WO2019130483A1 - Vehicle control device, vehicle control method, and program - Google Patents

Abstract

Provided is a vehicle control device comprising: an acquisition part for acquiring information indicating the orientation of the face or gaze of an occupant in another vehicle; an assessment part for assessing whether the orientation indicated by the information acquired by the acquisition part corresponds to an orientation that is directed toward a host vehicle (on which the vehicle control device is mounted) as viewed from the other vehicle; and a drive control part for controlling the steering and/or the acceleration of the host vehicle, said drive control part being designed to carry out prescribed control when it has been assessed by the assessment part that the orientation indicated by the information corresponds to the orientation directed toward the host vehicle as viewed from the other vehicle.

Description

Vehicle control device, vehicle control method, and program

The present invention relates to a vehicle control device, a vehicle control method, and a program.

An image of the other vehicle is taken by the camera, it is determined from the captured image whether the driver of the other vehicle is in the forward careless state, and if it is in the forward careless state, an alert to the driver of the other vehicle is The technique to emit is known (for example, refer to patent documents 1).

JP, 2017-84157, A

However, the prior art has not been considered about automatically controlling the vehicle while attempting to communicate with the driver of the other vehicle.

The present invention has been made in consideration of such circumstances, and a vehicle control apparatus and a vehicle control method capable of realizing more flexible automatic driving while attempting to communicate with drivers of other vehicles. And to provide one of the programs.

(1): The vehicle control device acquires the information indicating the direction of the face or the line of sight of the occupant of the other vehicle, and the direction indicated by the information acquired by the acquisition unit is viewed from the other vehicle itself A determination unit that determines whether or not the vehicle is facing a direction, and a drive control unit that controls one or both of steering and acceleration / deceleration of the host vehicle, wherein the information is indicated by the determination unit. And a driving control unit that performs predetermined control when it is determined that the direction is the direction facing the host vehicle as viewed from the other vehicle.

(2) The vehicle control device according to (1) is at least one of the predetermined control decelerating the host vehicle, changing the lane of the host vehicle, or moving the host vehicle backward. The above control is included.

(3): The vehicle control device according to (1) detects a steering wheel installed in the other vehicle, and detects a direction of a face or a line of sight of an occupant closest to the detected steering wheel. Further, the acquisition unit acquires the detection result of the detection unit as information indicating the direction of the face or the line of sight of the occupant of the other vehicle.

(4) The vehicle control device according to (1) has a communication unit for performing inter-vehicle communication with another vehicle, and a direction indicated by the information from the other vehicle by the determination unit, the direction of the information is directed to the own vehicle And a communication control unit that causes the communication unit to start the inter-vehicle communication and transmits predetermined information to the other vehicle when it is determined that the vehicle is in the moving direction.

(5): In the vehicle control device according to (1), the operation control unit determines that the direction indicated by the information is a direction in which the information is facing the own vehicle as viewed from the other vehicle by the determination unit. When it is done, the host vehicle is decelerated or changed to another lane.

(6): The acquisition unit acquires information indicating the direction of the face or line of sight of the occupant of the other vehicle, and the determination unit determines that the direction indicated by the information acquired by the acquisition unit is the own vehicle when viewed from the other vehicle. It is determined whether or not it is a direction facing the vehicle, and the operation control unit controls one or both of steering and acceleration / deceleration of the host vehicle, and the direction indicated by the information is the other by the determination unit. A vehicle control method for performing predetermined control when it is determined that the vehicle is in a direction facing the host vehicle as viewed from the vehicle.

(7): The computer is made to acquire information indicating the direction of the face or line of sight of the occupant of the other vehicle, and the direction indicated by the acquired information is the direction facing the own vehicle as viewed from the other vehicle Whether or not to control one or both of steering or acceleration / deceleration of the vehicle, and determining that the direction indicated by the information is the direction facing the vehicle as viewed from the other vehicle Program that performs predetermined control when it happens.

According to (1) to (7), more flexible automatic driving can be realized while attempting to communicate with the driver of another vehicle.

BRIEF DESCRIPTION OF THE DRAWINGS It is a block diagram of the vehicle system 1 using the vehicle control apparatus which concerns on 1st Embodiment. FIG. 2 is a functional configuration diagram of a first control unit 120 and a second control unit 160. It is a figure which shows a mode that the target track T is produced | generated based on a recommendation lane. It is a flowchart which shows an example of the process performed by the automatic driving | operation control apparatus 100 of 1st Embodiment. It is a figure showing typically direction D of a face or a look of a driver of other vehicles m. It is a figure showing typically direction D of a face or a look of a driver of other vehicles m. It is a figure for demonstrating a predetermined direction. It is a figure showing an example of a scene where direction D of a face or a look of a driver of other vehicles m may turn into a predetermined direction. It is a figure which shows an example of the screen displayed on the display apparatus DP of the other vehicle m. It is a figure which shows an example of the scene which decelerates the own vehicle M. As shown in FIG. It is a figure which shows an example of the scene which changes the own vehicle M into a lane. It is a figure which shows the other example of the scene where direction D of the driver | operator of the other vehicle m or gaze direction may turn into predetermined direction. It is a figure which shows the other example of the scene where direction D of the driver | operator of the other vehicle m or gaze direction may turn into predetermined direction. It is a figure which shows the other example of the scene where direction D of the driver | operator of the other vehicle m or gaze direction may turn into predetermined direction. It is a figure which shows the other example of the scene where direction D of the driver | operator of the other vehicle m or gaze direction may turn into predetermined direction. It is a figure which shows the other example of the scene where direction D of the driver | operator of the other vehicle m or gaze direction may turn into predetermined direction. It is a flowchart which shows an example of the process performed by the automatic driving | operation control apparatus 100 of 2nd Embodiment. It is a figure which shows the other example of the scene where direction D of the driver | operator of the other vehicle m or gaze direction may turn into predetermined direction. It is a figure which shows the other example of the scene where direction D of the driver | operator of the other vehicle m or gaze direction may turn into predetermined direction. It is a flowchart which shows an example of the process performed by the automatic driving | operation control apparatus 100 of 3rd Embodiment. It is a figure showing an example of a scene where direction D of a face or a look of a driver of other vehicles m does not turn into a predetermined direction. It is a figure showing an example of a scene where direction D of a face or a look of a driver of other vehicles m does not turn into a predetermined direction. It is a figure showing an example of the hardware constitutions of automatic operation control device 100 of an embodiment.

