Patent Publication Number: US-2020290643-A1

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

Description:
TECHNICAL FIELD 
     The present invention relates to a vehicle control device, a vehicle control method, and a program. 
     BACKGROUND ART 
     In recent years, research on automatic control of vehicles has been conducted. In relation to this, a technology that acquires a future behavior in automated driving and notifies of the acquired future behavior to the outside of a vehicle is known (refer to Patent Literature 1). 
     CITATION LIST 
     Patent Literature 
     [Patent Literature 1] 
     Japanese Unexamined Patent Application, First Publication No. 2017-4471 
     SUMMARY OF INVENTION 
     Technical Problem 
     However, in the conventional technology, the notification based on the future behavior in the automated driving of a vehicle is performed unilaterally to pedestrians and other vehicles in the vicinity, and driving control in a narrow road situation in which a vehicle is not able to pass a pedestrian unless the pedestrian moves to the side of a road has not been considered. 
     The present invention has been made in view of such circumstances, and an object thereof is to provide a vehicle control device, a vehicle control method, and a program which can perform appropriate driving control on the basis of a narrow road situation. 
     Solution to Problem 
     (1): A vehicle control device ( 100 ) includes a road width recognizer ( 132 ) configured to recognize a width of a road on which a vehicle (a host vehicle M) travels, a pedestrian recognizer ( 134 ) configured to recognize pedestrians present in the vicinity of the vehicle; and a driving controller ( 136 ,  138 ,  142 ,  144 ,  160 ) configured to cause the vehicle to travel by controlling one or both of steering and acceleration/deceleration of the vehicle independently from an operation of an occupant of the vehicle, and to cause the vehicle to travel behind a pedestrian who has substantially the same proceeding direction as the vehicle and has a high priority level among the pedestrians recognized by the pedestrian recognizer when the width of the road recognized by the road width recognizer is equal to or less than a predetermined width. 
     (2): In (1), when it is not possible to pass the pedestrian who has substantially the same proceeding direction as the vehicle and has a high priority level among the pedestrians recognized by the pedestrian recognizer, the driving controller causes the vehicle to travel behind the pedestrian. 
     (3): In (1) or (2), the pedestrian having a high priority level is a pedestrian closest to the vehicle. 
     (4): In any one of (1) to (3), the pedestrian recognizer recognizes that the pedestrian has turned around after the driving controller has started control to cause the vehicle to travel behind the pedestrian, and the driving controller executes driving control to pass the pedestrian when the pedestrian recognizer recognizes that the pedestrian has turned around. 
     (5): In any one of (1) to (4), the pedestrian recognizer recognizes a position of the pedestrian in a width direction of a road on which the vehicle travels, and the driving controller, when the pedestrian recognized by the pedestrian recognizer moves closer to one side of the road in the width direction by a predetermined degree or more, executes driving control to pass the pedestrian from the other side. 
     (6): In (5), when there is an area in which the pedestrian has difficulty walking on the road on which the vehicle travels, the driving controller causes the vehicle to pass through the area under the driving control to pass the pedestrian. 
     (7): In (6), when the pedestrian recognizer recognizes that the pedestrian has turned around, the driving controller execute the driving control to pass the pedestrian by making an extra width secured for passing the pedestrian smaller than an extra width when the pedestrian has not turned around. 
     (8): In any one of (1) to (7), the vehicle control device further includes a projector ( 70 ) configured to project an image onto the road on which the vehicle travels, and a projection controller ( 180 ) configured to cause, when the pedestrian recognizer recognizes a pedestrian, an image prompting the pedestrian to move out of the way onto the road on which the vehicle travels. 
     (9): In (8), when the pedestrian recognizer recognizes the pedestrian has moved out of the way after the projector has projected the image prompting the pedestrian to move out of the way, the driving controller executes driving control to pass the pedestrian. 
     (10): A vehicle control method includes recognizing, by a road width recognizer, a width of a road on which a vehicle travels, recognizing, by a pedestrian recognizer, pedestrians present in the vicinity of the vehicle, and causing, by a driving controller, the vehicle to travel by controlling one or both of steering and acceleration/deceleration of the vehicle independently from an operation of an occupant of the vehicle, and causing the vehicle to travel behind a pedestrian who has substantially the same proceeding direction as the vehicle and has a higher priority level among the pedestrians recognized by the pedestrian recognizer when the width of the road recognized by the road width recognizer is equal to or less than a predetermined width. 
     (11): A program which causes a computer, which is mounted in a vehicle including a road width recognizer that recognizes a width of a road on which the vehicle travels, to recognize pedestrians present in the vicinity of the vehicle, cause the vehicle to travel by controlling one or both of steering and acceleration/deceleration of the vehicle independently from an operation of an occupant of the vehicle, and cause the vehicle to travel behind a pedestrian who has substantially the same proceeding direction as the vehicle and has a higher priority level among the recognized pedestrians when the recognized width of the road is equal to or less than a predetermined width. 
     Advantageous Effects of Invention 
     According to (1) to (11), it is possible to perform appropriate driving control on the basis of a narrow road situation. 
    
    
     
       BRIEF DESCRIPTION OF DRAWINGS 
         FIG. 1  is a configuration diagram of a vehicle system  1  using a vehicle control device according to an embodiment. 
         FIG. 2  is a functional configuration diagram of a first controller  120 , a second controller  160 , and a projection controller  180 . 
         FIG. 3  is a diagram for describing processing of a passing possibility determiner  136 . 
