Vehicle guidance system

Abstract

To provide a vehicle guiding device capable of guiding a vehicle in which abnormality occurs in a braking device to an appropriate emergency evacuation location.SOLUTION: A vehicle guiding device includes: a braking function recognition unit that recognizes a state of a braking device capable of applying a braking force to a vehicle; a first receiving unit that receives satellite data from an artificial satellite; a determination unit that determines emergency evacuation locations 22lm3, 22lm4 and 22lm5 based on the satellite data; and a driving assistance control unit that causes a vehicle traveling toward the emergency evacuation location to execute driving assistance control when the braking function recognition unit recognizes that there is an abnormality in the braking device.SELECTED DRAWING: Figure 5

Description

Technical Field

[0007] ,

[0001] The present invention relates to a vehicle guidance device.

Background Art

[0002] The following Patent Document 1 discloses an invention that uses a navigation system and driving support control to guide a vehicle, for example, to a repair shop when a failure occurs in the vehicle.

Prior Art Document

Patent Document

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] In the invention of the above Patent Document 1, when an abnormality occurs in the braking device of a running vehicle, it is difficult to guide this vehicle to an appropriate emergency evacuation location.

[0005] In consideration of the above facts, an object of the present invention is to obtain a vehicle guidance device that can guide a vehicle with an abnormal braking device to an appropriate emergency evacuation location.

Means for Solving the Problems

[0006] The vehicle guidance device according to claim 1 includes a braking function recognition unit that recognizes the state of a braking device capable of applying braking force to a vehicle, a first receiving unit that receives satellite data from a satellite, a determination unit that determines an emergency evacuation location based on the satellite data, and a driving support control unit that executes driving support control on the vehicle traveling toward the emergency evacuation location when the braking function recognition unit recognizes that there is an abnormality in the braking device. The system includes a second receiving unit which generates vehicle-related information based on data acquired from sensors of a vehicle group separate from the aforementioned vehicle and receives the vehicle-related information from a data receiving device provided outside the vehicle, the determination unit which determines the emergency evacuation location based on the vehicle-related information and the satellite data, and the vehicle-related information includes at least one of wheel speed information and information regarding the friction coefficient between the road and the wheels ​​​​The vehicle guidance system described in claim 1 includes a driving support control unit that, when a braking function recognition unit recognizes an abnormality in the braking system, causes a determination unit to perform driving support control on a vehicle traveling toward an emergency evacuation site determined based on satellite data. Therefore, the vehicle guidance system described in claim 1 can move a vehicle to an emergency evacuation site determined based on satellite data when an abnormality occurs in the braking system. By using satellite data, the emergency evacuation site can be determined while taking into account road congestion, etc. Therefore, the vehicle guidance system described in claim 1 can guide a vehicle experiencing a braking system abnormality to an appropriate emergency evacuation site.

[0008] The vehicle guidance device according to claim 2 is characterized in that, in the invention of claim 1, the determination unit determines the emergency evacuation location based on image information acquired by a camera mounted on a group of vehicles separate from the vehicle and the satellite data.

[0009] In the invention described in claim 2, the decision unit determines an emergency evacuation location based on image information acquired by cameras mounted on the vehicle group and satellite data. Therefore, the vehicle guidance device described in claim 2 can guide a vehicle experiencing a braking system malfunction to a more appropriate emergency evacuation location.

[0011] Claim 1 The second receiving unit of the invention receives vehicle-related information from a data receiving device that generates vehicle-related information based on data acquired from sensors of the vehicle group. Furthermore, the determination unit determines an emergency evacuation location based on the vehicle-related information and satellite data. Claim 1 The vehicle guidance system described can guide a vehicle experiencing a braking system malfunction to a more appropriate emergency evacuation location.

[0013] The invention described in claim 1 Therefore, vehicle-related information includes at least one of the following: wheel speed information and information regarding the friction coefficient between the road and the wheels. Claim 1 The decision-making mechanism allows for the selection of roads that are easy for vehicles to travel on without using their brakes, as roads for guiding vehicles to emergency evacuation locations. Claim 1This vehicle guidance system can guide vehicles experiencing braking system malfunctions to more appropriate emergency evacuation locations.

