Vehicle control device and vehicle control program

Abstract

A surroundings monitoring ECU functions as a vehicle control device that controls at least one external camera (130) that captures images of the surroundings of a host vehicle (Am). When the host vehicle (Am) makes a right or left turn at an intersection (IS), the surroundings monitoring ECU ascertains the positional relationship between the intersection (IS) and the host vehicle (Am). The surroundings monitoring ECU, in accordance with the positional relationship between the intersection (IS) and the host vehicle (Am), changes the mode of a high-accuracy recognition range (RSH) that is recognized with higher accuracy than other normal recognition ranges (RSL) in an imaging area (IA) captured by the external camera (130).

Description

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

[0001] This application is based on Patent Application No. 2024-14410 filed in Japan on February 1, 2024, and the contents of the original application are incorporated by reference in their entirety.

[0002] The disclosure of this specification relates to a control technology for a vehicle that controls an exterior camera that captures images of the surroundings of the vehicle.

[0003] Patent Literature 1 discloses an image processing device that is mounted on a vehicle as a moving device and includes an imaging unit that captures images of the rear side of the vehicle. When the vehicle merges into another lane, this image processing device changes the position of a high-resolution area set in part of the image captured by the imaging unit according to the positional relationship between the vehicle and the lane where the vehicle is merging.

[0004] JP 2023-91431 A

[0005] While Patent Literature 1 describes a control for changing the position of the high-resolution area when changing lanes, it does not describe a control for changing the position of the high-resolution area at an intersection. Therefore, there is a concern that the high-resolution area may not be set appropriately when the vehicle turns right or left at an intersection.

[0006] The present disclosure aims to provide a vehicle control device and a vehicle control method that are capable of appropriately sensing the environment around the vehicle using an exterior camera when making a right or left turn at an intersection.

[0007] In order to achieve the above object, one disclosed aspect is a vehicle control device that controls at least one exterior camera that captures images of the surroundings of the vehicle, and that includes a position recognition unit that recognizes the positional relationship between the intersection and the vehicle when the vehicle makes a right or left turn at an intersection, and a recognition control unit that changes the aspect of a high-precision recognition range that is recognized with higher accuracy than other normal recognition ranges within the image area captured by the exterior camera according to the positional relationship.

[0008] Another disclosed aspect is a vehicle control method for controlling at least one exterior camera that captures images of the surroundings of the vehicle, wherein when the vehicle makes a right or left turn at an intersection, the vehicle control method includes, in processing performed by at least one processing unit, a step of determining the positional relationship between the intersection and the vehicle, and changing the aspect of a high-precision recognition range that is recognized with higher accuracy than other normal recognition ranges within the image area captured by the exterior camera, depending on the positional relationship.

[0009] In these aspects, when the vehicle makes a right or left turn at an intersection, the aspect of the high-accuracy recognition range that is recognized with high accuracy is changed according to the positional relationship between the intersection and the vehicle, making it possible to appropriately sense the environment around the vehicle using an external camera when making a right or left turn at an intersection.

[0010] It should be noted that the reference numbers in parentheses in the claims merely indicate an example of the correspondence with the specific configurations in the embodiments described below, and do not limit the technical scope in any way. Furthermore, claims not explicitly stated in the claims may be combined together if no particular problems arise in the combination.

[0011] 14 is a diagram showing an overall view of an in-vehicle system including a perimeter monitoring ECU according to a first embodiment of the present disclosure. FIG. 15 is a diagram showing an example of a plurality of exterior cameras mounted on a vehicle. FIG. 16 is a block diagram showing details of a perimeter monitoring ECU and an autonomous driving ECU together with related configurations. FIG. 17 is a diagram showing an example of an imaging area photographed by a forward telephoto camera. FIG. 18 is a diagram showing setting of a high-precision recognition range in a right-turn scene where an oncoming vehicle is present. FIG. 19 is a diagram showing setting of a high-precision recognition range in a right-turn scene where a leading vehicle is present. FIG. 19 is a diagram showing setting of a high-precision recognition range within an intersection area. FIG. 20 is a diagram showing setting of a high-precision recognition range after exiting an intersection. FIG. 21 is a diagram showing setting of a high-precision recognition range before entering an intersection in a left-turn scene. FIG. 22 is a diagram showing setting of a high-precision recognition range within an intersection area. FIG. 23 is a diagram for explaining a right-left turn scene at successive intersections. FIG. 24 is a diagram for explaining a right-left turn scene at successive intersections. FIG. 25 is a flowchart showing details of a pattern setting process executed by the perimeter monitoring ECU. FIG. 26 is a flowchart showing details of a high-precision range control process for a right-turn pattern together with FIG. 27 is a flowchart showing details of a high-precision range control process for a right-turn pattern together with FIG. 28 is a flowchart showing details of a high-precision range control process for a left-turn pattern. FIG. 27 is a block diagram showing details of a perimeter monitoring ECU according to a second embodiment of the present disclosure together with related configurations. 10A and 10B are diagrams for explaining the adjustment operation of the direction of the forward telephoto camera by the variable mechanism.

[0012] Hereinafter, several embodiments will be described with reference to the drawings. Note that corresponding components in each embodiment are given the same reference numerals, and redundant description may be omitted. When only a portion of the configuration is described in each embodiment, the configuration of another embodiment described previously can be applied to the remaining portion of the configuration. Furthermore, in addition to the combinations of configurations explicitly stated in the description of each embodiment, configurations of several embodiments can also be partially combined together even if not explicitly stated, as long as there is no particular problem with the combination.

[0013] First Embodiment The functions of a vehicle control device according to a first embodiment of the present disclosure are realized by a periphery monitoring ECU (Electronic Control Unit) 100 shown in FIG. 1 . The periphery monitoring ECU 100 is mounted on a vehicle (hereinafter, referred to as host vehicle Am) together with an autonomous driving ECU 50. By mounting the periphery monitoring ECU 100 and the autonomous driving ECU 50, the host vehicle Am becomes an autonomously driven vehicle or an autonomously traveling vehicle equipped with an autonomous driving function. The autonomous driving ECU 50 is configured to be able to realize at least an autonomous driving function (driving assistance function) equivalent to autonomous driving level 2. The autonomous driving ECU 50 may be configured to be able to realize an autonomous driving function of autonomous driving level 3 or higher.

[0014] Here, the autonomous driving levels in this disclosure are based on standards established by the Society of Automotive Engineers. Level 2 autonomous driving is eyes-on autonomous driving, which requires the driver to visually monitor the area around the vehicle. Level 2 autonomous driving includes hands-on autonomous driving, in which the driver is required to hold the steering wheel, and hands-off autonomous driving, in which the driver is not required to hold the steering wheel.

[0015] Level 3 autonomous driving is eyes-off autonomous driving, which means that there is no need to monitor the surroundings of the vehicle and no obligation to monitor the surroundings. The autonomous driving ECU 50 may be capable of Level 4 fully autonomous driving, in which the system performs all driving tasks under certain conditions, and Level 5 fully autonomous driving, in which the system performs all driving tasks under all conditions. Level 4 autonomous driving is brain-off autonomous driving, in which there is essentially no request for the driver to take over driving. Level 5 autonomous driving is driverless autonomous driving, which does not require a driver on board.

[0016] [Configuration of the In-Vehicle System] The perimeter monitoring ECU 100 and the autonomous driving ECU 50 are elements constituting the in-vehicle system of the host vehicle Am and are communicatively connected to a communication bus 99 of an in-vehicle network 1 mounted on the host vehicle Am. The communication bus 99 is further connected to a locator 35, a navigation ECU 38, an in-vehicle communication device 39, a cruise control ECU 40, an HMI (Human Machine Interface) control device 20, and the like. These nodes connected to the communication bus 99 can communicate with each other. Specific nodes connected to the communication bus 99 may be electrically connected directly to each other and be able to communicate without going through the communication bus 99.

[0017] The locator 35 includes a GNSS (Global Navigation Satellite System) receiver, an inertial sensor, etc. The locator 35 sequentially determines the position and traveling direction of the host vehicle Am by combining positioning signals received from multiple positioning satellites by the GNSS receiver, measurement results from the inertial sensor, and vehicle speed information output to the communication bus 99. The locator 35 sequentially outputs position information and direction information of the host vehicle Am based on the positioning results to the communication bus 99 as locator information.

[0018] The locator 35 also has a map database (hereinafter referred to as the map DB) that stores map data. The map DB is primarily composed of a large-capacity storage medium that stores a large amount of three-dimensional map data and two-dimensional map data. The three-dimensional map data is a so-called high-definition (HD) map, and includes road information necessary for autonomous driving. The locator 35 reads map data for the area around the current location from the map DB and provides it to the navigation ECU 38, the autonomous driving ECU 50, the periphery monitoring ECU 100, etc., along with locator information.

[0019] The navigation ECU 38 acquires information about a destination specified by a driver or other occupant based on operation information acquired from the HMI control device 20. The navigation ECU 38 acquires vehicle position information and direction information from the locator 35, and sets a route from the current position to the destination. The navigation ECU 38 provides route information indicating the set route to the destination to the autonomous driving ECU 50, the HMI control device 20, etc. The navigation ECU 38 works in cooperation with the HMI control device 20 to provide route guidance to the destination by combining screen displays and voice messages, etc., and notifying the driver of the direction of travel of the vehicle Am at intersections, branching points, etc.

[0020] Here, a user terminal such as a smartphone may be connected to the in-vehicle network 1 or the HMI control device 20. Such a user terminal may provide the autonomous driving ECU 50 with information such as vehicle position information, direction information, and map data, instead of the locator 35. Furthermore, the user terminal may provide the HMI control device 20, the autonomous driving ECU 50, and the periphery monitoring ECU 100 with information such as route information to the destination, instead of the navigation ECU 38.

[0021] The on-board communication device 39 is an external communication unit mounted on the host vehicle Am. The on-board communication device 39 functions as a V2X (Vehicle to Everything) communication device. The on-board communication device 39 transmits and receives information via wireless communication between roadside devices installed on the side of the road and other vehicles around the host vehicle. As an example, the on-board communication device 39 receives congestion information and traffic regulation information around the current location of the host vehicle Am and in the direction of travel from the roadside devices. The congestion information and traffic regulation information are, for example, VICS (registered trademark) information. Furthermore, the on-board communication device 39 may receive target detection information acquired by roadside devices and other vehicles.

[0022] The cruise control ECU 40 is an electronic control device that mainly includes a microcontroller. The cruise control ECU 40 generates vehicle speed information indicating the current traveling speed of the host vehicle Am based on detection signals from wheel speed sensors provided at the hub portions of each wheel, and sequentially outputs the generated vehicle speed information to the communication bus 99. The cruise control ECU 40 has at least the functions of a brake control ECU, a drive control ECU, and a steering control ECU. The cruise control ECU 40 continuously controls the braking force of each wheel, the output of the on-board power source, and the steering angle based on operation commands based on the driver's driving operation or control commands from the automatic driving ECU 50.

[0023] The HMI control device 20 constitutes an HMI system together with multiple display devices 21, an audio device, ambient lights, operation devices, etc. The HMI system has an input interface function that accepts operations by an occupant such as the driver of the vehicle Am, and an output interface function that presents information to the driver. The display device 21 presents information to the driver's visual perception by displaying images, etc. The display device 21 includes a meter display, a center information display (hereinafter referred to as CID), a head-up display (hereinafter referred to as HUD), etc. The CID has a touch panel function and detects touch operations on the display screen by the driver, etc.

