Vehicle control device, vehicle, method for operating vehicle control device, program, and storage medium

Abstract

This vehicle control device for controlling a vehicle comprises: a determination means for determining whether or not a traffic hindrance event is related to the vehicle on the basis of information on a traffic hindrance occurrence location; and control means for causing a notification device to notify when the determination means determines that the traffic hindrance event is related to the vehicle. The determination means determines that the traffic hindrance event is related to the vehicle when the distance between a line segment connecting the current location of the vehicle and a predicted location to which the vehicle is predicted to move in the future and the traffic hindrance occurrence location is equal to or less than a threshold.

Description

Vehicle control device, vehicle, operation method of vehicle control device, program, and storage medium

[0001] The present invention relates to a vehicle control device, a vehicle, an operation method of a vehicle control device, a program, and a storage medium.

[0002] Patent Document 1 discloses performing collision prediction at an intersection by matching with a map. Patent Document 2 discloses providing a node for each intersection, connecting each node with a link, determining which area around the link the host vehicle is traveling based on the distance between the position of the host vehicle and the link, and then performing collision prediction at the intersection.

[0003] Japanese Patent Application Laid-Open No. 2010-286877 Japanese Patent Application Laid-Open No. 2013-25624

[0004] However, in the technologies described in Patent Document 1 and Patent Document 2, since map information and a navigation system are required, there is a problem that it is difficult to predict the influence of traffic obstruction events on the host vehicle in a vehicle not equipped with map information or a navigation system.

[0005] The present invention has been made in view of the above problems, and an object thereof is to provide a technology for specifying a traffic obstruction event that may be related to the travel of the host vehicle with simple processing even in a vehicle not equipped with map information or a navigation system.

[0006] A vehicle control device according to an aspect of the present invention that achieves the above object is a vehicle control device that controls a vehicle, and includes a determination means for determining whether a generated traffic obstruction event is related to the vehicle based on information on the traffic obstruction occurrence location, and a control means for causing a notification device to notify when the determination means determines that the traffic obstruction event is related to the vehicle. The determination means determines that the traffic obstruction event is related to the vehicle when the distance between a line segment connecting the current location of the vehicle and a predicted location where the vehicle is predicted to move in the future and the traffic obstruction occurrence location is equal to or less than a threshold value.

[0007] According to the present invention, even vehicles that are not equipped with map information or navigation systems can identify potential traffic disruption events related to the vehicle's operation through simple processing.

[0008] Other features and advantages of the present invention will become apparent from the following description with reference to the accompanying drawings. In the accompanying drawings, the same or similar components are given the same reference numeral.

[0009] The attached drawings are included in the specification and constitute a part thereof, illustrating embodiments of the present invention and are used to explain the principles of the present invention together with their description. This is a diagram showing an example configuration of an information processing system according to one embodiment. This is a diagram showing an example hardware configuration of a server device according to one embodiment. This is a diagram showing an example hardware configuration of a vehicle according to one embodiment. This is a diagram showing an example hardware configuration of a road camera according to one embodiment. This is a diagram showing an example functional configuration of a server device according to one embodiment. This is a diagram showing an example functional configuration of a vehicle according to one embodiment. This is a diagram showing an example functional configuration of a road camera according to one embodiment. This is a diagram showing a processing sequence of an information processing system according to one embodiment. This is a flowchart showing the procedure of processing performed by the vehicle control device according to Embodiment 1. This is an explanatory diagram of the positional relationship between the vehicle according to Embodiment 1 and the point where traffic obstruction occurs. This is an explanatory diagram of the positional relationship between the vehicle according to Embodiment 1 and the point where traffic obstruction occurs. This is an explanatory diagram of the positional relationship between the vehicle according to Embodiment 1 and the point where traffic obstruction occurs (error ellipse). This is an explanatory diagram of the positional relationship between the vehicle according to a modified example (error ellipse). This is an explanatory diagram of the positional relationship between the vehicle according to a modified example (error ellipse). This is a flowchart showing the procedure of processing performed by the vehicle control device according to Embodiment 2. This is an explanatory diagram of the positional relationship between the vehicle according to Embodiment 3 and the point where traffic obstruction occurs. This is an explanatory diagram of the positional relationship between the vehicle according to Embodiment 3 and the point where traffic obstruction occurs. This is a flowchart showing the procedure of processing performed by the vehicle control device according to Embodiment 3. This is a flowchart showing the procedure of processing performed by the vehicle control device according to Embodiment 3. This is an explanatory diagram illustrating the case where there are prediction points according to the modified example. This is an explanatory diagram illustrating the case where there are prediction points according to the modified example.

[0010] The embodiments will be described in detail below with reference to the attached drawings. Note that the following embodiments do not limit the invention as defined in the claims, and not all combinations of features described in the embodiments are essential to the invention. Two or more of the features described in the embodiments may be combined in any way. Furthermore, identical or similar configurations will be given the same reference numeral, and redundant descriptions will be omitted.

[0011] (Embodiment 1) In this embodiment, we will describe an example in which information on the location of traffic obstruction is used to determine whether the vehicle is related to the location of traffic obstruction (whether the vehicle's movement is affected by the location of traffic obstruction), and if so, the occupants are notified.

[0012] <System Configuration> Figure 1 shows an example of the configuration of the information processing system according to this embodiment. In Figure 1, 10 is a server device (information processing device). 20 and 21 are vehicles, for example, four-wheeled vehicles. However, they are not limited to four-wheeled vehicles, and may also be three-wheeled or two-wheeled vehicles. 20 is the own vehicle, and 21 is another vehicle. 30 is a roadside camera. For example, it is placed on the shoulder of a highway or general road and has the function of photographing the road conditions. 40 is a network. The server device 10, vehicles 20 and 21, and roadside camera 30 are connected via the network 40.

[0013] Vehicles 20 and 21, and the roadside camera 30, each take photographs using their respective photographic devices. Vehicles 20 and 21 photograph the area in front of, to the side of, and / or behind the vehicle while in motion. The roadside camera 30 is installed in a fixed position and performs fixed-point observation.

[0014] In this embodiment, the server device 10 collects images taken by multiple vehicles, including vehicles 20 and 21, and images taken by the roadside camera 30, and identifies the occurrence of traffic disruption events (e.g., accidents, breakdowns, road construction, etc.) by analyzing the images. Alternatively, information on the location of the traffic disruption event may be directly received from each vehicle and roadside camera. In that case, each vehicle and roadside camera 30 analyzes the images to identify the occurrence of the traffic disruption event (e.g., accidents, breakdowns, road construction, etc.). Alternatively, the occupants of each vehicle may directly input information indicating the occurrence of a traffic disruption event by operating vehicle equipment, and transmit that information to the server device 10 as information on the location of the traffic disruption event.

