Vehicle control device and space recognition processing method around vehicle by the same

Abstract

To exactly recognize an object around a vehicle and to effectively reduce power consumption taken for recognition.SOLUTION: The present invention provides a vehicle control device which controls a vehicle to autonomously travel on a planned travel route. The device comprises: a space recognition data acquisition unit which acquires space recognition data from each of a plurality of sensors loaded on the vehicle; and a space recognition arithmetic unit which executes calculation for recognizing a surrounding space of the vehicle on the basis of the space recognition data. The space recognition arithmetic unit specifies each of a plurality of non-mobile objects associated with the travel route on the basis of the travel route and road map information, excludes non-mobile object data of a region concerning the non-mobile object from the acquired space recognition data, generates simplified space recognition data, and executes the calculation for recognizing the surrounding space of the vehicle on the basis of the simplified space recognition data.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present invention relates to a vehicle control device and a method for recognizing and processing the space around a vehicle using the same. [Background technology]

[0002] The following Patent Document 1 discloses a technology in which information about the environment around a vehicle is acquired as ambient environment information, and location information of the vehicle and the emergency vehicle is acquired, and based on the location information of the vehicle and the emergency vehicle and the ambient environment information, whether or not remote instructions are necessary is determined, and if it is determined that remote instructions are necessary, a location where the vehicle should wait so as not to interfere with the emergency vehicle's travel is identified as a waiting location, and information about the waiting location is transmitted to the vehicle. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Publication No. 2020-166412 Summary of the Invention [Problem to be solved by the invention]

[0004] In the above-mentioned Patent Document 1, the surroundings detection device of the in-vehicle system detects objects such as bicycles, motorcycles, automobiles, road obstacles, traffic signals, and road markings. However, detecting surrounding objects related to vehicle travel requires performing high-load calculations using a large amount of sensor information, which consumes considerable power. On the other hand, accurate detection of surrounding objects is necessary for safe vehicle travel.

[0005] Therefore, an object of the present invention is to provide a vehicle control device and a space recognition processing method around a vehicle that can accurately recognize objects around the vehicle while effectively reducing the power consumption required for this. [Means for solving the problem]

[0006] The present invention, which aims to solve the above problems, comprises the following invention-specifying matters and technical features.

[0007] According to one aspect, the present invention provides a vehicle control device that controls a vehicle to autonomously travel a planned travel route. The vehicle control device includes a spatial recognition data acquisition unit that acquires spatial recognition data from each of a plurality of sensors mounted on the vehicle, and a spatial recognition calculation unit that performs a calculation to recognize the space around the vehicle based on the spatial recognition data. The spatial recognition calculation unit identifies each of a plurality of non-moving objects associated with the travel route based on the travel route and road map information. The spatial recognition calculation unit also generates simplified spatial recognition data by excluding non-moving object data for areas related to the non-moving objects from the acquired spatial recognition data, and performs a calculation to recognize the space around the vehicle based on the simplified spatial recognition data.

[0008] The present invention also provides a vehicle allocation management method using a vehicle allocation management device that manages vehicle allocation in response to a vehicle allocation request, a computer program for executing the method, and a recording medium on which the method is non-temporarily recorded. [Effects of the Invention]

[0009] According to the present invention, a vehicle control device mounted on a vehicle can accurately recognize objects in the surrounding space while effectively reducing the power consumption required for the recognition.

[0010] Other technical features, objects, and operational effects or advantages of the present invention will become apparent from the following embodiments described with reference to the accompanying drawings. The effects described in this specification are merely examples and are not intended to be limiting, and other effects may also be present. [Brief explanation of the drawings]

[0011] [Figure 1] FIG. 1 is a diagram illustrating an example of a schematic configuration of a vehicle dispatch management system according to an embodiment of the present invention. [Figure 2] FIG. 2 is a block diagram showing an example of a vehicle control system mounted on a vehicle according to one embodiment of the present invention. [Figure 3] FIG. 3 is a block diagram showing an example of a vehicle control device for a vehicle according to an embodiment of the present invention. [Figure 4] FIG. 4 is a diagram for explaining an example of recognition of the space around a vehicle by a sensor of the vehicle according to one embodiment of the present invention. [Figure 5] 5 is a flowchart showing an example of space recognition processing based on space recognition data by a vehicle control device according to an embodiment of the present invention. DETAILED DESCRIPTION OF THE INVENTION

