CN110281902B

CN110281902B - Control device, control method, and storage medium

Info

Publication number: CN110281902B
Application number: CN201910154615.2A
Authority: CN
Inventors: 渡边将行; 中塚睦; 山本诚一; 茂木优辉
Original assignee: Honda Motor Co Ltd
Current assignee: Honda Motor Co Ltd
Priority date: 2018-03-14
Filing date: 2019-02-28
Publication date: 2022-12-23
Anticipated expiration: 2039-02-28
Also published as: JP2019156216A; CN110281902A

Abstract

The invention provides a control device, a control method and a storage medium capable of adjusting the environment in a vehicle room according to a conveying object. The control device is provided with an air conditioning control unit (190), and the air conditioning control unit (190) controls the air conditioning device in the vehicle interior from a predetermined timing onward so that the environment in the vehicle interior of the vehicle becomes an environment corresponding to the condition of the conveyance target at the predetermined timing.

Description

Control device, control method, and storage medium

Technical Field

The invention relates to a control device, a control method and a storage medium.

Background

In recent years, research on automatically controlling the driving of a vehicle (hereinafter referred to as automated driving) has been progressing. In connection with this, the following techniques are known: when starting to use an autonomous vehicle, the vehicle is moved to a use start position, and the temperature in the vehicle interior is adjusted to a temperature suitable for the passenger while waiting (for example, japanese patent laid-open No. 2015-219811).

Disclosure of Invention

Here, the automatically driven vehicle is sometimes used to transport a load loaded on the vehicle in addition to a passenger. In this case, the temperature in the cabin of the autonomous vehicle is preferably adjusted to the appropriate temperature of the load. However, in the conventional technology, the temperature in the vehicle interior cannot be adjusted according to the conveyance target of the autonomous vehicle.

The present invention has been made in view of such circumstances, and an object thereof is to provide a control device, a control method, and a storage medium that can adjust the environment in a vehicle interior according to a conveyance target.

The control device, the control method, and the storage medium of the present invention have the following configurations.

(1): a control device according to an aspect of the present invention includes an air-conditioning control unit that controls an air-conditioning device in a vehicle interior from a predetermined timing onward such that an environment in the vehicle interior of an own vehicle becomes an environment according to a condition of a conveyance target at the predetermined timing.

(2): in addition to the aspect (1) above, the control device further includes: an identification unit that identifies a situation around the host vehicle; and a driving control unit that controls one or both of steering and acceleration/deceleration of the host vehicle based on a recognition result of the recognition unit, wherein the air-conditioning control unit controls an air-conditioning device in the vehicle cabin from a time point when the driving control unit performs unmanned driving.

(3): in the aspect (1) or (2), the predetermined timing is a first timing at which the occupant gets on the own vehicle, the condition is a condition set based on an action history of the occupant of the own vehicle, and the air-conditioning control unit controls the air-conditioning apparatus based on the action history before the first timing in information indicating the action history acquired from a management apparatus that manages the action history.

(4): in addition to the above-described aspects (1) to (3), the predetermined timing is a second timing at which a load to be transported by the host vehicle is loaded on the host vehicle, the condition is a condition set based on the load loaded on the host vehicle, and the air conditioning control unit further controls the air conditioning device based on an appropriate temperature of the load after the second timing.

(5): in addition to the above (4), the control device further includes: an in-vehicle recognition unit that recognizes a situation inside the host vehicle; and an appropriate temperature determination unit that determines an appropriate temperature of the load based on the condition of the interior of the host vehicle recognized by the vehicle interior recognition unit, wherein the air-conditioning control unit controls the air-conditioning device based on the appropriate temperature of the load determined by the appropriate temperature determination unit.

(6): in the aspects (1) to (5), the predetermined timing is a first timing at which the occupant of the host vehicle gets on the host vehicle and a third timing at which the occupant gets off the host vehicle, the condition is a condition set based on an action plan of the host vehicle, and the air-conditioning control unit further adjusts the environment in the vehicle cabin to an appropriate temperature from a time point at which the host vehicle has a person during a period from the first timing to the next third timing based on the action plan acquired from a management device that manages the action plan.

(7): in addition to the aspects (1) to (6), the predetermined timing may be a first timing at which the occupant gets on the host vehicle and a third timing at which the occupant gets off the host vehicle, the condition may be set based on outside air, the air-conditioning control unit may control the air-conditioning apparatus based on the outside air during a period from the third timing to the next first timing, and may control the air-conditioning apparatus based on the condition after the first timing.

(8): in addition to the aspects (1) to (7), the predetermined timing may be a third timing at which the occupant gets off the vehicle, the condition may be a condition set based on an action plan of the vehicle, and the air-conditioning control unit may not control the air-conditioning apparatus when the action plan of the vehicle does not exist for a predetermined period after the third timing based on information indicating the action plan acquired from a management apparatus that manages the action plan.

(9): in addition to the aspect (2) described above, the driving control unit may cause the host vehicle to travel based on an adjustment state in which the air conditioning control unit adjusts the environment in the vehicle cabin.

(10): in the aspect of (9) above, the driving control unit may cause the vehicle to travel on a route having a higher outside air temperature than other routes when the air conditioning control unit performs adjustment for increasing the temperature in the vehicle interior, and cause the vehicle to travel on a route having a lower outside air temperature than other routes when the air conditioning control unit performs adjustment for decreasing the temperature in the vehicle interior.

(11): in the aspect (10), the path in which the temperature of the outside air is higher than the other paths is a path irradiated with sunlight, and the path in which the temperature of the outside air is lower than the other paths is a path not irradiated with sunlight.

(12): in addition to the aspects (1) to (11), the air-conditioning control unit may take in the outside air into the vehicle interior when controlling the air-conditioning apparatus based on the outside air.

(13): in addition to the aspect (12), the control device may further include a detection unit that detects a pollutant in the outside air of the vehicle, and the air conditioning control unit may determine whether or not the outside air is taken in based on a degree to which the outside air includes the pollutant detected by the detection unit.

(14): in the aspect (13) described above, the air conditioning control unit determines not to take in the outside air when the outside air contains the pollutant equal to or higher than the predetermined threshold value.

(15): in addition to the above-described aspects (1) to (14), the control device further includes an open/close control unit that controls opening and closing of the window of the host vehicle based on an adjustment state in which the air-conditioning control unit adjusts the environment in the vehicle interior.

(16): in the aspect of (15) above, the opening/closing control unit may control opening/closing of the window based on a speed of the host vehicle.

(17): in the aspect (16) described above, the opening/closing control unit increases the degree of opening of the window as the speed of the host vehicle increases.

(18): in the control method according to one aspect of the present invention, the control device controls the air conditioner in the vehicle interior from a predetermined timing before the predetermined timing so that the environment in the vehicle interior of the host vehicle becomes an environment according to the condition of the conveyance target at the predetermined timing.

(19): a storage medium according to an aspect of the present invention causes a control device to control an air conditioner in a vehicle interior from a predetermined timing before, so that an environment in the vehicle interior of a host vehicle becomes an environment corresponding to a condition of a transport target at the predetermined timing.

According to (1) to (19), the environment in the vehicle interior can be adjusted according to the conveyance target.

According to the configuration of (2), the environment in the vehicle interior can be adjusted while the passenger is not riding in the vehicle interior.

According to the configuration of (3), the environment in the vehicle interior can be adjusted according to the behavior of the passenger who gets on the vehicle from now.

According to the configurations (4) to (5), the environment in the vehicle interior can be adjusted according to the loaded load.

According to the configuration of (6), the environment in the vehicle interior can be adjusted while the passenger is riding in the vehicle interior.

According to the structure of (7), thermal shock to the passenger can be suppressed.

According to the configurations (8) to (12), the electric power consumed by the vehicle can be reduced.

According to the configurations (13) to (14), contamination of the environment in the vehicle interior by the pollutant can be suppressed.

According to the configuration of (15), the electric power consumed by the vehicle can be reduced.

According to the configurations (16) to (17), the privacy of the vehicle interior can be protected.

Drawings

Fig. 1 is a configuration diagram showing a vehicle control device according to a first embodiment.

Fig. 2 is a functional configuration diagram showing a first control unit and a second control unit according to the first embodiment.

Fig. 3 is a diagram showing an example of timing at which the air conditioning control unit adjusts the environment in the vehicle interior.

Fig. 4 is a diagram showing an example of the configuration of the vehicle system.

Fig. 5 is a table showing an example of the contents of the action history information.

Fig. 6 is a diagram showing an example of a captured image of the camera in the vehicle interior.

Fig. 7 is a flowchart showing an example of a series of processing flows of the automatic driving control device according to the first embodiment.

Fig. 8 is a flowchart showing an example of a series of processing flows in step S102 in the first embodiment.

Fig. 9 is a flowchart showing an example of a series of processing flows in step S106 in the first embodiment.

Fig. 10 is a flowchart showing an example of a series of processing flows in step S110 in the first embodiment.

Fig. 11 is a flowchart showing an example of a series of processing flows in step S112 in the first embodiment.

Fig. 12 is a configuration diagram of a vehicle control device of the second embodiment.

Fig. 13 is a diagram showing an example of an external appearance of the power window device.

Fig. 14 is a flowchart showing an example of a series of processing flows in step S112 in the second embodiment.

Fig. 15 is a configuration diagram of a vehicle control device of the third embodiment.

Fig. 16 is a flowchart showing an example of a processing flow of the air conditioning control unit according to the third embodiment.

