Vehicle control method and vehicle control device

Abstract

To provide more suitable parking support.SOLUTION: A vehicle control device 10 is set so as to be connected to a sensor 16 for acquiring an external situation, a display 22 capable of being visually recognized by an occupant, and a movement control section 12 for controlling at least steering. The vehicle control device 10 is set so as to be implemented in a vehicle 1 capable of autonomously traveling to a parking target position by control of at least steering, along a teacher route obtained by teacher traveling from a predetermined position to the parking target position. The sensor 16 can detect an obstacle at least in each of a first lateral direction and a second lateral direction of the vehicle 1. The vehicle control device 10 stores a traveling route actually traveled and the external situation acquired by the sensor 16 during the teacher traveling, and corrects the stored traveling route on the basis of the stored external situation. The display 22 displays a correction route obtained by correcting the traveling route. The vehicle control device 10 stores the correction route as the teacher route.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present disclosure relates to a vehicle control method and a vehicle control device. [Background technology]

[0002] Generally, parking spaces in homes are often narrow and can be difficult to park in, so there is a high demand for automated parking and exit.

[0003] Vehicle control devices that realize this type of autonomous driving are known. For example, a technology has been disclosed in which a driver drives a vehicle from a predetermined position outside a parking lot to a target parking position, the driving route at that time is stored in advance as a training route, and the vehicle autonomously drives along the training route in subsequent parking situations (see Patent Document 1). [Prior art documents] [Patent documents]

[0004] [Patent Document 1] Japanese Patent Application Publication No. 2019-147480 [Patent Document 2] Japanese Patent Application Publication No. 2018-124920 [Patent Document 3] International Publication No. 2019 / 058781 [Patent Document 4] Japanese Patent Publication No. 2022-069161 Summary of the Invention [Problem to be solved by the invention]

[0005] However, with the conventional technology, a route that is difficult to follow during autonomous driving may be stored as a teacher route, making it difficult to provide parking assistance during autonomous driving. In other words, with the conventional technology, it may be difficult to provide suitable parking assistance.

[0006] An object of the present disclosure is to provide a vehicle control method and a vehicle control device that can provide more suitable parking assistance. [Means for solving the problem]

[0007] The vehicle control method disclosed herein is a vehicle control method executed by a vehicle that is equipped with a sensor that acquires external conditions, a display that is visible to the occupants, and a movement control unit that controls at least steering, and is capable of autonomous driving to a parking target position by controlling at least steering along a teacher route obtained by teacher driving from a predetermined position to the parking target position, wherein the sensor is capable of detecting obstacles at least on a first side of the vehicle and a second side opposite to the first side, the vehicle stores the driving route actually traveled during the teacher driving and the external conditions acquired by the sensor, corrects the stored driving route based on the stored external conditions, the display displays the corrected route obtained by correcting the driving route, and the corrected route is stored as the teacher route. [Effects of the Invention]

[0008] According to the vehicle control method of the present disclosure, more suitable parking assistance can be provided. [Brief explanation of the drawings]

[0009] [Figure 1] FIG. 1 is a block diagram showing an example of the overall configuration of a vehicle. [Figure 2] FIG. 2 is a schematic diagram showing an example of the arrangement of sensors. [Figure 3] FIG. 3 is a diagram illustrating an example of a teacher route. [Figure 4] FIG. 4 is a diagram illustrating an example of the data configuration of the path management DB. [Figure 5] FIG. 5 is an explanatory diagram of an example of generating a corrected path. [Figure 6] FIG. 6 is an explanatory diagram of an example of generating a corrected path. [Figure 7] FIG. 7 is a schematic diagram of an example of a display screen. [Figure 8]FIG. 8 is a flowchart showing an example of the flow of information processing executed by the control unit in the teacher running mode. [Figure 9] FIG. 9 is a flowchart showing an example of the flow of the teacher route storage process executed by the control unit. [Figure 10] FIG. 10 is a flowchart showing an example of the flow of information processing executed by the control unit in the autonomous driving mode. [Figure 11] FIG. 11 is a block diagram showing an example of the hardware configuration of a vehicle control device. DETAILED DESCRIPTION OF THE INVENTION

[0010] Hereinafter, embodiments of a vehicle control method and a vehicle control device according to the present disclosure will be described with reference to the drawings.

[0011] [Overall vehicle configuration] FIG. 1 is a block diagram showing an example of the overall configuration of a vehicle 1. As shown in FIG.

[0012] The vehicle 1 includes a vehicle control device 10 , a movement control unit 12 , a travel sensor 14 , a sensor 16 , a memory device 18 , an input device 20 , and a display device 22 .

[0013] The movement control unit 12, the travel sensor 14, the sensor 16, the storage device 18, the input device 20, and the display 22 are connected to the vehicle control device 10 so as to be able to exchange data or signals. In other words, the vehicle control device 10 is configured to be communicatively connected to at least the sensor 16, the display 22, and the movement control unit 12.

[0014] The movement control unit 12 controls at least the steering of the vehicle 1. The movement control unit 12 is a means for realizing the driving, braking, and turning motions required for the vehicle 1 to travel. For example, the movement control unit 12 is configured to include a drive motor, a power transmission mechanism, a brake device, a steering device, etc., and an electronic vehicle control device that controls them. The movement control unit 12 drives the vehicle 1, for example, by generating power using the drive motor and transmitting the power to the wheels via the power transmission mechanism. The power transmission mechanism is, for example, a propeller shaft, a differential gear, a drive shaft, etc. Controlling at least the steering means that the movement control unit 12 controls at least one of the driving, braking, and turning motions required for the vehicle 1 to travel. In other words, controlling the steering means that the movement control unit 12 controls at least one of the turning direction by steering, the vehicle speed or acceleration by accelerator steering, and the deceleration or stop by braking.

[0015] The travel sensor 14 is a variety of sensors mounted on the vehicle 1 and detects the travel state of the vehicle 1. The travel sensor 14 includes, for example, an accelerator opening sensor that detects an accelerator opening, a steering angle sensor that detects a steering angle of a steering device, an acceleration sensor that detects acceleration acting in the longitudinal direction of the vehicle 1, a torque sensor that detects torque acting on a power transmission mechanism between the wheels of the vehicle 1 and the drive motor, a vehicle speed sensor that detects the vehicle speed of the vehicle 1, a wheel speed sensor, etc. The travel sensor 14 outputs travel sensor information obtained by detection to the vehicle control device 10.

