Control device and control method

Abstract

To provide a control device and a control method capable of improving safety when starting a vehicle.SOLUTION: The control device 20 is a control device 20 that controls the operation of the vehicle 10, and includes a control unit that controls the acceleration of the vehicle 10, the control unit executes acceleration suppression control for suppressing acceleration at the time of starting the vehicle 10 when an execution condition is satisfied, and the execution condition does not include a condition that an object around the vehicle 10 has been detected.SELECTED DRAWING: Figure 1

Description

[Technical Field]

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

[0002] Technologies have been proposed that automatically control the operation of a vehicle to prevent the vehicle from colliding with surrounding objects. For example, Patent Document 1 discloses a technology that uses radar to detect a preceding vehicle while the vehicle is traveling, and automatically brakes the vehicle depending on the possibility of the vehicle colliding with the preceding vehicle. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Laid-Open No. 2007-230469 Summary of the Invention [Problem to be solved by the invention]

[0004] It is therefore desirable to prevent the vehicle from colliding with surrounding objects and improve safety even when the vehicle starts moving.

[0005] In view of the above, an object of the present invention is to provide a control device and a control method that can improve safety when a vehicle starts moving. [Means for solving the problem]

[0006] In order to solve the above problem, the control device is a control device that controls the operation of the vehicle and is equipped with a control unit that controls the acceleration of the vehicle, and the control unit executes acceleration suppression control that suppresses acceleration when the vehicle starts when an execution condition is met, and the execution condition does not include a condition that an object is detected around the vehicle.

[0007] In order to solve the above problem, the control method is a control method for controlling the operation of a vehicle, in which a control unit of a control device controls the acceleration of the vehicle, and the control unit executes acceleration suppression control that suppresses acceleration when the vehicle starts moving when an execution condition is met, and the execution condition does not include a condition that an object is detected around the vehicle. [Effects of the Invention]

[0008] According to the present invention, it is possible to improve safety when a vehicle starts moving. [Brief explanation of the drawings]

[0009] [Figure 1] 1 is a schematic diagram showing a general configuration of a vehicle according to an embodiment of the present invention; [Figure 2] FIG. 2 is a block diagram showing an example of a functional configuration of a control device according to an embodiment of the present invention. [Figure 3] 4 is a flowchart illustrating an example of a flow of processing performed by a control device according to an embodiment of the present invention. DETAILED DESCRIPTION OF THE INVENTION

[0010] Preferred embodiments of the present invention will be described in detail below with reference to the accompanying drawings. Dimensions, materials, and other specific values ​​shown in the embodiments are merely examples for facilitating understanding of the invention and, unless otherwise specified, do not limit the present invention. In this specification and drawings, elements having substantially the same functions and configurations are designated by the same reference numerals to avoid redundant explanation, and elements not directly related to the present invention are not shown.

[0011] <Vehicle configuration> The configuration of a vehicle 10 according to an embodiment of the present invention will be described.

[0012] 1 is a schematic diagram showing a general configuration of a vehicle 10. As shown in FIG. 1, the vehicle 10 includes a steering mechanism 11, a drive source 12, a brake device 13, and a control device 20.

[0013] The steering mechanism 11 is a mechanism that changes the steering angle of the vehicle 10. The steering angle of the vehicle 10 means the turning angle of the tires of the vehicle 10. The steering mechanism 11 includes a steering wheel 11a. The driver of the vehicle 10 can change the steering angle by performing a steering operation using the steering wheel 11a.

[0014] The drive source 12 outputs a drive force that is transmitted to the drive wheels of the vehicle 10. Examples of the drive source 12 include an engine and an electric motor.

[0015] The brake device 13 applies braking force to the wheels of the vehicle 10. For example, the brake device 13 includes a hydraulic pressure control unit, and the hydraulic pressure control unit adjusts the hydraulic pressure of the brake fluid in the wheel cylinder, thereby adjusting the braking force applied to the wheels.

