Vehicle control device and control method

Abstract

To enhance safety by appropriately making a notification to a crewman of a vehicle.SOLUTION: A notification control section 35 of a control device 30 of a vehicle 1 including a manual transmission 63 makes a first notification based on an accelerator opening in predetermined timing after it is determined that a vehicle speed V exceeds a limited speed of a road on which the vehicle 1 travels. In this case, when a clutch pedal 64 is not operated in a first period after it is determined that the vehicle speed V exceeds the limited speed, the predetermined timing is the first timing after the passage of the first period. Meanwhile, when the clutch pedal 64 is operated in the first period, the timing is the later one between the first timing and the second timing. The second timing is the timing when the clutch pedal 64 is in a non-operation state or the timing after a second period passes from the timing of the non-operation state.SELECTED DRAWING: Figure 1

Description

[Technical Field]

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

[0002] In recent years, efforts to provide access to sustainable transportation systems that take into consideration vulnerable traffic participants have been gaining momentum. As part of these efforts, research and development is being conducted on driver assistance technologies and autonomous driving technologies for mobile vehicles (such as automobiles) in order to improve traffic safety and convenience.

[0003] For example, Patent Document 1 listed below discloses a technology that recognizes the speed limit displayed on at least one of road signs and road surface marks based on an image captured by an imaging means that captures an image of the area ahead of the vehicle, compares the recognized speed limit with the vehicle speed, and activates an alarm means when speeding is detected. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] Japanese Patent Application Laid-Open No. 2005-128790 Summary of the Invention [Problem to be solved by the invention]

[0005] However, the conventional technology has room for improvement in terms of properly notifying vehicle occupants.

[0006] The present invention provides a vehicle control device and control method that can appropriately notify vehicle occupants and improve vehicle safety, thereby improving traffic safety and contributing to the development of a sustainable transportation system. [Means for solving the problem]

[0007] One aspect of the present invention is A vehicle control device for controlling a vehicle equipped with a manual transmission, an acquisition unit that acquires speed limit information indicating a speed limit of a road on which the vehicle is traveling; a determination unit that compares the speed limit indicated by the speed limit information acquired by the acquisition unit with a traveling speed of the vehicle and determines whether the traveling speed exceeds the speed limit; a notification control unit that, when the determination unit determines that the traveling speed exceeds the speed limit, issues a predetermined notification to an occupant of the vehicle via a notification device mounted on the vehicle; and Equipped with The notification control unit An accelerator opening degree of the vehicle at a predetermined time after it is determined that the traveling speed exceeds the speed limit. is equal to or greater than a specified value Based on this, the first notice was given, The predetermined time is If the clutch pedal of the vehicle is not operated during a first period after it is determined that the traveling speed exceeds the speed limit, the first time is when the first period has elapsed since it was determined that the traveling speed exceeds the speed limit, If the clutch pedal is in the operated state during the first period, it is the later of the first time period and the second time period. The second period is The timing is a time when the clutch pedal that has been in the operated state is put into a non-operated state, or a time when a second period has elapsed since the time when the clutch pedal was put into the non-operated state. A vehicle control device.

[0008] Another aspect of the present invention is A control method executed by a computer for controlling a vehicle equipped with a manual transmission, comprising: The computer acquire speed limit information indicating the speed limit of a road on which the vehicle is traveling; comparing the speed limit indicated by the acquired speed limit information with the traveling speed of the vehicle to determine whether the traveling speed exceeds the speed limit; When it is determined that the traveling speed exceeds the speed limit, a predetermined notification is given to an occupant of the vehicle via a notification device mounted on the vehicle. Execute the process, In the process of making the predetermined notification, An accelerator opening degree of the vehicle at a predetermined time after it is determined that the traveling speed exceeds the speed limit. is equal to or greater than a specified value Based on this, the first notice was given, The predetermined time is If the clutch pedal of the vehicle is not operated during a first period after it is determined that the traveling speed exceeds the speed limit, the first time is when the first period has elapsed since it was determined that the traveling speed exceeds the speed limit, If the clutch pedal is in the operated state during the first period, it is the later of the first time period and the second time period. The second period is The timing is a time when the clutch pedal that has been in the operated state is put into a non-operated state, or a time when a second period has elapsed since the time when the clutch pedal was put into the non-operated state. It is a control method. [Effects of the Invention]

[0009] According to the present invention, it is possible to provide a vehicle control device and a control method that can appropriately notify vehicle occupants and improve vehicle safety. [Brief explanation of the drawings]

[0010] [Figure 1] FIG. 1 is a diagram showing a vehicle 1 controlled by a control device 30 which is an embodiment of a vehicle control device of the present invention. [Figure 2] FIG. 2 is a diagram showing an example of the second notification N2. [Figure 3] FIG. 3 is a diagram showing an example of the third notification N3. [Figure 4] FIG. 4 is a diagram showing an example of a speed limit non-detection image M2 that is displayed when speed limit information cannot be acquired. [Figure 5] FIG. 5 is a flowchart showing an example of speeding detection processing for detecting speeding. [Figure 6] FIG. 6 is a flowchart showing an example of a delay process for delaying the determination timing TJ. [Figure 7] FIG. 7 is a flowchart showing an example of the first notification process regarding the first notification N1. [Figure 8] FIG. 8 is a diagram showing a first example of the operation of the vehicle 1. In FIG. [Figure 9] FIG. 9 is a diagram illustrating a second example of the operation of the vehicle 1. In FIG. [Figure 10] FIG. 10 is a diagram illustrating a third example of the operation of the vehicle 1. In FIG. DETAILED DESCRIPTION OF THE INVENTION

[0011] An embodiment of a vehicle control device and a control method of the present invention will be described in detail below with reference to the drawings. The drawings should be viewed in the direction indicated by the reference numerals. Note that the following embodiments do not limit the invention described in the claims, and not all combinations of features described in the embodiments are necessarily essential to the invention. Furthermore, two or more of the features described in the embodiments may be arbitrarily combined. In the following, identical or similar elements will be designated by identical or similar reference numerals, and their description may be omitted or simplified as appropriate.

[0012] [Vehicle configuration] FIG. 1 is a diagram showing a vehicle 1 controlled by a control device 30, which is one embodiment of a vehicle control device of the present invention. The vehicle 1 shown in FIG. 1 is an automobile having a drive source and wheels including drive wheels driven by the power of the drive source and steerable wheels (neither of which is shown). For example, the vehicle 1 is a four-wheel automobile having a pair of left and right front wheels and rear wheels. The drive source of the vehicle 1 may be an electric motor, an internal combustion engine such as a gasoline engine or a diesel engine, or a combination of an electric motor and an internal combustion engine. Furthermore, the drive source of the vehicle 1 may drive a pair of left and right front wheels, a pair of left and right rear wheels, or all four wheels, i.e., a pair of left and right front wheels and rear wheels. Either one of the front wheels or the rear wheels may be steerable wheels, or both may be steerable wheels.

