Control apparatus, control method, and storage medium

Abstract

To provide a vehicle control device, a vehicle control method, and a control program capable of smoothly shifting a traveling mode.SOLUTION: A vehicle control device includes a movement control unit 130 that performs travel control for moving a vehicle 1 including an external world recognition unit 110 that performs external world recognition to a target position, and a storage unit 120 that stores map information. Transition between the general road support control and the private land section control is possible, and the map information includes a predetermined determination area and a travelable area in which traveling in the private land section control is possible. When the vehicle 1 enters the determination area while traveling under the general road assistance control, the travel control unit 130 determines a travel condition in the private land section control including that the external information and the map information satisfy a predetermined matching condition, and when it is determined that the travel condition is satisfied and the vehicle 1 enters the travelable area, the travel control unit 103 transitions to the private land section control and causes the vehicle 1 to travel based on the map information and the external information in the private land section control.SELECTED DRAWING: Figure 7

Description

[Technical Field]

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

[0002] In recent years, efforts to provide access to sustainable transportation systems that take into consideration vulnerable transport participants have become more active. To achieve this, we are focusing on research and development into autonomous driving technology to further improve traffic safety and convenience.

[0003] In a conventional automated driving system that automatically drives a vehicle without the need for a user's driving operation, a route taken to a target location by the user's driving operation is stored, and when the vehicle travels to the same target location or the same route, the system drives the vehicle based on the stored route history. It is also known to generate route information from the current location to the target location based on information acquired by an on-board sensor and drive the vehicle based on the route information.

[0004] For example, Patent Document 1 describes a vehicle driving assistance device that, when it is determined that a vehicle moving along a target route will enter a no-entry area, corrects the target route in a stored route history to prevent the vehicle from entering the no-entry area, moves the vehicle along the corrected target route to a target stopping position, and assists in stopping the vehicle at the target stopping position. [Prior art documents] [Patent documents]

[0005] [Patent Document 1] Japanese Patent Publication No. 2023-63070 Summary of the Invention [Problem to be solved by the invention]

[0006] Incidentally, when assisted driving a vehicle to a target position, there may be cases where there is general driving assistance provided when the vehicle is traveling on a general road, and specific area driving assistance provided by using a user driving route when the vehicle is traveling to the target position under the user's driving operation. In this case, for example, when the vehicle travels from a general road to a specific area, a smooth switching of the driving mode from general driving assistance to specific area driving assistance is desired. However, Patent Document 1 does not disclose switching of the driving mode from general driving assistance to specific area driving assistance.

[0007] An object of the present invention is to provide a vehicle control device, a vehicle control method, and a control program that are capable of smoothly transitioning between driving modes. [Means for solving the problem]

[0008] The present invention provides A vehicle control device that includes one or more processors that perform driving control to move a vehicle having an external environment recognition unit that recognizes the external environment to a target position, and a storage unit that stores map information, and that can transition between a first driving mode and a second driving mode, the map information is map information of an area including a predetermined determination area and a travelable area in which travel in the second travel mode is possible, The processor: When the vehicle enters the determination area while the vehicle is traveling in the first traveling mode, a determination is made of a traveling condition in the second traveling mode, which includes whether external environment information obtained by the external environment recognition unit and the map information stored in the storage unit satisfy a predetermined matching condition; transitioning to the second driving mode when it is determined that the driving condition is satisfied and the vehicle has entered the drivable area; In the second driving mode, the vehicle is driven based on the map information stored in the storage unit and the external environment information obtained by the external environment recognition unit. A vehicle control device.

[0009] The present invention provides A vehicle control method using a vehicle control device that includes one or more processors that perform driving control to move a vehicle having an external environment recognition unit that recognizes the external environment to a target position, and a storage unit that stores map information, and that can transition between a first driving mode and a second driving mode, the map information is map information of an area including a predetermined determination area and a travelable area in which travel in the second travel mode is possible, the processor: When the vehicle enters the determination area while the vehicle is traveling in the first traveling mode, a determination is made of a traveling condition in the second traveling mode, which includes whether external environment information obtained by the external environment recognition unit and the map information stored in the storage unit satisfy a predetermined matching condition; transitioning to the second driving mode when it is determined that the driving condition is satisfied and the vehicle has entered the drivable area; In the second driving mode, the vehicle is driven based on the map information stored in the storage unit and the external environment information obtained by the external environment recognition unit. A vehicle control method.

[0010] The present invention provides A control program for a vehicle control device that includes one or more processors that perform driving control to move a vehicle having an external environment recognition unit that recognizes the external environment to a target position, and a storage unit that stores map information, and that can transition between a first driving mode and a second driving mode, the map information is map information of an area including a predetermined determination area and a travelable area in which travel in the second travel mode is possible, the processor, When the vehicle enters the determination area while the vehicle is traveling in the first traveling mode, a determination is made of a traveling condition in the second traveling mode, which includes whether external environment information obtained by the external environment recognition unit and the map information stored in the storage unit satisfy a predetermined matching condition; transitioning to the second driving mode when it is determined that the driving condition is satisfied and the vehicle has entered the drivable area; In the second driving mode, the vehicle is driven based on the map information stored in the storage unit and the external environment information obtained by the external environment recognition unit. It is a control program that executes the process. [Effects of the Invention]

[0011] According to the present invention, it is possible to provide a vehicle control device, a vehicle control method, and a control program that are capable of smoothly transitioning between driving modes. [Brief explanation of the drawings]

[0012] [Figure 1] FIG. 1 is a block diagram showing the configuration of a vehicle 1 equipped with a control device 100 according to an embodiment. [Figure 2] FIG. 2 is a sequence diagram (part 1) showing a first operation example of the vehicle 1. In FIG. [Figure 3] FIG. 3 is a sequence diagram (part 2) showing a first operation example of the vehicle 1. [Figure 4] FIG. 4 is a diagram showing an example of the first time when the vehicle 1 with the user in it is traveling with the parking lot 170 at home as the target position. [Figure 5] FIG. 5 is a sequence diagram (part 1) showing a second operation example of the vehicle 1. In FIG. [Figure 6] FIG. 6 is a sequence diagram (part 2) showing a second operation example of the vehicle 1. [Figure 7] FIG. 7 is a diagram showing the next example of a state in which the vehicle 1 with the user in it is traveling with a parking lot 170 at home as the target position. [Figure 8] FIG. 8 is a sequence diagram (part 1) showing a third operation example of the vehicle 1. [Figure 9] FIG. 9 is a sequence diagram (part 2) showing the third operation example of the vehicle 1. [Figure 10] FIG. 10 is a diagram showing an example of the first time when the vehicle 1 with the user in it travels, starting from a parking lot 170 at the user's home as the operation start position. [Figure 11] FIG. 11 is a sequence diagram (part 1) showing a fourth operation example of the vehicle 1. In FIG. [Figure 12] FIG. 12 is a sequence diagram (part 2) showing the fourth operation example of the vehicle 1. [Figure 13] FIG. 13 is a diagram showing the next example of how the vehicle 1 with the user in it travels from a parking lot 170 at home as the operation start position. [Figure 14] FIG. 14 is a diagram showing a state in which a user gets into vehicle 1 away from home and starts the engine. [Figure 15] FIG. 15 is a diagram showing the vehicle 1 traveling on a public road 210 under public road assistance control. [Figure 16] FIG. 16 shows the start of the private inter-district memory of vehicle 1. [Figure 17] FIG. 17 shows a state in which the vehicle 1 has reached the home 200, which is the target position. [Figure 18] FIG. 18 is a diagram showing the vehicle 1 returning to the home 200 via a travel route D that is different from the travel route C in FIG. [Figure 19] FIG. 19 is a diagram showing the vehicle 1 returning to the home 200 along the same route as the route C in FIG. DETAILED DESCRIPTION OF THE INVENTION

[0013] DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of a vehicle control device, a vehicle control method, and a control program according to the present invention will be described below with reference to the accompanying drawings.

[0014] <Vehicle 1 equipped with control device 100 of the embodiment> FIG. 1 is a block diagram showing the configuration of a vehicle 1 equipped with a control device 100 according to an embodiment. The control device 100 is an example of a "vehicle control device" of the present invention. The vehicle 1 is a vehicle capable of so-called automatic driving or assisted driving. The vehicle 1 may be, for example, a two-wheeled, three-wheeled, or four-wheeled vehicle, and its drive source may be an internal combustion engine such as a diesel engine or a gasoline engine, an electric motor, or a combination of these. The electric motor operates using power generated by a generator connected to the internal combustion engine, or discharged power from a secondary battery or a fuel cell.

[0015] The vehicle 1 includes a camera 10, a radar device 12, a LIDAR (Light Detection and Ranging) 14, an object recognition device 16, a communication device 20, an HMI (Human Machine Interface) 30, vehicle sensors 40, a driver monitor camera 50, a navigation device 60, an MPU (Map Positioning Unit) 70, a driving operator 80, a control device 100, a driving force output device 92, a braking device 94, and a steering device 96. These devices and equipment are connected to each other by multiplexed communication lines such as a CAN (Controller Area Network) communication line, serial communication lines, a wireless communication network, etc.

[0016] The camera 10 is a digital camera that uses a solid-state image sensor such as a charge coupled device (CCD) or a complementary metal oxide semiconductor (CMOS), etc. The camera 10 is attached to the vehicle 1 at any position.

[0017] The radar device 12 emits radio waves such as millimeter waves around the vehicle 1 and detects radio waves reflected by an object (reflected waves) to detect at least the position (distance and direction) of the object. The radar device 12 is attached to any location on the vehicle 1.

[0018] The LIDAR 14 irradiates the area around the vehicle 1 with light (or electromagnetic waves with wavelengths similar to light) and measures the scattered light. The LIDAR 14 detects the distance to the target based on the time between light emission and reception. The irradiated light is, for example, pulsed laser light. The LIDAR 14 may be attached to any location on the vehicle 1.

