Vehicle control method and vehicle control device

Abstract

To support more suitable traveling.SOLUTION: The vehicle control method decelerates the vehicle 1 at the first deceleration when the sensor device 14 detects an obstacle within the first distance from the vehicle 1 in the traveling direction of the vehicle 1 during traveling of the vehicle 1 by the acceleration / deceleration operation and the steering operation of the occupant. Thereafter, the vehicle control method causes the vehicle 1 to travel at a predetermined speed from the second distance to the third distance with respect to the distance from the vehicle 1 to the obstacle, and causes the display device 22 to display that the vehicle 1 is intentionally decelerating. Thereafter, in the vehicle control method, when sensor device 14 detects obstacle 2 within fourth distance L4 in the traveling direction of sensor device 14, sensor device 14 decelerates sensor device 14 at a second deceleration higher than the first deceleration.SELECTED DRAWING: Figure 1

Description

[Technical Field]

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

[0002] A system is known that determines the possibility of a collision with an obstacle in the path of the vehicle based on the distance and relative speed between the vehicle and the vehicle, and automatically activates brake control of the vehicle if a collision is detected (see Patent Document 1). Also known is a technology that brings the vehicle to a sudden stop by activating the emergency brake. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Publication No. 2024-7010 Summary of the Invention [Problem to be solved by the invention]

[0004] However, the prior art does not disclose any technology for notifying passengers when automatic deceleration is performed to avoid a collision, which can make it difficult to provide support for optimal driving for passengers.

[0005] An object of the present disclosure is to provide a vehicle control method and a vehicle control device that can assist in more suitable driving. [Means for solving the problem]

[0006] The vehicle control method according to the present disclosure is a vehicle control method executed by a vehicle control device mounted on a vehicle that has an operating device that accepts operations from a passenger, a sensor device that acquires external conditions, a display device that is visible to the passenger, and a movement control device that controls at least deceleration, wherein when the vehicle is traveling due to acceleration / deceleration operations and steering operations by the passenger, if the sensor device detects an obstacle closer than a first distance from the vehicle in the direction of travel of the vehicle, the vehicle is decelerated at a first deceleration acceleration, and then the vehicle is caused to travel at the predetermined speed from a second distance that is smaller than the first distance to a third distance that is smaller than the second distance from the vehicle, and the display device is caused to display an indication that deceleration is being intentional, and then if the sensor device detects the obstacle closer than a fourth distance that is smaller than the third distance from the vehicle in the direction of travel of the vehicle, the vehicle is decelerated at a second deceleration acceleration that is greater than the first deceleration acceleration. [Effects of the Invention]

[0007] The vehicle control method and vehicle control device according to the present disclosure can assist in more optimal driving. [Brief explanation of the drawings]

[0008] [Figure 1] FIG. 1 is a block diagram showing an example of the overall configuration of a vehicle. [Figure 2] FIG. 2 is a schematic diagram showing an example of the arrangement of the cameras. [Figure 3] FIG. 3 is an explanatory diagram of an example of deceleration control processing executed by the control unit. [Figure 4] FIG. 4 is a diagram showing an example of the relationship between the distance between the vehicle and an obstacle and the speed of the vehicle. [Figure 5] FIG. 5 is a schematic diagram of an example of the first screen. [Figure 6A] FIG. 6A is a schematic diagram of an example of the second screen. [Figure 6B] FIG. 6B is a schematic diagram of an example of the second screen. [Figure 6C] FIG. 6C is a schematic diagram of an example of the second screen. [Figure 7] FIG. 7 is a schematic diagram of an example of the third screen. [Figure 8] FIG. 8 is a flowchart showing an example of the flow of information processing executed by the control unit. [Figure 9] FIG. 9 is a block diagram showing an example of the hardware configuration of a vehicle control device. DETAILED DESCRIPTION OF THE INVENTION

[0009] Hereinafter, embodiments of a vehicle control method and a vehicle control device according to the present disclosure will be described with reference to the drawings.

[0010] FIG. 1 is a block diagram showing an example of the overall configuration of a vehicle 1. As shown in FIG.

[0011] The vehicle 1 includes a vehicle control device 10 , a movement control device 12 , a sensor device 14 , a storage device 18 , an operation device 20 , and a display device 22 .

[0012] The vehicle control device 10 is connected to the travel control device 12, the sensor device 14, the storage device 18, the operation device 20, and the display device 22 so as to be able to exchange data or signals. In other words, the vehicle control device 10 is configured to be communicatively connected to at least the sensor device 14, the operation device 20, the display device 22, and the travel control device 12.

[0013] The mobility control device 12 controls at least the deceleration of the vehicle 1. The mobility control device 12 is a means for realizing the driving, braking, and turning movements required for the vehicle 1 to travel. For example, the mobility control device 12 is configured to include a drive motor, a power transmission mechanism, a brake device, a steering device, etc., and an electronic vehicle control device that controls them. The mobility control device 12 travels the vehicle 1, for example, by generating power using the drive motor and transmitting the power to the wheels via the power transmission mechanism. The power transmission mechanism is, for example, a propeller shaft, a differential gear, a drive shaft, etc.

[0014] Controlling deceleration means that the movement control device 12 controls at least one of driving and braking required for the travel of the vehicle 1. In other words, controlling deceleration means that the movement control device 12 controls the deceleration acceleration, which is the acceleration during deceleration.

[0015] The movement control device 12 also controls the acceleration / deceleration and steering of the vehicle 1.

[0016] Controlling acceleration and deceleration means that the movement control device 12 controls at least one of driving and braking required for the travel of the vehicle 1. In other words, controlling acceleration and deceleration means that the movement control device 12 controls the acceleration during acceleration and the deceleration acceleration, which is the acceleration during deceleration.

[0017] Controlling steering means that the mobile control device 12 controls at least one of the driving, braking, and turning motions required for the running of the vehicle 1. In other words, controlling steering means that the mobile control device 12 controls at least one of the turning direction by steering the steering wheel, the vehicle speed or acceleration by accelerator steering, and the deceleration or stopping by braking.

[0018] The sensor device 14 is mounted on the vehicle 1 and acquires at least the situation outside the vehicle 1. In detail, the sensor device 14 is a variety of sensors that detect the traveling state of the vehicle 1 and the situation outside the vehicle 1. The situation outside the vehicle 1 includes an image of the outside of the vehicle 1.