[0016] The sensor 16 is a sensor that acquires information about the situation outside the vehicle 1. The sensor 16 includes an object detection sensor 16A and a camera 16B. The object detection sensor 16A is a sensor that detects the presence or absence of an object, the distance to the object, etc. The object detection sensor 16A includes, for example, a sonar that transmits and receives sound waves, a radar or LiDAR (Light detection and ranging) that transmits and receives electromagnetic waves, etc.

[0017] Camera 16B is a surroundings sensor mounted on vehicle 1 and monitors the environment surrounding vehicle 1. Camera 16B has an imaging element and obtains captured video data capturing the surroundings of vehicle 1. Hereinafter, the captured video data may be simply referred to as captured video. In this embodiment, camera 16B detects objects present around vehicle 1 and is used to estimate the location of vehicle 1 from the positional relationship between vehicle 1 and the objects present around vehicle 1, as well as to detect objects around vehicle 1.

[0018] The sensor 16 may be any sensor that acquires information about the situation outside the vehicle 1. In other words, the sensor 16 may include at least one of a camera equipped with an image sensor, a sonar that transmits and receives sound waves, and a radar or lidar that transmits and receives electromagnetic waves.

[0019] The sensor 16 sequentially outputs external situation data including the detection results acquired by the object detection sensor 16A and the captured images acquired by the camera 16B to the vehicle control device 10. The external situation data is data that represents the situation outside the vehicle 1, and is data that includes the detection results by the object detection sensor 16A and the captured images by the camera 16B.

[0020] The positions, number of sensors 16 installed, and detection directions of the sensors 16 are adjusted in advance so that the situation around the vehicle 1 can be acquired.

[0021] FIG. 2 is a schematic diagram showing an example of the arrangement of the sensors 16. As shown in FIG.

[0022] The vehicle 1 is provided with, for example, four sensors 16 so as to be able to acquire the situation outside the vehicle 1 in at least four directions, namely, a first side S1, a second side S2, a front S3, and a rear S4 of the vehicle 1. The first side S1 is one side of the vehicle 1. The second side S2 is the side of the vehicle 1 opposite the first side S1. Note that the number of sensors 16 provided on the vehicle 1 is not limited to four.

[0023] Therefore, the sensor 16 can detect obstacles at least on the first side S1 and the second side S2 of the vehicle 1. The sensor 16 can also detect obstacles in front of the vehicle 1 at S3 and behind the vehicle 1 at S4.

[0024] An obstacle is an object that may make it difficult for vehicle 1 to continue driving if it comes into contact with it, or that may cause some damage to vehicle 1 or hinder its driving if vehicle 1 tries to come into contact with or pass over the object without avoiding it.

[0025] The storage device 18 stores various types of data. In the present embodiment, the storage device 18 stores data such as a route management DB (database) 18A, map data 18D, and teacher route data 18E. The route management DB 18A includes driving route data 18B and external condition data 18C. Details of the route management DB 18A, driving route data 18B, external condition data 18C, map data 18D, and teacher route data 18E will be described later. The storage device 18 is, for example, an auxiliary storage device such as an HDD (Hard Disk Drive), an SSD (Solid State Drive), or a flash memory. Note that at least a portion of the data included in the storage device 18 may be stored in an external storage device such as a server device provided outside the vehicle 1 and communicably connected to the vehicle control device 10.

[0026] The input device 20 receives operations by a passenger of the vehicle 1. The input device 20 includes operating mechanisms related to driving operations, such as a steering device such as a steering wheel (handle), an accelerator pedal, a brake pedal, a turn signal lever, and a push switch, as well as input devices such as a keyboard, a touch panel, and a switch. The input device 20 may constitute a part of an HMI (Human Machine Interface).

[0027] The display 22 is a display that displays various images. The display 22 is installed in a position where it can be seen by passengers of the vehicle 1. Examples of the display include a liquid crystal display (LCD), an organic electroluminescence (EL) display, and a projector. The display 22 may be a touch panel display that integrates the display 22 and the input device 20. The display 22 is an example of an HMI.

[0028] The vehicle control device 10 is an electronic control unit that controls each part of the vehicle 1 in an integrated manner.

[0029] The vehicle control device 10 controls the movement control unit 12 to optimize the driving conditions of the vehicle 1 using driving sensor information and external condition data received from the driving sensor 14 and the sensor 16. The vehicle control device 10 also controls the movement control unit 12 to cause the vehicle 1 to drive autonomously.

[0030] The vehicle control device 10 includes a control unit 11. Part or all of the control unit 11 may be a software configuration realized by cooperation between a processor and various programs stored in memory. Alternatively, part or all of the control unit 11 may be a hardware configuration realized by a dedicated circuit or the like.

[0031] The control unit 11 controls each part of the vehicle 1 in an integrated manner.

[0032] In this embodiment, the control unit 11 is configured to be able to switch the driving mode between the supervised driving mode and the autonomous driving mode based on an input operation by the passenger on the input device 20. Note that the driving modes that can be executed by the vehicle 1 may include various driving modes other than the supervised driving mode and the autonomous driving mode.

[0033] The supervised driving mode is a mode for registering a supervised route for autonomous driving of the vehicle 1. The supervised route is a route obtained by supervised driving from a predetermined position to a target parking position. In the supervised driving mode, the vehicle 1 is controlled to travel by the driving operation of the occupant. That is, in the supervised driving mode, the control unit 11 controls the movement control unit 12 so that the vehicle travels in accordance with the driving operation of the occupant.

[0034] The autonomous driving mode is a mode in which the vehicle 1 travels autonomously. In this embodiment, the autonomous driving mode refers to a mode in which the vehicle 1 travels autonomously along a teacher route. In the autonomous driving mode, the control unit 11 controls at least steering and controls the movement control unit 12 so that the vehicle travels along the teacher route. In the autonomous driving mode, the vehicle 1 is automatically controlled to travel by the vehicle control device 10 without any driving operation by the passenger.

[0035] FIG. 3 is an explanatory diagram of an example of the teacher route R2.

[0036] In the supervised driving mode, the vehicle is driven by the driver to perform supervised driving from a predetermined position P1 to a parking target position P2. The parking target position P2 may be, for example, a parking lot, but is not limited to this. The predetermined position P1 may be any position of the driver in real space.