[0016] The control device 20 controls the operation of the vehicle 10. The control device 20 includes a CPU (Central Processing Unit) which is an arithmetic processing device, a ROM (Read Only Memory) which is a storage element that stores programs used by the CPU, calculation parameters, etc., and a RAM (Random Access Memory) which is a storage element that temporarily stores parameters that change as appropriate during execution of the CPU. The control device 20 may be, for example, a single device or may be divided into multiple devices. Note that when the control device 20 is divided into multiple devices, some of the various functions described below may be shared by different devices.

[0017] 2 is a block diagram showing an example of a functional configuration of the control device 20. As shown in FIG. 2, the control device 20 includes, for example, an acquisition unit 21 and a control unit 22.

[0018] The acquisition unit 21 acquires information from each device in the vehicle 10. For example, as shown in FIG. 2, the vehicle 10 is provided with a shift position sensor 14, a door sensor 15, a GPS receiver 16, and an input device 17. The acquisition unit 21 acquires information from, for example, the shift position sensor 14, the door sensor 15, the GPS receiver 16, and the input device 17. In this specification, acquisition of information may include extraction or generation (e.g., calculation) of information.

[0019] The shift position sensor 14 detects the shift position of the vehicle 10. The driver of the vehicle 10 can switch the shift position by, for example, operating the shift lever of the vehicle 10. The shift position of the vehicle 10 can be selected from, for example, D range, R range, N range, and P range. In the D range, power in a direction to move the vehicle 10 forward is transmitted to the drive wheels in response to accelerator operation by the driver. In the R range, power in a direction to move the vehicle 10 backward is transmitted to the drive wheels in response to accelerator operation by the driver. In the N range and P range, power is not transmitted to the drive wheels. In the N range, the drive wheels are not locked, and in the P range, the drive wheels are locked. Note that the names of the shift positions may be different from those described above.

[0020] The door sensor 15 detects the open / closed state of the doors of the vehicle 10. Specifically, the door sensor 15 is provided for each door and detects whether each door is open or closed.

[0021] The GPS receiver 16 receives information transmitted from GPS (Global Positioning System) satellites. The information received by the GPS receiver 16 is used to obtain position information of the vehicle 10. The GPS receiver 16 is mounted on, for example, a navigation device.

[0022] The input device 17 is a device that accepts operations by the driver of the vehicle 10. The input device 17 is provided, for example, near the driver's seat. However, the location of the input device 17 is not particularly limited. The input device 17 includes, for example, push buttons used for driver operations. Information regarding the driver's operations using the input device 17 is output to the control device 20. As will be described later, the input device 17 can be used in settings for prohibiting some of the controls executed by the control device 20.

[0023] The control unit 22 controls the operation of each device in the vehicle 10. For example, the control unit 22 controls the operation of the steering mechanism 11, the drive source 12, and the brake device 13.

[0024] The control unit 22 can perform various types of control to automatically control the traveling of the vehicle 10 by, for example, controlling the steering mechanism 11, the drive source 12, and the brake device 13, thereby taking over some or all of the driving operations performed by the driver. For example, as such controls, the control unit 22 can perform automatic parking control and automatic leaving control. The automatic parking control is control to automatically park the vehicle 10. The automatic leaving control is control to automatically leave the vehicle 10. For example, in the automatic parking control and the automatic leaving control, the control unit 22 can automatically control the speed of the vehicle 10 by controlling the drive source 12 and the brake device 13. Furthermore, for example, in the automatic parking control and the automatic leaving control, the control unit 22 can automatically control the steering angle of the vehicle 10 by controlling the steering mechanism 11.

[0025] <Control device operation> The operation of the control device 20 according to the embodiment of the present invention will be described.

[0026] One technique for improving the safety of the vehicle 10 is to detect a preceding vehicle while the vehicle 10 is traveling using an ambient environment sensor (for example, radar) capable of detecting ambient environment information of the vehicle 10, and to automatically brake the vehicle 10 depending on the possibility of collision of the vehicle 10 with the preceding vehicle. It is also desirable to improve safety by preventing collision of the vehicle 10 with surrounding objects when the vehicle 10 starts moving.

