Vehicle control device and vehicle control method

Abstract

To easily execute control to automatically stop a vehicle at an arbitrary position.SOLUTION: A vehicle control device according to the embodiment includes a braking control unit and a virtual distance setting unit. The braking control unit sets a distance to an obstacle based on the output from an obstacle detection unit to a control distance and controls a vehicle braking based on the control distance. The virtual distance setting unit sets a distance to a virtual obstacle to a control distance.SELECTED DRAWING: Figure 1

Description

[Technical Field]

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

[0002] Personal mobility vehicles are used as a means of transportation within the premises of shopping malls and other facilities. When driving within such premises, there is a risk of personal mobility vehicles colliding with people or obstacles, or accidentally entering areas where they cannot be driven. Therefore, from a safety perspective, personal mobility vehicles are required to have functions such as the ability to detect their surroundings and automatically stop.

[0003] For example, Patent Document 1 describes a technology in which, when a vehicle is driven automatically, a virtual sensor signal is input as a sensor input to allow the vehicle to avoid obstacles. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] Japanese Patent Application Laid-Open No. 2006-107475 Summary of the Invention [Problem to be solved by the invention]

[0005] However, the conventional technology has a problem in that it may not be possible to easily execute control to automatically stop the vehicle at an arbitrary position.

[0006] For example, depending on the road and surrounding conditions along the vehicle's route, it may be more desirable to stop the vehicle than to avoid an obstacle.

[0007] For example, the technology of Patent Document 1 can make a vehicle avoid a virtual obstacle, but it may be difficult to make the vehicle stop in front of the virtual obstacle.

[0008] The present invention has been made in consideration of the above, and aims to provide a vehicle control device and a vehicle control method that can easily execute control to automatically stop a vehicle at any position. [Means for solving the problem]

[0009] In order to solve the above-mentioned problems and achieve the object, a vehicle control device according to the present invention includes a braking control unit and a virtual distance setting unit. The braking control unit sets a distance to an obstacle based on an output from the obstacle detection unit as a control distance, and controls braking of the vehicle based on the control distance. The virtual distance setting unit sets the distance to a virtual obstacle as the control distance. [Effects of the Invention]

[0010] According to the present invention, it is possible to easily execute control to automatically stop a vehicle at any position. [Brief explanation of the drawings]

[0011] [Figure 1] FIG. 1 is a diagram illustrating an example of the configuration of a vehicle control system according to an embodiment. [Figure 2] FIG. 2 is a diagram illustrating an example of the configuration of a vehicle and a vehicle control device according to the embodiment. [Figure 3] FIG. 3 is a diagram illustrating an example of the configuration of a server according to the embodiment. [Figure 4] FIG. 4 is a diagram illustrating braking control based on the sonar distance and the virtual sonar distance. [Figure 5] FIG. 5 is a diagram illustrating braking control according to an instruction from a traffic light. [Figure 6] FIG. 6 is a flowchart showing the procedure of the process executed by the vehicle control device according to the embodiment. [Figure 7] FIG. 7 is a flowchart showing the procedure of braking control processing in response to an instruction from a traffic light. DETAILED DESCRIPTION OF THE INVENTION

[0012] DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, embodiments of a vehicle control device and a vehicle control method disclosed in the present application will be described in detail with reference to the accompanying drawings. However, the present invention is not limited to the following embodiments.

[0013] First, a vehicle control system according to an embodiment will be described with reference to Fig. 1. Fig. 1 is a diagram showing the configuration of a vehicle control system according to an embodiment.

[0014] As shown in FIG. 1, the vehicle control system 1 includes a vehicle 10 and a server 20 connected to the vehicle 10 via a network N so as to be able to communicate data.

[0015] For example, the vehicle 10 is a personal mobility device (electric wheelchair, senior car) that travels within facilities such as shopping malls, airports, companies, factories, and parks, or on sidewalks.

[0016] Vehicle 10 may be an automobile that travels on a public road such as a roadway, or may be an automatically driven shopping cart. Vehicle 10 may also be an automatically driven unmanned vehicle, or may be a manned vehicle whose control is partially automated.

[0017] For example, the network N may be the Internet or an intranet available within an institution.

[0018] The vehicle 10 is controlled by a vehicle control device 11. For example, the vehicle control device 11 controls the driving, braking, and steering of the vehicle 10.