[0019] The sensor device 14 includes at least one of a camera 16, a LiDAR (Light detection and ranging), a radar, a sonar, and an ultrasonic sensor. The sensor device 14 also includes an accelerator opening sensor that detects an accelerator opening, a steering angle sensor that detects a steering angle of a steering device, a handle rotation operation angle detection sensor that detects an angle of a handle rotation operation of the handle, an acceleration sensor that detects acceleration and deceleration acceleration during acceleration of the vehicle 1, a torque sensor that detects torque acting on a power transmission mechanism between the wheels and the drive motor of the vehicle 1, a vehicle speed sensor that detects the vehicle speed of the vehicle 1, a wheel speed sensor, etc.

[0020] The camera 16 is a surroundings sensor mounted on the vehicle 1 and monitors the environment surrounding the vehicle 1. In other words, the camera 16 captures at least a portion of the surroundings of the vehicle 1 as captured video data. In this embodiment, the camera 16 captures the surroundings of the vehicle 1 and outputs the captured video data to the vehicle control device 10. Hereinafter, the captured video data may be simply referred to as video. In this embodiment, the camera 16 is also used to detect objects present around the vehicle 1 and estimate the location of the vehicle 1 from the positional relationship between the vehicle 1 and the objects present around the vehicle 1.

[0021] The positions, number of cameras 16 installed, and shooting directions are adjusted in advance so that the surroundings of the vehicle 1 can be photographed.

[0022] FIG. 2 is a schematic diagram showing an example of the arrangement of the cameras 16. As shown in FIG.

[0023] The vehicle 1 is provided with, for example, four cameras 16 so as to be able to capture the situation outside the vehicle 1 in at least four directions, namely, a first side S1, a second side S2, a front S3, and a rear S4 of the vehicle 1. The first side S1 is one side of the vehicle 1. The second side S2 is the side of the vehicle 1 opposite the first side S1.

[0024] Specifically, for example, the cameras 16 include a first camera 16A, a second camera 16B, a third camera 16C, and a fourth camera 16D. The first camera 16A is disposed at the front of the vehicle 1 and captures an image of the area in front of the vehicle 1 (S3). The second camera 16B is disposed at the right side of the vehicle 1 and captures an image of the area in front of the vehicle 1 (S1). The third camera 16C is disposed at the left side of the vehicle 1 and captures an image of the area in front of the vehicle 1 (S2). The fourth camera 16D is disposed at the rear of the vehicle 1 and captures an image of the area in rear of the vehicle 1 (S4). The number of cameras 16 provided on the vehicle 1 is not limited to four. In addition, it is preferable that the positions and the number of object detection sensors included in the sensor device 14, such as lidar, radar, sonar, and ultrasonic sensors, are adjusted in advance so that the external conditions of the first side S1, second side S2, front S3, and rear S4 of the vehicle 1 can be acquired.

[0025] 1, the explanation will be continued. The sensor device 14 outputs sensor information obtained by detection to the vehicle control device 10. The sensor information includes detection results by the sensor device 14, such as lidar, radar, sonar, ultrasonic sensor, accelerator opening sensor, steering angle sensor, angle of steering wheel rotation operation, traveling direction of the vehicle 1, deceleration / acceleration of the vehicle 1, torque, vehicle speed, and video captured by the camera 16.

[0026] The storage device 18 stores various types of data. The storage device 18 is, for example, an auxiliary storage device such as a hard disk drive (HDD), a solid state drive (SSD), or a flash memory. At least a portion of the data included in the storage device 18 may be stored in an external storage device such as a server device that is provided outside the vehicle 1 and communicably connected to the vehicle control device 10.

[0027] The operation device 20 accepts operations by a passenger of the vehicle 1. The operation device 20 includes operation mechanisms related to driving operations, such as a steering device such as a steering wheel, an accelerator pedal, a brake pedal, a turn signal lever, and a push switch, as well as input devices such as a keyboard, a touch panel, and a switch. The operation device 20 may constitute at least a part of an HMI (Human Machine Interface) and / or an IVI (In-Vehicle Infotainment).

[0028] The display device 22 is a display that outputs various images. The display device 22 is installed in a position where it can be seen by passengers of the vehicle 1. Examples of the display include a liquid crystal display (LCD), an organic electroluminescence (EL) display, and a projector. The display device 22 may be a touch panel display that is an integral configuration of the display device 22 and the operation device 20. The display device 22 is an example of an HMI.

[0029] The vehicle control device 10 is an electronic control unit (ECU) that controls each part of the vehicle 1. The vehicle control device 10 is mounted on the vehicle 1.

[0030] The vehicle control device 10 controls the mobility control device 12 using sensor information received from the sensor device 14. The vehicle control device 10 also controls the mobility control device 12 to travel in accordance with the operation of the operating device 20 by the passenger, which is a driving operation.

[0031] The vehicle control device 10 includes a control unit 11. Part or all of the control unit 11 may be a software configuration realized by cooperation between a processor and various programs stored in memory. Alternatively, part or all of the control unit 11 may be a hardware configuration realized by a dedicated circuit or the like.

[0032] The control unit 11 controls each part of the vehicle 1 in an integrated manner.

[0033] The control unit 11 is configured to be able to switch the driving mode between the first driving mode and the second driving mode based on an input operation by the passenger on the operation device 20. Note that the driving modes that can be executed by the vehicle 1 may include various driving modes other than the first driving mode and the second driving mode.

[0034] The first driving mode is a mode in which the control unit 11 autonomously controls at least acceleration / deceleration and steering to cause the vehicle 1 to drive autonomously. The autonomous driving of the vehicle 1 may be referred to as autonomous driving. In other words, the first driving mode is a mode in which the vehicle 1 drives autonomously without manual operation by the passenger regarding acceleration / deceleration and steering.

[0035] In the first driving mode, the vehicle 1 is automatically controlled to travel by the vehicle control device 10 without manual operation by the occupant regarding acceleration / deceleration and steering. That is, in the first driving mode, the control unit 11 controls acceleration / deceleration and steering based on the external situation acquired by the sensor device 14, without manual operation by the occupant regarding acceleration / deceleration and steering, and causes the vehicle 1 to travel autonomously.

[0036] The second driving mode is a mode in which the control unit 11 autonomously controls deceleration but does not autonomously control at least steering and acceleration. That is, the second driving mode is a mode in which deceleration is automatically controlled without intervention of deceleration-related operations by the occupant, and at least steering and acceleration are controlled by receiving operations related to steering and acceleration by the occupant and driving is controlled in accordance with those operations.

[0037] In the second driving mode, the vehicle 1 controls the movement control device 12 to drive based on manual operations regarding acceleration and steering by the occupant, and controls the movement control device 12 to decelerate based on external conditions acquired by the sensor device 14 without manual operations regarding deceleration by the occupant.

[0038] In this embodiment, the control unit 11 executes the following process when the driving mode is the second driving mode. Note that the control unit 11 may also execute the following process when the driving mode is a mode other than the second driving mode.

