Information processing method and vehicle control device

Abstract

To allow an own vehicle to take an evasive action without causing unnecessary overtaking maneuvers by vehicles following between the own vehicle and a specific vehicle.SOLUTION: A vehicle control device according to the embodiment, upon determining that the distance between an own vehicle and a specific vehicle is less than or equal to the distance from the own vehicle to "the position of the specific vehicle where it is assumed that a following vehicle would recognize the approach of the specific vehicle," allows the own vehicle to perform an evasive maneuver after detecting an evasive maneuver by the following vehicle.SELECTED DRAWING: Figure 4

Description

[Technical Field]

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

[0002] When a specific vehicle, such as a fire engine, ambulance, police car, or emergency vehicle, approaches, the vehicle must take evacuating action, such as moving to the left side of the road, slowing down, or stopping temporarily. Therefore, conventionally, technologies have been proposed that allow a vehicle to automatically take evacuating action when such a specific vehicle approaches. For example, Patent Document 1 listed below discloses a vehicle control device that recognizes the voice of specific vehicles around the vehicle, and, if the features of the voice generated by the recognized specific vehicle satisfy a criterion, causes the vehicle to take evasive action to avoid interfering with the driving of the specific vehicle. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Publication No. 2019-156144 Summary of the Invention [Problem to be solved by the invention]

[0004] The inventor of the present invention discovered that the above-mentioned conventional technology has a problem in that when there is a following vehicle between the vehicle and a specific vehicle, depending on the timing at which the vehicle performs an evacuating action, the following vehicle may be caused to perform an unnecessary overtaking action.

[0005] An object of the present invention is to provide an information processing method and a vehicle control device that cause a vehicle to perform an avoidance operation without causing unnecessary overtaking operations by a following vehicle between the vehicle and a specific vehicle. [Means for solving the problem]

[0006] In order to solve the above-mentioned problems, an information processing method according to one aspect of the present invention is an information processing method that causes a processor to execute a process to control the subject vehicle so as not to interfere with the driving of a specific vehicle performing a specific driving operation, wherein the processor determines whether the specific vehicle distance, which is the distance between the subject vehicle and the specific vehicle, is less than or equal to a reference distance, which is the distance from the subject vehicle to the position of the specific vehicle at which a following vehicle between the subject vehicle and the specific vehicle is expected to recognize the approach of the specific vehicle, and if it determines that the specific vehicle distance is less than or equal to the reference distance, the processor detects an evacuating operation by the following vehicle and then causes the subject vehicle to perform the evacuating operation. [Effects of the Invention]

[0007] According to the present invention, it is possible to provide an information processing method and a vehicle control device that cause a vehicle to perform an evasive action without causing unnecessary overtaking actions by a following vehicle between the vehicle and a specific vehicle. [Brief explanation of the drawings]

[0008] [Figure 1] 1 is a block diagram showing a schematic configuration of a vehicle equipped with a vehicle control device according to an embodiment. [Figure 2] 2 is a diagram illustrating an example of a hardware configuration of a vehicle control device according to an embodiment; [Figure 3] 2 is a diagram illustrating an example of a software configuration of a vehicle control device according to an embodiment; [Figure 4] 2 illustrates an example of a processing procedure of a vehicle control device according to an embodiment. [Figure 5] 2 illustrates an example of the timing of the avoidance operation performed by the vehicle of FIG. 1. [Figure 6] The effects achieved by the vehicle control device according to this embodiment will be described. [Figure 7] This section illustrates an example of a situation in which the vehicle's attempt to move out of the way at a conventional timing causes the following vehicle to make an unnecessary overtaking move. DETAILED DESCRIPTION OF THE INVENTION

[0009] An embodiment according to one aspect of the present invention (hereinafter also referred to as "the present embodiment") will be described below with reference to the drawings. However, the present embodiment described below is merely an example of the present invention in all respects. Needless to say, various improvements and modifications can be made without departing from the scope of the present invention. In other words, when implementing the present invention, specific configurations according to the embodiment may be appropriately adopted. Note that, although data appearing in the present embodiment are described in natural language, more specifically, they are specified using pseudo-language, commands, parameters, machine language, etc. that can be recognized by a computer.

[0010] §1 Application Examples In this embodiment, among the vehicles traveling behind the host vehicle OV (rearward from the viewpoint of the host vehicle OV), vehicles other than the "specific vehicle SV performing specific traveling" are referred to as "following vehicles FV." The following vehicles FV are, for example, vehicles other than the specific vehicle SV that travel behind the host vehicle OV in the lane in which the host vehicle OV is traveling (hereinafter also referred to as the "host lane"). Examples of "specific vehicles SV" include fire engines, ambulances, police cars, and emergency work vehicles. "Specific traveling" refers to traveling while turning on (red) warning lights and sirens. Examples of "specific vehicles SV performing specific traveling" include emergency vehicles that rush to the scene for emergency business with their sirens sounding and red rotating lights flashing. Hereinafter, the "specific vehicle SV performing specific traveling" may be abbreviated simply as the "specific vehicle SV."

[0011] In this embodiment, when distinguishing between multiple following vehicles FV, "(1)", "(2)", "(3)", ... "(n)" are added after "FV" to distinguish between them. Note that "n" is an integer equal to or greater than "2". When referring to multiple following vehicles FV collectively without distinguishing between them, they are simply referred to as "following vehicles FV".

[0012] (Summary of the Prior Art) When a designated vehicle SV approaches, general vehicles must give way so as not to obstruct the travel of the designated vehicle SV. Specifically, when a designated vehicle SV approaches, general vehicles must take evasive action such as moving to the left side of the road (or to the right if stopping on the left side of the road on a one-way street would obstruct the travel of the designated vehicle SV) and slowing down or stopping temporarily. However, as illustrated in Figure 7, if the host vehicle OV takes evasive action before the following vehicle FV notices the approach of the designated vehicle SV, it may cause the following vehicle FV to make an unnecessary overtaking action.

[0013] FIG. 7 illustrates a situation in which the host vehicle OV performing an evacuation operation at a "conventional timing" causes the following vehicle FV to make an unnecessary overtaking operation. FIG. 7(A) illustrates a "conventional timing" in which the host vehicle OV performs an emergency operation so as not to interfere with the travel of a specific vehicle SV performing a specific traveling. As illustrated in FIG. 7(A), conventionally, when the distance between the host vehicle OV and the specific vehicle SV (specific vehicle distance Lx) becomes equal to or less than distance LH, the host vehicle OV performs an evacuation operation such as moving to the left side of the road, slowing down, or temporarily stopping. In conventional technology such as that disclosed in Japanese Patent Application Laid-Open No. 2019-156144, the "distance LH" is the "distance between the host vehicle OV and the specific vehicle SV" used as a criterion for determining whether to perform an evacuation operation. For example, the "distance LH" is the distance between the host vehicle OV and the specific vehicle SV at which the characteristic quantity (e.g., volume) of the "sound detected by the host vehicle OV and coming from the specific vehicle SV" is greater than or equal to a predetermined threshold.

[0014] However, if the host vehicle OV performs an evacuating operation before the following vehicle FV between the host vehicle OV and the specific vehicle SV recognizes the approach of the specific vehicle SV (notices the approach of the specific vehicle SV), the following vehicle FV will perform an "overtaking operation" to overtake the host vehicle OV. In other words, if the host vehicle OV performs an evacuating operation before the following vehicle FV notices the approach of the specific vehicle SV, the following vehicle FV, which is unaware of the approach of the specific vehicle SV, will not be able to grasp the reason or cause of the host vehicle OV's evacuating operation and will therefore overtake the host vehicle OV that is performing the evacuating operation.

[0015] However, as illustrated in (B) of Figure 7, a following vehicle FV that is about to overtake the host vehicle OV may notice the approach of the specific vehicle SV while performing an overtaking action. Therefore, as illustrated in (C) of Figure 7, the following vehicle FV that notices the approach of the specific vehicle SV will perform an overtaking action and then take an evasive action, such as moving to the left side of the road and slowing down or stopping temporarily. In this way, if the host vehicle OV performs an evasive action before the following vehicle FV notices the approach of the specific vehicle SV, the following vehicle FV will end up performing an "overtaking action" to overtake the host vehicle OV, even though it will ultimately be performing an evasive action.