[0013] As shown in FIG. 1, the vehicle 1 includes a sensor group 10, a navigation device 20, a control device 30, an EPS system (electric power steering system) 40, a communication unit 50, a driving force control system 60, a braking force control system 70, an operation input unit 80, an MID (multi-information display) 91, and a speaker 92.

[0014] The sensor group 10 acquires various types of information relating to the vehicle 1 and its surroundings. The information acquired by the sensor group 10 is sent to the control device 30 and is used by the control device 30 to control the vehicle 1.

[0015] The sensor group 10 includes, for example, a front camera 11a, a rear camera 11b, a left side camera 11c, a right side camera 11d, a front sonar group 12a, a rear sonar group 12b, a left side sonar group 12c, and a right side sonar group 12d. These cameras and sonar groups function as external sensors that acquire surrounding information, which is information about the surroundings of the vehicle 1.

[0016] The front camera 11a, rear camera 11b, left side camera 11c, and right side camera 11d output image data of surrounding images obtained by capturing images of the surroundings of the vehicle 1 to the control device 30. The surrounding images captured by the front camera 11a, rear camera 11b, left side camera 11c, and right side camera 11d are also referred to as the front image, rear image, left side image, and right side image, respectively. An image composed of the left side image and the right side image is also referred to as a side image.

[0017] The front sonar group 12a, rear sonar group 12b, left side sonar group 12c, and right side sonar group 12d emit sound waves around the vehicle 1 and receive reflected sound from other objects. The front sonar group 12a includes, for example, four sonars. The sonars that make up the front sonar group 12a are provided diagonally forward left, front left, front right, and diagonally forward right of the vehicle 1, respectively. The rear sonar group 12b includes, for example, four sonars. The sonars that make up the rear sonar group 12b are provided diagonally rear left, rear left, rear right, and diagonally rear right of the vehicle 1, respectively. The left side sonar group 12c includes, for example, two sonars. The sonars that make up the left side sonar group 12c are provided on the front left side and rear left side of the vehicle 1, respectively. The right side sonar group 12d includes, for example, two sonars. The sonars that make up the right side sonar group 12d are provided at the front and rear of the right side of the vehicle 1. Instead of or in addition to these sonar groups 12a, 12b, 12c, and 12d, the vehicle 1 may be provided with a radar device that emits radio waves (for example, so-called millimeter wave radio waves) around the vehicle 1 and receives reflected waves from other objects.

[0018] Furthermore, the sensor group 10 includes wheel sensors 13a and 13b, a vehicle speed sensor 14, and an operation detection unit 15. The wheel sensors 13a and 13b detect rotation angles θa and θb of wheels (not shown), respectively. The wheel sensors 13a and 13b may be configured as angle sensors or displacement sensors. The wheel sensors 13a and 13b output detection pulses each time the wheels rotate a predetermined angle. The detection pulses output from the wheel sensors 13a and 13b can be used to calculate the wheel rotation angles and wheel rotation speeds. The travel distance of the vehicle 1 can be calculated based on the wheel rotation angles. The wheel sensor 13a detects, for example, the rotation angle θa of the left rear wheel. The wheel sensor 13b detects, for example, the rotation angle θb of the right rear wheel.

[0019] The vehicle speed sensor 14 detects the vehicle speed V, which is the traveling speed of the vehicle 1, and outputs the detected vehicle speed V to the control device 30. The vehicle speed sensor 14 detects the vehicle speed V based on, for example, the rotation of a countershaft of the transmission.

[0020] The operation detection unit 15 detects the operation content performed by the driver using the operation input unit 80, and outputs the detected operation content to the control device 30.

[0021] The navigation device 20 identifies the current position of the vehicle 1 using, for example, a GPS (Global Positioning System), and provides the driver with a route from the current position of the vehicle 1 to the destination. The navigation device 20 has, for example, a storage device (not shown) that includes a map information database.

[0022] The navigation device 20 is also equipped with a touch panel 21 and a speaker 22. The touch panel 21 is configured by integrating a display device (e.g., a liquid crystal display) capable of displaying images with an input device capable of receiving input of information, and functions as a display device controlled by the control device 30 and an input device that receives input of various information to the control device 30. In other words, the touch panel 21 can display various screens under the control of the control device 30, and can input various commands received from the driver to the control device 30. The speaker 22 is configured as a sound output device capable of outputting sound, and outputs various guidance messages by voice under the control of the control device 30.

[0023] The EPS system 40 includes a steering angle sensor 41, a torque sensor 42, an EPS motor 43, a resolver 44, and an EPS ECU (Electronic Control Unit) 45. The steering angle sensor 41 detects the steering angle θst of a steering wheel 46. The torque sensor 42 detects the torque TQ applied to the steering wheel 46. The EPS motor 43 applies a driving force or a reaction force to a steering column 47 connected to the steering wheel 46, thereby assisting in the operation of the steering wheel 46 (in other words, steering). The resolver 44 detects the rotation angle θm of the EPS motor 43.

[0024] The EPS ECU 45 includes, for example, an input / output unit, a calculation unit, and a storage unit (none of which are shown), and is responsible for overall control of the EPS system 40. The EPS ECU 45 also outputs information indicating the steering angle θst of the steering wheel 46 detected by the steering angle sensor 41 to the control device 30. The EPS ECU 45 may also output information indicating the steering speed ω of the steering wheel 46 to the control device 30. The steering speed ω can be obtained, for example, by differentiating the steering angle θst with respect to time.

[0025] The communication unit 50 is a communication interface that communicates with the external device 2 under the control of the control device 30. That is, the control device 30 can communicate with the external device 2 via the communication unit 50. Examples of the external device 2 include a terminal device of the driver (e.g., a smartphone) and a server device managed by the manufacturer of the vehicle 1. Note that communication between the vehicle 1 and the external device 2 can be performed using, for example, a mobile communication network such as a cellular line, Wi-Fi (registered trademark), Bluetooth (registered trademark), or the like.

[0026] The driving force control system 60 includes a driving ECU 61 and a manual transmission 63, and is configured to be able to control the driving force of the vehicle 1. The driving ECU 61 includes, for example, an input / output unit, a calculation unit, and a storage unit (none of which are shown), and controls the power output from an internal combustion engine, an electric motor, or the like, which is a driving source of the vehicle 1, based on an operation of an accelerator pedal 62 provided on the vehicle 1 (hereinafter also referred to as an "accelerator operation") and instructions from the control device 30. Hereinafter, the operation amount of the accelerator pedal 62 will also be referred to as an "accelerator opening degree." For example, the accelerator opening degree is set to 0 [%] when the accelerator pedal 62 is not depressed at all, and increases as the accelerator pedal 62 is depressed, reaching 100 [%] when the accelerator pedal 62 is fully depressed. The accelerator opening degree is detected, for example, by an accelerator position sensor (not shown) provided on the vehicle 1, and sent to the control device 30.

