Vehicle control device, control method, and control program

Abstract

To determine whether a recognized signal is a signal corresponding to a travel path even if position information on the signal is not prepared in advance.SOLUTION: A control device 30 includes: a recognition unit 31 for recognizing a surrounding situation of a vehicle 1; an acquisition unit 32 for acquiring signal information including information indicating a position of a signal recognized by the recognition unit 31, and storing the signal information in a storage unit 35; a processing unit 33 for determining whether the recognized signal is a signal corresponding to a travel path of the vehicle 1, on the basis of the signal information acquired by the acquisition unit 32; and a vehicle control unit 34 for controlling the vehicle 1 on the basis of a processing result of the processing unit 33. When a plurality of pieces of the signal information are stored in the storage unit 35, the processing unit 33 sets a signal presence range serving as a condition for determining the signal corresponding to the travel path, on the basis of the plurality of pieces of the signal information, and determines whether the recognized signal is the signal corresponding to the travel path on the basis of the signal information on the recognized signal and the signal presence range.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present invention relates to a vehicle control device, a control method, and a control program for controlling a vehicle. [Background technology]

[0002] In recent years, efforts to provide access to sustainable transport systems that take into consideration vulnerable transport participants have been gaining momentum. As part of these efforts, research and development is being conducted on driver assistance technologies and autonomous driving technologies for automobiles and other vehicles in order to further improve road safety and convenience.

[0003] As an example of driving assistance technology, Patent Document 1 listed below discloses a technology in which two or more traffic lights that are expected to appear in an image obtained by capturing an image of the vehicle's surroundings are identified based on map information including position information of traffic lights around the vehicle and the vehicle's own position, and a priority is set between the two or more identified traffic lights based on the possibility that the traffic lights will be blocked, and the traffic light with the highest priority among the two or more traffic lights is detected from the image. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] Patent No. 6337961 Summary of the Invention [Problem to be solved by the invention]

[0005] However, the above-mentioned conventional technology is based on the assumption that map information including the position information of traffic lights around the vehicle is used, so for vehicles that do not have traffic light position information prepared in advance, there is a risk that appropriate control will not be possible in accordance with the traffic lights corresponding to the route the vehicle is traveling on.

[0006] The present invention provides a vehicle control device, a control method, and a control program that enable appropriate control in accordance with the traffic lights corresponding to the road on which the vehicle is traveling, even if traffic light position information is not prepared in advance, thereby improving traffic safety and contributing to the development of a sustainable transportation system. [Means for solving the problem]

[0007] One aspect of the present invention is A vehicle control device that controls a vehicle, a recognition unit that recognizes a surrounding situation of the vehicle; an acquisition unit that acquires traffic light information including information indicating the position of the traffic light when the recognition unit recognizes the traffic light, and stores the traffic light information in a storage unit; a processing unit that determines whether the recognized traffic light is a traffic light corresponding to the road on which the vehicle is traveling, based on the traffic light information acquired by the acquisition unit; and a vehicle control unit that controls the vehicle based on a processing result of the processing unit; Equipped with The acquisition unit At a predetermined interval, traffic light information is acquired based on the recognition result by the recognition unit at that time, and the traffic light information is stored in the storage unit, The processing unit When a plurality of pieces of traffic light information are stored in the storage unit, a traffic light existence range is set as a condition for determining that a traffic light corresponds to the road based on the plurality of pieces of traffic light information; determining whether the recognized traffic light is a traffic light corresponding to the road based on traffic light information of the recognized traffic light and the set traffic light presence range; A vehicle control device.

[0008] Another aspect of the present invention is The computer that controls the vehicle Recognizing the surrounding situation of the vehicle; When a traffic light is recognized, traffic light information including information indicating the position of the traffic light is acquired, and the traffic light information is stored in a storage unit; determining whether the recognized traffic light is a traffic light corresponding to a road on which the vehicle is traveling based on the traffic light information; controlling the vehicle based on a determination result as to whether or not the traffic light corresponds to the road; Processing is performed, In the process of acquiring traffic light information, At a predetermined interval, traffic light information is acquired based on the recognition result of the surrounding situation at that time, and the traffic light information is stored in the storage unit, In the process of determining whether the traffic light corresponds to the road, When a plurality of pieces of traffic light information are stored in the storage unit, a traffic light existence range is set as a condition for determining that a traffic light corresponds to the road based on the plurality of pieces of traffic light information; determining whether the recognized traffic light is a traffic light corresponding to the road based on traffic light information of the recognized traffic light and the set traffic light presence range; It is a control method.

[0009] Another aspect of the present invention is The computer that controls the vehicle Recognizing the surrounding situation of the vehicle; When a traffic light is recognized, traffic light information including information indicating the position of the traffic light is acquired, and the traffic light information is stored in a storage unit; determining whether the recognized traffic light is a traffic light corresponding to a road on which the vehicle is traveling based on the traffic light information; controlling the vehicle based on a determination result as to whether or not the traffic light corresponds to the road; Let the processing take place, In the process of acquiring traffic light information, At a predetermined interval, traffic light information is acquired based on the recognition result of the surrounding situation at that time, and the traffic light information is stored in the storage unit, In the process of determining whether the traffic light corresponds to the road, When a plurality of pieces of traffic light information are stored in the storage unit, a traffic light existence range is set as a condition for determining that a traffic light corresponds to the road based on the plurality of pieces of traffic light information; determining whether the recognized traffic light is a traffic light corresponding to the road based on traffic light information of the recognized traffic light and the set traffic light presence range; It is a control program. [Effects of the Invention]

[0010] According to the present invention, it is possible to provide a vehicle control device, a control method, and a control program that enable appropriate control to be performed in accordance with the traffic lights corresponding to the road on which the vehicle is traveling, even if the position information of the traffic lights is not prepared in advance. [Brief explanation of the drawings]

[0011] [Figure 1] FIG. 1 is a block diagram showing a schematic configuration of a vehicle 1 equipped with a control device 30 that is an embodiment of a vehicle control device of the present invention. [Figure 2] FIG. 2 is a diagram showing an example of traffic light information that the acquisition unit 32 stores in the storage unit 35. As shown in FIG. [Figure 3] FIG. 3 is a diagram showing an example of the divided regions set by the processing unit 33. As shown in FIG. [Figure 4] FIG. 4 is a diagram showing an example of the deviation amount derived by the processing unit 33 and the samples extracted. [Figure 5] FIG. 5 is a diagram showing an example of the reference points set by the processing unit 33. As shown in FIG. [Figure 6] FIG. 6 is a diagram showing an example of the boundary distance derived by the processing unit 33. As shown in FIG. [Figure 7] FIG. 7 is a diagram showing an example of the traffic light existence range Ar set by the processing unit 33. As shown in FIG. [Figure 8] FIG. 8 is a flowchart (part 1) showing an example of a processing procedure performed by the control device 30. [Figure 9]FIG. 9 is a flowchart (part 2) showing an example of the processing procedure by the control device 30. DETAILED DESCRIPTION OF THE INVENTION

[0012] Hereinafter, an embodiment of a vehicle control device, a control method, and a control program of the present invention will be described with reference to the drawings. The drawings should be viewed in the direction of the reference symbols. Note that the following embodiment does not limit the present invention, and not all of the elements described in the following embodiment are necessarily essential to the present invention. Furthermore, two or more elements described in the following embodiment may be arbitrarily combined without departing from the spirit of the present invention. Hereinafter, identical or similar elements will be assigned identical or similar reference symbols, and their description may be omitted or simplified.

[0013] Furthermore, in order to simplify and clarify the explanation in this specification, unless otherwise specified, the front-to-back, left-to-right, and up-to-down directions will be described according to the directions as seen by the driver, who is an occupant of a vehicle (i.e., vehicle 1, described later) controlled by a control device that is one embodiment of the vehicle control device of the present invention (i.e., control device 30, described later).

[0014] [1. Vehicle] Fig. 1 is a block diagram showing a schematic configuration of a vehicle 1 equipped with a control device 30, which is one embodiment of a vehicle control device of the present invention. The vehicle 1 (hereinafter also referred to as "host vehicle") of this embodiment shown in Fig. 1 is an automobile equipped with a drive source (not shown) and wheels (not shown) including drive wheels driven by the power of the drive source and steerable wheels. As an example, the vehicle 1 can be a four-wheeled automobile having a pair of front wheels and a pair of rear wheels on the left and right.

[0015] The drive source of vehicle 1 may be an electric motor, an internal combustion engine such as a gasoline engine or a diesel engine, or a combination of an electric motor and an internal combustion engine. The drive source of vehicle 1 may drive a pair of left and right front wheels, a pair of left and right rear wheels, or a pair of left and right front and rear wheels, i.e., four wheels. Either one of the front wheels or the rear wheels of vehicle 1 may be steerable wheels, or both may be steerable wheels.

[0016] The vehicle 1 is configured to include a sensor group 10, a navigation device 20, a control device 30 which is an example of a vehicle control device of the present invention, an electric power steering (EPS: Electric Power Steering) system 40, a driving force control system 50, a braking force control system 60, a communication unit 70, an operation input unit 80, and an alarm device 90.

