Vehicle control device and vehicle control method

Abstract

According to the present invention, a vehicle control device for executing processing relating to limp mode control is provided with a lighting control module (14) for controlling lighting of at least three lamps (20) provided on a rear face of a vehicle. The at least three lamps (20) are disposed at different positions from each other in a vehicle width direction. The lighting control module (14) acquires whether limp mode control is being executed, and acquires whether the vehicle moves to the left or moves to the right. The lighting control module (14) is configured so as to perform right movement presentation processing, which is processing for sequentially lighting the at least three lamps such that the lit position transitions from left to right, when movement to the right is acquired, and to perform left movement presentation processing, which is processing for sequentially lighting the at least three lamps such that the lit position transitions from right to left, when movement to the left is acquired.

Description

Vehicle control device, vehicle control method Cross-reference to related applications

[0001] This application is based on Japanese Patent Application No. 2024-194601 filed in Japan on November 6, 2024, and the contents of the base application are incorporated herein by reference in their entirety.

[0002] The disclosure in this specification relates to a vehicle control device and a vehicle control method.

[0003] Patent Document 1 discloses an evacuation travel control device that notifies the surrounding area of the evacuation direction by turning on and off multiple types of lights during the evacuation travel of a vehicle. More specifically, the evacuation direction control device notifies the surrounding area of the evacuation direction by blinking both the left and right direction indicator lights and blinking one side of the tail light corresponding to the evacuation direction. Here, the evacuation travel refers to the control of maintaining the travel while decelerating the vehicle and stopping at a safe place by, for example, a switch operation by the driver when some emergency occurs during vehicle travel. Note that the state where both the left and right direction indicator lights are blinking corresponds to the state where the hazard lamp is on.

[0004] Japanese Unexamined Patent Application Publication No. 2016-222171

[0005] Since the lighting and extinguishing pattern during the evacuation travel disclosed in Patent Document 1 is based on the lighting of the hazard lamp, it may be perceived by other drivers around the vehicle as simply forgetting to turn off the hazard lamp. In other words, there was a possibility that it would not be conveyed to the surroundings that the vehicle was in an abnormal state.

[0006] One object to be disclosed is to provide an evacuation travel control device capable of more strongly appealing to the surroundings that the vehicle is in an abnormal state.

[0007] The first vehicle control device disclosed herein is a vehicle control device that performs a process related to evacuation driving control, which is a control for driving a vehicle toward the shoulder of the road, and comprises a lighting control module that controls the illumination of at least three lamps provided on the rear of the vehicle, the at least three lamps being arranged at different positions in the vehicle width direction, and the lighting control module is configured to obtain from an evacuation control module that performs evacuation driving control whether or not evacuation driving control is being performed, and if evacuation driving control is being performed, obtain from the evacuation control module whether the vehicle will move to the left or to the right in the evacuation driving control, and if it is obtained that the vehicle will move to the right in the evacuation driving control, perform a right movement indication process which is a process of sequentially illuminating at least three lamps so that the illuminated locations transition from left to right, and if it is obtained that the vehicle will move to the left in the evacuation driving control, perform a left movement indication process which is a process of sequentially illuminating at least three lamps so that the illuminated locations transition from right to left.

[0008] The second vehicle control device disclosed herein is a vehicle control device that performs a process related to evacuation driving control, which is a control for driving a vehicle toward the shoulder of the road, and comprises a lighting control module provided on the rear of the vehicle that controls the illumination of three or more types of lamps, the lighting control module obtains from an evacuation control module that performs evacuation driving control whether or not evacuation driving control is being performed, and is configured to perform a regular flashing process that causes three or more types of lamps to flash according to a predetermined rule if evacuation driving control is being performed.

[0009] The third vehicle control device disclosed herein is a vehicle control device that performs a process related to evacuation driving control, which is a control for driving a vehicle toward the shoulder of the road, and comprises a lighting control module provided on the rear of the vehicle that controls the illumination of three or more lamps, the lighting control module obtains from an evacuation control module that performs evacuation driving control whether or not evacuation driving control is being performed, and is configured to perform a random flashing process that causes the three or more lamps to flash randomly if evacuation driving control is being performed.

[0010] A first vehicle control method included in this disclosure is a vehicle control method executed by a processor for controlling the illumination of at least three lamps located on the rear of a vehicle and positioned at different locations in the vehicle width direction, and includes: obtaining whether or not a relocation driving control, which is a control to drive the vehicle toward the shoulder of the road, is in progress; if a relocation driving control is in progress, obtaining whether the vehicle moves to the left or to the right in the relocation driving control; if it is obtained that the vehicle moves to the right in the relocation driving control, performing a right movement indication process, which is a process of sequentially illuminating at least three lamps so that the illuminated locations transition from left to right; and if it is obtained that the vehicle moves to the left in the relocation driving control, performing a left movement indication process, which is a process of sequentially illuminating at least three lamps so that the illuminated locations transition from right to left.

[0011] A second vehicle control method included in this disclosure is a vehicle control method executed by a processor for controlling the illumination of three or more types of lamps provided on the rear of a vehicle, and includes: obtaining whether or not a roadside driving control, which is a control for driving the vehicle toward the shoulder of the road, is being performed; and, if a roadside driving control is being performed, performing a regular flashing process to flash the three or more types of lamps according to a predetermined rule.

[0012] A third vehicle control method included in this disclosure is a vehicle control method executed by a processor for controlling the illumination of three or more lamps provided on the rear of a vehicle, and includes: obtaining whether or not a roadside driving control, which is a control for driving the vehicle toward the roadside, is being performed; and, if a roadside driving control is being performed, performing a random flashing process to make the three or more lamps flash randomly.

[0013] According to these instructions, during vehicle evacuation control, the lighting control module controls the illumination of the lamps located on the rear of the vehicle.

[0014] In the first vehicle control device (or first method), as lamp illumination control, if it is detected that the vehicle is moving to the right during evacuation driving control, it is executed to illuminate at least three lamps in sequence so that the illuminated locations transition from left to right. Also, if it is detected that the vehicle is moving to the left during evacuation driving control, it is executed to illuminate at least three lamps in sequence so that the illuminated locations transition from right to left. Furthermore, in the second vehicle control device (or second method), it is executed to blink three or more types of lamps according to a predetermined rule. Furthermore, in the third vehicle control device (or third method), it is executed to blink three or more lamps randomly.

[0015] The lighting patterns of these lamps are all patterns that would not occur under normal usage conditions. Therefore, these patterns more effectively communicate to those around the vehicle that it is in an abnormal state than a configuration that simply flashes the hazard lights and taillights.

[0016] This is a diagram showing the overall structure of the vehicle control system. This is a diagram showing the lamps located on the rear of the vehicle. This is a diagram showing the sequence in which the lamps light up. This is a flowchart showing an example of a series of processes performed in the evacuation control module. This is a flowchart showing an example of a series of processes performed in the lighting control module. This is a diagram showing the overall structure of the vehicle control system.

[0017] <Embodiments> Hereinafter, embodiments of the present disclosure will be described with reference to the figures. Figure 1 is a diagram showing an example of a schematic configuration of a vehicle control system 100 including a control device 1.

[0018] The control device 1 according to this embodiment is used when mounted on a vehicle. The vehicle to which the control device 1 is applied (hereinafter referred to as the "applicable vehicle") may be an electric vehicle such as an HV (Hybrid Vehicle) or a BEV (Battery Electric Vehicle). The applicable vehicle may also be an engine-powered vehicle. The control device 1 controls equipment mounted on the vehicle. In one context, the control device 1 may be read as an on-board device. In the following, the vehicle on which the control device 1 is mounted will also be referred to as the "own vehicle". In the following, other vehicles other than the "own vehicle" will also be referred to as "other vehicles". The control device 1 corresponds to a vehicle control device.

