Control device and control method

Abstract

The present invention shortens the time required for initial setup in driving control. A control device 18 controls the movement of a vehicle 10, the control device 18 comprising: an identification unit that executes a first mode to identify first position information about the vehicle 10 on the basis of satellite positioning information acquired from a satellite positioning system and a second mode to identify second position information about the vehicle 10 on the basis of a detection result from a surrounding environment sensor 15 that detects information about the surrounding environment of the vehicle 10; and a control unit that uses the first position information and / or the second position information to execute a driving control that automatically controls the driving of the vehicle 10 without any driving maneuvers by a driver of the vehicle 10, wherein, after the ignition of the vehicle 10 is turned on, the identification unit executes processing for initial setup of the second mode on the basis of reference information pertaining to the first position information or the second position information that was identified by the time the ignition was most recently turned off.

Description

[0001] [Document name] Statement

[0002] [Title of invention] Control device and control method

[0003] [Technical Field]

[0004]

[001] The present invention relates to a control device and a control method.

[0005] [Background technology]

[0006]

[002] In recent years, for example, as disclosed in Patent Document 1, a technology related to driving control has been proposed that automatically controls the driving of a vehicle without relying on driving operations by the driver (for example, acceleration / deceleration operations or steering operations).

[0007] [Prior art documents]

[0008] [Patent documents]

[0009]

〇 0 0 3

[0010] [Patent Document 1] International Publication No. 2017 / 208781

[0011] Summary of the Invention

[0012] [Problem to be solved by the invention]

[0013]

[0004] In some cases, driving control is performed using at least one of first position information of the vehicle identified based on satellite positioning information acquired from a satellite positioning system and second position information of the vehicle identified based on the detection results of an ambient environment sensor that detects ambient environment information of the vehicle. Therefore, there is a need for a proposal to shorten the time required for initial setup in such driving control.

[0014]

[0005] In view of these problems, the present invention aims to provide a control device and a control method that can shorten the time required for initial setup in driving control.

[0015] [Means for solving the problem]

[0016] [0 0 0 6] In order to solve the above problem, the control device is a control device that controls the operation of a vehicle, and includes an identification unit that executes a first mode that identifies first position information of the vehicle based on satellite positioning information acquired from a satellite positioning system, and a second mode that identifies second position information of the vehicle based on the detection results of an ambient environment sensor that detects ambient environment information of the vehicle, and a control unit that executes driving control that automatically controls the driving of the vehicle without driving operations by the driver of the vehicle, using at least one of the first position information and the second position information, and after the ignition of the vehicle is turned on, the identification unit executes initial setting processing of the second mode based on reference information related to the first position information or the second position information that was identified at the time the ignition was most recently turned off.

[0017] [0 0 0 7] In order to solve the above problem, the control method is a control method for controlling the operation of a vehicle, in which an identification unit of the control device executes a first mode in which first position information of the vehicle is identified based on satellite positioning information acquired from a satellite positioning system, and a second mode in which second position information of the vehicle is identified based on the detection results of an ambient environment sensor that detects ambient environment information of the vehicle, a control unit of the control device executes driving control that automatically controls the driving of the vehicle without the driving operation of the driver of the vehicle, using at least one of the first position information and the second position information, and after the ignition of the vehicle is turned on, the identification unit executes initial setting processing of the second mode based on reference information related to the first position information or the second position information that was identified at the time the ignition was most recently turned off.

[0018] [Effects of the Invention]

[0019]

[0008] According to the present invention, it is possible to shorten the time required for initial setting in driving control. [Brief description of the drawings]

[0020] [ 0 0 0 9 ]

[0021] [Figure 1] Schematic diagram showing the general configuration of a vehicle according to an embodiment of the present invention.

[0022] [Figure 2] A block diagram showing an example of the functional configuration of a control device according to an embodiment of the present invention.

[0023] [Figure 3I] A block diagram showing an example of the functional configuration of a server according to an embodiment of the present invention.

[0024] [Figure 4] A flowchart showing an example of the basic processing flow for driving control performed by a control device according to an embodiment of the present invention.

[0025] [Figure 5I] A flowchart showing an example of the processing flow regarding the initial setting of the second mode performed by the control device according to an embodiment of the present invention.

[0026] DETAILED DESCRIPTION OF THE INVENTION

[0027]

[0010] Preferred embodiments of the present invention will be described in detail below with reference to the accompanying drawings. The dimensions, materials, and other specific values ​​shown in the embodiments are merely examples for facilitating understanding of the invention, and do not limit the present invention unless otherwise specified. In this specification and drawings, elements having substantially the same functions and configurations are designated by the same reference numerals to avoid redundant explanation, and elements not directly related to the present invention are not shown.

[0028] 〇

[0029] [ 0 0 1 1 ]

[0030] <Vehicle configuration> With reference to Figures 1 to 3, the configuration of vehicle 10 according to an embodiment of the present invention will be described.

[0031]

[0012] Figure 1 is a schematic diagram showing the general configuration of a vehicle 10. As shown in Figure 1, the vehicle 10 can communicate wirelessly with a server 20 via a wireless communication network N1. Note that, for ease of understanding, Figure 1 shows one vehicle 10, but in reality, multiple vehicles 10 can communicate with the server 20 via the communication network N1.

[0032]

[0013] As shown in FIG. 1, a vehicle 10 includes a drive source 11, a braking device 12, a steering mechanism 13, a navigation device 14, an ambient environment sensor 15, an inertial measurement unit (IMU) 16, wheel speed sensors 17, and a control device 18.

