Vehicle Control Device

Abstract

To provide a vehicle control apparatus capable of improving a follow-up accuracy against a target route of a vehicle.SOLUTION: A vehicle control apparatus 1 that controls an automatic operation of a vehicle 2 by a vehicle control device 21 mounted on the vehicle 2 comprises a communication unit 11, a vehicle characteristic identification unit 12, and an identification accuracy estimation unit 13. The communication unit 11 is communicably connected to the vehicle control device 21. The vehicle characteristic identification unit 12 acquires a control command value of the automatic operation and a traveling track of the vehicle 2 from the vehicle control device 21 via the communication unit 11 to identify a vehicle characteristic used for the automatic operation. The identification accuracy estimation unit 13 estimates an identification accuracy of the vehicle characteristic by the vehicle characteristic identification unit 12. An automatic operation control unit 14 controls the automatic operation of the vehicle 2 on the basis of the identification accuracy estimated by the identification accuracy estimation unit 13.SELECTED DRAWING: Figure 1

Description

[Technical field]

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

[0002] Inventions relating to parking control devices have been known for some time. The parking control device described in Patent Document 1 includes an acquisition unit and a determination unit. The acquisition unit acquires performance information related to the performance of the surrounding sensing function of the vehicle. The determination unit determines the parking position of the vehicle based on the performance information acquired by the acquisition unit (Summary, Claim 1, paragraph 0006, etc.).

[0003] This conventional parking control device includes a collection unit that collects sensor detection results from vehicles parked in a parking lot, and an output unit that outputs auxiliary information to assist the driving of a vehicle in the parking lot based on the detection results collected by the collection unit when the performance of the vehicle driving in the parking lot is low (Patent Document 1, claim 4, paragraphs 0030, 0060-0063). As a result, by using the detection results of a high-performance vehicle's sensor, infrastructure sensors become unnecessary, and the increase in the initial introduction cost of the parking system can be suppressed (Patent Document 1, paragraph 0027).

[0004] Also, inventions relating to vehicle control devices have been known for some time. The vehicle control device described in Patent Document 2 is mounted on a vehicle. This vehicle control device includes an automatic driving execution unit, a first target position acquisition unit, a second target position acquisition unit, and a target position setting unit (Abstract, Claim 1, paragraph 0006).

[0005] The autonomous driving execution unit executes autonomous driving so as to make the vehicle arrive at a target position set within a predetermined area. The first target position acquisition unit acquires a first target position as a candidate for the target position specified based on area data set in advance for the predetermined area. The second target position acquisition unit acquires a second target position as another candidate for the target position specified based on sensor data obtained by a sensor that detects the surrounding conditions of the vehicle. The target position setting unit sets one of the first target position and the second target position as the target position based on a relationship between the first target position and the second target position.

[0006] According to the above-mentioned conventional vehicle control device, it is possible to selectively set either the first target position or the second target position as the target position, thereby improving the accuracy of autonomous driving, unlike, for example, a case where the only candidate for the target position is the first target position (Patent Document 2, paragraph 0007). [Prior art documents] [Patent documents]

[0007] [Patent Document 1] Patent Publication No. 2020-149334 [Patent Document 2] Patent Publication No. 2020-035108 Summary of the Invention [Problem to be solved by the invention]

[0008] In the conventional parking control device, if the tracking accuracy of the target route of the vehicle traveling in the parking lot based on the auxiliary information output by the collection unit is low, the vehicle may not be able to reach the target position. Similarly, in the conventional vehicle control device, even if either the first target position or the second target position is selectively set as the target position, if the tracking accuracy of the vehicle to the target route is low, the vehicle may not be able to reach the target position.

[0009] The present disclosure provides a vehicle control device capable of improving the accuracy with which a vehicle follows a target route. [Means for solving the problem]

[0010] One aspect of the present disclosure is a vehicle control device that controls autonomous driving of a vehicle by a vehicle control device mounted on the vehicle, comprising: a communication unit that is communicatively connected to the vehicle control device; a vehicle characteristic identification unit that acquires a control command value for autonomous driving and a driving trajectory of the vehicle from the vehicle control device via the communication unit and identifies vehicle characteristics to be used for autonomous driving; an identification accuracy estimation unit that estimates the identification accuracy of the vehicle characteristics by the vehicle characteristic identification unit; and an autonomous driving control unit that controls the autonomous driving of the vehicle based on the identification accuracy estimated by the identification accuracy estimation unit. Effect of the Invention

[0011] According to the present disclosure, it is possible to provide a vehicle control device capable of improving the accuracy with which a vehicle follows a target route. [Brief description of the drawings]

[0012] [Figure 1] 1 is a block diagram showing a first embodiment of a vehicle control device according to the present disclosure. [Diagram 2] 2 is a schematic plan view showing an example of vehicle control by the vehicle control device of FIG. 1; [Diagram 3] 2 is a flowchart showing a process flow of the vehicle control device of FIG. 1. [Figure 4] 2 is a plan view showing an example of a restriction on the automatic driving of the vehicle by the vehicle control device of FIG. 1. [Diagram 5] 3 is a schematic plan view showing a modified example of the vehicle control of FIG. 2 by the vehicle control device of FIG. 1; [Figure 6] FIG. 4 is a block diagram showing a vehicle control device according to a second embodiment of the present disclosure. [Figure 7] 7 is a schematic plan view showing an example of vehicle control by the vehicle control device of FIG. 6. [Figure 8]FIG. 7 is a flowchart showing a process flow by the vehicle control device of FIG. 6. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0013] Hereinafter, an embodiment of a vehicle control device according to the present disclosure will be described with reference to the drawings.

[0014] [Embodiment 1] Fig. 1 is a block diagram showing a first embodiment of a vehicle control device according to the present disclosure. Fig. 2 is a schematic plan view showing an example of vehicle control by the vehicle control device 1 of Fig. 1. The vehicle control device 1 of this embodiment is a device that controls the automatic driving of a vehicle 2 by a vehicle control device 21 mounted on a vehicle 2 used, for example, for on-demand transportation or last-mile mobility. The vehicle control device 1 is communicably connected to a plurality of vehicle control devices 21 mounted on a plurality of vehicles 2, for example, and controls the automatic driving of the plurality of vehicles 2.

[0015] The vehicle 2 controlled by the vehicle control device 1 includes, for example, a vehicle control device 21, a communication device 22, an on-board external sensor 23, a vehicle sensor 24, a storage device 25, and a drive device 26. The vehicle control device 21 is, for example, an electronic control unit (ECU) mounted on the vehicle 2 for performing automatic driving of the vehicle 2. The vehicle control device 21 is connected to the communication device 22, the on-board external sensor 23, the vehicle sensor 24, the storage device 25, and the drive device 26.

[0016] The communication device 22 is communicatively connected to the vehicle control device 1 via, for example, a wireless communication line 3, a wireless base station 4, an Internet line 5, a wired communication line 6, etc. The on-board external sensor 23 is, for example, a sensor that detects objects around the vehicle 2. The on-board external sensor 23 includes, for example, a monocular camera, a stereo camera, a laser radar, a millimeter-wave radar, an ultrasonic sensor, an infrared sensor, etc. The vehicle sensor 24 is, for example, a sensor that detects the state of the vehicle 2. The vehicle sensor 24 includes, for example, a wheel speed sensor, an acceleration sensor, an angular velocity sensor, a terminal of a global navigation satellite system (GNSS), etc.

