Hybrid vehicle control device and control method

Abstract

To provide a technique enabling an effective usage of an EV mode incorporated in a hybrid vehicle in a situation where high control precision is required.SOLUTION: Provided is a hybrid-vehicular control apparatus. The hybrid-vehicular control apparatus is configured so as to select an EV mode in which a vehicle is driven by a motor with an engine stopped, and an engine operation mode in which the engine is operated for at least either of power generation to charge a battery and driving of the vehicle. The hybrid-vehicular control apparatus executes following processing: first processing for determining whether or not a situation where the vehicle is presently facing requires a high control precision in control of traveling; second processing for selecting only the EV mode under a situation where high precision is required for control; and third processing for selecting the engine operation mode only under a situation where high precision is not required for control.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present disclosure relates to techniques for controlling hybrid vehicles. [Background technology]

[0002] Patent Document 1 discloses a hybrid vehicle control device. The hybrid vehicle control device detects a driving route from a departure point to a destination, calculates an EV moderation (driving load) for each section on the driving route, and plans sections for EV driving mode based on the EV moderation, energy consumed during driving, and remaining battery power.

[0003] In addition to Patent Document 1, the following Patent Documents 2 to 4 can be cited as examples of documents that show the technical level at the time of filing in the technical field of the present disclosure. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] Patent No. 6020249 [Patent Document 2] Japanese Patent Application Laid-Open No. 2014-213638 [Patent Document 3] Patent No. 4314257 [Patent Document 4] Patent Publication No. 2021-123290 Summary of the Invention [Problem to be solved by the invention]

[0005] Hybrid vehicles equipped with both a motor and an engine are known. Hybrid vehicles have multiple drive modes, and can run in engine operation mode, where the engine is running, or in EV mode, where the engine is stopped. The drive mode is generally switched based on the amount of power consumed. However, the difference between engine operation mode and EV mode is not limited to the amount of power consumed during driving. When comparing engine operation mode and EV mode, EV mode may reduce errors in vehicle control and achieve higher control precision.

[0006] On the other hand, the control precision required when a vehicle is driving is not always the same. The precision required for vehicle control may differ depending on the vehicle's driving conditions and the surrounding environment. For example, it is expected that higher precision will be required when parking a vehicle or driving on narrow roads than when driving on a straight road. Therefore, we consider how to make more effective use of EV mode by selecting it in situations where high control precision is required.

[0007] The present disclosure aims to provide a technology that enables selection of a drive mode according to the situation and effectively utilizes the EV mode of a hybrid vehicle. [Means for solving the problem]

[0008] To achieve the above object, the present disclosure provides a hybrid vehicle control device. The hybrid vehicle control device of the present disclosure is configured to be able to select between an EV mode in which the engine is stopped and the vehicle is driven by the motor, and an engine operating mode in which the engine is operated to at least one of generate electricity to charge the battery and drive the vehicle. The hybrid vehicle control device includes a processor and a memory coupled to the processor and having a plurality of instructions stored therein. The plurality of instructions cause the processor to execute the following processes: a first process is to determine whether the situation currently facing the vehicle requires high precision in driving control; a second process is to select only the EV mode in situations requiring high precision in control; and a third process is to select the engine operating mode only in situations not requiring high precision in control.

[0009] Furthermore, to achieve the above object, the present disclosure provides a control method for a hybrid vehicle. A hybrid vehicle controlled by the control method of the present disclosure is configured to be able to select between an EV mode in which the engine is stopped and the vehicle is driven by the motor, and an engine operation mode in which the engine is operated to generate electricity to charge the battery and / or drive the vehicle. The control method includes the following steps: A first step is to determine whether the situation currently facing the vehicle requires high precision control during driving. A second step is to select only the EV mode in situations requiring high precision control. A third step is to select the engine operation mode only in situations not requiring high precision control. [Effects of the Invention]

[0010] According to the technology disclosed herein, a situation requiring high control accuracy is detected from the current state of the vehicle. In situations requiring high accuracy in vehicle control, the EV mode is selected, and the EV mode of the hybrid vehicle can be effectively utilized. [Brief explanation of the drawings]

[0011] [Figure 1] 1 is a block diagram showing an example of the configuration of a vehicle to which a hybrid vehicle control device according to an embodiment of the present invention is applied; [Figure 2] 1 is a block diagram showing an example of the configuration of a hybrid vehicle control device according to an embodiment of the present invention; [Figure 3] 4 is a flowchart showing a first example of processing executed by the hybrid vehicle control device according to the present embodiment. [Figure 4] 6 is a flowchart showing a second example of the processing executed by the hybrid vehicle control device according to the present embodiment. DETAILED DESCRIPTION OF THE INVENTION

[0012] Embodiments of the present disclosure will be described with reference to the accompanying drawings.

