Vehicle control system

Abstract

The vehicle control system of the present invention controls a vehicle equipped with a parking switch. An identification sensor identifies the surrounding conditions of the vehicle. The vehicle control system performs vehicle driving control, which generates a target trajectory of the vehicle based on the identification result obtained by the identification sensor and controls the vehicle in a manner to follow the target trajectory. When the vehicle driving control is normal when the parking switch is pressed, the vehicle control system performs avoidance control, which is vehicle driving control for causing the vehicle to avoid to a target position. When the vehicle driving control is abnormal when the parking switch is pressed, the vehicle control system performs deceleration stop control for decelerating and stopping the vehicle without using the target trajectory.

Description

Technical Field

[0001] The present invention relates to a vehicle control system for controlling a vehicle equipped with a parking switch. Background Art

[0002] Japanese Unexamined Patent Application Publication No. 2017-114195 discloses a vehicle control device. The vehicle control device executes first control (collision avoidance control) for avoiding a collision between the vehicle and an obstacle. Further, the vehicle control device executes second control such as cruise control and lane keeping control. The vehicle control device identifies an obstacle around the vehicle and determines whether a prescribed collision avoidance condition is satisfied based on the identification result. When it is determined that the collision avoidance condition is satisfied during the execution of the second control, the vehicle control device stops the second control and executes the first control. That is, the priority of the first control is higher than the priority of the second control. Summary of the Invention

[0003] A vehicle equipped with a parking switch for instructing an emergency stop is considered. It is desired that when the parking switch is pressed, the vehicle stops safely according to the situation.

[0004] One aspect of the present invention relates to a vehicle control system for controlling a vehicle equipped with a parking switch. The vehicle control system includes: one or more processors; and an identification sensor that identifies the situation around the vehicle. The one or more processors execute vehicle travel control that generates a target trajectory of the vehicle based on the identification result obtained by the identification sensor and controls the vehicle so as to follow the target trajectory. When the vehicle travel control is normal when the parking switch is pressed, the one or more processors execute avoidance control, which is vehicle travel control for causing the vehicle to avoid to a target position. When the vehicle travel control is abnormal when the parking switch is pressed, the one or more processors execute deceleration stop control for decelerating and stopping the vehicle without using the target trajectory.

[0005] According to the present invention, the vehicle control system executes vehicle travel control that generates a target trajectory based on the identification result obtained by the identification sensor and controls the vehicle so as to follow the target trajectory. When the vehicle travel control is normal when the parking switch is pressed, the vehicle control system executes avoidance control, which is vehicle travel control for causing the vehicle to avoid to a target position. The avoidance control is performed according to the target trajectory generated based on the identification result obtained by the identification sensor, and thus the vehicle can be stopped safely and with high precision.

[0006] On the other hand, when the vehicle travel control becomes abnormal when the parking switch is pressed, the vehicle control system performs deceleration stop control to decelerate and stop the vehicle without using the target trajectory. By this deceleration stop control, at least the vehicle stops, so a minimum level of safety is ensured. In addition, since the vehicle travel control in which an abnormality has occurred is not used, an unexpected situation is prevented from occurring.

[0007] Thus, according to the present invention, when the parking switch mounted on the vehicle is pressed, the vehicle can be safely stopped according to the situation. BRIEF DESCRIPTION OF THE DRAWINGS

[0008] Hereinafter, with reference to the drawings, the features, advantages, and technical and industrial significance of exemplary embodiments of the present invention will be described, where the same reference numerals denote the same elements, where:

[0009] Figure 1 is a conceptual diagram for explaining an outline of a vehicle control system and vehicle travel control according to an embodiment of the present invention.

[0010] Figure 2 is a conceptual diagram for explaining an example of the avoidance control according to an embodiment of the present invention.

[0011] Figure 3 is a conceptual diagram for explaining another example of the avoidance control according to an embodiment of the present invention.

[0012] Figure 4 is a conceptual diagram for explaining the deceleration stop control according to an embodiment of the present invention.

[0013] Figure 5 is a block diagram showing a configuration example of a vehicle control system according to an embodiment of the present invention.

[0014] Figure 6 is a block diagram showing an example of driving environment information according to an embodiment of the present invention.

[0015] Figure 7 is a block diagram showing a functional configuration example related to vehicle travel control including autonomous driving control and driving assistance control according to an embodiment of the present invention.

[0016] Figure 8 is a conceptual diagram for explaining an example of the driving assistance control according to an embodiment of the present invention.

[0017] Figure 9 is a block diagram for explaining the emergency stop process according to an embodiment of the present invention.

[0018] Figure 10 is a flowchart showing the emergency stop process according to an embodiment of the present invention.

[0019] Figure 11 It is a flowchart showing a first example of the emergency stop process of an embodiment of the present invention.

[0020] Figure 12 It is a flowchart showing a second example of the emergency stop process of an embodiment of the present invention.

[0021] Figure 13 It is a flowchart showing a third example of the emergency stop process of an embodiment of the present invention.

[0022] Figure 14 It is a flowchart showing a fourth example of the emergency stop process of an embodiment of the present invention. Detailed Embodiment

[0023] Embodiments of the present invention will be described with reference to the accompanying drawings.