[0019] The object recognition device 16 performs sensor fusion processing on some or all of the detection results of the camera 10, the radar device 12, and the LIDAR 14 to recognize the position, type, speed, etc. of the object. The object recognition device 16 outputs the recognition results to the control device 100. The object recognition device 16 may output the detection results of the camera 10, the radar device 12, and the LIDAR 14 to the control device 100 as they are.

[0020] The communication device 20 communicates with other vehicles in the vicinity of the vehicle 1, for example, using a cellular network, a Wi-Fi (registered trademark) network, Bluetooth (registered trademark), or DSRC (Dedicated Short Range Communication), or communicates with various server devices via a wireless base station.

[0021] The HMI 30 presents various information to the occupant of the vehicle 1 and accepts input operations by the occupant. The HMI 30 includes various display devices, a speaker, a buzzer, a touch panel, switches, keys, and the like.

[0022] The vehicle sensor 40 includes a vehicle speed sensor that detects the speed of the vehicle 1, an acceleration sensor that detects acceleration, a yaw rate sensor that detects angular velocity around a vertical axis, a direction sensor that detects the direction of the vehicle 1, and the like.

[0023] The driver monitor camera 50 is a digital camera that uses a solid-state imaging element such as a CCD or CMOS. The driver monitor camera 50 is attached to any location on the vehicle 1 in a position and orientation that allows it to capture an image of the head of a passenger (hereinafter referred to as the driver) seated in the driver's seat of the vehicle 1 from the front (in an orientation that captures an image of the face).

[0024] The navigation device 60 includes, for example, a GNSS (Global Navigation Satellite System) receiver 61, a navigation HMI 62, and a route determination unit 63. The navigation device 60 stores first map information 64 in a storage device such as an HDD (Hard Disk Drive) or a flash memory.

[0025] The GNSS receiver 61 determines the position of the vehicle 1 based on signals received from GNSS satellites. The position of the vehicle 1 may be determined or supplemented by an INS (Inertial Navigation System) that uses outputs from the vehicle sensors 40.

[0026] The navigation HMI 62 includes a display device, a speaker, a touch panel, keys, etc. The navigation HMI 62 may share some or all of its components with the HMI 30 described above.

[0027] The route determination unit 63 determines a route (hereinafter referred to as a route on a map) from the position of the vehicle 1 identified by the GNSS receiver 61 (or any input position) to a destination input by the occupant using the navigation HMI 62, for example, by referring to the first map information 64. The first map information 64 is information that represents road shapes using links indicating roads and nodes connected by the links, for example. The first map information 64 may also include information such as road curvature and POI (Point of Interest) information. The route on a map is output to the MPU 70.

[0028] The navigation device 60 may provide route guidance based on the route on the map using the navigation HMI 62. The navigation device 60 may transmit the current position and the destination to a navigation server via the communication device 20 and obtain a route equivalent to the route on the map from the navigation server.

[0029] The MPU 70 stores second map information 72 in a storage device such as a HDD or flash memory. The second map information 72 is map information with higher accuracy than the first map information 64. The second map information 72 includes, for example, information on the center of lanes or information on lane boundaries. The second map information 72 may also include road information, traffic regulation information, address information, facility information, telephone number information, and the like. The second map information 72 may be updated as needed by the communication device 20 communicating with other devices.

[0030] The driving operators 80 include, for example, a steering wheel 82 (an example of a steering device), as well as an accelerator pedal, a brake pedal, a shift lever, and other operators. The driving operators 80 are fitted with sensors that detect the amount of operation or the presence or absence of operation, and the detection results are output to the control device 100 or some or all of the driving force output device 92, the brake device 94, and the steering device 96. The steering wheel 82 does not necessarily have to be annular, and may be in the form of an irregular steering wheel, a joystick, buttons, or the like.

[0031] A steering grip sensor 84 is attached to the steering wheel 82. The steering grip sensor 84 is realized by a capacitance sensor or the like, and outputs a signal to the control device 100 that can detect whether the driver is gripping the steering wheel 82.

[0032] The control device 100 includes an external environment recognition unit 110, a storage unit 120, and a movement control unit 130.

[0033] The external environment recognition unit 110 acquires external environment information for recognizing the external environment of the vehicle 1, which is acquired by the camera 10, the radar device 12, and the LIDAR 14, from the object recognition device 16. The external environment recognition unit 110 recognizes the external environment based on the acquired external environment information (spatial information).

[0034] The storage unit 120 stores a program for the movement control unit 130 to control each unit. The storage unit 120 also stores map information based on external environment information obtained by the external environment recognition unit 110. The storage unit 120 also stores map information based on external environment information obtained by the external environment recognition unit 110 during past travel of the vehicle 1. The storage unit 120 also stores, in association with each other, routes taken by the vehicle 1 during past travel and map information based on external environment information obtained by the external environment recognition unit 110 during past travel.

[0035] The movement control unit 130 performs driving control to move the vehicle 1 to a target position. The movement control unit 130 has an ADAS control unit 131, an AD control unit 132, and an APS control unit 133. The ADAS control unit 131 is configured as an ADAS_ECU (Advanced Driver Assistance Systems Electronic Control Unit). The AD control unit 132 is configured as an AD_ECU (Automatic Driving Electronic Control Unit). The APS control unit 133 is configured as an AD_ECU, just like the AD control unit 132. However, the APS control unit 133 may be configured as a circuit separate from the AD control unit 132, for example, an APS_ECU (Automatic Parking Systems Electronic Control Unit). The movement control unit 130 (the ADAS control unit 131, the AD control unit 132, and the APS control unit 133) is an example of a "processor" in the present invention.

[0036] The ADAS_ECU, AD_ECU, and APS_ECU are each realized by a hardware processor such as a CPU (Central Processing Unit) executing a program (software). Some or all of these components may be realized by hardware (including circuitry) such as an LSI (Large Scale Integration), an ASIC (Application Specific Integrated Circuit), an FPGA (Field-Programmable Gate Array), or a GPU (Graphics Processing Unit), or may be realized by a combination of software and hardware. The program may be stored in advance in a storage device such as an HDD or flash memory of the control device 100.

[0037] The mobility control unit 130 is capable of executing driving control of the vehicle 1 using public road assistance control and driving control of the vehicle 1 using private area control. Public road assistance control is a driving mode of assisted driving that is applied to driving of the vehicle 1 on public roads and expressways, for example. Private area control is a driving mode of assisted driving that is applied to driving of the vehicle 1 between private areas (including private roads) in, for example, the United States, from public roads to within the boundaries of a parking lot on private property. Public road assistance control is an example of the "first driving mode" of the present invention. Private area control is an example of the "second driving mode" of the present invention.

[0038] When the vehicle 1 enters a predetermined judgment area that judges the driving conditions of the vehicle 1 while the vehicle 1 is being controlled to travel under public road assistance, the travel control unit 130 judges the driving conditions for controlling the vehicle 1 to travel under private area control. If the travel control unit 130 judges that the driving conditions are met, it issues a first notification that prompts the user to perform a transition consent operation to transition the driving control of the vehicle 1 from public road assistance control to private area control. If the travel control unit 130 receives the user's consent operation in response to the first notification, it transitions the driving control of the vehicle 1 from public road assistance control to private area control. The "judgment area" refers to, for example, an area where the remaining distance on the driving route of the vehicle 1 to the target position is less than a preset distance (for example, a remaining distance of 88 m or less).

[0039] Furthermore, when the vehicle 1 enters a determination area while the vehicle 1 is traveling under general road assistance control, the movement control unit 130 performs deceleration control of the vehicle 1 to determine the traveling conditions, and also performs a second notification to the user regarding the deceleration control. Furthermore, when the vehicle 1 enters a determination area while the vehicle 1 is traveling under general road assistance control, the movement control unit 130 may perform a third notification to prompt the user to perform deceleration control of the vehicle 1 to determine the traveling conditions. In other words, the movement control unit 130 may decelerate the vehicle 1 by, for example, a brake operation by the user, rather than by control of the control unit.

[0040] A driving condition for private area control is, for example, that the driving route of vehicle 1 to the target position includes an area that can be driven under private area control. Whether or not an "area that can be driven under private area control" is included is determined, for example, by whether map information with matching feature values ​​is stored in storage unit 120. Alternatively, the map information stored in storage unit 120 may be associated with an area (expressed by latitude and longitude, etc.), and the determination may be made by whether or not the associated area is included in the "route to the target position."

[0041] Furthermore, in the private area control, the movement control unit 130 drives the vehicle 1 based on the map information stored in the memory unit 120 and the external environment information obtained by the external environment recognition unit 110. The driving condition in the private area control at this time is, for example, that the external environment information obtained by the external environment recognition unit 110 in the determination area and the map information stored in the memory unit 120 satisfy a predetermined matching condition. The "matching condition" means, for example, that the degree of matching between the external environment information and the map information is equal to or greater than a threshold. The map information stored in the memory unit 120 includes map information based on the external environment information obtained by the external environment recognition unit 110 during past driving of the vehicle 1.

[0042] Furthermore, in the private area control, the movement control unit 130 drives the vehicle 1 based on map information corresponding to the current driving route of the vehicle 1 from among multiple pieces of map information associated with routes used in past driving stored in the memory unit 120, and on external environment information obtained by the external environment recognition unit 110. The "map information corresponding to the current driving route" refers to map information associated with the current driving route and a driving route used in past driving that satisfies a predetermined matching condition. The past driving route includes, for example, the route traveled by the vehicle 1 under public road assistance control when transitioning from public road assistance control to private area control. Specifically, when the vehicle 1 enters private property from a public road, the driving direction of the vehicle 1 traveling on the public road is included.