         FIG. 4  is a diagram for describing that a following driving controller  142  causes a host vehicle M to move to one side of a traveling path R 1  and to perform following travel. 
         FIG. 5  is a diagram for describing processing of a passing driving controller  144 . 
         FIG. 6  is a diagram for describing the processing of the passing driving controller  144  when it is estimated that there is a difficult walking area. 
         FIG. 7  is a diagram showing how a projection controller  180  causes an image indicating an area in which a pedestrian is allowed to walk to be projected onto the traveling path R 1 . 
         FIG. 8  is a diagram showing how the projection controller  180  causes an image indicating an area in which the host vehicle M travels to be projected onto the traveling path R 1 . 
         FIG. 9  is a flowchart which shows an example of processing executed by an automated driving controller  100  of the embodiment. 
         FIG. 10  is a diagram which shows an example of a hardware configuration of the automated driving controller  100  of the embodiment. 
     
    
    
     DESCRIPTION OF EMBODIMENT 
     Hereinafter, embodiment of a vehicle control device, a vehicle control method, and a program of the present invention will be described. Note that description will be provided using an automated driving vehicle in the following description. Automated driving is causing a vehicle to travel by controlling one or both of steering and speed of the vehicle independently from an operation of an occupant. In addition, manual driving by the occupant may be performed on the automated driving vehicle. In the manual driving, a traveling drive force output device, a brake device, and a steering device of the vehicle to be described below are controlled in accordance with an amount of operation performed by a driving operator to be described below. 
     [Overall Configuration] 
       FIG. 1  is a configuration diagram of a vehicle system  1  using a vehicle control device according to an embodiment. A vehicle on which the vehicle system  1  is mounted is, for example, two-wheel, three-wheel, or four-wheel vehicle, and a driving source thereof is an internal combustion engine such as a diesel engine or a gasoline engine, an electric motor, or a combination thereof. When an electric motor is included, the electric motor operates using electric power generated by a generator connected to the internal combustion engine, or electric power discharged from a secondary battery or a fuel cell. 
     The vehicle system  1  includes, for example, a camera  10 , a radar device  12 , a finder  14 , an object recognition device  16 , a communication device  20 , a human machine interface (HMI)  30 , a vehicle sensor  40 , a navigation device  50 , a map positioning unit (MPU)  60 , a projector  70 , a driving operator  80 , an automated driving controller (an example of a vehicle control device)  100 , a traveling drive force output device  200 , a brake device  210 , and a steering device  220 . These devices or apparatuses are connected to each other by a multiplex communication line such as a controller area network (CAN) communicator line, a serial communication line, a wireless communication network, or the like. Note that the configuration shown in  FIG. 1  is merely an example, and a part of the configuration may be omitted or another configuration may be added. 
     The camera  10  is, for example, a digital camera using a solid-state imaging device such as a charge coupled device (CCD) or a complementary metal oxide semiconductor (CMOS). One or a plurality of cameras  10  are attached to arbitrary places of a vehicle (hereinafter, referred to as a host vehicle M) on which the vehicle system  1  is mounted. When the front is imaged, the camera  10  is attached to an upper part of the front windshield, a back of the rearview mirror, or the like. The camera  10  periodically repeats to image a vicinity of the host vehicle M. The camera  10  may also be a stereo camera. 
     The radar device  12  radiates radio waves such as millimeter waves to the vicinity of the host vehicle M, and detects at least a position (a distance and an orientation) of an object by detecting radio waves (reflected waves) reflected by the object. One or a plurality of radar devices  12  are attached to arbitrary places of the host vehicle M. The radar device  12  may detect the position and a speed of the object using a frequency modulated continuous wave (FM-CW) method. 
     The finder  14  is a light detection and range (LIDAR). The finder  14  radiates light to the vicinity of the host vehicle M and measures scattered light. The finder  14  detects a distance to the object on the basis of time from light emission and light reception. The radiated light is, for example, pulsed laser light. One or a plurality of finders  14  are attached to arbitrary places of the host vehicle M. 
     The object recognition device  16  performs sensor fusion processing on a result of detection performed by some or all of the camera  10 , the radar device  12 , and the finder  14 , and recognizes the position, type, speed, and the like of the object. The object recognition device  16  outputs a result of the recognition to the automated driving controller  100 . In addition, the object recognition device  16  may output, when necessary, the results of detection by the camera  10 , the radar device  12 , and the finder  14  to the automated driving controller  100  as they are. 
     The communication device  20  uses, for example, a cellular network, a Wi-Fi network, a Bluetooth (a registered trademark), a dedicated short range communication (DSRC), or the like, and communicates with another vehicle present in the vicinity of the host vehicle M or communicates with various types of server devices via a radio base station. 
     The HMI  30  presents various types of information to an occupant of the host vehicle M and receives an input operation from the occupant. The HMI  30  includes various display devices, speakers, buzzers, touch panels, switches (for example, hazard switches), keys, and the like. 
     The vehicle sensor  40  includes a vehicle speed sensor that detects the speed of the host vehicle M, an acceleration sensor that detects the acceleration, a yaw rate sensor that detects an angular speed around a vertical axis, an orientation sensor that detects a direction of the host vehicle M, and the like. 
