Control device, control method, and control program

Abstract

To provide a control device that can improve user convenience. [Solution] The control device 30 that controls the vehicle 1 comprises a driving control unit 32 and a setting unit 31. 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 32 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. Before the second driving by the driving control unit 32, the setting unit 31 sets a point on the driving path that satisfies predetermined conditions as the completion point. The driving control unit 32 then performs the second driving to the completion point set by the setting unit 31 and terminates the second driving when the vehicle 1 reaches the completion point.

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 viewpoint 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 displaying a peripheral image generated based on an imaging result of an imaging unit provided in a vehicle on a touch panel, and displaying a first symbol representing a parking area where the vehicle can be parked on the peripheral image. When a position corresponding to the first symbol is touched, a technology for assisting parking in the parking area represented by the first symbol is disclosed.

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 viewpoint 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 sets a point on the travel route that satisfies predetermined conditions 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, a point on the journey route that satisfies predetermined conditions is set as the point where the journey is completed. Perform the process, In the process of moving the vehicle along the aforementioned travel path, the second travel is performed up to the set completion point, and the second travel is terminated 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 travel, a point that satisfies a predetermined condition on the travel route is set as the movement completion point. Cause the process to be performed. In the process of moving the vehicle along the travel route, the second travel is performed until the set movement completion point is reached, and the second travel is terminated when the vehicle reaches the movement completion point. It is a control program.

Advantages 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 the convenience for the user.

Brief Description of the Drawings

[0011] [Figure 1] FIG. 1 is a block diagram showing a schematic configuration of a vehicle 1 including a control device 30 which is an embodiment of the control device of the present invention. [Figure 2] FIG. 2 is a diagram showing an example of travel history information 200 stored in the storage unit 35. [Figure 3] FIG. 3 is a diagram showing a first example of a movement completion point EP set by the setting unit 31. [Figure 4] FIG. 4 is a diagram showing a second example of a movement completion point EP set by the setting unit 31. [Figure 5] FIG. 5 is a diagram showing a third example of a movement completion point EP set by the setting unit 31. [Figure 6] FIG. 6 is a diagram showing a fourth example of a movement completion point EP set by the setting unit 31. [Figure 7] FIG. 7 is a diagram showing a fifth example of a movement completion point EP set by the setting unit 31. [Figure 8] FIG. 8 is a flowchart (part 1) showing an example of the process performed by the control device 30. [Figure 9] FIG. 9 is a flowchart (part 2) showing an example of the process performed by the 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 to 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 steering 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. Also, 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 steering wheel, or both may be steerable steering wheels.

[0015] The vehicle 1 is configured to include 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 consists of an external sensor 11 that acquires external information for recognizing the surroundings (in other words, the surroundings) of the vehicle 1, and a vehicle sensor 12 that acquires information related to 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 by the control device 30 (hereinafter also referred to as "vehicle control").

[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 a setting unit 31 and a driving control unit 32, 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 explanation 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 is outside the predetermined distance as the vehicle 1 travels. This makes it possible to reduce the storage area of ​​the storage unit 35 required to store the travel history information 200.

[0057] In the following explanation, the endpoint of the travel route Rt (hereinafter also referred to as "endpoint Pe") is defined as the point corresponding to the most recent position of vehicle 1 in the travel history information 200 stored in the memory unit 35. That is, under circumstances where the travel history information 200 is updated, the current position of vehicle 1 may become the endpoint Pe. Furthermore, considering that the travel history information 200 is updated when vehicle 1 is being driven manually, the endpoint Pe can also be said to be the last point reached by vehicle 1 while being driven manually.

[0058] In the following explanation, the starting point of the travel route Rt (hereinafter also referred to as "starting point Ps") is the point on the opposite side of the end point Pe (i.e., the current position of vehicle 1) in the travel route Rt, and is the point corresponding to the oldest position of vehicle 1 in the time series among the travel history information 200 stored in the memory unit 35. In other words, the starting point Ps can be a point located a predetermined distance along the travel route Rt from the current position of vehicle 1.

[0059] 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.

[0060] (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 32, 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.

[0061] Hereinafter, the driving of Vehicle 1 by the user's manual operation will also be referred to as "manual driving," and the driving 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.

[0062] 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.

[0063] 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.