[0043] Furthermore, the movement control unit 130 transitions to private area control when it receives an consent operation from the user to consent to transition to private area control and the vehicle 1 enters a drivable area where driving under private area control is possible. The map information is map information of an area including a determination area where the driving conditions of the vehicle 1 are determined and a drivable area where driving under private area control is possible.

[0044] Furthermore, the driving conditions for private area control include at least one of the following: the vehicle 1's traveling speed in the determination area does not exceed a first speed for a predetermined time or more; and the vehicle 1's traveling speed in the determination area does not exceed a second speed. The first speed is, for example, 15 km / h. The predetermined time is, for example, the time required to travel 50 m at a speed of 15 km / h or more. The second speed is, for example, 30 km / h. The driving conditions for private area control also include the device of the vehicle 1 used for private area control being in a normal state. The "device" includes, for example, the camera 10, the radar device 12, the LIDAR 14, the vehicle sensor 40, etc. Furthermore, if an ECU for APS is provided, the "device" includes the APS_ECU.

[0045] The movement control unit 130 performs control to park the vehicle 1 at a target position, for example, using private area control. The target position includes, for example, a parking lot (garage, car park, etc.) on private property. The private area control to park the vehicle 1 at a target position is executed based on route information when the vehicle 1 was parked at the target position in the past. The movement control unit 130 also performs control to cause the vehicle 1 to leave a predetermined position, for example, using private area control. The predetermined position includes, for example, a parking lot (garage, car park, etc.) on private property. The predetermined position is the operation start position when the vehicle 1 is to leave.

[0046] The driving force output device 92 outputs a driving force (torque) to the drive wheels for the vehicle to travel. The driving force output device 92 includes, for example, a combination of an internal combustion engine, an electric motor, a transmission, etc., and an ECU (Electronic Control Unit) that controls these. The ECU controls the above components according to information input from the movement control unit 130 or information input from the driving operator 80.

[0047] The brake device 94 includes, for example, a brake caliper, a cylinder that transmits hydraulic pressure to the brake caliper, an electric motor that generates hydraulic pressure in the cylinder, and a brake ECU. The brake ECU controls the electric motor in accordance with information input from the movement control unit 130 or information input from the driving operator 80, so that a brake torque corresponding to the braking operation is output to each wheel.

[0048] The steering device 96 includes, for example, a steering ECU and an electric motor. The electric motor applies force to, for example, a rack and pinion mechanism to change the direction of the steered wheels. The steering ECU drives the electric motor in accordance with information input from the movement control unit 130 or information input from the driving operator 80 to change the direction of the steered wheels.

[0049] <Vehicle 1 operation> [First operation example] 2 and 3 are sequence diagrams showing a first operation example of the vehicle 1. The APS control unit 133, the AD control unit 132, and the ADAS control unit 131 are control units included in the mobility control unit 130 (see FIG. 1). The operation reception unit 140 is the navigation HMI 62 or the HMI 30, or the driving operator 80 (see FIG. 1). The first operation example is an operation example in which a user in the vehicle 1 returns home from an outing and parks the vehicle 1 in a parking lot at home. The target position of the vehicle 1 is the parking lot at home. However, in the first operation example, it is assumed that the route information when the vehicle 1 was parked in the parking lot at home has not yet been stored in the memory unit 120, and therefore the vehicle 1 cannot be parked in the parking lot at home using the private area control.

[0050] First, the user operates the navigation HMI 62 of the navigation device 60, for example, to set the target position of the vehicle 1 to the parking lot at home.

[0051] The operation accepting unit 140 accepts navigation settings from the user who sets a home parking lot as the target location (step S11). The operation accepting unit 140 sends the accepted navigation setting information to the AD control unit 132 (step S12).

[0052] Based on the received navigation setting information, the AD control unit 132 recognizes that the vehicle can proceed to the vicinity of the home using the general road assistance control and that the vehicle will not arrive at the parking lot of the home using the general road assistance control alone. The AD control unit 132 notifies the ADAS control unit 131 that the general road assistance control is available (step S13).

[0053] The ADAS control unit 131 controls the display of the operation reception unit 140 so as to display on the navigation HMI 62 a message indicating that the general road assistance control is available in the navigation to the user's home that has been set by the user (step S14).

[0054] The operation accepting unit 140 displays a message on the navigation HMI 62 to notify the user that the general road assistance control is available (step S15). It is assumed that the user agrees to use the general road assistance control in response to this message. The operation accepting unit 140 accepts an agreement operation from the user on the navigation HMI 62 (step S15). The operation accepting unit 140 outputs an operation detection signal to the ADAS control unit 131 to notify that an agreement operation from the user has been detected (step S16).

[0055] Based on the operation detection signal from the operation reception unit 140, the ADAS control unit 131 notifies the AD control unit 132 that the user will use the general road assistance control (step S17).

[0056] The AD control unit 132 determines whether or not a route linked to the general road assistance control driving route is stored in the storage unit 120 when controlling the vehicle 1 to the user's home parking lot, i.e., whether or not a linked route exists (step S18). As described above, the route information when the vehicle 1 was parked in the home parking lot has not yet been stored in the storage unit 120. Therefore, the determination of whether or not a linked route exists is "no." The AD control unit 132 notifies the APS control unit 133 that general road assistance control will be used and that there is no linked route, i.e., coordination of private area control is not possible (step S19). Then, the AD control unit 132 starts driving control of the vehicle 1 using general road assistance (step S20).

[0057] When the APS control unit 133 receives the public road assistance notification and the notification that private area cooperation is not possible, it notifies the AD control unit 132 that the state of the private area control system is normal and that driving control using private area control can be performed (step S21).

[0058] The AD control unit 132 detects, based on the signal received by the GNSS receiver 61, that the vehicle 1, which has been driven under public road assistance control, is currently at a point with a remaining distance of 120 m to the target location, the parking lot of the home (step S22).The AD control unit 132 requests the ADAS control unit 131 to display a private area control recommendation that recommends driving control under private area control (step S23).

[0059] The ADAS control unit 131 controls the operation reception unit 140 to display a recommendation for private area control in the driving control of the vehicle 1 to the home on the navigation HMI 62 (step S24).

[0060] The operation accepting unit 140 displays a recommendation to use the private area control on the navigation HMI 62 (step S25). Assume that the user agrees to use the private area control in response to this display. The operation accepting unit 140 accepts an agreement operation from the user on the navigation HMI 62 (step S25). The operation accepting unit 140 outputs an operation detection signal to the ADAS control unit 131 to notify that an agreement operation from the user has been detected (step S26).

[0061] Based on the operation detection signal from the operation reception unit 140, the ADAS control unit 131 notifies the APS control unit 133 that the user has accepted the private area control recommendation (step S27).

[0062] When the APS control unit 133 receives the notification of recommendation acceptance, it requests the ADAS control unit 131 to switch the screen of the navigation HMI 62 so that the driving of the vehicle 1 is adapted to the private area control (step S28).

[0063] The ADAS control unit 131 controls the display of the operation reception unit 140 so as to display on the navigation HMI 62 a screen for adapting the driving of the vehicle 1 to the private area control (step S29).

[0064] The operation reception unit 140 displays on the navigation HMI 62 a message indicating that the traveling speed of the vehicle 1 will be reduced (step S30). For example, the operation reception unit 140 displays on the navigation HMI 62 a message saying, "Decelerating for private area memory." The purpose of the private area memory is to record the traveling route when the user manually drives the vehicle 1 into a parking lot at home.

[0065] Furthermore, when the APS control unit 133 receives the notification of recommendation acceptance, it notifies the AD control unit 132 that it will prepare for control between private areas (step S31). Then, the APS control unit 133 starts preparation for control between private areas (step S32).

[0066] When the AD control unit 132 receives the notification of preparation for control between private areas, it starts deceleration control of the vehicle 1 (step S33). This deceleration control is a control to make the traveling speed of the vehicle 1 15 [km / h] when the remaining distance to the parking lot of the home becomes 88 [m], for example.

[0067] 3, the AD control unit 132 detects, based on the signal received by the GNSS receiver 61, that the vehicle 1 is currently traveling to a target location, i.e., a parking lot at home, with a remaining distance of 88 m (step S34). The AD control unit 132 starts constant-speed traveling (step S35). The AD control unit 132 starts constant-speed traveling at a deceleration controlled speed of, for example, 15 km / h. The AD control unit 132 sends a home approaching notification to the APS control unit 133, informing the APS control unit 133 that the vehicle 1 is approaching the target location, i.e., home (step S36).

[0068] When the APS control unit 133 receives the home approach notification, it controls the display of the operation reception unit 140 to display a screen on the navigation HMI 62 for the user to drive the vehicle 1 to the home parking lot (step S37).

[0069] The operation accepting unit 140 displays on the navigation HMI 62 a registration operation start screen display for driving the vehicle 1 to the home parking lot by the user's driving operation (step S38). For example, the operation accepting unit 140 displays on the navigation HMI 62, "Starting private area memory. Please drive on the driveway." A driveway is, for example, a driving route within private property to a target position (home parking lot) to which the vehicle 1 is to be moved. In response to this display, it is assumed that the user has started an override operation to drive on the driveway. The operation accepting unit 140 accepts the user's override operation (step S39). The operation accepting unit 140 outputs a start detection signal to the AD control unit 132 to notify that it has detected the start of the user's override operation (step S40).

[0070] The AD control unit 132 ends the driving control of the vehicle 1 by the general road assistance based on the start detection signal from the operation reception unit 140 (step S41). The AD control unit 132 notifies the APS control unit 133 that the control of the general road assistance has ended (step S42).

[0071] The APS control unit 133 starts private area memory, which stores route information of the override operation started by the user in the storage unit 120 (step S43). The APS control unit 133 notifies the AD control unit 132 that private area memory has been started (step S44). The APS control unit 133 may perform control to display on the operation receiving unit 140 a message that the private area in the override operation is being registered. Furthermore, the APS control unit 133 may perform control to display on the navigation HMI 62, for example, a user's override operation while private area memory is being executed.