Fig. 17 is a flowchart showing an example of a processing flow of the opening/closing control unit according to modification 1.

Fig. 18 is a functional configuration diagram of the first control unit and the second control unit in the fourth embodiment.

Fig. 19 is a flowchart showing an example of a series of processing flows in step S112 in the fourth embodiment.

Fig. 20 is a diagram showing an example of timing at which the air conditioning control unit of the fourth embodiment adjusts the environment in the vehicle interior.

Fig. 21 is a table showing an example of the contents of the action plan information.

Fig. 22 is a flowchart showing an example of a series of processing flows of the automatic driving control apparatus according to the fourth embodiment.

Fig. 23 is a flowchart showing an example of a series of processing flows in step S116.

Fig. 24 is a diagram showing an example of the hardware configuration of the automatic driving control device according to the embodiment.

Detailed Description

Hereinafter, embodiments of a control device and a storage medium according to the present invention will be described with reference to the drawings.

< first embodiment >

[ integral Structure ]

Fig. 1 is a configuration diagram of a vehicle control device 1 according to a first embodiment. The vehicle (hereinafter referred to as the vehicle M) on which the vehicle control device 1 is mounted is, for example, a two-wheel, three-wheel, four-wheel or the like vehicle, and the drive source thereof includes an internal combustion engine such as a diesel engine or a gasoline engine, an electric motor, or a combination thereof. The electric motor operates using generated power generated by a generator connected to the internal combustion engine or discharged power of a secondary battery or a fuel cell. In the present embodiment, the description has been given of the case where the host vehicle M is an automatically driven vehicle as an example, but the present invention is not limited to this, and the host vehicle M may be manually driven by an operation of a passenger.

The vehicle control device 1 includes, for example, a camera 10, a radar device 12, a probe 14, an object recognition device 16, a communication device 20, an HMI (Human Machine Interface) 30, a vehicle sensor 40, a navigation device 50, an MPU (Map Positioning Unit) 60, a thermometer 70, a driving operation Unit 80, an air conditioner 90, an automatic driving control device 100, a driving force output device 200, a brake device 210, a steering device 220, and an interior camera 300. These apparatuses and devices are connected to each other by a multiplex communication line such as a CAN (Controller Area Network) communication line, a serial communication line, a wireless communication Network, or the like. The configuration shown in fig. 1 is merely an example, and a part of the configuration may be omitted, and another configuration may be further added. The automatic driving control apparatus 100 is an example of a "control apparatus".

The camera 10 is a digital camera using a solid-state imaging Device such as a CCD (Charge Coupled Device) or a CMOS (Complementary Metal Oxide Semiconductor). The camera 10 is mounted on an arbitrary portion of the vehicle M. When shooting the front, the camera 10 is attached to the upper part of the front windshield, the rear surface of the vehicle interior mirror, or the like. The camera 10 repeatedly captures the periphery of the host vehicle M periodically, for example. The camera 10 may also be a stereo camera.

The radar device 12 radiates radio waves such as millimeter waves around the host vehicle M, and detects radio waves (reflected waves) reflected by an object to detect at least the position (distance and direction) of the object. The radar device 12 is mounted on an arbitrary portion of the vehicle M. The radar device 12 may detect the position and velocity of the object by FM-CW (Frequency Modulated Continuous Wave) method.

The detector 14 is a LIDAR (Light Detection and Ranging). The detector 14 irradiates light to the periphery of the host vehicle M and measures scattered light. The probe 14 detects the distance to the object based on the time from light emission to light reception. The light to be irradiated is, for example, pulsed laser light. The probe 14 is attached to an arbitrary portion of the vehicle M.

The object recognition device 16 performs sensor fusion processing on detection results detected by some or all of the camera 10, the radar device 12, and the detector 14 to recognize the position, the type, the speed, and the like of the object. The object recognition device 16 outputs the recognition result to the automatic driving control device 100. The object recognition device 16 may directly output the detection results of the camera 10, the radar device 12, and the detector 14 to the automatic driving control device 100. The object recognition device 16 may be omitted from the vehicle control device 1.

The Communication device 20 communicates with another vehicle present in the vicinity of the host vehicle M or communicates with various server devices via a wireless base station, for example, using a cellular network, a Wi-Fi network, bluetooth (registered trademark), DSRC (Dedicated Short Range Communication), or the like.

The HMI30 presents various kinds of information to the passenger of the host vehicle M and receives an input operation by the passenger. The HMI30 includes various display devices, speakers, buzzers, touch panels, switches, keys, and the like.

The vehicle sensors 40 include a vehicle speed sensor that detects the speed of the own vehicle M, an acceleration sensor that detects acceleration, a yaw rate sensor that detects an angular velocity about a vertical axis, an orientation sensor that detects the orientation of the own vehicle M, and the like.

The Navigation device 50 includes, for example, a GNSS (Global Navigation Satellite System) receiver 51, a Navigation HMI52, and a route determination unit 53. The navigation device 50 holds first map information 54 in a storage device such as an HDD (Hard disk drive) or a flash memory.

The GNSS receiver 51 determines the position of the own vehicle M based on the signals received from the GNSS satellites. The position of the host vehicle M may also be determined or supplemented by an INS (Inertial Navigation System) that utilizes the output of the vehicle sensors 40.

The navigation HMI52 includes a display device, a speaker, a touch panel, keys, and the like. Part or all of the navigation HMI52 may also be shared with the aforementioned HMI 30.

The route determination unit 53 determines a route (hereinafter, an on-map route) from the position of the own vehicle M (or an arbitrary input position) specified by the GNSS receiver 51 to the destination input by the passenger using the navigation HMI52, for example, with reference to the first map information 54. The first map information 54 is, for example, information representing a road shape by a line representing a road and nodes connected by the line. The first map information 54 may include curvature Of a road, POI (Point Of Interest) information, and the like. The on-map route is output to the MPU60.

The navigation device 50 may perform route guidance using the navigation HMI52 based on the on-map route. The navigation device 50 may be realized by a function of a terminal device such as a smartphone or a tablet terminal that is held by a passenger. The navigation device 50 may transmit the current position and the destination to the navigation server via the communication device 20, and acquire a route equivalent to the route on the map from the navigation server.

The MPU60 includes, for example, a recommended lane determining unit 61, and holds second map information 62 in a storage device such as an HDD or a flash memory. The recommended lane determining unit 61 divides the on-map route provided from the navigation device 50 into a plurality of sections (for example, divided by 100[ m ] in the vehicle traveling direction), and determines the recommended lane for each section with reference to the second map information 62. The recommended lane determining unit 61 determines to travel in the second lane from the left. The recommended lane determining unit 61 determines the recommended lane so that the host vehicle M can travel on a reasonable route for traveling to the branch destination when there is a branch point on the route on the map.

The second map information 62 is map information with higher accuracy than the first map information 54. The second map information 62 includes, for example, information on the center of a lane, information on the boundary of a lane, information on the type of a lane, and the like. The second map information 62 may include road information, traffic restriction information, residence information (residence, zip code), facility information, telephone number information, and the like. The second map information 62 can be updated at any time by the communication device 20 communicating with other devices.

The thermometer 70 includes an outside air thermometer 71 and a vehicle interior thermometer 72. The outside air thermometer 71 measures the temperature of the outside air, and the vehicle interior thermometer 72 measures the temperature in the vehicle interior of the host vehicle M. The measurement result of the outside air thermometer 71 and the measurement result of the vehicle interior thermometer 72 are output to the automatic driving control device 100. The outside air is air outside the vehicle M, and is air around the vehicle M. The outside air thermometer is installed, for example, on the rear side of the front bumper that is not affected by the heat of the internal combustion engine and the electric motor of the vehicle M or the heat of the road surface. The vehicle interior thermometer is provided at a position (e.g., glove box) that is not affected by heat other than the instrument panel, the air outlet of the air conditioner 90, and the like.

The driving operation member 80 includes, for example, an accelerator pedal, a brake pedal, a shift lever, a steering wheel, a joystick, and other operation members. A sensor for detecting the operation amount or the presence or absence of operation is attached to the driving operation element 80, and the detection result is output to some or all of the automatic driving control device 100, the running driving force output device 200, the brake device 210, and the steering device 220.

The air conditioner (air conditioning device) 90 adjusts the environment in the vehicle interior by adjusting the state of air in the vehicle interior of the host vehicle M. The operation of the air conditioner 90 is controlled by the automatic driving control device 100. For example, the operation of the air conditioner 90 is controlled by the automatic driving control device 100 to be "cooling operation", "heating operation", "holding operation", "outside air temperature holding operation", or "stop". The holding operation is an operation of holding the temperature in the vehicle interior of the host vehicle M, and the outside air temperature holding operation is an operation of matching the temperature in the vehicle interior of the host vehicle M with the outside air. The case where the air conditioner 90 includes a heater will be described, but the heater may be provided separately from the air conditioner 90. In the following description, the vehicle interior of the vehicle M will be simply referred to as "vehicle interior".

The air conditioner 90 is an example of an "air conditioner".

The automatic driving control device 100 includes, for example, a first control unit 120, a second control unit 160, a storage unit 180, and an air conditioning control unit 190. The first control Unit 120 and the second control Unit 160 are each realized by executing a storage medium (software) by a processor such as a CPU (Central Processing Unit). Some or all of these components may be realized by hardware (including Circuit units) such as LSI (Large Scale Integration), ASIC (Application Specific Integrated Circuit), FPGA (Field-Programmable Gate Array), GPU (Graphics Processing Unit), or the like, or may be realized by cooperation between software and hardware. The storage medium may be stored in the storage unit 180 of the automatic driving control apparatus 100 in advance, or may be stored in a removable storage medium such as a DVD or a CD-ROM, and attached to the storage unit 180 by mounting the storage medium on the drive apparatus.