[0015] In this embodiment, we describe an example in which the server device 10 acquires information on the location of a traffic obstruction via vehicles 20, 21 and a roadside camera 30, but the information sources are not limited to these. For example, a pedestrian walking on the road may witness an accident and transmit information indicating the occurrence of the accident to the server device 10 via a communication device (such as a smartphone).

[0016] The server device 10 provides the vehicle 20 with information on locations where traffic disruptions have occurred. Based on the information on locations where traffic disruptions have occurred received from the server device 10, the vehicle 20 determines whether the traffic disruption is related to the vehicle's operation. If it is determined that the traffic disruption is related to the vehicle's operation, the vehicle 20 issues a notification and alerts the occupants.

[0017] <Hardware Configuration> Referring to Figures 2 to 4, an example of the hardware configuration of the server device 10, vehicles 20 and 21, and road camera 30 according to one embodiment will be described. Figure 2 is a diagram showing an example of the hardware configuration of the server device 10 according to one embodiment, Figure 3 is a diagram showing an example of the hardware configuration of the vehicles 20 and 21 according to one embodiment, and Figure 4 is a diagram showing an example of the hardware configuration of the road camera 30 according to one embodiment.

[0018] As shown in Figure 2, the server device 10 comprises a CPU 101, a storage device 102, and a communication unit 103. The control operation of the server device 10 is realized by the CPU 101 reading and executing a computer program stored in the storage device 102. The CPU 101 may consist of one or more CPUs. The storage device 102 is one or more memories that store various types of information. For example, it stores information received from other devices and computer programs that are read and executed by the CPU 101. The communication unit 103 has the function of communicating with other devices via wired or wireless connections through the network 40.

[0019] As shown in Figure 3, the vehicle 20 is equipped with a vehicle control device 201, an operation input device 202, a notification device 203, and a photography device 204. Note that the steering system, drive system, and other components of the vehicle 20 are omitted.

[0020] The vehicle control device 201 comprises a CPU 2011, a storage device 2012, and a communication unit 2013. The control operation of the vehicle control device 20 is realized by the CPU 2011 reading and executing a computer program stored in the storage device 2012. The CPU 2011 may consist of one or more CPUs. The storage device 2012 is one or more memories that store various types of information. For example, it stores information received from other devices and computer programs that are read and executed by the CPU 2011. The communication unit 2013 has the function of communicating with other devices via the network 40, either wired or wirelessly.

[0021] The operation input device 202 receives various operation instructions from the user. The operation input device 202 may be, for example, a physical button, a virtual button displayed on a touch panel, etc.

[0022] The notification device 203 comprises at least one of a display device 2031, a speaker 2032, and a light-emitting device 2033. The display device 2031 displays various videos, images, and warning messages to the occupants. The speaker 2032 outputs various voices, music, and warning voices (or warning sounds) to the occupants. The light-emitting device 2033 may be installed, for example, on the meter display in the driver's seat, and transmits information to the occupants by lighting up or flashing in various colors and brightness levels. For example, it may light up in red to output a relatively strong warning, and light up in yellow to output a relatively weak warning. Alternatively, it may light up in a shorter flashing period to output a relatively strong warning, or in a longer flashing period to output a relatively weak warning. The imaging device 204 is an external camera positioned in front of, to the side of, and / or behind the vehicle. It can capture images of the environment around the vehicle.

[0023] As shown in Figure 4, the roadside camera 30 comprises a CPU 301, a storage device 302, a communication unit 303, and a shooting device 304. The control operation of the roadside camera 30 is realized by the CPU 301 reading and executing a computer program stored in the storage device 302. The CPU 301 may consist of one or more CPUs. The storage device 302 is one or more memories that store various types of information. For example, it stores information received from other devices and computer programs that are read and executed by the CPU 301. The communication unit 303 has the function of communicating with other devices via a network 40, either wired or wirelessly. The shooting device 304 is a fixedly installed camera that takes pictures in a specific shooting direction. The shooting direction may be changeable by control. For example, it may take pictures of an intersection on a public road or a part of a highway.

[0024] <Functional Configuration> Next, with reference to Figures 5 to 7, an example of the functional configuration of the server device 10, vehicles 20 and 21, and road camera 30 according to one embodiment will be described. Figure 5 is a diagram showing an example of the functional configuration of the server device 10 according to one embodiment, Figure 6 is a diagram showing an example of the functional configuration of the vehicles 20 and 21 according to one embodiment, and Figure 7 is a diagram showing an example of the functional configuration of the road camera 30 according to one embodiment.

[0025] As shown in Figure 5, the server device 10 comprises an information receiving unit 1001, a captured image receiving unit 1002, a specification unit 1003, an information management unit 1005, and an information transmission unit 1005. The information receiving unit 1001 receives information on locations where traffic disruptions occur from, for example, a road camera 30, vehicles 20, 21, or a communication device (e.g., a smartphone) carried by a pedestrian. The information on locations where traffic disruptions occur includes location information of the location and the details of the traffic disruption event. It may also include information on the date and time of the occurrence.

[0026] The image receiving unit 1002 receives images taken by vehicles 20 and 21, as well as images taken by the roadside camera 30, along with the location information from which the images were acquired. The identification unit 1003 analyzes the images received by the image receiving unit 1002 to identify the occurrence of a traffic disruption event. For example, if the identification unit identifies that the images include road construction, accidents, fallen objects, or injured persons, it identifies that a traffic disruption event has occurred. The date and time of the traffic disruption event can be obtained from the date and time the images were taken. The location where the traffic disruption event occurred can be obtained from the location information from which the images were acquired.

[0027] The information management unit 1004 manages information on traffic obstruction locations received by the information receiving unit 1001 and information on traffic obstruction locations identified by the identification unit 1003. The information transmission unit 1005 transmits information on traffic obstruction locations to vehicles 20 and 21. The information may be transmitted at regular time intervals or in response to requests from vehicles 20 and 21.

[0028] The information receiving unit 1001 may further receive information indicating that the traffic obstruction has ceased, for example, from a road camera 30, vehicles 20, 21, or a communication device (e.g., a smartphone) carried by a pedestrian. The identification unit 1003 may further identify that the traffic obstruction has ceased at a location managed as a traffic obstruction point, based on the captured image at that location.

[0029] When a traffic disruption event ceases, the information management unit 1004 deletes and updates the stored information on the location of the traffic disruption. This allows the server device 10 to collect and manage the latest information on the location of the traffic disruption and provide that information to vehicles.

