Control device, control method, and control program

Abstract

To provide a control device that can improve user convenience. [Solution] The control device 30 comprises a driving control unit 33 and a setting unit 32. Based on the driving history information stored in the storage unit 35, which stores driving history information including driving path information indicating the driving path during the first driving to the current position of the vehicle 1, the driving control unit 33 performs a second driving to move the vehicle 1 from its current position to a point on the driving path that is the completion point of the movement. Before the second driving, the setting unit 32 sets an arbitrary point on the driving path specified by the user as the completion point of the movement. The driving control unit 33 performs the second driving to the completion point of the movement set by the setting unit 32 and terminates the second driving when the vehicle 1 reaches the said completion point of movement.

Description

Technical Field

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

Background Art

[0002] In recent years, in order to comprehensively make cities and human settlements safe, resilient, and sustainable, improvement of traffic safety has been demanded. From the perspective of improving traffic safety, for example, the development of vehicle driving support technologies and autonomous driving technologies has been promoted.

[0003] As an example of a driving support technology, Patent Document 1 below discloses a technology in which a peripheral image generated based on an imaging result of an imaging unit provided in a vehicle is displayed on a touch panel, and a first symbol representing a parking area where the vehicle can park is displayed on the peripheral image. When a position corresponding to the first symbol is touched, parking in the parking area represented by the first symbol is assisted.

Prior Art Documents

Patent Documents

[0004]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0005] However, in the prior art, there was room for improvement from the perspective of improving user convenience.

[0006] The present invention provides a control device, a control method, and a control program capable of improving user convenience.

Means for Solving the Problems

[0007] One aspect of the present invention is a control device that controls a vehicle, A driving control unit that, based on the driving history information stored in a storage unit that stores driving history information including driving path information showing the driving path during the first drive to the current position of the vehicle, performs a second drive to move the vehicle from the current position to a point on the driving path where the movement is completed. A setting unit that sets any point on the travel route specified by the user as the travel completion point before the second travel, Equipped with, The driving control unit performs the second drive to the completion point set by the setting unit, and terminates the second drive when the vehicle reaches the completion point. It is a control device.

[0008] Another aspect of the present invention is, The computer that controls the vehicle, Based on the driving history information stored in a storage unit that stores driving history information including driving path information showing the driving path during the first drive to the current position of the vehicle, a second drive is performed to move the vehicle from the current position to the point where the movement is completed along the driving path. Before the second journey, any point on the journey route specified by the user is set as the completion point of the journey. Perform the process, In the process of performing the second drive, the vehicle performs the second drive to the set completion point, and terminates the second drive when the vehicle reaches the completion point. This is a control method.

[0009] Another aspect of the present invention is, The computer that controls the vehicle, Based on the driving history information stored in a storage unit that stores driving history information including driving path information showing the driving path during the first drive to the current position of the vehicle, a second drive is performed to move the vehicle from the current position to the point where the movement is completed along the driving path. Before the second journey, any point on the journey route specified by the user is set as the completion point of the journey. Perform the processing, In the process of performing the second drive, the vehicle performs the second drive to the set completion point, and terminates the second drive when the vehicle reaches the completion point. This is a control program. [Effects of the Invention]

[0010] According to the present invention, it is possible to provide a control device, a control method, and a control program that can improve user convenience. [Brief explanation of the drawing]

[0011] [Figure 1] Figure 1 is a block diagram showing a schematic configuration of a vehicle 1 equipped with a control device 30, which is one embodiment of the control device of the present invention. [Figure 2] Figure 2 shows an example of the driving history information 200 stored in the memory unit 35. [Figure 3] Figure 3 is a diagram (part 1) showing an example of an overhead image BI displayed by the control device 30. [Figure 4] Figure 4 is a diagram (part 2) showing an example of an overhead view image BI displayed by the control device 30. [Figure 5] Figure 5 shows an example of reverse assist driving by the control device 30. [Figure 6] Figure 6 is a flowchart showing an example of a process performed by the control device 30. [Figure 7] Figure 7 shows an example of changing the display range of the overhead image BI using the modified control device 30. [Modes for carrying out the invention]

[0012] Hereinafter, an embodiment of the control device, control method, and control program of the present invention will be described in detail with reference to the drawings. The drawings are to be viewed in the direction of the reference numerals. Note that the following embodiments do not limit the present invention, and not all of the elements described in the following embodiments are essential for the present invention. Hereinafter, the same or similar elements may be denoted by the same or similar reference numerals, and the description thereof may be omitted or simplified.

[0013] [1. Vehicle] The vehicle 1 of the present embodiment shown in FIG. 1 is an automobile including a drive source (not shown) and wheels (not shown) including drive wheels driven by the power of the drive source and steerable steerable wheels. As an example, the vehicle 1 can be a four-wheel automobile having a pair of left and right front wheels and rear wheels respectively.

[0014] The drive source of the vehicle 1 may be an electric motor, an internal combustion engine such as a gasoline engine or a diesel engine, or a combination of an electric motor and an internal combustion engine. Further, the drive source of the vehicle 1 may drive a pair of left and right front wheels, a pair of left and right rear wheels, or each of the four wheels of a pair of left and right front wheels and rear wheels. Either one of the front wheels and rear wheels of the vehicle 1 may be a steerable steerable wheel, or both may be steerable steerable wheels.

[0015] The vehicle 1 includes a sensor group 10, a navigation device 20, a control device 30, an EPS system 40 (EPS: Electric Power Steering), a driving force control system 50, a braking force control system 60, a communication unit 70, and a notification device 90.

[0016] The sensor group 10 includes an external sensor 11 that acquires external information for recognizing the periphery (or surroundings) of the vehicle 1 and a vehicle sensor 12 that acquires information about the vehicle 1 (hereinafter also referred to as "vehicle information"). The information acquired by each sensor included in the sensor group 10 is output to the control device 30 and used for the control of the vehicle 1 (hereinafter also referred to as "vehicle control") by the control device 30.

[0017] The external sensor 11 is composed of, for example, a camera 111, a sonar 112, and a radar 113. The camera 111 captures images of the area around the vehicle 1, including the area in front of the vehicle 1, and outputs the image data of the obtained surrounding images to the control device 30. Such image data is an example of external information. As the camera 111, for example, a digital camera using an image sensor such as a CCD (Charge Coupled Device) or CMOS (Complementary Metal Oxide Semiconductor) can be used.