     The navigation device  50  includes, for example, a global navigation satellite system (GNSS) receiver  51 , a navigation HMI  52 , and a route determiner  53 , and holds first map information  54  in a storage device such as a hard disk drive (HDD) or a flash memory. The GNSS receiver  51  identifies a position of the host vehicle M on the basis of a signal received from a GNSS satellite. The position of the host vehicle M may be identified or supplemented by an inertial navigation system (INS) using an output of the vehicle sensor  40 . The navigation HMI  52  includes a display device, a speaker, a touch panel, a key, and the like. The navigation HMI  52  may be partially or entirely shared with the HMI  30  described above. The route determiner  53  determines, for example, a route (hereinafter, a route on a map) from the position (or an arbitrary input position) of the host vehicle M identified by the GNSS receiver  51  to a destination input from the occupant using the navigation HMI  52  with reference to the first map information  54 . The first map information  54  is, for example, information in which a road shape is expressed by a link indicating a road and a node connected by the link. The first map information  54  may include curvature of a road, point of interest (POI) information, and the like. A route on a map determined by the route determiner  53  is output to the MPU  60 . In addition, the navigation device  50  may perform route guidance using the navigation HMI  52  on the basis of the route on a map determined by the route determiner  53 . Note that the navigation device  50  may be realized by, for example, a function of a terminal device such as a smart phone or a tablet terminal owned by the occupant. Moreover, the navigation device  50  may transmit a current position and a destination to a navigation server via the communication device  20  and acquire a route on a map returned from the navigation server. 
     The MPU  60  functions as, for example, a recommended lane determiner  61 , and holds second map information  62  in the storage device such as an HDD or a flash memory. The recommended lane determiner  61  divides the route provided from the navigation device  50  into a plurality of blocks (for example, divides every 100 [m] in a vehicle traveling direction), and determines a recommended lane for each block with reference to the second map information  62 . The recommended lane determiner  61  determines which numbered lane to travel from the left. When there is a branch place, a merging place, or the like in the route, the recommended lane determiner  61  determines a recommended lane such that the host vehicle M may travel in a reasonable route for traveling to a branch destination. 
     The second map information  62  is map information with higher accuracy than the first map information  54 . The second map information  62  includes, for example, information on a center of a lane or information on a boundary of the lane. In addition, the second map information  62  may include road information, traffic regulation information, address information (addresses/postal codes), facility information, telephone number information, and the like. The second map information  62  may be updated at any time by accessing another device using the communication device  20  communicating with another device. 
     The projector  70  is, for example, a projector. The projector  70  projects an image onto the traveling path of the host vehicle M at a timing instructed by the projection controller  180 . The traveling path refers to an area in which the host vehicle M can travel. The traveling path may be a lane separated by a road section line, or may be a road on which a vehicle can travel without a road section line such as an alley. A sidewalk or the like that is sectioned from a roadway using steps, guardrails, or the like may not be included in the traveling path. 
     The driving operator  80  includes, for example, an accelerator pedal, a brake pedal, a shift lever, a steering wheel, a modified steer, a joystick, and other operators. A sensor that detects an operation amount or a presence or absence of an operation is attached to the driving operator  80 , and this detection result is output to the automated driving controller  100  or the traveling drive force output device  200 , and one or both of the brake device  210  and the steering device  220 . 
     The automated driving controller  100  includes, for example, a first controller  120 , a second controller  160 , and a projection controller  180 . The first controller  120 , the second controller  160 , and the projection controller  180  are realized, for example, by a hardware processor such as a central processing unit (CPU) executing a program (software). In addition, some or all of these components may be realized by hardware (a circuit; including circuitry) such as a large scale integration (LSI), an application specific integrated circuit (ASIC), a field-programmable gate array (FPGA), and a graphics processing unit (GPU), and may also be realized by a cooperation of software and hardware. 
       FIG. 2  is a functional configuration diagram of the first controller  120 , the second controller  160 , and the projection controller  180 . The first controller  120  includes, for example, a recognizer  130  and an action plan generator  140 . The recognizer  130  includes, for example, a road width recognizer  132 , a pedestrian recognizer  134 , a passing possibility determiner  136 , and a difficult walking area estimator  138 . The action plan generator  140  includes, for example, a following driving controller  142  and a passing driving controller  144 . A combination of the passing possibility determiner  136 , the difficult walking area estimator  138 , the following driving controller  142 , the passing driving controller  144 , and the second controller  160  is an example of a “driving controller.” 
     The first controller  120  realizes, for example, a function based on artificial intelligence (AI) and a function based on a model given in advance in parallel. For example, a function of “recognizing an intersection” is realized by executing a recognition of an intersection by an image recognition method using deep learning or the like and a recognition based on conditions (including pattern matching signals, road markings, and the like) given in advance in parallel and comprehensively evaluating the both by scoring them. As a result, a reliability of automated driving is guaranteed. 
     The recognizer  130  recognizes situations such as the position, speed and acceleration of the object in the vicinity of the host vehicle M on the basis of information to be input from the camera  10 , the radar device  12 , and the finder  14  via the object recognition device  16 . The object includes oncoming vehicles and stationary obstacles. The position of the object is, for example, recognized as a position on absolute coordinates having the origin at a representative point (a center of gravity, a center of a drive axis, or the like) of the host vehicle M, and is used for control. The position of the object may be represented by a representative point such as a center of gravity or a corner of the object, or may be represented by an expressed area. A “state” of the object may include the acceleration or jerk of the object, or an “action state” (for example, whether a lane is changed or is intended to be changed). In addition, the recognizer  130  recognizes a shape of a curve through which the host vehicle M will pass from now on the basis of an image captured by the camera  10 . The recognizer  130  converts the shape of the curve from the image captured by the camera  10  into a real plane, and, for example, outputs two-dimensional point sequence information or information expressed using a model equivalent thereto to the action plan generator  140  as information indicating the shape of the curve. 
