Vehicle control device, vehicle control method, program, and vehicle

A vehicle control device includes a notification control unit that controls a notification to surroundings in a case where a vehicle moves from a parking position and an operation control unit that automatically moves the vehicle from the parking position to make the vehicle join a vehicle traffic region and temporarily stops the vehicle before the vehicle enters the vehicle traffic region. The present technology is applied to, for example, a vehicle that automatically drives.

CROSS-REFERENCE TO RELATED APPLICATIONS

The present application is based on PCT filing PCT/JP2019/047763, filed Dec. 6, 2019, which claims priority to JP 2018-237945, filed Dec. 20, 2018, the entire contents of each are incorporated herein by reference.

TECHNICAL FIELD

The present technology relates to a vehicle control device, a vehicle control method, a program, and a vehicle, and particularly, to a vehicle control device, a vehicle control method, a program, and a vehicle that enable automatic driving to safely bring a vehicle from a parking position to a vehicle traffic region.

BACKGROUND ART

Conventionally, it has been proposed that, in a case where a novice driver drives a vehicle and exits a parking lot to a road, it is determined whether or not it is difficult to turn right, and a route to turn right or left is guided (for example, refer to Patent Document 1).

CITATION LIST

Patent Document

SUMMARY OF THE INVENTION

Problems to be Solved by the Invention

However, in the Patent Document 1, a case is not examined where automatic driving brings the vehicle from the parking position to the vehicle traffic region.

The present technology has been made in view of such a situation, and enables automatic driving to bring the vehicle from the parking position to the vehicle traffic region.

Solutions to Problems

A vehicle control device according to a first aspect of the present technology includes a notification control unit that controls a notification to surroundings in a case where a vehicle automatically moves from a parking position and an operation control unit that moves the vehicle from the parking position to make the vehicle join a vehicle traffic region and temporarily stops the vehicle before the vehicle enters the vehicle traffic region.

A vehicle control method according to the first aspect of the present technology performed by a vehicle control device includes controlling a notification to surroundings in a case where a vehicle automatically moves from a parking position, and moving the vehicle from the parking position to make the vehicle join a vehicle traffic region and temporarily stopping the vehicle before the vehicle enters the vehicle traffic region.

A program according to the first aspect of the present technology for causing a computer to execute processing includes controlling a notification to surroundings in a case where a vehicle automatically moves from a parking position, and moving the vehicle from the parking position to make the vehicle join a vehicle traffic region and temporarily stopping the vehicle before the vehicle enters the vehicle traffic region.

A vehicle according to a second aspect of the present technology includes a notification unit, a notification control unit that controls a notification to surroundings by the notification unit in a case where the vehicle automatically moves from a parking position, a driving unit, and an operation control unit that controls the driving unit to move the vehicle from the parking position to make the vehicle join a vehicle traffic region and to temporarily stop the vehicle before the vehicle enters the vehicle traffic region.

In the first aspect of the present technology, the notification to the surroundings in a case where the vehicle automatically moves from the parking position is controlled, the vehicle moves from the parking position to join the vehicle traffic region, and temporarily stops before entering the vehicle traffic region.

In the second aspect of the present technology, the notification by the notification unit to the surroundings in a case where the vehicle automatically moves from the parking position is controlled, and the driving unit is controlled to move the vehicle from the parking position to make the vehicle join the vehicle traffic region, and to temporarily stop the vehicle before the vehicle enters the vehicle traffic region.

MODE FOR CARRYING OUT THE INVENTION

Hereinafter, modes for carrying out the present technology will be described. The description will be made in the following order.1. Embodiment2. Modification3. Others

First, an embodiment of the present technology will be described with reference toFIGS.1to8.

<Exemplary Configuration of Vehicle Control System100>

FIG.1is a block diagram illustrating an exemplary configuration of a schematic function of a vehicle control system100that is an example of a mobile body control system to which the present technology may be applied.

Note that, in a case where a vehicle10in which the vehicle control system100is provided is distinguished from another vehicle, the vehicle10is referred to as an own vehicle.

The vehicle control system100includes an input unit101, a data acquisition unit102, a communication unit103, an in-vehicle device104, an output control unit105, an output unit106, a driving system control unit107, a driving system108, a body system control unit109, a body system110, a storage unit111, and an automatic driving control unit112. The input unit101, the data acquisition unit102, the communication unit103, the output control unit105, the driving system control unit107, the body system control unit109, the storage unit111, and the automatic driving control unit112are mutually connected via a communication network121. The communication network121includes, for example, an in-vehicle communication network compliant with an optional standard, for example, a Controller Area Network (CAN), a Local Interconnect Network (LIN), a Local Area Network (LAN), or the FlexRay (registered trademark), a bus, or the like. Note that each unit of the vehicle control system100may be directly connected without the communication network121.

Note that, hereinafter, in a case where each unit of the vehicle control system100performs communication via the communication network121, description of the communication network121is omitted. For example, in a case where the input unit101and the automatic driving control unit112communicate with each other via the communication network121, it is simply described that the input unit101and the automatic driving control unit112communicate with each other.

The input unit101includes a device used by an occupant to input various kinds of data, instructions, or the like. For example, the input unit101includes an operation device such as a touch panel, a button, a microphone, a switch, or a lever and an operation device that can perform input by a method other than a manual operation using sounds, gestures, or the like. Furthermore, for example, the input unit101may be an external connection device such as a remote control device that uses infrared rays and other radio waves or a mobile device or a wearable device that is compatible with the operation of the vehicle control system100. The input unit101generates an input signal on the basis of the data, instructions, or the like input by the occupant and supplies the input signal to each unit of the vehicle control system100.

The data acquisition unit102includes various sensors that acquire data used for the processing of the vehicle control system100and supplies the acquired data to each unit of the vehicle control system100.

For example, the data acquisition unit102includes various sensors that detect a state of the own vehicle or the like. Specifically, for example, the data acquisition unit102includes a gyro sensor, an acceleration sensor, an inertial measurement device (IMU), sensors that detect an operation amount of an acceleration pedal, an operation amount of a brake pedal, a steering angle of a steering wheel, an engine speed, a motor speed, a wheel rotation speed, or the like.