[0017] The sensor group 10 is configured to include an external sensor 11 that acquires information about the periphery of the vehicle 1 (hereinafter also referred to as "peripheral information"), and a vehicle sensor 12 that acquires information about the vehicle 1 (hereinafter also referred to as "vehicle information"). The information acquired by each sensor included in the sensor group 10 (in other words, detected values) is output to the control device 30 and is used for controlling the vehicle 1 by the control device 30 (hereinafter also referred to as "vehicle control").

[0018] The external sensor 11 includes, for example, a camera 111, a sonar 112, and a radar 113. The camera 111 is an imaging device that captures an image of the surroundings of the vehicle 1 including the area ahead of the vehicle 1, and outputs image data of the obtained surrounding image to the control device 30. As the camera 111, for example, a digital camera using an imaging element such as a CCD (Charge Coupled Device) or a CMOS (Complementary Metal Oxide Semiconductor) can be used.

[0019] Sonar 112 emits sound waves around vehicle 1 (for example, in front of, behind, and to the sides of vehicle 1) and receives reflected sound from objects around vehicle 1, thereby detecting the distance and direction of the objects. Radar 113 emits radio waves around vehicle 1, including in front of vehicle 1, and receives reflected waves from objects around vehicle 1, thereby detecting the distance and direction of the objects. For example, a millimeter wave radar can be used as radar 113.

[0020] The external sensor 11 may be configured to include a LiDAR (Light Detection and Ranging) instead of or in addition to the sonar 112 or the radar 113. In this case, the LiDAR emits laser light to the periphery of the vehicle 1 including the area ahead of the vehicle 1, and receives reflected light from an object present around the vehicle 1 to detect the distance and direction to the object.

[0021] The vehicle sensor 12 includes, for example, a wheel sensor 121, a vehicle speed sensor 122, an inertial measurement unit (IMU) 123, an occupant camera 124, an operation detection unit 125, and a steering touch sensor 126.

[0022] The wheel sensor 121 detects the rotation angle of one or more of the wheels of the vehicle 1. As an example, the wheel sensor 121 detects the rotation angle of each of the left rear wheel and the right rear wheel. As the wheel sensor 121, for example, an angle sensor or a displacement sensor can be adopted.

[0023] The vehicle speed sensor 122 detects the vehicle speed VP, which is the traveling speed (in other words, the moving speed of the vehicle body) of the vehicle 1. For example, the vehicle speed sensor 122 detects the vehicle speed VP based on the number of rotations of a countershaft (not shown) provided in the vehicle 1.

[0024] The inertial measurement unit 123 detects angular velocities in the pitch, roll, and yaw directions of the vehicle 1, and accelerations in the front-to-rear, left-to-right, and up-to-down directions of the vehicle 1. Note that instead of the inertial measurement unit 123, the vehicle sensor 12 may be configured to include an acceleration sensor that detects acceleration in a predetermined direction of the vehicle 1, or a gyro sensor that detects angular velocity in a predetermined direction of the vehicle 1.

[0025] The occupant camera 124 is a digital camera that captures an image of the interior of the vehicle 1 and outputs image data of the obtained interior image to the control device 30. For example, the occupant camera 124 can be a so-called "driver monitor camera" that is installed so as to be able to capture an image of the head (in other words, the face) of an occupant (hereinafter also referred to as "driver") sitting in the driver's seat of the vehicle 1 from the front. As with the camera 111, the occupant camera 124 can be a digital camera that uses an imaging element such as a CCD or CMOS.

[0026] The operation detection unit 125 detects an operation performed using the operation input unit 80 that is operable by the driver. In this embodiment, the operation input unit 80 may include, for example, an operation button (not shown) that accepts an operation to switch a predetermined driving assistance control on (in other words, activated) and off (in other words, not activated). In this case, the operation detection unit 125 can detect an operation to turn on / off the predetermined driving assistance control. Here, an example of the predetermined driving assistance control is vehicle control by the vehicle control unit 34, which will be described later.

[0027] The steering touch sensor 126 detects whether the steering wheel 46 of the vehicle 1 is being properly gripped. For example, the steering touch sensor 126 is realized by a capacitance sensor or the like. In this case, the capacitance sensor is provided at a portion where the driver touches the steering wheel 46 when the steering wheel 46 is being properly gripped.

[0028] The navigation device 20 includes, for example, a GNSS (Global Navigation Satellite System) receiver 21, a touch panel 22, and a speaker 23. The navigation device 20 also has a storage unit (not shown) configured with a flash memory or the like. The storage unit of the navigation device 20 stores a map information database (DB) 24 as an example of map information.

[0029] The map information database 24 is configured to include road network information. The road network information is information that represents each road as a combination of nodes and links (also called "paths") that connect the nodes. Each node in the road network information represents a characteristic point on a road, such as an intersection, a corner, or a dead end. In the road network information, each node is set with information indicating, for example, the point corresponding to the node (for example, coordinates that can identify a point on a map, such as latitude and longitude). In addition, in the road network information, each link is set with information indicating the nodes at both ends of the link, the road corresponding to the link, the link length, the number of lanes, the direction of travel, the road type, etc.

[0030] The GNSS receiver 21 identifies the current position of the vehicle 1 (for example, the latitude and longitude of the location where the vehicle 1 is located) based on signals received from GNSS satellites. Note that the navigation device 20 may acquire, for example, detection results from vehicle sensors 12 (for example, wheel sensors 121 and vehicle speed sensors 122) via the control device 30, and identify or complement the current position of the vehicle 1 by an INS (Inertial Navigation System) that uses the detection values ​​of the vehicle sensors 12.

[0031] The touch panel 22 is configured by combining a display device such as a liquid crystal display or an OLED (Organic Light Emitting Diode) with a pointing device (e.g., a touchpad). The speaker 23 is configured to be able to output audio to a passenger of the vehicle 1 (e.g., the driver).

[0032] For example, the navigation device 20 searches for a route from the current position of the vehicle 1 to a destination set by the driver using the touch panel 22 by referring to the map information database 24. Then, the navigation device 20 provides route guidance using the touch panel 22 and the speaker 23 based on the searched route. The navigation device 20 may also cause the touch panel 22 to display a predetermined information in accordance with an instruction from the control device 30. Furthermore, the navigation device 20 may output, for example, information indicating the identified current position of the vehicle 1 and predetermined information (for example, information indicating an operation received via the touch panel 22) to the control device 30.

[0033] In this embodiment, the control device 30 is configured to be able to refer to the map information database 24 (i.e., map information) of the navigation device 20. However, the present invention is not limited to this, and map information including road network information similar to that in the map information database 24 may be separately stored in the control device 30 or the like, and the control device 30 may be configured to refer to this map information.

[0034] The control device 30 is a computer that has, for example, a processor (not shown) that performs various calculations, a storage unit (for example, a storage unit 35 described later) that has a non-transitory storage medium (for example, a flash memory) that stores various information, an input / output unit (not shown) that controls input and output of data between the inside and outside of the control device 30, and the like, and performs overall control of the vehicle 1. For example, the control device 30 is realized by one ECU (Electronic Control Unit) or by multiple ECUs working together. Note that specific examples of control by the control device 30 will be described later, and therefore will not be described here.

[0035] The EPS system 40 includes, for example, a steering angle sensor 41, a torque sensor 42, an EPS motor 43, a resolver 44, and an EPS ECU 45.

[0036] The steering angle sensor 41 detects the steering angle θst of the steering wheel 46 and outputs information indicating the detected steering angle θst to the EPS ECU 45. The torque sensor 42 detects the steering torque TQ, which is the torque applied to the steering wheel 46 of the vehicle 1, and outputs information indicating the detected steering torque TQ to the EPS ECU 45.

[0037] The EPS motor 43 applies a driving force or a reaction force to a steering column 47 connected to the steering wheel 46 in accordance with instructions from the EPS ECU 45, thereby assisting the driver in operating the steering wheel 46. The resolver 44 detects a rotation angle θm of the EPS motor 43, and outputs information indicating the detected rotation angle θm to the EPS ECU 45.

[0038] The EPS ECU 45 is a computer that includes, for example, a processor that performs various calculations, a storage unit that has a non-transitory storage medium that stores various information, and an input / output unit that controls input and output of data between the inside and outside of the EPS ECU 45 (all of which are not shown), and is implemented by one or more ECUs. For example, the EPS ECU 45 controls the EPS system 40 (for example, the EPS motor 43) based on the steering angle θst detected by the steering angle sensor 41, the steering torque TQ detected by the torque sensor 42, the rotation angle θm detected by the resolver 44, etc. The EPS ECU 45 can also control the EPS system 40 in accordance with instructions from the control device 30.

