US-20260126790-A1 - CONTROL DEVICE

US20260126790A1US 20260126790 A1US20260126790 A1US 20260126790A1US-20260126790-A1

Abstract

A control device includes: an acquisition unit that acquires detection data from a sensor that detects a running state of a vehicle that is able to run by unmanned driving; a determination unit that determines whether or not the vehicle is located in a specific area in which the detection data is susceptible to an influence of disturbance; and a running control unit that is able to control the running of the vehicle using the detection data, and, when the determination unit determines that the vehicle is located in the specific area, lowers a degree of contribution of the detection data to running control of the vehicle compared to a case where the determination unit determines that the vehicle is located outside the specific area.

Inventors

Sen Yang
Yuki Okamoto
Hiroaki Nagase
Noritsugu Iwazaki
Takeshi Kanou
Kento IWAHORI

Assignees

TOYOTA JIDOSHA KABUSHIKI KAISHA

Dates

Publication Date: 20260507
Application Date: 20230927
Priority Date: 20220928

Claims (10)

1 . A control device comprising: an acquisition unit configured to acquire detection data from a sensor, wherein the sensor detects a running state of a vehicle, wherein the vehicle is configured to be able to run by unmanned driving; a determination unit configured to determine whether or not the vehicle is located in a specific area in which the detection data is susceptible to an influence of disturbance; and a running control unit configured to control the running of the vehicle using the detection data, wherein when the determination unit determines that the vehicle is located in the specific area, the running control unit lowers a degree of contribution of the detection data to running control of the vehicle compared to a case where the determination unit determines that the vehicle is located outside the specific area.
2 . The control device of the vehicle according to claim 1 , wherein the determination unit determines whether or not the vehicle is located in the specific area using location information of the vehicle and a map indicating the specific area.
3 . The control device of the vehicle according to claim 1 , wherein, in a case where there is no person in the specific area, even when the determination unit determines that the vehicle is located in the specific area, the running control unit does not lower the degree of contribution of the detection data to the running control of the vehicle compared to the case where the determination unit determines that the vehicle is located outside the specific area.
4 . The control device of the vehicle according to claim 1 , wherein, when the vehicle is located in the specific area and there is a slope on a running route of the vehicle, the running control unit controls the running of the vehicle according to a gradient of the slope.
5 . The control device of the vehicle according to claim 1 , wherein, when the determination unit determines that the vehicle is located in the specific area, the running control unit controls the running of the vehicle without using parameters included in the detection data and associated with an acceleration of the vehicle and a yaw rate of the vehicle.
6 . The control device of the vehicle according to claim 1 , wherein, when the running control unit determines that the detection data is influenced by the disturbance outside the specific area, the running control unit causes a broadcasting device to perform broadcasting.
7 . The control device of the vehicle according to claim 2 , wherein, in a case where there is no person in the specific area, even when the determination unit determines that the vehicle is located in the specific area, the running control unit does not lower the degree of contribution of the detection data to the running control of the vehicle compared to the case where the determination unit determines that the vehicle is located outside the specific area.
8 . The control device of the vehicle according to claim 2 , wherein, when the vehicle is located in the specific area and there is a slope on a running route of the vehicle, the running control unit controls the running of the vehicle according to a gradient of the slope.
9 . The control device of the vehicle according to claim 2 , wherein, when the determination unit determines that the vehicle is located in the specific area, the running control unit controls the running of the vehicle without using parameters included in the detection data and associated with an acceleration of the vehicle and a yaw rate of the vehicle.
10 . The control device of the vehicle according to claim 2 , wherein, when the running control unit determines that the detection data is influenced by the disturbance outside the specific area, the running control unit causes a broadcasting device to perform broadcasting.

Description

CROSS REFERENCE TO RELATED APPLICATIONS This application is based upon and claims benefit of priority from Japanese Patent Application Nos. 2022-154586, filed on Sep. 28, 2022, and 2023-165272 filed on Sep. 27, 2023, the entire contents of which are incorporated herein by reference. FIELD The present disclosure relates to a control device that controls a vehicle. BACKGROUND ART Patent Literature 1 discloses a transfer system that controls a vehicle using a dedicated control unit when a vehicle that is able to autonomously drive is transferred from an assembly factory to a finished car yard. The transfer system disclosed in Patent Literature 1 is configured to install (temporarily install) in a vehicle compartment of the vehicle a control unit that is able to communicate with the vehicle, and allow the vehicle to automatically drive based on transfer information received by the control unit from an extra-vehicle server device. According to Patent Literature 1, this control unit is detached by a worker after arrival at the finished car yard, so that it is possible to suppress an increase of a system that is unnecessary for the vehicle. CITATION LIST Patent Literature Patent Literature 1: JP 2020-064388 A SUMMARY There are not only a case where a vehicle that is able to autonomously drive is transferred from the assembly factory to the finished car yard as in Patent Literature 1, but also a case where, when, for example, a vehicle finished in a factory is transferred to an area for inspection, the vehicle is autonomously driven and transferred (self-running conveyance) to an appropriate inspection area instead of transferring the vehicle by a conveyor or the like. On the other hand, at a time of inspection on whether or not a manufactured vehicle is finished, when assembly is checked or rattle is checked, a vehicle rocks. A vehicle that is able to autonomously drive controls a turning angle based on information from an outside or data acquired from a plurality of sensors or the like provided to the vehicle, and runs by autonomous driving. Consequently, by performing above-described inspection while acquiring these items of data, data may be acquired taking rocking of the vehicle caused by inspection into account. When, for example, the turning angle of the vehicle is automatically controlled, a control value of a target turning angle is computed using a lateral acceleration or a yaw rate of the vehicle, and therefore the rocking of the vehicle caused by inspection may influence a computation result. In this case, the vehicle is concerned to deviate greatly from a route through which the vehicle needs to run during autonomous driving. It is not studied for the device according to Patent Literature 1 that safety of running by autonomous driving lowers due to inspection, and there has been a room for improvement. Hence, there has been desired a technique of suppressing running of a vehicle by autonomous driving from destabilizing. The present disclosure may be implemented as following aspects. (1) A first aspect according to the present disclosure provides a control device. This control device includes: an acquisition unit configured to acquire detection data from a sensor, wherein the sensor detects a running state of a vehicle, wherein the vehicle is configured to be able to run by unmanned driving; a determination unit configured to determine whether or not the vehicle is located in a specific area in which the detection data is susceptible to an influence of disturbance; and a running control unit configured to control the running of the vehicle using the detection data, wherein when the determination unit determines that the vehicle is located in the specific area, the running control unit lowers a degree of contribution of the detection data to running control of the vehicle compared to a case where the determination unit determines that the vehicle is located outside the specific area. The control device according to this aspect is able to suppress running of the vehicle by unmanned driving from destabilizing. (2) In the control device according to the above aspect, the determination unit may determine whether or not the vehicle is located in the specific area using location information of the vehicle and a map indicating the specific area. The control device according to this aspect is able to easily determine whether or not the vehicle is located in the specific area. (3) In the control device according to the above aspect, in a case where there is no person in the specific area, even when the determination unit determines that the vehicle is located in the specific area, the running control unit may not lower the degree of contribution of the detection data to the running control of the vehicle compared to the case where the determination unit determines that the vehicle is located outside the specific area. The control device according to this aspect is able to suppress a decrease in running performanc