[0012] Hereinafter, embodiments of the present invention will be described with reference to the drawings. However, the embodiments described below are merely examples, and are not intended to exclude various modifications or applications of techniques not explicitly described below. The present invention can be implemented in various modifications (e.g., combinations of the embodiments) without departing from the spirit of the present invention. Furthermore, in the following description of the drawings, identical or similar parts are denoted by identical or similar reference numerals. The drawings are schematic and do not necessarily correspond to actual dimensions, ratios, etc. Parts in the drawings may have different dimensional relationships or ratios.

[0013] FIG. 1 is a diagram illustrating an example of a schematic configuration of a vehicle dispatch management system according to an embodiment of the present invention. As shown in the diagram, the vehicle dispatch management system 1 includes a vehicle dispatch management device 10, a terminal device 20, and vehicles 30, which are connected to each other so that they can communicate with each other via a communication network N. The vehicle dispatch management system 1 can also be connected via the communication network N to a road traffic information management system 40 that provides various traffic information in real time. The vehicle dispatch management system 1 provides, for example, a vehicle dispatch service using multiple vehicles 30 for a certain area. In the present disclosure, the vehicles 30 are assumed to be autonomously driven vehicles (unmanned vehicles) without drivers.

[0014] The vehicle dispatch management device 10 is a computing device that comprehensively manages a vehicle dispatch service using multiple vehicles 30 in a target area of ​​the vehicle dispatch service (hereinafter referred to as the "service target area"). The service target area may be divided into several areas (sub-areas). The vehicle dispatch management device 10, for example, implements a vehicle dispatch management server program and realizes the vehicle dispatch service by executing the vehicle dispatch management server program under the control of a processor.

[0015] The vehicle dispatch management device 10 includes various databases 12 that accumulate and manage data necessary to realize such a vehicle dispatch service. The databases 12 may include, for example, a user information database, a road map information database, a vehicle information database, and a vehicle dispatch plan database. The databases 12 may be configured as part of the vehicle dispatch management device 10, or all or part of the databases 12 may be configured separately from the vehicle dispatch management device 10.

[0016] In general, the vehicle allocation management device 10 receives a vehicle allocation request from the terminal device 20 of a user who requests the allocation of a vehicle 30 to travel to a destination, refers to the vehicle information database 12c based on the vehicle allocation request, extracts a vehicle 30 to be allocated to the user from among the plurality of vehicles 30, creates a vehicle allocation plan for the vehicle 30, and proposes the created vehicle allocation plan to the user. The vehicle allocation management device 10 confirms the proposed vehicle allocation plan based on the user's consent, and issues vehicle allocation instructions to the vehicle 30 in accordance with the confirmed vehicle allocation plan.

[0017] The vehicle dispatch plan includes a driving route that defines a location where the vehicle 30 is waiting (a starting waiting location), passing through several points (boarding and disembarking points) along the way where the user gets on and off, to a final waiting location (which is not necessarily the same as the initial waiting location). If the vehicle 30 is waiting, the vehicle dispatch plan is newly created based on a received vehicle dispatch request, and if the vehicle 30 is in operation, the vehicle dispatch plan can be updated based on a vehicle dispatch request.

[0018] The terminal device 20 is, for example, a computing device that allows a user wishing to ride to make a vehicle dispatch request by interactively operating a user interface. The terminal device 20 is, for example, a smartphone, a pad computer, a laptop personal computer, a desktop computer, or the like, but is not limited to these. The terminal device 20 may, for example, be equipped with a vehicle dispatch management client program (a so-called vehicle dispatch app). The terminal device 20 executes the vehicle dispatch app under the control of a processor, thereby enabling the user to use the vehicle dispatch service of the vehicle dispatch management device 10. For example, the user may make a vehicle dispatch request from a vehicle dispatch request screen (not shown) on the user interface of the terminal device 20 and, in response, accept the vehicle dispatch plan created by the vehicle dispatch management device 10, thereby reserving a ride in the vehicle 30.