[0024] 1. Overview

[0025] Figure 1 It is a conceptual diagram for explaining the overview of the vehicle control system 10 of the present embodiment. The vehicle control system 10 controls the vehicle 1. Typically, the vehicle control system 10 is mounted on the vehicle 1. Alternatively, at least a part of the vehicle control system 10 may be an external device disposed outside the vehicle 1, and the vehicle 1 may be controlled remotely. That is, the vehicle control system 10 may be dispersedly disposed in the vehicle 1 and the external device.

[0026] In particular, the vehicle control system 10 performs "vehicle driving control" for controlling the driving of the vehicle 1. Examples of vehicle driving control include autonomous driving control, driving assistance control, etc.

[0027] The autonomous driving control controls the autonomous driving of the vehicle 1. As the autonomous driving here, autonomous driving on the premise that the driver does not have to be 100% focused on driving is assumed (for example, so-called autonomous driving of level 3 or higher).

[0028] The driving assistance control controls at least one of steering, acceleration, and deceleration of the vehicle 1 for the purpose of improving the driving safety of the vehicle 1. Examples of such driving assistance control include risk avoidance control, lane departure suppression control, etc. The risk avoidance control performs at least one of steering control and deceleration control to reduce the collision risk between the vehicle 1 and an object. The lane departure suppression control suppresses the vehicle 1 from deviating from the driving lane. It should be noted that the driving assistance control does not always operate but operates in response to the establishment of a specified operating condition.

[0029] In such vehicle driving control, an identification sensor (external sensor) 20 mounted on vehicle 1 is used. The identification sensor 20 is a sensor for identifying the situation around vehicle 1. Examples of the identification sensor 20 include LIDAR (Laser Imaging Detection and Ranging), cameras, radars, etc. By using the identification sensor 20, the road structure (such as white lines) and objects (pedestrians, bicycles, motorcycles, other vehicles, etc.) around vehicle 1 can be identified. Then, the vehicle control system 10 performs vehicle driving control based on the identification result obtained by the identification sensor 20.

[0030] More specifically, the vehicle control system 10 generates a target trajectory TR of vehicle 1 based on the identification result obtained by the identification sensor 20. The target trajectory TR includes the target position [X(t), Y(t)] and target speed [VX(t), VY(t)] of vehicle 1 within the road on which vehicle 1 travels. In Figure 1 the example shown, the X direction is the forward direction of vehicle 1, and the Y direction is the plane direction orthogonal to the X direction. However, the coordinate system (X, Y) is not limited to the Figure 1 example shown. The target position [X(t), Y(t)] and target speed [VX(t), VY(t)] are functions of time t. The target speed [VX(t), VY(t)] can be set for each target position [X(t), Y(t)]. That is to say, the target position [X(t), Y(t)] and the target speed [VX(t), VY(t)] can be correlated with each other. The vehicle control system 10 executes vehicle driving control in such a manner that vehicle 1 follows such a target trajectory TR.

[0031] Next, with reference to Figures 2 to 4 , the processing associated with the "stop switch SW" will be described. The stop switch SW is a switch pressed by a person to indicate an emergency stop. This stop switch SW is mounted on vehicle 1. For example, the stop switch SW is provided at the driver's seat. As another example, in the case where vehicle 1 is a bus or the like, the stop switch SW can also be provided in the passenger space.

[0032] When the stop switch SW is pressed, the vehicle control system 10 performs "emergency stop processing" to make vehicle 1 stop urgently. For example, the vehicle control system 10 uses the above-mentioned vehicle driving control based on the identification result obtained by the identification sensor 20 to make vehicle 1 retreat to a safe position. Hereinafter, such vehicle driving control for making vehicle 1 retreat to a safe position will be referred to as "retreat control". The retreat control includes at least deceleration control, and may also include steering control as needed.

[0033] Figure 2This is a conceptual diagram for explaining an example of the avoidance control of the present embodiment. The avoidance trajectory TR-E is a target trajectory TR for moving the vehicle 1 to a safe target position PTS. The vehicle control system 10 sets the target position PTS based on the recognition result obtained by the recognition sensor 20 and generates the avoidance trajectory TR-E. In Figure 2 In the example shown, the target position PTS is set in the road shoulder in front of the vehicle 1. Then, the vehicle control system 10 performs vehicle driving control in such a way that the vehicle 1 follows the avoidance trajectory TR-E. In other words, the vehicle control system 10 performs vehicle driving control in such a way that the vehicle 1 travels toward the target position PTS and stops at the target position PTS.

[0034] Figure 3 This is a conceptual diagram for explaining another example of the avoidance control of the present embodiment. In Figure 3 In the example shown, the target position PTS is set within the lane in which the vehicle 1 is traveling. The vehicle control system 10 generates the avoidance trajectory TR-E and performs vehicle driving control in such a way that the vehicle 1 follows the avoidance trajectory TR-E.

[0035] As described above, the vehicle 1 can be moved to the target position PTS by the avoidance control. The avoidance control is performed according to the target trajectory TR generated based on the recognition result obtained by the recognition sensor 20, so the vehicle 1 can be safely and highly accurately stopped. That is, the emergency stop process can be safely and highly accurately completed.