[0018] More specifically, the camera 111 includes, for example, a front camera 111a, a rear camera 111b, and a side camera 111c. The front camera 111a is, for example, mounted on the top of the front windshield or the front grille (not shown) of the vehicle 1 and captures the scenery in front of the vehicle 1. The rear camera 111b is, for example, mounted near the license plate (in other words, the vehicle registration number plate) attached to the rear of the vehicle 1 and captures the scenery behind the vehicle 1. The side cameras 111c are, for example, mounted on the left and right side mirrors (not shown) and capture the scenery to the sides of the vehicle 1 (i.e., the left and right sides).

[0019] The sonar 112 emits sound waves around the vehicle 1 (for example, in front of, behind, and to the sides of the vehicle 1) and receives reflected sound from objects present around the vehicle 1 to detect the distance and direction from the vehicle 1 to the object, and outputs the detection results to the control device 30. The detection results from the sonar 112 are another example of external information.

[0020] The radar 113 emits radio waves around the vehicle 1, including in front of the vehicle 1, and detects the distance and direction to objects by receiving reflected waves from objects present around the vehicle 1. For example, a millimeter-wave radar can be used as the radar 113. The detection results by the radar 113 are another example of external information.

[0021] Furthermore, the external sensor 11 may be configured to include LiDAR (Light Detection And Ranging) in place of or in addition to sonar 112 and radar 113. In this case, the LiDAR emits laser light around the vehicle 1, including in front of the vehicle 1, and detects the distance and direction from the vehicle 1 to the object by receiving reflected light from the object present around the vehicle 1.

[0022] The vehicle sensor 12 includes, for example, a wheel sensor 121, a vehicle speed sensor 122, an inertial measurement unit (IMU) 123, an occupant camera 124, an operation detection unit 125, a steering touch sensor 126, and a shift position sensor 127.

[0023] The wheel sensor 121 detects the rotation angle of one or more of the wheels of the vehicle 1. For example, the wheel sensor 121 detects the rotation angles of the left rear wheel and the right rear wheel. The wheel sensor 121 can be, for example, an angle sensor or a displacement sensor.

[0024] The vehicle speed sensor 122 detects the vehicle speed VP, which is the travel speed of the vehicle 1 (in other words, the speed at which the vehicle body moves). For example, the vehicle speed sensor 122 detects the vehicle speed VP based on the rotational speed of a countershaft (not shown) provided by the vehicle 1.

[0025] The inertial measurement device 123 detects the angular velocities in the pitch, roll, and yaw directions of the vehicle 1, as well as the accelerations in the longitudinal, lateral, and vertical directions of the vehicle 1. The vehicle sensor 12 may also include, instead of the inertial measurement device 123, an acceleration sensor that detects acceleration in a predetermined direction of the vehicle 1, or a gyro sensor that detects angular velocity in a predetermined direction of the vehicle 1.

[0026] The occupant camera 124 is a digital camera that captures images of the interior of vehicle 1 and outputs the image data of the interior images obtained to the control device 30. For example, the occupant camera 124 can be a so-called "driver monitor camera" that is positioned to capture images of the head of an occupant (for example, the user driving vehicle 1; hereinafter simply referred to as "user") seated in the driver's seat of vehicle 1 from the front. Similar to camera 111, the occupant camera 124 can be a digital camera that uses an image sensor such as a CCD or CMOS.

[0027] The operation detection unit 125 detects operations performed using an operation input unit 129 that is accessible to the user. The operation input unit 129 may include, for example, a switch or button that accepts a reverse assist operation request, which will be described later.

[0028] The steering touch sensor 126 detects whether the steering wheel 46 of the vehicle 1 is being properly gripped. For example, the steering touch sensor 126 can be implemented using a capacitive sensor. In this case, the capacitive sensor is provided in the part that the user touches when the steering wheel 46 is being properly gripped.

[0029] The shift position sensor 127 detects, for example, whether the shift position of the shift lever (not shown) of the vehicle 1 is "P (parking)", "R (reverse)", "N (neutral)", or "D (drive)". In addition, if the vehicle 1 can take on a shift position other than "P", "R", "N", or "D" (for example, "B (brake)"), the shift position sensor 127 may also detect whether the vehicle is in that other shift position.

[0030] The navigation device 20 is comprised of, for example, a GNSS (Global Navigation Satellite System) receiver 21, a touch panel 22, and a speaker 23. The navigation device 20 also has a storage unit (not shown) made of flash memory or the like. The storage unit of the navigation device 20 stores a map information database (DB) 24, etc.

[0031] The map information database 24 is composed of road network information. Road network information is information that represents each road by a combination of nodes and links (also called "paths") that connect the nodes. Each node in the road network information represents a characteristic point on the road, such as an intersection, a bend, or a dead end. In the road network information, each node is set with information such as the location corresponding to that node (for example, coordinates that can identify a specific point on the map, such as latitude and longitude). In addition, in the road network information, each link is set with information such as the nodes at both ends of the link, the road corresponding to the link, the link length, the number of lanes, the direction of travel, and the road type.

[0032] The GNSS receiver 21 determines the current position of vehicle 1 (for example, the latitude and longitude of the location where vehicle 1 is located) based on signals received from GNSS satellites. Alternatively, the navigation device 20 may acquire detection results from vehicle sensors 12 (for example, wheel sensors 121 or vehicle speed sensors 122) via the control device 30 and determine or supplement the current position of vehicle 1 using an INS (Inertial Navigation System) that utilizes the detection values ​​from vehicle sensors 12.

[0033] The touch panel 22 is configured by combining a display device such as a liquid crystal display or an OLED (Organic Light Emitting Diode) with a pointing device (such as a touchpad). The speaker 23 is configured to output sound to the occupants of the vehicle 1, including the user. The touch panel 22 is an example of a notification unit capable of providing notifications to the user. The speaker 23 is another example of a notification unit capable of providing notifications to the user.

[0034] For example, the navigation device 20 searches for a route from the current location of the vehicle 1 to a destination set by the user using the touch panel 22, by referring to the map information database 24. Then, based on the searched route, the navigation device 20 provides route guidance using the touch panel 22 and speaker 23.

[0035] Furthermore, the navigation device 20 may cause the touch panel 22 to display a predetermined information in accordance with instructions from the control device 30. In addition, the navigation device 20 may output predetermined information (for example, information indicating an operation received via the touch panel 22) to the control device 30. For example, the navigation device 20 may cause the touch panel 22 to display a button that accepts a reverse assist operation request, as described later, in accordance with instructions from the control device 30.