[0064] The setting unit 31 of the control device 30 sets points on the driving route Rt that satisfy predetermined conditions as movement completion points EP before reverse assist driving (for example, in response to a request for RA operation). Specifically, the setting unit 31 sets points on the driving route Rt that satisfy predetermined conditions as movement completion points EP based on the driving history information 200 stored in the storage unit 35. In addition, when setting movement completion points EP, the setting unit 31 may further refer to the map information database 24 stored in the navigation device 20 or the like to determine the attributes of each point on the driving route Rt.

[0065] In this way, the control device 30 (for example, the setting unit 31) automatically sets the movement completion point EP, thereby reducing the effort required from the user to set the movement completion point EP and improving user convenience. An example of setting the movement completion point EP by the setting unit 31 will be described later.

[0066] When the setting unit 31 sets the completion point EP, the driving control unit 32 causes the vehicle 1 to perform reverse assist driving from its current position to the completion point EP. Specifically, based on the driving history information 200 stored in the memory unit 35, the driving control unit 32 moves the vehicle 1 (for example, in reverse) along the driving path Rt from its current position to the completion point EP set by the setting unit 31. At this time, the driving control unit 32 only needs to control the steering of the vehicle 1 via the EPS system 40 so that the vehicle 1 drives while tracing the portion of the driving path Rt from the point corresponding to the vehicle 1's current position to the completion point EP. At this time, the driving control unit 32 may also control the driving force of the vehicle 1 via the driving force control system 50 or the braking force of the vehicle 1 via the braking force control system 60. However, it is not limited to this, and the driving force and braking force of the vehicle 1 may be adjusted by the user, for example, via the accelerator pedal 52 or the brake pedal 62. In other words, the control device 30 may only control the steering of the vehicle 1.

[0067] 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. Therefore, during reverse assist driving, the driving control unit 32 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.

[0068] Then, the driving control unit 32 terminates reverse assist driving when the vehicle 1 reaches the movement completion point EP set by the setting unit 31.

[0069] Furthermore, the driving control unit 32 may be configured to start reverse assist driving after the movement completion point EP has been set by the setting unit 31 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.

[0070] Furthermore, before reverse assist driving, it is preferable for the control device 30 to guide the user to the set completion point EP. For example, the control device 30 can guide the user to the set completion point EP by displaying an overhead view image of the driving path Rt on the touch panel 22 and displaying a predetermined icon or the like at the location corresponding to the completion point EP in the overhead view image.

[0071] Furthermore, during reverse assist driving, the control device 30 may, based on the vehicle 1 at that time, display in the overhead view image above an icon representing vehicle 1 moving along the driving path Rt toward the completion point EP, thereby informing the user of where vehicle 1 is currently traveling on the driving path Rt.

[0072] Next, an example of setting the movement completion point EP using the setting unit 31 will be described.

[0073] (Example of the first completed location) As shown in Figure 3, for example, suppose vehicle 1 turns left at the intersection (in this case, a crossroads) CS of the first road R1 and the second road R2, and then enters the third road R3 which is connected to the second road R2. In this case, as shown in Figure 3, the travel path Rt may include inflection section BS1 and inflection section BS2 as sections in which the direction of vehicle 1 changes by a predetermined angle (e.g., 90 degrees) or more (hereinafter also referred to as "inflection section BS"). Here, inflection section BS can be, for example, a section in which the direction of vehicle 1 changes by a predetermined angle or more while vehicle 1 travels a predetermined distance (e.g., 5 [m]).

[0074] If such an inflection section BS is included in the travel path Rt, the setting unit 31 may set the point before the inflection section BS as the travel completion point EP when viewed from the starting point Ps of the travel path Rt.

[0075] As an example, the setting unit 31 may set point P1, which is a point before (for example, 1 to 2 [m] before) the inflection section BS1 when viewed from the starting point Ps, as the movement completion point EP. Here, the inflection section BS1 is the inflection section BS included in the travel path Rt that is closest to the vehicle 1's current position CP (in other words, the end point Pe of the travel path Rt). Alternatively, the inflection section BS1 may be an inflection section BS included in the travel path Rt that is within a predetermined range from the current position CP. Such a predetermined range can be, for example, a range within a predetermined distance along the travel path Rt from the current position CP. Such a predetermined distance is a distance shorter than the upper limit of the travel path Rt indicated by the travel path information included in the travel history information 200 (for example, 200 [m]), and can be, for example, a distance predetermined by the manufacturer of the vehicle 1.

