Vehicle control device and vehicle control program

Abstract

To provide a vehicle control device or the like capable of traveling a vehicle so as not to cause a hydroplaning phenomenon.SOLUTION: A vehicle control ECU 100 estimates a water level of a road surface on which a vehicle Ve is traveled on the basis of sound data related to sound vibration measured in the vehicle Ve. Furthermore, the vehicle control ECU 100 sets an upper limit speed to be an upper limit of the travel speed of the vehicle Ve on the basis of the estimated water level.SELECTED DRAWING: Figure 3

Description

[Technical Field]

[0001] TECHNICAL FIELD The disclosure herein relates to the art of vehicle control. [Background technology]

[0002] The ground load control device disclosed in Patent Document 1 increases the ground load of a tire that has been determined to have hydroplaned by using a ground load increasing means. Through this operation, the ground load control device can restore the grip of the tire that has experienced hydroplaning. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Patent No. 3862357 Summary of the Invention [Problem to be solved by the invention]

[0004] The ground load control device of Patent Document 1 is capable of dealing with hydroplaning when it occurs, but is not capable of running the vehicle in a manner that prevents hydroplaning from occurring.

[0005] The present disclosure aims to provide a vehicle control device and a vehicle control program that are capable of running a vehicle without causing hydroplaning. [Means for solving the problem]

[0006] In order to achieve the above object, one disclosed embodiment is a vehicle control device that includes a water level estimation unit (73) that estimates the water level on the road surface on which the vehicle is traveling based on sound data related to sound vibrations measured in the vehicle (Ve), and an upper limit setting unit (76) that sets an upper limit speed that is the upper limit of the vehicle's traveling speed based on the estimated water level estimated by the water level estimation unit.

[0007] Another disclosed aspect is a vehicle control program that causes at least one processing unit (11) to execute processing including estimating the water level of the road surface on which the vehicle is traveling based on sound data related to sound vibrations measured in the vehicle (S12), and setting an upper limit speed that is the upper limit of the vehicle's traveling speed based on the estimated water level (S21).

[0008] In these aspects, since the water level on the road surface during travel is estimated based on sound data, an upper speed limit can be set according to the water level on the road surface. Therefore, if the vehicle's travel speed is restricted in accordance with the upper speed limit, the vehicle can be traveled without causing hydroplaning.

[0009] It should be noted that the reference numbers in parentheses in the above and claims merely indicate an example of the correspondence with the specific configurations in the embodiments described below, and do not limit the technical scope in any way. Furthermore, claims not explicitly stated in the claims may be combined together if no particular problems arise in the combination. [Brief explanation of the drawings]

[0010] [Figure 1] 1 is a block diagram showing an overall view of an in-vehicle system including a vehicle control ECU according to an embodiment of the present disclosure. [Figure 2] FIG. 10 is a diagram showing an example of an upper limit setting table that defines the correspondence relationship between the estimated water level and the upper limit speed. [Figure 3] FIG. 10 is a diagram showing details of the control of limiting the speed of a vehicle that is performed in an automatic driving scene in which the vehicle is driven by automatic driving control. [Figure 4] FIG. 10 is a diagram showing details of the control of limiting the speed of the host vehicle that is performed in a manual driving scene in which the vehicle is driven by the driver's driving operation. [Figure 5] 6 is a flowchart showing details of an SL setting process executed by a vehicle control ECU. [Figure 6] 4 is a flowchart showing details of a vehicle speed control process executed by a vehicle control ECU. [Figure 7] 4 is a flowchart showing details of a vehicle speed warning process executed by a vehicle control ECU. DETAILED DESCRIPTION OF THE INVENTION

[0011] The functions of a vehicle control device according to an embodiment of the present disclosure are realized by a vehicle control ECU (Electronic Control Unit) 100 shown in FIG. 1 . The vehicle control ECU 100 is mounted on a vehicle Ve (hereinafter also referred to as the host vehicle). The vehicle control ECU 100 is an ADAS (Advanced Driver-Assistance Systems)-ECU capable of performing driving assistance control, an autonomous driving ECU capable of performing autonomous driving control, or the like. Driving assistance control is driving control for autonomous driving level 2 or lower that requires the driver to visually monitor the surroundings of the host vehicle, and is autonomous driving control that at least requires the driver to monitor the surroundings. Autonomous driving control is driving control for autonomous driving level 3 or higher that does not require the driver to monitor the surroundings of the host vehicle, and is autonomous driving control that does not require the driver to monitor the surroundings. Note that the autonomous driving levels in the present disclosure are based on standards defined by the Society of Automotive Engineers. In the following description, driving assistance control and autonomous driving control will be collectively referred to as “autonomous driving control.”

[0012] [In-vehicle system configuration] The vehicle control ECU 100 is one of a plurality of on-board ECUs included in an on-board system mounted on a vehicle Ve. The vehicle control ECU 100 is connected to a communication line of an in-vehicle LAN (Local Area Network) 39 for constructing the on-board system. The in-vehicle LAN 39 is constructed using communication protocols such as CAN (Controller Area Network, registered trademark) and Ethernet (registered trademark). Various vehicle information (e.g., vehicle speed information) is output to the in-vehicle LAN 39. An acoustic sensor 30, a front camera unit 34, a navigation ECU 35, an on-board communication device 36, a wiper system 37, a cruise control ECU 40, and an HMI (Human Machine Interface) control device 50 are connected to the communication line. These nodes connected to the communication line can communicate with each other. Furthermore, certain nodes may be directly electrically connected to each other and be able to communicate with each other without using a communication line.

[0013] The acoustic sensor 30 is mainly composed of a microphone element that converts sound into an electrical signal. The microphone element functions as a condenser microphone that outputs, as an electrical signal, a change in capacitance that occurs when a thin diaphragm vibrates due to sound pressure. A MEMS (Micro Electro Mechanical Systems) microphone, an electret condenser microphone, or the like can be used as the microphone element. The acoustic sensor 30 may be configured as a piezoelectric microphone that uses a piezoelectric sensor instead of a condenser microphone. The piezoelectric sensor converts sound into an electrical signal using the piezoelectric element. The acoustic sensor 30 outputs sound data generated by each microphone element and related to sound vibrations to the vehicle control ECU 100 as detection information.

[0014] The acoustic sensor 30 is disposed within a tire fender so as to collect sound vibrations generated near the tire of the vehicle Ve. As an example, the acoustic sensor 30 is attached to the outer rear surface of a wheel well cover with its sound collection surface facing the tire. The acoustic sensor 30 mainly measures road noise generated by the tire rolling on the road surface. At least one acoustic sensor 30 is provided near the left front tire or right front tire of the vehicle Ve. For example, one of a left front sensor or a right front sensor is mounted on the vehicle Ve as the acoustic sensor 30. The left front sensor is mounted on the wheel well cover of the left front tire and generates sound data near the left front tire. The right front sensor is mounted on the wheel well cover of the right front tire and generates sound data near the right front tire. Note that both the left front sensor and the right front sensor may be mounted on the vehicle Ve as the acoustic sensor 30. Furthermore, an acoustic sensor 30 other than the left front sensor and the right front sensor may be mounted on the vehicle Ve.