[0036] However, in a situation where the stop switch SW is pressed, an abnormality may also occur in the vehicle driving control using the recognition sensor 20. For example, the abnormality of the vehicle driving control is caused by a failure of the recognition sensor 20. As another example, the abnormality of the vehicle driving control is caused by an abnormality of the processor that calculates the target trajectory TR. When the vehicle driving control is abnormal rather than normal, the accuracy of the above-mentioned avoidance control is not necessarily high. Therefore, according to the present embodiment, in order to prevent the vehicle driving control from being abnormal when the stop switch SW is pressed, "deceleration stop control" as follows is also prepared.

[0037] Figure 4 This is a conceptual diagram for explaining the deceleration stop control of the present embodiment. In the deceleration stop control, the vehicle control system 10 decelerates the vehicle 1 at a prescribed deceleration DE and stops it. In this deceleration stop control, the recognition sensor 20 is not used, so the target trajectory TR is not generated either. That is, the vehicle control system 10 does not use the target trajectory TR but simply decelerates the vehicle 1 at a prescribed deceleration DE and stops it. By this deceleration stop control, since at least the vehicle 1 stops, a minimum level of safety is ensured.

[0038] As described above, according to the present embodiment, the vehicle control system 10 executes vehicle driving control, which generates a target trajectory TR based on the recognition result obtained by the recognition sensor 20 and controls the vehicle 1 so as to follow the target trajectory TR. When the vehicle driving control is normal when the parking switch SW is pressed, the vehicle control system 10 executes avoidance control, which is vehicle driving control for causing the vehicle 1 to avoid to the target position PTS. Since the avoidance control is performed according to the target trajectory TR generated based on the recognition result obtained by the recognition sensor 20, the vehicle 1 can be parked safely and with high precision.

[0039] On the other hand, when the vehicle driving control is abnormal when the parking switch SW is pressed, the vehicle control system 10 executes deceleration stop control for decelerating and stopping the vehicle 1 without using the target trajectory TR. By this deceleration stop control, at least the vehicle 1 stops, so that the minimum safety is ensured. In addition, since the vehicle driving control in which an abnormality has occurred is not used, an unexpected situation is prevented from occurring.

[0040] Thus, according to the present embodiment, when the parking switch SW mounted on the vehicle 1 is pressed, the vehicle 1 can be parked safely according to the situation.

[0041] Hereinafter, the vehicle control system 10 of the present embodiment will be described in more detail.

[0042] 2. Vehicle control system

[0043] 2-1. Configuration example

[0044] Figure 5 FIG. is a block diagram schematically showing a configuration example of the vehicle control system 10 of the present embodiment. The vehicle control system 10 includes a recognition sensor 20, a vehicle state sensor 30, a position sensor 40, a driving device 50, a control device 100, and a parking switch SW.

[0045] The recognition sensor 20 is mounted on the vehicle 1 and recognizes (detects) the surrounding conditions of the vehicle 1. Examples of the recognition sensor 20 include a LIDAR, a camera, a radar, etc.

[0046] The vehicle state sensor 30 is mounted on the vehicle 1 and detects the state of the vehicle 1. For example, the vehicle state sensor 30 includes a vehicle speed sensor, an acceleration sensor, a yaw rate sensor, a steering angle sensor, etc.

[0047] The position sensor 40 is mounted on the vehicle 1 and detects the position and orientation of the vehicle 1. Examples of the position sensor 40 include a GPS (Global Positioning System) sensor.

[0048] The traveling device 50 includes a steering device 51, a driving device 52, and a braking device 53. The steering device 51 steers the wheels of the vehicle 1. For example, the steering device 51 includes an electric power steering (EPS) device. The driving device 52 is a power source that generates a driving force. Examples of the driving device 52 include an engine, an electric motor, an in-wheel motor, etc. The braking device 53 generates a braking force.

[0049] The stop switch SW is a switch that is pressed by a person to indicate an emergency stop. The stop switch SW is mounted on the vehicle 1. For example, the stop switch SW is provided at the driver's seat. As another example, in the case where the vehicle 1 is a bus or the like, the stop switch SW may also be provided in the passenger space.

[0050] The control device 100 controls the vehicle 1. The control device 100 includes one or more processors 101 (hereinafter, simply referred to as the processor 101) and one or more memories 102 (hereinafter, simply referred to as the memory 102). The processor 101 performs various processes. For example, the processor 101 includes a CPU (Central Processing Unit). The memory 102 stores various information. Examples of the memory 102 include a volatile memory, a non-volatile memory, an HDD (Hard Disk Drive), an SSD (Solid State Drive), etc. The processor 101 executes a control program that is a computer program, thereby implementing various processes performed by the processor 101 (control device 100). The control program is stored in the memory 102 or recorded on a computer-readable recording medium. The control device 100 may include one or more ECUs (Electronic Control Unit). A part of the control device 100 may be an information processing device outside the vehicle 1. In this case, a part of the control device 100 communicates with the vehicle 1 to remotely control the vehicle 1.

[0051] 2-2. Information acquisition process

[0052] The processor 101 acquires driving environment information 200 indicating the driving environment of the vehicle 1. The driving environment information 200 is stored in the memory 102.

[0053] Figure 6 is a block diagram showing an example of the driving environment information 200. The driving environment information 200 includes surrounding condition information 220, vehicle state information 230, and navigation information 240.