[0076] If point P1 is set as the completion point EP, the driving control unit 32 should move vehicle 1 from the current position CP to point P1, which is the completion point EP, following the driving path Rt (for example, by reversing), as shown by arrow α in Figure 3. This makes it possible to return vehicle 1 from the third road R3 to the second road R2.

[0077] Thus, when the inflection section BS is included in the travel path Rt, by setting the point just before the inflection section BS as the completion point EP when viewed from the starting point Ps of the travel path Rt, it becomes possible to perform reverse assist driving that returns vehicle 1 to the point just before the inflection section BS. Therefore, it is possible to improve convenience for users who want to exit the inflection section BS without any hassle.

[0078] Furthermore, if multiple inflection sections BS are included in the travel path Rt, the setting unit 31 may set the point before the inflection section BS closest to the current position CP (for example, inflection section BS1 shown in Figure 3) (for example, point P1 shown in Figure 3) as the travel completion point EP. In this way, compared to setting the point before another inflection section BS (for example, inflection section BS2 shown in Figure 3) (for example, point P2 shown in Figure 3) as the travel completion point EP, it is possible to suppress the vehicle from moving too far away from the current position CP due to reverse assist driving.

[0079] The method for detecting the inflection section BS is not particularly limited. For example, the control device 30 may, for instance, acquire the rotation amount of each of the left and right rear wheels of the vehicle 1, perform calculations to determine the vehicle's position and yaw angle from the amount of change, and then detect the inflection section BS on the condition that there has been a change in yaw angle of a predetermined angle (e.g., 90 degrees) while the vehicle 1 has moved a predetermined distance. As another example, the inflection section BS can be detected based on the direction of the vehicle 1 recognized by the navigation device 20, or the inflection section BS can be detected by tracking changes in the forward image and processing the image.

[0080] Furthermore, a specific section SR, which includes, for example, an intersection, a railway crossing, or a stop sign, may be included in the route Rt. Here, a stop sign refers to a location where a vehicle is required to stop by law or other regulations.

[0081] If such a specific section SR is included in the travel route Rt, the setting unit 31 may exclude points within the specific section SR from the candidates for the travel completion point EP, and set a point outside the specific section SR as the travel completion point EP.

[0082] In the example shown in Figure 3, the inflection section BS2, which is part of the travel path Rt that is located within the intersection CS (specifically, the area shown by hatching in Figure 3), corresponds to the specific section SR. Therefore, in this case, the setting unit 31 may exclude points on the travel path Rt that are located within the inflection section BS2, which is the specific section SR, from the list of candidates for the travel completion point EP, and set a point outside the inflection section BS2 as the travel completion point EP. Alternatively, in this case, the setting unit 31 may set point P2, which is before the inflection section BS2 (i.e., the specific section SR) when viewed from the starting point Ps, as the travel completion point EP.

[0083] In this way, when a specific section SR is included in the travel route Rt, setting a point outside the specific section SR as the travel completion point EP makes it possible to prevent reverse assist driving from occurring up to the travel completion point EP, which is not appropriate from a traffic safety perspective for stopping vehicle 1.

[0084] Furthermore, by setting the point just before a specific section SR as the completion point EP when viewed from the starting point Ps, it becomes possible to perform reverse assist driving that returns vehicle 1 to the point just before the specific section SR. In this way, it becomes possible to perform reverse assist driving that returns vehicle 1 to a point suitable for the user to resume driving, thereby improving user convenience.

[0085] (Second example of a completed movement point) For example, if vehicle 1 enters a narrow road, the travel route Rt may include a section where the road width is less than a predetermined value (hereinafter also referred to as the "road width reduction section WR"). If such a road width reduction section WR is included in the travel route Rt, the setting unit 31 may set the point before the road width reduction section WR, as viewed from the starting point Ps, as the travel completion point EP.

[0086] For example, as shown in Figure 4, suppose vehicle 1 has entered the road width reduction section WR of the third road R3. Here, the road width reduction section WR is a section where the road width D is less than a predetermined value (for example, 3.5 [m]). In this case, the setting unit 31 may set point P3, which is the point before the road width reduction section WR when viewed from the starting point Ps side, as the movement completion point EP.

[0087] If point P3 is set as the completion point EP, the driving control unit 32 should move vehicle 1 from the current position CP to point P3, which is the completion point EP, following the driving path Rt (for example, by reversing), as shown by the arrow β in Figure 4. This makes it possible to move vehicle 1 out of the road narrowing section WR by reverse assist driving. Then, at point P3, which has sufficient road width, the user can reverse the direction of vehicle 1 by making a U-turn or turning around, and return vehicle 1 to the second road R2.