The storage unit 180 is implemented by, for example, an HDD, a flash Memory, an EEPROM (Electrically Erasable Programmable Read Only Memory), a ROM (Read Only Memory), a RAM (Random Access Memory), or the like. The storage unit 180 stores a storage medium that is read and executed by the processor, for example. The memory unit 180 stores the appropriate temperature information 181. The proper temperature information 181 is information in which information indicating the appearance of a load required for adjusting the environment in the vehicle compartment and information indicating the proper temperature of the load are associated with each other. The load required for adjusting the environment in the cabin is, for example, a shopping bag into which fresh food is put, a box into which raw snacks to be refrigerated are put, a box into which food to be served (for example, pizza, lunch, etc.) is put, and the like.

Fig. 2 is a functional configuration diagram of the first control unit 120 and the second control unit 160 according to the first embodiment.

The first control unit 120 includes, for example, a recognition unit 130 and an action plan generation unit 140. The recognition unit 130 includes a vehicle interior recognition unit 131 and an appropriate temperature determination unit 132. The first control unit 120 is realized by, for example, parallel functions based on an AT (Artificial Intelligence) and a model provided in advance. For example, the function of "identifying an intersection" can be realized by: intersection recognition by deep learning or the like and recognition by a condition given in advance (signal having a matchable pattern, road sign, or the like) are executed in parallel, and both are scored and comprehensively evaluated. Thereby, the reliability of the automatic driving is ensured.

The recognition unit 130 recognizes the surrounding situation of the host vehicle M based on information input from the camera 10, the radar device 12, and the probe 14 via the object recognition device 16. 130 recognize the position, speed, acceleration, and other conditions of the object in the vicinity of the host vehicle M. The position of the object is recognized as a position on absolute coordinates with the representative point (center of gravity, center of drive shaft, etc.) of the host vehicle M as the origin, for example, and used for control. The position of the object may be represented by a representative point such as the center of gravity and a corner of the object, or may be represented by a region represented by the representative point. The "state" of the object may also include acceleration, jerk, or "behavior state" of the object (e.g., whether a lane change is being made or whether a lane change is to be made).

The recognition unit 130 recognizes, for example, a lane (traveling lane) in which the host vehicle M travels. For example, the recognition unit 130 recognizes the traveling lane by comparing the pattern of road dividing lines (e.g., the arrangement of solid lines and broken lines) obtained from the second map information 62 with the pattern of road dividing lines around the host vehicle M recognized from the image captured by the camera 10. The recognition unit 130 may recognize the lane by recognizing a boundary of the traveling path (road boundary) including a road dividing line, a shoulder, a curb, a center barrier, a guardrail, and the like, without being limited to the road dividing line. The recognition may be performed by adding the position of the own vehicle M and the processing result of the INS acquired from the navigation device 50. The recognition unit 130 recognizes a stop line, an obstacle, a red light, a toll booth, and other road items.

The recognition unit 130 recognizes the position and posture of the host vehicle M with respect to the travel lane when recognizing the travel lane. The recognition unit 130 may recognize, for example, the deviation of the reference point of the host vehicle M from the center of the lane and the angle formed by the traveling direction of the host vehicle M with respect to a line connecting the centers of the lanes as the relative position and posture of the host vehicle M with respect to the traveling lane. Instead, the recognition unit 130 may recognize the position of the reference point of the host vehicle M with respect to either end (road dividing line or road boundary) of the travel lane as the relative position of the host vehicle M with respect to the travel lane.

In the above-described recognition processing, the recognition unit 130 may derive the recognition accuracy and output the recognition accuracy information to the action plan generation unit 140. For example, the recognition unit 130 generates the recognition accuracy information based on the frequency with which the lane dividing line can be recognized during a fixed period.

The vehicle interior recognition unit 131 recognizes the conveyance target of the vehicle M present in the vehicle interior based on the captured image of the vehicle interior camera 300. The transportation target of the host vehicle M is a passenger of the host vehicle M or a load loaded on the host vehicle M. The vehicle interior recognition unit 131 recognizes, for example, a case where a passenger is present in the vehicle interior (or a case where no passenger is present) and a case where a load is present in the vehicle interior (or a case where no load is present) based on the captured image.

When the vehicle interior recognition unit 131 recognizes that the load is present in the vehicle interior, the proper temperature determination unit 132 determines the proper temperature of the load based on the captured image of the vehicle interior camera 300 and the proper temperature information 181. The suitable temperature determination unit 132 specifies information that matches the appearance of the load recognized by the cabin interior recognition unit 131 among the plurality of pieces of information indicating the appearance of the load stored as the suitable temperature information 181. When the information matching the external appearance is specified, the proper temperature determination unit 132 determines the proper temperature corresponding to the information as the proper temperature of the load recognized by the vehicle interior recognition unit 131.

In the above description, the air conditioning control unit 190 adjusts the environment in the vehicle interior based on the suitable temperature of the load OB determined by the suitable temperature determination unit 132 during the second unmanned period, but the present invention is not limited thereto. The air conditioning control unit 190 may adjust the environment in the vehicle cabin based on an operation of the HMI30 by a loader loading the load OB during the second unmanned period, for example. In this case, the loading cart inputs an appropriate temperature of the load OB to the HMI30 when loading the load OB in the host vehicle M. The air conditioning controller 190 determines the adjustment method based on the input appropriate temperature of the load OB and the measurement result of the vehicle interior thermometer 72. In this case, the automatic driving control device 100 may not include the appropriate temperature determination unit 132 and the appropriate temperature information 181. In the case where the vehicle interior camera 300 is a thermal camera that captures the temperature of the object to be captured, and the vehicle interior recognition unit 131 can recognize the temperature of the passenger riding on the vehicle interior and the temperature of the loaded object based on the captured image of the vehicle interior camera 300, the vehicle control device 1 may not include the suitable temperature determination unit 132 and the suitable temperature information 181.

The action plan generating unit 140 generates a target trajectory on which the host vehicle M will travel so that the host vehicle M travels in the recommended lane determined by the recommended lane determining unit 61 in principle, and executes automatic driving according to the surrounding situation of the host vehicle M. The target trajectory contains, for example, a velocity element. For example, the target track represents a track in which the points (track points) to be reached by the vehicle M are sequentially aligned. The track point is a point to which the host vehicle M should arrive at every predetermined travel distance (for example, about several [ M ]) in the distance along the way, and in contrast to this, a target speed and a target acceleration at every predetermined sampling time (for example, about several zero-point [ sec ]) may be generated as a part of the target track.

The second control unit 160 includes, for example, an acquisition unit 162, a speed control unit 164, and a steering control unit 166. The acquisition unit 162 acquires information of the target trajectory generated by the action plan generation unit 140 and stores the information in a memory (not shown). The speed control unit 164 controls the running drive force output device 200 or the brake device 210 based on the speed element associated with the target track stored in the memory. The steering control unit 166 controls the steering device 220 according to the degree of curvature of the target track stored in the memory. The processing of the speed control unit 164 and the steering control unit 166 is realized by a combination of, for example, feedforward control and feedback control. For example, the steering control unit 166 performs a combination of feedforward control according to the curvature of the road ahead of the host vehicle M and feedback control based on deviation from the target trajectory. The action plan generating unit 140 and the second control unit 160 are examples of a "driving control unit".

The running drive force output device 200 outputs running drive force (torque) for running the vehicle to the drive wheels. The travel driving force output device 200 includes, for example, a combination of an internal combustion engine, a motor, a transmission, and the like, and an ECU that controls these. The ECU controls the above configuration in accordance with information input from the second control unit 160 or information input from the driving operation element 80.

The brake device 210 includes, for example, a caliper, a hydraulic cylinder that transmits hydraulic pressure to the caliper, an electric motor that generates hydraulic pressure in the hydraulic cylinder, and a brake ECU. The brake ECU controls the electric motor in accordance with information input from the second control unit 160 or information input from the driving operation element 80, and outputs a braking torque corresponding to a braking operation to each wheel. The brake device 210 may be provided with a mechanism for transmitting the hydraulic pressure generated by the operation of the brake pedal included in the driving operation element 80 to the hydraulic cylinder via the master cylinder as a backup. The brake device 210 is not limited to the above-described configuration, and may be an electronically controlled hydraulic brake device that transmits the hydraulic pressure of the master cylinder to the hydraulic cylinder by controlling the actuator in accordance with information input from the second control unit 160.

The steering device 220 includes, for example, a steering ECU and an electric motor.

The electric motor changes the direction of the steered wheels by applying a force to the rack and pinion mechanism, for example. The steering ECU drives the electric motor to change the direction of the steered wheels in accordance with information input from the second control unit 160 or information input from the driving operation element 80.

The vehicle interior camera 300 captures an image centered on a seat on which a passenger riding on the host vehicle M sits and a position (for example, a seat and a floor) where a load is loaded. The captured image of the vehicle interior camera 300 is output to the automatic driving control apparatus 100.