[0033]

[0014] The drive source 11 outputs a drive force that is transmitted to the drive wheels of the vehicle 10. Examples of the drive source 11 include an engine and an electric motor.

[0034]

[0015] The brake device 12 applies braking force to the wheels of the vehicle 10. For example, the brake device 12 includes a hydraulic control unit, which adjusts the hydraulic pressure of the brake fluid in the wheel cylinder, thereby adjusting the braking force applied to the wheel.

[0035]

[0016] The steering mechanism 13 is a mechanism that changes the tire steering angle of the vehicle 10. For example, the steering mechanism 13 includes a steering wheel, and changes the tire steering angle in response to a steering operation using the steering wheel by a driver.

[0036]

[0017] The navigation device 14 is a device that provides route guidance from the current location of the vehicle 10 to a destination desired by the driver. The navigation device 14 displays various information related to route guidance (for example, the current location of the vehicle 10, the driving route to be guided, the location of the destination, the distance on the driving route from the current location of the vehicle 10 to the destination, and the time to reach the destination).

[0037]

[0018] The surrounding environment sensor 15 detects surrounding environment information related to the environment around the vehicle 10. For example, the surrounding environment sensor 15 is provided at the front of the vehicle 10 and detects surrounding environment information ahead of the vehicle 10. The surrounding environment information detected by the surrounding environment sensor 15 may be information related to the distance or direction to an object located around the vehicle 10 (for example, relative position, relative distance, relative speed, relative acceleration, etc.), or may be characteristics of the object located around the vehicle 10 (for example, the type of object, the shape of the object itself, a mark attached to the object, etc.). The surrounding environment sensor 15 is, for example, a radar, a lidar sensor, an ultrasonic sensor, a camera, etc.

[0038]

[0019] The inertial measurement unit 16 is equipped with a three-axis gyro sensor and a three-directional acceleration sensor to detect the attitude of the vehicle 10. For example, the inertial measurement unit 16 detects the roll angle, pitch angle, and yaw angle of the vehicle 10 and outputs the detection results. Note that the inertial measurement unit 16 may be equipped with only a part of the three-axis gyro sensor and the three-directional acceleration sensor.

[0039]

[0020] A wheel speed sensor 17 is provided on each wheel to detect the wheel speed of each wheel.

[0040]

[0021] The control device 18 includes a CPU (Central Processing Unit), which is an arithmetic processing device, a ROM (Read Only Memory), which is a memory element that stores programs and calculation parameters used by the CPU, and a RAM (Read Only Memory), which is a memory element that temporarily stores parameters that change as the CPU executes. The control device 18 may be, for example, a single device, or may be divided into multiple devices.

[0041]

[0022] Figure 2 is a block diagram showing an example of the functional configuration of the control device 18. As shown in Figure 2, the control device 18 includes, for example, a communication unit 18a, an identification unit 18b, a control unit 18c, and a storage unit 18d. The control device 18 can acquire information from the navigation device 14, the ambient environment sensor 15, the inertial measurement unit 16, and the wheel speed sensor 17, and can output control commands to the drive source 11, the braking device 12, the steering mechanism 13, and the navigation device 14. In this specification, acquiring information can include extracting or generating information.

[0042]

[0023] The communication unit 18a communicates with the server 20 via the communication network N1. Specifically, the communication unit 18a can communicate with an external device via the communication network N1 using an antenna provided in the control device 18. For example, when the communication unit 18a sends a request to send desired information to the server 20, the desired information is sent from the server 20, and the communication unit 18a can receive the desired information. In addition, the communication unit 18a can receive satellite positioning information, which is information transmitted from a satellite positioning system including GNSS (Global Navigation Satellite System) satellites. Specifically, the communication unit 18a can receive the satellite positioning information using an antenna provided in the control device 18. In addition, the navigation device 14 may receive satellite positioning information, which may then be sent to the control device 18.

[0043]

[0024] The identification unit 18 b performs a process of identifying the location information of the vehicle 10. The location information identified by the identification unit 18 b is used for driving control performed by the control unit 18 c. Details of the process performed by the identification unit 18 b will be described later.

[0044]

[0025] The control unit 18c controls the operation of each device of the vehicle 10. For example, the control unit 18c controls the operation of the drive source 11, the brake device 12, the steering mechanism 13, and the navigation device 14. The control unit 18c can perform driving control, for example, by controlling the drive source 11, the brake device 12, and the steering mechanism 13. In driving control, the control unit 18c automatically controls the driving of the vehicle 10 regardless of the driving operation by the driver of the vehicle 10. As described below, the driving control may be control that handles all driving operations by the driver, or control that handles only some of the driving operations. Details of driving control will be described later.

[0045]

[0026] The memory unit 18d stores various types of information. The information stored in the memory unit 18d is used in processing performed by the communication unit 18a, the identification unit 18b, or the control unit 18c. The memory unit 18d also stores a history of information acquired from the navigation device 14, the ambient environment sensor 15, the inertial measurement unit 16, and the wheel speed sensor 17 (i.e., information acquired at each point in time). Therefore, the control unit 18c can acquire this information.

[0046]

[0027] The server 20 in Fig. 1 collects and manages information from the vehicle 10 and transmits the information to the control device 18 of the vehicle 10 for use in processing by the control device 18. The server 20 includes a CPU, which is an arithmetic processing unit, a ROM, which is a memory element for storing programs and calculation parameters used by the CPU, and a RAM, which is a memory element for temporarily storing parameters that change as appropriate during CPU execution. The server 20 may be, for example, a single server or multiple servers.