[0013] 1. Description of hybrid vehicle control device A hybrid vehicle control device according to this embodiment controls a hybrid vehicle. Fig. 1 is a block diagram that schematically shows an example of the configuration of a vehicle 1 to which a hybrid vehicle control device 10 (hereinafter referred to as the control device 10) according to this embodiment is applied.

[0014] The vehicle 1 is a hybrid vehicle that can run on power from only the motor, only the engine, or both the engine and the motor to drive wheels. The vehicle 1 includes a control device 10, sensors 20, an engine 30, an engine ECU (Electronic Control Unit) 35, a first motor generator (first MG) 41, a second motor generator (second MG) 42, a motor generator ECU (MGECU) 45, an inverter 51, a battery 52, a power split mechanism 61, a reduction gear mechanism 62, and drive wheels 63. Although not shown, the vehicle 1 is equipped with an automatic driving system and is capable of automatic driving.

[0015] The control device 10 is an ECU mounted on the vehicle 1 and controls the drive mode of the vehicle 1. The control device 10 is configured to be able to communicate information with the sensors 20, the engine ECU 35, and the MGECU 45. For example, the control device 10 is connected to these devices via an in-vehicle network configured with wire harnesses or the like. The control device 10 may also be configured to be able to communicate information with an autonomous driving system of the vehicle 1.

[0016] The sensors 20 include a recognition sensor, a vehicle state sensor, a position sensor, etc. The recognition sensor recognizes the situation around the vehicle 1. Examples of the recognition sensor include an in-vehicle camera, LIDAR (Laser Imaging Detection and Ranging), and radar. The vehicle state sensor detects the state of the vehicle 1. Examples of the vehicle state sensor include a speed sensor, an acceleration sensor, a yaw rate sensor, a steering angle sensor, and a gear position sensor. The position sensor detects the position and direction of the vehicle 1. For example, the position sensor includes a GPS (Global Positioning System) sensor. The sensors 20 may also include a battery sensor that detects the charge level of the battery 52.

[0017] The control device 10 can acquire sensor information detected by the sensors 20 by communicating with the sensors 20.

[0018] In addition, the autonomous driving system of the vehicle 1 is communicably connected to the sensors 20. By communicating with the sensors 20, the autonomous driving system acquires sensor information detected by the sensors 20 and controls the autonomous driving of the vehicle 1.

[0019] For example, the autonomous driving system of the vehicle 1 acquires the current position of the vehicle 1 by acquiring information from a position sensor of the sensors 20. Then, the autonomous driving system creates a driving plan to the destination based on the current position of the vehicle 1, the destination input by the user of the vehicle 1, map information that the autonomous driving system has, and other information.

[0020] The autonomous driving system also recognizes the situation around the vehicle 1 using the recognition sensors of the sensors 20, and generates a target trajectory for the vehicle 1 to travel according to the travel plan based on the recognition results. For example, the autonomous driving system recognizes the situation around the vehicle 1 and the positions of white lines using the recognition sensors, and generates a target trajectory for the vehicle 1 to travel while staying in its lane. The autonomous driving system then acquires the current vehicle speed and steering angle of the vehicle 1 from the vehicle state sensors, and determines the control amount for the vehicle 1 to follow the target trajectory.

[0021] The first MG 41 and the second MG 42 are electric motors capable of generating electricity. The first MG 41 and the second MG 42 function as both a motor that outputs torque using supplied electric power and a generator that converts input mechanical power into electric power. The first MG 41 is mainly used as a generator, and the second MG 42 is mainly used as a motor. The first MG 41 and the second MG 42 exchange electric power with a battery 52 via an inverter 51.