[0088] Thus, when the road narrowing section WR is included in the travel route Rt, by setting the point just before the road narrowing section WR as the travel completion point EP when viewed from the starting point Ps of the travel route Rt, it becomes possible to perform reverse assist driving that returns vehicle 1 to the point just before the road narrowing section WR. Therefore, it is possible to improve convenience for users who want to leave the road narrowing section WR without any hassle.

[0089] (Example of the third location where movement was completed) Sometimes both the curved section BS and the road width reduction section WR are included in the travel route Rt. Therefore, if the curved section BS and the road width reduction section WR are included in the travel route Rt, the setting unit 31 may set the point before the road width reduction section WR as the travel completion point EP when viewed from the starting point Ps. In other words, if both the curved section BS and the road width reduction section WR are included in the travel route Rt, the setting unit 31 may prioritize using the road width reduction section WR over the curved section BS when setting the travel completion point EP.

[0090] For example, as shown in Figure 5, suppose that the travel route Rt includes inflection sections BS3 and BS4 as inflection sections BS, and a road width reduction section WR. In this case, the setting unit 31 sets point P4, which is the point before the road width reduction section WR when viewed from the starting point Ps, as the travel completion point EP. In other words, in this case, the setting unit 31 does not set point P5, which is the point before inflection section BS3 when viewed from the starting point Ps, or point P6, which is the point before inflection section BS4, as travel completion points EP.

[0091] If point P4 is set as the completion point EP, the driving control unit 32 should move vehicle 1 from the current position CP to point P4, which is the completion point EP, following the driving path Rt (for example, by reversing), as shown by arrow γ in Figure 5. This makes it possible to move vehicle 1 out of the road narrowing section WR by reverse assist driving, even if both the curved section BS and the road narrowing section WR are included in the driving path Rt.

[0092] When the travel route Rt includes both a curved section BS and a road width reduction section WR, it becomes possible to set the travel completion point EP using the road width reduction section WR as the priority over the curved section BS. This enables reverse assist driving that returns vehicle 1 to the appropriate travel completion point EP, improving user convenience.

[0093] (Fourth example of a completed movement point) In the example shown in Figure 6, vehicle 1 is entering parking lot PK. Parking lot PK contains a parking area ER where vehicle 1 can be parked and a parking area NR where vehicle 1 cannot be parked. Here, the parking area ER is, for example, a parking space demarcated by white lines, etc., where no other vehicles are parked (i.e., an empty parking space). The parking area NR is, for example, a parking space where another vehicle is parked. For example, the control device 30 can detect the parking area ER and the parking area NR around vehicle 1 based on external information acquired via the external sensor 11.

[0094] If such a parking area ER exists adjacent to the travel path Rt, the setting unit 31 may set a point within a predetermined range defined based on the parking area ER as the travel completion point EP.

[0095] As an example, the setting unit 31 may set point P7, which is included in the predetermined range X shown in Figure 6, as the movement completion point EP. Here, the predetermined range X is the predetermined range in front of the parking area ER when viewed from the starting point Ps side.

[0096] If point P7 is set as the completion point EP, the driving control unit 32 should move vehicle 1 from the current position CP to point P7, which is the completion point EP, following the driving path Rt (for example, by reversing), as shown by the arrow δ in Figure 5. This makes it possible to return vehicle 1 to point P7, where it is easier for the user to start parking in the parking area ER, through reverse assist driving. In this way, the user can then move vehicle 1 forward from point P7 to point P8, and then drive vehicle 1 from point P8 along the parking path RtP to park vehicle 1 in the parking area ER.

[0097] Alternatively, the setting unit 31 may set a point included in the predetermined range Y shown in Figure 6 as the movement completion point EP. Here, the predetermined range Y is a predetermined range on the side of the current position CP from the parking area ER.

[0098] As yet another example, the setting unit 31 may set the point on the travel path Rt that is closest to the parking area ER as the point where the journey is completed EP. In the example shown in Figure 6, the point on the travel path Rt that is closest to the parking area ER is one that is within the range Z. Therefore, in this case, the setting unit 31 may set a point within the range Z (for example, point P8 shown in Figure 6) as the point where the journey is completed EP.