[0047]

[0028] Figure 3 is a block diagram showing an example of the functional configuration of the server 20. As shown in Figure 3, the server 20 includes, for example, a communication unit 20a, a processing unit 20b, and a storage unit 20c.

[0048]

[0029] The communication unit 20a communicates with the vehicle 10 via the communication network N1.

[0049]

[0030] The processing unit 20b generates or updates a detection point map, which is information used for driving control by the vehicle 10, based on information collected from the vehicle 10. In the detection point map, past detection results of the surrounding environment sensor 15 acquired while the vehicle 10 was traveling are associated with map data. Specifically, the detection point map integrates a huge amount of detection point data detected by the surrounding environment sensor 15 (specifically, data indicating three-dimensional position information in three-dimensional space). The detection point data includes, for example, detection point data indicating landmarks such as buildings, detection point data indicating the positions of lane boundaries, etc.

[0050]

[0031] The memory unit 20c stores various types of information. For example, the memory unit 20c stores information received by the communication unit 20a. The processing unit 20b generates or updates the detection point map based on the information stored in the memory unit 20c. For example, the memory unit 20c stores the detection point map generated or updated by the processing unit 20b.

[0051]

[0032] <Operation of the control device> With reference to Figs. 4 and 5, the operation of the control device 18 according to the embodiment of the present invention will be described.

[0052]

[0033] As described above, the control unit 18c of the control device 18 performs driving control that automatically controls the driving of the vehicle 10 without the driver's operation of the vehicle 10. The driving control can perform various functions corresponding to each level of so-called automated driving.

[0053]

[0034] For example, in driving control, the control unit 18c can automatically control the steering mechanism 13 to perform a lane keep assist function that adjusts the position of the vehicle 10 in the lane width direction so that the vehicle 10 does not deviate from the driving lane.

[0054]

[0035] Furthermore, for example, the control unit 18c can perform an adaptive cruise control function in driving control, by automatically controlling the drive source 11 and the brake device 12, to adjust the speed of the vehicle 10 so that the vehicle 10 follows the preceding vehicle.

[0055]

[0036] The control unit 18c can switch between functions that are permitted to be executed among a plurality of functions that can be performed in driving control. As a result, the control unit 18c can set the automation level of driving control to a level at which the driver can take their hands off an operating unit such as a steering wheel (for example, level 2), or to a level at which the driver can take their eyes off the road ahead of the vehicle 10 (for example, level 3).

[0056]

[0037] Figure 4 is a flowchart showing an example of the basic processing flow for cruise control performed by the control device 18. Step S101 in Figure 4 corresponds to the start of the control flow shown in Figure 4. For example, the control flow shown in Figure 4 starts when the driver performs a predetermined operation to start cruise control.

[0057]

[0038] When the control flow shown in Fig. 4 starts, in step S102, the identification unit 18b executes a first mode in which first position information of the vehicle 10 is identified based on satellite positioning information acquired from the satellite positioning system. The first position information is information indicating the position of the vehicle 10 identified in the first mode. The satellite positioning information is information related to the position of the vehicle 10 measured by the satellite positioning system, and is information used to identify the position.

[0058]

[0039] In the first mode of step S102, the identification unit 18b identifies information indicating the absolute position of the vehicle 10 as the first position information, for example, based on information indicating the position of the vehicle 10 obtained based on satellite positioning information and information indicating the moving speed and moving direction of the vehicle 10 obtained based on the detection results of a driving condition sensor that detects driving condition information of the vehicle 10.

[0059]

[0040] Examples of the driving condition sensor include an inertial measurement unit 16 and a wheel speed sensor 17. Note that sensors other than the inertial measurement unit 16 and the wheel speed sensor 17 (for example, a sensor that detects the steering angle, or a camera that captures images of the environment around the vehicle 10) may also be used as the driving condition sensor.

[0060] For example, the identification unit 18 b acquires information indicating the absolute position of the vehicle 10 based on the satellite positioning information received by the communication unit 18 a. In this way, when the communication unit 18 a can receive the satellite positioning information, the identification unit 18 b basically identifies the information indicating the absolute position of the vehicle 10 acquired based on the satellite positioning information as the first position information.

[0061]

[0042] When the vehicle 10 is traveling in a tunnel, the communication unit 18a may be unable to receive satellite positioning information or may have difficulty receiving the information. In such a case, the identification unit 18b uses information indicating the moving speed and moving direction of the vehicle 10 obtained based on the detection results of the inertial measurement unit 16 and the wheel speed sensor 17 as traveling state sensors to derive the displacement of the vehicle 10 from the absolute position obtained based on the last received satellite positioning information, and obtains information indicating the current absolute position of the vehicle 10.

[0062]

[0043] For example, the identification unit 18b identifies the attitude of the vehicle 10 at each time point based on the detection results of the inertial measurement unit 16, and identifies the moving direction of the vehicle 10 based on the attitude of the vehicle 10. The identification unit 18b also identifies the moving speed of the vehicle 10 at each time point based on the detection results of the wheel speed sensor 17. The identification unit 18b then integrates the moving speed and moving direction of the vehicle 10 at each time point to identify information indicating the absolute position of the vehicle 10 as first position information.

[0063]

[0044] When the vehicle 10 traveling through a tunnel exits the tunnel and the communication unit 18a becomes able to receive satellite positioning information, the identification unit 18b updates the first position information to information indicating the absolute position of the vehicle 10 obtained based on the satellite positioning information. The identification unit 18b then identifies the information indicating the absolute position of the vehicle 10 obtained based on the satellite positioning information as the first position information.