[0022] The engine 30, the first MG 41, and the second MG 42 are connected to drive wheels 63 via a power split mechanism 61 and a reduction mechanism 62. The power split mechanism 61 is, for example, a planetary gear unit, and splits the torque output from the engine 30 between the first MG 41 and the drive wheels 63. The first MG 41 regenerates electric power using the torque supplied from the engine 30 via the power split mechanism 61. The torque output from the engine 30 or the torque output from the second MG 42 is transmitted to the drive wheels 63 via the reduction mechanism 62.

[0023] The engine ECU 35 is communicatively connected to the engine 30 and controls the engine 30. The MGECU 45 is communicatively connected to the first MG 41 and the second MG 42 and controls the first MG 41 and the second MG 42.

[0024] The control device 10 communicates with the first MG 41 and the second MG 42 to control the drive mode of the vehicle 1. The drive modes of the vehicle 1 include an EV mode and an engine operation mode.

[0025] The EV mode is a mode in which the engine 30 is stopped and the vehicle 1 is driven by power transmitted from the motor (first MG 41 or second MG 42). The engine operation mode is a mode in which the engine 30 is operated. In the engine operation mode, the power generated by the engine 30 may be used to drive the vehicle 1, or may be used to cause the motor to generate power and charge the battery 52, or may be used for both.

[0026] The control device 10 executes a detection process 101 and a selection process 102 as processes related to the control of the drive mode.

[0027] In the detection process 101, when the situation currently faced by the vehicle 1 is one that requires high accuracy in controlling the vehicle's running, the control device 10 detects the situation as a "specific situation." High accuracy here means that there is little error in controlling the vehicle 1. The specific contents of the detection process 101 will be described later.

[0028] In selection process 102, the control device 10 selects a drive mode for the vehicle 1 based on the detection result of detection process 101. Specifically, the control device 10 selects the EV mode when the situation currently facing the vehicle 1 is a specific situation. On the other hand, the engine operation mode is selected only when the situation currently facing the vehicle 1 is not a specific situation.

[0029] The effect of selecting a drive mode in this manner by the control device 10 will be described. As a comparative example, consider the selection of a drive mode in a typical hybrid vehicle. A typical method for selecting a drive mode in a hybrid vehicle is to select the drive mode based on the state of charge (SOC) of the battery 52. ​​Generally, when the SOC is less than a predetermined amount, the engine operation mode is selected, and when the SOC is more than the predetermined amount, the EV mode is selected.

[0030] However, the difference between the two drive modes, the EV mode and the engine operation mode, does not only affect the SOC. One of the effects other than the SOC that the difference between the two drive modes has is that it affects the control accuracy of the vehicle 1, that is, the error in control.

[0031] When the engine 30 is running, vibrations occur throughout the vehicle 1. The vibrations are also transmitted to the sensors 20, which may cause errors in the sensor information detected by the sensors 20. For example, the vibrations may blur the image captured by the on-board camera, which may cause an error between the position of the white line detected from the image and the actual position. Since the sensor information is used to control the vehicle 1, if an error occurs in the sensor information, an error will also occur in the control.

[0032] Furthermore, when the engine 30 is used to drive the vehicle 1, there is a larger error in the control amount relative to the operation amount compared to when only the motor is used to drive the vehicle 1. The operation amount here means the current for a motor, and the throttle opening or fuel injection amount for the engine 30. In other words, in the case of a motor, the control amount can be increased linearly by linearly increasing the input current, whereas in the case of the engine 30, the control amount does not increase linearly with the increase in the throttle opening or fuel injection amount, and an error occurs in the control amount.

[0033] However, these errors are small enough to not affect the driving of vehicle 1 in situations where there are few constraints on the operation of vehicle 1, such as when vehicle 1 is driving on a road with a sufficiently wide road. However, depending on the driving location and driving scene of vehicle 1, the constraints on the operation of vehicle 1 may be significant. For example, when parking vehicle 1, there may be many obstacles around and the direction in which vehicle 1 can proceed is limited, so it is necessary to accurately recognize the surrounding situation and fine-tune the vehicle speed and steering angle of vehicle 1. In situations like this where there are many constraints on the operation of vehicle 1, control errors may affect the driving of vehicle 1.

[0034] In other words, whether it is effective to select the EV mode or the engine operation mode may depend on whether the current situation of the vehicle 1 requires high control accuracy. If the current situation of the vehicle 1 is one in which there are significant constraints on the operation of the vehicle 1, i.e., a situation in which high accuracy is required for the control of the vehicle 1, then selecting the EV mode, which has less error, is advantageous for the control of the vehicle 1. On the other hand, if the current situation of the vehicle 1 is one in which high accuracy is not required for the control, then at least from the perspective of control accuracy, there is no significant difference between the selected drive modes.