     In addition, the recognizer  130  recognizes, for example, a lane (traveling lane) in which the host vehicle M is traveling. For example, the recognizer  130  recognizes a traveling lane by comparing a pattern (for example, an array of solid lines and dashed lines) of a road section line obtained from the second map information  62  with a pattern of a road section line in the vicinity of the host vehicle M recognized from an image captured by the camera  10 . Note that the recognizer  130  may recognize a traveling lane by recognizing not only a road section line but also a traveling road boundary (road boundary) including road section lines, road shoulders, curbs, median strips, guardrails, and the like. In this recognition, the position of the host vehicle M acquired from the navigation device  50  and a result of processing performed by the INS may be added. Moreover, the recognizer  130  recognizes temporary stop lines, road signs, red light, tollgates, or other road events. 
     When a traveling lane is recognized, the recognizer  130  recognizes the position and posture of the host vehicle M with respect to the traveling lane. The recognizer  130  may recognize, for example, a deviation of a reference point of the host vehicle M from a lane center and an angle formed with respect to a line connecting the lane centers in a traveling direction of the host vehicle M as the relative position and posture of the host vehicle M with respect to the traveling lane. In addition, instead, the recognizer  130  may recognize a position and the like of the reference point of the host vehicle M with respect to either side end (a road section line or a road boundary) of the traveling lane as the relative position of the host vehicle M with respect to the traveling lane. 
     In addition, the recognizer  130  may derive recognition accuracy and output it to the action plan generator  140  as recognition accuracy information in the recognition processing described above. For example, the recognizer  130  generates the recognition accuracy information on the basis of a frequency at which a road section line can be recognized in a certain period. Functions of the road width recognizer  132 , the pedestrian recognizer  134 , the passing possibility determiner  136 , and the difficult walking area estimator  138  of the recognizer  130  will be described below. 
     In principle, the action plan generator  140  travels on a recommended lane determined by the recommended lane determiner  61 , and furthermore, is sequentially executed in automated driving to cope with a vicinity situation of the host vehicle M. Functions of the following driving controller  142  and the passing driving controller  144  of the action plan generator  140  will be described below. 
     The second controller  160  includes, for example, an acquirer  162 , a speed controller  164 , and a steering controller  166 . The acquirer  162  acquires information on the target trajectory (trajectory points) generated by the action plan generator  140  and stores it in a memory (not shown). The speed controller  164  controls the traveling drive force output device  200  or the brake device  210  on the basis of a speed element associated with the target trajectory stored in the memory. The steering controller  166  controls the steering device  220  in accordance with a bending of the target trajectory stored in the memory. Processing of the speed controller  164  and the steering controller  166  is realized by, for example, a combination of feed forward control and feedback control. As an example, the steering controller  166  executes a combination of the feed forward control in accordance with curvature of a road in front of the host vehicle M and the feedback control based on a deviation from the target trajectory. 
     The projection controller  180  causes the projector  70  to project an image indicating a target trajectory along which the host vehicle M will travel in the future, which is generated by the action plan generator  140 , the following driving controller  142 , or the passing driving controller  144  on a traveling path of the host vehicle M. Details of functions of the projection controller  180  will be described below. 
     The traveling drive force output device  200  outputs a traveling drive force (torque) for a traveling of a vehicle to drive wheels. The traveling drive force output device  200  includes, for example, a combination of an internal combustion engine, an electric motor, a transmission, and the like, and an ECU that controls these. The ECU controls the constituents described above according to information input from the second controller  160  or information input from the driving operator  80 . 
     The brake device  210  includes, for example, a brake caliper, a cylinder that transmits a hydraulic pressure to the brake caliper, an electric motor that generates a hydraulic pressure to the cylinder, and a brake ECU. The brake ECU controls the electric motor according to the information input from the second controller  160  or the information input from the driving operator  80  such that a brake torque corresponding to a braking operation is output to each wheel. The brake device  210  may include, as a backup, a mechanism that transmits the hydraulic pressure generated by an operation of the brake pedal included in the driving operator  80  to the cylinder via a master cylinder. Note that the brake device  210  is not limited to the configuration described above, and may be an electronically controlled hydraulic brake device that controls an actuator according to the information input from the second controller  160  and transmits the hydraulic pressure of the master cylinder to the cylinder. 
     The steering device  220  includes, for example, a steering ECU and an electric motor. The electric motor changes a direction of the steering wheel by, for example, applying a force to a rack and pinion mechanism. The steering ECU drives the electric motor and changes the direction of the steering wheel according to the information input from the second controller  160  or the information input from the driving operator  80 . 
     [Function of Road Width Recognizes] 
     The road width recognizer  132  recognizes a road width of a traveling path on which the host vehicle M travels. For example, the road width recognizer  132  recognizes road section lines on left and right sides as viewed from the position of the host vehicle M from the image captured by the camera  10  and recognizes a distance between the recognized left and right road section lines as a width of a road. In addition, the road width recognizer  132  may collate the position of the host vehicle M with the first map information  54  or the second map information  62 , and recognize a width of a road on which the host vehicle M travels. 
     [Function of Pedestrian Recognizer] 
     The pedestrian recognizer  134  recognizes pedestrians present in the vicinity of the host vehicle M. For example, the pedestrian recognizer  134  may operate when a road width recognized by the road width recognizer  132  is equal to or less than a predetermined width (for example, about 4 m or less). In addition, the pedestrian recognizer  134  may also operate when the host vehicle M is traveling on a road whose width is narrower than a national road or a prefectural road, or on a road on which pedestrians are likely to walk. 