[0036] The control device 30 is an example of the control device of the present invention and is a computer that provides overall control for the entire vehicle 1. For example, the control device 30 includes, for example, a processor (not shown) that performs various calculations, a storage unit 35 having a non-transient storage medium for storing various information (e.g., programs and various data), and an input / output unit (not shown) that serves as an interface for controlling the input and output of data between the inside and outside of the control device 30.

[0037] The control device 30 includes, for example, a display control unit 31, a setting unit 32, and a driving control unit 33, which are functional units realized by the processor executing a program stored in the memory unit 35. These functional units will be described later, so their description here is omitted. The control device 30 can be realized, for example, by a single ECU (Electronic Control Unit) or by the cooperation of multiple ECUs.

[0038] The EPS system 40 is comprised of, for example, a steering angle sensor 41, a torque sensor 42, an EPS motor 43, a resolver 44, and an EPS ECU 45.

[0039] The steering angle sensor 41 detects the steering angle θst of the steering 46 and outputs information indicating the detected steering angle θst to the EPS ECU 45. The torque sensor 42 detects the steering torque TQ, which is the torque applied to the steering 46 of the vehicle 1, and outputs information indicating the detected steering torque TQ to the EPS ECU 45.

[0040] The EPS motor 43 assists the user's operation of the steering 46 by applying a driving force or reaction force to the steering column 47, which is connected to the steering 46, according to instructions from the EPS ECU 45. The resolver 44 detects the rotation angle θm of the EPS motor 43 and outputs information indicating the detected rotation angle θm to the EPS ECU 45.

[0041] The EPS ECU 45 is a computer that controls the EPS system 40 (e.g., EPS motor 43), and is implemented by one or more ECUs. For example, it includes a processor that performs various calculations, a storage unit having a non-transient storage medium for storing various information, and an input / output unit that controls the input and output of data between the inside and outside of the EPS ECU 45 (none of which are shown in the figure). For example, the EPS ECU 45 controls the EPS system 40 (e.g., EPS motor 43) based on the steering angle θst detected by the steering angle sensor 41, the steering torque TQ detected by the torque sensor 42, and the rotation angle θm detected by the resolver 44. The EPS ECU 45 can also control the EPS system 40 according to instructions from the control device 30.

[0042] Furthermore, the EPS system 40 (e.g., EPS ECU 45) may output to the control device 30 information indicating the steering angle θst detected by the steering angle sensor 41, the steering torque TQ detected by the torque sensor 42, and the rotation angle θm detected by the resolver 44. In addition, the EPS system 40 (e.g., EPS ECU 45) may output to the control device 30 information indicating the steering speed ω of the steering 46. In this case, the steering speed ω can be obtained, for example, by differentiating the steering angle θst with respect to time.

[0043] The drive force control system 50 includes a drive ECU 51 and is configured to control the drive force of the vehicle 1. The drive ECU 51 is a computer that controls the drive force control system 50 and is implemented by one or more ECUs, and includes, for example, a processor that performs various calculations, a storage unit having a non-transient storage medium for storing various information, and an input / output unit that controls the input and output of data between the inside and outside of the drive ECU 51 (none of which are shown). For example, the drive ECU 51 controls the power output from the drive source of the vehicle 1 based on the operation of the accelerator pedal 52 provided on the vehicle 1. The drive ECU 51 can also control the drive force control system 50 (for example, the drive source) according to instructions from the control device 30.

[0044] The braking force control system 60 includes a braking ECU 61 and is configured to control the braking force of the vehicle 1. The braking ECU 61 is a computer that controls the braking force control system 60 and is implemented by one or more ECUs, and includes, for example, a processor that performs various calculations, a storage unit having a non-transient storage medium for storing various information, and an input / output unit that controls the input and output of data between the inside and outside of the braking ECU 61 (none of which are shown). For example, the braking ECU 61 controls the braking force of the vehicle 1 by controlling the brake device (not shown) provided in the vehicle 1 based on the operation of the brake pedal 62 provided in the vehicle 1. Here, the brake device includes, for example, a brake caliper, a cylinder that transmits hydraulic pressure to the brake caliper, and an electric motor that generates hydraulic pressure in the cylinder. The braking ECU 61 controls the electric motor of the brake device so that a braking force is generated in accordance with the operation of the brake pedal 62. The braking ECU 61 can also control the braking force control system 60 (e.g., the brake device) according to instructions from the control device 30.

[0045] The communication unit 70 is a communication interface that communicates with the external device 2 according to the control of the control device 30. That is, the control device 30 can communicate with the external device 2 via the communication unit 70. Examples of the external device 2 include a user's terminal device (e.g., a smartphone) or a server device managed by the manufacturer of the vehicle 1. For communication between the vehicle 1 and the external device 2, for example, a mobile communication network such as a cellular line, Wi-Fi (registered trademark), or Bluetooth (registered trademark) can be used.

[0046] The notification device 90 is a device that provides notifications (e.g., alarms) to the user in accordance with the control of the control device 30. The notification device 90 is composed of, for example, a MID (Multi-Information Display) 91 and a buzzer 92.

[0047] The MID91 is comprised of a display device such as a liquid crystal display or an OLED, and is installed in a location visible to the user (for example, within the instrument panel of the vehicle 1). For example, the MID91 displays a predetermined image according to instructions from the control device 30. The MID91 is another example of a notification unit capable of providing notifications to the user. The MID91 may also be shared with the aforementioned touch panel 22.

[0048] The buzzer 92 is configured to output predetermined sounds. For example, the buzzer 92 outputs predetermined alarm sounds or sound effects according to instructions from the control device 30. The buzzer 92 is another example of a notification unit capable of providing notifications to the user. The buzzer 92 may also be shared with the speaker 23 mentioned above.

[0049] [2. Control device] Next, the control device 30 will be described in detail. First, with reference to Figure 2, an example of the information stored in the memory unit 35 will be explained.

[0050] (2-1. Driving history information stored in the memory unit) The memory unit 35 stores, for example, the driving history information 200 shown in Figure 2. As shown in Figure 2, the driving history information 200 includes, for example, information indicating the position of vehicle 1, steering angle θst, and shift position (e.g., "P", "R", "N", or "D") for each time period. The information indicating the steering angle θst in the driving history information 200 is an example of "control information" in the present invention. The information indicating the shift position in the driving history information 200 is another example of "control information" in the present invention.