Furthermore, for example, the data acquisition unit102includes various sensors that detect information outside the own vehicle. Specifically, for example, the data acquisition unit102includes imaging devices such as a Time Of Flight (ToF) camera, a stereo camera, a monocular camera, an infrared camera, other cameras, or the like. Furthermore, for example, the data acquisition unit102includes an environmental sensor that detects the weather, the meteorological phenomenon, or the like and a surrounding information detection sensor that detects an object around the own vehicle. The environmental sensor includes, for example, a raindrop sensor, a fog sensor, a sunshine sensor, a snow sensor, or the like. The surrounding information detection sensor includes, for example, an ultrasonic wave sensor, a radar, a Light Detection and Ranging and Laser Imaging Detection and Ranging (LiDAR), a sonar, or the like.

Moreover, for example, the data acquisition unit102includes various sensors to detect a current position of the own vehicle. Specifically, for example, the data acquisition unit102includes a Global Navigation Satellite System (GNSS) receiver that receives a GNSS signal from a GNSS satellite, or the like.

Furthermore, for example, the data acquisition unit102includes various sensors that detect in-vehicle information. Specifically, for example, the data acquisition unit102includes an imaging device that images a driver, a biometric sensor that detects biological information of the driver, a microphone that collects sounds in the vehicle interior, or the like. The biometric sensor is provided, for example, in a seat surface, a steering wheel, or the like and detects biological information of an occupant who sits on the seat or a driver who holds a steering wheel.

The communication unit103communicates with the in-vehicle device104, various devices outside the vehicle, a server, a base station, or the like. The communication unit103transmits data supplied from each unit of the vehicle control system100and supplies the received data to each unit of the vehicle control system100. Note that a communication protocol supported by the communication unit103is not particularly limited. Furthermore, the communication unit103can support a plurality of types of communication protocols.

For example, the communication unit103performs wireless communication with the in-vehicle device104by using a wireless LAN, the Bluetooth (registered trademark), Near Field Communication (NFC), a Wireless USB (WUSB), or the like. Alternatively, for example, the communication unit103performs wired communication with the in-vehicle device104by using a Universal Serial Bus (USB), the High-Definition Multimedia Interface (HDMI) (registered trademark), the Mobile High-definition Link (MHL), or the like via a connection terminal which is not illustrated (and cable as necessary).

Moreover, for example, the communication unit103communicates with a device (for example, application server or control server) that exists on an external network (for example, the Internet, cloud network, or company-specific network) via a base station or an access point. Furthermore, for example, the communication unit103communicates with a terminal near the own vehicle (for example, terminal of pedestrian or shop or Machine Type Communication (MTC) terminal) by using the Peer To Peer (P2P) technology. Moreover, for example, the communication unit103performs V2X communication such as Vehicle to Vehicle (intervehicle) communication, Vehicle to Infrastructure (between vehicle and infrastructure) communication, Vehicle to Home (between own vehicle and home) communication, and Vehicle to Pedestrian (between vehicle and pedestrian) communication. Furthermore, for example, the communication unit103includes a beacon reception unit, receives radio waves or electromagnetic waves transmitted from a wireless station installed on a road or the like, and acquires information including the current position, congestion, traffic regulations, a required time, or the like.

The in-vehicle device104includes, for example, a mobile device or a wearable device of the occupant, or an information device carried in or attached to the own vehicle, and a navigation device that searches for a route to an optional destination or the like.

The output control unit105controls an output of various types of information to the occupant of the own vehicle or the outside of the own vehicle. For example, the output control unit105generates an output signal including at least one of visual information (for example, image data) or auditory information (for example, audio data) and supplies the generated signal to the output unit106so as to control the outputs of the visual information and the auditory information from the output unit106. Specifically, for example, the output control unit105synthesizes pieces of image data imaged by different imaging devices of the data acquisition unit102, generates a bird's eye image, a panoramic image, or the like, and supplies an output signal including the generated image to the output unit106. Furthermore, for example, the output control unit105generates audio data including warning sound, a warning message, or the like for danger such as collision, contact, entry to a dangerous zone, or the like, and supplies an output signal including the generated audio data to the output unit106.

The output unit106includes a device that can output the visual information or the auditory information to the occupant of the own vehicle or the outside of the vehicle. For example, the output unit106includes a display device, an instrument panel, an audio speaker, a headphone, a wearable device such as a glass-shaped display worn by the occupant, a projector, a lamp, or the like. The display device included in the output unit106may be a device that displays the visual information in a field of view of the driver, for example, a head-up display, a transmissive display, a device having an Augmented Reality (AR) display function, or the like, in addition to a device having a normal display.

The driving system control unit107generates various control signals and supplies the generated signals to the driving system108so as to control the driving system108. Furthermore, the driving system control unit107supplies the control signal to each unit other than the driving system108as necessary and issues a notification of a control state of the driving system108or the like.

The driving system108includes various devices related to the driving system of the own vehicle. For example, the driving system108includes a driving force generation device that generates a driving force such as an internal combustion engine, a driving motor, or the like, a driving force transmission mechanism that transmits the driving force to the wheels, a steering mechanism that adjusts the steering angle, a braking device that generates a braking force, an Antilock Brake System (ABS), an Electronic Stability Control (ESC), an electronic power steering device, or the like.

The body system control unit109generates various control signals and supplies the generated signals to the body system110so as to control the body system110. Furthermore, the body system control unit109supplies the control signal to each unit other than the body system110as necessary and issues a notification of a control state of the body system110or the like.

The body system110includes various body-system devices mounted on a vehicle body. For example, the body system110includes a keyless entry system, a smart key system, a power window device, a power seat, a steering wheel, an air conditioner, various lamps (for example, headlights, backlights, brake lamps, indicators, fog lights, hazard indicators, or the like), or the like.

The storage unit111includes, for example, a magnetic storage device such as a Read Only Memory (ROM), a Random Access Memory (RAM), or a Hard Disc Drive (HDD), a semiconductor storage device, an optical storage device, a magneto-optical storage device, or the like. The storage unit111stores various programs, data, or the like used by each unit of the vehicle control system100. For example, the storage unit111stores map data such as a three-dimensional high-accuracy map such as a dynamic map, a global map that covers a wide area and has lower accuracy than the high-accuracy map, a local map including information around the own vehicle, or the like.

