Vehicle control device

Abstract

To provide a vehicle control device which realizes optimum drive support by more properly grasping a recognition state by a sensor even when a surrounding environment of a vehicle changes and a recognition function of the sensor temporarily deteriorates.SOLUTION: A vehicle control device comprises: a recognition deterioration detection unit which detects a deterioration factor of a recognition function of a sensor based on a surrounding environment of a vehicle; a sensor information storage unit which stores sensor information including at least specifications information and installation information of the sensor; an acquisition unit which acquires a detection result of at least one of a target that can be detected by the sensor whose recognition function deteriorates and a region where the target exists on the basis of the deterioration factor and sensor information; a recognition unit which refers to pattern information defining a plurality of patterns indicating a combination of sensors used for recognition of the target correspondingly to a drive support function and recognizes the target on the basis of the detection result by the sensors included in each pattern; and a vehicle control unit which executes the drive support function corresponding to the pattern with which the recognition result is obtained on the basis of the recognition result of the target by the recognition unit.SELECTED DRAWING: Figure 3

Description

[Technical Field]

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

[0002] Recently, automobiles and other vehicles are equipped with perimeter monitoring sensors to implement driving assistance functions such as autonomous emergency braking (AEB) and adaptive cruise control (ACC). In recent years, in order to add functionality and improve the performance of driving assistance functions, multiple perimeter monitoring sensors are sometimes employed to detect directions other than the vehicle's front and to improve the reliability of detection results. When an object is detected by a single or multiple sensors, it is necessary to accurately determine whether it is an obstacle that needs to be avoided or whether it is a detection target for implementing driving assistance functions. This technology of collating the detection results of an object (target) from multiple sensors is called sensor fusion.

[0003] As such a sensor fusion technology, a technology has been proposed that recognizes pedestrians based on the results of pedestrian recognition by image recognition processing of an in-vehicle camera and the results of target recognition by laser radar (see, for example, Patent Document 1). [Prior art documents] [Patent documents]

[0004] [Patent Document 1] Japanese Patent Application Laid-Open No. 2009-237898 Summary of the Invention [Problem to be solved by the invention]

[0005] However, each sensor has its own strengths and weaknesses in detection, and the detection accuracy of each sensor may be reduced depending on the vehicle's surrounding environment (driving environment), for example, weather conditions (rainfall, snowfall, fog, strong winds, sunshine, etc.). In such cases, even when multiple sensors are detecting the same object, some sensors may maintain good detection performance while other sensors may experience reduced detection accuracy. In such cases, it may be difficult to determine in which direction (area) relative to the vehicle the detection accuracy of other vehicles is reduced, or in which direction (area) the detection accuracy of pedestrians is reduced. As a result, even when sensor fusion technology is used, this may cause false detection or false determination of objects, resulting in reduced driving assistance accuracy.

[0006] The present invention has been made in consideration of the above-mentioned problems, and aims to provide a vehicle control device that can more appropriately grasp the recognition situation of the sensor and achieve optimal driving assistance even when the surrounding environment (driving environment) of the vehicle changes and the sensor's recognition function (detection reliability) temporarily decreases. [Means for solving the problem]

[0007] In order to solve the above-mentioned problems and achieve the object, a vehicle control device according to the present invention is a vehicle control device that executes one or more driving assistance functions based on detection signals received from a plurality of types of sensors that detect targets around a vehicle, and includes a recognition degradation detection unit that detects factors that cause a degradation in the recognition function of the sensors based on the surrounding environment of the vehicle, a sensor information storage unit that stores sensor information that includes at least specification information and installation information of the sensors, and a recognition degradation detection unit that stores the factors that cause a degradation. The reliability of the sensor is reduced by The sensor information The specification information and the installation information shown in Based on the above, the target that can be detected by the sensor with the reduced recognition function is detected. and Area where the target exists Inspectionan acquisition unit that acquires a detection result; a recognition unit that refers to pattern information that defines a plurality of patterns indicating a combination of the sensors used to recognize the target, corresponding to each of the driving assistance functions, and recognizes the target based on the detection result by the sensors included in each of the patterns; and a vehicle control unit that executes the driving assistance function corresponding to the pattern from which the recognition result was obtained, based on the recognition result of the target by the recognition unit. [Effects of the Invention]

[0008] According to the present invention, a vehicle control device can be provided that can more appropriately grasp the sensor's recognition status and achieve optimal driving assistance, even when the vehicle's surrounding environment (driving environment) changes and the sensor's recognition function (detection reliability) temporarily decreases. [Brief explanation of the drawings]

[0009] [Figure 1] FIG. 1 is an exemplary schematic diagram showing the layout and detection ranges of various sensors of a vehicle to which a vehicle control device according to an embodiment can be applied. [Figure 2] FIG. 2 is an exemplary schematic diagram showing the electrical configuration of a vehicle to which the vehicle control device according to the embodiment can be applied. [Figure 3] FIG. 3 is an exemplary schematic block diagram showing a functional configuration of a vehicle control device (drive control ECU) according to the embodiment. [Figure 4] FIG. 4 is an exemplary diagram showing characteristics of various sensors that can be used in the vehicle control device according to the embodiment. [Figure 5] FIG. 5 is an exemplary diagram showing the performance of various sensors that can be used in the vehicle control device according to the embodiment. [Figure 6] FIG. 6 is an exemplary diagram illustrating a pattern table that can be used in the vehicle control device according to the embodiment. [Figure 7] FIG. 7 is an exemplary schematic plan view showing a change in the recognition area of ​​a target when the recognition function of a sensor is degraded in the vehicle control device according to the embodiment. [Figure 8] FIG. 8 is an exemplary flowchart showing the flow of operations of the vehicle control device (drive control ECU) according to the embodiment. DETAILED DESCRIPTION OF THE INVENTION

[0010] Hereinafter, embodiments of a vehicle control device according to the present invention will be described in detail with reference to Figures 1 to 8. Furthermore, the present invention is not limited to the following embodiments, and the components in the following embodiments include those that would be easily conceived by a person skilled in the art, those that are substantially the same, and those that are within the scope of what is called equivalents. Furthermore, various omissions, substitutions, modifications, and combinations of the components can be made without departing from the spirit of the following embodiments.

[0011] (Layout and detection range of various sensors on the vehicle) 1 is a diagram showing an example of the layout and detection range of various sensors of a vehicle to which a vehicle control device according to an embodiment can be applied. With reference to FIG. 1, an example of the layout and detection range of various sensors of a vehicle 1 according to this embodiment will be described.