[0030] As shown in Figure 6, vehicles 20 and 21 are equipped with a location information acquisition unit 2001, an information receiving unit 2002, a prediction unit 2003, a determination unit 2004, a control unit 2005, a notification unit 2006, a shooting unit 2007, and a captured image transmission unit 2008. The following explanation will use vehicle 20 as an example.

[0031] The location information acquisition unit 2001 receives GPS / GNSS information to acquire the location information of the vehicle 20. The information receiving unit 2002 receives information on traffic obstruction locations transmitted from the server device 10. The prediction unit 2003 calculates predicted locations where the vehicle 20 is expected to move in the future.

[0032] The determination unit 2004 determines whether the traffic disruption event that occurred is related to vehicle 20, based on information about the location where the traffic disruption occurred. For example, it determines whether the traffic disruption event that occurred is related to vehicle 20 based on the distance between the line segment connecting the current location of vehicle 20 and the predicted location where vehicle 20 is expected to move in the future, and the location where the traffic disruption occurred.

[0033] The control unit 2005 controls various operations of the vehicle 20. For example, if the determination unit 2004 determines that a traffic obstruction event is related to the vehicle 20, the control unit 2005 performs control to notify the notification unit 2006.

[0034] The notification unit 2006 notifies the occupants of the vehicle 20 through displays, voice (or sound), lights, flashing lights, etc. The imaging unit 2007 takes photographs of specific directions (front, side and / or rear) around the vehicle 20. The image transmission unit 2008 transmits the images taken by the imaging unit 2007 to the server device 10.

[0035] As shown in Figure 7, the roadside camera 30 comprises a shooting unit 3001, a captured image transmission unit 3002, and a location information acquisition unit 3003. The shooting unit 3001 takes pictures in a specific direction. For example, it takes pictures by observing intersections, roads, etc. from a fixed point. The captured image transmission unit 3002 transmits the captured images taken by the shooting unit 3001 to the server device 10.

[0036] The location information acquisition unit 3003 receives GPS / GNSS information and acquires the location information of the roadside camera 30. Basically, the roadside camera 30 is installed in a fixed position, but it may also be a mobile roadside camera 30, in which case the location information of the roadside camera 30 can be acquired by acquiring the location information of the destination based on GPS / GNSS information.

[0037] <Processing> Next, the processing procedure performed by the information processing system according to this embodiment will be explained with reference to the processing sequence in Figure 8. At F801, the roadside camera 30 takes an image. At F802, the roadside camera 30 transmits the captured image along with the shooting location information to the server device 10. At F803, the vehicle 21 takes an image while driving. At F804, the vehicle 21 transmits the captured image along with the shooting location information to the server device 10.

[0038] In step F805, the server device 10 analyzes the received captured image to identify the occurrence of a traffic obstruction event and identifies the location of the event. In step F806, the server device 10 transmits information about the traffic obstruction location to the vehicle 20. In step F807, the vehicle 20 determines whether the traffic obstruction event is related to the vehicle 20 based on the information about the traffic obstruction location received from the server device 10. In step F808, if the vehicle 20 determines in step F807 that it is related, it issues a notification because the event may affect the vehicle's operation. This completes the series of processes shown in Figure 8.

[0039] Here, referring to the flowchart in Figure 9, the procedure for the processing performed by the vehicle control device 201 of the vehicle 20 according to this embodiment will be explained. The processing in this embodiment is performed while the vehicle 20 is in motion.

[0040] In S901, the information receiving unit 2002 receives information about the location of the traffic obstruction from the server device 10. In S902, the location information acquisition unit 2001 acquires the current location of the vehicle 20 based on GPS / GNSS information. In S903, the prediction unit 2003 acquires a predicted future location for the vehicle 20. For example, the predicted location may be calculated by extending a straight line a predetermined distance (e.g., 500m, 1km, 2km, etc.) in the direction of travel of the vehicle 20.

[0041] In S904, the determination unit 2004 determines whether the distance between the line segment connecting the current location of the vehicle 20 and the predicted location, and the location where traffic obstruction will occur, is less than or equal to a threshold. If this step is Yes, the process proceeds to S906. On the other hand, if this step is No, the process proceeds to S907.

[0042] Here, the processing of this step will be explained with reference to Figures 10 and 11. Figures 10 and 11 are explanatory diagrams illustrating the positional relationship between the vehicle and the traffic obstruction point according to this embodiment. Figure 10 shows a situation in which the predicted point is included within a predetermined distance range from the traffic obstruction point. On the other hand, Figure 11 shows a situation in which the current location of the vehicle 20 is included within a predetermined distance range from the traffic obstruction point.

[0043] In Figure 10, the current location A of the vehicle 20 is, for example, the center position or center of gravity of the vehicle 20. However, the position of the vehicle 20 may also be the center of the front end or the center of the rear end of the vehicle 20. In S903, the front end position is calculated as the predicted location B by extending a line segment by a distance L from the current location A in the direction of travel of the vehicle 20.

[0044] In FIG. 10, at least a part of the line segment AB is included within the range of a circle with a radius R centered on the traffic obstruction occurrence point D, and furthermore, the predicted point B is also included. The point C indicates the intersection of the perpendicular line drawn from the traffic obstruction occurrence point D to the line segment AB and the line segment AB. In FIG. 11, at least a part of the line segment AB is included within the range of a circle with a radius R centered on the traffic obstruction occurrence point D, and furthermore, the current point A is also included. In cases such as in FIG. 10 and FIG. 11, this step is Yes. Also, even if the current point A and the predicted point B are not included within the range of the circle, if at least a part of the line segment AB is included within the range of the circle, this step is Yes.

[0045] In S905, the determination unit 2004 determines that the traffic obstruction event is related to the vehicle 20. This is because if the vehicle 20 continues to travel straight, there is a possibility of encountering the traffic obstruction event. In S906, the control unit 2005 controls the notification unit 2006 to perform notification. For example, warnings are output to the passengers by performing display, voice messages, warning sounds, lighting or flashing, etc.

[0046] In S907, the control unit 2005 determines whether to end the process. For example, the process may end in response to the engine of the vehicle 20 stopping. If this step is Yes, a series of processes ends. On the other hand, if this step is No, the process returns to S901. Thus, the process of FIG. 7 ends.

[0047] As described above, in this embodiment, based on the information of the traffic obstruction occurrence point, it is determined whether the occurred traffic obstruction event is related to the vehicle, and notification is performed when it is determined to be related. In particular, when the distance between the line segment connecting the current point of the vehicle and the predicted point where the vehicle is predicted to move in the future and the traffic obstruction occurrence point is less than or equal to the threshold value, it is determined that the traffic obstruction event is related to the vehicle. Alternatively, when at least a part of the line segment connecting the current point of the vehicle and the predicted point where the vehicle is predicted to move in the future is included within a predetermined range (for example, within the range of a circle) from the traffic obstruction occurrence point, it may be determined that the traffic obstruction event is related to the vehicle.