[0051] For example, when the vehicle 1 is being driven manually, the control device 30 acquires information indicating the latitude and longitude of the location of the vehicle 1 as identified by the navigation device 20 (e.g., GNSS receiver 21), the steering angle θst detected by the EPS system 40 (e.g., steering angle sensor 41), and the shift position detected by the shift position sensor 127 at predetermined intervals (e.g., every 10 ms). The control device 30 then stores this acquired information in the storage unit 35, associating it with information indicating the time of acquisition. As a result, driving history information 200 is stored, which includes information indicating the position of the vehicle 1 at the same time during manual driving, information indicating the steering angle θst, and information indicating the shift position.

[0052] Furthermore, the driving history information 200 may include other information. For example, as shown in Figure 2, the driving history information 200 may further include external information for each time period. As an example, the driving history information 200 may include information showing forward images for each time period as external information. In this case, when the vehicle 1 is being driven manually, the control device 30 acquires information at predetermined intervals indicating the latitude and longitude of the location of the vehicle 1 identified by the navigation device 20, the steering angle θst detected by the EPS system 40, the shift position detected by the shift position sensor 127, and the forward image captured by the forward camera 111a. The acquired information is then stored in the storage unit 35 in association with information indicating the time of acquisition. In this way, the driving history information 200, which includes information indicating the position of the vehicle 1 at the same time during manual driving, information indicating the steering angle θst, information indicating the shift position, and external information, can be stored in the storage unit 35.

[0053] Furthermore, the driving history information 200, which includes information indicating the position of vehicle 1 at each time point, can also be said to represent information showing the temporal change in the position of vehicle 1. The temporal change in the position of vehicle 1 represents the driving route that vehicle 1 has traveled. Therefore, the driving history information 200 includes driving route information showing the driving route that vehicle 1 has traveled. As mentioned above, if the driving history information 200 is stored based on the fact that vehicle 1 is being driven manually, the driving history information 200 includes driving route information showing the driving route that vehicle 1 has traveled manually (hereinafter also referred to as "driving route Rt").

[0054] Furthermore, in the driving history information 200, the information indicating the steering angle θst associated with the information indicating the position of each vehicle 1 represents the steering angle θst when vehicle 1 was in that position, i.e., the operating state of the steering 46. Therefore, the driving history information 200 can represent the operating state of the steering 46 when vehicle 1 traveled along the driving path Rt.

[0055] Furthermore, in the driving history information 200, the information indicating the shift position, which is associated with the information indicating the position of each vehicle 1, represents the shift position when vehicle 1 was in that position, i.e., the operating state of the shift lever. Therefore, the driving history information 200 can represent the operating state of the shift lever when vehicle 1 traveled along the driving route Rt.

[0056] In this embodiment, the control device 30 stores in the storage unit 35 travel history information 200 indicating the travel path Rt for the most recent predetermined distance (e.g., 200 m) of the vehicle 1 to its current position. In other words, the control device 30 deletes from the storage unit 35 any information that has been moved outside the predetermined distance as the vehicle 1 has traveled. This makes it possible to reduce the storage area of ​​the storage unit 35 required to store the travel history information 200.

[0057] Furthermore, in this embodiment, the control device 30 is provided with a storage unit 35 for storing driving history information 200, but it is not limited to this. That is, the storage unit 35 may be provided outside the control device 30 in a manner that allows the control device 30 to access it.

[0058] (2-2. Control by a control device) The control device 30 is configured to perform reverse assist through the functions of the driving control unit 33, which will be described later. Here, reverse assist is a vehicle control that moves the vehicle 1 from its current position to the point EP on the driving path Rt indicated by the driving path information included in the driving history information 200, following the driving path Rt (for example, reversing). Reverse assist can be used, for example, in situations where the vehicle 1 is forced to reverse, such as when it enters a dead end or is unable to pass an oncoming vehicle.

[0059] Hereinafter, the movement of Vehicle 1 by the user's manual driving will also be referred to as "manual driving," and the movement of Vehicle 1 with reverse assist will also be referred to as "reverse assist driving." Manual driving is an example of the first type of driving in the present invention, and reverse assist driving is an example of the second type of driving in the present invention.

[0060] During manual driving, the user steers the vehicle 1 using the steering wheel 46. On the other hand, during reverse assist driving, the control device 30 automatically controls the steering of the vehicle 1. Therefore, by using reverse assist, the user can return the vehicle 1 to its previous destination, the completion point EP, without having to operate the steering wheel 46 themselves. This reduces the effort required from the user to return the vehicle 1 to the completion point EP, thereby improving user convenience.

[0061] The control device 30 performs reverse assist in response to, for example, receiving a predetermined reverse assist operation request (hereinafter also referred to as "RA operation request"). An RA operation request can be, for example, an operation on a predetermined operator included in the operation input unit 129, or an operation of tapping a predetermined button displayed on the touch panel 22. The control device 30 may also stop reverse assist driving if a predetermined stop operation occurs during reverse assist driving. A stop operation can also be, similar to an RA operation request, for example, an operation on a predetermined operator included in the operation input unit 129, or an operation of tapping a predetermined button displayed on the touch panel 22.

[0062] As shown in Figure 3, the display control unit 31 of the control device 30 displays an overhead view image BI, which depicts the driving route Rt from an overhead perspective, on the touch panel 22 before reverse assist driving. For example, when the control device 30 receives an RA operation request, the display control unit 31 refers to the driving history information 200 stored in the memory unit 35 and displays the overhead view image BI on the touch panel 22. In addition, when displaying the overhead view image BI, the display control unit 31 may also use information from the map information database 24 stored in the navigation device 20.

[0063] As shown in Figure 3, the overhead view image BI includes, for example, a vehicle icon IV representing the current location CP of vehicle 1, and a travel path image IR representing the travel path Rt that vehicle 1 traveled to reach its current location CP.

[0064] Furthermore, the display control unit 31 may display a predetermined icon at a position corresponding to or near a predetermined point on the travel route Rt in the overhead image BI. In other words, the display control unit 31 may display a predetermined icon corresponding to a predetermined point on the travel route Rt in the overhead image BI.

[0065] Here, the predetermined point can be, for example, an inflection point on the driving route Rt with a predetermined angle (e.g., 90 degrees) or more (hereinafter simply referred to as "inflection point"), a place where the road width changes, a place where the road width exceeds a certain level, an intersection entrance, a dead end entrance, or a sign installation location, or any other point having a predetermined attribute (hereinafter also referred to as "characteristic point"). Such characteristic points are often desired by the user as the reverse assist movement completion point EP. Such characteristic points can be detected, for example, based on the driving history information 200 stored in the memory unit 35. Alternatively, a map information database 24 may be used to detect characteristic points.