[0024] [Configuration of the Periphery Monitoring System] The periphery monitoring ECU 100, together with multiple exterior cameras 130, at least one millimeter-wave radar 33, and multiple sonars 34, constitutes the periphery monitoring system 10. The exterior cameras 130, the millimeter-wave radar 33, and the sonars 34 are periphery monitoring sensors that monitor the environment surrounding the host vehicle Am. The periphery monitoring system 10 may further include periphery monitoring sensors such as a lidar and an acoustic sensing system. The periphery monitoring system 10 can detect moving and stationary objects around the host vehicle within the detection range of the periphery monitoring sensors. The periphery monitoring system 10 continues to detect objects around the host vehicle Am not only during an autonomous driving period when the host vehicle Am is traveling using the autonomous driving function, but also during a manual driving period when the driver is operating the host vehicle Am. The periphery monitoring system 10 provides recognition information of objects around the host vehicle to the autonomous driving ECU 50, etc.

[0025] The exterior camera 130 is an in-vehicle imaging device that captures images of the surroundings of the host vehicle Am. The exterior camera 130 provides the periphery monitoring ECU 100 with imaging data ImD (see FIG. 3 ) as detection information. The exterior cameras 130 include a front wide-angle camera 131, a front telephoto camera 132, a right front side camera 133, a left front side camera 134, a right rear side camera 135, a left rear side camera 136, and a rear camera 137 (see FIG. 2 ).

[0026] The front wide-angle camera 131 and the front telephoto camera 132 are attached to the host vehicle Am so as to capture images ahead of the host vehicle Am (in the direction of travel). The front wide-angle camera 131 has a lens with a wider angle of view than the front telephoto camera 132, and can capture images of a wide range ahead. The front telephoto camera 132 has a lens with a narrower angle of view than the front wide-angle camera 131, and can capture images of distant targets in detail.

[0027] The right front side camera 133 is attached to the host vehicle Am so as to capture images of the right front side of the host vehicle Am. The left front side camera 134 is attached to the host vehicle Am so as to capture images of the left front side of the host vehicle Am. The right rear side camera 135 is attached to the host vehicle Am so as to capture images of the right rear side of the host vehicle Am. The left rear side camera 136 is attached to the host vehicle Am so as to capture images of the left rear side of the host vehicle Am. The rear camera 137 is attached to the host vehicle Am so as to capture images of the area behind the host vehicle Am.

[0028] The perimeter monitoring ECU 100 functions as a sensor control device and comprehensively controls driving environment recognition using multiple exterior cameras 130, millimeter-wave radar 33, sonar 34, etc. The perimeter monitoring ECU 100 is a computer that mainly includes a processing unit 11, a RAM 12, a storage unit 13, an input / output interface 14, and a control circuit equipped with a bus connecting these components. The processing unit 11 accesses the RAM 12 to execute various processes (instructions) for implementing the vehicle control method (sensor control method and environment recognition method) of the present disclosure. The storage unit 13 stores various vehicle control programs (sensor control program, environment recognition program, etc.) executed by the processing unit 11. By executing the programs by the processing unit 11, the perimeter monitoring ECU 100 is configured with multiple functional units for recognizing the driving environment of the host vehicle Am, such as an information input / output unit 81, an environment recognition unit 82, and a recognition control unit 83 (see FIG. 3 ).

[0029] The information input / output unit 81 is connected to the communication bus 99 and outputs information to and acquires information from the communication bus 99. Specifically, the information input / output unit 81 provides information to and acquires information from the automatic driving ECU 50. The information input / output unit 81 acquires recognition information indicating the recognition results of the driving environment around the vehicle from the environment recognition unit 82, and provides the acquired recognition information to the automatic driving ECU 50. The information input / output unit 81 acquires control status information indicating the operating status of automatic driving from the information linkage unit 61, which will be described later. The information input / output unit 81 acquires locator information and map data generated by the locator 35, route information generated by the navigation ECU 38, detection information received by the on-board communication device 39, vehicle speed information generated by the cruise control ECU 40, and the like. The information input / output unit 81 provides the acquired information to the environment recognition unit 82.

[0030] The environment recognition unit 82 acquires detection information from the exterior camera 130, the millimeter-wave radar 33, and the sonar 34. The environment recognition unit 82 recognizes the driving environment of the host vehicle Am by combining locator information, map data, detection information, etc. The environment recognition unit 82 may acquire detection information received by the in-vehicle communication device 39 and use it to recognize the driving environment. The environment recognition unit 82 acquires road information related to the road on which the host vehicle Am is traveling or the road on which the host vehicle Am is scheduled to travel, based on the locator information, map data, route information, etc. The environment recognition unit 82 grasps the relative positions and relative speeds of dynamic targets around the host vehicle Am, such as other vehicles traveling around the host vehicle Am.

[0031] The recognition control unit 83 controls the operation of the exterior camera 130, the millimeter-wave radar 33, and the sonar 34. The recognition control unit 83 sets a high-precision recognition range RSH (see FIG. 4) in part of the imaging area IA of the exterior camera 130. The imaging area IA is an area within the angle of view captured by the exterior camera 130. The area captured in each image constituting the imaging data ImD (see FIG. 3) corresponds to the imaging area IA. The recognition control unit 83 controls the high-precision recognition range RSH of the exterior camera 130. The high-precision recognition range RSH is a rectangular portion of the imaging area IA (see FIG. 4) captured by the exterior camera 130 that is recognized with higher accuracy than the other normal recognition range RSL. High-precision (high-resolution) recognition enables the environment recognition unit 82 to detect, for example, the flashing of turn signals (blinker lamps) and hazard lights, and the illumination of brake lights, early and with high accuracy. The normal recognition range RSL is the range excluding the high-accuracy recognition range RSH within the imaging area IA of the exterior camera 130. The normal recognition range RSL is recognized with lower accuracy (lower resolution) than the high-accuracy recognition range RSH.

[0032] The recognition control unit 83 at least controls the position of the high-precision recognition range RSH in the image capture area IA to be moved from a reference position. The recognition control unit 83 moves the position of the high-precision recognition range RSH within the image capture area IA so that the detection target DT is included in the high-precision recognition range RSH. The reference position may be set to the center of the image capture area IA or to a location where the detection target DT is likely to be captured by each exterior camera 130. The reference position may be different for each exterior camera 130. The detection target DT includes other vehicles around the vehicle, as well as pedestrians present at and near a crosswalk CW (see FIG. 7 ). The recognition control unit 83 may further control the size of the high-precision recognition range RSH, the number of high-precision recognition ranges RSH, and the degree of resolution enhancement of the high-precision recognition range RSH.

[0033] As an example, the recognition control unit 83 applies a low-resolution process to reduce the resolution of the image data ImD input from the exterior camera 130, in the normal recognition range RSL, excluding the high-precision recognition range RSH. The recognition control unit 83 executes image recognition processing to extract the detection target DT for the low-resolution normal recognition range RSL. Meanwhile, the resolution of the high-precision recognition range RSH is maintained at the same resolution as that of the image data ImD. The recognition control unit 83 executes image recognition processing to extract the detection target DT for the high-precision recognition range RSH, in which high resolution is maintained. As a result, the computing resources of the perimeter monitoring ECU 100 are preferentially allocated to target extraction from the high-precision recognition range RSH.

[0034] As another example, the recognition control unit 83 changes the ratio of the length of time for detecting the detection target DT between the high-accuracy recognition range RSH and the normal recognition range RSL without changing the resolution. Specifically, the recognition control unit 83 sets the time allocated to detecting the detection target DT from the high-accuracy recognition range RSH to be longer than the time allocated to detecting the detection target DT from the normal recognition range RSL. In this way, the computing resources of the perimeter monitoring ECU 100 are preferentially allocated to target detection from the high-accuracy recognition range RSH.

[0035] The high-precision recognition range RSH described above may be set for all exterior cameras 130, or may be set for only some of the exterior cameras 130. Furthermore, the recognition control unit 83 may control the high-precision recognition range RSH of all exterior cameras 130, or may control the high-precision recognition range RSH of only some of the exterior cameras 130.

[0036] [Configuration of the Autonomous Driving ECU] The autonomous driving ECU 50 is a computer that mainly includes a processing unit 51, a RAM 52, a storage unit 53, an input / output interface 54, and a control circuit that includes a bus connecting these elements. The processing unit 51 accesses the RAM 52 to execute various processes (instructions) for implementing the autonomous driving control method of the present disclosure. The storage unit 53 stores various programs (autonomous driving control programs, etc.) that are executed by the processing unit 51. As the processing unit 51 executes the programs, the autonomous driving ECU 50 is configured with multiple functional units for implementing the autonomous driving function, such as an information linking unit 61, an action determination unit 62, and a control execution unit 63 (see FIG. 3 ).

[0037] The information linking unit 61 provides information to the HMI control device 20, the periphery monitoring ECU 100, etc., and acquires information from the HMI control device 20, the locator 35, the navigation ECU 38, the in-vehicle communication device 39, the periphery monitoring ECU 100, etc. The information linking unit 61 provides control state information of the autonomous driving function generated by the action determination unit 62 to the HMI control device 20 and the periphery monitoring ECU 100. The information linking unit 61 enables the HMI control device 20 to issue an alert synchronized with the operating state of the autonomous driving function by outputting an in-vehicle alert execution request to the HMI control device 20. Furthermore, the information linking unit 61 provides the action determination unit 62 with route information acquired from the navigation ECU 38, recognition information acquired from the periphery monitoring ECU 100 (information input / output unit 81), etc.

[0038] When the autonomous driving ECU 50 has control of the driving operation, the behavior determination unit 62 generates a planned driving line for the host vehicle Am to travel on, based on the results of recognition of the driving environment by the periphery monitoring system 10. The behavior determination unit 62 generates a planned driving line for making a right or left turn at an intersection IS, for example. The behavior determination unit 62 outputs the generated planned driving line to the control execution unit 63.

[0039] When the autonomous driving ECU 50 has control of driving operations, the control execution unit 63 cooperates with the cruise control ECU 40 to execute acceleration / deceleration control, steering control, etc. of the host vehicle Am in accordance with the planned driving line generated by the action determination unit 62. Specifically, the control execution unit 63 generates control commands based on the planned driving line and outputs the generated control commands to the cruise control ECU 40 one after another.

[0040] [Details of Control of High-Resolution Recognition Range at Intersections] The autonomous driving ECU 50 performs right and left turns at an intersection IS using driving assistance control for autonomous driving level 2 or autonomous driving control for autonomous driving level 3 or higher. In the following description, right and left turns are based on a traffic environment in which vehicles drive on the left side of the road. Therefore, a right turn is subject to intersection driving control in which the vehicle crosses the oncoming lane OL (see FIGS. 5 to 8). In contrast, a left turn is subject to intersection driving control in which the vehicle does not cross the oncoming lane OL (see FIGS. 9 and 10).

[0041] The controls disclosed herein can also be applied to traffic environments where vehicles travel on the right side. In this case, a left turn becomes an intersection driving control in which the vehicle crosses the oncoming lane OL, and a right turn becomes an intersection driving control in which the vehicle does not cross the oncoming lane OL. Therefore, the contents of the controls related to right turns described below can be applied to the controls related to left turns in traffic environments where vehicles travel on the right side. Similarly, the contents of the controls related to left turns described below can be applied to the controls related to right turns in traffic environments where vehicles travel on the right side.