[0039] Furthermore, the EPS system 40 (for example, the EPS ECU 45) may output information indicating the steering angle θst detected by the steering angle sensor 41, the steering torque TQ detected by the torque sensor 42, the rotation angle θm detected by the resolver 44, etc. to the control device 30. Furthermore, the EPS system 40 (for example, the EPS ECU 45) may output information indicating the steering speed ω of the steering wheel 46 to the control device 30. In this case, the steering speed ω can be obtained, for example, by differentiating the steering angle θst with respect to time.

[0040] The driving force control system 50 includes a driving ECU 51 and is configured to be able to control the driving force of the vehicle 1. The driving ECU 51 is a computer that controls the driving force control system 50 and is realized by one or more ECUs, and includes, for example, a processor that performs various calculations, a storage unit having a non-transitory storage medium that stores various information, and an input / output unit that controls input and output of data between the inside and outside of the driving ECU 51 (all of which are not shown). For example, the driving ECU 51 controls the power output from a driving source of the vehicle 1 based on operation of an accelerator pedal 52 provided on the vehicle 1. The driving ECU 51 can also control the driving force control system 50 (for example, the driving source) according to instructions from the control device 30.

[0041] The braking force control system 60 includes a braking ECU 61 and is configured to be able to control the braking force of the vehicle 1. The braking ECU 61 is a computer that controls the braking force control system 60 and includes, for example, a processor that performs various calculations, a storage unit having a non-transitory storage medium that stores various information, and an input / output unit that controls input and output of data between the inside and outside of the braking ECU 61 (all of which are not shown), and is realized by one or more ECUs. For example, the braking ECU 61 controls the braking force of the vehicle 1 by controlling a brake device (not shown) provided in the vehicle 1 based on operation of a brake pedal 62 provided in the vehicle 1. Here, the brake device includes, for example, a brake caliper, a cylinder that transmits hydraulic pressure to the brake caliper, and an electric motor that generates hydraulic pressure in the cylinder. The braking ECU 61 controls the electric motor of the brake device so that a braking force corresponding to operation of the brake pedal 62 is generated. The braking ECU 61 can also control the braking force control system 60 (for example, the brake device) according to instructions from the control device 30.

[0042] The communication unit 70 is a communication interface that communicates with the external device 2 under the control of the control device 30. That is, the control device 30 can communicate with the external device 2 via the communication unit 70. Examples of the external device 2 include a driver's terminal device (e.g., a smartphone) and a server device managed by the manufacturer of the vehicle 1. Note that communication between the vehicle 1 and the external device 2 can be performed using, for example, a mobile communication network such as a cellular line, Wi-Fi (registered trademark), or Bluetooth (registered trademark).

[0043] The warning device 90 is a device that issues a warning to the driver under the control of the control device 30. The warning device 90 includes, for example, an MID (Multi-Information Display) 91 and a buzzer 92.

[0044] The MID 91 is configured with a display device such as a liquid crystal display or an OLED, and is provided in a position visible to the driver (for example, in the meter panel of the vehicle 1). For example, the MID 91 displays a predetermined warning image in accordance with an instruction from the control device 30. The MID 91 may be shared with the above-mentioned touch panel 22. That is, the term "MID 91" in the following description may be read as "touch panel 22."

[0045] The buzzer 92 is configured to be able to output a predetermined alarm sound. For example, the buzzer 92 outputs the predetermined alarm sound in accordance with an instruction from the control device 30. The buzzer 92 may be shared with the above-mentioned speaker 23. That is, the "buzzer 92" in the following description may be read as the "speaker 23."

[0046] [2. Control device] Next, the control device 30 will be described in more detail. The control device 30 includes, for example, a recognition unit 31, an acquisition unit 32, a processing unit 33, and a vehicle control unit 34 as functional units realized by a processor executing a program stored in a storage unit of the control device 30. The control device 30 also includes a storage unit 35 capable of storing information. The storage unit 35 is configured, for example, by a flash memory.

[0047] The recognition unit 31 recognizes the surrounding situation of the vehicle 1. For example, the recognition unit 31 performs sensor fusion processing on the detection results from some or all of the camera 111, sonar 112, and radar 113 included in the external sensor 11, and recognizes the surrounding situation of the vehicle 1 based on the processing results.

[0048] The recognition unit 31 recognizes the position, type, speed, acceleration, etc. of objects present around the vehicle 1 as the surrounding conditions of the vehicle 1. At this time, the recognition unit 31 recognizes the position of the object as a position on absolute coordinates with a representative point of the vehicle 1 (for example, the center of gravity or the center of the drive shaft) as the origin. This makes it possible to recognize the relative position between the vehicle 1 and the objects present around it. Furthermore, on the above absolute coordinates, the position of the object may be represented using a representative point such as the center of gravity or a corner of the object, or may be represented as an area.

[0049] Examples of objects that can be recognized by the recognition unit 31 include traffic participants such as other vehicles and pedestrians, lane markings, curbs, medians, guardrails, shoulders, and other road structures. The recognition unit 31 can also recognize other road phenomena such as traffic lights, stop lines, crosswalks, road signs, forks, merging points, interchanges, and toll booths.

[0050] As an example, the recognition unit 31 recognizes at least one of the multiple lighting units (e.g., a blue lighting unit indicating "go ahead" or a red lighting unit indicating "stop") that a typical traffic light has from a surrounding image captured by the camera 111, and based on this, recognizes the traffic lights present around the vehicle 1 and also recognizes the light color (e.g., what color lighting unit is lit).

[0051] Such a recognition unit 31 can recognize, for example, the shape of the lane in which the vehicle 1 is traveling, as well as traffic lights (hereinafter also referred to as "traffic lights Sn") and other vehicles present around the vehicle 1.

[0052] In the following description, the road having the current lane, i.e., the road on which the vehicle 1 is traveling, is also referred to as the "travel path Rd1." Here, the travel path Rd1 may include other lanes whose traveling direction is the same as the current lane, but does not include other lanes whose traveling direction is opposite to the current lane (so-called "oncoming lanes"). In the following description, a road that intersects with the travel path Rd1 is also referred to as the "crossing road Rd2," and the intersection of the travel path Rd1 and the crossing road Rd2 is also referred to as the "intersection CP."

[0053] When a traffic light Sn is recognized by the recognition unit 31, the acquisition unit 32 acquires traffic light information including information indicating the position of the traffic light Sn (hereinafter also referred to as "traffic light position information") and stores the acquired traffic light information in the storage unit 35. Note that the acquisition unit 32 can acquire traffic light information at a predetermined period (for example, every 1 [s]) based on the recognition result by the recognition unit 31 at that time and store the acquired traffic light information in the storage unit 35.

[0054] For example, the acquisition unit 32 identifies a point (coordinates that can identify a point on a map, such as latitude and longitude, hereinafter also referred to as "traffic light position") corresponding to the traffic light Sn, by referring to map information such as the map information database 24, based on the relative position between the traffic light Sn and the vehicle 1 recognized by the recognition unit 31 and the current position of the vehicle 1 identified by the navigation device 20 (e.g., the GNSS receiver 21).The acquisition unit 32 then stores traffic light information, including traffic light position information indicating the identified traffic light position, in the storage unit 35.

[0055] The acquisition unit 32 may also correct the traffic light position based on the lane position of the current vehicle's lane on the travel road Rd1. As an example, assume that the travel road Rd1 is a three-lane road and that the current vehicle's lane is the leftmost lane of the three lanes. In this case, the acquisition unit 32 may determine the corrected traffic light position to be a point shifted a predetermined distance (e.g., 3 m) to the right from the traffic light position identified as described above.

[0056] As another example, suppose that the road Rd1 is a three-lane road and the right lane located on the far right of the three lanes is the own lane. In this case, the acquisition unit 32 may determine the corrected traffic light position to be a point shifted a predetermined distance (e.g., 3 m) to the left from the traffic light position identified as described above.

[0057] As another example, suppose that the road Rd1 is a three-lane road and the center lane between the left lane and the right lane is the vehicle's own lane. In this case, the acquisition unit 32 may use the traffic light position identified as described above as the traffic light position without making any particular corrections.

[0058] In this way, by correcting the traffic light position based on the lane position of the own lane on the travel road Rd1, it is possible to obtain an appropriate position (for example, a point) as the traffic light position regardless of the lane position of the own lane on the travel road Rd1. Note that a specific example of traffic light information will be described later, so its description will be omitted here.

[0059] The processing unit 33 determines whether the traffic light Sn recognized by the recognition unit 31 is a traffic light corresponding to the road Rd1 on which the vehicle 1 is traveling, based on the traffic light information acquired by the acquisition unit 32. Here, a traffic light corresponding to the road Rd1 is, for example, a traffic light that issues instructions such as "permit to proceed (e.g., turn on the green light)" or "stop (e.g., turn on the red light)" to the vehicle 1 traveling on the road Rd1.

[0060] As will be described in more detail later, the processing unit 33 sets a traffic light presence range (hereinafter also referred to as the "traffic light presence range Ar") that is the condition for determining that a traffic light corresponds to the road Rd1 based on multiple traffic light information stored in the memory unit 35, and determines whether the traffic light Sn is a traffic light that corresponds to the road Rd1 based on the traffic light information of the recognized traffic light Sn and the traffic light presence range Ar.