[0099] Thus, when a parking area ER is adjacent to the driving path Rt, by setting a point on the driving path Rt that falls within a predetermined range based on the parking area ER, or a point on the driving path Rt that is the shortest distance to the parking area ER, as the completion point EP, it becomes possible to perform reverse assist driving that returns vehicle 1 to a point near the parking area ER. This improves convenience for users who wish to park in that parking area ER.

[0100] Furthermore, multiple parking areas ER may be adjacent to the travel path Rt. In such cases, the setting unit 31 may, for example, set a point within a predetermined range defined based on the parking area ER closest to the current location as the travel completion point EP. Alternatively, the setting unit 31 may set a point within a predetermined range defined based on the parking area ER specified by the user as the travel completion point EP.

[0101] In this way, by setting a point within a predetermined range defined based on the parking area ER closest to the current location or a parking area ER designated by the user as the completion point EP, it becomes possible to perform reverse assist driving that returns vehicle 1 to a point near the parking area ER desired by the user, thereby improving user convenience.

[0102] Furthermore, if a parking area ER is adjacent to a driving path Rt, the control device 30 may be configured to derive a parking path RtP for parking the vehicle 1 in that parking area ER. For example, if the control device 30 has a parking assist function that assists the user's steering operation when parking, the control device 30 may be configured to derive a parking path RtP using this parking assist function.

[0103] If the control device 30 is capable of deriving a parking route RtP, the setting unit 31 may set a point within a predetermined range defined based on the connection point between the parking route RtP derived by the control device 30 and the driving route Rt as the point where the movement is completed EP.

[0104] For example, in the example shown in Figure 6, point P8 is the connection point between the parking path RtP and the driving path Rt. Therefore, in this case, a point on the driving path Rt that is within a predetermined range from point P8 towards the starting point Ps, or within a predetermined range from point P8 towards the current position CP, may be set as the point where the movement is completed EP. In this way, it becomes possible to perform reverse assist driving that returns vehicle 1 to a point where parking in the parking area ER is considered easy, thereby improving user convenience.

[0105] (Example of the fifth completed location) The example shown in Figure 7 differs from the example shown in Figure 6 in that the reversing section CB is included in the travel path Rt. Here, the reversing section CB is a section in which vehicle 1 reverses at least once. Note that the reversing section CB may also be a section in which vehicle 1 reverses multiple times while traveling a predetermined distance.

[0106] If such a reversing section CB is included in the travel path Rt, the setting unit 31 may set the point before the reversing section CB as the travel completion point EP when viewed from the starting point Ps. For example, in this case, the setting unit 31 may set the aforementioned point P8 as the travel completion point EP. As another example, in this case, the setting unit 31 may set the point P9 immediately before the reversing section CB when viewed from the starting point Ps as the travel completion point EP.

[0107] If point P8 is set as the completion point EP, the driving control unit 32 should move vehicle 1 (for example, in reverse) along the driving path Rt from the current position CP to point P8, which is the completion point EP, as shown by the arrow ε in Figure 7.

[0108] Thus, when the turning section CB is included in the travel path Rt, by setting the point just before the turning section CB as the completion point EP when viewed from the starting point Ps, it becomes possible to perform reverse assist driving that returns vehicle 1 to the point just before the turning section CB. Therefore, it is possible to improve convenience for users who want to exit the turning section CB without any hassle.

[0109] The method for detecting the steering section CB is not particularly limited. For example, the control device 30 can detect the steering section CB by making it possible to identify the point (position of vehicle 1) where an operation is performed to swing the front of vehicle 1 from a state of straight driving (e.g., steering angle θst is within ±20 degrees) (e.g., steering angle θst>90 degrees). Alternatively, the control device 30 may detect the steering section CB based on the position of vehicle 1 when a shift change occurs from "R" to "D" or from "D" to "R" (i.e., a shift change that reverses the direction of travel of vehicle 1) by referring to the driving history information 200.

[0110] (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 Figures 8 and 9. 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 Figures 8 and 9 at a predetermined cycle.

[0111] As shown in Figure 8, 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.

[0112] 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 S8. 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).

[0113] If it is determined that there is no RA operation 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 operation request (step S4: YES), the control device 30 determines whether the switching section CB is included in the travel route Rt based on the travel history information 200 stored in the storage unit 35 (step S5).

[0114] If the control device 30 determines that the reversing section CB is included in the travel path Rt (step S5: YES), it sets the point before the reversing section CB as the travel completion point EP when viewed from the starting point Ps side, as illustrated in Figure 7 (step S6).