[0019] The control device 1 in this embodiment is, for example, an ADASECU (Advanced Driving Assistant System Electronic Control Unit). The ADASECU is an ECU that assists the driver's driving operations and performs controls to avoid contact with other traffic. The control device 1 as an ADASECU performs processing related to evasive driving control, which is a control that automatically drives the vehicle toward the shoulder of the road. The control device 1 may also be any other ECU, such as an engine ECU, motor ECU, battery ECU, brake ECU, shift-by-wire ECU, transmission ECU, steering ECU, HV-ECU, BEV-ECU, etc.

[0020] The control device 1 is connected to the driver status sensor 3, vehicle status sensor 4, environmental sensor 5, ADAS locator 6, and light ECU 2 via an in-vehicle local area network. Hereafter, the in-vehicle local area network will also be referred to as the in-vehicle LAN (Local Area Network).

[0021] The driver status sensor 3 is a sensor that detects the driver's status. The driver status sensor 3 may be, for example, a driver status monitor (hereinafter referred to as DSM). The DSM is a sensor that detects the driver's face orientation, gaze direction, eyelid opening degree, etc., based on the driver's face image. The driver status sensor 3 may also be a pulse sensor or a thermal camera. The driver status sensor 3 may be a steering wheel sensor. The steering wheel sensor is a sensor that detects whether the driver is gripping the steering wheel. The driver status sensor 3 transmits data indicating the detection result to the control device 1 as driver status data.

[0022] The vehicle state sensor 4 is a group of sensors for detecting various states of the vehicle. The vehicle state sensor 4 includes, for example, a vehicle speed sensor for detecting the vehicle's speed, a steering sensor for detecting the vehicle's steering angle, an accelerator position sensor for detecting the degree of opening of the vehicle's accelerator pedal, and a brake pedal force sensor for detecting the amount the vehicle's brake pedal is depressed. The vehicle state sensor 4 transmits data indicating the detection results to the control device 1 as vehicle state data.

[0023] The vehicle condition sensor 4 may include a diagnostic device for detecting abnormalities in the vehicle, such as abnormalities in sensors, actuators, ECUs, or the in-vehicle LAN (hereinafter referred to as sensors, etc.). The vehicle condition data may include diagnostic information indicating whether or not there are abnormalities in the sensors, etc. (in other words, the operating status). The diagnostic information may include information such as the type of sensor that has failed or the time when the failure was detected.

[0024] The environmental sensor 5 is an autonomous sensor that monitors the surrounding environment of the vehicle. For example, the environmental sensor 5 detects obstacles around the vehicle. The obstacles detected by the environmental sensor 5 may include moving, dynamic objects such as pedestrians, animals other than humans, and other vehicles. In addition, the obstacles detected by the environmental sensor 5 may include stationary, static objects such as fallen objects on the road, guardrails, curbs, and trees. The environmental sensor 5 also detects road markings such as driving lanes around the vehicle. The environmental sensor 5 is, for example, a surrounding surveillance camera that images a predetermined range around the vehicle, or a sensor such as a millimeter-wave radar, sonar, or LIDAR that transmits detection waves to a predetermined range around the vehicle. The environmental sensor 5 transmits data indicating the detection results to the control device 1 as environmental state data. The vehicle state data may include diagnostic information in case the environmental sensor 5 malfunctions.

[0025] The ADAS locator 6 is a device that sequentially determines the vehicle's position. The ADAS locator 6 acquires the vehicle's position based on positioning signals received from GNSS (Global Navigation Satellite System) satellites. The ADAS locator 6 outputs data indicating the vehicle's position as vehicle position data to the control device 1. The ADAS locator 6 has a map database (hereinafter referred to as map 4B) that includes road map information. Map 4B stores information such as road types (e.g., expressways, highways, general roads), the number of driving lanes, and emergency stopping locations where the vehicle can be stopped. Based on the road map information and the current vehicle position, the ADAS locator 6 reads information such as the road shape and emergency stopping locations ahead of the vehicle. The ADAS locator 6 outputs the read information to the control device 1.

[0026] The light ECU 2 is an ECU that controls multiple types of lamps 20 pre-installed in the vehicle according to their respective purposes. When the light ECU 2 receives a lighting instruction signal from the lighting control module 14 (described later), it controls the multiple types of lamps 20 to turn on or off according to the lighting instruction signal. Lighting includes continuous lighting, where the lamp 20 is kept on, and intermittent lighting (so-called flashing), where the lamp 20 is repeatedly turned on and off.

[0027] The lamps 20 controlled by the light ECU 2 include, as an example, brake lights 21, rear turn signals 22, reverse lights 23, taillights 24, license plate lights 25, auxiliary brake lights 26, and rear fog lights 27, as shown in Figure 2. The brake lights 21, rear turn signals 22, reverse lights 23, taillights 24, and license plate lights 25 are all located in pairs on the left and right sides at the rear of the vehicle.

[0028] The left and right brake lights 21 are used as a pair of stop lamps. In the figure, 21L indicates the left brake light 21, and 21R indicates the right brake light 21. The left and right rear turn signals 22 are used as a pair of turn signals and hazard lights. In the figure, 22L indicates the left rear turn signal 22, and 22R indicates the right rear turn signal 22. The left and right reverse lights 23 are used as a pair of backup lamps. In the figure, 23L indicates the left reverse light, and 23R indicates the right reverse light 23. The left and right taillights 24 are a pair of lamps 20, and are used as taillights, brake lights, and reverse lights. In the figure, 24L indicates the left taillight 24, and 24R indicates the right taillight 24.

[0029] The left and right number plates 25 are used as license plate lamps. In the diagram, 25L indicates the left number plate lamp 25, and 25R indicates the right number plate lamp 25. The auxiliary brake light 26 is a lamp used as a high-mounted stop lamp. The rear fog lamp 27 is a lamp used as a fog lamp. The above-mentioned multiple lamps 20 are electrically connected to the light ECU 2 and are driven according to the instructions of the light ECU 2.

[0030] Note that the brake lights 21, rear turn signals 22, reverse lights 23, taillights 24, license plate lights 25, auxiliary brake lights 26, and rear fog lights 27 are each different types (in other words, different categories) of lamps 20. Lamps that have the same purpose but are mounted in different positions may be considered the same type of lamp 20. For example, the left brake light 21L may be considered the same type of lamp 20 as the right brake light 21R. The left rear turn signal 22L may be considered the same type of lamp 20 as the right rear turn signal 22R.

[0031] In the following, when "brake light 21" is not specified as left or right, it should be understood to mean both left and right brake lights 21. Similarly, when "rear turn signal 22," "reverse light 23," "tail light 24," and "number plate light 25" are not specified as left or right, it should be understood to mean both left and right illuminated parts.

[0032] Returning to Figure 1, the control device 1 includes a processor 11, memory 12, storage, and I / O. The processor 11 is a processing core that performs calculations based on data received from the driver state sensor 3, vehicle state sensor 4, environmental sensor 5, and ADAS locator 6, etc. The processor 11 may be a CPU (Central Processing Unit) or a GPU (Graphics Processing Unit).

[0033] Memory 12 is a volatile storage medium, such as RAM (Random Access Memory), that temporarily stores the results of calculations performed by the processor 11. Storage is a non-volatile storage medium such as flash memory or ROM (Read Only Memory). Various programs and data executed by the processor 11 are stored in the storage. Storage may include multiple types of storage media, such as ROM (Read Only Memory) and flash memory. I / O refers to input / output circuits. When the processor 11 executes a program, it is equivalent to executing a vehicle control method corresponding to that program.

[0034] The processor 11 constructs the evacuation control module 13 as a functional unit by executing a program stored in the storage. The evacuation control module 13 is configured to perform evacuation driving control when the driver or vehicle is in an abnormal state. The evacuation control module 13 acquires driver state data from the driver state sensor 3. The evacuation control module 13 determines whether the driver is in an abnormal state from the acquired driver state data.

