JP7017882B2 - Vehicle control device - Google Patents

Description

The present invention relates to a vehicle control device.

In recent years, a communication system has been proposed in which a vehicle can receive information transmitted from an external device such as a road sensor installed on another vehicle or on the road. Further, in such a communication system, a technique has been proposed in which detection information detected by an external device is acquired and the acquired detection information is applied as control information used for vehicle control of the own vehicle (for example, Patent Document). See 1.).

Japanese Unexamined Patent Publication No. 2001-301485

By the way, in the above communication system, since there may be a plurality of external devices capable of detecting detection information, a plurality of detection information detected by different external devices may be acquired by the own vehicle. In such a case, it is conceivable to select control information used for vehicle control from a plurality of detection information and use the detection information selected as control information for vehicle control. Here, the suitability of the detection information as control information may differ depending on which external device is the detection source of the detection information. Therefore, it is considered desirable to appropriately select the control information used for vehicle control from a plurality of detection information.

Therefore, the present invention has been made in view of the above problems, and an object of the present invention is to appropriately obtain control information used for vehicle control from a plurality of detection information detected by a plurality of external devices. It is to provide a new and improved vehicle control device that can be selected.

In order to solve the above problems, according to a certain viewpoint of the present invention, there is an acquisition unit that acquires detection information detected by a plurality of external devices outside the own vehicle and position information regarding the position of each of the external devices. The selection unit includes a selection unit for selecting control information used for vehicle control from a plurality of the detection information, and the selection unit selects the control information based on the type of the detection information and the position information. A vehicle control device is provided.

The position information includes lane information regarding the lane in which the external device is located, and when the detection information is road surface information regarding the state of the road surface, the selection unit selects the control information based on the lane information. May be good.

When the detection information is the road surface information, the selection unit may preferentially select the detection information detected by the external device located on the traveling lane of the own vehicle as the control information.

When the detection information is the road surface information, the selection unit travels the own vehicle when the detection information detected by the external device located on the traveling lane of the own vehicle is not acquired. The detection information detected by the external device located on the traveling lane in the same direction adjacent to the lane may be preferentially selected as the control information.

The road surface information may include the coefficient of friction of the road surface, the slope of the road surface, or the presence or absence of obstacles on the road surface.

The position information includes distance information indicating a relative distance between the own vehicle and the external device, and the selection unit uses the distance information when the detection information is environmental information related to an external environment different from the state of the road surface. The control information may be selected based on the above.

When the detection information is the environment information, the selection unit may preferentially select the detection information detected by the external device having a short relative distance to the own vehicle as the control information.

When the detection information is the environmental information, the selection unit uses the detection information detected by the external device located on the traveling lane that crosses the traveling lane of the own vehicle as a candidate for the control information. You may.

The environmental information may include weather, outside air temperature or wind speed.

As described above, according to the present invention, it is possible to appropriately select the control information used for vehicle control from a plurality of detection information detected by each of the plurality of external devices.

It is a schematic diagram which shows an example of the schematic structure of the communication system to which the own vehicle to which the control device which concerns on embodiment of this invention belongs belongs. It is a block diagram which shows an example of the functional structure of the control device which concerns on the same embodiment. It is a flowchart which shows an example of the process flow in the selection control performed by the control device which concerns on the same embodiment. It is explanatory drawing which shows the 1st example of the state of the other vehicle traveling around the own vehicle on which the control device which concerns on this embodiment is mounted. It is explanatory drawing which shows the 2nd example of the appearance of the other vehicle traveling around the own vehicle on which the control device which concerns on the same embodiment is mounted. It is explanatory drawing which shows the 3rd example of the appearance of the other vehicle traveling around the own vehicle on which the control device which concerns on the same embodiment is mounted. It is a flowchart which shows an example of the processing flow in the 1st vehicle control performed by the control device which concerns on the same embodiment. It is a flowchart which shows an example of the processing flow in the 2nd vehicle control performed by the control device which concerns on the same embodiment. It is a flowchart which shows an example of the processing flow in the 3rd vehicle control performed by the control device which concerns on the same embodiment. It is a flowchart which shows an example of the processing flow in the 4th vehicle control performed by the control device which concerns on the same embodiment. It is a flowchart which shows an example of the processing flow in the 5th vehicle control performed by the control device which concerns on the same embodiment. It is a flowchart which shows an example of the processing flow in the 6th vehicle control performed by the control device which concerns on the same embodiment.

Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings. In the present specification and the drawings, components having substantially the same functional configuration are designated by the same reference numerals, so that duplicate description will be omitted.

<1. Communication system configuration>
First, with reference to FIGS. 1 and 2, the configuration of the communication system 1 to which the own vehicle 10, which is the vehicle on which the control device 150 according to the embodiment of the present invention is mounted, belongs will be described.

FIG. 1 is a schematic diagram showing an example of a schematic configuration of a communication system 1 to which the own vehicle 10 to which the control device 150 according to the present embodiment belongs. FIG. 2 is a block diagram showing an example of the functional configuration of the control device 150 according to the present embodiment.

As shown in FIG. 1, the communication system 1 includes, for example, its own vehicle 10, another vehicle 20, a road sensor 30, a base station 40, and a management server 50. In FIG. 1, another vehicle 20a, another vehicle 20b, and another vehicle 20c are shown as examples of the other vehicle 20. Further, in FIG. 1, a road sensor 30a and a road sensor 30b are shown as examples of the road sensor 30. Further, in FIG. 1, a base station 40a and a base station 40b are shown as examples of the base station 40. The number of other vehicles 20, the road sensor 30, the base station 40, and the management server 50 belonging to the communication system 1 is not limited to the example shown in FIG.