     The pedestrian recognizer  134  recognizes the presence of a pedestrian on a traveling path in a proceeding direction (hereinafter referred to as the front) of the host vehicle M from the image captured by the camera  10 . In addition, the pedestrian recognizer  134  recognizes a position, a moving speed, and a moving direction of the pedestrian. Moreover, the pedestrian recognizer  134  may recognize a relative position, a relative speed, and a relative moving direction of a pedestrian viewed from the host vehicle M. 
     [Function of Passing Possibility Determiner] 
     The passing possibility determiner  136  determines whether the host vehicle M can pass a pedestrian on the basis of the position of the pedestrian recognized by the pedestrian recognizer  134 , shapes and sizes of the host vehicle M and the traveling path, and the like. 
       FIG. 3  is a diagram for describing processing of the passing possibility determiner  136 . In the example of  FIG. 3 , pedestrians P 1  to P 3  are present in front of the host vehicle M traveling on a traveling path RE The host vehicle M travels at a speed VM in the proceeding direction, and the pedestrians P 1  and P 2  each move at speeds V 1  and V 2  in substantially the same direction as the proceeding direction of the host vehicle M. Substantially the same direction includes not only the same direction as the proceeding direction of the host vehicle M but also a predetermined error range (for example, about −15 [degrees] to 15 [degrees]). In addition, a pedestrian P 3  is an oncoming pedestrian walking at a speed V 3  in opposition to the host vehicle M. The positions and speeds V 1  to V 3  of the pedestrians P 1  to P 3  are recognized by the pedestrian recognizer  134 . 
     The passing possibility determiner  136  determines whether it is possible to perform passing in order from a pedestrian closest to the host vehicle M. The passing possibility determiner  136  calculates a distance W 1 L from the position of the pedestrian P 1  to a left end R 1 L of the traveling path R 1  and a distance W 1 R from the position of the pedestrian P 1  to a right end R 1 R for the pedestrian P 1  closest to the host vehicle M. Then, the passing possibility determiner  136  determines whether the host vehicle M can pass beside the pedestrian P 1  on the basis of the vehicle width WM of the host vehicle M and the calculated distance W 1 L and W 1 R. 
     For example, the passing possibility determiner  136  determines that the host vehicle M cannot pass the pedestrian P 1  when a width WM′ obtained by adding a predetermined extra width (margin) to a vehicle width WM is greater than the distances W 1 L and W 1 R. The extra width is a width secured for the host vehicle M to pass beside the pedestrian P 1 , and is, for example, about 0.3 [m]. In addition, the passing possibility determiner  136  determines that the host vehicle M can pass the pedestrian P 1  when the width WM′ is equal to or less than the distances W 1 L and W 1 R. 
     The passing possibility determiner  136  also performs the same processing as the processing of determining passing possibility performed on the pedestrian P 1  on pedestrians P 2  and P 3 . Note that, since the pedestrian P 3  is an oncoming pedestrian, it is predicted that the pedestrian visually recognizes the host vehicle M immediately and avoids it. Therefore, the passing possibility determiner  136  may not perform the processing of determining passing possibility for the pedestrian P 3 . 
     In addition, when the passing possibility determiner  136  determines that it is not possible to pass the pedestrian P 1  closest to the host vehicle M, the pedestrians P 2  and P 3  further ahead cannot be passed. Accordingly, when it is determined that the pedestrian P 1  closest to the host vehicle M cannot be passed among a plurality of pedestrians recognized by the pedestrian recognizer  134 , the passing possibility determiner  136  may determine that the pedestrians P 2  and P 3  further ahead cannot be passed. 
     [Function of Following Driving Controller] 
     When the road width of the traveling path R 1  recognized by the road width recognizer  132  is equal to or less than a predetermined width (for example, about 3.5 [m]), the following driving controller  142  causes the host vehicle M to travel behind a pedestrian who has substantially the same proceeding direction as the host vehicle M and has a high priority level among the pedestrians P 1  to P 3  recognized by the pedestrian recognizer  134 . The pedestrian with a high priority level is, for example, a pedestrian closest to the host vehicle M. For example, the following driving controller  142  generates a target trajectory whose proceeding direction is substantially the same as the host vehicle M and that the host vehicle M travels behind the pedestrian P 1  closest to the host vehicle M in a situation in which the passing possibility determiner  136  determines that the host vehicle M cannot pass the pedestrian. 
     In the example shown in  FIG. 3 , when the passing possibility determiner  136  determines that the vehicle cannot pass the pedestrian P 1 , the pedestrian recognizer  134  recognizes a relative distance D 1  between the host vehicle M and the pedestrian P 1 . The following driving controller  142  generates a target trajectory in which the speed VM of the host vehicle M is changed on the basis of the relative distance and the speed V 1  of the pedestrian P 1 . Specifically, the following driving controller  142  generates the target trajectory such that a speed difference between the traveling speed VM of the host vehicle M and the speed V 1  of the pedestrian P 1  is within a predetermined speed (for example, about ±3 [km/h]), and an error of the relative distance D 1  is within a predetermined distance (for example, about ±3 [m]). As a result, the following driving controller  142  can cause the host vehicle M to follow the pedestrian P 1  while maintaining a relative distance from the pedestrian P 1  to some extent. In this manner, the host vehicle M is caused to follow the pedestrian P 1 , and thereby the presence of the host vehicle M can be noticed by the pedestrian P 1  and the host vehicle can be moved to a road side. 