[0027] Here, there is a technology that uses a surrounding environment sensor to improve safety when the vehicle 10 starts. For example, there is a technology that uses a surrounding environment sensor (for example, an ultrasonic sensor or a short-range camera, etc.) to suppress acceleration when the vehicle 10 starts moving if an obstacle is detected on the travel path of the stopped vehicle 10 when it starts moving. Also, there is a technology that uses a surrounding environment sensor (for example, an ultrasonic sensor, etc.) to detect an obstacle when the vehicle 10 is traveling at a low speed immediately after starting moving, and automatically brakes the vehicle 10 depending on the possibility of collision of the vehicle 10 with the obstacle.

[0028] However, the above-described technology using the ambient environment sensor is not sufficient to improve safety when starting the vehicle 10. Specifically, there are situations in which it is difficult for the ambient environment sensor to detect an obstacle, and in such situations, it is difficult to improve safety when starting the vehicle 10. For example, depending on the surface shape or material of the object to be detected, it may be difficult for the ambient environment sensor to detect the object. Furthermore, for example, if the height of the object to be detected is excessively low, the object may not be included in the detection range of the ambient environment sensor, making it difficult for the ambient environment sensor to detect the object. Furthermore, for example, if the height of the object to be detected is excessively low, even if the object is detected by the ambient environment sensor, it may be difficult to distinguish the object from the ground, and the object may be determined to be part of the ground.

[0029] Therefore, a new proposal is required to improve safety when starting the vehicle 10. Therefore, in this embodiment, as will be described later, the execution conditions of acceleration suppression control that suppresses acceleration when starting the vehicle 10 are devised, thereby improving safety when starting the vehicle 10. Below, a detailed description will be given of an example of processing related to acceleration suppression control performed by the control device 20.

[0030] Fig. 3 is a flowchart showing an example of the flow of processing performed by the control device 20. Step S101 in Fig. 3 corresponds to the start of the processing flow shown in Fig. 3. Step S107 in Fig. 3 corresponds to the end of the processing flow shown in Fig. 3. The processing flow shown in Fig. 3 starts, for example, while the vehicle 10 is stopped. Furthermore, while the vehicle 10 is stopped, the processing flow shown in Fig. 3 ends and then starts repeatedly.

[0031] When the processing flow shown in FIG. 3 starts, in step S102, the control unit 22 determines whether or not the prohibition condition for the acceleration suppression control is satisfied.

[0032] As will be described later, in the processing flow shown in Fig. 3, the control unit 22 basically executes the acceleration suppression control when an execution condition for the acceleration suppression control is satisfied. The execution condition is a condition for executing the acceleration suppression control. The acceleration suppression control can suppress acceleration when the vehicle 10 starts moving, thereby suppressing collision of the vehicle 10 with surrounding objects when starting moving, thereby improving safety.

[0033] Here, when a prohibition condition for the acceleration suppression control is satisfied, the control unit 22 prohibits the acceleration suppression control regardless of whether the execution condition is satisfied. In other words, when a prohibition condition for the acceleration suppression control is satisfied, the control unit 22 does not execute the acceleration suppression control. The prohibition condition is a condition for prohibiting the acceleration suppression control. As described above, it is basically preferable to execute the acceleration suppression control when the vehicle 10 starts to suppress acceleration at the time of starting the vehicle 10. However, there may be situations in which it is preferable not to execute the acceleration suppression control when the vehicle 10 starts. The prohibition condition can also be said to be a condition for determining whether or not such a situation exists.

[0034] For example, the prohibition condition in step S102 is a condition that the current stopping position of the vehicle 10 is a stopping position where it is preferable not to execute the acceleration suppression control. The control unit 22 determines whether the current stopping position of the vehicle 10 is a stopping position where it is preferable not to execute the acceleration suppression control, for example, based on information about the stopping position of the vehicle 10. Then, when the control unit 22 determines that the current stopping position of the vehicle 10 is a stopping position where it is preferable not to execute the acceleration suppression control, it determines that the prohibition condition is satisfied.

[0035] The information regarding the stopping position of vehicle 10 may be information that directly indicates the stopping position of vehicle 10, or may be information that can be substantially converted into the stopping position of vehicle 10. The control unit 22 can acquire the information indicating the stopping position of vehicle 10 based on information received by the GPS receiver 16, for example.