[0039] The control unit 11 identifies the distance to an obstacle detected by the sensor device 14 while the vehicle 1 is traveling due to the acceleration / deceleration operation and steering operation of the passenger.

[0040] The acceleration / deceleration operation refers to the operation by the passenger of at least one of the accelerator and the brake included in the operation device 20. The steering operation refers to the operation by the passenger of the steering wheel included in the operation device 20.

[0041] An obstacle is an object that impedes the travel of the vehicle 1. Specifically, for example, an obstacle is another vehicle other than the vehicle 1, a person, or other object.

[0042] Based on the sensor information, the control unit 11 determines the distance to the obstacle relative to the vehicle 1 in the traveling direction of the vehicle 1. In detail, the control unit 11 may derive the distance from the vehicle 1 to the obstacle in the traveling direction of the vehicle 1 by analyzing the detection results of the sensor devices 14, such as lidar, radar, sonar, ultrasonic sensors, and video, included in the sensor information, using a known method.

[0043] Then, the control unit 11 executes deceleration control processing and display control processing according to the distance to an obstacle present in the traveling direction D of the vehicle 1.

[0044] FIG. 3 is an explanatory diagram of an example of the deceleration control process executed by the control unit 11. As shown in FIG.

[0045] When the vehicle 1 is traveling due to the acceleration / deceleration operation and steering operation of the passenger, if the sensor device 14 detects an obstacle 2 closer than a first distance L1 from the vehicle 1 in the traveling direction D of the vehicle 1, the control unit 11 decelerates the vehicle 1 at a first deceleration acceleration. The control unit 11 controls the movement control device 12 to decelerate at the first deceleration acceleration. By this control, the vehicle 1 decelerates at the first deceleration acceleration.

[0046] The first distance L1 may be a predetermined distance. The first distance L1 may be a predetermined distance between the vehicle 1 and the obstacle 2, which is the target for decelerating the vehicle 1 at the first deceleration. The first distance L1 may be changeable as needed by an operation instruction from the passenger on the operation device 20, etc.

[0047] The first deceleration acceleration is a deceleration acceleration that is smaller than a second deceleration acceleration that will be described later. The deceleration of the vehicle 1 due to the first deceleration acceleration is sometimes referred to as a mitigation brake because the automatic brake is being applied gently.

[0048] Thereafter, the control unit 11 causes the vehicle 1 to travel at a predetermined speed from the second distance L2 to the third distance L3, which is the distance to the obstacle 2 from the vehicle 1 as a reference.

[0049] The second distance L2 is a distance shorter than the first distance L1. In other words, the second distance L2 is a distance shorter than the first distance L1. The third distance L3 is a distance shorter than the second distance L2. The second distance L2 and the third distance may be predetermined distances that satisfy the above conditions. Furthermore, the second distance L2 and the third distance L3 may be changeable as appropriate by an instruction from the passenger operating the operating device 20, etc., within a range that satisfies the above conditions. The second distance L2 and the third distance L3 are, for example, distances in the range of 2 m to 3 m, but are not limited thereto.

[0050] The predetermined speed may be the minimum traveling speed according to the traveling environment of the vehicle 1. The predetermined speed may be set in advance. The predetermined speed may also be changeable as appropriate by an instruction from the passenger operating the operation device 20. The predetermined speed may also be adjusted by the control unit 11 as appropriate to be the minimum speed at which the vehicle 1 can travel safely according to the traveling environment, such as road regulations established for the road on which the vehicle 1 travels and traffic congestion.

[0051] Thereafter, when the sensor device 14 detects an obstacle 2 closer than the fourth distance L4 in the traveling direction D of the vehicle 1, the control unit 11 decelerates the vehicle 1 at the second deceleration rate.

[0052] The fourth distance L4 is a distance smaller than the third distance L3. In other words, the fourth distance L4 is a distance shorter than the third distance L3. The fourth distance L4 may be a predetermined distance that satisfies the above-mentioned conditions. Furthermore, the fourth distance L4 may be changeable as appropriate by an operation instruction from the passenger via the operating device 20, etc., within a range that satisfies the above-mentioned conditions. The fourth distance L4 is, for example, a distance at which operation of the autonomous emergency braking (AEB) of the vehicle 1 is initiated.

[0053] The second deceleration acceleration is greater than the first deceleration acceleration. The deceleration of the vehicle 1 due to the second deceleration acceleration may be referred to as emergency braking or the like.

[0054] FIG. 4 is a diagram 40 showing an example of the relationship between the distance to the obstacle 2 and the speed of the vehicle 1.

[0055] When the control unit 11 executes the deceleration control process, the relationship between the distance from the vehicle 1 to the obstacle 2 in the traveling direction D of the vehicle 1 and the speed of the vehicle 1 becomes, for example, as shown in diagram 40. That is, assume that the speed of the vehicle 1 is speed Q1 when the distance between the vehicle 1 and the obstacle 2 is equal to or greater than the first distance L1. In this case, when the control unit 11 executes the deceleration control process, if the obstacle 2 is detected closer than the first distance L1, the vehicle 1 is decelerated at a first deceleration acceleration. By being decelerated at the first deceleration acceleration, the vehicle 1 decelerates, for example, from speed Q1 to speed Q2, which is the predetermined speed. Then, while the distance between the vehicle 1 and the obstacle 2 is between the second distance L2 and the third distance L3, the vehicle 1 is controlled to travel at the predetermined speed Q2. Then, when the obstacle 2 is detected closer than the fourth distance L4, the vehicle 1 is decelerated at a second deceleration acceleration.

[0056] Returning to Figure 1, we continue the explanation.

[0057] The control unit 11 of this embodiment also executes a display control process for the display device 22 during the deceleration control process.

[0058] In detail, as described above, when the vehicle 1 is traveling due to the occupant's acceleration / deceleration and steering operations, if the sensor device 14 detects an obstacle 2 closer than the first distance L1 in the vehicle 1's direction of travel D, the control unit 11 decelerates the vehicle 1 at a first deceleration acceleration.

[0059] While decelerating the vehicle 1 at this first deceleration acceleration, the control unit 11 causes the display device 22 to display that the vehicle is being intentionally decelerated. That is, during the deceleration control process of decelerating the vehicle 1 at the first deceleration acceleration, the control unit 11 causes the display device 22 to display that the vehicle is being intentionally decelerated.

[0060] Intentional deceleration means that automatic deceleration control is being performed without any deceleration operation by the passenger.

[0061] 5 is a schematic diagram of an example of the first screen 30 A. The first screen 30 A is an example of the screen 30 displayed on the display device 22.