[0027] The manual transmission 63 is configured to include a multi-speed transmission (not shown) in which gears are changed by operating a shift lever (not shown) provided on the vehicle 1 (hereinafter also referred to as a "shift change operation"), and is provided on a power transmission path (hereinafter also simply referred to as a "power transmission path") from the drive source to the drive wheels of the vehicle 1. The shift change operation includes an upshift operation to raise the gear and a downshift operation to lower the gear.

[0028] The manual transmission 63 also includes a clutch (not shown) as a connecting / disconnecting device that connects and disconnects the power transmission path. For example, the clutch disconnects the power transmission path when a clutch pedal 64 provided on the vehicle 1 is in an operated state, and connects the power transmission path when the clutch pedal 64 is in a non-operated state. For example, the operated state here can be a state in which the clutch pedal 64 is depressed, and the non-operated state can be a state in which the clutch pedal 64 is not depressed. Whether the clutch pedal 64 is in a steering state or a non-operated state is detected, for example, by a clutch sensor (not shown) provided on the vehicle 1, and is sent to the control device 30.

[0029] The braking force control system 70 includes a braking ECU 71 and is configured to be able to control the braking force of the vehicle 1. The braking ECU 71 includes, for example, an input / output unit, a calculation unit, and a storage unit (none of which are shown), and controls the braking force of the vehicle 1 by controlling a braking device (not shown) of the vehicle 1 based on an operation of a brake pedal 72 provided on the vehicle 1 (hereinafter also referred to as a "brake operation") or an instruction from the control device 30. Here, the braking device includes, for example, a brake caliper, a cylinder that transmits hydraulic pressure to the brake caliper, and an electric motor that generates hydraulic pressure in the cylinder. The braking ECU 71 generates a braking force corresponding to the brake operation by controlling the electric motor of the braking device based on the brake operation or an instruction from the control device 30.

[0030] The MID 91 is an example of a notification device mounted on the vehicle 1, and is configured with a display device (for example, a liquid crystal display) capable of displaying images, and is provided in a position visible to the driver (for example, in the meter panel of the vehicle 1). The MID 91 displays various screens according to the control of the control device 30. The MID 91 may be shared with the touch panel 21 provided in the navigation device 20. That is, in the following description, the MID 91 and the touch panel 21 may be read as interchangeable.

[0031] The speaker 92 is another example of a notification device mounted on the vehicle 1, and is configured by a sound output device capable of outputting sound, and outputs various types of guidance by voice under the control of the control device 30. Note that the speaker 92 may be shared with the speaker 22 provided in the navigation device 20. That is, in the following description, the speaker 92 and the speaker 22 may be read as interchangeable.

[0032] [Control device] The control device 30 is a device (computer) that controls the entire vehicle 1 based on information input from the sensor group 10, navigation device 20, EPS system 40, communication unit 50, driving force control system 60, braking force control system 70, etc.

[0033] The control device 30 includes, for example, an input / output unit 31, a control unit 32, and a storage unit 36. The input / output unit 31 is an interface that inputs and outputs data between the inside and outside of the control device 30 in accordance with the control of the control unit 32. The storage unit 36 ​​includes, for example, a non-volatile storage medium such as a flash memory, and stores various information (for example, data and programs) for controlling the operation of the vehicle 1.

[0034] The control unit 32 is configured with a processor such as a CPU (Central Processing Unit), and controls each component of the vehicle 1 by executing a program stored in a storage unit 36, etc. In this embodiment, the control unit 32 includes an acquisition unit 33, a determination unit 34, and a notification control unit 35 as functional units realized by the processor executing the program.

[0035] The acquisition unit 33 acquires speed limit information indicating the speed limit of the road on which the vehicle 1 is traveling (hereinafter also simply referred to as "speed limit"), and passes the acquired speed limit information to the determination unit 34. For example, the acquisition unit 33 recognizes speed signs on the road on which the vehicle 1 is traveling by performing image analysis on a surrounding image acquired by the front camera 11a or the like, and acquires speed limit information in which the speed indicated by the speed sign is the speed limit. The acquisition unit 33 may also acquire speed limit information from a map information database or the like provided in the navigation device 20.

[0036] The determination unit 34 compares the speed limit indicated by the speed limit information acquired by the acquisition unit 33 with the vehicle speed V detected by the vehicle speed sensor 14 (i.e., the traveling speed of the vehicle 1) to determine whether the vehicle speed V exceeds the speed limit, and passes the determination result to the notification control unit 35. Specifically, the determination unit 34 determines that the vehicle speed V exceeds the speed limit when the vehicle speed V is greater than the speed limit. On the other hand, the determination unit 34 determines that the vehicle speed V does not exceed the speed limit when the vehicle speed V is equal to or less than the speed limit.

[0037] When the determination unit 34 determines that the vehicle speed V exceeds the speed limit, the notification control unit 35 issues a first notification N1 to the driver, who is an occupant of the vehicle 1, via a notification device (for example, the MID 91 or the speaker 92) mounted on the vehicle 1. More specifically, the notification control unit 35 issues the first notification N1 based on the accelerator opening degree of the vehicle 1 at a predetermined time (hereinafter also referred to as the "determination time TJ") after it is determined that the vehicle speed V exceeds the speed limit.

[0038] For example, the notification control unit 35 issues the first notification N1 when the accelerator opening degree at the determination time TJ is greater than a predetermined value. As a result, when it is estimated that the driver has no intention of slowing down the vehicle speed V that has exceeded the speed limit (for example, the driver is unaware that the vehicle speed V exceeds the speed limit), the first notification N1 can be used to notify the driver that the vehicle speed V exceeds the speed limit, and to urge the driver to slow down the vehicle 1. In this embodiment, the predetermined value is set to 10%; however, this is not limited to this and may be set to 0% for example. A specific example of the first notification N1 will be described later, and therefore will not be described here.

[0039] Furthermore, for example, the notification control unit 35 does not issue the first notification N1 if the accelerator opening at the determination time TJ is equal to or less than a predetermined value. As a result, if it is estimated that the driver intends to slow down the vehicle speed V that has exceeded the speed limit, the first notification N1 is not issued, thereby making it possible to suppress excessive first notifications N1 that may be bothersome to the driver.

