preferable that the control device 12 can safely control the vehicle according to the complicated environment and terrain.

[0113] On the other hand, when the number of lane links is less than the second reference value k2, it is considered that the vehicle 10 is traveling on a road with a small number of lanes or a road away from the intersection. It is considered that the vehicle 10 is traveling on a highway or a straight road in the suburbs. When the number of lane links is less than the second reference value k2, it is sufficient that the control device 12 can safely control the vehicle according to a relatively simple environment and terrain.

[0114] Therefore, when the number of lane links is greater than the first reference value k1, the first control unit 121 is selected, and the processing ratio processed by the first processing unit 12A is increased to ensure safety. On the other hand, when the number of lane links is less than the second reference value k2, the third control unit 123 is selected, and the processing ratio processed by the second processing unit 12B is increased to reduce power consumption.

[0115] Also, when the number of lane links is less than or equal to the first reference value k1 and greater than or equal to the second reference value k2, the vehicle 10 is considered to be traveling on a road in a residential area or an urban road. On a road in a residential area or an urban road, the road conditions are not so complicated.

[0116] Therefore, when the number of lane links is less than or equal to the first reference value k1 and greater than or equal to the second reference value k2, the second control unit 122 is selected to ensure a certain level of safety and reduce power consumption.

[0117] In the above description, the processing ratio was determined based on one of the vehicle information, environment information, and terrain information, but the processing ratio may be determined based on a plurality of the vehicle information, environment information, and terrain information. For example, using a table showing the relationship between the speed and the number of moving objects of the vehicle 10 and the selection control device, the processing ratio may be determined based on the speed and the number of moving objects of the vehicle 10.

[0118] FIG. 9 is an example of an operation flowchart of the change process of the determination device 13. Hereinafter, the change process of the determination device 13 will be described with reference to FIG. 9. The determination device 13 executes a change process according to the operation flowchart shown in FIG. 9 at a change time having a predetermined period.

[0119] First, the determination unit 231 acquires vehicle information, environment information, and terrain information (step S201). The vehicle information, environment information, and terrain information are input to the determination device 13 via the in-vehicle network 17.

[0120] Next, the determination unit 231 determines the amount of information input to the selection control unit selected by the selection unit 232 based on at least one of the vehicle information, the environment information, and the terrain information.

[0121] As the vehicle information, information representing the degree of operation of the vehicle 10 described above can be used. Also, as the environment information, information representing the degree of complexity of the environment around the vehicle 10 can be used. Further, as the terrain information, information representing the degree of complexity of the terrain including the current position of the vehicle 10 can be used.

[0122] By reducing the amount of information input to the selected first control unit 121, second control unit 122, or third control unit 123, the power used for the operation of the control device 12 can be reduced.

[0123] The amount of information may include the number of sensors through which the detected information is input to the selection control unit, the resolution of the image input to the selection control unit, or the detection frequency of the sensors through which the detected information is input to the selection control unit.

[0124] The determination unit 231 changes the amount of information input to the selection control unit by changing the number of sensors. As described above, the sensor group 3 includes a front sensor, a surrounding sensor, a rear sensor, and a side sensor. Priorities are set for these sensors. The priority of the front sensor is 1, the priority of the surrounding sensor is 2, the priority of the rear sensor is 3, and the priority of the side sensor is 1. The higher the numerical value, the higher the priority.

[0125] For the vehicle 10 to travel, at least the detection information of the sensors with a priority of 1 is required. By adding the detection information of the sensors with a lower priority together with the detection information of the sensors with a priority of 1, the vehicle 10 can be controlled more safely according to the situation.

[0126] The determination unit 231 determines the amount of sensor information based on at least one of the vehicle information, the environment information, and the terrain information. The detection information of the sensors is input to the selection control unit according to the amount of sensor information.

[0127] Based on the information representing the degree of operation of the vehicle 10, the determination unit 231 determines the amount of information of the sensor. Further, based on the degree of complexity of the environment around the vehicle 10, the determination unit 231 determines the amount of information of the sensor. Further, based on the degree of complexity of the terrain including the current position of the vehicle 10, the determination unit 231 determines the amount of information of the sensor. The higher the driving difficulty of the vehicle 10, the higher the determined amount of sensor information.