[0045] The identified first position information is stored, for example, in the memory unit 18d of the control device 18. Here, the identification of the first position information is repeatedly performed while the vehicle 10 is traveling, regardless of whether or not cruise control is being executed. The first position information stored in the memory unit 18d continues to be updated while the vehicle 10 is traveling.

[0064]

[0046] After step S102, in step S103, the identification unit 18b executes a second mode in which second position information of the vehicle 10 is identified based on the detection result of the surrounding environment sensor 15 that detects information about the surrounding environment of the vehicle 10. The second position information is information indicating the position of the vehicle 10 identified in the second mode.

[0065]

[0047] In the second mode of step S103, the identification unit 18b, for example, compares the detection result of the surrounding environment sensor 15 acquired while the vehicle 10 is traveling with the past detection result of the surrounding environment sensor 15 associated with the map data, thereby identifying information indicating the relative position of the vehicle 10 with respect to the object detected by the surrounding environment sensor 15 as the second position information. The object detected by the surrounding environment sensor 15 may be, for example, a landmark such as a building.

[0066]

[0048] For example, the identification unit 18 b identifies the second position information using a detection point map transmitted from the server 20. As described above, in the detection point map, past detection results of the surrounding environment sensor 15 acquired while the vehicle 10 was traveling are associated with map data. The identification unit 18 b matches the detection point data indicated by the current detection results of the surrounding environment sensor 15 with the detection point data indicated in the detection point map. In this matching, for example, the degree of approximation between an approximation surface indicating a plurality of detection point data indicated by the current detection results of the surrounding environment sensor 15 and an approximation surface indicating a plurality of detection point data indicated in the detection point map is evaluated as the degree of matching. Then, when a portion of the detection point data indicated by the current detection result of the surrounding environment sensor 15 matches with detection point data indicating a specific landmark in the detection point map, the identification unit 18b identifies, based on the detection result of the surrounding environment sensor 15, information indicating the relative position of the vehicle 10 with respect to the specific landmark as second position information.

[0067]

[0049] The determined second position information is stored, for example, in the memory unit 18d of the control device 18. Here, the determination of the second position information is performed repeatedly while the vehicle 10 is traveling, regardless of whether or not travel control is being executed. Then, while the vehicle 10 is traveling, the second position information stored in the memory unit 18d is continuously updated.

[0068]

[0050] After step S103, in step S104, the control unit 18c performs driving control using at least one of the first position information and the second position information, and then returns to step S102.

[0069]

[0051] As described above, the first position information is identified in the first mode in step S102, and the second position information is identified in the second mode in step S103. Here, the feasibility or accuracy of identifying the position information in each mode varies depending on the traveling position of the vehicle 10.

[0070]

[0052] In the first mode, as described above, the first position information is determined based on the satellite positioning information acquired from the satellite positioning system. When the vehicle 10 is traveling in an open area with few structures, the communication unit 18a properly receives the satellite positioning information. Therefore, in such a situation, the determination unit 18b can accurately determine the first position information in the first mode. On the other hand, when the vehicle 10 is traveling in a tunnel or when there are many high-rise buildings around the vehicle 10, the communication unit 18a cannot receive the satellite positioning information or it becomes difficult to receive it. Therefore, in such a situation, the determination unit 18b cannot determine the first position information in the first mode, or the accuracy of determining the first position information in the first mode decreases.

[0071]

[0053] In the second mode, as described above, the second position information is determined based on the detection results of the surrounding environment sensor 15 that detects the surrounding environment information of the vehicle 10. In a situation where there are landmark buildings or the like around the vehicle 10, the determination unit 18b can easily appropriately determine the landmarks based on the detection results of the surrounding environment sensor 15. Therefore, in such a situation, the determination unit 18b can accurately determine the second position information in the second mode. On the other hand, in a situation where the vehicle 10 is traveling on a plain, a beach, a desert, or the like where there are no landmark buildings or the like, it is difficult for the determination unit 18b to determine the landmarks based on the detection results of the surrounding environment sensor 15. Therefore, in such a situation, the determination unit 18b cannot perform determination of the second location information in the second mode, or the accuracy of determination of the second location information in the second mode decreases.

[0072]

[0054] When a camera is used as the ambient environment sensor 15, factors such as rain or snow blocking a large part of the camera's field of view, or sunlight causing excessive brightness in the image obtained by the camera to create a whiteout, can make it difficult to identify landmarks based on the detection results of the ambient environment sensor 15.

[0073]

[0055] As described above, the feasibility or accuracy of determining the position information in each mode varies depending on the traveling position of the vehicle 10. Therefore, in step S104, the control unit 18C, for example, performs driving control using the first position information in a situation where the first position information can be determined accurately in the first mode. On the other hand, the control unit 18C performs driving control using the second position information in a situation where the second position information can be determined accurately in the second mode. Note that the control unit 18C may perform driving control using both the first position information and the second position information in a situation where the first position information can be determined accurately in both the first mode and the second mode.