[0061] The vehicle control unit 34 controls the vehicle 1 based on the processing result of the processing unit 33. The vehicle control unit 34 reflects the processing result of the processing unit 33 in the vehicle control, and the vehicle control is not particularly limited. For example, if the processing unit 33 determines that the recognized traffic light Sn is a traffic light corresponding to the travel path Rd1 and the traffic light Sn indicates a "stop," the vehicle control unit 34 may control the vehicle 1 to stop before a predetermined stop line on the travel path Rd1. Furthermore, if the processing unit 33 determines that the recognized traffic light Sn is a traffic light corresponding to the travel path Rd1 and the traffic light Sn indicates a "stop," the vehicle control unit 34 may issue an alarm via the alarm device 90 to alert the driver if the vehicle 1 does not decelerate when the distance from the vehicle 1 to the traffic light Sn is equal to or less than a predetermined value.

[0062] [3. Example of processing realized by the functional unit of the control device] An example of the processing implemented by the functional units of the control device 30 will be described below.

[0063] (traffic information) First, a description will be given of an example of processing implemented by the acquisition unit 32. As described above, when the recognition unit 31 recognizes a traffic light Sn, the acquisition unit 32 acquires traffic light information and stores the acquired traffic light information in the storage unit 35.

[0064] 2 is a diagram showing an example of traffic light information stored in the storage unit 35 by the acquisition unit 32. In the storage unit 35, for example, a traffic light information table 35a shown in FIG. 2 is provided as a storage area for storing traffic light information. The traffic light information table 35a has fields corresponding to items such as a traffic light information ID (identifier), traffic light position, nearest node, light color, and acquisition time. The acquisition unit 32 stores the traffic light information in the storage unit 35 by setting information in each field of the traffic light information table 35a.

[0065] Here, the traffic light information ID is an identifier that identifies each piece of traffic light information. The traffic light position indicates the traffic light position of the recognized traffic light Sn (i.e., the point corresponding to that traffic light Sn). The nearest node indicates the node that is closest in distance to the traffic light position of the recognized traffic light Sn among the nodes included in map information such as the map information database 24. The light color indicates the light color of the recognized traffic light Sn, for example, which of the multiple light elements equipped on the traffic light Sn is lit. The acquisition time indicates the time (for example, year, month, day, hour, minute, and second) when each piece of traffic light information was acquired.

[0066] For example, the acquisition unit 32 periodically references the recognition result from the recognition unit 31, and if traffic light Sn is recognized, identifies the traffic light position and light color of the traffic light Sn. Furthermore, the acquisition unit 32 references map information such as the map information database 24 to identify the nearest node, which is the node closest to the traffic light position of the traffic light Sn, among the nodes corresponding to the road Rd1. The acquisition unit 32 then stores the identified traffic light position, light color, nearest node, and the time at that time in association with a traffic light information ID in the traffic light information table 35a (i.e., the storage unit 35). The time can be obtained, for example, by reference to a real time clock (RTC) (not shown) provided in the control device 30.

[0067] In this way, the acquisition unit 32 can acquire traffic light information including information indicating the traffic light position and light color of the recognized traffic light Sn, and the time the traffic light information was acquired, and store the acquired traffic light information in the memory unit 35.

[0068] It should be noted that even when multiple pieces of traffic light information are acquired for the same traffic light Sn, the traffic light positions indicated by each of these pieces of information do not necessarily match each other, and may vary due to the influence of recognition errors by the recognition unit 31, etc.

[0069] (Setting the division area) Next, we will explain the processing implemented by the processing unit 33. The processing unit 33 sets the traffic light existence range Ar through steps such as setting divided regions, extracting samples, setting reference points, and deriving boundary distances.

[0070] First, an example of the process of setting the divided areas will be described. In this process, the processing unit 33 sets divided areas that are divided into left and right areas in the traveling direction of the vehicle 1, with a first target link, which is a link corresponding to the traveling route Rd1, as the boundary.

[0071] Furthermore, in this step, if the recognized traffic light Sn is located at the intersection CP between the road Rd1 and the intersection Rd2, the processing unit 33 sets divided areas that divide the road Rd1 into left and right areas in the traveling direction of the vehicle 1, with a first target link corresponding to the road Rd1 as the boundary, and divide the road Rd1 into front and rear areas in the traveling direction of the vehicle 1, with a second target link corresponding to the intersection Rd2 as the boundary. This makes it possible to set a traffic light existence range Ar that conforms to the shape of the road Rd1, including the intersection CP that intersects with the intersection Rd2.

[0072] An example of the process of setting the divided regions will be described in more detail below with reference to FIG.

[0073] Fig. 3 is a diagram showing an example of divided areas set by the processing unit 33. In Fig. 3, link Lk11 and link Lk12 are links corresponding to the road Rd1 on which the vehicle 1 travels in map information such as the map information database 24, and are links corresponding to the first target link described above. Furthermore, link Lk21 and link Lk22 are links corresponding to the intersection Rd2 that intersects with the road Rd1 in map information such as the map information database 24, and are links corresponding to the second target link described above. Furthermore, between link Lk11 and link Lk12, and between link Lk21 and link Lk22, there are provided nodes Nd1 representing intersections CP between the road Rd1 and the intersection Rd2.

[0074] In this example, the vehicle 1 is traveling along a section of the road Rd1 that corresponds to the link Lk11 toward an intersection CP, where a traffic light (not shown) corresponding to the road Rd1 is provided.

[0075] When the vehicle 1 approaches such an intersection CP, the recognition unit 31 recognizes the traffic light installed at the intersection CP as a traffic light Sn present in the vicinity of the vehicle 1. Then, traffic light information about this traffic light Sn (i.e., the traffic light installed at the intersection CP) is acquired at a predetermined interval by the acquisition unit 32 and stored in the memory unit 35. As a result, a plurality of pieces of traffic light information about this traffic light Sn are stored in the memory unit 35. In FIG. 3, each "□" including traffic light positions P1 to P3 represents the traffic light position indicated by each of the plurality of pieces of traffic light information stored in the memory unit 35.

[0076] In this example, since the recognized traffic light Sn is located at the intersection CP of the road Rd1 and the intersection Rd2, the processing unit 33 sets divided regions that divide the road 1 into left and right regions in the traveling direction of the vehicle 1, with links Lk11 and Lk12 corresponding to the road Rd1 as boundaries, and divide the road 1 into front and rear regions in the traveling direction of the vehicle 1, with links Lk21 and Lk22 corresponding to the intersection Rd2 as boundaries. As a result, in this example, a first left-side region ArL1, a second left-side region ArL2, a first right-side region ArR1, and a second right-side region ArR2 are set as divided regions, as shown in FIG.

[0077] In this way, when the recognized traffic light is located at the intersection CP between the road Rd1 and the intersection Rd2, by dividing the road Rd1 into left and right regions in the direction of travel of the vehicle 1, with the first target link corresponding to the road Rd1 as the boundary, and by setting a divided area that divides the road Rd1 into front and back regions in the direction of travel of the vehicle 1, with the second target link corresponding to the intersection Rd2 as the boundary, it is possible to set a traffic light existence range Ar that conforms to the shape of the road Rd1, including the intersection CP that intersects with the intersection Rd2.

[0078] In addition, if the recognized traffic light Sn is not installed at the intersection CP, that is, if the link Lk21 and link Lk22 shown in Figure 3 do not exist, the processing unit 33 can set the divided areas as a left area that combines the first left area ArL1 and the second left area ArL2, and a right area that combines the first right area ArR1 and the second right area ArR2.

[0079] (Sample Extraction) Next, an example of the process of extracting samples will be described. In this process, for each set divided area, the processing unit 33 derives the deviation amount, which is the distance (more specifically, the smallest distance) between each of the traffic light information pieces that indicate positions included in that divided area among the multiple traffic light information pieces stored in the storage unit 35 and the first target link (i.e., the link corresponding to the road Rd1), and extracts a predetermined proportion or a predetermined number of samples in descending order of the deviation amount from the traffic light information pieces that indicate the largest deviation amount. Below, an example of the process of extracting samples will be described in more detail with reference to FIG. 4. Note that, in the following, parts that are common to FIG. 3 will be assigned the same reference numerals, and their description will be omitted or simplified.

[0080] Fig. 4 is a diagram showing an example of the deviation amounts derived and samples extracted by the processing unit 33. In the example shown in Fig. 4, when focusing on the first right-hand area ArR1, the processing unit 33 derives, as the deviation amounts, the distance between each piece of traffic light information indicating a position included in the first right-hand area ArR1, such as traffic light positions P1 to P3, and link Lk12, which is a link of the road Rd1 that is the boundary between the first left-hand area ArL1 and the first right-hand area ArR1. As a result, the processing unit 33 derives a deviation amount d1 as the distance between traffic light position P1 and link Lk12, a deviation amount d2 as the distance between traffic light position P2 and link Lk12, a deviation amount d3 as the distance between traffic light position P3 and link Lk12, and the like.