[0042] The perimeter monitoring ECU 100 cooperates with the autonomous driving ECU 50 to implement intersection driving control by the autonomous driving ECU 50. Specifically, the perimeter monitoring ECU 100 controls the high-precision recognition range RSH of the exterior camera 130, and prioritizes the use of computing resources for detecting dynamic objects that may affect the driving of the host vehicle Am.

[0043] More specifically, the environment recognition unit 82 determines a planned right or left turn at an intersection IS based on route information and the like acquired by the information input / output unit 81. When the host vehicle Am makes a right or left turn at the intersection IS, the environment recognition unit 82 determines the positional relationship between the intersection IS and the host vehicle Am based on the recognition information generated. The environment recognition unit 82 determines whether the positional relationship is before entering the intersection IS (hereinafter, "before entering the intersection"), within the area of ​​the intersection IS (hereinafter, "inside the intersection area"), or after exiting the intersection (hereinafter, "after exiting the intersection").

[0044] In the following description, the inner edge of the crosswalk CW of each road connected to the intersection IS is considered to be the boundary that defines the area of ​​the intersection IS. In other words, the area inside each crosswalk CW is considered to be within the intersection area (see dashed lines in Figure 5). The section of the approach road AR to the intersection IS that is closer to the crosswalk CW is considered to be before entering the intersection. The section of the exit road ER from the intersection IS that is further than the crosswalk CW is considered to be after leaving the intersection. Note that the boundaries that define before entering the intersection and after leaving the intersection may be changed as appropriate. As an example, the section of the approach road AR that is closer to the stop line SL may be considered to be before entering the intersection. Furthermore, the section further than the outer edge OE of the oncoming lane OL may be considered to be after leaving the intersection.

[0045] The recognition control unit 83 changes the mode of the high-precision recognition range RSH, which is recognized with higher accuracy than the normal recognition range RSL within the image capture area IA captured by the exterior camera 130, according to the positional relationship with the intersection IS grasped by the environment recognition unit 82. Changing the mode of the high-precision recognition range RSH changes the distance to the outside-of-vehicle area included in the high-precision recognition range RSH, the direction of the outside-of-vehicle area included in the high-precision recognition range RSH, and the size of the outside-of-vehicle area included in the high-precision recognition range RSH. The recognition control unit 83 changes the mode of the high-precision recognition range RSH corresponding to before entering the intersection, within the intersection area, and after leaving the intersection, respectively.

[0046] While traveling on the approach road AR toward an intersection IS where a right or left turn is to be made, the recognition control unit 83 starts mode control of the high-precision recognition range RSH corresponding to a right or left turn based on the start of blinking of the turn signal. During the autonomous driving period, the autonomous driving ECU 50 generates a turn signal activation trigger. During the manual driving period, the body ECU or the like generates a turn signal activation trigger based on operation input by the driver. The turn signal activation trigger is acquired by the information input / output unit 81 and is used as a start trigger for mode control by the recognition control unit 83 (see S33 in FIG. 14 and S63 in FIG. 16).

[0047] The recognition control unit 83 moves the high-precision recognition range RSH in accordance with the steering angle and traveling speed of the host vehicle Am. The recognition control unit 83 moves the high-precision recognition range RSH in the left-right direction (horizontal direction) in conjunction with the steering angle (steer angle) of the host vehicle Am. The higher the traveling speed of the host vehicle Am, the more the recognition control unit 83 moves the high-precision recognition range RSH so as to include the road surface farther in the traveling direction (opposing lane OL).

[0048] The recognition control unit 83 changes the mode of the high-precision recognition range RSH of the front telephoto camera 132, which has the longest focal length, among the multiple exterior cameras 130 facing forward of the host vehicle Am, in accordance with the positional relationship. Of the front wide-angle camera 131 and front telephoto camera 132 facing forward of the host vehicle Am, the recognition control unit 83 changes the mode of the high-precision recognition range RSH only for the front telephoto camera 132, and does not change the mode of the high-precision recognition range RSH of the front wide-angle camera 131. Furthermore, no high-precision recognition range RSH is set for the front wide-angle camera 131.

[0049] Hereinafter, the details of the control of the high-accuracy recognition range RSH that is performed when the host vehicle Am makes a right turn or a left turn at the intersection IS will be described based on FIGS. 5 to 10 and with reference to FIGS. 1 to 4.

[0050] <Right Turn Scene at Intersection: Before Entering the Intersection> FIGS. 5 to 8 show a right turn scene in which the host vehicle Am crosses the oncoming lane OL, and the manner of control of the high-precision recognition range RSH in a right turn pattern performed in the right turn scene. The environment recognition unit 82 determines the presence or absence of an oncoming vehicle Ao (see FIG. 5) and a leading vehicle Af (see FIG. 6) in the right turn scene. The oncoming vehicle Ao is another vehicle traveling in the opposite direction from the host vehicle Am and entering the intersection IS from the oncoming lane OL. The oncoming vehicle Ao may be a vehicle traveling straight through the intersection IS, or may be a vehicle making a right or left turn at the intersection IS. Scenes may occur in which there are multiple types of oncoming vehicles Ao, in other words, multiple straight-moving vehicles, multiple right-turning vehicles, and multiple left-turning vehicles included in the oncoming vehicles Ao. The leading vehicle Af is another vehicle traveling ahead of the host vehicle Am, entering the intersection IS before the host vehicle Am, and making a right turn.

[0051] The recognition control unit 83 starts controlling the mode of the high-precision recognition range RSH corresponding to a right-turn scene based on the start of flashing of the right turn indicator. When the host vehicle Am makes a right turn at an intersection IS, the recognition control unit 83 sets the high-precision recognition range RSH while traveling in the right-turn lane before entering the intersection IS so that it includes the oncoming lane OL beyond the intersection IS.

[0052] When an oncoming vehicle Ao is present at the intersection IS (see FIG. 5 ), the recognition control unit 83 sets the high-precision recognition range RSH to include the oncoming lane OL beyond the oncoming vehicle Ao while avoiding the oncoming vehicle Ao within the intersection area. On the other hand, when an oncoming vehicle Ao is not present at the intersection IS, the recognition control unit 83 sets the high-precision recognition range RSH to include the farthest part of the recognizable range of the oncoming lane OL. As an example, the recognition control unit 83 positions the high-precision recognition range RSH so that the oncoming lane OL side of the forward vanishing point is included in the center. As a result, when there is no oncoming vehicle Ao, the high-precision recognition range RSH is shifted toward the upper edge of the image of the imaging area IA (see FIG. 4 ) compared to when an oncoming vehicle Ao is present, and is set to a position suitable for detecting oncoming vehicles Ao at a distance.

[0053] When a preceding vehicle Af is present (see FIG. 6 ), the recognition control unit 83 sets the high-accuracy recognition range RSH to include the oncoming lane OL beyond the intersection IS while avoiding the preceding vehicle Af. On the other hand, when a preceding vehicle Af is not present, the recognition control unit 83 sets the high-accuracy recognition range RSH to include the farthest recognizable range of the oncoming lane OL, just as when an oncoming vehicle Ao is not present. As described above, when a preceding vehicle Af is not present, the high-accuracy recognition range RSH is shifted toward the upper edge of the image of the imaging area IA (see FIG. 4 ) compared to when a preceding vehicle Af is present, and is set to a position suitable for detecting a distant oncoming vehicle Ao.

[0054] When neither an oncoming vehicle Ao nor a preceding vehicle Af is present, the recognition control unit 83 sets the high-precision recognition range RSH to include the entire road surface of the oncoming lane OL beyond the intersection IS that can be imaged. On the other hand, when both an oncoming vehicle Ao and a preceding vehicle Af are present, the recognition control unit 83 cancels setting of the high-precision recognition range RSH before entering the intersection. In other words, during the period before entering the intersection, the high-precision recognition range RSH is not set in the imaging area IA of the front telephoto camera 132, and the entire imaging area IA is set as the normal recognition range RSL.

[0055] <Right Turn Scene at Intersection: Within Intersection Area> When the host vehicle Am reaches a position within the intersection area that extends beyond the oncoming vehicle Ao, the recognition control unit 83 sets the high-precision recognition range RSH to include targets moving toward the pedestrian crossing CW that is located before the host vehicle Am exits. Specifically, the recognition control unit 83 sets pedestrians crossing the pedestrian crossing CW, pedestrians moving on the sidewalk toward the pedestrian crossing CW, etc. as detection targets DT (see FIG. 7 ), and sets the high-precision recognition range RSH at a crosswalk-related position that includes the detection targets DT. If the detection target DT is not detected within the high-precision recognition range RSH, the recognition control unit 83 expands the high-precision recognition range RSH horizontally so that the pedestrian crossing CW captured in the imaging area IA has uniform resolution.

[0056] When a preceding vehicle Af is present in front of the host vehicle Am within the intersection area, the recognition control unit 83 sets multiple high-precision recognition ranges RSH at positions that avoid the preceding vehicle Af. Specifically, the recognition control unit 83 sets one high-precision recognition range RSH on each side of the preceding vehicle Af, and causes each high-precision recognition range RSH to follow the detection target DT.

[0057] When an intersection IS has multiple right-turn lanes or multiple left-turn lanes, the environment recognition unit 82 determines whether or not there is an adjacent vehicle turning right or left in the same direction as the host vehicle Am at the intersection IS. When an adjacent vehicle turning right or left in the same direction as the host vehicle Am is present and this adjacent vehicle is captured within the angle of view of the front telephoto camera 132, the recognition control unit 83 sets a high-precision recognition range RSH on the opposite side of the adjacent vehicle within the intersection area. When an adjacent vehicle is present in the right-turn lane to the left (outside) of the host vehicle Am in a right-turn scene, the recognition control unit 83 shifts the high-precision recognition range RSH to the right of the adjacent vehicle. When an adjacent vehicle is present in the left-turn lane to the right (outside) of the host vehicle Am in a left-turn scene, the recognition control unit 83 shifts the high-precision recognition range RSH to the left of the adjacent vehicle.

[0058] <Right Turn Scene at Intersection: After Exiting Intersection> After exiting an intersection IS where the vehicle Am made a right turn (hereinafter referred to as the first intersection IS1), the recognition control unit 83 sets the high-precision recognition range RSH to include the next intersection IS (hereinafter referred to as the second intersection IS2) that exists in the traveling direction of the vehicle Am (see FIG. 8 ). The recognition control unit 83 adjusts the position of the high-precision recognition range RSH to include the road surface within the intersection area of ​​the second intersection IS2, the crosswalk CW on the near side of the second intersection IS2, and the traffic lights installed at the second intersection IS2.

[0059] 9 and 10 show a left turn scene of the host vehicle Am and the control of the mode of the high-accuracy recognition range RSH in a left turn pattern performed in the left turn scene. The recognition control unit 83 starts the control of the mode of the high-accuracy recognition range RSH corresponding to the left turn scene based on the start of the blinking operation of the left turn indicator.

[0060] When the host vehicle Am makes a left turn at an intersection IS, the recognition control unit 83 sets a high-precision recognition range RSH in the vicinity of the oncoming lane OL within the intersection IS while the host vehicle Am is traveling in the left-turn lane before entering the intersection (see FIG. 9 ). This makes it easier for the environment recognition unit 82 to detect an oncoming vehicle Ao that is entering the intersection IS from the oncoming lane OL and turning right at the intersection IS.

[0061] When the host vehicle Am approaches the intersection IS, in order to check for collisions when turning left, the recognition control unit 83 sets a high-precision recognition range RSH in the image capturing area IA of the sidewalk-side exterior camera 130, i.e., the left front side camera 134 and the left rear side camera 136. When the recognition control unit 83 has set a high-precision recognition range RSH for the left front side camera 134 and the left rear side camera 136, it cancels setting the high-precision recognition range RSH for the front telephoto camera 132 and reduces the detection load on the front telephoto camera 132.