[0015] The front camera unit 34 is installed near the rearview mirror inside the vehicle Ve. The front camera unit 34 is a monocular or compound camera and is directed in the direction of travel of the vehicle Ve. The front camera unit 34 continuously captures images of the area ahead of the vehicle Ve to generate image data of moving and stationary objects ahead of the vehicle. The front camera unit 34 outputs the generated image data or analysis information of the image data to the vehicle control ECU 100 as detection information. In addition to the acoustic sensor 30 and the front camera unit 34, the vehicle Ve may also be equipped with at least one of a rear camera, a side camera, a millimeter-wave radar, a lidar, a sonar, or the like as an autonomous sensor for monitoring the surrounding environment.

[0016] The navigation ECU 35 includes a GNSS (Global Navigation Satellite System) receiver, an inertial sensor, and the like. The navigation ECU 35 sequentially determines the vehicle position, traveling direction, and the like of the vehicle Ve by combining positioning signals received from multiple positioning satellites via the GNSS receiver, measurement results from the inertial sensor, and vehicle speed information output via a communication line. The navigation ECU 35 also includes a map database storing map data. The navigation ECU 35 references the map data and sets a route from the current position based on the positioning results to a destination specified by a passenger such as a driver. The navigation ECU 35 provides the positioning results, map data, route information indicating the set route to the destination, and the like to the vehicle control ECU 100, the HMI control device 50, and the like. The navigation ECU 35 cooperates with the HMI control device 50 to provide route guidance to the destination by combining screen displays and voice messages, and notifying the driver of the traveling direction of the vehicle Ve at intersections, branching points, and the like.

[0017] The in-vehicle communication device 36 is an external communication unit mounted on the vehicle Ve. The in-vehicle communication device 36 functions as a V2X (Vehicle to Everything) communication device. The in-vehicle communication device 36 transmits and receives information via wireless communication between roadside devices installed on the side of the road, and other vehicles around the vehicle. As an example, the in-vehicle communication device 36 receives congestion information and traffic regulation information around the current location of the vehicle Ve and in the direction of travel from the roadside devices. The congestion information and traffic regulation information are, for example, VICS (registered trademark) information. Furthermore, the in-vehicle communication device 36 receives road surface information stored on the cloud and grasps the slope and unevenness of the road that forms the planned route. The in-vehicle communication device 36 sequentially provides the congestion information, traffic regulation information, road surface information, etc. to the vehicle control ECU 100.

[0018] The wiper system 37 is a system that wipes away foreign matter adhering to the windshield or the like by operating wipers installed in the vehicle Ve. The wiper system 37 has a rain sensor and a control unit. The rain sensor is an optical sensor, an ultrasonic sensor, or the like attached to the windshield. The rain sensor detects the presence of raindrops and the intensity of rainfall. The control unit determines the wiper operation pattern and operation speed corresponding to the intensity of rainfall (amount of rainfall) based on the detection result of the rain sensor. The control unit may also determine the wiper operation pattern and operation speed based on the driver's operation. The control unit outputs at least one of the detection result of the rain sensor and information indicating the wiper operation state to the vehicle control ECU 100 as rainfall information related to the amount of rainfall.

[0019] The cruise control ECU 40 is an electronic control device that mainly includes a microcontroller. The cruise control ECU 40 generates vehicle speed information indicating the current traveling speed of the vehicle Ve based on detection signals from wheel speed sensors provided at the hubs of each wheel, and sequentially outputs the generated vehicle speed information to a communication line. The cruise control ECU 40 has at least the functions of a brake control ECU, a drive control ECU, and a steering control ECU. The cruise control ECU 40 continuously controls the braking force of each wheel, the output of the powertrain, and the steering angle based on either an operation command based on the driver's driving operation or a control command from the vehicle control ECU 100.

[0020] The HMI control device 50 is a computer that mainly includes a control circuit equipped with a processing unit, RAM, a storage unit, an input / output interface, and a bus connecting these, etc. The HMI control device 50 constitutes an HMI system together with a display device 51, an audio device, an operation device, a steering vibration device, etc. The display device 51 presents information to the driver's vision by displaying images, etc. The display device 51 includes a meter display, a center information display, a head-up display, etc. The HMI control device 50 functions as an information presentation control device and comprehensively controls the presentation of information using the display device 51 and the audio device. The vehicle control ECU 100 presents information according to the operating state of the autonomous driving control by controlling the content and timing of the notification based on a notification implementation request obtained from the HMI control device 50.

[0021] [Vehicle control ECU configuration] The vehicle control ECU 100 is a computer that mainly includes a processing unit 11, a RAM 12, a storage unit 13, an input / output interface, and a control circuit that includes a bus connecting these units. The processing unit 11 accesses the RAM 12 to execute various processes (instructions) for implementing the vehicle control method according to the present disclosure. The storage unit 13 stores various programs (vehicle control programs, etc.) that are executed by the processing unit 11. As the processing unit 11 executes the programs, an environment recognition unit 71, a notification request unit 74, a behavior control unit 75, etc. are configured in the vehicle control ECU 100 as functional units for vehicle control.

[0022] The environment recognition unit 71 recognizes the driving environment around the vehicle by combining positioning results, map data, route information, detection information, etc. The environment recognition unit 71 grasps road information related to the road on which the vehicle Ve is scheduled to travel. The environment recognition unit 71 grasps the size, type, relative position, relative speed, etc. of dynamic targets around the vehicle, such as other vehicles traveling around the vehicle. The environment recognition unit 71 grasps the content of road signs installed on the side of the road (e.g., speed limits, etc.) using a TSR (Traffic Sign Recognition) function.

[0023] The environment recognition unit 71 has, as sub-functional units for recognizing the driving environment, a rainfall estimation unit 72 and a water level estimation unit 73. The rainfall estimation unit 72 acquires rainfall information related to the amount of rainfall from the wiper system 37. Based on the rainfall information, the rainfall estimation unit 72 estimates the amount of rain falling around the vehicle Ve and determines whether the amount of rainfall around the vehicle Ve is maintained.

[0024] The water level estimation unit 73 acquires detection information generated by the acoustic sensor 30. The detection information from the acoustic sensor 30 is sound data related to sound vibrations measured in the vehicle Ve. The water level estimation unit 73 combines the sound data with at least one piece of vehicle information acquired from the communication line of the in-vehicle LAN 39 to estimate the condition of the asphalt road surface on which the vehicle Ve is traveling. A learning model for determining the road surface condition (hereinafter referred to as a road surface condition determination model) is prepared in advance in the water level estimation unit 73. The road surface condition determination model is generated using sound data (road surface sound) and vehicle information, etc. for learning. The water level estimation unit 73 performs an inference process using the sound data and vehicle information as input information to the road surface condition determination model, and estimates the condition of the road surface on which the vehicle Ve is traveling. The water level estimation unit 73 determines whether the road surface on which the vehicle Ve is traveling is wet through the inference process. Furthermore, if the vehicle Ve is traveling on a wet road surface, the water level estimation unit 73 estimates the amount of water accumulated on the road surface on which the vehicle Ve is traveling, in other words, the road surface water level.