[0040] Incidentally, the vehicle 1 is a so-called "manual vehicle" equipped with a manual transmission 63. In such a vehicle 1, the accelerator opening may temporarily become equal to or less than a predetermined value during an upshift operation, that is, even when the driver intends to accelerate. In other words, even if the accelerator opening becomes equal to or less than a predetermined value, the vehicle 1 does not necessarily decelerate thereafter. For this reason, there is room for consideration in terms of appropriately issuing the first notification N1 for the vehicle 1.

[0041] Therefore, the notification control unit 35 makes it possible to differentiate the determination time TJ between when the clutch pedal 64 is operated and when it is not operated during a predetermined period (hereinafter also referred to as the "first period T1") after it is determined that the vehicle speed V exceeds the speed limit. As an example, in the following, the first period T1 is defined as the period from when it is determined that the vehicle speed V exceeds the speed limit until 5 seconds have elapsed. Note that the first period T1 is not limited to this and can be determined arbitrarily by the manufacturer of the vehicle 1, etc.

[0042] Specifically, if the clutch pedal 64 is not in an operated state during the first period T1, the notification control unit 35 determines that the time when the first period T1 has elapsed (hereinafter also referred to as the "first time t1") is the determination time TJ. That is, in this case, the notification control unit 35 issues the first notification N1 based on the accelerator opening degree at the first time t1, which is when 5 seconds have elapsed since it was determined that the vehicle speed V exceeded the speed limit.

[0043] On the other hand, if the clutch pedal 64 is in the operated state during the first period T1, the notification control unit 35 determines the later of the first time t1 or the second time t2 (in other words, the later in terms of time series) as the determination time TJ. Here, the second time t2 can be the time when the operated clutch pedal 64 is put into the non-operated state, or the time when a predetermined second period T2 has elapsed since the time when the clutch pedal 64 was put into the non-operated state. As an example, in the following, the time when 2 seconds as the second period T2 have elapsed since the time when the clutch pedal 64 was put into the non-operated state is defined as the second time t2.

[0044] For example, suppose that a first time point t1, which is 5 seconds after it is determined that the vehicle speed V exceeds the speed limit, is chronologically later than a second time point t2, which is 2 seconds after the clutch pedal 64, which was in an operated state, is put into a non-operated state. In this case, the notification control unit 35 issues the first notification N1 based on the accelerator opening degree at the first time point t1.

[0045] On the other hand, suppose that a second time t2, which is two seconds after the clutch pedal 64 is put into a non-operated state, is later in time series than a first time t1, which is five seconds after it is determined that the vehicle speed V exceeds the speed limit. In this case, the notification control unit 35 issues the first notification N1 based on the accelerator opening at the second time t2.

[0046] With this configuration, when the clutch pedal 64 is operated during the first period T1, the determination time TJ for determining whether to issue the first notification N1 based on the accelerator pedal position can be delayed to the second period t2, which is later in time than the normal first period t1 and is the time when the clutch pedal 64 is not operated or the time when the second period T2 has elapsed since the time when the clutch pedal 64 was not operated. This makes it possible to stably issue the first notification N1 even if there is a temporary decrease in the accelerator pedal position due to an upshift operation after it is determined that the vehicle speed V exceeds the speed limit. Therefore, the first notification N1 can be issued appropriately, improving the safety of the vehicle 1 and ultimately improving traffic safety and contributing to the development of a sustainable transportation system.

[0047] The second period T2 (i.e., the second time t2) is not limited to the above example and can be set arbitrarily by the manufacturer of the vehicle 1. The second period T2 may be set to 0 [sec]. If the second period T2 is set to 0 [sec], the time when the clutch pedal 64, which has been set to an operated state, is set to a non-operated state can be set to the second time t2, as described above.

[0048] The notification control unit 35 may be configured to be able to perform other notifications in addition to the first notification N1. Hereinafter, it is assumed that the notification control unit 35 can perform the second notification N2 and the third notification N3 in addition to the first notification N1.

[0049] More specifically, the notification control unit 35 issues the second notification N2 when it is determined that the vehicle speed V exceeds the speed limit and before the determination time TJ arrives. As a result, when it is determined that the vehicle speed V exceeds the speed limit, the second notification N2 can notify the driver that the vehicle speed V exceeds the speed limit even before the determination time TJ arrives. Note that a specific example of the second notification N2 will be described later, and therefore will not be described here.

[0050] Furthermore, the notification control unit 35 issues a third notification N3 when it is determined that the vehicle speed V does not exceed the speed limit. As a result, when it is determined that the vehicle speed V does not exceed the speed limit, the third notification N3 can notify the driver that the vehicle speed V does not exceed the speed limit. Note that a specific example of the third notification N3 will be described later, and therefore will not be described here.

[0051] [Examples of notifications that can be executed by the notification control unit] Next, examples of notifications that can be executed by the notification control unit 35 will be described.

[0052] The first notification N1 can be, for example, a notification in which a predetermined notification sound AS is output a predetermined number of times or for a predetermined period of time from the speaker 92. This makes it possible to notify the driver that the first notification N1 has been made, even if the driver is looking around the vehicle 1 for driving (in other words, even if the driver is not looking at the MID 91) when the first notification N1 is made.

[0053] Furthermore, it is preferable that the first notification N1 has a stronger notification intensity than the second notification N2, which will be described later, for example by making the notification sound AS an alarm sound. This makes it possible to further attract the driver's attention when the first notification N1 is made. The number of times and period for which the notification sound AS is output can be determined arbitrarily by the manufacturer of the vehicle 1, but it is preferable, for example, to output the notification sound AS multiple times. This makes it possible to more reliably notify the driver that the first notification N1 has been made, compared to when the notification sound AS is output only once.

[0054] The second notification N2 may be, for example, a notification that causes an image representing the speed limit (hereinafter also referred to as a "speed limit image") M1 to be displayed on the MID 91 in a first display manner, as shown in Fig. 2. As an example, in this embodiment, the first display manner is a blinking display. That is, in the second notification N2 of this embodiment, the speed limit image M1 is displayed in a blinking manner on the MID 91.

[0055] 3, the third notification N3 may be a notification that causes the MID 91 to display the speed limit image M1 in a second display mode that is different from the first display mode. As an example, in this embodiment, the second display mode is a lighting display that remains lit without blinking. That is, in the third notification N3 of this embodiment, the speed limit image M1 is displayed as a lighting display on the MID 91.

[0056] In addition, if the notification control unit 35 is unable to acquire speed limit information for reasons such as being unable to recognize a speed sign from a surrounding image obtained by the forward camera 11a, etc., it may display a speed limit non-detection image M2 on the MID 91, indicating that the speed limit has not been detected, instead of the speed limit image M1, as shown in Figure 4.

[0057] [Example of processing performed by the control device] Next, an example of the processing executed by the control device 30 will be described with reference to Figures 5 to 7. The control device 30 executes the processing shown in Figures 5 to 7 at predetermined intervals (for example, every 5 ms) while the vehicle 1 is running (for example, while the ignition power is on).