[0019] Vehicle 30 is a vehicle registered in a vehicle information database (not shown) of vehicle dispatch management device 10, which is made available for use by users in the vehicle dispatch service. Vehicle 30 is an autonomous vehicle driven by an automatic driving system. The vehicle 30 may be of any type (e.g., sedan, minivan, SUV, etc.). Vehicle 30 is equipped with a vehicle control system 300 for controlling itself (the vehicle) or its onboard equipment in accordance with dispatch instructions from vehicle dispatch management device 10. Details of vehicle control system 300 will be described later.

[0020] The road traffic information management system 40 is an information and communication system that provides road traffic information in real time. For example, the road traffic information management system 40 collects road traffic data from various monitoring equipment installed on roads and from a control device CTL installed on the vehicle 30, and manages road traffic information by processing and editing the data in an integrated manner. The monitoring equipment includes, but is not limited to, live cameras and vehicle sensors. The edited road traffic information may include, for example, information on road closures and detour routes, and the travel time between points via specific routes. The road traffic information management system 40 appropriately provides road traffic information to the vehicle dispatch management device 10 and the vehicle 30. In addition to weather information, traffic information, and road regulation information, the road traffic information management system 40 may provide the vehicle dispatch management device 10 with video information from live cameras, audio information from sound-collecting microphones, and sensor information from vehicle sensors obtained from the monitoring equipment as driving management information. This enables the vehicle dispatch management device 10 to appropriately monitor and guide the vehicle 30 according to the driving management information.

[0021] 2 is a block diagram showing an example of a vehicle control system installed in a vehicle according to an embodiment of the present invention. As shown in the figure, the vehicle control system 300 includes, for example, a plurality of sensors 310, a drivetrain unit 320, a vehicle control device 330, and a user interface 340.

[0022] The sensor 310 is a device for detecting driving control information required for autonomous driving of the vehicle 30. The sensor 310 includes, for example, a drivetrain sensor 311 related to the driving of the vehicle 30, a GPS sensor 312 related to the position of the vehicle 30, and a spatial recognition sensor 313 related to recognition of the space around the vehicle 30. The drivetrain sensor 311 includes, for example, a vehicle speed sensor, an engine rotation sensor, an accelerator position sensor, a brake position sensor, a steering angle sensor, a gyro sensor, etc. The GPS sensor 312 is a sensor for acquiring position information of the vehicle 30 from a GPS system. The current position and traveling direction of the vehicle 30 are determined by comprehensively taking into consideration not only the position information from the GPS system but also detection information from the gyro sensor and road map information in the navigation database 334. The spatial recognition sensor 313 includes, for example, a LiDAR and a RADAR. The LiDAR and RADAR are devices for acquiring surrounding spatial recognition data (point cloud data). Here, a camera or a microphone for acquiring surrounding video and audio information can also be a type of space recognition sensor 313. The space recognition data obtained by the space recognition sensor 313 constitutes part of the driving control information.

[0023] Although not shown, the drivetrain control unit 320 is made up of various control units necessary for driving the vehicle 30, such as an engine control unit that controls the engine, a transmission control unit that controls the automatic transmission, a power steering control unit that controls the steering mechanism, and a brake control unit that controls the hydraulic brakes. The drivetrain control unit 320 is controlled under the control of a vehicle control device 330.