[0025] The water level estimation unit 73 acquires sound data from either the left front sensor or the right front sensor mounted on the vehicle Ve. Specifically, the water level estimation unit 73 acquires sound data measured on the left side of the vehicle Ve (hereinafter referred to as left front wheel sound data) or sound data measured on the right side of the vehicle Ve (hereinafter referred to as right front wheel sound data). The water level estimation unit 73 estimates the water level of the road surface while the vehicle is traveling based on the left front wheel sound data or the right front wheel sound data. Here, if both the left front sensor and the right front sensor are mounted on the vehicle Ve, the water level estimation unit 73 individually estimates the left road surface water level based on the left front wheel sound data and the right road surface water level based on the right front wheel sound data as estimated water levels of the road surface while the vehicle is traveling. In this case, the road surface condition determination model into which the left front wheel sound data is input and the road surface condition determination model into which the right front wheel sound data is input may be the same learning model or different learning models.

[0026] The water level estimation unit 73 estimates the condition of the road surface on which the vehicle is planning to travel, in addition to the condition of the road surface during travel. The water level estimation unit 73 can use one or both of the detection information (image data) from the front camera unit 34 and map data (road surface information) received from the cloud by the in-vehicle communication device 36, as information for estimating the condition of the road surface on the planned route. Specifically, the water level estimation unit 73 estimates the water level of the road surface ahead by recognizing, from the image data from the front camera unit 34, the manner in which water is splashed up by the vehicle ahead and the amount of water submerged in the rear tires of the vehicle ahead. In addition, the water level estimation unit 73 estimates areas on the planned route where water is likely to accumulate (hereinafter referred to as puddle areas) based on the road slope and unevenness indicated by the road surface information.

[0027] The notification request unit 74 enables the implementation of notifications synchronized with the operating state of the autonomous driving control by outputting a notification implementation request to the HMI control device 50. The notification request unit 74 outputs, to the HMI control device 50, a request to implement a notification indicating the start of autonomous driving control, a request to implement a notification requesting the driver to take over driving, and the like. In addition, the notification request unit 74 outputs, to the HMI control device 50, a request to implement a notification related to control implemented based on a water level determination on the road surface. Furthermore, the notification request unit 74 outputs, to the HMI control device 50, a request to implement a vehicle speed warning (see FIG. 7 ) when the traveling speed of the vehicle Ve exceeds the speed limit of the road on which the vehicle is traveling or an upper speed limit set by an upper speed limit setting unit 76 (described later). The vehicle speed warning is an overspeed alert, and is a notification to a passenger such as a driver indicating that the vehicle is speeding.

[0028] When autonomous driving control is being executed and the vehicle control ECU 100 has control of driving operations, the behavior control unit 75 determines the behavior of the vehicle Ve based on route information, road information, and recognition results of the driving environment acquired from the environment recognition unit 71. The behavior control unit 75 generates a planned driving line along which the vehicle Ve will travel as a driving plan that defines the behavior of the vehicle Ve. The behavior control unit 75 executes acceleration / deceleration control, steering control, and the like of the vehicle Ve according to the generated planned driving line in cooperation with the cruise control ECU 40. Specifically, the behavior control unit 75 generates control commands based on the planned driving line and sequentially outputs the generated control commands to the cruise control ECU 40.

[0029] [Setting the upper speed limit based on the estimated water level] The vehicle control ECU 100 limits the traveling speed of the vehicle Ve when it detects a water level at which hydroplaning may occur. Furthermore, the vehicle control ECU 100 also limits the traveling speed of the vehicle Ve when it detects a water level at which it may become difficult to maintain the vehicle speed using ACC control, which will be described later. The vehicle control ECU 100 further includes an upper limit setting unit 76 as a functional unit for setting the vehicle speed limit.

[0030] The upper limit setting unit 76 executes the SL (Speed ​​Limit) setting process (see FIG. 5) described below, and sets an upper limit speed (SL vehicle speed, see FIG. 2) that is the upper limit of the traveling speed of the vehicle Ve, based on the estimated water level estimated by the water level estimation unit 73. The upper limit setting unit 76 decreases (lowers) the upper limit speed as the estimated water level increases (deepens). The upper limit setting unit 76 decreases the upper limit speed in stages as the estimated water level increases, based on a previously prepared upper limit setting table (see FIG. 2). The upper limit setting unit 76 may also continuously decrease the upper limit speed as the estimated water level increases, based on a previously prepared upper limit setting function.

[0031] Specifically, the upper limit setting unit 76 does not set an upper limit speed when the road surface is dry, or when the road surface is slightly wet and the estimated water level is 0 mm (moist state) (see Figure 2). Furthermore, when the estimated water level is less than 2 mm, the upper limit setting unit 76 sets the upper limit speed to 100 kph (km / h). Furthermore, when the estimated water level is 2 mm or more and less than 4 mm, the upper limit setting unit 76 sets the upper limit speed to 80 kph. Furthermore, when the estimated water level is 4 mm or more, the upper limit setting unit 76 sets the upper limit speed to 70 kph. Note that the estimated water level that is the boundary at which the upper limit speed switches and the upper limit speed associated with each estimated water level may be changed as appropriate.

[0032] When the estimated water level changes from zero (dry or moist), the upper limit setting unit 76 suspends setting of the upper limit speed based on the changed estimated water level until a preset condition for setting the upper limit speed is met. Examples of the setting condition include the vehicle Ve traveling a certain distance (e.g., approximately 5 meters) and the vehicle Ve traveling a certain time (e.g., approximately 1 second) after the change in the estimated water level. The upper limit setting unit 76 may use only one of the certain distance and certain time requirements as the setting condition, or may use both as the setting condition. By suspending the setting of the upper limit speed when a sudden change in water level is detected, the upper limit setting unit 76 avoids setting the upper limit speed when passing through a small puddle. On the other hand, when the water level on a wet road surface gradually increases, the upper limit setting unit 76 immediately sets the upper limit speed according to the water level.

[0033] Even if the estimated water level changes by more than a predetermined amount, the upper limit setting unit 76 suspends the setting of the upper limit speed based on the changed estimated water level. The predetermined amount is set to, for example, approximately 3 to 4 mm to prevent the upper limit speed from switching between multiple stages. As an example, if the estimated water level suddenly changes from approximately 1 to 2 mm to 5 mm or more, the upper limit setting unit 76 temporarily suspends the change of the upper limit speed to 70 kph and maintains the upper limit speed setting of 100 kph. If the estimated water level remains at 4 mm or more for a certain distance or a certain time, and the setting condition is met, the upper limit setting unit 76 changes the upper limit speed to 70 kph. On the other hand, if the estimated water level drops to approximately 1 mm before the certain distance or time is exceeded, and the setting condition is not met, the upper limit setting unit 76 continues to set the upper limit speed to 100 kph.