[0074] As described above, the control unit 18c of the control device 18 performs driving control using at least one of the first position information and the second position information. Here, when the ignition of the vehicle 10 is turned on, processing related to the initial setting of the driving control is performed. Specifically, as such processing, the identification unit 18b of the control device 18 performs processing related to the initial setting of the second mode. In the initial setting processing of the second mode, the initial position of the vehicle 10 set in the second mode is set. In performing such initial setting processing of the second mode, it is necessary to know the current position of the vehicle 10. Therefore, for example, there is a method of performing the first mode and performing the initial setting processing of the second mode using the first position information of the vehicle 10 identified based on the satellite positioning information. However, the time required for the initial setting of the second mode is increased by the time while waiting for the completion of the first mode. In the control device 18, by implementing improvements in the processing related to the initial setting of the second mode, it is possible to reduce the time required for the initial setting of the driving control, as will be described later. The processing related to the initial setting of the second mode performed by the control device 18 will be described below with reference to FIG. 5.

[0075]

[0057] Fig. 5 is a flowchart showing an example of the processing flow related to the initial setting of the second mode performed by the control device 18. Step S201 in Fig. 5 corresponds to the start of the control flow shown in Fig. 5. Step S208 in Fig. 5 corresponds to the end of the control flow shown in Fig. 5. The control flow shown in Fig. 5 starts, for example, after the ignition of the vehicle 10 is turned on.

[0076]

[0058] Turning the ignition on may mean starting the power supply system of the vehicle 10 so that at least the accessories of the vehicle 10 can be driven, or may mean starting the power supply system of the vehicle 10 so that the drive source 11 of the vehicle 10 can be driven.

[0059] When the control flow shown in Fig. 5 starts, in step S202, the identification unit 18b acquires reference information related to the first position information that was identified at the time the ignition was most recently turned off. The reference information is information that is referenced for initial setup of the second mode, as will be described later.

[0077]

[0060] Note that turning off the ignition may mean switching from a state in which at least the drive source 11 can be driven to a state in which the drive source 11 cannot be driven, or may mean stopping the power supply system of the vehicle 10.

[0078]

[0061] In the following, an example will be described in which information about the first location information is used as the reference information. However, as will be described later, information about the second location information may also be used as the reference information.

[0079]

[0062] In step S202, the identification unit 18b acquires, for example, the first position information itself that was identified at the time the ignition was most recently turned off as reference information. As described above, while the vehicle 10 is traveling, the first position information stored in the memory unit 18d is continuously updated. Therefore, the identification unit 18b can read out the first position information that was identified at the time the ignition was most recently turned off from the memory unit 18d.

[0080]

[0063] However, the reference information related to the first position information may be information for estimating the position of vehicle 10, and the identification unit 18b may obtain, for example, the satellite positioning information identified at the time the ignition was most recently turned off as the reference information.

[0081]

[0064] After step S202, in step S203, the identification unit 18b determines whether the validity of the reference information is lower than the standard.

[0082]

[0065] As described above, the reference information related to the first position information is information referenced for the initial setting of the second mode and is information for estimating the position of vehicle 10. The above criteria are determined, for example, so as to determine whether the validity of the reference information is high enough to allow the initial setting of the second mode to be performed appropriately.

[0083]

[0066] In step S203, the identification unit 18b can determine whether the validity of the reference information is lower than the standard based on various information.

[0084]

[0067] The identification unit 18b may determine whether the validity of the reference information is lower than the standard based on, for example, information about the time when the ignition was last turned off and the time after the ignition was turned on. For example, if the period between the two points in time is excessively long, there is a possibility that the vehicle 10 may have been moving during that period due to transportation or the like. Therefore, in this case, the identification unit 18b may determine that the validity of the reference information is lower than the standard.

[0085]

[0068] Furthermore, the identification unit 18b may determine whether the validity of the reference information is lower than the standard, for example, based on information about the location of the vehicle 10 at the time the ignition was most recently turned off. For example, if the vehicle 10 was on a ship or a tow truck at the time, there is a possibility that the vehicle 10 was transported and moved after that time. Therefore, in this case, the identification unit 18b may determine that the validity of the reference information is lower than the standard. For example, if the vehicle 10 was located at sea at the time the ignition was most recently turned off, the identification unit 18b may determine that the vehicle 10 was on a ship at the time.

[0086]

[0069] The identification unit 18 b may determine whether the validity of the reference information is lower than the standard based on information about the attitude of the vehicle 10 at the time the ignition was last turned off and at the time after the ignition was turned on. For example, if the attitude of the vehicle 10 changes significantly during the period between the two points in time, there is a possibility that the vehicle 10 has been moving during that period due to transportation or the like. Therefore, in this case, the identification unit 18 b may determine that the validity of the reference information is lower than the standard. The identification unit 18 b may obtain information about the attitude of the vehicle 10 based on the detection results of the inertial measurement unit 16, for example. The identification unit 18 b may determine the attitude of the vehicle 10 in the yaw direction using a compass mounted on the vehicle 10, for example.

[0087]

[0070] The identification unit 18b may also determine whether the validity of the reference information is lower than the standard based on information about the detection results of the ambient environment sensor 15 at the time the ignition was last turned off and at the time after the ignition was turned on. For example, if the detection results of the ambient environment sensor 15 change significantly during the period between the two time points (for example, if the image obtained by the camera serving as the ambient environment sensor 15 changes significantly), there is a possibility that the vehicle 10 has been moving during that period due to transportation or the like. Therefore, in this case, the identification unit 18b may determine that the validity of the reference information is lower than the standard.

[0088]

[0071] The identification unit 18 b may determine whether the validity of the reference information is lower than the standard based on any part or all of the types of information listed above as examples of information used to determine the validity of the reference information. The identification unit 18 b may also determine whether the validity of the reference information is lower than the standard based on information other than the types of information listed above as examples of information used to determine the validity of the reference information.

