Vehicle control device

A vehicle control device that includes a processor and a memory and controls traveling of a vehicle, the vehicle control device comprising:

• a sensor that acquires surrounding environment information of the vehicle;
• a host vehicle position estimation unit that estimates a traveling route of the vehicle;
• a surrounding environment storage unit that stores the surrounding environment information acquired by the sensor and the traveling route estimated by the host vehicle position estimation unit in association with each other;
• a vehicle-speed threshold determination unit that sets a vehicle-speed threshold value when the surrounding environment storage unit stores the surrounding environment information and the traveling route in association with each other, and determines whether or not a current vehicle speed exceeds the vehicle-speed threshold value when the surrounding environment storage unit stores the surrounding environment information and the traveling route;
• a warning unit that performs a notification of an excess of the vehicle speed when the vehicle-speed threshold determination unit determines that the vehicle speed exceeds the vehicle-speed threshold value, and
• an input unit that receives a start point m1 at which storing of surrounding environment information and traveling route is started,
• wherein the surrounding environment storage unit stores the surrounding environment information and the traveling route in association with each other from the start point m1 to a target position set in advance,
• wherein the vehicle-speed threshold determination unit sets an upper limit of the vehicle-speed threshold value as a first vehicle-speed threshold value v1 from the start point m1 to a point m2 where the vehicle approaches near a landmark that is recognized,
• sets the upper limit of the vehicle-speed threshold value as a second vehicle-speed threshold value v2 lower than the first vehicle-speed threshold value v1 from the point m2 to a point m3 where parking is started, and
• sets a vehicle speed lower limit value v3 as lower than the second vehicle-speed threshold value v2 in a range where estimation accuracy of the host vehicle position is secured;
• the vehicle control device further comprising:
• a vehicle control unit that performs autonomous driving based on the traveling route and the surrounding environment information stored in the surrounding environment storage unit,
• wherein the vehicle control unit
• performs autonomous driving in accordance with the surrounding environment information and the traveling route from the start point m1 to the target position, which are stored in the surrounding environment storage unit, when a command of the autonomous driving is received from the input unit,
• in the region from the start point m1 to the point m2, sets the upper limit of a target vehicle-speed as the first vehicle-speed threshold value v1, the vehicle speed lower limit value v3 in the range where estimation accuracy of the host vehicle position is secured, and the target vehicle-speed as between the first vehicle-speed threshold value v1 and the vehicle speed lower limit value v3,
• in the region from the point m2 to near the point m3, sets the upper limit of a target vehicle-speed as the second vehicle-speed threshold value v2, the vehicle speed lower limit value v3 in the range where estimation accuracy of the host vehicle position is secured, and the target vehicle-speed as between the second vehicle-speed threshold value v2 and the vehicle speed lower limit value v3,
• in the region from the point m3, releases the limit of the vehicle speed lower limit value v3 in order to perform parking, further reduces the target vehicle speed, and performs automatic parking toward the target position.