Hereinafter, embodiments of a vehicle control device, a vehicle control method, and a program according to the present invention will be described with reference to the drawings. In the following embodiments, the vehicle control device will be described as being applied to a vehicle capable of autonomous driving (autonomous driving). In the automatic driving, for example, one or both of the steering and the acceleration / deceleration of the vehicle is controlled to travel the vehicle without depending on the operation of the passenger who got on the vehicle. The automatic driving may include driving support such as ACC (Adaptive Cruse Control) and LKAS (Lane Keeping Assist).

First Embodiment
[overall structure]
FIG. 1 is a block diagram of a vehicle system 1 using the vehicle control device according to the first embodiment. The vehicle on which the vehicle system 1 is mounted (hereinafter referred to as the own vehicle M) is, for example, a vehicle such as a two-wheeled vehicle, a three-wheeled vehicle or a four-wheeled vehicle, and its drive source is an internal combustion engine such as a diesel engine or gasoline engine, an electric motor, Or it is a combination of these. When the motor is provided, the motor operates using the power generated by the generator connected to the internal combustion engine or the discharge power of the secondary battery or the 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, an HMI (Human Machine Interface) 30, a vehicle sensor 40, and a navigation device 50; An MPU (Map Positioning Unit) 60, a driving operator 80, a lamp group 90, a horn (or horn) 92, an automatic driving control device 100, a traveling driving force output device 200, a braking device 210, a steering device And 220. These devices and devices are mutually connected by a multiplex communication line such as a CAN (Controller Area Network) communication line, a serial communication line, a wireless communication network or the like. The configuration shown in FIG. 1 is merely an example, and a part of the configuration may be omitted, 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 more cameras 10 are attached to any part of a vehicle (hereinafter referred to as a host vehicle M) on which the vehicle system 1 is mounted. When imaging the front, the camera 10 is attached to the top of the front windshield, the rear surface of the rearview mirror, or the like. For example, the camera 10 periodically and repeatedly captures the periphery of the vehicle M. The camera 10 may be a stereo camera.

The radar device 12 emits radio waves such as millimeter waves around the host vehicle M and detects radio waves (reflected waves) reflected by the object to detect at least the position (distance and direction) of the object. One or more of the radar devices 12 are attached to any part of the host vehicle M. The radar device 12 may detect the position and the velocity of the object by a frequency modulated continuous wave (FM-CW) method.

The finder 14 is a light detection and ranging (LIDAR). The finder 14 irradiates light around the host vehicle M and measures scattered light. The finder 14 detects the distance to the object based on the time from light emission to light reception. The light to be irradiated is, for example, pulsed laser light. One or more finders 14 are attached to any part of the host vehicle M.

The object recognition device 16 performs sensor fusion processing on the detection result of a part or all of the camera 10, the radar device 12, and the finder 14 to recognize the position, type, speed, etc. of the object. The object recognition device 16 outputs the recognition result to the automatic driving control device 100. In addition, the object recognition device 16 may output the detection results of the camera 10, the radar device 12, and the finder 14 to the automatic driving control device 100 as it is, as necessary.

The communication device 20 communicates with another vehicle m existing around the host vehicle M using, for example, a cellular network, Wi-Fi network, Bluetooth (registered trademark), DSRC (Dedicated Short Range Communication), or It communicates with various server devices via a wireless base station. The other vehicle m may be, for example, a vehicle on which automatic driving is performed as in the case of the host vehicle M, or may be a vehicle on which manual driving is performed, and there is no particular limitation. Unlike the above-described automatic driving, the manual driving means that the acceleration / deceleration and the steering of the own vehicle M are controlled in accordance with the operation of the occupant with respect to the driving operation element 80. The communication device 20 is an example of a “communication unit”.

The HMI 30 presents various information to the occupant of the host vehicle M, and accepts input operation by the occupant. The HMI 30 includes various display devices, speakers, a buzzer, a touch panel, 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 acceleration, a yaw rate sensor that detects an angular velocity around the vertical axis, and an azimuth sensor that detects the direction of the host vehicle M.

The navigation device 50 includes, for example, a GNSS (Global Navigation Satellite System) receiver 51, a navigation HMI 52, and a path determination unit 53, and stores the first map information 54 in a storage device such as an HDD (Hard Disk Drive) or a flash memory. Hold The GNSS receiver 51 specifies the position of the host vehicle M based on the signal received from the GNSS satellite. The position of the host vehicle M may be identified or supplemented by an INS (Inertial Navigation System) using the output of the vehicle sensor 40. The navigation HMI 52 includes a display device, a speaker, a touch panel, keys and the like. The navigation HMI 52 may be partially or entirely shared with the above-described HMI 30. The route determination unit 53, for example, a route from the position of the host vehicle M specified by the GNSS receiver 51 (or an arbitrary position input) to the destination input by the occupant using the navigation HMI 52 (hereinafter referred to as The route on the map is determined with reference to the first map information 54. The first map information 54 is, for example, information in which a road shape is represented by a link indicating a road and a node connected by the link. The first map information 54 may include road curvature, POI (Point Of Interest) information, and the like. The on-map route determined by the route determination unit 53 is output to the MPU 60. The navigation device 50 may also perform route guidance using the navigation HMI 52 based on the on-map route determined by the route determination unit 53. The navigation device 50 may be realized by, for example, the function of a terminal device such as a smartphone or a tablet terminal owned by a passenger. In addition, the navigation device 50 may transmit the current position and the destination to the navigation server via the communication device 20, and acquire the on-map route returned from the navigation server.

The MPU 60 functions as, for example, a recommended lane determination unit 61, and holds the second map information 62 in a storage device such as an HDD or a flash memory. The recommended lane determination unit 61 divides the route provided from the navigation device 50 into a plurality of blocks (for example, in units of 100 [m] in the traveling direction of the vehicle), and refers to the second map information 62 for each block. Determine the recommended lanes. The recommended lane determination unit 61 determines which lane to travel from the left. The recommended lane determination unit 61 determines the recommended lane so that the host vehicle M can travel on a reasonable route for traveling to a branch destination when a branch point, a junction point, or the like exists in the route.