The own vehicle 10 includes, for example, a communication device 110, a car navigation device 130, and a control device 150.

The communication device 110 communicates with each device outside the own vehicle 10. Specifically, the communication device 110 communicates with another vehicle 20, a road sensor 30, and a base station 40 in the communication system 1. For example, in the example shown in FIG. 1, the communication device 110 can communicate with another vehicle 20a, a road sensor 30a, and a base station 40a. Further, the communication device 110 outputs the received information to the control device 150.

The car navigation device 130 predicts a route, a distance, an arrival time, etc. to a destination desired by the driver according to an input operation by the driver, and displays information indicating them. Further, the car navigation device 130 can calculate the current position of the own vehicle 10 by receiving a radio wave from a GPS (Global Positioning System) satellite or the like. Further, the car navigation device 130 outputs the predicted information and the calculated information to the control device 150.

The control device 150 includes a CPU (Central Processing Unit) which is an arithmetic processing unit, a ROM (Read Only Memory) which is a storage element for storing programs and arithmetic parameters used by the CPU, and parameters which are appropriately changed in the execution of the CPU. It is composed of a RAM (Random Access Memory) or the like, which is a storage element for temporary storage.

Further, the control device 150 communicates with each device mounted on the own vehicle 10. Communication between the control device 150 and each device is realized by using, for example, CAN (Control Area Area Network) communication. For example, the control device 150 communicates with the communication device 110 and the car navigation device 130. The function of the control device 150 according to the present embodiment may be divided by a plurality of control devices, and in that case, the plurality of control devices may be connected to each other via a communication bus such as CAN.

The control device 150 includes, for example, an acquisition unit 151, a selection unit 152, and a control unit 153.

The acquisition unit 151 acquires various information used in the processing performed by the control device 150. Further, the acquisition unit 151 outputs the acquired information to the selection unit 152.

For example, the acquisition unit 151 acquires information output from each device by communicating with the communication device 110 and the car navigation device 130. Specifically, the acquisition unit 151 acquires information transmitted from the other vehicle 20 and the road sensor 30 and received by the communication device 110 from the communication device 110. As a result, the acquisition unit 151 can acquire the detection information detected by the other vehicle 20 and the road sensor 30, the information indicating the current position of the other vehicle 20, and the information indicating the installation position of the road sensor 30. Further, the acquisition unit 151 acquires information indicating the current position of the own vehicle 10 and the predicted route to the destination from the car navigation device 130.

Further, for example, the acquisition unit 151 may acquire information by further performing arithmetic processing on the information acquired from the communication device 110 and the car navigation device 130. Specifically, the acquisition unit 151 acquires the position information regarding the position of the other vehicle 20 based on the information indicating the current position of the other vehicle 20. Further, the acquisition unit 151 acquires the position information regarding the position of the road sensor 30 based on the information indicating the installation position of the road sensor 30.

The position information includes, for example, lane information regarding the lane in which the other vehicle 20 or the road sensor 30 is located. The acquisition unit 151 can acquire lane information by comparing map information including lane position information with information indicating the current position of another vehicle 20 or the installation position of the road sensor 30. The map information may be stored, for example, in the storage element of the control device 150 or the car navigation device 130. Further, the position information includes, for example, distance information indicating the relative distance between the own vehicle 10 and the other vehicle 20 or the road sensor 30. The acquisition unit 151 can acquire distance information by comparing the information indicating the current position of the own vehicle 10 with the information indicating the current position of the other vehicle 20 or the installation position of the road sensor 30.

The acquisition unit 151 may have a function of communicating with each device outside the own vehicle 10, and in that case, the communication device 110 may be omitted from the configuration of the own vehicle 10.

The selection unit 152 selects control information used for vehicle control performed by the control unit 153 from a plurality of detection information acquired by the acquisition unit 151. Further, the selection unit 152 outputs information indicating the detection information selected as the control information to the control unit 153.

As described above, in the control device 150, specifically, the acquisition unit 151 and the selection unit 152 execute selection control for selecting control information.

The control unit 153 executes vehicle control by controlling the operation of each device by outputting an operation command to each device mounted on the own vehicle 10. Specifically, the control unit 153 executes vehicle control based on the control information selected by the selection unit 152. Vehicle control may include controls relating to various vehicles such as, for example, driving force distribution control, control driving force control, automatic stop control, auto cruise control, cooling control or attitude stabilization control. Also, the types of control information used may differ between vehicle controls. Each vehicle control will be described in detail later.

The other vehicle 20 and the road sensor 30 correspond to an example of an external device that detects information that can be used for vehicle control as detection information. As an external device for detecting the detection information, a device different from the other vehicle 20 and the road sensor 30 may be used.

Specifically, the detection information is environmental information regarding the external environment of each vehicle. Therefore, the detection information is information that may differ depending on the detection position, which is the detection position. For example, the detection information is roughly classified into road surface information regarding the road surface condition and environmental information regarding an external environment different from the road surface condition. Road surface information includes, for example, the coefficient of friction of the road surface, the slope of the road surface, or the presence or absence of obstacles on the road surface. Environmental information about the external environment that differs from the road surface condition includes, for example, weather, outside air temperature or wind speed. The road surface information and the environmental information regarding the external environment different from the road surface condition are not particularly limited to such an example.