[0035] The evacuation control module 13 determines that the driver is in an abnormal state if the driver is in a state of unsuitability for driving, or in a state of inability to continue driving. An unsuitable driving state is a state of drowsiness (in other words, a state of reduced alertness), or a state of panic, etc. An inability to drive is a state of unconsciousness or a dead man's state, etc. A dead man's state is a state of being unconscious or deceased.

[0036] The evacuation control module 13 may determine from the driver status data whether the driver is drowsy, has poor posture, or has left the driver's seat, and may determine that the driver is in an unsuitable or inoperable state based on the determination result. The evacuation control module 13 may also determine that the driver is in a panic state based on the driver's facial image included in the driver status data, such as changes in facial expression or eye movements, and may determine that the driver is in an unsuitable state.

[0037] The evacuation control module 13 may acquire vehicle status data from the vehicle status sensor 4 and determine from the vehicle status data whether the driver is in an abnormal state. The evacuation control module 13 may determine that the vehicle is in an unsuitable driving state or in an inoperable state if no input is received from the driver for a predetermined period of time or longer. In addition, the evacuation control module 13 may acquire environmental status data from the environmental sensor 5 and determine from the environmental status data whether the driver is in an abnormal state. For example, the evacuation control module 13 may determine that the vehicle is in an unsuitable driving state or in an inoperable state if the vehicle does not decelerate when other vehicles around it are decelerating.

[0038] The retraction control module 13 acquires vehicle status data from the vehicle status sensor 4 and determines whether the vehicle is in an abnormal state based on the acquired vehicle status data. The retraction control module 13 may determine that the vehicle is in an abnormal state if the vehicle status sensor 4 is malfunctioning. The retraction control module 13 may also acquire environmental status data from the environmental sensor 5 and determine whether the vehicle is in an abnormal state based on the acquired environmental status data. The retraction control module 13 may determine that the vehicle is in an abnormal state if the environmental sensor 5 is malfunctioning.

[0039] The evacuation control module 13 executes evacuation driving control when it determines that the driver or vehicle is in an abnormal state. Specifically, the evacuation control module 13 obtains vehicle position information and road map information from the ADAS locator 6. Based on the location of the evacuation site and the distance to the evacuation site, the evacuation control module 13 calculates a target driving route from the vehicle position to the evacuation site. Note that the vehicle abnormality that triggers the execution of evacuation driving control may be limited to specific abnormal conditions (for example, a malfunction that has a serious impact on safety).

[0040] The evacuation control module 13 controls the vehicle's behavior so that it travels along a target route. Vehicle behavior includes acceleration and deceleration, and the vehicle's path. The evacuation control module 13 controls the vehicle's behavior by transmitting evacuation instruction signals to the throttle actuator, brake actuator, steering actuator, etc. By transmitting an evacuation instruction signal to the steering actuator at a predetermined timing, the evacuation control module 13 causes the vehicle to change lanes to an adjacent lane on the shoulder side or to move from its lane to the shoulder area.

[0041] When the evacuation control module 13 starts evacuation driving control, it transmits a start signal to the lighting control module 14, which will be described later, indicating that evacuation driving control has started. The evacuation control module 13 transmits route information indicating the vehicle's path during evacuation driving control to the lighting control module 14. The route information includes information indicating whether the vehicle will move to the left, to the right, or straight ahead, in other words, information indicating the direction of movement. When the vehicle stops at the evacuation location, the evacuation control module 13 determines that the evacuation is complete and transmits a completion signal to the lighting control module 14 indicating that the evacuation is complete.

[0042] The evacuation control module 13 may periodically transmit a continuation signal to the lighting control module 14 during evacuation driving control to indicate that evacuation driving control is being continued. The evacuation control module 13 may also transmit information indicating the target driving route or information indicating the vehicle's behavior to the lighting control module 14. If the evacuation control module 13 determines that the driver is in an abnormal state or the vehicle is in an abnormal state, it may transmit the determination result to the lighting control module 14. For example, if the evacuation control module 13 determines that the driver is in a panic state, it may transmit data indicating that the driver is in a panic state to the lighting control module 14.

[0043] The processor 11 constructs a lighting control module 14 as a functional unit by executing a program stored in storage. The lighting control module 14 is configured to control the illumination of at least three lamps 20 located on the rear of the vehicle. In this embodiment, the at least three lamps 20 controlled by the lighting control module 14 are a brake light 21, a rear turn signal 22, a reverse light 23, a taillight 24, a license plate light 25, an auxiliary brake light 26, and a rear fog light 27. The at least three lamps 20 controlled by the lighting control module 14 are each located at different positions in the vehicle width direction.

[0044] In addition, the lighting control module 14 is configured to control the lighting of three or more types of lamps 20 provided on the rear portion of the vehicle. In the present embodiment, the three or more types of lamps controlled by the lighting control module 14 are the brake lamp 21, the rear direction indicator 22, the reverse lamp 23, the tail lamp 24, the license plate lamp 25, the auxiliary brake lamp 26, and the rear fog lamp 27.

[0045] The lighting control module 14 acquires from the evacuation control module 13 whether or not the evacuation driving control is being executed. When the evacuation driving control is being executed, the lighting control module 14 acquires the route information from the evacuation control module 13.

[0046] When the lighting control module 14 acquires that the vehicle is moving to the right, the lighting control module 14 performs a right movement presentation process, which is a process of sequentially lighting at least three lamps 20 so that the lighting position transitions from left to right. In the right movement presentation process, the lighting control module 14 outputs a lighting instruction signal to the light ECU 2 so as to sequentially light at least three lamps 20 so that the lighting position transitions from left to right. The light ECU 2 that has received the lighting instruction signal performs control to sequentially light at least three lamps 20 so that the lighting position transitions from left to right.

[0047] As shown by the arrow in FIG. 3, the light ECU 2 lights the lamps 20 arranged on the left side of the vehicle in order. The light ECU 2 lights the left brake lamp 21L, the left rear direction indicator 22L, the left tail lamp 24L, the left license plate lamp 25L, the right license plate lamp 25R, the right tail lamp 24R, the right rear direction indicator 22R, and the right brake lamp 21R in this order. Note that the lighting time of each lamp 20 is a certain short time (for example, less than 1 second), and the lit lamp 20 is turned off after a predetermined time. Thereby, a visual effect is produced in which the lighting part flows from the left end to the right end of the vehicle body on the rear portion.

[0048] In the rightward movement indication process, the number of lamps 20 that the lighting control module 14 illuminates may be any number of three or more. For example, the lighting control module 14 may output a lighting instruction signal to the light ECU 2 to illuminate the left reverse light 23L, the rear fog light 27, and the right reverse light 23R in that order. Alternatively, the lighting control module 14 may output a lighting instruction signal to the light ECU 2 to illuminate the left taillight 24L, the left number plate light 25L, the right number plate light 25R, and the right taillight 24R in that order. Lamps 20 located at the same position in the left-right direction may be illuminated simultaneously. For example, when illuminating the rear fog light 27, the auxiliary brake light 26 may also be illuminated at the same time.

[0049] The rightward movement indication process may include a process that controls the sequential illumination of at least three lamps 20 so that the illuminated areas flow from left to right, with one cycle being the number of cycles repeated. The execution period of the cycle in the rightward movement indication process may be set shorter than the legally mandated flashing period of the hazard warning lights. For example, in Japan, the legally mandated flashing period of hazard warning lights is set at 60 to 120 times per minute. In other words, the minimum value of the legally mandated flashing period is 0.5 seconds. In such a case, the execution period of the cycle, or in other words, the flashing period of each lamp 20 in the rightward movement indication process, may be set to less than 0.5 seconds. By setting a faster period than the flashing interval of the hazard warning lights in this way, the abnormal condition of the vehicle can be more strongly emphasized to the surroundings.

[0050] When the lighting control module 14 detects that the vehicle is moving to the left, it performs a left movement notification process, which involves sequentially illuminating at least three lamps 20 so that the illuminated areas transition from right to left. In the left movement notification process, the lighting control module 14 outputs an illumination instruction signal to the light ECU 2 so that at least three lamps 20 are sequentially illuminated so that the illuminated areas transition from right to left. Upon receiving the illumination instruction signal, the light ECU 2 performs control to sequentially illuminate at least three lamps 20 so that the illuminated areas transition from right to left.