The second map information 62 is map information that is more accurate than the first map information 54. The second map information 62 includes, for example, information on the center of the lane or information on the boundary of the lane. Further, the second map information 62 may include road information, traffic regulation information, address information (address / zip code), facility information, telephone number information, and the like. The second map information 62 may be updated as needed by accessing another device using the communication device 20.

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

The lamp group 90 includes, for example, a head lamp installed at the front end of the vehicle body of the host vehicle M, a rear lamp installed at the rear end, a hazard lamp, and the like. The horn 92 makes a sound.

The automatic driving control device 100 includes, for example, a first control unit 120 and a second control unit 160. Each of the first control unit 120 and the second control unit 160 is realized, for example, when a hardware processor such as a CPU (Central Processing Unit) executes a program (software). In addition, some or all of these components may be hardware (circuits) such as LSI (Large Scale Integration), ASIC (Application Specific Integrated Circuit), FPGA (Field-Programmable Gate Array), GPU (Graphics Processing Unit), etc. Circuit (including circuitry) or may be realized by cooperation of software and hardware.

FIG. 2 is a functional block diagram of the first control unit 120 and the second control unit 160. As shown in FIG. The first control unit 120 includes, for example, a recognition unit 130 and an action plan generation unit 140. The recognition unit 130 includes, for example, another vehicle occupant gaze direction recognition unit 132. Further, the action plan generation unit 140 includes, for example, the other vehicle encounter time determination unit 142. What combined the camera 10, the object recognition apparatus 16, and the recognition part 130 is an example of a "detection part."

The first control unit 120 implements, for example, a function by artificial intelligence (AI) and a function by a predetermined model in parallel. For example, in the “identify intersection” function, recognition of an intersection by deep learning etc. and recognition based on predetermined conditions (a signal capable of pattern matching, road marking, etc.) are executed in parallel, and both are performed. It is realized by scoring against and comprehensively evaluating. This ensures the reliability of automatic driving.

The recognition unit 130 detects the position of an object in the vicinity of the host vehicle M, the state of the velocity, the acceleration, and the like based on information input from the camera 10, the radar device 12, and the finder 14 via the object recognition device 16. recognize. The objects include other vehicles m and stationary obstacles. The position of the object is recognized as, for example, a position on an absolute coordinate with a representative point (such as the center of gravity or the center of the drive axis) of the host vehicle M as an origin, and is used for control. The position of the object may be represented by a representative point such as the center of gravity or a corner of the object, or may be represented by a represented region. The "state" of an object may include the acceleration or jerk of the object, or "action state" (e.g. whether or not you are changing lanes or trying to change). Further, the recognition unit 130 recognizes the shape of a curve through which the host vehicle M passes from now on the basis of the captured image of the camera 10. The recognition unit 130 converts the shape of the curve from the captured image of the camera 10 to a real plane, and for example, information indicating the shape of the curve which is expressed using two-dimensional point sequence information or a model equivalent thereto. Output to the action plan generation unit 140.

The recognition unit 130 also recognizes, for example, a lane in which the host vehicle M is traveling (traveling lane). For example, the recognition unit 130 may use a pattern of road division lines obtained from the second map information 62 (for example, an array of solid lines and broken lines) and road division lines around the host vehicle M recognized from an image captured by the camera 10 The traveling lane is recognized by comparing with the pattern of. The recognition unit 130 may recognize the traveling lane by recognizing a runway boundary (road boundary) including not only road division lines but also road division lines, road shoulders, curbs, median dividers, guard rails and the like. . In this recognition, the position of the host vehicle M acquired from the navigation device 50 or the processing result by the INS may be added. The recognition unit 130 also recognizes road markings drawn on a road surface such as a temporary stop line, road signs, obstacles, red lights, toll plazas, and other road events.

The recognition unit 130 recognizes the position and orientation of the host vehicle M with respect to the traveling lane when recognizing the traveling lane. The recognition unit 130 is, for example, a deviation of the reference point of the host vehicle M from the center of the lane, and an angle formed by a line connecting the center of the lane in the traveling direction of the host vehicle M It may be recognized as an attitude. Also, instead of this, the recognition unit 130 sets the position of the reference point of the host vehicle M with respect to any one side end (road segment or road boundary) of the travel lane relative to the host vehicle M with respect to the travel lane. It may be recognized as

In addition, the recognition unit 130 may derive recognition accuracy in the above-described recognition processing, and output the recognition accuracy to the action plan generation unit 140 as recognition accuracy information. For example, the recognition unit 130 generates recognition accuracy information based on the frequency at which a road marking can be recognized in a fixed period.

Further, the other vehicle occupant's gaze direction recognition unit 132 of the recognition unit 130 specifies the other vehicle m from among the recognized objects, and recognizes the passenger getting on the other vehicle m. Then, the other vehicle occupant gaze direction recognition unit 132 recognizes the direction of the face or the direction of the line of sight of the recognized other vehicle m. For example, the other vehicle occupant's gaze direction recognition unit 132 recognizes the direction of the face or the line of sight of the occupant based on the position of the occupant's pupil or iris, the position of the eyes, etc., the skin or the hair.

The action plan generation unit 140 basically travels in the recommended lane determined by the recommended lane determination unit 61, and further determines events to be sequentially executed in automatic driving so as to correspond to the surrounding situation of the host vehicle M. Do. Events include, for example, a constant speed traveling event traveling on the same traveling lane at a constant speed, a following traveling event tracking a preceding vehicle, an overtaking event passing a leading vehicle, braking for avoiding approaching with an obstacle and / Or Avoiding events to steer, curve driving events to drive a curve, passing events passing predetermined points such as intersections, pedestrian crossings, crossings, etc., lane change events, merging events, branching events, automatic stop events, automatic driving There is a takeover event for ending and switching to the manual operation. The “following” is a traveling mode in which the speed is controlled so as to make the inter-vehicle distance (relative distance) between the leading vehicle and the host vehicle M constant.