[0036] Examples of stopping locations where it is preferable not to execute acceleration suppression control include near traffic lights, roads where congestion occurs, and expressways. Near traffic lights, the vehicle 10 may be temporarily stopped when the traffic light turns red. On roads where congestion occurs, the vehicle 10 may be temporarily stopped when congestion occurs. On expressways, the vehicle 10 may be temporarily stopped when an emergency such as a breakdown of the vehicle 10 occurs. In these situations, it is preferable not to execute acceleration suppression control and to quickly accelerate the vehicle 10 when the vehicle 10 starts moving.

[0037] The control unit 22 may acquire information about the stopping position of the vehicle 10 by a method other than using the GPS receiver 16. For example, if the vehicle 10 is provided with an ambient environment sensor (e.g., a camera, etc.), the control unit 22 may acquire information about the stopping position of the vehicle 10 based on ambient environment information obtained by the ambient environment sensor. For example, the control unit 22 may perform image processing on image data of the surroundings of the vehicle 10 captured by a camera serving as the ambient environment sensor, thereby acquiring information indicating that the vehicle 10 is stopped near a traffic light, that the vehicle 10 is stopped on a congested road, or that the vehicle 10 is stopped on an expressway, as information about the stopping position of the vehicle 10. Furthermore, for example, the control unit 22 may determine whether the vehicle 10 is located on an expressway based on information regarding toll payment via an Electronic Toll Collection System (ETC), and acquire information indicating that the vehicle 10 is stopped on an expressway, as information about the stopping position of the vehicle 10.

[0038] Furthermore, for example, the prohibition condition in step S102 is a condition that the acceleration suppression control is prohibited by a setting made by the driver of the vehicle 10. The control unit 22 determines whether or not the acceleration suppression control is prohibited by a setting made by the driver, for example, based on information regarding the setting made by the driver of the vehicle 10. Then, when the control unit 22 determines that the acceleration suppression control is prohibited by a setting made by the driver, it determines that the prohibition condition is satisfied.

[0039] The information regarding the setting by the driver of the vehicle 10 may be information that directly indicates the content of the setting by the driver, or may be information that can be substantially converted into the content of the setting by the driver. Here, in the vehicle 10, the driver can manually set the acceleration suppression control to be prohibited by performing a specific operation. The specific operation is, for example, an operation using the input device 17 (for example, an operation of pressing a button on the input device 17, etc.). Then, the control unit 22 can acquire information indicating the content of the setting by the driver, based on, for example, information regarding the operation of the driver using the input device 17.

[0040] As described above, examples of stopping positions where it is preferable not to execute the acceleration suppression control include the vicinity of a traffic light, a road where congestion occurs, a highway, and the like. When the vehicle 10 is stopped in such a position, the driver manually sets the acceleration suppression control to be prohibited by operating the input device 17. This allows the acceleration suppression control to be prohibited. The driver may manually set the acceleration suppression control to be prohibited at stopping positions other than the stopping positions listed above. For example, if an object (e.g., a bump or a rail) protruding upward from the ground is present near the stopping position, the starting vehicle 10 needs to climb over the object. Therefore, in this case, it is preferable to quickly accelerate the vehicle 10 when the vehicle 10 starts without executing the acceleration suppression control. Therefore, in such a case, the driver may manually set the acceleration suppression control to be prohibited.

[0041] For example, if at least one of the multiple types of prohibition conditions listed above is satisfied, the control unit 22 determines YES in step S102. However, any part of the multiple types of prohibition conditions listed above may not be adopted.

[0042] If it is determined that the prohibition condition for the acceleration suppression control is satisfied (step S102 / YES), the processing flow shown in Fig. 3 ends. On the other hand, if it is determined that the prohibition condition for the acceleration suppression control is not satisfied (step S102 / NO), the processing proceeds to step S103.

[0043] If the determination in step S102 is NO, the control unit 22 determines whether or not the execution condition for the acceleration suppression control is satisfied in step S103. As described above, the execution condition is a condition for executing the acceleration suppression control.