[ air-conditioning control unit 190]

Next, the adjustment of the environment in the vehicle interior by the air conditioning control unit 190 will be described. The air conditioning control unit 190 controls the air conditioner 90 to adjust the environment in the vehicle interior so as to be an environment according to the conditions of the conveyance target conveyed by the vehicle M. The air conditioning control unit 190 determines the adjustment method of the environment in the vehicle interior to be any one of the adjustment methods (1) to (5) according to the condition of the conveyance target conveyed by the vehicle M. The adjustment mode (1) is an adjustment mode for increasing the temperature in the vehicle interior, the adjustment mode (2) is an adjustment mode for decreasing the temperature in the vehicle interior, the adjustment mode (3) is an adjustment mode for maintaining the temperature in the vehicle interior, the adjustment mode (4) is an adjustment mode for not adjusting the temperature in the vehicle interior, and the adjustment mode (5) is an adjustment mode for matching the temperature in the vehicle interior with the outside air.

The air conditioning control unit 190 of the present embodiment adjusts the environment in the vehicle interior by controlling the air conditioner 90 based on the determined adjustment method. The air conditioning control unit 190 causes the air conditioner 90 to perform an operation of lowering the temperature in the vehicle interior (i.e., "cooling operation") when the adjustment method of the environment in the vehicle interior is determined as the adjustment method (1), causes the air conditioner 90 to perform an operation of raising the temperature in the vehicle interior (i.e., "heating operation") when the adjustment method is determined as the adjustment method (2), causes the air conditioner 90 to perform an operation of maintaining the temperature in the vehicle interior (i.e., "maintaining operation") when the adjustment method is determined as the adjustment method (3), causes the air conditioner 90 to stop the operation when the adjustment method is determined as the adjustment method (4), and causes the air conditioner 90 to perform an operation of matching the temperature in the vehicle interior with the outside air (i.e., "outside air temperature maintaining operation") when the adjustment method is determined as the adjustment method (5).

The timing at which the air conditioner control unit 190 adjusts the environment in the vehicle interior will be described below. Fig. 3 is a diagram showing an example of timing at which the air conditioning control unit 190 adjusts the environment in the vehicle interior. The air conditioning control unit 190 of the present embodiment adjusts the environment in the vehicle interior at a time point when the passenger is not riding in the vehicle interior (i.e., at a time point when the passenger is not driving). The air conditioning control unit 190 adjusts the environment in the vehicle interior during the first unmanned period, the second unmanned period, and the third unmanned period. The first unmanned period is an unmanned period that is a predetermined period ahead of a first timing (illustrated time t 1) at which a passenger scheduled next gets on. The second unmanned period is an unmanned period after a second timing (illustrated time t 2) at which the host vehicle M has no passengers and is loaded with a load. The third unmanned period is an unmanned period that is a predetermined period after a third timing (time t3 shown in the figure) at which the passenger riding on the host vehicle M gets off the vehicle.

Here, the first unmanned period and the third unmanned period may be repeated according to a time from the third timing to the generation of the next first timing. In this case, the air conditioning control unit 190 may preferentially perform the adjustment of the environment in the vehicle interior during the first unmanned period, or may preferentially perform the adjustment of the vehicle interior during the third unmanned period. For example, which of the first unmanned driving period adjustment and the third unmanned driving period adjustment is to be performed with priority may be determined in advance by a user of the host vehicle M (for example, the host of the host vehicle M), or may be determined with priority according to a condition.

The following describes in detail the processing of the air conditioning control unit 190 during the first, second, and third unmanned periods.

[ processing regarding the air conditioning control unit 190 during the first unmanned period ]

The following describes the processing of the air conditioning control unit 190 during the first unmanned period in detail. During the first unmanned period, the air conditioning control unit 190 determines the adjustment method of the environment in the vehicle interior based on the action history information. Fig. 4 is a diagram showing an example of the configuration of the vehicle system S. The vehicle system S includes one or more vehicle control devices 1 and a management device 500. The vehicle control device 1 and the management device 500 communicate with each other via the network NW. The Network NW includes, for example, a part or all of WAN (Wide Area Network), LAN (Local Area Network), the internet, a dedicated line, a radio base station, a provider, and the like. The management device 500 includes a storage unit accessible via the network NW, and stores the action history information 501 in the storage unit.

Fig. 5 is a table showing an example of the contents of the action history information 501. The action history information 501 is information in which, for example, the date and time when the host vehicle M boards the passenger (i.e., the date and time at the first timing) and the position (the illustrated oncoming position) at which the passenger acts (stops) at the first timing are associated with each other. The action history information 501 is registered in the management device 500 by, for example, a user of the host vehicle M. The automatic driving control apparatus 100 refers to the action history information 501 of the management apparatus 500 via the network NW, for example, and travels to the oncoming vehicle position indicated by the action history information 501 by unmanned driving.

When the current time is a predetermined period (hereinafter, period TM 1) earlier than the latest first timing shown in the action history information 501, the air conditioning control unit 190 determines that the current period is the first unmanned period. The air conditioning control unit 190 adjusts the environment in the vehicle interior based on the feature of the oncoming vehicle position corresponding to the first time slot until the latest first time slot indicated by the action history information 501 during the first unmanned period. For example, when the oncoming vehicle position is "park" and the current time is in a cold season, it is estimated that the passenger stays in a cold place, and therefore, it is preferable to heat the vehicle interior. In this case, the air conditioning control unit 190 determines the adjustment method of the environment in the vehicle interior during the first unmanned period as the adjustment method (2). When the oncoming vehicle position is "a stadium", it is estimated that the body temperature of the passenger rises due to the movement, and therefore, it is preferable to cool the vehicle interior. In this case, the air conditioning control unit 190 determines the adjustment method of the environment in the vehicle interior during the first unmanned period as the adjustment method (1). Thus, the air conditioning control unit 190 can adjust the environment in the vehicle interior from the time point of the first unmanned driving period, and adjust the environment to the environment suitable for the passenger on board at the first timing.

The description has been given of the case where the action history information 501 is information in which the date and time of the first timing is associated with the oncoming vehicle position, and the air conditioning control unit 190 adjusts the environment in the vehicle interior based on the characteristics of the oncoming vehicle position, but the present invention is not limited to this. The action history information 501 may be information in which, for example, the date and time at the first timing is associated with information indicating the action performed by the passenger until the first timing (that is, information indicating the action history). In this case, the air conditioning control unit 190 adjusts the environment in the vehicle interior based on the characteristics of the action history. For example, in the case where the action history is "surfing", the air-conditioning control unit 190 determines the adjustment method of the environment in the vehicle interior during the first unmanned period as the adjustment method (2) because it estimates that the body temperature of the passenger is lowered. When the action history is "running", the air conditioning control unit 190 determines the adjustment method of the environment in the vehicle interior during the first unmanned period as the adjustment method (1) because it estimates the rise in the body temperature of the passenger. When the action history is "work", the air conditioning control unit 190 determines the adjustment method of the environment in the vehicle interior during the first unmanned period as the adjustment method (3) because the rise or fall of the body temperature of the passenger is not estimated.

These features of the oncoming vehicle position and the action history may be information associated with the oncoming vehicle position and the action history in advance, information registered in association with the action history information 501 registered by the user of the host vehicle M in the management apparatus 500, or information based on the operation history of the air conditioner 90 operated by the passenger who has been boarding the first boarding so far after boarding.

[ processing regarding the air conditioning control unit 190 during the second unmanned period ]

The process of the air conditioning control unit 190 during the second unmanned period will be described in detail below. Fig. 6 is a diagram showing an example of a captured image P of the vehicle interior camera 300. In the example shown in fig. 6, a box in which raw snacks to be refrigerated are placed is loaded in a vehicle interior. The vehicle interior recognition unit 131 recognizes a load (illustrated load OB) loaded on the vehicle M based on the captured image P. When the vehicle interior recognition unit 131 recognizes the load OB, the proper temperature determination unit 132 determines the proper temperature of the load OB based on the appearance of the load OB shown in the captured image P and the proper temperature information 181.

When the load OB is loaded in the cabin and no passenger is loaded (for example, in the case shown in fig. 6), the air conditioning control unit 190 determines that the current period is the second unmanned period. The air conditioning control unit 190 determines the adjustment mode based on the target temperature of the load OB determined by the target temperature determination unit 132 and the measurement result of the vehicle interior thermometer 72 during the second unmanned period. The air conditioning control unit 190 determines the adjustment method of the environment in the vehicle interior as the adjustment method (1) when the temperature in the vehicle interior is higher than the appropriate temperature, and determines the adjustment method of the environment in the vehicle interior as the adjustment method (2) when the temperature in the vehicle interior is lower than the appropriate temperature. The air conditioning control unit 190 determines the adjustment method of the environment in the vehicle compartment as the adjustment method (3) when the suitable temperature of the load is not determined by the suitable temperature determination unit 132 or when the temperature in the vehicle compartment is the suitable temperature of the load OB. Thus, the air conditioning control unit 190 can adjust the environment in the vehicle cabin to an environment matching the load loaded at the second timing.

[ processing regarding the air conditioning control unit 190 during the third unmanned period ]

The process of the air conditioning control unit 190 during the third unmanned period will be described in detail below. The air conditioning control unit 190 determines that the current period is the third unmanned period when the recognition result of the cabin recognition unit 131 indicates that the passenger gets off the vehicle from the first timing and that the passenger is not getting on the vehicle (that is, when the timing is the third timing). The air conditioning control unit 190 determines the adjustment method based on the action history information 501 during the third unmanned period. The air conditioning control unit 190 determines the adjustment method of the environment in the vehicle interior as the adjustment method (5) when the first timing is scheduled after a predetermined period (for example, period TM 2) from the third timing, and determines the adjustment method of the environment in the vehicle interior as the adjustment method (4) when the first timing is not scheduled. Thus, the air conditioning control unit 190 can adjust the environment in the vehicle interior so as to reduce thermal shock of the passenger when there is a reservation that the passenger gets on immediately (that is, when the first timing is reserved within a predetermined period), and can stop the air conditioner 90 when there is no reservation that the passenger gets on immediately, thereby reducing the power consumed by the air conditioner 90.