[0016] As explained above, the inventors of the present invention have discovered that the above-mentioned conventional technology has the problem that if the vehicle OV takes an evasive action before the following vehicle FV notices the approach of a specific vehicle SV, this may cause the following vehicle FV to make an unnecessary overtaking action.

[0017] (Outline of the vehicle control device according to this embodiment) Therefore, the vehicle control device (vehicle control device 1) according to this embodiment causes the host vehicle OV to perform an evacuation operation after the following vehicle FV recognizes (is aware of) the approach of the specific vehicle SV and performs an evacuation operation. Specifically, the vehicle control device 1 determines whether the distance between the host vehicle OV and the specific vehicle SV (specific vehicle distance Lx) is equal to or less than a reference distance LA. The "reference distance LA" is the distance from the host vehicle OV to the "position of the specific vehicle SV at which the following vehicle FV is expected to recognize (be aware of) the approach of the specific vehicle SV." Then, when the vehicle control device 1 determines that the specific vehicle distance Lx is equal to or less than the reference distance LA, it detects the evacuation operation by the following vehicle FV and then causes the host vehicle OV to perform an evacuation operation.

[0018] If the specific vehicle distance Lx is less than or equal to the reference distance LA, it can be estimated (assumed) that "the following vehicle FV recognizes (is aware of) the approach of the specific vehicle SV." Therefore, it is estimated that the following vehicle FV performed the evacuating operation because it recognized the approach of the specific vehicle SV and intended not to interfere with the specific vehicle SV's travel. Then, after detecting such "evacuating operation by the following vehicle FV," the vehicle control device 1 causes the host vehicle OV to perform the evacuating operation. In other words, the vehicle control device 1 causes the host vehicle OV to perform the evacuating operation after "the following vehicle FV recognized the approach of the specific vehicle SV and performed the evacuating operation" (particularly after estimating that "the following vehicle FV recognized the approach of the specific vehicle SV and performed the evacuating operation"). Therefore, the vehicle control device 1 can cause the host vehicle OV to perform an evacuation operation, avoiding a situation in which "the host vehicle OV performs an evacuation operation before the following vehicle FV recognizes (notices) the approach of the specific vehicle SV, causing the following vehicle FV to perform an unnecessary overtaking operation." Therefore, the vehicle control device 1 can cause the host vehicle OV to perform an evacuation operation without causing the following vehicle FV between the host vehicle OV and the specific vehicle SV to perform an unnecessary overtaking operation. Below, an example will be described in which the vehicle control device 1 that causes the host vehicle OV (vehicle VH) to perform such an evacuation operation is provided in the vehicle VH.

[0019] FIG. 1 is a block diagram showing a schematic configuration of a vehicle VH equipped with a vehicle control device 1. In this embodiment, the vehicle VH is configured to perform autonomous driving, and can transport occupants to a destination, for example, by autonomously driving along a route to the destination. Autonomous driving is also called automatic driving. The vehicle VH may be a so-called automatic driving vehicle, and in particular, may be a fully automatic driving (unmanned driving) vehicle. However, it is not essential for the vehicle VH to be configured to perform autonomous driving (automatic driving), and the vehicle VH may be a vehicle that can switch between automatic driving and manual driving. The vehicle VH illustrated in FIG. 1 includes a vehicle control device 1, a surrounding information acquisition device 2, and an autonomous driving system Sys.

[0020] The autonomous driving system Sys is a system that realizes autonomous driving (automated driving) of the vehicle VH, and controls, for example, the acceleration, steering, and deceleration (braking) of the vehicle VH. In this embodiment, the autonomous driving system Sys can realize an evacuation operation for a specific vehicle SV by communicating with the vehicle control device 1 (mutually transmitting and receiving information). For example, the vehicle control device 1 can cause the autonomous driving system Sys to perform an evacuation operation by sending an execution instruction EI to the autonomous driving system Sys, specifically, to cause the vehicle VH to perform an evacuation operation such as slowing down by moving to the left side of the road or temporarily stopping. The autonomous driving system Sys and the vehicle control device 1 may be connected, for example, by a CAN (Controller Area Network) or other in-vehicle LAN, and may transmit and receive information to and from each other.

[0021] The peripheral information acquisition device 2 detects and acquires peripheral information NI that indicates the surrounding conditions of the vehicle VH, and notifies (outputs) the detected and acquired peripheral information NI to the vehicle control device 1. The peripheral information acquisition device 2 and the vehicle control device 1 may be connected, for example, by a CAN or other in-vehicle LAN, and may transmit and receive information to and from each other.

[0022] The peripheral information acquisition device 2 includes, for example, an imaging device, an object detection device, a ranging device, a communication device, etc. In the illustrated example, the peripheral information acquisition device 2 includes a camera 21, a radar 22, a LiDAR 23, a microphone 24, and a communication device 25. The peripheral information acquisition device 2 can detect objects (targets) around the vehicle VH and can also detect the position, attitude (yaw angle), size, speed, acceleration, deceleration, and yaw rate of the objects relative to the vehicle VH. The peripheral information acquisition device 2 can detect, for example, the movement (motion) of the objects. Objects detected by the peripheral information acquisition device 2 include moving objects such as other vehicles, motorcycles, bicycles, and pedestrians. Objects detected by the peripheral information acquisition device 2 also include stationary objects such as lane markings, center lines, road markings, medians, guardrails, curbs, highway sidewalls, road signs, traffic lights, crosswalks, construction sites, accident sites, traffic restrictions, parked vehicles, and buildings.

[0023] That is, the surrounding information acquisition device 2 can detect a specific vehicle SV and a following vehicle FV (e.g., multiple following vehicles FV) in the vicinity (surroundings) of the vehicle VH, and can also detect the respective movements (e.g., specific driving, evacuation operations) of the specific vehicle SV and the following vehicles FV. Furthermore, the surrounding information acquisition device 2 can detect the state and circumstances of the road and lane on which the vehicle VH is traveling, and can detect, for example, the width of the road on which the vehicle VH is traveling, the location of intersections, etc. The information detected (acquired) by the surrounding information acquisition device 2 is transmitted (output) to the vehicle control device 1, for example, periodically (cyclically), as surrounding information NI indicating the surrounding conditions of the vehicle VH.

[0024] The camera 21 is a device that recognizes objects (targets) around the vehicle VH using images. The camera 21 may be, for example, a camera equipped with an imaging element such as a CCD (Charge Coupled Device) or a CMOS (Complementary Metal Oxide Semiconductor), an ultrasonic camera, an infrared camera, etc. A plurality of cameras 21 may be provided on the vehicle VH, and may be located, for example, near the front grille, below the left and right door mirrors, and near the rear bumper of the vehicle VH.

[0025] The radar 22 is, for example, a laser radar, a millimeter wave radar (such as an LRF), an ultrasonic radar, etc. The radar 22 can calculate the relative position (relative distance and direction) and relative speed between the vehicle VH and an object (target object) around the vehicle VH. A plurality of radars 22 may be provided on the vehicle VH, and may be arranged, for example, in front, on the right side, on the left side, and behind the vehicle VH.

[0026] The LiDAR (Light Detection and Ranging, Laser Imaging Detection and Ranging) 23 measures scattered light in response to pulsed laser irradiation, and can analyze the distance to, characteristics of, and the like of, a distant object (target). Similar to the radar 22, a plurality of LiDARs 23 may be provided on the vehicle VH.

[0027] The microphone 24 acquires sounds generated from objects (targets) in the vicinity of the vehicle VH. The microphone 24 may, for example, calculate the distance (specific vehicle distance Lx) between the host vehicle OV and the specific vehicle SV based on the feature quantity of the acquired "sound emitted from the specific vehicle SV." For example, the specific vehicle distance Lx may be calculated from the volume of the "sound emitted from the specific vehicle SV," or may be calculated based on changes in the frequency (changes over time) of the "sound emitted from the specific vehicle SV." A plurality of microphones 24 may be provided on the vehicle VH, and may be located, for example, at the front right, front left, rear right, and rear left of the vehicle VH.

[0028] The communication device 25 communicates with other vehicles, external devices, and the like present in the vicinity of the vehicle VH to acquire various information (for example, information indicating the location of a specific vehicle SV). The communication device 25 may acquire such information using VICS (registered trademark) (Road Traffic Information and Communication System), or may acquire such information through at least one of V2I (Vehicle-to-Roadside-Infrastructure) communication and V2V (Vehicle-to-Vehicle) communication. The communication device 25 may also acquire such information using a wireless communication network (for example, a mobile communication system such as so-called "5G"). However, the communication method used by the communication device 25 to acquire the above-mentioned information is not limited to the above-mentioned examples, and the communication device 25 may acquire the above-mentioned information using a Wi-Fi network, Bluetooth (registered trademark), DSRC (Dedicated Short Range Communication), or the like.