The other vehicle 20 detects the detection information about the traveling position at each time. The other vehicle 20 is provided with, for example, a sensor capable of detecting various types of information, and detects the detected information by using the sensor. The other vehicle 20 may detect the detection result itself by the sensor as detection information, or may detect the information obtained by further performing arithmetic processing on the detection result by the sensor as detection information.

Further, the other vehicle 20 transmits the detected detection information to the vehicle and the base station 40 located within the communicable range. Further, the other vehicle 20 transmits information indicating the current position of the other vehicle 20 to the vehicle and the base station 40 located within the communicable range. The other vehicle 20 can calculate the current position of the other vehicle 20 by receiving radio waves from GPS satellites and the like. For example, in the example shown in FIG. 1, the other vehicle 20a can communicate with the own vehicle 10 and the other vehicle 20b. The other vehicle 20b can communicate with the other vehicle 20a. Further, the other vehicle 20c can communicate with the base station 40b.

The road sensor 30 is installed on the road and detects detection information about the installation position.

Further, the road sensor 30 transmits the detected detection information to the vehicle and the base station 40 located within the communicable range. Further, the road sensor 30 transmits information indicating the installation position of the road sensor 30 to the vehicle and the base station 40 located within the communicable range. Information indicating the installation position can be stored in advance in each road sensor 30. For example, in the example shown in FIG. 1, the road sensor 30a can communicate with the own vehicle 10. Further, the road sensor 30b can communicate with the base station 40b.

The base station 40 can communicate with the management server 50 via a wired or wireless communication network N1. The management server 50 receives and stores information transmitted from the other vehicle 20 and the road sensor 30 via the base station 40. The base station 40 transmits the information stored in the management server 50 to each vehicle.

In the communication system 1, when the own vehicle 10 can directly communicate with each of the other vehicle 20 and the road sensor 30, it is transmitted from each of the other vehicle 20 and the road sensor 30 by performing direct communication. Information can be obtained. For example, the own vehicle 10 can acquire the detection information transmitted from the other vehicle 20a and the information indicating the current position of the other vehicle 20a by directly communicating with the other vehicle 20a. Further, for example, the own vehicle 10 can acquire the detection information transmitted from the road sensor 30a and the information indicating the installation position of the road sensor 30a by directly communicating with the road sensor 30a.

Further, in the communication system 1, even if the own vehicle 10 cannot directly communicate with each of the other vehicle 20 and the road sensor 30, by performing indirect communication via the other device, the other vehicle 10 can be used. Information transmitted from each of the vehicle 20 and the road sensor 30 can be acquired. For example, the own vehicle 10 can acquire the detection information transmitted from the other vehicle 20b and the information indicating the current position of the other vehicle 20b by communicating with the other vehicle 20a. Further, for example, the own vehicle 10 can acquire the detection information transmitted from the other vehicle 20c and the information indicating the current position of the other vehicle 20c by communicating with the base station 40a. Further, for example, the own vehicle 10 can acquire the detection information transmitted from the road sensor 30b and the information indicating the installation position of the road sensor 30b by communicating with the base station 40a.

In the communication system 1, the own vehicle 10 may be able to detect detection information about the traveling position at each time. In that case, the own vehicle 10 transmits the detected detection information and the information indicating the current position of the own vehicle 10 to the vehicle and the base station 40 located within the communicable range. For example, in the example shown in FIG. 1, the own vehicle 10 may transmit the detected detection information and the information indicating the current position of the own vehicle 10 to the other vehicle 20b and the base station 40a. The information transmitted from the own vehicle 10 is transmitted from the base station 40a to the management server 50 and stored in the management server 50. Therefore, the information transmitted from the own vehicle 10 can be transmitted to each other vehicle 20 via each base station 40.

<2. Control device operation>
Subsequently, the operation of the control device 150 according to the present embodiment will be described with reference to FIGS. 3 to 12.

(Selection control)
First, the selection control performed by the control device 150 will be described with reference to FIGS. 3 to 6.

FIG. 3 is a flowchart showing an example of the flow of processing in the selection control performed by the control device 150 according to the present embodiment. The control flow shown in FIG. 3 is repeated, for example, at preset time intervals. FIG. 4 is an explanatory diagram showing a first example of a state of another vehicle 20 traveling around the own vehicle 10 on which the control device 150 according to the present embodiment is mounted. FIG. 5 is an explanatory diagram showing a second example of a state of another vehicle 20 traveling around the own vehicle 10 on which the control device 150 according to the present embodiment is mounted. FIG. 6 is an explanatory diagram showing a third example of a state of another vehicle 20 traveling around the own vehicle 10 on which the control device 150 according to the present embodiment is mounted.

Hereinafter, in order to facilitate understanding, an example in which a plurality of detection information detected by each of the plurality of other vehicles 20 is used as a candidate for control information in the own vehicle 10 will be described, but will be used as a candidate for control information. The detection source of the detection information is not limited to such an example. For example, a plurality of detection information detected by each of the plurality of road sensors 30 may be used as candidates for control information in the own vehicle 10. Further, a plurality of detection information detected by both one or more other vehicles 20 and one or more road sensors 30 may be used as candidates for control information in the own vehicle 10.

When the control flow shown in FIG. 3 is started, first, in step S501, the acquisition unit 151 acquires detection information and position information for the plurality of other vehicles 20. Specifically, the acquisition unit 151 acquires the detection information detected by each of the plurality of other vehicles 20 and the position information of each other vehicle 20.