The action plan generation unit 140 generates a target trajectory T on which the vehicle M travels in the future, in accordance with the activated event. The target trajectory T includes, for example, a velocity component. For example, the target trajectory T is expressed as a sequence of points (track points) to be reached by the vehicle M. The track point is a point to be reached by the vehicle M for every predetermined traveling distance (for example, several [m]) in road distance, and separately, for a predetermined sampling time (for example, about 0 comma [sec]) B) target velocity and target acceleration are generated as part of the target trajectory T. Further, the track point may be a position to be reached by the vehicle M at the sampling time for each predetermined sampling time. In this case, information on the target velocity and the target acceleration is expressed by the distance between the track points.

FIG. 3 is a diagram showing how the target track T is generated based on the recommended lane. As shown, the recommended lanes are set to be convenient to travel along the route to the destination. When the action plan generation unit 140 reaches a predetermined distance (may be determined according to the type of event) of the switching point of the recommended lane, it activates a passing event, a lane changing event, a branching event, a merging event and the like. When it is necessary to avoid an obstacle during the execution of each event, an avoidance trajectory is generated as illustrated.

The action plan generation unit 140 determines the other vehicle encounter time determination unit 142 from the recognition unit 130 as information that indicates the direction of the face or line of sight of the occupant of the other vehicle m (hereinafter, gaze direction information) as a recognition result. Then, the other vehicle encounter time determination unit 142, for example, refers to the acquired gaze direction information and determines whether the direction indicated by the information is a predetermined direction. The other vehicle encounter time determination unit 142 is an example of the “acquisition unit” in the claims.

The action plan generation unit 140 generates a new target trajectory T when the other vehicle encounter time determination unit 142 determines that the direction of the face or line of sight of the occupant is a predetermined direction, and the second control unit 160 generates the new target trajectory T. Output to

Returning to the description of FIG. 2, the second control unit 160 includes, for example, an acquisition unit 162, a speed control unit 164, and a steering control unit 166. The combination of the action plan generation unit 140, the speed control unit 164, and the steering control unit 166 is an example of the “operation control unit”.

The acquisition unit 162 acquires information on the target trajectory T (orbital point) generated by the action plan generation unit 140, and stores the information in the memory.

The speed control unit 164 and the steering control unit 166 control the travel driving force output device 200, the brake device 210, and the like so that the vehicle M passes the target trajectory T generated by the action plan generation unit 140 as scheduled. And control the steering device 220.

For example, the speed control unit 164 controls the traveling drive power output device 200 or the brake device 210 based on the speed component associated with the target track T stored in the memory. The steering control unit 166 controls the steering device 220 according to the degree of curvature (for example, curvature) of the target track T stored in the memory. The processing of the speed control unit 164 and the steering control unit 166 is realized by, for example, a combination of feedforward control and feedback control. As an example, the steering control unit 166 combines feedforward control according to the curvature of the road ahead of the host vehicle M and feedback control based on the deviation from the target track T.

The device control unit 170 acquires the determination result of the other vehicle encounter time determination unit 142, outputs a command to the communication device 20 according to the determination result, and causes the communication device 20 to perform inter-vehicle communication with the other vehicle m. In addition, the device control unit 170 may operate the lamp group 90 or the horn 92 according to the determination result by the other vehicle encounter time determination unit 142. The device control unit 170 is an example of a “communication control unit”.

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

The brake device 210 includes, for example, a brake caliper, a cylinder that transmits hydraulic pressure to the brake caliper, an electric motor that generates hydraulic pressure in the cylinder, and a brake ECU. The brake ECU controls the electric motor in accordance with the information input from the second control unit 160 or the information input from the drive operator 80 so that the brake torque corresponding to the braking operation is output to each wheel. The brake device 210 may include, as a backup, a mechanism for transmitting the hydraulic pressure generated by the operation of the brake pedal included in the drive operator 80 to the cylinder via the master cylinder. The brake device 210 is not limited to the configuration described above, and is an electronically controlled hydraulic brake device that controls the actuator according to the information input from the second control unit 160 to transmit the hydraulic pressure of the master cylinder to the cylinder It is also good.

The steering device 220 includes, for example, a steering ECU and an electric motor. The electric motor, for example, applies a force to the rack and pinion mechanism to change the direction of the steered wheels. The steering ECU drives the electric motor to change the direction of the steered wheels in accordance with the information input from the second control unit 160 or the information input from the drive operator 80.

Processing flow
FIG. 4 is a flowchart showing an example of processing executed by the automatic driving control apparatus 100 according to the first embodiment. The processing of this flowchart is executed, for example, when the recognition unit 130 recognizes the other vehicle m. Also, the processing of this flowchart may be repeatedly executed, for example, at a predetermined cycle.

First, the other vehicle occupant's gaze direction recognition unit 132 recognizes the recognized driver of the other vehicle m (step S100). The driver is, for example, an occupant seated in a seat closest to the steering wheel among one or more occupants who board the vehicle.

For example, when the occupant's gaze direction recognition unit 132 recognizes the occupant through the window of the recognized other vehicle m, the other vehicle occupant gaze direction recognition unit 132 determines whether a steering wheel is present in front of the seat on which the occupant sits. When it is determined that the steering wheel is present in front of the seat where the recognized occupant is seated, the other vehicle occupant gaze direction recognition unit 132 recognizes the occupant as the driver of the other vehicle m.

Next, the other vehicle occupant's gaze direction recognition unit 132 recognizes the direction D of the recognized driver's face or gaze (step S102).

5 and 6 schematically show the direction D of the face or line of sight of the driver of the other vehicle m. In the figure, ST represents a steering wheel, and DP represents a display device described later. As in the illustrated example, when the driver of another vehicle m monitors the surroundings of the vehicle through the side window, at least a part of the driver's face can be viewed from outside the vehicle.

Next, the other vehicle encounter time determination unit 142 acquires gaze direction information as a recognition result from the other vehicle occupant gaze direction recognition unit 132, and based on the gaze direction information, the driver's face or line of sight of the other vehicle m. It is determined whether or not the direction D of the object is a predetermined direction (step S104). The predetermined direction is, for example, a direction facing the own vehicle M as viewed from the other vehicle m.

FIG. 7 is a diagram for describing a predetermined direction. For example, in a virtual two-dimensional space when each vehicle is viewed from above, the own vehicle M exists within a range of a predetermined angle width θ based on the direction D of the face or line of sight of the driver of the other vehicle m. In this case, the other vehicle encounter time determination unit 142 determines that the direction D of the driver's face or line of sight of the other vehicle m is a predetermined direction, and the own vehicle M does not exist within the predetermined angle width θ. It is determined that the direction D of the face or gaze of the driver of the other vehicle m is not a predetermined direction.