[ treatment procedure ]

A series of flows of the processing of the automatic driving control apparatus 100 according to the first embodiment will be described below with reference to flowcharts. Fig. 7 is a flowchart showing an example of a series of processing flows of the automatic driving control apparatus 100 according to the first embodiment. The processing of the flowchart is repeated at a predetermined cycle, for example.

First, the air conditioning control unit 190 determines whether or not the current period is the first unmanned period (step S100). When the recognition result of the in-vehicle recognition unit 131 indicates that the passenger gets on the oncoming vehicle position indicated by the action history information 501, the air conditioning control unit 190 determines that the current period is the first unmanned period, and determines the adjustment method of the environment in the vehicle interior based on the action history information 501 (step S102). Next, when the current period is not the first unmanned period, the air conditioning control unit 190 determines whether or not the current period is the second unmanned period (step S104). When the load OB is loaded in the cabin and the passenger is not riding, the air conditioning control unit 190 determines that the current period is the second unmanned period, and determines the adjustment method of the environment in the cabin based on the target temperature of the load OB determined by the target temperature determination unit 132 and the measurement result of the cabin interior thermometer 72 (step S106). Next, when the current period is not the first unmanned period or the second unmanned period, the air conditioning control unit 190 determines whether or not the current period is the third unmanned period (step S108). When the current period is not any of the first unmanned period, the second unmanned period, and the third unmanned period, the air conditioning control unit 190 ends the process. When the recognition result of the vehicle interior recognition unit 131 indicates that the passenger gets off the vehicle from the first opportunity and indicates that no passenger is riding in the vehicle interior, the air conditioning control unit 190 determines that the current period is the third unmanned period, and determines the adjustment method of the environment in the vehicle interior based on the action history information 501 (step S110). The air conditioner control unit 190 controls the air conditioner 90 according to the adjustment mode determined during the first unmanned driving period, the second unmanned driving period, or the third unmanned driving period (step S112).

[ Process flow during first unmanned Driving ]

Fig. 8 is a flowchart showing an example of a series of processing flows in step S102 in the first embodiment. In step S102, the air conditioning control unit 190 determines the adjustment method of the environment in the vehicle interior during the first unmanned period. First, the air conditioning control unit 190 determines whether or not the action performed by the passenger at the latest first timing at present and later is an action for raising the body temperature of the passenger, based on the action history information 501 (step S200). When the action performed by the passenger until the first timing is an action to increase the body temperature of the passenger, the air conditioning control unit 190 determines the adjustment method of the environment in the vehicle interior during the first unmanned driving as the adjustment method (1) (step S202). Next, when the action performed by the passenger until the first timer is not an action for raising the body temperature of the passenger, the air-conditioning control unit 190 determines whether or not the action performed by the passenger is an action for lowering the body temperature of the passenger (step S204). When the action performed by the passenger until the first timing is an action to lower the body temperature of the passenger, the air conditioning control unit 190 determines the adjustment method of the environment in the vehicle interior during the first unmanned driving as the adjustment method (2). When the action performed by the passenger until the first timing is an action for neither increasing nor decreasing the body temperature of the passenger, the air conditioning control unit 190 determines the adjustment method of the environment in the vehicle interior during the first unmanned period as the adjustment method (3) (step S208).

[ Process flow during second unmanned period ]

Fig. 9 is a flowchart showing an example of a series of processing flows in step S106 in the first embodiment. In step S106, the air conditioning control unit 190 determines the adjustment method of the environment in the vehicle cabin during the second unmanned period. First, the suitable temperature determination unit 132 determines the suitable temperature of the load based on the recognition result of the cabin recognition unit 131 and the suitable temperature information 181 (step S600). Next, if the suitable temperature determination unit 132 does not determine the suitable temperature of the load, the air conditioning control unit 190 determines the adjustment method of the environment in the cabin during the second unmanned period as the adjustment method (3) (step S604). Next, when the suitable temperature determination unit 132 determines the suitable temperature of the load, the air conditioning control unit 190 determines whether the temperature in the vehicle compartment is higher than the suitable temperature based on the measurement result of the vehicle interior thermometer 72 (step S606). When the temperature in the vehicle interior is higher than the appropriate temperature, the air conditioning control unit 190 determines the adjustment method of the environment in the vehicle interior during the second unmanned period as the adjustment method (1) (step S608). Next, when the temperature in the vehicle interior is not higher than the appropriate temperature, the air conditioning control unit 190 determines whether the temperature in the vehicle interior is lower than the appropriate temperature (step S610). When the temperature in the vehicle interior is lower than the appropriate temperature, the air conditioning control unit 190 determines the adjustment method of the environment in the vehicle interior during the second unmanned period as the adjustment method (2) (step S612). When the appropriate temperature matches the temperature in the vehicle interior, the air conditioning control unit 190 advances the process to step S604, and determines the adjustment method of the environment in the vehicle interior during the second unmanned period as the adjustment method (3).

[ Process flow during third unmanned period ]

Fig. 10 is a flowchart showing an example of a series of processing flows in step S110 in the first embodiment. In step S110, the air conditioning control unit 190 determines the adjustment method of the environment in the vehicle interior during the third unmanned period. First, the air conditioning control unit 190 determines whether the first timing is scheduled within a predetermined period from the third timing (step S1000). If the first timing is not scheduled within a predetermined period of time from the third timing, the air conditioning control unit 190 determines the adjustment method of the environment in the vehicle interior to be the adjustment method (4) (step S1002). When the first timing is scheduled within a predetermined period from the third timing, the air conditioning control unit 190 determines the adjustment method of the environment in the vehicle interior to be the adjustment method (5) (step S1004).

[ control processing flow of the air conditioner control unit 190]

Fig. 11 is a flowchart showing an example of a series of processing flows in step S112 in the first embodiment. The air conditioning control unit 190 controls the air conditioner 90 based on the adjustment method of the environment in the vehicle interior determined in step S112. First, the air conditioning control unit 190 determines whether or not the adjustment method determined before step S112 is the adjustment method (1) (step S1200). If the determined adjustment method is the adjustment method (1), the air conditioner control unit 190 causes the air conditioner 90 to perform the cooling operation (step S1202). Next, if the determined adjustment method is not the adjustment method (1), the air conditioning control unit 190 determines whether or not the determined adjustment method is the adjustment method (2) (step S1204). If the determined adjustment mode is the adjustment mode (2), the air conditioning control unit 190 causes the air conditioner 90 to perform a heating operation (step S1206). Next, if the determined adjustment method is not the adjustment method (2), the air conditioning control unit 190 determines whether or not the determined adjustment method is the adjustment method (3) (step S1208). If the determined adjustment mode is the adjustment mode (3), the air conditioner control unit 190 causes the air conditioner 90 to perform the holding operation (step S1210). Next, if the determined adjustment method is not the adjustment method (3), the air conditioning control unit 190 determines whether or not the determined adjustment method is the adjustment method (4) (step S1212). If the determined adjustment mode is the adjustment mode (4), the air conditioning control unit 190 stops the air conditioner 90 (step S1214). Next, when the determined adjustment mode is not the adjustment mode (4) (that is, when the adjustment mode (5)) is the adjustment mode, the air conditioning control unit 190 causes the air conditioner 90 to perform the outside air temperature maintaining operation (step S1216).

[ summary of the first embodiment ]

As described above, the automatic driving control device 100 according to the present embodiment includes the air-conditioning control unit 190, and the air-conditioning control unit 190 controls the air-conditioning device (the air conditioner 90 in this example) in the vehicle interior from a predetermined timing onward so that the environment in the vehicle interior of the host vehicle M becomes an environment according to the conditions of the conveyance target (the passenger in this example) at the predetermined timing (the first timing and the third timing in this example), thereby making it possible to adjust the environment in the vehicle interior according to the conveyance target.

< second embodiment >

Hereinafter, a second embodiment of the present invention will be described with reference to the drawings. In the first embodiment, the case where the environment in the vehicle interior is conditioned by the air conditioner 90 is described. In the second embodiment, a case where the environment in the vehicle interior is adjusted by the outside air will be described. The same components as those of the above-described embodiment are denoted by the same reference numerals, and description thereof is omitted.

Fig. 12 is a configuration diagram of a vehicle control device 1a according to a second embodiment. The vehicle control device 1a according to the second embodiment includes an automatic driving control device 100a instead of the automatic driving control device 100. The automatic driving control device 100a includes an opening/closing control unit 192 in addition to the configuration of the automatic driving control device 100. The vehicle control device 1a includes a power window device 400 in addition to the configuration of the vehicle control device 1. The power window device 400 is controlled to open and close by an opening/closing control unit 192 provided in the automatic driving control device 100a. The power window device 400 includes a window 410 and a driver 412.

[ with regard to Power Window device 400]

Fig. 13 shows an example of an external appearance of power window device 400. As shown in fig. 13, the window portion 410 and the driving portion 412 are fixed to each other, and the driving portion 412 moves along a guide rail (guide rail R shown in the figure) under the control of the opening/closing control portion 192. Thereby, the window 410 moves (opens and closes) in the vertical direction. The air conditioning control unit 190 controls the opening/closing control unit 192 based on the determined adjustment method, thereby controlling the opening/closing of the window unit 410. In the following description, a state in which the drive portion 412 operates to open the window portion 410 is referred to as an "open state", and a state in which the drive portion 412 operates to close the window portion 410 is referred to as a "closed state".