[0034] Even if the estimated water level drops after the upper limit speed is set, the upper limit setting unit 76 continues to set the upper limit speed until a predetermined condition for canceling the upper limit speed is met. Examples of the cancel condition include the vehicle Ve traveling a certain distance or traveling a certain time after the upper limit speed is set. The certain distance used as the cancel condition may be the same as the certain distance used as the setting condition, or may be a longer distance (e.g., about 10 meters) than the certain distance used as the setting condition. Similarly, the certain time used as the cancel condition may be the same as the certain time used as the setting condition, or may be a longer time (e.g., about several seconds) than the certain time used as the setting condition. The upper limit setting unit 76 may use only one of the certain distance and certain time requirements as the cancel condition, or may use both as the cancel condition.

[0035] After setting the upper limit speed, the upper limit setting unit 76 continues to set the upper limit speed if the amount of rainfall estimated by the rainfall estimation unit 72 is maintained even if the estimated water level on the road surface where the vehicle is traveling drops. In addition, after setting the upper limit speed, the upper limit setting unit 76 continues to set the upper limit speed if the estimated water level on the road surface where the vehicle is traveling drops but the estimated water level on the road surface along the planned route where the vehicle is traveling is maintained. As described above, in a traveling environment where it can be determined that the amount of rainfall is not changing, frequent relaxation of the upper limit speed is avoided, and the upper limit speed corresponding to the estimated maximum water level continues to be set even if the estimated water level changes slightly.

[0036] When the vehicle Ve is equipped with two acoustic sensors 30 and the water level estimation unit 73 estimates both the left and right road surface water levels, the upper limit setting unit 76 sets the upper limit speed based on these estimated water levels. Specifically, when the left and right road surface water levels are the same, the upper limit setting unit 76 sets the upper limit speed corresponding to these water levels. On the other hand, when the left and right road surface water levels are different, the upper limit setting unit 76 suspends setting the upper limit speed based on the higher of the left and right road surface water levels until the above-mentioned setting condition is met. When the different estimated water levels on the left and right roads are maintained for a certain distance or a certain time and the setting condition is met, the upper limit setting unit 76 sets the upper limit speed corresponding to the higher water level. On the other hand, when the setting condition is not met, that is, when the estimated water levels on the left and right roads become the same before the certain distance or time has passed, the upper limit setting unit 76 continues setting the current upper limit speed.

[0037] [Speed ​​limit based on maximum speed limit] Next, details of the control for limiting the traveling speed of the vehicle Ve (hereinafter referred to as the host vehicle speed) in accordance with the upper limit speed set by the upper limit setting unit 76 will be described based on FIGS. 3 and 4 and with reference to FIG.

[0038] <Speed ​​limit for vehicles under the driving control of the vehicle control ECU> In the automatic driving scene shown in FIG. 3, the vehicle Ve is traveling under automatic driving control by the vehicle control ECU 100. The behavior control unit 75 controls the host vehicle speed by operating adaptive cruise control (hereinafter referred to as ACC). When a preceding vehicle is present, the ACC causes the vehicle Ve to follow the preceding vehicle while maintaining a constant inter-vehicle distance. On the other hand, when no preceding vehicle is present, the ACC controls the traveling speed of the vehicle Ve so that the vehicle Ve travels at an arbitrary set vehicle speed set by the driver. In the automatic driving scene shown in FIG. 3, for example, a set vehicle speed of 90 kph is set in the ACC. The behavior control unit 75 sets the set vehicle speed as a target vehicle speed and accelerates the vehicle Ve until the host vehicle speed reaches the target vehicle speed.

[0039] At time T1 in the automated driving scene, the vehicle Ve enters a wet road surface. At time T1, the water level estimation unit 73 detects a change in road surface condition from dry to wet and determines the estimated water level (1 mm) on the road surface. The upper limit setting unit 76 sets an upper limit speed (100 kph) based on the estimated water level determined by the water level estimation unit 73. This upper limit speed is higher than the set vehicle speed of the ACC. Therefore, even after time T1, the behavior control unit 75 sets the set vehicle speed as the target vehicle speed for ACC control, and causes the vehicle Ve to travel at a constant speed of 90 kph, which is the target vehicle speed.

[0040] At time T2 in the autonomous driving scene, the amount of water accumulating on the road surface is increasing. At time T2, the water level estimation unit 73 detects a change in the water level on the road surface and changes the estimated water level from 1 mm to 4 mm. Based on the change in the estimated water level, the upper limit setting unit 76 lowers the upper limit speed from 100 kph to 70 kph. This upper limit speed is lower than the set vehicle speed of the ACC. Therefore, at time T2, the behavior control unit 75 switches the ACC target vehicle speed from the set vehicle speed of 90 kph to the upper limit speed of 70 kph. The behavior control unit 75 decelerates the vehicle Ve after time T2 so that the host vehicle speed becomes the changed target vehicle speed (upper limit speed, 70 kph). The behavior control unit 75 sets the deceleration rate when decelerating the vehicle Ve from the set vehicle speed to the upper limit speed to be smaller when other vehicles are present around the vehicle Ve (see dashed line in FIG. 3 ) than when other vehicles are not present (see solid line in FIG. 3 ). The other vehicles whose presence or absence is determined during the deceleration period are mainly vehicles behind vehicle Ve traveling in the same lane as vehicle Ve.

[0041] During the deceleration period from time T2 onwards, the host vehicle speed exceeds the upper limit speed. When the host vehicle speed exceeds the upper limit speed, the notification request unit 74 cooperates with the HMI control device 50 to provide a vehicle speed warning. The vehicle speed warning while autonomous driving control is active is provided using the display device 51. The display device 51 notifies the passenger that the host vehicle speed has exceeded the target vehicle speed by displaying an image that emphasizes the target vehicle speed by enlarging the size, flashing, changing the colour, etc. Note that the vehicle speed warning while autonomous driving control is active may be omitted.

[0042] At time T3 in the automatic driving scene, the vehicle Ve leaves the wet road surface. The water level estimation unit 73 detects a change in road surface condition from a wet road surface to a dry road surface at time T3. The upper limit setting unit 76 cancels the setting of the upper limit speed based on the change in road surface condition detected by the water level estimation unit 73. As a result, the behavior control unit 75 switches the ACC target vehicle speed from the upper limit speed of 70 kph to the set vehicle speed of 90 kph. The behavior control unit 75 accelerates the vehicle Ve after time T3 so that the host vehicle speed becomes the changed target vehicle speed (set vehicle speed). The behavior control unit 75 sets the acceleration when accelerating the vehicle Ve to the set vehicle speed to be smaller when there is another vehicle around the vehicle Ve (see dashed line in Figure 3) than when there is no other vehicle (see solid line in Figure 3). The other vehicles whose presence or absence is determined during the acceleration period are mainly vehicles ahead traveling in the same lane as the vehicle Ve. It should be noted that the control for changing the acceleration during the acceleration period depending on whether or not there is a vehicle ahead does not necessarily have to be performed.

[0043] <Speed ​​limit for vehicles under driver control> In the manual driving scene shown in FIG. 4, the vehicle Ve is driven by the driver's driving operation. The vehicle control ECU 100 continues to operate in the background even during a manual driving period when automatic driving control is not being executed, and can assist the driver's driving operation through control intervention by the behavior control unit 75. The behavior control unit 75 controls the host vehicle speed to be below the upper limit speed. Specifically, when the host vehicle speed exceeds the upper limit speed or is likely to exceed it, the behavior control unit 75 controls the host vehicle speed to be below the upper limit speed by controlling to suppress acceleration. In addition, when the host vehicle speed exceeds the upper limit speed, the behavior control unit 75 may perform deceleration control until the host vehicle speed falls below the upper limit speed.