The automatic driving control unit112controls the automatic driving such as autonomous traveling, driving assistance, or the like. Specifically, for example, the automatic driving control unit112performs cooperative control to realize a function of an Advanced Driver Assistance System (ADAS) including collision avoidance or impact relaxation of the own vehicle, following traveling based on a distance between vehicles, a vehicle speed maintaining travel, an own vehicle collision warning, a lane deviation warning of the own vehicle, or the like. Furthermore, for example, the automatic driving control unit112performs cooperative control for the automatic driving for autonomous traveling without depending on the operation by the driver. The automatic driving control unit112includes a detection unit131, a self-position estimation unit132, a situation analysis unit133, a planning unit134, and an operation control unit135.

The detection unit131detects various types of information necessary for controlling the automatic driving. The detection unit131includes a vehicle exterior information detection unit141, an in-vehicle information detection unit142, and a vehicle state detection unit143.

The vehicle exterior information detection unit141executes processing for detecting information outside the own vehicle on the basis of the data or the signal from each unit of the vehicle control system100. For example, the vehicle exterior information detection unit141executes detection processing, recognition processing, and tracking processing on an object around the own vehicle and processing for detecting a distance to the object. The object to be detected includes, for example, a vehicle, a person, an obstacle, a structure, a road, a traffic light, a traffic sign, a road marking, or the like. Furthermore, for example, the vehicle exterior information detection unit141executes processing for detecting environment around the own vehicle. The surrounding environment to be detected includes, for example, the weather, the temperature, the humidity, the brightness, the state of the road surface, or the like. The vehicle exterior information detection unit141supplies data indicating the result of the detection processing to the self-position estimation unit132, a map analysis unit151, a traffic rule recognition unit152, and a situation recognition unit153of the situation analysis unit133, and an emergency avoidance unit171of the operation control unit135, or the like.

The in-vehicle information detection unit142executes processing for detecting information in the vehicle on the basis of the data or the signal from each unit of the vehicle control system100. For example, the in-vehicle information detection unit142executes processing for authenticating and recognizing the driver, processing for detecting the driver's state, processing for detecting the occupant, processing for detecting in-vehicle environment, or the like. The driver's state to be detected includes, for example, a physical condition, a wakefulness degree, a concentration level, a fatigue level, a line-of-sight direction, or the like. The in-vehicle environment to be detected includes, for example, the temperature, the humidity, the brightness, the odor, or the like. The in-vehicle information detection unit142supplies the data indicating the result of the detection processing to the situation recognition unit153of the situation analysis unit133, the emergency avoidance unit171of the operation control unit135, or the like.

The vehicle state detection unit143executes processing for detecting a state of the own vehicle on the basis of the data or the signal from each unit of the vehicle control system100. The state of the own vehicle to be detected includes, for example, the speed, the acceleration, the steering angle, whether or not an abnormality occurs, content of the abnormality, a driving operation state, a position and inclination of a power seat, a door lock state, a state of other in-vehicle devices, or the like. The vehicle state detection unit143supplies the data indicating the result of the detection processing to the situation recognition unit153of the situation analysis unit133, the emergency avoidance unit171of the operation control unit135, or the like.

The self-position estimation unit132executes processing for estimating the position, the posture, or the like of the own vehicle on the basis of the data or the signal from each unit of the vehicle control system100such as the vehicle exterior information detection unit141, the situation recognition unit153of the situation analysis unit133, or the like. Furthermore, the self-position estimation unit132generates a local map used to estimate the self-position (hereinafter, referred to as self-position estimation map) as necessary. The self-position estimation map is, for example, a map with high accuracy using a technology such as Simultaneous Localization and Mapping (SLAM). The self-position estimation unit132supplies the data indicating the result of the estimation processing to the map analysis unit151, the traffic rule recognition unit152, the situation recognition unit153, or the like of the situation analysis unit133. Furthermore, the self-position estimation unit132makes the storage unit111store the self-position estimation map.

The situation analysis unit133executes processing for analyzing the situations of the own vehicle and surroundings. The situation analysis unit133includes the map analysis unit151, the traffic rule recognition unit152, the situation recognition unit153, and a situation prediction unit154.

While using the data or the signal from each unit of the vehicle control system100such as the self-position estimation unit132, the vehicle exterior information detection unit141, or the like as necessary, the map analysis unit151executes processing for analyzing various maps stored in the storage unit111and constructs a map including information necessary for the automatic driving processing. The map analysis unit151supplies the constructed map to the traffic rule recognition unit152, the situation recognition unit153, the situation prediction unit154, and a route planning unit161, an action planning unit162, an operation planning unit163, or the like of the planning unit134.

The traffic rule recognition unit152executes processing for recognizing traffic rules around the own vehicle on the basis of the data or the signal from each unit of the vehicle control system100such as the self-position estimation unit132, the vehicle exterior information detection unit141, the map analysis unit151, or the like. According to this recognition processing, for example, a position and a state of a traffic light around the own vehicle, content of traffic regulations around the own vehicle, a traffic lane on which the own vehicle can travel, or the like are recognized. The traffic rule recognition unit152supplies the data indicating the result of the recognition processing to the situation prediction unit154or the like.

The situation recognition unit153executes processing for recognizing a situation of the own vehicle on the basis of the data or the signal from each unit of the vehicle control system100such as the self-position estimation unit132, the vehicle exterior information detection unit141, the in-vehicle information detection unit142, the vehicle state detection unit143, the map analysis unit151, or the like. For example, the situation recognition unit153executes processing for recognizing a situation of the own vehicle, a situation around the own vehicle, a situation of the driver of the own vehicle, or the like. Furthermore, the situation recognition unit153generates a local map used to recognize the situation around the own vehicle (hereinafter, referred to as situation recognition map) as necessary. The situation recognition map is, for example, an Occupancy Grid Map (Occupancy Grid Map).

The situation of the own vehicle to be recognized includes, for example, the position, the posture, the movement (for example, speed, acceleration, moving direction, or the like) of the own vehicle, and whether or not an abnormality occurs, content of the abnormality, or the like. The situation around the own vehicle to be recognized includes, for example, a type and a position of a stationary object around the own vehicle, a type of a moving object around the own vehicle, a position and a movement (for example, speed, acceleration, moving direction, or the like), a configuration of a road around the own vehicle and a state of a road surface, and the weather, the temperature, the humidity, the brightness, or the like around the own vehicle. The driver's state to be detected includes, for example, a physical condition, a wakefulness degree, a concentration level, a fatigue level, a line-of-sight movement, a driving operation, or the like.