[0081] In this way, the processing unit 33 derives the deviation amount for each piece of traffic light information indicating a position included in the first right-hand area ArR1, and then extracts a predetermined percentage (e.g., the top 50%) of samples, for example, from the traffic light information with the largest derived deviation amount. As a result, traffic light information having a traffic light position within the first right-hand area ArR1, as shown in Fig. 4, within the ellipse indicated by the dashed-dotted line, is extracted as a sample in the first right-hand area ArR1.

[0082] The processing unit 33 similarly derives the deviation amount for each piece of traffic light information indicating a position included in the other set divided areas, and extracts samples based on the derived deviation amounts. As a result, in this example, traffic light information having a traffic light position as enclosed by an ellipse indicated by a dashed line in the first left-side area ArL1 is extracted as a sample in the first left-side area ArL1, and traffic light information having a traffic light position as enclosed by an ellipse indicated by a dashed line in the second left-side area ArL2 is extracted as a sample in the second left-side area ArL2. Furthermore, if there is no traffic light information indicating a position included in the divided area, such as the second right-side area ArR2, no sample is extracted for that divided area.

[0083] In the example described here, a predetermined percentage of traffic light information items with the highest deviation amounts are extracted as samples, but this is not limiting. Instead, for example, a predetermined number (e.g., five) of traffic light information items with the highest deviation amounts may be extracted as samples.

[0084] As explained above, by extracting a predetermined percentage or number of samples for each divided area in descending order of the traffic light information with the largest deviation amount in that divided area, it becomes possible to use only the traffic light information with the largest deviation amount as samples when setting the traffic light area Ar. This prevents the traffic light area Ar from being made too small, making it possible to set an appropriate traffic light area Ar.

[0085] (Setting the reference point) Next, an example of the step of setting a reference point will be described. In this step, for each divided area that has been set, the processing unit 33 sets a reference point for that divided area based on the average position of the positions indicated by each of the samples extracted for that divided area. Hereinafter, an example of the step of setting a reference point will be described in more detail with reference to FIG. 5. Note that, in the following, parts that are common to FIG. 3 or FIG. 4 are given the same reference numerals, and their description will be omitted or simplified.

[0086] Fig. 5 is a diagram showing an example of a reference point set by the processing unit 33. In the example shown in Fig. 5, for example, assume that traffic light information having a traffic light position as shown in the dashed-dotted ellipse in the first right-side region ArR1 is extracted as a sample in the first right-side region ArR1. In this case, the processing unit 33 sets the average position of the traffic light positions included in the area surrounded by the dashed-dotted ellipse in the first right-side region ArR1 as the reference point Pa of the first right-side region ArR1.

[0087] The processing unit 33 similarly sets a reference point for each of the other divided regions based on the average position of the positions indicated by the samples extracted for that divided region. That is, the processing unit 33 sets the average position of the traffic light positions included in the region enclosed by the dashed-dotted line in the first left-side region ArL1 as the reference point Pb for the first left-side region ArL1, and sets the average position of the traffic light positions included in the region enclosed by the dashed-dotted line in the second left-side region ArL2 as the reference point Pc for the second right-side region ArR2. Note that no reference point is set for divided regions from which no samples were extracted, such as the second right-side region ArR2.

[0088] (Derivation of boundary distance) Next, an example of the process of deriving the boundary distance will be described. In this process, the processing unit 33 derives, for each set divided area, a boundary distance that is the distance between the reference point in that divided area and the first target link (i.e., the link corresponding to the travel path Rd1). Hereinafter, with reference to FIG. 6, an example of the process of deriving the boundary distance will be described in more detail. Note that, in the following, parts that are common to FIG. 3, FIG. 4, or FIG. 5 will be given the same reference numerals, and their description will be omitted or simplified.

[0089] Fig. 6 is a diagram showing an example of a boundary distance derived by the processing unit 33. In the example shown in Fig. 6, when focusing on the first right-side area ArR1, the processing unit 33 derives, as the boundary distance dr1 for the first right-side area ArR1, the distance between the reference point Pa of the first right-side area ArR1 and the link Lk12, which is a link of the road Rd1 that is defined as the boundary between the first left-side area ArL1 and the first right-side area ArR1.

[0090] Similarly, when focusing on the first left-side area ArL1, the processing unit 33 derives the distance between the reference point Pb of the first left-side area ArL1 and link Lk12, which is a link of the road Rd1 that is the boundary between the first left-side area ArL1 and the first right-side area ArR1, as the boundary distance dr1 for the first left-side area ArL1.

[0091] Furthermore, when focusing on the second left-side area ArL2, the processing unit 33 derives the distance between the reference point Pc of the second left-side area ArL2 and the link Lk11 of the road Rd1 that is set as the boundary between the second left-side area ArL2 and the second right-side area ArR2 as the boundary distance dr2 for the second left-side area ArL2. Note that the boundary distance is not derived for divided areas in which no reference point is set, such as the second right-side area ArR2.

[0092] Note that there may be cases where the number of traffic light information indicating positions included in a divided area is less than a predetermined number (e.g., less than three), or the boundary distance obtained for that divided area is less than a threshold. In this way, when the number of traffic light information indicating positions included in a divided area is less than a predetermined number, or the boundary distance obtained for that divided area is less than a threshold, the processing unit 33 may set the boundary distance corresponding to that divided area as the threshold. This prevents the traffic light existence range Ar from being set too small, making it possible to set an appropriate traffic light existence range Ar.

[0093] (Setting the traffic light area) Next, an example of the process of setting the traffic light presence range Ar will be described. In this process, the processing unit 33 sets the traffic light presence range Ar based on the boundary distance obtained for each of the set divided areas. Below, an example of the process of setting the traffic light presence range Ar will be described in more detail with reference to Figure 7. Note that, below, parts that are common to Figure 3, Figure 4, Figure 5, or Figure 6 will be given the same reference numerals, and their description will be omitted or simplified.

[0094] Fig. 7 is a diagram showing an example of the traffic light existence range Ar set by the processing unit 33. The example shown in Fig. 7 is an example in which, as shown in Fig. 6, a boundary distance dr1 is obtained for the first right-side area ArR1, a boundary distance dl1 is obtained for the first left-side area ArL1, and a boundary distance dl2 is obtained for the second left-side area ArL2, but no boundary distance is obtained for the second right-side area ArR2. Note that, here, the boundary distance dl1 for the first left-side area ArL1 is greater than the boundary distance dr2 for the second left-side area ArL2.

[0095] For example, the processing unit 33 sets the left boundary distance of the traffic light existence range Ar based on the boundary distance of the left region of each of the set divided regions, and sets the right boundary distance of the traffic light existence range Ar based on the boundary distance of the right region. More specifically, the processing unit 33 sets the largest boundary distance among the boundary distances of the left region as the left boundary distance of the traffic light existence range Ar, and sets the largest boundary distance among the boundary distances of the right region as the right boundary distance of the traffic light existence range Ar.

[0096] As a result, in the case where the left-side regions include a first left-side region ArL1 and a second left-side region ArL2 and a boundary distance has been derived for each of them, the larger of the boundary distance dl1 of the first left-side region ArL1 and the boundary distance dl2 of the second left-side region ArL2 is set as the left-side boundary distance of the traffic light existence range Ar. In the case where the right-side regions include a first right-side region ArR1 and a second right-side region ArR2 and a boundary distance has been derived only for the first right-side region ArR1, for example, the boundary distance of the second right-side region ArR2 is regarded as "0," and the boundary distance dr1 of the first right-side region ArR1 is set as the right-side boundary distance of the traffic light existence range Ar.

[0097] Then, the processing unit 33 sets the area between a line Ll offset to the left by the above-mentioned left boundary distance (in this example, dl1) from the link corresponding to the road Rd1 (in this example, link Lk11 and link Lk12) and a line Lr offset to the right by the above-mentioned right boundary distance (in this example, dr1) as the traffic light existence range Ar (see the hatched area in Figure 7).

[0098] Note that, once the processing unit 33 sets the traffic light presence range Ar, it may store information indicating the set traffic light presence range Ar in the storage unit 35. As an example, the processing unit 33 may store information indicating the set traffic light presence range Ar in the storage unit 35, which associates the left boundary distance (dl1 in the above example) and the right boundary distance (dr1 in the above example) of the set traffic light presence range Ar with information indicating the nearest node (node ​​Nd1 in the above example) of the traffic light information used to set the traffic light presence range Ar. In this way, for example, the next time the vehicle 1 travels along the road Rd1 and approaches node Nd1, it is possible to reuse the currently set traffic light presence range Ar. This makes it possible to reduce the processing load on the control device 30 the next time the vehicle 1 travels along the current road Rd1.

[0099] (Determine whether the traffic light corresponds to road Rd1) The processing unit 33 determines whether the recognized traffic light Sn is a traffic light corresponding to the road Rd1 based on the traffic light information of the recognized traffic light Sn and the set traffic light existence range Ar.