[0017] The storage device 25 is, for example, a non-volatile memory mounted on the vehicle 2, and stores data including vehicle characteristics and programs used for the automatic driving of the vehicle 2. The vehicle characteristics of the vehicle 2 used for the automatic driving of the vehicle 2 may be stored in a non-volatile memory inside the vehicle control device 21. The drive device 26 includes, for example, various actuators used for the automatic driving of the vehicle 2, and a motor or engine that generates a driving force for running the vehicle 2.

[0018] The vehicle characteristics of the vehicle 2 used for the automatic driving of the vehicle 2 by the vehicle control device 21 include various parameters of the vehicle 2, such as the tire diameter, cornering power, actuator responsiveness, and turning curvature radius of the vehicle 2. In addition, the vehicle characteristics may include, for example, characteristics of an external environment recognition function of the on-board external environment sensor 23 mounted on the vehicle 2 and characteristics of a position estimation function of the vehicle sensor 24 mounted on the vehicle 2.

[0019] The vehicle control device 1 can be configured, for example, by a computer, a server, or a computer system equipped with a central processing unit (CPU), a storage device, a timer, an input / output unit, and the like (not shown).

[0020] 1, the vehicle control device 1 includes a communication unit 11, a vehicle characteristic identification unit 12, an identification accuracy estimation unit 13, and an automatic driving control unit 14. The vehicle control device 1 may also include, for example, a database 15. Each unit of the vehicle control device 1 shown in FIG 1 is a functional block representing a function of the vehicle control device 1 that is realized, for example, by executing a program stored in a storage device by a CPU.

[0021] The vehicle control device 1 may be configured with multiple devices installed at different locations, and each unit shown in Fig. 1 may be divided into separate devices. Note that a part or all of the vehicle control device 1 may be replaced by, for example, a dedicated device, a general-purpose machine learning machine, a DSP (Digital Signal Processor), an FPGA (Field-Programmable Gate Array), a GPU (Graphics Processing Unit), a PLD (Programmable Logic Device), or the like.

[0022] The communication unit 11 is communicatively connected to one or more vehicle control devices 21 mounted in one or more vehicles 2. More specifically, the communication unit 11 is communicatively connected to one or more vehicle control devices 21 at least via a wireless communication line 3. In addition, the communication unit 11 may be communicatively connected to one or more vehicle control devices 21 via, for example, a communication device 22 mounted in each vehicle 2, and a data communication network including the wireless communication line 3, a wireless base station 4, an Internet line 5, and a wired communication line 6.

[0023] The vehicle characteristic identification unit 12 acquires a control command value for the autonomous driving of the vehicle 2 by the vehicle control device 21 and a travel trajectory of the vehicle 2 via the communication unit 11, and identifies vehicle characteristics used for the autonomous driving of the vehicle 2. The vehicle characteristic identification unit 12 identifies, for example, the vehicle characteristics of the vehicle 2 that has traveled through a predetermined identification area IA under the control of the vehicle control device 21. The identification area IA is, for example, an area between a waiting area WA where one or more vehicles 2 are waiting and a mobility area MA where one or more vehicles 2 provide a mobility service by autonomous driving.

[0024] The identification area IA includes, for example, a first straight portion IA1, a second straight portion IA2, and a curved portion IA3. The first straight portion IA1 is connected to the waiting area WA and extends in a straight line. The second straight portion IA2 extends in a direction perpendicular or intersecting the first straight portion IA1 and is connected to the mobility area MA. The curved portion IA3 connects the first straight portion IA1 and the second straight portion IA2. The curved portion IA3 may be curved at a predetermined angle or may be smoothly curved. Furthermore, the identification area IA may be composed only of straight portions.

[0025] In the identification area IA, for example, one or more external sensors ES are installed. The external sensor ES detects the position, posture, moving direction, speed, etc. of the vehicle 2 traveling in the identification area IA. As the external sensor ES, for example, a monocular camera, a stereo camera, a laser radar, a millimeter wave radar, etc. can be used.

[0026] The communication unit 11 of the vehicle control device 1 is communicatively connected to an external sensor ES installed in the identification area IA, for example, via a wireless communication line 3, a wireless base station 4, an Internet line 5, a wired communication line 6, etc. In this case, the vehicle characteristic identification unit 12 of the vehicle control device 1 calculates the travel trajectory of the vehicle 2 based on the detection result of the vehicle 2 by the external sensor ES in the identification area IA obtained via the communication unit 11, for example.

[0027] For example, a reference route RP may be displayed in the identification area IA. The reference route RP is, for example, a white line including straight lines and curved lines drawn on the road surface of the identification area IA, or straight lines and curved lines projected by a projector onto the road surface of the identification area IA. When the reference route RP is used to identify the vehicle characteristics of the vehicle 2, the vehicle characteristic identification unit 12 causes the vehicle control device 21 to drive the vehicle 2 along the reference route RP displayed in the identification area and detected by the on-board external sensor 23, and identifies the vehicle characteristics.

[0028] Furthermore, the vehicle characteristic identifying unit 12 may, for example, obtain a detection result of an object D, such as a dummy doll, installed in the identification area IA, by the in-vehicle external sensor 23 from the vehicle control device 21 via the communication device 22, and identify the object detection function of the in-vehicle external sensor 23. Furthermore, the vehicle characteristic identifying unit 12 may, for example, transmit a control command value for the identification area IA to the vehicle control device 21 via the communication unit 11, and cause the vehicle control device 21 to run the vehicle 2 in the identification area IA.

[0029] The identification accuracy estimation unit 13 estimates the identification accuracy of the vehicle characteristics by the vehicle characteristic identification unit 12. More specifically, the vehicle characteristic identification unit 12, for example, executes identification of the vehicle characteristics of the vehicle 2 a plurality of times. The identification accuracy estimation unit 13 estimates the identification accuracy of the vehicle characteristics based on, for example, identification results of a plurality of vehicle characteristics obtained by the plurality of identifications by the vehicle characteristic identification unit 12. More specifically, the identification accuracy estimation unit 13, for example, calculates a variance value from the identification results of the plurality of vehicle characteristics, and uses the calculated variance value as the identification accuracy.

[0030] The autonomous driving control unit 14 controls autonomous driving of the vehicle 2 based on the identification accuracy estimated by the identification accuracy estimation unit 13. For example, the autonomous driving control unit 14 transmits vehicle characteristics for which the identification accuracy estimated by the identification accuracy estimation unit 13 is higher than a threshold value to the vehicle control device 21 via the communication unit 11, and updates the vehicle characteristics stored in the vehicle control device 21 or the storage device 25.

[0031] The autonomous driving control unit 14 sets restrictions on autonomous driving by the vehicle control device 21, for example, in accordance with the identification accuracy estimated by the identification accuracy estimation unit 13. In addition, the autonomous driving control unit 14 preferentially operates a vehicle 2 having a higher identification accuracy estimated by the identification accuracy estimation unit 13 among the multiple vehicles 2, for example.

[0032] The database 15 stores the vehicle characteristics identified by the vehicle characteristic identification unit 12 and the identification accuracy estimated by the identification accuracy estimation unit 13. The database 15 is configured by a non-volatile memory including, for example, a ROM, a flash memory, a magnetic storage device, and the like.

[0033] 3 is a flow diagram showing the flow of processing by the vehicle control device 1 of this embodiment and the vehicle control device 21 mounted on the vehicle 2. In addition, in FIG. 3, the flow diagram on the left side shows the flow of processing P1 by the vehicle control device 1, and the flow diagram on the right side shows the flow of processing P2 by the vehicle control device 21 mounted on the vehicle 2.