[0072] The operation acceptance unit 140 finishes accepting the override operation of the driveway by the user (step S45). The operation acceptance unit 140 detects that the override operation has ended, for example, when the vehicle 1 has entered and parked in a parking lot at home. The operation acceptance unit 140 outputs an end detection signal to the APS control unit 133 to notify that the end of the override operation has been detected (step S46).

[0073] Based on the end detection signal from the operation reception unit 140, the APS control unit 133 ends the private area memory that stores the route information for the override operation on the driveway (step S47). Note that at this point, depending on the timing of data processing, storage in the non-volatile memory may not be complete. The APS control unit 133 notifies the AD control unit 132 that the private area memory has been completed (step S48).

[0074] Upon receiving the notification of completion of storage, the AD control unit 132 stores the route linked to the driving route of the general road assistance control as linked route #1 in the storage unit 120 (step S49). For example, when the vehicle 1 approaches home and enters a private road on private property from a general road, the AD control unit 132 stores route information, such as the direction from which the vehicle traveled on the general road to enter the private road, and whether the vehicle turned left or right to enter the private road, as linked route #1. The AD control unit 132 sends the stored information of linked route #1 to the APS control unit 133 (step S50).

[0075] The APS control unit 133 controls the display of the operation receiving unit 140 so that a screen showing map information including the driving route overridden by the user is displayed on the navigation HMI 62 (step S51). The user sets road boundaries for the map information displayed on the navigation HMI 62. The road boundaries indicate the boundaries of the area in which the vehicle 1 can travel under private property control, i.e., the boundaries of the drivable area.

[0076] The operation accepting unit 140 accepts a road boundary registration operation for registering a road boundary set by a user operation (step S52), and sends road boundary information related to the set road boundary to the APS control unit 133 (step S53).

[0077] The APS control unit 133 stores the received linked route #1 and road boundary information in the storage unit 120 in association with the information on the override operation stored between privately owned areas (step S54).

[0078] FIG. 4 is a diagram showing an initial example of a state in which the vehicle 1 in which the user is riding is traveling with the home parking lot 170 as the target position. The initial example is an example of a situation in which the route information when the vehicle 1 is parked in the home parking lot 170 has not yet been stored, as explained in the first operation example of FIGS. 2 and 3. In FIG. 4, the vehicle 1 is traveling on a public road 150 under the driving control of the public road assistance. The current driving position of the vehicle 1 is a point 151 where the remaining distance to the home parking lot 170 is 120 m.

[0079] When vehicle 1 reaches point 151 with a remaining distance of 120 m, it starts recommending to the user that private area control be applied to driving control until vehicle 1 is parked in home parking lot 170. Then, when vehicle 1 receives consent for the recommendation from the user, it starts decelerating. The section recommended to the user is recommended section 152, and the location where the user consents to the recommendation is consent point 153.

[0080] Vehicle 1 decelerates so that the speed becomes 15 km / h when the remaining distance to home parking lot 170 is 88 m. The section where deceleration control is performed to a speed of 15 km / h is deceleration section 154, and the position where the remaining distance is 88 m and deceleration is completed is deceleration completion point 155.

[0081] When vehicle 1 reaches deceleration completion point 155 with a remaining distance of 88 [m], it travels at a constant speed of 15 [km / h]. Then, vehicle 1 prompts the user to perform an override operation, which allows the user to manually drive the route to home parking lot 170. In response, the user starts an override operation by manual driving. The position where the user starts the override operation is override start point 156, and the section of constant speed travel up to the start of this override operation is constant speed section 157.

[0082] When the user initiates an override operation, private area memory is initiated, which stores route information of the override operation in storage unit 120. The section for which private area memory is performed is the section from when the override operation is initiated until vehicle 1 enters home parking lot 170, and is private area memory section 158, the range surrounded by a thick dashed line in FIG. 4. Private area memory section 158 includes public road area 159, which is the area of ​​public road 150, and driveway (private road) 161 within private property 160. The user drives vehicle 1 manually along the driving route within private area memory section 158.

[0083] In this way, the vehicle 1 travels from the point 151, which is the remaining distance 120 m, to the home parking lot 170, turning left from the public road 150 onto the driveway 161 of the private property 160, as shown by the travel route 162 indicated by the dashed line. Information about the travel route 162 within the private area memory section 158 is then stored in the storage unit 120, along with the linked route #1 linked to the travel route of the public road assistance control. At this time, the private area memory section 158 displays a road boundary 163 indicating the boundary of the area in which the vehicle 1 can travel under the private area assistance control. The position of the road boundary 163 can be set to any position by the user's operation. The set road boundary 163 is stored in association with the travel route 162 and the linked route #1.

[0084] [Second example of operation] 5 and 6 are sequence diagrams showing a second operation example of vehicle 1. The second operation example is similar to the first operation example in that it is an operation example in which a user in vehicle 1 returns home from an outing and parks vehicle 1 in a parking lot at home, but differs from the first operation example in that route information for parking vehicle 1 in the parking lot at home is stored in storage unit 120, and vehicle 1 can be parked in the parking lot at home using private area control.

[0085] In FIG. 5, the processes from step S61 to step S67 are the same as the processes from step S11 to step S17 in the first operation example in FIG.

[0086] Next, the AD control unit 132 determines whether a route linked to the general road assistance control route is stored in the storage unit 120 for driving control of the vehicle 1 to the user's home parking lot, i.e., whether a linked route exists (step S68). As described above, the linked route #1 used when the vehicle 1 was parked in the home parking lot is stored in the storage unit 120 in association with the information on the override operation and road boundary information stored between private areas. Therefore, the determination of whether a linked route exists is "yes." The AD control unit 132 notifies the APS control unit 133 that general road assistance control will be used and that a linked route exists, i.e., that private area assistance control is likely possible (step S69). The stored linked route is, for example, "linked route #1" stored in step S49 of the first operation example. The AD control unit 132 starts driving control of the vehicle 1 using general road assistance (step S70).

[0087] When the APS control unit 133 receives the public road assistance notification and the private area cooperation possible notification, it notifies the AD control unit 132 that the state of the private area control system is normal and that driving control by private area control can be executed (step S71). Also, when the APS control unit 133 receives the public road assistance notification and the private area cooperation possible notification, it requests the ADAS control unit 131 to switch the screen of the navigation HMI 62 so that the driving of the vehicle 1 is adapted to the private area control (step S72).

[0088] The ADAS control unit 131 controls the display of the operation reception unit 140 so as to display on the navigation HMI 62 a screen for adjusting the driving of the vehicle 1 to conform to the private area control (step S73).

[0089] The operation reception unit 140 displays on the navigation HMI 62 a message indicating that the vehicle 1's traveling speed will be reduced (step S74). The display on the navigation HMI 62 of the message indicating that the vehicle 1's traveling speed will be reduced is an example of a "second notification" of the present invention. For example, the operation reception unit 140 displays on the navigation HMI 62 a message saying "Decelerating for matching." The purpose of the message "for matching" is to check the degree of agreement between the current external environment information obtained by the external environment recognition unit 110 and the map information associated with the linked route #1 stored in the storage unit 120.

[0090] When the operation reception unit 140 displays deceleration, the AD control unit 132 starts deceleration control of the vehicle 1 (step S75). This deceleration control is performed, for example, so that the vehicle 1 travels at a speed of 15 km / h when the remaining distance to the home parking lot is 88 m. The AD control unit 132 detects that the vehicle 1 is currently traveling at a point where the remaining distance to the home parking lot is 88 m based on a signal received by the GNSS receiver 61 (step S76). The AD control unit 132 starts constant-speed travel at a deceleration-controlled speed of, for example, 15 km / h (step S77). The AD control unit 132 sends a home approaching notification to the APS control unit 133 to notify that the vehicle 1 is approaching the target position, which is the home (step S78).

[0091] When the APS control unit 133 receives the home approaching notification, it controls the operation reception unit 140 to display a screen on the navigation HMI 62 to notify the user that matching will begin (step S79).Then, the APS control unit 133 starts matching (step S80).

[0092] The operation reception unit 140 displays "Matching Start" on the navigation HMI 62, which is a screen display for notifying that matching has started (step S81). For example, the operation reception unit 140 displays "Matching for private area control has started" on the navigation HMI 62. "Matching for private area control" refers to controlling the parking of the vehicle 1 into the parking lot 170 at the home.

[0093] 6, when matching is established (step S82), the APS control unit 133 notifies the AD control unit 132 that matching is complete (step S83). Matching is established when the degree of match between the current external world information obtained by the external world recognition unit 110 and, for example, map information associated with linked route #1 is equal to or greater than a threshold.

[0094] The AD control unit 132 controls the display of the operation receiving unit 140 to display on the navigation HMI 62 that matching has been completed and that, since matching has been completed, private zone control is possible when driving to the home parking lot (step S84). By controlling the display of the operation receiving unit 140, the AD control unit 132 prompts the user to accept the control transition so that the driving control of the vehicle 1 will transition from public road assistance control to private zone control. The display control of the navigation HMI 62 that prompts the user to accept the control transition is an example of the "first notification" of the present invention.

[0095] The operation acceptance unit 140 displays a message on the navigation HMI 62 notifying the user that matching has been completed and that private area control is possible (step S85). Assume that the user agrees to use private area control in response to this notification. The operation acceptance unit 140 accepts an acceptance operation from the user on the navigation HMI 62 (step S85). The operation acceptance unit 140 outputs an operation detection signal to the AD control unit 132 notifying that an acceptance operation from the user has been detected (step S86).