[0019] For example, the vehicle control device 11 is realized by an information processing device such as an ECU (Electronic Control Unit) provided in the vehicle 10. The vehicle control device 11 may also be realized by the server 20.

[0020] The vehicle control device 11 detects a distance 301d from the vehicle 10 to the obstacle 30. Then, the vehicle control device 11 performs braking control so that the vehicle 10 does not collide with the obstacle 30 based on the distance 301d.

[0021] For example, the vehicle control device 11 decelerates the vehicle 10 so that the vehicle 10 stops in front of the obstacle 30 after traveling the distance 301d.

[0022] Furthermore, the vehicle control device 11 performs braking control of the vehicle 10 based on the distance 401d from the vehicle 10 to the virtual obstacle 40.

[0023] The virtual obstacle 40 may be a non-existent obstacle. For example, the obstacle 40 may be a virtual object defined in a virtual space that reproduces a facility through which the vehicle 10 travels.

[0024] Moreover, the obstacle 40 does not have to be a virtual object, but may simply be information indicating a position.

[0025] The vehicle control device 11 can perform braking control by receiving the distance 401d, regardless of whether an obstacle is present or not.

[0026] For example, the vehicle control device 11 decelerates the vehicle 10 so that the vehicle 10 stops in front of the virtual obstacle 40 after traveling the distance 401d.

[0027] It can be said that the vehicle control system 1 is realized by combining a CPS (Cyber-Physical System) with mobility to extend the automatic stopping function of the vehicle.

[0028] CPS is a technology that analyzes and predicts information collected in the real world in cyberspace and feeds the results back into the real world. For example, a CPS consists of a physical device for accessing the real world and a server (including the cloud) for performing calculations in virtual space.

[0029] The configurations of the vehicle 10 and the vehicle control device 11 will be described with reference to Fig. 2. Fig. 2 is a diagram showing an example of the configuration of the vehicle and the vehicle control device according to the embodiment.

[0030] As shown in FIG. 2, the vehicle 10 includes a vehicle control device 11, a sonar sensor 12, a position sensor 13, a driving device 14, and a braking device 15.

[0031] The vehicle control device 11 controls each device of the vehicle 10. The vehicle control device 11 may be realized by one or more ECUs.

[0032] The sonar sensor 12 is a sensor that detects the distance to an object using ultrasonic waves (for example, a clearance sonar).

[0033] The position sensor 13 is a sensor for acquiring the position of the vehicle 10. For example, the position sensor 13 is a receiver of a Global Navigation Satellite System (GNSS).

[0034] The position sensor 13 may also acquire the position using Bluetooth (registered trademark) or Wi-Fi (registered trademark).

[0035] The drive system 14 is a system for driving the vehicle 10. The drive system 14 may also be referred to as, for example, a powertrain or a drive system.

[0036] The braking device 15 is a system that applies brakes to the vehicle 10. The braking device 15 can decelerate the vehicle 10. The braking device 15 can also continue to decelerate the vehicle 10 until it stops. The braking device 15 may also be referred to as a brake system.

[0037] The drive system 14 and the brake system 15 may be controlled manually by a user or automatically by the vehicle control device 11 .

[0038] As shown in FIG. 2, the vehicle control device 11 includes a communication unit 111, a storage unit 112, and a control unit 113.

[0039] The communication unit 111 is an interface for communicating data with other devices via the network N. The communication unit 111 is, for example, a network interface card (NIC).

[0040] The memory unit 112 and the control unit 113 of the vehicle control device 11 are realized by a computer having, for example, a CPU (Central Processing Unit), a ROM (Read Only Memory), a RAM (Random Access Memory), a flash memory, an input / output port, etc., or various circuits.

[0041] The CPU of the computer functions as a detection unit 1131, a virtual distance setting unit 1132, a drive control unit 1133, and a braking control unit 1134 of the control unit 113 by reading and executing a program stored in, for example, the ROM.

[0042] The storage unit 112 corresponds to a RAM or a flash memory, and can store a vehicle speed conversion map 1121 and the like.

[0043] The vehicle control device 11 may acquire the above-mentioned programs and various information via another computer or portable recording medium connected via a wired or wireless network.

[0044] The vehicle speed conversion map 1121 is information for determining a target vehicle speed from the distance to a destination (for example, an obstacle).

[0045] For example, the vehicle speed conversion map 1121 may be a function that outputs a target vehicle speed from an input distance. In this case, the vehicle speed conversion map 1121 may output a smaller target vehicle speed as the input distance becomes smaller.