[0034] 3, the vehicle control device 1 executes, for example, a process P101 for determining whether or not there is a request for a mobility service. More specifically, a user of the mobility service transmits a request for the mobility service to the vehicle control device 1, for example, through an application of an information terminal connected to the Internet line 5. The vehicle control device 1 receives the request for the mobility service via the communication unit 11.

[0035] In this process P101, the vehicle control device 1, for example, determines whether or not there is a request for a mobility service by the automatic driving control unit 14. More specifically, if the communication unit 11 has not received a request for a mobility service, the automatic driving control unit 14 determines that there is no request (NO) and ends process P1 shown in Fig. 3. On the other hand, if the communication unit 11 has received a request for a mobility service, the automatic driving control unit 14 determines that there is a request (YES) and executes driving instruction process P102.

[0036] In this process P102, the automatic driving control unit 14 of the vehicle control device 1 transmits a driving instruction to the vehicle control device 21 of the vehicle 2 via, for example, the communication unit 11. At this time, the automatic driving control unit 14, for example, refers to the identification accuracy of the multiple vehicles 2 stored in the database 15, and transmits a driving instruction to the vehicle 2 with the highest identification accuracy among the multiple vehicles 2 waiting in the waiting area WA shown in Fig. 2, to operate it preferentially. After that, the vehicle control device 1 executes, for example, process P103 to receive the vehicle characteristics of the vehicle 2.

[0037] On the other hand, when the vehicle control device 21 mounted on each vehicle 2 starts the process P2 shown in Fig. 3, it executes a process P201 for determining the presence or absence of a driving instruction from the vehicle control device 1. In this process P201, if the vehicle control device 21 determines that it has not received a driving instruction from the vehicle control device 1 via the communication device 22 (NO), it ends the process P2 shown in Fig. 3. On the other hand, in this process P201, if the vehicle control device 21 determines that it has received a driving instruction from the vehicle control device 1 via the communication device 22 (YES), it executes a process P202 for transmitting the vehicle characteristics of the vehicle 2 stored in the vehicle control device 21 or the storage device 25.

[0038] In this process P202, the vehicle control device 21 transmits the vehicle characteristics of the vehicle 2 to the vehicle control device 1 via, for example, the communication device 22, the wireless communication line 3, the wireless base station 4, the Internet line 5, the wired communication line 6, etc. Meanwhile, in the above-mentioned process P103, the vehicle control device 1 receives the vehicle characteristics of the vehicle 2 transmitted from the vehicle control device 21 via the communication unit 11, for example, by the vehicle characteristic identification unit 12. Note that in this process P103, the vehicle control device 1 may acquire the vehicle characteristics of the vehicle 2 stored in the database 15.

[0039] Furthermore, the vehicle control device 21, which has finished transmitting the vehicle characteristics in the above-mentioned process P202, executes an automatic driving process P203 in which the drive device 26 is controlled based on the detection results of the on-board external sensor 23 and the vehicle sensor 24 to cause the vehicle 2 to autonomously drive and exit the waiting area WA. Furthermore, while executing the automatic driving process P203, the vehicle control device 21 executes a process P204 in which the vehicle 2 is determined, based on the detection results of the on-board external sensor 23 and the vehicle sensor 24, whether or not the vehicle 2 has exited the waiting area WA.

[0040] In this process P204, if the vehicle control device 21 determines that the vehicle 2 has not left the waiting area WA (NO), it continues the automatic driving process P203, and if it determines that the vehicle 2 has left the waiting area WA (YES), it executes a temporary stop process P205. In this process P205, the vehicle control device 21, for example, controls the drive device 26 to stop the vehicle 2, and transmits a stop signal indicating that the vehicle 2 has left the waiting area WA and stopped to the vehicle control device 1 via the communication device 22. Thereafter, the vehicle control device 21 executes a time synchronization process P206.

[0041] Meanwhile, after acquiring the vehicle characteristics of the vehicle 2 from the vehicle control device 21 or the database 15 in the above-mentioned process P103, the vehicle control device 1 executes a process P104 for determining whether or not the vehicle 2 has left the waiting area WA and stopped. In this process P104, the vehicle control device 1 determines, for example, by the automatic driving control unit 14, whether or not a stop signal has been received from the vehicle control device 1 via the communication unit 11. For example, when the vehicle control device 1 determines that the automatic driving control unit 14 has not received a stop signal, it repeats this process P104, and when it determines that the automatic driving control unit 14 has received a stop signal (YES), it executes a time synchronization process P105.

[0042] In time synchronization processes P105 and P206, the vehicle characteristics identification unit 12 of the vehicle control device 1 and the vehicle control device 21 of the vehicle 2 establish communication with each other to perform time synchronization. This clarifies the relationship between the time series of the control command values ​​of the vehicle control device 21 and the time series of the travel trajectory of the vehicle 2 in the vehicle characteristics identification process described later, making it easier to identify the vehicle characteristics.

[0043] Thereafter, the vehicle control device 21 executes an automatic driving process P207 for causing the vehicle 2 to autonomously drive in the identification area IA, and a process P208 for transmitting a control command value calculated in the process P207 to the vehicle control device 1. Meanwhile, the vehicle control device 1 executes a process P106 for receiving the control command value transmitted from the vehicle control device 21, for example, by the vehicle characteristic identification unit 12 via the communication unit 11.

[0044] The control command values ​​of the vehicle control device 21 include, for example, higher-level command values ​​such as a vehicle speed command value and a steering angle command value, and lower-level command values ​​such as a throttle opening, a brake pressure, and a pinion angle. For example, in the above-mentioned process P106, the vehicle control device 1 acquires the control command values ​​of the vehicle control device 21 as well as the times at which the control command values ​​were output. That is, in the above-mentioned process P106, the vehicle control device 1 acquires, for example, a time series of the control command values ​​of the vehicle control device 21.

[0045] In the above-mentioned automatic driving process P207, the vehicle control device 21 normally controls each part of the vehicle 2, such as the drive device 26, at regular intervals, and therefore the control command value is also calculated at regular intervals. Therefore, the vehicle control device 1 periodically acquires the control command value for one or several intervals from the vehicle control device 21, for example, in the above-mentioned process P106. In addition, the vehicle control device 1 may acquire the control command value of the vehicle control device 21, for example, when the vehicle 2 reaches a plurality of reference points BM1, BM2, BM3 set in advance in the identification area IA.

[0046] More specifically, for example, when the vehicle 2 reaches the reference point BM2, the vehicle control device 21 executes the above-mentioned process P208 to transmit the time series of the control command values ​​from the reference point BM1 to the reference point BM2. In this case, the vehicle control device 1 receives the time series of the control command values ​​from the reference point BM1 to the reference point BM2 transmitted from the vehicle control device 21, for example, in the above-mentioned process P106.

[0047] Furthermore, the vehicle control device 21 may, for example, receive a control command value in the identified area IA transmitted by the vehicle characteristic identification unit 12 of the vehicle control device 1 via the communication unit 11, and in the automatic driving process P207, cause the vehicle 2 to travel autonomously using the control command value received from the vehicle control device 1. Furthermore, the vehicle control device 21 may, for example, cause the vehicle 2 to travel along a reference route RP displayed in the identified area IA and detected by the on-board external sensor 23 in the automatic driving process P207.

