Vehicle control system and vehicle control device for autonomous vehicle

A technology of vehicle control system and vehicle control device, which is applied in the direction of road vehicle drive control system, control device, control/regulation system, etc., can solve problems such as anxiety, reduced service quality, and inability to drive.

CN112660149APending Publication Date: 2021-04-16TOYOTA JIDOSHA KK
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Patent Information

Authority / Receiving Office
CN · China
Patent Type
Applications(China)
Current Assignee / Owner
Publication Date
2021-04-16

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Abstract

The invention relates to a vehicle control system and a vehicle control device for an autonomous vehicle. The vehicle control system for an autonomous vehicle includes: a first control device configured to generate a first travel plan including a desired travel position or a desired travel position range in a lane width direction; a plurality of first sensors configured so as to acquire information relating to the movement of the vehicle and information relating to the surroundings of the vehicle; and a second control device configured to communicate with the first control device, a second travel plan different from the first travel plan and including a target travel position or a target travel position range in the lane width direction is generated on the basis of the first travel plan acquired from the first control device and the information acquired from the plurality of first sensors. The travel operation of the vehicle is controlled on the basis of the second travel plan.
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Description

technical field

[0001] The invention relates to a vehicle control system and a vehicle control device of an automatic driving vehicle. Background technique

[0002] The vehicle control system mounted on the self-driving vehicle controls the driving behavior of the vehicle according to the driving plan. For example, Japanese Patent Application Laid-Open No. 2017-215653 discloses a system for performing automatic driving control by performing steering and braking operations while referring to a detailed route created based on a detailed map.

[0003] Currently, various services using autonomous vehicles are being developed. In a service using an autonomous vehicle, how to smoothly generate a travel plan for driving the vehicle automatically is the key to success. What kind of travel plan is preferable depends on the content of the service provided, the area where the service is provided, and the like. Depending on the type of service, there may be cases where it is desired ...

Examples

Embodiment Construction

[0059] Hereinafter, embodiments of the present invention will be described with reference to the drawings. However, in the embodiments shown below, when referring to numbers such as the number, amount, amount, and range of each element, except for the case where it is specifically stated or the case where the number is clearly determined in principle, The invention is not limited to the mentioned numbers. In addition, configurations, procedures, and the like described in the embodiments described below are not necessarily essential to the present invention, except for cases where it is particularly clearly stated or clearly determined in principle.

[0060] 1. Structure of autonomous vehicles

[0061] The vehicle control system according to the embodiment of the present invention is, for example, a vehicle control system that realizes an automatic driving level of level 3 or higher in the level definition of SAE (Society of Automotive Engineers). The vehicle control system a...