[0035] According to the detection process 101 and the selection process 102 executed by the control device 10, the drive mode is selected depending on whether or not the current situation of the vehicle 1 requires high control accuracy for driving. By selecting the EV mode in situations where high control accuracy is required, the EV mode of the hybrid vehicle can be effectively utilized.

[0036] 2.Configuration example 2 shows an example of the configuration of the control device 10. The control device 10 is a computer including a processor 11 and a memory 12. The control device 10 may include a plurality of processors 11 and a plurality of memories 12.

[0037] The memory 12 is coupled to the processor 11 and stores a plurality of instructions 122 executable by the processor 11 and various data 123 required for the execution of the processing.

[0038] The instructions 122 are provided by a computer program 121. The instructions 122 are configured to cause the processor 11 to execute the detection process 101 and the selection process 102. In other words, the processor 11 operates in accordance with the instructions 122, thereby realizing the execution of the detection process 101 and the selection process 102.

[0039] The data 123 includes information acquired by the control device 10 and parameter information of the computer program 121. For example, the data 123 includes area parameters 124 or vehicle state parameters 125.

[0040] The area parameter 124 and the vehicle state parameter 125 are parameter information for detecting a specific situation. The area parameter 124 is used in a first processing example described later, and the vehicle state parameter 125 is used in a second processing example described later. The area parameter 124 is parameter information for detecting a specific situation based on the location where the vehicle 1 is traveling, and specifies a "specific area." The vehicle state parameter 125 is information for detecting a specific situation based on the vehicle state, and specifies a "specific state." The details of the specific area and the specific state will be described later. The data 123 may also include map information.

[0041] 3. Processing example Examples of the processing executed by the control device 10 will be described with reference to Figures 3 and 4. The processing shown in Figures 3 and 4 is realized by the processor 11 operating in accordance with a plurality of instructions 122. These processing operations start, for example, when the vehicle 1 starts operating, and are repeatedly executed at predetermined intervals.

[0042] FIG. 3 is a flowchart showing a first processing example. In the first example, the control device 10 detects a specific situation when the location where the vehicle 1 is currently traveling is a specific area. The specific area is an area requiring high accuracy in controlling the vehicle 1. Examples of specific areas include parking lots, roads with a width equal to or less than a threshold, roads with a curvature equal to or greater than a threshold, urban areas, and areas with charging facilities. For example, in parking lots, it is necessary to accurately recognize the surrounding situation and perform control so as not to hit other vehicles parked nearby. Alternatively, for example, on narrow roads with a width equal to or less than a threshold, the vehicle 1 is required to travel at a low speed while fine-tuning the steering angle so as not to stray from the road. Alternatively, for example, in urban areas, it is expected that there will be many obstacles such as people and bicycles around the vehicle 1, and therefore it is necessary to accurately recognize the positions of the obstacles and perform control. Alternatively, for example, in areas with charging facilities, it is necessary to accurately park and stop the vehicle 1 in accordance with the location of the charging facilities. Therefore, when the vehicle 1 is traveling in such an area, it is considered that high control accuracy is required.

[0043] In step S110, the control device 10 recognizes the current driving location of the vehicle 1. The control device 10 can recognize the type of location where the vehicle 1 is currently driving by acquiring information from the recognition sensor of the sensors 20. For example, the control device 10 can calculate the curvature and width of the road surface by recognizing the white lines of the lane along which the vehicle 1 is driving using an on-board camera. Alternatively, for example, the control device 10 can detect targets around the vehicle 1 using a camera or LiDAR. Then, if a predetermined number or more of pedestrians are detected around the vehicle 1, the control device 10 can recognize the driving location as an urban area, and if the number of pedestrians detected around the vehicle 1 is less than the predetermined number, the control device 10 can recognize the driving location as not being an urban area.

[0044] In step S120, the control device 10 determines whether the current traveling location of the vehicle 1 is a specific area. By using the area parameter 124, the control device 10 can determine whether the current traveling location of the vehicle 1 recognized in step S110 is a specific area. If the current traveling location is a specific area (step S120; Yes), the process proceeds to step S130. On the other hand, if the current traveling location is not a specific area (step S120; No), the process ends.