[0089]

[0072] If the validity of the reference information is determined to be higher than the standard (step S203 / NO), proceed to step S204. On the other hand, if the validity of the reference information is determined to be lower than the standard (step S203 / YES), proceed to step S206.

[0090]

[0073] If the result of step S203 is NO, in step S204, the identification unit 18b obtains from the server 20 a detection point map of a position corresponding to the position of the vehicle 10 indicated by the reference information.

[0091]

[0074] In step S204, the identification unit 18b, for example, regards the position of the vehicle 10 indicated by the reference information as the current position of the vehicle 10. Then, the identification unit 18b acquires a detection point map indicating a range including the current position of the vehicle 10 from the server 20. The range including the current position of the vehicle 10 may be, for example, a range within a predetermined distance centered on the current position of the vehicle 10.

[0092]

[0075] After step S204, in step S205, the identification unit 18b performs initial setting processing for the second mode using the detection point map acquired in step S204, and the control flow shown in FIG. 5 ends.

[0093]

[0076] The second mode initial setting process is a process for setting the initial position of the vehicle 10 set in the second mode. For example, in the second mode initial setting process, the identification unit 18b matches the detection point data indicated by the current detection results of the surrounding environment sensor 15 with the detection point data indicated in the detection point map acquired in step S204 while the vehicle 10 is traveling. Then, when a portion of the detection point data indicated by the current detection results of the surrounding environment sensor 15 matches with the detection point data indicating a specific landmark in the detection point map, the identification unit 18b sets the relative position of the vehicle 10 with respect to the specific landmark indicated by the detection results of the surrounding environment sensor 15 as the initial position of the vehicle 10.

[0094]

[0077] If the result of step S203 is YES, then in step S206, the identification unit 18b executes the first mode and identifies the first location information of the vehicle 10 based on the satellite positioning information. The processing of step S206 is the same as the processing of step S202 in Figure 4 described above.

[0095]

[0078] Following step S206, in step S207, the identification unit 18b acquires from the server 20 a detection point map of a position corresponding to the position of the vehicle 10 indicated by the first position information obtained in step S206. In this way, if the determination is YES in step S203, the identification unit 18b executes the first mode, waits for the first mode to be completed, and acquires the detection point map from the server 20.

[0096]

[0079] In step S207, the identification unit 18b, for example, regards the position of the vehicle 10 indicated by the first position information as the current position of the vehicle 10. Then, the identification unit 18b acquires from the server 20 a detection point map indicating a range including the current position of the vehicle 10. The range including the current position of the vehicle 10 may be, for example, a range within a predetermined distance centered on the current position of the vehicle 10.

[0097]

[0080] After step S207, in step S205, the identification unit 18b performs initial setting processing for the second mode using the detection point map acquired in step S207, and the control flow shown in FIG. 5 ends.

[0098]

[0081] In the above description, an example has been described in which information related to the first location information is used as the reference information. However, the identification unit 18 b may use information related to the second location information that was identified when the ignition was most recently turned off as the reference information.

[0099]

[0082] For example, the identification unit 18b may acquire, as reference information, the detection point map that was being referred to when the ignition was last turned off and the second position information that indicates the position of the vehicle 10 that was set on the detection point map. As described above, while the vehicle 10 is traveling, the second position information stored in the memory unit 18d is continuously updated. In addition, information that indicates the referenced detection point map is also stored in the memory unit 18d and continuously updated. Therefore, the identification unit 18b can read, from the memory unit 18d, the detection point map that was being referred to when the ignition was last turned off and the second position information that indicates the position of the vehicle 10 that was set on the detection point map.

[0100]

[0083] Even when information related to the second location information is used as reference information, the identification unit 18 b may determine whether the validity of the reference information related to the second location information is lower than a standard. This determination is made, for example, using the information listed above as examples of information used to determine the validity of the reference information.

[0101] For example, the identification unit 18 b may determine whether the validity of the reference information for the second location information is lower than the standard based on information about the time when the ignition was last turned off and the time after the ignition was turned on. In particular, if the period between the two points in time is excessively long, there is a possibility that the vehicle 10 has been moved during that period due to transportation or the like, and that the detection point map has been updated during that period. Therefore, in this case, the identification unit 18 b may determine that the validity of the reference information for the second location information is lower than the standard.

[0102]

[0085] For example, the identification unit 18 b may determine whether the validity of the reference information for the second position information is lower than a standard based on information about the location of the vehicle 10 at the time the ignition was last turned off. For example, the identification unit 18 b may determine whether the validity of the reference information for the second position information is lower than a standard based on information about the posture of the vehicle 10 at the time the ignition was last turned off and at times after the ignition was turned on. For example, the identification unit 18 b may determine whether the validity of the reference information for the second position information is lower than a standard based on information about the detection results of the ambient environment sensor 15 at the time the ignition was last turned off and at times after the ignition was turned on.

[0103]

[0086] Then, when it is determined that the validity of the reference information is higher than the standard, the identification unit 18 b executes the initial setting process of the second mode based on the reference information related to the second position information. Specifically, in the initial setting process of the second mode, the identification unit 18 b sets the position of the vehicle 10 set on the detection point map acquired as the reference information related to the second position information as the initial position of the vehicle 10.

[0104]

[0087] On the other hand, if it is determined that the validity of the reference information is lower than the standard, steps S206 and S207 are performed, as in the case where information related to the first location information is used as reference information, and then in step S208, initial setting processing for the second mode is executed.