FIG. 8 is a view showing an example of a scene in which the direction D of the face or line of sight of the driver of the other vehicle m may be a predetermined direction. The example of the figure shows a scene when the combined channel is viewed from above, the main lines in the combined channel are the lanes L1 and LN2, and the combined lane is the lane LN3. For example, since it is necessary to change the lane from the joint flow LN3 to the main line LN1 for the other vehicle m traveling on the joint flow LN3, the vehicle traveling on the main line LN1 can be It is often done to appeal the willingness to join. As a result, it becomes possible to recognize the driver of the other vehicle m as seen from the host vehicle M. At this time, the driver of the other vehicle m necessarily gazes at the other vehicle (including the own vehicle M) going straight from the rear on the main line LN1 in order to determine the timing of the lane change to the main line LN1. Do. Therefore, the direction D of the face or line of sight of the driver of the other vehicle m can be easily determined to be a predetermined direction.

When the other vehicle encounter time determination unit 142 determines that the direction D of the driver's face or gaze of the other vehicle m is a predetermined direction, the equipment control unit 170 recognizes the driver by the communication device 20. The other-vehicle communication with the other vehicle m is started (step S106).

For example, the device control unit 170 controls the communication device 20 to transmit predetermined information to another vehicle m which is a communication partner of inter-vehicle communication. The predetermined information is, for example, information for notifying what kind of action is to be taken as a result of the own vehicle M recognizing the direction D of the face or the line of sight of the driver of the other vehicle m. For example, the other vehicle m which has received the predetermined information outputs the predetermined information via the display device DP or the speaker installed in the vehicle compartment. The device control unit 170 may omit the process of transmitting predetermined information when inter-vehicle communication is not established with the other vehicle m.

FIG. 9 is a view showing an example of a screen displayed on the display device DP of another vehicle m. For example, when it is determined that the direction D of the driver's face or line of sight of the other vehicle m is a predetermined direction on the host vehicle M side, that is, it is determined that the other vehicle m indicates the intention of merging. In this case, as shown in the example of the drawing, the screen of the display device DP displays, as the predetermined information, information indicating that the host vehicle M has accepted an interruption ahead by the other vehicle m. Thus, the driver of the other vehicle m can drive the vehicle in anticipation of the action of the host vehicle M.

Further, when the other-vehicle encounter determining unit 142 determines that the direction D of the driver's face or sight line of the other vehicle m is a predetermined direction, the device control unit 170 blinks the headlamps of the lamp group 90 Turn it on, turn it on with a high beam, or blink or turn on the hazard lamp. In addition, the device control unit 170 may sound the horn 92 when it is determined by the other vehicle encounter time determination unit 142 that the direction D of the driver's face or gaze of the other vehicle m is a predetermined direction. By such control, the driver of the other vehicle m is notified of predetermined information.

Next, when the behavior plan generation unit 140 determines that the direction D of the driver's face or line of sight of the other vehicle m is the predetermined direction by the other vehicle encounter time determination unit 142, the other vehicle m is in its own lane It is determined that it represents an intention to join a certain main line LN1, and a target track T for realizing deceleration or lane change is generated in order to accept a forward interrupt by another vehicle m (step S108). Then, one or both of the speed control unit 164 and the steering control unit 166 control each control target based on the target trajectory T newly generated by the action plan generation unit 140. Control for decelerating or changing the host vehicle M is an example of “predetermined control”.

FIG. 10 is a view showing an example of a scene in which the host vehicle M is decelerated. For example, when the direction D of the face or line of sight of the driver of the other vehicle m is a predetermined direction, the action plan generation unit 140 determines that the target speed V _M defined as the speed element of the target track T generated previously is A new target trajectory T including a small target velocity V _M # is generated. “Before” is, for example, a timing before the recognition unit 130 recognizes the driver of the other vehicle m. In response to this, the speed control unit 164 controls the traveling drive power output device 200 or the brake device 210 based on the target speed V _M # included as a speed element in the newly generated target track, and the host vehicle M Slow down. Thus, a space is formed in front of the host vehicle M, and it is possible to urge the other vehicle m looking at the direction of the host vehicle M to merge.

FIG. 11 is a view showing an example of a scene in which the host vehicle M is changed to the lane. For example, when the direction D of the driver's face or line of sight of the other vehicle m is a predetermined direction, the action plan generation unit 140 changes the lane LN1 adjacent to the merging lane LN3 to the lane LN1 without being adjacent to the merging lane LN3. A target track T leading to the adjacent lane LN2 is generated. Then, the steering control unit 166 controls the steering device 220 based on the degree of curvature of the newly generated target track T, and changes the lane of the host vehicle M to the lane LN2. As a result, since a space for at least the vehicle M is formed in the main line LN1, it is possible to urge the other vehicle m that is looking at the direction of the vehicle M to merge.

On the other hand, when it is determined by the other vehicle encounter time determination unit 142 that the direction D of the face or line of sight of the driver of the other vehicle m is not a predetermined direction, the action plan generation unit 140 The same target trajectory T is generated, and the target trajectory T to be referred to by the speed control unit 164 and the steering control unit 166 is not changed to a new one (step S110). “The same as the target trajectory T generated previously” means, for example, that the target velocity determined as a velocity factor and the degree of bending of the target trajectory itself (relative positional relationship between trajectory points) are substantially the same. . In response to this, the speed control unit 164 controls the traveling drive power output device 200 or the brake device 210 as before, and the steering control unit 166 controls the steering device 220 as before. As a result, the vehicle M travels while maintaining the lane LN1.

In addition, in the process of S102, when the recognition unit 130 can not recognize the direction D of the face or the line of sight of the driver of the other vehicle m, the action plan generation unit 140 may perform the process of S110. By this, the processing of this flowchart ends.

In the first embodiment described above, although the scene of the combined flow path has been described as an example of a scene in which the direction D of the face or line of sight of the driver of the other vehicle m can be a predetermined direction, the present invention is not limited thereto. It may be a 3-way JUNCTION such as a road or other traffic scenes.