[0046] The detection unit 1131 detects the distance to an obstacle based on the sensor value of the sonar sensor 12 provided in the vehicle 10. The detection unit 1131 sets the detected distance as a control distance in the braking control unit 1134. The detection unit 1131 and the sonar sensor 12 are an example of an obstacle detection unit.

[0047] For example, the detection unit 1131 detects the distance 301d to an actual obstacle such as the obstacle 30 in FIG.

[0048] The virtual distance setting unit 1132 sets the distance to a virtual obstacle as the control distance.

[0049] For example, the virtual distance setting unit 1132 sets a distance 401d to a virtual obstacle such as the obstacle 40 in FIG.

[0050] The virtual distance setting unit 1132 may calculate the distance based on information acquired from the server 20. Furthermore, the virtual distance setting unit 1132 may set the distance received from the server 20 in the braking control unit 1134 as the control distance.

[0051] The drive control unit 1133 controls the drive device 14. For example, the drive control unit 1133 controls the drive device 14 to accelerate the vehicle 10.

[0052] The braking control unit 1134 sets the distance to the obstacle based on the output from the obstacle detection unit as a control distance, and performs control to brake the vehicle 10 based on the control distance. The control distance can be input from both the detection unit 1131 and the virtual distance setting unit 1132.

[0053] For example, the braking control unit 1134 decelerates the vehicle 10 so that the vehicle speed approaches the target vehicle speed obtained by inputting the set control distance into the vehicle speed conversion map 1121.

[0054] The configuration of the server 20 will be described with reference to Fig. 3. Fig. 3 is a diagram showing an example of the configuration of the server according to the embodiment.

[0055] As shown in FIG. 3, the server 20 includes a communication unit 21, a storage unit 22, and a control unit .

[0056] The communication unit 21 is an interface for communicating data with other devices via the network N. The communication unit 21 is, for example, a network interface card (NIC).

[0057] The storage unit 22 and the control unit 23 of the server 20 are realized by, for example, a computer having a CPU, a ROM, a RAM, a flash memory, an input / output port, etc., or various circuits.

[0058] The CPU of the computer functions as the providing unit 231 of the control unit 23 by reading and executing a program stored in, for example, the ROM.

[0059] The storage unit 22 corresponds to a RAM or a flash memory, and the RAM or the flash memory can store virtual space information 221 and the like.

[0060] The server 20 may also acquire the above-mentioned programs and various information via other computers or portable recording media connected via a wired or wireless network.

[0061] The virtual space information 221 includes information on obstacles in a virtual space that reproduces the space in which the vehicle 10 travels (for example, facilities such as shopping malls, sidewalks, and roadways), and the results of analysis and predictions performed in the virtual space.

[0062] For example, the virtual space information 221 may include information on restricted areas designated in a facility, locations where congestion is predicted as a result of people flow prediction, and the like.

[0063] The providing unit 231 provides the information included in the virtual space information 221 to the vehicle control device 11 .

[0064] In addition, the providing unit 231 may acquire the position information of the vehicle 10 detected by the position sensor 13, calculate the distance from the vehicle 10 to a virtual obstacle based on the position information, and provide the calculated distance to the vehicle control device 11.

[0065] Here, a specific example will be given to explain the processing of the vehicle control system 1. First, a virtual destination is specified. The virtual destination may be a virtual obstacle as described in FIG. 1, or a location where the vehicle 10 is prohibited from traveling.

[0066] For example, locations where the vehicle 10 is prohibited from traveling include locations where the floor is wet with liquid, near the entrance of a store, where people get on and off escalators, as well as locations where there are small steps or grooves that cannot be detected by the sonar sensor 12.

[0067] Furthermore, the location where the vehicle 10 is prohibited from traveling may be a location where people are predicted to move in the future based on people flow prediction using a predetermined system (for example, CPS).

[0068] For example, the virtual distance setting unit 1132 sets the distance from the vehicle 10 to a location where people are predicted to be crowded in the braking control unit 1134 as the control distance.

[0069] As a result, when a person appears in the traveling direction of the vehicle 10, the vehicle control device 11 can safely decelerate the vehicle 10 in advance without suddenly decelerating the vehicle 10.

[0070] The virtual destination may be manually specified in the vehicle control system 1, or may be automatically specified from an image captured by a network camera installed within the facility.