[0024] The vehicle control device 330 typically includes a processor, a memory, and the like, and performs overall control of the autonomous driving of the vehicle 30 by executing a control program. For example, the vehicle control device 330 controls the autonomous driving of the vehicle 30 by controlling the drivetrain control unit 320 based on position information and driving control information acquired by various sensors 310. The vehicle control device 330 also transmits the acquired driving control information to the vehicle dispatch management device 10, which can monitor and control the driving of the vehicle 30 in accordance with the driving control information transmitted from the vehicle 30. The vehicle control device 330 performs calculations to recognize the space around the vehicle 30 based on spatial recognition data acquired from the spatial recognition sensor 313. In the present disclosure, the vehicle control device 330 identifies non-moving body data for each of multiple non-moving bodies (e.g., buildings, installed objects, etc.) associated with the travel route based on the planned travel route and road map information, generates simplified space recognition data (hereinafter referred to as "simplified space recognition data") by excluding the non-moving body data from the space recognition data, and performs calculations to recognize the space around the vehicle 30 based on the generated simplified space recognition data. This makes it possible to reduce the amount of calculations required for space recognition. Details of the vehicle control device 330 will be described later.

[0025] The user interface 340 interactively provides various information to passengers on board under the control of the vehicle control device 330. For example, the user interface 340 displays the route to the destination, the estimated arrival time, and the like.

[0026] 3 is a block diagram showing an example of a vehicle control device for a vehicle according to an embodiment of the present disclosure. The diagram shows functional components of a vehicle control device 330 that are particularly relevant to the technology according to the present disclosure. As shown in the diagram, the vehicle control device 330 includes, for example, a position information acquisition unit 331, a driving control information acquisition unit 332, a communication unit 333, a navigation database 334, and an autonomous driving control unit 335.

[0027] The position information acquisition unit 331 acquires the position information of the vehicle 30 based on the GPS signal acquired by the GPS sensor 312. The position information acquisition unit 331 passes the acquired position information to the communication unit 333 to transmit it to the vehicle dispatch management device 10.

[0028] The driving control information acquisition unit 332 acquires driving control information from the various sensors 310 (for example, the drive train sensor 311 and the spatial recognition sensor 313) as described above. In the present disclosure, the driving control information acquisition unit 332 includes a spatial recognition data acquisition unit 3321 for acquiring spatial recognition data obtained by LiDAR, RADAR, etc. The driving control information acquisition unit 332 passes the driving control information acquired from the various sensors 310 to the autonomous driving control unit 335 and also passes it to the communication unit 333 for transmission to the vehicle dispatch management device 10.

[0029] It is a communication interface for exchanging various information between the communication unit 333 and the vehicle dispatch management device 10. For example, the communication unit 333 transmits vehicle information including position information and driving control information to the vehicle dispatch management device 10. As another example, the communication unit 333 receives a dispatch instruction transmitted from the vehicle dispatch management device 10 and passes it to the vehicle control device 330.

[0030] The navigation database 334 stores navigation information for the autonomous driving of the vehicle 30 in the service area. The navigation information includes, for example, road map information related to addresses, place names, road networks (links and nodes), facilities, etc. The road map information may include information necessary for searching for a driving route, such as road information (road type, road standards, traffic regulations, signal control information, etc.) and feature information. The road map information may also associate a level of danger with each point. For example, a relatively high level of danger is associated with points or areas with heavy vehicle traffic or pedestrian traffic, or points or areas where spatial recognition by the spatial recognition sensor 313 is difficult. The navigation database 334 of the vehicle 30 is generally the same as the road map information database (not shown) of the vehicle dispatch management device 10, but the stored road map information may be updated based on the actual autonomous driving of the vehicle 30 under the control of the vehicle control device 330.

[0031] The autonomous driving control unit 335 controls the vehicle 30 to safely autonomously drive along the driving route based on the acquired driving control information in accordance with the vehicle dispatch plan. That is, the autonomous driving control unit 335 controls the driving operations of the vehicle 30, including driving, braking, and steering, based on the acquired position information, sensor information, etc., so that the vehicle 30 drives along the driving route of the vehicle dispatch plan. The autonomous driving control unit 335 may also control the autonomous driving of the vehicle 30 according to additional or auxiliary driving control information instructed by the vehicle dispatch management device 10. The autonomous driving control unit 335 may further determine road conditions based on road traffic information acquired from a road traffic information management system. As a result, under the control of the autonomous driving control unit 335, the vehicle 30 can autonomously drive along the driving route indicated by the vehicle dispatch plan while complying with traffic rules. The autonomous driving control unit 335 includes a spatial recognition calculation unit 3351 that performs calculations necessary to recognize the surrounding space when controlling the autonomous driving of the vehicle 30.