[0037] The travel route R traveled during teacher driving is treated as a teacher route R2, and teacher route data 18E for the teacher route R2 is stored in the storage device 18. During teacher driving, the occupant may drive the vehicle 1 so as to travel from the parking target position P2 toward the predetermined position P1, or from the predetermined position P1 toward the parking target position P2. When the vehicle 1 travels from the parking target position P2 toward the predetermined position P1 in teacher driving mode, the control unit 11 may create teacher route data 18E for the teacher route R2, which is the opposite of the traveling direction during teacher driving for the travel route R. When the vehicle 1 travels from the predetermined position P1 toward the parking target position P2 during teacher driving, the control unit 11 may create teacher route data 18E for the teacher route R2, which is the same as the traveling direction during teacher driving for the travel route R. The creation of the teacher route data 18E will be described in detail later.

[0038] In the autonomous driving mode, the control unit 11 controls at least the steering along the driving route R obtained by the supervised driving, and causes the vehicle 1 to autonomously drive to the parking target position P2. Note that in the autonomous driving mode, the control unit 11 controls the steering and the front and rear acceleration / deceleration of the vehicle 1, but at least a part of the front and rear acceleration / deceleration control may be performed by the driver's operation.

[0039] Next, the control by the control unit 11 in the teacher driving mode and the autonomous driving mode will be described in detail.

[0040] [Teacher driving mode] First, the control of the control unit 11 in the teacher running mode will be described in detail.

[0041] When the control unit 11 receives a signal indicating an instruction to start the teacher-driven driving mode by, for example, operating the input device 20 by the passenger, the control unit 11 switches the driving mode to the teacher-driven driving mode. Then, when the control unit 11 is in the teacher-driven driving mode, the control unit 11 executes the following processing.

[0042] The control unit 11 acquires travel sensor information indicating the travel state of the vehicle 1 from the travel sensor 14. The control unit 11 then estimates the current position of the vehicle 1 based on the temporal changes in the sensor values ​​represented by the travel sensor information. For example, the control unit 11 calculates the amount of movement of the vehicle 1 from a reference position, such as the travel start position when the teacher travel mode was started, based on the temporal changes in the vehicle speed and yaw rate represented by the sensor values, and estimates the current position of the vehicle 1 based on the amount of movement.

[0043] Note that the accuracy of estimating the current position based on the amount of movement may be low in some cases. Therefore, the control unit 11 may correct the estimated current position based on the video of the surroundings of the vehicle 1 captured by the camera 16B, and use the corrected result as the current position.

[0044] The control unit 11 sequentially stores the current position of the vehicle 1 estimated sequentially as the vehicle 1 travels in the storage device 18. In detail, the control unit 11 stores in the storage device 18 travel route data 18B representing the travel route R during teacher travel, which is represented by a group of current positions sequentially estimated from the time when an instruction to start the teacher travel mode is received until an instruction to end the teacher mode is received. The control unit 11 also stores in the storage device 18 external condition data 18C representing the external condition acquired by the sensor 16 during teacher travel. In this embodiment, an example will be described in which the control unit 11 associates the travel route data 18B with the external condition data 18C and registers them in the route management DB 18A.

[0045] FIG. 4 is a diagram showing an example of the data configuration of the path management DB 18A.

[0046] The route management DB 18A is a database that associates the travel route data 18B with the external condition data 18C. The data format of the route management DB 18A is not limited to a database.

[0047] The driving route data 18B is data representing the driving route R, which is the route that the vehicle 1 actually traveled during teacher driving. The driving route data 18B is composed of a group of driving information for each position, which is the current position that is sequentially estimated during teacher driving. The driving information includes an INDEX, a driving position, a bearing, a driving direction, and reference driving information. The INDEX is identification information for the driving information. The driving position is the estimated position of the vehicle 1. The bearing indicates the direction that the vehicle 1 is facing at that position. The driving direction indicates the direction in which the vehicle 1 is traveling at that position, and is expressed, for example, as forward or reverse. The reference driving information is information that represents the driving state at that position. The reference driving information is, for example, information such as the steering angle and vehicle speed detected at each position during teacher driving.

[0048] The control unit 11 associates and registers in the route management DB 18A the travel route data 18B, which is made up of a group of travel information for each position that is sequentially estimated during supervised travel, with the external condition data 18C acquired at each position by the sensor 16. That is, the travel information for each position that constitutes the travel route data 18B and the external condition data 18C acquired at each position by the sensor 16 are registered in the route management DB 18A in association with each other.

[0049] Returning to Figure 1, we continue the explanation.

[0050] Furthermore, when the vehicle 1 is traveling on a teacher's route, the control unit 11 creates map data 18D for estimating the current position of the vehicle 1 from the captured image taken by the camera 16B. The method for estimating the current position of the vehicle 1 from the captured image may be a SLAM (Simultaneous Localization and Mapping) method or the like.

[0051] The map data 18D is map data in which a plurality of characteristic points around the vehicle 1 when traveling along the teaching route R2 are registered.

[0052] A feature point is a characteristic point obtained by image analysis of an image captured by the camera 16B during teacher driving. For example, a feature point is a portion of an object (e.g., a tree, a wall, or a pillar) that can serve as a landmark in the actual scene, from which a characteristic image pattern is obtained by analyzing the captured image. Such a portion is, for example, an edge portion of the object. The map data 18D includes a plurality of feature points, and each feature point is registered by being assigned an identification number so that it can be identified.

[0053] A feature point is represented by feature point data including a three-dimensional position and a feature amount. The three-dimensional position of a feature point is the three-dimensional position of the feature point in real space and is represented, for example, by a three-dimensional Cartesian coordinate system (X, Y, Z). The feature amount of a feature point is a characteristic amount of the feature point represented by image analysis of the captured image. The feature amount of a feature point is, for example, brightness or density on the captured image, SIFT (Scale Invariant Feature Transform) feature amount, SURF (Speeded Up Robust Features) feature amount, etc.

[0054] In the map data 18D, one feature point is registered for each identical three-dimensional position. Note that, for the same three-dimensional position, the map data 18D may register multiple feature points for each photographing position and photographing direction by the camera 16B at that three-dimensional position. Furthermore, the feature point data of the feature points registered in the map data 18D may further include image data of an object having the feature point.

[0055] During supervised driving, the control unit 11 identifies the coordinates of feature points in the actual scene, for example, based on stereo photogrammetry. Specifically, the control unit 11 reads multiple captured images taken at different times and associates the same feature points that appear in the multiple captured images. The control unit 11 then estimates the virtual position of the vehicle 1 at the time the multiple captured images were taken and identifies the virtual coordinates of the feature points in the actual scene using the principle of triangulation. The control unit 11 then performs bundle adjustment, for example, using the virtual position of the vehicle 1 and the virtual coordinates of the feature points in the actual scene as reference information, to calculate the formal position of the vehicle 1 and the formal coordinates of the feature points in the actual scene so as to minimize the reprojection error when each feature point in the actual scene is projected onto all captured images. The control unit 11 then stores, in the storage device 18, map data 18D in which feature points are registered, represented by feature point data including the formal coordinates of the feature points in the actual scene as three-dimensional positions.