[0062] When the host vehicle Am approaches the intersection IS, the recognition control unit 83 again sets the high-precision recognition range RSH in the imaging area IA of the forward telephoto camera 132. The recognition control unit 83 positions the high-precision recognition range RSH so that it includes the pedestrian signal PS. The environment recognition unit 82 grasps the state of the pedestrian signal PS from the high-precision recognition range RSH and estimates the movement of the detection target DT (pedestrian, etc.) near the crosswalk CW.

[0063] <Left turn scene at intersection: within intersection area> The recognition control unit 83 sets the high-precision recognition range RSH within the intersection area so as to include the oncoming lane OLe of the exit road ER where the vehicle is to turn left (see FIG. 10 ). In addition, if the exit road ER has multiple lanes, the recognition control unit 83 sets the high-precision recognition range RSH so as to include other vehicles on the exit road ER. The recognition control unit 83 adjusts the high-precision recognition range RSH to the lights of the other vehicles, specifically, the turn signals, hazard lights, brake lights, etc.

[0064] The environment recognition unit 82 determines whether another vehicle ahead of the host vehicle Am on the exit road ER is a parked vehicle Ap or a stopped vehicle temporarily stopped at the end of a line of vehicles, based on whether the hazard lights are flashing and whether the brake lights are on. If the hazard lights are flashing, the environment recognition unit 82 determines that the other vehicle on the exit road ER is a parked vehicle Ap that will not immediately depart. On the other hand, if the brake lights are on, the environment recognition unit 82 determines that the other vehicle on the exit road ER is a vehicle temporarily stopped. Furthermore, the environment recognition unit 82 estimates whether the other vehicle on the exit road ER will change lanes based on whether the turn signal is flashing.

[0065] <Left-turn scene at an intersection: after exiting the intersection> After exiting the first intersection IS1 where the vehicle made a left turn, the recognition control unit 83 shifts the high-precision recognition range RSH toward the upper edge of the image in the imaging area IA, as in the case of a right-turn scene. The recognition control unit 83 sets the high-precision recognition range RSH so that it includes the next second intersection IS2 that exists in the direction of travel after the left turn. The recognition control unit 83 adjusts the position of the high-precision recognition range RSH so that it includes the road surface within the intersection area of ​​the second intersection IS2, the crosswalk CW on the near side of the second intersection IS2, and the traffic lights installed at the second intersection IS2.

[0066] 11 and 12, the host vehicle Am is making successive right and left turns at multiple (two) intersections IS. The environment recognition unit 82 determines a plan to make successive right and left turns at the multiple intersections IS based on route information and the like acquired by the information input / output unit 81. As an example, if the distance between the intersections IS, i.e., the distance between the centers of the first intersection IS1 and the second intersection IS2, is approximately 150 to 300 m, the environment recognition unit 82 determines that the first intersection IS1 and the second intersection IS2 are consecutive intersections ISC.

[0067] When consecutive right and left turns are planned at a first intersection IS1 and a second intersection IS2 that the vehicle will enter after exiting the first intersection IS1, the recognition control unit 83 controls the mode of the high-precision recognition range RSH corresponding to the right and left turn scenario at the consecutive intersections ISC. The recognition control unit 83 determines the pattern of the right and left turns to be made at the consecutive intersections ISC. The recognition control unit 83 determines whether the right and left turn at the consecutive intersections ISC is a right-turn / right-turn pattern with two right turns, a right-turn / left-turn pattern with a right turn followed by a left turn, a left-turn / left-turn pattern with two left turns, or a left-turn / right-turn pattern with a left turn followed by a right turn. When consecutive right and left turns are planned at the consecutive intersections ISC, the recognition control unit 83 sets the high-precision recognition range RSH at a position on the intermediate road IR from the first intersection IS1 to the second intersection IS2 after exiting the first intersection IS1, in preparation for the right and left turn at the second intersection IS2. In a scene of successive right and left turns at consecutive intersections ISC, the high-accuracy recognition range RSH is moved toward the second intersection IS2 near the exit of the first intersection IS1 earlier than in a scene of only one right or left turn.

[0068] When the host vehicle Am is scheduled to make a right-turn / right-turn pattern at consecutive intersections ISC and the intermediate road IR includes multiple lanes, the autonomous driving ECU 50 causes the host vehicle Am to enter the right lane L3 of the intermediate road IR when turning right at the first intersection IS1 (see FIG. 11 ). Before entering the first intersection IS1 and within the area of ​​the first intersection IS1, the recognition control unit 83 adjusts the high-precision recognition range RSH to other vehicles, etc. in the right lane L3 that the host vehicle Am will exit.

[0069] When the host vehicle Am is able to exit into the right lane L3, which is the right turn side, the recognition control unit 83 shifts the high-precision recognition range RSH to the right of the host vehicle Am in preparation for turning right at the second intersection IS2. Before entering the second intersection IS2, the recognition control unit 83 controls the behavior of the high-precision recognition range RSH in the same way as in a normal right-turn scene, and adjusts the position of the high-precision recognition range RSH to include the crosswalk CW, traffic signals, etc. at the second intersection IS2. In a right / left turn scene at consecutive intersections ISC, the recognition control unit 83 adjusts the position of the high-precision recognition range RSH to include the second intersection IS2 earlier than in a normal (single) right / left turn scene.

[0070] When the host vehicle Am is scheduled to make a right / left turn at consecutive intersections ISC and the intermediate road IR includes multiple lanes, the autonomous driving ECU 50 causes the host vehicle Am to enter the left lane L4 of the intermediate road IR by turning right at the first intersection IS1 (see FIG. 11 ). Before entering the first intersection IS1 and within the area of ​​the first intersection IS1, the recognition control unit 83 adjusts the high-precision recognition range RSH to other vehicles and obstacles in the left lane L4, which the host vehicle Am will exit. When there is another vehicle in the left lane L4, the recognition control unit 83 adjusts the high-precision recognition range RSH to the lights of the rearmost vehicle.

[0071] The environment recognition unit 82 determines whether the vehicle at the rear end of the left lane L4 is a parked vehicle based on the state of lights, the position of the vehicle toward the roadside, whether pedestrians are getting on or off, etc. If the vehicle at the rear end of the left lane L4 is a parked vehicle, the autonomous driving ECU 50 causes the host vehicle Am to exit the first intersection IS1 into the right lane L3. In this case, after exiting the first intersection IS1, the recognition control unit 83 controls the state of the high-precision recognition range RSH in preparation for moving to the left lane L4.

[0072] On the other hand, if the host vehicle Am can exit into the left lane L4, which is the left turn side, the recognition control unit 83 shifts the high-precision recognition range RSH to the left side of the host vehicle Am in preparation for turning left at the second intersection IS2. Before entering the second intersection IS2, the recognition control unit 83 controls the behavior of the high-precision recognition range RSH in the same way as in a normal left-turn scene, and adjusts the position of the high-precision recognition range RSH so that it includes the crosswalk CW, traffic lights, etc. at the second intersection IS2.

[0073] When the host vehicle Am is scheduled to travel in a left-turn / left-turn pattern at consecutive intersections ISC and the intermediate road IR includes multiple lanes, the autonomous driving ECU 50 causes the host vehicle Am to enter the left lane L1 of the intermediate road IR when turning left at the first intersection IS1 (see FIG. 12 ). Before entering the first intersection IS1 and within the area of ​​the first intersection IS1, the recognition control unit 83 adjusts the high-precision recognition range RSH to other vehicles and obstacles in the left lane L1, which the host vehicle Am will exit to. When there is another vehicle in the left lane L1, the recognition control unit 83 adjusts the high-precision recognition range RSH to the lights of the rearmost vehicle.

[0074] The environment recognition unit 82 determines whether the vehicle at the rear end of the left lane L1 is a parked vehicle based on the state of lights, the position of the vehicle toward the roadside, whether or not people are getting on or off, etc. If the vehicle at the rear end of the left lane L1 is a parked vehicle, the autonomous driving ECU 50 causes the host vehicle Am to exit the first intersection IS1 into the right lane L2. In this case, after exiting the first intersection IS1, the recognition control unit 83 controls the state of the high-precision recognition range RSH in preparation for moving to the left lane L1.

[0075] When the host vehicle Am can exit into the left lane L1, which is the left turn side, the recognition control unit 83 shifts the high-precision recognition range RSH to the left side of the host vehicle Am in preparation for turning left at the second intersection IS2. Before entering the second intersection IS2, the recognition control unit 83 controls the behavior of the high-precision recognition range RSH in the same way as in a normal left-turn scene, and adjusts the position of the high-precision recognition range RSH so that it includes the crosswalk CW, traffic lights, etc. at the second intersection IS2.

[0076] When the host vehicle Am is scheduled to make a left / right turn at consecutive intersections ISC and the intermediate road IR includes multiple lanes, the autonomous driving ECU 50 causes the host vehicle Am to enter the right lane L2 of the intermediate road IR when turning right at the first intersection IS1 (see FIG. 12 ). Before entering the first intersection IS1 and within the area of ​​the first intersection IS1, the recognition control unit 83 adjusts the high-precision recognition range RSH to other vehicles, etc. in the right lane L2 that the host vehicle Am will exit.

[0077] When the host vehicle Am can exit into the right lane L2, which is the right turn side, the recognition control unit 83 shifts the high-precision recognition range RSH to the right of the host vehicle Am in preparation for turning right at the second intersection IS2. Before entering the second intersection IS2, the recognition control unit 83 controls the behavior of the high-precision recognition range RSH in the same way as in a normal right-turn scene, and adjusts the position of the high-precision recognition range RSH so that it includes the crosswalk CW, traffic signals, etc. at the second intersection IS2.

[0078] [Details of pattern setting process and high-precision range control process] Next, the details of each process for realizing the discrimination of right / left turn patterns at the intersection IS described above and the control of the high-precision recognition range RSH will be explained below based on Figures 13 to 15 and with reference to Figures 1 to 12.

[0079] <Pattern Setting Process> The pattern setting process shown in FIG. 13 is started by the periphery monitoring ECU 100 when the host vehicle Am approaches within a predetermined distance (for example, approximately 500 m) an intersection IS where the host vehicle Am is to make a right or left turn.

[0080] In S11 of the pattern setting process, the recognition control unit 83 determines a driving plan for a right or left turn to be made at an intersection IS ahead of the vehicle based on route information provided to the information input / output unit 81 from the autonomous driving ECU 50 or the navigation ECU 38. In S12, the recognition control unit 83 determines whether driving at consecutive intersections ISC is planned.

[0081] If the vehicle is not scheduled to travel through consecutive intersections ISC (NO at S12), the recognition control unit 83 determines in S13 whether or not a right turn is planned at the next intersection IS. If a right turn is planned at the intersection IS (YES at S13), the recognition control unit 83 sets mode control for a right turn pattern in S14. On the other hand, if a left turn is planned at the intersection IS (NO at S13), the recognition control unit 83 sets mode control for a left turn pattern in S15.

[0082] On the other hand, if travel through consecutive intersections ISC is planned (S12: YES), the recognition control unit 83 determines in S16 whether a right turn is planned at the first intersection IS1. If a right turn is planned at the first intersection IS1 (S16: YES), the recognition control unit 83 determines in S17 whether a right turn is planned at the second intersection IS2. If a right turn is planned at the second intersection IS2 (S17: YES), the recognition control unit 83 sets mode control of a right turn / right turn pattern in S19. On the other hand, if a left turn is planned at the second intersection IS2 (S17: NO), the recognition control unit 83 sets mode control of a right turn / left turn pattern in S20.