[0071] The braking control unit 1134 controls the vehicle 10 in accordance with the control distance set by the virtual distance setting unit 1132 and the control distance detected by the detection unit 1131 .

[0072] The braking control unit 1134 can perform control to brake the vehicle 10 according to the distance so that the vehicle 10 stops at the destination. The braking control unit 1134 performs control so that the vehicle 10 gradually decelerates and stops as it approaches the destination.

[0073] This allows the virtual distance setting unit 1132 to set the control distance so that the vehicle 10 stops at a desired position.

[0074] For example, as shown in FIG. 4, the braking control unit 1134 sets the smaller of the distance set by the virtual distance setting unit 1132 and the distance detected by the detection unit 1131 as the control distance, and controls the vehicle 10.

[0075] 4 is a diagram illustrating braking control based on sonar distance and virtual sonar distance. Here, the control distance set by detection unit 1131 is called the physical sonar distance. Also, the control distance set by virtual distance setting unit 1132 is called the virtual sonar distance.

[0076] Here, the sonar distance is set using the sonar sensor 12. However, the sonar distance may be set using other means such as a camera, radar, LiDAR, etc.

[0077] The sonar sensor 12 outputs the distance (sonar distance) to the closest obstacle among obstacles present within the detection range of the sensor. On the other hand, the virtual sonar distance may be set to the distance to an obstacle that is physically unable to be detected by the sonar sensor 12.

[0078] Furthermore, when setting the sonar distance using a sensor such as a camera or LiDAR, information on the positions of not only the nearest obstacle but also multiple detected obstacles and the distances to those multiple obstacles may be input to the vehicle control device 11. In this case, the vehicle control device 11 can perform control such as avoidance and braking based on information such as the positions of the multiple obstacles and the distances to those obstacles.

[0079] As shown in FIG. 4, the braking control unit 1134 selects the smaller of the physical sonar distance and the virtual sonar distance, and inputs the selected control distance into the vehicle speed conversion map 1121 to obtain the target vehicle speed.

[0080] For example, if an obstacle is actually present in a position closer to the vehicle 10 than the destination indicated by the virtual sonar distance, the vehicle control device 11 sets a target vehicle speed based on the physical sonar distance and controls the vehicle 10 to stop before the obstacle. In this way, the vehicle control device 11 can perform braking control that takes safety into consideration.

[0081] If the physical sonar distance and the virtual sonar distance are not set by the detection unit 1131 or the virtual distance setting unit 1132, they may be set to a sufficiently large distance (for example, infinity) as default values.

[0082] Furthermore, the vehicle control device 11 can realize control of the vehicle 10 in accordance with instructions from traffic lights. Here, the traffic lights may be real or virtual.

[0083] When it is desired to temporarily stop the vehicle 10, the virtual distance setting unit 1132 sets the first distance as the control distance when stopping the vehicle 10, and when starting the vehicle 10 after stopping the vehicle 10, sets the second distance larger than the first distance as the control distance.

[0084] As an example, when a traffic light in the direction of travel of the vehicle 10 indicates that the vehicle should proceed, the virtual distance setting unit 1132 sets the control distance to a second distance greater than the first distance, and when the traffic light indicates that the vehicle should stop, the virtual distance setting unit 1132 sets the control distance to the first distance.

[0085] For example, a traffic light indicates that a green light is to proceed and a red light is to stop, and a yellow light on a traffic light indicates that the light will soon turn red.

[0086] Fig. 5 is a diagram illustrating braking control according to a traffic light instruction. In the example of Fig. 5, the destination is a traffic light stop line 501. The traffic light stop line 501 may be an actual line drawn on the road surface, or may be a virtual line.

[0087] 5, initially, a traffic light stop line 501 is located 3 m in the direction of travel from vehicle 10. Here, if the traffic light is showing a yellow light, it is predicted that the light will turn red when the vehicle reaches the stop line based on the vehicle speed, so virtual distance setting unit 1132 sets 3 m, which is the distance to the actual traffic light stop line 501, as the virtual sonar distance.

[0088] It is assumed that the braking distance of the vehicle 10 is approximately 1 m to 5 m. Furthermore, it is assumed that the vehicle 10 can safely decelerate and stop in approximately 3 m when traveling at a medium speed.

[0089] After the vehicle 10 reaches the stop light line 501, the virtual distance setting unit 1132 continues to set the virtual sonar distance to 0 m while the light is red. 0 m is an example of the first distance.