[0029] When the specific vehicle SV transmits a signal (for example, a signal capable of identifying the position of the specific vehicle SV), the communication device 25 may use the signal to detect the position of the specific vehicle SV or to acquire information indicating the position of the specific vehicle SV. For example, the communication device 25 may receive the signal directly from the specific vehicle SV through V2V communication and detect the position of the specific vehicle SV (or the specific vehicle distance Lx). That is, the communication device 25 may acquire information indicating the position of the specific vehicle SV (or the specific vehicle distance Lx) by directly communicating with the specific vehicle SV. Furthermore, for example, the communication device 25 may acquire information indicating the position of the specific vehicle SV by communicating with an external device that communicates with the specific vehicle SV, or an external device that manages the "device or terminal that receives the above-mentioned signal transmitted by the specific vehicle SV." When the external device identifies the position of the specific vehicle SV from the signal transmitted by the specific vehicle SV and holds information indicating the identified "position of the specific vehicle SV," the communication device 25 may acquire information indicating the position of the specific vehicle SV by communicating with the external device via a wireless base station or the like.

[0030] 1 illustrates an example in which the peripheral information acquisition device 2 includes a camera 21, a radar 22, a LiDAR 23, a microphone 24, and a communication device 25, but the peripheral information acquisition device 2 may include devices other than these devices. For example, the peripheral information acquisition device 2 may include a GNSS (Global Navigation Satellite System) receiver. The GNSS receiver can identify the position of the vehicle VH (host vehicle OV) based on signals received from GNSS satellites. The position of the vehicle VH may be identified or supplemented by an INS (Inertial Navigation System) that uses the output of an inertial measurement unit (not shown) provided in the vehicle VH.

[0031] The vehicle control device 1 acquires peripheral information NI from peripheral information acquisition devices 2 (such as the camera 21, radar 22, LiDAR 23, microphone 24, and communication device 25) as needed, for example, at predetermined time intervals. The vehicle control device 1 can integrate or synthesize (so-called sensor fusion) the peripheral information NI from each of the camera 21, radar 22, LiDAR 23, microphone 24, and communication device 25, thereby complementing missing information about the target object. The vehicle control device 1, the overview of which has been explained above, will be explained in detail below with reference to FIGS. 2 to 6.

[0032] §2 Configuration example [Hardware configuration] Fig. 2 schematically illustrates an example of the hardware configuration of the vehicle control device 1 according to this embodiment. As shown in Fig. 2, the vehicle control device 1 according to this embodiment is a computer to which a control unit 11, a storage unit 12, a communication interface 13, an external interface 14, an input device 15, an output device 16, and a drive 17 are electrically connected. In Fig. 2, the communication interface and the external interface are referred to as a "communication I / F" and an "external I / F."

[0033] The control unit 11 includes a hardware processor such as a CPU (Central Processing Unit), RAM (Random Access Memory), and ROM (Read Only Memory), and is configured to execute information processing based on programs and various data. The CPU is an example of a processor resource. The storage unit 12 is an example of a memory resource, and is configured, for example, with a hard disk drive or a solid state drive. In this embodiment, the storage unit 12 stores various information such as a vehicle control program 120, an estimated recognition distance LE, and a minimum evacuation distance LB.

[0034] The vehicle control program 120 is a program for causing the vehicle control device 1 to execute information processing (FIG. 4) described below for controlling the vehicle VH (host vehicle OV). The vehicle control program 120 is, for example, a program for causing the vehicle control device 1 to execute processing for causing the vehicle VH to perform an evacuation operation, and in particular, a program for causing the vehicle control device 1 to execute processing for determining the timing at which the vehicle VH will perform an evacuation operation. The vehicle control program 120 includes a series of commands for the information processing.

[0035] The assumed recognition distance LE is the distance between the following vehicle FV and the specific vehicle SV at which it is assumed that the following vehicle FV will recognize the approach of the specific vehicle SV (be aware of the approach of the specific vehicle SV). In other words, the assumed recognition distance LE is the distance from the following vehicle FV to the position of the specific vehicle SV at which it is assumed that the following vehicle FV will recognize the approach of the specific vehicle SV (be aware of the approach of the specific vehicle SV). As will be described in detail later, the vehicle control device 1 calculates the reference distance LA, for example, by adding the assumed recognition distance LE to the distance between the vehicle VH (host vehicle OV) and the following vehicle FV.

[0036] For example, the assumed recognition distance LE may be the distance between the vehicle and the specific vehicle SV at the time when "generally, a vehicle (the driver of the vehicle) recognizes the approach of the specific vehicle SV performing a specific driving." As one example, the assumed recognition distance LE may be statistically determined from the "distance between the vehicle and the specific vehicle SV at the time when the vehicle recognizes the approach of the specific vehicle SV performing a specific driving" for each of the multiple vehicles. Specifically, the assumed recognition distance LE may be the average or median of the "distance between the vehicle and the specific vehicle SV at the time when the vehicle recognizes the approach of the specific vehicle SV performing a specific driving" measured for each of the multiple vehicles.

[0037] Furthermore, for example, the assumed recognition distance LE may be the distance between the vehicle and the specific vehicle SV at the time when "generally, a vehicle (driver of the vehicle) that has recognized the approach of the specific vehicle SV performs an evacuating action." For example, the assumed recognition distance LE may be statistically determined from the "distance between the vehicle and the specific vehicle SV at the time when 'the vehicle that has recognized the approach of the specific vehicle SV performs an evacuating action'" for each of the multiple vehicles. Specifically, the assumed recognition distance LE may be the average or median of the "distance between the vehicle and the specific vehicle SV at the time when 'the vehicle that has recognized the approach of the specific vehicle SV performs an evacuating action'" measured for each of the multiple vehicles.

[0038] The shortest turn-off distance LB is the shortest distance among distances preset as "the distance at which the vehicle VH (host vehicle OV) does not interfere with the travel of the specific vehicle SV." The shortest turn-off distance LB may also be determined statistically, similar to the assumed recognition distance LE. The shortest turn-off distance LB may be the shortest distance among distances preset as "the distance between the vehicle and the specific vehicle SV at which it is generally considered (assumed) that the vehicle will not interfere with the travel of the specific vehicle SV performing a specific travel." The shortest turn-off distance LB is smaller than the reference distance LA.

[0039] The communication interface 13 is, for example, a wired LAN (Local Area Network) module, a wireless LAN module, or the like, and is an interface for performing wired or wireless communication via a network. As described above, the communication interface 13 may be an interface for performing communication via a CAN or other in-vehicle LAN. The communication interface 13 may be the above-mentioned communication device 25. For example, the vehicle control device 1 may include the communication device 25 as the communication interface 13. However, to facilitate understanding of the vehicle control device 1, the following describes an example in which the communication interface 13 and the communication device 25 are realized as separate devices or hardware. The vehicle control device 1 may use this communication interface 13 to perform data communication via a network with another information processing device (e.g., a peripheral information acquisition device 2, an autonomous driving system Sys, etc.). The external interface 14 is, for example, a Universal Serial Bus (USB) port, a dedicated port, or the like, and is an interface for connecting to an external device. The type and number of external interfaces 14 may be selected appropriately depending on the type and number of external devices to be connected. The vehicle control device 1 is connected to the peripheral information acquisition device 2 via at least one of the communication interface 13 and the external interface 14, and acquires (receives) peripheral information NI from the peripheral information acquisition device 2. The vehicle control device 1 is also connected to the autonomous driving system Sys via at least one of the communication interface 13 and the external interface 14, and transmits an execution instruction EI to the autonomous driving system Sys.

[0040] The input device 15 is a device for inputting information, such as a mouse or a keyboard. The output device 16 is a device for outputting information, such as a display or a speaker. An operator such as a user can operate the vehicle control device 1 by using the input device 15 and the output device 16.