[0048] In this way, by simply calculating the straight line connecting the current location and the predicted future location and comparing it with the traffic obstruction occurrence location, it becomes possible to promptly notify the occupants of the occurrence of a traffic obstruction event related to the driving of the host vehicle. Therefore, the calculation cost can be reduced to a level that can be processed with the vehicle's resources, eliminating the need to install a dedicated server. Furthermore, since the processing can be performed as long as the current location of the vehicle, the predicted future location of the vehicle, and the traffic obstruction occurrence location can be recognized, map information becomes unnecessary. Therefore, this embodiment can also be applied to vehicles not equipped with a navigation system.

[0049] [Modification Example of Embodiment 1] In the above embodiment, an example of making a determination based on the positional relationship between a circle centered on the traffic obstruction occurrence location and a line segment connecting the current location and the predicted location has been described, but it is not limited to this example.

[0050] As shown in FIGS. 12 and 13, an error ellipse considering the error of the position information may be used. FIG. 12 shows a situation where the predicted location B is included within the range of the error ellipse, and FIG. 13 shows a situation where the current location A of the vehicle 20 is included within the range of the error ellipse.

[0051] The vehicles 20, 21 and the roadside camera 30 calculate the position information from the orbit information acquired from a plurality of satellites, but calculate the ambiguity that cannot determine the position as an error. The error is not acquired from the satellite, but is calculated and acquired by the entity that transmits the position information, such as the vehicles 20, 21 and the roadside camera 30. Since the entity that transmits the position information transmits a message including the position information and the error ellipse information, the receiving side can use the error ellipse.

[0052] In FIGS. 12 and 13, the error ellipse extends in the vertical direction of the paper with the major radius R1 and the minor radius R2, but depending on the received error ellipse information, it may be an error ellipse extending in the horizontal direction of the paper or an error ellipse extending in an oblique direction. The direction in which the error ellipse extends can be grasped from the received information.

[0053] When using an error ellipse, the threshold described in S904 may be the diameter of the error ellipse centered on the traffic obstruction point, using the error in the accuracy of the positional information at the traffic obstruction point. In other words, if at least a portion of the line segment connecting the current location of the vehicle 20 and the predicted location where the vehicle 20 is expected to move in the future is included within a predetermined range (for example, within the range of the error ellipse) from the traffic obstruction point, it may be determined that a traffic obstruction event is related to the vehicle 20.

[0054] (Embodiment 2) In this embodiment, when the traffic disruption event that occurs is related to the vehicle itself, an example of providing notification in multiple notification modes depending on the situation will be described. The configuration of the information processing system and the vehicle and road cameras that constitute the system according to this embodiment are the same as in Embodiment 1, so the description will be omitted.

[0055] <Processing> Referring to the flowchart in Figure 14, the procedure for processing performed by the vehicle control device 201 of the vehicle 20 according to this embodiment will be explained. The processing in this embodiment is performed while the vehicle 20 is in motion. Processing similar to that described in Figure 9 is given the same numbers as in Figure 9, and its explanation is omitted.

[0056] In S1401, the determination unit 2004 determines whether the first distance between the predicted location of the vehicle 20 and the location where traffic obstruction occurs is less than or equal to a threshold. If this step is Yes, the process proceeds to S1402. On the other hand, if this step is No, the process proceeds to S1403. For example, in the example in Figure 10, the first distance (length of line segment BD) between the predicted location B of the vehicle 20 on line segment AB and the location where traffic obstruction occurs D is less than or equal to a threshold (radius R of the circle), so the determination result in this step is Yes.

[0057] In S1402, the control unit 2005 controls the notification unit 2006 to perform a first notification. For example, it outputs a warning to the occupants by displaying a message, sending an audio message, sounding a warning, lighting up, or flashing a light.

[0058] In S1403, the determination unit 2004 determines whether the second distance between the current location of the vehicle 20 and the traffic obstruction location is less than or equal to a threshold. If this step is Yes, the process proceeds to S1404. On the other hand, if this step is No, the process proceeds to S1405. For example, in the example in Figure 11, the second distance (length of line segment AD) between the current location B of the vehicle 20 on line segment AB and the traffic obstruction location D is less than or equal to a threshold (radius R of the circle), so the determination result in this step is Yes.

[0059] In S1404, the control unit 2005 controls the notification unit 2006 to perform a second notification. Here, the first and second notifications are performed in different notification modes. For example, the second notification may be controlled to have a higher notification intensity than the first notification. This is because it is necessary to alert the occupants more when the current location is closer to the point of traffic obstruction than when the vehicle A is predicted to be in the future. For example, in the second notification, the light-emitting device 2033 may emit a brighter light than in the first notification, or the flashing period of the light-emitting device 2033 may be shorter than in the first notification. Also, the light-emitting device 2033 may be controlled to emit a yellow light in the first notification and a red light in the second notification. Furthermore, the volume of the speaker 2032 may be controlled to be louder in the second notification than in the first notification.

[0060] In S1405, the control unit 2005 controls the notification unit 2006 to perform a third notification. In the example shown in Figures 10 and 11, the third notification is performed when the line segment AB connecting the current location A of the vehicle 20 and the predicted future location B of the vehicle 20, excluding the current location A and the predicted location B, is at a distance of less than or equal to a threshold from the location where traffic obstruction occurs. Here, the first notification, the second notification, and the third notification are performed in different notification modes. For example, the third notification may be controlled to have a higher notification intensity than the first notification and a lower notification intensity than the second notification. This allows for a stronger notification to be performed the closer the location where traffic obstruction occurs is to the vehicle 20. The above is the series of processes shown in Figure 14.

[0061] As described above, in this embodiment, a first notification is given when the first distance between the predicted location, which is the future position of the vehicle, and the location where the traffic disruption will occur is below a threshold, and a second notification is given when the second distance between the vehicle's current location and the location where the traffic disruption will occur is below a threshold. In other words, a notification is given when it is determined that a predicted location far from the vehicle 20 will be affected by the traffic disruption event, and another notification is given when it is determined that the vehicle 20's current location will be affected by the traffic disruption event. This makes it possible to alert the occupants in stages, thereby improving occupant convenience.

[0062] (Embodiment 3) This embodiment describes the processing when there are multiple traffic obstruction points located close to each other. For example, large-scale road construction may extend over several hundred meters to several kilometers. This can result in traffic obstruction events such as road closures, lane reductions, and road width reductions. On the other hand, information on traffic obstruction points is merely location information and may only reflect a part of a series of road construction projects. When multiple traffic obstruction points exist within a certain distance range, they may be part of a series, and therefore should be processed as a series.