[0044] At time T1 in the manual driving scene, the vehicle Ve enters a wet road surface. At time T1, the water level estimation unit 73 detects a change in road surface condition from dry to wet and estimates the estimated water level (1 mm) on the road surface. The upper limit setting unit 76 sets an upper limit speed (100 kph) based on the estimated water level estimated by the water level estimation unit 73.

[0045] At time Te1 when the vehicle speed exceeds the upper limit speed due to the driver's acceleration operation, the notification request unit 74 cooperates with the HMI control device 50 to issue a vehicle speed warning. The vehicle speed warning during the manual driving period is emphasized more than the vehicle speed warning issued while automatic driving control is active. Specifically, in addition to issuing a vehicle speed warning using the display device 51, the notification request unit 74 can issue a vehicle speed warning using a voice message or warning sound using an audio device, and by changing the emitted color of ambient lights, etc. The behavior control unit 75 starts acceleration suppression control of the vehicle Ve after issuing the vehicle speed warning or simultaneously with the vehicle speed warning. The behavior control unit 75 may also start deceleration control of the vehicle Ve. The behavior control unit 75 continues the acceleration suppression control or deceleration control until the vehicle speed falls below the upper limit speed.

[0046] At time T2 in the manual driving scene, the amount of water accumulating on the road surface is increasing. The water level estimation unit 73 detects the change in the water level on the road surface at time T2 and changes the estimated water level from 1 mm to 4 mm. The upper limit setting unit 76 lowers the upper limit vehicle speed limit from 100 kph to 70 kph based on the change in the estimated water level. This upper limit speed is higher than the host vehicle speed. Therefore, the behavior control unit 75 continues the acceleration suppression control or deceleration control. If the lowering of the upper limit speed increases the difference between the upper limit speed and the host vehicle speed, and the amount by which the host vehicle speed exceeds a predetermined value, the behavior control unit 75 increases the upper limit of the deceleration in the deceleration control.

[0047] Due to the continued intervention of the deceleration control by the behavior control unit 75, the host vehicle speed becomes equal to or less than the upper limit speed at time Te2. The notification request unit 74 ends the vehicle speed warning that started at time Te1 at time Te2. In addition, the behavior control unit 75 ends the acceleration suppression control or deceleration control after time Te2. As a result, the control right to control the host vehicle speed is handed over to the driver. After the deceleration control ends, the behavior control unit 75 may continue the control to suppress acceleration due to the driver's accelerator operation. Furthermore, if the host vehicle speed exceeds the upper limit speed again, the behavior control unit 75 resumes the acceleration suppression control or deceleration control.

[0048] At time T3 in the manual driving scene, the vehicle Ve leaves the wet road surface. The water level estimation unit 73 detects a change in the road surface state from the wet road surface to the dry road surface at time T3. The upper limit setting unit 76 cancels the setting of the upper limit speed, which was 70 kph, based on the change in the road surface state grasped by the water level estimation unit 73. As a result, the driver can increase the cruising speed of the vehicle Ve to a speed exceeding the upper limit speed without being intervened by the control of the action control unit 75.

[0049] [Details of each process related to the setting of the upper limit speed] Next, the details of the SL setting process for setting the upper limit speed, the vehicle speed control process for restricting the traveling speed of the vehicle Ve, and the vehicle speed warning process for alerting the driver to the exceeding of the upper limit speed, which have been described so far, will be described below based on FIGS. 5 to 7 with reference to FIGS. 1 to 4.

[0050] <SL setting process> The SL setting process shown in FIG. 5 is started by the water level estimation unit 73 and the upper limit setting unit 76 based on the fact that the shift position of the vehicle Ve is set to the drive range and the vehicle Ve has become drivable. The SL setting process is repeatedly started until the shift position of the vehicle Ve is switched to the parking range.

[0051] In S11 of the SL setting process, the water level estimation unit 73 acquires sound data related to the sound vibration generated near the tires of the vehicle Ve. In S12, the water level estimation unit 73 estimates the state of the road surface on which the vehicle Ve is traveling based on the acquired sound data. When the vehicle Ve is traveling on a wet road surface, the water level estimation unit 73 estimates the road surface water level in S12.

[0052] In S13, the upper limit setting unit 76 determines whether or not the water level estimation unit 73 has detected an estimated water level. When the vehicle Ve is traveling on a dry road surface or a slightly wet road surface (moist road surface), the water level estimation unit 73, for example, does not detect an estimated water level. As another example, the water level estimation unit 73 may not detect an estimated water level only when the vehicle Ve is traveling, and may detect a very small amount of estimated water level when the vehicle Ve is traveling on a slightly wet road surface. If the water level estimation unit 73 has not detected an estimated water level, the upper limit setting unit 76 determines that an estimated water level has not been detected (S13: NO), and in S14, determines whether or not an upper limit speed has been set. If an upper limit speed has not been set (S14: NO), the upper limit setting unit 76 keeps the upper limit speed in the OFF state and ends the current SL setting process.

[0053] If an upper limit speed has been set (S14: YES), the upper limit setting unit 76 determines in S15 whether the rainfall estimated by the rainfall estimation unit 72 is being maintained. If the rainfall around the vehicle is being maintained (S15: YES), the upper limit setting unit 76 decides to continue the current upper limit speed setting and ends the current SL setting process. On the other hand, if the rainfall around the vehicle is decreasing (S15: NO), the upper limit setting unit 76 determines in S16 whether the estimated water level on the road surface on the planned route is being maintained. If the estimated water level on the planned route is being maintained (S16: YES), the upper limit setting unit 76 also decides to continue the current upper limit speed setting and ends the current SL setting process.

[0054] On the other hand, if the estimated water level on the planned route is decreasing (S16: NO), the upper limit setting unit 76 determines in S17 whether the conditions for canceling the setting of the upper limit speed are met. If the conditions for canceling are not met (S17: NO), the upper limit setting unit 76 decides to maintain the current setting of the upper limit speed and ends the current SL setting process. As described above, even if the estimated water level drops after the upper limit speed is set, the setting of the upper limit speed continues for a certain distance or a certain time. On the other hand, if the conditions for canceling are met (S17: YES), the upper limit setting unit 76 cancels the current setting of the upper limit speed (SL vehicle speed) in S18 and ends the current SL setting process.

[0055] If the upper limit setting unit 76 determines that an estimated water level has been detected by the water level estimation unit 73 (S13: YES), it determines in S19 whether or not a specific water level change has occurred. As described above, if the estimated water level has changed from zero, or if the estimated water level has changed by more than a predetermined amount, the upper limit setting unit 76 determines that a specific water level change has occurred. If the detected water level change does not correspond to a specific water level change (S19: NO), the upper limit setting unit 76 sets an upper limit speed based on the latest estimated water level in S21. If an upper limit speed has already been set, the upper limit setting unit 76 updates the upper limit speed based on the latest estimated water level in S21.