     In addition, when the host vehicle M follows the pedestrian P 1 , the following driving controller  142  may move the host vehicle M to a side on which the pedestrian P 1  can be passed to follow the pedestrian P 1 .  FIG. 4  is a diagram for describing that the following driving controller  142  causes the host vehicle M to perform following travel by moving to one side of the traveling path RE In the following description, control for the pedestrian P 1  will be described for convenience of description, but when a pedestrian who is proceeding in substantially the same direction ahead of the host vehicle M is replaced with another pedestrian, the same processing will be performed for the pedestrian. 
     The following driving controller  142  compares the distance W 1 L from the position of the pedestrian P 1  and the left road side R 1 L and the distance W 1 R from the position of the pedestrian P 1  to the right road side R 1 R, and causes the host vehicle M to perform following travel by moving it to the side of the road where the distance is longer. 
     In the example of  FIG. 4 , since the distance W 1 R is longer than the distance W 1 L, the following driving controller  142  causes the host vehicle M to move to the right side of the traveling path R 1  to follow the pedestrian P 1 . As a result, when the pedestrian P 1  has recognized the presence of the host vehicle M, the pedestrian can easily move to the left side of the traveling path RE 
     [Function of Passing Driving Controller] 
     When it is determined that the position of the pedestrian P 1  recognized by the pedestrian recognizer  134  is moved to one side of the traveling path R 1  in the width direction by a predetermined degree or more, the passing driving controller  144  generates a target trajectory for passing the pedestrian P 1  from the other side. To move to one side in the width direction by a predetermined degree or more means, for example, that the position of the pedestrian P 1  is within a predetermined distance (for example, about 0.5 [m]) from one side of the road of the traveling path R 1 . By moving to one side in the width direction by a predetermined degree of more, a distance from the position of the pedestrian P 1  to the other road side of the traveling path R 1  becomes larger than the width WM′. 
     However, when the pedestrian P 1  turns around to a side of the host vehicle M after the following driving controller  142  has started driving control to follow the pedestrian P 1 , the passing driving controller  144  may generate a target trajectory for passing the pedestrian P 1  even if the position of the pedestrian P 1  is not moved to one side of the traveling path R 1  in the width direction by a predetermined degree or more. 
     For example, the pedestrian recognizer  134  determines whether the pedestrian P 1  has turned around on the basis of a behavior of the head or upper body imaged in the image captured by the camera  10 . Specifically, when feature information (for example, eyes or mouth) of the face of the pedestrian P 1  can be recognized from the image captured by the camera  10  mounted on the host vehicle M traveling behind the pedestrian P 1 , the pedestrian recognizer  134  determines that the pedestrian P 1  has turned around. 
     In addition, when the eyes of the pedestrian P 1  are recognized from the captured image, the pedestrian recognizer  134  recognizes a gaze direction based on a positional relationship between an inner corner and an iris of the recognized eyes. Then, the pedestrian recognizer  134  may determine that the pedestrian P 1  has turned around when the recognized gaze direction is a direction in which the host vehicle M is present. 
     In addition, the pedestrian recognizer  134  may estimate a rotation angle of the head from the image captured by the camera  10  and determine that the pedestrian P 1  has turned around when the estimated rotation angle of the head is equal to or larger than a predetermined angle (for example, about 90 [degrees]) based on the proceeding direction of the pedestrian P 1 . In this case, the pedestrian recognizer  134  estimates, for example, the rotation angle of the head on the basis of a displacement in position of the feature information (for example, the ear) of the head obtained from the image captured by the camera  10 . 
     Moreover, the pedestrian recognizer  134  may estimate a rotation angle of the upper body of the pedestrian P 1  instead of (or in addition to) the rotation angle of the head of the pedestrian P 1 , and determine that the pedestrian P 1  has turned around when the estimated rotation angle of the upper body is equal to or larger than a predetermined angle (for example, about 90 [degrees]). 
     The passing possibility determiner  136  determines that the pedestrian P 1  can be passed when the pedestrian recognizer  134  recognizes that the pedestrian has turned around. 
     The passing driving controller  144  generates a target trajectory for passing the pedestrian P 1  when the passing possibility determiner  136  determines that the host vehicle M can pass the pedestrian P 1 . 
       FIG. 5  is a diagram for describing processing of the passing driving controller  144 . The passing driving controller  144  predicts the position, moving speed, and moving direction of the pedestrian P 1  after turning around, and sets a target potential area Pal on the basis of a result of the prediction. A target potential is, for example, an index indicating a height of possibility of the host vehicle M coming into contact with a target (for example, a pedestrian). In addition, the target potential area is set to have a lower target potential as a distance from a target increases. 
     In the example of  FIG. 5 , the passing driving controller  144  predicts that the pedestrian P 1  will move to the left road side R 1 L closer to a roadside among the left road side R 1 L and the right road side R 1 R after turning around to allow the host vehicle M to pass, and predicts the position of the pedestrian P 1  after a predetermined time on the basis of a current position, a moving speed, and a moving direction of the pedestrian P 1 . Then, the passing driving controller  144  generates a target trajectory K 1  passing through an area that is not in contact with the target potential area Pal. Note that following driving by the following driving controller  142  is executed in parallel until passing driving control along the target trajectory K 1  generated by the passing driving controller  144  is executed. 