[0100] More specifically, as indicated by the symbol α in Fig. 7, if the traffic light position indicated by the traffic light information of the recognized traffic light Sn is included in the traffic light existence range Ar, the processing unit 33 determines that the recognized traffic light Sn is a traffic light corresponding to the road Rd1. On the other hand, as indicated by the symbol β in Fig. 7, if the traffic light position indicated by the traffic light information of the recognized traffic light Sn is not included in the traffic light existence range Ar, the processing unit 33 determines that the recognized traffic light Sn is not a traffic light corresponding to the road Rd1.

[0101] The control device 30 configured as described above can determine whether the recognized traffic light Sn corresponds to the road Rd1 using the traffic light presence range Ar set based on previously acquired traffic light information based on the recognition result of the recognition unit 31. This makes it possible to accurately determine whether the recognized traffic light Sn corresponds to the road Rd1 even if traffic light position information is not prepared in advance, and to perform appropriate control suited to the traffic light corresponding to the road Rd1. This ultimately improves traffic safety and contributes to the development of a sustainable transportation system.

[0102] (Other matters) Note that, as shown in FIG. 2, if traffic light information including information indicating the light color of the recognized traffic light Sn is stored, it becomes possible to perform processing that takes into account the information indicating that light color. For example, if the storage unit 35 stores multiple pieces of traffic light information with the same light color as the recognized traffic light Sn, the processing unit 33 may set the traffic light area Ar based on the multiple pieces of traffic light information (i.e., multiple pieces of traffic light information with the same light color as the recognized traffic light Sn). In this case, the processing unit 33 may derive the deviation amount using, for example, only the multiple pieces of traffic light information with the same light color. In this way, it is possible to ultimately set the traffic light area Ar using only the multiple pieces of traffic light information with the same light color.

[0103] In this way, by setting the traffic light presence range Ar using traffic light information that has the same light color as the recognized traffic light Sn, it is possible to prevent the use of traffic light information from other traffic lights when setting the traffic light presence range Ar, and it is possible to set an appropriate traffic light presence range Ar that is suitable for determining whether the recognized traffic light Sn is a traffic light that corresponds to the driving route Rd1.

[0104] Furthermore, as shown in FIG. 2, if traffic light information including information indicating the time of acquisition is stored, it becomes possible to perform processing that takes into account the information indicating the time of acquisition. For example, if the storage unit 35 stores multiple pieces of traffic light information acquired within a predetermined period of time in the past (e.g., one minute) based on the present, the processing unit 33 may set the traffic light presence range Ar based on the multiple pieces of traffic light information (i.e., multiple pieces of traffic light information acquired within the predetermined period of time in the past). In this way, it is possible to avoid using old traffic light information, such as traffic light information acquired when traffic light Sn is recognized from a distance (in other words, traffic light information with poor positional accuracy), in setting the traffic light presence range Ar. This makes it possible to set an appropriate traffic light presence range Ar.

[0105] Furthermore, the processing unit 33 may stop the process of setting the traffic light area Ar if the amount of change in the traffic light area Ar over a predetermined period (for example, one minute) is less than a threshold value. This allows the process of setting the traffic light area Ar to be stopped once the traffic light area Ar has stabilized, thereby reducing the processing load on the control device 30 thereafter.

[0106] Furthermore, for example, when the vehicle 1 passes an intersection CP (for example, node Nd1 representing the intersection CP), the acquisition unit 32 may delete from the storage unit 35 the traffic light information stored in the storage unit 35 before the vehicle 1 passes the intersection CP. On the other hand, the processing unit 33 may cause the storage unit 35 to retain the information indicating the traffic light existence range Ar stored in the storage unit 35 before the vehicle 1 passes the intersection CP, even after the vehicle 1 passes the intersection CP. In this way, it is possible to reduce the storage area of ​​the storage unit 35 occupied by traffic light information and also reduce the processing load on the control device 30 the next time the vehicle travels along the current travel route Rd1.

[0107] [4. Example of processing procedure by the control device] Next, an example of a processing procedure performed by the control device 30 will be described. Fig. 8 is a flowchart (part 1) showing an example of a processing procedure performed by the control device 30. Fig. 9 is a flowchart (part 2) showing an example of a processing procedure performed by the control device 30. For example, when the ignition power of the vehicle 1 is on, the control device 30 executes the series of processes shown in Figs. 8 and 9 at a predetermined cycle.

[0108] 9, the control device 30 determines whether or not a traffic light Sn present around the vehicle 1 has been recognized (step S1). If the traffic light Sn has not been recognized (step S1: NO), the control device 30 ends the series of processes shown in FIGS. 8 and 9.

[0109] If the control device 30 recognizes the traffic light Sn (step S1: YES), the control device 30 identifies the traffic light position and light color of the recognized traffic light Sn (step S2), and identifies the nearest node to the traffic light Sn (step S3).

[0110] Next, the control device 30 determines whether or not traffic light information corresponding to the nearest node identified by the processing in step S4 is stored in the storage unit 35 (step S4). If it is determined that traffic light information corresponding to the nearest node identified by the processing in step S4 is not stored in the storage unit 35 (step S4: NO), the control device 30 proceeds to the processing in step S6, which will be described later.

[0111] On the other hand, if it is determined that the traffic light information corresponding to the nearest node identified by the processing of step S4 is stored in the memory unit 35 (step S4: YES), the control device 30 determines whether the light color indicated by the traffic light information stored in the memory unit 35 is the same as the light color of the traffic light Sn recognized this time (step S5).

[0112] If it is determined that the light color of the currently recognized traffic light Sn is the same as the light color of the traffic light information stored in the memory unit 35 (step S5: YES), the control device 30 acquires the traffic light information about the currently recognized traffic light Sn based on the processing results of steps S2 and S3 and stores it in the memory unit 35 (step S6), and proceeds to processing of step S8.

[0113] On the other hand, if it is determined that the light color of the currently recognized traffic light Sn differs from the light color of the traffic light information stored in the storage unit 35 (step S5: NO), the control device 30 deletes from the storage unit 35 the traffic light information corresponding to the nearest node identified by the processing of step S4 (in other words, traffic light information acquired in the past) (step S7), and then proceeds to the processing of step S6, where the traffic light information for the currently recognized traffic light Sn is stored in the storage unit 35. In this way, when the light color of the recognized traffic light Sn changes, only the traffic light information that matches the light color after the change can be accumulated in the storage unit 35.

[0114] Next, the control device 30 sets divided areas on a work area provided in the memory unit 35 or the like as described above (step S8), and performs the processes of steps S9 to S12 shown in FIG. 9 for each of the set divided areas.

[0115] Specifically, the control device 30 first determines whether there is a predetermined number or more of traffic light information stored in the memory unit 35 that indicates a position included in the divided area to be processed this time as the traffic light position (step S9).

[0116] If it is determined that the number of relevant traffic light information items is less than the predetermined number (step S9: NO), the control device 30 ends the series of processes for the divided area to be processed this time. In this case, the control device 30 may end the series of processes by setting the boundary distance for the divided area to be processed this time as a predetermined threshold.

[0117] Furthermore, if it is determined that the number of pieces of relevant traffic light information is equal to or greater than the predetermined number (step S9: YES), the control device 30 derives the amount of deviation for each piece of relevant traffic light information (step S10).

[0118] Next, based on the processing results of step S10, the control device 30 extracts a predetermined percentage of samples in descending order of the traffic light information with the largest deviation amount, and sets the average position of the extracted samples as the reference point for the divided area to be processed this time (step S11).

[0119] Then, the control device 30 derives the boundary distance for the divided area to be processed this time based on the reference point set in the process of step S11 (step S12), and ends the series of processes for the divided area to be processed this time.

[0120] After performing the processes of steps S9 to S12 for each divided area that has been set, the control device 30 sets the left boundary distance and the right boundary distance of the traffic light existence range Ar based on the results of these processes (step S13).The control device 30 then sets the traffic light existence range Ar based on the left boundary distance and the right boundary distance set by the process of step S13 (step S14).

[0121] Next, the control device 30 determines whether the traffic light position indicated by the traffic light information acquired in the most recent process of step S6 is included in the traffic light area Ar set in the process of step S14 (step S15).

[0122] Then, if it is determined that the traffic light position indicated by the most recently acquired traffic light information is included in the traffic light existence range Ar (step S15: Yes), the control device 30 determines that the traffic light Sn recognized this time is the traffic light corresponding to the driving road Rd1 (step S16), and terminates the series of processes shown in Figures 8 and 9.

[0123] On the other hand, if it is determined that the traffic light position indicated by the most recently acquired traffic light information is not included in the traffic light existence range Ar (step S15: NO), the control device 30 determines that the traffic light Sn recognized this time is not a traffic light corresponding to the driving road Rd1 (step S17), and terminates the series of processes shown in Figures 8 and 9.