[0083] If a left turn is planned at the first intersection IS1 (S16: NO), the recognition control unit 83 determines in S18 whether a right turn is planned at the second intersection IS2. If a right turn is planned at the second intersection IS2 (S18: YES), the recognition control unit 83 sets mode control of a left turn / right turn pattern in S21. On the other hand, if a left turn is planned at the second intersection IS2 (S18: NO), the recognition control unit 83 sets mode control of a left turn / left turn pattern in S22.

[0084] 14 and 15 is started by the periphery monitoring ECU 100 based on the control mode for the right turn pattern being set in S14 of the pattern setting process (see FIG. 13). In S31 of the high-precision range control process corresponding to the right turn pattern, the environment recognition unit 82 determines the positional relationship between the intersection IS where the vehicle Am will make a right turn and the intersection IS. The environment recognition unit 82 determines whether the positional relationship between the intersection IS and the vehicle Am is before entering the intersection, within the intersection area, or after leaving the intersection.

[0085] In S32, the environment recognition unit 82 determines whether the host vehicle Am is located before entering an intersection. If the host vehicle Am is located before entering an intersection (S32: YES), in S33, the information input / output unit 81 determines whether the right turn signal is on based on whether an activation trigger has been acquired. If the turn signal is on (S33: YES), the environment recognition unit 82 determines whether an oncoming vehicle Ao and a preceding vehicle Af are present in S34 to S36.

[0086] If both an oncoming vehicle Ao and a preceding vehicle Af are present (S34: YES, S35: YES), in S37 the recognition control unit 83 cancels setting of the high-precision recognition range RSH of the forward telephoto camera 132. If an oncoming vehicle Ao is present but a preceding vehicle Af is not (S34: YES, S35: NO), in S38 the recognition control unit 83 sets the high-precision recognition range RSH so that it is beyond the intersection IS and includes the oncoming lane OL beyond the oncoming vehicle.

[0087] If there is no oncoming vehicle Ao but a preceding vehicle Af is present (S34: NO, S36: YES), the recognition control unit 83 sets the high-accuracy recognition range RSH in S39 so as to include the oncoming lane OL beyond the intersection IS while avoiding the preceding vehicle Af. If there are neither oncoming vehicles Ao nor preceding vehicles Af (S34: NO, S36: NO), the recognition control unit 83 sets the high-accuracy recognition range RSH in S40 so as to include the farthest recognizable range of the oncoming lane OL.

[0088] If the vehicle Am is not about to enter an intersection (S32: NO) or if the turn signal is not on (S33: NO), the environment recognition unit 82 determines in S51 whether the vehicle Am is located within the intersection area. If the vehicle Am is located within the intersection area (S51: YES), the recognition control unit 83 sets a high-precision recognition range RSH at the crosswalk-related position so as to include targets moving toward the crosswalk CW in S52.

[0089] The environment recognition unit 82 determines whether or not there is a preceding vehicle Af in S53. If there is a preceding vehicle Af (S53: YES), the recognition control unit 83 sets multiple high-precision recognition ranges RSH in positions that avoid the preceding vehicle Af in S54. If there is no preceding vehicle Af (S53: NO), the processing of S54 is skipped.

[0090] In S55, the environment recognition unit 82 determines whether or not there is an adjacent vehicle. If there are multiple lanes for turning right at the intersection IS and there is an adjacent vehicle (S55: YES), the recognition control unit 83 sets a high-precision recognition range RSH on the opposite side of the adjacent vehicle within the intersection area in S56. If there is no adjacent vehicle (S55: NO), the processing of S56 is skipped.

[0091] If the vehicle A is not within the intersection area (S51: NO), the environment recognition unit 82 determines in S57 whether the vehicle A has left the intersection. If the vehicle A is located after leaving the intersection (S57: YES), the recognition control unit 83 sets the high-precision recognition range RSH in S58 so as to include the preceding vehicle Af on the exit road ER and the next intersection IS (second intersection IS2) in the traveling direction.

[0092] If the vehicle has not left the intersection (S57: NO), the environment recognition unit 82 determines in S59 whether or not right-turn control at the intersection IS by the autonomous driving ECU 50 has ended. If right-turn control at the intersection IS is continuing (S59: NO), the processing from S31 onward is performed again. On the other hand, if right-turn control at the intersection IS has ended (S59: YES), the high-precision range control processing is ended.

[0093] 16 is started by the perimeter monitoring ECU 100 based on the control mode for the left turn pattern being set in S15 of the pattern setting process (see FIG. 13). In S61 of the high-precision range control process corresponding to the left turn pattern, the environment recognition unit 82 determines the positional relationship between the intersection IS where the left turn will be made and the host vehicle Am. As in the process for the right turn pattern, the environment recognition unit 82 determines whether the positional relationship between the intersection IS and the host vehicle Am is before entering the intersection, within the intersection area, or after leaving the intersection.

[0094] In S62, the environment recognition unit 82 determines whether the host vehicle Am is located before entering an intersection. If the host vehicle Am is located before entering an intersection (S62: YES), in S63, the information input / output unit 81 determines whether the left turn signal is on based on whether an activation trigger has been acquired. If the turn signal is on (S63: YES), in S64, the recognition control unit 83 sets a high-precision recognition range RSH near the oncoming lane OL of the intersection IS (see FIG. 9 ). In addition, in S65, the recognition control unit 83 sets a high-precision recognition range RSH in each of the image capture areas IA of the left front side camera 134 and the left rear side camera 136. Furthermore, in S66, the recognition control unit 83 sets the high-precision recognition range RSH of the front telephoto camera 132 so as to include the pedestrian signal PS.

[0095] If the vehicle Am is not about to enter an intersection (S62: NO) or if the turn signal is not on (S63: NO), the environment recognition unit 82 determines in S67 whether the vehicle Am is located within the intersection area. If the vehicle Am is located within the intersection area (S67: YES), the recognition control unit 83 sets the high-precision recognition range RSH in S68 so that it includes the oncoming lane OLe of the exit road ER where the vehicle Am will turn left (see FIG. 10 ). Furthermore, in S69, the recognition control unit 83 adjusts the high-precision recognition range RSH to the lights of other vehicles on the exit road ER.

[0096] If the vehicle A is not within the intersection area (NO at S67), the environment recognition unit 82 determines whether the vehicle A has exited the intersection at S70. If the vehicle A has exited the intersection (YES at S70), the recognition control unit 83 sets the high-precision recognition range RSH to include the preceding vehicle A on the exit road ER and the next intersection IS (second intersection IS2) in the traveling direction at S71.

[0097] If the vehicle has not left the intersection (S70: NO), the environment recognition unit 82 determines in S72 whether or not the left-turn control at the intersection IS by the autonomous driving ECU 50 has ended. If the left-turn control at the intersection IS is continuing (S72: NO), the processing from S61 onwards is carried out again. On the other hand, if the left-turn control at the intersection IS has ended (S72: YES), the high-precision range control processing is ended.

[0098] <High-precision range control processing: right / left turn pattern at consecutive intersections> When a control mode for a right / left turn pattern in which right and left turns are performed consecutively is set in steps S19 to S22 of the pattern setting processing (see Figure 13), the periphery monitoring ECU 100 performs the high-precision range control processing described above in combination.

[0099] Specifically, when the control mode for a right-turn / right-turn pattern is set, the periphery monitoring ECU 100 repeatedly performs high-precision range control processing for a right-turn pattern (see FIGS. 14 and 15). When the control mode for a right-turn / left-turn pattern is set, the periphery monitoring ECU 100 successively performs high-precision range control processing for a right-turn pattern (see FIGS. 14 and 15) and high-precision range control processing for a left-turn pattern (see FIG. 16). When the control mode for a left-turn / left-turn pattern is set, the periphery monitoring ECU 100 repeatedly performs high-precision range control processing for a left-turn pattern (see FIG. 16). When the control mode for a left-turn / right-turn pattern is set, the periphery monitoring ECU 100 successively performs high-precision range control processing for a left-turn pattern (see FIG. 16) and high-precision range control processing for a right-turn pattern (see FIGS. 14 and 15).

[0100] 1 and 3 performs high-precision range notification during a period when a right or left turn is made at an intersection IS, and notifies the driver of the relative position of the high-precision recognition range RSH (see FIG. 4 ) set by the recognition control unit 83. The HMI control device 20 performs high-precision range notification using the display device 21 and the audio device.

[0101] If the HUD of the display device 21 is configured to be capable of augmented reality display, the relative position of the high-precision recognition range RSH is indicated by a virtual image in the shape of a rectangular frame superimposed on the foreground of the host vehicle Am. Furthermore, an image in which a frame-shaped image indicating the high-precision recognition range RSH is superimposed on the image from the forward telephoto camera 132 is displayed on at least one of the screens of the meter display and the CID. Furthermore, an alert sound indicating the presence of the high-precision recognition range RSH is reproduced from a speaker located in the direction in which the high-precision recognition range RSH is located relative to the driver.

[0102] After performing the high-precision range notification, the HMI control device 20 further performs a response request notification before entering the intersection. The response request notification is a preliminary notification that prompts the driver to determine whether or not it is possible to turn right or left and to respond with the result of that determination. The response request notification is performed when the intersection IS is congested and it is difficult for the autonomous driving ECU 50 to make a decision. The HMI control device 20 performs the response request notification by displaying the information on the meter display or CID screen, or by providing a voice notification via the audio device.

[0103] The information input / output unit 81 provides the HMI control device 20 with position information of the high-accuracy recognition range RSH for high-accuracy range notification. In addition, the information input / output unit 81 outputs an implementation request for response request notification to the HMI control device 20 after the high-accuracy range notification and before entering the intersection. The position information of the high-accuracy recognition range RSH and the implementation request may be transmitted directly from the information input / output unit 81 to the HMI control device 20, or may be transmitted via a configuration such as the autonomous driving ECU 50.

[0104] In the first embodiment described above, when the host vehicle Am makes a right or left turn at an intersection IS, the state of the high-accuracy recognition range RSH, which is recognized with high accuracy, is changed depending on the positional relationship between the intersection IS and the host vehicle Am. Therefore, in a scene where the host vehicle Am makes a right or left turn at an intersection IS, it becomes possible to appropriately sense the environment around the host vehicle using the exterior camera 130.

[0105] Additionally, in the first embodiment, when the host vehicle Am makes a right or left turn at an intersection IS, the mode of the high-precision recognition range RSH of the front telephoto camera 132, which has the longest focal length among the multiple exterior cameras 130 facing forward of the host vehicle Am, is changed according to the positional relationship. The front telephoto camera 132 can capture detailed images of detection targets DT, such as distant lights and pedestrians. Therefore, by changing the mode of the high-precision recognition range RSH of the front telephoto camera 132, it is possible to more appropriately sense the environment around the host vehicle.

[0106] Furthermore, in the first embodiment, when the host vehicle Am makes a right or left turn at an intersection IS, the mode of the high-precision recognition range RSH is changed only for the front telephoto camera 132 among the multiple exterior cameras 130 facing forward of the host vehicle Am. No high-precision recognition range RSH is set for the front wide-angle camera 131. As a result of the above, the setting of the high-precision recognition range RSH is unlikely to interfere with the accumulation of image data ImD from the front wide-angle camera 131 and the utilization of the accumulated image data ImD for various purposes.