[0032] The space recognition calculation unit 3351 performs calculations to recognize the space around the vehicle 30 during autonomous driving of the vehicle 30. For example, the space recognition calculation unit 3351 performs space recognition calculations to recognize various objects in the 3D virtual space based on acquired space recognition data (point cloud data). The objects here include, for example, moving objects such as other vehicles and people, and non-moving objects such as roads, buildings, and installed objects. In the present disclosure, the space recognition calculation unit 3351 identifies each of multiple non-moving objects associated with the driving route based on the driving route of the vehicle dispatch plan and the road map information of the navigation database 334, derives simplified space recognition data by excluding data of areas related to the identified non-moving objects (non-moving object data) from the space recognition data, and performs calculations to recognize various objects in the 3D virtual space based on the derived simplified space recognition data.

[0033] That is, the spatial recognition calculation unit 3351 identifies non-moving objects around the vehicle 30 based on the road map information in the navigation database 334 and calculates the distance between the identified non-moving objects and the current position of the vehicle 30. The non-moving objects may have a margin added to their external features, for example. The spatial recognition calculation unit 3351 then determines whether the calculated distance exceeds a predetermined threshold. If it determines that the calculated distance exceeds the predetermined threshold (the distance is far), it generates simplified spatial recognition data by excluding non-moving object data for the area related to the identified non-moving object from the acquired spatial recognition data. For example, the spatial recognition calculation unit 3351 estimates the position (e.g., distance and direction) of the non-moving object in the road map information relative to the orientation of each sensor 310 and excludes the non-moving object data for the area related to the non-moving object in the spatial recognition data. Using such simplified spatial recognition data reduces the amount of calculation required for spatial recognition and reduces power consumption.

[0034] For example, as shown in Fig. 4(a), the vehicle control device 330 acquires spatial recognition data around the vehicle 30 from the vehicle spatial recognition sensor 313. On the other hand, as shown in Fig. 4(b), the spatial recognition calculation unit 3351 refers to the navigation database 334, identifies non-moving objects that exist around the vehicle 30, and excludes non-moving object data in areas related to the non-moving objects.

[0035] Furthermore, the space recognition calculation unit 3351 may change the predetermined threshold value depending on the risk level of the location or area where the vehicle 30 is traveling. For example, if the risk level of the location or area where the vehicle 30 is traveling is high, the space recognition calculation unit 3351 changes the predetermined threshold value so that the predetermined threshold value becomes relatively shorter. As a result, while the vehicle 30 is traveling in a location or area with a high risk level, the amount of non-moving body data excluded from the space recognition data is kept low, thereby enabling safe traveling while reducing the amount of calculation.

[0036] The space recognition calculation unit 3351 may recognize non-moving objects based on the space recognition data, and then generate simplified space recognition data by excluding non-moving object data from the space recognition data. That is, the space recognition calculation unit 3351 recognizes various moving and non-moving objects based on the space recognition data obtained from the detection limit range of the space recognition sensor 313, and then generates simplified space recognition data by excluding non-moving object data for areas related to non-moving objects that are more than a predetermined distance away from the space recognition data. This first recognizes non-moving objects that should actually exist based on road map information, making it possible to avoid situations where a non-moving object is mistakenly not recognized when the distance between the non-moving object and the vehicle 30 becomes close.

[0037] In this case, if a non-moving object identified based on road map information cannot be recognized based on the spatial recognition data, the spatial recognition calculation unit 3351 may execute calculations until the non-moving object is recognized based on the spatial recognition data. As a result, if a defect such as a partial or complete loss of the spatial recognition data temporarily occurs and a non-moving object that should exist based on the road map information is not erroneously recognized, calculations are executed until the non-moving object is correctly recognized, thereby making it possible to avoid a situation in which a non-moving object that should exist is not erroneously recognized.

[0038] Furthermore, the spatial recognition calculation unit 3351 may not exclude non-moving object data relating to a non-moving object associated with the behavior of a moving object from the spatial recognition data among the identified non-moving objects. For example, it is expected that a moving object will appear from a non-moving object such as an entrance / exit to a parking lot or under an overpass. Therefore, when the spatial recognition calculation unit 3351 identifies a non-moving object associated with the behavior of a moving object based on the road map information in the navigation database 334, it generates simplified spatial recognition data without excluding the non-moving object data relating to the non-moving object from the spatial recognition data. This makes it possible to predict in advance which non-moving objects are likely to appear as moving objects, and to quickly respond to the sudden appearance of a moving object and avoid an accident.

[0039] 5 is a flowchart showing an example of space recognition processing based on space recognition data by a vehicle control device according to one embodiment of the present invention. This processing is realized by the vehicle control device 330 executing an autonomous driving control program under the control of a processor, thereby cooperating with the drive system and various hardware resources of the vehicle 30. The space recognition processing is called and executed at appropriate times during execution of the autonomous driving control program. Here, it is assumed that the vehicle control device 330 controls the vehicle 30 by acquiring driving control information as needed so that the vehicle 30 autonomously drives along a driving route according to a vehicle allocation plan.

[0040] As shown in the figure, in the spatial recognition process, the vehicle control device 330 acquires a driving route from a vehicle dispatch plan (S501). The driving route indicates the route the vehicle 30 will take to reach its destination. Next, the vehicle control device 330 identifies a non-moving object associated with the driving route based on road map information in the navigation database 334 (S502). Furthermore, the vehicle control device 330 calculates the distance between the identified non-moving object and the vehicle itself using the current position information of the vehicle 30 (S503).

[0041] Furthermore, the vehicle control device 330 acquires space recognition data of the surroundings of the vehicle 30 from the space recognition sensor 313 (S504). Here, the space recognition data includes moving objects and non-moving objects.

[0042] Next, the vehicle control device 330 determines whether the distance between the identified non-moving object and the host vehicle is equal to or greater than a predetermined value (S505). If the vehicle control device 330 determines that the distance between the identified non-moving object and the host vehicle is equal to or greater than a predetermined value (Yes in S505), the vehicle control device 330 then determines whether the identified non-moving object is associated with the behavior of a moving object (S506). For example, a non-moving object such as an entrance / exit to a parking lot or an area under an overpass is determined to be a non-moving object associated with the behavior of a moving object.

[0043] If the vehicle control device 330 determines that the identified non-moving object is not associated with the behavior of the moving object (No in S506), the vehicle control device 330 generates simplified spatial recognition data by excluding non-moving object data of the area related to the non-moving object from the acquired spatial recognition data (S508). In other words, in this case, non-moving objects that are further away than a predetermined distance are excluded from spatial recognition.

[0044] Next, the vehicle dispatch control device 10 executes a space recognition calculation based on the generated simplified space recognition data (S509).

[0045] On the other hand, if the vehicle control device 330 determines that the identified non-moving object is associated with the behavior of the moving object (Yes in S506), the vehicle control device 330 excludes the non-moving object associated with the behavior of the moving object from the non-moving objects to be excluded (S507). In other words, the non-moving object associated with the behavior of the moving object is not excluded and is still subjected to spatial recognition. Next, the vehicle control device 330 generates simplified spatial recognition data by excluding non-moving object data for areas related to the non-moving objects that remain to be excluded from the acquired spatial recognition data (S507). Next, the vehicle dispatch management device 10 performs a spatial recognition calculation based on the generated simplified spatial recognition data (S509).

[0046] On the other hand, when the vehicle control device 330 determines that the distance between the identified non-moving object and the vehicle is less than the predetermined value (No in S505), it executes a space recognition calculation based on the acquired space recognition data (S510). In other words, in this case, the non-moving object data of the area related to the non-moving object is not excluded, and the non-moving object is spatially recognized as it is.

[0047] As described above, according to this embodiment, the vehicle control device 330 can effectively reduce the power consumption required for accurately recognizing objects in the space around the vehicle 30. In particular, according to this embodiment, when it is determined based on road map information that the distance between the vehicle 30 and a non-moving object on the travel route is large, the vehicle control device 330 performs a space recognition calculation around the vehicle 30 based on simplified space recognition data obtained by excluding non-moving object data for an area related to the non-moving object from the space recognition data around the vehicle 30 acquired using the various sensors 310. This reduces the amount of calculation, thereby making it possible to effectively reduce the power consumption required for this.

[0048] The above-described embodiments are merely examples for explaining the present invention, and are not intended to limit the present invention to these embodiments. The present invention can be embodied in various forms without departing from the spirit of the present invention.

[0049] For example, in the methods disclosed herein, steps, operations, or functions may be performed in parallel or in a different order unless the results are inconsistent. The steps, operations, and functions described are provided merely as examples, and some of the steps, operations, and functions may be omitted or combined into one, or other steps, operations, or functions may be added, without departing from the spirit of the invention.

[0050] Furthermore, although various embodiments are disclosed in this specification, specific features (technical matters) in one embodiment can be added to or substituted for specific features in other embodiments, with appropriate modifications, and such forms are also included in the spirit of the present invention. [Explanation of symbols]

[0051] 1...Vehicle dispatch management system 10...Vehicle dispatch management device 12...Database 20...Terminal device 30...Vehicle 300...Vehicle control system 310...Sensor 320...Drive system unit 330...Vehicle control device 331...Location information acquisition unit 332...Driving control information acquisition unit 3321…Spatial recognition data acquisition unit 333…Communications Department 334...Navigation database 335...Autonomous driving control unit 3351…Spatial recognition calculation unit 340...User Interface 40...Road traffic information management system N: Communication network

Claims

1. A vehicle control device that controls a vehicle to autonomously travel along a planned travel route, a space recognition data acquisition unit that acquires space recognition data from each of a plurality of sensors mounted on the vehicle; a space recognition calculation unit that executes calculations to recognize a space around the vehicle based on the space recognition data, The space recognition calculation unit Identifying each of a plurality of non-moving objects associated with the travel route based on the travel route and road map information; excluding non-moving body data of the area related to the non-moving body from the acquired space recognition data to generate simplified space recognition data; Executing a calculation to recognize a surrounding space of the vehicle based on the simplified space recognition data. Vehicle control device.

2. the spatial recognition calculation unit, when a distance between the non-moving object identified based on the road map information and the vehicle exceeds a predetermined threshold, excludes the non-moving object data from the spatial recognition data to generate the simplified spatial recognition data; The vehicle control device according to claim 1 .

3. the space recognition calculation unit recognizes the non-moving object based on the space recognition data, and then generates the simplified space recognition data by excluding the non-moving object data from the space recognition data; The vehicle control device according to claim 2.

4. When the non-moving object identified based on the road map information cannot be recognized based on the space recognition data, the space recognition calculation unit executes the calculation until the non-moving object is recognized based on the space recognition data. The vehicle control device according to claim 3.

5. the space recognition calculation unit does not exclude non-moving body data relating to a non-moving body associated with a behavior of a moving body from the space recognition data among the identified non-moving bodies; The vehicle control device according to claim 2.

6. A space recognition processing method by a vehicle control device that controls a vehicle to autonomously travel a planned travel route, acquiring spatial recognition data from each of a plurality of sensors mounted on the vehicle; and executing a calculation to recognize a space around the vehicle based on the space recognition data; performing the operation Identifying each of a plurality of non-moving objects associated with the travel route based on the travel route and road map information; generating simplified space recognition data by excluding non-moving body data of an area related to the non-moving body from the acquired space recognition data; and executing a calculation to recognize a space around the vehicle based on the simplified space recognition data. Spatial recognition processing method.

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