[0041] The drive 17 is, for example, a CD drive, a DVD drive, or the like, and is a drive device for reading various information, such as programs, stored in the storage medium 91. The storage medium 91 is a medium that stores information, such as programs, electrically, magnetically, optically, mechanically, or chemically, so that a computer or other device, machine, or the like can read the stored information. At least one of the vehicle control program 120, the estimated recognition distance LE, and the shortest evacuation distance LB may be stored in the storage medium 91. The vehicle control device 1 may acquire at least one of the vehicle control program 120, the estimated recognition distance LE, and the shortest evacuation distance LB from the storage medium 91. Note that FIG. 2 illustrates a disk-type storage medium, such as a CD or a DVD, as an example of the storage medium 91. However, the type of the storage medium 91 is not limited to a disk-type medium and may be other types of storage medium. Examples of storage media other than disk-type storage mediums include semiconductor memories, such as flash memories. The type of the drive 17 may be selected arbitrarily depending on the type of the storage medium 91.

[0042] Note that, with regard to the specific hardware configuration of the vehicle control device 1, components may be omitted, replaced, or added as appropriate depending on the embodiment. For example, the processor resources may include multiple hardware processors. The hardware processor may be configured with a microprocessor, an FPGA (field-programmable gate array), a DSP (digital signal processor), or the like. The storage unit 12 may be configured with RAM and ROM included in the control unit 11. At least one of the communication interface 13, the external interface 14, the input device 15, the output device 16, and the drive 17 may be omitted. The vehicle control device 1 may be configured with multiple computers. In this case, the hardware configurations of the computers may or may not be identical. Furthermore, the vehicle control device 1 may be an information processing device designed specifically for the services provided, as well as a general-purpose server device, a PC (personal computer), or the like.

[0043] [Software configuration] FIG. 3 schematically illustrates an example of the software configuration of the vehicle control device 1 according to this embodiment. The control unit 11 of the vehicle control device 1 loads the vehicle control program 120 stored in the storage unit 12 onto the RAM. The control unit 11 then uses the CPU to interpret and execute instructions included in the vehicle control program 120 loaded onto the RAM, thereby controlling each component. As a result, as shown in FIG. 3, the vehicle control device 1 according to this embodiment operates as a computer including a distance calculation unit 111, a reference distance setting unit 112, a distance determination unit 113, an evacuation operation detection unit 114, an evacuation position determination unit 115, and an execution unit 116 as software modules. That is, in this embodiment, each software module of the vehicle control device 1 is realized by the control unit 11 (CPU).

[0044] The distance calculation unit 111 acquires the surrounding information NI and calculates (estimates) the distance (specific vehicle distance Lx) between the vehicle VH (host vehicle OV) and the specific vehicle SV using the acquired surrounding information NI. The distance calculation unit 111 notifies the distance determination unit 113 of the calculated (estimated) specific vehicle distance Lx.

[0045] When the surrounding information NI indicates a specific vehicle distance Lx measured by a distance measuring device (for example, at least one of the radar 22, the LiDAR 23, and the microphone 24), the distance calculation unit 111 may acquire the specific vehicle distance Lx indicated by the surrounding information NI. In other words, the distance calculation unit 111 may calculate (estimate) the specific vehicle distance Lx by acquiring the surrounding information NI indicating the specific vehicle distance Lx.

[0046] When the surrounding information NI indicates the respective positions of the vehicle VH and the specific vehicle SV, the distance calculation unit 111 may calculate (or estimate) the specific vehicle distance Lx from the position of the vehicle VH and the position of the specific vehicle SV indicated by the surrounding information NI. As described above, the surrounding information acquisition device 2 (particularly, the communication device 25) may detect the position of the specific vehicle SV (or the specific vehicle distance Lx) by receiving a signal (for example, a signal that can identify the position of the specific vehicle SV) through V2V communication with the specific vehicle SV that is transmitting the signal. The distance calculation unit 111 may identify the position of the specific vehicle SV from the surrounding information NI that includes information indicating the "position of the specific vehicle SV" detected by the communication device 25. Furthermore, the communication device 25 may acquire information indicating the position of the specific vehicle SV by communicating with an external device that "identifies the position of the specific vehicle SV from a signal transmitted by the specific vehicle SV and holds information indicating the identified "position of the specific vehicle SV." The distance calculation unit 111 may identify the position of the specific vehicle SV from the surrounding information NI including "information indicating the position of the specific vehicle SV" acquired by the communication device 25. In other words, the surrounding information NI may include information indicating the "position of the specific vehicle SV" identified from a signal transmitted by the specific vehicle SV. Then, the distance calculation unit 111 may estimate the specific vehicle distance Lx from the "position of the specific vehicle SV" indicated by the surrounding information NI and the position of the vehicle VH (host vehicle OV). In other words, the distance calculation unit 111 may estimate the specific vehicle distance Lx using the "position of the specific vehicle SV" identified from the signal transmitted by the specific vehicle SV. With this configuration, the vehicle control device 1 can precisely calculate the specific vehicle distance Lx from the "position of the specific vehicle SV" precisely identified using the signal transmitted by the specific vehicle SV and the position of the vehicle VH.

[0047] When there are multiple following vehicles FV between the vehicle VH (host vehicle OV) and the specific vehicle SV, the distance calculation unit 111 may calculate (estimate) the specific vehicle distance Lx as follows. That is, the distance calculation unit 111 may estimate the specific vehicle distance Lx from the position (evacuation position) where any of the multiple following vehicles FV, other than the following vehicle FV closest to the vehicle VH, performed an evacuation operation. Specifically, the distance calculation unit 111 may estimate the specific vehicle distance Lx by adding the estimated recognition distance LE obtained by referring to the memory unit 12 to the distance between the evacuation position and the position of the vehicle VH. As described above, the estimated recognition distance LE is the distance between the specific vehicle SV and the specific vehicle SV at the time when "a vehicle generally recognizes the approach of the specific vehicle SV performing a specific driving motion" or at the time when "a vehicle that recognizes the approach of the specific vehicle SV generally performs an evacuation operation." Therefore, the distance calculation unit 111 can precisely calculate (estimate) the specific vehicle distance Lx by adding the assumed recognition distance LE to the distance between the "evacuation position of any of the following vehicles FV other than the following vehicle FV closest to the vehicle VH among the multiple following vehicles FV" and the position of the vehicle VH. The vehicle control device 1 can identify the position (evacuation position) where the following vehicle FV performed an evacuation operation by using the surrounding information NI, and can identify the evacuation position of the following vehicle FV by detecting the evacuation operation by the following vehicle FV, for example. The method by which the vehicle control device 1 (e.g., the evacuation operation detection unit 114) detects an evacuation operation by the following vehicle FV by using the surrounding information NI will be described in detail later.

[0048] For example, if there are following vehicles FV(1) to FV(n) between vehicle VH and specific vehicle SV, distance calculation unit 111 may estimate specific vehicle distance Lx from the retreat position of following vehicle FV(m), where "m" is an integer greater than or equal to "2" and less than or equal to "n." Note that following vehicle FV(1) is the following vehicle FV with the shortest inter-vehicle distance to vehicle VH (closest to vehicle VH), and following vehicle FV(n) is the following vehicle FV with the longest inter-vehicle distance to vehicle VH (farthest from vehicle VH). Specifically, distance calculation unit 111 may estimate specific vehicle distance Lx by adding assumed recognition distance LE to the distance between the retreat position of following vehicle FV(m) and the position of vehicle VH. The distance calculation unit 111 may further calculate (estimate) the speed of the specific vehicle SV from the respective evacuation positions of any two of the following vehicles FV other than the following vehicle FV closest to the vehicle VH among the multiple following vehicles FV. For example, the distance calculation unit 111 may estimate the speed of the specific vehicle SV from the evacuation position of the following vehicle FV(m) and the time when the evacuation operation was performed, and the evacuation position of the following vehicle FV(m-1) and the time when the evacuation operation was performed. The distance calculation unit 111 may estimate the distance between the vehicle VH and the specific vehicle SV (specific vehicle distance Lx) using the estimated speed of the specific vehicle SV.

[0049] So far, we have explained several "methods by which the distance calculation unit 111 calculates the specific vehicle distance Lx using the surrounding information NI," but the method by which the distance calculation unit 111 calculates the specific vehicle distance Lx using the surrounding information NI is not limited to those described above. The distance calculation unit 111 can calculate the distance (specific vehicle distance Lx) between the vehicle VH and the specific vehicle SV from the surrounding information NI by applying any method for calculating (estimating) the distance between vehicles that are traveling.