[ control processing flow of air-conditioning control unit 190]

Fig. 14 is a flowchart showing an example of a series of processing flows in step S112 in the second embodiment. Among the processes shown in fig. 14, the processes having the same step numbers as those shown in fig. 7 are denoted by the same step numbers, and the description thereof is omitted. The air conditioning control unit 190 of the present embodiment controls the air conditioner 90 and the power window device 400 based on the adjustment method of the environment in the vehicle interior determined before step S112.

First, the air conditioning control unit 190 determines whether the adjustment method determined before step S112 is the adjustment method (1) (step S1200). When the determined adjustment method is the adjustment method (1), the air conditioning control unit 190 determines whether or not the temperature of the outside air is higher than the temperature in the vehicle interior based on the measurement result of the outside air thermometer 71 and the measurement result of the vehicle interior thermometer 72 (step S1201). When the temperature of the outside air is higher than the temperature in the vehicle interior, the air conditioner control unit 190 advances the process to step S1202 to cause the air conditioner 90 to perform the cooling operation. When the temperature of the outside air is lower than the temperature in the vehicle interior, the air conditioning control unit 190 causes the opening/closing control unit 192 to control the drive unit 412 so that the window unit 410 is controlled to be in the "open state" (step S1203). This takes in the outside air into the vehicle interior, and cools the temperature in the vehicle interior by the outside air.

When the determined adjustment method is the adjustment method (2), the air conditioning controller 190 determines whether or not the temperature of the outside air is lower than the temperature in the vehicle interior based on the measurement result of the outside air thermometer 71 and the measurement result of the vehicle interior thermometer 72 (step S1205). When the temperature of the outside air is lower than the temperature in the vehicle interior, the air conditioning control unit 190 advances the process to step S1206 to cause the air conditioner 90 to perform a heating operation. When the temperature of the outside air is higher than the temperature in the vehicle interior, the air conditioning control unit 190 causes the opening/closing control unit 192 to control the drive unit 412 so that the window 410 is controlled to be in the "open state" (step S1207). Thereby, outside air is taken into the vehicle interior, and the temperature in the vehicle interior is heated by the outside air.

If the determined adjustment method is not the adjustment method (4) (that is, if the adjustment method (5)) the air conditioning control unit 190 causes the opening/closing control unit 192 to control the drive unit 412 and the window 410 to be in the "open state" (step S1217). This allows the outside air to be taken into the vehicle interior, and the temperature in the vehicle interior can be made equal to the temperature of the outside air.

In the above, the following case is explained: the air conditioning control unit 190 opens the window unit 410 when the adjustment method matches the condition of the temperature of the outside air during the first and second unmanned periods, and adjusts the environment in the vehicle interior using the outside air (that is, performs the adjustment using the outside air preferentially over the adjustment using the air conditioner 90), but is not limited to this. For example, the user of the host vehicle M may give priority to the adjustment of the environment in the vehicle interior by the air conditioner 90 and the adjustment of the environment in the vehicle interior by the outside air. In this case, the air conditioning control unit 190 may preferentially perform the adjustment by the air conditioner 90 based on the added priority, or may simultaneously perform the adjustment by the air conditioner 90 and the adjustment by the outside air.

In the above description, the case where the air conditioning control unit 190 controls the opening/closing control unit 192 to set the window unit 410 to the "open state" or the "closed state" to take in the outside air into the vehicle interior has been described, but the present invention is not limited to this. The air conditioning control unit 190 may be configured to switch the intake of the air conditioner (e.g., the air conditioner 90) in the vehicle interior to the "internal air circulation operation" performed from the air in the vehicle interior or the "external air introduction operation" performed from the air outside the vehicle interior, for example, and take in the external air into the vehicle interior. In this case, the automatic driving control device 100 may not include the power window device 400 and the opening/closing control unit 192.

[ summary of the second embodiment ]

As described above, the automatic driving control device 100a according to the present embodiment further includes the opening/closing control unit 192 that controls the opening/closing of the window unit 410 of the host vehicle M based on the adjustment state of the environment in the vehicle interior (in this example, the case where the conditions of the temperature in the vehicle interior and the temperature of the outside air match or the adjustment method (5)). Thus, the automatic driving control device 100a of the present embodiment can reduce the power consumed by the host vehicle M, as compared with the case where the environment in the vehicle interior is adjusted by the air conditioner 90. When the host vehicle M is an electric vehicle that runs by driving an electric motor or a hybrid vehicle that can be driven by an electric motor and receives power from the outside, the automatic driving control device 100a can extend the travelable distance of the host vehicle M.

< third embodiment >

Hereinafter, a third embodiment of the present invention will be described with reference to the drawings. In the second embodiment, the case where the environment in the vehicle interior is adjusted by the outside air is described. In the third embodiment, a case where the environment in the vehicle interior using the outside air is not adjusted according to the polluted state of the outside air will be described. The same components as those of the above-described embodiment are denoted by the same reference numerals, and description thereof is omitted.

Fig. 15 is a configuration diagram of a vehicle control device 1b according to a third embodiment. The vehicle control device 1b according to the third embodiment includes an automatic driving control device 100b instead of the automatic driving control device 100a, and further includes an external air detection unit 75 in addition to the configuration of the vehicle control device 1 a. The outside air detection unit 75 is, for example, a sensor that detects pollutants in the outside air. The external gas detection unit 75 detects a pollutant contained in the external gas, that is, a pollutant to be detected by the sensor, using at least one of an optical sensor for detecting pollen or a Particulate Matter (PM (Particulate Matter) 2.5, etc.), a sulfur oxide (SOx) sensor, a nitrogen oxide (NOx) sensor, a photochemical oxidant sensor, an ammonia sensor, and the like. The detection result of the external air detector 75 is output to the automatic driving control device 100b.

The automatic driving control device 100b includes an external air determination unit 194 in addition to the configuration of the automatic driving control device 100a. The outside air determination unit 194 determines whether or not the outside air is contaminated with the contaminant based on, for example, the detection result of the outside air detection unit 75. The outside air determination unit 194 determines that the outside air is contaminated when the detection result of the outside air detection unit 75 indicates that the contaminant contained in the outside air per unit volume is equal to or greater than a predetermined threshold value. The air conditioning control unit 190 also adjusts the adjustment mode for each unmanned period based on the determination result of the outside air determination unit 194.

[ control processing flow of air-conditioning control unit 190]

Fig. 16 is a flowchart showing an example of the processing flow of the air conditioning control unit 190 according to the third embodiment. The air conditioning control unit 190 determines whether or not to adjust the environment in the vehicle interior using the outside air based on the determination result of the outside air determination unit 194 (step S900). When the determination result of the outside air determination unit 194 indicates that the outside air is contaminated, the air conditioning control unit 190 determines not to adjust the environment in the vehicle interior using the outside air (step S902). When the determination result of the external air determination unit 194 indicates that the external air is not contaminated, the air conditioning control unit 190 determines to adjust the environment in the vehicle interior using the external air (step S904).

The outside air determination unit 194 performs the processes of steps S900 to S904 shown in fig. 16 before the process shown in fig. 7 or after step S102, S106, or S110 (i.e., immediately before step S112). When determining that the adjustment of the environment in the vehicle interior by the outside air is not performed, the air conditioning control unit 190 executes the flowchart shown in fig. 11 (i.e., the flowchart not including the process of taking in the outside air) in the process of step S112. When determining that the adjustment of the environment in the vehicle interior by the outside air is performed, the air conditioning control unit 190 executes the flowchart shown in fig. 14 (i.e., the flowchart including the process of taking in the outside air) in the process of step S112.

[ summary of the third embodiment ]

As described above, the automatic driving control device 100b according to the present embodiment further includes the detection unit (in this example, the external air detection unit 75) that detects the pollutants in the external air of the host vehicle M, and the air conditioning control unit 190 determines whether or not to take in the external air based on the degree to which the external air contains the pollutants detected by the external air detection unit 75, and determines not to take in the external air when the external air contains the pollutants of a predetermined threshold value or more. Thus, the automatic driving control device 100b according to the present embodiment can suppress contamination of the air in the vehicle interior by the pollutant by adjusting the environment in the vehicle interior.

< modification 1>

Hereinafter, a second embodiment and a modification 1 of the third embodiment will be described with reference to the drawings. In the second and third embodiments, various conditions in the case where the environment in the vehicle interior is adjusted by the outside air are described. In modification 1, the state of the window portion 410 in the case where the environment in the vehicle interior is conditioned by the outside air will be described. The same components as those of the above-described embodiment are denoted by the same reference numerals, and description thereof is omitted.