[0054] The surrounding condition information 220 is information indicating the condition around the vehicle 1. The surrounding condition information 220 includes the information obtained by the recognition sensor 20. For example, the surrounding condition information 220 includes the image information captured by a camera. As another example, the surrounding condition information 220 includes the point cloud information obtained by LIDAR.

[0055] The surrounding condition information 220 further includes road structure information 221 related to the road structure around the vehicle 1. The road structure around the vehicle 1 includes lane lines (white lines) and roadside objects. The roadside object is a three-dimensional obstacle indicating the edge of the road. As the roadside object, examples include curbs, guardrails, walls, median strips, etc. The road structure information 221 at least indicates the positions of the lane lines and roadside objects (relative positions with respect to the vehicle 1). For example, the road structure can be identified and the relative position of the road structure can be calculated by analyzing the image information obtained by the camera. As the image analysis method, examples include Semantic Segmentation and edge detection.

[0056] The surrounding condition information 220 further includes target information 222 related to the targets around the vehicle 1. As the targets, examples include pedestrians, bicycles, motorcycles, other vehicles (preceding vehicles, parked vehicles, etc.), obstacles, etc. The target information 222 indicates the relative position and relative speed of the target with respect to the vehicle 1. For example, the target can be identified and the relative position of the target can be calculated by analyzing the image information obtained by the camera. In addition, the target can also be identified based on the point cloud information obtained by LIDAR, and the relative position and relative speed of the target can be obtained. The target information can also include the moving direction and moving speed of the target.

[0057] The vehicle state information 230 is information indicating the state of the vehicle 1. As the state of the vehicle 1, examples include vehicle speed, yaw rate, lateral acceleration, steering angle, etc. The processor 101 obtains the vehicle state information 230 from the detection results obtained by the vehicle state sensor 30.

[0058] The navigation information 240 includes position information and map information. The position information indicates the position and orientation of the vehicle 1. The position information is obtained by the position sensor 40. The map information indicates lane configuration, road shape, etc. The processor 101 obtains the map information of the required area from the map database. The map database can be stored in a prescribed storage device mounted on the vehicle 1, or can be stored in a management server outside the vehicle 1. In the latter case, the processor 101 communicates with the management server to obtain the required map information.

[0059] 2 - 3. Vehicle Driving Control

[0060] The processor 101 executes "vehicle driving control" for controlling the driving of the vehicle 1. The vehicle driving control includes steering control, acceleration control, and deceleration control. The processor 101 executes the vehicle driving control by controlling the driving device 50. Specifically, the processor 101 executes the steering control by controlling the steering device 51. In addition, the processor 101 executes the acceleration control by controlling the drive device 52. In addition, the processor 101 executes the deceleration control by controlling the braking device 53.

[0061] An example of the vehicle driving control is the autonomous driving control for controlling the autonomous driving of the vehicle 1. As the autonomous driving here, autonomous driving is assumed on the premise that the driver does not have to be 100% focused on driving (for example, so-called autonomous driving of level 3 or higher).

[0062] Other examples of the vehicle driving control are the driving assistance controls for assisting the driving of the vehicle 1. The driving assistance control controls at least one of the steering, acceleration, and deceleration of the vehicle 1 for the purpose of improving the driving safety of the vehicle 1. As examples of such driving assistance controls, risk avoidance control, lane departure suppression control, etc. can be cited. The risk avoidance control performs at least one of the steering control and the deceleration control in order to reduce the collision risk between the vehicle 1 and the target. The lane departure suppression control suppresses the vehicle 1 from deviating from the driving lane. It should be noted that the driving assistance control does not always operate but operates in response to the establishment of a specified operating condition.

[0063] Figure 7 It is a block diagram showing a functional configuration example related to the vehicle driving control including the autonomous driving control and the driving assistance control. The recognition sensor 20 includes a first recognition sensor 20-1 and a second recognition sensor 20-2. As the first recognition sensor 20-1, LIDAR, a camera, a radar, etc. can be cited. As the second recognition sensor 20-2, LIDAR, a camera, a radar, etc. can be cited. The first recognition sensor 20-1 and the second recognition sensor 20-2 can be at least partially shared.

[0064] The control device 100 includes an autonomous driving control unit 110, a driving assistance control unit 120, and a selection unit 130 as functional blocks. These functional blocks are realized by executing a control program by one or more processors 101. The autonomous driving control unit 110, the driving assistance control unit 120, and the selection unit 130 can be realized by different processors 101 respectively.

[0065] The automatic driving control unit 110 generates "automatic driving trajectory TR-1" as a target trajectory TR for automatic driving based on the driving environment information 200. In particular, the automatic driving control unit 110 generates the automatic driving trajectory TR-1 based on the recognition result obtained by the first recognition sensor 20-1. For example, the automatic driving control unit 110 generates a driving plan for the vehicle 1 based on the surrounding condition information 220 and the navigation information 240 obtained by the first recognition sensor 20-1. The driving plan includes maintaining the current driving lane, changing lanes, avoiding obstacles, etc. Furthermore, the automatic driving control unit 110 generates the automatic driving trajectory TR-1 required for the vehicle 1 to drive according to the driving plan based on the vehicle state information 230, etc. The automatic driving control unit 110 generates and updates the automatic driving trajectory TR-1 at a certain cycle. The automatic driving trajectory TR-1 is output to the selection unit 130.