[0128] For example, when the amount of sensor information is 4, the information detected by all sensors with all priorities is input to the selection control unit. Specifically, the information detected by the front sensor, the surrounding sensors, the rear sensor, and the side sensors is input to the selection control unit. When the amount of sensor information is 3, the information detected by sensors with a priority of 2 or less is input to the selection control unit. Specifically, the information detected by the front sensor, the surrounding sensors, and the rear sensor is input to the selection control unit. When the amount of sensor information is 2, the information detected by sensors with a priority of 3 or less is input to the selection control unit. Specifically, the information detected by the front sensor and the surrounding sensors is input to the selection control unit. When the amount of sensor information is 1, the information detected by sensors with a priority of 4 or less is input to the selection control unit. Specifically, only the information detected by the front sensor is input to the selection control unit.

[0129] Further, the determination unit 231 changes the amount of information input to the selection control unit by changing the resolution of the image input to the selection control unit. The front camera and the rear camera can change the resolution of the acquired image. The higher the resolution of the image used, the more accurately the environment around the vehicle 10 can be detected, so the safety of the vehicle 10 is enhanced.

[0130] The determination unit 231 determines the resolution of the image to be acquired based on at least one of the vehicle information, the environment information, and the terrain information.

[0131] The determination unit 231 determines the resolution of the image to be acquired based on the information representing the degree of operation of the vehicle 10. Further, the determination unit 231 determines the resolution of the image to be acquired based on the degree of complexity of the environment around the vehicle 10. Further, the determination unit 231 determines the resolution of the image to be acquired based on the degree of complexity of the terrain including the current position of the vehicle 10.

[0132] The determination unit 231 notifies the sensor group 3 of the determined resolution of the image. The front camera and the rear camera acquire images at the notified resolution.

[0133] Furthermore, the determination unit 231 determines the detection frequency of the sensor whose detected information is input to the selection control unit based on at least one of the vehicle information, the environment information, and the terrain information. When the sensor is the front camera or the rear camera, the detection frequency corresponds to the frame rate. The higher the detection frequency, the more accurately the environment around the vehicle 10 can be detected, so the safety of the vehicle 10 is enhanced. In the case of a LiDAR sensor, a millimeter-wave radar, or an ultrasonic sensor, the detection frequency corresponds to the period for acquiring reflected wave information.

[0134] The determination unit 231 determines the detection frequency of the sensor based on the information representing the degree of operation of the vehicle 10. Further, the determination unit 231 determines the detection frequency of the sensor based on the degree of complexity of the environment around the vehicle 10. Further, the determination unit 231 determines the detection frequency of the sensor based on the degree of complexity of the terrain including the current position of the vehicle 10.

[0135] The determination unit 231 notifies the sensor group 3 of the determined detection frequency. Each sensor in the sensor group 3 detects information at a period corresponding to the detection frequency notified by the determination unit 231.

[0136] FIG. 10(A) is a diagram for explaining determining the amount of information based on vehicle information. The vehicle information is the speed of the vehicle 10.

[0137] In the present embodiment, when the speed of the vehicle 10 is lower than the first reference speed v1, the determination unit 231 determines to input an information amount greater than the first reference value r1 to the selection control unit. Further, when the speed of the vehicle 10 is higher than the second reference speed v2, the determination unit 231 determines to input an information amount less than the second reference value r2 to the selection control unit. Further, when the speed of the vehicle 10 is equal to or higher than the first reference speed v1 and equal to or lower than the second reference speed v2, the determination unit 231 determines to input an information amount that is equal to or less than the first reference value r1 and equal to or higher than the second reference value r2 to the selection control unit.

[0138] When the speed of the vehicle 10 is lower than the first reference speed v1, the power consumption of the selection control unit becomes the highest. When the speed of the vehicle 10 is higher than the second reference speed v2, the power consumption of the selection control unit becomes the lowest. When the speed of the vehicle 10 is equal to or higher than the first reference speed v1 and equal to or lower than the second reference speed v2, the power consumption of the selection control unit becomes an intermediate value.