Fig. 17 is a flowchart showing an example of a processing flow of the opening/closing control unit 192 according to modification 1. The opening/closing control unit 192 of modification 1 also controls the opening/closing of the window unit 410 based on the speed of the host vehicle M. First, the open/close control unit 192 determines whether or not the speed of the host vehicle M detected by the vehicle sensor 40 is higher than a predetermined threshold value (hereinafter, threshold value Th 1) (step S910). When the speed of the vehicle M detected by the vehicle sensor 40 is higher than a predetermined threshold value (hereinafter, threshold value Th 1), the opening/closing control unit 192 widens the upper limit of the degree (hereinafter, opening degree) to which the window unit 410 is opened in the "open state" (step S912). Next, when the speed of the vehicle M is equal to or lower than the threshold value Th1, the open/close control unit 192 further determines whether the speed of the vehicle M is slower than a predetermined threshold value (hereinafter, threshold value Th 2) (step S914). Here, the relationship between the threshold Th1 and the threshold Th2 is threshold Th 1> threshold Th2. When the speed of the vehicle M is equal to or lower than the threshold Th1 and equal to or higher than the threshold Th2, the open/close control unit 192 ends the process without changing the upper limit of the opening degree. When the speed of the vehicle M is slower than the threshold Th2, the opening/closing control unit 192 sets the upper limit of the opening degree of the window 410 (step S916).

For example, when the opening degree of the state in which the window 410 is mechanically fully opened is 100[% ], and the opening degree of the state in which the window 410 is closed is 0[% ], the upper limit of the wide opening degree is an upper limit (for example, 50[% ] or more) of the opening degree of the window 410, and the upper limit of the tight opening degree is a lower limit (for example, less than 50[% ] than the upper limit of the opening degree of the wide window 410. Thus, when the air conditioning control unit 190 controls the window unit 410 to be in the "open state", the opening/closing control unit 192 changes the opening degree of the window unit 410 in accordance with the speed of the host vehicle M.

[ summary of modification 1 ]

As described above, the opening/closing control unit 192 of modification 1 also controls the opening/closing of the window unit 410 based on the speed of the vehicle M, and increases the degree of opening (opening degree in this example) of the window unit 410 as the speed of the vehicle M increases. Here, when the window portion 410 is opened widely at a timing when the speed of the host vehicle M is slow or the host vehicle M stops, the inside of the vehicle compartment may be observed or entered by a person other than the user of the host vehicle M. Therefore, it is preferable that the window portion 410 is slightly opened when the speed of the host vehicle M is low, and is largely opened when the speed of the host vehicle M is high. According to the opening/closing control unit 192 of modification 1, the upper limit of the opening degree can be changed according to the speed of the vehicle M, and the privacy in the vehicle interior can be protected.

< fourth embodiment >

Hereinafter, a fourth embodiment will be described with reference to the drawings. In the above-described embodiment, the case where the environment in the vehicle interior is adjusted by the air conditioner 90 or the outside air has been described. In the fourth embodiment, a case where the vehicle M travels on a route in which the environment in the vehicle interior is changed or a route in which the environment in the vehicle interior is not changed to adjust the environment in the vehicle interior will be described. The same components as those of the above-described embodiment are denoted by the same reference numerals, and description thereof is omitted.

Fig. 18 is a functional configuration diagram of the first control unit 120c and the second control unit 160 of the fourth embodiment. The vehicle control device 1c according to the fourth embodiment includes an automatic driving control device 100c instead of the automatic driving control device 100. The automatic driving control device 100c includes an action plan generating unit 140c instead of the action plan generating unit 140. The action plan generating unit 140c further includes an adjusted driving control unit 141. The adjusted driving control unit 141 controls running for adjusting the environment in the vehicle interior based on an instruction (control) from the air conditioning control unit 190. The control of the driving adjustment control unit 141 will be described in detail later.

[ control processing flow of air-conditioning control unit 190]

Fig. 19 is a flowchart showing an example of a series of processing flows in step S112 in the fourth embodiment. Among the processes shown in fig. 19, the processes having the same step numbers as those shown in fig. 7 are denoted by the same step numbers, and the description thereof is omitted. The air conditioning control unit 190 of the present embodiment controls the adjustment driving control unit 141 based on the adjustment mode of the environment in the vehicle interior determined before step S112.

First, the air conditioning control unit 190 determines whether the adjustment method determined before step S112 is the adjustment method (1) (step S1200). When the determined adjustment method is the adjustment method (1), the air conditioning control unit 190 gives an instruction to the adjustment driving control unit 141 to travel on a path that is behind the sun (i.e., a path in which the temperature in the vehicle interior decreases) (step S1222). Next, if the determined adjustment method is not the adjustment method (1), the air conditioning control unit 190 determines whether or not the adjustment method is the adjustment method (2) (step S1204). When the determined adjustment mode is the adjustment mode (2), the air conditioning control unit 190 gives an instruction to the adjustment driving control unit 141 to travel on a route that faces the sun (i.e., a route in which the temperature in the vehicle interior increases) rather than on a route that faces the sun (step S1224). Next, if the determined adjustment method is not the adjustment method (2), the air conditioning control unit 190 determines whether or not the adjustment method is the adjustment method (3) (step S1208). If the determined adjustment method is the adjustment method (3), the air conditioning control unit 190 issues an instruction to travel on the sunny route and the shady route to the same extent (i.e., to travel on the route that maintains the temperature in the vehicle interior) (step S1226).

The adjustment driving control unit 141 generates the target track so as to travel on the route according to the instruction of the air conditioning control unit 190, for example, based on the position of the sun facing the sun and the position of the shadow recognized by the recognition unit 130 from the captured image of the camera 10.

Instead of generating the target track that travels at the sunny position or the shady position identified by the identification unit 130, the adjusted driving control unit 141 may generate the on-map route that travels at the sunny position or the shady position based on the first map information 54. In this case, information indicating a position facing the sun or a position facing the shadow is associated with the first map information 54. The sunny place is, for example, an elevated road, a bridge, etc., and the shady place is an underground passage, an underground passageway, etc.

[ summary of the fourth embodiment ]

As described above, in the automatic driving control device 100c according to the present embodiment, the driving control unit (in this example, the action plan generating unit 140c and the second control unit 160) causes the vehicle to travel on a route having a higher outside air temperature than other routes when the air conditioning control unit 190 performs adjustment for increasing the temperature in the vehicle interior, and causes the vehicle to travel on a route having a lower outside air temperature than other routes when the air conditioning control unit 190 performs adjustment for decreasing the temperature in the vehicle interior, where the route having a higher outside air temperature than other routes is a route that is irradiated with sunlight (i.e., is exposed to the sun), and the route having a lower outside air temperature than other routes is a route that is not irradiated with sunlight (i.e., is shaded). Thus, the automatic driving control device 100c according to the present embodiment can reduce the power consumed by the vehicle M, as compared with the case where the environment in the vehicle interior is conditioned by the air conditioner 90.

< fifth embodiment >

Hereinafter, a fifth embodiment will be described with reference to the drawings. In the above-described embodiment, the case where the vehicle M adjusts the environment in the vehicle interior at the time points from the first unmanned period to the third unmanned period during which no vehicle is driven has been described. In the fifth embodiment, a case where the environment in the vehicle interior is adjusted at the time point when the vehicle M is driven by a person will be described. The same components as those of the above-described embodiment are denoted by the same reference numerals, and description thereof is omitted.

Fig. 20 is a diagram showing an example of timing at which the air conditioning control unit 190 of the fifth embodiment adjusts the environment in the vehicle interior. The air conditioning control unit 190 of the present embodiment further adjusts the environment in the vehicle interior at the time when a person is driving. The air conditioning control unit 190 adjusts the environment in the vehicle interior during driving. The manned driving period is a period of manned driving from the time when the passenger gets on the vehicle at the first timing (illustrated time t 1) to the third timing (illustrated time t 3) when the passenger gets off the vehicle.

During the manned driving, the air conditioning control unit 190 determines the adjustment method of the environment in the vehicle interior based on the action plan information 502. Fig. 21 is a table showing an example of the contents of the action plan information 502. The action plan information 502 is, for example, information in which the date and time when the passenger in the host vehicle M arrives at the destination (i.e., the date and time at the third timing) and the position (illustrated destination) at which the passenger gets off at the third timing are associated with each other. The action plan information 502 is registered in the management device 500 by, for example, a user of the vehicle M. The automatic driving control device 100 refers to the action plan information 502 of the management device 500 via the network NW, for example, and travels to the arrival place indicated by the action plan information 502 by driving with a person.

The air conditioning control unit 190 determines that the current period is the manned period when the recognition result of the in-vehicle recognition unit 131 indicates that the passenger gets on the oncoming vehicle position indicated by the action history information 501. During the manned vehicle, the air conditioning control unit 190 adjusts the environment in the vehicle interior until the third timing indicated by the action plan information 502, which is the latest timing, based on the characteristic of the destination corresponding to the third timing. For example, when the destination is "park" and the current time is a hot time, it is estimated that the passengers stay in a hot place from the current time, and therefore, it is preferable to cool the vehicle interior. In this case, the air conditioning control unit 190 determines the adjustment method of the environment in the vehicle interior as the adjustment method (1). In the case of a destination "gym", it is preferable that the body temperature of the passenger is moderately heated until the start of exercise. In this case, the air conditioning control unit 190 determines the adjustment method of the environment in the vehicle interior as the adjustment method (2). Thus, the air conditioning control unit 190 can adjust the environment in the vehicle interior to an environment that matches the behavior of the movement of the passenger getting off at the third timing.

[ treatment procedure ]

A series of processing flows of the automatic driving control apparatus 100 according to the fifth embodiment will be described below with reference to flowcharts. Fig. 22 is a flowchart showing an example of a series of processing flows of the automatic driving control apparatus 100 according to the fifth embodiment. Of the processes shown in fig. 22, the same step numbers as those shown in fig. 7 are given, and the description thereof is omitted. The processing of the flowchart is repeated at a predetermined cycle, for example.