[0066] In the example shown in Figure 3, characteristic point icons IBa, IBa, and IBa are displayed corresponding to the characteristic points TPa, TPb, and TPc, which are inflection points on the travel path Rt in the overhead image BI, respectively, indicating that they are characteristic points. Each of the characteristic point icons IBa, IBa, and IBa is an example of the second icon in the present invention.

[0067] Furthermore, the display control unit 31 may display external information corresponding to a predetermined point (e.g., a characteristic point) on the travel route Rt in the overhead view image BI at a position corresponding to that point or in its vicinity. For example, the display control unit 31 may display a forward image of the vehicle 1 captured by the forward camera 111a at a characteristic point on the travel route Rt in the overhead view image BI at a position corresponding to that characteristic point or in its vicinity.

[0068] In the example shown in Figure 3, a landscape image LIa, which is a forward-facing image captured at the characteristic point TPa, is displayed corresponding to the characteristic point TPa. The landscape image LIa can be displayed, for example, based on information indicating the forward-facing image corresponding to the characteristic point TPa in the driving history information 200 stored in the storage unit 35.

[0069] Furthermore, in the example shown in Figure 3, the landscape image LIb, which is a forward-facing image captured at the characteristic point TPb, is displayed corresponding to the characteristic point TPb. And in the example shown in Figure 3, the landscape image LIc, which is a forward-facing image captured at the characteristic point TPc, is displayed corresponding to the characteristic point TPc. By displaying these landscape images LIa, LIb, and LIc, users can easily understand what kind of locations the characteristic points TPa, TPb, and TPc were.

[0070] Furthermore, the display control unit 31 may also display an overhead image BI that includes images representing objects (for example, buildings or obstacles) recognized by the control device 30 based on external information obtained by the external sensor 11 when the vehicle 1 is traveling along the travel path Rt.

[0071] The setting unit 32 sets any point on the travel route Rt specified by the user as the reverse assist movement completion point EP. In this embodiment, the user specifies the movement completion point EP using the overhead image BI displayed on the touch panel 22. This allows the user to intuitively and easily specify a desired point on the travel route Rt as the movement completion point EP.

[0072] For example, as shown in Figure 4, suppose a point Px on the travel route Rt in the overhead image BI displayed on the touch panel 22 is tapped. In this case, the setting unit 32 sets point Px as the travel completion point EP.

[0073] Furthermore, the setting unit 32 may set the default location as the move completion point EP if, for example, the user does not specify the move completion point EP within a predetermined time (i.e., a timeout occurs), or if there is an operation to instruct the user to set a predetermined default location as the move completion point EP. Here, the default location can be, for example, the point reached by returning along the driving route Rt from the current location of the vehicle 1 by the maximum distance of the driving route Rt indicated by the driving history information 200 (e.g., 200 [m] minutes). However, it is not limited to this, and the default location may be, for example, the point reached by returning along the driving route Rt from the current location of the vehicle 1 by any distance previously specified by the user (e.g., 100 [m] minutes). In addition, the setting unit 32 may reset the move completion point EP to the default location if, for example, an operation to cancel the move completion point EP specified by the user is performed during reverse assist driving.

[0074] Furthermore, in order to inform the user that a movement completion point EP has been set, the display control unit 31 may display a predetermined icon at or around the position corresponding to the movement completion point EP in the overhead image BI, in response to the setting unit 32 setting the movement completion point EP. In other words, the display control unit 31 may display a predetermined icon corresponding to the movement completion point EP in the overhead image BI. In the example shown in Figure 4, a movement completion point icon IEP, which indicates that it is a movement completion point EP, is displayed corresponding to the movement completion point EP in the overhead image BI. The movement completion point icon IEP is an example of a first icon in the present invention.

[0075] Furthermore, the display control unit 31 may display external information corresponding to the movement completion point EP at or around the position corresponding to the movement completion point EP in the overhead view image BI, in response to the setting unit 32 setting the movement completion point EP. For example, the display control unit 31 may display a forward image of the vehicle 1 captured by the forward camera 111a at the point Px designated as the movement completion point EP in the overhead view image BI, at or around the position corresponding to the movement completion point EP. In this way, the user can easily understand what kind of location the movement completion point EP is. Such a forward image can be displayed, for example, based on information indicating a forward image corresponding to point Px in the driving history information 200 stored in the storage unit 35.

[0076] When the setting unit 32 sets a movement completion point EP, the driving control unit 33 performs reverse assist driving to that movement completion point EP. Specifically, based on the driving history information 200 stored in the memory unit 35, the driving control unit 33 moves the vehicle 1 from its current position to the movement completion point set by the setting unit 32, following the driving path Rt. Then, the driving control unit 33 terminates the reverse assist driving when the vehicle 1 reaches the movement completion point EP set by the setting unit 32.

[0077] For example, suppose point Px is set as the movement completion point EP, as shown in Figure 4. In this case, as shown in Figure 5, the driving control unit 33 makes vehicle 1 travel (e.g., in reverse) along the driving path Rt from the current position CP of vehicle 1 immediately before reverse assist driving to point Px, which is the movement completion point EP. At this time, the driving control unit 33 only needs to control the steering of vehicle 1 via the EPS system 40 so that vehicle 1 travels while tracing the portion of the driving path Rt from the current position CP to point Px. At this time, the driving control unit 33 may also control the driving force of vehicle 1 via the driving force control system 50, or control the braking force of vehicle 1 via the braking force control system 60. However, it is not limited to this, and the driving force and braking force of vehicle 1 may be adjusted by the user via, for example, the accelerator pedal 52 or the brake pedal 62. In other words, the control device 30 may only control the steering of vehicle 1.

[0078] Furthermore, as mentioned above, the driving history information 200 may include information indicating the steering angle θst when the vehicle 1 traveled along the driving path Rt to reach its current position CP. Therefore, during reverse assist driving, the driving control unit 33 may control the steering of the vehicle 1 while referring to the information indicating the steering angle θst included in the driving history information 200. In this way, it becomes unnecessary to re-derive the steering angle θst required to drive the vehicle 1 along the driving path Rt during reverse assist driving, making it possible to perform reverse assist driving appropriately with a simpler process.

[0079] Furthermore, the driving control unit 33 may be configured to start reverse assist driving after the movement completion point EP has been set by the setting unit 32 and a predetermined start operation has been performed by the user. This prevents reverse assist driving from starting at a time unintended by the user.