[0066] When the operating condition of the driving assistance control is satisfied, the driving assistance control unit 120 generates "driving assistance trajectory TR-2" as a target trajectory TR for driving assistance control based on the driving environment information 200. In particular, the driving assistance control unit 120 generates the driving assistance trajectory TR-2 based on the recognition result obtained by the second recognition sensor 20-2. The driving assistance control unit 120 generates and updates the driving assistance trajectory TR-2 at a certain cycle. The driving assistance trajectory TR-2 is output to the selection unit 130.

[0067] Figure 8 It is a conceptual diagram showing an example of the driving assistance trajectory TR-2. Here, risk avoidance control for reducing the collision risk between the vehicle 1 and the target is considered. The driving assistance control unit 120 acquires the target information 222 related to the target (example: surrounding vehicle, pedestrian) in front of the vehicle 1 from the surrounding condition information 220 obtained by the second recognition sensor 20-2. Furthermore, the driving assistance control unit 120 calculates the collision possibility between the vehicle 1 and the target based on the target information 222 and the vehicle state information 230. When the collision possibility is equal to or higher than the threshold value, the driving assistance control unit 120 generates the driving assistance trajectory TR-2 for avoiding collision based on the target information 222 and the vehicle state information 230. The driving assistance trajectory TR-2 for avoiding collision requests at least one of steering and deceleration.

[0068] When the operating condition of the driving assistance control is not satisfied during the execution of the automatic driving control, the selection unit 130 receives the automatic driving trajectory TR-1 from the automatic driving control unit 110. The selection unit 130 sets the automatic driving trajectory TR-1 as the target trajectory TR.

[0069] On the other hand, when the operating conditions of the driving assistance control are satisfied during the execution of the autonomous driving control, the selection unit 130 receives the autonomous driving trajectory TR-1 from the autonomous driving control unit 110 and the driving assistance trajectory TR-2 from the driving assistance control unit 120. In this case, for example, the selection unit 130 selects either the autonomous driving trajectory TR-1 or the driving assistance trajectory TR-2 as the target trajectory TR. Which one of the autonomous driving trajectory TR-1 and the driving assistance trajectory TR-2 is selected depends on the design policy. The selection unit 130 can preferentially select the autonomous driving trajectory TR-1 or can preferentially select the driving assistance trajectory TR-2. Alternatively, the selection unit 130 can also determine the final target trajectory TR by combining the autonomous driving trajectory TR-1 and the driving assistance trajectory TR-2.

[0070] The processor 101 executes the above-described vehicle driving control based on the target trajectory TR determined by the selection unit 130. Specifically, the processor 101 executes the vehicle driving control in such a manner that the vehicle 1 follows the target trajectory TR. Therefore, the processor 101 calculates the deviation between the vehicle 1 and the target trajectory TR based on the target trajectory TR and the driving environment information 200. Examples of the deviation include the lateral deviation (Y-direction deviation), the yaw angle deviation (azimuth angle deviation), and the speed deviation. Then, the processor 101 performs the vehicle driving control in such a manner that the deviation between the vehicle 1 and the target trajectory TR is reduced. Through such vehicle driving control, the vehicle 1 travels in a manner to follow the target trajectory TR.

[0071] 3. Emergency Stop Processing

[0072] Figure 9 FIG. is a block diagram for explaining the emergency stop processing of the present embodiment. In response to the parking switch SW being pressed, the processor 101 performs emergency stop processing to cause the vehicle 1 to stop emergently. More specifically, when the parking switch SW is pressed, an emergency stop signal ES is output from the parking switch SW. The emergency stop signal ES is supplied to the autonomous driving control unit 110, the driving assistance control unit 120, and the selection unit 130.

[0073] Regarding the autonomous driving control unit 110, when receiving the emergency stop signal ES, it generates an avoidance trajectory TR-E for avoidance control (refer to Figure 2 , Figure 3 ). As described above, the autonomous driving control unit 110 generates the autonomous driving trajectory TR-1 based on the recognition result obtained by the first recognition sensor 20-1. The avoidance trajectory TR-E is a type of the autonomous driving trajectory TR-1. For convenience, the autonomous driving trajectory TR-1 (avoidance trajectory TR-E) generated by the autonomous driving control unit 110 for avoidance control is referred to as the "first avoidance trajectory TR-E1".

[0074] The automatic driving control unit 110 sets a safe target position PTS based on the surrounding condition information 220 obtained by the first recognition sensor 20-1. For example, in the example shown in Figure 2 , the target position PTS is set within the road shoulder. The position of the road shoulder is obtained from the surrounding condition information 220 (road structure information 221) or the navigation information 240. Then, the automatic driving control unit 110 generates a first avoidance trajectory TR-E1 for the vehicle 1 to avoid to the target position PTS. The first avoidance trajectory TR-E1 is output to the selection unit 130.

[0075] Regarding the driving assistance control unit 120, when receiving the emergency stop signal ES, it generates an avoidance trajectory TR-E for avoidance control (refer to Figure 2 , Figure 3 ). Receiving the emergency stop signal ES is one of the operating conditions of the driving assistance control. As described above, the driving assistance control unit 120 generates a driving assistance trajectory TR-2 based on the recognition result obtained by the second recognition sensor 20-2. The avoidance trajectory TR-E is a type of the driving assistance trajectory TR-2. For convenience, the driving assistance trajectory TR-2 (avoidance trajectory TR-E) generated by the driving assistance control unit 120 for avoidance control is referred to as the "second avoidance trajectory TR-E2".