[0056] The three-dimensional positions of the feature points registered in the map data 18D may be positions measured in advance using LiDAR (Light Detection and Ranging) or a stereo camera instead of using the SLAM method. However, from the viewpoint of suppressing a decrease in the accuracy of position estimation, it is preferable to use the SLAM method.

[0057] As described above, the control unit 11 executes the above process in the supervised driving mode. Therefore, in the supervised driving mode, the control unit 11 stores in the storage device 18 driving route data 18B of the driving route R obtained by supervised driving from a predetermined position P1 to a parking target position P2, and external condition data 18C representing the external condition acquired by the sensor 16 during supervised driving. Also, in the supervised driving mode, the control unit 11 generates map data 18D in which the three-dimensional positions of multiple feature points around the vehicle 1 during supervised driving and the feature amounts of the feature points are registered, and stores the map data 18D in the storage device 18. Note that, as described above, the control unit 11 may store at least a portion of the data in an external storage device provided outside the vehicle 1.

[0058] [Autonomous driving mode] Next, the control of the control unit 11 in the autonomous driving mode will be described in detail.

[0059] When the control unit 11 receives a signal indicating an instruction to start the autonomous driving mode by the passenger operating the input device 20, the control unit 11 switches the driving mode to the autonomous driving mode. Then, when the vehicle is in the autonomous driving mode, the control unit 11 executes the following processing.

[0060] For example, the following description will be given assuming a case where autonomous traveling is performed using the traveling route R actually traveled during teacher traveling as the teacher route R2. In this case, the control unit 11 stores the traveling route data 18B as the teacher route data 18E in the storage device 18. Then, in the autonomous traveling mode, the control unit 11 reads the teacher route data 18E and the map data 18D from the storage device 18, and controls the movement control unit 12 to perform autonomous traveling along the teacher route R2 represented by the teacher route data 18E.

[0061] The control unit 11 estimates the current position of the vehicle 1 based on the map data 18D and the captured image of the surroundings of the vehicle 1 acquired by at least one camera 16B.

[0062] For example, the control unit 11 compares characteristic points extracted from the image captured by the camera 16B with characteristic points stored in the map data 18D using pattern matching, feature amount search, etc. Then, the control unit 11 randomly selects several (e.g., 3 to 6) characteristic points from the characteristic points extracted from the image captured by the camera 16B that can be compared with the characteristic points stored in the map data 18D.

[0063] Then, the control unit 11 estimates the current position of the vehicle 1 in real space based on the positions of these several characteristic points in the captured image and the three-dimensional positions in real space of characteristic points registered in the map data 18D that correspond to the several characteristic points. At this time, the control unit 11 estimates the current position of the vehicle 1 by solving the PnP problem using a known method such as Lambda Twist (for example, literature: Mikael Persson et al. “Lambda Twist: An Accurate Fast Robust Perspective Three Point (P3P) Solver.”, ECCV 2018, pp. 334-349, published in 2018, http: / / openaccess.thecvf.com / content_ECCV_2018 / papers / Mikael_Persson_Lambda_Twist_An_ECCV_2018_paper.pdf).

[0064] When comparing the characteristic points extracted from the image captured by camera 16B with the characteristic points stored in map data 18D, the control unit 11 may, for example, calculate the current position of vehicle 1 as a tentative position based on the amount of movement of vehicle 1 described above, and, using this tentative position as a reference, narrow down the characteristic points stored in map data 18D to be compared with the characteristic points extracted from the image captured by camera 16B.

[0065] Through these processes, the control unit 11 estimates current position information representing the current position of the vehicle 1 based on the map data 18D and the captured images of the surroundings of the vehicle 1 acquired by at least one camera 16B, and the current position information includes the two-dimensional position (X coordinate, Y coordinate) of the vehicle 1 in real space and information related to the orientation of the vehicle 1.

[0066] The control unit 11 then controls the movement control unit 12 so that the estimated current position of the vehicle 1 is a position on the teacher route R2 represented by the teacher route data 18E, thereby causing the vehicle 1 to autonomously travel along the teacher route R2 from a predetermined position P1 toward the parking target position P2. The control unit 11 then stops the vehicle 1 at the parking target position P2.

[0067] When the vehicle 1 is autonomously traveling along the travel route R, the control unit 11 feedback controls the movement control unit 12 so that the vehicle 1 moves along the teacher route R2 based on the estimated current position of the vehicle 1 and each position on the teacher route R2 represented by the teacher route data 18E.

[0068] Here, if the driving route R actually traveled during teacher driving is used as the teacher route R2 for autonomous driving, it may be difficult to follow during autonomous driving. In other words, if the driving route R during teacher driving is used as the teacher route R2 as is, it may be difficult for the autonomous driving to follow the teacher route R2.

[0069] Therefore, in this embodiment, the control unit 11 corrects the stored travel route R based on the stored external conditions. That is, the control unit 11 corrects at least a part of the travel route R actually traveled during teacher travel, which is represented by the travel route data 18B, based on the external conditions represented by the stored external condition data 18C.

[0070] The control unit 11 generates a corrected route R1 by correcting at least a part of the travel route R so that travel along the travel route R is possible during autonomous travel.

[0071] In this embodiment, the control unit 11 corrects the curvature of a curvature portion of the stored travel route R that has a curvature equal to or greater than a predetermined curvature, so that the curvature is less than the predetermined curvature, based on the stored external situation.

[0072] The predetermined curvature may be set in advance to the maximum curvature at which the vehicle 1 can travel during autonomous traveling. For example, the predetermined curvature may be set in advance to the curvature of the traveling trajectory obtained during autonomous traveling with the maximum steering angle due to the limitations of the electric power steering during autonomous traveling.

[0073] The control unit 11 identifies a curvature partial route included in the travel route R. Then, the control unit 11 corrects at least a part of the travel route R so that the curvature of the identified curvature partial route is equal to or smaller than a predetermined curvature.

[0074] FIG. 5 is an explanatory diagram of an example of generation of the corrected path R1 by the control unit 11.

[0075] For example, assume that the travel route R includes a curvature partial route C1 with a curvature equal to or greater than a predetermined curvature. The curvature partial route C1 is an example of the curvature partial route C. In this case, the control unit 11 corrects the curvature of the curvature partial route C1 so that it is less than the predetermined curvature.