[0080] Furthermore, during reverse assist driving, it is preferable that the display control unit 31 displays an overhead image BI such that the vehicle icon IV moves along the driving path Rt toward the completion point EP, based on the position of the vehicle 1 at that time. In this way, the user can easily understand where the vehicle 1 is on the driving path Rt from the overhead image BI displayed during reverse assist driving.

[0081] (2-3. Processing performed by the control device) Next, an example of the processing performed by the control device 30 will be described with reference to Figure 6. For example, when the ignition power of the vehicle 1 is turned on, the control device 30 repeatedly executes the series of processes shown in Figure 6 at a predetermined cycle.

[0082] As shown in Figure 6, the control device 30 first determines, for example, whether or not the vehicle 1 is being driven manually (step S1). If it is determined that the vehicle is not being driven manually (step S1: NO), the control device 30 proceeds to step S3. If it is determined that the vehicle is being driven manually (step S1: YES), the control device 30 stores the driving history information 200 in the storage unit 35 based on the information obtained from the sensor group 10, etc. (step S2), and then proceeds to step S3.

[0083] Next, the control device 30 determines whether or not vehicle 1 is in reverse assist driving mode (step S3). If it is determined that vehicle 1 is in reverse assist driving mode (step S3: YES), the control device 30 proceeds to step S13. If it is determined that vehicle 1 is not in reverse assist driving mode (step S3: NO), the control device 30 determines whether or not an RA operation request has been made (step S4).

[0084] If it is determined that there is no RA activation request (Step S4: NO), the control device 30 terminates the series of processes. On the other hand, if it is determined that there is an RA activation request (Step S4: YES), the control device 30 displays an overhead view image BI, as illustrated in Figure 3, on the touch panel 22 based on the driving history information 200 stored in the memory unit 35 (Step S5).

[0085] The control device 30 then determines whether or not the aforementioned characteristic point exists on the travel path Rt in the overhead image BI (step S6). If it determines that there is no characteristic point (step S6: NO), the control device 30 proceeds to the process in step S8. As another example, if the control device 30 determines that there is no characteristic point, it may proceed to the process in step S10 and set the default point as the travel completion point EP.

[0086] If the control device 30 determines that a distinctive location exists (step S6: YES), it displays a distinctive location icon corresponding to that location on the overhead image BI (step S7). At this time, the control device 30 may also display external information corresponding to that distinctive location (for example, a forward image captured at that location).

[0087] Next, the control device 30 determines whether or not it has received the user's specification of the movement completion point EP (step S8). If it determines that it has received the specification of the movement completion point EP (step S8: YES), the control device 30 sets the point specified by the user as the movement completion point EP (step S9) and proceeds to the process in step S11.

[0088] If it is determined that the designation of the movement completion point EP has not been accepted (step S8: NO), the control device 30 sets the default point as the movement completion point EP (step S10) and proceeds to the process in step S11. As mentioned above, the default point may be a point reached by traveling back along the travel route Rt from the current position of the vehicle 1 by the maximum distance of the travel route Rt indicated by the travel history information 200, or it may be a point reached by traveling back along the travel route Rt from the current position of the vehicle 1 by any distance previously specified by the user.

[0089] Next, the control device 30 displays the movement completion point icon IEP, which corresponds to the set movement completion point EP, on the overhead image BI, as illustrated in Figure 4 (step S11).

[0090] Then, based on the driving history information 200 stored in the memory unit 35, the control device 30 starts reverse assist driving from the current position of the vehicle 1 to the set movement completion point EP (step S12).

[0091] Next, the control device 30 determines whether or not vehicle 1 has reached the movement completion point EP (step S13). If it determines that vehicle 1 has not reached the movement completion point EP (step S13: NO), the control device 30 terminates the series of processes.

[0092] If the control device 30 determines that vehicle 1 has reached the completion point EP (step S13: YES), it terminates the reverse assist driving (step S14) and ends the series of processes. The control device 30 may also notify the user that the reverse assist driving has been completed when it has terminated the reverse assist driving. For example, the control device 30 may notify the user that the reverse assist driving has been completed by displaying a message such as "Reverse assist completed" on the touch panel 22.

[0093] As described above, the control device 30 of this embodiment can perform reverse assist to move the vehicle 1 from its current position to the desired destination EP, thereby improving user convenience. This, in turn, can improve traffic safety and contribute to the development of a sustainable transportation system.

[0094] Furthermore, the driving history information 200 includes, for example, information indicating the position of vehicle 1 at the same time during manual driving, control information for vehicle 1 (for example, information indicating the steering angle θst), and information relating to the external environment around vehicle 1. Therefore, based on the driving history information 200, the control device 30 can appropriately drive vehicle 1 to the completion point EP by reverse assist.

[0095] Furthermore, the control device 30 displays an overhead view image BI, which shows the travel path Rt from an overhead perspective, on the touch panel 22, for example, before reverse driving. Then, depending on whether a travel completion point EP has been set, the control device 30 displays a travel completion point icon IEP at or around the position corresponding to the travel completion point EP in the overhead view image BI. This makes it possible to intuitively and clearly guide the user to the travel completion point EP, and to locate the set travel completion point EP.

[0096] Furthermore, the control device 30 may display external information corresponding to the completed movement point EP at or around the location corresponding to the completed movement point EP in the overhead image BI, depending on the setting of the completed movement point EP. In this way, it becomes possible to intuitively and clearly guide the user to what kind of location the completed movement point EP is.

[0097] Furthermore, the control device 30 may display a characteristic point icon at or around a position corresponding to a predetermined point (e.g., a characteristic point) on the travel route Rt in the overhead image BI. In this way, it becomes possible to intuitively and clearly guide the user to predetermined points that could be candidates for the travel completion point EP.

[0098] Furthermore, the designated points mentioned above may also be characteristic points such as inflection points in the travel route Rt, locations where the road width changes, locations where the road width exceeds a certain level, intersection entrances, cul-de-sac entrances, or locations where signs are installed. In this way, it becomes possible to guide users to characteristic points that are likely to be designated by the user as the travel completion point EP.

[0099] [3. Variant] Next, with reference to Figure 7, a modified example of vehicle control by the control device 30 will be described. This modified example is one in which the control device 30 (for example, the display control unit 31) changes the display range of the overhead image BI (in other words, the scale of the overhead image BI) in response to the setting of the movement completion point EP. In the following, the explanation will focus on aspects that differ from the previously described example, and explanations of aspects that are the same as the previously described example will be omitted or simplified as appropriate.