[0063] Here, as shown in Figures 15 and 16, we consider a case where there are multiple traffic obstruction points D1, D2, and D3 located close to each other. For example, if the distance between D1 and D2 is less than or equal to a predetermined distance, traffic obstruction points D1 and D2 are determined to be caused by a series of traffic obstruction events. Similarly, if the distance between D2 and D3 is less than or equal to a predetermined distance, traffic obstruction points D2 and D3 are determined to be caused by a series of traffic obstruction events. In that case, traffic obstruction points D1, D2, and D3 will be determined to be caused by a series of traffic obstruction events. There is a possibility that road construction is being carried out along the line segment D1D2 connecting D1 and D2, and along the line segment D2D3 connecting D2 and D3.

[0064] If vehicle A is in motion and a predicted future location B is calculated, in the examples shown in Figures 15 and 16, both the current location A and the predicted location B are at a distance greater than a threshold from the traffic obstruction locations D1, D2, and D3. Therefore, no notification will be issued in the processing of Embodiments 1 and 2. As a result, there is a possibility that vehicle 20 may encounter a series of traffic obstruction events (for example, large-scale road construction) without receiving any notification.

[0065] This embodiment describes an example of how notification is properly provided even in such a situation. Note that the configuration of the information processing system and the configuration of the vehicle and road cameras that constitute the system according to this embodiment are the same as in Embodiment 1, so their description will be omitted.

[0066] <Processing> Referring to the flowcharts in Figures 17A and 17B, the procedure for processing performed by the vehicle control device 201 of the vehicle 20 according to this embodiment will be described. The processing in this embodiment is performed while the vehicle 20 is in motion. Processing similar to that described in Figures 9 and 14 is given the same numbers as in Figures 9 and 14, and its explanation is omitted.

[0067] In S1701, the determination unit 2004 determines, based on the information on traffic obstruction locations received from the server device 10, whether or not there are traffic obstruction locations within a predetermined distance (for example, several tens of meters to several hundred meters) from each other. If this step is Yes, the process proceeds to S1702. On the other hand, if this step is No, the process proceeds to S904.

[0068] In S1702, the determination unit 2004 creates line segments connecting traffic obstruction points that are within a predetermined distance of each other. In the examples of Figures 15 and 16, since the distance between traffic obstruction points D1 and D2 is less than or equal to the predetermined distance, line segments D1 and D2 are created. Also, since the distance between traffic obstruction points D2 and D3 is less than or equal to the predetermined distance, line segments D2 and D3 are created. On the other hand, since the distance between traffic obstruction points D1 and D3 exceeds the predetermined distance, line segments D1 and D3 are not created. Thus, multiple line segments may be created in S1702.

[0069] In this embodiment, if the answer to S904 is No, the process proceeds to S1703. In S1703, the determination unit 2004 determines whether the line segment connecting the current location of the vehicle 20 and the predicted location where the vehicle 20 is expected to move in the future intersects with the line segments connecting the locations where traffic obstruction occurs. If there are multiple line segments connecting the locations where traffic obstruction occurs, the determination unit determines whether the line segment intersects with each of them. In the example shown in Figures 15 and 16, since line segment AB intersects with line segments D2 and D3, the determination result for this step is Yes. If this step is Yes, the process proceeds to S1704. On the other hand, if this step is No, the process proceeds to S907.

[0070] In S1704, the determination unit 2004 determines that the traffic obstruction event is related to the vehicle itself. In S1705, the determination unit 2004 determines whether the distance between the current location and the intersection is greater than the distance between the intersection and the predicted location. In the example in Figure 15, "the distance L1 between the current location A and the intersection X is greater than the distance L2 between the intersection X and the predicted location B," so the determination result for this step is Yes. In the example in Figure 16, "the distance L1 between the current location A and the intersection X is less than the distance L2 between the intersection X and the predicted location B," so the determination result for this step is No. If this step is Yes, proceed to S1706. On the other hand, if this step is No, proceed to S1707.

[0071] In S1706, the control unit 2005 controls the notification unit 2006 to issue a first notification. The first notification in S1706 is the same as the first notification in S1404. Since the predicted point is closer to the intersection point than the current point, a notification with a relatively low intensity is issued.

[0072] In S1707, the control unit 2005 controls the notification unit 2006 to issue a first notification. The first notification in S1706 is the same as the first notification in S1404. Because the current location is closer to the intersection point than the predicted location, a notification with relatively higher intensity is issued. The above is the series of processes shown in Figures 17A and 17B.

[0073] In this embodiment, when there are multiple traffic obstruction locations, a second line segment is created connecting traffic obstruction locations that are within a predetermined distance of each other. Then, even if the distance between the line segment connecting the current location and the predicted location and each traffic obstruction location is greater than or equal to a threshold, if the line segment intersects with the created second line segment, it is determined that the traffic obstruction event is related to a vehicle.

[0074] This prevents vehicle 20 from encountering a series of traffic disruption events (such as large-scale road construction) without receiving any notification. Therefore, it becomes possible to provide appropriate notification at the appropriate time.

[0075] [Modification of Embodiment 3] In Embodiment 3 described above, an example was given in which the first notification in S1706 is the same as the first notification in S1402, and the second notification in S1707 is the same as the second notification in S1404. However, the invention is not limited to this example. In S1706, a fourth notification different from the first notification may be given, and in S1707, a fifth notification different from the fourth notification may be given. In that case, the fifth notification may be controlled to have a higher intensity than the fourth notification.

[0076] Furthermore, if there are multiple traffic obstruction locations, it may be determined whether each traffic obstruction location is caused by a series of traffic obstruction events. For example, if the information on traffic obstruction locations includes the type of traffic obstruction event at that location, it may be decided whether to create a second line segment connecting two traffic obstruction locations within a predetermined distance of each other, depending on this type. Even if two traffic obstruction locations are within a predetermined distance of each other, if the types of traffic obstruction events they cause are different, the system may be controlled not to create a second line segment. This can prevent the creation of a second line segment connecting unrelated traffic obstruction locations, thereby improving the accuracy of the notification.

[0077] [Other Modifications] In the above embodiment, an example was described in which the predicted point is calculated by extending a straight line a predetermined distance in the direction of travel of the vehicle 20, but the invention is not limited to this. The predicted point to which the vehicle 20 will move in the future may be the point reached if the vehicle 20 travels in the current direction of travel for a predetermined time at its current speed. That is, the predicted point B of the vehicle 20 may be the end point of a straight line extended a predetermined distance from the current point A in the direction of travel of the vehicle 20, or it may be the end point of a straight line extended from the current point A in the direction of travel of the vehicle 20 by a distance corresponding to the current speed of the vehicle 20.