[0058] (Excessive speed detection processing) 5 is a flowchart showing an example of a speeding detection process for detecting speeding. As shown in FIG. 5, in the speeding detection process, the control device 30 first executes a sign detection process (step S1). In the sign detection process of step S1, the control device 30 detects speed signs provided on the road on which the vehicle 1 is traveling, for example, by performing image analysis on a surrounding image acquired by the front camera 11a or the like. At this time, the control device 30 may also detect various road signs and the like other than speed signs.

[0059] Next, the control device 30 determines whether or not a speed sign has been detected by the sign detection process of step S1 (step S2). If it is determined that a speed sign has not been detected (step S2: NO), the control device 30 ends the speeding detection process shown in Fig. 5. In this case, the control device 30 may cause the MID 91 to display the speed limit non-detection image M2, as described above.

[0060] On the other hand, if it is determined that a speed sign has been detected (step S2: YES), the control device 30 performs image analysis of the detected road sign to acquire speed limit information in which the speed indicated by the speed sign is set as the speed limit (step S3).The control device 30 then executes a third notification N3 (step S4) and causes the MID 91 to light up and display a speed limit image M1 representing the speed limit indicated by the speed limit information acquired by the processing of step S3.

[0061] Next, the control device 30 compares the speed limit indicated by the speed limit information acquired by the processing of step S3 with the vehicle speed V detected by the vehicle speed sensor 14, and determines whether the vehicle speed V exceeds the speed limit (step S5). If it is determined that the vehicle speed V does not exceed the speed limit (step S5: NO), that is, if it is determined that the vehicle speed V is equal to or less than the speed limit, the control device 30 turns off the speed limit excess flag, which is a flag indicating that the vehicle speed V exceeds the speed limit (step S6), and ends the speed excess detection processing shown in Fig. 5.

[0062] On the other hand, if it is determined that the vehicle speed V exceeds the speed limit (step S5: YES), that is, if it is determined that the vehicle speed V is greater than the speed limit, the control device 30 turns on the speed limit flag (step S7). Then, the control device 30 sets the count value C of the timer counter for the determination time TJ to 5 [sec], which corresponds to the first period T1 (step S8), and starts counting down (subtracting) from the count value C.

[0063] Next, the control device 30 executes the second notification N2 (step S9), causes the speed limit image M1 representing the speed limit indicated by the speed limit information acquired by the processing of step S3 to flash on the MID 91, and terminates the speeding detection processing shown in Figure 5.

[0064] (Delay processing) Fig. 6 is a flowchart showing an example of delay processing for delaying the determination time TJ. As shown in Fig. 6, in the delay processing, the control device 30 first determines whether the speeding flag is on or not (step S11). If it is determined that the speeding flag is off (step S11: NO), the control device 30 ends the delay processing shown in Fig. 6.

[0065] On the other hand, if it is determined that the overspeed flag is on (step S11: YES), the control device 30 determines whether the clutch pedal 64 has transitioned from an operated state to a non-operated state (step S12).If it is determined that the clutch pedal 64 has not transitioned from an operated state to a non-operated state (step S12: NO), the control device 30 ends the delay process shown in FIG.

[0066] On the other hand, if it is determined that the clutch pedal 64 has transitioned from an operated state to a non-operated state (step S12: YES), the control device 30 determines whether the current count value C of the timer counter is smaller than 2 [sec], which corresponds to the second period T2 (step S13).If it is determined that the count value C is not smaller than 2 [sec] (step S13: NO), the control device 30 ends the delay process shown in FIG.

[0067] On the other hand, if it is determined that the count value C is smaller than 2 [sec] (step S13: YES), the control device 30 sets the count value C of the timer counter to 2 [sec], which corresponds to the second period T2 (step S14), starts counting down (subtraction) from that count value C, and ends the delay processing shown in Figure 6.

[0068] (First notification process) Fig. 7 is a flowchart showing an example of the first notification process for the first notification N1. As shown in Fig. 7, in the first notification process, the control device 30 first determines whether the speeding flag is on or not (step S21). If it is determined that the speeding flag is off (step S21: NO), the control device 30 ends the first notification process shown in Fig. 7.

[0069] On the other hand, when it is determined that the speed exceeding flag is on (step S21: YES), the control device 30 determines whether the count value C of the timer counter has reached 0 [sec] (step S22). In this embodiment, the control device 30 determines that the determination time TJ has arrived on the condition that the count value C of the timer counter has reached 0 [sec]. That is, in the processing of step S22, the control device 30 determines whether the determination time TJ has arrived.

[0070] If it is determined that the count value C of the timer counter is not 0 [sec] (step S22: NO), that is, if it is determined that the determination time TJ has not arrived, the control device 30 ends the first notification process shown in Figure 7.

[0071] On the other hand, if it is determined that the count value C of the timer counter has reached 0 [sec] (step S22: YES), that is, if it is determined that the determination time TJ has arrived, the control device 30 determines whether the accelerator opening at the current time point is greater than 10 [%] (step S23). If it is determined that the accelerator opening is not greater than 10 [%] (step S23: NO), the control device 30 ends the first notification process shown in FIG.

[0072] On the other hand, if it is determined that the accelerator opening is greater than 10% (step S23: YES), the control device 30 determines whether the clutch pedal 64 is in a non-operated state (step S24). If it is determined that the clutch pedal 64 is not in a non-operated state (step S24: NO), that is, if it is determined that the clutch pedal 64 is in an operated state, the control device 30 ends the first notification process shown in FIG.

[0073] On the other hand, if it is determined that the clutch pedal 64 is not being operated (step S24: YES), the control device 30 executes the first notification N1 (step S24), for example, by outputting the notification sound AS from the speaker 92 a predetermined number of times (for example, twice), and terminates the first notification processing shown in Figure 7.

[0074] [Vehicle operation] Next, an example of the operation of the vehicle 1 will be described with reference to FIGS.

[0075] In each example shown in FIGS. 8 to 10, vehicle 1 is traveling on a road with a speed limit of 40 km / h. Furthermore, control device 30 is unable to acquire speed limit information before time ta shown in FIGS. 8 to 10. Then, at time ta, control device 30 recognizes road sign RS posted on the road on which vehicle 1 is traveling and acquires speed limit information indicating that the speed limit is 40 km / h. Furthermore, because vehicle speed V was 45 km / h at time ta, control device 30 determines that vehicle speed V exceeds the speed limit (here, 40 km / h).

[0076] In such a case, as shown in Figures 8 to 10, before time ta, the control device 30 displays the speed limit non-detection image M2 on the MID 91. Then, from time ta when the control device 30 determines that the vehicle speed V exceeds the speed limit, the control device 30 starts the second notification N2 and causes the speed limit image M1 on the MID 91 to flash.