[0139] When the information amount corresponds to the number of sensors, the first reference value r1 and the second reference value r2 correspond to the information amount of the sensors, and the information amount of the sensors of the first reference value r1 is higher than the information amount of the sensors of the second reference value r2.

[0140] When the information amount corresponds to the resolution of the image, the first reference value r1 and the second reference value r2 correspond to the resolution, and the resolution of the first reference value is higher than the resolution of the second reference value r2.

[0141] When the information amount corresponds to the detection frequency of the sensor, the first reference value r1 and the second reference value r2 correspond to the detection frequency, and the detection frequency of the first reference value r1 is higher than the detection frequency of the second reference value r2.

[0142] When the speed of the vehicle 10 is lower than the first reference speed, it is considered that the vehicle 10 is traveling on a road in the city center or the like. There are many moving objects such as other vehicles and pedestrians in the city center. Further, in the city center, the vehicle 10 will be controlled according to the state of intersections or traffic lights. When the speed of the vehicle 10 is low, it is preferable that an information amount greater than the first reference value r1 is input to the selection control unit so that the vehicle can be controlled safely.

[0143] On the other hand, when the speed of the vehicle 10 is higher than the second reference speed v2, it is considered that the vehicle 10 is traveling on an exclusive automobile road or the like. On an exclusive automobile road, there are no traffic signals and pedestrians. Also, on an exclusive automobile road, there are many straight roads and few terrains with branches or merges. When the speed of the vehicle 10 is high, an amount of information less than the second reference value r2 is input to the selection control unit, and the power consumption is reduced.

[0144] Also, when the speed of the vehicle 10 is equal to or higher than the first reference speed v1 and equal to or lower than the second reference speed v2, it is considered that the vehicle 10 is traveling on a road in the suburbs or the like. On a road in the suburbs, the number of moving objects around the vehicle 10 is not large, and the road conditions are not so complicated.

[0145] Therefore, when the speed of the vehicle 10 is equal to or higher than the first reference speed v1 and equal to or lower than the second reference speed v2, an amount of information that is equal to or lower than the first reference value r1 and equal to or higher than the second reference value r2 is input to the selection control unit, ensuring a certain level of safety and reducing the power consumption.

[0146] Note that the importance of the sensor may be set according to the detection range from the vehicle 10. In this case, when the speed of the vehicle 10 is low, the priority of the sensor that detects near the vehicle 10 may be increased, and when the speed of the vehicle 10 is high, the priority of the sensor that detects far from the vehicle 10 may be increased.

[0147] FIG. 10(B) is a diagram for explaining the determination of the amount of information based on the environmental information. The environmental information is the number of moving objects around the vehicle 10.

[0148] In this embodiment, when the number of moving objects around the vehicle 10 is greater than the first reference number c1, the determination unit 231 determines to input an amount of information greater than the first reference value r1 to the selection control unit. Further, when the number of moving objects around the vehicle 10 is less than the second reference number c2, the determination unit 231 determines to input an amount of information less than the second reference value r2 to the selection control unit. Moreover, when the number of moving objects around the vehicle 10 is less than or equal to the first reference number c1 and greater than or equal to the second reference number c2, the determination unit 231 determines to input an amount of information that is less than or equal to the first reference value r1 and greater than or equal to the second reference value r2 to the selection control unit.

[0149] When the number of moving objects around the vehicle 10 is greater than the first reference number c1, the power consumption of the selection control unit becomes the highest. When the number of moving objects around the vehicle 10 is less than the second reference number c2, the power consumption of the selection control unit becomes the lowest. When the number of moving objects around the vehicle 10 is less than or equal to the first reference number c1 and greater than or equal to the second reference number c2, the power consumption of the selection control unit becomes an intermediate value.

[0150] When the amount of information corresponds to the number of sensors, the first reference value r1 and the second reference value r2 correspond to the amount of information of the sensors, and the amount of information of the sensors of the first reference value r1 is higher than the amount of information of the sensors of the second reference value r2.

[0151] When the amount of information corresponds to the resolution of the image, the first reference value r1 and the second reference value r2 correspond to the resolution, and the resolution of the first reference value is higher than the resolution of the second reference value r2.