[0045] In step S130, the control device 10 sets the drive mode of the vehicle 1 to EV mode. If the current drive mode of the vehicle 1 is the engine operation mode, the control device 10 changes the drive mode to EV mode. If the current drive mode of the vehicle 1 is already the EV mode, the drive mode is not changed. Once the drive mode is set to EV mode, the current process ends.

[0046] Steps S110 and S120 shown in FIG. 3 are examples of detection processing 101 based on the location where the vehicle 1 is traveling. As another example, the specific situation may be detected using map information included in data 123. For example, the map information may contain pre-registered information about road characteristics such as road width and curvature, and about crowded areas such as urban areas. The control device 10 acquires the current location of the vehicle 1 from a position sensor of the sensors 20. The control device 10 then compares the acquired current location with the map information to acquire the location of the current location of the vehicle 1, and if the current location is a road, acquires the width, curvature, etc. of the road on which the vehicle 1 is traveling. Based on the information acquired using the map information in this way, the control device 10 determines whether the current location of the vehicle 1 is a specific area.

[0047] Alternatively, information indicating a specific area may be registered in advance in the map information. In this case, the control device 10 acquires the current position of the vehicle 1 from a position sensor. Then, the control device 10 compares the acquired current position with the map information, and detects a specific situation when the vehicle 1 is within the specific area.

[0048] As yet another example of the detection process 101, the control device 10 may communicate with an automated driving system to obtain information about a driving plan for the vehicle 1. Then, when the driving plan indicates that the vehicle 1 will be parked in the near future, the control device 10 may determine that the driving location of the vehicle 1 is a parking lot.

[0049] FIG. 4 is a flowchart showing a second processing example by the control device 10. In the second example, the control device 10 detects a specific situation when the current vehicle state of the vehicle 1 is a specific state. The specific state is a state in which high accuracy is required for control of the vehicle 1. Examples of the specific state include a state in which the steering angle is larger than a threshold, a state in which the rate of change of the steering angle is larger than a threshold, a state in which the vehicle speed is lower than a threshold, and a state in which the vehicle 1 is traveling in reverse. When the steering angle or the rate of change of the steering angle is larger than a threshold or when the vehicle 1 is traveling at a low speed, it is highly likely that the vehicle 1 is traveling in a place that requires high control accuracy, such as a narrow road or a mountain road. Similarly, when traveling in reverse, it is highly likely that the vehicle 1 is performing an operation that requires high control accuracy, such as parking. Therefore, when the vehicle state is in such a state, it is considered that high control accuracy is required.

[0050] In step S210, the control device 10 acquires information about the current vehicle state from a vehicle state sensor of the sensors 20. For example, the control device 10 acquires information about the current steering angle of the vehicle 1 from a steering angle sensor. Alternatively, for example, the control device 10 acquires information about the current vehicle speed of the vehicle 1 from a vehicle speed sensor. Alternatively, for example, the control device 10 acquires information about whether the gear is in reverse from a gear position sensor.

[0051] In step S220, the control device 10 determines whether the current vehicle state of the vehicle 1 is a specific state. The control device 10 can determine whether the current vehicle state acquired in step S210 is a specific state by using the vehicle state parameter 125. If the current vehicle state is a specific state (step S220; Yes), the process proceeds to step S230. On the other hand, if the current vehicle state is not a specific state (step S220; No), the process ends.

[0052] In step S230, the control device 10 sets the drive mode of the vehicle 1 to EV mode. If the current drive mode of the vehicle 1 is the engine operation mode, the control device 10 changes the drive mode to EV mode. If the current drive mode of the vehicle 1 is already the EV mode, the drive mode is not changed. Once the drive mode is set to EV mode, the current process ends.

[0053] Steps S210 and S220 shown in Fig. 4 are examples of detection processing 101 based on a vehicle state. As another example of detection processing 101, the control device 10 may communicate with an automated driving system to acquire a target steering angle or a target vehicle speed set by the automated driving system. Then, a specific situation may be detected when, for example, the target steering angle is greater than a threshold value, or when, for example, the target vehicle speed is less than a threshold value.