[0056] On the other hand, if the detected water level change corresponds to a specific water level change (S19: YES), the upper limit setting unit 76 determines in S20 whether the setting condition for the upper limit speed is met. If the setting condition is not met (S20: NO), the upper limit setting unit 76 maintains the current setting for the upper limit speed and ends this SL setting process. On the other hand, if the setting condition is met (S20: YES), the upper limit setting unit 76 sets or updates the upper limit speed based on the latest estimated water level in S21.

[0057] <Vehicle speed control processing> 6 is started by the behavior control unit 75 when the automatic driving control by the vehicle control ECU 100 is turned on and the ACC is put into an execution state. The vehicle speed control process is started repeatedly until the automatic driving control is turned off.

[0058] In S31 of the vehicle speed control process, the behavior control unit 75 acquires the upper limit speed (SL vehicle speed) set by the upper limit setting unit 76. Furthermore, in S32, the behavior control unit 75 acquires the set vehicle speed set in the ACC. In S33, the behavior control unit 75 compares the upper limit speed with the set vehicle speed and determines whether the upper limit speed is smaller than the set vehicle speed. If the upper limit speed is greater than the set vehicle speed (S33: NO), the behavior control unit 75 sets the set vehicle speed as the target vehicle speed of the ACC in S34. As a result, the behavior control unit 75 controls the vehicle speed of the host vehicle so that it travels at the set vehicle speed.

[0059] On the other hand, if the upper limit speed is lower than the set vehicle speed (S33: YES), the behavior control unit 75 sets the upper limit speed as the target vehicle speed of the ACC in S35. As a result, the behavior control unit 75 controls the host vehicle speed so that the host vehicle travels at the upper limit speed. Furthermore, in S36, the notification request unit 74 determines whether the host vehicle speed is higher than the upper limit speed. If the host vehicle speed is higher than the upper limit speed (S36: YES), the notification request unit 74 issues a vehicle speed warning to the driver as a warning indicating that the vehicle is speeding. On the other hand, if the host vehicle speed is lower than the upper limit speed (S36: NO), the vehicle speed warning in S37 is skipped.

[0060] <Vehicle speed warning processing> 7 is started by the notification request unit 74 and the behavior control unit 75 when the vehicle Ve becomes capable of traveling. The vehicle speed warning process is started repeatedly until the shift position of the vehicle Ve is switched to the parking range. Furthermore, if the automatic driving control is in the ON state, the vehicle speed warning process is temporarily suspended, and when the automatic driving control is turned OFF, the vehicle speed warning process is resumed.

[0061] In S51 of the vehicle speed warning process, the notification request unit 74 acquires the upper limit speed (SL vehicle speed) set by the upper limit setting unit 76. Furthermore, in S52, the notification request unit 74 acquires the current host vehicle speed of the vehicle Ve. In S53, the notification request unit 74 compares the host vehicle speed with the upper limit speed and determines whether the host vehicle speed is greater than the upper limit speed. If the host vehicle speed is lower than the upper limit speed (S53: NO), the notification request unit 74 ends the current vehicle speed warning process.

[0062] On the other hand, if the host vehicle speed is greater than the upper limit speed (S53: NO), the notification request unit 74 issues a vehicle speed warning to the driver in S54 to notify the driver that the vehicle is speeding. Furthermore, the behavior control unit 75 intervenes in the driver's driving operation in S55. The behavior control unit 75 executes acceleration suppression control or deceleration control to decelerate the host vehicle speed to the upper limit speed.

[0063] (Summary of embodiments) In the embodiment described above, the water level on the road surface during travel is estimated based on sound data, and therefore an upper speed limit can be set according to the water level on the road surface. Therefore, if the travel speed of the vehicle Ve is restricted in accordance with the upper speed limit, the vehicle Ve can be traveled without hydroplaning.

[0064] In addition, in this embodiment, even if the estimated water level drops after the upper speed limit is set, the upper speed limit continues to be set for a certain distance or a certain time. As a result, it is less likely that the upper speed limit will be set and released frequently, causing the vehicle speed to become unstable.

[0065] In this embodiment, the amount of rainfall around the vehicle Ve is estimated. After the upper speed limit is set, even if the estimated water level drops, the setting of the upper speed limit is continued if the estimated rainfall is maintained. As described above, in a driving environment where it is continuously raining and the road surface water level is unlikely to drop, the release or relaxation of the upper speed limit due to a slight change in the road surface water level can be avoided. As a result, vehicle speed suppression according to the upper speed limit can be continued, and the vehicle control ECU 100 can drive the vehicle Ve in a continuous rain environment without causing hydroplaning.

[0066] Furthermore, in this embodiment, the water level on the road surface along the planned route along which the vehicle Ve is scheduled to travel is further estimated. After the upper speed limit is set, even if the estimated water level on the road surface during travel drops, the setting of the upper speed limit is continued as long as the estimated water level on the road surface along the planned route is maintained. As described above, if the water level on the road surface along the planned route is further estimated, cancellation or relaxation of the upper speed limit can be avoided even if the estimated water level temporarily drops due to the inclination of the road, unevenness of the road surface, etc. As a result, the vehicle control ECU 100 can suppress the vehicle speed to prevent hydroplaning, allowing the vehicle Ve to travel.

[0067] In addition, in this embodiment, if the estimated water level changes from zero or if the estimated water level changes by more than a predetermined amount, the setting of the upper limit speed based on the changed estimated water level is suspended for a certain distance or a certain time. As a result, unnecessary deceleration can be avoided when driving through a puddle, etc.

[0068] In this embodiment, the estimated water levels are a left road surface water level based on sound data measured on the left side of the vehicle Ve, and a right road surface water level based on sound data measured on the right side of the vehicle Ve. If the left road surface water level and the right road surface water level differ, the setting of the upper limit speed based on the higher of the left road surface water level and the right road surface water level is suspended for a certain distance or a certain time. As a result, unnecessary deceleration can be avoided in driving situations where only one tire passes through a puddle.

[0069] Furthermore, in this embodiment, when the ACC is activated, the traveling speed of the vehicle Ve is controlled so that the vehicle travels at a set vehicle speed set by the driver or the like. If the upper limit speed is lower than the set vehicle speed, the traveling speed of the vehicle Ve is controlled so that the vehicle travels at the upper limit speed. If water accumulates on the road surface, the resistance of the water on the road surface may make it impossible to maintain the set vehicle speed with the upper limit torque of the ACC. However, as described above, by reducing the ACC target speed from the set speed to the upper limit speed, it becomes possible to switch to a target vehicle speed that can be maintained with the upper limit torque. As a result, it is less likely that water pressure will impede the ACC's vehicle speed control, making it difficult to maintain the vehicle speed and causing the ACC to be canceled.

[0070] Additionally, in this embodiment, the deceleration rate when the vehicle Ve decelerates from the set vehicle speed to the upper limit speed is set smaller when other vehicles are present around the vehicle Ve than when no other vehicles are present. As described above, if the deceleration rate is adjusted to prevent sudden deceleration when other vehicles are present around the vehicle Ve, the vehicle Ve can continue traveling while maintaining a distance from other vehicles in a traveling environment with poor visibility.