[0105]

[0088] The identification unit 18b may acquire only the detection point map that was being referenced at the time the ignition was most recently turned off as reference information for the second position information. In this case, during the initial setting process of the second mode, the identification unit 18b matches the detection point data indicated by the current detection results of the surrounding environment sensor 15 with the detection point data indicated in the detection point map acquired as reference information while driving the vehicle 10. Then, when part of the detection point data indicated by the current detection results of the surrounding environment sensor 15 matches with the detection point data indicating a specific landmark in the detection point map, the identification unit 18b sets the relative position of the vehicle 10 with respect to the specific landmark indicated by the detection results of the surrounding environment sensor 15 as the initial position of the vehicle 10.

[0106] As described above, after the ignition of the vehicle 10 is turned on, the identification unit 18b executes the initial setting process of the second mode based on the reference information related to the first position information or the second position information that was identified at the time the ignition was most recently turned off. This makes it possible to complete the initial setting process of the second mode without waiting for the completion of the first mode, which identifies the first position information of the vehicle 10 based on the satellite positioning information, after the ignition of the vehicle 10 is turned on. For example, in the example of Fig. 5, if it is determined that the validity of the reference information is higher than the standard (step S203 / NO), the process of executing the first mode (step S206) can be omitted and the initial setting process of the second mode can be completed. Therefore, the time required for initial setting in the second mode can be shortened by the time required to wait for the completion of the first mode, thereby shortening the time required for initial setting in the driving control.

[0107]

[0090] <Effects of the control device> The effects of the control device 18 according to the embodiment of the present invention will be described.

[0108]

[0091] The control device 18 includes an identification unit 18b that executes a first mode in which first position information of the vehicle 10 is identified based on satellite positioning information acquired from a satellite positioning system, and a second mode in which second position information of the vehicle 10 is identified based on the detection result of an ambient environment sensor 15 that detects ambient environment information of the vehicle 10, and a control unit 18c that executes driving control to automatically control the driving of the vehicle 10 without the driving operation of the driver of the vehicle 10, using at least one of the first position information and the second position information. After the ignition of the vehicle 10 is turned on, the identification unit 18b executes an initial setting process of the second mode based on reference information related to the first position information or the second position information that was identified at the time the ignition was most recently turned off. As a result, after the ignition of vehicle 10 is turned on, the initial setting process for the second mode can be completed without waiting for the completion of the first mode, which determines the first position information of vehicle 10 based on satellite positioning information. Therefore, the time required for the initial setting of the second mode can be shortened by the time required to wait for the completion of the first mode. Therefore, the time required for the initial setting of driving control can be shortened.

[0109]

[0092] Preferably, in the control device 18, the identification unit 18b determines whether the validity of the reference information is lower than the standard, and if it is determined that the validity is lower than the standard, executes the initial setting process of the second mode based on the satellite positioning information acquired after the ignition is turned on without using the reference information. This makes it possible to appropriately execute the initial setting process of the second mode even when the validity of the reference information is lower than the standard.

[0110] However, the identification unit 18 b does not have to determine whether the validity of the reference information is lower than the standard. For example, the identification unit 18 b may execute the initial setting process using the reference information regardless of the validity of the reference information.

[0111] Preferably, in the control device 18, the identification unit 18 b determines whether the validity of the reference information is lower than the standard based on information about the time when the ignition was last turned off and the time after the ignition was turned on. This makes it possible to appropriately determine whether the validity of the reference information is lower than the standard, taking into account the length of the period between the two times.

[0112] Preferably, in the control device 18, the identification unit 18 b determines whether the validity of the reference information is lower than the standard based on information about the location of the vehicle 10 at the time the ignition was last turned off. This allows the control device 18 to appropriately determine whether the validity of the reference information is lower than the standard, taking into account the location of the vehicle 10 at the time.

[0113] Preferably, in the control device 18, the identification unit 18 b determines whether the validity of the reference information is lower than the standard based on information about the attitude of the vehicle 10 at the time when the ignition was most recently turned off and at the time after the ignition was turned on. This makes it possible to appropriately determine whether the validity of the reference information is lower than the standard, taking into account changes in the attitude of the vehicle 10 during the period between the two times.

[0114] Preferably, in the control device 18, the identification unit 18 b determines whether the validity of the reference information is lower than the standard based on information about the detection result of the ambient environment sensor 15 at the time when the ignition was most recently turned off and at the time after the ignition was turned on. This makes it possible to appropriately determine whether the validity of the reference information is lower than the standard, taking into account changes in the detection result of the ambient environment sensor 15 during the period between the two time points.

[0115]

[0098] Preferably, in the control device 18, the identification unit 18b in the first mode identifies, as the first position information, information indicating the absolute position of the vehicle 10 based on information indicating the position of the vehicle 10 obtained based on satellite positioning information and information indicating the moving speed and moving direction of the vehicle 10 obtained based on detection results of a driving condition sensor (inertial measurement unit 16 and wheel speed sensor 17 in the above example) that detects driving condition information of the vehicle 10. This allows the first position information to be appropriately identified.

[0116]

[0099] In the first mode, the identification unit 18 b may identify the first position information by a method other than the above-described method. For example, in the first mode, the identification unit 18 b may identify the first position information using only satellite positioning information without using the detection result of the traveling condition sensor.

[0117] Preferably, in the control device 18, the identification unit 18b in the second mode compares the detection results of the surrounding environment sensor 15 acquired while the vehicle 10 is traveling with past detection results of the surrounding environment sensor 15 associated with map data, thereby identifying information indicating the relative position of the vehicle 10 with respect to an object detected by the surrounding environment sensor 15 as the second position information. This allows the second position information to be appropriately identified.