[0076] Specifically, the control unit 11 identifies a curvature partial path C1 included in the travel route R represented by the travel route data 18B. The control unit 11 may identify, as the curvature partial path C1, an area in the travel route R represented by the travel route data 18B that includes a partial path whose curvature is equal to or greater than a predetermined curvature.

[0077] Then, the control unit 11 generates a corrected route R1 by correcting at least a part of the travel route R so that the curvature of the identified curvature partial route C1 is less than a predetermined curvature.

[0078] The control unit 11 calculates the side free spaces FSa on the first side S1 and the second side S2 of the vehicle 1 into which the vehicle 1 can enter, based on the stored external situation.

[0079] The lateral free space FSa is an example of the free space FS.

[0080] The free space FS is a space in the real space around the vehicle 1 that the vehicle 1 can enter. The free space FS is also a space that does not overlap with the travel route R at least in part.

[0081] The free space FS includes the side free space FSa and the front and rear free spaces. The side free space FSa is the free space FS on the first side S1 and the second side S2 into which the vehicle 1 can enter. The front and rear free spaces are the free spaces FS on at least one of the front S3 and rear S4 of the vehicle 1 into which the vehicle 1 can enter.

[0082] The control unit 11 analyzes the external condition data 18C corresponding to the travel information of each position of the vehicle 1 constituting the curvature partial path C1 on the travel route R represented by the travel route data 18B. Through this analysis process, the control unit 11 identifies, as a lateral free space FSa, an area around the travel route R that is free of obstacles, that the vehicle 1 can enter, and that is adjacent (continuous) to at least one of the first lateral side S1 and the second lateral side S2 of the curvature partial path C1. Through this analysis process, the control unit 11 also identifies, as a front-rear free space, an area around the travel route R that is free of obstacles, that the vehicle 1 can enter, and that is adjacent (continuous) to at least one of the front S3 and rear S4 of the curvature partial path C1 when the vehicle 1 is located on the curvature partial path C1.

[0083] Figure 5 shows an example of a scene in which the control unit 11 identifies a lateral free space FS1 located on the second side S2 of the travel route R and a lateral free space FS2 located on the first side S1 of the travel route R.

[0084] Then, the control unit 11 corrects the stored travel route R based on the lateral free space FSa. Specifically, the control unit 11 corrects at least a part of the travel route R to a corrected route R1 that passes through the lateral free space FSa so that the curvature of the curvature portion route C1 is less than a predetermined curvature.

[0085] When the control unit 11 identifies the curvature partial path C1 representing a right turn or a left turn, it is preferable to correct the travel path R to a corrected path R1 that preferentially passes through the lateral free space FSa corresponding to the opposite side of the turning direction (right side in FIG. 5) of the vehicle 1 along the path of the curvature represented by the curvature partial path C1. By correcting the travel path R to a corrected path R1 that preferentially passes through the lateral free space FSa corresponding to the opposite side of the turning direction (right side in FIG. 5) of the vehicle 1, it is possible to generate the corrected path R1 so that the vehicle 1 can travel in a posture along the original travel path R more quickly after autonomously traveling along the curvature path portion obtained by correcting the curvature partial path C1 in the corrected path R1.

[0086] For example, assume that the control unit 11 has identified the curvature partial path C1 representing a right turn or a left turn as shown in Fig. 5. Also assume that the control unit 11 has identified the side free space FSa1 present on the second side S2, or the side free space FSa1 present on the second side S2 and the side free space FSa2 present on the first side S1.

[0087] In this case, the control unit 11 corrects the travel path R to a corrected path R1A having a curvature less than the predetermined curvature and passing through a lateral free space FSa corresponding to the outside of the circle of curvature of the curvature represented by the curvature partial path C1. The corrected path R1A is an example of the corrected path R1. In other words, the control unit 11 corrects at least a portion of the travel path R to a corrected path R1A that passes through a lateral free space FSa corresponding to the opposite side of the turning direction (right side in FIG. 5) of the vehicle 1 along the path of the curvature represented by the curvature partial path C1.

[0088] Also, for example, assume that the control unit 11 includes a curvature partial path C1 representing a right turn or a left turn as shown in Fig. 5. Also assume that the control unit 11 is unable to identify the side free space FSa1, but identifies the side free space FSa2 present on the first side S1.

[0089] In this case, the control unit 11 corrects at least a portion of the traveling path R to a corrected path R1B having a curvature less than the predetermined curvature and passing through the lateral free space FSa2 corresponding to the inside of the circle of curvature of the curvature represented by the curvature partial path C1. The corrected path R1B is an example of the corrected path R1. In other words, the control unit 11 corrects the traveling path R to a corrected path R1B that passes through the lateral free space FSa2 corresponding to the side corresponding to the turning direction of the vehicle 1 (the right side in FIG. 5) along the path of the curvature represented by the curvature partial path C1.

[0090] Fig. 6 is an explanatory diagram of an example of generation of a corrected route R1 by the control unit 11. Fig. 6 shows an example in which the travel route R includes a switching point Pa for changing the direction or orientation of the vehicle 1.

[0091] A scene in which the control unit 11 has identified the side free space FSa4, the front and rear free spaces FSb, and the side free space FSa3 is shown as an example.

[0092] The lateral free space FSa4 is an example of a lateral free space FSa existing on the first side S1 with respect to the curvature partial path C2 existing between a predetermined position P1 on the travel route R and the turning point Pa. The front-rear free space FSb is an example of a front-rear free space FSb existing in front S3 or behind S4 with respect to the curvature partial path C2 and the curvature partial path C3 that constitute the turning point Pa. The lateral free space FSa3 is an example of a lateral free space FSa existing on the first side S1 with respect to the curvature partial path C3 between the turning point Pa and the parking target position P2. The curvature partial path C2 and the curvature partial path C3 are examples of the curvature partial path C.

[0093] The control unit 11 corrects at least a portion of the travel route R based on the front and rear free space FSb. First, the control unit 11 corrects the switching point Pa to a switching point Pb that is a point within the front and rear free space FSb. Then, the control unit 11 changes the travel route R to the switching point Pa and corrects it to a corrected route R1 that passes through the front and rear free space FSb and has a curvature less than the predetermined curvature, with the switching point Pb within the front and rear free space FSb as the switching point.