[0048] Furthermore, for example, after the above-mentioned processes P207 and P208, the vehicle control device 21 executes a process P209 for determining whether or not the vehicle 2 has finished traveling through the identified area IA based on the detection results of the on-board external sensor 23 and the vehicle sensor 24. In this process P209, if the vehicle control device 21 determines that the vehicle 2 has not finished traveling through the identified area IA (NO), it repeatedly executes the above-mentioned processes P207 and P208. On the other hand, in this process P209, if the vehicle control device 21 determines that the vehicle 2 has finished traveling through the identified area IA (YES), it executes a temporary stop process P210 for stopping the vehicle 2 at the end of the identified area IA.

[0049] Furthermore, after the process P106 of receiving the control command value described above, the vehicle control device 1 executes a process P107 of acquiring the travel trajectory of the vehicle 2. In this process P107, the vehicle characteristic identification unit 12 of the vehicle control device 1 acquires, for example, as described above, via the communication unit 11 the detection results of the vehicle 2 by one or more external sensors ES installed in the identification area IA, and acquires the travel trajectory of the vehicle 2 based on the detection results. Here, by calculating the travel trajectory of the vehicle 2 based on the detection results of the vehicle 2 by the multiple external sensors ES, the estimation accuracy of the travel trajectory can be improved.

[0050] Also, in the above-mentioned automatic driving process P207, as described above, the vehicle control device 21 may cause the vehicle 2 to travel along the reference route RP displayed in the identification area IA and detected by the on-board external sensor 23. In this case, in the above-mentioned process P208, the vehicle characteristic identification unit 12 of the vehicle control device 1 receives a control command value from the vehicle control device 21 that controls the vehicle 2 to travel along the reference route RP. Also, the vehicle characteristic identification unit 12 may acquire, for example, information on the reference route RP stored in advance in the database 15 as the travel trajectory of the vehicle 2 in the above-mentioned process P107.

[0051] After completing the process P107 for acquiring the vehicle trajectory, the vehicle control device 1 executes a process P108 for determining whether the vehicle 2 is approaching the end of the identified area IA. In this process P108, the vehicle characteristic identification unit 12 determines whether the vehicle 2 is approaching the end of the identified area IA, for example, based on the position information of the vehicle 2 calculated in the vehicle trajectory acquisition process P107 and the position information of the end of the identified area IA.

[0052] More specifically, in this process P108, the vehicle characteristic identification unit 12 calculates, for example, the distance from the vehicle 2 to the end of the identification area IA, and if the calculated distance is longer than a predetermined distance, determines that the vehicle is not approaching (NO). In this case, the vehicle characteristic identification unit 12 repeatedly executes the above-mentioned processes P107 to P108. On the other hand, if the calculated distance is equal to or shorter than the predetermined distance, the vehicle characteristic identification unit 12 determines that the vehicle is approaching (YES), and executes process P109 to determine whether the identification condition is satisfied.

[0053] In the above-mentioned process P108, the predetermined distance that is the threshold for determining whether the vehicle 2 is approaching the end of the identified area IA is not particularly limited, but is set, for example, to a distance at which the vehicle 2 that has traveled through the identified area IA can safely stop at the end of the identified area IA. Specifically, this predetermined distance can be set, for example, to a distance of about 10 [m] to 30 [m].

[0054] When the vehicle control device 1 starts process P109 for determining whether the identification condition is satisfied, for example, the vehicle characteristic identification unit 12 checks whether the control command value of the vehicle control device 21 has been successfully received and whether the travel trajectory of the vehicle 2 has been successfully acquired. If, for example, at least one of the reception of the control command value and the acquisition of the travel trajectory has failed, the vehicle characteristic identification unit 12 determines that the identification condition is not satisfied (NO) and ends process P1 shown in Fig. 3. In this case, the vehicle control device 21 of the vehicle 2 ends process P2 shown in Fig. 3 without receiving the calculation result from the vehicle control device 1 in the calculation result reception process P211.

[0055] On the other hand, for example, if both the reception of the control command value and the acquisition of the driving trajectory are successful, the vehicle characteristic identification unit 12 determines that the identification condition is satisfied (YES) and executes a vehicle characteristic identification process P110. In this process P110, the vehicle characteristic identification unit 12 identifies the vehicle characteristics used for the automatic driving of the vehicle 2 by using the control command value for automatic driving by the vehicle control device 21 acquired in the above-mentioned process P106 and the driving trajectory of the vehicle 2 acquired in the above-mentioned process P107.

[0056] More specifically, in this process P110, the vehicle characteristic identifying unit 12 identifies the response of the vehicle speed control and the tire diameter of the vehicle 2, for example, in a section where the vehicle 2 moves only in the forward and backward directions, based on the control command value of the speed and the position and time information included in the traveling trajectory. Also, the vehicle characteristic identifying unit 12 identifies the cornering power and the turning radius of curvature, for example, in a section where the vehicle 2 moves in the lateral direction at a constant speed, based on the control command value of the steering angle and the position and time information included in the traveling trajectory. Note that the method of identifying the cornering power and the turning radius of curvature can be a known method, and therefore a description thereof will be omitted.

[0057] Here, the vehicle characteristic identification unit 12 may identify, for example, an object detection function by the on-board external sensor 23 and a detection function of the position of the vehicle 2 by the vehicle sensor 24. In this case, for example, in the above-mentioned process P106, the vehicle characteristic identification unit 12 acquires the detection result of the on-board external sensor 23 of the object D installed in the identification area IA and the detection result of the position of the vehicle 2 by the vehicle sensor 24 from the vehicle control device 21 via the communication unit 11. Furthermore, the vehicle characteristic identification unit 12 acquires, for example, the absolute position of the object D recorded in advance in the non-volatile memory of the vehicle control device 1.

[0058] Then, in the above-mentioned vehicle characteristic identification process P110, the vehicle characteristic identification unit 12 identifies the object detection function of the on-vehicle external sensor 23 based on, for example, the absolute position of the object D, the position and time information included in the travel trajectory of the vehicle 2, and the detection result of the on-vehicle external sensor 23. Also, the vehicle characteristic identification unit 12 identifies the position detection function of the vehicle sensor 24 based on, for example, the position and time information included in the travel trajectory of the vehicle 2 and the detection result of the position of the vehicle 2 by the vehicle sensor 24.

[0059] After completing the vehicle characteristic identification process P110, the vehicle control device 1 executes an identification accuracy estimation process P111. In this process P111, the identification accuracy estimation unit 13 of the vehicle control device 1 estimates the identification accuracy of the vehicle characteristic identified by the vehicle characteristic identification unit 12. More specifically, the identification accuracy estimation unit 13 calculates, as the identification accuracy, a variance value of the identification results of a plurality of vehicle characteristics obtained by multiple identifications by the vehicle characteristic identification unit 12, for example, as described above.

[0060] Furthermore, in this process P111, the identification accuracy estimation unit 13 may calculate, for example, the object detection accuracy of the on-board external sensor 23 and the position detection accuracy of the vehicle sensor 24. In this case, the identification accuracy estimation unit 13 calculates the object detection accuracy of the on-board external sensor 23 based on, for example, the absolute position of the object D, position and time information included in the travel trajectory of the vehicle 2, and the detection result of the on-board external sensor 23. Also, the identification accuracy estimation unit 13 calculates the position detection accuracy of the vehicle sensor 24 based on, for example, the position and time information included in the travel trajectory of the vehicle 2 and the detection result of the position of the vehicle 2 by the vehicle sensor 24.