[0100] For example, as shown in Figure 7, the control device 30 (e.g., the display control unit 31) may, before setting the movement completion point EP, display an overhead image BI that includes a travel route image IR representing the entire travel route Rt indicated by the travel route information included in the travel history information 200 (for example, the entire travel route Rt for the most recent predetermined distance from where the vehicle 1 is currently located).

[0101] Furthermore, the control device 30 may display an overhead image BI that includes a driving path image IR' representing the driving path Rt' portion of the driving path Rt, which is the portion from the vehicle 1's current position CP to the driving path completion point EP, in response to the setting of the completion point EP. This makes it possible to effectively utilize the limited display area of ​​the touch panel 22 to clearly guide the user through the portion from the vehicle 1's current position CP to the completion point EP, that is, the portion in which the vehicle 1 performs reverse assist driving.

[0102] Furthermore, as shown in Figure 7, the control device 30 may hide the characteristic location icons IBa, IBa, and IBa when the movement completion point EP is set. This is because the characteristic location icons IBa, IBa, and IBa are information that assists the user in selecting (specifying) the movement completion point EP. For the same reason, if the control device 30 was displaying landscape images LIa, LIb, and LIc as shown in Figure 3, it may hide them when the movement completion point EP is set.

[0103] As described above, this embodiment and its modifications can improve user convenience. Furthermore, it can improve traffic safety and contribute to the development of a sustainable transportation system.

[0104] Although various embodiments have been described above with reference to the drawings, it goes without saying that the present invention is not limited to these examples. It is clear to those skilled in the art that various modifications or alterations can be conceived within the scope of the claims, and these will naturally also fall within the technical scope of the present invention. Furthermore, the components in the above embodiments may be combined in any way without departing from the spirit of the invention.

[0105] Furthermore, the control method described in the above-mentioned embodiments can be realized by executing a pre-prepared program (control program) on a computer. This program is, for example, stored on a computer-readable storage medium and executed when read from the storage medium. This program may also be provided in the form of a non-volatile (non-transient) storage medium such as flash memory, or it may be provided via a network such as the Internet.

[0106] Furthermore, in the embodiment described above, the computer that executes the above program is the control device 30 included in the vehicle 1, but it is not limited to this. For example, the computer that executes this program may be included in another device (e.g., external device 2) that can communicate with the control device 30.

[0107] This specification includes at least the following: The components shown in parentheses are examples of those corresponding to the embodiments described above, but are not limited thereto.

[0108] (1) A control device (control device 30) that controls a vehicle (vehicle 1), A driving control unit (driving control unit 33) performs a second drive by moving the vehicle from the current position to a point on the driving path (point of completion EP) along the driving path, based on the driving history information (driving history information 200) stored in a storage unit (storage unit 35) which stores driving history information (driving history information 200) including driving path information indicating the driving path (driving path Rt) during the first drive to the current position of the vehicle (current position CP), Before the second journey, a setting unit (setting unit 32) sets an arbitrary point on the journey route specified by the user as the completion point of the journey, Equipped with, The driving control unit performs the second drive to the completion point set by the setting unit, and terminates the second drive when the vehicle reaches the completion point. Control device.

[0109] According to (1), a second journey can be performed to move the vehicle from its current location to the user's desired destination, thereby improving user convenience. This, in turn, can improve traffic safety and contribute to the development of a sustainable transportation system.

[0110] (2) The control device described in (1), The aforementioned driving history information includes information that associates the position of the vehicle at the same time during the first driving, control information for the vehicle, and external information about the area around the vehicle. Control device.

[0111] According to (2), based on the driving history information, it becomes possible to drive the vehicle appropriately to the destination by the second drive.

[0112] (3) A control device as described in (1) or (2), The system further includes a display control unit (display control unit 31) that displays an overhead view image (overhead view image BI) of the driving route from an overhead perspective on a display unit (touch panel 22) provided by the vehicle before the second driving run. The display control unit, in response to the setting unit setting the completion point of movement, displays a first icon (completion point icon IEP) at or around the position corresponding to the completion point of movement in the overhead image. Control device.

[0113] According to (3), it becomes possible to set a destination for the completed movement and to guide the user to the set destination in an intuitive and easy-to-understand manner.

[0114] (4) The control device described in (3), The aforementioned driving history information includes information indicating the position of the vehicle at the same time during the first driving, control information for the vehicle, and external information about the area around the vehicle, and the information relating these to each other. The display control unit, in response to the setting unit setting the completion point of movement, displays the external information corresponding to the completion point of movement at or around the position corresponding to the completion point of movement in the overhead view image. Control device.

[0115] According to (4), it becomes possible to intuitively and clearly guide the user to the location where the movement has been completed.

[0116] (5) The control device described in (3), The display control unit changes the display range of the overhead image in accordance with the setting of the completion point of movement. Control device.

[0117] According to (5), by making effective use of the limited display area of ​​the display unit, it becomes possible to guide the user clearly from their current location to the destination.

[0118] (6) The control device described in (5), The display control unit, Before setting the aforementioned completion point, the overhead image representing the entire travel route is displayed. In response to the setting of the destination, the overhead image representing the portion of the travel route from the current location to the destination is displayed. Control device.

[0119] According to (6), by making effective use of the limited display area of ​​the display unit, it becomes possible to guide the user clearly from their current location to the destination.

[0120] (7) The control device described in (2), The system further includes a display control unit (display control unit 31) that displays an overhead view image (overhead view image BI) of the driving route from an overhead perspective on a display unit (touch panel 22) provided by the vehicle before the second driving run. The display control unit causes a second icon (characteristic point icon IBa, IBa, IBa) to be displayed at or around a predetermined point (characteristic point TPa, TPb, TPc) on the travel path in the overhead view image. Control device.

[0121] According to (7), it becomes possible to intuitively and clearly guide the user to predetermined locations that could be candidates for the destination of the movement.

[0122] (8) A control device as described in (1) or (2), The system further includes a display control unit (display control unit 31) that displays an overhead view image (overhead view image BI) of the driving route from an overhead perspective on a display unit (touch panel 22) provided by the vehicle before the second driving run. The aforementioned driving history information includes information indicating the position of the vehicle at the same time during the first driving, control information for the vehicle, and external information about the area around the vehicle, and the information relating these to each other. The display control unit displays the external information (landscape images LIa, LIb, LIc) corresponding to a predetermined point (characteristic point TPa, TPb, TPc) on the travel route in the overhead view image, at a position corresponding to or around said predetermined point. Control device.

[0123] According to (8), it becomes possible to intuitively and clearly guide the user to what kind of location the designated location that could be a candidate for the destination of the movement is.