The situation recognition unit153supplies the data indicating the result of the recognition processing (including situation recognition map as necessary) to the self-position estimation unit132, the situation prediction unit154, or the like. Furthermore, the situation recognition unit153makes the storage unit111store the situation recognition map.

The situation prediction unit154executes processing for predicting the situation of the own vehicle on the basis of the data or the signal from each unit of the vehicle control system100such as the map analysis unit151, the traffic rule recognition unit152, or the situation recognition unit153. For example, the situation prediction unit154executes the processing for predicting the situation of the own vehicle, the situation around the own vehicle, the situation of the driver, or the like.

The situation of the own vehicle to be predicted includes, for example, a behavior of the own vehicle, occurrence of an abnormality, a travelable distance, or the like. The situation around the vehicle to be predicted includes, for example, a behavior of a moving object around the own vehicle, a change in a state of the traffic light, a change in the environment such as the weather, or the like. The situation of the driver to be predicted includes, for example, a behavior, a physical condition, or the like of the driver.

The situation prediction unit154supplies the data indicating the result of the prediction processing to the route planning unit161, the action planning unit162, the operation planning unit163, or the like of the planning unit134together with the data from the traffic rule recognition unit152and the situation recognition unit153.

The route planning unit161plans a route to a destination on the basis of the data or the signal from each unit of the vehicle control system100such as the map analysis unit151, the situation prediction unit154, or the like. For example, the route planning unit161sets a route from the current position to a designated destination on the basis of a global map. Furthermore, for example, the route planning unit161appropriately changes the route on the basis of a situation such as congestions, accidents, traffic regulations, or constructions, the physical condition of the driver, or the like. The route planning unit161supplies data indicating the planned route to the action planning unit162or the like.

The action planning unit162plans an action of the own vehicle to safely travel the route planned by the route planning unit161within a planned time on the basis of the data or the signal from each unit of the vehicle control system100such as the map analysis unit151or the situation prediction unit154. For example, the action planning unit162makes a plan regarding starting, stopping, a traveling direction (for example, forward, backward, turning left, turning right, turning, or the like), a traveling lane, a traveling speed, overtaking, or the like. The action planning unit162supplies data indicating the planned action of the own vehicle to the operation planning unit163or the like.

The operation planning unit163plans an operation of the own vehicle to realize the action planned by the action planning unit162on the basis of the data or the signal from each unit of the vehicle control system100such as the map analysis unit151or the situation prediction unit154. For example, the operation planning unit163plans acceleration, deceleration, a traveling track, or the like. The operation planning unit163supplies data indicating the planned operation of the own vehicle to an acceleration and deceleration control unit172, a direction control unit173, or the like of the operation control unit135.

The operation control unit135controls the operation of the own vehicle. The operation control unit135includes the emergency avoidance unit171, the acceleration and deceleration control unit172, and the direction control unit173.

The emergency avoidance unit171executes processing for detecting an emergency such as collisions, contacts, entry to the dangerous zone, an abnormality of the driver, or an abnormality of the vehicle on the basis of the detection results of the vehicle exterior information detection unit141, the in-vehicle information detection unit142, and the vehicle state detection unit143. In a case where the occurrence of the emergency is detected, the emergency avoidance unit171plans an operation of the own vehicle to avoid an emergency such as sudden stop, sudden turn, or the like. The emergency avoidance unit171supplies data indicating the planned operation of the own vehicle to the acceleration and deceleration control unit172, the direction control unit173, or the like.

The acceleration and deceleration control unit172controls acceleration and deceleration to realize the operation of the own vehicle planned by the operation planning unit163or the emergency avoidance unit171. For example, the acceleration and deceleration control unit172calculates a control target value of the driving force generation device or the braking device used to realize the planned acceleration, deceleration, or sudden stop and supplies a control instruction indicating the calculated control target value to the driving system control unit107.

The direction control unit173controls a direction to realize the operation of the own vehicle planned by the operation planning unit163or the emergency avoidance unit171. For example, the direction control unit173calculates a control target value of the steering mechanism to realize a traveling track or a sudden turn planned by the operation planning unit163or the emergency avoidance unit171and supplies a control instruction indicating the calculated control target value to the driving system control unit107.

<Exemplary Configuration of Body System Control Unit109and Body System110>

Next,FIG.2is a block diagram illustrating a part of an exemplary configuration of the body system control unit109and the body system110of the vehicle control system100.

The body system control unit109includes a notification control unit201. The body system110includes a notification unit211.

The notification control unit201controls various notifications issued by the notification unit211.

The notification unit211includes, for example, a device for notification to the surroundings of the vehicle10such as hazard indicators.

FIG.3illustrates examples of ranges where sensors provided in the data acquisition unit102detect information outside the vehicle10.

For example, an ultrasonic wave sensor detects information regarding regions AF1and AB1. The region AF1is a region near the front side of the vehicle10. The region AB1is a region near the rear side of the vehicle10. The information detected from the regions AF1and AB1is used, for example, for parking assistance of the vehicle10.

For example, a short-range radar or a medium-range radar detects information regarding regions AF2, AB2, AR2, and AL2. The region AF2is a region at a short distance from and on the front side of the vehicle10. The region AB2is a region at a short distance from and on the rear side of the vehicle10. The region AR2is a region that is blind on the right rear side of the vehicle10. The region AL2is a region that is blind on the left rear side of the vehicle10. The information regarding the regions AF2, AB2, AR2, and AL2is used, for example, to detect a pedestrian, an obstacle, or the like around the vehicle10.

For example, a camera detects information regarding regions AF3, AB3, AR1, and AL1. The region AF3covers a region, on the front side of the vehicle10, farther than the region AF2. The region AB3covers a region, on the rear side of the vehicle10, farther than the region AB2. The region AR3is a region on the right side of the vehicle10. The region AL3is a region on the left side of the vehicle10. The information regarding the regions AF3, AB3, AR3, and AL3is used, for example, to detect other vehicles, a pedestrian, an obstacle, or the like around the vehicle10. Furthermore, the information regarding the region AF3is used, for example, for emergency braking, collision avoidance, recognition of road signs and traffic lights, detection of lanes, or the like. Moreover, the information regarding the region AB3is used, for example, for parking assistance.