[0062] The first screen 30A is an example of a screen 30 that is displayed on the display device 22 when the sensor device 14 detects an obstacle 2 closer than a first distance L1 in the direction of travel D of the vehicle 1 while the vehicle 1 is traveling due to acceleration / deceleration and steering operations by the occupant.

[0063] The first screen 30A includes at least a first display M1, which is a display indicating that intentional deceleration is occurring. FIG. 5 shows an example in which the first display M1 is a message indicating that intentional deceleration is occurring. FIG. 5 also shows an example in which the message is "Relief braking is occurring." The first display M1 may be a still image, an animated image, an icon, or the like indicating that intentional deceleration is occurring, and is not limited to a message. By displaying a message indicating that relief braking is occurring, the control unit 11 can cause the display device 22 to display that gentle automatic braking is occurring.

[0064] Furthermore, the first screen 30A may further include an image V captured by the camera 16. Fig. 5 shows a configuration in which the first screen 30A includes an image V1 and an image V2.

[0065] Image V1 is a top view image of vehicle 1. A top view is an overhead image of vehicle 1 as if looking down from above. The control unit 11 generates and displays image V1 by combining images Vf, Vb, Vl, and Vr captured by cameras 16 using a known method. Image Vf is an image V of the front S3 of vehicle 1 captured by the first camera 16A. Image Vb is an image V of the rear S4 of vehicle 1 captured by the fourth camera 16D. Image Vl is an image V of the second side S2 of vehicle 1 captured by the third camera 16C. Image Vr is an image V of the first side S1 of vehicle 1 captured by the second camera 16B.

[0066] Furthermore, the control unit 11 may display an image Ia that schematically depicts the vehicle 1 at a position in the image V1 that corresponds to the current position of the vehicle 1. The control unit 11 may also display an image V including the vehicle 1 on the display device 22. The control unit 11 may also display an image V including an obstacle 2. The control unit 11 may also highlight the obstacle 2. The highlight H may be any display that highlights the obstacle 2 included in the image V. FIG. 5 shows an example in which the highlight H is a line image that surrounds the obstacle 2 included in the image V. However, the highlight H may be any display that highlights the obstacle 2 included in the image V, and is not limited to a line image. Furthermore, if another image such as a map image is displayed on the display device 22, the control unit 11 may switch to the other image and display a first screen 30A including the first display M1, the obstacle 2, and the highlight H on the display device 22.

[0067] Thereafter, as described above, the control unit 11 causes the vehicle 1 to travel at a predetermined speed from the second distance L2 to the third distance L3 from the vehicle 1 as the reference to the obstacle 2.

[0068] The control unit 11 performs deceleration control processing to make the vehicle 1 travel at a predetermined speed from the second distance L2 to the third distance L3, and also causes the display device 22 to display that the vehicle is intentionally decelerating. That is, the control unit 11 causes the display device 22 to display that the vehicle is intentionally decelerating during the deceleration control processing to make the vehicle 1 travel at a predetermined speed between the second distance L2 and the third distance L3 when the distance between the vehicle 1 and the obstacle 2 is the second distance L2.

[0069] FIG. 6A is a schematic diagram of an example of the second screen 30B1.

[0070] The second screen 30B1 is an example of the second screen 30B. The second screen 30B is an example of the screen 30 displayed on the display device 22 when the vehicle 1 is traveling at a predetermined speed while the distance between the vehicle 1 and the obstacle 2 is from the second distance L2 to the third distance L3.

[0071] The second screen 30B1 includes at least the first display M1. The first display M1 is a display indicating that the vehicle is intentionally decelerating, and is the same as the first display M1 described in the first screen 30A.

[0072] Furthermore, second screen 30B1 may further include an image V captured by camera 16. Fig. 6A shows a form in which second screen 30B1 includes, as image V, an image V1 and an image V2.

[0073] Furthermore, the control unit 11 may display an image Ia that is a schematic representation of the vehicle 1 at a position in the image V1 that corresponds to the current position of the vehicle 1. Furthermore, the control unit 11 may display the image V including the vehicle 1 on the display device 22. Furthermore, the control unit 11 may display the image V including an obstacle 2. Furthermore, the control unit 11 may highlight the obstacle 2 with a highlight H. The highlight H is the same as described above.

[0074] The control unit 11 causes the display device 22 to display the second screen 30B1 including the first display M1, so that the control unit 11 can cause the display device 22 to gently display that the automatic brake is being applied.

[0075] In addition, the control unit 11 performs deceleration control processing to cause the vehicle 1 to travel at a predetermined speed from the second distance L2 to the third distance L3, and may also display on the display device 22 that the vehicle is being intentionally decelerated and urge the occupant to perform a deceleration operation.

[0076] The deceleration operation is, for example, an operation of a brake pedal included in the operation device 20 by the passenger.

[0077] FIG. 6B is a schematic diagram of an example of the second screen 30B2.

[0078] Second screen 30B2 is an example of second screen 30B. Second screen 30B2 is similar to second screen 30B1 except that second screen 30B2 includes second display M2 instead of first display M1.

[0079] The second display M2 is a display that prompts the occupant to perform a deceleration operation. FIG. 6B shows, as an example, a form in which the second display M2 is a message that prompts the occupant to perform a deceleration operation. FIG. 6B also shows, as an example, a form in which the message is "Please apply the brakes." The second display M2 may be a still image, an animated image, an icon, or the like that prompts the occupant to perform a deceleration operation, and is not limited to a message. By displaying a message that prompts the occupant to perform a deceleration operation, the control unit 11 can prompt the occupant to perform a deceleration operation.

[0080] The control unit 11 may perform deceleration control processing to cause the vehicle 1 to travel at a predetermined speed from the second distance L2 to the third distance L3, and may cause the display device 22 to display a first display M1 indicating that the vehicle is intentionally decelerating, and then cause the display device 22 to display a second display M2 indicating that the vehicle is urging the occupant to perform a deceleration operation. The control unit 11 may perform deceleration control processing to cause the vehicle 1 to travel at a predetermined speed from the second distance L2 to the third distance L3, and may cause the display device 22 to display a second display M2 indicating that the vehicle is urging the occupant to perform a deceleration operation, and then cause the display device 22 to display the first display M1 indicating that the vehicle is intentionally decelerating. The control unit 11 may perform deceleration control processing to cause the vehicle 1 to travel at a predetermined speed from the second distance L2 to the third distance L3, and may cause the display device 22 to simultaneously display both the first display M1 indicating that the vehicle is intentionally decelerating and the second display M2 indicating that the occupant is urging the occupant to perform a deceleration operation.