[0090] After that, after the traffic light has transitioned to green, the virtual distance setting unit 1132 sets the virtual sonar distance to a sufficiently large distance (for example, 100 m) that is equal to or greater than the threshold value. 100 m is an example of the second distance.

[0091] Here, the threshold value is a threshold value that allows the detection unit 1131 to determine that there is no obstacle. For example, if the vehicle 10 can safely decelerate and stop in 5 m from the maximum speed, the threshold value may be a value that is sufficiently larger than 5 m (for example, 100 m).

[0092] The control for making the vehicle 10 stop temporarily using the first distance and the second distance can be applied to other things besides traffic lights. For example, the vehicle control device 11 can make the vehicle 10 stop temporarily by temporarily setting the first distance as the control distance at a stopping position at an intersection without traffic lights.

[0093] Furthermore, if a temporary obstacle such as a person appears in a location that is difficult to avoid, the vehicle control device 11 can temporarily set the first distance as the control distance and cause the vehicle 10 to stop temporarily.

[0094] Here, it is also conceivable that the vehicle 10 may avoid the obstacle by control other than braking, such as by changing the route. The vehicle control device 11 can prioritize avoiding the obstacle by braking over changing the route.

[0095] When the control distance is set by the virtual distance setting unit 1132 while the vehicle 10 is traveling along a route, the braking control unit 1134 performs control to brake the vehicle 10 in preference to control to avoid a position on the route that is the control distance away from the vehicle 10 by changing the route.

[0096] As a result, even if there is limited space for turning around when changing the route, the vehicle control device 11 can stop the vehicle 10 without forcing the route to be changed, and leave the avoidance of obstacles to human operation.

[0097] Here, the vehicle control device 11 may select and control whether to avoid an obstacle by changing the travel route or to stop the vehicle without avoiding the obstacle, depending on the type of obstacle, etc. The obstacle here may be either a real one or a virtual one.

[0098] For example, the vehicle control device 11 prioritizes stopping if the obstacle is a stop line, an obstacle (e.g., a person) that temporarily appears in a location that is difficult to avoid, or an obstacle near the destination (e.g., a parking space in a parking position, a car stop, or a wall).

[0099] The stop line may be an actual line drawn on the road surface in front of a traffic light, at an intersection, etc., or may be a virtual line. Similarly, the parking space may be an actual line or a virtual line.

[0100] On the other hand, the vehicle control device 11 prioritizes avoidance when the obstacle is an actual obstacle on the travel route (other than the destination or a stop-off place), an obstacle (for example, a person) that appears temporarily in a place where avoidance is easy, an area where avoidance is recommended such as a place where the road surface is wet and slippery, a no-entry area set by a facility, or an area where entry of the target vehicle is prohibited under the Road Traffic Act. Note that each area may be an area set as a virtual obstacle.

[0101] Furthermore, when avoidance is performed, the vehicle control device 11 can control the steering device (for example, a steering system) provided in the vehicle 10 in addition to the drive device 14 and the braking device 15 to perform steering.

[0102] 6 is a flowchart showing the procedure of the process executed by the vehicle control device according to the embodiment. As shown in FIG. 6, first, the vehicle control device 11 detects the physical sonar distance from the sensor value of the sonar sensor 12 (step S101).

[0103] Next, the vehicle control device 11 sets a virtual sonar distance to the destination based on the virtual space information 221 (step S102).

[0104] If the physical sonar distance is greater than the virtual sonar distance (step S103, Yes), the vehicle control device 11 performs braking control according to the virtual sonar distance (step S104).

[0105] If the physical sonar distance is not greater than the virtual sonar distance (step S103, No), the vehicle control device 11 performs braking control according to the sonar distance (step S105).

[0106] 7 is a flowchart showing the procedure of the braking control process according to the instruction of the traffic light. First, the vehicle control device 11 refers to the color of the traffic light in the traveling direction of the vehicle 10 (step S201).

[0107] If the traffic light is green (step S201, green), the vehicle control device 11 sets the virtual sonar distance to 100 m (step S202). In this case, deceleration control according to the virtual sonar distance is not performed on the vehicle 10. Note that 100 m is assumed to be a value sufficiently large compared to the braking distance of the vehicle 10.

[0108] If the traffic light is yellow (step S201, yellow), the vehicle control device 11 sets the virtual sonar distance to the actual distance to the stop line (step S203). In this case, deceleration control may be performed on the vehicle 10 according to the virtual sonar distance.