FIG. 12 and FIG. 13 are diagrams showing other examples of a scene in which the direction D of the face or line of sight of the driver of the other vehicle m may be a predetermined direction. In the example shown in the figure, the scene when looking at the upper side of the chopsticks is shown, and the other vehicle m tries to turn right. For example, the lane LN3 in which the other vehicle m is present is a lane that strikes the lane LN1 in which the host vehicle M is present, and the temporary stop regulation may be applied as a traffic rule. In this case, the other vehicle m scheduled to make a right turn must stop on the temporary stop line SL and wait for the host vehicle M traveling in the lane LN1, which is a priority road, to pass. On the other hand, when recognizing the other vehicle m in the other lane LN3, the automatic driving control device 100 of the own vehicle M recognizes the direction D of the face or the line of sight of the driver of the other vehicle m. The automatic driving control apparatus 100 determines whether the direction D of the recognized driver's face or line of sight is a predetermined direction, and if the direction D is a predetermined direction, transmits predetermined information to the other vehicle m. At the same time, the host vehicle M is decelerated. This enables more flexible automatic driving while communicating with the occupants of the other vehicles m.

In the above-described example, the automatic driving control apparatus 100 decelerates the host vehicle M when another vehicle m turns right and changes lanes to the lane LN2 of the priority road in a double-sided road, but the other vehicle When m turns left and changes the lane to the lane LN1 of the priority road, the host vehicle M may be changed to the lane LN2 adjacent to the lane LN1 as in the scene of the merging path.

Further, the scene in which the direction D of the face or line of sight of the driver of the other vehicle m can be a predetermined direction may be a scene in which the host vehicle M follows the other vehicle m (a scene where a following travel event is activated) .

FIGS. 14 to 16 are diagrams showing other examples of a scene in which the direction D of the face or sight line of the driver of the other vehicle m may be a predetermined direction. In the illustrated example, the other vehicle m follows the other vehicle m so as to maintain a constant distance between the own vehicle M and the other vehicle m, which is a leading vehicle. Under such a follow-up, the host vehicle M may enter an area behind the vehicle that the driver of the other vehicle m feels uncomfortable, and the driver of the other vehicle m may face a face or gaze backward. . In this case, the other vehicle encounter time determination unit 142 determines that the direction D of the driver's face or gaze of the other vehicle m is a predetermined direction. In this case, the equipment control unit 170 notifies the driver of the other vehicle m of predetermined information, and the action plan generation unit 140 generates a target trajectory T for decelerating the own vehicle M (see FIG. 15). And generate a target track T for changing the host vehicle M to an adjacent lane (see FIG. 16). This enables more flexible automatic driving while communicating with the occupants of the other vehicles m.

In the first embodiment described above, the direction D of the driver's face or line of sight of the other vehicle m has been described as being recognized by the host vehicle M, but the present invention is not limited thereto. Alternatively, the direction D of the line of sight may be recognized by the other vehicle m. For example, a camera for monitoring an occupant may be installed in the compartment of another vehicle m. The occupant monitoring camera is installed to keep the driver of the other vehicle m within the angle of view. In such a case, the device control unit 170 controls the communication device 20 to receive, from the other vehicle m, an image captured by the occupant monitoring camera. Then, the recognition unit 130 performs image processing on the image received from the other vehicle m, and recognizes the direction D of the face or the line of sight of the driver of the other vehicle m. Further, on the other vehicle m side, the direction D of the driver's face or line of sight may be recognized from the image captured by the occupant monitoring camera. In this case, gaze direction information is transmitted from the other vehicle m to the host vehicle M.

In the first embodiment described above, when the direction D of the driver's face or sight line of the other vehicle m is a predetermined direction, the probability that the driver of the other vehicle m is looking at the host vehicle M is high. Considering that the driver of the other vehicle m has the intention of merging or changing lanes, decelerating the host vehicle M or changing lanes to other lanes gives a space to give way to the other vehicle m. In the case where the direction D of the driver's face or line of sight of the other vehicle m is not a predetermined direction, the driver of the other vehicle m is highly likely not to look at the host vehicle M. Although it has been described that the current travel of the host vehicle M is maintained on the assumption that the driver has no intention of merging or changing lanes, the present invention is not limited to this.

For example, when the direction D of the driver's face or sight line of the other vehicle m is a predetermined direction, for example, the driver of the other vehicle m has the intention of merging or changing lanes. It is also possible to maintain the current travel of the host vehicle M without securing a space for giving the road to another vehicle m. On the other hand, when the direction D of the driver's face or line of sight of the other vehicle m is not a predetermined direction, the automatic driving control apparatus 100 sets the own vehicle M for which the driver of the other vehicle m is willing to join or change lanes. It may be determined that the vehicle M is not recognized, and the vehicle M may be decelerated or changed to another lane to secure a space for giving the road to the other vehicle m.

According to the first embodiment described above, gaze direction information indicating the direction D of the face or gaze of the occupant (driver) of the other vehicle m is acquired, and the direction D indicated by the acquired gaze direction information is predetermined. If it is determined that the other vehicle encounter time determination unit 142 that determines whether the direction is the direction or not and the other vehicle encounter time determination unit 142 determine that the direction D indicated by the gaze direction information is a predetermined direction, the host vehicle M Based on the target trajectory T generated by the action plan generation unit 140, the travel driving force output device 200 and the brake device, for generating the target trajectory T for decelerating the vehicle or changing the lane. By providing a speed control unit 164 for controlling the steering wheel 210 and a steering control unit 166 for controlling the steering device 220 based on the target trajectory T described above, the driver of another vehicle can While realizing the communication, it is possible to realize a more flexible automatic operation.

Second Embodiment
The second embodiment will be described below. In 1st Embodiment mentioned above, when direction D of the driver | operator of the other vehicle m or gaze direction was predetermined direction, it demonstrated as what decelerates the own vehicle M or changes lanes. On the other hand, the second embodiment differs from the above-described first embodiment in that the host vehicle M is retracted when the direction D of the driver's face or line of sight of the other vehicle m is a predetermined direction. Hereinafter, differences from the first embodiment will be mainly described, and descriptions of functions and the like common to the first embodiment will be omitted.

FIG. 17 is a flowchart showing an example of processing executed by the automatic driving control apparatus 100 according to the second embodiment. The processing of this flowchart is executed, for example, when the recognition unit 130 recognizes the other vehicle m. Also, the processing of this flowchart may be repeatedly executed, for example, at a predetermined cycle.