[0081] Furthermore, the control unit 11 may perform deceleration control processing to make the vehicle 1 travel at a predetermined speed from the second distance L2 to the third distance L3, and may also accept acceleration operations on the operation device 20 by the passenger in a restrained manner.

[0082] Restraining the acceptance of the acceleration operation by the passenger on the display device 22 means that the control unit 11 accepts the acceleration amount corresponding to the accelerator operation amount by the passenger as an acceleration amount that is suppressed compared to normal. In this case, the control unit 11 may perform control not to accept the accelerator operation by the passenger. Therefore, by performing this control, even if the passenger operates the accelerator, the vehicle 1 is controlled so that the acceleration amount is suppressed or no acceleration is performed in response to the accelerator operation amount by the accelerator operation.

[0083] At this time, the control unit 11 may cause the display device 22 to display the fact that acceptance of acceleration operations by the passenger is being restricted.

[0084] FIG. 6C is a schematic diagram of an example of the second screen 30B3.

[0085] The second screen 30B3 is an example of the second screen 30B.

[0086] The second screen 30B3 is similar to the second screen 30B1, except that it includes the third display M3 in addition to the first display M1.

[0087] The third display M3 is a display indicating that acceptance of acceleration operations by the passenger is currently restricted. FIG. 6C shows an example in which the third display M3 is a message indicating that acceptance of acceleration operations by the passenger is currently restricted. FIG. 6C also shows an example in which the message is "Acceleration suppressed." The third display M3 may be a still image, an animated image, an icon, or the like indicating that acceptance of acceleration operations by the passenger is currently restricted, and is not limited to a message. By displaying an indication that acceptance of acceleration operations by the passenger is currently restricted, the control unit 11 can inform the passenger that acceptance of acceleration operations by the passenger is currently restricted.

[0088] The control unit 11 may perform deceleration control processing to cause the vehicle 1 to travel at a predetermined speed from the second distance L2 to the third distance L3, and may also cause the display device 22 to sequentially display a first display M1 indicating that the vehicle is intentionally decelerating, a second display M2 indicating that the occupant is being prompted to perform a deceleration operation, and a third display M3 indicating that acceptance of an acceleration operation by the occupant is being restricted. The display order of the first display M1, the second display M2, and the third display M3 is not limited.

[0089] Thereafter, as described above, when the sensor device 14 detects an obstacle 2 closer than the fourth distance L4 in the traveling direction D of the vehicle 1, the control unit 11 decelerates the vehicle 1 at the second deceleration acceleration.

[0090] Thereafter, if the sensor device 14 does not detect an obstacle 2 closer than the first distance L1 from the vehicle 1 in the direction of travel D of the vehicle 1, the control unit 11 stops displaying on the display device 22 that the vehicle is intentionally decelerating, stops inhibiting the acceptance of acceleration operations by the occupant on the operating device 20, and stops displaying on the display device 22 that acceptance of acceleration operations by the occupant is being restricted.

[0091] 7 is a schematic diagram of an example of the third screen 30C. The third screen 30C is an example of the screen 30 displayed on the display device 22 when no obstacle 2 is detected closer than the first distance L1 from the vehicle 1 in the traveling direction D of the vehicle 1.

[0092] The third screen 30C is similar to the first screen 30A except that it does not include the first display M1, the obstacle 2, or the highlighted display H. That is, when the sensor device 14 does not detect an obstacle 2 closer than the first distance L1 from the vehicle 1 in the traveling direction D of the vehicle 1, the control unit 11 controls the display device 22 to stop displaying the first display M1, the second display M2, and the third display M3. The control unit 11 also controls the display device 22 to stop displaying the highlighted display H. The control unit 11 also stops inhibiting the acceptance of acceleration operations by the passenger. Therefore, the warning displays such as the first display M1, the second display M2, the third display M3, and the highlighted display H that were displayed on the screen 30 are canceled. The inhibiting acceptance of acceleration operations by the passenger is also canceled.

[0093] Next, an example of the flow of information processing executed by the vehicle control device 10 of this embodiment will be described.

[0094] FIG. 8 is a flowchart showing an example of the flow of information processing executed by the control unit 11.

[0095] The control unit 11 determines whether the driving mode of the vehicle 1 is the second driving mode (step S100). The control unit 11 repeats a negative determination (step S100: No) until a positive determination is made in step S100 (step S100: Yes). When the control unit 11 makes a positive determination in step S100 (step S100: Yes), the process proceeds to step S102.

[0096] In step S102, the control unit 11 determines whether or not the sensor device 14 has detected an obstacle 2 closer than the first distance L1 in the traveling direction D of the vehicle 1 while the vehicle 1 is traveling due to the occupant's acceleration / deceleration operation and steering operation (step S102). If the determination in step S102 is negative (step S102: No), the process returns to step S100. If the determination in step S102 is positive (step S102: Yes), the process proceeds to step S104.

[0097] In step S104, the control unit 11 controls the movement control device 12 to decelerate at a first deceleration (step S106). The control unit 11 also causes the display device 22 to display a screen 30 including a display (first display M1) indicating that deceleration is being intentionally performed (step S106). By the processing of step S106, for example, the first screen 30A shown in FIG. 5 is displayed on the display device 22.

[0098] Next, the control unit 11 determines whether the distance between the obstacle 2 detected in step S102 and the vehicle 1 has decreased (step S108). If a negative determination is made in step S108 (step S108: No), the process proceeds to step S110. In step S110, the control unit 11 determines whether the distance between the obstacle 2 detected in step S102 and the vehicle 1 has increased (step S110). If a negative determination is made in step S110 (step S100: No), the process returns to step S104. If a positive determination is made in step S110 (step S110: Yes), the process proceeds to step S112. In step S112, the control unit 11 cancels the deceleration control at the first deceleration acceleration performed in step S104 (step S112), and the process returns to step S100.

[0099] On the other hand, if the determination in step S108 is affirmative (step S108: Yes), the process proceeds to step S114. In step S114, the control unit 11 determines whether the distance between the obstacle 2 detected in step S102 and the vehicle 1 is less than the second distance L2 (step S114). If the determination in step S114 is negative (step S114: No), the process returns to step S104. If the determination in step S114 is affirmative (step S114: Yes), the process proceeds to step S116.

[0100] In step S116, the control unit 11 causes the vehicle 1 to travel at a predetermined speed while the distance between the vehicle 1 and the obstacle 2 is from the second distance L2 to the third distance L3 (step S116). The control unit 11 also restricts the acceptance of an acceleration operation by the passenger on the operation device 20 (step S118). The control unit 11 also causes the display device 22 to simultaneously or sequentially display a first display M1 indicating that the vehicle is being intentionally decelerated, a second display M2 indicating that the passenger is being prompted to perform a deceleration operation, and a third display M3 indicating that acceptance of an acceleration operation by the passenger is being restricted (step S120). By the processing of step S120, second screens 30B1 to 30B3 shown in FIGS. 6A to 5C are displayed on the display device 22.