[0014] Claim 3 The vehicle guidance device according to the invention described above is the invention described in claim 1 or claim 2, wherein the driving support control unit performs the driving support control based on the satellite data without using the information acquired by the obstacle detection sensor provided on the vehicle.

[0015] Claim 3 In the invention described above, the driver assistance control unit can perform driver assistance control even if the vehicle does not have an obstacle detection sensor or if the obstacle detection sensor malfunctions. [Effects of the Invention]

[0016] As described above, the vehicle guidance device according to the present invention has the excellent effect of being able to guide a vehicle in which a malfunction has occurred in the braking system to an appropriate emergency evacuation site. [Brief explanation of the drawing]

[0017] [Figure 1] This figure shows a vehicle guidance system comprising a vehicle equipped with a vehicle guidance device according to an embodiment and an artificial satellite. [Figure 2] Figure 1 is a control block diagram of the vehicle's ECU and external server. [Figure 3] Figure 2 is a functional block diagram of the ECU. [Figure 4] Figure 2 is a functional block diagram of the external server. [Figure 5] This is a diagram representing a vehicle's display. [Figure 6] This is a flowchart illustrating the processes executed by the CPU of the ECU. [Modes for carrying out the invention]

[0018] Hereinafter, an embodiment of a vehicle 20 equipped with a vehicle guidance device according to the present invention will be described with reference to the drawings. As shown in FIG. 1, the vehicle 20 is a part of a vehicle guidance system 10. The vehicle guidance system 10 includes an artificial satellite 15, the vehicle 20, a plurality of vehicles 35 different from the vehicle 20, and an external server (data receiving device) 40. Each vehicle 35 in this specification has the same specifications as the vehicle 20 described below.

[0019] The artificial satellite 15 shown in FIG. 1 orbits on the satellite orbit of the earth at a predetermined period and photographs the ground and its upper airspace. Therefore, the satellite data, which is the photographed data acquired by the artificial satellite 15, includes, for example, image data representing ground geographic information and road information. The image data representing geographic information includes, for example, image data representing the ground and the sea. Furthermore, the image data representing the ground includes, for example, image data representing mountains, rivers, buildings, fields, and paddy fields. The image data representing road information includes image data representing the position and shape of roads, and image data representing traffic volume information (information regarding the number of vehicles and the vehicle speed of each vehicle).

[0020] As shown in FIG. 1, the vehicle 20 includes an ECU (Electronic Control Unit) 21, a display 22 having a touch panel, a satellite data receiver (first receiving unit) 24, a GNSS (Global Navigation Satellite System) receiver 25, a drive source 26, a steering device 27, a braking device 28, a camera 29, a steering angle sensor (sensor) 30, a steering torque sensor (sensor) 31, and a driving support operation device 32. The display 22, the satellite data receiver 24, the GNSS receiver 25, the drive source 26, the steering device 27, the braking device 28, the camera (sensor) 29, the steering angle sensor 30, the steering torque sensor 31, and the driving support operation device 32 are connected to the ECU 21.

[0021] As will be described later, the display 22 can display various images. The satellite data receiver 24 can receive satellite data acquired by the artificial satellite 15 and transmitted toward the ground. The GNSS receiver 25 acquires information about the position of the vehicle 20 (hereinafter referred to as "position information") by receiving GNSS signals transmitted from the GNSS satellite.

[0022] The drive source 26 includes at least one of an internal combustion engine and an electric motor. The driving force generated by the drive source is transmitted to the two drive wheels (e.g., front wheels) of the vehicle 20. The steering device 27 is an electric power steering system having a steering wheel (not shown). The braking device 28 can apply braking force to the four wheels provided on the vehicle 20. The camera 29 photographs subjects located around the vehicle 20.

[0023] The steering angle sensor 30 acquires the steering angle of the steering wheel. The steering torque sensor 31 acquires the steering torque applied to the steering shaft.

[0024] The driver assistance control device 32 is provided, for example, on the instrument panel of the vehicle 20.