[0094] For example, assume that the control unit 11 has identified a curvature partial path C2 and a curvature partial path C2 on a travel route R that includes a turning point Pa shown in Fig. 6. Also assume that the control unit 11 has identified a lateral free space FSa3, a lateral free space FSa4, and a front and rear free space FSb shown in Fig. 6.

[0095] In this case, the control unit 11 corrects the switching point Pa on the travel path R to a switching point Pb in the front and rear free spaces FSb. Then, the control unit 11 corrects the curvature partial path C2 from the predetermined position P1 to the switching point Pa to a corrected path R1B with less than the predetermined curvature that passes from the predetermined position P1 through the lateral free space FSa4 to the switching point Pb. The control unit 11 also corrects the curvature partial path C3 from the switching point Pa to the parking target position P2 to a corrected path R1C with less than the predetermined curvature that passes from the switching point Pc through the lateral free space FSa3 to the parking target position P2. Through these processes, the control unit 11 generates a corrected path R1 represented by the corrected path R1B and the corrected path R1C.

[0096] Returning to Figure 1, we continue the explanation.

[0097] The control unit 11 causes the display device 22 to display the corrected route R1 generated by correcting the travel route R through the above-described correction process. The display device 22 displays the corrected route R1. The display device 22 may display the corrected route R1 together with the travel route R. The display device 22 may display the corrected route R1 together with a free space FS.

[0098] FIG. 7 is a schematic diagram of an example of a display screen 30 displayed by the display device 22. As shown in FIG.

[0099] The display screen 30 includes, for example, a predetermined position P1, a parking target position P2, a turning point Pa, a driving route R from the predetermined position P1 to the parking target position P2 via the turning point Pa, side free spaces FSa, front and rear free spaces FSb, the turning point Pb, and a corrected route R1. The display screen 30 may also include a message M indicating wording urging the occupant to approve the registration of a route obtained by changing a part of the driving route R used during teacher driving to the corrected route R1 as the driving route R.

[0100] By displaying the display screen 30 including at least the corrected route R1 on the display device 22, the vehicle control device 10 can provide the corrected route R1 of the travel route R in a recognizable manner to the passenger.

[0101] Returning to Figure 1, we continue the explanation.

[0102] The control unit 11 stores the corrected route R1 as a teacher route R2 in the storage device 18. That is, the control unit 11 stores corrected route data represented by the corrected route R1 obtained by correcting the travel route R as teacher route data 18E representing the teacher route R2 in the storage device 18. As described above, the control unit 11 may store the teacher route data 18E in a storage device external to the vehicle 1.

[0103] In addition, if the display 22 displays a corrected route R1 obtained by correcting the driving route R and the input device 20 receives a predetermined input, the control unit 11 may store the corrected route R1 in the memory device 18 as a teacher route R2.

[0104] For example, if a passenger who views the display screen 30 shown in Fig. 7 displayed on the display device 22 agrees to store the displayed corrected route R1 as a teacher route R2, the passenger inputs a storage instruction to instruct storage by operating the input device 20. When the input device 20 accepts the input of the storage instruction, the control unit 11 stores the corrected route data represented by the corrected route R1 displayed on the display 22 in the storage device 18 as teacher route data 18E representing the teacher route R2.

[0105] Furthermore, when the display 22 displays a corrected route R1 obtained by correcting the travel route R and the input device 20 receives a regeneration instruction through an operation by the passenger, the control unit 11 may regenerate a corrected route R1 that passes through an area in the free space FS different from the corrected route R1 previously generated and displayed. Then, when the display 22 displays the corrected route R1 and receives a storage instruction through an operation of the input device 20 by the passenger, the control unit 11 may store the corrected route data represented by the corrected route R1 in the storage device 18 as teacher route data 18E representing a teacher route R2.

[0106] When the control unit 11 receives a signal indicating an instruction to start the autonomous driving mode, for example, by the passenger operating the input device 20, the control unit 11 switches the driving mode to the autonomous driving mode. The control unit 11 then estimates the current position of the vehicle 1 based on the map data 18D and captured images of the surroundings of the vehicle 1 acquired by at least one camera 16B. The control unit 11 then controls the movement control unit 12 so that the estimated current position of the vehicle 1 is located on the teacher route R2 represented by the teacher route data 18E, thereby causing the vehicle 1 to autonomously drive from a predetermined position P1 along the teacher route R2 toward the parking target position P2. The control unit 11 then stops the vehicle 1 at the parking target position P2.

[0107] Therefore, in the vehicle control device 10 of this embodiment, the driving route R actually driven during teacher driving is corrected based on external conditions to create a corrected route R1, which is used as a teacher route R2, and the vehicle can drive autonomously along the teacher route R2.

[0108] Next, an example of the flow of information processing executed by the control unit 11 of the vehicle control device 10 will be described.

[0109] FIG. 8 is a flowchart showing an example of the flow of information processing executed by the control unit 11 in the teacher running mode.

[0110] The control unit 11 determines whether or not a signal representing an instruction to start the teacher running mode has been received from the input device 20 (step S100). If the determination in step S100 is negative (step S100: No), the control unit 11 ends this routine. If the determination in step S100 is positive (step S100: Yes), the control unit 11 proceeds to step S102.

[0111] When the vehicle 1 starts its teacher driving by operating the vehicle 1 by the occupant, the control unit 11 sequentially stores the feature points, driving information, and external condition data 18C in the storage device 18 (step S102). Specifically, the control unit 11 sequentially stores the current position of the vehicle 1 estimated along the teacher driving of the vehicle 1 in the route management DB 18A. At this time, the control unit 11 assigns an INDEX to the current position and sequentially stores the current position, which is the driving position, heading, driving direction, and reference driving information, in association with each other as driving information. The control unit 11 also registers the external condition data 18C representing the external conditions of each current position acquired by the sensor 16 during teacher driving in the route management DB 18A in association with each current position. The control unit 11 also identifies feature points by performing image analysis on images captured by the camera 16B during teacher driving, and sequentially registers the feature points in the map data 18D.

[0112] The control unit 11 determines whether or not an instruction to end the teacher driving mode has been received (step S104). The control unit 11 makes the determination in step S104 by determining whether or not a signal representing the end instruction has been received from the input device 20 by the passenger via the input device 20. If the control unit 11 makes a negative determination in step S104 (step S104: No), the control unit 11 returns to step S102. If the control unit 11 makes a positive determination in step S104 (step S104: Yes), the control unit 11 proceeds to step S106.