[0044] Specifically, the execution conditions for step S103 include a condition that it is estimated that the vehicle 10 will leave the parking lot in the future. The execution conditions for step S103 do not include a condition that an object has been detected around the vehicle 10. In other words, the control unit 22 executes acceleration suppression control when it is estimated that the vehicle 10 will leave the parking lot in the future without detecting any surrounding object using the surrounding environment sensor.

[0045] For example, the execution condition for step S103 is that the driving source 12 of the vehicle 10 has started from a stopped state. The control unit 22 determines whether the driving source 12 has started from a stopped state, for example, based on information regarding the operating state of the driving source 12 of the vehicle 10. If the control unit 22 determines that the driving source 12 has started from a stopped state, it presumes that the vehicle 10 will leave the garage in the future, and determines that the execution condition is satisfied.

[0046] The information regarding the operating state of the driving source 12 may be information that directly indicates whether the driving source 12 is stopped or operating, or may be information that can be substantially converted into whether the driving source 12 is stopped or operating. As described above, the control unit 22 can control the driving source 12. Therefore, the control unit 22 can obtain information regarding the operating state of the driving source 12 based on, for example, a control command output to the driving source 12.

[0047] Further, for example, the execution condition of step S103 is that the shift position of the vehicle 10 has been switched from a state in which it has been maintained in the P range for a reference time or more to the D range or the R range. The reference time is set, for example, to a length of time (e.g., about 10 minutes) that allows for appropriate determination that the vehicle 10 has been stopped for a long period of time rather than just temporarily. The control unit 22 determines, for example, based on information regarding the shift position of the vehicle 10, whether the shift position of the vehicle 10 has been switched from a state in which it has been maintained in the P range for a reference time or more to the D range or the R range. Then, when the control unit 22 determines that the shift position of the vehicle 10 has been switched from a state in which it has been maintained in the P range for a reference time or more to the D range or the R range, it presumes that the vehicle 10 will leave the garage in the future, and determines that the execution condition is satisfied.

[0048] The information regarding the shift position of the vehicle 10 may be information that directly indicates the shift position of the vehicle 10, or may be information that can be substantially converted into the shift position of the vehicle 10. The control unit 22 can acquire the information indicating the shift position of the vehicle 10 based on the detection result of the shift position sensor 14, for example.

[0049] Furthermore, for example, the execution condition of step S103 is that a door of the vehicle 10 is opened and then closed. The control unit 22 determines whether a door of the vehicle 10 is opened and then closed, for example, based on information regarding the opening and closing of the door of the vehicle 10. Then, when the control unit 22 determines that a door of the vehicle 10 is opened and then closed, it presumes that the vehicle 10 will leave the garage in the future, and determines that the execution condition is satisfied.

[0050] The information regarding the opening and closing of the doors of the vehicle 10 may be information that directly indicates the opening and closing state of the doors of the vehicle 10 (i.e., whether the doors are open or closed), or may be information that can be substantially converted into the opening and closing state of the doors of the vehicle 10. The control unit 22 can acquire information indicating the opening and closing state of the doors of the vehicle 10 based on the detection result of the door sensor 15, for example.

[0051] Furthermore, for example, the execution condition of step S103 is a condition that the process started from a state in which the automatic leaving control was not being executed. As described above, the control unit 22 can execute the automatic leaving control that causes the vehicle 10 to automatically leave the warehouse. The control unit 22 determines whether the process started from a state in which the automatic leaving control was not being executed, for example, based on information regarding the operating state of the automatic leaving control. If the control unit 22 determines that the process started from a state in which the automatic leaving control was not being executed, it presumes that the vehicle 10 will be left in the future, and determines that the execution condition is satisfied.

[0052] The information regarding the operation state of the automatic leaving control may be information that directly indicates whether the automatic leaving control is being executed, or may be information that can be substantially converted into whether the automatic leaving control is being executed. As described above, the control unit 22 controls the steering mechanism 11, the drive source 12, and the brake device 13 during the automatic leaving control. Therefore, the control unit 22 can obtain information regarding the operation state of the automatic leaving control based on, for example, control commands output to the steering mechanism 11, the drive source 12, and the brake device 13. Note that the control unit 22 may control only any part of the steering mechanism 11, the drive source 12, and the brake device 13 during the automatic leaving control.