[0051] In the leftward movement presentation process, the light ECU 2 illuminates the lamps 20 in order from the right side of the vehicle. The light ECU 2 illuminates the right brake light 21R, the right rear turn signal 22R, the right taillight 24R, and the right license plate light 25R in that order. Furthermore, the light ECU 2 illuminates the left license plate light 25L, the left taillight 24L, the left rear turn signal 22L, and the left brake light 21L in that order. As with the rightward movement presentation process, the illumination time for each lamp 20 is a certain short time (for example, less than 1 second), and the illuminated lamps 20 are turned off after a predetermined time. This creates a visual effect on the rear of the vehicle where the illuminated parts appear to flow from the right edge to the left edge of the vehicle body.

[0052] In the leftward movement presentation process, the number of lamps 20 that the lighting control module 14 lights up may be any number of three or more. The lighting control module 14 may output a lighting instruction signal to the light ECU 2 to light up the right reverse light 23R, the rear fog light 27, and the left reverse light 23L in that order. In addition, the lighting control module 14 may output a lighting instruction signal to the light ECU 2 to light up the right taillight 24R, the right number plate light 25R, the left number plate light 25L, and the left taillight 24L in that order.

[0053] The leftward movement presentation process may include a process that controls the sequential illumination of at least three lamps 20 so that the illuminated areas flow from right to left, with one cycle being the number of cycles repeated. The cycle duration in the leftward movement presentation process may be set to be shorter than the legally mandated flashing cycle of the emergency flashing indicator light.

[0054] In the rightward movement presentation process, the lighting control module 14 may set the brightness of the lamp 20 located on the right side of at least three lamps 20 to be higher than the brightness of the lamp 20 located on the left side. In this case, the lighting control module 14 may change the brightness of the lamps 20 in steps according to the position of the lamps 20. In the leftward movement presentation process, the lighting control module 14 may set the brightness of the lamp 20 located on the left side of at least three lamps 20 to be higher than the brightness of the lamp 20 located on the right side. In this case as well, the lighting control module 14 may change the brightness of the lamps 20 in steps according to the position of the lamps 20.

[0055] As described above, the lamp 20 located in the retraction direction on the rear side may be set to have a higher brightness than the lamp 20 located on the opposite side of the retraction direction. This configuration further emphasizes the retraction direction. As a result, it becomes easier for other vehicles around the vehicle to recognize the retraction direction of the vehicle.

[0056] The lighting control module 14 may change the hue of the lamps 20 in stages according to their position during rightward movement indication processing or leftward movement indication processing. For example, during rightward movement indication processing, the lighting control module 14 may set at least three lamps 20 to light up yellow for the lamp 20 on the right and red for the lamp 20 on the left. Specifically, the left brake light 21L may be set to light up yellow, the license plate light 25 to light up orange, and the right brake light 21R to light up red. By changing the hue of the lamps 20 in stages according to their position in this way, it becomes easier for other vehicles in the vicinity to recognize the direction in which the vehicle is moving away.

[0057] When the lighting control module 14 detects that the vehicle is moving straight, it performs a regular flashing process that causes three or more types of lamps to flash according to a predetermined rule. In this embodiment, a simultaneous flashing process, which is a form of regular flashing process, is performed. The simultaneous flashing process is a process performed by the lighting control module 14 to cause all three or more types of lamps 20 to flash at the same time. In the simultaneous flashing process, the lighting control module 14 outputs a lighting instruction signal to the light ECU 2 so that all three or more types of lamps 20 flash at the same time. Upon receiving the lighting instruction signal, the light ECU 2 controls all three or more types of lamps 20 to flash at the same time. In this embodiment, the light ECU 2 controls the brake lights 21, rear turn signals 22, reverse lights 23, taillights 24, license plate lights 25, auxiliary brake lights 26, and rear fog lights 27 to flash at the same time.

[0058] In the simultaneous flashing process, any combination of three or more lamps 20 that flash at the same time is acceptable. For example, the lighting control module 14 may control the brake lights 21, rear turn signals 22, and reverse lights 23 to flash repeatedly at the same time. The flashing cycle of the lamps 20 in the simultaneous flashing process may be set to be shorter than the legally mandated flashing cycle of the hazard lights.

[0059] The lighting control module 14 may perform a process to make the lamp 20 blink in a blinking pattern corresponding to the Morse code SOS as a simultaneous blinking process. Specifically, the Morse code pattern consists of three short dots (...) for "S" and three long dashes (---) for "O". When blinking the lamp 20, short dots can be represented by shortening the illumination time, and long dashes by lengthening the illumination time.

[0060] For example, the letter "S" is represented by repeatedly turning the left brake light 21L, left rear turn signal 22L, and left taillight 24L on for 0.3 seconds and off for 0.3 seconds, three times. The letter "O" is represented by repeatedly turning the left brake light 21L, left rear turn signal 22L, and left taillight 24L on for 0.9 seconds and off for 0.3 seconds, three times. Then, the letter "S" is represented again by repeatedly turning the left brake light 21L, left rear turn signal 22L, and left taillight 24L on for 0.3 seconds and off for 0.3 seconds, three times. The lighting control module 14 outputs a signal to the light ECU 2 to turn on the lights in this way to indicate SOS. By making the lamps 20 flash in this way, the driver of a following vehicle can visually recognize the Morse code "SOS". The above values ​​for lighting control to represent short and long dots are just examples. The notation 0.3 seconds may be replaced with 0.2 seconds or 0.4 seconds, and the notation 0.9 seconds may be replaced with 0.8 seconds or 1.0 seconds.

[0061] The regular flashing process may be any process other than the simultaneous flashing process described above. The regular flashing process may also be a staggered flashing process in which three or more types of lamps 20 flash in a predetermined order at different timings. For example, as a regular flashing process, the lighting control module 14 may output a lighting instruction signal to the light ECU 2 to flash the taillights 24, license plate lights 25, and auxiliary brake lights 26 in that order. In the description of the simultaneous flashing process, the mention of taillights 24 may be understood as both the left and right taillights 24. The same applies to other lamps 20 such as license plate lights 25 and auxiliary brake lights 26, which may also be understood as both the left and right lamps 20. The flashing time for each lamp 20 is a certain short time (for example, less than 1 second), and the flashed lamp 20 is turned off after a predetermined time. In the regular flashing process, the order in which the lamps 20 are flashed may be changed as appropriate. For example, in the regular flashing process, the lighting control module 14 may flash the auxiliary brake lights 26, license plate lights 25, and taillights 24 in that order.

[0062] In the regular flashing process, the number and combination of the three or more types of lamps 20 to be flashed may be designed as appropriate. As part of the regular flashing process, the lighting control module 14 may flash the brake lights 21, rear turn signals 22, reverse lights 23, and taillights 24 in a predetermined order. The regular flashing process may also involve flashing the auxiliary brake lights 26, taillights 24, and reverse lights 23 in that order. According to this control, a visual effect is created on the rear of the vehicle in which the illuminated parts appear to flow downwards from the top of the vehicle body. Basically, the evacuation control may involve deceleration toward stopping. By creating a visual effect on the rear of the vehicle in which the illuminated parts appear to flow downwards from the top of the vehicle body, drivers of following vehicles can more easily recognize that the vehicle is decelerating or coming to a stop.

[0063] As illustrated above, the regular blinking process may be a repetition of a predetermined basic cycle. The basic cycle may include sequentially switching between two or more lighting patterns. That is, the basic cycle includes three or more lighting patterns. Each lighting pattern may temporarily overlap or may be completely separate in time.