[0113] In step S106, the control unit 11 stores in the storage device 18 the driving route data 18B representing the driving route R traveled during teacher driving, the external situation data 18C, and the map data 18D (step S106). The control unit 11 stores in the storage device 18 the driving route data 18B representing the driving route R during teacher driving, which is represented by the group of sequentially estimated current positions and driving information stored by the processing of step S102. The control unit 11 also stores in the storage device 18 the group of driving route data 18B sequentially acquired by the processing of step S102. The control unit 11 also stores in the storage device 18 the map data 18D in which the feature points identified by the processing of step S102 are registered. Then, this routine ends.

[0114] Next, an example of the flow of the teacher route storage process executed by the control unit 11 will be described.

[0115] 9 is a flowchart showing an example of the flow of a teacher route storage process executed by the control unit 11. The control unit 11 may execute the teacher route storage process at least after the travel route data 18B is stored in the storage device 18.

[0116] The control unit 11 reads the travel route data 18B from the storage device 18 (step S202). Then, the control unit 11 determines whether the travel route R represented by the travel route data 18B includes a curvature partial route C having a curvature equal to or greater than a predetermined curvature (step S202). If it is determined that the curvature partial route C is included (step S202: Yes), the control unit 11 proceeds to step S204.

[0117] In step S204, the control unit 11 identifies a free space FS (step S204). The control unit 11 reads, from the storage device 18, external condition data 18C corresponding to each of the multiple pieces of travel information that make up the curvature partial route C. The control unit 11 then analyzes the read external condition data 18C. Through this analysis process, the control unit 11 identifies, as a lateral free space FSa, an area around the travel route R that is free of obstacles, that the vehicle 1 can enter, and that is adjacent (continuous) to at least one of the first lateral side S1 and the second lateral side S2 of the curvature partial route C. Through this analysis process, the control unit 11 also identifies, as a front-rear free space FSb, an area around the travel route R that is free of obstacles, that the vehicle 1 can enter, and that is adjacent (continuous) to at least one of the front S3 and rear S4 of the curvature partial route C when the vehicle 1 is located on the curvature partial route C.

[0118] Next, the control unit 11 generates a corrected route R1 by correcting the travel route R represented by the travel route data 18B read in step S202 based on the free space FS identified in step S204 (step S206). As described above, the control unit 11 corrects at least a part of the travel route R to the corrected route R1 that passes through the free space FS so that the curvature of the curvature partial route C identified in step S202 is less than the predetermined curvature control.

[0119] The control unit 11 causes the display device 22 to display the display screen 30 including the corrected path R1 generated in step S206 (step S208). Through the processing of step S208, the display device 22 displays, for example, the display screen 30 shown in FIG.

[0120] The control unit 11 determines whether the input device 20 has received a storage instruction (step S210). The control unit 11 makes the determination in step S210 by determining whether a storage instruction indicating that the displayed corrected route R1 is to be stored as a teacher route R2 has been input by the passenger operating the input device 20. If the control unit 11 makes a positive determination in step S210 (step S210: Yes), the process proceeds to step S212. If the control unit 11 makes a negative determination in step S210 (step S210: No), the process proceeds to step S214, which will be described later.

[0121] In step S212, the control unit 11 stores the corrected route data represented by the corrected route R1 displayed on the display unit 22 in step S208 as teacher route data 18E representing the teacher route R2 in the storage device 18 (step S212). Then, this routine ends.

[0122] On the other hand, if the determination in step S202 is negative (step S202: No), the process proceeds to step S214. In step S214, the control unit 11 stores the travel route data 18B as teacher route data 18E representing the teacher route R2 in the storage device 18 (step S214). Then, this routine ends.

[0123] FIG. 10 is a flowchart showing an example of the flow of information processing executed by the control unit 11 in the autonomous driving mode.

[0124] The control unit 11 determines whether or not a signal representing an instruction to start the autonomous driving mode has been received (step S300). The control unit 11 makes the determination in step S300 by determining whether or not a signal representing an instruction to start the autonomous driving mode has been received from the input device 20. If the determination in step S300 is negative (step S300: No), this routine ends. If the determination in step S300 is positive (step S300: Yes), the process proceeds to step S302.

[0125] In step S302, the control unit 11 reads the teacher route data 18E and the map data 18D from the storage device 18 (step S302). Then, the control unit 11 starts autonomous traveling along the teacher route R2 (step S304).

[0126] The control unit 11 controls the movement control unit 12 to cause the vehicle 1 to autonomously travel along the teacher route R2 represented by the teacher route data 18E read in step S302 (step S306). That is, the control unit 11 controls the movement control unit 12 so that the current position of the vehicle 1 included in the travel sensor information acquired from the travel sensor 14 is a position on the teacher route R2 represented by the teacher route data 18E, thereby causing the vehicle 1 to autonomously travel along the teacher route R2 from a predetermined position P1 toward the parking target position P2. Then, the control unit 11 determines whether the vehicle 1 has reached the parking target position P2 (step S308). If the determination in step S308 is negative (step S308: No), the control unit 11 returns to step S306. If the determination in step S308 is positive (step S308: Yes), the control unit 11 ends this routine.

[0127] As described above, the vehicle control device 10 of this embodiment is configured to be connected to a sensor 16 that acquires external conditions, a display 22 that can be seen by a passenger, and a movement control unit 12 that controls at least steering. The vehicle control device 10 is configured to control at least steering and execute the vehicle 1 that is capable of autonomous driving to the parking target position P2 along a teacher route R2 obtained by teacher driving from a predetermined position P1 to the parking target position P2.

[0128] The sensor 16 is capable of detecting obstacles at least on a first side S1 of the vehicle 1 and on a second side opposite the first side. The vehicle control device 10 stores the travel route R actually traveled during teacher travel and the external conditions acquired by the sensor 16, and corrects the stored travel route R based on the stored external conditions. The display 22 displays a corrected route R1 obtained by correcting the travel route R. The vehicle control device 10 is configured to store the corrected route R1 as a teacher route R2.

[0129] In this way, the vehicle control device 10 of this embodiment corrects the driving route R actually traveled during teacher driving based on the situation outside the vehicle 1. Then, the vehicle control device 10 stores the corrected route R1 obtained by correcting the driving route R as a teacher route R2. Therefore, during autonomous driving, the vehicle 1 replaces the driving route R with the corrected route R1 obtained by correcting the driving route R, and becomes able to autonomously drive from a predetermined position P1 to a parking target position P2 along the teacher route R2.

[0130] Therefore, the vehicle control device 10 of this embodiment prevents a driving route R that is difficult to follow during autonomous driving from being stored as a teacher route R2, thereby preventing parking assistance by autonomous driving along the teacher route R2 from becoming difficult.