[0012] As shown in FIG. 1, vehicle 1 is equipped with multiple sensors and executes at least one of the following driving assistance functions based on the detection results of the sensors: automatic emergency braking (AEB), adaptive cruise control (ACC), and pedal misapplication prevention. Automatic emergency braking (AEB) is a function that automatically applies the brakes to avoid a collision when a collision with an obstacle is predicted, or reduces the severity of the collision even if a collision with the obstacle is unavoidable, thereby mitigating damage to the vehicle. Adaptive cruise control (ACC) is a function that automatically accelerates and decelerates the vehicle within a preset vehicle speed range, enabling it to maintain a safe distance from another vehicle ahead during long-distance travel on a highway. The pedal misapplication prevention function is a function that, when a driver accidentally presses the accelerator pedal hard when a target such as a person or vehicle is detected by a sensor when starting vehicle 1, determines that the accelerator pedal has been misapplication if the speed and amount of pressure are greater than a predetermined value, closes the electronic throttle, controls the engine speed, and automatically applies the brakes after a predetermined time. As shown in (a) of Figure 1, the vehicle 1 is equipped with, as an example, a front camera sensor 2, four sonar sensors 3, a front millimeter-wave radar 4, two front-side millimeter-wave radars 5, two rear-side millimeter-wave radars 6, and four surround-view cameras 7.

[0013] The front camera sensor 2 is provided on the upper part of the windshield of the vehicle 1, and is an imaging device that recognizes targets such as vehicles, motorcycles, and pedestrians in front within a detection range 2a shown in Fig. 1(b). The sonar sensor 3 is provided on the corners of the front bumper and rear bumper of the vehicle 1, and is a sensor that detects targets by emitting ultrasonic waves within a detection range 3a shown in Fig. 1(b). The front millimeter-wave radar 4 is provided on the back side of the front bumper of the vehicle 1, and is a radar device that detects targets in front of the vehicle 1 within a detection range 4a shown in Fig. 1(b) by emitting millimeter-wave radio waves toward the front of the vehicle 1 and receiving the reflected radio waves.

[0014] The front-side millimeter-wave radar 5 is provided at a corner of the front bumper of the vehicle 1, and is a radar device that detects targets present on the front sides of the vehicle 1 by emitting millimeter-wave radio waves toward the front sides of the vehicle 1 and receiving the reflected radio waves within a detection range 5a shown in FIG. 1(b). The rear-side millimeter-wave radar 6 is provided at a corner of the rear bumper of the vehicle 1, and is a radar device that detects targets present on the rear sides of the vehicle 1 by emitting millimeter-wave radio waves toward the rear sides of the vehicle 1 and receiving the reflected radio waves within a detection range 6a shown in FIG. 1(b). The surround-view cameras 7 are provided at the front side, back door side, and left and right side mirrors of the vehicle 1, and are imaging devices that generate a bird's-eye view of the vehicle 1 from above using images captured within a wide-angle imaging range 7a shown in FIG. 1(b).

[0015] In this way, the vehicle 1 realizes the various driving assistance functions described above by mounting multiple types of sensors and performing sensor fusion to compare the detection results of targets from each sensor. Note that the various sensors of the vehicle 1 shown in Figure 1 are merely examples, and the number, types, and placement positions of the sensors are not limited to those shown in Figure 1.

[0016] (Vehicle electrical configuration) 2 is a diagram showing an example of the electrical configuration of the vehicle 1 to which the vehicle control device according to the embodiment can be applied. The electrical configuration of the vehicle 1 according to the present embodiment will be described with reference to FIG.

[0017] 2, the vehicle 1 includes a plurality of ECUs (Electronic Control Units) for controlling various parts. Each ECU includes a microcomputer (microcontroller unit), and the microcomputer includes, for example, a CPU (Central Processing Unit), a nonvolatile memory such as a flash memory, and a volatile memory such as a DRAM (Dynamic Random Access Memory).

[0018] Specifically, as shown in Fig. 2, the vehicle 1 includes a drive ECU 11, a steering ECU 12, a brake ECU 13, a meter ECU 14, a body ECU 15, a driving control ECU 31, a camera ECU 32, a sonar ECU 33, and a radar ECU 34. The ECUs are connected to each other via a bus line 19 so as to be able to communicate with each other. The bus line 19 realizes communication based on a serial communication protocol such as CAN (Controller Area Network). Note that the protocol is not limited to CAN, and other serial communication protocols may also be applied.

[0019] The vehicle 1 also includes a drive unit 21, a steering angle sensor 22a, a steering unit 22b, a braking unit 23, a function switch 24, headlamps 25, a positioning signal receiving unit 35, a vehicle speed sensor 36, a display device 37, a speaker 38, and a rain sensor 39. The vehicle 1 also includes a first monocular camera 42a, a second monocular camera 42b, a third monocular camera 42c, a first stereo camera 42d, a second stereo camera 42e, a sonar sensor 43, a first millimeter wave radar 44a, and a second millimeter wave radar 44b as sensors used to realize the driving assistance function.

[0020] The drive ECU 11 is an ECU that controls a drive unit 21 of the vehicle 1 based on input accelerator pedal signals and the like. The drive unit 21 is connected to the drive ECU 11 and includes at least one of an engine or a motor as a drive source. The drive unit 21 also includes, for example, an electronic throttle that electronically controls the throttle opening of the engine to adjust the amount of intake air and control the engine output. The drive unit 21 also includes a transmission that changes the speed of the drive force from the drive source and outputs it as necessary.

[0021] The steering ECU 12 is an ECU that receives a detection signal from the steering angle sensor 22a and controls a steering device 22b of the vehicle 1. The steering angle sensor 22a is connected to the steering ECU 12 and is a sensor that detects the angle of the steering wheel. The steering device 22b is connected to the steering ECU 12 and is an electric power steering device that transmits the torque of an electric motor to a steering mechanism. The steering mechanism includes, for example, a rack-and-pinion steering gear, and is configured so that when a rack shaft moves in the vehicle width direction due to the torque of the electric motor, the left and right steered wheels turn left and right in accordance with the movement of the rack shaft.

[0022] The brake ECU 13 is an ECU that controls a braking device 23 of the vehicle 1. The braking device 23 is connected to the brake ECU 13 and is a hydraulic or electric braking device. For example, if the braking device 23 is a hydraulic braking device, the braking device 23 includes a brake actuator that distributes hydraulic pressure to wheel cylinders of brakes provided on each wheel using the function of the brake actuator, and applies braking force from each brake to the wheels, including the drive wheels, using the hydraulic pressure.