[0064] The basic cycle may include a pattern in which multiple types of lamps 20 flash simultaneously. For example, the basic cycle may include a pattern in which the brake lights 21 and auxiliary brake lights 26 flash simultaneously. The basic cycle may also include a pattern in which the brake lights 21, auxiliary brake lights 26, and rear fog lights 27 are illuminated simultaneously, and a pattern in which the taillights 24 and number lights 25 are illuminated simultaneously.

[0065] The regular flashing process may include lamps 20 that remain lit or lamps 20 that remain off. For example, the regular flashing process may be a process that keeps the license plate light 25 lit. By keeping the license plate light 25 lit, the driver / computer of the following vehicle can more easily recognize the license plate number of the vehicle performing the evacuation control. Consequently, the license plate number of the vehicle performing the evacuation control can be more easily reported to the center, etc.

[0066] The lighting control module 14 may perform a process to sequentially flash three or more types of lamps as an anomalous flashing process, so that the illuminated areas on the rear rotate and transition. The light ECU 2 flashes the left rear turn signal 22L, left taillight 24L, left license plate light 25L, right license plate light 25R, right taillight 24R, right rear turn signal 22R, right reverse light 23R, rear fog light 27, and left reverse light 23L in that order. This creates a visual effect where the illuminated areas on the rear rotate clockwise from the upper left edge of the vehicle body. Note that the left brake light 21L may be used instead of the left rear turn signal 22L, and the right brake light 21R may be used instead of the right rear turn signal 22R.

[0067] The lighting control module 14 may perform regular flashing even when the vehicle is not moving straight. For example, the lighting control module 14 may perform regular flashing when it detects that the vehicle is not moving to the right or left. In addition, the lighting control module 14 may perform regular flashing when it detects that the vehicle is stopping or reversing.

[0068] <Processing Flow> Using Figures 4 and 5, an example of a processing flow performed by the retraction control module 13 and the lighting control module 14 will be explained. Each processing flow starts when the vehicle's ignition switch is turned ON. The processing flow may be repeated until the ignition switch is turned OFF. In the flow description, "S" means step. For example, the notation S11 may be replaced with step 11 or step S11.

[0069] In S10, the retraction control module 13 acquires vehicle status data from the driver status sensor 3. In S11, the retraction control module 13 acquires driver status data from the vehicle status sensor 4. In S12, the retraction control module 13 determines from the vehicle status data whether the vehicle is in an abnormal state. If the answer in S12 is Yes, the process proceeds to S14; otherwise, it proceeds to S13. In S13, the retraction control module 13 determines from the driver status data whether the driver is in an abnormal state. If the answer in S13 is Yes, the process proceeds to S14; otherwise, the process flow ends.

[0070] In S14, the retraction control module 13 starts retraction driving control. The retraction control module 13 sends a start signal to the lighting control module 14. In S15, the retraction control module 13 sends route information to the lighting control module 14. In S16, the retraction control module 13 determines whether the retraction is complete. In S16, if the answer is No, proceed to S15; if the answer is Yes, the retraction control module 13 sends a completion signal to the lighting control module 14 and terminates the processing flow. If the processing flow is terminated, the periodic execution of this flow may be restarted after a certain period of time has elapsed from the termination point.

[0071] Note that the order of steps S10 and S11 may be changed. Also, steps S10 and S11 may be performed in parallel. The order of steps S12 and S13 may be changed. Also, steps S12 and S13 may be performed in parallel.

[0072] Next, using Figure 5, we will explain a flow diagram illustrating an example of the processing performed by the lighting control module 14. In S20, the lighting control module 14 determines whether or not the vehicle is in emergency driving control mode. If the lighting control module 14 receives a start signal, it determines that the vehicle is in emergency driving control mode; if it does not receive a start signal, it determines that the vehicle is not in emergency driving control mode. If the result in S20 is Yes, the process proceeds to S21; otherwise, the process flow ends.

[0073] In S21, the lighting control module 14 obtains path information from the evacuation control module 13. In S22, the lighting control module 14 determines whether the vehicle is going straight or not. If the answer is Yes in S22, the process proceeds to S23; otherwise, it proceeds to S24. In S23, the lighting control module 14 performs simultaneous flashing processing. The lighting control module 14 outputs a lighting instruction signal to the light ECU 2 so that all three or more types of lamps 20 flash at the same time.

[0074] In S24, the lighting control module 14 determines whether the vehicle will move to the right. If the answer in S24 is Yes, the process proceeds to S25; otherwise, it proceeds to S26. In S25, the lighting control module 14 performs a rightward movement indication process. The lighting control module 14 outputs a lighting instruction signal to the light ECU 2 to sequentially light at least three lamps 20 so that the illuminated areas transition from left to right.

[0075] In S26, the lighting control module 14 performs a left movement indication process. The lighting control module 14 outputs a lighting instruction signal to the light ECU 2 to sequentially light up at least three lamps 20 so that the illuminated area transitions from right to left. In S27, the lighting control module 14 determines whether the retraction is complete. If the lighting control module 14 receives a completion signal, it determines that the retraction is complete; if it does not receive a completion signal, it determines that the retraction is not complete. If the result in S27 is No, the process proceeds to S21; if the result is No, the process flow ends.

[0076] The right movement indication process and the regular blinking process may be combined. For example, the regular blinking process may be performed after the right movement indication process. In S25, the lighting control module 14 may perform a cycle twice in which it lights up at least three lamps 20 in sequence so that the illuminated areas transition from left to right, and then control all three or more types of lamps 20 to blink at the same time. After that, the lighting control module 14 may control it to light up at least three lamps 20 in sequence so that the illuminated areas transition from left to right.

[0077] Similarly, the left movement presentation process and the regular blinking process may be combined. For example, the regular blinking process may be performed after the left movement presentation process. In S26, the lighting control module 14 may perform a cycle twice in which it sequentially lights up at least three lamps 20 so that the lit areas transition from right to left, and then control all three or more types of lamps 20 to blink a predetermined number of times at the same timing. After that, the lighting control module 14 may further control it to sequentially light up at least three lamps 20 so that the lit areas transition from right to left.

[0078] Until movement to the right or left is completed, the lighting control module 14 may alternately perform the right or left movement indication process and the regular flashing process. While moving to the right, the lighting control module 14 may repeatedly perform the right movement indication process a predetermined number of times and the regular flashing process a predetermined number of times. While moving to the left, the lighting control module 14 may also repeatedly perform the left movement indication process a predetermined number of times and the regular flashing process a predetermined number of times.

[0079] In addition, the rightward movement indication process and the regular flashing process may be performed in parallel. For example, in S25, the regular flashing process may be performed on the lamp 20 located in the upper part of the rear of the vehicle, and the rightward movement indication process may be performed on the lamp 20 located in the middle or lower part of the rear of the vehicle. The upper part of the rear here refers to the area near the roof or the area near the top edge of the rear window. The upper part of the rear may be an area within a certain distance (e.g., 0.3 m) from the top edge of the rear. The lower part of the rear may be the area near the rear bumper, for example, within 0.3 m from the rear bumper. The middle part is the area between the lower and upper parts. The middle part may be an area within 0.3 m from the bottom edge of the rear window or the beltline. In the configuration shown in Figure 2, the lamps 20 in the middle part are the brake light 21, rear turn signal 22, taillight 24, license plate light 25, and auxiliary brake light 26. The lamps 20 in the lower section are the reverse lights 23 and the rear fog lights 27. The lamps 20 in the upper section are the auxiliary brake lights 26.

[0080] For example, in S25, the lighting control module 14 may perform regular flashing processing for the brake lights 21, rear turn signals 22, taillights 24, license plate lights 25, and auxiliary brake lights 26, and perform rightward movement indication processing for the reverse lights 23 and rear fog lights 27. Similarly, leftward movement indication processing and regular flashing processing may be performed in parallel.

[0081] In this embodiment, if lateral movement is planned during the evacuation run, a right movement indication process or a left movement indication process is executed depending on the direction of movement. In other embodiments, the right movement indication process and the left movement indication process may not be performed. Specifically, processes S21, S22, S24, S25, and S26 may be omitted. From the start of the evacuation run until the completion of the evacuation run, the lighting control module 14 may perform a regular flashing process regardless of the vehicle's path.