[0124] (9) A control device as described in (7) or (8), The aforementioned predetermined location includes any of the following in the travel route: an inflection point with an angle greater than or equal to a predetermined angle, a location where the road width changes, a location where the road width exceeds a predetermined value, an intersection entrance, a cul-de-sac entrance, or a location where a sign is installed. Control device.

[0125] According to (9), it becomes possible to guide the user to a predetermined location that is likely to be specified by the user as the destination of their journey.

[0126] (10) The computer (control device 30) that controls the vehicle (vehicle 1) Based on the driving history information stored in the storage unit (storage unit 35), which stores driving history information including driving path information (driving history information 200) indicating the driving path (driving path Rt) during the first drive to the vehicle's current position (current position CP), a second drive is performed to move the vehicle from the current position to the point where the movement is completed on the driving path (movement completion point EP) by following the driving path (steps S10 to S12). Before the second journey, any point on the journey route specified by the user is set as the completion point of the journey (step S9). Perform the process, In the process of performing the second drive, the vehicle performs the second drive to the set completion point, and terminates the second drive when the vehicle reaches the completion point. Control method.

[0127] According to (10), a second journey can be performed to move the vehicle from its current location to the user's desired destination, thereby improving user convenience. This, in turn, can improve traffic safety and contribute to the development of a sustainable transportation system.

[0128] (11) The computer (control device 30) that controls the vehicle (vehicle 1) Based on the driving history information stored in the storage unit (storage unit 35), which stores driving history information (driving history information 200) including driving path information indicating the driving path (driving path Rt) during the first drive to the vehicle's current position (current position CP), a second drive is performed to move the vehicle from the current position to the point where the movement is completed on the driving path (movement completion point EP) by following the driving path (steps S10 to S12). Before the second journey, any point on the journey route specified by the user is set as the completion point of the journey (step S9). Perform the processing, In the process of performing the second drive, the vehicle performs the second drive to the set completion point, and terminates the second drive when the vehicle reaches the completion point. Control program.

[0129] According to (11), a second journey can be performed to move the vehicle from its current location to the user's desired destination, thereby improving user convenience. This, in turn, can improve traffic safety and contribute to the development of a sustainable transportation system. [Explanation of Symbols]

[0130] 1 vehicle 22 Touch panel (display unit) 30 Control device 31 Display Control Unit 32 Setting section 33 Driving control unit 35 Storage section 200 Driving history information CP Current position BI overhead view EP movement completion point IEP Movement Completion Point Icon (Icon 1) TPa, TPb, TPc: Characteristic locations (designated locations) IBa, IBb, IBc Characteristic Location Icons (Second Icon) LIa, LIb, LIc Landscape images (external information corresponding to a specified location) Rt Driving Route

Claims

1. A control device for controlling a vehicle, A driving control unit that, based on the driving history information stored in a storage unit that stores driving history information including driving path information showing the driving path during the first driving period leading up to the vehicle's current position, performs a second driving period in which the vehicle moves along the driving path from its current position to a point on the driving path where the movement is completed. A setting unit that sets any point on the travel route specified by the user as the travel completion point before the second travel, Equipped with, The driving control unit performs the second drive to the completion point set by the setting unit, and terminates the second drive when the vehicle reaches the completion point. Control device.

2. A control device according to claim 1, The aforementioned driving history information includes information that associates the position of the vehicle at the same time during the first driving, control information for the vehicle, and external information about the area surrounding the vehicle. Control device.

3. A control device according to claim 1 or 2, The system further includes a display control unit that, before the second run, causes the vehicle to display an overhead image of the run route from an overhead perspective on a display unit. The display control unit, in response to the setting unit setting the completion point of movement, displays a first icon at or around the position corresponding to the completion point of movement in the overhead image. Control device.

4. A control device according to claim 3, The aforementioned driving history information includes information indicating the position of the vehicle at the same time during the first driving, control information for the vehicle, and external information about the area around the vehicle, and the information relating these information to each other. The display control unit, in response to the setting unit setting the completion point of movement, displays the external information corresponding to the completion point of movement at or around the position corresponding to the completion point of movement in the overhead view image. Control device.

5. A control device according to claim 3, The display control unit changes the display range of the overhead image in accordance with the setting of the completion point of movement. Control device.

6. A control device according to claim 5, The display control unit, Before setting the aforementioned completion point, the overhead image representing the entire travel route is displayed. In response to the setting of the destination, the overhead image representing the portion of the travel route from the current location to the destination is displayed. Control device.

7. A control device according to claim 1, The system further includes a display control unit that, before the second run, causes the vehicle to display an overhead image of the run route from an overhead perspective on a display unit. The display control unit causes a second icon to be displayed at a position corresponding to or near a predetermined point on the travel route in the overhead view image. Control device.

8. A control device according to claim 1, The system further includes a display control unit that, before the second run, causes the vehicle to display an overhead image of the run route from an overhead perspective on a display unit. The aforementioned driving history information includes information indicating the position of the vehicle at the same time during the first driving, control information for the vehicle, and external information about the area around the vehicle, and the information relating these information to each other. The display control unit displays the external information corresponding to a predetermined point on the travel path in the overhead view image at a position corresponding to that predetermined point or in the vicinity thereof. Control device.

9. A control device according to claim 7 or 8, The aforementioned predetermined location includes any of the following in the travel route: an inflection point with an angle greater than or equal to a predetermined angle, a location where the road width changes, a location where the road width exceeds a predetermined value, an intersection entrance, a cul-de-sac entrance, or a location where a sign is installed. Control device.

10. The computer that controls the vehicle, Based on the driving history information stored in a storage unit that stores driving history information including driving path information showing the driving path during the first drive to the current position of the vehicle, a second drive is performed to move the vehicle from the current position to the point where the movement is completed along the driving path. Before the second journey, any point on the journey route specified by the user is set as the completion point of the journey. Perform the process, In the process of performing the second drive, the second drive is performed to the set completion point, and the second drive is terminated when the vehicle reaches the completion point. Control method.

11. The computer that controls the vehicle, Based on the driving history information stored in a storage unit that stores driving history information including driving path information showing the driving path during the first drive to the current position of the vehicle, a second drive is performed to move the vehicle from the current position to the point where the movement is completed along the driving path. Before the second journey, any point on the journey route specified by the user is set as the completion point of the journey. Perform the processing, In the process of performing the second drive, the second drive is performed to the set completion point, and the second drive is terminated when the vehicle reaches the completion point. Control program.

Images