For example, the LiDAR detects information regarding a region AF4. The region AF4covers a region, on the front side of the vehicle10, that is farther than the region AF3and is narrow in the horizontal direction. The information regarding the region AF4is used, for example, for detection of other vehicles, a pedestrian, an obstacle, or the like, emergency braking, collision avoidance, or the like.

For example, a long-range radar detects information regarding a region AF5. The region AF5covers a region, on the front side of the vehicle10, that is farther than the region AF4and is narrow in the horizontal direction. The information regarding the region AF5is used, for example, for detection of other vehicles, a pedestrian, an obstacle, or the like, control of following to a proceeding vehicle, or the like.

Next, unloading processing executed by the vehicle10will be described with reference to the flowcharts inFIGS.4and5.

Note that description will be made appropriately usingFIGS.6to8as specific examples.

FIG.6illustrates an example in which the vehicle10moves backward and exits from a parking lot301and joins a lane302B of a road302. Lanes302A to302C are disposed on the road302in order from the lane closest to the parking lot301. Therefore, the road302includes a vehicle road including the lanes302A to302C. The lane302A is a lane toward the right side in the figure, and the lanes302B and302C are lanes toward the left side in the figure.

FIG.7illustrates an example in which the vehicle10moves backward and exits from a parking lot321and joins a lane322C of a road322. On the road322, a sidewalk322A, a lane322B, and the lane322C are disposed in order from the lane closest to the parking lot321. Therefore, the road322includes a vehicle road including the lanes322B and322C. The lane322B is a lane toward the right side in the figure, and the lane322C is a lane toward the left side in the figure.

FIG.8illustrates an example in which the vehicle10moves backward and exits from a parking lot341and joins a lane342B of a road342. On the road342, a lane342A and the lane342B are disposed in order from the lane closest to the parking lot341. The road342includes a vehicle road including the lanes342A and342B. The lane342A is a lane toward the right side in the figure, and the lane342B is a lane toward the left side in the figure. A vehicle343is parked on the right side of the vehicle10in the lane342A.

In step S1, the situation recognition unit153determines whether or not safety has been confirmed.

Specifically, for example, the vehicle exterior information detection unit141starts processing for focusing on detection of a traveling direction of the vehicle and an obstacle around the vehicle10in the parking lot so as not to collide or contact with other vehicles, pedestrians, or the like in the parking lot. For example, in a case where the vehicle10moves backward, the vehicle exterior information detection unit141focuses on processing for detecting obstacles in the regions AB1, AB2, and AB3inFIG.3. For example, in a case where the vehicle10moves forward, the vehicle exterior information detection unit141focuses on processing for detecting obstacles in the regions AF1, AF2, and AF3inFIG.3. The vehicle exterior information detection unit141supplies data indicating the result of the detection processing to the situation recognition unit153or the like.

The situation recognition unit153determines whether or not safety has been confirmed on the basis of the data from the vehicle exterior information detection unit141. The determination processing in step S1is repeatedly executed until it is determined that safety has been confirmed. For example, in a case where there is no obstacle in the traveling direction of the vehicle10and around the vehicle10in the parking lot, the situation recognition unit153determines that the safety has been confirmed, and the procedure proceeds to step S2.

In step S2, the notification unit211turns on a notification function under control of the notification control unit201. For example, in a case where the notification unit211includes hazard indicators, the hazard indicators start blinking. As a result, before the vehicle10moves from the parking position, a notification, indicating that the vehicle10moves from the parking position, exits from the parking lot, and joins the vehicle road, is issued to surroundings of the vehicle10.

In step S3, the situation recognition unit153determines whether or not to cross the sidewalk on the basis of the data from the vehicle exterior information detection unit141. For example, in a case where a sidewalk exists between the parking lot and the vehicle road to which the vehicle10joins, the situation recognition unit153determines to cross the sidewalk, and the procedure proceeds to step S4. For example, in the example inFIG.7, it is determined that the vehicle10crosses the sidewalk322A, and the procedure proceeds to step S4.

In step S4, the vehicle10moves to the vicinity of an edge of the sidewalk. Specifically, the driving system control unit107controls the driving system108under control of the operation control unit135and moves the vehicle10to the vicinity of a front edge (side of vehicle10) of the sidewalk. Thereafter, the driving system control unit107temporarily stops the vehicle10.

For example, as illustrated in A ofFIG.7, the vehicle10automatically moves until the rear end reaches near the boundary between the parking lot321and the sidewalk322A. In this case, for example, for easy confirmation of situations of left and right sides of the vehicle10in the sidewalk322A, the rear end of the vehicle10may slightly enter the sidewalk322A.

Furthermore, for example, the vehicle exterior information detection unit141starts processing for focusing on detecting the traveling direction of the vehicle10in the sidewalk and detecting obstacle in a region around the traveling direction so as not to collide or contact with a pedestrian, a bicycle, or the like in the sidewalk. For example, in a case where the vehicle10moves backward, the vehicle exterior information detection unit141focuses on processing for detecting obstacles in the regions AB1, AB2, AB3, AR2, and AL2inFIG.3. For example, in a case where the vehicle10moves forward, the vehicle exterior information detection unit141focuses on processing for detecting obstacles in the regions AF1, AF2, and AF3inFIG.3. Therefore, the region where the obstacle detection processing is focused on after the vehicle10stops near the edge of the sidewalk is changed from that before the vehicle10has stopped near the edge of the sidewalk. The vehicle exterior information detection unit141supplies data indicating the result of the detection processing to the situation recognition unit153or the like.

In step S5, the situation recognition unit153determines whether or not the safety has been confirmed on the basis of the data from the vehicle exterior information detection unit141. The determination processing in step S5is repeatedly executed until it is determined that the safety has been confirmed. For example, in a case where there is no obstacle in the traveling direction of the vehicle10and around the traveling direction of the vehicle10in the sidewalk, the situation recognition unit153determines that the safety has been confirmed, and the procedure proceeds to step S6.