[0082] <Summary of Embodiments> The lighting patterns of the lamp 20 in the rightward movement presentation process, leftward movement presentation process, and regular flashing process according to the configuration of this disclosure are all lighting patterns that are not achieved in normal use. Therefore, according to the configuration of this disclosure, it is possible to more strongly communicate to the surroundings that the vehicle is in an abnormal state. In addition, in the rightward movement presentation process and the leftward movement presentation process, the illuminated area transitions in the same direction as the retreat direction, so other vehicles around the vehicle can recognize the direction in which the vehicle is retreating.

[0083] <Modification 1> In the above-described embodiment, the lighting control module 14 performed a regular flashing process when it detected that the vehicle was moving straight, but it is not necessarily limited to this configuration. When the lighting control module 14 detects that the vehicle is moving straight, it may perform a random flashing process in which three or more lamps 20 are randomly lit. The lamps 20 to be flashed in the random flashing process may be determined using an arbitrary random function (also called a Land function). The random flashing process may be a process in which three or more lamps 20 are randomly lit for a predetermined time or until a predetermined termination condition is met. The termination condition may be the completion of stopping or evasive driving control.

[0084] The flashing period of lamp 20 in random flashing processing may be set shorter than the legally mandated flashing period of emergency flashing indicator lights. The flashing period of lamp 20 in random flashing processing may be understood as the interval from when one lamp 20 lights up until the next lamp 20 lights up. In other words, the flashing speed of lamp 20 in random flashing processing may be set faster than the legally mandated flashing speed of emergency flashing indicator lights. In random flashing processing, the lighting periods of multiple lamps 20 may temporarily overlap or may be completely separated in time. The flashing interval of lamp 20 in random flashing processing may be random within a certain range. The brightness and hue of lamp 20 in random flashing processing may also be random within a predetermined range. Random flashing processing may be a process that irregularly transitions the location of illumination, etc.

[0085] The combination of lamps 20 used for random flashing may be designed as appropriate. For example, the combination of lamps 20 used for random flashing may be brake lights 21, tail lights 24, license plate lights 25, and auxiliary brake lights 26. The combination of lamps 20 used for random flashing may be reverse lights 23 and rear fog lights 27. The combination of lamps 20 used for random flashing may be all the lamps provided on the rear. In random flashing, left and right lamps 20 of the same type may be controlled independently. That is, the left and right brake lights 21, left and right rear turn signals 22, left and right reverse lights 23, left and right tail lights 24, and left and right license plate lights 25 may each be controlled to light up individually. When the left brake light 21L is lit, the right brake light 21R may be off. In addition, even in random flashing, left and right lamps 20 of the same type may be controlled to flash simultaneously.

[0086] <Modification 2> In the above-described embodiment, the lighting control module 14 performed a regular flashing process when it detected that the vehicle was moving straight. However, instead of a regular flashing process, it may be configured to simply flash a specific lamp 20. For example, in S23 of the flow in Figure 5, instead of simultaneous flashing, the hazard lamp may be flashed.

[0087] <Modification 3> In the above-described embodiment, a configuration was shown in which one control device 1 has the functional parts of the retraction control module 13 and the lighting control module 14, but the configuration is not necessarily limited to this. As shown in Figure 6, the functions of the retraction control module 13 and the lighting control module 14 may be provided in different control devices. In this modification, the first control device 7 has the function of the retraction control module 13, and the second control device 8 has the function of the lighting control module 14. The first control device 7 and the second control device 8 may be any ECU.

[0088] <Other variations> Also, as illustrated in Figure 6, the lamp 20 controlled by the light ECU 2 may include a matrix lamp 20M. The matrix lamp 20M is a lamp configured to display characters or images by illuminating multiple LEDs in a grid pattern and lighting the LEDs individually.

[0089] The lighting control module 14 may display an indication of the driver's abnormal condition on the matrix lamp 20M while evasive driving control is being performed due to an abnormal condition of the driver. For example, if the lighting control module 14 receives data from the evasive control module 13 indicating that the driver is in a panic state, it may display text such as "Automatic driving is in progress because the driver is in a panic state."

[0090] The lighting control module 14 may acquire the vehicle's planned behavior from the evacuation control module 13 and display the acquired planned behavior on the matrix lamp 20M. For example, in evacuation control, if the vehicle changes lanes, the lighting control module 14 may display text such as "Changing lanes."

[0091] The lighting control module 14 may directly control the turning on or off of the lamp 20 without going through the light ECU 2. The lighting control module 14 may directly output a turn-on instruction signal to the lamp 20.

[0092] Control device 1 may sound the horn during evasive driving control. Control device 1 may rotate the vehicle's side mirrors during evasive driving. Control device 1 may open the vehicle's windows during evasive driving. Control device 1 may emit an abnormal condition alert sound from the vehicle's speaker during evasive driving. Control device 1 may emit a radio sound at a high volume from the vehicle's speaker during evasive driving.

[0093] The control device 1 may open the vehicle doors when it has finished evasive driving control and stopped the vehicle. The control device 1 may emit smoke during evasive driving. The evasive driving control module 13 may control the vehicle to drive in a zigzag pattern during evasive driving. The evasive driving control module 13 may control the vehicle to drive with a deviation to either the left or right side of the lane during evasive driving. The evasive driving control module 13 may control the vehicle to drive across the lane boundary line during evasive driving.

[0094] The lighting control module 14 may control the interior lights to flash during emergency maneuvers. The lighting control module 14 may also control the interior lights to change color during emergency maneuvers. For example, the lighting control module 14 may change the color of the interior lights to red during emergency maneuvers.

[0095] The lighting control module 14 may cause the brake lights 21 to flash rapidly while the vehicle is in a evasive position. The lighting control module 14 may also change the beam pattern of the headlights vertically while the vehicle is in a evasive position.

[0096] In the right movement presentation process, left movement presentation process, regular flashing process, and random flashing process, the lighting control module 14 may increase the brightness of the lamp 20 to be lit if the driver is unconscious. In addition, if the driver is unconscious, the lighting control module 14 may set the flashing interval of the lamp 20 to be shorter.

[0097] In the right movement presentation process, left movement presentation process, regular flashing process, and random flashing process, the lighting control module 14 may set the brightness of the lamps 20 located inside the vehicle to a low level and the brightness of the lamps 20 located outside the vehicle to a high level if the driver is in a panic state. In addition, the lighting control module 14 may set the brightness of the lamps 20 located within the driver's field of vision to a low level and the brightness of the other lamps 20 to a high level. This reduces the risk of further stimulating a driver who is in a panic state.

[0098] In the right movement presentation process, left movement presentation process, regular flashing process, and random flashing process, the lighting control module 14 may set the brightness of the lamps 20 located inside the vehicle to a low level and the brightness of the lamps 20 located outside the vehicle to a high level if the vehicle state sensor 4 malfunctions. This reduces the risk of the driver panicking.

[0099] In simultaneous flashing processing, the lighting control module 14 may also flash the lamps 20 located other than on the rear of the vehicle. For example, in simultaneous flashing processing, the lighting control module 14 may also flash the headlights. In regular flashing processing, the lighting control module 14 may also flash the lamps 20 located other than on the rear of the vehicle. For example, in regular flashing processing, the lighting control module 14 may also flash the headlights.

[0100] Other vehicles in the vicinity of the vehicle may detect the illumination of the lamp 20 due to the vehicle's rightward movement indication process, leftward movement indication process, regular flashing process, and random flashing process, and change their control accordingly. For example, other vehicles may use a front camera to detect the illumination of the lamp 20 due to the rightward movement indication process, leftward movement indication process, regular flashing process, and random flashing process, and recognize a vehicle that is moving to avoid a siding. If other vehicles recognize a vehicle that is moving to avoid a siding, they may control their vehicle to move away from that vehicle. If other vehicles recognize a vehicle that is moving to avoid a siding, they may control their vehicle to flash its taillights.