[0050] The reference distance setting unit 112 sets (calculates) a reference distance LA, which is the distance from the vehicle VH (host vehicle OV) to the "position of the specific vehicle SV at which it is assumed that the following vehicle FV will recognize (notice) the approach of the specific vehicle SV." For example, the reference distance setting unit 112 first calculates (acquires) the distance between the vehicle VH and the following vehicle FV. The calculation method (acquisition method) of the distance between the vehicle VH and the following vehicle FV may be the same as the calculation method (acquisition method) of the distance between the vehicle VH and the specific vehicle SV (specific vehicle distance Lx). Then, the reference distance setting unit 112 acquires the assumed recognition distance LE by referring to the memory unit 12, and calculates the reference distance LA by adding the acquired assumed recognition distance LE to the calculated "distance between the vehicle VH and the following vehicle FV." The reference distance setting unit 112 notifies the distance determination unit 113 of the calculated reference distance LA.

[0051] When there are multiple following vehicles FV between the vehicle VH (host vehicle OV) and the specific vehicle SV, the reference distance setting unit 112 sets (calculates) a reference distance LA for the following vehicle FV closest to the vehicle VH among the multiple following vehicles FV. That is, the reference distance setting unit 112 sets the distance from the vehicle VH to the "position of the specific vehicle SV at which the following vehicle FV closest to the vehicle VH is assumed to recognize the approach of the specific vehicle SV" as the reference distance LA. For example, when following vehicles FV(1) to FV(n) exist between the vehicle VH and the specific vehicle SV, the reference distance setting unit 112 first calculates (acquires) the distance between the vehicle VH and the following vehicle FV(1) closest to the vehicle VH. Then, the reference distance setting unit 112 calculates the reference distance LA by adding the assumed recognition distance LE to the calculated "distance between the vehicle VH and the following vehicle FV(1) closest to the vehicle VH."

[0052] The distance determination unit 113 determines the timing to cause the vehicle VH to perform an evacuation operation according to the specific vehicle distance Lx. First, the distance determination unit 113 determines whether the specific vehicle distance Lx is equal to or shorter than a reference distance LA. If the distance determination unit 113 determines that the specific vehicle distance Lx is equal to or shorter than the reference distance LA (Lx≦LA), the distance determination unit 113 notifies the evacuation operation detection unit 114 of the determination result.

[0053] Furthermore, the distance determination unit 113 acquires the shortest evacuation distance LB by referring to the storage unit 12, and compares the acquired shortest evacuation distance LB with the specific vehicle distance Lx. Then, when it determines that the specific vehicle distance Lx is equal to or less than the shortest evacuation distance LB (Lx≦LB), the distance determination unit 113 notifies the execution unit 116 of the determination result.

[0054] When the avoidance operation detection unit 114 is notified of the determination result that Lx≦LA from the distance determination unit 113, it detects an avoidance operation by the following vehicle FV, in other words, determines whether the following vehicle FV has performed an avoidance operation. When the avoidance operation detection unit 114 detects an avoidance operation by the following vehicle FV, in other words, when it determines that the following vehicle FV has performed an avoidance operation, it notifies the execution unit 116 of the detection result (determination result).

[0055] For example, when the avoidance operation detection unit 114 detects from the surrounding information NI (e.g., an image captured by the camera 21) that the left turn signal of the following vehicle FV is flashing, it may determine that the following vehicle FV has started an avoidance operation to move to the left side of the road (has performed the avoidance operation). Similarly, when the avoidance operation detection unit 114 detects from the surrounding information NI that the hazard lights (emergency flashers) of the following vehicle FV are flashing, it may determine that the following vehicle FV has started an avoidance operation such as slowing down or stopping temporarily (has performed the avoidance operation). Furthermore, the avoidance operation detection unit 114 may detect the posture of the following vehicle FV from the surrounding information NI (e.g., detection results from the camera 21, radar 22, LiDAR 23, etc.) and determine whether the following vehicle FV is steering to the left. If the following vehicle FV is steering to the left, the avoidance operation detection unit 114 may determine that the following vehicle FV has started an avoidance operation to move to the left side of the road (has performed such an avoidance operation). Furthermore, the avoidance operation detection unit 114 may detect the distance between the vehicle VH and the following vehicle FV from surrounding information NI (for example, detection results from the camera 21, radar 22, LiDAR 23, etc.). When it is confirmed that the distance between the vehicle VH and the following vehicle FV is increasing, the avoidance operation detection unit 114 may determine that the following vehicle FV has started an avoidance operation such as slowing down or temporarily stopping (has performed such an avoidance operation). Note that the method by which the avoidance operation detection unit 114 detects "an avoidance operation by the following vehicle FV" (a method for determining "whether the following vehicle FV has performed an avoidance operation") is not limited to the above. The avoidance operation detection unit 114 can apply any method to detect the operation of a vehicle while it is moving (e.g., turning left or right, accelerating or decelerating) and determine from the surrounding information NI whether the following vehicle FV has performed an avoidance operation.

[0056] When there are multiple following vehicles FV between the vehicle VH (host vehicle OV) and the specific vehicle SV, the avoidance operation detection unit 114 detects an avoidance operation for the following vehicle FV closest to the vehicle VH among the multiple following vehicles FV, in other words, determines whether an avoidance operation has been performed. For example, when following vehicles FV(1) to FV(n) exist between the vehicle VH and the specific vehicle SV, the avoidance operation detection unit 114 detects an avoidance operation (in other words, determines whether an avoidance operation has been performed) for the following vehicle FV(1) closest to the vehicle VH. Then, when the avoidance operation detection unit 114 detects an avoidance operation by the following vehicle FV(1), in other words, when it determines that the following vehicle FV(1) has performed an avoidance operation, it notifies the execution unit 116 of the detection result (determination result).

[0057] The avoidance operation detection unit 114 can detect an avoidance operation for each of the multiple following vehicles FV, that is, can determine whether an avoidance operation has been performed for each of the multiple following vehicles FV. When the avoidance operation detection unit 114 detects an avoidance operation by "any of the multiple following vehicles FV other than the following vehicle FV closest to the vehicle VH," it notifies the distance calculation unit 111 of the detection result. The avoidance operation detection unit 114 may identify the position (avoidance position) where the following vehicle FV performed the avoidance operation, and may notify the distance calculation unit 111 of the identified avoidance position.

[0058] The evacuation position determination unit 115 determines the position where the vehicle VH (host vehicle OV) will perform an evacuation operation, that is, the position where the vehicle VH will perform an evacuation operation (for example, the vehicle VH will start an evacuation operation), as the evacuation position PE, and notifies the execution unit 116 of the determined evacuation position PE.

[0059] For example, the fallback position determination unit 115 may acquire surrounding information NI indicating the width of the road on which the vehicle VH is traveling, and determine the fallback position PE by taking into consideration the "width of the road on which the vehicle VH is traveling" indicated by the surrounding information NI. For example, the fallback position determination unit 115 may identify the "width of the road on which the vehicle VH is traveling" from an image of the "road on which the vehicle VH is traveling" captured by the camera 21. Furthermore, for example, the fallback position determination unit 115 may identify the "width of the road on which the vehicle VH is traveling" from the position (traveling position) of the vehicle VH detected by the surrounding information acquisition device 2 (GNSS receiver) and map information indicating the width of the road. However, the method by which the fallback position determination unit 115 identifies the "width of the road on which the vehicle VH is traveling" is not limited to the above. The fallback position determination unit 115 can identify the "width of the road on which the vehicle VH is traveling" from the surrounding information NI by applying any method for detecting the width of the road.

[0060] The vehicle control device 1 realizes the following effects by having the evacuation position determination unit 115 determine the evacuation position PE taking into consideration the "road width of the road on which the vehicle VH is traveling." That is, by taking into consideration the "road width of the road on which the vehicle VH is traveling," the vehicle control device 1 can cause the vehicle VH to perform evacuation operations such as slowing down or temporarily stopping at an appropriate position on the road that does not interfere with the traveling of the specific vehicle SV.

[0061] The fall-off position determination unit 115 may acquire surrounding information NI indicating (the position of) an intersection on the road on which the vehicle VH is traveling, and determine a position (fall-off position PE) at which the vehicle VH (host vehicle OV) will perform a fall-off operation so that the vehicle VH (host vehicle OV) does not stop within the intersection. For example, the fall-off position determination unit 115 may determine the fall-off position PE so that the vehicle VH can stop before the intersection. Specifically, before the vehicle VH enters the intersection, the fall-off position determination unit 115 may determine the fall-off position PE so that the vehicle VH will stop before the intersection so as not to enter the intersection. Furthermore, for example, the fall-off position determination unit 115 may determine the fall-off position PE so that the vehicle VH can stop immediately after leaving the intersection. Specifically, when the vehicle VH is in an intersection, the evacuation position determination unit 115 may determine the evacuation position PE so that the vehicle VH can quickly leave the intersection and stop at a position after (e.g., immediately after) leaving the intersection.