[0025] As shown in Figure 2, the ECU21 consists of a CPU (Central Processing Unit) (processor) 21A, ROM (Read Only Memory) 21B, RAM (Random Access Memory) 21C, storage 21D, wireless communication interface (interface) 21E, internal communication interface 21F, and input / output interface 21G. The CPU 21A, ROM 21B, RAM 21C, storage 21D, wireless communication interface 21E, internal communication interface 21F, and input / output interface 21G are connected to each other via an internal bus 21Z. The ECU21 can acquire time-related information from a timer. The ECU21 (input / output interface 21G) is connected to a display 22, a satellite data receiver 24, a GNSS receiver 25, a drive source 26, a steering device 27, a braking device 28, a camera 29, a steering angle sensor 30, a steering torque sensor 31, and a driver assistance control device 32.

[0026] The CPU 21A is the central processing unit, which executes various programs and controls various components. The CPU 21A reads programs from ROM 21B or storage 21D and executes them using RAM 21C as the working area. The CPU 21A controls each component and performs various calculations according to the programs recorded in ROM 21B or storage 21D.

[0027] ROM21B stores various programs and data. RAM21C temporarily stores programs or data as a working area. Storage21D consists of a storage device such as an HDD (Hard Disk Drive) or SSD (Solid State Drive) and stores various programs and data.

[0028] The Wireless Communication Interface (I / F21E) is an interface for wireless communication with various devices. The Wireless Communication Interface (I / F21E) utilizes communication standards such as Bluetooth® and Wi-Fi®. For example, the Wireless Communication Interface (I / F21E) can communicate wirelessly with an external server 40.

[0029] The internal communication interface 21F is an interface for connecting to an ECU other than the ECU 21 located in the vehicle 20 via an external bus.

[0030] The input / output I / F 21G is an interface for communicating with, for example, the display 22, satellite data receiver 24, GNSS receiver 25, drive source 26, steering device 27, braking device 28, camera 29, steering angle sensor 30, steering torque sensor 31, and driver assistance control device 32.

[0031] Figure 3 shows an example of the functional configuration of the ECU 21 in a block diagram. The ECU 21 has a transmission / reception control unit 211, an abnormality determination unit (braking function recognition unit) 212, a friction coefficient calculation unit 213, an induction control unit (determination unit) 214, and a driving support control unit 215. The transmission / reception control unit 211, abnormality determination unit 212, friction coefficient calculation unit 213, induction control unit 214, and driving support control unit 215 are realized by the CPU 21A reading and executing a program stored in the ROM 21B.

[0032] The transmit / receive control unit 211 controls the wireless communication interface 21E, the internal communication interface 21F, the satellite data receiver 24, and the GNSS receiver 25.

[0033] The abnormality detection unit 212 determines whether or not there is an abnormality in each device of the vehicle 20. For example, the abnormality detection unit 212 determines whether or not there is an abnormality in the function of the braking device 28. For example, if the braking device 28 does not generate braking force when the brake pedal (not shown) is pressed, the abnormality detection unit 212 determines that there is an abnormality in the function of the braking device 28.

[0034] The friction coefficient calculation unit 213 calculates the friction coefficient between each wheel of the vehicle 20 and the road surface based on the detected values ​​(data) of the steering angle sensor 30 and the steering torque sensor 31. Such calculation methods are well known, as disclosed, for example, in Japanese Patent Application Publication No. 2021-172316.

[0035] The guidance control unit 214 controls the navigation system mounted on the vehicle 20. Furthermore, the guidance control unit 214 displays various images, including images represented by satellite data (image data), on the display 22. In addition, the guidance control unit 214 obtains road information and geographic information from the satellite data by performing image analysis on the satellite data receiver 24 that receives the satellite data from the artificial satellite 15.

[0036] The display 22 shown in Figure 5 displays a map image 22AP1Im generated based on satellite data. This map image 22AP1Im represents a predetermined area including the current location of the vehicle 20. The map image 22AP1Im includes, for example, a sea image 22Im1 representing the sea, a river image 22Im2 representing a river, an empty lot image 22Im3 representing an empty lot, a beach image 22Im4 representing a sandy beach, a field image 22Im5 representing a field, a road image 22Im6 representing a road, and a vehicle image 35Im representing the vehicle 35. Furthermore, the road image 22Im6 includes road images 22Im6-1, 22Im6-2, 22Im6-3, 22Im6-4, and 22Im6-5. Road image 22Im6-1 represents a road extending along the sea and a river. Road images 22Im6-2 and 22Im6-3 represent two roads, respectively, that are connected to road image 22Im6-1 and run approximately parallel to each other. Road image 22Im6-4 represents roads that connect to the roads represented by road images 22Im6-1, 22Im6-2, and 22Im6-3, respectively. Furthermore, road image 22Im6-4 includes road images 22Im6-4A, 22Im6-4B, 22Im6-4C, and 22Im6-4D. Road images 22Im6-1 and 22Im6-2 are connected to both ends of road image 22Im6-4B. Also, road images 22Im6-2 and 22Im6-3 are connected to both ends of road image 22Im6-4C. Road image 22Im6-5 represents a road connected to road image 22Im6-4B. The circle (〇) indicated by the symbol 20rp in Figure 5 represents the current position of vehicle 20. The guidance control unit 214 uses the above position information to recognize the current position 20rp and displays an image representing the current position 20rp on the display 22.

[0037] Furthermore, the guidance control unit 214 recognizes the traffic volume on the roads represented by road images 22Im6-1, 22Im6-2, 22Im6-3, 22Im6-4, and 22Im6-5, respectively, based on the traffic volume information included in the road information of the satellite data. For example, as shown in Figure 5, if there are many vehicle images 35Im on the road represented by road image 22Im6-2 and the road represented by road image 22Im6-4B, the guidance control unit 214 determines that there is a large volume of vehicle traffic on the roads represented by road image 22Im6-2 and road image 22Im6-4B. On the other hand, as shown in Figure 5, if the number of vehicle images 35Im on the roads represented by road images 22Im6-3, 22Im6-4A, 22Im6-4C, and 22Im6-4D is small, the guidance control unit 214 determines that the volume of vehicle traffic on the roads represented by road images 22Im6-3, 22Im6-4A, 22Im6-4C, and 22Im6-4D is small.

[0038] Furthermore, when the abnormality detection unit 212 determines that there is an abnormality in the function of the braking system 28 of the moving vehicle 20, the guidance control unit 214 determines candidate locations for an appropriate emergency evacuation site for the vehicle 20 based on satellite data. That is, the guidance control unit 214 determines candidate locations where the vehicle 20 can stop smoothly without using braking force. For example, the open space represented by the open space image 22Im3, the sandy beach represented by the sandy beach image 22Im4, and the field represented by the field image 22Im5 are places where the vehicle 20 can easily stop without using braking force.

[0039] When vehicle 20 moves from its current position 20rp to the open space represented by the open space image 22Im3, vehicle 20 travels along the roads represented by the road images 22Im6-4A, 22Im6-1, and 22Im6-3. As is clear from Figure 5, the traffic volume on these roads is low. Therefore, the guidance control unit 214 determines that "vehicle 20 can travel to this open space without using braking force and can stop smoothly in the open space without using braking force."

[0040] When vehicle 20 moves from its current position 20rp to the beach represented by beach image 22Im4, vehicle 20 travels along the roads represented by road image 22Im6-4A and road image 22Im6-1. As is clear from Figure 5, the traffic volume on these roads is low. Therefore, the guidance control unit 214 determines that "vehicle 20 can travel to this beach without using braking force and can stop smoothly on the beach without using braking force."

[0041] When vehicle 20 is moving from its current position 20rp to the field represented by field image 22Im5, vehicle 20 will travel along the roads represented by road images 22Im6-4A and 22Im6-5. As is clear from Figure 5, the traffic volume on these roads is low. Furthermore, let's assume that vehicle 20's wireless communication I / F 21E has acquired slip information, described later, for the road represented by road image 22Im6-5 from an external server 40. In this case, the guidance control unit 214 determines that "it will be difficult for vehicle 20 to travel to this field without using braking force."

[0042] Therefore, in this case, the guidance control unit 214 determines that the open space represented by the open space image 22Im3 and the beach represented by the beach image 22Im4 are suitable candidates for emergency evacuation sites. Hereinafter, the information regarding the candidates for emergency evacuation sites determined by the guidance control unit 214 will be referred to as candidate site information.

[0043] Furthermore, we assume that the vehicle 20's wireless communication I / F 21E has acquired additional candidate location information (vehicle-related information) regarding emergency evacuation sites, as described later, from the external server 40. For example, we assume that the location indicated by code X in Figure 5 is included in the additional candidate location information. When vehicle 20 is heading from its current position 20rp to location X, vehicle 20 will travel along the roads represented by road images 22Im6-4A, 22Im6-1, 22Im6-3, and 22Im6-4D. As is clear from Figure 5, the traffic volume on these roads is low. Furthermore, we assume that vehicle 20 has not acquired slip information (vehicle-related information) for these roads from the external server 40. In this case, the guidance control unit 214 determines that "vehicle 20 can travel to location X without using braking force and can stop smoothly at location X without using braking force."

[0044] In this case, the guidance control unit 214 determines the priority of the vacant lots represented by the vacant lot image 22Im3 and the beach represented by the beach image 22Im4 included in the candidate site information, as well as location X included in the additional candidate site information, as emergency evacuation sites. For example, the abnormality detection unit 212 determines the priority based on the traffic volume on the road between the current location and the emergency evacuation sites (candidate sites), as well as the size and type (type of surface of the emergency evacuation site) of each emergency evacuation site. The emergency evacuation site with the highest priority is officially determined by the abnormality detection unit 212 as the emergency evacuation site. Furthermore, the guidance control unit 214 uses the navigation system to set an evacuation route from the vehicle 20's current location 20rp to the determined emergency evacuation site. For example, if the emergency evacuation site is the beach represented by the beach image 22Im4, the evacuation route indicated by the symbol Rt in Figure 5 is set.

[0045] When the driver assistance control device 32 is in the ON state, the driver assistance control unit 215 uses the sensor group and actuator group installed on the vehicle 20 to cause the vehicle 20 to perform driver assistance control at levels 1 to 5 as defined by the SAE (Society of Automotive Engineers). Furthermore, when the above-mentioned evacuation route is set, the driver assistance control unit 215 causes the vehicle 20 to perform level 5 driver assistance control (fully autonomous driving). In this case, the vehicle 20 travels to the destination of the evacuation route using level 5 driver assistance control. However, if there is a malfunction in the braking system 28, the driver assistance control unit 215 will perform each level of driver assistance control without using the braking function.

[0046] The sensor group provided on the vehicle 20 includes, for example, a camera 29, a millimeter-wave radar that transmits search waves and receives reflected waves, and a lidar (Laser Imaging Detection and Ranging) that scans the area in front of the vehicle 20. The actuator group provided on the vehicle 20 includes a braking system 28, a steering system 27, various electric actuators for operating the internal combustion engine which is the drive source, and an electric motor which is the drive source.

[0047] The external server 40 shown in Figure 1, as shown in Figure 2, has a hardware configuration that includes a CPU (processor) 40A, ROM 40B, RAM 40C, storage 40D, wireless communication interface 40E, internal communication interface 40F, and input / output interface 40G. The CPU 40A, ROM 40B, RAM 40C, storage 40D, wireless communication interface 40E, internal communication interface 40F, and input / output interface 40G are connected to each other so as to be able to communicate with each other via an internal bus 40Z. The ECU 40 can acquire time-related information from the timer.

[0048] Figure 4 shows an example of the functional configuration of the hardware of the external server 40 in a block diagram. The hardware of the external server 40 has a functional configuration consisting of a transmit / receive control unit 401, a slip information acquisition unit 402, and an additional candidate location information acquisition unit 403. The transmit / receive control unit 401, the slip information acquisition unit 402, and the additional candidate location information acquisition unit 403 are realized by the CPU 40A reading and executing a program stored in the ROM 40B.

[0049] The transmit / receive control unit 401 controls the wireless communication interface 40E and the internal communication interface 40F. The wireless communication interface 40E controlled by the transmit / receive control unit 401 can communicate wirelessly with the wireless communication interfaces 20E of vehicles 20 and 35. For example, the wireless communication interface 40E receives information regarding the coefficient of friction and image data acquired by the camera 29 from the wireless communication interfaces 20E of vehicles 20 and 35.

[0050] The slip information acquisition unit 402 generates slip information based on information regarding the coefficient of friction between the wheels of each vehicle and the road surface, which is acquired by the wireless communication I / F 40E from vehicles 20 and 35. The slip information acquisition unit 402 generates slip information when the coefficient of friction between the vehicle's wheels and the road surface is below a predetermined threshold. This slip information includes location information regarding the location where the coefficient of friction of the corresponding vehicle falls below the threshold.

[0051] The additional candidate location information acquisition unit 403 selects a location that could be a suitable emergency evacuation site for vehicle 20 based on the photographic data acquired by the wireless communication I / F 40E from the cameras 29 of vehicle 20 and vehicle 35. For example, if the vehicle is traveling on the road represented by road image 22Im6-4D and the unit determines, based on the photographic data acquired from the two vehicles 35 represented by vehicle images 35Im1 and 35Im2, that a part of the road represented by code X is suitable as an emergency evacuation site for vehicle 20, the additional candidate location information acquisition unit 403 includes location X in the additional candidate location information. For example, if the additional candidate location information acquisition unit 403 determines, based on the photographic data, that "vehicle 20 can be stopped at location X by bringing the wheels of vehicle 20 into contact with the curb of the road represented by 22Im4D," then location X is included in the additional candidate location information.

[0052] (Mechanism of action and effect) Next, the operation and effects of this embodiment will be described.

[0053] The processing flow performed by the CPU 21A of the ECU 21 will be explained using the flowchart in Figure 6. The CPU 21A repeatedly executes the process shown in the flowchart in Figure 6 after a predetermined amount of time has elapsed.

[0054] First, in step S10 (the word "step" will be omitted hereafter), the CPU 21A determines whether or not there is an abnormality in the function of the braking device 28.

[0055] If the response in S10 is "Yes", the CPU 21A proceeds to S11 and sets an evacuation route. If the vehicle 20 has obtained additional candidate location information and slip information from the external server 40, the CPU 21A sets an evacuation route taking the additional candidate location information and slip information into consideration.

[0056] After completing the process in S11, CPU 21A proceeds to S12 and executes Level 5 driver assistance control (fully autonomous driving), which causes vehicle 20 to travel along the evacuation route.

[0057] After completing the process in S12, the CPU 21A proceeds to S13 and determines, based on the vehicle 20's location information, whether or not the vehicle 20 has arrived at the emergency evacuation site, which is the destination of the evacuation route.

[0058] When the result is Yes in step S13 or No in step S10, the CPU 21A terminates the processing of the flowchart in Figure 6.

[0059] As described above, in this embodiment, when the CPU 21A (abnormality detection unit 212) recognizes an abnormality in the braking system 28 of the vehicle 20, the CPU 21A (guidance control unit 214, driving support control unit 215) drives the vehicle 20 to an emergency evacuation location determined based on satellite data. Therefore, when an abnormality occurs in the braking system 28, the vehicle 20 can be moved to an emergency evacuation location determined based on satellite data. By using satellite data, the emergency evacuation location can be determined while taking into account road congestion, etc. Therefore, in this embodiment, the vehicle 20 in which an abnormality occurs in the braking system 28 can be guided to an appropriate emergency evacuation location.

[0060] Furthermore, in this embodiment, the CPU 21A (guidance control unit 214) determines the emergency evacuation location based on image information acquired by cameras 29 mounted on each vehicle 35, as well as additional candidate location information acquired by vehicle 20 from an external server 40. Therefore, compared to the case where an emergency evacuation location is determined without using this information, vehicle 20 experiencing a malfunction in the braking system 28 can be guided to a more appropriate emergency evacuation location.