[0101] Next, the control unit 11 determines whether or not a brake operation by the passenger has been received (step S122). If the determination in step S122 is affirmative (step S122: Yes), the process proceeds to step S124. In step S124, the control unit 11 controls the movement control device 12 to decelerate in response to the passenger's operation of the brake included in the operating device 20 (step S14). Then, the process proceeds to step S130, which will be described later.

[0102] If the determination in step S122 is negative (step S122: No), the process proceeds to step S126. In step S126, the control unit 11 determines whether or not an obstacle 2 has been detected closer than a fourth distance L4 in the traveling direction D of the vehicle 1 (step S126). If the determination in step S126 is positive (step S126: Yes), the process proceeds to step S128. In step S128, the control unit 11 controls the movement control device 12 to decelerate at the second deceleration acceleration (step S128). Then, the process returns to step S126.

[0103] If the determination in step S126 is negative (step S126: No), the process proceeds to step S130. In step S130, the control unit 11 determines whether or not an obstacle 2 has been detected closer than the first distance L1 in the traveling direction D of the vehicle 1 (step S130). If the determination in step S130 is positive (step S130: Yes), the process proceeds to step S104. If the determination in step S130 is negative (step S130: No), the process proceeds to step S132.

[0104] In step S132, the control unit 11 executes a process of canceling the warning display and the operation (step S132). In step S132, the control unit 11 stops displaying on the display device 22 that the vehicle is being intentionally decelerated, stops inhibiting the acceptance of an acceleration operation by the passenger on the operation device 20, and stops displaying on the display device 22 that acceptance of an acceleration operation by the passenger is being restricted. Then, this routine ends.

[0105] As described above, the vehicle control device 10 of this embodiment is mounted on a vehicle 1 that includes an operation device 20 that accepts operations from a passenger, a sensor device 14 that acquires information about an external situation, a display device 22 that is visible to the passenger, and a movement control device 12 that controls at least deceleration. The vehicle control method executed by the vehicle control device 10 decelerates the vehicle 1 at a first deceleration rate when the sensor device 14 detects an obstacle 2 closer than a first distance L1 relative to the vehicle 1 in the traveling direction D of the vehicle 1 while the vehicle 1 is traveling due to acceleration / deceleration operations and steering operations by the passenger. The vehicle control method then causes the vehicle 1 to travel at a predetermined speed from a second distance L2, which is smaller than the first distance L1, to a third distance L3, which is smaller than the second distance L2, relative to the vehicle 1, and also causes the display device 22 to display an indication that the vehicle is intentionally decelerating. Then, in the vehicle control method, when the sensor device 14 detects an obstacle 2 in the traveling direction D of the vehicle 1 closer than a fourth distance L4, which is smaller than the third distance L3, from the vehicle 1 as a reference, the vehicle 1 is decelerated at a second deceleration acceleration greater than the first deceleration acceleration.

[0106] As described above, the vehicle control method of this embodiment decelerates the vehicle 1 at a first deceleration acceleration when an obstacle 2 is detected closer than the first distance L1 in the traveling direction D of the vehicle 1. Then, the vehicle control method causes the vehicle 1 to travel at a predetermined speed while the distance between the vehicle 1 and the obstacle 2 is between the second distance L2 and the third distance L3, and displays on the display device 22 that the vehicle is intentionally decelerating. Thereafter, when the distance between the vehicle 1 and the obstacle 2 is closer than the fourth distance L4, the vehicle control method decelerates the vehicle 1 at a second deceleration acceleration greater than the first deceleration acceleration.

[0107] Therefore, the vehicle control method of this embodiment can cause the display device 22 to display the fact that deceleration is being performed intentionally when automatic deceleration is performed at the first deceleration rate to avoid a collision.

[0108] Therefore, the vehicle control method of this embodiment can support more suitable driving.

[0109] Next, the hardware configuration of the vehicle control device 10 of this embodiment will be described.

[0110] FIG. 9 is a block diagram showing an example of the hardware configuration of the vehicle control device 10. As shown in FIG.

[0111] The vehicle control device 10 has a hardware configuration that utilizes a normal computer, with a CPU (Central Processing Unit) 11A, a ROM (Read Only Memory) 11B, a RAM (Random Access Memory) 11C, an I / F 11D for connecting to various devices, and the like interconnected by a bus 11E.

[0112] The CPU 11A is a calculation device that controls the overall processing of the vehicle control device 10. The RAM 11C stores data necessary for various processes by the CPU 11A. The ROM 11B stores programs and the like that realize various processes by the CPU 11A. The I / F 11D is an interface that is connected to an external device or external terminal via a communication line or the like and transmits and receives data to and from the connected external device or external terminal.

[0113] The programs for executing the various processes described above executed by the vehicle control device 10 are provided by being pre-installed in the ROM 11B, etc. The programs for executing the vehicle control method executed in this embodiment may be configured to be provided by being recorded on a computer-readable recording medium such as a CD-ROM, a flexible disk (FD), a CD-R, or a digital versatile disc (DVD) in a format that can be installed or executed by these devices.

[0114] The program for executing the vehicle control method according to the present embodiment may be stored on a computer connected to a network such as the Internet and provided by being downloaded via the network. The program for executing the vehicle control method according to the present embodiment may be provided or distributed via a network such as the Internet.

[0115] Although an embodiment of the present disclosure has been described, this embodiment is presented as an example and is not intended to limit the scope of the invention. This embodiment can be implemented in various other forms, and various omissions, substitutions, and modifications can be made without departing from the spirit of the invention. This embodiment is included in the scope and spirit of the invention, as well as in the invention described in the claims and their equivalents. [Explanation of symbols]

[0116] 1 vehicle 10 Vehicle control device 11 Control section 12 Movement control device 14 Sensor device 16 Camera 20 Operating device 22 Display device

Claims

1. A vehicle control method executed by a vehicle control device mounted on a vehicle including an operation device that receives operations from a passenger, a sensor device that acquires an external situation, a display device that is visible to the passenger, and a movement control device that controls at least deceleration, When the vehicle is traveling due to an acceleration / deceleration operation and a steering operation by the passenger, if the sensor device detects an obstacle closer than a first distance from the vehicle in the traveling direction of the vehicle, the vehicle is decelerated at a first deceleration acceleration; Then, the vehicle is caused to travel at a predetermined speed from a second distance, which is smaller than the first distance, to a third distance, which is smaller than the second distance, with respect to the distance to the obstacle, with the vehicle being used as a reference, and a message is displayed on the display device indicating that the vehicle is being intentionally decelerated. Thereafter, when the sensor device detects the obstacle closer than a fourth distance, which is smaller than the third distance, from the vehicle in the traveling direction of the vehicle, the vehicle is decelerated at a second deceleration acceleration greater than the first deceleration acceleration. Vehicle control method.