     In addition, the passing driving controller  144  determines whether the distance W 1 R between the pedestrian P 1  and the right road side R 1 R of the traveling path R 1  is larger than the width WM′ after the target trajectory K 1  is generated. In addition, when the pedestrian recognizer  134  recognizes that the pedestrian P 1  has turned around, the passing driving controller  144  may estimate that the pedestrian can recognize the presence of the host vehicle M, set the extra width added to the vehicle width WM smaller than the extra width when the pedestrian P 1  has not turned around (for example, about 0.15 [m]), determine whether it is possible to pass the pedestrian P 1 , and the like. 
     When the distance W 1 R is not equal to or less than the width WM′, the passing driving controller  144  continues following driving by the following driving controller  142  without executing passing driving along the target trajectory K 1 . In addition, the passing driving controller  144  executes passing driving of the host vehicle M along the target trajectory K 1  when the distance W 1 R is larger than the width WM′. 
     [Function of Difficult Walking Area Estimator] 
     The difficult walking area estimator  138  estimates an area in which pedestrians have difficulty walking on the traveling path R 1 . A difficult walking area is an area in which pedestrians can walk, but it is estimated that shoes or clothes of the pedestrians get wet or dirty by walking through that area, and that pedestrians are more likely to fall. Difficult walking areas include, for example, puddle areas, areas whose road surfaces are frozen, or areas whose road surfaces are uneven. 
     The difficult walking area estimator  138  estimates a puddle area, a frozen area, or an uneven area by comparing luminance information of a road surface of the traveling path R 1  from the image captured by the camera  10  with luminance information of a reference road surface. In addition, the difficult walking area estimator  138  may acquire a shape of a road surface from the image captured by the camera  10  and estimate that pedestrians have difficulty walking when a degree of unevenness of the road surface is equal to or greater than a predetermined reference degree. 
     When a target trajectory for passing a pedestrian is generated and an area in which pedestrians have difficulty walking on the traveling path R 1  is estimated, the passing driving controller  144  generates the target trajectory such that the host vehicle M passes through the area in which pedestrians are estimated to have difficulty walking. 
       FIG. 6  is a diagram for describing the processing of the passing driving controller  144  when it is estimated that there is a difficult walking area. In the example of  FIG. 6 , a puddle area A 1  is shown on the traveling path R 1 . When the difficult walking area estimator  138  estimates that there is the puddle area A 1 , the passing driving controller  144  generates a target trajectory K 2  for passing the pedestrian P 1  by causing the host vehicle M to pass through the area A 1 . As a result, the pedestrian P 1  can move to an area other than the puddle area A 1  in which the pedestrian can easily avoid the host vehicle M. 
     [Function of Projection Controller] 
     When the pedestrian recognizer  134  recognizes a pedestrian, the projection controller  180  causes the projector  70  to project an image prompting the pedestrian to avoid the host vehicle M onto the traveling path R 1 . The image prompting the pedestrian to avoid the host vehicle M may be, for example, an image indicating a direction in which the pedestrian can avoid the host vehicle M or may also be an image indicating an area in which the host vehicle M will travel. 
       FIG. 7  is a diagram showing how the projection controller  180  causes an image indicating an area in which a pedestrian is allowed to walk to be projected onto the traveling path RE When there is no road width to pass the pedestrian P 1  and the host vehicle M travels behind the pedestrian P 1 , the following driving controller  142  generates an image IM 1  for causing the pedestrian P 1  to move to the left road side R 1 L, and causes the projector  70  to project the generated image IM 1  onto a predetermined area in front of the pedestrian P 1 , which is on the left road side R 1 L of the traveling path RE The predetermined area in the front is an area which is included in a range of several [m] away from a current position of the pedestrian P 1  and is easy for the pedestrian P 1  to visually recognize while walking. 
     The positional image IM 1  of the pedestrian may be, for example, an image indicating an area, may be an image including text such as “walking area,” or may be a combination thereof. It is possible to allow the pedestrian P 1  to easily ascertain a walking area that is not affected when the host vehicle M passes through by projecting text information such as “walking area.” In addition, the projection controller  180  causes the image IM 1  to be projected, thereby allowing the pedestrian P 1  to ascertain to which position he or she can move. 
       FIG. 8  is a diagram showing how the projection controller  180  causes an image indicating an area in which the host vehicle M will travel to be projected onto the traveling path RE In the example of  FIG. 8 , the projection controller  180  causes the projector  70  to project one or both of an image IM 2  indicating a traveling area of the host vehicle M and an image IM 3  indicating the target trajectory onto the traveling path R 1  on the basis of the target trajectory K 1  generated by the passing driving controller  144 . The image IM 2  may be, for example, an image indicating an area, may be an image including text such as “vehicle traveling area,” or may be a combination thereof. By projecting text information such as “vehicle traveling area,” it is possible to allow the pedestrian P 1  to easily ascertain an area through which the host vehicle M passes, and to prompt the pedestrian to move to an area other than the vehicle traveling area. In addition, the projection controller  180  may change colors or patterns of the images IM 1  to IM 3  to be projected or may display an animation corresponding to the images IM 1  to IM 3  on the basis of a driving condition such as weather or a time zone. 
     The projection controller  180  causes the images IM 1  to IM 3  to be projected, thereby allowing the pedestrian P 1  to quickly move to a road side on the traveling path R 1 . The passing driving controller  144  executes driving control to pass the pedestrian P 1  when the pedestrian recognizer  134  recognizes that the pedestrian P 1  has moved to the side after at least one of the images IM 1  to IM 3  is projected by the projection controller  180 . The projection controller  180  ends the projection of the images IM 1  to IM 3  after, for example, the host vehicle M has passed the pedestrian P 1 . 