[0062] For example, the evacuation position determination unit 115 may identify "(the position of) an intersection on the road on which the vehicle VH is traveling" from an image of "the road on which the vehicle VH is traveling" captured by the camera 21. Also, for example, the evacuation position determination unit 115 may identify "the position of an intersection on the road on which the vehicle VH is traveling" from the position (traveling position) of the vehicle VH detected by the peripheral information acquisition device 2 (GNSS receiver) and map information indicating the position of the intersection on the road. However, the method by which the evacuation position determination unit 115 identifies "(the position of) an intersection on the road on which the vehicle VH is traveling" is not limited to the above. The evacuation position determination unit 115 can identify "(the position of) an intersection on the road on which the vehicle VH is traveling" from the peripheral information NI by applying any method for detecting (the position of) an intersection.

[0063] The vehicle control device 1 realizes the following effects by having the evacuation position determination unit 115 cause the vehicle VH (host vehicle OV) to perform an evacuation operation so that the vehicle VH does not stop within the intersection: That is, the vehicle control device 1 can cause the vehicle VH to avoid stopping within the intersection that may interfere with the travel of the specific vehicle SV, and can cause the vehicle VH to perform an evacuation operation such as slowing down or temporarily stopping.

[0064] The execution unit 116 causes the vehicle VH (host vehicle OV) to perform an evacuation operation in accordance with a notification from the distance determination unit 113 or the evacuation operation detection unit 114. The execution unit 116 also causes the vehicle VH to perform an evacuation operation at the "position where the vehicle VH is to perform the evacuation operation (evacuation position PE)" determined by the evacuation position determination unit 115. For example, the execution unit 116 may cause the autonomous driving system Sys to perform an evacuation operation of the vehicle VH by outputting an execution instruction EI to either the communication interface 13 or the external interface 14. Upon receiving the execution instruction EI from the execution unit 116, the autonomous driving system Sys may cause the vehicle VH to perform an evacuation operation, such as slowing down or temporarily stopping on the left side of the road (or to the right side if stopping on the left side of a one-way street would interfere with the travel of the specific vehicle SV). In addition, the execution unit 116 may cause the autonomous driving system Sys to execute the evacuation operation of the vehicle VH at the evacuation position PE determined by the evacuation position determination unit 115 by outputting an execution instruction EI.

[0065] For example, when the execution unit 116 is notified of a detection result (determination result) that "an evacuation operation by the following vehicle FV has been detected (it has been determined that the following vehicle FV has performed an evacuation operation)" by the distance determination unit 113, the execution unit 116 causes the vehicle VH to perform an evacuation operation. In other words, when "an evacuation operation by the following vehicle FV" is detected while the condition that "the specific vehicle distance Lx is less than or equal to the reference distance LA (Lx≦LA)" is satisfied, the execution unit 116 causes the vehicle VH to perform an evacuation operation.

[0066] As described above, when the specific vehicle distance Lx is equal to or less than the reference distance LA, it can be estimated (assumed) that "the following vehicle FV recognizes the approach of the specific vehicle SV." Therefore, it can be estimated that the evacuating operation performed by the following vehicle FV when the specific vehicle distance Lx is equal to or less than the reference distance LA was performed because the following vehicle FV recognized the approach of the specific vehicle SV and intended not to interfere with the travel of the specific vehicle SV. Then, after detecting "an evacuating operation performed by the following vehicle FV when the specific vehicle distance Lx is equal to or less than the reference distance LA," the execution unit 116 causes the vehicle VH (host vehicle OV) to perform an evacuating operation. Therefore, the vehicle control device 1 can cause the vehicle VH to perform an evacuating operation, avoiding a situation in which "the vehicle VH performs an evacuating operation before the following vehicle FV recognizes the approach of the specific vehicle SV, causing the following vehicle FV to unnecessarily overtake."

[0067] When there are multiple following vehicles FV between the vehicle VH (host vehicle OV) and the specific vehicle SV, the execution unit 116 causes the vehicle VH to perform an evacuation operation after detecting an evacuation operation by the following vehicle FV closest to the vehicle VH among the multiple following vehicles FV. As described above, for example, when following vehicles FV(1) to FV(n) exist between the vehicle VH and the specific vehicle SV, a reference distance LA is set for the following vehicle FV(1) closest to the vehicle VH. That is, the distance from the vehicle VH to the "position of the specific vehicle SV at which the following vehicle FV(1) is expected to recognize the approach of the specific vehicle SV" is set as the reference distance LA. Then, when an "evacuation operation by the following vehicle FV(1)" is detected while the condition "the specific vehicle distance Lx is equal to or less than the reference distance LA (Lx≦LA)" is satisfied, the execution unit 116 causes the vehicle VH to perform an evacuation operation. With this configuration, the vehicle control device 1 can prevent the vehicle VH from performing an evacuating operation before the following vehicle FV(1) recognizes the approach of a specific vehicle SV, thereby causing the following vehicle FV(1) to make an unnecessary overtaking attempt, and can cause the vehicle VH to perform an evacuating operation.

[0068] Also, for example, when the execution unit 116 is notified by the distance determination unit 113 of the determination result that "the specific vehicle distance Lx is equal to or less than the shortest evacuation distance LB (Lx≦LB)", the execution unit 116 causes the vehicle VH (host vehicle OV) to perform an evacuation operation.

[0069] As described above, the shortest turn-away distance LB is the shortest distance among the distances preset as "distances at which the vehicle VH (host vehicle OV) does not interfere with the travel of the specific vehicle SV." Therefore, when "the specific vehicle distance Lx is equal to or less than the shortest turn-away distance LB," the execution unit 116 causes the vehicle VH to perform a turn-away operation. With this configuration, the vehicle control device 1 can cause the vehicle VH to perform a turn-away operation at a distance at which the vehicle VH does not interfere with the travel of the specific vehicle SV.

[0070] §3 Example of operation 4 is a flowchart showing an example of a processing procedure of the vehicle control device 1 according to this embodiment. The processing procedure described below is an example of a processing procedure of an information processing method PM for "controlling the vehicle VH (host vehicle OV) (e.g., causing the vehicle VH to perform an evacuation operation)." However, the processing procedure described below is merely an example, and each step may be modified as much as possible. Furthermore, steps may be omitted, replaced, or added to the processing procedure described below as appropriate depending on the embodiment.

[0071] (Step S111) In step S111, the control unit 11 operates as the distance calculation unit 111 and calculates (estimates) the specific vehicle distance Lx. The control unit 11 may calculate (estimate) the specific vehicle distance Lx from the "respective positions of the vehicle VH and the specific vehicle SV" indicated in the surrounding information NI. For example, the control unit 11 may estimate the specific vehicle distance Lx using the position of the "specific vehicle SV" identified from a signal emitted by the specific vehicle SV. Furthermore, if there are multiple following vehicles FV between the vehicle VH and the specific vehicle SV, the control unit 11 may estimate the specific vehicle distance Lx from the position (evacuation position) where any of the multiple following vehicles FV, other than the following vehicle FV closest to the vehicle VH, performed an evacuating operation. For example, the control unit 11 may estimate the specific vehicle distance Lx by adding the assumed recognition distance LE to the distance between the evacuating position and the position of the vehicle VH.

[0072] (Step S113) In step S113, the control unit 11 operates as the reference distance setting unit 112 and sets (calculates) the reference distance LA. For example, the control unit 11 may set (calculate) the reference distance LA by adding the assumed recognition distance LE to the distance between the vehicle VH and the following vehicle FV.

[0073] If there are multiple following vehicles FV between vehicle VH and specific vehicle SV, in step S113, the control unit 11 sets a reference distance LA for the following vehicle FV that is closest to vehicle VH among the multiple following vehicles FV. That is, the control unit 11 sets the reference distance LA to the distance from vehicle VH to the "position of the specific vehicle SV at which the following vehicle FV closest to vehicle VH is expected to recognize the approach of the specific vehicle SV." For example, the control unit 11 sets the reference distance LA by adding the expected recognition distance LE to the distance between vehicle VH and the "following vehicle FV closest to vehicle VH."