[0023] The meter ECU 14 is an ECU that controls each part of the meter panel of the vehicle 1. The meter panel includes instruments that display vehicle speed and engine RPM, and displays such as a liquid crystal display (LCD) for displaying various information. The meter ECU 14 is also connected to a function switch 24 for enabling or disabling various driving assistance functions, for example. Note that some driving assistance functions may be constantly enabled due to their nature, regardless of whether they are switched on or off by the function switch 24.

[0024] The body ECU 15 is an ECU that controls the left and right turn signals, door lock motors, etc., which need to operate even when the vehicle ignition switch is off. In Fig. 2, headlamps 25 are connected to the body ECU 15 and turn on in accordance with commands from the body ECU 15.

[0025] The driving control ECU 31 is an ECU that serves as the center of control for driving assistance functions and is an example of a vehicle control device. The driving control ECU 31 executes various driving assistance functions based on sensor fusion, which collates target detection results based on detection signals from various sensors aggregated by the camera ECU 32, sonar ECU 33, and radar ECU 34. The driving control ECU 31 also includes a memory 41a and an external I / F 41b. As shown in FIG. 2, the driving control ECU 31 is also connected to a positioning signal receiving unit 35, a vehicle speed sensor 36, a display device 37, a speaker 38, a rain sensor 39, and the like.

[0026] The memory 41a is a non-volatile storage device such as a flash memory that stores a pattern table that defines patterns of combinations of various sensors used in the sensor fusion of the driving control ECU 31, and sensor information including installation information such as the specifications, mounting position, and mounting angle of the various sensors. A pattern table exists for each driving assistance function and for each detection target (vehicle, motorcycle, pedestrian, etc.) for that driving assistance function. Sensor information also exists for each sensor. The pattern table and sensor information will be described later.

[0027] The external I / F 41b is an interface for performing data communication with an external device 51, which is an external information processing device. The external I / F 41b is an interface conforming to standards such as Ethernet (registered trademark) or USB (Universal Serial Bus). The external device 51 is an information processing device such as a PC (Personal Computer) used for processing such as saving, editing, and updating the pattern table and sensor information stored in the memory 41a.

[0028] The camera ECU 32 is connected to the first monocular camera 42a, the second monocular camera 42b, the third monocular camera 42c, the first stereo camera 42d, and the second stereo camera 42e, and generates image data by receiving and processing image signals captured by each camera. The camera ECU 32 processes the image signals received from each camera and transmits the processed image data to the driving control ECU 31. The first monocular camera 42a, the second monocular camera 42b, and the third monocular camera 42c are camera sensors capable of continuously capturing still images of a search range in front of or behind the vehicle 1 at a predetermined frame rate. The first stereo camera 42d and the second stereo camera 42e are camera sensors capable of measuring the distance to a target from the parallax of images captured by two imaging units arranged parallel and equidistant from each other.

[0029] The sonar ECU 33 is connected to the sonar sensor 43 and is an ECU that receives and processes detection signals of targets obtained by the sonar sensor 43. The sonar ECU 33 transmits data obtained by processing the detection signals received from the sonar sensor 43 to the driving control ECU 31. The sonar sensor 43 is a sensor that detects targets by emitting ultrasonic waves.

[0030] The radar ECU 34 is connected to the first millimeter-wave radar 44a and the second millimeter-wave radar 44b, and is an ECU that receives and processes target detection signals obtained by each millimeter-wave radar. The radar ECU 34 processes the detection signals received from each millimeter-wave radar and transmits the processed data to the driving control ECU 31. The first millimeter-wave radar 44a and the second millimeter-wave radar 44b are radar devices that detect targets present around the vehicle 1 by emitting millimeter-wave band radio waves and receiving the reflected radio waves.

[0031] The various sensors of the vehicle 1 shown in FIG. 2 are merely examples, and the number, types, and locations of the sensors are not limited to those shown in FIG.

[0032] The positioning signal receiving unit 35 is a receiving device that receives positioning signals from positioning satellites based on the GNSS (Global Navigation Satellite System). The positioning signal receiving unit 35 is communicably connected to the driving control ECU 31 via, for example, a USB standard communication cable, and outputs the received positioning signals to the driving control ECU 31. The driving control ECU 31 detects the location of the vehicle 1 based on the positioning signals received from the positioning signal receiving unit 35. An example of the GNSS is, for example, a GPS (Global Positioning System).

[0033] The vehicle speed sensor 36 is a sensor that is installed, for example, near a wheel of the vehicle 1 and generates a vehicle speed pulse that indicates the rotation speed or number of rotations of the wheel. The vehicle speed sensor 36 is communicably connected to the driving control ECU 31 and outputs the generated vehicle speed pulse to the driving control ECU 31. The driving control ECU 31 calculates the vehicle speed of the vehicle 1 by counting the vehicle speed pulses received from the vehicle speed sensor 36.

[0034] The display device 37 is a display device such as an LCD (Liquid Crystal Display) or an OLED (Organic Electro-Luminescent Display) that displays object recognition information and the like and is installed on a dashboard or the like inside the vehicle 1. The display device 37 is connected to the driving control ECU 31 so as to be able to communicate with it.

[0035] The speaker 38 is an acoustic device that outputs sounds and voices and is installed in the passenger compartment of the vehicle 1. The speaker 38 is connected to the driving control ECU 31 so as to be able to communicate with it.

[0036] The rain sensor 39 can be used as one of the sensors that detects the surrounding environment (driving environment) of the vehicle 1. The rain sensor 39 is, for example, an optical (infrared) sensor that detects rainfall on the vehicle 1 and is disposed, for example, inside the windshield of the vehicle 1. In this case, when there are no raindrops on the windshield, the infrared light emitted from the light-emitting unit is reflected by the windshield surface and enters the light-receiving unit. On the other hand, when there are raindrops on the windshield, the infrared light passes through the raindrops and the amount of light entering the light-receiving unit is reduced. In other words, the presence and amount of raindrops (degree of rainfall) can be determined based on the amount of light incident on the light-receiving unit, and the generated detection signal is output to the driving control ECU 31. The driving control ECU 31 determines the surrounding environment (rainfall conditions) of the vehicle 1 based on the detection signal received from the rain sensor 39. For example, it can be determined that the recognition accuracy of a sensor that uses images for sensing has decreased due to rainfall. When the detection signal of the rain sensor 39 is used, the deterioration of the recognition accuracy (detection reliability) of the sensor may be determined in stages according to the amount of rainfall.