2. When the vehicle is traveling due to an acceleration / deceleration operation and a steering operation by the passenger, if the sensor device detects an obstacle closer than the first distance with respect to the vehicle in the traveling direction of the vehicle, the vehicle is decelerated at the first deceleration acceleration, and a message is displayed on the display device indicating that the vehicle is being intentionally decelerated, Then, the vehicle is caused to travel at the predetermined speed from the second distance to the third distance with respect to the distance to the obstacle based on the vehicle, and a message is displayed on the display device indicating that the vehicle is being intentionally decelerated. thereafter, when the sensor device detects the obstacle closer than the fourth distance from the vehicle in the traveling direction of the vehicle, the vehicle is decelerated at the second deceleration acceleration. The vehicle control method according to claim 1 .

3. The movement control device of the vehicle further controls acceleration / deceleration and steering, The vehicle has a first driving mode in which the vehicle autonomously drives by autonomously controlling at least acceleration / deceleration and steering, and a second driving mode in which the vehicle autonomously controls deceleration but does not autonomously control at least steering and acceleration, In the second traveling mode, when the vehicle is traveling due to an acceleration / deceleration operation and a steering operation by the passenger, if the sensor device detects an obstacle closer than the first distance from the vehicle in the traveling direction of the vehicle, the vehicle is decelerated at the first deceleration acceleration; Then, the vehicle is caused to travel at the predetermined speed from the second distance to the third distance with respect to the distance to the obstacle based on the vehicle, and a message is displayed on the display device indicating that the vehicle is being intentionally decelerated. thereafter, when the sensor device detects the obstacle closer than the fourth distance from the vehicle in the traveling direction of the vehicle, the vehicle is decelerated at the second deceleration acceleration. The vehicle control method according to claim 1 .

4. The sensor device includes: a camera that captures an image of at least a portion of the surroundings of the vehicle; the display device displays the image including the obstacle. The vehicle control method according to claim 1 .

5. The obstacle in the image displayed by the display device is highlighted. The vehicle control method according to claim 4.

6. When the vehicle is traveling due to an acceleration / deceleration operation and a steering operation by the passenger, if the sensor device detects an obstacle closer than the first distance from the vehicle in the traveling direction of the vehicle, the vehicle is decelerated at the first deceleration acceleration; Then, the vehicle is caused to travel at the predetermined speed from the second distance to the third distance with respect to the distance to the obstacle based on the vehicle, and a display is made on the display device indicating that the vehicle is being intentionally decelerated, and the image including the obstacle is displayed on the display device; thereafter, when the sensor device detects the obstacle closer than the fourth distance from the vehicle in the traveling direction of the vehicle, the vehicle is decelerated at the second deceleration acceleration. The vehicle control method according to claim 4.

7. When the vehicle is traveling due to an acceleration / deceleration operation and a steering operation by the passenger, if the sensor device detects an obstacle closer than the first distance from the vehicle in the traveling direction of the vehicle, the vehicle is decelerated at the first deceleration acceleration; Then, the vehicle is caused to travel at the predetermined speed from the second distance to the third distance with respect to the distance to the obstacle based on the vehicle, and a message is displayed on the display device indicating that the vehicle is being intentionally decelerated, and a message is displayed on the display device urging the occupant to perform a deceleration operation. thereafter, when the sensor device detects the obstacle closer than the fourth distance from the vehicle in the traveling direction of the vehicle, the vehicle is decelerated at the second deceleration acceleration. The vehicle control method according to claim 1 .

8. When the vehicle is traveling due to an acceleration / deceleration operation and a steering operation by the passenger, if the sensor device detects an obstacle closer than the first distance from the vehicle in the traveling direction of the vehicle, the vehicle is decelerated at the first deceleration acceleration; Then, the vehicle is caused to travel at the predetermined speed from the second distance to the third distance with respect to the distance to the obstacle based on the vehicle, and an indication is displayed on the display device that the vehicle is being intentionally decelerated, and an acceleration operation by the passenger on the operating device is suppressed and accepted. thereafter, when the sensor device detects the obstacle closer than the fourth distance from the vehicle in the traveling direction of the vehicle, the vehicle is decelerated at the second deceleration acceleration. The vehicle control method according to claim 1 .

9. When the vehicle is traveling due to an acceleration / deceleration operation and a steering operation by the passenger, if the sensor device detects an obstacle closer than the first distance from the vehicle in the traveling direction of the vehicle, the vehicle is decelerated at the first deceleration acceleration; Then, the vehicle is caused to travel at the predetermined speed from the second distance to the third distance with respect to the distance to the obstacle based on the vehicle, and a message is displayed on the display device indicating that the vehicle is being intentionally decelerated, and an acceleration operation by the passenger on the operation device is suppressed and a message is displayed on the display device indicating that acceptance of the acceleration operation by the passenger is being restricted, thereafter, when the sensor device detects the obstacle closer than the fourth distance from the vehicle in the traveling direction of the vehicle, the vehicle is decelerated at the second deceleration acceleration. The vehicle control method according to claim 8.

10. When the vehicle is traveling due to an acceleration / deceleration operation and a steering operation by the passenger, if the sensor device detects an obstacle closer than the first distance from the vehicle in the traveling direction of the vehicle, the vehicle is decelerated at the first deceleration acceleration; Then, the vehicle is caused to travel at the predetermined speed from the second distance to the third distance with respect to the distance to the obstacle based on the vehicle, and a message is displayed on the display device indicating that the vehicle is being intentionally decelerated, and an acceleration operation by the passenger on the operation device is suppressed and a message is displayed on the display device indicating that acceptance of the acceleration operation by the passenger is being restricted, Thereafter, when the sensor device does not detect the obstacle closer than the first distance from the vehicle in the traveling direction of the vehicle, the display device stops displaying that the vehicle is intentionally decelerating, stops inhibiting acceptance of an acceleration operation by the passenger on the operating device, and stops displaying on the display device that acceptance of an acceleration operation by the passenger is being restricted. The vehicle control method according to claim 9.