[0115] 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 S7).

[0116] Next, the control device 30 determines whether or not vehicle 1 has reached the movement completion point EP (step S8). If it determines that vehicle 1 has not reached the movement completion point EP (step S8: NO), the control device 30 terminates the series of processes.

[0117] If the control device 30 determines that vehicle 1 has reached the completion point EP (step S8: YES), it terminates the reverse assist driving (step S9) 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.

[0118] Furthermore, if the control device 30 determines in step S5 that the reversing section CB is not included in the travel route Rt (step S5: NO), it proceeds to step S10 shown in Figure 9 to determine whether or not the road width reduction section WR is included in the travel route Rt (step S10).

[0119] If it is determined that the road width reduction section WR is included in the travel route Rt (step S10: YES), the control device 30 sets the point before the road width reduction section WR as the travel completion point EP when viewed from the starting point Ps side (step S11), as illustrated in Figures 4 and 5, and proceeds to the process in step S7.

[0120] If it is determined that the road width reduction section WR is not included in the travel route Rt (step S10: NO), the control device 30 determines whether or not the curved section BS is included in the travel route Rt (step S12). If it is determined that the curved section BS is not included in the travel route Rt (step S12: NO), the control device 30 sets the starting point Ps of the travel route Rt as the completion point EP (step S13) and proceeds to the process in step S7.

[0121] If the control device 30 determines that the inflection section BS is included in the travel path Rt (step S12: YES), it determines whether multiple inflection sections BS are included in the travel path Rt (step S14). If it determines that multiple inflection sections BS are not included in the travel path Rt (step S14: NO), that is, if it determines that there is only one inflection section BS included in the travel path Rt, the control device 30 sets the point before that inflection section BS as the travel completion point EP when viewed from the starting point Ps (step S15), and proceeds to the process in step S7.

[0122] If the control device 30 determines that multiple inflection sections BS are included in the travel path Rt (step S14: YES), it sets the point before the starting point Ps of the inflection section BS closest to the current position of the vehicle 1 as the movement completion point EP (step S16), and proceeds to the process in step S7.

[0123] As described above, the control device 30 of this embodiment can automatically set the completion point EP when the vehicle 1 is driven in reverse assist mode. This reduces the effort required of the user to set the completion point EP and improves user convenience. Consequently, it can improve traffic safety and contribute to the development of a sustainable transportation system.

[0124] Furthermore, the control device 30 can automatically set a point that the user desires as the movement completion point EP, thereby reducing the effort required of the user to set the movement completion point EP while still enabling the reverse assist driving desired by the user.

[0125] 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.

[0126] 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.

[0127] 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.

[0128] 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.

[0129] (1) A control device (control device 30) that controls a vehicle (vehicle 1), A driving control unit (driving control unit 32) performs a second drive, 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 31) sets a point on the journey route that satisfies predetermined conditions as the point where the journey is completed, 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.

[0130] According to (1), the system can automatically set the completion point when the vehicle makes a second run, thereby reducing the effort required from the user to set the completion point and improving user convenience. In turn, this can improve traffic safety and contribute to the development of a sustainable transportation system.

[0131] (2) The control device described in (1), The setting unit, when the travel path includes a curved section (curved section BS) in which the direction of the vehicle changes by a predetermined angle or more, sets the point before the curved section as the travel completion point, when viewed from the starting point (starting point Ps) opposite to the current position on the travel path. Control device.

[0132] According to (2), since the point just before the curved section is set as the completion point of the journey when viewed from the starting point of the journey route, it becomes possible to perform a second journey to return the vehicle to the point just before the curved section. Therefore, it is possible to improve the convenience of users who want to leave the curved section without any hassle.

[0133] (3) The control device described in (2), The setting unit, when multiple inflection sections are included in the travel path, sets the point just before the inflection section closest to the current position among the multiple inflection sections as the point where the movement is completed. Control device.

[0134] According to (3), since the point just before the nearest inflection section from the vehicle's current position is set as the completion point of movement, it is possible to prevent the vehicle from moving too far away from its current position during the second run, compared to when the point just before any other inflection section is set as the completion point of movement.

[0135] (4) The control device described in (1), The setting unit sets a point outside the specified section (specified section SR) as the travel completion point when the travel route includes a specified section (specified section SR) that includes a level crossing, an intersection, or a stop sign. Control device.