[0096] Based on the operation detection signal from the operation reception unit 140, the AD control unit 132 notifies the APS control unit 133 that the user has accepted the private area control (step S87). Next, the AD control unit 132 detects that the vehicle 1 has reached a road boundary due to the driving control of the public road assistance (step S88). The road boundary is, for example, the position of the road boundary set by the user in the first operation example above. The AD control unit 132 notifies the APS control unit 133 that the vehicle 1 has reached the road boundary (step S89).

[0097] The APS control unit 133 notifies the AD control unit 132 that it will start controlling the driving of the vehicle 1 using private area control (step S90). The APS control unit 133 also controls the display of the operation reception unit 140 so that the navigation HMI 62 displays a message that the vehicle 1 will be driven using private area control (step S91). The APS control unit 133 then starts private area control of the vehicle 1 (step S92). Note that in step S85 described above, the APS control unit 133 starts private area control because the user has consented to the use of private area control, but this is not limiting. For example, if the user does not consent to the use of private area control, the private area control consent notification is not sent, and the APS control unit 133 does not start private area control.

[0098] When receiving the private area control start notification, the AD control unit 132 ends the driving control of the vehicle 1 by the public road support (step S93).

[0099] The operation reception unit 140 displays a screen indicating that the private area control is being executed on the navigation HMI 62, which screen notifies the user that the vehicle 1 is being controlled by the private area control (step S94).

[0100] When the vehicle 1 enters the home parking lot 170 under the private area control, the APS control unit 133 detects that the vehicle 1 has reached the home (step S95). The APS control unit 133 notifies the AD control unit 132 that the vehicle 1 has reached the home (step S96). The APS control unit 133 also controls the display of the operation reception unit 140 so that the navigation HMI 62 displays that the vehicle 1 has reached the home and that the driving control under the private area control has been completed (step S97).

[0101] The operation reception unit 140 displays a screen indicating completion of private area control on the navigation HMI 62, which screen notifies that driving control based on private area control has been completed (step S98).

[0102] FIG. 7 is a diagram showing the next example of a state in which the vehicle 1 in which the user is riding is traveling with the home parking lot 170 as the target position. The next example is a traveling example in a situation in which route information when the vehicle 1 was parked in the home parking lot 170 is stored, as described in the second operation example of FIGS. 5 and 6. In FIG. 7, the vehicle 1 is undergoing traveling control of the public road assistance and is traveling on the public road 150 along the same route as in the first example (see FIG. 4). The current traveling position of the vehicle 1 is point 151, where the remaining distance to the home parking lot 170 is 120 [m]. Point 151 is the same position as point 151 shown in the first example, where the remaining distance is 120 [m].

[0103] When the vehicle 1 passes point 151 and travels to a predetermined position, it starts to decelerate so that the speed becomes 15 km / h at a point where the remaining distance to the home parking lot 170 is 88 m. The position where this deceleration starts is deceleration start point 181.

[0104] When vehicle 1 starts deceleration, it notifies the user to check the driving conditions to see whether vehicle 1 can travel under private area control. The section where this deceleration control is being performed is deceleration section 182, and the position of the remaining distance 88 [m] to complete deceleration is deceleration completion point 183.

[0105] When the vehicle 1 reaches the deceleration completion point 183, it starts to determine whether or not a match has been made between the current external environment information obtained by the external environment recognition unit 110, which is the driving condition for performing private area control, and the route information stored in the memory unit 120, for example, associated with the linked route #1. The section where the matching determination process is being performed is the matching section 184. The location where the matching determination is performed and the matching is established is the matching establishment point 185. When the matching determination is started and the vehicle enters the private area memory section 158 where the route information to be matched exists, the determination of the matching success or failure is completed. The section where the driving conditions for private area control are determined is the determination area. The vehicle 1 travels at a constant speed of 15 km / h during matching.

[0106] When a match is established, private area control is applied based on the route information stored in the memory unit 120. In FIG. 7, the travel route 162 in the private area memory section 158 surrounded by a thick dashed line is the travel route 162 in the private area memory section 158 stored in the memory unit 120 in the first example (see FIG. 4). The private area memory section 158 includes a public road area 159 of the public road 150 and a driveway (private road) 161 in the private property 160. In addition, the private area memory section 158 has a road boundary 163 set therein, which indicates the boundary of the area in which the vehicle 1 can travel under private area control. The transition to travel under private area control occurs when the vehicle 1 reaches the position of the road boundary 163.

[0107] In the private area memory section 158, the vehicle 1 performs public road assistance driving control in the public road area 159 on the public road 150 and the excluded private road area 161a on the driveway 161, which is on the public road area 159 side of the road boundary 163. The vehicle 1 then performs private area control driving control in the set private road area 161b on the driveway 161, which is on the parking lot 170 side of the road boundary 163. The vehicle 1 switches from public road assistance driving control to private area control driving control at the road boundary 163. Even if the vehicle 1 determines that a match is established and the driving conditions are met, the vehicle 1 continues to drive using public road assistance control until it enters the set private road area 161b. The set private road area 161b is a drivable area in which the vehicle 1 can drive using private area control. The drivable area is an area set by the user by setting the road boundary 163.

[0108] However, if the map information only covers a drivable area where driving is possible using general road assistance control, it is not possible to determine whether matching based on the map information and external information is successful unless vehicle 1 enters the drivable area.

[0109] In contrast, the control device 100 of the present invention uses map information of an area that includes a determination area where driving conditions are set under private zone control and a drivable area where driving under private zone control is possible, so it can determine whether matching is successful before entering the drivable area. This allows for quick determination of driving conditions and enables a smooth transition of control between public road assistance control and private zone control.

[0110] Furthermore, according to the control device 100, the drivable area in the region indicated by the map information is an area determined by the user setting the road boundary 163. Therefore, the range of the drivable area in which the vehicle travels under private zone control can be determined by the user's settings, and the position at which the vehicle transitions between public road assistance control and private zone control can be set to an appropriate position according to the surrounding environment of the travel route. This allows for a smooth transition of control between public road assistance control and private zone control.

[0111] Furthermore, even if it is determined that the driving conditions for the private area control are satisfied, the control device 100 causes the vehicle 1 to travel under the public road assistance control until the vehicle 1 enters an area where the private area control is permitted. This allows for an appropriate mode transition according to the surrounding environment of the route the vehicle 1 is traveling.

[0112] [Third operation example] 8 and 9 are sequence diagrams showing a third operation example of vehicle 1. The third operation example is an operation example in which a user in vehicle 1 causes vehicle 1 to leave the parking lot at home and go out. The operation start position of vehicle 1 is the parking lot at home. However, in the third operation example, the route information when vehicle 1 is caused to leave the parking lot at home has not yet been stored in memory unit 120, so it is assumed that vehicle 1 cannot be caused to leave the parking lot at home using private area control.

[0113] First, the user operates the navigation HMI 62 of the navigation device 60, for example, to set the destination, which is the target position of the vehicle 1, in the navigation setting.

[0114] The operation accepting unit 140 accepts navigation settings for the destination (step S111), and sends the accepted navigation setting information to the AD control unit 132 (step S112).

[0115] The AD control unit 132 determines whether a route that links with the driving route of the public road assistance control is stored in the memory unit 120 when controlling the driving of the vehicle 1 from the parking lot at home to the destination, that is, whether there is a linked route that runs through private property between the parking lot at home and the public road (step S113). As described above, route information for when the vehicle 1 leaves the parking lot at home has not yet been stored in the memory unit 120. Therefore, the determination of whether there is a linked route is "no." The AD control unit 132 notifies the APS control unit 133 that there is no linked route, that is, that linkage of the private area control is not possible (step S114).

[0116] When the APS control unit 133 receives the notification that cooperation between private areas is not possible, it notifies the AD control unit 132 that it is possible to start memory between private areas (step S115).

[0117] The AD control unit 132 notifies the ADAS control unit 131 that the memory processing of the private area control and the driving control of the public road support after the memory processing are available (step S116).

[0118] The ADAS control unit 131 controls the operation reception unit 140 to display a recommendation for memory processing of private area control in the driving control of the vehicle 1 to the current destination on the navigation HMI 62 (step S117).

[0119] The operation accepting unit 140 displays on the navigation HMI 62 a recommendation to perform memory processing of the private area control (step S118). The operation accepting unit 140 may further display that public road assistance driving control will be available after performing memory processing of the private area control. It is assumed that the user agrees to perform memory processing of the private area control in response to this display. The operation accepting unit 140 accepts an approval operation from the user on the navigation HMI 62 (step S118). The operation accepting unit 140 outputs an operation detection signal to the ADAS control unit 131 to notify that an approval operation from the user has been detected (step S119).

[0120] Based on the operation detection signal from the operation reception unit 140, the ADAS control unit 131 notifies the APS control unit 133 that the user has accepted the recommendation for memory processing of the private area control (step S120).

[0121] When the APS control unit 133 receives the notification of recommendation acceptance, it requests the ADAS control unit 131 to switch the screen of the navigation HMI 62 so that the user can manually drive the vehicle 1 out of the parking lot (step S121). Then, the APS control unit 133 starts preparation for memory processing for private area control (step S122).

[0122] Upon receiving a request from the APS control unit 133, the ADAS control unit 131 controls the display of the operation reception unit 140 to display a screen on the navigation HMI 62 that allows the user to manually drive the vehicle 1 out of the parking lot (step S123).

[0123] The operation accepting unit 140 displays on the navigation HMI 62 a message to the effect that after the vehicle 1 leaves the parking lot, the vehicle 1 should be driven along the driveway and temporarily stopped at the road boundary of the driveway (step S124). For example, the operation accepting unit 140 displays on the navigation HMI 62 a message saying, "Drive along the driveway, temporarily stop at the road boundary, and then exit onto a public road." The road boundary is a position indicating the boundary of a driveway where travel is permitted under private property control, and is a boundary that can be arbitrarily set by the user. Now, assume that the user has started to manually drive the vehicle 1. The operation accepting unit 140 accepts the user's driving operation (step S125). The operation accepting unit 140 outputs an operation detection signal to the APS control unit 133 to notify that the user's driving operation has been detected (step S126).