[0077] 8, it is assumed that the clutch pedal 64 is not operated until time tx, which is 5 seconds after time ta, which corresponds to the first period T1. In this case, time tx corresponds to the first period t1 described above and is also the determination time TJ.

[0078] 8, the accelerator opening degree in vehicle 1 is temporarily set to 10% (i.e., a predetermined value) or less from time tb, which is after time ta and before time tx, but is again set to greater than 10% at time tx. In this case, because the accelerator opening degree at time tx, which is the determination time TJ, is greater than 10%, control device 30 issues first notification N1 from time tx, and causes speaker 92 to output notification sound AS twice, for example, as shown in FIG.

[0079] The example shown in Figure 9 differs from the example shown in Figure 8 in that the clutch pedal 64 is in an operated state. Specifically, in the example shown in Figure 9, it is assumed that the clutch pedal 64 is in an operated state from time tb to time tc after time tb. In such a case, time ty, which is 2 seconds after time tc, corresponding to the second period T2, corresponds to the second time t2 described above and may also be the determination time TJ. Specifically, as shown in Figure 9, if time ty is chronologically later than time tx, which corresponds to the first time t1, then time ty becomes the determination time TJ.

[0080] 9, the accelerator opening in vehicle 1 is temporarily set to 10% or less from time tb, but is again greater than 10% at time ty, which is determination time TJ. In this case, because the accelerator opening at time ty, which is determination time TJ, is greater than 10%, control device 30 issues first notification N1 from time tx, and causes speaker 92 to output notification sound AS twice, for example, as shown in FIG. 9. In other words, in this case, even if the accelerator opening at time tx is 10% or less, first notification N1 may be issued thereafter.

[0081] The example shown in Fig. 10 differs from the example shown in Fig. 9 in that the accelerator opening degree at time ty, which is the determination time TJ, is 10% or less. In this case, because the accelerator opening degree at time ty, which is the determination time TJ, is 10% or less, the control device 30 does not issue the first notification N1 from time ty, as shown by the dashed dotted lines α and β in Fig. 10.

[0082] As described above, the control device 30 issues the first notification N1 based on the accelerator pedal position at a predetermined determination time TJ after it is determined that the vehicle speed V exceeds the speed limit. Here, if the clutch pedal 64 is not operated during the first period T1 after it is determined that the vehicle speed V exceeds the speed limit, the determination time TJ is set to the first time t1, which is the time when the first period T1 has elapsed. On the other hand, if the clutch pedal 64 is operated during the first period T1, the determination time TJ is set to the later of the first time t1 or the second time t2, and the second time t2 is set to the time when the clutch pedal 64 is not operated or the time when the second period T2 has elapsed since the time when the clutch pedal 64 was not operated.

[0083] Therefore, according to this embodiment, when the clutch pedal 64 is in an operated state during the first period T1, the determination time TJ can be delayed to the second period t2, which is later in time series than the normal first period t1 and corresponds to the time when the clutch pedal 64 is in an unoperated state or the time when the second period T2 has elapsed since the time when the clutch pedal 64 was in an unoperated state. This allows the first notification N1 to be issued stably even if there is a temporary decrease in the accelerator opening due to an upshift operation after it is determined that the vehicle speed V exceeds the speed limit. Therefore, the first notification N1 can be issued appropriately, which improves the safety of the vehicle 1 and ultimately improves traffic safety and contributes to the development of a sustainable transportation system.

[0084] On the other hand, according to this embodiment, if the clutch pedal 64 is not in an operated state during the first period T1, the first notification N1 can be made based on the normal accelerator opening at the first time t1.

[0085] Furthermore, the first notification N1 can be, for example, a notification in which a predetermined notification sound AS is output a predetermined number of times or for a predetermined period of time from a sound output device such as the speaker 92. In this way, even if the driver is visually observing the periphery of the vehicle 1 when the first notification N1 is made, it is possible to notify the driver that the first notification N1 is being made.

[0086] Furthermore, the control device 30 may further issue the second notification N2 when it is determined that the vehicle speed V exceeds the speed limit and before the determination time TJ arrives. The first notification N1 may be a notification with a stronger notification intensity than the second notification N2. In this way, when it is determined that the vehicle speed V exceeds the speed limit, the second notification N2 is issued first, and then the first notification N1 is issued, thereby gradually increasing the notification intensity and enabling more effective notification.

[0087] Furthermore, it is generally considered that a notification that outputs a predetermined notification sound has stronger notification intensity than a notification that displays a predetermined image. Therefore, the first notification N1 may be a notification that outputs a notification sound AS from the speaker 92 as described above, while the second notification N2 may be a notification that displays a predetermined image (for example, a speed limit image M1 representing the speed limit) on a display device such as the MID 91. In this way, when it is determined that the vehicle speed V exceeds the speed limit, the second notification N2 that displays a predetermined image is first performed, and then the first notification N1 that outputs a notification sound AS is performed, thereby gradually increasing the notification intensity and enabling more effective notification.

[0088] Furthermore, the control device 30 may further issue a third notification N3 when it is determined that the vehicle speed V does not exceed the speed limit. The second notification N2 may be a notification that causes a speed limit image M1 representing the speed limit to be displayed on a display device such as the MID 91 in a first display mode, while the third notification N3 may be a notification that causes a display device such as the MID 91 to display the speed limit image M1 in a second display mode. In this way, the second notification N2 and the third notification N3 can inform the driver of the speed limit and whether the vehicle speed V exceeds the speed limit.

[0089] The second notification N2 may be a notification that causes the speed limit image M1 to flash on a display device such as the MID 91, while the third notification N3 may be a notification that causes the speed limit image M1 to light up on a display device such as the MID 91. In this way, the second notification N2 and the third notification N3 can provide the driver with intuitive and easy-to-understand guidance as to the speed limit and whether the vehicle speed V exceeds the speed limit.

[0090] Furthermore, the control device 30 may issue the first notification N1 if the accelerator opening degree at the determination time TJ is equal to or greater than a predetermined value, but may not issue the first notification N1 if the accelerator opening degree at the determination time TJ is less than the predetermined value. In this way, the first notification N1 can be issued on the condition that it is estimated that the driver intends to accelerate the vehicle 1, thereby suppressing excessive first notifications N1 and preventing the driver from being annoyed by excessive first notifications N1.

[0091] Furthermore, the control device 30 may be configured to issue the first notification N1 when the accelerator opening at the determination time TJ is equal to or greater than a predetermined value and the clutch pedal 64 is not being operated. In this way, the first notification N1 can be issued on the condition that the vehicle 1 is in a state where it can actually accelerate, thereby suppressing excessive first notifications N1 and preventing the driver from being annoyed by excessive first notifications N1.