[0061] After completing the identification accuracy estimation process P111, the vehicle control device 1 executes the operation management calculation process P112. In this process P112, the automatic driving control unit 14 of the vehicle control device 1 controls the automatic driving of the vehicle 2 based on the identification accuracy of the vehicle characteristics estimated by the identification accuracy estimation unit 13. More specifically, the automatic driving control unit 14 sets restrictions on the route to the destination based on, for example, the identification accuracy of the vehicle characteristics of the vehicle 2.

[0062] 4 is a plan view showing an example of a restriction on the autonomous driving of the vehicle 2 set by the autonomous driving control unit 14. The autonomous driving control unit 14 sets a restriction on the road width on the route to the destination G, for example, based on the identification accuracy of the vehicle characteristics of the vehicle 2. More specifically, the autonomous driving control unit 14 sets the road width restriction to a relatively narrow road width W1 for a vehicle 2 whose identification accuracy of the vehicle characteristics is equal to or higher than a predetermined threshold value. Furthermore, the autonomous driving control unit 14 sets the road width restriction to a relatively wide road width W2 for a vehicle 2 whose identification accuracy of the vehicle characteristics is lower than a predetermined threshold value.

[0063] This allows the vehicle control device 1 to control the automatic driving of the vehicle 2 so that the vehicle 2 with high identification accuracy of the vehicle characteristics travels along the shortest route R1 to the destination G including the narrow road width W1. Also, the vehicle control device 1 can control the automatic driving of the vehicle 2 so that the vehicle 2 with low identification accuracy of the vehicle characteristics travels along the route R2 with the wider road width W2, avoiding the route R1 including the narrow road width W1.

[0064] In addition, the autonomous driving control unit 14 may calculate the optimal routes R1, R2 for each vehicle 2 based on the restrictions set according to the identification accuracy of the vehicle characteristics of the vehicle 2 in the above-mentioned operation management calculation process P112. In addition, in the case of a vehicle 2 used for last-mile mobility, the autonomous driving control unit 14 may change the destination according to the identification accuracy of the vehicle characteristics. For example, a vehicle 2 with low identification accuracy of the vehicle characteristics has difficulty in autonomous driving to within a few centimeters. Therefore, for example, when sufficient space cannot be secured around the destination, the autonomous driving control unit 14 sets a point with a larger space around it as a new destination.

[0065] After completing the traffic management calculation process P112, the vehicle control device 1 executes a calculation result transmission process P113. In this process, the vehicle characteristic identification unit 12 of the vehicle control device 1 transmits the identified vehicle characteristic of the vehicle 2 and the estimated identification accuracy to the vehicle control device 21 of the vehicle 2, for example, via the communication unit 11. In addition, the vehicle control device 21 of the vehicle 2 executes a process P211 to receive the vehicle characteristic and the identification accuracy transmitted from the vehicle control device 1, for example, via the communication device 22. Note that the vehicle control device 1 may transmit the target route calculated according to the identification accuracy of the vehicle 2 to the vehicle control device 21 of the vehicle 2 in the above-mentioned process P113.

[0066] Note that the autonomous driving control unit 14 may transmit, for example, in the above-mentioned process P113, vehicle characteristics whose identification accuracy estimated by the identification accuracy estimation unit 13 is higher than a threshold value to the vehicle control device 21 via the communication unit 11. In this case, the vehicle characteristics stored in the vehicle control device 21 may be updated in the above-mentioned process P211. After the completion of these processes P113 and P211, the vehicle control device 1 and the vehicle control device 21 of the vehicle 2 end the processes P1 and P2 shown in Fig. 3. Thereafter, the vehicle 2 starts autonomous driving in the mobility area MA under the control of the vehicle control device 21, and provides mobility services such as on-demand transportation and last-mile mobility.

[0067] For example, after providing a service in the mobility area MA, the vehicle 2 passes through the identification area IA and returns to the waiting area WA under the control of the vehicle control device 21. At this time, the vehicle control device 1 and the vehicle control device 21 of the vehicle 2 may execute the above-mentioned processes P1 and P2. Furthermore, the vehicle control device 1 may, for example, communicate with the vehicle control device 21 of the vehicle 2 that has returned to the waiting area WA, and transmit the newly identified vehicle characteristics and their identification accuracy from the vehicle control device 1 to the vehicle control device 21. Furthermore, the vehicle control device 1 may store the newly identified vehicle characteristics and their identification accuracy in, for example, the database 15.

[0068] 3, the vehicle control device 1 receives the vehicle characteristics from the vehicle 2 in process P103 before the vehicle 2 enters the identification area IA, but the vehicle characteristics of the vehicle 2 may be acquired after the vehicle 2 enters the identification area IA. In this case, the vehicle control device 1 checks, for example, in the above-mentioned process P105 whether the vehicle characteristics of the vehicle 2 have been acquired, and if not, receives the vehicle characteristics from the vehicle 2 or acquires the vehicle characteristics stored in the database 15. Thereafter, the vehicle control device 1 can execute the above-mentioned process P106.

[0069] The operation of the vehicle control device 1 of this embodiment will be described below.

[0070] The vehicle control device 1 of this embodiment is a device that controls the automatic driving of the vehicle 2 by a vehicle control device 21 mounted on the vehicle 2. The vehicle control device 1 includes a communication unit 11 that is communicatively connected to the vehicle control device 21, and a vehicle characteristic identification unit 12 that acquires a control command value for automatic driving and a driving trajectory of the vehicle 2 from the vehicle control device 21 via the communication unit 11 and identifies vehicle characteristics used for automatic driving. The vehicle control device 1 also includes an identification accuracy estimation unit 13 that estimates the identification accuracy of the vehicle characteristics by the vehicle characteristic identification unit 12, and an automatic driving control unit 14 that controls the automatic driving of the vehicle 2 based on the identification accuracy estimated by the identification accuracy estimation unit 13.

[0071] With such a configuration, the vehicle control device 1 of this embodiment can improve the tracking accuracy of the vehicle 2 with respect to the target route, and can improve the operation rate of the vehicle 2 in on-demand transportation and last-mile mobility. That is, the vehicle characteristics, which are parameters used for the automatic driving of the vehicle 2 by the vehicle control device 21, can be updated at any time, and fluctuations in the vehicle characteristics over time can be reflected in the automatic driving of the vehicle 2. In other words, in the control of the vehicle 2, the feedforward term is updated rather than the feedback term, and thus the tracking accuracy of the vehicle 2 with respect to the target route during automatic driving can be improved.

[0072] Furthermore, according to the vehicle control device 1 of this embodiment, by identifying the vehicle characteristics of the vehicle 2 and estimating the identification accuracy, it is possible to detect a decrease in the position detection accuracy by the vehicle sensor 24 mounted on the vehicle 2 and a decrease in tracking accuracy due to changes in the vehicle characteristics over time. Therefore, when a service is requested by a user of a mobility service, for example, the vehicle control device 1 of this embodiment can select a vehicle 2 with a higher identification accuracy of the vehicle characteristics from among multiple vehicles 2 waiting in the waiting area WA and operate it preferentially. This improves the tracking accuracy of the target route by the vehicle 2 providing the mobility service, and can improve the operation and utilization rate of the entire mobility service provided by the multiple vehicles 2.