[0071] In this embodiment, the vehicle speed of the vehicle Ve driven by the driver is controlled so that the speed is below the upper limit speed. As described above, even during a period when the vehicle Ve is being driven manually, the vehicle control ECU 100 performs acceleration suppression control to suppress the host vehicle speed so as to prevent hydroplaning, thereby allowing the vehicle Ve to travel.

[0072] Furthermore, in this embodiment, when the host vehicle speed is greater than the upper limit speed, a vehicle speed warning is issued to the driver or the like to notify the driver that the speed is exceeding the upper limit speed. This vehicle speed warning allows the driver to recognize that the upper limit speed has been exceeded. As a result, it is possible to reduce the driver's discomfort with deceleration control that reduces the host vehicle speed below the upper limit speed.

[0073] In the above embodiment, the notification request unit 74 corresponds to the "notification implementation unit", the behavior control unit 75 corresponds to the "driving control unit", the vehicle control ECU 100 corresponds to the "vehicle control device", and the set vehicle speed corresponds to the "target set speed".

[0074] (Other embodiments) Although one embodiment of the present disclosure has been described above, the present disclosure should not be construed as being limited to the above embodiment, and can be applied to various embodiments and combinations within the scope that does not deviate from the gist of the present disclosure.

[0075] In the above embodiment, the water level estimation unit 73 estimates whether the road surface is dry, moist, or wet based on the road surface sounds of the vehicle Ve traveling on an asphalt road surface. However, the type of road surface to be estimated is not limited to asphalt. The water level estimation unit 73 may also be capable of estimating the road surface condition based on sound data for road surfaces such as concrete, cobblestones, and gravel.

[0076] Furthermore, the water level estimation unit 73 may function as a snow accumulation estimation unit and estimate the road surface condition and driving condition using sound data (tire sound) when the vehicle Ve drives on a snowy road. Specifically, the snow accumulation estimation unit estimates that the vehicle Ve is driving on a snowy road by detecting the sound of the tires compressing snow just before the vehicle Ve stops. Based on the snow accumulation estimation unit's determination of a snowy road, the behavior control unit 75 increases the amount of steering of the steered wheels in the steering control for automatic parking compared to the steering control for automatic parking on a dry road. By correcting the amount of steering in this way, the behavior control unit 75 can accurately move the vehicle Ve into the target parking space even when cold tires slip on the road surface.

[0077] Furthermore, if the cruise control ECU 40 includes the function of a steering control ECU, it changes the steering gear ratio based on the snowy road determination by the snow accumulation estimation unit. More specifically, the steering gear ratio is the ratio between the steering wheel angle (steering angle) and the actual tire angle (actual steering angle). The higher the gear ratio, the greater the change in tire angle relative to a change in steering wheel angle. The steering system of the vehicle Ve is provided with a gear ratio variable mechanism that changes the steering gear ratio. The cruise control ECU 40 works in conjunction with the gear ratio variable mechanism to increase the steering gear ratio when the vehicle Ve is traveling on a snowy road. In other words, the cruise control ECU 40 uses the gear ratio variable mechanism to turn the tires further in response to the driver's steering operation.

[0078] When the snow accumulation estimation unit determines that the vehicle Ve is traveling on a snowy road, it detects the sound of the tires that have left the ruts stepping on the snow and estimates that the tires are about to leave the ruts. When a tire is about to leave the ruts, the cruise control ECU 40 performs cruise control to return the tire to its original rut. Specifically, the cruise control ECU 40 generates a force in the yaw direction in the vehicle Ve by steering control or braking control, and controls the vehicle behavior so that the tires travel along the ruts.

[0079] In the first modification of the above embodiment, the upper limit setting unit 76 does not perform at least one of the process of suspending the setting of the upper limit speed based on the determination of whether the setting condition is met and the process of suspending the release of the upper limit speed based on the determination of whether the release condition is met. Also, in the second modification of the above embodiment, the upper limit setting unit 76 does not perform at least one of the process of suspending the release of the upper deceleration based on the estimated rainfall and the process of suspending the release of the upper limit speed based on the estimated water level on the planned route. Furthermore, in the third modification of the above embodiment, the deceleration is not adjusted depending on the presence or absence of other vehicles. In addition, in the fourth modification of the above embodiment, a vehicle speed warning is not issued during the period when the host vehicle speed exceeds the upper limit speed.

[0080] The number and positions of the acoustic sensors 30 may be changed as appropriate. In Modification 5 of the above embodiment, the acoustic sensors 30 are installed near all four wheels of the vehicle Ve. In Modification 6 of the above embodiment, the acoustic sensors 30 are installed near only one of the left front tire or the right front tire. Furthermore, the acoustic sensors 30 are not limited to being installed inside the fenders, and may be installed inside the side sills, bumpers, etc., as long as they are able to collect road surface sounds near the tires.

[0081] In the in-vehicle system of the seventh modification of the above embodiment, a signal processing ECU is provided in addition to the vehicle control ECU 100. The signal processing ECU is a dedicated ECU for processing the detection signal of the acoustic sensor 30. The signal processing ECU has the function of the water level estimation unit 73. In this seventh modification, the system including the vehicle control ECU 100 and the signal processing ECU corresponds to the "vehicle control device." Furthermore, in the eighth modification of the above embodiment, the function of the HMI control device 50 is integrated into the vehicle control ECU 100. In this eighth modification, the integrated functional unit of the HMI control device 50 corresponds to the "alert implementation unit."

[0082] In the above embodiment, each function provided by the vehicle control ECU 100 etc. can be provided by software and hardware that executes the software, software only, hardware only, or a combination of these. Furthermore, when such a function is provided by an electronic circuit as hardware, each function can also be provided by a digital circuit including a large number of logic circuits or an analog circuit.

[0083] Each processing unit in the above-described embodiments includes at least one arithmetic core, such as a central processing unit (CPU) and a graphics processing unit (GPU). The processing unit may further include a field-programmable gate array (FPGA), a neural network processing unit (NPU), and an IP core with other dedicated functions. The processing unit is not limited to being individually mounted on a printed circuit board. The processing unit may be mounted on an application-specific integrated circuit (ASIC), a system on chip (SoC), a chiplet assembly, an FPGA, or the like.

[0084] The form of the storage medium (non-transitory tangible storage medium) that stores various programs and the like may be changed as appropriate. Furthermore, the storage medium is not limited to a configuration provided on a circuit board, but may be provided in the form of a memory card or the like, inserted into a slot, and electrically connected to a control circuit such as the vehicle control ECU 100. Furthermore, the storage medium may be an optical disk, hard disk drive, solid state drive, or the like that is a source from which programs are copied or distributed to the vehicle control ECU 100.

[0085] The controller and methods described herein may be implemented by a special-purpose computer comprising a processor programmed to perform one or more functions embodied in a computer program. Alternatively, the apparatus and methods described herein may be implemented by special-purpose hardware logic circuitry. Alternatively, the apparatus and methods described herein may be implemented by one or more special-purpose computers comprising a processor executing a computer program in combination with one or more hardware logic circuits. Furthermore, the computer program may be stored as instructions executed by a computer on a computer-readable non-transitory storage medium.