[0092] The control method described in this embodiment can be realized by executing a prepared program on a computer. The program is stored in a computer-readable storage medium and executed by being read from the storage medium. The program may be provided in a form stored in a non-volatile (non-transient) storage medium such as a flash memory, or may be provided via a network such as the Internet. The computer that executes the program may be included in the vehicle 1 or may be included in an external device 2 that can communicate with the vehicle 1.

[0093] Although one embodiment of the present invention has been described above, it goes without saying that the present invention is not limited to such an embodiment. It is clear that a person skilled in the art can conceive of various modifications or alterations within the scope of the claims, and it is understood that these also naturally fall within the technical scope of the present invention. Furthermore, the components in the above-described embodiment may be combined in any manner as long as they do not deviate from the spirit of the invention.

[0094] For example, in the above-described embodiment, a four-wheeled automobile is exemplified as a vehicle, but the present disclosure is not limited to this. A vehicle to which the technology of the present disclosure can be applied may also be a two-wheeled automobile (a so-called motorcycle).

[0095] This specification describes at least the following items. Note that the components in parentheses correspond to those in the above-described embodiment, but are not limited to these.

[0096] (1) A vehicle control device (control device 30) that controls a vehicle (vehicle 1) equipped with a manual transmission (manual transmission 63), an acquisition unit (acquisition unit 33) that acquires speed limit information indicating the speed limit of a road on which the vehicle is traveling; a determination unit (determination unit 34) that compares the speed limit indicated by the speed limit information acquired by the acquisition unit with the traveling speed of the vehicle and determines whether the traveling speed exceeds the speed limit; a notification control unit (notification control unit 35) that, when the determination unit determines that the traveling speed exceeds the speed limit, issues a predetermined notification to an occupant of the vehicle via a notification device mounted on the vehicle; and Equipped with The notification control unit a first notification (first notification N1) is issued based on an accelerator opening degree of the vehicle at a predetermined time (determination time TJ) after it is determined that the traveling speed exceeds the speed limit; The predetermined time is If the clutch pedal (clutch pedal 64) of the vehicle is not operated during a first period (first period T1) after it is determined that the traveling speed exceeds the speed limit, it is a first time (first time t1) at which the first period has elapsed since it was determined that the traveling speed exceeds the speed limit, If the clutch pedal is operated during the first period, it is the later of the first time point or the second time point (second time point t2), The second period is The timing is the time when the clutch pedal that has been in the operated state is put into the non-operated state, or the time when a second period (second period T2) has elapsed since the time when the clutch pedal was put into the non-operated state. Vehicle control device.

[0097] According to (1), if the clutch pedal is operated during a first period after it is determined that the vehicle's traveling speed exceeds the speed limit, the timing for determining whether to issue a first notification based on the accelerator pedal position can be delayed to a second period that is chronologically later than the normal first period and is the time when the clutch pedal is not operated or a second period has elapsed since the time when the clutch pedal was not operated. This makes it possible to stably issue the first notification even if there is a temporary decrease in accelerator pedal position due to a shift-up operation after it is determined that the vehicle's traveling speed exceeds the speed limit. This makes it possible to issue the first notification appropriately, improving vehicle safety and ultimately improving traffic safety and contributing to the development of a sustainable transportation system.

[0098] (2) The vehicle control device according to (1), The notification device includes a sound output device (speaker 92) capable of outputting sound, The first notification is a notification that causes the sound output device to output a predetermined notification sound (notification sound AS) a predetermined number of times or for a predetermined period of time. Vehicle control device.

[0099] According to (2), even if the driver is visually inspecting the area around the vehicle when the first notification is made, it is possible to notify the driver that the first notification is being made.

[0100] (3) The vehicle control device according to (1) or (2), The notification control unit further issues a second notification (second notification N2) when it is determined that the traveling speed exceeds the speed limit and before the predetermined time period arrives, The first notification has a stronger notification intensity than the second notification. Vehicle control device.

[0101] According to (3), when it is determined that the vehicle's speed exceeds the speed limit, the strength of the notification can be gradually increased, such as by first issuing a second notification and then a first notification, thereby enabling more effective notifications.

[0102] (4) A vehicle control device according to any one of (1) to (3), The notification control unit further issues a second notification (second notification N2) when it is determined that the traveling speed exceeds the speed limit and before the predetermined time period arrives, The notification device includes a display device (MID 91) capable of displaying an image and a sound output device (speaker 92) capable of outputting sound, the first notification is a notification that causes the sound output device to output a predetermined notification sound (notification sound AS); The second notification is a notification that causes the display device to display a predetermined image (speed limit image M1). Vehicle control device.

[0103] In general, notifications that output a predetermined notification sound are considered to have stronger notification intensity than notifications that display a predetermined image. According to (4), when it is determined that the vehicle's traveling speed exceeds the speed limit, the notification intensity can be increased stepwise, such as by first issuing a second notification that displays a predetermined image, and then issuing a first notification that outputs a predetermined notification sound, thereby enabling more effective notifications.

[0104] (5) The vehicle control device according to (4), The notification control unit further issues a third notification (third notification N3) when it is determined that the traveling speed does not exceed the speed limit, the second notification is a notification that causes the display device to display an image representing the speed limit (speed limit image M1) in a first display mode, The third notification is a notification that causes the display device to display an image representing the speed limit (speed limit image M1) in a second display mode. Vehicle control device.

[0105] According to (5), the second and third notifications can inform the driver of the speed limit and whether the vehicle's traveling speed exceeds the speed limit.

[0106] (6) The vehicle control device according to (5), the second notification is a notification that causes the display device to display an image representing the speed limit in a flashing manner, The third notification is a notification that causes the display device to display an image representing the speed limit so that the image is illuminated. Vehicle control device.

[0107] According to (6), the second and third notifications make it possible to provide the driver with intuitive and easy-to-understand guidance on the speed limit and whether the vehicle's traveling speed exceeds the speed limit.

[0108] (7) A vehicle control device according to any one of (1) to (6), The notification control unit When the accelerator opening degree at the predetermined time is equal to or greater than a predetermined value, the first notification is made, When the accelerator opening degree at the predetermined time is less than the predetermined value, the first notification is not made. Vehicle control device.

[0109] According to (7), by issuing the first notification on the condition that it is presumed that the driver intends to accelerate the vehicle, excessive first notifications can be suppressed and the driver can be prevented from being annoyed by excessive first notifications.

[0110] (8) The vehicle control device according to (7), The notification control unit When the accelerator opening degree at the predetermined time is equal to or greater than the predetermined value and the clutch pedal is in the non-operated state, the first notification is issued. Vehicle control device.