[0076] The driving assistance control unit 120 sets a safe target position PTS based on the surrounding condition information 220 obtained by the second recognition sensor 20-2. Then, the driving assistance control unit 120 generates a second avoidance trajectory TR-E2 for the vehicle 1 to avoid to the target position PTS. The second avoidance trajectory TR-E2 is output to the selection unit 130.

[0077] Regarding the selection unit 130, when receiving the emergency stop signal ES, it acquires a "prescribed deceleration DE" for deceleration stop control (refer to Figure 4 ). Information on the prescribed deceleration DE is stored in the memory 102 in advance.

[0078] In this way, when the parking switch SW is pressed, the selection unit 130 acquires the first avoidance trajectory TR-E1, the second avoidance trajectory TR-E2, and the prescribed deceleration DE. The selection unit 130 selects any one of the first avoidance trajectory TR-E1, the second avoidance trajectory TR-E2, and the prescribed deceleration DE. Then, the selection unit 130 performs an emergency stop process according to the selected one.

[0079] When determining which one of the first avoidance trajectory TR-E1, the second avoidance trajectory TR-E2, and the specified deceleration DE to select, the selection unit 130 considers whether the vehicle driving control (autopilot control, driving assistance control) is normal or abnormal.

[0080] For example, the autopilot control unit 110 has a self-diagnosis function. The self-diagnosis function of the autopilot control unit 110 determines whether the autopilot control is normal or abnormal. Examples of abnormalities in the autopilot control are as follows.

[0081] [Abnormality of Input] Due to a failure of the first recognition sensor 20-1, information required for generating the autopilot trajectory TR-1 cannot be appropriately obtained.

[0082] [Abnormality of Arithmetic Processing] Due to an abnormality of the autopilot control unit 110, the arithmetic processing for generating the autopilot trajectory TR-1 does not work properly.

[0083] [Abnormality of Arithmetic Result] The generated autopilot trajectory TR-1 does not satisfy the specified necessary conditions.

[0084] [Abnormality of Output] Due to a failure of the output interface of the autopilot control unit 110, the autopilot trajectory TR-1 is not output normally.

[0085] For example, the self-diagnosis function of the autopilot control unit 110 checks the following items. If an abnormality is detected in any of the items, the self-diagnosis function determines that an abnormality has occurred in the autopilot control.

[0086] [Item 1] Whether the processor 101 operates normally (for example, whether the operation cycle of the processor 101 is within the normal range)

[0087] [Item 2] Whether the first recognition sensor 20-1 operates normally (for example, whether the sensing cycle, the number of detection data, and the detection data value are within the normal range)

[0088] [Item 3] Whether the processor 101 receives the required information (for example, whether the reception cycle and the data volume are within the normal range)

[0089] [Item 4] Whether the arithmetic result of the autopilot trajectory TR-1 is normal (for example, whether the data volume and the data value are within the normal range)

[0090] [Item 5] Whether the autopilot trajectory TR-1 is output normally (for example, whether the transmission cycle and the data volume are within the normal range)

[0091] The driving assistance control unit 120 also has the same self-diagnosis function. Regarding the self-diagnosis function of the driving assistance control unit 120, replace the autonomous driving control unit 110 with the driving assistance control unit 120, replace the first recognition sensor 20-1 with the second recognition sensor 20-2, and replace the autonomous driving trajectory TR-1 with the driving assistance trajectory TR-2.

[0092] The selection unit 130 periodically receives the self-diagnosis results from the autonomous driving control unit 110 and the driving assistance control unit 120. Based on the received self-diagnosis results, the selection unit 130 can know whether the autonomous driving control is normal or abnormal and whether the driving assistance control is normal or abnormal.

[0093] Moreover, the selection unit 130 can also determine whether the autonomous driving control is normal or abnormal based on the reception status of the autonomous driving trajectory TR-1. For example, when the update of the autonomous driving trajectory TR-1 has stopped for a certain period or more, the selection unit 130 determines that an abnormality has occurred in the autonomous driving control unit 110. As another example, when the value of the autonomous driving trajectory TR-1 received from the autonomous driving control unit 110 represents an abnormal value, the selection unit 130 determines that an abnormality has occurred in the autonomous driving control unit 110. Similarly, the selection unit 130 can also determine whether the driving assistance control is normal or abnormal based on the reception status of the driving assistance trajectory TR-2.

[0094] Figure 10 It is a flowchart showing the emergency stop process of the present embodiment.

[0095] In step S100, the processor 101 determines whether the stop switch SW is pressed. When an emergency stop signal ES is received from the stop switch SW, the processor 101 determines that the stop switch SW is pressed (step S100: Yes). In this case, the process proceeds to step S200. In cases other than this (step S100: No), the process for this cycle ends.

[0096] In step S200, the processor 101 (autonomous driving control unit 110) generates a first avoidance trajectory TR-E1 for avoidance control. In addition, the processor 101 (driving assistance control unit 120) generates a second avoidance trajectory TR-E2 for avoidance control. Moreover, the processor 101 (selection unit 130) obtains a prescribed deceleration DE for decelerating and stopping control.