Next, in step S503, the selection unit 152 determines whether or not the acquired detection information is road surface information relating to the state of the road surface. If it is determined that the acquired detection information is road surface information (step S503 / YES), the process proceeds to step S505. On the other hand, when it is determined that the acquired detection information is not road surface information (in other words, the acquired detection information is environmental information related to an external environment different from the state of the road surface) (step S503 / NO), the process proceeds to step S513. move on.

For example, in the detection information acquisition process in step S501, when information indicating the friction coefficient of the road surface, the slope of the road surface, or the presence or absence of an obstacle on the road surface is acquired as the detection information, the acquired detection information is the road surface information. Is determined to be. On the other hand, for example, when information indicating weather, outside air temperature, or wind speed is acquired as detection information, it is determined that the acquired detection information is environmental information related to an external environment different from the state of the road surface.

In step S505, the selection unit 152 determines whether or not the detection information detected by the other vehicle 20 located on the own lane L10, which is the traveling lane of the own vehicle 10, has been acquired. If it is determined that the detection information detected by the other vehicle 20 located on the own lane L10 has been acquired (step S505 / YES), the process proceeds to step S507. On the other hand, if it is determined that the detection information detected by the other vehicle 20 located on the own lane L10 has not been acquired (step S505 / NO), the process proceeds to step S509.

For example, the selection unit 152 can acquire information indicating which lane the own lane L10 is by comparing the map information with the information indicating the current position of the own vehicle 10. In this case, the selection unit 152 can determine the lane in which the own vehicle 10 is currently traveling as the own lane L10. Further, for example, the selection unit 152 may acquire information indicating which lane the own lane L10 is, based on the prediction result of the route to the destination desired by the driver acquired from the car navigation device 130. .. In this case, the selection unit 152 can determine the lane corresponding to the route predicted to travel in the future in addition to the lane in which the own vehicle 10 is currently traveling as the own lane L10.

In step S507, the selection unit 152 preferentially selects the detection information detected by the other vehicle 20 located on the own lane L10 as control information.

Here, in the example shown in FIG. 4, the own lane L10 is the traveling lane of the own vehicle 10. Another vehicle 20d and another vehicle 20e are located on the own lane L10. Further, the adjacent lane L20 is a traveling lane in the same direction adjacent to the own lane L10. Another vehicle 20f and another vehicle 20g are located on the adjacent lane L20. Further, the oncoming lane L30 is a traveling lane in the direction opposite to the own lane L10. Another vehicle 20h is located on the oncoming lane L30.

For example, in the example shown in FIG. 4, when the road surface information is acquired as the detection information for each of the other vehicle 20d, the other vehicle 20e, the other vehicle 20f, the other vehicle 20g, and the other vehicle 20h, the selection unit 152 uses the other. Control information is selected from the detection information detected by the vehicle 20d and the other vehicle 20e. When the selection unit 152 has a plurality of detection information detected by the other vehicle 20 located on the own lane L10, for example, the selection unit 152 is detected by the other vehicle 20 having a short relative distance to the own vehicle 10 among the plurality of detection information. The detection information is preferentially selected as the control information. In the example shown in FIG. 4, the relative distance between the own vehicle 10 and the other vehicle 20e is shorter than the relative distance between the own vehicle 10 and the other vehicle 20d. Therefore, the selection unit 152 specifically selects the detection information detected by the other vehicle 20e as the control information.

In step S509, the selection unit 152 determines whether or not the detection information detected by the other vehicle 20 located on the adjacent lane L20 has been acquired. If it is determined that the detection information detected by the other vehicle 20 located on the adjacent lane L20 has been acquired (step S509 / YES), the process proceeds to step S511. On the other hand, if it is determined that the detection information detected by the other vehicle 20 located on the adjacent lane L20 has not been acquired (step S509 / NO), the process proceeds to step S513.

In step S511, the selection unit 152 preferentially selects the detection information detected by the other vehicle 20 located on the adjacent lane L20 as control information.

Here, in the example shown in FIG. 5, the other vehicle 20 is not located on the own lane L10. Therefore, in this case, it corresponds to the case where the detection information detected by the other vehicle 20 located on the own lane L10 is not acquired. Further, another vehicle 20f and another vehicle 20g are located on the adjacent lane L20. Further, another vehicle 20h is located on the oncoming lane L30.

For example, in the example shown in FIG. 5, when the road surface information is acquired as the detection information for each of the other vehicle 20f, the other vehicle 20g, and the other vehicle 20h, the selection unit 152 detects the other vehicle 20f and the other vehicle 20g. Select control information from the detected detection information. When the selection unit 152 has a plurality of detection information detected by the other vehicle 20 located on the adjacent lane L20, for example, the selection unit 152 is detected by the other vehicle 20 having a short relative distance to the own vehicle 10 among the plurality of detection information. The detection information is preferentially selected as the control information. In the example shown in FIG. 5, the relative distance between the own vehicle 10 and the other vehicle 20g is shorter than the relative distance between the own vehicle 10 and the other vehicle 20f. Therefore, the selection unit 152 specifically selects the detection information detected by the other vehicle 20g as the control information.

As described above, when the detection information is the road surface information, the selection unit 152 selects the control information based on the lane information regarding the lane in which the other vehicle 20 is located.

In step S513, the selection unit 152 preferentially selects the detection information detected by the other vehicle 20 having a short relative distance to the own vehicle 10 as control information.