[0073] Moreover, according to the vehicle control device 1 of the present embodiment, it is possible to select and operate a vehicle 2 having an identification accuracy of vehicle characteristics according to a service request by a mobility service user. More specifically, for example, assume that the mobility area MA in which the mobility service is provided by the vehicle 2 is a left-hand traffic area. In this case, if the route to the destination based on the service request is only a straight road and a left turn, the target route tracking accuracy required of the vehicle 2 is relatively low. On the other hand, if the route to the destination includes a narrow road or a right turn, the target route tracking accuracy required of the vehicle 2 is relatively high. In this way, according to the vehicle control device 1 of the present embodiment, the operation rate of the entire mobility service provided by a plurality of vehicles 2 can be improved by selecting and operating a vehicle 2 having an identification accuracy of vehicle characteristics according to the required target route tracking accuracy.

[0074] Furthermore, in the vehicle control device 1 of this embodiment, the vehicle characteristic identification unit 12 identifies the vehicle characteristics of the vehicle 2 that has traveled through a predetermined identification area IA under the control of the vehicle control device 21. With this configuration, the vehicle control device 1 of this embodiment can cause the vehicle 2 traveling through the identification area IA in an automatic driving manner under the control of the vehicle control device 21 to perform a desired operation according to the shape of the identification area IA, such as going straight, accelerating, decelerating, turning, rotating, or turning right or left. Therefore, the vehicle control device 1 of this embodiment can improve the accuracy of identifying the vehicle characteristics of the vehicle 2.

[0075] Moreover, in the vehicle control device 1 of this embodiment, the communication unit 11 is communicatively connected to an external sensor ES installed in the identification area IA. Moreover, the vehicle characteristic identification unit 12 calculates the travel trajectory of the vehicle 2 based on the detection result of the vehicle 2 by the external sensor ES acquired via the communication unit 11. With this configuration, the vehicle control device 1 can accurately calculate the travel trajectory of the vehicle 2 traveling in the identification area IA, regardless of the position detection accuracy of the vehicle sensor 24 mounted on the vehicle 2.

[0076] In this embodiment, the vehicle control device 21 mounted on the vehicle 2 is connected to an on-board external sensor 23 mounted on the vehicle 2. In addition, in the vehicle control device 1 of this embodiment, the vehicle characteristic identification unit 12 acquires a detection result of the on-board external sensor 23 of an object D installed in an identification area IA from the vehicle control device 21 via the communication unit 11, and identifies the object detection function of the on-board external sensor 23. With this configuration, the vehicle control device 1 of this embodiment can identify the detection characteristic of the on-board external sensor 23 mounted on the vehicle 2 as the vehicle characteristic of the vehicle 2.

[0077] Furthermore, in the vehicle control device 1 of this embodiment, the vehicle characteristic identification unit 12 transmits a control command value for the identification area IA to the vehicle control device 21 via the communication unit 11, and the vehicle control device 21 causes the vehicle 2 to travel in the identification area IA. With this configuration, the vehicle control device 1 of this embodiment can identify the vehicle characteristics of the vehicle 2 and estimate the identification accuracy based on the control command value transmitted to the vehicle control device 21 and the travel trajectory of the vehicle 2 traveling in the identification area IA.

[0078] In this embodiment, the vehicle control device 21 mounted on the vehicle 2 is connected to an on-board external sensor 23 mounted on the vehicle 2. In the vehicle control device 1 of this embodiment, the vehicle characteristic identification unit 12 causes the vehicle 2 to travel along the reference route RP displayed in the identification area IA and detected by the on-board external sensor 23 by the vehicle control device 21, and identifies the vehicle characteristics.

[0079] With this configuration, the vehicle control device 1 of this embodiment can identify the vehicle characteristics of the vehicle 2 based on the control command value of the vehicle control device 21 and the reference route RP as the travel trajectory of the vehicle 2, without using the external sensor ES installed in the identification area IA. Furthermore, since the reference route RP includes straight lines and curves, it becomes possible to identify the vehicle characteristics in the longitudinal and lateral directions of the vehicle 2, and the tracking accuracy of the vehicle 2 to the target route can be improved.

[0080] Furthermore, in the vehicle control device 1 of this embodiment, the automatic driving control unit 14 transmits the vehicle characteristics, the identification accuracy of which is higher than a threshold value, estimated by the identification accuracy estimation unit 13 to the vehicle control device 21 via the communication unit 11, and updates the vehicle characteristics stored in the vehicle control device 21. With this configuration, the accuracy of tracking the target route can be improved in automatic driving of the vehicle 2 under the control of the vehicle control device 21.

[0081] Furthermore, in the vehicle control device 1 of this embodiment, the automatic driving control unit 14 sets restrictions on automatic driving by the vehicle control device 21 according to the identification accuracy estimated by the identification accuracy estimation unit 13. With this configuration, the vehicle control device 1 of this embodiment can improve the safety of the automatic driving of the vehicle 2 and perform optimal control according to the identification accuracy of the vehicle characteristics of the vehicle 2, thereby improving the operation and utilization rate of the entire mobility service provided by the multiple vehicles 2.

[0082] Furthermore, in the vehicle control device 1 of this embodiment, the automatic driving control unit 14 preferentially operates a vehicle having a higher identification accuracy estimated by the identification accuracy estimation unit 13 among the multiple vehicles 2. With this configuration, the vehicle control device 1 of this embodiment can improve the accuracy of tracking a target route by the vehicle 2 providing a mobility service, and can improve the operation and utilization rate of the entire mobility service provided by the multiple vehicles 2.

[0083] Moreover, the vehicle control device 1 of the present embodiment includes a database 15 that stores the vehicle characteristics and the identification accuracy of the vehicle 2. With such a configuration, the vehicle control device 1 can use the vehicle characteristics and the identification accuracy of the vehicle 2 stored in the database 15, and can improve the operation rate of the entire mobility service provided by the multiple vehicles 2.

[0084] As described above, according to this embodiment, it is possible to provide a vehicle control device 1 capable of improving the tracking accuracy of the vehicle 2 with respect to the target route, and it is possible to improve the operation rate of the entire mobility service provided by a plurality of vehicles 2. Note that the vehicle control device 1 of this embodiment is not limited to the above-mentioned configuration. Hereinafter, a modified example of the vehicle control device 1 of this embodiment will be described with reference to FIG. 5.

[0085] Fig. 5 is a schematic plan view showing a modified example of the vehicle control of Fig. 2 by the vehicle control device 1 of Fig. 1. In this modified example, the vehicle characteristic identification unit 12 of the vehicle control device 1 identifies the vehicle characteristics of the vehicle 2 that has traveled through a maintenance area TA that is larger than the identification area IA under the control of the vehicle control device 21. Here, the maintenance area TA has an area and shape that allows, for example, the vehicle 2 to turn with a turning radius larger than the turning radius of the vehicle 2 in the identification area IA, the vehicle 2 to slalom, and the like.

[0086] For example, the vehicle control device 1 identifies the vehicle characteristics of the vehicle 2 in the identification area IA every time the vehicle 2 travels through a mobility area MA, whereas it identifies the vehicle characteristics of the vehicle 2 in the maintenance area TA at a predetermined cycle, such as once a month or several months. According to the vehicle control device 1 of this modified example, it is possible to identify the vehicle characteristics of the vehicle 2 more comprehensively, thereby improving the accuracy of identifying the vehicle characteristics.

[0087] Therefore, according to the vehicle control device 1 of this modified example, the accuracy with which a vehicle 2 providing a mobility service follows a target route can be further improved, and the operational uptime of the entire mobility service provided by multiple vehicles 2 can be further improved.