[0053] For example, if at least one of the multiple execution conditions listed above is satisfied, the control unit 22 determines YES in step S103. However, any part of the multiple execution conditions listed above may not be adopted. Note that the control unit 22 does not necessarily have to be able to execute the automatic parking control and the automatic leaving control, and the condition that the automatic leaving control has started from a state in which it is not being executed may not be adopted as an execution condition.

[0054] If it is determined that the execution condition for the acceleration suppression control is not satisfied (step S103 / NO), the processing flow shown in Fig. 3 ends. On the other hand, if it is determined that the execution condition for the acceleration suppression control is satisfied (step S103 / YES), the processing flow proceeds to step S104.

[0055] If the determination in step S103 is YES, the control unit 22 starts acceleration suppression control in step S104.

[0056] As described above, acceleration suppression control is control that suppresses acceleration when the vehicle 10 starts moving. In the acceleration suppression control, the control unit 22 suppresses the acceleration when the vehicle 10 starts moving, for example, by suppressing the torque of the vehicle 10. For example, if the drive source 12 is an engine, the control unit 22 can suppress the torque of the vehicle 10 in the acceleration suppression control by limiting the engine speed compared to when the acceleration suppression control is not being executed. Specifically, an upper limit value for the engine speed is set in the vehicle 10, and the control unit 22 limits the engine speed to less than or equal to the upper limit value. In the acceleration suppression control, the control unit 22 can limit the engine speed by reducing the upper limit value for the engine speed compared to when the acceleration suppression control is not being executed.

[0057] The acceleration suppression control is not limited to the above-described example processing, as long as it is control that suppresses acceleration when the vehicle 10 starts moving. For example, an upper limit value for the acceleration of the vehicle 10 is set in the vehicle 10, and the control unit 22 may reduce the upper limit value of the acceleration during the acceleration suppression control compared to when the acceleration suppression control is not executed.

[0058] After step S104, in step S105, the control unit 22 determines whether or not an end condition for the acceleration suppression control is satisfied. The end condition is a condition for ending the acceleration suppression control.

[0059] For example, the termination condition in step S105 is that the vehicle 10 has traveled a reference distance or more. The reference distance is set, for example, to a distance long enough to determine that the vehicle 10 has completed leaving the garage. For example, the control unit 22 can acquire information about the travel distance of the vehicle 10 based on the detection results of a wheel speed sensor (not shown) of the vehicle 10. Then, the control unit 22 determines whether the vehicle 10 has traveled the reference distance or more based on the information about the travel distance of the vehicle 10. Then, when the control unit 22 determines that the vehicle 10 has traveled the reference distance or more, it determines that the termination condition is satisfied.

[0060] The termination condition of step S105 is not limited to the above example. For example, the termination condition of step S105 may be a condition that a reference time has elapsed since the vehicle 10 started moving. The reference time is set, for example, to a time long enough to determine that the vehicle 10 has completed leaving the parking lot. The control unit 22 may then determine that the termination condition is satisfied when it determines that the reference time has elapsed since the vehicle 10 started moving. Furthermore, for example, the termination condition of step S105 may be a condition that the speed of the vehicle 10 has reached a reference speed. The reference speed is set, for example, to a speed long enough to determine that the vehicle 10 has completed leaving the parking lot. The control unit 22 may then determine that the termination condition is satisfied when it determines that the speed of the vehicle 10 has reached the reference speed.

[0061] If it is determined that the termination condition of the acceleration suppression control is not satisfied (step S105 / NO), step S105 is repeated. On the other hand, if it is determined that the termination condition of the acceleration suppression control is satisfied (step S105 / YES), the process proceeds to step S106.

[0062] If the determination in step S105 is YES, in step S106, the control unit 22 ends the acceleration suppression control, and the processing flow shown in FIG. 3 ends.