[0107] Furthermore, in the first embodiment, the positional relationship between the intersection IS and the host vehicle Am is determined to be before entering the intersection, within the intersection area, or after exiting the intersection. The state of the high-precision recognition range RSH is then changed to correspond to each of the states before entering the intersection, within the intersection area, and after exiting the intersection. As a result, the high-precision recognition range RSH can be directed toward the detection target DT that requires the most vigilance at each timing. As a result, environmental sensing around the host vehicle can be performed more appropriately.

[0108] Additionally, in the first embodiment, when the host vehicle Am makes a right or left turn across the oncoming lane OL at the intersection IS, the high-precision recognition range RSH is set before the host vehicle Am enters the intersection IS so as to include oncoming vehicles beyond the intersection IS. As a result, it is possible to quickly detect an oncoming vehicle Ao entering the intersection IS from the oncoming lane OL.

[0109] In the first embodiment, when an oncoming vehicle Ao is present at the intersection IS, the high-accuracy recognition range RSH is set to include the oncoming lane OL beyond the oncoming vehicle Ao. As a result, it becomes possible to quickly detect another oncoming vehicle Ao entering the intersection IS from the oncoming lane OL while avoiding the closest oncoming vehicle Ao.

[0110] Furthermore, in the first embodiment, when there is no oncoming vehicle Ao at the intersection IS, the high-accuracy recognition range RSH is set to include the farthest range of the oncoming lane OL that can be recognized. As a result, it is possible to quickly detect an oncoming vehicle Ao approaching the intersection IS from a distance and determine whether or not to start crossing the oncoming lane OL.

[0111] In addition, in the first embodiment, when a preceding vehicle Af is present ahead of the host vehicle Am, the high-accuracy recognition range RSH is set to avoid the preceding vehicle Af. As a result of the above, it is possible to quickly detect an oncoming vehicle Ao entering the intersection IS from the oncoming lane OL while avoiding the preceding vehicle Af ahead.

[0112] In the first embodiment, when there is no preceding vehicle Af traveling ahead of the host vehicle Am, the high-accuracy recognition range RSH is set to include the farthest recognizable range of the oncoming lane OL. As a result, it is possible to quickly detect an oncoming vehicle Ao approaching the intersection IS from a distance and determine whether or not to start crossing the oncoming lane OL.

[0113] Furthermore, in the first embodiment, when both an oncoming vehicle Ao and a preceding vehicle Af are present, the setting of the high-accuracy recognition range RSH before entering the intersection is canceled. When both the oncoming vehicle Ao and the preceding vehicle Af are present, it becomes difficult to grasp the situation in the oncoming lane OL due to their obstruction. Therefore, it is desirable to control the front telephoto camera 132 to reduce the detection load by canceling the setting of the high-accuracy recognition range RSH.

[0114] In addition, in the first embodiment, the high-accuracy recognition range RSH is set so as to include within the intersection area a target moving toward the pedestrian crossing CW that is located at the exit of the host vehicle Am. As a result of the above, it is possible to determine whether or not to start traveling across the oncoming lane OL, taking into appropriate consideration not only the presence or absence of an oncoming vehicle Ao but also the presence or absence of pedestrians crossing the pedestrian crossing CW.

[0115] Furthermore, in the first embodiment, when a preceding vehicle Af is present traveling ahead of the host vehicle Am, multiple high-precision recognition ranges RSH are set at positions that avoid the preceding vehicle Af. Because it is difficult to ensure a sufficient inter-vehicle distance from the host vehicle Am to the preceding vehicle Af within an intersection area, the preceding vehicle Af is likely to interfere with detection of the area ahead of the host vehicle. Therefore, by setting multiple high-precision recognition ranges RSH so as to avoid the preceding vehicle Af, it becomes possible to grasp the situation ahead of the host vehicle by looking into both sides of the preceding vehicle Af, even in a scene where the preceding vehicle Af is present in the immediate vicinity.

[0116] Furthermore, in the first embodiment, when there are multiple lanes for turning right or left at an intersection IS and there is an adjacent vehicle turning right or left in the same direction as the host vehicle Am at the intersection IS, a high-precision recognition range RSH is set on the opposite side of the adjacent vehicle within the intersection area. In such a turning scene, detection of the adjacent vehicle becomes difficult due to being blocked by the adjacent vehicle traveling alongside the host vehicle Am. Therefore, by setting the high-precision recognition range RSH on the opposite side of the adjacent vehicle, the computational resources for detection can be effectively used for sensing the environment around the host vehicle.

[0117] Additionally, in the first embodiment, after the host vehicle Am exits the first intersection IS1 where the host vehicle Am makes its first right or left turn, the high-accuracy recognition range RSH is set to include the next intersection IS2 located in the traveling direction of the host vehicle Am. As a result, even if the distance from the first intersection IS1 to the second intersection IS2 is short, the environment recognition unit 82 can quickly grasp the situation at the second intersection IS2.

[0118] In the first embodiment, when successive right and left turns are planned at the first intersection IS1 and the second intersection IS2, the high-precision recognition range RSH is set to a position in preparation for turning right or left at the second intersection IS2 after exiting the first intersection IS1. As described above, even in a scene in which a right or left turn is planned at successive intersections ISC, the environment recognition unit 82 can quickly grasp the situation at the second intersection IS2.

[0119] Furthermore, in the first embodiment, the position of the high-accuracy recognition range RSH set by the recognition control unit 83 is notified to the driver using the display device 21 of the host vehicle Am, etc. In order to realize such high-accuracy range notification, the information input / output unit 81 provides position information of the high-accuracy recognition range RSH to the HMI control device 20. The above-described high-accuracy range notification allows the driver to intuitively grasp where the perimeter monitoring ECU 100 is gazing.

[0120] Additionally, in the first embodiment, a request to issue a response request notification to prompt the driver to respond as to whether or not a right or left turn is possible is output to the HMI control device 20 after the start of the high-precision range notification and before entering the intersection. With the response request notification based on such an implementation request, even if a situation arises in which the autonomous driving ECU 50 alone cannot determine whether or not to start within the intersection area, the driver can make a relaxed judgment as to whether or not to start the host vehicle Am and input the response.

[0121] In the above embodiment, the HMI control device 20 corresponds to the "alarm device," the display device 21 corresponds to the "information presentation device," the information input / output unit 81 corresponds to the "information providing unit," the environment recognition unit 82 corresponds to the "position grasping unit," and the periphery monitoring ECU 100 corresponds to the "vehicle control device."

[0122] 17 and 18 is a modification of the first embodiment. In the second embodiment, at least the front telephoto camera 132 of the exterior cameras 130 is installed on the host vehicle Am via a variable mechanism 140. The variable mechanism 140 may be provided on an exterior camera 130 other than the front telephoto camera 132.

[0123] The variable mechanism 140 changes the orientation of the front telephoto camera 132 in the horizontal direction (left-right direction) based on a control signal input from the recognition control unit 83. The variable mechanism 140 may be configured to be able to change the orientation of the front telephoto camera 132 in the vertical direction (up-down direction). The area outside the vehicle captured in the imaging area IA of the front telephoto camera 132 moves in the left-right direction as the variable mechanism 140 swings the front telephoto camera 132.

[0124] The recognition control unit 83 combines mechanical control of the orientation of the forward telephoto camera 132 using the variable mechanism 140 with software control to move the high-precision recognition range RSH. That is, the recognition control unit 83 coordinates hardware control and software control to change the position of the high-precision recognition range RSH in the imaging area IA. As an example, in a scene of turning right at an intersection IS, the recognition control unit 83 shifts the orientation of the forward telephoto camera 132 to the right using the variable mechanism 140 so that the imaging area IA of the forward telephoto camera 132 widely includes the crosswalk CW on the exit road ER. In a scene of turning left at an intersection IS, the recognition control unit 83 shifts the orientation of the forward telephoto camera 132 to the left using the variable mechanism 140 so that the imaging area IA of the forward telephoto camera 132 includes the pedestrian signal PS and pedestrians near the crosswalk CW (see arrow in FIG. 18 ).

[0125] The second embodiment described so far also achieves the same effects as the first embodiment, enabling appropriate sensing of the environment around the vehicle using the exterior camera 130 when making a right or left turn at an intersection IS. Additionally, in the second embodiment, the recognition control unit 83 and the variable mechanism 140 cooperate to vary the imaging direction of the front telephoto camera 132 relative to the vehicle Am. As a result, the relative position of the vehicle exterior area captured within the high-precision recognition range RSH changes. In this way, by using the variable mechanism 140, even if the angle of view of the front telephoto camera 132 is narrow, the vehicle exterior area that can be captured by the high-precision recognition range RSH of the front telephoto camera 132 can be expanded. As a result, the environment recognition unit 82 can use the front telephoto camera 132 to accurately detect the detection target DT located in a wide area ahead.

[0126] (Other Embodiments) Although multiple embodiments of the present disclosure have been described above, the present disclosure should not be construed as being limited to the above-described embodiments, and can be applied to various embodiments and combinations within the scope that does not deviate from the gist of the present disclosure.

[0127] In a first modification of the above embodiment, a high-precision recognition range RSH is set for both the front wide-angle camera 131 and the front telephoto camera 132, which are front cameras. The recognition control unit 83 changes the state of each of the high-precision recognition ranges RSH of the front wide-angle camera 131 and the front telephoto camera 132 depending on the positional relationship between the intersection IS and the host vehicle Am. In a second modification of the above embodiment, a high-precision recognition range RSH is set for the front wide-angle camera 131, but no high-precision recognition range RSH is set for the front telephoto camera 132. The recognition control unit 83 changes the state of the high-precision recognition range RSH set only for the front wide-angle camera 131 depending on the positional relationship. Furthermore, a high-precision recognition range RSH may be set for both the front wide-angle camera 131 and the front telephoto camera 132, which are front cameras, and only the state of the high-precision recognition range RSH of the front telephoto camera 132 may be changed depending on the positional relationship.

[0128] In the above embodiment, the mode control of the high-accuracy recognition range RSH is switched at each stage before entering the intersection, within the intersection area, and after leaving the intersection. Such mode control switching may be performed continuously instead of stepwise as in the above embodiment. Furthermore, the position at which the mode control is switched may also be changed as appropriate.

[0129] In the third variation of the above embodiment, the position of the high-precision recognition range RSH within the imaging area IA is optically movable. The exterior camera 130 has an optical system capable of forming images with two different resolutions and angles of view. Based on a control signal from the recognition control unit 83, the exterior camera 130 shifts the position of the image sensor relative to the optical system, thereby moving the range on the image sensor where the high-resolution image with the angle of view is formed.

[0130] In a fourth modification of the above embodiment, the recognition control unit 83 applies high-resolution processing or super-resolution processing to increase the resolution of the high-precision recognition range RSH of the image data ImD input from the exterior camera 130. The recognition control unit 83 executes image recognition processing to extract the detection target DT for the high-precision recognition range RSH that has been made high-resolution. Furthermore, the recognition control unit 83 executes image recognition processing to extract the detection target DT for the normal recognition range RSL that remains at a low resolution.

[0131] In a fifth modification of the above embodiment, a process for increasing the resolution of the high-precision recognition range RSH is combined with a process for decreasing the resolution of the normal recognition range RSL. Furthermore, in a sixth modification of the above embodiment, a high-resolution process is applied to both the high-precision recognition range RSH and the normal recognition range RSL. The high-resolution process applied to the high-precision recognition range RSH is an image conversion process that increases the resolution more than the high-resolution process applied to the normal recognition range RSL. Furthermore, in a seventh modification of the above embodiment, a low-resolution process is applied to both the high-precision recognition range RSH and the normal recognition range RSL. The high-resolution process applied to the normal recognition range RSL is an image conversion process that decreases the resolution more than the high-precision recognition range RSH.