[0078] Furthermore, although the above-described embodiment mainly described an example in which the center position (or center of gravity) of the vehicle is used as the vehicle's current location, the system is not limited to this example. The vehicle's current location may be the front end position, the rear end position, or both ends. If the vehicle 20 is located in front of the point of traffic obstruction in the direction of travel, the rear end of the vehicle 20 may be used as the vehicle 20's current location A. Conversely, if the vehicle 20 is located behind the point of traffic obstruction in the direction of travel, the front end of the vehicle 20 may be used as the vehicle 20's current location A. In this way, control may be performed to adaptively change the position on the vehicle 20 used as the vehicle 20's current location.

[0079] In the above-described embodiment, the distance between the line segment connecting the current location A and the predicted location B, and the location where the traffic disruption occurred, is used to determine whether the traffic disruption event is related to the vehicle itself, and is not used to identify the current location on the map. In other words, it is used for a completely different purpose than determining which link a vehicle is traveling around based on the distance between the vehicle's position and the link, as in Patent Document 2.

[0080] Furthermore, although the above embodiment describes an example where there is one prediction point, the system is not limited to this. That is, in S903 of Figure 14, the prediction unit 2003 may calculate multiple prediction points. When multiple prediction points are calculated, in S904, the determination unit 2004 determines whether the distance between the line segment connecting the current location of the vehicle 20 and the prediction point furthest from the vehicle 20 and the traffic obstruction point is less than or equal to a threshold. Also, in S1401 of Figure 14, the determination unit 2004 determines whether the distance between at least one of the multiple prediction points and the traffic obstruction point is less than or equal to a threshold.

[0081] Figures 18 and 19 show examples of calculating multiple prediction points. In Figures 18 and 19, the prediction unit 2003 calculates the first prediction point B1 as the point obtained by extending a straight line from the current point A of the vehicle 20 in the direction of travel by a first predetermined distance. Then, it calculates the second prediction point B2 as the point obtained by extending a straight line from the current point A of the vehicle 20 in the direction of travel by a second predetermined distance, and the third prediction point B3 as the point obtained by extending a straight line from the current point A of the vehicle 20 in the direction of travel by a third predetermined distance.

[0082] If any of the three predicted points B1 to B3 is within a predetermined distance from the traffic obstruction point D, the result of S1401 will be Yes, and the first notification in S1402 shown in Figure 14 may be given. In Figure 18, none of the three predicted points B1 to B3 are within a predetermined distance from the traffic obstruction point D, so the result of S1401 will be No, and the system will proceed to S1403. On the other hand, in Figure 19, since predicted point B3 of the three predicted points B1 to B3 is within a predetermined distance from the traffic obstruction point D, the result of S1401 will be No, and the system will proceed to S1402, and the first notification will be given. When giving a notification, if a predicted point close to the vehicle is within a predetermined distance from the traffic obstruction point D, the notification intensity may be changed to be higher than when a predicted point far from the vehicle is within a predetermined distance from the traffic obstruction point D.

[0083] By using multiple prediction points in this way, it becomes possible to provide more detailed information.

[0084] Furthermore, <Summary of Embodiments> 1. The vehicle control device according to the above embodiment is a vehicle control device (201) that controls a vehicle (20), and comprises: a determination means (2004) that determines whether or not an occurrence of a traffic obstruction event is related to the vehicle based on information of the location where the traffic obstruction occurred; and a control means (2005) that causes a notification device (203) to notify when the determination means determines that the traffic obstruction event is related to the vehicle, wherein the determination means determines that the traffic obstruction event is related to the vehicle when the distance between the line segment connecting the current location (A) of the vehicle and the predicted location (B) where the vehicle is expected to move in the future, and the location where the traffic obstruction occurred (D), is less than or equal to a threshold.

[0085] In this way, by simply calculating a straight line connecting the current location and the predicted future location, and comparing it with the location of the traffic obstruction, it becomes possible to quickly notify the occupants of any traffic obstruction events related to the vehicle's movement. Therefore, the computational cost can be reduced to a level that can be processed using the vehicle's resources, eliminating the need for a dedicated server. Furthermore, since processing can be performed as long as the vehicle's current location, the vehicle's predicted future location, and the location of the traffic obstruction are known, map information is not required. Consequently, even vehicles without a navigation system can provide appropriate notification regarding traffic obstruction events.

[0086] 2. In the vehicle control device according to the above embodiment, the threshold is the radius (R) of the circle centered on the point where the traffic obstruction occurs.

[0087] This allows for more accurate recognition of traffic obstruction locations related to the vehicle than simple point-based calculations. Furthermore, because it does not use complex geometric shapes, it can improve the accuracy of notifications to occupants without performing computationally intensive tasks.

[0088] 3. In the vehicle control device according to the above embodiment, the information of the traffic obstruction location includes at least the location information of the traffic obstruction location, and the threshold is the diameter of an error ellipse centered on the traffic obstruction location, using the error relating to the accuracy of the location information at the traffic obstruction location.

[0089] By considering the error in location information in this way, it becomes possible to more appropriately select information on traffic obstruction locations that are relevant to the vehicle, thereby enabling more accurate recognition of traffic obstruction locations related to the vehicle. Furthermore, because the error calculated when acquiring location information is used, the accuracy of notifications to occupants can be improved without performing computationally intensive tasks.

[0090] 4. In the vehicle control device according to the above embodiment, the control means causes the notification device to perform a first notification (S1402) when the first distance (distance BD in Figure 10) between the predicted point on the line segment and the point where traffic obstruction occurs is less than or equal to the threshold, and causes the notification device to perform a second notification (S1404) when the second distance (distance AD ​​in Figure 11) between the current point on the line segment and the point where traffic obstruction occurs is less than or equal to the threshold, and the first notification and the second notification are performed in different notification modes.

[0091] This allows for notification of traffic obstruction locations based on their distance from the vehicle, enabling appropriate warnings to be given to the occupants.

[0092] 5. In the vehicle control device according to the above embodiment, the second notification has a higher notification intensity than the first notification.

[0093] This allows for relatively weaker notifications when the traffic disruption is far from the vehicle, and relatively stronger notifications when it is close, thus enabling appropriate alerts to be given to the occupants.

[0094] 6. In the vehicle control device according to the above embodiment, the notification device includes a light-emitting device (2033), and in the second notification, the light-emitting device is illuminated more brightly than in the first notification, or the flashing period of the light-emitting device is shorter than in the first notification.