[0124] As described above, the control device 30 can determine whether the recognized traffic light Sn corresponds to the road Rd1 using the traffic light presence range Ar set based on previously acquired traffic light information based on the recognition result of the recognition unit 31. This makes it possible to accurately determine whether the recognized traffic light Sn corresponds to the road Rd1 even if traffic light position information is not prepared in advance, and to perform appropriate control suited to the traffic light corresponding to the road Rd1. This ultimately improves traffic safety and contributes to the development of a sustainable transportation system.

[0125] The control method described in this embodiment can be realized by executing a prepared program (control program) on a computer. The control program is, for example, stored in a computer-readable storage medium and executed by being read from the storage medium. The control program may be provided in a form stored in a non-volatile (non-transient) storage medium such as a flash memory, or may be provided via a network such as the Internet. In this embodiment, the computer that executes the control program is the control device 30 (e.g., the processor of the control device 30), but this is not limited thereto. For example, the computer that executes the control program may be included in the vehicle 1, or may be included in an external device 2 that can communicate with the vehicle 1.

[0126] Although one embodiment of the present invention has been described above, it goes without saying that the present invention is not limited to the above-described embodiment. It is clear that a person skilled in the art can conceive of various modifications or alterations within the scope of the claims, and it is understood that these also naturally fall within the technical scope of the present invention.

[0127] This specification describes at least the following: Note that the components in parentheses correspond to those in the above-described embodiments, but are not limited to these.

[0128] (1) A vehicle control device (control device 30) for controlling a vehicle (vehicle 1), a recognition unit (recognition unit 31) that recognizes the surrounding situation of the vehicle; an acquisition unit (acquisition unit 32) that, when a traffic light is recognized by the recognition unit, acquires traffic light information including information indicating the position of the traffic light and stores the traffic light information in a storage unit (storage unit 35); a processing unit (processing unit 33) that determines whether the recognized traffic light is a traffic light corresponding to the road on which the vehicle is traveling, based on the traffic light information acquired by the acquisition unit; a vehicle control unit (vehicle control unit 34) that controls the vehicle based on the processing result of the processing unit; Equipped with The acquisition unit At a predetermined interval, traffic light information is acquired based on the recognition result by the recognition unit at that time, and the traffic light information is stored in the storage unit, The processing unit When a plurality of pieces of traffic light information are stored in the storage unit, a traffic light existence range (traffic light existence range Ar) is set based on the plurality of pieces of traffic light information as a condition for determining that a traffic light corresponds to the road; determining whether the recognized traffic light is a traffic light corresponding to the road based on traffic light information of the recognized traffic light and the set traffic light presence range; Vehicle control device.

[0129] According to (1), it is possible to determine whether a recognized traffic light corresponds to the roadway on which the vehicle is traveling, using a traffic light range set based on previously acquired traffic light information based on the recognition results of the recognition unit. This makes it possible to accurately determine whether a recognized traffic light corresponds to the roadway, even if traffic light location information is not prepared in advance, and to perform appropriate control in accordance with the traffic light corresponding to the roadway. This in turn improves traffic safety and contributes to the development of a sustainable transportation system.

[0130] (2) The vehicle control device according to (1), The processing unit If the position indicated by the traffic light information of the recognized traffic light is included in the traffic light presence range, the recognized traffic light is determined to be the traffic light corresponding to the road; If the position indicated by the traffic light information of the recognized traffic light is not included in the traffic light presence range, it is determined that the recognized traffic light is not a traffic light corresponding to the road. Vehicle control device.

[0131] According to (2), it is possible to accurately determine whether or not the recognized traffic light is the traffic light corresponding to the road.

[0132] (3) The vehicle control device according to (1) or (2), The acquisition unit acquiring the traffic light information including information indicating the light color of the recognized traffic light, and storing the traffic light information in the storage unit; The processing unit If the plurality of pieces of traffic light information having the same light color as the recognized traffic light are stored in the storage unit, the traffic light existence range is set based on the plurality of pieces of traffic light information. Vehicle control device.

[0133] According to (3), it is possible to set the traffic light area using traffic light information that has the same light color as the recognized traffic light. This prevents the use of traffic light information from other traffic lights when setting the traffic light area, making it possible to set an appropriate traffic light area.

[0134] (4) A vehicle control device according to any one of (1) to (3), the vehicle control device is configured to be able to refer to map information (map information database 24) having road network information that represents each road by a combination of a node (node ​​Nd1) and links (links Lk11, Lk12, Lk21, Lk22) connecting the nodes, The processing unit A first target link (link Lk11, Lk12) that is a link corresponding to the travel path is used as a boundary to set divided areas (a first left area ArL1, a second left area ArL2, a first right area ArR1, and a second right area ArR2) that are areas that are divided into left and right areas in the traveling direction of the vehicle, For each divided area, a deviation amount (deviation amounts d1, d2, d3) is derived, which is the distance between each of the traffic light information indicating a position included in that divided area among the plurality of traffic light information, and the first target link; a predetermined proportion or a predetermined number of samples are extracted in descending order of the deviation amount from the traffic light information indicating the largest deviation amount; reference points (reference points Pa, Pb, Pc) in that divided area are set based on the average position indicated by each of the samples; and boundary distances (boundary distances dr1, dl1, dl2) are derived, which are the distances between the reference points and the first target link; setting the traffic light existence range based on the boundary distance obtained for each of the divided areas; Vehicle control device.

[0135] According to (4), when setting the traffic light area, it is possible to use only the traffic light information with the highest deviation amount as a sample. This makes it possible to prevent the traffic light area from being set too small and to set an appropriate traffic light area.

[0136] (5) The vehicle control device according to (4), If the recognized traffic light is located at an intersection between the road and an intersection that intersects with the road, The processing unit The first target link is used as a boundary to divide the area into left and right parts in the traveling direction of the vehicle, and the second target link (links Lk21 and Lk22), which is a link corresponding to the intersection, is used as a boundary to set the divided area, which is an area divided into front and rear parts in the traveling direction of the vehicle. Vehicle control device.

[0137] According to (5), it is possible to set the traffic light location range according to the shape of the road including the intersection where the road intersects with the intersection.

[0138] (6) A vehicle control device according to (4) or (5), The processing unit In a divided area, if the number of traffic light information pieces indicating the positions included in the divided area is less than a predetermined number, or if the boundary distance obtained for the divided area is less than a threshold value, the boundary distance corresponding to the divided area is set as the threshold value. Vehicle control device.

[0139] According to (6), it is possible to set an appropriate traffic light location range.

[0140] (7) A vehicle control device according to any one of (1) to (6), The processing unit At a predetermined interval, the traffic light area is set based on the plurality of traffic light information items stored in the storage unit at that time, and If the amount of change in the traffic light area during a predetermined period is less than a threshold, the process of setting the traffic light area is stopped. Vehicle control device.

[0141] According to (7), the process of setting the traffic light area can be stopped when the traffic light area has stabilized, and the subsequent processing load on the vehicle control device can be reduced.

[0142] (8) A vehicle control device according to any one of (1) to (7), The acquisition unit acquiring the traffic light information including information indicating the acquisition time, and storing the traffic light information in the storage unit; The processing unit When the plurality of pieces of traffic light information acquired within a predetermined period of time in the past based on the present are stored in the storage unit, the traffic light existence range is set based on the plurality of pieces of traffic light information. Vehicle control device.

[0143] According to (8), it is possible to avoid using old traffic light information, such as traffic light information acquired when recognizing a traffic light from a distance (in other words, traffic light information with poor positional accuracy), when setting the traffic light area. This makes it possible to set an appropriate traffic light area.

[0144] (9) A vehicle control device according to any one of (1) to (8), If the recognized traffic light is located at an intersection between the road and an intersection that intersects with the road, The acquisition unit When the vehicle passes through the intersection, the traffic light information stored in the storage unit before passing through the intersection is deleted from the storage unit; The processing unit storing information indicating the traffic light area in the storage unit, and retaining the information indicating the traffic light area even after the vehicle has passed through the intersection; Vehicle control device.

[0145] According to (9), it is possible to reduce the storage area of ​​the storage unit that is occupied by traffic light information, while reducing the processing load the next time the vehicle travels along the current road.

[0146] (10) A computer (control device 30) that controls the vehicle Recognizing the surrounding situation of the vehicle; When a traffic light is recognized, traffic light information including information indicating the position of the traffic light is acquired, and the traffic light information is stored in a storage unit (storage unit 35) (step S6). Based on the traffic light information, it is determined whether the recognized traffic light is a traffic light corresponding to the road on which the vehicle is traveling (steps S8 to S16); controlling the vehicle based on a determination result as to whether the traffic light corresponds to the road; Processing is performed, In the process of acquiring traffic light information, At a predetermined interval, traffic light information is acquired based on the recognition result of the surrounding situation at that time, and the traffic light information is stored in the storage unit, In the process of determining whether the traffic light corresponds to the road, If a plurality of pieces of traffic light information are stored in the storage unit, a traffic light existence range (traffic light existence range Ar) that is a condition for determining that a traffic light corresponds to the road is set based on the plurality of pieces of traffic light information (step S14). Based on the traffic light information of the recognized traffic light and the set traffic light range, it is determined whether the recognized traffic light is a traffic light corresponding to the road (step S15). Control method.

[0147] According to (10), it is possible to determine whether a recognized traffic light corresponds to the road on which the vehicle is traveling by using a traffic light range set based on traffic light information previously acquired based on the recognition results of the surrounding conditions of the vehicle. This makes it possible to accurately determine whether a recognized traffic light corresponds to the road, even if traffic light position information is not prepared in advance, and to perform appropriate control in accordance with the traffic light corresponding to the road. This in turn improves traffic safety and contributes to the development of a sustainable transportation system.

[0148] (11) A computer (control device 30) that controls the vehicle Recognizing the surrounding situation of the vehicle; When a traffic light is recognized, traffic light information including information indicating the position of the traffic light is acquired, and the traffic light information is stored in a storage unit (storage unit 35) (step S6). Based on the traffic light information, it is determined whether the recognized traffic light is a traffic light corresponding to the road on which the vehicle is traveling (steps S8 to S16); controlling the vehicle based on a determination result as to whether the traffic light corresponds to the road; Let the processing take place, In the process of acquiring traffic light information, At a predetermined interval, traffic light information is acquired based on the recognition result of the surrounding situation at that time, and the traffic light information is stored in the storage unit, In the process of determining whether the traffic light corresponds to the road, If a plurality of pieces of traffic light information are stored in the storage unit, a traffic light existence range (traffic light existence range Ar) that is a condition for determining that a traffic light corresponds to the road is set based on the plurality of pieces of traffic light information (step S14). Based on the traffic light information of the recognized traffic light and the set traffic light range, it is determined whether the recognized traffic light is a traffic light corresponding to the road (step S15). Control program.

[0149] According to (11), it is possible to determine whether a recognized traffic light corresponds to the road on which the vehicle is traveling by using a traffic light range set based on traffic light information previously acquired based on the recognition results of the surrounding conditions of the vehicle. This makes it possible to accurately determine whether a recognized traffic light corresponds to the road, even if traffic light position information is not prepared in advance, and to perform appropriate control in accordance with the traffic light corresponding to the road. This in turn improves traffic safety and contributes to the development of a sustainable transportation system. [Explanation of symbols]

[0150] 1 vehicle 24 Map information database (map information) 30 Control device (vehicle control device) 31 Recognition part 32 Acquisition Department 33 Processing section 34 Vehicle control unit 35 Storage section Ar Traffic light presence range ArL1 1st left area (divided area) ArL2 2nd left area (split area) ArR1 1st right area (divided area) ArR2 2nd right area (divided area) dr1, dl1, dl2 boundary distance Lk11, Lk12 links (first target link) Lk21, Lk22 links (second target links) Nd1 node Pa, Pb, Pc reference point

Claims

1. A vehicle control device that controls a vehicle, a recognition unit that recognizes a surrounding situation of the vehicle; an acquisition unit that acquires traffic light information including information indicating the position of the traffic light when the recognition unit recognizes the traffic light, and stores the traffic light information in a storage unit; a processing unit that determines whether the recognized traffic light is a traffic light corresponding to the road on which the vehicle is traveling, based on the traffic light information acquired by the acquisition unit; and a vehicle control unit that controls the vehicle based on a processing result of the processing unit; Equipped with The acquisition unit At a predetermined interval, traffic light information is acquired based on the recognition result by the recognition unit at that time, and the traffic light information is stored in the storage unit, The processing unit When a plurality of pieces of traffic light information are stored in the storage unit, a traffic light existence range is set as a condition for determining that a traffic light corresponds to the road based on the plurality of pieces of traffic light information; determining whether the recognized traffic light is a traffic light corresponding to the road based on traffic light information of the recognized traffic light and the set traffic light presence range; Vehicle control device.

2. The vehicle control device according to claim 1, The processing unit If the position indicated by the traffic light information of the recognized traffic light is included in the traffic light presence range, the recognized traffic light is determined to be the traffic light corresponding to the road; If the position indicated by the traffic light information of the recognized traffic light is not included in the traffic light presence range, it is determined that the recognized traffic light is not a traffic light corresponding to the road. Vehicle control device.

3. The vehicle control device according to claim 1, The acquisition unit acquiring the traffic light information including information indicating the light color of the recognized traffic light, and storing the traffic light information in the storage unit; The processing unit If the plurality of pieces of traffic light information having the same light color as the recognized traffic light are stored in the storage unit, the traffic light existence range is set based on the plurality of pieces of traffic light information. Vehicle control device.

4. The vehicle control device according to claim 1, the vehicle control device is configured to be able to refer to map information having road network information that represents each road by a combination of nodes and links connecting the nodes; The processing unit a divided area is set as an area divided into left and right in the traveling direction of the vehicle, with a first target link, which is a link corresponding to the traveling path, as a boundary; For each divided area, a deviation amount is derived, which is the distance between each of the plurality of traffic light information indicating a position included in the divided area and the first target link, and a predetermined proportion or a predetermined number of samples are extracted in descending order of the deviation amount from the traffic light information indicating the largest deviation amount, a reference point in the divided area is set based on the average position of the positions indicated by each of the samples, and a boundary distance is derived, which is the distance between the reference point and the first target link; setting the traffic light existence range based on the boundary distance obtained for each of the divided areas; Vehicle control device.

5. The vehicle control device according to claim 4, If the recognized traffic light is located at an intersection between the road and an intersection that intersects with the road, The processing unit the first target link is used as a boundary to divide the area into left and right areas in the traveling direction of the vehicle, and the second target link, which is a link corresponding to the intersection, is used as a boundary to divide the area into front and rear areas in the traveling direction of the vehicle, and the divided area is set. Vehicle control device.

6. The vehicle control device according to claim 4, The processing unit In a divided area, if the number of traffic light information pieces indicating the positions included in the divided area is less than a predetermined number, or if the boundary distance obtained for the divided area is less than a threshold value, the boundary distance corresponding to the divided area is set as the threshold value. Vehicle control device.

7. The vehicle control device according to claim 1, The processing unit At a predetermined interval, the traffic light area is set based on the plurality of traffic light information items stored in the storage unit at that time, and If the amount of change in the traffic light area during a predetermined period is less than a threshold, the process of setting the traffic light area is stopped. Vehicle control device.

8. The vehicle control device according to claim 1, The acquisition unit acquiring the traffic light information including information indicating the acquisition time, and storing the traffic light information in the storage unit; The processing unit When the plurality of pieces of traffic light information acquired within a predetermined period of time in the past based on the present are stored in the storage unit, the traffic light existence range is set based on the plurality of pieces of traffic light information. Vehicle control device.

9. The vehicle control device according to claim 1, If the recognized traffic light is located at an intersection between the road and an intersection that intersects with the road, The acquisition unit When the vehicle passes through the intersection, the traffic light information stored in the storage unit before passing through the intersection is deleted from the storage unit; The processing unit storing information indicating the traffic light area in the storage unit, and retaining the information indicating the traffic light area even after the vehicle has passed through the intersection; Vehicle control device.

10. The computer that controls the vehicle Recognizing the surrounding situation of the vehicle; When a traffic light is recognized, traffic light information including information indicating the position of the traffic light is acquired, and the traffic light information is stored in a storage unit; determining whether the recognized traffic light is a traffic light corresponding to the road on which the vehicle is traveling based on the traffic light information; controlling the vehicle based on a determination result as to whether the traffic light corresponds to the road; Processing is performed, In the process of acquiring traffic light information, At a predetermined interval, traffic light information is acquired based on the recognition result of the surrounding situation at that time, and the traffic light information is stored in the storage unit, In the process of determining whether the traffic light corresponds to the road, When a plurality of pieces of traffic light information are stored in the storage unit, a traffic light existence range is set as a condition for determining that a traffic light corresponds to the road based on the plurality of pieces of traffic light information; determining whether the recognized traffic light is a traffic light corresponding to the road based on traffic light information of the recognized traffic light and the set traffic light presence range; Control method.

11. The computer that controls the vehicle Recognizing the surrounding situation of the vehicle; When a traffic light is recognized, traffic light information including information indicating the position of the traffic light is acquired, and the traffic light information is stored in a storage unit; determining whether the recognized traffic light is a traffic light corresponding to the road on which the vehicle is traveling based on the traffic light information; controlling the vehicle based on a determination result as to whether the traffic light corresponds to the road; Let the processing take place, In the process of acquiring traffic light information, At a predetermined interval, traffic light information is acquired based on the recognition result of the surrounding situation at that time, and the traffic light information is stored in the storage unit, In the process of determining whether the traffic light corresponds to the road, When a plurality of pieces of traffic light information are stored in the storage unit, a traffic light existence range is set as a condition for determining that a traffic light corresponds to the road based on the plurality of pieces of traffic light information; determining whether the recognized traffic light is a traffic light corresponding to the road based on traffic light information of the recognized traffic light and the set traffic light presence range; Control program.

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