     [Processing Flow] 
       FIG. 9  is a flowchart which shows an example of processing executed by an automated driving controller  100  of the embodiment. Processing of this flowchart may be repeatedly executed, for example, at a predetermined cycle or predetermined timing while automated driving of the host vehicle M is executed. 
     First, the road width recognizer  132  recognizes the road width of the traveling path R 1  on which the host vehicle M travels (step S 100 ). Next, the pedestrian recognizer  134  recognizes a pedestrian in front of the host vehicle M on the traveling path R 1  on which the host vehicle M travels (step S 102 ). Next, the passing possibility determiner  136  determines whether it is possible to pass the pedestrian on the basis of the road width of the traveling path R 1  recognized by the road width recognizer  132  and the position of the pedestrian recognized by the pedestrian recognizer  134  (step S 104 ). For example, when the road width of the traveling path R 1  is equal to or less than a predetermined width and it is determined that it is not possible to pass the pedestrian, the pedestrian recognizer  134  determines whether the pedestrian has turned around (step S 106 ). 
     When it is determined that it is possible to pass the pedestrian in the processing of step S 104 , or when the pedestrian has turned around in the processing of step S 106 , the passing driving controller  144  generates a target trajectory for passing the pedestrian (step S 108 ). In addition, when the pedestrian has not turned around in step S 106 , the following driving controller  142  generates a target trajectory for following, for example, a pedestrian who proceeds in substantially the same direction as the host vehicle M and has a high priority level (for example, closest to the host vehicle M) (step S 110 ). Next, the second controller  160  executes driving control on the basis of the generated target trajectory (step S 112 ). With this, the processing of this flowchart ends. 
     Note that, when a target trajectory is generated in the processing of step S 108  or S 110  described above, the passing driving controller  144  or the following driving controller  142  may generate the target trajectory in consideration of a result of the estimation by the difficult walking area estimator  138 . In addition, when the driving control is executed in the processing of step S 112  described above, the second controller  160  may cause the projector  70  to project an image prompting the pedestrian to avoid the host vehicle M. 
     According to the embodiment described above, the width of a road on which the host vehicle M travels is recognized, pedestrians present in the vicinity of the host vehicle M are also recognized, and when the recognized width of a road is equal to or less than a predetermined width, the host vehicle M is caused to travel behind a pedestrian who has substantially the same proceeding direction as the host vehicle M and has a high priority level among the recognized pedestrians, and thereby it is possible to perform appropriate driving control in a road situation in which the vehicle cannot pass the pedestrian if the pedestrian does not move to a road side. 
     [Hardware Configuration] 
     The automated driving controller  100  of the embodiment described above is, for example, realized by a configuration of hardware as shown in  FIG. 10 .  FIG. 10  is a diagram which shows an example of a hardware configuration of the automated driving controller  100  of the embodiment. 
     The automated driving controller  100  is configured to include a communication controller  100 - 1 , a CPU  100 - 2 , a RAM  100 - 3 , a ROM  100 - 4 , a secondary storage device  100 - 5  such as a flash memory or an HDD, and a drive device  100 - 6  connected to each other by an internal bus or a dedicated communication line. A portable storage medium such as an optical disc is mounted in the drive device  100 - 6 . The first controller  120  and the second controller  160  are realized by a DMA controller (not shown) expanding a program  100 - 5   a  stored in the secondary storage device  100 - 5  in the RAM  100 - 3  and the CPU  100 - 2  executing it. In addition, a program to which the CPU  100 - 2  refers may be stored in a portable storage medium mounted in the drive device  100 - 6 , or may be downloaded from another device via the network NW. 
     The embodiment described above can be expressed as follows. 
     A vehicle control device is configured to include a storage device configured to store information, and a hardware processor configured to execute a program stored in the storage device, in which the hardware processor executes the program, thereby executing road width recognition processing for recognizing a width of a road on which a vehicle travels, pedestrian recognition processing for recognizing pedestrians present in the vicinity of the vehicle, and driving control processing for causing the vehicle to travel by controlling one or both of steering and acceleration of the vehicle independently from an operation of an occupant of the vehicle, and causing the vehicle to travel behind a pedestrian who has substantially the same proceeding direction as the vehicle and has a high priority level among the pedestrians recognized by the pedestrian recognizer when the width of the road recognized in the road width recognition processing is equal to or less than a predetermined width. 
     A mode for implementing the present invention has been described using the embodiment. However, the present invention is not limited to this embodiment, and various modifications and substitutions may be made within a range not departing from the gist of the present invention. 
     REFERENCE SIGNS LIST 
     
         
         
           
               1  Vehicle system 
               10  Camera 
               12  Radar device 
               14  Finder 
               16  Object recognition device 
               20  Communication device 
               30  HMI 
               32  Automated driving start switch 
               40  Vehicle sensor 
               50  Navigation device 
               60  MPU 
               70  Projector 
               80  Driving operator 
               100  Automated driving controller 
               120  First controller 
               130  Recognizer 
               132  Road width recognizer 
               134  Pedestrian recognizer 
               136  Passing possibility determiner 
               138  Difficult walking area estimator 
               140  Action plan generator 
               142  Following driving controller 
               144  Passing driving controller 
               160  Second controller 
               180  Projection controller