[0131] Therefore, the vehicle control device 10 of this embodiment can provide more suitable parking assistance.

[0132] Next, the hardware configuration of the vehicle control device 10 of this embodiment will be described.

[0133] FIG. 11 is a block diagram showing an example of the hardware configuration of the vehicle control device 10. As shown in FIG.

[0134] The vehicle control device 10 has a hardware configuration that utilizes a normal computer, with a CPU (Central Processing Unit) 11A, a ROM (Read Only Memory) 11B, a RAM (Random Access Memory) 11C, an I / F 11D for connecting to various devices, and the like interconnected by a bus 11E.

[0135] The CPU 11A is a calculation device that controls the overall processing of the vehicle control device 10. The RAM 11C stores data necessary for various processes by the CPU 11A. The ROM 11B stores programs and the like that realize various processes by the CPU 11A. The I / F 11D is an interface that is connected to an external device or external terminal via a communication line or the like and transmits and receives data to and from the connected external device or external terminal.

[0136] The programs for executing the various processes described above executed by the vehicle control device 10 are provided by being pre-installed in the ROM 11B, etc. The programs for executing the vehicle control method executed in this embodiment may be configured to be provided by being recorded on a computer-readable recording medium such as a CD-ROM, a flexible disk (FD), a CD-R, or a digital versatile disc (DVD) in a format that can be installed or executed by these devices.

[0137] The program for executing the vehicle control method according to the present embodiment may be stored on a computer connected to a network such as the Internet and provided by being downloaded via the network. The program for executing the vehicle control method according to the present embodiment may be provided or distributed via a network such as the Internet.

[0138] Although an embodiment of the present disclosure has been described, this embodiment is presented as an example and is not intended to limit the scope of the invention. This embodiment can be implemented in various other forms, and various omissions, substitutions, and modifications can be made without departing from the spirit of the invention. This embodiment is included in the scope and spirit of the invention, as well as in the invention described in the claims and their equivalents. [Explanation of symbols]

[0139] 1 vehicle 10 Vehicle control device 12 Movement control unit 14 Travel sensor 16 sensors 16A Object Detection Sensor 16B Camera 18 Storage device 20 Input Devices 22 Display R Travel route R1 correction path R2 Teacher Pathway

Claims

1. A vehicle control method is carried out by a vehicle that is equipped with a sensor that acquires an external situation, a display that can be seen by a passenger, and a movement control unit that controls at least steering, and that is capable of autonomous driving to a parking target position by controlling at least steering along a teacher route obtained by teacher driving from a predetermined position to the parking target position, the sensor is capable of detecting obstacles on at least a first side of the vehicle and a second side opposite the first side; storing the actual travel route traveled during the instructor travel and the external conditions acquired by the sensor; Correcting the stored travel route based on the stored external situation; The display displays a corrected route obtained by correcting the travel route, storing the corrected path as the teacher path; Vehicle control method.

2. The display displays the corrected route together with the travel route. The vehicle control method according to claim 1 .

3. determining side free spaces on the first side and the second side of the vehicle that the vehicle can enter based on the stored external situation; correcting the stored travel path based on the lateral free space; The vehicle control method according to claim 1 .

4. the display displays the corrected path together with the lateral free space. The vehicle control method according to claim 3.

5. correcting the stored travel route to a route that passes through the side free space based on the side free space; The vehicle control method according to claim 3.

6. the sensor is further capable of detecting obstacles at least in front of the vehicle and behind the vehicle; determining a front-rear free space in front of and behind the vehicle that the vehicle can enter based on the stored external situation; correcting the stored travel route based on the front and rear free spaces; The vehicle control method according to claim 1 .

7. The display displays the correction path together with the front and rear free spaces. The vehicle control method according to claim 6.

8. The sensor The system includes at least one of a camera equipped with an imaging element, a sonar that transmits and receives acoustic waves, and a radar or lidar that transmits and receives electromagnetic waves. The vehicle control method according to claim 1 .

9. the vehicle further includes an input device that accepts input from the passenger; When the input device receives a predetermined input after the display device displays the corrected path, the corrected path is stored as the teacher path. The vehicle control method according to claim 1 .

10. correcting the curvature of a curvature portion of the stored travel route that has a curvature equal to or greater than a predetermined curvature based on the stored external situation so that the curvature is less than the predetermined curvature; The vehicle control method according to claim 1 .

11. A vehicle control device configured to be connected to a sensor that acquires an external situation, a display that can be seen by a passenger, and a movement control unit that controls at least steering, and configured to control at least steering along a teacher route obtained by teacher driving from a predetermined position to a parking target position, and to be executed by a vehicle that is capable of autonomous driving to the parking target position, the sensor is capable of detecting obstacles on at least a first side of the vehicle and a second side opposite the first side; storing the actual travel route traveled during the instructor travel and the external conditions acquired by the sensor; Correcting the stored travel route based on the stored external situation; The display displays a corrected route obtained by correcting the travel route, The corrected path is stored as the teacher path. Vehicle control device.

12. The display displays the corrected route together with the travel route. The vehicle control device according to claim 11.

13. determining side free spaces on the first side and the second side of the vehicle that the vehicle can enter based on the stored external situation; correcting the stored travel path based on the lateral free space; The vehicle control device according to claim 11.

14. the display displays the corrected path together with the lateral free space. The vehicle control device according to claim 13.

15. correcting the stored travel route to a route that passes through the side free space based on the side free space; The vehicle control device according to claim 13.

16. the sensor is further capable of detecting obstacles at least in front of the vehicle and behind the vehicle; determining a front-rear free space in front of and behind the vehicle that the vehicle can enter based on the stored external situation; correcting the stored travel route based on the front and rear free spaces; The vehicle control device according to claim 11.

17. The display displays the correction path together with the front and rear free spaces. The vehicle control device according to claim 16.

18. The vehicle control device according to claim 11, The sensor The system includes at least one of a camera equipped with an imaging element, a sonar that transmits and receives acoustic waves, and a radar or lidar that transmits and receives electromagnetic waves. The vehicle control device according to claim 11.

19. The vehicle control device according to claim 11, the vehicle further includes an input device that accepts input from the passenger; When the input device receives a predetermined input after the display device displays the corrected path, the corrected path is stored as the teacher path. The vehicle control device according to claim 11.

20. correcting the curvature of a curvature portion of the stored travel route that has a curvature equal to or greater than a predetermined curvature based on the stored external situation so that the curvature is less than the predetermined curvature; The vehicle control device according to claim 11.

Images