[0124] Based on an operation detection signal from the operation reception unit 140, the APS control unit 133 starts private area memory, which stores route information for the vehicle 1 leaving operation on the driveway initiated by the user, in the storage unit 120 (step S127). The APS control unit 133 notifies the AD control unit 132 that private area memory has been started (step S128). The APS control unit 133 may also control the operation reception unit 140 to display a message that the private area for the leaving operation is being registered. Furthermore, the APS control unit 133 may also control the navigation HMI 62 to display the user's leaving operation while private area memory is being executed, for example.

[0125] 9, it is assumed that the vehicle 1 driven by the user leaves a parking lot, travels along a private road on private property, and stops temporarily at a certain position before entering a public road. The operation reception unit 140 outputs a stop notification signal to the APS control unit 133 to notify that the vehicle 1 has stopped temporarily (step S129).

[0126] When the APS control unit 133 receives the stop notification signal from the operation reception unit 140, it registers the current position where the vehicle 1 has stopped temporarily as the position of the road boundary (step S130). After stopping the vehicle 1 temporarily, the user drives the vehicle 1 from the private road on which the vehicle has been traveling onto a public road by the user's driving operation.

[0127] The AD control unit 132 detects that driving control by general road assistance is possible for the vehicle 1 based on the fact that the vehicle 1 has started to proceed onto a general road (step S131). The AD control unit 132 notifies the APS control unit 133 that driving control by general road assistance is possible (step S132).

[0128] When the APS control unit 133 receives the general road support notification from the AD control unit 132, it terminates the private inter-area memory that stores the route information for the leaving operation (step S133).

[0129] The AD control unit 132 notifies the ADAS control unit 131 that the driving control of the vehicle 1 by the general road support is available (step S134).

[0130] The ADAS control unit 131 controls the display of the operation reception unit 140 so that the navigation HMI 62 displays a message indicating that the general road assistance control is available in the navigation to the destination set by the user (step S135).

[0131] The APS control unit 133 notifies the AD control unit 132 that the private area memory has been completed (step S136).

[0132] The operation accepting unit 140 notifies the user that the general road assistance control is available by displaying that fact on the navigation HMI 62 (step S137). In response to this notification, it is assumed that the user agrees to use the general road assistance control. The operation accepting unit 140 accepts the user's consent operation on the navigation HMI 62 (step S137).

[0133] Upon receiving the notification of completion of storage, the AD control unit 132 stores the route linked to the driving route of the general road assistance control as linked route #2 in the storage unit 120 (step S138). For example, when the vehicle 1 traveled a route this time from a private road on private property to a general road, the AD control unit 132 stores, as linked route #2, the direction in which the vehicle traveled onto the general road, for example, whether the vehicle turned right or left. The AD control unit 132 sends information about the stored linked route #2 to the APS control unit 133 (step S139).

[0134] The operation reception unit 140 outputs an operation detection signal to the ADAS control unit 131 to notify that an operation of consenting to the use of the general road assistance control from the user has been detected (step S140).

[0135] Based on the operation detection signal from the operation reception unit 140, the ADAS control unit 131 notifies the AD control unit 132 that the user will use the general road assistance control (step S141).

[0136] When the APS control unit 133 receives the linked route #2 from the AD control unit 132, it associates the route information of the leaving operation stored between private areas with the linked route #2 and the road boundary registered in step S130, and stores them in the memory unit 120 (step S142).

[0137] When receiving the notification of use of the general road assistance, the AD control unit 132 starts driving control of the vehicle 1 by the general road assistance (step S143).

[0138] Fig. 10 is a diagram showing an example of the first time when the vehicle 1 in the user travels with the home parking lot 170 as the operation start position. The first time example is an example of a situation in which the route information when the vehicle 1 leaves the home parking lot 170 has not yet been stored, as explained in the third operation example of Figs. 8 and 9. In Fig. 10, the vehicle 1 is heading to a destination, and the destination has been set in the navigation device 60.

[0139] In driving control from the parking lot 170 at home to the destination, the vehicle 1 determines whether an associated route that travels through private property 160 between the parking lot 170 and the public road 150 is stored in the memory unit 120. In this example, no associated route is stored in the memory unit 120. Therefore, the vehicle 1 recommends to the user memory processing of private area control in driving control of the vehicle 1 to the current destination. In response, it is assumed that the user accepts the recommendation of private area control.

[0140] When the user starts driving the vehicle 1, private area memory is started, which stores route information for the leaving operation in the storage unit 120. The section for which private area memory is performed is the section from when the leaving operation from the parking lot 170 is started, until the vehicle 1 travels along a driveway (private road) 191 in the private property 160, and then travels from the driveway 191 onto the public road 150, and in FIG. 10 is the private area memory section 190 surrounded by a thick dashed line. The private area memory section 190 includes the driveway 191 in the private property 160 and the public road area 159, which is the area of ​​the public road 150. The user drives the vehicle 1 manually along the driving route within the private area memory section 190.

[0141] When the vehicle 1 leaves the private property memory section 190 and proceeds onto the public road 150, the vehicle 1 is subjected to driving control using public road assistance. The location where public road assistance starts is the public road assistance start point 194, and the section where public road assistance is performed is the public road assistance section 195.

[0142] In this way, the vehicle 1 leaves the home parking lot 170, proceeds along the driveway 191, turns right from the driveway 191, and travels onto the public road 150, as shown by the travel route 192 indicated by the dashed line. Information about the travel route 192 within the private area memory section 190 is then stored in the storage unit 120, along with the linked route #2 that links to the travel route of the public road assistance control. At this time, a road boundary 193 indicating the boundary of the area in which the vehicle 1 can travel under the private area assistance control is displayed in the private area memory section 190. The position of the road boundary 193 is the position where the user temporarily stopped the vehicle 1 before exiting the driveway 191 onto the public road 150, and can be set to any position by the user's operation. The set road boundary 193 is stored in association with the travel route 192 and the linked route #2.

[0143] [Fourth operation example] 11 and 12 are sequence diagrams showing a fourth operation example of vehicle 1. The fourth operation example is similar to the third operation example in that it is an operation example in which a user in vehicle 1 causes vehicle 1 to leave a parking lot at home and go out, but differs from the third operation example in that route information when vehicle 1 is caused to leave the parking lot at home is stored in storage unit 120, and vehicle 1 can be caused to leave the parking lot at home using private area control.

[0144] In FIG. 11, the processes from step S151 to step S152 are the same as the processes from step S111 to step S112 in the third operation example in FIG.

[0145] The AD control unit 132 determines whether a route linked to the public road assistance control route for driving control of the vehicle 1 from the parking lot at home to the destination is stored in the memory unit 120, i.e., whether there is a linked route that runs through private property between the parking lot at home and the public road (step S153). As described above, the linked route #2 for leaving the vehicle 1 from the parking lot at home is stored in the memory unit 120 in association with the route information and road boundary information for the leaving operation stored between private areas. Therefore, the determination of the existence of a linked route is "yes." The AD control unit 132 notifies the APS control unit 133 that there is a linked route, i.e., that private area control coordination is likely possible (step S154). The stored linked route is, for example, "linked route #2" stored in step S138 of the third operation example.

[0146] The APS control unit 133 notifies the AD control unit 132 that the vehicle 1 can be controlled to travel under the private area control (step S155).

[0147] The AD control unit 132 notifies the ADAS control unit 131 that the driving control for the private area control and the driving control for the public road support after the private area control are available (step S156).

[0148] The ADAS control unit 131 controls the operation reception unit 140 to display on the navigation HMI 62 that driving control by ordinary road support is available in the driving control of the vehicle 1 up to the current destination (step S157).

[0149] The operation accepting unit 140 displays on the navigation HMI 62 a message indicating that the general road assistance driving control is available (step S158). It is assumed that the user agrees to use the general road assistance control in response to this message. The operation accepting unit 140 accepts an agreement operation from the user on the navigation HMI 62 (step S158). The operation accepting unit 140 outputs an operation detection signal to the ADAS control unit 131 to notify that an agreement operation from the user has been detected (step S159).

[0150] When the ADAS control unit 131 receives an operation detection signal from the operation reception unit 140, it notifies the AD control unit 132 that it will use the private area control driving control and the public road assistance driving control after the private area control (step S160).

[0151] The AD control unit 132 notifies the APS control unit 133 that the driving control between private areas and the driving control for public road support after the driving control between private areas will be used (step S161).

[0152] When the APS control unit 133 receives the notification of private area control / public road support use from the AD control unit 132, it controls the operation reception unit 140 to display a screen for notifying the user that matching will begin on the navigation HMI 62 (step S162).Then, the APS control unit 133 starts the matching process (step S163).

[0153] The operation reception unit 140 displays "Matching Start" on the navigation HMI 62, which is a screen display to notify that matching has started (step S164). For example, the operation reception unit 140 displays "Matching for private area control has started" on the navigation HMI 62. "Matching for private area control" refers to control of vehicle 1 leaving the home parking lot 170.

[0154] Next, when matching is established (step S165), the APS control unit 133 notifies the AD control unit 132 that matching is complete (step S166). Matching is established when the degree of agreement between the current external world information obtained by the external world recognition unit 110 and, for example, the route information of the retrieval operation associated with the linked route #2 is equal to or greater than a threshold.

[0155] The AD control unit 132 controls the display of the operation receiving unit 140 to display on the navigation HMI 62 a message that matching has been completed and that, since matching has been completed, private area control is now possible when controlling the exit of the vehicle 1 from the parking lot (step S167). By controlling the display of the operation receiving unit 140, the AD control unit 132 prompts the user to accept the control transition so that the driving control of the vehicle 1 will transition from public road assistance control to private area control. The display control of the navigation HMI 62 that prompts the user to accept the control transition is an example of the "first notification" of the present invention.