[0054] Two examples of processing by the control device 10 have been described above. In the first processing example, a specific situation is detected based on the current driving location of the vehicle 1. In the second processing example, a specific situation is detected based on the current vehicle state. In either processing example, if the situation currently faced by the vehicle 1 requires high control accuracy, the EV mode is selected. This allows the EV mode of the hybrid vehicle 1 to be effectively utilized.

[0055] 4.Other configuration examples The vehicle 1 shown in FIG. 1 is a so-called series-parallel hybrid vehicle. However, the vehicle 1 may be any hybrid vehicle and is not limited to a series-parallel hybrid vehicle. For example, the vehicle 1 may be a series hybrid vehicle. A series hybrid vehicle is a hybrid vehicle in which the engine is separated from the drivetrain and used only for generating power for the motor. Alternatively, the vehicle 1 may be a hybrid vehicle in which the motor is used in an auxiliary role to the engine, such as a parallel hybrid vehicle or a mild hybrid vehicle.

[0056] Furthermore, in the above example, the vehicle 1 is an autonomous vehicle. However, the vehicle 1 is not limited to an autonomous vehicle, and may be, for example, a remotely driven vehicle. In the case of a remotely driven vehicle, the error in the control amount relative to the operation amount is larger when the vehicle is driven by the engine 30. Furthermore, vibrations occurring in the sensors 20 may cause errors in the information sent to the remote operator who remotely drives the vehicle 1. Therefore, it is similarly effective to select the EV mode when a specific situation is detected.

[0057] Alternatively, the vehicle 1 may be a vehicle manually driven by a driver. When the engine 30 is used to drive the vehicle 1, the error in the control amount relative to the operation amount becomes larger compared to when the vehicle 1 is driven solely by a motor. This also applies to when the vehicle 1 is driven by a driver. Furthermore, for example, when the driver parks the vehicle while checking an image captured by a backup camera of an onboard camera, eliminating engine vibration and reducing camera shake is expected to have the effect of improving the accuracy of the driver's control of the vehicle 1. However, the weight of sensor information in controlling the vehicle 1 is greater when the vehicle 1 is an autonomous vehicle or a remotely driven vehicle. In particular, in an autonomous vehicle, the vehicle 1 is controlled using various sensor information, so reducing the vibration of the sensors 20 is more effective in improving the control accuracy of the vehicle 1. Therefore, the control device 10 is more effective when applied to an autonomous vehicle. [Explanation of symbols]

[0058] 1...vehicle 10...hybrid vehicle control device 11...processor 12...memory 20...sensors 30...engine 35...engine ECU 41...first motor generator 42...second motor generator 45...motor generator ECU 51...inverter 52...battery 61...power split mechanism 62...reduction mechanism 63...drive wheels 101...detection process 102...selection process 124...area parameter 125...vehicle state parameter

Claims

1. A hybrid vehicle control device configured to be able to select an EV mode in which an engine is stopped and a vehicle is driven by a motor, and an engine operation mode in which the engine is operated for at least one of generating electricity to charge a battery and driving the vehicle, a processor; a memory coupled to the processor and having a plurality of instructions stored thereon; The instructions may include instructions to the processor: determining whether the situation currently faced by the vehicle is one that requires high accuracy in driving control; Selecting only the EV mode under circumstances where high accuracy is required for the control; selecting the engine operation mode only under circumstances where high accuracy of the control is not required; The situation where high accuracy is required for the control is as follows: The vehicle is traveling on a road surface that curves at a curvature equal to or greater than a threshold value, and the steering angle of the vehicle is greater than a threshold value. A hybrid vehicle control device characterized by:

2. 2. The hybrid vehicle control device according to claim 1, The vehicle is an autonomous vehicle or a remotely driven vehicle. A hybrid vehicle control device characterized by:

3. A control method for a hybrid vehicle configured to be able to select between an EV mode in which an engine is stopped and the vehicle is driven by a motor, and an engine operation mode in which the engine is operated for at least one of generating electricity to charge a battery and driving the vehicle, determining whether the situation currently faced by the vehicle is one that requires high accuracy in driving control; Selecting only the EV mode under circumstances where high accuracy is required for the control; selecting the engine operating mode only under circumstances where high accuracy in the control is not required; The situation where high accuracy is required for the control is as follows: The vehicle includes at least one of a situation in which the vehicle is traveling on a road surface that curves at a curvature equal to or greater than a threshold, and a situation in which the steering angle of the vehicle is greater than a threshold. A control method comprising:

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