[0037] The detection of the surrounding environment (driving environment) of the vehicle 1 is not limited to the rain sensor 39, and may be performed based on, for example, image data acquired from the camera ECU 32. When image data is used, for example, if the contrast of the image (image data) sent from the camera ECU 32 continues to be lower by a predetermined level or more compared to a standard image (a standard image prepared in advance when visibility is good) for a predetermined period of time, it can be determined that there is a possibility of poor visibility due to rainfall, snowfall, fog, or the like. In this case, it can be determined that the target recognition level has deteriorated below the level at which driving assistance of the vehicle 1 can be performed without hindrance. In other words, the image data sent from the camera ECU 32 itself can be used to determine the surrounding environment (driving environment) of the vehicle 1. Similarly, if the edge included in the image (image data) sent from the camera ECU 32 continues to be more difficult to distinguish (blurred) than the standard image for a predetermined period of time, it can be determined that there is a possibility of poor visibility due to rainfall, snowfall, fog, or the like. In this case, it can also be determined that the target recognition level has deteriorated below the level at which driving assistance of the vehicle 1 can be performed without hindrance. In other words, the image data itself sent from the camera ECU 32 can be used to determine the surrounding environment (driving environment) of the vehicle 1. Furthermore, since the detection signal sent from the sonar ECU 33 is a signal based on the reflection of sound waves, if the surrounding conditions of the vehicle 1 are exposed to winds stronger than those during normal driving, the pattern of the detection signal clearly changes from that when there is no strong wind. Based on the degree of change, the surrounding environment (driving environment) of the vehicle 1 can be determined (determined whether or not there is a strong wind) based on the degree of change. In this way, if a detection value that does not reach a predetermined detection value threshold (standard value) for each sensor is continuously detected for a predetermined period, it can be determined that the surrounding environment of the vehicle 1 has deteriorated. By recognizing a change (deterioration) in the surrounding environment of the vehicle 1, various processes for driving assistance control according to the surrounding environment (driving environment) of the vehicle 1, which will be described later, can be realized.

[0038] Note that the electrical configuration of vehicle 1 shown in Fig. 2 is an example, and does not necessarily include all of the components shown in Fig. 2, or may include other components. Furthermore, the various ECUs shown in Fig. 2 are not limited to being independent hardware, and may be configured as an integrated ECU. For example, the driving control ECU 31 and the camera ECU 32 may be configured as a single integrated ECU, and this ECU may have the functions of both the driving control ECU 31 and the camera ECU 32.

[0039] (Functional block configuration and operation of vehicle driving control ECU) FIG. 3 is an exemplary schematic block diagram showing the functional configuration of a vehicle control device (driving control ECU). FIG. 4 is a diagram showing an example of the characteristics of various sensors that can be used in the vehicle control device according to the embodiment. FIG. 5 is a diagram showing an example of the performance of various sensors that can be used in the vehicle control device according to the embodiment. FIG. 6 is a diagram showing an example of a pattern table that can be used in the vehicle control device according to the embodiment. The functional block configuration and operation of the driving control ECU 31 of the vehicle 1 according to the present embodiment will be described with reference to FIGS. 3 to 6.

[0040] 3, the driving control ECU 31 has a setting unit 61, a storage unit 62, a recognition unit 63, a vehicle control unit 64, and an output control unit 65. The recognition unit 63 includes a control determination unit 63a, a sensor recognition degradation detection unit 63b, a recognizable area calculation unit 63c, and a recognizable area integration unit 63d. The storage unit 62 includes a pattern table storage unit 62a and a sensor information storage unit 62b. The vehicle control unit 64 includes a variable processing unit 64a.

[0041] The setting unit 61 is a functional unit that executes setting processes such as saving, editing, and updating the pattern table and sensor information stored in the storage unit 62 in response to commands from the external device 51 .

[0042] As described above, the pattern table (an example of pattern information) stored in the pattern table storage unit 62a is prepared for each driving assistance function and for each detection target (vehicle, motorcycle, pedestrian, etc.) for that driving assistance function, and is a table that defines patterns of combinations of the various sensors described above. Here, the various sensors described above, namely, the first monocular camera 42a, the second monocular camera 42b, the third monocular camera 42c, the first stereo camera 42d, the second stereo camera 42e, the sonar sensor 43, the first millimeter-wave radar 44a, and the second millimeter-wave radar 44b, each have different characteristics. For example, FIG. 4 shows an example of the characteristics of each sensor type. FIG. 4 shows the sensor characteristics, such as the sensing method, detection distance, lateral resolution, detectable objects, and weather dependency. For example, in the case of a monocular sensor, the sensing method is based on images, the detection distance is up to 100 meters, the lateral resolution is particularly excellent, the detectable objects are somewhat poor, and the weather dependency is moderate. It can also be seen that millimeter-wave radar is particularly superior to sonar sensors and laser radar in terms of detection distance. Note that in Figure 4, sensors of the same type are described as having the same characteristics, but it goes without saying that sensors of the same type can have different characteristics.

[0043] As shown in Fig. 4, various sensors have different characteristics depending on the type, and therefore, their suitability for performing various performances required for executing various driving assistance functions, such as vehicle identification performance, pedestrian identification performance, and distance measurement performance, is determined. Fig. 5 shows the suitability of various performances required for executing various driving assistance functions, determined based on the characteristics of the first monocular camera 42a, the second monocular camera 42b, the third monocular camera 42c, the first stereo camera 42d, the second stereo camera 42e, the sonar sensor 43, the first millimeter-wave radar 44a, and the second millimeter-wave radar 44b mounted on the vehicle 1. For example, Fig. 5 shows that, for performing vehicle identification performance, the first monocular camera 42a, the second monocular camera 42b, and the first stereo camera 42d are suitable, the second millimeter-wave radar 44b is somewhat unsuitable, and the third monocular camera 42c, the first millimeter-wave radar 44a, the second stereo camera 42e, and the sonar sensor 43 are unsuitable. It also indicates that any sensor other than the second monocular camera 42b is suitable for achieving the required distance measurement performance. Note that the method of displaying the suitability of various performances shown in Fig. 5 is merely an example, and the suitability evaluation may be expressed, for example, by a numerical evaluation value.