[0111] According to (8), by issuing the first notification only when the vehicle is in a state where it can actually accelerate, excessive first notifications can be suppressed, and the inconvenience caused to the driver by excessive first notifications can be avoided.

[0112] (9) A control method executed by a computer (control device 30) that controls a vehicle (vehicle 1) equipped with a manual transmission (manual transmission 63), The computer Obtain speed limit information indicating the speed limit of the road on which the vehicle is traveling (step S3); The speed limit indicated by the acquired speed limit information is compared with the traveling speed of the vehicle, and it is determined whether the traveling speed exceeds the speed limit (step S5). When it is determined that the traveling speed exceeds the speed limit, a predetermined notification is given to an occupant of the vehicle via a notification device mounted on the vehicle. Execute the process, In the process of making the predetermined notification, A first notification is made based on the accelerator opening of the vehicle at a predetermined time after it is determined that the traveling speed exceeds the speed limit (steps S21 to S23, step S25). The predetermined time is If the clutch pedal of the vehicle is not operated during a first period after it is determined that the traveling speed exceeds the speed limit, the first time is when the first period has elapsed since it was determined that the traveling speed exceeds the speed limit, If the clutch pedal is in the operated state during the first period, it is the later of the first time period and the second time period. The second period is The timing is a time when the clutch pedal that has been in the operated state is put into a non-operated state, or a time when a second period has elapsed since the time when the clutch pedal was put into the non-operated state. Control method.

[0113] According to (9), if the clutch pedal is operated during a first period after it is determined that the vehicle's traveling speed exceeds the speed limit, the timing for determining whether to issue a first notification based on the accelerator pedal position can be delayed to a second period that is chronologically later than the normal first period and is the time when the clutch pedal is not operated or a second period has elapsed since the time when the clutch pedal was not operated. This makes it possible to stably issue the first notification even if there is a temporary decrease in accelerator pedal position due to a shift-up operation after it is determined that the vehicle's traveling speed exceeds the speed limit. This makes it possible to issue the first notification appropriately, improving vehicle safety and ultimately improving traffic safety and contributing to the development of a sustainable transportation system. [Explanation of symbols]

[0114] 1 vehicle 30 Control device (vehicle control device) 33 Acquisition Department 34 Judgment section 35 Notification control section 63 Manual Transmission 64 Clutch pedal 91 MID (notification device, display device) 92 Speaker (notification device, sound output device) AS notification sound N1 1st notification N2 2nd notification N3 3rd notification t1 1st period t2 2nd period T1 1st period T2 2nd period TJ Judgment time (predetermined time)

Claims

1. A vehicle control device for controlling a vehicle equipped with a manual transmission, an acquisition unit that acquires speed limit information indicating a speed limit of a road on which the vehicle is traveling; a determination unit that compares the speed limit indicated by the speed limit information acquired by the acquisition unit with a traveling speed of the vehicle and determines whether the traveling speed exceeds the speed limit; a notification control unit that, when the determination unit determines that the traveling speed exceeds the speed limit, issues a predetermined notification to an occupant of the vehicle via a notification device mounted on the vehicle; and Equipped with The notification control unit issuing a first notification based on an accelerator opening degree of the vehicle being equal to or greater than a predetermined value at a predetermined time after it is determined that the traveling speed exceeds the speed limit; The predetermined time is If the clutch pedal of the vehicle is not operated during a first period after it is determined that the traveling speed exceeds the speed limit, the first time is when the first period has elapsed since it was determined that the traveling speed exceeds the speed limit, If the clutch pedal is operated during the first period, the later of the first time period and the second time period occurs. The second period is the timing when the clutch pedal that has been in the operated state is put into a non-operated state, or the timing when a second period has elapsed since the timing when the clutch pedal was put into the non-operated state; Vehicle control device.

2. The vehicle control device according to claim 1, the notification device includes a sound output device capable of outputting sound; the first notification is a notification that causes the sound output device to output a predetermined notification sound a predetermined number of times or for a predetermined period of time; Vehicle control device.

3. The vehicle control device according to claim 1, The notification control unit further issues a second notification when it is determined that the traveling speed exceeds the speed limit and before the predetermined time period arrives, The first notification has a stronger notification intensity than the second notification. Vehicle control device.

4. The vehicle control device according to claim 1, The notification control unit further issues a second notification when it is determined that the traveling speed exceeds the speed limit and before the predetermined time period arrives, the notification device includes a display device capable of displaying an image and a sound output device capable of outputting a sound; the first notification is a notification that causes the sound output device to output a predetermined notification sound; the second notification is a notification to cause the display device to display a predetermined image; Vehicle control device.

5. The vehicle control device according to claim 4, The notification control unit further issues a third notification when it is determined that the traveling speed does not exceed the speed limit, the second notification is a notification that causes the display device to display an image representing the speed limit in a first display mode, The third notification is a notification that causes the display device to display an image representing the speed limit in a second display mode. Vehicle control device.

6. The vehicle control device according to claim 5, the second notification is a notification that causes the display device to display an image representing the speed limit in a flashing manner, The third notification is a notification that causes the display device to display an image representing the speed limit so that the image is illuminated. Vehicle control device.

7. 7. A vehicle control device according to claim 1, The notification control unit When the accelerator opening degree at the predetermined time is equal to or greater than the predetermined value, the first notification is made, When the accelerator opening degree at the predetermined time is less than the predetermined value, the first notification is not made. Vehicle control device.

8. The vehicle control device according to claim 7, The notification control unit When the accelerator opening degree at the predetermined time is equal to or greater than the predetermined value and the clutch pedal is in the non-operated state, the first notification is issued. Vehicle control device.

9. A control method executed by a computer for controlling a vehicle equipped with a manual transmission, comprising: The computer acquire speed limit information indicating the speed limit of a road on which the vehicle is traveling; comparing the speed limit indicated by the acquired speed limit information with the traveling speed of the vehicle to determine whether the traveling speed exceeds the speed limit; When it is determined that the traveling speed exceeds the speed limit, a predetermined notification is given to an occupant of the vehicle via a notification device mounted on the vehicle. Execute the process, In the process of making the predetermined notification, issuing a first notification based on an accelerator opening degree of the vehicle being equal to or greater than a predetermined value at a predetermined time after it is determined that the traveling speed exceeds the speed limit; The predetermined time is If the clutch pedal of the vehicle is not operated during a first period after it is determined that the traveling speed exceeds the speed limit, the first time is when the first period has elapsed since it was determined that the traveling speed exceeds the speed limit, If the clutch pedal is operated during the first period, the later of the first time period and the second time period occurs. The second period is the timing when the clutch pedal that has been in the operated state is put into a non-operated state, or the timing when a second period has elapsed since the timing when the clutch pedal was put into the non-operated state; Control method.

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