For example, in the example shown in FIG. 4, the relative distance between the own vehicle 10 and the other vehicle 20h is shorter than the relative distance between the own vehicle 10 and the other vehicle 20 which is different from the other vehicle 20h. Therefore, in the example shown in FIG. 4, environmental information regarding the external environment different from the road surface condition is acquired as detection information for each of the other vehicle 20d, the other vehicle 20e, the other vehicle 20f, the other vehicle 20g, and the other vehicle 20h. In this case, the selection unit 152 selects the detection information detected by the other vehicle 20h located on the oncoming lane L30 as the control information.

Further, the selection unit 152 may use the detection information detected by the other vehicle 20 located on the traveling lane that crosses the own lane L10 as a candidate for control information.

Here, in the example shown in FIG. 6, the lane L40 is a traveling lane that crosses the own lane L10 in a grade separation. Another vehicle 20j is located on the lane L40. Further, another vehicle 20i is located on the oncoming lane L30. The lane L50 is, for example, an oncoming lane with respect to the lane L40.

For example, in the example shown in FIG. 6, when the environmental information regarding the external environment different from the road surface condition is acquired as the detection information for each of the other vehicle 20i and the other vehicle 20j, the selection unit 152 is three-dimensional with the own lane L10. The detection information detected by another vehicle 20j located on the intersecting lane L40 may be used as a candidate for control information. In the example shown in FIG. 6, the relative distance between the own vehicle 10 and the other vehicle 20j is shorter than the relative distance between the own vehicle 10 and the other vehicle 20i. Therefore, the selection unit 152 specifically selects the detection information detected by the other vehicle 20j as the control information.

As described above, when the detection information is environmental information related to the external environment different from the state of the road surface, the selection unit 152 selects the control information based on the distance information indicating the relative distance between the own vehicle 10 and the other vehicle 20.

After step S507, step S511 or step S513, the control flow shown in FIG. 3 ends.

As described above with reference to the control flow shown in FIG. 3, the selection unit 152 selects control information based on the detection information and the position information of the external device. Specifically, the selection unit 152 selects control information based on the type of detection information and the position information of the external device.

The detection date and time may be associated with the detection information detected by an external device such as another vehicle 20. In that case, the selection unit 152 may exclude the detection information whose detection date and time is earlier than the reference time from the plurality of acquired detection information from the candidates for control information. The reference time can be appropriately set to a time at which it can be determined that the aptitude of the detection information as control information is significantly reduced due to the passage of time from the detection date and time. Thereby, the detection information having a relatively high suitability as the control information can be effectively selected as the control information.

(Vehicle control)
Next, the vehicle control performed by the control device 150 will be described with reference to FIGS. 7 to 12.

In the following, as an example of the vehicle control performed by the control device 150, the first vehicle control to the sixth vehicle control will be described respectively, but the vehicle control performed by the control device 150 is the detection information detected by the external device. Any control may be used, and the control is not particularly limited to such an example. For example, the control device 150 may execute at least one of the first vehicle control to the sixth vehicle control, or may execute a vehicle control different from the first vehicle control to the sixth vehicle control. .. Further, the combination of the content of the vehicle control and the type of the detection information used for the vehicle control is not particularly limited to the examples described below.

FIG. 7 is a flowchart showing an example of a processing flow in the first vehicle control performed by the control device 150 according to the present embodiment. The control flow shown in FIG. 7 is repeated, for example, at preset set times.

The first vehicle control is a driving force distribution control. Specifically, in the first vehicle control, the driving force distribution of the front and rear wheels is controlled based on the friction coefficient of the road surface. As described above, in the first vehicle control, the friction coefficient of the road surface, which is the road surface information, is used as the control information.

The first vehicle control is executed, for example, when the own vehicle 10 is a vehicle having different drive sources between the front wheels and the rear wheels. The control unit 153 can control the drive force distribution of the front and rear wheels by controlling the operation of the drive source of the front wheels and the drive source of the rear wheels, for example.

When the control flow shown in FIG. 7 is started, first, in step S711, the control unit 153 determines whether or not the friction coefficient of the road surface selected as the control information is smaller than the reference friction coefficient. If it is determined that the friction coefficient of the road surface selected as the control information is smaller than the reference friction coefficient (step S711 / YES), the process proceeds to step S713. On the other hand, if it is determined that the friction coefficient of the road surface selected as the control information is equal to or higher than the reference friction coefficient (step S711 / NO), the process proceeds to step S715.

Specifically, the reference friction coefficient is appropriately set to a value that can determine whether or not the traveling road surface of the own vehicle 10 is a low μ road such as a frozen road surface. The reference friction coefficient is stored in advance in, for example, a storage element of the control device 150.

In step S713, the control unit 153 switches the distribution of the driving force of the front and rear wheels of the own vehicle 10 to the distribution of the four-wheel drive state. As a result, when traveling on a low μ road having a relatively low coefficient of friction, it is possible to realize traveling with an emphasis on improving traveling stability.

In step S715, the control unit 153 switches the distribution of the driving force of the front and rear wheels of the own vehicle 10 to the distribution of the two-wheel drive state. As a result, it is possible to realize driving with an emphasis on improving fuel efficiency when traveling on a high μ road having a relatively high coefficient of friction.

Following step S713 or step S715, the control flow shown in FIG. 7 ends.

FIG. 8 is a flowchart showing an example of a processing flow in the second vehicle control performed by the control device 150 according to the present embodiment. The control flow shown in FIG. 8 is repeated, for example, at preset time intervals.