[0132] In an eighth modification of the above embodiment, the functions of the perimeter monitoring ECU 100 are integrated into the autonomous driving ECU 50. In this eighth modification, the autonomous driving ECU 50 corresponds to the "vehicle control device," and the information linkage unit 61 corresponds to the "information provision unit." Furthermore, in a ninth modification of the above embodiment, the autonomous driving ECU 50 is omitted from the in-vehicle system. The perimeter monitoring ECU 100 has the function of a collision damage mitigation brake device, and senses the environment around the vehicle during manual driving. Furthermore, in a tenth modification of the above embodiment, the functions of the HMI control device 20 may be integrated into the autonomous driving ECU 50. In this tenth modification, the autonomous driving ECU 50 corresponds to the "alarm device."

[0133] In the above embodiments, the functions provided by the perimeter monitoring ECU 100 and the autonomous driving ECU 50 can be provided by software and hardware that executes the software, software alone, hardware alone, or a combination of these. Furthermore, when such functions are provided by electronic circuits as hardware, the functions can also be provided by digital circuits including multiple logic circuits or analog circuits. Furthermore, the software for realizing such functions may include, at least in part, code automatically generated by, for example, a neural network or language model trained using real-world camera footage.

[0134] Each processing unit in the above-described embodiments includes at least one arithmetic core, such as a central processing unit (CPU) and a graphics processing unit (GPU). The processing unit may further include a field-programmable gate array (FPGA), a neural network processing unit (NPU), and an IP core with other dedicated functions. Furthermore, the processing unit is not limited to being individually mounted on a printed circuit board. The processing unit may be mounted on an application-specific integrated circuit (ASIC), a system on chip (SoC), a chiplet integration, an FPGA, or the like.

[0135] The form of the storage medium (non-transitory tangible storage medium) that stores various programs and the like may be changed as appropriate. Furthermore, the storage medium is not limited to a configuration provided on a circuit board, but may be provided in the form of a memory card or the like, inserted into a slot, and electrically connected to a control circuit such as the periphery monitoring ECU 100 or the autonomous driving ECU 50. Furthermore, the storage medium may be an optical disk, hard disk drive, solid state drive, or the like that serves as a source from which programs are copied or distributed to the periphery monitoring ECU 100 or the autonomous driving ECU 50.

[0136] The controller and methods described herein may be implemented by a special-purpose computer comprising a processor programmed to perform one or more functions embodied in a computer program. Alternatively, the apparatus and methods described herein may be implemented by special-purpose hardware logic circuitry. Alternatively, the apparatus and methods described herein may be implemented by one or more special-purpose computers comprising a processor executing a computer program in combination with one or more hardware logic circuits. Furthermore, the computer program may be stored as instructions executed by a computer on a computer-readable non-transitory storage medium.

[0137] (Disclosure of Technical Ideas) This specification discloses multiple technical ideas described in the following multiple clauses. Some clauses may be described in a multiple dependent form, with the subsequent clause alternatively referring to the preceding clause. Furthermore, some clauses may be described in a multiple dependent form, with the subsequent clause referring to another multiple dependent clause. These multiple dependent clauses define multiple technical ideas.

[0138] (Technical Idea 1) A vehicle control device that controls at least one exterior camera (130) that captures images of the surroundings of a host vehicle (Am), comprising: a position grasping unit (82) that grasps the positional relationship between an intersection (IS) and the host vehicle when the host vehicle makes a right or left turn at the intersection, and a recognition control unit (83) that changes, in accordance with the positional relationship, a mode of a high-precision recognition range (RSH) that is recognized with higher accuracy than other normal recognition ranges (RSL) within an image capture area (IA) captured by the exterior camera. (Technical Idea 2) The vehicle control device according to Technical Idea 1, wherein the recognition control unit changes, in accordance with the positional relationship, the mode of the high-precision recognition range of a front telephoto camera (132) that has the longest focal length among the multiple exterior cameras facing forward of the host vehicle when the host vehicle makes a right or left turn at the intersection. (Technical Idea 3) The vehicle control device according to Technical Idea 2, wherein the recognition control unit changes the mode of the high-precision recognition range only for the front telephoto camera among the plurality of exterior cameras facing forward of the vehicle when the vehicle makes a right or left turn at the intersection. (Technical Idea 4) The vehicle control device according to any one of Technical Ideas 1 to 3, wherein the position grasping unit grasps whether the positional relationship is before entering the intersection, within the intersection area, or after exiting the intersection, and the recognition control unit changes the mode of the high-precision recognition range corresponding to before entering, within the area, and after exiting, respectively. (Technical Idea 5) The vehicle control device according to any one of Technical Ideas 1 to 4, wherein, when the vehicle makes a right or left turn across an oncoming lane (OL) at the intersection, the recognition control unit sets the high-precision recognition range before entering the intersection so as to include the oncoming lane beyond the intersection. (Technical Idea 6) The vehicle control device according to Technical Idea 5, wherein, when an oncoming vehicle (Ao) is present at the intersection, the recognition control unit sets the high-precision recognition range to include the oncoming lane beyond the oncoming vehicle. (Technical Idea 7) The vehicle control device according to Technical Idea 5 or 6, wherein, when an oncoming vehicle (Ao) is not present at the intersection, the recognition control unit sets the high-precision recognition range to include the farthest recognizable range of the oncoming lane.(Technical Idea 8) The vehicle control device according to any one of Technical Ideas 5 to 7, wherein, when a preceding vehicle (Af) traveling ahead of the host vehicle is present, the recognition control unit sets the high-accuracy recognition range so as to avoid the preceding vehicle. (Technical Idea 9) The vehicle control device according to any one of Technical Ideas 5 to 8, wherein, when there is no preceding vehicle (Af) traveling ahead of the host vehicle, the recognition control unit sets the high-accuracy recognition range to include the farthest recognizable range of the oncoming lane. (Technical Idea 10) The vehicle control device according to any one of Technical Ideas 5 to 9, wherein, when both an oncoming vehicle (Ao) and a preceding vehicle (Af) are present, the recognition control unit cancels setting of the high-accuracy recognition range before the entry. (Technical Idea 11) The vehicle control device according to any one of Technical Ideas 1 to 10, wherein the recognition control unit sets the high-accuracy recognition range within the intersection area so as to include a target moving toward a pedestrian crossing (CW) that is present at the exit of the host vehicle. (Technical Idea 12) The vehicle control device according to Technical Idea 11, wherein, when a preceding vehicle (Af) traveling ahead of the host vehicle is present, the recognition control unit sets the multiple high-precision recognition ranges at positions that avoid the preceding vehicle. (Technical Idea 13) The vehicle control device according to Technical Idea 11 or 12, wherein, when there are multiple lanes for turning right or left at the intersection and there is an adjacent vehicle turning right or left in the same direction as the host vehicle at the intersection, the recognition control unit sets the high-precision recognition range on the opposite side of the adjacent vehicle within the area. (Technical Idea 14) The vehicle control device according to any one of Technical Ideas 1 to 13, wherein, after exiting a first intersection (IS1) that is the intersection, the recognition control unit sets the high-precision recognition range to include a next second intersection (IS2) that exists in the traveling direction of the host vehicle. (Technical Idea 15) A vehicle control device described in any one of Technical Ideas 1 to 14, wherein the recognition control unit sets the high-precision recognition range to a position prepared for a right or left turn at the second intersection (IS2) after exiting the first intersection when consecutive right or left turns are planned at the first intersection (IS1) that is the intersection and a second intersection (IS2) that will be entered after exiting the first intersection.(Technical Idea 16) The vehicle control device according to any one of Technical Ideas 1 to 15, further comprising an information providing unit (81) that provides position information of the high-accuracy recognition range to an alarm device (20) that notifies a driver of the host vehicle of the position of the high-accuracy recognition range set by the recognition control unit using an information presentation device (21) of the host vehicle. (Technical Idea 17) The vehicle control device according to Technical Idea 16, wherein the information providing unit outputs a request to the alarm device to make an announcement to prompt the driver to respond as to whether or not it is possible to turn right or left after notifying the position of the high-accuracy recognition range and before entering the intersection. (Technical Idea 18) A vehicle control program for controlling at least one exterior camera (130) that captures images of the surroundings of a host vehicle (Am), the vehicle control program causing at least one processing unit (11) to execute processes including: when the host vehicle makes a right or left turn at an intersection (IS), grasping the positional relationship between the intersection and the host vehicle (S31, S61); and changing, in accordance with the positional relationship, the state of a high-precision recognition range (RSH) that is recognized with higher accuracy than other normal recognition ranges (RSL) in an image capture area (IA) captured by the exterior camera (S38 to S40, S52, S54, S56, S58, S64 to S66, S68, S69, S71).

Claims

1. A vehicle control device that controls at least one exterior camera (130) that captures images of the surroundings of a vehicle (Am), a position grasping unit (82) for grasping a positional relationship between an intersection (IS) and the vehicle when the vehicle makes a right or left turn at the intersection; a recognition control unit (83) that changes the state of a high-precision recognition range (RSH) that is recognized with higher precision than other normal recognition ranges (RSL) in the imaging area (IA) photographed by the exterior camera in accordance with the positional relationship; The recognition control unit is a vehicle control device that changes the state of the high-precision recognition range of the forward telephoto camera (132) with the longest focal length among the multiple exterior cameras facing forward of the vehicle in accordance with the positional relationship when the vehicle makes a right or left turn at the intersection.

2. 2. The vehicle control device according to claim 1, wherein the recognition control unit changes the mode of the high-precision recognition range of only the front telephoto camera among the plurality of exterior cameras facing forward of the vehicle when the vehicle makes a right or left turn at the intersection.

3. A vehicle control device that controls at least one exterior camera (130) that captures images of the surroundings of a vehicle (Am), a position grasping unit (82) for grasping a positional relationship between an intersection (IS) and the vehicle when the vehicle makes a right or left turn at the intersection; a recognition control unit (83) that changes the state of a high-precision recognition range (RSH) that is recognized with higher precision than other normal recognition ranges (RSL) in the imaging area (IA) photographed by the exterior camera in accordance with the positional relationship; the position grasping unit grasps, as the positional relationship, whether the vehicle is in a state before entering the intersection, within the intersection, or after exiting the intersection; The recognition control unit is a vehicle control device that changes the state of the high-precision recognition range corresponding to before the entry, within the area, and after the exit, respectively.

4. A vehicle control device that controls at least one exterior camera (130) that captures images of the surroundings of a vehicle (Am), a position grasping unit (82) for grasping a positional relationship between an intersection (IS) and the vehicle when the vehicle makes a right or left turn at the intersection; a recognition control unit (83) that changes the state of a high-precision recognition range (RSH) that is recognized with higher precision than other normal recognition ranges (RSL) in the imaging area (IA) photographed by the exterior camera in accordance with the positional relationship; The recognition control unit is a vehicle control device that, when the vehicle makes a right or left turn across an oncoming lane (OL) at the intersection, sets the high-precision recognition range before entering the intersection so that the oncoming lane beyond the intersection is included.

5. The vehicle control device according to claim 4 , wherein, when an oncoming vehicle (Ao) is present at the intersection, the recognition control unit sets the high-precision recognition range so as to include the oncoming lane beyond the oncoming vehicle.