[0152] When the amount of information corresponds to the detection frequency of the sensor, the first reference value r1 and the second reference value r2 correspond to the detection frequency, and the detection frequency of the first reference value r1 is higher than the detection frequency of the second reference value r2.

[0153] When the number of moving objects around the vehicle 10 is greater than the first reference number c1, many moving objects are moving around the vehicle 10. The vehicle 10 is preferably controlled to avoid approaching other objects in an environment with heavy traffic and many obstacles. It is conceivable that the vehicle 10 is traveling on a road in a commercial area, a school commuting route, or an area where an event is being held. When the number of moving objects is greater than the first reference number c1, it is preferable that an amount of information greater than the first reference value r1 is input to the selection control unit so that the vehicle can be safely controlled.

[0154] On the other hand, when the number of moving objects around the vehicle 10 is less than the second reference number c2, many moving objects do not exist around the vehicle 10. It is conceivable that the vehicle 10 is traveling on a road during the early morning or late night hours, or in a large parking lot. When the number of moving objects is less than the second reference number c2, the control device 12 only needs to input an amount of information less than the second reference value r2 to the selection control unit so that the vehicle can be safely controlled.

[0155] Also, when the number of moving objects is less than or equal to the first reference number c1 and greater than or equal to the second reference number c2, the vehicle 10 is preferably controlled to avoid approaching other objects in an environment where the traffic volume and obstacles are not relatively large. It is conceivable that the vehicle 10 is traveling on a general road during the day.

[0156] Therefore, when the number of moving objects is less than or equal to the first reference number c1 and greater than or equal to the second reference number c2, an amount of information less than or equal to the first reference value r1 and greater than or equal to the second reference value r2 is input to the selection control unit to ensure a certain degree of safety and reduce power consumption.

[0157] FIG. 11(A) is another diagram for explaining determining the amount of information based on environmental information. The environmental information is the precipitation around the vehicle 10.

[0158] In this embodiment, when the precipitation around the vehicle 10 is greater than the first reference value w1, the determination unit 231 determines to input an information amount greater than the first reference value r1 to the selection control unit. When the precipitation around the vehicle 10 is less than the second reference value w2, the determination unit 231 determines to input an information amount less than the second reference value r2 to the selection control unit. When the precipitation around the vehicle 10 is less than or equal to the first reference value w1 and greater than or equal to the second reference value w2, the determination unit 231 determines to input an information amount less than or equal to the first reference value r1 and greater than or equal to the second reference value r2 to the selection control unit.

[0159] When the precipitation around the vehicle 10 is greater than the first reference value w1, the power consumption of the selection control unit is the highest. When the number of moving objects around the vehicle 10 is less than the second reference value w2, the power consumption of the selection control unit is the lowest. When the precipitation around the vehicle 10 is less than or equal to the first reference value w1 and greater than or equal to the second reference value w2, the power consumption of the selection control unit is an intermediate value.

[0160] When the information amount corresponds to the number of sensors, the first reference value r1 and the second reference value r2 correspond to the information amount of the sensors, and the information amount of the sensors of the first reference value r1 is higher than the information amount of the sensors of the second reference value r2.

[0161] When the information amount corresponds to the resolution of the image, the first reference value r1 and the second reference value r2 correspond to the resolution, and the resolution of the first reference value is higher than the resolution of the second reference value r2.

[0162] When the information amount corresponds to the detection frequency of the sensor, the first reference value r1 and the second reference value r2 correspond to the detection frequency, and the detection frequency of the first reference value r1 is higher than the detection frequency of the second reference value r2.

[0163] When the precipitation is more than the first reference value w1, a lot of rain or snow is falling around the vehicle 10. When raindrops or the like adhere to the sensors of the sensor group 3, it becomes difficult to accurately detect the environment around the vehicle 10. Also, in order for the vehicle 10 to travel on a road surface wet by rain or a road surface covered with snow, it is required to control the vehicle 10 more precisely. When the precipitation is more than the first reference value w1, it is preferable that an information amount more than the first reference value r1 is input to the selection control unit so that the vehicle can be controlled safely.

[0164] On the other hand, when the precipitation is less than the second reference value w2, the sensors of the sensor group 3 can accurately detect the environment around the vehicle 10. Also, the road surface is dry but in a state of being slightly wet. When the precipitation around the vehicle 10 is less than the second reference value w2, it is sufficient that the selection control unit inputs an information amount less than the second reference value r2 so that the vehicle can be controlled safely.