[0156] The operation acceptance unit 140 displays a message on the navigation HMI 62 notifying the user that matching has been completed and that private area control is possible (step S168). In response to this message, it is assumed that the user agrees to use private area control. The operation acceptance unit 140 accepts an acceptance operation from the user on the navigation HMI 62 (step S168). The operation acceptance unit 140 outputs an operation detection signal to the AD control unit 132 notifying that an acceptance operation from the user has been detected (step S169).

[0157] Based on the operation detection signal from the operation reception unit 140, the AD control unit 132 notifies the APS control unit 133 that the user has agreed to use the private area inter-area control (step S170).

[0158] The APS control unit 133 notifies the AD control unit 132 that travel control of the vehicle 1 under private area control will begin (step S171). The APS control unit 133 also controls the display of the operation reception unit 140 to display on the navigation HMI 62 that the vehicle 1 will be traveled under private area control (step S172). Then, the APS control unit 133 begins private area control of the vehicle 1 (step S173).

[0159] In step S167 described above, the APS control unit 133 starts private inter-area control because the user has consented to the use of private inter-area control, but this is not limiting. For example, if the user does not consent to the use of private inter-area control, no private inter-area control consent notification is sent, and the APS control unit 133 does not start private inter-area control.

[0160] The operation reception unit 140 displays, on the navigation HMI 62, a screen indicating that the private area control is being executed, which indicates that the vehicle 1 is traveling under the private area control (step S174).

[0161] Next, referring to FIG. 12, the APS control unit 133 detects that the vehicle 1 has reached a road boundary through the private property area travel control (step S175). The road boundary is, for example, the position of the road boundary set by the user in the third operation example above. The APS control unit 133 performs control to temporarily stop the vehicle 1 at the road boundary (step S176). The APS control unit 133 notifies the AD control unit 132 that the vehicle 1 has reached the road boundary (step S177).

[0162] When the AD control unit 132 receives the road boundary arrival notification from the APS control unit 133, it notifies the APS control unit 133 that it will start driving control for general road assistance for the vehicle 1 (step S178). Furthermore, the AD control unit 132 controls the display of the operation reception unit 140 so as to display on the navigation HMI 62 a message that general road assistance for the vehicle 1 will start (step S179). Then, the AD control unit 132 starts general road assistance (step S180).

[0163] The APS control unit 133 receives the general road assistance start notification from the AD control unit 132 and ends the private area control (step S181).

[0164] The operation reception unit 140 displays a screen indicating that the general road assistance is being performed on the navigation HMI 62, which screen notifies the driver that the vehicle 1 is traveling under the general road assistance control (step S182).

[0165] When the vehicle 1 proceeds to the destination under the general road assistance control, the AD control unit 132 detects that the vehicle 1 has reached the destination (step S183). When the vehicle 1 reaches the destination, the AD control unit 132 ends the general road assistance (step S184).

[0166] Fig. 13 is a diagram showing the next example of how the vehicle 1 in the user travels with the home parking lot 170 as the operation start position. The next example is an example of travel in a situation where route information when the vehicle 1 leaves the home parking lot 170 is stored, as explained in the fourth operation example of Figs. 11 and 12. In Fig. 13, the vehicle 1 is heading to a destination, and the destination has been set in the navigation device 60.

[0167] In controlling driving from the parking lot 170 at home to the destination, the vehicle 1 determines whether an associated route that travels through private land 160 between the parking lot 170 and the public road 150 is stored in the memory unit 120. As described in the third operation example above, it is assumed that the associated route #2 is stored in the memory unit 120.

[0168] The vehicle 1 starts to determine whether a match is successful between the current external environment information obtained by the external environment recognition unit 110 and the route information of the leaving operation associated with the linked route #2. If a match is successful, the vehicle 1 obtains the user's consent to execute the private area control and starts the private area control based on the route information of the leaving operation associated with the linked route #2.

[0169] In FIG. 13, the travel route 192 in the private area memory section 190 surrounded by a thick dashed line is the travel route 192 in the private area memory section 190 stored in the memory unit 120 in the first example (see FIG. 10 ). The private area memory section 190 includes a driveway (private road) 191 in the private property 160 and a public road area 159 of the public road 150. In addition, a road boundary 193 is set in the private area memory section 190, indicating the boundary of the area in which the vehicle 1 can travel under private area control. In the private area memory section 190, the area to which the private area control of the vehicle 1 is applied is the set private road area 191b from the parking lot 170 to the road boundary 193. The excluded private road area 191a, which is on the public road area 159 side of the road boundary 193, is not subject to private area control even though it is within the area of ​​the driveway 191.

[0170] Vehicle 1 is controlled to travel by private area control in set private road area 191b from parking lot 170 to road boundary 193, and when vehicle 1 proceeds into excluded private road area 191a beyond road boundary 193, vehicle 1 is controlled to travel by public road assistance. Set private road area 191b is a drivable area in which vehicle 1 can travel by private area control. The drivable area is an area set by the user by setting road boundary 193. The section in which public road assistance is provided is a public road assistance section 195.

[0171] From the above, according to the control device 100, even when controlling the driving of the vehicle 1 from the parking lot at home to the destination as in the third and fourth operation examples, it is possible to achieve the same effect as in the driving control of the vehicle 1 from the destination to the parking lot at home as in the first and second operation examples described above.

[0172] <Example of use of private inter-area control> The private area control used by a user in vehicle 1 when returning home from a destination will be described with reference to Figs. 14 to 19. Fig. 14 is a diagram showing a state in which the user gets into vehicle 1 away from home and starts the engine. The user first sets home 200 as a target location in navigation device 60. Fig. 15 is a diagram showing the vehicle 1 traveling on a public road 210 using public road assistance control. Vehicle 1 is traveling on public road 210 using public road assistance travel control, for example, along a route indicated by arrow A.

[0173] 16 is a diagram showing the start of the private area memory of vehicle 1. If no linked routes from past travels are stored in storage unit 120, when vehicle 1 reaches a determination area where the remaining distance to home 200 is, for example, 88 m or less, and the user starts an override operation, vehicle 1 stores the route information of the override operation in the private area memory.

[0174] For example, in FIG. 16 , information on travel route A of vehicle 1, indicated by a dashed line, is stored in the private area memory. The information on travel route A includes information on a travel route with an override operation on a general road 210, and information on a travel route with an override operation on a driveway 220 that continues from the general road 210 and extends to home 200. The information on travel route A also includes information on a road boundary 221 that indicates the boundary of the driveway 220. The area of ​​the driveway 220 is the area of ​​travel route A that is closer to home 200 than the road boundary 221. The information on travel route A also includes information on a travel route that turns left on the general road 210 and enters the driveway 220.

[0175] Figure 17 is a diagram showing a state in which vehicle 1 has reached the target position, home 200. When vehicle 1 has reached home 200, in addition to the information on travel route A stored in the private area memory in Figure 16, information on the linked route on the travel route from the destination to home 200 is also stored in the private area memory.

[0176] For example, information on linked route B indicated by circles b1 to b4 in Fig. 17 is stored in the private area memory. Linked route B is stored in the private area memory as route information linked to travel route C of general road assistance control on general road 210. As a result, when the travel control of vehicle 1 transitions from general road assistance control to private area control on the travel route from the destination to home 200, information is stored in the private area memory that vehicle 1 has transitioned to travel route A while traveling on general road 210 from circle b1 → b2 → b3 → b4 as linked route B.

[0177] FIG. 18 is a diagram showing vehicle 1 returning to home 200 via driving route D, which is different from driving route C in FIG. 17. In FIG. 18, vehicle 1 is being controlled to travel using general road assistance along driving route D, indicated by a dashed line on general road 211. Driving route D is a different route from driving route C on general road 210, which is linked to driving route C under general road assistance control on general road 210 (see FIG. 17). Therefore, the linked route B, which is linked to driving route C under general road assistance control on general road 210, is not applied to vehicle 1 traveling using general road assistance control along driving route D on general road 211. It is determined that there is no linked route for driving route D, on which vehicle 1 is being controlled using general road assistance control on general road 211.

[0178] FIG. 19 is a diagram showing vehicle 1 returning to home 200 along the same driving route as driving route C in FIG. 17. In FIG. 19, vehicle 1 is controlled to travel along driving route C, indicated by a dashed line on general road 210, using general road assistance. This driving route C is the same as driving route C on general road 210 linked to linked route B stored between private areas in FIG. 17. Therefore, vehicle 1 reads out information about travel route A stored between private areas in association with linked route B and performs matching. Then, when matching is established, vehicle 1 transitions from general road assistance control to private area control, and drives vehicle 1 to home 200 based on information about travel route A and current external environment information.

[0179] 14 to 19, the case where the vehicle 1 is heading home from a destination has been described, but the present invention is not limited to this. For example, the driving control can be similarly transitioned when heading home from a destination.

[0180] The control method described in the above embodiment can be realized by executing a prepared control program on a computer. The control program is recorded on a computer-readable storage medium and executed by being read from the storage medium. The control program may be provided in a form stored on a non-transitory storage medium such as a flash memory, or may be provided via a network such as the Internet. The computer that executes the control program may be included in a control device, or may be included in an electronic device such as a smartphone, tablet, or personal computer that can communicate with the control device, or may be included in a server device that can communicate with these control devices and electronic devices.

[0181] Although the embodiments of the present invention have been described above, the present invention is not limited to the above-described embodiments, and modifications, improvements, etc. are possible as appropriate.

[0182] For example, in the above embodiment, the moving body is a vehicle, but the present invention is not limited to this. The concept of the present invention is not limited to vehicles, and can also be applied to robots, ships, aircraft, and the like that are equipped with a drive source and can move using the power of the drive source.