[0136] According to (4), by setting a point outside the designated section as the completion point for the second leg of the journey, it becomes possible to avoid the vehicle stopping at a point that is inappropriate from a traffic safety standpoint at the end of the second leg.

[0137] (5) The control device described in (4), The setting unit sets the point before the specific section as the completion point of the movement, when viewed from the starting point (starting point Ps) opposite to the current position in the travel route. Control device.

[0138] According to (5), since the point before the specific section is set as the completion point when viewed from the starting point of the travel route, it becomes possible to perform a second run to return the vehicle to the point before the specific section. Therefore, a second run can be performed to return the vehicle to a point suitable for the vehicle user to start driving again, thereby improving user convenience.

[0139] (6) The control device described in (1), The setting unit, when a section of road width reduction (road width reduction section WR) where the road width is less than a predetermined value is included in the travel route, sets the point before the road width reduction section as the travel completion point, when viewed from the starting point (starting point Ps) opposite to the current position in the travel route. Control device.

[0140] According to (6), since the point before the section where the road width narrows is set as the completion point when viewed from the starting point of the travel route, it becomes possible to perform a second drive to return the vehicle to the point before the section where the road width narrows. Therefore, it is possible to improve the convenience of users who want to leave the section where the road width narrows without any hassle.

[0141] (7) The control device described in (1), The setting unit, when the travel route includes a curved section (curved section BS) in which the direction of the vehicle changes by a predetermined angle or more, and a road width reduction section (road width reduction section WR) in which the road width is less than a predetermined value, sets the point before the road width reduction section as the travel completion point when viewed from the starting point (starting point Ps) on the opposite side of the current position in the travel route. Control device.

[0142] According to (7), even when the route includes curved sections and sections where the road width narrows, it becomes possible to perform a second run to return the vehicle to an appropriate point of completion, thus improving user convenience.

[0143] (8) The control device described in (1), The setting unit sets the point on the travel route that is within a predetermined range defined based on the parking area, or the point on the travel route that is the shortest distance to the parking area, as the point where the vehicle can be parked (parking area ER) is adjacent to the travel route. Control device.

[0144] According to (8), it becomes possible to perform a second drive to return the vehicle to a point near the parking area, thus improving convenience for users who wish to park in that parking area.

[0145] (9) The control device described in (8), The setting unit, when multiple parking areas exist adjacent to the travel path, sets a point within the predetermined range determined based on one of the multiple parking areas, or a point on the travel path that is the shortest distance to the one parking area, as the completion point of the movement. The aforementioned parking area is the parking area closest to the current location among the plurality of parking areas, or the parking area designated by the vehicle user among the plurality of parking areas. Control device.

[0146] According to (9), a second drive is possible to return the vehicle to a point near the parking area desired by the user, thereby improving convenience for users who wish to park in that parking area.

[0147] (10) The control device described in (8), The control device is capable of deriving a parking path (parking path RtP) for parking the vehicle in a parking area (parking area ER) adjacent to the travel path, The setting unit sets a point within the predetermined range, determined based on the connection point between the parking route and the driving route, as the completion point of the movement, when a parking area where the vehicle can be parked exists adjacent to the driving route. Control device.

[0148] According to (10), a second drive is possible to return the vehicle to a point where it is considered easier to park in the parking area, thus improving convenience for users who wish to park in that parking area.

[0149] (11) The control device described in (1), The setting unit, when the vehicle has made one or more turns in a turning section (turning section CB) included in the travel route, sets the point before the turning section as the point of completion of movement, when viewed from the starting point (starting point Ps) opposite to the current position in the travel route. Control device.

[0150] According to (11), since the point before the turning section is set as the completion point when viewed from the starting point of the travel route, it becomes possible to perform a second trip to return the vehicle to the point before the turning section. Therefore, it is possible to improve the convenience of users who want to leave the turning section without any hassle.

[0151] (12) The computer (control device 30) that controls the vehicle, Based on the driving history information (driving history information 200) stored in a storage unit (storage unit 35) that 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), 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 S7 to S9). Before the second journey, a point on the journey route that satisfies predetermined conditions is set as the point where the journey is completed (steps S6, S11, S13, S15, S16). Perform the process, In the process of moving the vehicle along the aforementioned travel path, the second travel is performed up to the set completion point, and the second travel is terminated when the vehicle reaches the completion point. Control method.

[0152] According to (12), the system can automatically set the completion point when the vehicle makes a second run, thereby reducing the effort required of the user to set the completion point and improving user convenience. In turn, this can improve traffic safety and contribute to the development of a sustainable transportation system.

[0153] (13) The computer that controls the vehicle (control device 30) Based on the driving history information (driving history information 200) stored in a storage unit (storage unit 35) that 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), 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 S7 to S9). Before the second journey, a point on the journey route that satisfies predetermined conditions is set as the point where the journey is completed (steps S6, S11, S13, S15, S16). Perform the processing, In the process of moving the vehicle along the aforementioned travel path, the second travel is performed up to the set completion point, and the second travel is terminated when the vehicle reaches the completion point. Control program.

[0154] According to (13), the system can automatically set the completion point when the vehicle makes a second run, thereby reducing the effort required of the user to set the completion point and improving user convenience. In turn, this can improve traffic safety and contribute to the development of a sustainable transportation system. [Explanation of Symbols]

[0155] 1 vehicle 30 Control device 31 Settings Section 32 Driving control unit 35 Storage section 200 Driving history information CP Current position EP movement completion point Rt Driving Route BS Inflection Section CB (Cross-Crossing Section) ER parking area SR Specific Section Ps Starting point WR Road width reduction section

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 sets a point on the travel route that satisfies predetermined conditions 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 setting unit, when the travel path includes a curved section in which the direction of the vehicle changes by a predetermined angle or more, sets the point before the curved section as the travel completion point, when viewed from the starting point side opposite to the current position on the travel path. Control device.

3. A control device according to claim 2, The setting unit, when multiple inflection sections are included in the travel path, sets the point just before the inflection section closest to the current position among the multiple inflection sections as the point where the movement is completed. Control device.

4. A control device according to claim 1, The setting unit sets a point outside the specified section as the completion point of the journey if the specified section, which includes a level crossing, an intersection, or a stop sign, is included in the journey route. Control device.

5. A control device according to claim 4, The setting unit sets the point before the specific section, viewed from the starting point opposite to the current position on the travel route, as the point where the movement is completed. Control device.

6. A control device according to claim 1, The setting unit, when a section of road width reduction where the road width is less than a predetermined value is included in the travel route, sets the point before the section of road width reduction, viewed from the starting point opposite to the current position, as the travel completion point. Control device.

7. A control device according to claim 1, The setting unit, when the travel route includes a curved section in which the direction of the vehicle changes by more than a predetermined angle and a section where the road width is less than a predetermined value, sets the point before the section where the road width is reduced, when viewed from the starting point opposite to the current position, as the point where the movement is completed. Control device.

8. A control device according to claim 1, The setting unit sets the point on the travel route that is within a predetermined range defined based on the parking area, or the point on the travel route that is the shortest distance to the parking area, as the point where the vehicle can be parked, when a parking area where the vehicle can be parked exists adjacent to the travel route. Control device.

9. A control device according to claim 8, The setting unit, when multiple parking areas exist adjacent to the travel path, sets a point within the predetermined range determined based on one of the multiple parking areas, or a point on the travel path that is the shortest distance to the one parking area, as the completion point of the movement. The aforementioned parking area is the parking area closest to the current location among the plurality of parking areas, or the parking area designated by the vehicle user among the plurality of parking areas. Control device.

10. A control device according to claim 8, The control device is capable of deriving a parking path for parking the vehicle in a parking area when such an area exists adjacent to the travel path. The setting unit sets a point within the predetermined range, determined based on the connection point between the parking route and the driving route, as the completion point of the movement, when a parking area where the vehicle can be parked exists adjacent to the driving route. Control device.

11. A control device according to claim 1, The setting unit sets the point before the turning section, when viewed from the starting point opposite to the current position on the travel route, as the point where the vehicle has turned around once or more, if the turning section is included in the travel route. Control device.

12. 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, a point on the journey route that satisfies predetermined conditions is set as the point where the journey is completed. Perform the process, In the process of moving the vehicle along the aforementioned travel path, the second travel is performed until the set completion point, and the second travel is terminated when the vehicle reaches the completion point. Control method.

13. 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, a point on the journey route that satisfies predetermined conditions is set as the point where the journey is completed. Perform the processing, In the process of moving the vehicle along the aforementioned travel path, the second travel is performed until the set completion point, and the second travel is terminated when the vehicle reaches the completion point. Control program.

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