[0044] In this way, the developer organizes in advance the suitability of various performances required for executing various driving assistance functions, as shown in FIG. 5, according to the characteristics of the various sensors mounted on the vehicle 1. Then, the developer creates, via the external device 51, a pattern table that specifies patterns of combinations of sensors used to detect the detection target corresponding to the various performances (i.e., combinations of sensors that may confirm detection of the detection target), based on the suitability of the various sensors for the various performances for each driving assistance function and for each detection target in the driving assistance function. FIG. 6 shows, as an example of a pattern table, a pattern table corresponding to vehicular AEB as a driving assistance function. This vehicular AEB detects vehicles and includes vehicle identification processing and distance measurement processing, so the developer sets the pattern table for the vehicular AEB according to the suitability of the various sensors for the vehicle identification performance and distance measurement performance shown in FIG. 5. The pattern table may be created by the external device 51 and then stored or updated in the memory unit 62 (pattern table memory unit 62a) by the setting unit 61, or the pattern table stored in the memory unit 62 may be edited by the setting unit 61 in response to a command from the external device 51.

[0045] As a standard for the pattern of combinations of various sensors specified in the pattern table corresponding to the vehicle AEB, the developer sets, for example, a sensor combination that satisfies either the following condition (1) or condition (2) as a sensor combination that may confirm detection for the vehicle.

[0046] Condition (1): The vehicle identification performance is "good" and the distance measurement performance is "good" Condition (2): A combination of a sensor with a vehicle identification performance rating of "△" and two other sensors with distance measurement performance ratings of "〇"

[0047] FIG. 6 shows examples in which patterns (1) to (14) are set in the pattern table as patterns of sensor combinations that satisfy the above conditions. For example, in pattern (1), the suitability of both the vehicle identification performance and the distance measurement performance of the first monocular camera 42a is "good," so condition (1) is satisfied and the detection of a vehicle can be confirmed by the first monocular camera 42a alone. In pattern (2), the suitability of the vehicle identification performance of the second monocular camera 42b is "good," and the suitability of the distance measurement performance of the third monocular camera 42c is "good," so this combination satisfies condition (1) and the detection of a vehicle can be confirmed. In pattern (7), the suitability of the vehicle identification performance of the second millimeter-wave radar 44b is "good," and the suitability of the distance measurement performance of the third monocular camera 42c and the first millimeter-wave radar 44a is "good," so this combination satisfies condition (2) and the detection of a vehicle can be confirmed.

[0048] The above conditions for defining the sensor combination patterns are merely examples, and other conditions may be used to define the patterns. Also, in Fig. 6, patterns (1) to (14) are defined in the pattern table, but it is not necessary to use all of these patterns for target recognition. In this case, unnecessary patterns may be deleted from the pattern table.

[0049] Furthermore, if an existing sensor is removed or a new sensor is installed in response to a change in the specifications of the vehicle 1, the developer may use the external device 51 to change the pattern table via the setting unit 61. For example, if an existing sensor is removed, the developer may delete a column corresponding to the sensor in the pattern table and reconfigure a pattern of a sensor combination that satisfies the above-mentioned conditions. Furthermore, if a new sensor is installed, the developer may add a new column for the sensor in the pattern table and additionally configure a pattern of a sensor combination that satisfies the above-mentioned conditions. Alternatively, the developer may create a pattern table in advance that corresponds to the maximum number and types of sensors expected to be installed, and edit and configure the content of the patterns defined in the pattern table in response to the removal of a sensor or the installation of a new sensor. In this case, the effort of deleting or adding columns in the pattern table can be eliminated.

[0050] Although the pattern table shown as an example in FIG. 6 is information in table format, it is not limited to being in table format, and any format of information (an example of pattern information) may be used as long as it can define a pattern of combinations of various sensors.

[0051] The sensor information storage unit 62b also stores sensor information including at least the specification information and installation information of each of the above-described sensors. As described above, each sensor has different characteristics so that it can efficiently acquire various types of detection information. Furthermore, the installation position and installation attitude (installation angle) for appropriately and efficiently acquiring the required detection information differ for each sensor. Therefore, the sensor information storage unit 62b stores specification information for each sensor, such as the sensing method, detection distance, lateral resolution, detectable objects, and weather-dependent characteristics. The weather-dependent characteristics are information indicating the weather in which the detection reliability of each sensor decreases. For example, if the sensing method is image sensing, the detection reliability decreases when the surrounding conditions of the vehicle 1 are foggy or rainy. In this case, for example, the degree of fog or rain may be ranked, and a weighting coefficient for the detection reliability for each rank may be specified. In addition, the sensor information storage unit 62b stores installation information associated with the specification information for each sensor, such as the installation position (e.g., the installation position on the front bumper or rear bumper) and installation posture (e.g., the detection direction in the vehicle width direction and the angle in the vertical direction, etc.).

[0052] The storage unit 62 is a functional unit that stores pattern tables and sensor information corresponding to each driving assistance function and each detection target in the driving assistance function. The storage unit 62 is realized by the memory 41a shown in Fig. 2. The storage unit 62 may also be realized by an external storage device such as an HDD (Hard Disk Drive) or SSD (Solid State Drive).

[0053] The recognition unit 63 is a functional unit that refers to a pattern table in the storage unit 62 that corresponds to the driving assistance function enabled in the vehicle control unit 64, and uses sensor fusion to compare the detection results of each pattern defined in the pattern table to recognize a target. Target recognition involves, for example, recognizing the position of the target and identifying the type of the target. The recognition unit 63 outputs the recognition result for the target to the vehicle control unit 64 and the output control unit 65.

[0054] First, a case where each sensor normally performs as shown in FIG. 4 , that is, a case where the environment around the vehicle 1 is in a state where the detection reliability of each sensor can be appropriately obtained (for example, a state without fog or rain), will be described. For example, if the driving assistance function enabled in the vehicle control unit 64 is vehicular AEB, the recognition unit 63 references a pattern table corresponding to vehicular AEB in the storage unit 62 (i.e., corresponding to AEB as a driving assistance function and a vehicle as a detection target). Next, the recognition unit 63 compares the positions of targets recognized by the sensors belonging to each pattern defined in the pattern table and the types of identified targets. Then, if the comparison results in a match, the recognition unit 63 determines the position and type of the target as the final recognition result. For example, if patterns (1) to (3) are set in the pattern table, the recognition unit 63 compares the positions of targets recognized by patterns (1) to (3), and if the matches are found, determines the position of the target as the final recognition result. Similarly, the recognition unit 63 compares the types of targets identified by the patterns (1) to (3), and if there is a match, the type of target is determined as the final recognition result. Note that even if the detection results to be compared (for example, the detection results of the target position) do not necessarily match exactly, the recognition unit 63 may consider them to match and determine them as the final recognition result if the difference is less than a predetermined value or is very small.