The second vehicle control is control driving force control. Specifically, in the second vehicle control, the controlling driving force acting on the own vehicle 10 is controlled based on the slope of the road surface. As described above, in the second vehicle control, the slope of the road surface, which is the road surface information, is used as the control information.

The control unit 153 can control the driving force acting on the own vehicle 10 by controlling the operation of the driving source of the driving wheel, for example. Further, the control unit 153 can control the braking force acting on the own vehicle 10 by controlling the operation of the braking device that applies the braking force to each wheel, for example.

When the control flow shown in FIG. 8 is started, first, in step S721, the control unit 153 calculates a target value of the control driving force based on the accelerator operation amount and the brake operation amount.

Next, in step S723, the control unit 153 adjusts the target value of the control driving force based on the slope of the road surface selected as the control information. Thereby, it is possible to prevent the controlling driving force acting on the own vehicle 10 from being different from the controlling driving force intended by the driver due to the slope of the road surface.

Next, in step S725, the control unit 153 controls the control driving force using the adjusted target value.

Next, the control flow shown in FIG. 8 ends.

FIG. 9 is a flowchart showing an example of a processing flow in the third vehicle control performed by the control device 150 according to the present embodiment. The control flow shown in FIG. 9 is repeated, for example, at preset time intervals.

The third vehicle control is an automatic stop control. Specifically, in the third vehicle control, the automatic stop control for automatically stopping the own vehicle 10 is controlled based on the presence or absence of an obstacle on the road surface. As described above, in the third vehicle control, the presence or absence of obstacles on the road surface, which is the road surface information, is used as the control information.

The control unit 153 can execute automatic stop control, for example, by controlling the operation of the braking device that applies the braking force to each wheel.

When the control flow shown in FIG. 9 is started, first, in step S731, whether the control unit 153 has an obstacle on the road surface based on the presence or absence of an obstacle on the road surface selected as control information. Judge whether or not. If it is determined that there is an obstacle on the road surface (step S731 / YES), the process proceeds to step S733. On the other hand, when it is determined that there is no obstacle on the road surface (step S731 / NO), the control flow shown in FIG. 9 ends.

In step S733, the control unit 153 executes automatic stop control. As a result, it is possible to prevent the own vehicle 10 from colliding with an obstacle on the road surface.

Next, the control flow shown in FIG. 9 ends.

FIG. 10 is a flowchart showing an example of a processing flow in the fourth vehicle control performed by the control device 150 according to the present embodiment. The control flow shown in FIG. 10 is repeated, for example, at preset set times.

The fourth vehicle control is auto cruise control. Specifically, in the fourth vehicle control, the auto cruise control that automatically travels the own vehicle 10 so that the distance between the own vehicle 10 and the preceding vehicle is maintained at the reference distance is controlled based on the weather. .. The reference distance is set to a distance that can avoid a collision with the preceding vehicle. As described above, in the fourth vehicle control, the weather, which is the environmental information regarding the external environment different from the road surface condition, is used as the control information.

The fourth vehicle control is executed, for example, when the own vehicle 10 is a vehicle having a distance measuring sensor capable of measuring the distance between the own vehicle 10 and the preceding vehicle or an in-vehicle camera capable of capturing the front of the own vehicle 10. Will be done. The control unit 153 can calculate the inter-vehicle distance between the own vehicle 10 and the preceding vehicle by, for example, performing image processing on the image captured by the vehicle-mounted camera. The control unit 153 can execute the auto cruise control by controlling the control driving force based on the inter-vehicle distance between the own vehicle 10 and the preceding vehicle obtained by using the distance measuring sensor or the vehicle-mounted camera.

When the control flow shown in FIG. 10 is started, first, in step S741, the control unit 153 determines whether or not the weather selected as the control information corresponds to bad weather. If it is determined that the weather selected as the control information corresponds to bad weather (step S741 / YES), the process proceeds to step S743. On the other hand, when it is determined that the weather selected as the control information does not correspond to bad weather (step S741 / NO), the control flow shown in FIG. 10 ends.

As the weather corresponding to bad weather, specifically, the weather in which the accuracy of the distance between the own vehicle 10 and the preceding vehicle acquired by using the distance measuring sensor or the vehicle-mounted camera is expected to be excessively low is applied. Information indicating the weather corresponding to bad weather is stored in advance in, for example, a storage element of the control device 150.

In step S743, the control unit 153 prohibits auto-cruise control. As a result, it is possible to prevent the auto-cruise control from being executed when it is difficult to properly execute the auto-cruise control due to the accuracy of the inter-vehicle distance becoming excessively low.

Next, the control flow shown in FIG. 10 ends.

FIG. 11 is a flowchart showing an example of a processing flow in the fifth vehicle control performed by the control device 150 according to the present embodiment. The control flow shown in FIG. 11 is repeated, for example, at preset set times.

The fifth vehicle control is cooling control. Specifically, in the fifth vehicle control, the cooling control for cooling the cooling target such as the battery mounted on the own vehicle 10 is controlled based on the outside air temperature. As described above, in the fifth vehicle control, the outside air temperature, which is the environmental information regarding the external environment different from the road surface condition, is used as the control information.

The fifth vehicle control is executed, for example, when the own vehicle 10 is a vehicle having a cooling fan capable of blowing outside air outside the own vehicle 10 to a cooling target. The control unit 153 can execute blowing air to the cooling target of the outside air, for example, by controlling the operation of the cooling fan.

When the control flow shown in FIG. 11 is started, first, in step S751, the control unit 153 determines the duty ratio of the cooling fan based on the outside air temperature selected as the control information.