[0183] This specification also describes at least the following: Note that the components in parentheses correspond to those in the above-described embodiment, but are not limited to these.

[0184] (1) A vehicle control device including one or more processors (a movement control unit 130 (an ADAS control unit 131, an AD control unit 132, an APS control unit 133)) that performs driving control to move a vehicle having an external environment recognition unit (an external environment recognition unit 110) that recognizes the external environment to a target position, and a memory unit (a memory unit 120) that stores map information, and that can transition between a first driving mode (general road assistance control) and a second driving mode (private area control), the map information is map information of an area including a predetermined determination area and a travelable area in which travel in the second travel mode is possible, The processor: When the vehicle enters the determination area while the vehicle is traveling in the first traveling mode, a determination is made of a traveling condition in the second traveling mode, which includes whether external environment information obtained by the external environment recognition unit and the map information stored in the storage unit satisfy a predetermined matching condition; transitioning to the second driving mode when it is determined that the driving condition is satisfied and the vehicle has entered the drivable area; In the second driving mode, the vehicle is driven based on the map information stored in the storage unit and the external environment information obtained by the external environment recognition unit. Vehicle control device.

[0185] For example, if the map information only covers the drivable area where driving in the second driving mode is possible, it is not possible to determine whether matching is successful or not based on the map information and external information unless the vehicle enters the drivable area. In contrast, according to (1), map information is used for an area that includes the determination area for the driving conditions in the second driving mode and the drivable area where driving in the second driving mode is possible, so it is possible to determine whether matching is successful or not before entering the drivable area. This allows for quick determination of the driving conditions and smooth mode transition between the first and second driving modes.

[0186] (2) The vehicle control device according to (1), The storage unit stores the map information based on the external environment information obtained by the external environment recognition unit. Vehicle control device.

[0187] According to (2), by determining whether matching is successful or not using map information based on external environment information obtained by the external environment recognition unit, it is possible to accurately determine the driving conditions in the second driving mode, and to smooth the mode transition between the first driving mode and the second driving mode.

[0188] (3) The vehicle control device according to (2), The storage unit stores the map information based on the external environment information obtained by the external environment recognition unit during past traveling of the vehicle. Vehicle control device.

[0189] According to (3), by determining whether matching is successful or not using map information based on external environment information obtained by the external environment recognition unit during past vehicle travel, it is possible to more accurately determine the travel conditions in the second travel mode, thereby facilitating a smooth mode transition between the first and second travel modes.

[0190] (4) A vehicle control device according to any one of (1) to (3), The drivable area in the region indicated by the map information is an area set by a user. Vehicle control device.

[0191] According to (4), the range of the drivable area in which the vehicle travels in the second driving mode can be determined by the user's settings, so the position at which the vehicle transitions between the first driving mode and the second driving mode can be set to an appropriate position according to the surrounding environment of the driving route.

[0192] (5) A vehicle control device according to any one of (1) to (4), the processor causes the vehicle to travel in the first travel mode until the vehicle enters the travelable area even if it determines that the travel condition is satisfied. Vehicle control device.

[0193] According to (5), even if the driving conditions for the second driving mode are met, the vehicle can be driven in the first driving mode until it enters an area where it can be driven in the second driving mode, thereby making it possible to make an appropriate mode transition according to the surrounding environment of the driving route.

[0194] (6) A vehicle control device according to any one of (1) to (5), The driving condition includes at least one of a state in which the driving speed of the vehicle in the determination area does not exceed a first speed for a predetermined period of time or more, and a state in which the driving speed of the vehicle in the determination area does not exceed a second speed. Vehicle control device.

[0195] As in (6), the driving condition for transitioning from the first driving mode to the second driving mode requires that the driving speed of the vehicle 1 satisfy a predetermined condition.

[0196] (7) A vehicle control method using a vehicle control device that includes one or more processors that perform driving control to move a vehicle having an external environment recognition unit that recognizes the external environment to a target position, and a storage unit that stores map information, and that can transition between a first driving mode and a second driving mode, the map information is map information of an area including a predetermined determination area and a travelable area in which travel in the second travel mode is possible, the processor: When the vehicle enters the determination area while the vehicle is traveling in the first traveling mode, a determination is made of a traveling condition in the second traveling mode, which includes whether external environment information obtained by the external environment recognition unit and the map information stored in the storage unit satisfy a predetermined matching condition; transitioning to the second driving mode when it is determined that the driving condition is satisfied and the vehicle has entered the drivable area; In the second driving mode, the vehicle is driven based on the map information stored in the storage unit and the external environment information obtained by the external environment recognition unit. Vehicle control method.

[0197] For example, if the map information only covers the drivable area in which driving in the second driving mode is possible, it is not possible to determine whether matching is successful or not based on the map information and external information unless the vehicle enters the drivable area. In contrast, according to (7), map information is used for an area that includes the determination area for the driving conditions in the second driving mode and the drivable area in which driving in the second driving mode is possible, so it is possible to determine whether matching is successful or not before entering the drivable area. This allows for quick determination of the driving conditions, enabling smooth mode transitions between the first and second driving modes.

[0198] (8) A control program for a vehicle control device that includes one or more processors that perform driving control to move a vehicle having an external environment recognition unit that recognizes the external environment to a target position, and a storage unit that stores map information, and that can transition between a first driving mode and a second driving mode, the map information is map information of an area including a predetermined determination area and a travelable area in which travel in the second travel mode is possible, the processor, When the vehicle enters the determination area while the vehicle is traveling in the first traveling mode, a determination is made of a traveling condition in the second traveling mode, which includes whether external environment information obtained by the external environment recognition unit and the map information stored in the storage unit satisfy a predetermined matching condition; transitioning to the second driving mode when it is determined that the driving condition is satisfied and the vehicle has entered the drivable area; In the second driving mode, the vehicle is driven based on the map information stored in the storage unit and the external environment information obtained by the external environment recognition unit. A control program that executes processing.

[0199] For example, if the map information only covers the drivable area in which driving in the second driving mode is possible, it is not possible to determine whether matching is successful or not based on the map information and external information unless the vehicle enters the drivable area. In contrast, according to (8), map information is used for an area that includes the determination area for the driving conditions in the second driving mode and the drivable area in which driving in the second driving mode is possible, so it is possible to determine whether matching is successful or not before entering the drivable area. This allows for quick determination of the driving conditions and smooth mode transition between the first and second driving modes. [Explanation of symbols]

[0200] 110 External world recognition department 120 Storage section 130 Movement control unit (processor) 131 ADAS control unit (processor) 132 AD control unit (processor) 133 APS control unit (processor)

Claims

1. A vehicle control device including one or more processors that perform driving control to move a vehicle having an external environment recognition unit that recognizes the external environment to a target position, and a storage unit that stores map information, and that can transition between a first driving mode and a second driving mode, the map information is map information of an area including a predetermined determination area and a travelable area in which travel in the second travel mode is possible, The processor: When the vehicle enters the determination area while traveling in the first traveling mode, a determination is made of a traveling condition in the second traveling mode, which includes whether external environment information obtained by the external environment recognition unit and the map information stored in the storage unit satisfy a predetermined matching condition; transitioning to the second driving mode when it is determined that the driving condition is satisfied and the vehicle has entered the drivable area; In the second driving mode, the vehicle is driven based on the map information stored in the storage unit and the external environment information obtained by the external environment recognition unit. Vehicle control device.

2. The vehicle control device according to claim 1, The storage unit stores the map information based on the external environment information obtained by the external environment recognition unit. Vehicle control device.

3. The vehicle control device according to claim 2, The storage unit stores the map information based on the external environment information obtained by the external environment recognition unit during past traveling of the vehicle. Vehicle control device.

4. The vehicle control device according to claim 1, The drivable area in the region indicated by the map information is an area set by a user. Vehicle control device.

5. The vehicle control device according to claim 1, the processor causes the vehicle to travel in the first travel mode until the vehicle enters the travelable area even if it determines that the travel condition is satisfied. Vehicle control device.

6. The vehicle control device according to any one of claims 1 to 5, The driving condition includes at least one of a state in which the driving speed of the vehicle in the determination area does not exceed a first speed for a predetermined period of time or more, and a state in which the driving speed of the vehicle in the determination area does not exceed a second speed. Vehicle control device.

7. A vehicle control method using a vehicle control device that includes one or more processors that perform driving control to move a vehicle having an external environment recognition unit that recognizes the external environment to a target position, and a storage unit that stores map information, and that can transition between a first driving mode and a second driving mode, the map information is map information of an area including a predetermined determination area and a travelable area in which travel in the second travel mode is possible, the processor: When the vehicle enters the determination area while traveling in the first traveling mode, a determination is made of a traveling condition in the second traveling mode, which includes whether external environment information obtained by the external environment recognition unit and the map information stored in the storage unit satisfy a predetermined matching condition; transitioning to the second driving mode when it is determined that the driving condition is satisfied and the vehicle has entered the drivable area; In the second driving mode, the vehicle is driven based on the map information stored in the storage unit and the external environment information obtained by the external environment recognition unit. Vehicle control method.

8. A control program for a vehicle control device that includes one or more processors that perform driving control to move a vehicle having an external environment recognition unit that recognizes the external environment to a target position, and a storage unit that stores map information, and that can transition between a first driving mode and a second driving mode, the map information is map information of an area including a predetermined determination area and a travelable area in which travel in the second travel mode is possible, the processor, When the vehicle enters the determination area while traveling in the first traveling mode, a determination is made of a traveling condition in the second traveling mode, which includes whether external environment information obtained by the external environment recognition unit and the map information stored in the storage unit satisfy a predetermined matching condition; transitioning to the second driving mode when it is determined that the driving condition is satisfied and the vehicle has entered the drivable area; In the second driving mode, the vehicle is driven based on the map information stored in the storage unit and the external environment information obtained by the external environment recognition unit. A control program that executes processing.

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