On the other hand, in a case where it is determined, in step S3, that the vehicle does not cross the sidewalk, the processing in steps S4and S5is skipped, and the procedure proceeds to step S6. For example, in the examples inFIGS.6and8, it is determined that the vehicle does not cross the sidewalk, and the procedure proceeds to step S6.

In step S6, the vehicle10moves to the vicinity of the edge of the vehicle road. Specifically, the driving system control unit107controls the driving system108under the control of the operation control unit135and moves the vehicle10to the vicinity of the front edge (side of vehicle10) of the vehicle road. Thereafter, the driving system control unit107temporarily stops the vehicle10.

For example, in the example inFIG.6, the vehicle10automatically moves until the rear end reaches near the boundary between the parking lot301and the lane302A. In this case, for example, for easy confirmation of situations of left and right sides of the vehicle10in the lane302A, the rear end of the vehicle10may slightly enter the lane302A.

Furthermore, for example, as illustrated in B ofFIG.7, the vehicle10automatically moves until the rear end reaches near the boundary between the sidewalk322A and the lane322B. In this case, for example, for easy confirmation of situations of left and right sides of the vehicle10in the lane322B, the rear end of the vehicle10may slightly enter the lane322B.

Moreover, for example, as illustrated in A ofFIG.8, the vehicle10automatically moves until the rear end reaches near the boundary between the parking lot341and the lane342A. In this case, for example, for easy detection of situations of left and right sides of the vehicle10in the lane342A, the rear end of the vehicle10may slightly enter the lane342A.

Furthermore, for example, the vehicle exterior information detection unit141starts processing for focusing on processing for detecting obstacles in the traveling direction of the vehicle10and in the regions on the right and left side of the vehicle10in the vehicle road so as not to collide or contact with the other vehicle or the like that approaches the vehicle10in the vehicle road. For example, in a case where the vehicle10moves backward, the vehicle exterior information detection unit141focuses on processing for detecting obstacles in the regions AB1, AB2, AB3, AR1, AR2, AL1, and AL2inFIG.3. For example, in a case where the vehicle10moves forward, the vehicle exterior information detection unit141focuses on processing for detecting obstacles in the regions AF1, AF2, AF3, AR1, and AL1inFIG.3. Therefore, the region where the obstacle detection processing is focused on after the vehicle10stops near the edge of the vehicle road is changed from that before the vehicle10stops near the edge of the vehicle road. The vehicle exterior information detection unit141supplies data indicating the result of the detection processing to the situation recognition unit153or the like.

In step S7, the action planning unit162determines whether or not the vehicle10needs to temporarily stop. For example, in a case where a user gets in the vehicle10after the vehicle10has joined the vehicle road, the action planning unit162determines that the vehicle10needs to temporarily stop. Furthermore, even in a case where all the users have already got in the vehicle10and no user gets in the vehicle10after the vehicle10has joined the vehicle road, when the vehicle10moves backward to enter the vehicle road, the vehicle10needs to change the traveling direction after entering the vehicle road. Therefore, the action planning unit162determines that the vehicle10needs to temporarily stop. In a case where it is determined that the vehicle10needs to temporarily stop, the procedure proceeds to step S8.

In step S8, the action planning unit162sets a traveling direction and a position where the vehicle10temporarily stops.

For example, in a case where a user gets in the vehicle10after the vehicle10has joined the vehicle road, the position where the vehicle10temporarily stops (vehicle stop position) is set to a position where the user easily and safely gets in the vehicle10and the vehicle10easily travels to the planned route (hereinafter, referred to as scheduled route) after the user has got vehicle10. For example, the vehicle stop position is set on the basis of at least one of the scheduled route of the vehicle10, a degree of road congestion, whether or not an obstacle exists, a position of the obstacle, traffic rules (for example, one-way traffic or the like), a current position of the user who gets in the vehicle10, user's instructions, or the like. Then, the traveling direction of the vehicle10after the vehicle10has temporarily stopped is set on the basis of the direction of the vehicle10at the vehicle stop position.

Furthermore, for example, in a case where the vehicle10enters the vehicle road while moving backward and no user gets in the vehicle10after the vehicle10has joined the vehicle road, the traveling direction and the joining lane of the vehicle10are set so that the vehicle10easily joins the vehicle road and easily travels to the scheduled route after joining the vehicle road. For example, the traveling direction and the joining lane of the vehicle10are set on the basis of at least one of the scheduled route of the vehicle10, a degree of road congestion, whether or not an obstacle exists, a position of the obstacle, traffic rules (for example, one-way traffic or the like), user's instructions, or the like. Then, the position (vehicle stop position) where the vehicle10temporarily stops is set according to the traveling direction and the joining lane of the vehicle10.

Thereafter, the procedure proceeds to step S10.

On the other hand, for example, in a case where the vehicle10can travel along the scheduled route after entering the vehicle road in step S7, for example, in a case where the vehicle10enters the vehicle road while moving forward and no user gets in the vehicle10after the vehicle10has joined the vehicle road, the action planning unit162determines that the vehicle10does not need to temporarily stop, and the procedure proceeds to step S9.

In step S9, the action planning unit162sets the traveling direction and the joining lane. For example, the traveling direction and the joining lane of the vehicle10are set so that the vehicle10easily joins the vehicle road and easily travels to the scheduled route after joining the vehicle road. For example, the traveling direction and the joining lane of the vehicle10are set on the basis of at least one of the scheduled route of the vehicle10, a degree of road congestion, whether or not an obstacle exists, a position of the obstacle, traffic rules (for example, one-way traffic or the like), user's instructions, or the like.

Thereafter, the procedure proceeds to step S10.

In step S10, the action planning unit162determines whether or not to cross the lane on the basis of the vehicle stop position, the joining lane, or the like set in step S8or S9. In a case where it is determined to cross the lane, the procedure proceeds to step S11.

For example, in the example inFIG.6, it is determined to cross the lane302A, and the procedure proceeds to step S11. For example, in the example inFIG.7, it is determined to cross the lane322B, the procedure proceeds to step S11. For example, in the example inFIG.8, it is determined to cross the lane342A, and the procedure proceeds to step S11.

In step S11, the situation recognition unit153determines whether or not visibility in the lane to be crossed is high on the basis of the data from the vehicle exterior information detection unit141. In a case where it is determined that the visibility in the lane to be crossed is poor, the procedure proceeds to step S13.