[0074] (Step S115) In step S115, the control unit 11 operates as the distance determination unit 113 and determines whether the specific vehicle distance Lx is greater than the reference distance LA (Lx>LA), in other words, whether the specific vehicle distance Lx is equal to or less than the reference distance LA (Lx≦LA). If the specific vehicle distance Lx is greater than the reference distance LA (Yes in S115), the control unit 11 proceeds to step S117. If the specific vehicle distance Lx is equal to or less than the reference distance LA (No in S115), the control unit 11 proceeds to step S119.

[0075] (Step S117) In step S117, the control unit 11 operates as, for example, the execution unit 116 and causes the vehicle VH (host vehicle OV) to continue traveling. That is, the control unit 11 does not cause the vehicle VH to perform an evacuation operation, and does not output, for example, an execution instruction EI. After executing step S117, that is, after causing the vehicle VH to continue traveling, the control unit 11 returns to step S115. That is, the control unit 11 repeats step S117 and step S115 until the determination in step S115 is No.

[0076] (Step S119) In step S119, the control unit 11 operates as the evacuation operation detection unit 114 and determines whether an evacuation operation by the following vehicle FV has been detected, in other words, whether the following vehicle FV has performed an evacuation operation. If an evacuation operation by the following vehicle FV has been detected (Yes in S119), the control unit 11 proceeds to step S121. If an evacuation operation by the following vehicle FV has not been detected (No in S119), the control unit 11 proceeds to step S123.

[0077] If there are multiple following vehicles FV between vehicle VH and specific vehicle SV, in step S119, the control unit 11 determines whether it has detected an evacuation operation by the following vehicle FV closest to vehicle VH among the multiple following vehicles FV. If it has detected an evacuation operation by the following vehicle FV closest to vehicle VH, the control unit 11 proceeds to step S121. If it has not detected an evacuation operation by the following vehicle FV closest to vehicle VH, the control unit 11 proceeds to step S123.

[0078] (Step S121) In step S121, the control unit 11 operates as the execution unit 116 and causes the vehicle VH (host vehicle OV) to perform an evacuation operation, for example, by outputting an execution instruction EI. By outputting the execution instruction EI, the control unit 11 may cause the autonomous driving system Sys to perform an evacuation operation for the vehicle VH, for example, to cause the vehicle VH to perform an evacuation operation at a position determined in consideration of the width of the road on which the vehicle VH is traveling. Furthermore, by outputting the execution instruction EI, the control unit 11 may cause the autonomous driving system Sys to perform an evacuation operation for the vehicle VH so that the vehicle VH does not stop within the intersection.

[0079] (Step S123) Step S123 is similar to step S117, and specifically, in step S123, the control unit 11 causes the vehicle VH (host vehicle OV) to continue traveling, that is, does not cause the vehicle VH to perform an evacuation operation, for example, does not output an execution instruction EI.

[0080] (Step S125) In step S125, the control unit 11 operates as the distance determination unit 113 and determines whether the specific vehicle distance Lx is greater than the shortest turnaway distance LB (Lx>LB), in other words, whether the specific vehicle distance Lx is equal to or less than the shortest turnaway distance LB (Lx≦LB). If the specific vehicle distance Lx is greater than the shortest turnaway distance LB (Yes in S125), the control unit 11 proceeds to step S127. If the specific vehicle distance Lx is equal to or less than the shortest turnaway distance LB (No in S125), the control unit 11 proceeds to step S129.

[0081] (Step S127) Step S127 is the same as step S117. Specifically, in step S127, the control unit 11 causes the vehicle VH (host vehicle OV) to continue traveling, i.e., does not cause the vehicle VH to perform an evacuation operation, for example, does not output an execution instruction EI. After executing step S127, i.e., after causing the vehicle VH to continue traveling, the control unit 11 returns to step S125. In other words, the control unit 11 repeats step S127 and step S125 until the determination in step S125 is No.

[0082] (Step S129) Step S129 is similar to step S121. Specifically, in step S129, the control unit 11 causes the vehicle VH (host vehicle OV) to perform an evacuation operation, and outputs, for example, an execution instruction EI.

[0083] Regarding the information processing method PM for "causing the vehicle VH (host vehicle OV) to perform an evacuation operation" that has been explained using Figure 4 so far, an example of the timing of the evacuation operation of the vehicle VH (host vehicle OV) realized by the information processing method PM will be explained using Figure 5.

[0084] 5 illustrates an example of the timing of an evacuation operation performed by the vehicle VH (host vehicle OV). As illustrated in FIG. 5A, the information processing method PM (1) detects the evacuation operation by the following vehicle FV when the following vehicle FV recognizes the approach of the specific vehicle SV, and (2) performs an evacuation operation by the following vehicle FV, and (4) causes the vehicle VH (host vehicle OV) to perform an evacuation operation. That is, the information processing method PM first determines whether the following vehicle FV recognizes (is presumed to recognize) the approach of the specific vehicle SV, and specifically determines whether the specific vehicle distance Lx is equal to or less than the reference distance LA. If the specific vehicle distance Lx is equal to or less than the reference distance LA, the information processing method PM next determines whether the following vehicle FV, having recognized the approach of the specific vehicle SV, has performed an evacuation operation, that is, whether the information processing method PM has detected the evacuation operation by the following vehicle FV. Then, when the information processing method PM determines that the following vehicle FV has performed an evacuation operation, it causes the host vehicle OV to perform an evacuation operation, that is, after detecting the evacuation operation by the following vehicle FV, it causes the host vehicle OV to perform an evacuation operation.

[0085] Therefore, the information processing method PM can cause the host vehicle OV to perform an evacuation operation, avoiding a situation in which "the host vehicle OV performs an evacuation operation before the following vehicle FV recognizes the approach of the specific vehicle SV, causing the following vehicle FV to perform an unnecessary overtaking operation." The information processing method PM causes the host vehicle OV to perform an evacuation operation after the following vehicle FV performs an evacuation operation, so that the following vehicle FV does not perform an unnecessary overtaking operation, and the following vehicle FV will slow down and stop temporarily after the host vehicle OV, as illustrated in (B) of Figure 5. Therefore, the information processing method PM can cause the host vehicle OV to perform an evacuation operation without causing the following vehicle FV between the host vehicle OV and the specific vehicle SV to perform an unnecessary overtaking operation.

[0086] 6A and 6B are diagrams illustrating the effects achieved by the vehicle control device 1 (information processing method PM) according to this embodiment, and specifically, (A) of Fig. 6 illustrates an example of an outline of the operations performed by a conventional vehicle and a following vehicle, respectively. Also, (B) of Fig. 6 illustrates an example of an outline of the operations performed by a vehicle (vehicle VH) according to this embodiment and a following vehicle (following vehicle FV), respectively.

[0087] As explained using Fig. 7, a conventional vehicle may perform an avoidance action before a following vehicle notices the approach of a specific vehicle SV, which may cause the following vehicle to perform an unnecessary overtaking action. That is, as illustrated in Fig. 6(A), in the conventional vehicle (host vehicle) and the following vehicle, the host vehicle may first perform an avoidance action, and the following vehicle may perform an overtaking action to overtake the host vehicle, and then perform an avoidance action.

[0088] In response to this, the vehicle VH performs an evacuation operation after the following vehicle FV, which has recognized (or is assumed to have recognized) the approach of the specific vehicle SV, performs an evacuation operation. Specifically, the vehicle VH performs an evacuation operation after it is determined that the specific vehicle distance Lx is equal to or less than the reference distance LA and an evacuation operation by the following vehicle FV is detected. Therefore, as illustrated in (B) of FIG. 6, the vehicle VH (host vehicle OV) and the following vehicle FV each perform an evacuation operation after the following vehicle FV performs an evacuation operation.

[0089] Therefore, the vehicle control device 1 (information processing method PM) can cause the host vehicle OV (vehicle VH) to perform an evacuating operation without causing an unnecessary overtaking operation by the following vehicle FV between the host vehicle OV (vehicle VH) and the specific vehicle SV. The vehicle control device 1 (information processing method PM) can reduce the amount of operation (such as the amount of steering operation and energy required for the operation) performed by the host vehicle OV and the following vehicle FV compared to conventional methods. In the example shown in FIG. 6, the vehicle control device 1 (information processing method PM) can achieve a 50% reduction in the amount of operation, etc. performed by the host vehicle and the following vehicle compared to conventional methods for "evacuating operation by the host vehicle, overtaking operation by the following vehicle, and evacuating operation by the following vehicle."