[0063] As described above, the control unit 22 of the control device 20 according to this embodiment executes acceleration suppression control to suppress acceleration of the vehicle 10 when the execution condition is satisfied. The execution condition does not include a condition that an object around the vehicle 10 is detected. This allows the acceleration suppression control to be executed without detecting surrounding objects using a surrounding environment sensor. Therefore, even in a situation where it is difficult to detect an obstacle using a surrounding environment sensor, the acceleration suppression control can suppress acceleration of the vehicle 10 when it starts, thereby preventing the vehicle 10 from colliding with surrounding objects when it starts, thereby improving safety.

[0064] An example of the processing performed by the control device 20 has been described above with reference to Fig. 3. However, the processing performed by the control device 20 is not limited to the above example of processing, and may be, for example, a processing obtained by appropriately modifying the above example of processing.

[0065] For example, in the above, in step S102, it is determined whether or not the prohibition condition for the acceleration suppression control is satisfied, and if the prohibition condition for the acceleration suppression control is satisfied, the acceleration suppression control is prohibited regardless of whether or not the execution condition is satisfied. However, the control unit 22 may execute the acceleration suppression control without taking into account the prohibition condition for the acceleration suppression control. For example, step S102 may be omitted from the processing flow of FIG. 3.

[0066] Also, for example, in the above example, the execution condition for the acceleration suppression control includes a condition that the vehicle 10 is estimated to leave the parking lot in the future. However, the execution condition is not limited to the above example as long as it does not include a condition that an object has been detected around the vehicle 10. For example, the execution condition may include only that the vehicle 10 has started moving, and the control unit 22 may always execute the acceleration suppression control when the vehicle 10 has started moving.

[0067] <Effects of the control device> The effects of the control device 20 according to the embodiment of the present invention will be described.

[0068] The control device 20 includes a control unit 22 that controls the acceleration of the vehicle 10. The control unit 22 executes acceleration suppression control to suppress acceleration of the vehicle 10 when an execution condition is satisfied. The execution condition does not include a condition that an object around the vehicle 10 is detected. This allows the acceleration suppression control to be executed without detecting surrounding objects using a surrounding environment sensor. Therefore, even in a situation where it is difficult to detect an obstacle using a surrounding environment sensor, the acceleration suppression control can suppress acceleration of the vehicle 10 when it starts, thereby preventing the vehicle 10 from colliding with surrounding objects when it starts, thereby improving safety.

[0069] Preferably, in the control device 20, the execution condition includes a condition that it is estimated that the vehicle 10 will leave the parking lot in the future. This improves the reliability of executing the acceleration suppression control only in a situation where it is estimated that the vehicle 10 will leave the parking lot in the future. Therefore, it is possible to prevent the acceleration suppression control from being unnecessarily executed in a situation where the vehicle 10 starts moving after being temporarily stopped, for example.

[0070] Preferably, in the control device 20, the control unit 22 estimates whether the vehicle 10 will leave the parking lot in the future based on information related to the operating state of the drive source 12. This makes it possible to more effectively improve the reliability of executing the acceleration suppression control only in situations where it is estimated that the vehicle 10 will leave the parking lot in the future, by focusing on the operating state of the drive source 12. Therefore, it is possible to more effectively prevent the acceleration suppression control from being unnecessarily executed in situations where the vehicle 10 starts moving after being temporarily stopped, for example.

[0071] Preferably, in the control device 20, the control unit 22 estimates whether or not the vehicle 10 will leave the parking lot in the future based on information related to the shift position of the vehicle 10. This makes it possible to more effectively improve the reliability of executing the acceleration suppression control only in situations where it is estimated that the vehicle 10 will leave the parking lot in the future, by focusing on the shift position of the vehicle 10. Therefore, it is possible to more effectively prevent the acceleration suppression control from being unnecessarily executed in situations where the vehicle 10 starts moving after being temporarily stopped, for example.

[0072] Preferably, in the control device 20, the control unit 22 estimates whether the vehicle 10 will leave the parking lot in the future based on information related to the opening and closing of the doors of the vehicle 10. This makes it possible to more effectively improve the reliability of executing the acceleration suppression control only in situations where it is estimated that the vehicle 10 will leave the parking lot in the future, by focusing on the opening and closing states of the doors of the vehicle 10. Therefore, it is possible to more effectively prevent the acceleration suppression control from being unnecessarily executed in situations where the vehicle 10 starts from a temporary stop, for example.