[0055] The vehicle control unit 64 is a functional unit that executes various driving assistance functions based on the recognition results by the recognition unit 63 and controls the traveling of the vehicle 1 by outputting commands to the drive ECU 11, the steering ECU 12, the brake ECU 13, etc. Furthermore, when it is necessary to output a display by the display device 37 or an alarm sound or voice guidance by the speaker 38 in accordance with the driving assistance function, the vehicle control unit 64 outputs a command to the output control unit 65 to cause such output. Note that the number of driving assistance functions executed by the vehicle control unit 64 is not limited to multiple, and a single driving assistance function may be executed.

[0056] The output control unit 65 is a functional unit that controls the display of the display device 37 and the output of sound or audio from the speaker 38. For example, the output control unit 65 may cause the display device 37 to display the recognition result received from the recognition unit 63. Furthermore, the output control unit 65 causes the display device 37 to output a display or the speaker 38 to output a warning sound, a guidance voice, or the like, in accordance with the driving assistance function executed by the vehicle control unit 64.

[0057] As described above, the recognition (detection) accuracy (detection reliability) of each sensor may decrease due to changes in the surrounding environment (driving environment) of the vehicle 1 (mainly deterioration of the surrounding environment). Therefore, the vehicle control device of this embodiment realizes appropriate driving assistance control in accordance with changes in the surrounding environment (driving environment) of the vehicle 1, even if the recognition accuracy (detection reliability) of the sensor decreases. Note that changes in the surrounding environment (driving environment) of the vehicle 1 can be detected by a dedicated sensor such as the rain sensor 39. Furthermore, in other embodiments, changes in the surrounding environment (driving environment) of the vehicle 1 can also be detected based on a decrease in the recognition (detection) accuracy of various sensors connected to the camera ECU 32, the sonar ECU 33, and the radar ECU 34. Note that a decrease in the recognition accuracy of a sensor also includes the suspension of the recognition function.

[0058] For example, in the case of a monocular camera or stereo camera that uses images as a sensing method, the detection performance (recognition accuracy, detection reliability) of targets such as vehicles and pedestrians may be reduced due to weather conditions such as rain, snow, fog, and sunlight shining in at sunrise or sunset. Similarly, distance measurement performance may be reduced. This may result in an erroneous determination of the presence or absence of a target or an erroneous measurement of the distance to the target. Therefore, the recognition unit 63 of this embodiment includes a control determination unit 63a that controls at least one of the recognition unit 63 and the vehicle control unit 64 based on the surrounding environment of the vehicle 1, making it possible to respond even when the recognition accuracy (detection reliability) of the sensor is reduced.

[0059] The control determination unit 63a can change the range of driving assistance to be controlled or change the driving assistance itself to be controlled depending on the surrounding environment of the vehicle 1, for example, depending on the recognition accuracy (detection reliability) of the sensor in the recognition unit 63.

[0060] The sensor recognition degradation detection unit 63b has a function of detecting factors that cause degradation of the recognition function of a sensor based on the surrounding environment of the vehicle 1. As described above, the sensor recognition degradation detection unit 63b can detect whether the surrounding environment of the vehicle 1 has deteriorated based on the detection result of the rain sensor 39, image data acquired from the camera ECU 32, and the like. For example, when the detection value of a sensor reaches a predetermined deterioration level (reliability degradation level) determined for each sensor, the sensor recognition degradation detection unit 63b identifies the sensor whose reliability has deteriorated and associates it with the cause of the deterioration (e.g., fog, rain, etc.) and stores it in a memory area. In this case, the reliability degradation level may be ranked, for example, as low, medium, high, etc., or further classified numerically. Information on the sensor whose reliability has deteriorated and the cause of the deterioration may be stored in the memory unit 62, etc.

[0061] The recognizable area calculation unit 63c functions as an acquisition unit that acquires the detection results of at least one of targets detectable by a sensor with a degraded recognition function and the area where the target is located, based on the cause of the degradation and sensor information. That is, the recognizable area calculation unit 63c acquires specification information and installation information corresponding to the sensor with a degraded reliability from the sensor information storage unit 62b based on the detection results of the sensor recognition degradation detection unit 63b, and calculates a recognition area in which the detection results are usable even in a degraded state. Figure 7 is an exemplary schematic plan view showing a change in the recognition area of ​​a target when the recognition function (reliability) of the sensor is degraded. For example, assume that the detection capability of the front camera sensor 2 installed above the windshield of the vehicle 1 when the surrounding environment is good is a detection range 2a. In this case, the recognizable area calculation unit 63c calculates the recognition range in which the detection results are usable based on the detection results of the sensor recognition degradation detection unit 63b, such as fog detection (including detection of the degree of fog), specification information of the front camera sensor 2, installation information, etc. In FIG. 7, a reduced detection range 2aa of the front camera sensor 2 is shown as a result of the calculation by the recognizable area calculation unit 63c. That is, the recognition unit 63 considers the range indicated by the detection range 2aa to be the reliable detectable area of ​​the front camera sensor 2 in the current surrounding environment. Furthermore, if the change in the detectable area results in a change in the recognizable target, the recognizable area calculation unit 63c changes the recognizable target. For example, if vehicles and pedestrians could be detected without deterioration in the surrounding environment, but if the deterioration of the surrounding environment (reduced detection range) makes it impossible to identify vehicles but still possible to identify pedestrians, the recognizable target is changed. The recognizable area calculation unit 63c similarly calculates reliable detection ranges and detection targets for the other sensors based on the current surrounding environment. Note that in FIG. 7, the sonar sensor 3 is shown as being for short-range detection and is not affected by the current fog (no reduction in detection reliability).

[0062] The recognizable area integrating unit 63d functions as a recognition unit that references pattern information that defines multiple patterns indicating combinations of sensors used to recognize targets for each driving assistance function and recognizes targets based on the detection results of the sensors included in each pattern. That is, the recognizable area integrating unit 63d integrates the detection ranges of each sensor calculated by the recognizable area computing unit 63c. By integrating the detection ranges, it becomes possible to confirm a match with a pattern in a pattern table used for driving assistance, and it is possible to determine the detection area of ​​targets (vehicles, pedestrians, etc.) in the current surrounding environment. That is, it is possible to improve the discrimination between areas where detection reliability can be ensured and areas where detection reliability cannot be ensured.