[0165] Also, when the precipitation is less than or equal to the first reference value w1 and greater than or equal to the second reference value w2, relatively little rain or snow is falling around the vehicle 10. The sensors of the sensor group 3 can detect the environment around the vehicle 10 relatively accurately. Also, the state of the road surface is considered to be not relatively bad.

[0166] Therefore, when the precipitation is less than or equal to the first reference value w1 and greater than or equal to the second reference value w2, an information amount less than or equal to the first reference value r1 and greater than or equal to the second reference value r2 is input to the selection control unit to ensure a certain degree of safety and reduce power consumption.

[0167] FIG. 11(B) is a diagram for explaining determining the information amount based on the terrain information. The terrain information is the number of lane links around the vehicle 10.

[0168] In this embodiment, when the number of lane links around the vehicle 10 is greater than the first reference value k1, the determination unit 231 determines to input an amount of information greater than the first reference value r1 to the selection control unit. Also, when the number of lane links around the vehicle 10 is less than the second reference value k2, the determination unit 231 determines to input an amount of information less than the second reference value r2 to the selection control unit. Further, when the number of lane links around the vehicle 10 is less than or equal to the first reference value k1 and greater than or equal to the second reference value k2, the determination unit 231 determines to input an amount of information less than or equal to the first reference value r1 and greater than or equal to the second reference value r2 to the selection control unit.

[0169] When the number of lane links around the vehicle 10 is greater than the first reference value k1, the power consumption of the selection control unit becomes the highest. When the number of lane links around the vehicle 10 is less than the second reference value k2, the power consumption of the selection control unit becomes the lowest. When the number of lane links around the vehicle 10 is less than or equal to the first reference value k1 and greater than or equal to the second reference value k2, the power consumption of the selection control unit becomes an intermediate value.

[0170] When the amount of information corresponds to the number of sensors, the first reference value r1 and the second reference value r2 correspond to the amount of information of the sensors, and the amount of information of the sensors of the first reference value r1 is higher than the amount of information of the sensors of the second reference value r2.

[0171] When the amount of information corresponds to the resolution of the image, the first reference value r1 and the second reference value r2 correspond to the resolution, and the resolution of the first reference value is higher than the resolution of the second reference value r2.

[0172] When the amount of information corresponds to the detection frequency of the sensors, the first reference value r1 and the second reference value r2 correspond to the detection frequency, and the detection frequency of the first reference value r1 is higher than the detection frequency of the second reference value r2.

[0173] When the number of lane links is greater than the first reference value k1, it is considered that the vehicle 10 is traveling on a road with many lanes or near an intersection. It is considered that there are a plurality of other vehicles or pedestrians, etc. around the vehicle 10. Also, depending on the intersection, the traffic signal may change the signal state in a complicated manner. The vehicle 10 is considered to be traveling in the central part of a large city or a commercial area. When the number of lane links is greater than the first reference value k1, it is preferable that an amount of information greater than the first reference value r1 is input to the selection control unit so that the vehicle can be controlled safely.

[0174] On the other hand, when the number of lane links is less than the second reference value k2, it is considered that the vehicle 10 is traveling on a road with few lanes or a road far from an intersection. The vehicle 10 is considered to be traveling on a highway or a straight road in the suburbs. When the number of lane links is less than the second reference value k2, it is sufficient that an amount of information less than the second reference value r2 is input to the selection control unit so that the vehicle can be controlled safely.

[0175] Also, when the number of lane links is less than or equal to the first reference value k1 and greater than or equal to the second reference value k2, the vehicle 10 is considered to be traveling on a road in a residential area or a city road. On the road in a residential area or a city road, the road conditions are not so complicated.

[0176] Therefore, when the number of lane links is less than or equal to the first reference value k1 and greater than or equal to the second reference value k2, an amount of information less than or equal to the first reference value r1 and greater than or equal to the second reference value r2 is input to the selection control unit to ensure a certain degree of safety and reduce power consumption.