[0088] [Embodiment 2] Hereinafter, a second embodiment of the vehicle control device according to the present disclosure will be described with reference to Fig. 6 to Fig. 8. Fig. 6 is a block diagram showing a second embodiment of the vehicle control device according to the present disclosure. Fig. 7 is a schematic plan view for explaining the process performed by the vehicle control device 1A of Fig. 6.

[0089] In the above-mentioned first embodiment, a vehicle control device 1 that controls the automatic driving of a vehicle 2 by a vehicle control device 21 mounted on the vehicle 2 used for on-demand transportation and last-mile mobility has been described. In contrast, in the present embodiment, a vehicle control device 1A that controls the automatic driving of a vehicle 2A such as a large freight vehicle in which loading and unloading of luggage occurs will be described. In this embodiment, the same components as the vehicle control device 1, vehicle 2, and identification area IA of the above-mentioned first embodiment are denoted by the same reference numerals as those of the above-mentioned first embodiment, and description thereof will be omitted.

[0090] The vehicle control device 1A of this embodiment includes, for example, an external sensor ES and a weight sensor WS installed in the identification area IA. In the vehicle control device 1A, the communication unit 11, the vehicle characteristic identification unit 12, the identification accuracy estimation unit 13, and the automatic driving control unit 14 are configured by one or more computers, servers, or computer systems, similar to the vehicle control device 1 of the above-mentioned embodiment 1. The external sensor ES and the weight sensor WS are connected to the communication unit 11, the vehicle characteristic identification unit 12, the identification accuracy estimation unit 13, and the automatic driving control unit 14 so as to be able to communicate with each other.

[0091] 7, the vehicle 2A loads and unloads cargo in a loading and unloading area PA such as a truck yard, a distribution center, a warehouse, etc. After loading and unloading cargo in the loading and unloading area PA, the vehicle 2A travels through an identification area IA by automatic driving under the control of the vehicle control device 21 from the loading and unloading area PA to the loading and unloading area of ​​the mobility area MA.

[0092] Vehicle 2A that has entered identification area IA from loading / unloading area PA shown in Fig. 7 stops temporarily on weight sensor WS. Vehicle control device 1A measures the weight of vehicle 2A using weight sensor WS. Vehicle control device 1A may measure, for example, not only the overall weight of vehicle 2A but also the load acting on each wheel of vehicle 2A.

[0093] The vehicle control device 1A of this embodiment uses the weight of the vehicle 2A and the load acting on each wheel measured by the weight sensor WS in the identification area IA to identify the vehicle characteristics of the vehicle 2A. This makes it possible to identify the vehicle characteristics of the vehicle 2A with high accuracy even if the weight of the vehicle 2A or the load acting on each wheel changes due to loading and unloading of luggage, thereby improving the tracking accuracy of the vehicle 2A to the target route.

[0094] Thereafter, the vehicle 2A travels through the identification area IA, and the vehicle control device 1A receives a control command value from the vehicle control device 21 of the vehicle 2A. The vehicle characteristic identification unit 12 of the vehicle control device 1A receives a detection result of the vehicle 2A by an external sensor ES installed in the identification area IA, and acquires the travel trajectory of the vehicle 2A. The vehicle characteristic identification unit 12 also identifies the vehicle characteristics of the vehicle 2A based on the received control command value and the acquired travel trajectory.

[0095] Moreover, the identification accuracy estimation unit 13 of the vehicle control device 1A estimates the identification accuracy of the vehicle characteristics by the vehicle characteristic identification unit 12, as in the above-described first embodiment. Moreover, the automatic driving control unit 14 of the vehicle control device 1A calculates, for example, a driving route of the vehicle 2A based on the identification accuracy estimated by the identification accuracy estimation unit 13, and transmits it to the vehicle control device 21 together with the vehicle characteristics and their identification accuracy. In this way, the vehicle control device 1A controls the automatic driving of the vehicle 2A. Thereafter, the vehicle 2A performs automatic driving in the mobility area MA and moves to a loading / unloading area present in the mobility area MA.

[0096] As described above, in the vehicle control device 1A of the present embodiment, the communication unit 11 is communicably connected to the weight sensor WS installed in the identification area IA. The vehicle characteristic identification unit 12 identifies the vehicle characteristics based on the detection result of the weight of the vehicle 2A by the weight sensor WS obtained via the communication unit 11.

[0097] According to the vehicle control device 1A of this embodiment, the vehicle characteristics of the vehicle 2A after unloading of luggage are identified using the weight sensor WS, thereby improving the tracking accuracy of the target route during automatic driving of the vehicle 2A, whose vehicle characteristics change due to unloading of luggage. This makes it possible to prevent errors from occurring in the stopping position and angle of the vehicle 2A in the loading and unloading area of ​​the mobility area MA, and to efficiently load and unload luggage.

[0098] Furthermore, if the vehicle 2A is a towing vehicle, while the cargo is being loaded and unloaded from the trailer, only the trailer head may be driven through the identification area IA, and the vehicle characteristics may be identified by the vehicle characteristics identification unit 12 of the vehicle control device 1A. After the cargo is loaded and unloaded from the trailer, the trailer and the trailer head may be coupled together and driven through the identification area IA, and the vehicle characteristics may be similarly identified by the vehicle characteristics identification unit 12 of the vehicle control device 1A.

[0099] This makes it possible to individually identify the vehicle characteristics of the vehicle 2A with only the trailer head and the vehicle characteristics of the vehicle 2A with the trailer head and trailer coupled together. Therefore, compared to a case where the vehicle characteristics of the trailer head and trailer are identified simultaneously in the vehicle 2A, the accuracy of identifying the vehicle characteristics is improved, and the accuracy of tracking the target route during autonomous driving of the vehicle 2A can be improved.

[0100] Furthermore, the vehicle control device 1A of this embodiment may identify the vehicle characteristics of the vehicle 2A and estimate the identification accuracy, for example, every time loading or unloading of luggage occurs in the mobility area MA. The processing of the vehicle control device 1A and the vehicle control device 21 of the vehicle 2A in this case will be described with reference to Fig. 8. Fig. 8 is a flow diagram showing the flow of processing by the vehicle control device 1A and the vehicle control device 21 of the vehicle 2A in Fig. 6.

[0101] The vehicle control device 1A and the vehicle control device 21 of the vehicle 2A respectively start processes P1A and P2A shown in Fig. 8. The vehicle control device 21 of the vehicle 2A first executes process P201A for determining whether or not loading and unloading of luggage has occurred. For example, during automatic driving under the control of the vehicle control device 21, the vehicle 2A travels along a predetermined travel route and loads and unloads luggage in a predetermined loading and unloading area.

[0102] Therefore, in process P201A, the vehicle control device 21 of the vehicle 2A can determine whether or not unloading has occurred based on, for example, the position information of the vehicle 2A. In this process P201A, if the vehicle control device 21 of the vehicle 2A determines that unloading of luggage has not occurred (NO), it ends process P2A shown in Fig. 8, and if it determines that unloading of luggage has occurred (YES), it executes process P202A to transmit the vehicle characteristics. This process 202A is similar to process P202 in the first embodiment shown in Fig. 3.

[0103] On the other hand, when the vehicle control device 1A starts the process P1A shown in Fig. 8, it first executes a process P101A to receive vehicle characteristics from the vehicle control device 21 of the vehicle 2A, and then executes a process P102A to determine whether the vehicle characteristics have been received. If the vehicle control device 1A has not received the vehicle characteristics in the process P101A, it determines that the vehicle characteristics have not been received (NO) in the process P102A, and ends the process P1A shown in Fig. 8.