[0063] In this case, even if the recognition accuracy (detection reliability) of a sensor required for a specific driving assistance is reduced and it is deemed that there is a possibility of erroneous determination or erroneous control during driving assistance, the control determination unit 63a changes (specifically reduces) the control range of the driving assistance so that the sensor result is used for driving assistance within a range in which detection reliability can be maintained. As a result, it is possible to suppress erroneous determination and erroneous recognition during driving assistance.

[0064] The control determination unit 63a may change the execution mode of the driving assistance function in the vehicle control unit 64 depending on the detection accuracy (detection reliability) of the sensor. The control determination unit 63a may request the variable processing unit 64a of the vehicle control unit 64 to change the amount of intervention in driving assistance control or the intervention timing depending on the detection accuracy (detection reliability) of the sensor. For example, when the processing by the sensor information storage unit 62b, the recognizable area calculation unit 63c, the recognizable area integration unit 63d, etc. determines that the recognition accuracy of targets such as vehicles and pedestrians has decreased due to fog, rain, or the like, the control determination unit 63a may limit the amount of intervention in driving assistance control to a distance where the target can be reliably recognized based on the processing result of the recognizable area integration unit 63d. For example, if the driving assistance function is steering control, the control determination unit 63a may reduce the torque to be applied or the control steering angle. Similarly, the control determination unit 63a may delay the intervention timing in driving assistance control until the target can be reliably recognized. Furthermore, for example, in the case of automatic brake control such as automatic emergency braking, the timing for starting the automatic brake may be delayed until target recognition can be reliably performed. In other words, braking operation of the vehicle 1 is left to the manual operation of the driver. In this case, too, erroneous detection by a sensor with reduced recognition accuracy and the resulting erroneous determination can be suppressed, and inappropriate driving assistance control can be prevented from being executed even when recognition accuracy has decreased.

[0065] When the recognition unit 63 changes (reduces) the detection range of a sensor, changes the execution mode of a driving assistance function, or performs other operations based on the change, such as prohibiting various driving assistance functions, varying the intervention amount, or varying the intervention timing. The vehicle control unit 64 continues to control (drive) the vehicle 1 by outputting appropriate commands to the drive ECU 11, steering ECU 12, brake ECU 13, etc., even when sensor function is degraded. Furthermore, the vehicle control unit 64 may output a command to the output control unit 65 requesting display output by the display device 37 or output of a warning sound or voice guidance by the speaker 38, depending on the change processing by the variable processing unit 64a. In this case, for example, a message such as "Sensor recognition accuracy has decreased. Intervention of driving assistance control is being restricted. Please drive while paying close attention to the surrounding conditions" or "Sensor recognition accuracy has decreased. Driving assistance control will be temporarily reduced or stopped" may be output. Furthermore, an image notifying the user of a sensor whose recognition accuracy has decreased may be displayed on the display device 37. For example, an overhead image showing the vehicle 1 and the sensor's detection range, as shown in (b) of FIG. 1, may be displayed, and detection ranges with reduced recognition accuracy may be displayed in flashing red, or conversely, detection ranges with reduced recognition accuracy may be hidden. In another example, driving assistance using a sensor with reduced recognition accuracy (detection reliability) may be temporarily prohibited. In this case, the guidance message may read, for example, "The sensor's recognition accuracy has decreased. Pedestrian detection is currently possible, but vehicle detection accuracy has decreased. Adaptive cruise control for the vehicle ahead will be discontinued. Please drive while paying close attention to your surroundings." Furthermore, even a sensor with reduced recognition accuracy (detection reliability) may be able to maintain detection reliability if it changes the detection target. For example, it may be unable to identify vehicles but be able to detect obstacles. In such cases, it may be possible to change the target of driving assistance based on the detection results from direct driving control to driving assistance such as alerts.

[0066] In this way, even if the surrounding environment (driving environment) of vehicle 1 changes and the sensor's recognition function (detection reliability) temporarily declines, it is possible to more appropriately grasp the recognition situation using the sensor and achieve optimal driving assistance.

[0067] The setting unit 61, recognition unit 63, vehicle control unit 64, and output control unit 65 shown in Fig. 3 are realized, for example, by a program being executed by the CPU of the driving control ECU 31 shown in Fig. 2. Some or all of these functional units may be realized by hardware such as a logic circuit.

[0068] Furthermore, the functional units of the driving control ECU 31 shown in Fig. 3 are conceptual representations of functions, and are not limited to such configurations. For example, multiple functional units illustrated as independent functional units in Fig. 3 may be configured as a single functional unit. On the other hand, the function of a single functional unit in Fig. 3 may be divided into multiple units and configured as multiple functional units. For example, the control determination unit 63a may be provided separately from the recognition unit 63, the sensor information storage unit 62b, the recognizable area calculation unit 63c, and the recognizable area integration unit 63d may be integrated into a single recognition area processing unit, and the variable processing unit 64a may be provided separately from the vehicle control unit 64.

[0069] (Flow of operation of the vehicle's driving control ECU) 8 is a flowchart showing an example of the flow of operation of the vehicle control device (drive control ECU) of the vehicle 1 according to this embodiment. The flow of operation of the drive control ECU 31 of the vehicle 1 according to this embodiment will be described with reference to FIG.

[0070] <Step S11> The developer creates in advance, via the external device 51, a pattern table that specifies patterns of combinations of sensors to be used to detect targets corresponding to various performance capabilities for each driving assistance function and for each detection target in the driving assistance function, based on the suitability of the various sensors for the various performance capabilities. Then, the setting unit 61 stores the pattern table in the pattern table storage unit 62a of the storage unit 62 in response to a command from the external device 51. Furthermore, when an existing sensor is removed or a new sensor is installed in response to a change in the specifications of the vehicle 1, the developer changes and sets the pattern table via the setting unit 61 using the external device 51. Then, the process proceeds to step S12.

[0071] <Step S12> If the driver has started driving the vehicle 1 (step S12: Yes), the process proceeds to step S13, and if the driver has not started driving the vehicle 1 (step S12: No), the process waits.

[0072] <Step S13> If the sensor recognition degradation detection unit 63b determines that there is no degradation in the functionality (degradation in detection reliability) of the sensors based on the detection results from sensors that detect the environment (driving environment) around the vehicle 1, such as the rain sensor 39, and the detection results indicating a degradation in the recognition accuracy of the various sensors for sensing targets such as vehicles and pedestrians (No in step S13), the process proceeds to step S14. In this case, the various sensors are the first monocular camera 42a, the second monocular camera 42b, the third monocular camera 42c, the first stereo camera 42d, the second stereo camera 42e, the sonar sensor 43, the first millimeter-wave radar 44a, the second millimeter-wave radar 44b, etc. If it determines that there is degradation in the functionality (degradation in detection reliability) of the sensors (Yes in step S13), the process proceeds to step S17.