The duty ratio of the cooling fan is the driving time of the cooling fan per unit time. As the duty ratio increases, the ability to cool the object to be cooled increases, while the power consumption associated with driving the cooling fan increases.

In step S753, the control unit 153 drives the cooling fan at a determined duty ratio. As a result, it is possible to appropriately secure the ability to cool the object to be cooled by blowing outside air, and to suppress an increase in power consumption due to the driving of the cooling fan.

Next, the control flow shown in FIG. 11 ends.

FIG. 12 is a flowchart showing an example of a processing flow in the sixth vehicle control performed by the control device 150 according to the present embodiment. The control flow shown in FIG. 12 is repeated, for example, at preset set times.

The sixth vehicle control is attitude stabilization control. Specifically, in the sixth vehicle control, the attitude stabilization control that stabilizes the change in the attitude of the own vehicle 10 due to receiving an external force by increasing the rigidity of the own vehicle 10 is based on the wind speed. Be controlled. As described above, in the sixth vehicle control, the wind speed, which is the environmental information regarding the external environment different from the road surface condition, is used as the control information.

The sixth vehicle control is executed, for example, in the case of a vehicle having a damping factor adjusting mechanism capable of adjusting the damping factor of the suspension. The control unit 153 can execute posture stabilization control that increases the rigidity of the own vehicle 10 by increasing the damping rate of the suspension by controlling the operation of the damping rate adjusting mechanism, for example.

When the control flow shown in FIG. 12 is started, first, in step S761, the control unit 153 determines whether or not the component of the wind speed selected as the control information in the left-right direction of the vehicle body is larger than the reference wind speed. If it is determined that the component of the wind speed in the left-right direction of the vehicle body is larger than the reference wind speed (step S761 / YES), the process proceeds to step S763. On the other hand, when it is determined that the component of the wind speed in the left-right direction of the vehicle body is equal to or lower than the reference wind speed (step S761 / NO), the control flow shown in FIG. 12 ends.

Specifically, the reference wind speed is appropriately set to a value that can determine whether or not the component of the wind speed in the left-right direction of the vehicle body is large enough to make the posture of the own vehicle 10 excessively unstable. The reference wind speed is stored in advance in, for example, a storage element of the control device 150.

In step S763, the control unit 153 executes posture stabilization control. As a result, it is possible to prevent the posture of the own vehicle 10 from becoming unstable due to the crosswind.

Next, the control flow shown in FIG. 12 ends.

<3. Effect of control device>
Subsequently, the effect of the control device 150 according to the present embodiment will be described.

In the control device 150 according to the present embodiment, control information used for vehicle control is selected from a plurality of detection information detected by a plurality of external devices outside the own vehicle 10. Further, control information is selected based on the detection information and the position information of the external device. Here, the suitability of the detection information as control information may differ depending on which external device is the detection source of the detection information. Specifically, the suitability of the detection information as control information may differ depending on the detection position of the detection information. Further, the relationship between the detection position of the detection information and the suitability of the detection information as control information may differ depending on the type of detection information. Therefore, by selecting the control information based on the detection information and the position information of the external device, the detection information having a relatively high suitability as the control information can be selected as the control information. Therefore, the control information used for vehicle control can be appropriately selected from the plurality of detection information detected by the plurality of external devices.

Further, in the control device 150 according to the present embodiment, when the detection information is the road surface information regarding the state of the road surface, the control information can be selected based on the lane information regarding the lane in which the external device is located. Here, the condition of the road surface may differ depending on the lane. Therefore, when the detection information is road surface information, the suitability of the detection information as control information may differ depending on which lane the detection information is detected in. Therefore, when the detection information is road surface information, by selecting the control information based on the lane information, the detection information having a relatively high aptitude as the control information can be appropriately selected as the control information. For example, it is possible to appropriately select control information for vehicle control in which road surface information is used as control information, such as driving force distribution control, controlled driving force control, and automatic stop control described with reference to FIGS. 7 to 9. can.

Further, in the control device 150 according to the present embodiment, when the detection information is road surface information, the detection information detected by the external device located on the own lane, which is the traveling lane of the own vehicle 10, is preferentially used as the control information. Can be selected. Here, when the detection information is road surface information, the suitability of the detection information detected in the own lane as control information is higher than that of the detection information detected in a lane different from the own lane. Therefore, when the detection information is road surface information, the detection information detected by the external device located on the own lane is preferentially selected as the control information, so that the detection information having a relatively high suitability as the control information can be obtained. It can be effectively selected as control information.

Further, in the control device 150 according to the present embodiment, when the detection information is road surface information, when the detection information detected by the external device located on the own lane is not acquired, the same as the one adjacent to the own lane. The detection information detected by the external device located on the adjacent lane which is the traveling lane in the direction can be preferentially selected as the control information. Here, the own vehicle 10 may change lanes to an adjacent lane for the purpose of overtaking the preceding vehicle or the like while traveling. Therefore, when the detection information is road surface information, the suitability of the detection information detected in the adjacent lane as control information is higher than that of the detection information detected in a lane other than the own lane and different from the adjacent lane. .. Therefore, when the detection information is road surface information and the detection information detected by the external device located on the own lane is not acquired, the detection information detected by the external device located on the adjacent lane is used as the control information. By preferentially selecting, detection information having a relatively high suitability as control information can be more effectively selected as control information.