For example, in the example inFIG.8, a vehicle343is parked on the right of the lane342A where the vehicle10crosses, and a field of view from the vehicle10is blocked. Therefore, it is determined that the visibility in the lane to be crossed is poor, and the procedure proceeds to step S12.

In step S12, the situation recognition unit153determines whether or not the safety has been confirmed on the basis of the data from the vehicle exterior information detection unit141. The determination processing in step S12is repeatedly executed until it is determined that the safety has been confirmed. For example, in a case where there is no obstacle around the traveling direction of the vehicle10and there is no other approaching vehicle in the lane to be crossed, the situation recognition unit153determines that the safety has been confirmed, and the procedure proceeds to step S13.

In step S13, the vehicle10moves to a position where the field of view is opened. Specifically, the driving system control unit107controls the driving system108under the control of the operation control unit135and moves the vehicle10to the position where the field of view is opened. Thereafter, the driving system control unit107temporarily stops the vehicle10.

For example, in the example inFIG.8, as illustrated in B ofFIG.8, the vehicle10automatically moves so that the rear end of the vehicle10is positioned near the left end (upper end in figure) of a vehicle343or on the slightly front side (upper side in figure) of the left end of the vehicle343. As a result, the field of view from the vehicle10is not blocked by the vehicle343, and the field of view to the right side of the lanes342A and342B is opened.

Thereafter, the procedure proceeds to step S14.

On the other hand, in a case where it is determined in step S11that the visibility in the lane to be crossed is high, the processing in steps S12and S13is skipped, and the procedure proceeds to step S14.

Furthermore, in a case where it is determined in step S10not to cross the lane, the processing in steps S11to S13is skipped, the procedure proceeds to step S14.

In step S14, the situation recognition unit153determines whether or not the safety has been confirmed on the basis of the data from the vehicle exterior information detection unit141. The determination processing in step S12is repeatedly executed until it is determined that the safety has been confirmed. For example, in a case where there is no obstacle around the traveling direction of the vehicle10and there is no other approaching vehicle in the vehicle road, the situation recognition unit153determines that the safety has been confirmed, and the procedure proceeds to step S15.

In step S15, the vehicle10joins the joining lane. Specifically, the driving system control unit107controls the driving system108under the control of the operation control unit135and makes the vehicle10automatically join the joining lane so as to travel in the traveling direction set in the processing in step S8or S9.

For example, in the example inFIG.6, the vehicle10joins the lane302B. For example, in the example inFIG.7, as illustrated in C ofFIG.7, the vehicle10joins the lane322C. For example, in the example inFIG.8, as illustrated in C ofFIG.8, the vehicle10joins the lane342B.

In step S16, the action planning unit162determines whether or not to temporarily stop the vehicle10. In a case where it is determined not to temporarily stop the vehicle10, the procedure proceeds to step S17.

In step S17, the notification unit211turns off the notification function under the control of the notification control unit201. For example, in a case where the notification unit211includes the hazard indicators, the hazard indicators stop blinking.

In step S18, the vehicle10travels in the traveling direction. For example, the driving system control unit107controls the driving system108under the control of the operation control unit135and makes the vehicle10automatically travel in the traveling direction.

Thereafter, the processing ends.

On the other hand, in a case where it is determined in step S16to temporarily stop the vehicle10, the procedure proceeds to step S19.

In step S19, the vehicle10temporarily stops. Specifically, the driving system control unit107controls the driving system108under the control of the operation control unit135and makes the vehicle10stop at the stop position set in the processing in step S8.

In step S20, the notification function is turned off as in the processing in step S17.

Thereafter, the processing ends.

As described above, in a case where the vehicle10moves from the parking position through automatic driving and joins the vehicle road, the notification by the hazard indicator is issued to the surroundings. Furthermore, the vehicle10temporarily stops near the boundary between sections of the road. Moreover, the region where an obstacle is mainly detected is switched according to the position of the vehicle10. As a result, the vehicle10is prevented from colliding or contacting with a vehicle, a person, or the like around the vehicle10, and it is possible to safely move the vehicle10from the parking position to the vehicle road and to make the vehicle10join the vehicle road.

A modification of the embodiment of the present technology described above will be described below.

In the above, an example has been described in which the vehicle10moves from the parking position and joins the vehicle road. However, the present technology can be applied to a case where the vehicle10moves from the parking position and joins a vehicle traffic region other than the vehicle road. For example, as illustrated inFIG.9, the present technology can be applied to a case where the vehicle10moves from a parking position in a parking lot361and joins a region where vehicles travel.

Furthermore, for example, the vehicle10may continue automatic driving after joining the vehicle road or the vehicle traffic region or may stop automatic driving and operate by user's driving. In the latter case, driving assistance is applied until the vehicle joins the vehicle road or the vehicle traffic region.

Moreover, the notification to the surroundings at the time when the vehicle10is unloaded may be issued according to a method other than the hazard indicator. For example, the notification to the surroundings may be issued using a lamp other than the hazard indicators. Furthermore, for example, the notification to the surroundings may be issued using sound such as voice announcement, warning sound, or the like.

<Exemplary Configuration of Computer>

The above-mentioned series of processing can be performed by hardware and software. In a case where the series of processing is performed by the software, a program included in the software is installed in a computer. Here, the computer includes a computer incorporated in dedicated hardware and, for example, a general personal computer or the like which can perform various functions by installing various programs.

FIG.9is a block diagram illustrating an exemplary configuration of hardware of the computer for executing the above-mentioned series of processing by the program.

In a computer500, a Central Processing Unit (CPU)501, a Read Only Memory (ROM)502, and a Random Access Memory (RAM)503are connected to each other with a bus504.

In addition, an input/output interface505is connected to the bus504. An input unit506, an output unit507, a recording unit508, a communication unit509, and a drive510are connected to the input/output interface505.

The input unit506includes an input switch, a button, a microphone, an imaging element, and the like. The output unit507includes a display, a speaker, and the like. The recording unit508includes a hard disk, a non-volatile memory, and the like. The communication unit509includes a network interface and the like. The drive510drives a removable medium511such as a magnetic disk, an optical disk, an optical magnetic disk, or a semiconductor memory.