[0177] In the above description, the amount of information was determined based on one of the vehicle information, the environmental information, and the terrain information, but the amount of information may be determined based on a plurality of the vehicle information, the environmental information, and the terrain information. For example, using a table showing the relationship between the speed and the number of moving objects of the vehicle 10 and the amount of information, the amount of information may be determined based on the speed and the number of moving objects of the vehicle 10.

[0178] Next, the switching unit 233 of the determination device 13 will be described below with reference to FIGS. 12(A) and 12(B).

[0179] The switching unit 233 inputs the signal output from the control unit before switching and the signal output from the control unit after switching, and controls the control device 12 so that the signals output from the control device 12 before and after switching are switched as continuously as possible.

[0180] In the example shown in FIG. 12(A), the switching unit 233 controls the control device 12 so as to generate a signal that gradually switches from the signal of the control unit before switching to the signal of the control unit after switching. The control device 12 preferably has a signal control unit 124 that generates such a signal under the control of the switching unit 233.

[0181] For example, the switching unit 233 gradually changes the ratio between the signal of the previous control unit and the signal of the next control unit among the signals output from the control device 12 from 1:0 to 0:1 over a predetermined time.

[0182] Also, in the example shown in FIG. 12(B), the switching unit 233 controls the control device 12 so that the signal output from the control unit before switching and the signal output from the control unit after switching are within a predetermined reference value, and only then outputs the signal output from the control unit after switching as the signal output from the control device 12. The signal control unit 124 functions as a state prediction buffer.

[0183] The switching unit 233 may switch from the signal of the control unit before switching to the signal of the control unit after switching when the operation of the vehicle 10 is relatively stable. For example, when the vehicle 10 is stopped or traveling at a predetermined speed, etc., the switching unit 233 may switch from the signal of the control unit before switching to the signal of the control unit after switching.

[0184] Further, the signal control unit 124 of the control device 12 may apply a low-pass filter or a Kalman filter to the signal output from the control unit before switching and the signal output from the control unit after switching to smooth sudden fluctuations in the signal.

[0185] According to the determination device of the present embodiment described in detail above, since the processing ratio between the part processed by the first processing unit and the part processed by the second processing unit is determined, the vehicle can be controlled to ensure safety and reduce power consumption according to the vehicle situation.

[0186] In the present invention, the vehicle control device, the vehicle control computer program, and the vehicle control method of the above-described embodiment can be appropriately changed without departing from the gist of the present invention. Further, the technical scope of the present invention is not limited to those embodiments, but extends to the invention described in the claims and its equivalents.

[0187] For example, the mode in which the determination unit determines the processing ratio and the mode in which the selection unit selects the selection device are not limited to the above description.

[0188] When the determination unit acquires information indicating the occurrence of a traffic jam in front of the traveling direction of the vehicle by communicating with other vehicles around the vehicle via the communication device, the determination unit may determine the processing ratio based on this information. In this case, the processing ratio may be determined as 1:0 or 0.5:0.5. Thereby, the vehicle can be safely controlled with respect to moving objects around the vehicle.

[0189] Further, when the determination unit acquires information indicating the occurrence of an accident or an obstacle in front of the traveling direction of the vehicle by communicating with other vehicles around the vehicle or by infrastructure via the communication device, the determination unit may determine the processing ratio based on this information. In this case, the processing ratio may be determined as 1:0 or 0.5:0.5. Thereby, the vehicle can be safely controlled according to the environment around the vehicle.

[0190] Further, when the determination unit acquires information indicating weather such as rain, fog, or snow in front of the vehicle in the traveling direction of the vehicle through communication with other vehicles around the vehicle via the communication device, the processing ratio may be determined based on this information. In this case, the processing ratio may be determined as 1:0. Thereby, the vehicle can be safely controlled according to the road surface conditions.

[0191] Further, when the determination unit acquires information indicating road construction or temporary road closure in front of the vehicle in the traveling direction of the vehicle through communication with other vehicles around the vehicle via the communication device, the processing ratio may be determined based on this information. In this case, the processing ratio may be determined as 1:0 or 0.5:0.5. Thereby, the vehicle can be safely controlled according to the environment around the vehicle.