[0073] Preferably, in the control device 20, the control unit 22 executes automatic leaving control to automatically leave the vehicle 10, and estimates whether leaving will occur in the future based on information related to the operating state of the automatic leaving control. This makes it possible to more effectively improve the reliability of executing acceleration suppression control only in situations where it is estimated that the vehicle 10 will leave in the future, by focusing on the operating state of the automatic leaving control. Therefore, it is possible to more effectively prevent unnecessary execution of acceleration suppression control, for example, in a situation where the vehicle 10 starts from a temporary stop.

[0074] Preferably, in the control device 20, the control unit 22 prohibits the acceleration suppression control based on information related to the stopping position of the vehicle 10. This makes it possible to prevent the acceleration suppression control from being unnecessarily executed in a situation where the current stopping position of the vehicle 10 is a stopping position where it is preferable not to execute the acceleration suppression control.

[0075] Preferably, in the control device 20, the control unit 22 prohibits the acceleration suppression control based on information related to settings made by the driver of the vehicle 10. This makes it possible to prevent the acceleration suppression control from being unnecessarily executed in a situation where the driver has determined that it is preferable not to execute the acceleration suppression control.

[0076] The above describes a preferred embodiment of the present invention with reference to the accompanying drawings. However, it goes without saying that the present invention is not limited to the above-described embodiment, and various modified or altered examples within the scope of the claims also fall within the technical scope of the present invention.

[0077] For example, the processes described herein using flowcharts do not necessarily have to be performed in the order shown in the flowcharts, some process steps may be performed in parallel, additional process steps may be employed, and some process steps may be omitted.

[0078] Furthermore, for example, the series of processes performed by the control device 20 described above may be realized using software, hardware, or a combination of software and hardware. The programs constituting the software are stored in advance in, for example, a storage medium provided inside or outside the information processing device. [Explanation of symbols]

[0079] 10 vehicles 11 Steering mechanism 11a Steering wheel 12 Power source 13 Brake equipment 14 Shift position sensor 15 Door Sensor 16 GPS receivers 17 Input Devices 20 Control device 21 Acquisition Department 22 Control Unit

Claims

1. A control device (20) for controlling the operation of a vehicle (10), a control unit (22) for controlling the acceleration of the vehicle (10); The control unit (22) executes acceleration suppression control to suppress acceleration when the vehicle (10) starts moving when an execution condition is satisfied, The execution condition does not include a condition that an object is detected around the vehicle (10). Control device.

2. The execution condition includes a condition that the vehicle (10) is estimated to be released in the future. The control device according to claim 1 .

3. The control unit (22) estimates whether the vehicle (10) will leave the garage in the future based on information relating to the operating state of the drive source (12) of the vehicle (10). The control device according to claim 2 .

4. The control unit (22) estimates whether the vehicle (10) will be taken out of the garage in the future based on information relating to the shift position of the vehicle (10). The control device according to claim 2 .

5. The control unit (22) estimates whether the vehicle (10) will leave the garage in the future based on information relating to the opening and closing of the doors of the vehicle (10). The control device according to claim 2 .

6. The control unit (22) Execute automatic leaving control to automatically leave the vehicle (10); and estimating whether the vehicle will be taken out in the future based on information relating to the operating state of the automatic taking-out control. The control device according to claim 2 .

7. The control unit (22) prohibits the acceleration suppression control based on information related to a stopping position of the vehicle (10). The control device according to any one of claims 1 to 6.

8. The control unit (22) prohibits the acceleration suppression control based on information regarding settings made by a driver of the vehicle (10). The control device according to any one of claims 1 to 6.

9. A control method for controlling an operation of a vehicle (10), comprising: a control unit (22) of the control device (20) controls the acceleration of the vehicle (10); The control unit (22) executes acceleration suppression control to suppress acceleration when the vehicle (10) starts moving when an execution condition is satisfied, The execution condition does not include a condition that an object is detected around the vehicle (10). Control method.

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