[0097] In step S300, the processor 101 (selection unit 130) determines whether the vehicle driving control is normal or abnormal. When at least one of the autonomous driving control and the driving assistance control is normal, the processor 101 determines that the vehicle driving control is normal (step S300: Yes). In this case, the process proceeds to step S400. On the other hand, when the vehicle driving control is abnormal, that is, when the vehicle driving control is abnormal (step S300: No), the process proceeds to step S500.

[0098] In step S400, the processor 101 performs the avoidance control according to the avoidance trajectory TR-E. That is, the processor 101 performs the avoidance control according to the first avoidance trajectory TR-E1 or the second avoidance trajectory TR-E2. Thereby, the vehicle 1 can be parked safely and with high precision.

[0099] In step S500, the processor 101 performs the deceleration stop control according to the specified deceleration DE. Thereby, the minimum safety is ensured. In addition, since the abnormal vehicle driving control is not used, an unexpected situation can be prevented from occurring.

[0100] Regarding step S300 and step S400, various examples can be conceived. Hereinafter, several examples related to step S300 and step S400 will be described.

[0101] 3-1. First example

[0102] Figure 11 It is a flowchart showing the first example of the emergency stop process of the present embodiment.

[0103] First, in step S310, the processor 101 (selection unit 130) determines whether the autonomous driving control is normal or abnormal. When the autonomous driving control is normal (step S310: Yes), the process proceeds to step S410. In step S410, the processor 101 performs the avoidance control according to the first avoidance trajectory TR-E1.

[0104] On the other hand, when the autonomous driving control is abnormal (step S310: No), the process proceeds to step S320. In step S320, the processor 101 (selection unit 130) determines whether the driving assistance control is normal or abnormal. When the driving assistance control is normal (step S320: Yes), the process proceeds to step S420. In step S420, the processor 101 performs the avoidance control according to the second avoidance trajectory TR-E2.

[0105] When both the autonomous driving control and the driving assistance control are abnormal (step S320: No), the process proceeds to the above step S500.

[0106] 3-2. Second example

[0107] Figure 12 It is a flowchart showing a second example of the emergency stop process in this embodiment. In the second example, compared with the above first example, the order of step S310 and step S320 is reversed.

[0108] First, in step S320, the processor 101 (selection unit 130) determines whether the driving assistance control is normal or abnormal. When the driving assistance control is normal (step S320: Yes), the process proceeds to step S420. In step S420, the processor 101 performs a retreat control in accordance with the second retreat trajectory TR-E2.

[0109] On the other hand, when the driving assistance control is abnormal (step S320: No), the process proceeds to step S310. In step S310, the processor 101 (selection unit 130) determines whether the autonomous driving control is normal or abnormal. When the autonomous driving control is normal (step S310: Yes), the process proceeds to step S410. In step S410, the processor 101 performs a retreat control in accordance with the first retreat trajectory TR-E1.

[0110] When both the autonomous driving control and the driving assistance control are abnormal (step S310: No), the process proceeds to the above step S500.

[0111] 3-3. Third example

[0112] Figure 13 It is a flowchart showing a third example of the emergency stop process. The third example is a modified example of the above first example.

[0113] When the autonomous driving control is abnormal (step S310: No), the process proceeds to step S330.

[0114] In step S330, the processor 101 determines whether it is possible to perform autonomous driving control by using the second recognition sensor 20-2 instead of the first recognition sensor 20-1. When the abnormality of the autonomous driving control is due to a failure of the first recognition sensor 20-1 and the second recognition sensor 20-2 is normal, it is possible to perform autonomous driving control by using the second recognition sensor 20-2 (step S330: Yes). In this case, the process proceeds to step S410. In step S410, the processor 101 (autonomous driving control unit 110) generates a first retreat trajectory TR-E1 for retreat control based on the recognition result obtained by the second recognition sensor 20-2 instead of the first recognition sensor 20-1. Then, the processor 101 performs a retreat control in accordance with the first retreat trajectory TR-E1.

[0115] On the other hand, when the abnormality in the autonomous driving control is caused by something other than the failure of the first recognition sensor 20-1, even if the second recognition sensor 20-2 is used in place of the first recognition sensor 20-1, the autonomous driving control cannot be executed with high precision (step S330: No). In this case, the process proceeds to step S320. After that, it is the same as in the case of the first example described above.

[0116] 3-4. Fourth example

[0117] Figure 14 It is a flowchart showing a fourth example of the emergency stop process. The fourth example is a modified example of the second example described above.

[0118] When the driving assistance control is abnormal (step S320: No), the process proceeds to step S340.

[0119] In step S340, the processor 101 determines whether the driving assistance control can be performed by using the first recognition sensor 20-1 in place of the second recognition sensor 20-2. When the abnormality in the driving assistance control is caused by the failure of the second recognition sensor 20-2 and the first recognition sensor 20-1 is normal, the driving assistance control can be performed by using the first recognition sensor 20-1 (step S340: Yes). In this case, the process proceeds to step S420. In step S420, the processor 101 (driving assistance control unit 120) generates a second avoidance trajectory TR-E2 for the avoidance control based on the recognition result obtained by the first recognition sensor 20-1 instead of the second recognition sensor 20-2. Then, the processor 101 executes the avoidance control according to the second avoidance trajectory TR-E2.