[0101] (Disclosure of Technical Ideas) This specification discloses several technical ideas as described in the following paragraphs. Some paragraphs may be written in a multiple dependent form, where subsequent paragraphs optionally refer to preceding paragraphs. Furthermore, some paragraphs may be written in a multiple dependent form, where they refer to other multiple dependent forms. These paragraphs written in multiple dependent forms define several technical ideas.

[0102] (Technical Concept 1) A vehicle control device that performs a process related to evacuation driving control, which is a control that drives a vehicle toward the shoulder of the road, comprising a lighting control module (14) that controls the illumination of at least three lamps provided on the rear of the vehicle, wherein the at least three lamps are arranged at different positions in the vehicle width direction of the vehicle, and the lighting control module is configured to obtain from an evacuation control module (13) that performs the evacuation driving control whether or not the evacuation driving control is being performed, obtain from the evacuation control module whether the vehicle moves to the left or to the right in the evacuation driving control if the evacuation driving control is being performed, perform a right movement indication process which is a process that illuminates the at least three lamps in order so that the illuminated locations transition from left to right, and perform a left movement indication process which is a process that illuminates the at least three lamps in order so that the illuminated locations transition from right to left, if the evacuation driving control obtains from an evacuation control module (13) that performs the evacuation driving control whether or not the evacuation driving control is being performed, if the evacuation driving control is being performed

[0103] (Technical Concept 2) The vehicle control device according to Technical Concept 1, wherein the rightward movement presentation process includes a process of controlling the at least three lamps to light up sequentially so that the illuminated areas flow from left to right, with one cycle being the number of times the cycle is repeated, and the leftward movement presentation process includes a process of controlling the at least three lamps to light up sequentially so that the illuminated areas flow from right to left, with one cycle being the number of times the cycle is repeated.

[0104] (Technical Concept 3) The vehicle control device according to Technical Concept 1, wherein the rightward movement presentation process includes a process of controlling the at least three lamps to light up sequentially so that the illuminated areas flow from left to right, with one cycle being the number of times the cycle is repeated, and the leftward movement presentation process includes a process of controlling the at least three lamps to light up sequentially so that the illuminated areas flow from right to left, with one cycle being the number of times the cycle is repeated, and the period of the cycles of the rightward movement presentation process and the leftward movement presentation process is set to be shorter than the legally mandated flashing period of the emergency flashing indicator light.

[0105] (Technical Concept 4) The vehicle control device according to Technical Concept 1 or 2, wherein the lighting control module is configured such that, in the rightward movement presentation process, the brightness of the lamp located on the right side of the at least three lamps is set higher than that of the lamp located on the left side, and in the leftward movement presentation process, the brightness of the lamp located on the left side of the at least three lamps is set higher than that of the lamp located on the right side.

[0106] (Technical Concept 5) The vehicle control device according to any one of Technical Concepts 1 to 3, wherein the lighting control module is configured to change the hue of the lamp in steps according to the position of the lamp in the right movement presentation process or the left movement presentation process.

[0107] (Technical Idea 6) A vehicle control device according to any one of Technical Ideas 1 to 4, wherein the at least three lamps include a matrix lamp, the retraction control module executes the retraction driving control when the driver of the vehicle is in an abnormal state, and the lighting control module is configured to cause the matrix lamp to display an indication of the driver's abnormal state during the execution of the retraction driving control resulting from the driver's abnormal state.

[0108] (Technical Idea 7) A vehicle control device according to any one of Technical Ideas 1 to 4, wherein the at least three lamps include a matrix lamp, the lighting control module is configured to acquire the vehicle's planned behavior from the retraction control module, and the matrix lamp displays the acquired planned behavior.

[0109] (Technical Concept 8) The vehicle control device according to any one of Technical Concepts 1 to 6, wherein the retraction control module is configured to execute the retraction driving control when the driver of the vehicle is in an abnormal state or the vehicle is in an abnormal state.

[0110] (Technical Concept 9) The vehicle control device according to any one of Technical Concepts 1 to 7, wherein the lighting control module is configured to control the illumination of three or more types of lamps, including the at least three lamps, provided on the rear of the vehicle, and when it is determined in the evacuation driving control that the vehicle will not move to the right or to the left, it is configured to perform at least one of the following processes: an alternate flashing process in which the three or more types of lamps flash in a predetermined order, a simultaneous flashing process in which the three or more types of lamps flash simultaneously, and a random flashing process in which the three or more lamps flash randomly.

[0111] (Technical Concept 10) A vehicle control device that performs a process related to evacuation driving control, which is a control that drives a vehicle toward the shoulder of the road, comprising a lighting control module (14) provided on the rear of the vehicle that controls the lighting of three or more types of lamps, wherein the lighting control module obtains from the evacuation control module (13) that performs the evacuation driving control whether or not the evacuation driving control is being performed, and is configured to perform a regular flashing process that flashes the three or more types of lamps according to a predetermined rule when the evacuation driving control is being performed.

[0112] (Technical Concept 11) The vehicle control device according to Technical Concept 10, wherein the lighting control module is configured to set the flashing period of the lamp in the regular flashing process to be shorter than the legally mandated flashing period of the hazard indicator light.

[0113] (Technical Concept 12) A vehicle control device that performs a process related to evacuation driving control, which is a control that drives a vehicle toward the shoulder of the road, comprising a lighting control module (14) provided on the rear of the vehicle that controls the lighting of three or more lamps, wherein the lighting control module obtains from an evacuation control module (13) that performs the evacuation driving control whether or not the evacuation driving control is being performed, and is configured to perform a random flashing process that causes the three or more lamps to flash randomly when the evacuation driving control is being performed.

[0114] (Technical Concept 13) A vehicle control method performed by a processor (11) for controlling the illumination of at least three lamps located on the rear of a vehicle and positioned at different locations in the vehicle width direction of the vehicle, the method comprising: obtaining whether or not an evasive driving control, which is a control to drive the vehicle toward the shoulder of the road, is in the process of executing an evasive driving control; if the evasive driving control is in the process of executing the evasive driving control, obtaining whether the vehicle moves to the left or to the right in the evasive driving control; if it is obtained that the vehicle moves to the right in the evasive driving control, performing a right movement indication process, which is a process of sequentially illuminating the at least three lamps so that the illuminated locations transition from left to right; and if it is obtained that the vehicle moves to the left in the evasive driving control, performing a left movement indication process, which is a process of sequentially illuminating the at least three lamps so that the illuminated locations transition from right to left.

[0115] (Technical Concept 14) A vehicle control method, executed by a processor (11), for controlling the illumination of three or more types of lamps provided on the rear of a vehicle, comprising: obtaining whether or not a retraction driving control, which is a control that drives the vehicle toward the shoulder of the road, is being executed; and, if the retraction driving control is being executed, performing a regular flashing process that causes the three or more types of lamps to flash according to a predetermined rule.

[0116] (Technical Idea 15) A vehicle control method, executed by a processor (11), for controlling the illumination of three or more lamps provided on the rear of a vehicle, comprising: obtaining whether or not a retraction driving control, which is a control that drives the vehicle toward the shoulder of the road, is being executed; and, if the retraction driving control is being executed, performing a random flashing process that causes the three or more lamps to flash randomly.

[0117] (Addendum) In this disclosure or claims, the term "processor" means one or more hardware processors configured to execute processing defined by computer program code (i.e., one or more instructions of a computer program) contained in a computer program by reading the computer program code each time. In other words, a "processor" is a hardware device that executes one or more programmed processes. Therefore, computer program code can also be said to be software that can define the processing of the processor according to its content. A "processor" can be a general-purpose or specific-purpose processor, and may be, but is not limited to, a CPU, microprocessor, GPU, and DFP (Data Flow Processor).