Further, in the control device 150 according to the present embodiment, when the detection information is environmental information related to an external environment different from the state of the road surface, the control information is selected based on the distance information indicating the relative distance between the own vehicle 10 and the external device. Can be done. Here, the external environment different from the road surface condition is less likely to depend on the lane and may differ depending on the absolute position. Therefore, when the detected information is environmental information related to an external environment different from the state of the road surface, the suitability of the detected information as control information may differ depending on the relative distance between the own vehicle 10 and the detected position of the detected information. Therefore, when the detection information is environmental information related to the external environment different from the road surface condition, by selecting the control information based on the distance information, the detection information having a relatively high aptitude as the control information can be appropriately used as the control information. You can choose. For example, control information is provided for vehicle control in which environmental information related to an external environment different from the road surface condition is used as control information, such as auto-cruise control, cooling control, and attitude stabilization control described with reference to FIGS. 10 to 12. It can be selected appropriately.

Further, in the control device 150 according to the present embodiment, when the detection information is environmental information related to an external environment different from the state of the road surface, the detection information detected by the external device having a short relative distance to the own vehicle 10 is used as the control information. It can be selected preferentially. Here, when the detection information is environmental information related to an external environment different from the state of the road surface, the suitability of the detection information as control information is higher as the detection position of the detection information is closer to the own vehicle 10. Therefore, when the detection information is environmental information related to an external environment different from the road surface condition, the detection information detected by the external device having a short relative distance to the own vehicle 10 is preferentially selected as the control information for control. Detection information with relatively high aptitude as information can be effectively selected as control information.

Further, in the control device 150 according to the present embodiment, when the detection information is environmental information related to an external environment different from the state of the road surface, the detection information detected by the external device located on the traveling lane that crosses the own lane three-dimensionally is detected. It can be used as a candidate for control information. Here, when the detection information is environmental information related to an external environment different from the state of the road surface, as described above, the suitability of the detection information as control information is higher as the detection position of the detection information is closer to the own vehicle 10. .. When there is a traveling lane that crosses the own lane, the external device located on the traveling lane that crosses the own lane may be the closest external device to the own vehicle 10. Therefore, when the detection information is environmental information related to the external environment different from the road surface condition, the detection information detected by the external device located on the traveling lane that crosses the own lane three-dimensionally is used as a candidate for control information. Detection information with relatively high suitability as control information can be selected more effectively as control information.

<4. Conclusion>
As described above, according to the present embodiment, the control information used for vehicle control is selected from the plurality of detection information detected by the plurality of external devices outside the own vehicle 10. Further, control information is selected based on the detection information and the position information of the external device. Here, the suitability of the detection information as control information may differ depending on the detection position of the detection information. Further, the relationship between the detection position of the detection information and the suitability of the detection information as control information may differ depending on the type of detection information. Therefore, according to the present embodiment, detection information having a relatively high suitability as control information can be selected as control information. Therefore, the control information used for vehicle control can be appropriately selected from the plurality of detection information detected by the plurality of external devices.

It should be noted that the processes described using the flowchart in the present specification do not necessarily have to be executed in the order shown in the flowchart. Some processing steps may be performed in parallel. Further, additional processing steps may be adopted, and some processing steps may be omitted.

Although the preferred embodiments of the present invention have been described in detail with reference to the accompanying drawings, the present invention is not limited to these examples. It is clear that a person having ordinary knowledge in the field of technology to which the present invention belongs can come up with various modifications or applications within the scope of the technical ideas described in the claims. , These are also naturally understood to belong to the technical scope of the present invention.

1 Communication system 10 Own vehicle 20 Other vehicle 30 Road sensor 40 Base station 50 Management server 110 Communication device 130 Car navigation device 150 Control device 151 Acquisition unit 152 Selection unit 153 Control unit

Claims (9)

An acquisition unit that acquires detection information detected by a plurality of external devices outside the own vehicle and position information regarding the position of each of the external devices.
A selection unit that selects control information used for vehicle control from the plurality of detection information, and
Equipped with
The selection unit selects the control information based on the type of the detection information and the position information.
Vehicle control device. The position information includes lane information regarding the lane in which the external device is located.
When the detection information is road surface information relating to the state of the road surface, the selection unit selects the control information based on the lane information.
The vehicle control device according to claim 1. When the detection information is the road surface information, the selection unit preferentially selects the detection information detected by the external device located on the traveling lane of the own vehicle as the control information.
The vehicle control device according to claim 2. When the detection information is the road surface information, the selection unit travels the own vehicle when the detection information detected by the external device located on the traveling lane of the own vehicle is not acquired. The detection information detected by the external device located on the traveling lane in the same direction adjacent to the lane is preferentially selected as the control information.
The vehicle control device according to claim 3. The road surface information includes the coefficient of friction of the road surface, the slope of the road surface, or the presence or absence of obstacles on the road surface.
The vehicle control device according to any one of claims 2 to 4. The position information includes distance information indicating a relative distance between the own vehicle and the external device.
When the detection information is environmental information related to an external environment different from the state of the road surface, the selection unit selects the control information based on the distance information.
The vehicle control device according to any one of claims 1 to 5. When the detection information is the environment information, the selection unit preferentially selects the detection information detected by the external device having a short relative distance to the own vehicle as the control information.
The vehicle control device according to claim 6. When the detection information is the environmental information, the selection unit uses the detection information detected by the external device located on the traveling lane that crosses the traveling lane of the own vehicle as a candidate for the control information. ,
The vehicle control device according to claim 7. The environmental information includes weather, outside air temperature or wind speed.
The vehicle control device according to any one of claims 6 to 8.

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