In the computer500configured as described above, for example, the CPU501loads a program recorded in the recording unit508to the RAM503via the input/output interface505and the bus504and executes the program so that the above-mentioned series of processing is executed.

The program executed by the computer500(CPU501) can be, for example, provided by recording the program to the removable medium511as a package media and the like. Furthermore, the program can be provided via a wired or wireless transmission medium such as a local area network, the Internet, and digital satellite broadcasting.

In the computer500, the program can be installed to the recording unit508via the input/output interface505by mounting the removable medium511in the drive510. Furthermore, the program can be received by the communication unit509via the wired or wireless transmission medium and installed to the recording unit508. In addition, the program can be previously installed to the ROM502and the recording unit508.

Note that, the program performed by the computer may be a program in which processing is executed along the order described herein in a time series manner and a program in which the processing is executed in parallel or at a necessary timing, for example, when a call has been performed.

Furthermore, a system means herein an assembly of a plurality of components (devices, modules (parts), and the like), and it is not considered whether or not all the components are in the same housing. Therefore, both of a plurality of devices respectively housed in different housings from each other and connected via the network and a single device having a plurality of modules housed in one housing are systems.

Moreover, the embodiment of the present technology is not limited to the above-mentioned embodiments, and various changes can be made without departing from the scope of the present technology.

For example, the present technology may have a configuration of cloud computing in which a single function is separately performed by a plurality of devices via a network in cooperation.

Furthermore, each step described with reference to the above-mentioned flowchart can be performed by a single device or can be divided and performed by a plurality of devices.

Moreover, in a case where a plurality of kinds of processing is included in one step, the plurality of kinds of processing included in one step can be executed by a single device or can be divided and executed by a plurality of devices.

<Example of Combination of Configurations>

The present technology can have the following configurations.

A vehicle control device including:a notification control unit configured to control a notification to surroundings in a case where a vehicle moves from a parking position; andan operation control unit configured to automatically move the vehicle from the parking position to make the vehicle join a vehicle traffic region and temporarily stop the vehicle before the vehicle enters the vehicle traffic region.

The vehicle control device according to (1), in whichthe operation control unit temporarily stops the vehicle near an edge of a vehicle road that is the vehicle traffic region.

The vehicle control device according to (2), further including:a vehicle exterior information detection unit configured to change a region where processing for detecting an obstacle is focused on after the vehicle stops near the edge of the vehicle road from that before the vehicle stops near the edge of the vehicle road.

The vehicle control device according to (3), in whichin a case where safety is confirmed in a state where the vehicle is stopped near the edge of the vehicle road, the operation control unit makes the vehicle enter the vehicle road.

The vehicle control device according to (4), in whichin a case where a second lane exists between a first lane of the vehicle road to which the vehicle joins and the vehicle and visibility in the second lane is poor, the operation control unit temporarily stops the vehicle near a position where a field of view in the second lane is opened.

The vehicle control device according to (5), in whichin a case where safety is confirmed in a state where the vehicle is stopped near the position on the second lane where the field of view is opened, the operation control unit makes the vehicle join the first lane.

The vehicle control device according to any one of (2) to (6), in whichin a case where a sidewalk exists between the vehicle road and the vehicle, the operation control unit temporarily stops the vehicle near an edge of the sidewalk.

The vehicle control device according to (7), further including:a vehicle exterior information detection unit configured to change a region where processing for detecting an obstacle is focused on after the vehicle stops near the edge of the sidewalk from that before the vehicle stops near the edge of the sidewalk.

The vehicle control device according to (8), in whichin a case where safety is confirmed in a state where the vehicle is stopped near the edge of the sidewalk, the operation control unit makes the vehicle enter the sidewalk.

The vehicle control device according to any one of (2) to (9), in whichthe operation control unit temporarily stops the vehicle near a boundary between sections of a road including the vehicle road.

The vehicle control device according to any one of (1) to (10), further including:a planning unit configured to set a traveling direction of the vehicle in the vehicle traffic region, in whichthe operation control unit makes the vehicle join the vehicle traffic region so that the vehicle travels in the set traveling direction.

The vehicle control device according to (11), in whichthe planning unit sets the traveling direction of the vehicle on the basis of at least one of a scheduled route of the vehicle, a congestion degree of the vehicle traffic region, whether or not an obstacle exists, a position of an obstacle, traffic rules in the vehicle traffic region, a current position of a user who gets in the vehicle, or a user's instruction.

The vehicle control device according to (11) or (12), in whichthe planning unit sets a vehicle stop position after the vehicle joins the vehicle traffic region on the basis of at least one of the scheduled route of the vehicle, the congestion degree of the vehicle traffic region, whether or not an obstacle exists, a position of an obstacle, the traffic rules in the vehicle traffic region, the current position of the user who gets in the vehicle, or the user's instruction, andthe operation control unit stops the vehicle at the vehicle stop position after making the vehicle join the vehicle traffic region.

The vehicle control device according to any one of (1) to (13), in whichthe notification control unit starts to issue the notification to the surroundings before the vehicle moves from the parking position.

The vehicle control device according to any one of (1) to (14), in whichthe notification control unit stops the notification to the surroundings after the vehicle has joined the vehicle traffic region.

The vehicle control device according to any one of (1) to (15), in whichthe notification control unit blinks hazard indicators of the vehicle.

A vehicle control method performed by a vehicle control device, the method including:controlling a notification to surroundings in a case where a vehicle moves from a parking position; andautomatically moving the vehicle from the parking position to make the vehicle join a vehicle traffic region and temporarily stopping the vehicle before the vehicle enters the vehicle traffic region.

A program for causing a computer to execute processing including:controlling a notification to surroundings in a case where a vehicle moves from a parking position; andautomatically moving the vehicle from the parking position to make the vehicle join a vehicle traffic region and temporarily stopping the vehicle before the vehicle enters the vehicle traffic region.

A vehicle including:a notification unit;a notification control unit configured to control a notification to surroundings by the notification unit in a case where the vehicle moves from a parking position;a driving unit; andan operation control unit configured to control the driving unit to automatically move the vehicle from the parking position to make the vehicle join a vehicle traffic region, and to temporarily stop the vehicle before the vehicle enters the vehicle traffic region.

Note that the effects described herein are only exemplary and not limited to these. There may be an additional effect.

REFERENCE SIGNS LIST