[0120] On the other hand, when the abnormality in the driving assistance control is caused by something other than the failure of the second recognition sensor 20-2, even if the first recognition sensor 20-1 is used in place of the second recognition sensor 20-2, the driving assistance control cannot be executed with high precision (step S340: No). In this case, the process proceeds to step S310. After that, it is the same as in the case of the second example described above.

Claims

1. A vehicle control system controls a vehicle equipped with a parking switch. The vehicle control system includes: one or more processors; and a recognition sensor that recognizes the situation around the vehicle, The one or more processors perform vehicle driving control. In this vehicle driving control, a target trajectory of the vehicle is generated based on the recognition result obtained by the recognition sensor, and the vehicle is controlled to follow the target trajectory. The one or more processors can perform avoidance control. In this avoidance control, the one or more processors generate an avoidance trajectory, and the vehicle is controlled to follow the avoidance trajectory. The avoidance trajectory is the target trajectory for the vehicle to avoid to a safe target position. The one or more processors can perform deceleration stop control. In this deceleration stop control, the one or more processors decelerate the vehicle at a prescribed deceleration and stop the vehicle. When the parking switch is pressed, the one or more processors generate the avoidance trajectory for the avoidance control, and moreover, acquire the prescribed deceleration for the deceleration stop control. When the parking switch is pressed and the vehicle driving control is normal, the one or more processors perform the avoidance control. When the recognition sensor fails, or when at least one of the calculation and output of the target trajectory is abnormal, the one or more processors determine that the vehicle driving control is abnormal. When the parking switch is pressed and the vehicle driving control is abnormal, the one or more processors perform the deceleration stop control without using the target trajectory.

2. The vehicle control system according to claim 1, wherein the recognition sensor includes a first recognition sensor and a second recognition sensor, an autonomous driving trajectory is the target trajectory for the autonomous driving of the vehicle, a driving assistance trajectory is the target trajectory for the purpose of improving the driving safety of the vehicle, The vehicle driving control includes: autonomous driving control that generates the autonomous driving trajectory based on the recognition result obtained by the first recognition sensor and controls the vehicle to follow the autonomous driving trajectory; and driving assistance control that generates the driving assistance trajectory based on the recognition result obtained by the second recognition sensor and controls the vehicle to follow the driving assistance trajectory, a first avoidance trajectory is the autonomous driving trajectory for the vehicle to avoid, a second avoidance trajectory is the driving assistance trajectory for the vehicle to avoid, The one or more processors perform the avoidance control according to the first avoidance trajectory or the second avoidance trajectory.

3. The vehicle control system according to claim 2, wherein when the autonomous driving control is normal when the parking switch is pressed, the one or more processors perform the avoidance control according to the first avoidance trajectory. When the parking switch is pressed and the automatic driving control is abnormal while the driving assistance control is normal, the one or more processors execute the avoidance control according to the second avoidance trajectory. When the parking switch is pressed and both the automatic driving control and the driving assistance control are abnormal, the one or more processors execute the deceleration stop control.

4. The vehicle control system according to claim 2, wherein When the parking switch is pressed and the driving assistance control is normal, the one or more processors execute the avoidance control according to the second avoidance trajectory. When the parking switch is pressed and the driving assistance control is abnormal while the automatic driving control is normal, the one or more processors execute the avoidance control according to the first avoidance trajectory. When the parking switch is pressed and both the automatic driving control and the driving assistance control are abnormal, the one or more processors execute the deceleration stop control.

5. The vehicle control system according to claim 2, wherein When the parking switch is pressed and the automatic driving control is normal, the one or more processors execute the avoidance control according to the first avoidance trajectory. When the parking switch is pressed and the automatic driving control is abnormal, the abnormality of the automatic driving control is caused by a failure of the first recognition sensor, and the second recognition sensor is normal, the one or more processors generate the first avoidance trajectory based on the recognition result obtained by the second recognition sensor rather than the first recognition sensor, and execute the avoidance control according to the first avoidance trajectory. When the abnormality of the automatic driving control is other than the failure of the first recognition sensor and the driving assistance control is normal, the one or more processors execute the avoidance control according to the second avoidance trajectory. When the parking switch is pressed and both the automatic driving control and the driving assistance control are abnormal, the one or more processors execute the deceleration stop control.

6. The vehicle control system according to claim 2, wherein When the parking switch is pressed and the driving assistance control is normal, the one or more processors execute the avoidance control according to the second avoidance trajectory. When the parking switch is pressed and the driving assistance control is abnormal, the abnormality of the driving assistance control is caused by a failure of the second recognition sensor, and the first recognition sensor is normal, the one or more processors generate the second avoidance trajectory based on the recognition result obtained by the first recognition sensor rather than the second recognition sensor, and execute the avoidance control according to the second avoidance trajectory. When the abnormality of the driving assistance control is other than the failure of the second recognition sensor and the automatic driving control is normal, the one or more processors execute the avoidance control according to the first avoidance trajectory. When both the autonomous driving control and the driving assistance control are abnormal when the parking switch is pressed, the one or more processors execute the deceleration and parking control.

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