When the current period is not any of the first unmanned period, the second unmanned period, and the third unmanned period, the air conditioning control unit 190 determines whether or not the current period is the manned period (step S114). If the current period is not the manned period, the air conditioning control unit 190 ends the process. When the recognition result of the in-vehicle recognition unit 131 indicates that the passenger gets on the oncoming vehicle position indicated by the action history information 501, the air conditioning control unit 190 determines that the current period is the manned period, and determines the adjustment method of the environment in the vehicle interior based on the action plan information 502 during the manned period (step S116).

[ Process flow during manned Driving ]

Fig. 23 is a flowchart showing an example of a series of processing flows in step S116. In step S116, the air conditioning control unit 190 determines the adjustment method of the environment in the vehicle cabin while the driver is driving. First, the air conditioning control unit 190 determines whether or not the feature of the destination reached at the latest third timing from now on is preferably a temperature decrease from the current temperature in the vehicle interior based on the action plan information 502 (step S1600). If it is preferable that the characteristic of the destination reached at the third timing is a temperature decrease compared to the current temperature in the vehicle interior, the air conditioning control unit 190 determines the adjustment method of the environment in the vehicle interior as the adjustment method (1) (step S1602). Next, when the feature of the destination reached at the latest third timing from now on is not preferable to be decreased in temperature compared with the current temperature in the vehicle interior, the air conditioning control unit 190 determines whether or not the feature of the destination reached at the third timing is preferable to be increased in temperature compared with the current temperature in the vehicle interior (step S1604). If the destination reached at the third timing is preferably characterized by a temperature increase from the current temperature in the vehicle interior, the air conditioning control unit 190 determines the adjustment method of the environment in the vehicle interior as the adjustment method (2). If the destination reached at the third timing is preferably characterized by neither a decrease nor an increase in temperature from the current temperature in the vehicle interior, the air conditioning control unit 190 adjusts the adjustment method of the environment in the vehicle interior to the adjustment method (3) (step S1608).

[ conclusion of the fifth embodiment ]

As described above, in the automatic driving control device 100 according to the present embodiment, the air conditioning control unit 190 further adjusts the environment in the vehicle interior to an appropriate temperature from the time point when the host vehicle M has a person during the period from the first timing to the next third timing based on the action plan acquired from the management device 500 that manages the action plan information 502. Thus, the automatic driving control device 100 according to the present embodiment can adjust the environment in the vehicle interior according to the next action of the passenger while the passenger is in the vehicle interior.

[ hardware configuration ]

Fig. 24 is a diagram showing an example of the hardware configuration of the automatic driving control apparatus 100 according to the embodiment. As shown in the figure, the automatic driving control apparatus 100 is configured such that a communication controller 100-1, a CPU100-2, a RAM100-3 used as a work memory, a ROM100-4 storing a boot program and the like, a storage apparatus 100-5 such as a flash memory or an HDD, a drive apparatus 100-6, and the like are connected to each other via an internal bus or a dedicated communication line. The communication controller 100-1 communicates with components other than the automatic driving control device 100. The program 100-5a executed by the CPU100-2 is stored in the storage device 100-5. This program is developed in the RAM100-3 by a DMA (Direct Memory Access) controller (not shown) or the like, and executed by the CPU 100-2. This realizes a part or all of the first control unit 120 and the second control unit 160.

The above-described embodiments can be expressed as follows.

A control device is configured to include:

a memory storing a program; and

a processor for processing the received data, wherein the processor is used for processing the received data,

an air conditioner in a vehicle interior is controlled from a predetermined timing onward so that the environment in the vehicle interior of the host vehicle becomes an environment according to the condition of the conveyance target at the predetermined timing.

While the present invention has been described with reference to the embodiments, the present invention is not limited to the embodiments, and various modifications and substitutions can be made without departing from the scope of the present invention.

Claims

1. A control device is characterized in that a control unit,

the control device includes an air-conditioning control unit that controls an air-conditioning device in a vehicle interior from a predetermined timing onward such that an environment in the vehicle interior of the host vehicle becomes an environment corresponding to a condition of a transport target at the predetermined timing,

the predetermined timing is a first timing at which the passenger boards the host vehicle,

the condition is set based on an action history of a passenger of the host vehicle,

the air conditioning control unit controls the air conditioning apparatus based on the action history before the first time, among information indicating the action history acquired from a management apparatus that manages the action history.

2. The control device according to claim 1,

the control device further includes:

an identification unit that identifies a situation around the host vehicle; and

a driving control unit that controls one or both of steering and acceleration/deceleration of the host vehicle based on a recognition result of the recognition unit,

the air conditioning control unit controls an air conditioning device in the vehicle cabin from a time point when the driving control unit performs unmanned driving.

3. The control device according to claim 1,

the air conditioning control unit takes in outside air into the vehicle interior when controlling the air conditioning device based on the outside air.

4. The control device according to claim 3,

the control device further includes a detection unit that detects pollutants in the outside air of the vehicle,

the air conditioning control unit determines whether or not to take in the outside air based on a degree of the outside air containing the pollutant detected by the detection unit.

5. The control device according to claim 4,

the air conditioning control unit determines not to take in the outside air when the outside air contains the pollutant at the predetermined threshold value or more.

6. The control device according to any one of claims 1 to 5,

the control device further includes an opening/closing control unit that controls opening/closing of a window of the host vehicle based on an adjustment state in which the air-conditioning control unit adjusts the environment in the vehicle compartment.

7. The control device according to claim 6,

the opening/closing control unit controls opening/closing of the window based on the speed of the host vehicle.

8. The control device according to claim 7,

the opening/closing control unit increases the opening degree of the window as the speed of the host vehicle increases.

9. A control method is characterized in that,

in the control method, the control device controls the air conditioner in the vehicle interior from a predetermined timing before the predetermined timing so that the environment in the vehicle interior of the host vehicle becomes an environment corresponding to the condition of the transportation target at the predetermined timing,

the predetermined timing is a first timing at which the passenger gets on the own vehicle,

the air conditioner is controlled based on the action history before the first time in the information indicating the action history acquired from a management device for managing the action history.

10. A storage medium, characterized in that it comprises,

the storage medium causes the control device to control the air conditioner in the vehicle interior from a predetermined timing before the predetermined timing so that an environment in the vehicle interior of the host vehicle becomes an environment according to a condition of a transport target at the predetermined timing,

11. A control device is characterized in that a control unit,

the control device includes an air-conditioning control unit that controls an air-conditioning device in a vehicle interior from a predetermined timing onward such that an environment in the vehicle interior of the host vehicle becomes an environment according to a condition of a conveyance target at the predetermined timing,

the predetermined timing is a second timing for loading the load of the transportation target of the host vehicle on the host vehicle,

the condition is a condition set based on the load loaded on the own vehicle,

the air conditioning control part further controls the air conditioning device based on the suitable temperature of the load after the second timing.

12. The control device according to claim 11,

the control device further includes:

an in-vehicle recognition unit that recognizes a situation inside the host vehicle; and

a suitable temperature determination unit that determines a suitable temperature of the load based on the condition of the interior of the host vehicle recognized by the vehicle interior recognition unit,

the air conditioning control part controls the air conditioning device based on the suitable temperature of the load determined by the suitable temperature determination part.

13. A control device is characterized in that a control unit,

the predetermined timing is a first timing at which a passenger of the host vehicle gets on the host vehicle and a third timing at which the passenger gets off the host vehicle,

the condition is a condition set based on an action plan of the own vehicle,

the air conditioning control unit further adjusts the environment in the vehicle interior to an appropriate temperature from the time when the host vehicle is present during a period from the first timing to the next third timing based on the action plan acquired from a management device that manages the action plan.

14. A control device is characterized in that a control unit,

the predetermined timing is a first timing when a passenger boards the host vehicle and a third timing when the passenger gets off the host vehicle,

the condition is a condition set based on the outside air,

the air conditioning control unit controls the air conditioning device in accordance with the outside air during a period from the third timing to the first timing that follows, and controls the air conditioning device in accordance with the condition after the first timing.

15. A control device is characterized in that a control unit,

the predetermined timing is a third timing at which the occupant gets off the vehicle,

the condition is a condition set based on an action plan of the own vehicle,

the air-conditioning control unit does not control the air-conditioning apparatus when the action plan of the host vehicle does not exist for a predetermined period after the third timing based on the information indicating the action plan acquired from a management apparatus that manages the action plan.

16. A control device is characterized in that a control unit,

the control device is provided with:

an air conditioning control unit that controls an air conditioning device in a vehicle interior from a predetermined timing so that an environment in the vehicle interior of the host vehicle becomes an environment according to a condition of a transport target at the predetermined timing;

an identification unit that identifies a situation around the host vehicle; and

the air conditioning control unit controls the air conditioning device in the vehicle interior from a time point when the driving control unit performs unmanned driving,

the driving control unit also causes the host vehicle to travel based on an adjustment state in which the air-conditioning control unit adjusts the environment in the vehicle compartment.

17. The control device according to claim 16,

the driving control unit may cause the vehicle to travel on a route having a higher temperature of the outside air than other routes when the air conditioning control unit performs adjustment for increasing the temperature in the vehicle interior, and cause the vehicle to travel on a route having a lower temperature of the outside air than other routes when the air conditioning control unit performs adjustment for decreasing the temperature in the vehicle interior.

18. The control device according to claim 17,

the path in which the temperature of the outside air is higher than the other paths is a path irradiated to the sunlight, and the path in which the temperature of the outside air is lower than the other paths is a path not irradiated to the sunlight.