[0095] This allows the system to use a relatively less urgent light-emitting method when the traffic disruption is far from the vehicle, and a relatively more urgent light-emitting method when it is close, thereby providing appropriate warnings to the occupants.

[0096] 7. In the vehicle control device according to the above embodiment, the notification device includes a light-emitting device (2033), wherein the light-emitting device emits yellow light in the first notification and red light in the second notification.

[0097] This allows the system to display a relatively low-urgency color when the traffic disruption is far from the vehicle, and a relatively high-urgency color when it is close, thereby providing appropriate warnings to the occupants.

[0098] 8. In the vehicle control device according to the above embodiment, the notification device includes a speaker (2032), and the volume of the speaker is louder in the second notification than in the first notification.

[0099] This allows the system to alert occupants at a relatively low volume when the traffic disruption is far from the vehicle, and at a relatively high volume when it is close, thereby providing appropriate warnings to the occupants.

[0100] 9. In the vehicle control device according to the above embodiment, if there are multiple traffic obstruction locations, the determination means creates a second line segment (line segment D1D2, line segment D2D3) connecting traffic obstruction locations that are within a predetermined distance of each other, and even if the distance between the line segment and each traffic obstruction location is greater than or equal to the threshold, if the line segment and the second line segment intersect, it is determined that the traffic obstruction event is related to the vehicle (No at S904 in Figure 17A, Yes at S1703 and S1704 in Figure 17B).

[0101] This makes it possible to reduce missed notifications without changing the threshold, even when multiple traffic disruption locations are actually caused by a single traffic disruption event and are consecutive. Therefore, it becomes possible to respond to a wider range of situations with higher accuracy without increasing unnecessary notifications caused by large changes in the threshold.

[0102] 10. In the vehicle control device according to the above embodiment, the control means causes the notification device to perform a first notification (Yes, S1705 and S1706 in Figure 17B) when the third distance (L1) between the current point (A) on the line segment and the intersection point (X in Figure 15) between the current point and the second line segment is greater than the fourth distance (L2) between the predicted point (B) and the intersection point (X), and when the third distance is less than or equal to the fourth distance, the notification device is caused to perform a second notification (No, S1705 and S1707 in Figure 17B), and the first notification and the second notification are performed in different notification modes.

[0103] In this way, by providing different notification methods depending on whether the intersection is close to the vehicle (i.e., the point of traffic obstruction is close to the vehicle) or far from the vehicle, it is possible to appropriately alert the occupants in situations where the point of traffic obstruction is likely to affect the vehicle.

[0104] 11. In the vehicle control device according to the above embodiment, the predicted point is the end point of a straight line extended a predetermined distance from the current point in the direction of travel of the vehicle.

[0105] This makes it possible to calculate predicted locations using simple calculations with limited information.

[0106] 12. In the vehicle control device according to the above embodiment, the predicted point is the end point of a straight line extended from the current point in the direction of travel of the vehicle by a distance corresponding to the current speed of the vehicle.

[0107] This makes it possible to calculate predicted locations using simple calculations with limited information.

[0108] 13. The vehicle control device according to the above embodiment further comprises a receiving means (2002) for receiving information on the location where traffic obstruction occurs.

[0109] This allows, for example, the system to receive all the latest information on locations where traffic disruptions have occurred, which is then aggregated on a server device.

[0110] 14. The vehicle control device according to the above embodiment is a vehicle control device (201) that controls a vehicle (20), and comprises: a determination means (2004) that determines whether or not an occurrence of a traffic obstruction event is related to the vehicle based on information of the location where the traffic obstruction occurred; and a control means (2005) that causes a notification device (203) to notify when the determination means determines that the traffic obstruction event is related to the vehicle, wherein the determination means determines that the traffic obstruction event is related to the vehicle if at least a part of the line segment connecting the current location (A) of the vehicle and a predicted location (B) where the vehicle is expected to move in the future is included within a predetermined range (for example, within the range of a circle or error ellipse) from the location where the traffic obstruction occurred (D).

[0111] In this way, by simply calculating a straight line connecting the current location and a predicted future location, and comparing it with the location of the traffic obstruction, it becomes possible to quickly notify the occupants of any traffic obstruction events related to the vehicle's movement. Therefore, the computational cost can be reduced to a level that can be handled by the vehicle's resources, eliminating the need for a dedicated server. Furthermore, since processing can be performed as long as the vehicle's current location, predicted future location, and the location of the traffic obstruction are known, map information is not required. Consequently, even vehicles without a navigation system can receive appropriate notification regarding traffic obstruction events.

[0112] 15. The vehicle according to the above embodiment is a vehicle (20) characterized by comprising the vehicle control device (201) according to the above embodiment.

[0113] This allows the vehicle control system to perform processing within the vehicle itself.

[0114] 16. The operation method of the vehicle control device according to the above embodiment is an operation method of a vehicle control device (201) that controls a vehicle (20), comprising: a determination step (S904, S905) that determines whether or not the traffic obstruction event that has occurred is related to the vehicle based on information of the location where the traffic obstruction occurred; and a control step (S906) that causes a notification device to notify when it is determined in the determination step that the traffic obstruction event is related to the vehicle, wherein in the determination step, it is determined that the traffic obstruction event is related to the vehicle if the distance between the line segment connecting the current location of the vehicle and the predicted location where the vehicle is expected to move in the future, and the location where the traffic obstruction occurred, is less than or equal to a threshold (S905).

[0115] In this way, by simply calculating a straight line connecting the current location and a predicted future location, and comparing it with the location of the traffic obstruction, it becomes possible to quickly notify the occupants of any traffic obstruction events related to the vehicle's movement. Therefore, the computational cost can be reduced to a level that can be handled by the vehicle's resources, eliminating the need for a dedicated server. Furthermore, since processing can be performed as long as the vehicle's current location, predicted future location, and the location of the traffic obstruction are known, map information is not required. Consequently, even vehicles without a navigation system can receive appropriate notification regarding traffic obstruction events.

[0116] 17. The operation method of the vehicle control device according to the above embodiment is an operation method of a vehicle control device that controls a vehicle (20), comprising: a determination step (S904, S905) of determining whether or not the traffic obstruction event that has occurred is related to the vehicle based on information of the location where the traffic obstruction occurred; and a control step (S906) of causing a notification device to notify when it is determined in the determination step that the traffic obstruction event is related to the vehicle, wherein in the determination step, it is determined that the traffic obstruction event is related to the vehicle if at least a part of the line segment connecting the current location of the vehicle and the predicted location where the vehicle is expected to move in the future is included within a predetermined range from the location where the traffic obstruction occurred (circle in Figure 10, error ellipse in Figure 12).