[0192] Furthermore, when the determination unit acquires information indicating a vehicle traveling abnormally in front of the vehicle in the traveling direction of the vehicle through communication with other vehicles around the vehicle via the communication device, the processing ratio may be determined based on this information. In this case, the processing ratio may be determined as 1:0 or 0.5:0.5. Thereby, the vehicle can be safely controlled by quickly responding to the environment around the vehicle.

Explanation of Signs

[0193] 2 Communication device 3 Sensor group 4 Positioning information receiver 5 Navigation device 10 Vehicle 11 Map information storage device 12 Control device 13 Decision device 21 Communication interface 22 Memory 23 Processor 231 Determination unit 232 Selection unit 233 Switching unit 24 Signal line 14 Steering device 15 Driving device 16 Braking device 17 In-vehicle network

Claims

1. A first processing unit that generates a signal to be output using only a machine - learned discriminator; A second processing unit that consumes less power than the first processing unit and generates a signal to be output without using a machine - learned discriminator; A first determination unit that determines a processing ratio between a portion processed by the first processing unit and a portion processed by the second processing unit based on at least one of vehicle information representing the state of the vehicle, environment information representing the environment around the vehicle, and terrain information representing the terrain including the current position of the vehicle; A vehicle control device, characterized by comprising the above.

2. Having a plurality of the first processing units and a plurality of the second processing units, A first control unit having one of the first processing units and one of the second processing units; a second control unit that consumes more power than the first control unit and generates a signal to be output using only another one of the first processing units; and a third control unit that consumes less power than the first control unit and generates a signal to be output using only another one of the second processing units, A selection unit that selects a selection control unit for controlling the vehicle from among the first control unit, the second control unit, and the third control unit based on the processing ratio determined by the first determination unit. The vehicle control device according to Claim 1.

3. The vehicle information includes the degree of operation of the vehicle, The first determination unit determines the processing ratio according to the degree of operation of the vehicle. The vehicle control device according to Claim 1.

4. The vehicle information includes the speed of the vehicle, When the vehicle speed is low, the first determination unit determines the processing ratio such that the portion processed by the first processing unit is larger than the portion processed by the second processing unit compared to when the vehicle speed is high. The vehicle control device according to Claim 3.

5. The environment information includes the degree of complexity of the environment around the vehicle, When the degree of complexity of the environment around the vehicle is high, the first determination unit determines the processing ratio such that the portion processed by the first processing unit is larger than the portion processed by the second processing unit compared to when the degree of complexity of the environment around the vehicle is low. The vehicle control device according to Claim 1.

6. The terrain information includes the degree of complexity of the terrain including the current position of the vehicle, When the degree of complexity of the terrain including the current position of the vehicle is high, the first determination unit determines the processing ratio such that the portion processed by the first processing unit is larger than the portion processed by the second processing unit than when the degree of complexity of the terrain including the current position of the vehicle is low. The vehicle control device according to any one of claims 1 to 5.

7. The vehicle control device according to claim 2, further comprising a second determination unit that determines an amount of information input to the selected control unit selected by the selection unit based on at least one of the vehicle information, the environment information, and the terrain information.

8. The vehicle control device according to claim 7, wherein the amount of information includes the number of sensors through which the detected information is input to the selected control unit, the resolution of an image input to the selected control unit, or the detection frequency of sensors through which the detected information is input to the selected control unit.

9. Based on at least one of vehicle information representing the state of the vehicle, environment information representing the environment around the vehicle, and terrain information representing the terrain including the current position of the vehicle, the portion processed by the first processing unit that generates a signal using only a machine-learned discriminator, and the portion processed by the second processing unit that consumes less power than the first processing unit and generates a signal without using a machine-learned discriminator. Determining the processing ratio of Causing a processor to execute a process including: A vehicle control computer program, characterized in that.

10. The vehicle control device is Based on at least one of vehicle information representing the state of the vehicle, environment information representing the environment around the vehicle, and terrain information representing the terrain including the current position of the vehicle, the portion processed by the first processing unit that generates a signal using only a machine-learned discriminator, and the portion processed by the second processing unit that consumes less power than the first processing unit and generates a signal without using a machine-learned discriminator. Determining the processing ratio of Executing, A vehicle control method, characterized by including.

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