[0073] <Step S14> The control determination unit 63a (recognition unit 63) refers to a pattern table in the storage unit 62 that corresponds to the enabled driving assistance functions and the detection targets of the driving assistance functions. Then, the control determination unit 63a obtains the results of the detection process by the sensors that belong to each pattern defined in the pattern table. Then, the process proceeds to step S15.

[0074] <Step S15> The control determination unit 63a performs sensor fusion to compare the target position obtained as the detection result of each pattern and the identified target type. If the comparison result shows a match, the control determination unit 63a determines the target position and type as the final recognition result. Then, the control determination unit 63a outputs the recognition result for the target to the vehicle control unit 64 and the output control unit 65. Then, the process proceeds to step S16.

[0075] <Step S16> The vehicle control unit 64 executes various driving assistance functions based on the recognition result by the control determination unit 63a, and controls the running of the vehicle 1 by outputting commands to the drive ECU 11, steering ECU 12, brake ECU 13, etc.

[0076] <Step S17> In step S13, if it is determined that there is a functional degradation in the sensor (step S13: Yes), the control determination unit 63a modifies the pattern table to be referenced. For example, if it is determined that there is a degradation in the recognition accuracy of the second monocular camera 42b, the pattern table is modified so that it references a pattern including the second monocular camera 42b. Then, the process proceeds to step S18. Note that if it is determined that there is a degradation in the recognition accuracy of multiple sensors, the pattern table is modified so that it references patterns including each of the sensors in the same way.

[0077] <Step S18> Based on the detection result of the sensor recognition degradation detection unit 63b, the recognizable area calculation unit 63c acquires specification information and installation information corresponding to the sensor whose reliability has decreased from the sensor information storage unit 62b, and calculates a recognizable object and a recognizable area whose detection result can be used even in a state where reliability has decreased. Then, the process proceeds to step S19.

[0078] <Step S19> The recognizable area integration unit 63d integrates recognizable objects and recognizable areas for all sensors according to a pattern table corresponding to the driving assistance to be performed. That is, it determines recognizable objects (targets) and recognizable areas even when the detection reliability of the sensors is reduced. Then, the process proceeds to step S20.

[0079] <Step S20> The control determination unit 63a notifies the user (driver, etc.) of the recognizable objects and recognizable areas integrated by the recognizable area integration unit 63d, and controls intervention in driving assistance control. For example, it changes the target range of driving assistance, changes detectable targets, changes the control amount and control timing of driving assistance, etc., and then ends this flow.

[0080] (Effects of this embodiment) As described above, the vehicle control device (driving control ECU 31) of the vehicle 1 according to this embodiment is a device that executes one or more driving assistance functions based on detection signals received from multiple types of sensors that detect targets around the vehicle 1. The recognition unit 63 includes: a recognition degradation detection unit (sensor recognition degradation detection unit 63b) that detects a factor in the degradation of the sensor's recognition function based on the surrounding environment of the vehicle 1; an acquisition unit (recognizable area calculation unit 63c) that acquires, based on the factor in the degradation and sensor information, detection results of at least one of targets detectable by sensors with degraded recognition function and the area in which the targets exist; and a recognition unit (recognizable area integration unit 63d) that references pattern information that defines multiple patterns indicating combinations of sensors used to recognize targets corresponding to each driving assistance function and recognizes targets based on detection results by sensors included in each pattern. The recognition unit 63 also includes a sensor information storage unit 62b that stores sensor information including at least sensor specification information and installation information. The recognition unit 63 also includes a vehicle control unit 64 that executes a driving assistance function corresponding to the pattern from which the target recognition result was obtained, based on the target recognition result obtained by the recognition unit (recognizable area integration unit 63d). In this way, even if the surrounding environment (driving environment) of the vehicle 1 changes and the recognition function of the sensor temporarily deteriorates, the recognition status of the sensor can be more appropriately grasped to achieve optimal driving assistance.

[0081] Furthermore, the recognition unit (recognizable area integration unit 63d) can determine whether or not there is an applicable area for the driving assistance function based on the recognition result of the target. As a result, it is possible to suppress erroneous determination and erroneous recognition in the driving assistance.

[0082] The vehicle control unit 64 can limit the intervention of the driving assistance function in areas other than the applicable area, thereby making it possible to reliably avoid malfunctions or erroneous controls in driving assistance due to erroneous determinations or erroneous recognitions. [Explanation of symbols]

[0083] 1 vehicle 31 Driving control ECU 32 Camera ECU 33 Sonar ECU 34 Radar ECU 41a Memory 42a First monocular camera 42b Second monocular camera 42c Third Monocular Camera 42d 1st stereo camera 42e Second stereo camera 43 Sonar Sensor 44a First millimeter wave radar 44b Second millimeter wave radar 51 External device 61 Setting section 62 Memory section 62a Pattern table storage section 62b Sensor information storage unit 63 Recognition part 63a Control judgment unit 63b Sensor recognition degradation detection unit 63c Recognizable area calculation unit 63d Recognizable area integration section 64 Vehicle control unit 64a Variable processing section 65 Output control section

Claims

1. A vehicle control device that executes one or more driving assistance functions based on detection signals received from multiple types of sensors that detect targets around a vehicle, a recognition degradation detection unit that detects a cause of degradation in the recognition function of the sensor based on the surrounding environment of the vehicle; a sensor information storage unit that stores sensor information including at least specification information and installation information of the sensor; an acquisition unit that acquires a detection result of the target that can be detected by the sensor whose recognition function has deteriorated and an area where the target exists, based on the specification information and the installation information indicated in the sensor information corresponding to the sensor whose reliability has deteriorated due to the deterioration factor; a recognition unit that refers to pattern information defining a plurality of patterns indicating combinations of the sensors used to recognize the target, corresponding to each of the driving assistance functions, and recognizes the target based on the detection results by the sensors included in each of the patterns; a vehicle control unit that executes the driving assistance function corresponding to the pattern for which the recognition result is obtained, based on the recognition result of the target by the recognition unit; A vehicle control device comprising:

2. The vehicle control device according to claim 1 , wherein the recognition unit determines whether or not there is an applicable area for the driving assistance function based on a result of the recognition of the target object.

3. The vehicle control device according to claim 2 , wherein the vehicle control unit limits intervention of the driving assistance function in an area other than the applicable area.

Images