11. A vehicle control device mounted on a vehicle including an operation device that receives operations from a passenger, a sensor device that acquires an external situation, a display device that is visible to the passenger, and a movement control device that controls at least deceleration, When the vehicle is traveling due to an acceleration / deceleration operation and a steering operation by the passenger, if the sensor device detects an obstacle closer than a first distance from the vehicle in the traveling direction of the vehicle, the vehicle is decelerated at a first deceleration acceleration; Then, the vehicle is caused to travel at a predetermined speed from a second distance, which is smaller than the first distance, to a third distance, which is smaller than the second distance, with respect to the distance to the obstacle, with the vehicle being used as a reference, and a message is displayed on the display device indicating that the vehicle is being intentionally decelerated. Thereafter, when the sensor device detects the obstacle closer than a fourth distance, which is smaller than the third distance, from the vehicle in the traveling direction of the vehicle, the vehicle is decelerated at a second deceleration acceleration greater than the first deceleration acceleration. Vehicle control device.

12. When the vehicle is traveling due to an acceleration / deceleration operation and a steering operation by the passenger, if the sensor device detects an obstacle closer than the first distance with respect to the vehicle in the traveling direction of the vehicle, the vehicle is decelerated at the first deceleration acceleration, and a message is displayed on the display device indicating that the vehicle is being intentionally decelerated, Then, the vehicle is caused to travel at the predetermined speed from the second distance to the third distance with respect to the distance to the obstacle based on the vehicle, and a message is displayed on the display device indicating that the vehicle is being intentionally decelerated. thereafter, when the sensor device detects the obstacle closer than the fourth distance from the vehicle in the traveling direction of the vehicle, the vehicle is decelerated at the second deceleration acceleration. The vehicle control device according to claim 11.

13. The movement control device of the vehicle further controls acceleration / deceleration and steering, The vehicle has a first driving mode in which the vehicle autonomously drives by autonomously controlling at least acceleration / deceleration and steering, and a second driving mode in which the vehicle autonomously controls deceleration but does not autonomously control at least steering and acceleration, In the second traveling mode, when the vehicle is traveling due to an acceleration / deceleration operation and a steering operation by the passenger, if the sensor device detects an obstacle closer than the first distance from the vehicle in the traveling direction of the vehicle, the vehicle is decelerated at the first deceleration acceleration; Then, the vehicle is caused to travel at the predetermined speed from the second distance to the third distance with respect to the distance to the obstacle based on the vehicle, and a message is displayed on the display device indicating that the vehicle is being intentionally decelerated. thereafter, when the sensor device detects the obstacle closer than the fourth distance from the vehicle in the traveling direction of the vehicle, the vehicle is decelerated at the second deceleration acceleration. The vehicle control device according to claim 11.

14. The sensor device includes: a camera that captures an image of at least a portion of the surroundings of the vehicle; the display device displays the image including the obstacle. The vehicle control device according to claim 11.

15. The obstacle in the image displayed by the display device is highlighted. The vehicle control device according to claim 14.

16. When the vehicle is traveling due to an acceleration / deceleration operation and a steering operation by the passenger, if the sensor device detects an obstacle closer than the first distance from the vehicle in the traveling direction of the vehicle, the vehicle is decelerated at the first deceleration acceleration; Then, the vehicle is caused to travel at the predetermined speed from the second distance to the third distance with respect to the distance to the obstacle based on the vehicle, and a display is made on the display device indicating that the vehicle is being intentionally decelerated, and the image including the obstacle is displayed on the display device; thereafter, when the sensor device detects the obstacle closer than the fourth distance from the vehicle in the traveling direction of the vehicle, the vehicle is decelerated at the second deceleration acceleration. The vehicle control device according to claim 14.

17. When the vehicle is traveling due to an acceleration / deceleration operation and a steering operation by the passenger, if the sensor device detects an obstacle closer than the first distance from the vehicle in the traveling direction of the vehicle, the vehicle is decelerated at the first deceleration acceleration; Then, the vehicle is caused to travel at the predetermined speed from the second distance to the third distance with respect to the distance to the obstacle based on the vehicle, and a message is displayed on the display device indicating that the vehicle is being intentionally decelerated, and a message is displayed on the display device urging the occupant to perform a deceleration operation. thereafter, when the sensor device detects the obstacle closer than the fourth distance from the vehicle in the traveling direction of the vehicle, the vehicle is decelerated at the second deceleration acceleration. The vehicle control device according to claim 11.

18. When the vehicle is traveling due to an acceleration / deceleration operation and a steering operation by the passenger, if the sensor device detects an obstacle closer than the first distance from the vehicle in the traveling direction of the vehicle, the vehicle is decelerated at the first deceleration acceleration; Then, the vehicle is caused to travel at the predetermined speed from the second distance to the third distance with respect to the distance to the obstacle based on the vehicle, and an indication is displayed on the display device that the vehicle is being intentionally decelerated, and an acceleration operation by the passenger on the operating device is suppressed and accepted. thereafter, when the sensor device detects the obstacle closer than the fourth distance from the vehicle in the traveling direction of the vehicle, the vehicle is decelerated at the second deceleration acceleration. The vehicle control device according to claim 11.

19. When the vehicle is traveling due to an acceleration / deceleration operation and a steering operation by the passenger, if the sensor device detects an obstacle closer than the first distance from the vehicle in the traveling direction of the vehicle, the vehicle is decelerated at the first deceleration acceleration; Then, the vehicle is caused to travel at the predetermined speed from the second distance to the third distance with respect to the distance to the obstacle based on the vehicle, and a message is displayed on the display device indicating that the vehicle is being intentionally decelerated, and an acceleration operation by the passenger on the operation device is suppressed and a message is displayed on the display device indicating that acceptance of the acceleration operation by the passenger is being restricted, thereafter, when the sensor device detects the obstacle closer than the fourth distance from the vehicle in the traveling direction of the vehicle, the vehicle is decelerated at the second deceleration acceleration. The vehicle control device according to claim 18.

20. When the vehicle is traveling due to an acceleration / deceleration operation and a steering operation by the passenger, if the sensor device detects an obstacle closer than the first distance from the vehicle in the traveling direction of the vehicle, the vehicle is decelerated at the first deceleration acceleration; Then, the vehicle is caused to travel at the predetermined speed from the second distance to the third distance with respect to the distance to the obstacle based on the vehicle, and a message is displayed on the display device indicating that the vehicle is being intentionally decelerated, and an acceleration operation by the passenger on the operation device is suppressed and a message is displayed on the display device indicating that acceptance of the acceleration operation by the passenger is being restricted, Thereafter, when the sensor device does not detect the obstacle closer than the first distance from the vehicle in the traveling direction of the vehicle, the display device stops displaying that the vehicle is intentionally decelerating, stops inhibiting acceptance of an acceleration operation by the passenger on the operating device, and stops displaying on the display device that acceptance of an acceleration operation by the passenger is being restricted. The vehicle control device according to claim 19.

Images