6. 5. The vehicle control device according to claim 4, wherein the recognition control unit sets the high-precision recognition range to include the farthest recognizable range of the oncoming lane when there is no oncoming vehicle (Ao) at the intersection.

7. The vehicle control device according to claim 4 , wherein, when a preceding vehicle (Af) traveling ahead of the host vehicle is present, the recognition control unit sets the high-accuracy recognition range so as to avoid the preceding vehicle.

8. 5. The vehicle control device according to claim 4, wherein the recognition control unit sets the high-precision recognition range to include the farthest recognizable range of the oncoming lane when there is no preceding vehicle (Af) traveling in front of the vehicle.

9. The vehicle control device according to claim 4, wherein the recognition control unit suspends setting of the high-accuracy recognition range before the entry when both an oncoming vehicle (Ao) and a leading vehicle (Af) are present.

10. A vehicle control device that controls at least one exterior camera (130) that captures images of the surroundings of a vehicle (Am), a position grasping unit (82) for grasping a positional relationship between an intersection (IS) and the vehicle when the vehicle makes a right or left turn at the intersection; a recognition control unit (83) that changes the state of a high-precision recognition range (RSH) that is recognized with higher precision than other normal recognition ranges (RSL) in the imaging area (IA) photographed by the exterior camera in accordance with the positional relationship; The recognition control unit The high-precision recognition range is set so as to include a target moving toward a crosswalk (CW) that is present at a destination where the host vehicle is exiting within the intersection area, When a preceding vehicle (Af) is present traveling ahead of the vehicle, the vehicle control device sets a plurality of the high-precision recognition ranges at positions that avoid the preceding vehicle.

11. A vehicle control device that controls at least one exterior camera (130) that captures images of the surroundings of a vehicle (Am), a position grasping unit (82) for grasping a positional relationship between an intersection (IS) and the vehicle when the vehicle makes a right or left turn at the intersection; a recognition control unit (83) that changes the state of a high-precision recognition range (RSH) that is recognized with higher precision than other normal recognition ranges (RSL) in the imaging area (IA) photographed by the exterior camera in accordance with the positional relationship; The recognition control unit The high-precision recognition range is set so as to include a target moving toward a crosswalk (CW) that is present at a destination where the host vehicle is exiting within the intersection area, When there are multiple lanes for turning right or left at the intersection and there is an adjacent vehicle turning right or left in the same direction as the vehicle at the intersection, the vehicle control device sets the high-precision recognition range on the opposite side of the adjacent vehicle within the area.

12. A vehicle control device that controls at least one exterior camera (130) that captures images of the surroundings of a vehicle (Am), a position grasping unit (82) for grasping a positional relationship between an intersection (IS) and the vehicle when the vehicle makes a right or left turn at the intersection; a recognition control unit (83) that changes the state of a high-precision recognition range (RSH) that is recognized with higher precision than other normal recognition ranges (RSL) in the imaging area (IA) photographed by the exterior camera in accordance with the positional relationship; The recognition control unit is a vehicle control device that sets the high-precision recognition range to include the next second intersection (IS2) located in the direction of travel of the vehicle after exiting the first intersection (IS1), which is the intersection.

13. A vehicle control device that controls at least one exterior camera (130) that captures images of the surroundings of a vehicle (Am), a position grasping unit (82) for grasping a positional relationship between an intersection (IS) and the vehicle when the vehicle makes a right or left turn at the intersection; a recognition control unit (83) that changes the state of a high-precision recognition range (RSH) that is recognized with higher precision than other normal recognition ranges (RSL) in the imaging area (IA) photographed by the exterior camera in accordance with the positional relationship; The recognition control unit is a vehicle control device that, when consecutive right and left turns are planned at a first intersection (IS1) which is the intersection and a second intersection (IS2) which will be entered after exiting the first intersection, sets the high-precision recognition range to a position prepared for a right or left turn at the second intersection after exiting the first intersection.

14. A vehicle control device that controls at least one exterior camera (130) that captures images of the surroundings of a vehicle (Am), a position grasping unit (82) for grasping a positional relationship between an intersection (IS) and the vehicle when the vehicle makes a right or left turn at the intersection; a recognition control unit (83) that changes the state of a high-precision recognition range (RSH) that is recognized with higher accuracy than other normal recognition ranges (RSL) in the imaging area (IA) photographed by the exterior camera according to the positional relationship; and an information providing unit (81) that provides position information of the high-precision recognition range to an alarm device (20) that uses an information presentation device (21) of the vehicle to notify the driver of the position of the high-precision recognition range set by the recognition control unit.

15. 15. The vehicle control device according to claim 14, wherein the information providing unit outputs a request to the notification device to make the driver respond as to whether or not a right or left turn is possible after notifying the position of the high-precision recognition range and before entering the intersection.

16. A vehicle control program for controlling at least one exterior camera (130) that captures images of the surroundings of a vehicle (Am), When the vehicle is to turn right or left at an intersection (IS), the positional relationship between the intersection and the vehicle is grasped (S31, S61). The mode of a high-precision recognition range (RSH) that is recognized with higher accuracy than other normal recognition ranges (RSL) in the image capture area (IA) captured by the exterior camera is changed according to the positional relationship (S38 to S40, S52, S54, S56, S58, S64 to S66, S68, S69, S71). causing at least one processing unit (11) to perform a process including In the process of changing the mode of the high-precision recognition range, when the vehicle makes a right or left turn at the intersection, the vehicle control program changes the mode of the high-precision recognition range of the forward telephoto camera (132) having the longest focal length among the multiple exterior cameras facing forward of the vehicle in accordance with the positional relationship.

17. A vehicle control program for controlling at least one exterior camera (130) that captures images of the surroundings of a vehicle (Am), When the vehicle is to turn right or left at an intersection (IS), the positional relationship between the intersection and the vehicle is grasped (S31, S61). The mode of a high-precision recognition range (RSH) that is recognized with higher accuracy than other normal recognition ranges (RSL) in the image capture area (IA) captured by the exterior camera is changed according to the positional relationship (S38 to S40, S52, S54, S56, S58, S64 to S66, S68, S69, S71). causing at least one processing unit (11) to perform a process including In the process of grasping the positional relationship, it is grasped whether the positional relationship is a state before entering the intersection, within the intersection, or after exiting the intersection; In the process of changing the mode of the high-accuracy recognition range, the vehicle control program changes the mode of the high-accuracy recognition range corresponding to before the entry, within the area, and after the exit, respectively.

18. A vehicle control program for controlling at least one exterior camera (130) that captures images of the surroundings of a vehicle (Am), When the vehicle is to turn right or left at an intersection (IS), the positional relationship between the intersection and the vehicle is grasped (S31, S61). The mode of a high-precision recognition range (RSH) that is recognized with higher accuracy than other normal recognition ranges (RSL) in the image capture area (IA) captured by the exterior camera is changed according to the positional relationship (S38 to S40, S52, S54, S56, S58, S64 to S66, S68, S69, S71). causing at least one processing unit (11) to perform a process including In the process of changing the mode of the high-precision recognition range, when the vehicle makes a right or left turn across an oncoming lane (OL) at the intersection, the vehicle control program sets the high-precision recognition range before entering the intersection so that it includes the oncoming lane beyond the intersection.

19. A vehicle control program for controlling at least one exterior camera (130) that captures images of the surroundings of a vehicle (Am), When the vehicle is to turn right or left at an intersection (IS), the positional relationship between the intersection and the vehicle is grasped (S31, S61). The mode of a high-precision recognition range (RSH) that is recognized with higher accuracy than other normal recognition ranges (RSL) in the image capture area (IA) captured by the exterior camera is changed according to the positional relationship (S38 to S40, S52, S54, S56, S58, S64 to S66, S68, S69, S71). causing at least one processing unit (11) to perform a process including In the process of changing the mode of the high-accuracy recognition range, The high-precision recognition range is set so as to include a target moving toward a crosswalk (CW) that is present at a destination where the host vehicle is exiting within the intersection area, A vehicle control program that, when a preceding vehicle (Af) traveling ahead of the host vehicle is present, sets a plurality of the high-precision recognition ranges at positions that avoid the preceding vehicle.

20. A vehicle control program for controlling at least one exterior camera (130) that captures images of the surroundings of a vehicle (Am), When the vehicle is to turn right or left at an intersection (IS), the positional relationship between the intersection and the vehicle is grasped (S31, S61). The mode of a high-precision recognition range (RSH) that is recognized with higher accuracy than other normal recognition ranges (RSL) in the image capture area (IA) captured by the exterior camera is changed according to the positional relationship (S38 to S40, S52, S54, S56, S58, S64 to S66, S68, S69, S71). causing at least one processing unit (11) to perform a process including In the process of changing the mode of the high-accuracy recognition range, The high-precision recognition range is set so as to include a target moving toward a crosswalk (CW) that is present at a destination where the host vehicle is exiting within the intersection area, A vehicle control program that sets the high-precision recognition range on the opposite side of the adjacent vehicle within the area when there are multiple lanes for turning right or left at the intersection and there is an adjacent vehicle turning right or left in the same direction as the vehicle at the intersection.

21. A vehicle control program for controlling at least one exterior camera (130) that captures images of the surroundings of a vehicle (Am), When the vehicle is to turn right or left at an intersection (IS), the positional relationship between the intersection and the vehicle is grasped (S31, S61). The mode of a high-precision recognition range (RSH) that is recognized with higher accuracy than other normal recognition ranges (RSL) in the image capture area (IA) captured by the exterior camera is changed according to the positional relationship (S38 to S40, S52, S54, S56, S58, S64 to S66, S68, S69, S71). causing at least one processing unit (11) to perform a process including In the process of changing the aspect of the high-precision recognition range, a vehicle control program sets the high-precision recognition range to include the next second intersection (IS2) located in the direction of travel of the vehicle after exiting the first intersection (IS1), which is the intersection.

22. A vehicle control program for controlling at least one exterior camera (130) that captures images of the surroundings of a vehicle (Am), When the vehicle is to turn right or left at an intersection (IS), the positional relationship between the intersection and the vehicle is grasped (S31, S61). The mode of a high-precision recognition range (RSH) that is recognized with higher accuracy than other normal recognition ranges (RSL) in the image capture area (IA) captured by the exterior camera is changed according to the positional relationship (S38 to S40, S52, S54, S56, S58, S64 to S66, S68, S69, S71). causing at least one processing unit (11) to perform a process including In the process of changing the mode of the high-precision recognition range, when successive right and left turns are planned at a first intersection (IS1) which is the intersection and a second intersection (IS2) which is entered after exiting the first intersection, the vehicle control program sets the high-precision recognition range at a position prepared for a right or left turn at the second intersection after exiting the first intersection.

23. A vehicle control program for controlling at least one exterior camera (130) that captures images of the surroundings of a vehicle (Am), When the vehicle is to turn right or left at an intersection (IS), the positional relationship between the intersection and the vehicle is grasped (S31, S61). The mode of a high-precision recognition range (RSH) that is recognized with higher accuracy than other normal recognition ranges (RSL) in the image capture area (IA) captured by the outside-vehicle camera is changed according to the positional relationship (S38 to S40, S52, S54, S56, S58, S64 to S66, S68, S69, S71), providing position information of the high-accuracy recognition range to a notification device (20) that notifies a driver of the vehicle of the position of the set high-accuracy recognition range using an information presentation device (21) of the vehicle; A vehicle control program that causes at least one processing unit (11) to execute a process including the steps of: