Vehicle control device, vehicle control method, and computer program

Abstract

A vehicle control device (100) comprises: a parking detection unit (11) that detects at least one of a parked vehicle and a parking space by using the detection result of a sensor device; a storage control unit (12) that causes a storage device (20) to store relative position information indicating the relative position of at least one of the parked vehicle and the parking space with respect to a vehicle; and a parking-row identification unit (14) that identifies a parking row by using the stored relative position information and detected position coordinates.

Description

Vehicle control device, vehicle control method, and computer program CROSS-REFERENCE TO RELATED APPLICATIONS

[0001] This application is based on Japanese Application No. 2023-101314, filed on June 21, 2023, the contents of which are incorporated herein by reference.

[0002] The present disclosure relates to a vehicle control device, a vehicle control method, and a computer program.

[0003] Conventionally, a technology has been proposed for suppressing the driving force corresponding to accelerator pedal operation when a driver accidentally presses the accelerator pedal while intending to press the brake pedal. Considering that the accidental accelerator pedal operation mainly occurs in parking lots, and that suppressing the driving force outside of parking lots would prevent the vehicle from achieving necessary rapid acceleration and limit normal driving, the vehicle control system in Patent Document 1 suppresses the driving force when it is determined that the vehicle is located in a parking lot.

[0004] Japanese Patent Application Laid-Open No. 2021-85375

[0005] However, in the vehicle control system of Patent Document 1, in order to identify whether the vehicle is in a parking lot, the vehicle's entry into and exit from the parking lot are detected using a short-range communication system. This necessitates the installation of communication equipment in both the parking lot and the vehicle, which imposes a significant cost burden on the user. Therefore, a technology is desired that can reduce driving force in response to accelerator pedal operation in appropriate situations while keeping costs down.

[0006] According to one aspect of the present disclosure, there is provided a vehicle control device for controlling a vehicle having a sensor device capable of detecting a surrounding environment and an accelerator pedal, the vehicle control device including: a parking detection unit that detects at least one of a parked vehicle other than the vehicle and parking spaces around the vehicle by using a detection result of the sensor device; a memory control unit that stores relative position information indicating a position of at least one of the detected parked vehicle and the parking spaces relative to the vehicle in a memory device; and a parking row identification unit that identifies a parking row in which at least one of the parked vehicles and the parking spaces are lined up consecutively in a common direction for a predetermined consecutive number of times or more by using the relative position information stored in the memory device and position coordinates of at least one of the parked vehicle and the parking spaces detected by the parking detection unit.

[0007] According to the vehicle control device of the above embodiment, the parking row is identified using the detection results of a sensor device capable of detecting the surrounding environment, eliminating the need for a communication device for determining whether a vehicle is present in a parking lot, thereby reducing costs. Furthermore, the parking row identification unit identifies the parking row using relative position information stored in the storage device and the position coordinates of at least one of the parked vehicle and the parking space detected by the parking detection unit. Therefore, even if the parking detection unit does not detect a parked vehicle or a parking space, the parking row can be identified using the relative position information, i.e., information indicating the relative position of at least one of the parked vehicle and the parking space detected in the past, thereby enabling accurate determination of whether a vehicle is present in a parking lot. Furthermore, even in a vehicle having a sensor device with a narrow detection range, accurate determination of whether a vehicle is present in a parking lot can be achieved.

[0008] The above and other objects, features, and advantages of the present disclosure will become more apparent from the following detailed description taken in conjunction with the accompanying drawings, in which Fig. 1 is a block diagram showing a schematic configuration of a vehicle control device according to one embodiment of the present disclosure, Fig. 2 is a flowchart showing the procedure for vehicle control processing, Fig. 3 is an explanatory diagram showing an example of an integrated detection range and an identified parking row, Fig. 4 is a flowchart showing the detailed procedure for step S135, Fig. 5 is a flowchart showing the detailed procedure for step S120, Fig. 6 is an explanatory diagram showing an example of an integrated detection range and an identified parking row, Fig. 7 is an explanatory diagram showing an example of an integrated detection range and an identified parking row, Fig. 8 is an explanatory diagram showing an example of an integrated detection range and an identified parking row, Fig. 9 is an explanatory diagram showing an example of an integrated detection range in another embodiment, Fig. 10 is an explanatory diagram showing an example of an integrated detection range in another embodiment, Fig. 11 is an explanatory diagram showing an example of an integrated detection range in another embodiment, and Fig. 12 is an explanatory diagram showing an example of an integrated detection range in another embodiment.

[0009] A. Embodiment: A1. Device Configuration: A vehicle control device 100 according to the embodiment shown in Fig. 1 is mounted on and used in a vehicle V1. In addition to the vehicle control device 100, the vehicle control device 100 includes a sensor device 200, an accelerator pedal sensor 300, an accelerator pedal 310, a drive device 410, a steering device 420, and a braking device 430.

[0010] The sensor device 200 includes a group of sensors capable of detecting the environment surrounding the vehicle V1. Specifically, the sensor device 200 includes a camera sensor 210 and a radar sensor 220. The camera sensor 210 captures images of the surroundings of the vehicle V1 and processes the captured image data to detect information about the surroundings of the vehicle V1, such as obstacles such as other vehicles, pedestrians, and structures such as utility poles, as well as white lines. The camera sensor 210 captures images of at least the area in front of the vehicle V1. Note that the configuration may include multiple camera sensors 210 to capture images of areas not limited to the area in front of the vehicle V1, but also to the left, right, and rear of the vehicle V1. The radar sensor 220 emits electromagnetic waves (radio waves or light) of a predetermined wavelength and detects obstacles around the vehicle V1 by receiving reflected waves. The radar sensor 220 may be, for example, a millimeter-wave radar or a LiDAR (Light Detection and Ranging) sensor. LiDAR emits light of a predetermined wavelength while scanning, receives the reflected light, identifies the direction of the obstacle from the position where the peak of the reflected wave is detected, and determines the distance to the obstacle using the time from when the light is emitted to when the reflected wave is received (TOF: Time Of Flight). The sensor device 200 notifies the vehicle control device 100 of the detection result. In the vehicle control device 100, functional units (not shown) perform various processes to obtain information used for driving assistance of the vehicle V1, such as identifying obstacles and detecting white lines.

[0011] The drive device 410 is a group of devices for driving the vehicle V1. The drive device 410 includes devices for generating driving force, such as an engine and a motor generator, various actuators for driving the engine and the motor generator, and an ECU (Electronic Control Unit) for controlling the actuators. The vehicle V1 may be configured as any type of vehicle, such as an engine vehicle, a hybrid electric vehicle (HEV), a plug-in hybrid electric vehicle (PHEV), an electric vehicle (EV), or a fuel cell vehicle (FCV, FCHV). The steering device 420 is a group of devices for steering the vehicle V1. The steering device 420 includes a steering wheel, a steering angle sensor, an assist hydraulic device, an actuator for generating hydraulic pressure, and an ECU for controlling steering. The braking device 430 is a group of devices for generating braking force in the vehicle V1. The braking device 430 includes a disc rotor, brake pads, a brake hydraulic device, an actuator for generating hydraulic pressure, and an ECU for controlling braking. The above-mentioned drive device 410, steering device 420, and braking device 430 all communicate with the vehicle control device 100. At this time, the vehicle control device 100 transmits control signals to these devices 410 to 430, and on the other hand, receives signals indicating the operating state of each device from the devices 410 to 430. In this embodiment, the above-mentioned "signals indicating the operating state" include signals indicating the vehicle speed of the vehicle V1, whether or not the brakes are operated, whether or not the turn signal is operated, the amount of wheel rotation, the amount of steering, etc.

[0012] Accelerator pedal sensor 300 detects the amount and speed of driver operation of accelerator pedal 310. Accelerator pedal sensor 300 notifies the detection result to vehicle control device 100. Accelerator pedal sensor 300 and accelerator pedal 310 can also be considered as part of drive device 410.

[0013] The vehicle control device 100 controls the vehicle V1. In this embodiment, the vehicle control device 100 is configured as an ECU having a configuration in which a CPU 10, a ROM 20, and a RAM 30 are capable of communicating with each other via an internal bus 90. The ROM 20 includes a non-volatile memory, such as an EEPROM, and stores a control program in advance. The ROM 20 also includes a position information storage unit 21. The position information storage unit 21 stores information indicating the relative positions of the detected parked vehicles and parking spaces (described later) relative to the vehicle V1 (hereinafter referred to as "relative position information"). In this embodiment, the relative position information of the parked vehicle and the parking space uses relative position coordinates of the parked vehicle and the parking space. "Relative position coordinates of the parked vehicle" refers to the position coordinates of the parked vehicle in a coordinate system based on the vehicle V1. Similarly, "relative position coordinates of the parking space" refers to the position coordinates of the parked vehicle in a coordinate system based on the parking space. The ROM 20 corresponds to a "storage device" in this disclosure.

[0014] The vehicle control device 100 reads out the above-mentioned control program stored in the ROM 20, expands it into the RAM 30, and executes it, thereby functioning as a parking detection unit 11, a memory control unit 12, a coordinate update unit 13, a parking row identification unit 14, a parking lot interior determination unit 15, an operation status acquisition unit 16, a control unit 17, and an operation acquisition unit 18.

[0015] The parking detection unit 11 uses the detection results of the sensor device 200 to detect at least one of a parked vehicle other than the vehicle V1 and a parking space existing around the vehicle V1. A "parking space" refers to a frame indicating a partitioned area for parking a vehicle. Specifically, this refers to a rectangle or straight line drawn by white or yellow lines on the road surface of a parking lot. The parking detection unit 11 detects a parking space by performing image analysis processes such as edge extraction, pattern matching, and feature point extraction on the captured image obtained by the camera sensor 210. Whether a space formed by a detected white line or the like is a parking space may be determined, for example, by comparing the dimensions of the space formed by the white line or the like with the dimensions of a parking space space in a typical parking lot. If the difference is within a predetermined dimension range, the parking detection unit 11 may determine that the space is a parking space, and if the difference is outside the predetermined dimension range, the parking detection unit 11 may determine that the obstacle is not a parking space. Similarly, for parked vehicles, the parking detection unit 11 uses the detection results of the radar sensor 220 and the camera sensor 210 to detect that the obstacle is a stationary object and that it is a vehicle (parked vehicle).

[0016] The storage control unit 12 stores relative position information of the detected parked vehicle and parking space, that is, relative position coordinates in this embodiment, in the ROM 20 (position information storage unit 21).

[0017] The coordinate update unit 13 updates the relative position coordinates stored in the position information storage unit 21 of the ROM 20 in accordance with the movement of the vehicle V1. When the vehicle V1 moves, the position coordinates of previously detected parked vehicles and parking spaces change in a coordinate system based on the current position of the vehicle V1. Therefore, the coordinate update unit 13 updates the relative position coordinates of each parked vehicle and parking space stored in the position information storage unit 21 based on information obtained by the operation acquisition unit 18, which will be described later.

[0018] The parking row identification unit 14 identifies a parking row. In this embodiment, a "parking row" refers to a configuration in which at least one of parked vehicles and parking spaces are lined up in a common direction for a predetermined consecutive threshold number or more. The parking row identification unit 14 identifies parking spaces by performing image analysis processes such as edge extraction, pattern matching, and feature point extraction on the captured image obtained by the camera sensor 210. Whether a section defined by detected white lines, etc. is a parking space may be determined, for example, by comparing the dimensions of the section defined by white lines, etc. with the dimensions of parking spaces in a typical parking lot. If the difference is within a predetermined dimension range, the section is determined to be a parking space. If the difference is beyond the predetermined dimension range, the section is determined not to be a parking space. Similarly, for parked vehicles, the parking row identification unit 14 uses the detection results of the radar sensor 220 and the camera sensor 210 to identify an obstacle as a stationary object and as a vehicle (parked vehicle). In this embodiment, the above-mentioned "consecutive threshold number" is set to "3." The "consecutive threshold number" is not limited to "3," and any multiple numbers may be set as the "consecutive threshold number."

[0019] The parking lot interior determination unit 15 uses the detection results of the radar sensor 220 and the camera sensor 210 to determine whether the vehicle V1 is present in a parking lot that includes the parking row identified by the parking row identification unit 14. Details of this determination will be described later.

[0020] The operation state acquisition unit 16 acquires the operation state of the accelerator pedal 310. Specifically, in this embodiment, the operation state acquisition unit 16 acquires the depression amount and depression speed of the accelerator pedal 310 detected by the accelerator pedal sensor 300 as the operation state of the accelerator pedal 310.

[0021] The control unit 17 executes control to suppress the driving force of the vehicle V1 in accordance with the amount of operation of the accelerator pedal 310 (hereinafter referred to as "driving force suppression control"). The driving force suppression control is a control that aims to suppress the driving force of the vehicle V1 when the driver accidentally presses the accelerator pedal while intending to press the brake pedal. As will be described later, the control unit 17 executes the driving force suppression control when it is determined that the vehicle V1 is located in a parking lot and a driving force suppression condition is met. The driving force suppression condition will be described in detail later.

[0022] The operation acquisition unit 18 acquires the rotation amount and steering amount of the wheels of the vehicle V1. Specifically, the operation acquisition unit 18 acquires wheel-related amounts based on an output signal from a wheel speed sensor (not shown) included in the drive device 410. The operation acquisition unit 18 also acquires the steering amount based on an output signal from a steering sensor included in the steering device 420. The rotation amount and steering amount of the vehicle can specify the movement amount of the vehicle V1, so the coordinate update unit 13 can update the position coordinates in accordance with the movement of the vehicle V1 described above.

[0023] A2. Vehicle Control Processing: The vehicle control processing shown in Fig. 2 is processing for executing driving force suppression control in appropriate situations. The vehicle control processing is executed when the power of the vehicle control device 100 is turned on.

[0024] In step S105, the parking detection unit 11 determines whether or not a parked vehicle or a parking space is detected by the sensor device 200. If a parked vehicle or a parking space is not detected (step S105: NO), step S105 is executed again.

[0025] If a parked vehicle or a parking space is detected (step S105: YES), the storage control unit 12 stores the relative position coordinates in the position information storage unit 21 as relative position information of the detected parked vehicle or parking space (step S110). As described above, in this embodiment, the "relative position coordinates of the parked vehicle" refer to the position coordinates of the parked vehicle in a coordinate system that uses the position of the vehicle V1 at that time as the reference position. Here, the "relative position coordinates of the parked vehicle" refer to the relative position coordinates of the four corners of the parked vehicle. The four corners of the parked vehicle refer to the four corners of a virtual rectangle in which the parked vehicle fits perfectly in a plan view (when viewed vertically). Also, as described above, in this embodiment, the "relative position coordinates of the parking space" refer to the position coordinates of the parking space in a coordinate system that uses the position of the vehicle V1 as the reference position. Here, the "relative position coordinates of the parking space" refer to the relative position coordinates of the four corners of a virtual rectangle formed by the center of the parking space frame line (white line). In addition, when only a portion of a parked vehicle is detected by the sensor device 200, or when only a portion of a parking space is detected by the sensor device 200, the memory control unit 12 refers to a table (not shown) to identify the relative position coordinates of a corner present in the undetected portion. The table is a table in which general sizes of vehicles and parking spaces are pre-stored, and the memory control unit 12 uses the sizes stored in the table to identify (estimate) the relative position coordinates of a corner included in the undetected portion, for example, a corner of a parking space present in a portion of the parking space hidden by a parked vehicle.

[0026] In step S115, the coordinate update unit 13 determines whether the vehicle V1 is moving. In this embodiment, the coordinate update unit 13 determines whether the vehicle V1 is moving based on an output signal from a vehicle speed sensor (not shown) provided in the drive device 410.

[0027] If it is determined that the vehicle V1 is not moving (step S115: NO), the parking row identification unit 14 determines whether or not to identify a parking row within the integrated detection range (step S130).

[0028] In FIG. 3 , vehicle V1 is parked in an aisle C2 (hereinafter referred to as the "second aisle C2") in parking lot P1. Note that in FIGS. 3 and 6 to 8 , the front-to-rear, left-to-right, and upward directions of vehicle V1 are indicated by arrows. In parking lot P1, a row of seven parking spaces PA11 to PA17 and a row of seven parking spaces PA21 to PA27 are arranged parallel to each other, sandwiching the second aisle C2. Vehicle V1 can move along aisle C2. In other words, second aisle C2 can be said to be an aisle extending in the direction of travel of vehicle V1. The second aisle C2 has a width that allows two vehicles to pass each other. In parking lot P1, a first aisle C1 is provided further back from the two rows of parking spaces as viewed from vehicle V1. The first aisle C1 is a road perpendicular to second aisle C2, in other words, an aisle perpendicular to the direction of travel of vehicle V1. The first passage C1 has a width that allows two vehicles to pass each other. In the example of Fig. 3, a parked vehicle PV11 is parked in the parking stall P11. Similarly, a parked vehicle PV12 is parked in the parking stall PA12, a parked vehicle PV13 is parked in the parking stall PA14, a parked vehicle PV14 is parked in the parking stall PA15, a parked vehicle PV21 is parked in the parking stall PA21, a parked vehicle PV22 is parked in the parking stall PA23, a parked vehicle PV23 is parked in the parking stall PA24, a parked vehicle PV24 is parked in the parking stall PA25, a parked vehicle PV25 is parked in the parking stall PA26, and a parked vehicle PV26 is parked in the parking stall PA27.

[0029] The integrated detection range Ar1 consists of a sensor detection range Ar2 and a history detection range Ar3. The sensor detection range Ar2 is a range in which the sensor device 200 can detect parked vehicles and parking spaces, and in this embodiment, is a rectangular range (area) in a plan view. The width d3 of the sensor detection range Ar2 (the dimension perpendicular to the traveling direction of the vehicle V1) is set to twice the longitudinal length of the parked vehicle or parking space, i.e., the sum of the length estimated as the width of two rows of parking spaces and the length estimated as the width of the second aisle C2. The width d3 may be set to, for example, 18 m (meters). Note that because the size of the parked vehicle, the size of the parking space, and the size of the second aisle C2 can be assumed to be any size, not limited to 18 m, but may be set to any size that combines twice the longitudinal length of the parked vehicle or parking space and the length estimated as the width of the second aisle C2. In this embodiment, the depth direction length d1 of the sensor detection range Ar2 is set as a length that can detect at least one of parking frames and parked vehicles that are lined up by the consecutive threshold number "3" in the traveling direction of the vehicle V1. The length d1 may be, for example, 9 m. For the reasons described above, the length d1 is not limited to 9 m and may be set to any length that can detect at least one of parking frames and parked vehicles that are lined up by the consecutive threshold number "3" in the traveling direction of the vehicle V1. Furthermore, the length d1 may be a length that can detect a row of at least two parked vehicles or parking frames, but cannot detect a row of three or more parked vehicles (parking rows). The rearmost edge of the sensor detection range Ar2 in the depth direction is the edge that passes through the position where the sensor device 200 is installed on the vehicle V1.

[0030] The history detection range Ar3 is a range (area) that is contiguous with the sensor detection range Ar2 in the traveling direction of the vehicle V1 and is a rectangular range (area) in a plan view. In this embodiment, the width of the history detection range Ar3 is the same as the width of the sensor detection range Ar2. The depth direction length d2 of the history detection range Ar3 is the sum of the length estimated as the length of the parking row in the traveling direction when at least one of the parked vehicles and the parking spaces are lined up in the traveling direction of the vehicle V1 for the consecutive threshold number "3" and the length estimated as the width of the first aisle C1. The length d2 may be, for example, 17 m. For the reasons described above, the length d2 is not limited to 17 m, but may be any length that sums the length estimated as the length of the parking row in the traveling direction when at least one of the parked vehicles and the parking spaces are lined up in the traveling direction of the vehicle V1 for the consecutive threshold number "3" and the length estimated as the width of the first aisle C1.

[0031] 3, a parking row L11 consisting of six parking stalls PA11 to PA16 and four parked vehicles PV11 to PV14 is identified within the integrated detection range Ar1. Also, a parking row L12 consisting of six parking stalls PA21 to PA26 and five parked vehicles PV21 to PV25 is identified within the integrated detection range Ar1.

[0032] As shown in FIG. 2 , if it is determined that a parking row has been identified within the integrated detection range (step S130: YES), in step S135, the parking lot interior determination unit 15 determines whether the vehicle V1 is present in a parking lot that includes the parking row identified by the parking row identification unit 14.

[0033] As shown in FIG. 4 , in step S135, the parking lot interior determination unit 15 first determines whether the vehicle V1 is located within a predetermined distance from the parking row identified in step S130 (step S205). In this embodiment, the "predetermined distance" in step S205 is set to 10 m. However, this is not limited to 10 m, and may be set to any distance that allows the vehicle V1 to be identified as being located within the same lot as the identified parking row. For example, in the example of FIG. 13 , it is determined whether the vehicle V1 is located within 10 m of at least one of the two parking rows L11 and L12.

[0034] As shown in FIG. 4 , if it is determined that vehicle V1 is within a predetermined distance from the parking line (step S205: YES), the parking lot interior determination unit 15 determines that vehicle V1 is within the parking lot (step S210). On the other hand, if it is determined that vehicle V1 is not within the predetermined distance from the parking line (step S205: NO), the parking lot interior determination unit 15 determines whether a gate device has been detected by the sensor device 200 (step S215). A "gate device" refers to a device installed at the entrance or exit of a parking lot, and is configured to allow vehicles to pass through the passage when, for example, a parking ticket issued by a parking ticket issuing device is withdrawn or when payment has been made, and to place a bar member to block the passage otherwise. A gate device is detected when a gate device is captured in the image obtained by the camera sensor 210, or when it is estimated to be a gate device based on the position and size of the target group detected by the radar sensor 220.

[0035] If it is determined that the sensor device 200 has detected a gate device (step S215: YES), the above-mentioned step S210 is executed, and it is determined that the vehicle V1 is present in the parking lot. On the other hand, if it is determined that the sensor device 200 has not detected a gate device (step S215: NO), the parking lot interior determination unit 15 determines that the vehicle V1 is not present in the parking lot (step S220).

[0036] As shown in FIG. 2, when it is determined that the vehicle V1 is present in a parking lot (step S135: YES), the control unit 14 determines whether the driving force suppression condition is met (step S140). In this embodiment, the driving force suppression condition is met when all of six sub-conditions (1-1) to (1-6) described below are met. Sub-condition (1-1): The vehicle speed of the vehicle V1 is less than a predetermined vehicle speed threshold. Sub-condition (1-2): The accelerator pedal operation amount is equal to or greater than a predetermined operation amount threshold. Sub-condition (1-3): The accelerator pedal operation speed is equal to or greater than a predetermined operation speed threshold. Sub-condition (1-4): The brake is not operated. Sub-condition (1-5): The turn signal is not operated. Sub-condition (1-6): A white line that continues for a predetermined length or more is not detected.

[0037] The above sub-conditions (1-1) to (1-6) are all conditions that may be met when the driver unintentionally depresses the accelerator pedal heavily while the host vehicle V1 is in a parking lot. Specifically, sub-condition (1-1) is set taking into consideration that the vehicle speed in a parking lot is relatively low. Sub-conditions (1-2) and (1-3) are set taking into consideration that the driver momentarily depresses the accelerator pedal 310 heavily. Sub-condition (1-4) is set taking into consideration that the driver may mistake the accelerator pedal 310 for the brake pedal and depress it. Sub-condition (1-5) is set taking into consideration that the accelerator pedal 310 is not heavily depressed in order to overtake a preceding vehicle. Sub-condition (1-6) is set taking into consideration that the vehicle V1 is not traveling on a public road on which a continuous white line of at least a predetermined length is provided. Examples of "a continuous white line of at least a predetermined length" include white lines indicating the boundary between roads and white lines indicating the boundary between adjacent lanes. Furthermore, the term "white line" does not necessarily mean a white line, but may also mean a general line that indicates the boundary between roads and lanes, such as a yellow or orange line. The "predetermined length" may be set to a length that can be detected by the sensor device 200, such as 200 m, which is the length of a white line provided on a road.

[0038] If it is determined that the driving force suppression condition is met (step S140: YES), the control unit 17 executes driving force suppression control (step S145). In this embodiment, the driving force suppression control refers to a process of controlling the driving device 410 and the braking device 430 so that the vehicle speed of the vehicle V1 is equal to or less than a predetermined upper speed limit. The upper speed limit may be a constant value, or may be set to a value that decreases as the depression amount or depression speed of the accelerator pedal 310 increases. For example, the upper speed limit may be set to "5 km / h." The driving force suppression control is not limited to the above process, and may be any process that can reduce the driving force of the vehicle V1, such as a process of reducing the acceleration of the vehicle V1, or a process of reducing the vehicle speed of the vehicle V1 or maintaining the vehicle V1 in a stopped state and ultimately stopping the vehicle V1. After step S145 is completed, the process returns to step S105. Furthermore, if it is determined in the above-mentioned step S130 that a parking row has not been identified within the integrated detection range (step S130: NO), if it is determined in the above-mentioned step S135 that vehicle V1 is not present in the parking lot (step S135: NO), or if it is determined in step S140 that the driving force suppression condition is not met (step S140: NO), the process returns to step S105.

[0039] If it is determined in step S115 that the vehicle V1 is moving (step S115: YES), the coordinate update unit 13 updates each relative position coordinate stored in the position information storage unit 21 (step S120). Specifically, as shown in FIG. 5, the motion acquisition unit 18 acquires the amount of wheel rotation and steering amount (step S305). The "amount of rotation" refers to the amount of rotation since the previous acquisition. Similarly, the "amount of steering" refers to the amount of steering since the previous acquisition. The coordinate update unit 13 updates all stored relative position coordinates using the amount of wheel rotation and steering amount acquired in step S305 (step S310). For example, as shown in Fig. 6, when the vehicle V1 moves forward along the passage C2 from the state of Fig. 3, the position coordinates (relative position coordinates) of the six parking slots PA14 to PA16, PA24 to PA26 that are detected in Fig. 3, i.e., that exist within the sensor detection range Ar2, and the five parked vehicles PV13, PV14, PV23 to PV25, based on the vehicle V1, are different in the state of Fig. 6. Similarly, the relative position coordinates of the six parking slots PA11 to PA13, PA21 to PA23 that are already stored in the position information storage unit 21 in Fig. 3, i.e., that exist within the history detection range Ar3, and the four parked vehicles PV11, PV12, PV21, PV22, are different in the state of Fig. 6. Therefore, in step S310 of FIG. 5, the relative position coordinates of a total of 12 parking rows PA11 to PA16, PA21 to PA26 and nine parked vehicles PV11 to PV14, PV21 to PV25 are updated.

[0040] As shown in FIG. 2, after completion of step S120, the memory control unit 12 deletes from the position information storage unit 21 the relative position coordinates stored in the position information storage unit 21 that are outside the current history detection range (step S125).

[0041] 6, two parking spaces PA11, PA21 and two parked vehicles PV11, PV21 are outside the history detection range Ar3. Therefore, in this case, in step S125, the relative position coordinates of these two parking spaces PA11, PA21 and two parked vehicles PV11, PV21 are deleted from the position information storage unit 21. In this way, by deleting the relative position coordinates that are outside the current history detection range Ar3 from the relative position coordinates already stored in the position information storage unit 21, it is possible to prevent the position information storage unit 21 from having an excessively large storage capacity, and to reduce the manufacturing cost of the vehicle control device 100.

[0042] In the example of FIG. 6, two parking rows L21 and L22 are identified within the integrated detection range Ar1 in step S130. The parking row L21 consists of six parking stalls PA12-PA17 and three parked vehicles PV12-PV14. The parking row L22 consists of six parking stalls PA22-PA27 and five parked vehicles PV22-PV26. Therefore, in this case, if the vehicle V1 is located within a predetermined distance range (10 m) from either of the two parking rows L21 and L22, the vehicle V1 is determined to be located in the parking lot.

[0043] In the example of FIG. 7, vehicle V1 has moved further forward from the state shown in FIG. 6 and reached the widthwise boundary of first passage C1. In this state, no parked vehicles or parking spaces are detected within sensor detection range Ar2. However, two parking rows L31 and L32 are detected (identified) within history detection range Ar3. Therefore, in this case as well, if vehicle V1 is located within a predetermined distance (10 m) from either of these two parking rows L31 and L32, vehicle V1 is determined to be located in the parking lot. Parking row L31 consists of three parking spaces PA15-PA17 and one parked vehicle PV14. Parking row L32 consists of three parking spaces PA25-PA27 and three parked vehicles PV24-PV26.

[0044] In the example of FIG. 8, vehicle V1 attempts to turn right before reaching the widthwise boundary of the first aisle C1, as shown in FIG. 7. In this case, the integrated detection range Ar1 rotates in accordance with the rotation of vehicle V1. Also in the example of FIG. 8, two parking rows L41 and L42 are identified within the history detection range Ar3. Therefore, in this case, too, if vehicle V1 is located within a predetermined distance range (10 m) from either of these two parking rows L41 and L42, vehicle V1 is determined to be located in the parking lot. Parking row L41 consists of three parking stalls PA15-PA17 and one parked vehicle PV14. Parking row L42 consists of three parking stalls PA25-PA27 and three parked vehicles PV24-PV26. In other words, the two parking rows L41 and L42 are the same as the two parking rows L31 and L32 shown in FIG. 7.

[0045] Here, in FIG. 8, a portion of the parking space PA14 and a portion of the parked vehicle PV13 are included within the history detection range Ar3. However, the relative position coordinates of the parking space PA14 and the parked vehicle PV13 are outside the history detection range Ar3 in the state shown in FIG. 7 and have been deleted from the position information storage unit 21. Therefore, in the state of FIG. 8, the relative position coordinates of the parking space PA14 and the parked vehicle PV13 are not used in identifying the parking row (step S130). Therefore, as described above, in the state of FIG. 8, a parking row consisting of three parking spaces PA15 to PA17 and one parked vehicle PV14 is identified as the parking row L41.

[0046] As shown in Figure 8, only a portion of each of the three parking rows PA25 to PA27 is included in the history detection range Ar3. However, even in this case, the relative position coordinates of at least one of the four corner position coordinates of each of the parking rows PA25 to PA27 are included in the history detection range Ar3. Therefore, in this case, the relative position coordinates of these three parking rows PA25 to PA27 are taken into consideration in step S130. The same applies to the three parked vehicles PV24 to PV26.

[0047] According to the vehicle control device 100 of the embodiment described above, the detection results of the sensor device 200 capable of detecting the surrounding environment are used to identify a parking row, and whether the vehicle V1 is present in a parking lot that includes the identified parking row is determined. This eliminates the need for a communication device for determining whether the vehicle V1 is present in the parking lot, thereby reducing costs. Furthermore, the parking row identification unit 14 identifies a parking row using the relative position information stored in the ROM 20 (the position information storage unit 21) and the position coordinates of at least one of the parked vehicle and the parking space detected by the parking detection unit 11. Therefore, even if the parking detection unit 11 does not detect a parked vehicle or a parking space, the parking row can be identified using the relative position information, i.e., information indicating the relative position of at least one of the parked vehicle and the parking space detected in the past, relative to the vehicle V1, and it is possible to accurately determine whether the vehicle V1 is present in the parking lot. Furthermore, the parking row identification unit 14 identifies a parking row within an integrated detection range Ar1, which is the sum of the sensor detection range Ar2 of the sensor device 200 and the history detection range Ar3 of a predetermined size located behind the sensor detection range. Therefore, even if a vehicle is present near an area in the parking lot where there are no parked vehicles or parking spaces locally and at least one of parked vehicles and parking spaces is not detected consecutively within the sensor detection range Ar2 for a number equal to or greater than the threshold number, the parking row identification unit 14 can identify a parking row within the integrated detection range Ar1, thereby enabling accurate determination of whether the vehicle V1 is present in the parking lot. Furthermore, even in a vehicle having a sensor device 200 with a narrow detection range as the sensor detection range Ar1, accurate determination of whether the vehicle V1 is present in the parking lot can be made.

[0048] Furthermore, the vehicle control device 100 includes a coordinate update unit 13 that updates the relative position coordinates stored in the storage device as the vehicle moves, so that when the vehicle control device 100 moves, the vehicle control device 100 can accurately identify the relative position coordinates of previously detected parked vehicles and parking spaces based on the current position of the vehicle V1. This allows for accurate identification of parking rows within the integrated detection range Ar1.

[0049] The vehicle V1 also includes an operation state acquisition unit 16 that acquires the operation state of the accelerator pedal, and a control unit 17 that executes driving force suppression control to suppress the driving force of the vehicle V1 when it is determined that the vehicle V1 is in a parking lot and a driving force suppression condition is met, including the condition that the operation amount of the accelerator pedal is equal to or greater than a predetermined threshold amount.Therefore, if the accelerator pedal is accidentally depressed in a parking lot, the driving force corresponding to the accelerator pedal operation can be suppressed.

[0050] Furthermore, among the relative position coordinates stored in the position information storage unit 21 (ROM 20), relative position coordinates that fall outside the current history detection range Ar3 are deleted from the position information storage unit 21. Therefore, compared to a configuration in which such relative position coordinates are not deleted, it is not necessary to reserve an excessively large storage area for the ROM 20, and the manufacturing costs of the vehicle V1 as a whole can be reduced.

[0051] Furthermore, the length of the history detection range Ar3 in the longitudinal direction of the vehicle V1 is the sum of the length estimated as the length of the parking row in the forward direction when at least one of the parked vehicles and parking spaces are lined up in the forward direction of the vehicle V1 for the consecutive threshold number of "3", and the length estimated as the width of the first passage C1 extending in a direction perpendicular to the forward direction and allowing at least two vehicles to pass each other. Therefore, in a parking lot where parking spaces are provided on both the left and right sides of the vehicle V1, even if the vehicle V1 is located outside the area where such parking spaces are located, it is possible to accurately determine that the vehicle V1 is located in the parking lot by using the relative position coordinates of the parked vehicles and parking spaces detected in the past.

[0052] Furthermore, the coordinate update unit 13 updates the relative position coordinates stored in the position information storage unit 21 using at least one of the rotation amount and the steering amount acquired by the operation acquisition unit 18, so that the relative position coordinates of the previously detected parked vehicles and parking spaces, which are based on the current position of the vehicle V1, can be accurately updated in accordance with the movement of the vehicle V1 in the parking lot. Therefore, it is possible to accurately determine whether the vehicle V1 is present in the parking lot from the current position of the vehicle V1.

[0053] In addition, the parking lot interior determination unit 15 determines whether or not the vehicle V1 is present in a parking lot including the identified parking row by using whether or not the sensor device 200 has detected the parking lot gate device, thereby enabling more accurate determination of whether or not the vehicle V1 is present in the parking lot.

[0054] B. Other Embodiments: (B1) In the vehicle control process of the above embodiment, steps S115 to S125 may be omitted. In such a configuration, the relative position coordinates of the previously detected parked vehicle and parking space are not deleted from the position information storage unit 21. However, even in such a configuration, there is no need to provide a communication device for determining whether the vehicle is in the parking lot, and costs can be reduced, thereby achieving the same effects as the vehicle control device 100 of the embodiment.

[0055] (B2) The size and shape of the history detection range are not limited to those of the history detection range Ar3 in the above embodiment. For example, as shown in FIG. 9, the history detection range Ar3a may be a range (area) located on the left rear side of the vehicle V1, with a length d2 in the traveling direction and a width d3 / 2. Even in such a configuration, at least the relative position coordinates of parking spaces or parked vehicles previously detected on the left side of the vehicle V1 can be used when identifying a parking row. Furthermore, as shown in FIG. 10, the history detection range Ar3b may be configured not to be connected to the rear of the sensor detection range Ar2 in the traveling direction of the vehicle V1, but to be located a predetermined distance away in the traveling direction. Furthermore, for example, in a configuration in which the sensor detection range Ar2a has a sector-shaped planar view as shown in FIG. 11, the sensor detection range Ar2a and the history detection range Ar3 are connected by points, and there is an area between the sensor detection range Ar2a and the history detection range Ar3 that does not belong to either range. The integrated detection range Ar1 in FIG. 12 is a range where the sensor detection range Ar2a and the history detection range Ar3c are connected. The sensor detection range Ar2a is the same as the fan-shaped sensor detection range Ar2a shown in FIG. 11. The forward end of the history detection range Ar3c in the traveling direction of the vehicle V1 coincides with the rear end of the sensor detection range Ar2a in the traveling direction of the vehicle V1. Therefore, in the example of FIG. 12, there is no area between the sensor detection range Ar2a and the history detection range Ar3c that does not belong to either range. In the example of FIG. 12, the longitudinal length of the history detection range Ar3c, i.e., the longest length d4 along the traveling direction of the vehicle V1, is longer than the length d2 shown in FIGS. 1 and 11. These configurations described above also achieve the same effects as the vehicle control device 100 of the embodiment.

[0056] (B3) In step S310 of the vehicle control processing in the above embodiment, the position coordinates stored in the position information storage unit 21 may be updated using only either the wheel rotation amount or the steering amount. For example, the speed at which the vehicle V1 travels within the parking lot may be estimated to be, for example, 3 km (kilometers) per hour, and the travel distance may be estimated from this estimated speed and the time since the previous steering amount was acquired. Alternatively, the steering amount may be assumed to be zero, and the position coordinates may be updated based only on the wheel rotation amount. In the above configuration, in step S305, only either the wheel rotation amount or the steering amount may be acquired.

[0057] (B4) In the above embodiment, the device that stores the relative position coordinates of the detected parked vehicle and parking space was the ROM 20, but the present disclosure is not limited to this. A storage device may be provided as a device separate from the vehicle control device 100, and the storage device may store the relative position coordinates. In this configuration, the vehicle control device 100 and the storage device are configured to be able to communicate with each other. As the storage device in this configuration, for example, a storage device built into a server device that can wirelessly communicate with the vehicle control device 100, or a storage device connected to a network that can wirelessly and wiredly communicate with the vehicle control device 100 may be used.

[0058] (B5) In the above embodiment, the "relative position coordinates of the parked vehicle" refer to the relative position coordinates of the four corners of the parked vehicle, but the present disclosure is not limited to this. For example, the relative position coordinates may be the relative position coordinates of some of the four corners of the parked vehicle. Furthermore, the relative position coordinates may be the relative position coordinates of the center of gravity of the parked vehicle or a feature point (for example, the end position of the headlight). In other words, the relative position coordinates may be the relative position coordinates of a position representative of the parked vehicle. Similarly, the "position coordinates of the parking space" are not limited to the four corners of a virtual rectangle formed by the center part of the parking space frame line (white line), but may also be the relative position coordinates of a position representative of the parking space.

[0059] (B6) In the above embodiment, the relative position information of the parked vehicle and the parking space is the relative position coordinates of the parked vehicle and the parking space, i.e., position coordinates in a coordinate system based on the vehicle V1. However, the present disclosure is not limited to this. For example, information combining the position coordinates of the vehicle V1 in a predetermined coordinate system with the position coordinates of the parked vehicle and the parking space in the predetermined coordinate system may be used as the relative position coordinates. In such a configuration, for example, a coordinate system based on the position of the first detected parked vehicle or parking space may be used as the "predetermined coordinate system." Furthermore, for example, when the sensor device 200 detects a gate device in the parking lot, a coordinate system based on the position of the gate device may be used. In other words, in general, any type of information indicating the relative position of at least one of the detected parked vehicle and the parking space with respect to the vehicle V1 may be used as the relative position information.

[0060] (B7) The vehicle control device 100 of the above embodiment is merely an example and can be modified in various ways. For example, the coordinate update unit 13 may be omitted. In such a configuration, the relative position coordinates stored in the position information storage unit 21 may be used for a predetermined time period and deleted after the predetermined time period has elapsed. Furthermore, for example, the control unit 17 may not execute the driving force suppression control. In such a configuration, for example, a server device capable of remotely controlling the vehicle V1 may be provided separately from the vehicle control device 100. When it is determined that the vehicle V1 is located in a parking lot and the driving force suppression condition is met, the server device may execute the driving force suppression control. Furthermore, for example, the parking lot interior determination unit 15 may be omitted from the vehicle control device 100. Even in such a configuration, when the parking row identification unit 14 identifies a parking row within the integrated detection range, information indicating the parking row may be output. A device other than the vehicle control device 100 that receives the information may then determine whether the vehicle V1 is located in a parking lot that includes the parking row, thereby achieving the same effects as those of the above embodiment.

[0061] (B8) The vehicle control device 100 and the methods described herein may be implemented by a special-purpose computer configured by configuring a processor and memory programmed to execute one or more functions embodied in a computer program. Alternatively, the vehicle control device 100 and the methods described herein may be implemented by a special-purpose computer configured by configuring a processor with one or more dedicated hardware logic circuits. Alternatively, the vehicle control device 100 and the methods described herein may be implemented by one or more special-purpose computers configured by combining a processor and memory programmed to execute one or more functions with a processor configured with one or more hardware logic circuits. Furthermore, the computer program may be stored in a computer-readable non-transitory tangible recording medium as instructions executed by the computer.

[0062] The present disclosure is not limited to the above-described embodiments and can be realized in various configurations without departing from the spirit thereof. For example, technical features in each embodiment corresponding to technical features in the embodiments described in the Summary of the Invention section can be appropriately replaced or combined to solve some or all of the above-described problems or achieve some or all of the above-described effects. Furthermore, if a technical feature is not described as essential in this specification, it can be deleted as appropriate. For example, the present disclosure can be realized in the form of a vehicle control method, a vehicle control device, a computer program for implementing the vehicle control method, a non-transitory recording medium on which such a computer program is recorded, etc.

[0063] The present disclosure may be realized in the following forms: [Form 1] A vehicle control device (100) for controlling a vehicle (V1) having a sensor device (200) capable of detecting a surrounding environment and an accelerator pedal (310), comprising: a parking detection unit (11) for detecting at least one of a parked vehicle other than the vehicle and a parking space around the vehicle by using a detection result of the sensor device, a storage control unit (12) for storing relative position information indicating a position of at least one of the detected parked vehicle and the parking space relative to the vehicle in a storage device (20), a parking row identification unit (14) for identifying a parking row in which at least one of the parked vehicles and the parking space are lined up consecutively in a common direction for a predetermined consecutive threshold number or more by using the relative position information stored in the storage device and position coordinates of at least one of the parked vehicle and the parking space detected by the parking detection unit, and a parking lot interior determination unit (15) for determining whether the vehicle is present in a parking lot including the identified parking row. [Mode 2] In the vehicle control device according to Mode 1, the storage control unit stores relative position coordinates, which are position coordinates of at least one of the detected parked vehicle and the parking space, in the storage device as the relative position information, and the vehicle control device further includes a coordinate update unit (13) that updates the relative position coordinates stored in the storage device in accordance with movement of the vehicle. [Mode 3] In the vehicle control device according to Mode 1 or Mode 2, the parking row identification unit identifies the parking row within an integrated detection range (Ar1) that combines a sensor detection range (Ar2, Ar2a) of the sensor device and a history detection range (Ar3, Ar3a to Ar3c) of a predetermined size that is located behind the sensor detection range in the traveling direction of the vehicle.[Mode 4] The vehicle control device according to any one of Modes 1 to 3, further comprising: an operation state acquisition unit (16) that acquires an operation state of the accelerator pedal, and a control unit (17) that executes driving force suppression control to suppress the driving force of the vehicle when it is determined that the vehicle is present in the parking lot and a driving force suppression condition is met, including a condition that the operation state is a state in which the operation amount of the accelerator pedal is equal to or greater than a predetermined threshold amount. [Mode 5] The vehicle control device according to Mode 2, wherein the memory control unit deletes from the memory device, of the relative position coordinates stored in the memory device, the relative position coordinates that are outside the current history detection range and fall within a history detection range of a predetermined size that is located behind the sensor detection range in the traveling direction of the vehicle. [Mode 6] In the vehicle control device according to Mode 3, the history detection range has a shape in a plan view having a longitudinal direction along the traveling direction and a lateral direction along the width direction of the vehicle, and a length (d2, d4) of the history detection range in the longitudinal direction is a sum of a length estimated as a length of the parking row in the traveling direction when at least one of the parked vehicles and the parking spaces are lined up consecutively in the traveling direction by the consecutive threshold number, and a length estimated as a width of a first passage (C1) extending in a direction perpendicular to the traveling direction and allowing at least two vehicles to pass each other, and a length (d3, d3 / 2) of the history detection range in the lateral direction is a sum of a length estimated as twice the length of the longitudinal direction of the parked vehicles or the parking spaces, and a length estimated as a width of a second passage (C2) extending in the traveling direction and allowing at least two vehicles to pass each other. [Mode 7] The vehicle control device according to Mode 2, further comprising an operation acquisition unit (18) that acquires at least one of a rotation amount and a steering amount of a wheel of the vehicle, wherein the coordinate update unit updates the relative position coordinates stored in the storage device by using at least one of the rotation amount and the steering amount acquired by the operation acquisition unit.[Mode 8] In the vehicle control device according to any one of Modes 1 to 7, the parking lot interior determination unit determines whether the vehicle is present in a parking lot that includes the identified parking row, based on whether the sensor device has detected a parking lot gate device. [Mode 9] A vehicle control method for controlling a vehicle (V1) having a sensor device (200) capable of detecting a surrounding environment and an accelerator pedal (310), the vehicle control method comprising: a step (S105) of detecting at least one of a parked vehicle other than the vehicle and a parking space around the vehicle by using a detection result of the sensor device; a step (S110) of storing relative position information indicating a position of at least one of the detected parked vehicle and the parking space relative to the vehicle in a storage device; a step (S130) of specifying a parking row in which at least one of the parked vehicles and the parking space are lined up in a common direction consecutively for a predetermined consecutive threshold number or more by using the relative position information stored in the storage device and position coordinates of at least one of the detected parked vehicle and the parking space; and a step (S135) of determining whether the vehicle is present in a parking lot including the specified parking row. [Mode 10] A computer program for controlling a vehicle having a sensor device capable of detecting a surrounding environment and an accelerator pedal, the computer program causing a computer to realize the following functions: a function of detecting at least one of a parked vehicle different from the vehicle and a parking space around the vehicle by using a detection result of the sensor device; a function of storing relative position information indicating a position of at least one of the detected parked vehicle and the parking space relative to the vehicle in a storage device; a function of specifying a parking row in which at least one of the parked vehicles and the parking space are lined up in a common direction for a predetermined consecutive threshold number or more by using the relative position information stored in the storage device and position coordinates of at least one of the detected parked vehicle and the parking space; and a function of determining whether the vehicle is present in a parking lot including the specified parking row.

Claims

1. A vehicle control device (100) for controlling a vehicle (V1) having a sensor device (200) capable of detecting a surrounding environment and an accelerator pedal (310), comprising: a parking detection unit (11) for detecting at least one of a parked vehicle other than the vehicle and a parking space around the vehicle by using a detection result of the sensor device; a memory control unit (12) for storing in a memory device (20) relative position information indicating a relative position of at least one of the detected parked vehicle and the parking space with respect to the vehicle; and a parking row identification unit (14) for identifying a parking row in which at least one of the parked vehicles and the parking spaces are lined up in a common direction for a predetermined consecutive threshold number or more by using the relative position information stored in the memory device and position coordinates of at least one of the parked vehicles and the parking spaces detected by the parking detection unit.

2. A vehicle control device as described in claim 1, wherein the memory control unit stores relative position coordinates, which are position coordinates of at least one of the detected parked vehicle and the parking space, in the memory device as the relative position information, and the vehicle control device further includes a coordinate update unit (13) that updates the relative position coordinates stored in the memory device in accordance with movement of the vehicle.

3. A vehicle control device according to claim 1, wherein the parking row identification unit identifies the parking row within an integrated detection range (Ar1) that combines the sensor detection range (Ar2, Ar2a) of the sensor device and a history detection range (Ar3, Ar3a to Ar3c) of a predetermined size that is located behind the sensor detection range in the traveling direction of the vehicle.

4. A vehicle control device as described in claim 2, wherein the memory control unit deletes from the memory device the relative position coordinates stored in the memory device that are within a history detection range of a predetermined size located behind the sensor detection range in the direction of travel of the vehicle and that are outside the current history detection range.

5. A vehicle control device according to claim 3, wherein the history detection range has a planar view shape having a longitudinal direction along the traveling direction and a lateral direction along the width direction of the vehicle, a length (d2, d4) of the history detection range in the longitudinal direction is a sum of a length estimated as a length in the traveling direction of the parking row when at least one of the parked vehicles and the parking spaces are lined up in the traveling direction consecutively the consecutive threshold number, and a length estimated as a width of a first passage (C1) extending in a direction perpendicular to the traveling direction and allowing at least two vehicles to pass each other, and a length (d3, d3 / 2) of the history detection range in the lateral direction is a sum of a length estimated as twice the longitudinal length of the parked vehicles or the parking spaces, and a length estimated as a width of a second passage (C2) extending in the traveling direction and allowing at least two vehicles to pass each other.

6. A vehicle control device as described in claim 2, further comprising an operation acquisition unit (18) that acquires at least one of an amount of rotation and an amount of steering of the wheels of the vehicle, and the coordinate update unit updates the relative position coordinates stored in the memory device using at least one of the amount of rotation and the amount of steering acquired by the operation acquisition unit.

7. A vehicle control device as claimed in any one of claims 1 to 6, further comprising an in-parking lot determination unit (15) that determines whether or not the vehicle is present in a parking lot including the identified parking row, the in-parking lot determination unit determining whether or not the vehicle is present in a parking lot including the identified parking row by utilizing the presence or absence of detection of a gate device of the parking lot by the sensor device.

8. A vehicle control device as described in claim 1, further comprising: an operation state acquisition unit (16) that acquires the operation state of the accelerator pedal; and a control unit (17) that executes driving force suppression control that suppresses the driving force of the vehicle when it is determined that the vehicle is present in the parking lot and a driving force suppression condition is met, including the condition that the operation state is a state in which the operation amount of the accelerator pedal is equal to or greater than a predetermined threshold amount.

9. A vehicle control device as described in claim 8, wherein the parking lot interior determination unit determines whether or not the vehicle is present in a parking lot that includes the identified parking row by utilizing whether or not the sensor device has detected a parking lot gate device.

10. A vehicle control method for controlling a vehicle (V1) having a sensor device (200) capable of detecting the surrounding environment and an accelerator pedal (310), comprising: a step (S105) of detecting at least one of a parked vehicle other than the vehicle and a parking space around the vehicle using a detection result of the sensor device; a step (S110) of storing relative position information indicating a relative position of at least one of the detected parked vehicle and the parking space in a storage device; and a step (S130) of identifying a parking row in which at least one of the parked vehicles and the parking spaces are lined up in a common direction consecutively for a predetermined consecutive threshold number or more using the relative position information stored in the storage device and position coordinates of at least one of the detected parked vehicles and the parking spaces.

11. A computer program for controlling a vehicle having a sensor device capable of detecting the surrounding environment and an accelerator pedal, the computer program enabling a computer to realize the following functions: a function for detecting at least one of a parked vehicle other than the vehicle and a parking space around the vehicle by utilizing a detection result of the sensor device; a function for storing in a storage device relative position information indicating a relative position of at least one of the detected parked vehicle and the parking space with respect to the vehicle; and a function for identifying a parking row in which at least one of the parked vehicles and the parking spaces are lined up in a common direction consecutively for a predetermined consecutive threshold number or more by utilizing the relative position information stored in the storage device and the position coordinates of at least one of the detected parked vehicles and the parking spaces.