[0118] In this disclosure or claims, the term “memory” means one or more hardware memories that are non-transitional tangible recording media configured to record computer program code and / or data in a manner accessible from a processor. “Memory” can be implemented by memory technology such as SRAM, SDRAM, non-volatile / flash type memory, or other types of memory. The computer program code that constitutes the program is recorded in memory and executed by a processor, thereby enabling the processor to perform the various functions described above.

[0119] In this disclosure or claims, the term “circuit” refers to one or more logic circuits as hardware, configured to perform specific processing defined by a pre-designed circuit configuration. In other words (and, in contrast to “processor”), “circuit” in this disclosure or claims refers to a hardware device that performs specific processing based on a circuit configuration, rather than processing defined by software such as the computer program code described above. For example, “circuit” may include custom ICs such as ASICs (Application Specific Integrated Circuits) and FPGAs (Field Programmable Gate Arrays) designed with Hardware Description Language (HDL). That is, “circuit” in this disclosure or claims includes all hardware circuits except for the processors described above that perform processing by reading computer program code.

[0120] In this disclosure or claims, the expression "at least one of the circuit and processor" should be interpreted as disjunctive (logical OR) and not as "at least one circuit and at least one processor." Therefore, in this disclosure or claims, "at least one of the circuit and processor causes the vehicle control device to perform functions" includes the case where the circuit alone causes the vehicle control device to perform all functions. Also, "at least one of the circuit and processor causes the vehicle control device to perform functions" includes the case where the processor alone causes the vehicle control device to perform all functions. Furthermore, "at least one of the circuit and processor causes the vehicle control device to perform functions" includes the case where the circuit causes the vehicle control device to perform some functions and the processor causes the vehicle control device to perform the remaining functions. In the last example, for example, if the vehicle control device performs functions A to C, functions A and B may be implemented by the circuit, and the remaining function C may be implemented by the processor.

Claims

1. A vehicle control device that performs a process related to evacuation driving control, which is a control that drives a vehicle toward the shoulder of a road, comprising a lighting control module (14) that controls the illumination of at least three lamps provided on the rear of the vehicle, wherein the at least three lamps are arranged at different positions in the vehicle width direction of the vehicle, and the lighting control module is configured to obtain from an evacuation control module (13) that performs the evacuation driving control whether or not the evacuation driving control is being performed, obtain from the evacuation control module whether the vehicle will move to the left or to the right in the evacuation driving control if the evacuation driving control is being performed, perform a right movement indication process which is a process that illuminates the at least three lamps in order so that the illuminated locations transition from left to right, and perform a left movement indication process which is a process that illuminates the at least three lamps in order so that the illuminated locations transition from right to left, if the evacuation driving control obtains from an evacuation control module (13) that performs the evacuation driving control whether or not the evacuation driving control is being performed, if the evacuation driving control is being performed 2. The vehicle control device according to claim 1, wherein the rightward movement presentation process includes a process of controlling the at least three lamps to light up sequentially so that the illuminated areas flow from left to right, with one cycle being the number of times the cycle is repeated, and the leftward movement presentation process includes a process of controlling the at least three lamps to light up sequentially so that the illuminated areas flow from right to left, with one cycle being the number of times the cycle is repeated.

3. The vehicle control device according to claim 1, wherein the rightward movement presentation process includes a process of controlling the at least three lamps to light up sequentially so that the illuminated areas flow from left to right, with one cycle being the number of times the cycle is repeated, and the leftward movement presentation process includes a process of controlling the at least three lamps to light up sequentially so that the illuminated areas flow from right to left, with one cycle being the number of times the cycle is repeated, and the period of the cycles of the rightward movement presentation process and the leftward movement presentation process is set to be shorter than the legally mandated flashing period of the emergency flashing indicator light.

4. The vehicle control device according to claim 1 or 2, wherein the lighting control module is configured such that, in the rightward movement presentation process, the brightness of the lamp located on the right side of the at least three lamps is set higher than that of the lamp located on the left side, and in the leftward movement presentation process, the brightness of the lamp located on the left side of the at least three lamps is set higher than that of the lamp located on the right side.

5. The vehicle control device according to claim 1 or 2, wherein the lighting control module is configured to change the hue of the lamp in steps according to the position of the lamp during the right movement presentation process or the left movement presentation process.

6. The vehicle control device according to claim 1 or 2, wherein the at least three lamps include a matrix lamp, the retraction control module performs the retraction driving control when the driver of the vehicle is in an abnormal state, and the lighting control module is configured to cause the matrix lamp to display an indication of the driver's abnormal state during the execution of the retraction driving control resulting from the driver's abnormal state.

7. The vehicle control device according to claim 1 or 2, wherein the at least three lamps include a matrix lamp, the lighting control module is configured to acquire the vehicle's planned behavior from the retraction control module, and to cause the matrix lamp to display the acquired planned behavior.

8. The vehicle control device according to claim 1 or 2, wherein the retraction control module is configured to execute the retraction driving control when the driver of the vehicle is in an abnormal state or the vehicle is in an abnormal state.

9. The vehicle control device according to claim 1 or 2, wherein the lighting control module is configured to control the illumination of three or more types of lamps, including the at least three lamps, provided on the rear of the vehicle, and when it is determined in the evacuation driving control that the vehicle will not move to the right or to the left, it is configured to perform at least one of the following processes: an alternate flashing process in which the three or more types of lamps flash in a predetermined order, a simultaneous flashing process in which the three or more types of lamps flash simultaneously, and a random flashing process in which the three or more lamps flash randomly.

10. A vehicle control device that performs a process related to evacuation driving control, which is a control that drives a vehicle toward the shoulder of the road, comprising a lighting control module (14) provided on the rear of the vehicle that controls the illumination of three or more types of lamps, wherein the lighting control module obtains from an evacuation control module (13) that performs the evacuation driving control whether or not the evacuation driving control is being executed, and is configured to perform a regular flashing process that causes the three or more types of lamps to flash according to a predetermined rule when the evacuation driving control is being executed.

11. The vehicle control device according to claim 10, wherein the lighting control module is configured to set the flashing period of the lamp in the regular flashing process to be shorter than the legally mandated flashing period of the hazard indicator light.

12. A vehicle control device that performs a process related to evacuation driving control, which is a control that drives a vehicle toward the shoulder of the road, comprising a lighting control module (14) provided on the rear of the vehicle that controls the illumination of three or more lamps, wherein the lighting control module obtains from an evacuation control module (13) that performs the evacuation driving control whether or not the evacuation driving control is being performed, and is configured to perform a random flashing process that causes the three or more lamps to flash randomly if the evacuation driving control is being performed.

13. A vehicle control method performed by a processor (11) for controlling the illumination of at least three lamps located on the rear of a vehicle and positioned at different locations in the vehicle width direction of the vehicle, the method comprising: obtaining whether or not a receding driving control, which is a control to drive the vehicle toward the shoulder of the road, is being performed; if the receding driving control is being performed, obtaining whether the vehicle moves to the left or to the right in the receding driving control; if it is obtained that the vehicle moves to the right in the receding driving control, performing a right movement indication process, which is a process of sequentially illuminating the at least three lamps so that the illuminated locations transition from left to right; and if it is obtained that the vehicle moves to the left in the receding driving control, performing a left movement indication process, which is a process of sequentially illuminating the at least three lamps so that the illuminated locations transition from right to left.

14. A vehicle control method, executed by a processor (11), for controlling the illumination of three or more types of lamps provided on the rear of a vehicle, comprising: obtaining whether or not a retraction driving control, which is a control that drives the vehicle toward the shoulder of the road, is being executed; and, if the retraction driving control is being executed, performing a regular flashing process that causes the three or more types of lamps to flash according to a predetermined rule.

15. A vehicle control method, executed by a processor (11), for controlling the illumination of three or more lamps provided on the rear of a vehicle, comprising: obtaining whether or not a retraction driving control, which is a control for driving the vehicle toward the shoulder of the road, is being performed; and, if the retraction driving control is being performed, performing a random flashing process to make the three or more lamps flash randomly.

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