[0086] (Disclosure of technical ideas) This specification discloses multiple technical ideas described in the following multiple clauses. Some clauses may be written in a multiple dependent form, with the subsequent clause referring to the preceding clause as an alternative. Furthermore, some clauses may be written in a multiple dependent form, referring to another multiple dependent clause. These multiple dependent clauses define multiple technical ideas.

[0087] (Technical thought 1) a water level estimation unit (73) that estimates the water level on the road surface on which the vehicle (Ve) is traveling based on sound data related to sound vibrations measured in the vehicle (Ve); an upper limit setting unit (76) that sets an upper limit speed that is an upper limit of the traveling speed of the vehicle based on the estimated water level estimated by the water level estimating unit; A vehicle control device comprising: (Technical thought 2) The vehicle control device according to Technical Idea 1, wherein the upper limit setting unit continues to set the upper limit speed for a certain distance or a certain time even if the estimated water level drops after setting the upper limit speed. (Technical Thought 3) a rainfall estimation unit (72) for estimating the amount of rain falling around the vehicle, A vehicle control device described in technical idea 1 or 2, in which the upper limit setting unit continues to set the upper limit speed if the rainfall estimated by the rainfall estimation unit is maintained even if the estimated water level drops after setting the upper limit speed. (Technical Thought 4) The water level estimation unit further estimates a water level of the road surface on which the vehicle is scheduled to travel, A vehicle control device described in any one of technical ideas 1 to 3, wherein the upper limit setting unit continues to set the upper limit speed if the estimated water level on the road surface on which the vehicle is traveling drops after setting the upper limit speed, but the estimated water level on the road surface on which the vehicle is planned to travel is maintained. (Technical Thought 5) A vehicle control device described in any one of technical ideas 1 to 4, wherein the upper limit setting unit suspends setting of the upper limit speed based on the estimated water level after the change for a certain distance or a certain period of time when the estimated water level changes from zero or when the estimated water level changes by more than a predetermined amount. (Technical Thought 6) the water level estimation unit estimates, as the estimated water levels, a left road surface water level based on the sound data measured on the left side of the vehicle and a right road surface water level based on the sound data measured on the right side of the vehicle; A vehicle control device described in any one of technical ideas 1 to 5, wherein the upper limit setting unit suspends setting of the upper limit speed based on the higher of the left road surface water level and the right road surface water level for a certain distance or a certain time when the left road surface water level and the right road surface water level are different. (Technical Thought 7) a travel control unit (75) that controls the travel speed of the vehicle so that the vehicle travels at a target speed set by a passenger of the vehicle; The vehicle control device according to any one of Technical Ideas 1 to 6, wherein the travel control unit controls the travel speed of the vehicle so that the vehicle travels at the upper limit speed when the upper limit speed is lower than the target set speed. (Technical Thought 8) The vehicle control device according to Technical Idea 7, wherein the driving control unit reduces the deceleration when decelerating the vehicle from the target set speed to the upper limit speed when another vehicle is present around the vehicle compared to when the other vehicle is not present. (Technical Thought 9) The vehicle control device according to any one of Technical Ideas 1 to 8, further comprising a driving control unit (75) that controls the driving speed of the vehicle operated by a driver so that the driving speed is below the upper limit speed. (Technical Thought 10) A vehicle control device described in any one of technical ideas 1 to 9, further comprising an alert implementation unit (74) that issues an alert to passengers of the vehicle indicating that the vehicle is speeding when the traveling speed is greater than the upper limit speed. (Technical Thought 11) Estimating the water level on the road on which the vehicle is traveling based on sound data related to sound vibrations measured in the vehicle (S12); An upper limit speed, which is an upper limit of the traveling speed of the vehicle, is set based on the estimated water level (S21). The vehicle control method includes the steps of: [Explanation of symbols]

[0088] 11 processing unit, 72 rainfall estimation unit, 73 water level estimation unit, 74 notification request unit (notification implementation unit), 75 behavior control unit (driving control unit), 76 upper limit setting unit, 100 vehicle control ECU (vehicle control device), Ve vehicle

Claims

1. a water level estimation unit (73) that estimates the water level on the road surface on which the vehicle (Ve) is traveling based on sound data related to sound vibrations measured in the vehicle (Ve); an upper limit setting unit (76) that sets an upper limit speed that is an upper limit of the traveling speed of the vehicle based on the estimated water level estimated by the water level estimating unit; A vehicle control device comprising:

2. The vehicle control device according to claim 1 , wherein the upper limit setting unit continues to set the upper limit speed for a certain distance or a certain time even if the estimated water level drops after setting the upper limit speed.

3. A rainfall estimation unit (72) for estimating the amount of rain falling around the vehicle is further provided, 2. The vehicle control device according to claim 1, wherein the upper limit setting unit continues to set the upper limit speed if the rainfall estimated by the rainfall estimation unit is maintained even if the estimated water level drops after setting the upper limit speed.

4. The water level estimation unit further estimates a water level of the road surface on which the vehicle is scheduled to travel, The vehicle control device described in claim 1, wherein the upper limit setting unit continues to set the upper limit speed if the estimated water level on the road surface on which the vehicle is traveling drops after setting the upper limit speed, but the estimated water level on the road surface on which the vehicle is planned to travel is maintained.

5. The vehicle control device described in claim 1, wherein the upper limit setting unit suspends setting of the upper limit speed based on the estimated water level after the change for a certain distance or a certain period of time when the estimated water level changes from zero or when the estimated water level changes by more than a predetermined amount.

6. the water level estimation unit estimates, as the estimated water levels, a left road surface water level based on the sound data measured on the left side of the vehicle and a right road surface water level based on the sound data measured on the right side of the vehicle; 2. The vehicle control device according to claim 1, wherein the upper limit setting unit suspends the setting of the upper limit speed based on the higher of the left road surface water level and the right road surface water level for a certain distance or a certain time when the left road surface water level and the right road surface water level are different.

7. a travel control unit (75) that controls the travel speed of the vehicle so that the vehicle travels at a target speed set by a passenger of the vehicle, The vehicle control device according to claim 1 , wherein the travel control unit controls the travel speed of the vehicle so that the vehicle travels at the upper limit speed when the upper limit speed is lower than the target set speed.

8. 8. The vehicle control device according to claim 7, wherein the travel control unit reduces the deceleration when the vehicle is decelerated from the target set speed to the upper limit speed when another vehicle is present around the vehicle compared to when the other vehicle is not present.

9. The vehicle control device according to claim 1, further comprising a travel control unit (75) that controls the travel speed of the vehicle operated by a driver so that the travel speed is lower than the upper speed limit.

10. The vehicle control device according to claim 1 , further comprising: a notification unit (74) that, when the traveling speed is greater than the upper speed limit, issues a notification to a passenger of the vehicle indicating that the vehicle is speeding.

11. Estimating the water level on the road on which the vehicle is traveling based on sound data related to sound vibrations measured in the vehicle (S12); An upper limit speed, which is an upper limit of the traveling speed of the vehicle, is set based on the estimated water level (S21). A vehicle control program that causes at least one processing unit (11) to execute processing including the above.

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