[0090] [Features] As described above, the vehicle control device 1 according to this embodiment is a vehicle control device that controls the host vehicle OV (vehicle VH) so as not to interfere with the traveling of the specific vehicle SV that is performing a specific traveling. The vehicle control device 1 includes a distance determination unit 113 (determination unit) and an execution unit 116. The distance determination unit 113 determines whether the specific vehicle distance Lx, which is the distance between the host vehicle OV and the specific vehicle SV, is equal to or less than the reference distance LA. The "reference distance LA" is the distance from the host vehicle OV to the position of the specific vehicle SV at which it is assumed that the following vehicle FV between the host vehicle OV and the specific vehicle SV recognizes the approach of the specific vehicle SV. When the distance determination unit 113 determines that the specific vehicle distance Lx is equal to or less than the reference distance LA, the execution unit 116 detects an evacuation operation by the following vehicle FV and then causes the host vehicle OV to perform the evacuation operation.

[0091] Furthermore, the information processing method PM according to this embodiment is an information processing method that causes a processor (e.g., the CPU of the control unit 11) to execute a process for controlling the host vehicle OV so as not to interfere with the traveling of a specific vehicle SV that is performing a specific traveling. The processor executes the above-described steps S115, S119, and S121. That is, in step S115, the processor determines whether the specific vehicle distance Lx is greater than the reference distance LA (Lx>LA), in other words, whether the specific vehicle distance Lx is equal to or less than the reference distance LA (Lx≦LA). If the specific vehicle distance Lx is equal to or less than the reference distance LA (No in S115), the processor further executes the determination of step S119, that is, determines whether an evacuation operation by the following vehicle FV has been detected. If an evacuation operation by the following vehicle FV has been detected (Yes in S119), the processor executes step S121, that is, causes the host vehicle OV to perform an evacuation operation. That is, after detecting the operation of the following vehicle FV to evacuate, the processor causes the host vehicle OV to evacuate.

[0092] According to this configuration, the vehicle control device 1 (information processing method PM) first determines whether the specific vehicle distance Lx is less than or equal to the reference distance LA, that is, determines whether the following vehicle FV recognizes (is presumed to recognize) the approach of the specific vehicle SV. If it is determined that the following vehicle FV recognizes the approach of the specific vehicle SV, the vehicle control device 1 (information processing method PM) then determines whether the following vehicle FV, which has recognized the approach of the specific vehicle SV, has performed an evacuation operation, that is, determines whether it has detected an evacuation operation by the following vehicle FV. Then, if it determines that the following vehicle FV has performed an evacuation operation, the vehicle control device 1 (information processing method PM) causes the host vehicle OV to perform an evacuation operation, that is, causes the host vehicle OV to perform an evacuation operation after detecting an evacuation operation by the following vehicle FV. Therefore, the vehicle control device 1 (information processing method PM) can cause the host vehicle OV to perform an evacuation operation without causing an unnecessary overtaking operation by the following vehicle FV between the host vehicle OV and the specific vehicle SV.

[0093] §4 Variations Although the embodiments of the present invention have been described above in detail, the above description is merely illustrative of the present invention in every respect. It goes without saying that various improvements and modifications can be made without departing from the scope of the present invention. For example, the following modifications are possible. Note that, in the following, the same reference numerals are used for components similar to those in the above embodiment, and descriptions of the same points as those in the above embodiment are omitted where appropriate. The following modifications can be combined as appropriate.

[0094] In the above embodiment, an example has been described in which the vehicle control device 1, the surrounding information acquisition device 2, and the autonomous driving system Sys are each configured as separate computers. However, the configuration of the vehicle control device according to this embodiment is not limited to this example and may be determined appropriately depending on the embodiment. For example, the vehicle control device 1 and the surrounding information acquisition device 2 may be integrated into a single computer. Similarly, the vehicle control device 1 and the autonomous driving system Sys may be integrated into a single computer. Furthermore, the vehicle control device 1, the surrounding information acquisition device 2, and the autonomous driving system Sys may be integrated into a single computer. That is, the vehicle control device 1 that causes the vehicle VH (host vehicle OV) to perform an evacuating operation may detect (acquire) surrounding information NI and / or control the acceleration / deceleration and steering of the vehicle VH. Furthermore, for example, at least one of the vehicle control device 1, the surrounding information acquisition device 2, and the autonomous driving system Sys may be configured as multiple computers.

[0095] In the above embodiment, an example has been described in which the determination of whether the specific vehicle distance Lx is equal to or less than the reference distance LA is made by estimating the specific vehicle distance Lx and comparing the estimated specific vehicle distance Lx with the reference distance LA. However, in the vehicle control device 1 (information processing method PM) according to this embodiment, it is not essential to estimate the specific vehicle distance Lx. For example, when the strength or the like of the "signal transmitted by the specific vehicle SV" received by the vehicle VH (host vehicle OV) through V2V communication with the specific vehicle SV becomes equal to or greater than a predetermined threshold, the vehicle control device 1 (information processing method PM) according to this embodiment may determine that the specific vehicle distance Lx is equal to or less than the reference distance LA. [Explanation of symbols]

[0096] 1... vehicle control device, 113... distance determination unit (determination unit), 116... execution unit, FV: following vehicle, LA: reference distance, LB: shortest evacuation distance, Lx: specific vehicle distance, OV...own vehicle, PM...information processing method, VH...vehicle (own vehicle)

Claims

1. An information processing method for causing a processor to execute a process for controlling a vehicle so as not to interfere with the running of a specific vehicle that is running in a specific manner, comprising: The processor: A specific vehicle distance, which is the distance between the host vehicle and the specific vehicle, is From the host vehicle, A vehicle following the host vehicle and the specific vehicle is assumed to recognize the approach of the specific vehicle up to the position of the specific vehicle. and determining whether the distance is less than the reference distance, When it is determined that the specific vehicle distance is equal to or shorter than the reference distance, after detecting an evacuation operation by the following vehicle, the host vehicle is made to perform the evacuation operation. Information processing methods.

2. the processor causes the host vehicle to perform the evacuation operation when the specific vehicle distance is equal to or shorter than a shortest evacuation distance, which is the shortest distance among distances preset as distances at which the host vehicle does not interfere with the travel of the specific vehicle; The information processing method according to claim 1 .

3. When there are a plurality of following vehicles between the host vehicle and the specific vehicle, the processor From the host vehicle, A following vehicle that is closest to the host vehicle among the plurality of following vehicles is assumed to recognize the approach of the specific vehicle up to the position of the specific vehicle. is set as the reference distance, When it is determined that the specific vehicle distance is equal to or shorter than the reference distance, after detecting the turning-away operation by the following vehicle that is closest to the host vehicle, the host vehicle is made to perform the turning-away operation.

3. The information processing method according to claim 1.

4. The processor estimates the specific vehicle distance using the position of the specific vehicle identified from a signal emitted by the specific vehicle.

3. The information processing method according to claim 1.

5. When there are a plurality of following vehicles between the host vehicle and the specific vehicle, the processor the specific vehicle distance is estimated from a position where any one of the following vehicles other than the following vehicle closest to the host vehicle among the plurality of following vehicles performed the avoidance operation; 3. The information processing method according to claim 1.

6. the processor determines a position at which the host vehicle will perform the avoidance operation, taking into consideration a width of a road on which the host vehicle is traveling.

3. The information processing method according to claim 1.

7. the processor causes the host vehicle to perform the avoidance operation so as not to stop the host vehicle in the intersection; 3. The information processing method according to claim 1.

8. A vehicle control device that controls a vehicle so as not to interfere with the travel of a specific vehicle that is traveling in a specific direction, A specific vehicle distance, which is the distance between the host vehicle and the specific vehicle, is From the host vehicle, A vehicle following the host vehicle and the specific vehicle is assumed to recognize the approach of the specific vehicle up to the position of the specific vehicle. a determination unit that determines whether the distance is equal to or less than a reference distance, an execution unit that, when the determination unit determines that the specific vehicle distance is equal to or shorter than the reference distance, causes the host vehicle to perform the evacuation operation after detecting an evacuation operation by the following vehicle; Equipped with Vehicle control device.

Images