[0061] Furthermore, in this embodiment, by utilizing slip information, a road on which the vehicle 20 can easily travel without using the braking system 28 can be selected as the road for guiding the vehicle 20 to an emergency evacuation site.

[0062] Although a vehicle guidance device according to an embodiment has been described above, the vehicle can be modified in design as appropriate without departing from the spirit of the present invention.

[0063] For example, vehicles 20 and 35 may be equipped with wheel speed sensors (sensors) that acquire the wheel speed of each wheel, and vehicles 20 and 35 may wirelessly transmit the acquired wheel speed information to an external server 40. In this case, the external server 40 uses the acquired wheel speed information to determine whether or not slip is occurring in the wheels. Furthermore, the external server 40 generates slip information for the vehicle for which slip has been determined to have occurred. This slip information includes location information regarding the location where the slip occurred in the corresponding vehicle.

[0064] An external server may generate slip information based on information from the steering angle sensor 30, the steering torque sensor 31, and the wheel speed sensor.

[0065] If the candidate location information and additional candidate location information include multiple emergency evacuation sites, the display 22 may display an image showing all of the emergency evacuation sites. This image points to each emergency evacuation site (image), and may also contain text such as "Emergency Evacuation Site". Furthermore, in this case, for example, an occupant may select an official emergency evacuation site from among the multiple emergency evacuation sites displayed on the display 22 by operating the touch panel display 22. In this case, the guidance control unit 214 sets an evacuation route connecting the current location and this official emergency evacuation site.

[0066] When the above-mentioned evacuation route is set, the driver assistance control unit 215 may execute any level 1 to 4 driver assistance control, and the vehicle 20 may use this driver assistance control to travel along the evacuation route.

[0067] The driver assistance control unit 215 of the vehicle 20 may perform driver assistance control using information about the vehicle 20's surroundings included in satellite data (for example, information about the road the vehicle 20 is traveling on, information about other vehicles and pedestrians located around the vehicle 20, etc.) without using information acquired by obstacle detection sensors including the camera 29, millimeter-wave radar, and lidar. In this case, the driver assistance control unit 215 can perform driver assistance control even if the vehicle 20 does not have obstacle detection sensors or if the obstacle detection sensors malfunction. [Explanation of symbols]

[0068] 15 Satellites 20 vehicles 21E Wireless Communication Interface (Second Receiver) 212 Abnormality determination unit (braking function recognition unit) 214 Induction Control Unit (Decision Unit) 215 Driving Support Control Unit 24 Satellite data receiver (first receiving unit) 28 Braking device 29. Camera (Sensor) 30 Steering angle sensor (sensor) 31. Steering Torque Sensor (Sensor)

Claims

1. A braking function recognition unit that recognizes the status of a braking device capable of applying braking force to a vehicle, A first receiving unit that receives satellite data from an artificial satellite, A decision unit that determines an emergency evacuation site based on the aforementioned satellite data, When the braking function recognition unit recognizes that there is an abnormality in the braking device, the driver assistance control unit causes the vehicle traveling toward the emergency evacuation site to execute driver assistance control, Equipped with, The system includes a second receiving unit that generates vehicle-related information based on data acquired from sensors of a vehicle group separate from the aforementioned vehicle, and receives the vehicle-related information from a data receiving device provided outside the vehicle. The determination unit determines the emergency evacuation location based on the vehicle-related information and the satellite data. A vehicle guidance device in which the vehicle-related information includes at least one of wheel speed information and information regarding the coefficient of friction between the road and the wheels.

2. The vehicle guidance device according to claim 1, wherein the determination unit determines the emergency evacuation location based on image information acquired by a camera mounted on a vehicle separate from the aforementioned vehicle and the satellite data.

3. The vehicle guidance device according to claim 1 or 2, wherein the driving assistance control unit does not use information acquired by an obstacle detection sensor provided on the vehicle and performs the driving assistance control based on the satellite data.

Images