First, the other vehicle occupant's gaze direction recognition unit 132 recognizes the recognized driver of the other vehicle m (step S200). Next, the other vehicle occupant's gaze direction recognition unit 132 recognizes the direction D of the recognized driver's face or gaze (step S202).

Next, the other vehicle encounter time determination unit 142 acquires gaze direction information as a recognition result from the other vehicle occupant gaze direction recognition unit 132, and based on the gaze direction information, the driver's face or line of sight of the other vehicle m. It is determined whether or not the direction D of the target is a predetermined direction (step S204).

If it is determined by the other vehicle encounter time determination unit 142 that the direction D of the face or line of sight of the driver of the other vehicle m is not a predetermined direction, the action plan generation unit 140 determines the same target as the target trajectory T generated previously. The trajectory T is generated, and the target trajectory T to be referred to by the speed control unit 164 and the steering control unit 166 is not changed to a new one (step S206).

On the other hand, when the other vehicle encounter determining unit 142 determines that the direction D of the driver's face or line of sight of the other vehicle m is not a predetermined direction, it further determines whether the other vehicle m has reached the crossing. (Step S208).

If the other vehicle encounter time determination unit 142 determines that the other vehicle m has not reached the crossing, the device control unit 170 causes the communication device 20 to communicate between the other vehicle m for which the driver is recognized and the inter-vehicle communication. It is made to start (step S210), and the predetermined information is transmitted to the other vehicle m. Next, the action plan generation unit 140 generates a target trajectory T for realizing deceleration or lane change (step S212).

On the other hand, when the other vehicle encounter determination unit 142 determines that the other vehicle m has reached the crossing, the device control unit 170 causes the communication device 20 to communicate between the other vehicle m whose driver is recognized and the inter-vehicle communication It is made to start (step S214), and predetermined information is transmitted to the other vehicle m. Next, the action plan generation unit 140 generates a target trajectory T for moving the host vehicle M backward (step S216). Then, one or both of the speed control unit 164 and the steering control unit 166 control each control target based on the target trajectory T newly generated by the action plan generation unit 140.

FIG. 18 and FIG. 19 are diagrams showing other examples of a scene in which the direction D of the face or line of sight of the driver of another vehicle m may be a predetermined direction. In the illustrated example, another vehicle m is present immediately before the host vehicle M, and a part of the vehicle body of the other vehicle m is in the level crossing. In such a scene, for example, it is assumed that the driver of the other vehicle m attempts to reverse the other vehicle m after performing a backward check in order to get out of the level crossing. In this case, since it is highly probable that the driver of the other vehicle m captures the own vehicle M in the view at the time of backward confirmation, the other vehicle encounter time determination unit 142 determines that the direction D of the driver's face or sight line D of the other vehicle m is It will be determined that it is a predetermined direction. In response to this, for example, the equipment control unit 170 notifies that the backward space of the other vehicle m is to be secured by the backward movement of the own vehicle M as predetermined information. In addition, when the recognition unit 130 does not recognize the following vehicle, the action plan generation unit 140 newly generates a target trajectory T for moving the host vehicle M backward. This makes it possible to form a space that allows the other vehicle m to move backward, and to urge the other vehicle m to move backward.

According to the second embodiment described above, when the direction D of the face or the line of sight of the driver of the other vehicle m who is the front traveling vehicle of the own vehicle M is a predetermined direction, the target for backing up the own vehicle M In order to newly generate the track T, it is possible to form a space that allows the other vehicle m to move backward, and to urge the other vehicle m to move backward. As a result, as in the first embodiment described above, more flexible automatic driving can be realized while attempting to communicate with the driver of the other vehicle.

Third Embodiment
The third embodiment will be described below. In the first and second embodiments described above, the host vehicle M is decelerated, changed in lane, or moved backward when the direction D of the driver's face or line of sight of the other vehicle m is a predetermined direction. An example has been described. On the other hand, in the third embodiment, when the direction D of the driver's face or gaze of the other vehicle m is not the predetermined direction, the vehicle control is different from the vehicle control when the direction D is the predetermined direction. It differs from the first and second embodiments described above in that vehicle control is performed. Hereinafter, differences from the first and second embodiments will be mainly described, and descriptions of functions and the like common to the first and second embodiments will be omitted.

FIG. 20 is a flowchart showing an example of processing executed by the automatic driving control apparatus 100 according to the third embodiment. The processing of this flowchart is executed, for example, when the recognition unit 130 recognizes the other vehicle m. Also, the processing of this flowchart may be repeatedly executed, for example, at a predetermined cycle.

First, the other vehicle occupant gaze direction recognition unit 132 recognizes the recognized driver of the other vehicle m (step S300). Next, the other vehicle occupant's gaze direction recognition unit 132 recognizes the direction D of the recognized driver's face or gaze (step S302).

Next, the other vehicle encounter time determination unit 142 acquires gaze direction information as a recognition result from the other vehicle occupant gaze direction recognition unit 132, and based on the gaze direction information, the driver's face or line of sight of the other vehicle m. It is determined whether or not the direction D of the target is a predetermined direction (step S304).

If the behavior plan generation unit 140 determines that the direction D of the driver's face or gaze of the other vehicle m is determined to be a predetermined direction by the other vehicle encounter time determination unit 142, the same as the target trajectory T generated before The target trajectory T is generated, and the target trajectory T to be referred to by the speed control unit 164 and the steering control unit 166 is not changed to a new one (step S306).

On the other hand, when it is determined by the other vehicle encounter time determination unit 142 that the direction D of the driver's face or line of sight of the other vehicle m is not a predetermined direction, the action plan generation unit 140 A target trajectory T for causing the vehicle M to follow the other vehicle m is newly generated while keeping the inter-vehicle distance constant (step S308). Then, one or both of the speed control unit 164 and the steering control unit 166 control each control target based on the target trajectory T newly generated by the action plan generation unit 140.