[0109] If the traffic light is red (step S201, red), the vehicle control device 11 sets the virtual sonar distance to 0 m (step S204). In this case, deceleration control according to the virtual sonar distance is always performed on the vehicle 10, and the vehicle 10 continues to stop.

[0110] As described above, the vehicle control device 11 according to the embodiment includes the braking control unit 1134 and the virtual distance setting unit 1132. The braking control unit 1134 sets the distance to an obstacle based on the output from the obstacle detection unit as a control distance, and performs control to brake the vehicle 10 based on the control distance. The virtual distance setting unit 1132 sets the distance to a virtual obstacle as the control distance.

[0111] The vehicle control device 11 can perform braking control of the vehicle 10 according to not only the distance actually detected using the sonar sensor, but also the virtual distance set by the virtual distance setting unit 1132. As a result, according to the embodiment, it is possible to easily execute control to automatically stop the vehicle at any position.

[0112] For example, this embodiment can be easily realized by inputting the virtual sonar distance into the automatic braking system originally installed in the vehicle, instead of the physical sonar distance.

[0113] Furthermore, according to the embodiment, it is possible to avoid obstacles and no-travel locations that cannot be detected by the sonar sensor 12.

[0114] Furthermore, by setting a predetermined range as a travel-prohibited position, the embodiment can be applied to a geofence, etc. In this case, for example, the vehicle control device 11 can make the vehicle 10 travel at a low speed by maintaining the virtual sonar distance at a constant value in the travel-prohibited position.

[0115] Further advantages and modifications will readily occur to those skilled in the art. Therefore, the invention in its broader aspects is not limited to the specific details and representative embodiments shown and described above. Accordingly, various modifications may be made without departing from the spirit or scope of the general inventive concept as defined by the appended claims and their equivalents. [Explanation of symbols]

[0116] N Network 1. Vehicle control system 10 vehicles 11 Vehicle control device 12 Sonar Sensor 13 Position Sensor 14 Drive unit 15 Braking device 20 servers 21, 111 Communications Department 22, 112 Storage section 23, 113 Control section 30, 40 obstacles 221 Virtual Space Information 231 Provision Department 301d, 401d distance 501 Signal Stop Line 1121 Vehicle speed conversion map 1131 Detector 1132 Virtual distance setting unit 1133 Drive control unit 1134 Braking control unit

Claims

1. A vehicle control device that sets a distance to an obstacle based on an output from an obstacle detection unit as a control distance and performs control to brake a vehicle based on the control distance, A virtual distance to a virtual obstacle can be set as the control distance, When it is desired to temporarily stop the vehicle, a first distance is set as the control distance when the vehicle is stopped, and when the vehicle is started after the vehicle has stopped, a second distance greater than the first distance is set as the control distance. Vehicle control device.

2. A vehicle control device that sets a distance to an obstacle based on an output from an obstacle detection unit as a control distance, and controls braking of the vehicle based on the control distance, A virtual distance to a virtual obstacle can be set as the control distance, When the vehicle is traveling along a route, a control to brake the vehicle is performed in preference to a control to avoid a position on the route that is away from the vehicle by the control distance by changing the route. Vehicle control device.

3. 3. The vehicle control device according to claim 1, wherein the obstacle detection unit is a sonar sensor.

4. A vehicle control device described in any one of claims 1 to 3, which controls by setting the smaller of the virtual distance and the distance detected by the obstacle detection unit as the control distance.

5. A vehicle control device described in any one of claims 1 to 4, which sets the virtual distance to a location where people are predicted to be crowded as the control distance.

6. A vehicle control method executed by a vehicle control device that sets a distance to an obstacle based on an output from an obstacle detection unit as a control distance and controls braking of the vehicle based on the control distance, A virtual distance to a virtual obstacle can be set as the control distance, When it is desired to temporarily stop the vehicle, a first distance is set as the control distance when the vehicle is stopped, and when the vehicle is started after the vehicle has stopped, a second distance greater than the first distance is set as the control distance. Vehicle control method.

7. A vehicle control method executed by a vehicle control device that sets a distance to an obstacle based on an output from an obstacle detection unit as a control distance and controls braking of the vehicle based on the control distance, A virtual distance to a virtual obstacle can be set as the control distance, When the vehicle is traveling along a route, a control to brake the vehicle is performed in preference to a control to avoid a position on the route that is away from the vehicle by the control distance by changing the route. Vehicle control method.

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