[0117] In this way, by simply calculating a straight line connecting the current location and a predicted future location, and comparing it with the location of the traffic obstruction, it becomes possible to quickly notify the occupants of any traffic obstruction events related to the vehicle's movement. Therefore, the computational cost can be reduced to a level that can be handled by the vehicle's resources, eliminating the need for a dedicated server. Furthermore, since processing can be performed as long as the vehicle's current location, predicted future location, and the location of the traffic obstruction are known, map information is not required. Consequently, even vehicles without a navigation system can receive appropriate notification regarding traffic obstruction events.

[0118] 18. The program according to the above embodiment is a program that causes a computer to execute the operation method of the vehicle control device according to the above embodiment.

[0119] This makes it possible to implement the operation method of the vehicle control system as a program.

[0120] 16. The storage medium according to the above embodiment is a storage medium in which a program is stored that causes a computer to execute the operating method of the vehicle control device according to the above embodiment.

[0121] This makes it possible to implement the operating method of the vehicle control system as a storage medium.

[0122] <Other Embodiments> In addition, a program that implements one or more functions described in each embodiment is supplied to a system or device via a network or storage medium, and one or more processors in the computer of the system or device can read and execute this program. The present invention can also be realized in this form.

[0123] The invention is not limited to the embodiments described above, and various modifications and changes are possible within the scope of the gist of the invention.

[0124] This application claims priority based on Japanese Patent Application No. 2024-165632, filed on September 24, 2024, and all of its contents are incorporated herein by reference.

Claims

1. A vehicle control device for controlling a vehicle, comprising: determination means for determining whether an occurrence of a traffic obstruction event is related to the vehicle based on information about the location where the traffic obstruction event occurred; and control means for causing a notification device to notify when the determination means determines that the traffic obstruction event is related to the vehicle, wherein the determination means determines that the traffic obstruction event is related to the vehicle when the distance between a line segment connecting the current location of the vehicle and a predicted location where the vehicle is expected to move in the future, and the location where the traffic obstruction occurred, is less than or equal to a threshold.

2. The vehicle control device according to claim 1, characterized in that the threshold is the radius of a circle centered on the point where the traffic obstruction occurs.

3. The vehicle control device according to claim 1, wherein the information of the traffic obstruction location includes at least location information of the traffic obstruction location, and the threshold is the diameter of an error ellipse centered on the traffic obstruction location, using the error relating to the accuracy of the location information at the traffic obstruction location.

4. The vehicle control device according to any one of claims 1 to 3, wherein the control means causes the notification device to perform a first notification when the first distance between the predicted point on the line segment and the point where traffic obstruction occurs is less than or equal to the threshold, and causes the notification device to perform a second notification when the second distance between the current point on the line segment and the point where traffic obstruction occurs is less than or equal to the threshold, and the first notification and the second notification are performed in different notification modes.

5. The vehicle control device according to claim 4, characterized in that the second notification has a higher notification intensity than the first notification.

6. The vehicle control device according to claim 5, wherein the notification device includes a light-emitting device, and in the second notification, the light-emitting device emits light more brightly than in the first notification, or the flashing period of the light-emitting device is shorter than in the first notification.

7. The vehicle control device according to claim 5, wherein the notification device includes a light-emitting device, and in the case of the first notification, the light-emitting device emits light in yellow, and in the case of the second notification, the light-emitting device emits light in red.

8. The vehicle control device according to claim 5, wherein the notification device includes a speaker, and the volume of the speaker is louder in the second notification than in the first notification.

9. The vehicle control device according to any one of claims 1 to 8, wherein the determination means, when there are multiple traffic obstruction locations, creates a second line segment connecting traffic obstruction locations that are within a predetermined distance of each other, and even if the distance between the line segment and each traffic obstruction location is greater than or equal to the threshold, if the line segment and the second line segment intersect, it is determined that the traffic obstruction event is related to the vehicle.

10. The vehicle control device according to claim 9, characterized in that the control means causes the notification device to perform a first notification when the third distance between the current point on the line segment and the intersection point between the current point and the second line segment is greater than the fourth distance between the predicted point and the intersection point, and causes the notification device to perform a second notification when the third distance is less than or equal to the fourth distance, and the first notification and the second notification are performed in different notification modes.

11. The vehicle control device according to any one of claims 1 to 10, characterized in that the predicted point is the end point of a straight line extended a predetermined distance from the current point in the direction of travel of the vehicle.

12. The vehicle control device according to any one of claims 1 to 10, characterized in that the predicted point is the end point of a straight line extended from the current point in the direction of travel of the vehicle by a distance corresponding to the current speed of the vehicle.

13. The vehicle control device according to any one of claims 1 to 12, further comprising a receiving means for receiving information on the location where traffic obstruction occurs.

14. A vehicle control device for controlling a vehicle, comprising: determination means for determining whether an occurrence of a traffic obstruction event is related to the vehicle based on information about the location where the traffic obstruction occurred; and control means for causing a notification device to notify when the determination means determines that the traffic obstruction event is related to the vehicle, wherein the determination means determines that the traffic obstruction event is related to the vehicle when at least a portion of the line segment connecting the current location of the vehicle and a predicted location where the vehicle is expected to move in the future is included within a predetermined range from the location where the traffic obstruction occurred.

15. A vehicle characterized by being equipped with a vehicle control device according to any one of claims 1 to 14.

16. A method for operating a vehicle control device that controls a vehicle, comprising: a determination step of determining whether or not an occurrence of a traffic obstruction event is related to the vehicle based on information of the location where the traffic obstruction occurred; and a control step of causing a notification device to notify when the determination step determines that the traffic obstruction event is related to the vehicle, wherein the determination step determines that the traffic obstruction event is related to the vehicle when the distance between the line segment connecting the current location of the vehicle and a predicted location where the vehicle is expected to move in the future and the location where the traffic obstruction occurred is less than or equal to a threshold.

17. A method for operating a vehicle control device that controls a vehicle, comprising: a determination step of determining whether or not an occurrence of a traffic obstruction event is related to the vehicle based on information of the location where the traffic obstruction occurred; and a control step of causing a notification device to notify when the determination step determines that the traffic obstruction event is related to the vehicle, wherein the determination step determines that the traffic obstruction event is related to the vehicle if at least a part of the line segment connecting the current location of the vehicle and a predicted location where the vehicle is expected to move in the future is included within a predetermined range from the location where the traffic obstruction occurred.

18. A program for causing a computer to execute the operating method of the vehicle control device according to claim 16 or 17.

19. A storage medium storing a program for causing a computer to execute the operating method of the vehicle control device described in claim 16 or 17.

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