[0118]

[0101] In the second mode, the identification unit 18 b may identify the second position information by a method other than the above method. For example, if a detection point map in which a huge amount of detection point data is integrated on map data is generated without being based on past detection results of the surrounding environment sensor 15, the identification unit 18 b may identify the second position information in the second mode by comparing the detection results of the surrounding environment sensor 15 acquired while the vehicle 10 is traveling with the detection point map.

[0119]

[0102] Although preferred embodiments of the present invention have been described above with reference to the accompanying drawings, it goes without saying that the present invention is not limited to the above-described embodiments, and that various modifications and alterations within the scope of the claims also fall within the technical scope of the present invention.

[0120]

[0103] For example, the processes described herein using flowcharts do not necessarily have to be performed in the order shown in the flowcharts. Some process steps may be performed in parallel. Additional process steps may also be employed, and some process steps may be omitted.

[0121]

[0104] For example, the series of processes performed by the control device 18 described above may be realized by software, hardware, or a combination of software and hardware. The programs constituting the software are stored in advance in a storage medium provided inside or outside the information processing device.

[0122] [Explanation of symbols]

[0123] [ 0 1 0 5 ]

[0124] 1. Vehicle

[0125] 1 1 Drive source

[0126] 1 2 Brake device

[0127] 1 3 Steering mechanism

[0128] 1 4 Navigation devices

[0129] 1 5 Ambient environment sensor

[0130] 1 6 Inertial measurement unit (driving condition sensor)

[0131] 1 7 Wheel speed sensor (driving condition sensor)

[0132] 1 8 Control device

[0133] 1 8 a Communications Department

[0134] 1 8 b Specific part

[0135] 1 8 c control section

[0136] 1 8 d storage section

[0137] 2. Server

[0138] 2 0 a Communications Department

[0139] 2 0 b Processing section

[0140] 2 0c storage section

[0141] N1 communication network

Claims

[Document name] Scope of claims

1. A control device (18) for controlling an operation of a vehicle (10), comprising: an identification unit (18b) that executes a first mode for identifying first position information of the vehicle (10) based on satellite positioning information acquired from a satellite positioning system; and a second mode for identifying second position information of the vehicle (10) based on a detection result of an ambient environment sensor (15) that detects ambient environment information of the vehicle (10); and a control unit (18c) that executes driving control for automatically controlling driving of the vehicle (10) without a driving operation by a driver of the vehicle (10) by using at least one of the first position information and the second position information, wherein after an ignition of the vehicle (10) is turned on, the identification unit (18b) and a control device that performs an initial setting process for the second mode based on reference information regarding the first position information or the second position information that was identified at the time the ignition was most recently turned off.

2. The control device according to claim 1, wherein the identification unit (18b) determines whether the validity of the reference information is lower than a criterion, and when it is determined that the validity is lower than the criterion, executes the initial setting process without using the reference information, but based on the satellite positioning information acquired after the ignition is turned on.

3. The control device according to claim 2, wherein the identification unit (18b) determines whether or not the validity is lower than the criterion based on information relating to the time when the ignition was last turned off and the time after the ignition was turned on.

4. The control device according to claim 2, wherein the identification unit (18b) determines whether or not the validity is lower than the criterion based on information about a location of the vehicle (io) at the time when the ignition was most recently turned off.

5. The control device according to claim 2, wherein the identification unit (18b) determines whether or not the validity is lower than the reference value based on information on an attitude of the vehicle (10) at each of the time when the ignition was most recently turned off and the time after the ignition was turned on.

6. The control device according to claim 2, wherein the identification unit (18b) determines whether or not the validity is lower than the criterion based on information on the detection results of the ambient environment sensor (15) at the time when the ignition was most recently turned off and at the time after the ignition was turned on.

7. The control device according to claim 1, wherein in the first mode, the identification unit (18b) identifies, as the first position information, information indicating an absolute position of the vehicle (10), based on information indicating a position of the vehicle (10) acquired based on the satellite positioning information and information indicating a moving speed and a moving direction of the vehicle (10) acquired based on a detection result of a running condition sensor (16, 17) that detects running condition information of the vehicle (10).

8. The control device according to claim 1, wherein in the second mode, the identification unit (18b) compares a detection result of the surrounding environment sensor (15) acquired while the vehicle (10) is traveling with a past detection result of the surrounding environment sensor (15) associated with map data, thereby identifying information indicating a relative position of the vehicle (10) with an object detected by the surrounding environment sensor (15) as the second position information.

9. A control method for controlling an operation of a vehicle (io), wherein an identification unit (18b) of a control device (18) executes a first mode for identifying first position information of the vehicle (10) based on satellite positioning information acquired from a satellite positioning system, and a second mode for identifying second position information of the vehicle (10) based on a detection result of an ambient environment sensor (15) that detects ambient environment information of the vehicle (10), and a control unit (18c) of the control device (18) executes driving control for automatically controlling driving of the vehicle (10) without a driving operation by a driver of the vehicle (io), using at least one of the first position information and the second position information, and the identification unit (18b) executes a driving control for automatically controlling driving of the vehicle (10) without a driving operation by a driver of the vehicle (io) after an ignition of the vehicle (10) is turned on. and executing an initial setting process for the second mode based on reference information regarding the first position information or the second position information that was identified at the time the ignition was most recently turned off.

Images