Control device for vehicle

Abstract

To provide a control device for a vehicle which can quickly detect a fire and inform a user, such as a driver, of the fire when a fire occurs in a tunnel.SOLUTION: A control device for a vehicle provides notification based on peripheral information obtained from the outside and includes: a tunnel information acquisition unit which acquires at least one of an outdoor temperature and a smoke concentration at an entrance of a tunnel in a predetermined range from the vehicle; a tunnel fire occurrence detection unit which determines whether the at least one of the outdoor temperature and the smoke concentration is higher than or equal to a given threshold value determined in advance; and an evacuation control unit which performs evacuation control for evacuating the vehicle from a predetermined tunnel to the user when the predetermined tunnel exists that meets at least one of conditions that the outdoor temperature is higher than or equal to the given outdoor temperature and the smoke concentration is higher than or equal to the given concentration.SELECTED DRAWING: Figure 3

Description

[Technical Field]

[0001] The present invention relates to a vehicle control device that uses communication technology, and more particularly to a vehicle control device that can notify a user in the event of a fire occurring on the road. [Background technology]

[0002] Patent Document 1 discloses a vehicle fire detection device that detects smoke generated by a vehicle fire based on images captured by a surveillance camera installed on a road. The device in Patent Document 1 periodically captures images of the road using a surveillance camera and detects vehicles captured in the captured images. The captured images are processed to determine the location and speed of the detected vehicle. If the detected vehicle's speed is equal to or less than a predetermined threshold, the vehicle is registered as an abnormally moving vehicle. An observation area for observing smoke is set to a location a predetermined distance above the registered abnormally moving vehicle and a predetermined distance forward or backward from the abnormally moving vehicle. If smoke is observed within the observation area, the vehicle in which the smoke is observed is determined to be a vehicle on fire. According to Patent Document 1, with this configuration, when a vehicle with a possible fire appears, an observation area is set according to the location of the suspected on-fire vehicle and smoke detection processing is performed, thereby reducing the computational cost of the smoke detection processing and improving smoke detection accuracy. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Laid-Open No. 2013-122624 Summary of the Invention [Problem to be solved by the invention]

[0004] As described above, the device of Patent Document 1 accurately detects smoke, finds a burning vehicle, and notifies the driver of the notified vehicle, allowing the driver of the notified vehicle to take refuge based on the notified information. However, due to various road shapes and structures, a vehicle may not be able to take refuge when attempting to do so. For example, if a burning vehicle is present ahead of a vehicle traveling through a tunnel, even if the traveling vehicle receives a notification of the presence of the burning vehicle, the traveling vehicle may not be able to immediately take refuge. In other words, roads often do not branch off within tunnels, and there may not be space available for temporary parking. In such cases, even if the traveling vehicle is notified of the presence of a burning vehicle, it may be difficult for the traveling vehicle to immediately take refuge, considering the safety of the traveling vehicle and other traveling vehicles.

[0005] Furthermore, since the device of Patent Document 1 is configured to detect abnormalities based on the speed of a traveling vehicle, it cannot detect fires caused by other factors. For example, even if a fire breaks out in the tunnel equipment due to a vehicle coming into contact with the equipment in the tunnel, the device of Patent Document 1 cannot detect smoke if the fire does not originate from the vehicle that made contact, and therefore there is a risk that the fire will not be notified to other vehicles traveling nearby. As such, there is room for improvement in technology for notifying vehicles traveling nearby of a fire when a fire breaks out on a road where it may be difficult for vehicles to quickly evacuate.

[0006] This invention has been made with an eye on the above-mentioned technical problems, and aims to provide a vehicle control device that can quickly detect a fire that occurs in a tunnel and notify a user such as a driver. [Means for solving the problem]

[0007] In order to achieve the above-mentioned object, the present invention provides a control device capable of acquiring information about the vehicle's surroundings, including road information, from outside the vehicle and issuing notifications to the user of the vehicle based on the acquired information about the surroundings, the control device comprising: a tunnel information acquisition unit that acquires at least one of the outside air temperature or smoke density at the entrance and exit of a tunnel located within a predetermined range ahead in the direction of travel of the vehicle; a tunnel fire detection unit that determines whether the outside air temperature acquired by the tunnel information acquisition unit is equal to or higher than a predetermined outside air temperature, or whether the smoke density is equal to or higher than a predetermined smoke density; and an evacuation control unit that performs evacuation control to have the user evacuate the vehicle from a predetermined tunnel when the tunnel fire detection unit determines that a predetermined tunnel exists where the outside air temperature is equal to or higher than the predetermined outside air temperature, or the smoke density is equal to or higher than a predetermined smoke density.

[0008] The evacuation control executed by the evacuation control unit in the present invention may include notifying the user that the predetermined tunnel is present within the predetermined range from the vehicle.

[0009] In this invention, the vehicle further includes a current position acquisition unit that acquires the current position of the vehicle, and a navigation system that guides the user along a route to the destination set by the user based on map information, wherein the tunnel information acquisition unit is configured to acquire the position information of the specified tunnel, and the evacuation control unit is configured to, based on the current position of the vehicle acquired by the current position acquisition unit, the position information of the specified tunnel acquired by the tunnel information acquisition unit, and the driving route set in the navigation system, if the specified tunnel is present on the driving route from the current position, set as a new destination an evacuation point that allows driving while avoiding the specified tunnel located on the route from the current position to the specified tunnel based on the map information.

[0010] In this invention, the evacuation control unit may be configured to set at least one of an interchange or a parking area as the new destination and the evacuation point when there is at least one of an interchange or a parking area between the current position and the specified tunnel when the vehicle is traveling on a motorway.

[0011] In this invention, when the vehicle is traveling on a highway and there is no evacuation facility between the current location and the specified tunnel where the vehicle can be stopped, the evacuation control unit may be configured to guide the user to a specified driving operation to safely stop the vehicle based on the external information and information about the vehicle's surroundings. [Effects of the Invention]

[0012] The vehicle control device of the present invention acquires at least one of the outside air temperature and smoke density at the entrance and exit of a tunnel located within a predetermined range from the vehicle. It then determines whether the acquired outside air temperature at the entrance and exit of the tunnel is equal to or higher than a predetermined outside air temperature, and whether the acquired smoke density at the entrance and exit of the tunnel is equal to or higher than a predetermined smoke density. If there is a tunnel that satisfies at least one of the conditions that the outside air temperature at the entrance and exit of the tunnel is equal to or higher than the predetermined outside air temperature and the smoke density at the entrance and exit of the tunnel is equal to or higher than a predetermined smoke density, evacuation control is executed to notify the driver of the vehicle that a fire is occurring in the specified tunnel. In other words, evacuation control can be executed, such as quickly notifying the user of the vehicle that a fire is occurring in the specified tunnel. Therefore, the user of the vehicle who receives the notification can quickly evacuate the vehicle.

[0013] Furthermore, when a driving route from the current position of the vehicle to the destination is set by the navigation system, an evacuation point on the driving route is set as the new destination. That is, an evacuation point where the vehicle can be evacuated from a facility or the like located between the current position of the vehicle on the driving route and a predetermined tunnel is set as the new destination of the vehicle. That is, the evacuation point for avoiding the predetermined tunnel can be quickly notified to the vehicle user. Therefore, the user can know how to avoid the predetermined tunnel and can quickly evacuate the vehicle.

[0014] Furthermore, when the vehicle is traveling on a motorway such as an expressway, an evacuation facility, such as an interchange or parking area, located between the vehicle's current location and a predetermined tunnel is set as the evacuation point. On a motorway, the vehicle cannot reverse course while traveling, and there are few facilities where the vehicle can be temporarily stopped. Even if such facilities exist, they may be far apart. In such cases, the user may struggle to decide how to evacuate the vehicle. Even in such cases, the system guides the user to an interchange or parking area where evacuation is possible, allowing the user to safely evacuate. If there is no such evacuation facility on the route between the vehicle's current location and the predetermined tunnel, the system guides the user on a driving maneuver to safely stop the vehicle. Examples of such driving maneuvers include lightly depressing the foot brake or turning on (flashing) the hazard lights to communicate the driver's intention to stop to vehicles traveling behind without significantly decelerating the vehicle. [Brief explanation of the drawings]

[0015] [Figure 1] 1 is a diagram illustrating an example of a vehicle equipped with a control device according to an embodiment of the present invention. [Figure 2] FIG. 2 is a block diagram illustrating a functional configuration of a control device according to an embodiment of the present invention. [Figure 3]3 is a flowchart illustrating an example of control executed by a control device according to an embodiment of the present invention. DETAILED DESCRIPTION OF THE INVENTION

[0016] The present invention will be described below based on the embodiments shown in the drawings. Note that the embodiments described below are merely examples of specific embodiments of the present invention, and are not intended to limit the present invention.

[0017] 1 shows a vehicle 1 equipped with a control device according to an embodiment of the present invention. The control device according to the embodiment of the present invention is configured to acquire road information from outside the vehicle 1 and to execute control such as notifying users, such as the driver or passengers of the vehicle 1, according to the acquired road information.

[0018] As shown in Fig. 1, vehicle 1 includes a driving force source 2, a brake device 3, wheels 4, a steering device 5, a display 6, a detector 7, and a controller 8. Vehicle 1 may be any vehicle having a control device capable of executing control such as notifying a user in accordance with road information acquired from an external source, and may be, for example, an existing general vehicle such as an engine vehicle, a hydrogen vehicle, a hybrid vehicle, or a fuel cell vehicle. Vehicle 1 may also be a vehicle that is manually driven, in which the vehicle is driven by a driver's driving operation, or a vehicle that is automatically driven, in which the vehicle is driven to a destination without a driver's driving operation.

[0019] The driving force source 2 outputs torque to drive the wheels 4, i.e., torque for propelling the vehicle 1. The driving force source 2 may include, for example, a conventionally known engine (internal combustion engine) or a motor-generator, or may include both.

[0020] The brake device 3 is a device similar to a conventionally known brake device 3, and is provided, for example, on each of the front and rear wheels 4 of the vehicle 1. An example of the brake device 3 is a friction brake such as a disc brake, drum brake, or powder brake, and is configured to generate a friction force by hydraulic pressure or electromagnetic force, thereby generating a braking force in a direction that stops the rotation of each wheel 4.

[0021] The steering device 5 is used by the driver to operate the steering wheel to adjust the direction of travel of the vehicle 1. This steering device 5 is similar to conventionally known steering devices 5, and is, for example, a rack-and-pinion type electric power steering device (EPS) provided with an electric assist mechanism.

[0022] The display 6 is provided on an instrument panel or the like of the vehicle 1, and is, for example, a meter panel or a car navigation display. Therefore, the display 6 displays dynamic information such as traffic congestion information and accident information in addition to static information such as surrounding roads and facilities. The display 6 also displays information necessary for driving the vehicle 1 based on the information acquired from the outside, as well as notifications based on the road information acquired from the outside. The user can change the content displayed on the display 6 or display detailed information about the notified content by operating a predetermined switch provided on the center cluster or steering wheel, or by touching the display 6 if it is a touch panel.

[0023] The detection unit 7 is a device or apparatus for acquiring various data and information required for controlling the vehicle 1. The detection unit 7 has internal sensors, such as an inertial measurement unit, for acquiring data related to the running of the vehicle 1 itself, and external sensors for acquiring captured images and acquiring information about objects around the vehicle 1 based on data on reflected light of laser light.

[0024] The controller 8 mainly comprises a processor, a communication unit, a storage unit, etc. The controller 8 is configured to perform calculations in accordance with a predetermined program using data acquired from the detection unit 7 provided in the vehicle 1, data acquired from the outside, and pre-stored data, and to output the results of the calculations as control command signals. For example, the controller 8 executes functions that meet predetermined purposes by having the processor load a program stored in a recording medium into a working area of ​​the storage unit and execute the program, and by performing various controls through the execution of the program.

[0025] The processor is, for example, a CPU or a DSP. This processor is configured to control the information processing device and perform various information processing operations. The main memory unit includes, for example, a RAM and a ROM. As described above, the main memory unit has a work area for the processor to execute programs. The auxiliary memory unit includes, for example, an EPROM or a hard disk drive. This auxiliary memory unit may also include a portable recording medium, i.e., a removable medium. The auxiliary memory unit freely stores various programs, various data, and various tables in the recording medium by reading or writing them. The auxiliary memory unit may also store an operating system. The communication unit is a wireless communication circuit connected to an external communication device via wireless communication so as to be able to communicate data. The wireless communication circuit communicates using cellular communication (mobile communication) such as 5G or 4G (LTE). The wireless communication circuit may also communicate using narrowband communication such as DSRC.

[0026] The detection unit 7, controller 8, and each actuator and sensor configured as described above are electrically connected to each other, for example, by a CAN or a wire harness, and output an electrical signal corresponding to the acquired detection value or calculated value to the controller 8 as detection data.

[0027] Next, the functional configuration of the controller 8 in this embodiment of the present invention will be described with reference to Fig. 2. As shown in Fig. 2, the controller 8 has a location information acquisition unit 9, a navigation system 10, a tunnel information acquisition unit 11, a tunnel temperature determination unit 12, a tunnel smoke density determination unit 13, a tunnel fire occurrence detection unit 14, and an evacuation control unit 15.

[0028] The location information acquisition unit 9 corresponds to a current location acquisition unit in the embodiment of the present invention, and acquires information about the current location of the vehicle 1 from a location information service. An example of such a location information service is GPS, which is one of the GNSS satellite positioning systems that receive signals emitted from satellites and estimate or identify the current location.

[0029] The navigation system 10 is a system for guiding a user from the current position of the vehicle 1 to a destination set by the user, based on the current position information of the vehicle 1 acquired by the position information acquisition unit 9 and a pre-stored map database. The navigation system 10 also displays the destination and facilities around the current position on the display device 6 in response to a user's operation. For example, when the vehicle is traveling on a motorway, road rest facilities such as service areas and parking areas, or facilities such as interchanges, are displayed on the display device 6. When traffic congestion information or accident information is acquired from an external source, the navigation system 10 displays the information together with map information and the like on the display device 6. The map database stores road information such as traffic lights, intersections, and traffic signs, as well as surrounding information such as facilities around the roads. The map database is configured to be periodically updated manually or automatically to acquire the latest road information and surrounding information from an external source.

[0030] The tunnel information acquisition unit 11 acquires the outside temperature and smoke density at the entrances and exits of multiple tunnels located around the current location of the vehicle 1, i.e., within a predetermined range from the vehicle 1. The tunnel information acquisition unit 11 acquires the outside temperature and smoke density at the entrances and exits of tunnels from equipment such as surveillance cameras and outside temperature sensors installed on the road, information acquired from other vehicles traveling in the vicinity via vehicle-to-vehicle communication, or an external weather information management server that provides weather information in real time. The tunnel information acquisition unit 11 may also be configured to acquire the outside temperature and smoke density by analyzing the acquired information as needed. For example, the tunnel information acquisition unit 11 may detect the smoke density by performing image processing or image analysis. As an example, the occurrence of smoke may be detected by detecting the rising movement of smoke using optical flow estimation or by observing that the change in brightness over time accompanying the passage of smoke in an image or video is a characteristic change that occurs when smoke occurs.

[0031] The vicinity of the current position of the vehicle 1 here includes, for example, within a predetermined distance from the vehicle 1, and on the planned driving route if a destination and driving route are set in the navigation system 10. Furthermore, if the vehicle 1 is driving on a motorway such as an expressway, the vicinity may include only the area ahead in the direction of travel of the vehicle 1.

[0032] The tunnel temperature determination unit 12 determines whether the outside air temperature at at least one of the tunnel entrance and exit acquired by the tunnel information acquisition unit 11 is equal to or higher than a predetermined temperature. The predetermined temperature may be, for example, the upper limit of the outside air temperature predicted to be reached at the tunnel entrance or exit based on the current temperature at the tunnel location and the solar irradiance.

[0033] The tunnel smoke density determination unit 13 determines whether the smoke density at the tunnel entrance and exit acquired by the tunnel information acquisition unit 11 is equal to or greater than a predetermined smoke density. The predetermined smoke density may be set appropriately depending on the method of detecting the smoke density. Note that smoke is usually rarely generated at tunnel entrances and exits. Therefore, the predetermined smoke density may be a slight value, as long as it is a value that allows the generation of smoke to be detected.

[0034] The tunnel fire detection unit 14 detects a predetermined tunnel in which a fire has occurred based on the determination results of the tunnel temperature determination unit 12 and the tunnel smoke density determination unit 13. Specifically, if there is a tunnel that is determined by the tunnel temperature determination unit 12 to satisfy one of the following conditions: the outside air temperature at at least one of the tunnel entrance and exit is higher than a predetermined temperature; and the tunnel smoke density determination unit 13 to have a smoke density in the tunnel higher than a predetermined smoke density, the tunnel fire detection unit 14 detects the tunnel as a predetermined tunnel in which a fire has occurred.

[0035] The evacuation control unit 15 executes evacuation control when the tunnel fire detection unit 14 detects the presence of a predetermined tunnel in which a fire is occurring. The evacuation control unit 15 notifies the user of the vehicle 1 that there is a tunnel in which a fire is occurring, for example, via the display 6. Furthermore, when there is a predetermined tunnel ahead in the traveling direction of the vehicle 1, the evacuation control unit 15 acquires map information, facility information, and the like, and notifies the user via the display 6 of a route and an evacuation location that will prevent the vehicle 1 from reaching the predetermined tunnel.

[0036] For example, when the vehicle 1 is traveling on a highway, it may be difficult for the vehicle 1 to immediately evacuate once it reaches the vicinity of a predetermined tunnel. Therefore, when the vehicle is traveling on a motorway, the evacuation control unit 15 is configured to promptly guide the user to a facility where the vehicle can evacuate, such as a service area or an interchange, and to encourage the user to evacuate quickly, even if the distance from the current position of the vehicle 1 to the predetermined tunnel is relatively long. When notifying the user of the vehicle 1, it is preferable that the evacuation control unit 15 is configured to notify the user of the vehicle 1 of information such as the name of the predetermined tunnel and the distance from the current position of the vehicle 1, which are acquired from the tunnel information acquisition unit 11.

[0037] Furthermore, if there is no point or facility where the vehicle 1 can retreat between the current position of the vehicle 1 and a predetermined tunnel on such a highway, the retreat control unit 15 guides the user to perform a predetermined driving operation to safely stop the vehicle 1. For example, the retreat control unit 15 may guide the user to slightly depress the foot brake or turn on (blink) the hazard lights. Alternatively, the retreat control unit 15 may guide the user to reduce the accelerator pedal depression or stop depressing the accelerator pedal. By providing such guidance, the user's intention to stop is conveyed to vehicles traveling behind the vehicle without increasing the deceleration of the vehicle, and the vehicle is allowed to stop promptly.

[0038] Next, an example of control executed by the controller 8 in an embodiment of the present invention will be described with reference to FIG. 3. The flowchart shown in FIG. 3 illustrates an example of control executed when a fire breaks out in a tunnel ahead of the vehicle 1 while the vehicle 1 is traveling on a highway. First, in step S1, while the vehicle 1 is traveling, it is determined whether or not a tunnel is located within a predetermined range ahead of the vehicle 1 in the traveling direction, based on information about the vehicle 1's surroundings acquired from an external source. The predetermined range may be determined, for example, by distance, or may be based on whether or not there is an evacuation facility, such as a parking area or an interchange, between the current position of the vehicle 1 and the tunnel. Alternatively, if a traveling route is set by the navigation system 10, the predetermined range may be within a predetermined distance from the current position of the vehicle 1 on the traveling route. If a NO determination is made in step S1 because no tunnel is located within the predetermined range ahead of the vehicle 1 in the traveling direction, the flowchart is temporarily terminated without executing the subsequent control.

[0039] If the determination in step S1 is YES because a tunnel is located within a predetermined range ahead in the traveling direction of vehicle 1, the process proceeds to step S2. In step S2, the outside air temperature and smoke density at the entrance and exit of the tunnel located within a predetermined range ahead in the traveling direction of vehicle 1 are acquired or detected. In step S2, as described above, the outside air temperature and smoke density at the entrance and exit of the tunnel are acquired directly from infrastructure facilities, or by analyzing data such as images acquired from outside vehicle 1. After the data is acquired, the process proceeds to step S3.

[0040] In step S3, it is determined whether the outside air temperature and smoke concentration at the tunnel entrance and exit acquired in step S2 are equal to or higher than a predetermined threshold. In step S3, it is determined whether at least one of the outside air temperatures at the tunnel entrance and exit is equal to or higher than a predetermined outside air temperature. The predetermined temperature may be set taking into account the outside air temperature based on meteorological information around the tunnel, the solar irradiance, the wind strength, etc.

[0041] In step S3, it is determined whether the smoke density at at least one of the entrance and exit of the tunnel is equal to or greater than a predetermined smoke density. The predetermined smoke density may be set, for example, according to a parameter obtained by performing a conventionally known smoke detection process. The predetermined smoke density may be a value that allows even a slight amount of smoke to be detected, or a value that allows reliable determination of a fire. Examples of parameters used as the predetermined smoke density include weight concentration, number concentration, light transmittance, and extinction coefficient.

[0042] In step S3, it is determined whether at least one of the following conditions is met: the outside air temperature at the entrance and exit of the tunnel is equal to or higher than a predetermined outside air temperature; and the smoke density at the entrance and exit of the tunnel is equal to or higher than a predetermined smoke density. For example, in step S3, if it is detected that the smoke density at the entrance of the tunnel is equal to or higher than the predetermined smoke density, it is determined that a fire has broken out in the tunnel. If neither of the conditions that the outside air temperature at the entrance and exit of the tunnel is equal to or higher than the predetermined outside air temperature nor the smoke density at the entrance and exit of the tunnel is equal to or higher than the predetermined smoke density is met, and it is determined that there is no specified tunnel in which a fire has broken out within a predetermined range of the vehicle 1, then step S3 returns NO. In that case, this flowchart is temporarily terminated without executing any further control.

[0043] Conversely, if there is a tunnel that satisfies at least one of the following conditions, a fire is detected in that tunnel: the outside air temperature at the entrance and exit of the tunnel is equal to or higher than a predetermined outside air temperature, and the smoke density at the entrance and exit of the tunnel is equal to or higher than a predetermined smoke density. In this case, the determination in step S3 is YES, the tunnel where the fire is occurring is set as a predetermined tunnel, and the process proceeds to step S4.

[0044] In step S4, a notification is executed to the user as evacuation control for the vehicle 1. In step S4, the user is notified that a predetermined tunnel in which a fire has broken out is located within a predetermined range from the current location of the vehicle 1. In step S4, the user is notified, for example, by displaying a message on the display 6 or by displaying a predetermined symbol at the location where the predetermined tunnel is located on the map data displayed on the display 6 by the navigation system 10. Alternatively, in step S4, the user may be notified by issuing an alarm in addition to these notifications.

[0045] After the user is notified, the process proceeds to step S5. In step S5, it is determined whether or not there is an interchange on the route from the current position of vehicle 1 to the specified tunnel where the fire has occurred. In step S5, the current position of vehicle 1 and the position information of the tunnel are acquired. Then, it is determined whether or not there is an interchange on the route from the current position of vehicle 1 to the specified tunnel based on map information and facility information stored in a map database or the like. If there is an interchange on the route from the current position of vehicle 1 to the specified tunnel, the process proceeds to step S6.

[0046] In step S6, the vehicle 1 is guided to travel toward an interchange. In step S6, the navigation system 10 sets the destination of the vehicle 1 to that interchange, and guides the vehicle 1 to exit the expressway. Note that, when a destination is set in the navigation system 10, the navigation system 10 may be configured to search for and set a route after exiting the expressway at the interchange where the vehicle 1 is to exit.

[0047] Furthermore, if there are multiple interchanges between the current position of vehicle 1 and the specified tunnel, the interchange to which the vehicle should retreat may be set based on the current position of vehicle 1, the location of the interchange, and the location of the specified tunnel. For example, the interchange closest to the current position of vehicle 1 may be set as the destination, or if safety can be ensured, including external information, an interchange relatively close to the specified tunnel may be set as the destination. On the other hand, even if the distance from the current position of vehicle 1 to the specified tunnel is far, an unexpected incident such as a traffic jam on the expressway may occur due to a fire breaking out in the specified tunnel. Therefore, it is preferable to set an interchange from among multiple interchanges that allows a certain degree of distance to the specified tunnel as the destination.

[0048] On the other hand, if it is determined in step S5 that there is no interchange between the current position of vehicle 1 and the predetermined tunnel, the process proceeds to step S7. In step S7, it is determined whether or not there is a parking area on the route from the current position of vehicle 1 to the predetermined tunnel where the fire has occurred. In step S7, it is determined whether or not there is a parking area between the current position of vehicle 1 and the predetermined tunnel based on map information and facility information stored in a map database or the like. If there is a parking area between the current position of vehicle 1 and the predetermined tunnel, the process proceeds to step S8. Note that the parking area referred to here refers to any facility that has at least a space for temporarily stopping vehicle 1.

[0049] In step S8, the navigation system 10 guides the vehicle 1 to travel toward the parking area. In step S8, the navigation system 10 sets the destination of the vehicle 1 to the parking area and guides the vehicle 1 to temporarily evacuate from the expressway. If there are multiple parking areas between the current location of the vehicle 1 and the predetermined tunnel, the destination parking area may be set based on the current location of the vehicle 1, the location of the parking area, and the location of the predetermined tunnel. For example, the destination may be the parking area closest to the current location of the vehicle 1. Alternatively, if safety can be ensured based on external information, a parking area relatively close to the predetermined tunnel may be set as the destination. On the other hand, even if the distance from the current location of the vehicle 1 to the predetermined tunnel is far, an unexpected incident such as a traffic jam on the expressway may occur due to a fire in the predetermined tunnel. Therefore, it is preferable to set the destination as a parking area among multiple parking areas that can ensure a certain distance to the predetermined tunnel.

[0050] On the other hand, if it is determined in step S7 that there is no parking area between the current position of vehicle 1 and the specified tunnel, the process proceeds to step S9. In step S9, the driver of vehicle 1 is prompted to perform a specified driving operation to safely stop vehicle 1. If the process proceeds to step S9, the current position of vehicle 1 is close to the specified tunnel, and vehicle 1 cannot be evacuated from its current position to an interchange or parking area. Therefore, in step S9, guidance is provided to stop vehicle 1 while ensuring the safety of the surrounding area.

[0051] For example, in step S9, the driver of vehicle 1 is prompted to lightly depress the foot brake to turn on the brake lights. Alternatively, the driver is prompted to turn on the hazard lights. After detecting that one of these actions has been performed, the driver is prompted not to depress the accelerator pedal, or, if vehicle 1 is configured to be able to manually change gears, to shift down (to increase the gear ratio) and apply the brakes using the inertial force of the driving force source 2 or the like. Then, after ensuring the safety of the surrounding area, the driver is prompted to stop vehicle 1. At this time, it is preferable to prompt vehicle 1 to stop appropriately based not only on external information but also on the actual conditions of the road on which vehicle 1 is traveling and the conditions of other vehicles 1 traveling in the vicinity.

[0052] As described above, the control device in this embodiment of the present invention acquires the outside air temperature and smoke density at the entrances and exits of multiple tunnels located around the current location of vehicle 1. It then determines whether the acquired outside air temperature at the entrances and exits of the tunnels is equal to or higher than a predetermined outside air temperature, and whether the acquired smoke density at the entrances and exits of the tunnels is equal to or higher than a predetermined smoke density. If there is a tunnel that satisfies at least one of the conditions that the outside air temperature at the entrances and exits of the tunnels is equal to or higher than a predetermined outside air temperature and the smoke density at the entrances and exits of the tunnels is equal to or higher than a predetermined smoke density, the tunnel is detected or registered as a predetermined tunnel in which a fire is occurring. Evacuation control is then executed to instruct the driver of vehicle 1 to avoid the predetermined tunnel.

[0053] In the evacuation control, first, the display 6 notifies the driver that there is a specific tunnel where a fire has broken out. For example, a message may be displayed on the display 6, or an alarm may be sounded from the speaker. In addition, the evacuation control acquires information such as the current location of the vehicle 1, the location information of the specific tunnel, and surrounding facilities between the current location of the vehicle 1 and the specific tunnel. Based on this information, a facility where the vehicle 1 can take refuge is searched for and notified to the driver via the display 6 or the like. For example, when the vehicle 1 is traveling on a highway, interchanges, parking areas, etc. located between the current location of the vehicle 1 and the specific tunnel are searched for. The navigation system 10 then sets these as destinations and prompts the driver to take refuge in the vehicle 1. If there is no suitable evacuation location, the system is configured to prompt the driver to appropriately slow down and stop the vehicle 1 depending on external information and the actual situation around the vehicle 1.

[0054] As described above, the control device according to the embodiment of the present invention can detect a fire in a tunnel and prompt the driver to evacuate if a fire occurs. Tunnels often lack branch roads or evacuation points, making it difficult for the vehicle 1 to evacuate once it enters the tunnel. With the above-described configuration, a fire in a tunnel can be quickly detected, and the driver of the vehicle 1 can quickly learn that a fire has occurred in the tunnel. This allows the driver to evacuate the vehicle 1 relatively safely. Furthermore, the navigation system 10 provides guidance on a suitable location for evacuating the vehicle 1 and a route to that location based on the current location of the vehicle 1. Alternatively, if no such evacuation point or facility is available, the navigation system 10 provides guidance on a predetermined driving operation for safely stopping the vehicle 1. Therefore, the driver can drive the vehicle 1 according to the guidance, thereby more safely evacuating the vehicle 1 while reliably avoiding the designated tunnel where a fire is occurring.

[0055] Although the above describes an embodiment of the present invention, the present invention is not limited to the above example and may be modified as appropriate within the scope of achieving the object of the present invention. For example, in the above embodiment, the vehicle 1 is a manually driven vehicle driven by a driver's driving operation. However, the vehicle 1 may also be an autonomous vehicle that can be driven without a driver's driving operation. When the vehicle 1 is an autonomous vehicle, the driving force, braking force, steering amount, etc. are controlled without a user such as a driver or passenger operating the vehicle 1 by recognizing the driving environment and monitoring the surrounding conditions based on surrounding information acquired from outside the vehicle 1. For example, the vehicle 1 traces data related to the estimated or measured position of the vehicle 1, and calculates control variables such as the driving force, braking force, and steering amount to control the vehicle 1 so that the vehicle 1 travels along a predetermined target trajectory based on the data related to the position of the vehicle 1 and map data, thereby performing autonomous driving. Such an autonomous vehicle may be configured to perform the above-mentioned evacuation control during autonomous driving.

[0056] For example, if it is determined in step S5 that there is an interchange between the current position of vehicle 1 and the predetermined tunnel, the interchange may be set as the destination, and vehicle 1 may be driven toward the interchange by autonomous driving. Also, if it is determined in step S7 that there is a parking area between the current position of vehicle 1 and the predetermined tunnel, the parking area may be set as the destination, and vehicle 1 may be driven toward the parking area by autonomous driving. Alternatively, if it is determined in steps S5 and S7 that there is neither an interchange nor a parking area between the current position of vehicle 1 and the predetermined tunnel, vehicle 1 may be safely stopped on the shoulder of the road or the like in accordance with external information and the actual surrounding conditions acquired by the detection unit 7 or the like.

[0057] Furthermore, in the control example of the above-described embodiment, when it is determined that there is no interchange between the current position of the vehicle 1 and the predetermined tunnel, a parking area is searched for based on map information, etc. However, the order of these controls may be reversed. That is, when there is no parking area between the current position of the vehicle 1 and the predetermined tunnel, an interchange may be searched for. Alternatively, both an interchange and a parking area may be searched for based on map information, etc., and when both are available, the user may be able to select one.

[0058] Furthermore, in the above-described embodiment, the outside temperature and smoke density at the entrance and exit of a tunnel located within a predetermined range from the vehicle 1 are acquired, and the determination as to whether or not the vehicle 1 should evacuate is made by a control device mounted on the vehicle 1, but this is not limiting, and the determination may be made by an external information processing device. For example, an external server may be configured to acquire the outside temperature and smoke density at the entrance and exit of a tunnel, determine whether or not the vehicle 1 should evacuate, and if it is determined that the vehicle 1 should evacuate, issue a notification to vehicles 1 traveling in the vicinity. [Explanation of symbols]

[0059] 1 vehicle 6 Display 8 Controller 9 Location information acquisition section 10. Navigation system 11 Tunnel information acquisition unit 12 Tunnel temperature determination unit 13. Smoke density determination unit inside tunnel 14 Tunnel fire detection unit 15 Evacuation control section

Claims

1. A control device capable of acquiring peripheral information of a vehicle, including road information, from outside the vehicle, and executing a notification based on the acquired peripheral information to a user of the vehicle, a tunnel information acquisition unit that acquires at least one of the outside air temperature and the smoke density at the entrance and the exit of a tunnel located in a predetermined range ahead in the traveling direction of the vehicle; a tunnel fire occurrence detection unit that determines whether the outside air temperature acquired by the tunnel information acquisition unit is equal to or higher than a predetermined outside air temperature or whether the smoke density is equal to or higher than a predetermined smoke density; and an evacuation control unit that performs evacuation control to make the user evacuate the vehicle from the predetermined tunnel when the tunnel fire detection unit detects that there is a predetermined tunnel that satisfies at least one of the following conditions: the outside air temperature is equal to or higher than the predetermined outside air temperature; or the smoke density is equal to or higher than the predetermined smoke density. A vehicle control device comprising:

2. The vehicle control device according to claim 1, The evacuation control executed by the evacuation control unit includes notifying the user that the predetermined tunnel exists within the predetermined range from the vehicle. A vehicle control device comprising:

3. 3. The vehicle control device according to claim 1, a current position acquisition unit that acquires a current position of the vehicle; a navigation system that provides guidance on a route to a destination set by the user based on map information, the tunnel information acquisition unit is configured to acquire location information of the predetermined tunnel; The evacuation control unit If the predetermined tunnel is present on the travel route from the current position based on the current position of the vehicle acquired by the current position acquisition unit, the position information of the predetermined tunnel acquired by the tunnel information acquisition unit, and the travel route set in the navigation system, a new destination is set to an evacuation point that allows travel while avoiding the predetermined tunnel provided on the route from the current position to the predetermined tunnel based on the map information. A vehicle control device comprising:

4. The vehicle control device according to claim 3, When the vehicle is traveling on a motorway, if there is at least one of an interchange or a parking area between the current position and the predetermined tunnel, the evacuation control unit sets at least one of the interchange or the parking area as the evacuation point and as the new destination. A vehicle control device comprising:

5. The vehicle control device according to claim 3, The evacuation control unit is configured to, when the vehicle is traveling on a motorway and there is no evacuation facility between the current position and the predetermined tunnel where the vehicle can be stopped, guide the user to a predetermined driving operation for safely stopping the vehicle based on the external information and the information about the vicinity of the vehicle. A vehicle control device comprising:

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