FIG. 21 and FIG. 22 are diagrams showing an example of a situation where the direction D of the face or line of sight of the driver of the other vehicle m does not become a predetermined direction. For example, when the other vehicle m is a vehicle capable of automatic driving, the driver of the other vehicle m, for example, releases the hand from the steering wheel ST to view content such as a television program displayed on the display device DP It is assumed. In this case, the other vehicle encounter time determination unit 142 determines that the driver of the other vehicle m does not operate the steering wheel ST and that the direction D of the driver's face or line of sight is not a predetermined direction. In this case, the action plan generation unit 140 newly generates a target track T for changing the lane of the host vehicle M to the lane LN1 in which the other vehicle m exists, and after the host vehicle M moves to the lane LN1, The target velocity is determined to be substantially the same as the velocity of the other vehicle m, and a target trajectory T including this target velocity as a velocity component is generated. By this, the own vehicle M can be made to follow the other vehicle m. As described above, when it is determined that the probability that the other vehicle m is an automatically driven vehicle is high based on the direction D of the face or line of sight of the driver of the other vehicle m, the host vehicle M follows the other vehicle m. By doing this, the other vehicle m, which is a leading vehicle, bears a part of the function of the recognition unit 130 of the host vehicle M, so the processing load on the host vehicle M side can be reduced. Further, since the own vehicle M follows the other vehicle m, the air resistance of the own vehicle M decreases, and the fuel efficiency of the own vehicle M can be improved.

[Hardware configuration]
The automatic driving control apparatus 100 according to the above-described embodiment is realized, for example, by a hardware configuration as shown in FIG. FIG. 23 is a diagram illustrating an example of a hardware configuration of the automatic driving control device 100 according to the embodiment.

The automatic operation control apparatus 100 includes a communication controller 100-1, a CPU 100-2, a RAM (Random Access Memory) 100-3, a ROM (Read Only Memory) 100-4, and a secondary such as a flash memory or an HDD (Hard Disc Drive). The storage device 100-5 and the drive device 100-6 are mutually connected by an internal bus or a dedicated communication line. A portable storage medium such as an optical disk is attached to the drive device 100-6. The program 100-5a stored in the secondary storage device 100-5 is expanded on the RAM 100-3 by a DMA controller (not shown) or the like, and is executed by the CPU 100-2 to execute the first control unit 120 and the second control. The unit 160 is realized. Further, the program referred to by the CPU 100-2 may be stored in a portable storage medium attached to the drive device 100-6, or may be downloaded from another device via the network NW.

The above embodiment can be expressed as follows.
Storage for program storage,
A processor, and
The processor executes the program to
Obtain information that indicates the direction of the face or gaze of the occupant of another vehicle,
It is determined whether or not the direction indicated by the information is the direction facing the own vehicle as seen from the other vehicle,
Control one or both of steering and acceleration / deceleration of the vehicle;
The predetermined control is performed when it is determined that the direction indicated by the information is a direction facing the host vehicle as viewed from the other vehicle.
Vehicle control device.

As mentioned above, although the form for carrying out the present invention was explained using an embodiment, the present invention is not limited at all by such an embodiment, and various modification and substitution within the range which does not deviate from the gist of the present invention Can be added. For example, the vehicle system 1 of the embodiment described above may be applied to a system that provides driving assistance such as ACC or LKAS.

DESCRIPTION OF SYMBOLS 1 ... Vehicle system, 10 ... Camera, 12 ... Radar apparatus, 14 ... Finder, 16 ... Object recognition apparatus, 20 ... Communication apparatus, 30 ... HMI, 40 ... Vehicle sensor, 50 ... Navigation apparatus, 60 ... MPU, 80 ... Driving Operators, 90: lamps, 92: horns, 100: automatic driving control device, 120: first control unit, 130: recognition unit, 132: other vehicle occupant gaze direction recognition unit, 140: action plan generation unit, 142 ... Other-vehicle encounter determination unit 160: second control unit 162: acquisition unit 164: speed control unit 166: steering control unit 200: traveling driving force output device 210: braking device 220: steering device M ... own vehicle, m ... other vehicles

Claims (7)

An acquisition unit that acquires information indicating the direction of the face or line of sight of the occupant of another vehicle;
A determination unit that determines whether or not the direction indicated by the information acquired by the acquisition unit is a direction facing the host vehicle as viewed from the other vehicle;
The operation control unit controls one or both of the steering and the acceleration / deceleration of the host vehicle, and the direction indicated by the information from the other vehicle is a direction in which the information is directed to the host vehicle from the other vehicle by the determination unit. Operation control unit that performs predetermined control when it is determined that
A vehicle control device comprising: The predetermined control includes at least one control of decelerating the host vehicle, changing the lane of the host vehicle, or moving the host vehicle backward.
The vehicle control device according to claim 1. A detection unit is further provided for detecting a steering wheel installed in the other vehicle and detecting a direction of a face or a line of sight of an occupant closest to the detected steering wheel.
The acquisition unit acquires the detection result of the detection unit as information indicating the direction of the face or the line of sight of the occupant of the other vehicle.
The vehicle control device according to claim 1. A communication unit that performs inter-vehicle communication with other vehicles;
If it is determined by the determination unit that the direction indicated by the information is a direction facing the host vehicle as viewed from the other vehicle, the communication unit causes the communication unit to start the inter-vehicle communication, and the predetermined information is And a communication control unit for transmitting to another vehicle.
The vehicle control device according to claim 1. When it is determined that the direction indicated by the information is the direction facing the own vehicle as viewed from the other vehicle, the operation control unit decelerates the own vehicle or sets the other vehicle to the other lane. Change lanes,
The vehicle control device according to claim 1. An acquisition unit acquires information indicating an orientation of a face or a line of sight of an occupant of another vehicle;
The determination unit determines whether or not the direction indicated by the information acquired by the acquisition unit is the direction facing the own vehicle as seen from the other vehicle,
The operation control unit controls one or both of steering and acceleration / deceleration of the host vehicle, and the determination unit determines that the direction indicated by the information is the direction facing the host vehicle from the other vehicle. If determined, perform predetermined control,
Vehicle control method. On the computer
Get information that indicates the direction of the face or gaze of the occupant of another vehicle,
It is determined whether or not the direction indicated by the acquired information is the direction facing the own vehicle as seen from the other vehicle,
The predetermined control is performed when one or both of the steering and the acceleration / deceleration of the host vehicle are controlled and the direction indicated by the information is determined to be the direction facing the host vehicle as viewed from the other vehicle To make
program.

Images