[0104] On the other hand, when the vehicle control device 1A receives the vehicle characteristics in process P101A, it determines that the vehicle characteristics have been received (YES) in process P102A. In this case, the vehicle control device 1A and the vehicle control device 21 of the vehicle 2A execute time synchronization processes P103A and P203A, respectively. These processes P103A and P203A are similar to the processes P105 and P206 of the first embodiment shown in FIG.

[0105] Thereafter, the vehicle control device 21 of the vehicle 2A executes an automatic driving process P204A in the mobility area MA and an automatic driving information transmission process P205A, and executes a process P206A for determining whether the vehicle 2A has traveled a predetermined distance. In this process P206A, if the vehicle control device 21 determines that the vehicle 2A has not traveled the predetermined distance (NO), it repeats the above-mentioned processes P204A and P205A.

[0106] Meanwhile, the vehicle control device 1A executes a process P104A for periodically receiving automatic driving information transmitted from the vehicle control device 21 of the vehicle 2A. This automatic driving information includes output results of the automatic driving function, such as a control command value for automatic driving of the vehicle 2A by the vehicle control device 21 and position information of the vehicle 2A. If the vehicle control device 1A is unable to receive the automatic driving information in the above-mentioned process P104, it executes a process P105A for determining whether or not a predetermined time has elapsed, and if it determines in this process P105A that the predetermined time has not elapsed (NO), it repeats the above-mentioned process P104A.

[0107] Furthermore, when the vehicle control device 1A determines in the above-mentioned process P105A that a predetermined time has elapsed (YES), it executes a vehicle characteristic identification process P106A and an identification accuracy estimation process P107A similar to the processes P110 and P111 in the above-mentioned embodiment 1 shown in Fig. 3. Thereafter, the vehicle control device 1A executes a vehicle characteristic transmission process P108A and transmits the vehicle characteristic of the vehicle 2A and its identification accuracy acquired in the above-mentioned processes P106A and P107A to the vehicle control device 21 of the vehicle 2A.

[0108] When the vehicle control device 21 of the vehicle 2A determines in the above-mentioned process P206A that the vehicle 2A has traveled a predetermined distance (YES), it executes a process P207A to receive the vehicle characteristics and their identification accuracy transmitted from the vehicle control device 1A. Thereafter, the vehicle control device 21 of the vehicle 2A executes a process P208A to determine whether the vehicle 2A is stopped or not, and when it determines that the vehicle 2A is traveling (NO), it continues the automatic driving of the vehicle 2A and repeats this process P208A.

[0109] When the vehicle 2A stops temporarily and determines that the vehicle 2A is temporarily stopped (YES) in this process P208A, the vehicle control device 21 of the vehicle 2A executes a vehicle characteristics update process P209A. In this process P209A, the vehicle control device 21 updates the vehicle characteristics and their identification accuracy stored in the memory or storage device 25 of the vehicle control device 21 to the vehicle characteristics and their identification accuracy of the vehicle 2A received in the above-mentioned process P207, and stores them.

[0110] With this configuration, not only can the accuracy of tracking the target trajectory by the vehicle 2A be improved, but also the stability of the automatic driving can be improved by preventing changes in the behavior of the vehicle 2A due to changes in the vehicle characteristics while the vehicle 2A is traveling in an automatic driving manner. Also, by improving the accuracy of tracking the target trajectory by the vehicle 2A, the efficiency of the logistics service by the vehicle control device 1A can be improved.

[0111] The above describes in detail an embodiment of the vehicle control device according to the present disclosure using the drawings, but the specific configuration is not limited to this embodiment, and even if there are design changes, etc., within the scope that does not deviate from the gist of the present disclosure, they are included in the present disclosure. [Explanation of symbols]

[0112] 1 vehicle control device, 11 communication unit, 12 vehicle characteristic identification unit, 13 identification accuracy estimation unit, 14 Autonomous Driving Control Unit, 15 Database, 2 Vehicles, 2A Vehicles, 21 vehicle control device, 23 in-vehicle external sensor, D object, ES external sensor, IA identification area, RP reference path, TA maintenance area, WS weight sensor.

Claims

1. A vehicle control device that controls automatic driving of a vehicle by a vehicle control device mounted on the vehicle, A communication unit communicably connected to the vehicle control device; a vehicle characteristic identification unit that acquires a control command value for autonomous driving and a travel trajectory of the vehicle from the vehicle control device via the communication unit and identifies vehicle characteristics used for autonomous driving; an identification accuracy estimation unit that estimates the identification accuracy of the vehicle characteristic by the vehicle characteristic identification unit; an automatic driving control unit that controls automatic driving of the vehicle based on the identification accuracy estimated by the identification accuracy estimation unit; A vehicle control device comprising:

2. 2. The vehicle control device according to claim 1, wherein the vehicle characteristic identification unit identifies the vehicle characteristics of the vehicle that has traveled through a predetermined identification area under the control of the vehicle control device.

3. The communication unit is communicatively connected to an external sensor installed in the identification area, 3. The vehicle control device according to claim 2, wherein the vehicle characteristic identification unit calculates a travel trajectory of the vehicle based on a detection result of the vehicle by the external sensor acquired via the communication unit.

4. The communication unit is communicatively connected to a weight sensor installed in the identification area, 3. The vehicle control device according to claim 2, wherein the vehicle characteristic identification unit identifies the vehicle characteristic based on a result of detection of the weight of the vehicle by the weight sensor obtained via the communication unit.

5. The vehicle control device is connected to an on-board external sensor mounted on the vehicle, 3. The vehicle control device according to claim 2, wherein the vehicle characteristic identification unit acquires a detection result of the on-board external sensor of an object installed in the identification area from the vehicle control device via the communication unit, and identifies an object detection function of the on-board external sensor.

6. The vehicle control device according to claim 2, characterized in that the vehicle characteristic identification unit transmits a control command value for the identified area to the vehicle control device via the communication unit, and causes the vehicle to travel in the identified area by the vehicle control device.

7. The vehicle control device is connected to an on-board external sensor mounted on the vehicle, The vehicle control device according to claim 2, characterized in that the vehicle characteristic identification unit causes the vehicle to travel along a reference route that is displayed in the identification area and detected by the on-board external sensor, thereby identifying the vehicle characteristics.

8. The vehicle control device according to claim 1, characterized in that the autonomous driving control unit transmits the vehicle characteristics, the identification accuracy of which is higher than a threshold value, estimated by the identification accuracy estimation unit to the vehicle control device via the communication unit, thereby updating the vehicle characteristics stored in the vehicle control device.

9. The vehicle control device according to claim 1 , wherein the automatic driving control unit sets a restriction on the automatic driving by the vehicle control device according to the identification accuracy estimated by the identification accuracy estimation unit.

10. The vehicle control device according to claim 1 , wherein the automatic driving control unit preferentially operates a vehicle having a higher identification accuracy estimated by the identification accuracy estimation unit among the plurality of vehicles.

11. The vehicle control device according to claim 1 , further comprising a database for storing the vehicle characteristics and the identification accuracy.

12. 3. The vehicle control device according to claim 2, wherein the vehicle characteristic identification unit identifies the vehicle characteristics of the vehicle that has traveled through a maintenance area that is larger than the identification area under the control of the vehicle control device.

Images